From 0bead533df6abf4a9f11ae992468ed28fbba0762 Mon Sep 17 00:00:00 2001 From: 3d-gussner <3d.gussner@gmail.com> Date: Thu, 23 Sep 2021 09:04:15 +0200 Subject: [PATCH] clang-format --- src/config/config.h | 12 ++-- src/logic/feed_to_bondtech.cpp | 36 +++++----- src/logic/feed_to_finda.cpp | 2 +- src/logic/load_filament.cpp | 12 ++-- src/logic/tool_change.cpp | 26 +++---- src/logic/unload_filament.cpp | 6 +- src/logic/unload_to_finda.cpp | 2 +- src/modules/idler.cpp | 72 +++++++++---------- src/modules/motion.cpp | 16 ++--- src/modules/selector.cpp | 58 +++++++-------- .../feed_to_finda/test_feed_to_finda.cpp | 10 +-- 11 files changed, 126 insertions(+), 126 deletions(-) diff --git a/src/config/config.h b/src/config/config.h index bf66154..2b121e6 100644 --- a/src/config/config.h +++ b/src/config/config.h @@ -58,7 +58,7 @@ static constexpr U_mm PulleyToCuttingEdge = 33.0_mm; /// 33.0_mm /// Pulley to c /// Case 1: FINDA working: This should be the max retraction after FINDA un-triggers. /// Case 2: FINDA not working: calculate retraction from printer to this point. static constexpr U_mm FilamentMinLoadedToMMU = 20.0_mm; /// 20.0_mm ??? /// Limit of retraction. @TODO find correct distance. -static constexpr U_mm EjectFromCuttingEdge = 40.0_mm; /// Eject should ignore FilamentMinLoadedToMMU and retract +static constexpr U_mm EjectFromCuttingEdge = 40.0_mm; /// Eject should ignore FilamentMinLoadedToMMU and retract static constexpr U_mm CuttingEdgeRetract = 3.0_mm; /// 3.0_mm /// Cutting retraction distance (filament should be flush with outlet) @TODO find correct distance. static constexpr U_mm CuttingEdgeToFINDA = 18.5_mm; /// 18.5_mm -1.0_mm /// Cutting edge to FINDA MMU2 side -1mm tolerance should be ~18.5. FINDA shouldn't trigger here. static constexpr U_mm FINDAtriggerDistance = 4.5_mm; /// 9.0_mm /// FINDA trigger distance +1.0_mm tolerance. @@ -67,8 +67,8 @@ static constexpr U_mm FINDAtoCoupler = 12.0_mm; /// 12.0_mm /// FINDA Coupler si static constexpr U_mm CouplerToBowden = 3.5_mm; /// 3.5_mm /// FINDA Coupler screw to bowden mmu2s side (in coupling). static constexpr U_mm DefaultBowdenLength = 427.0_mm; /// ~427.0_mm /// Default Bowden length. @TODO Should be stored in EEPROM. static constexpr U_mm MinimumBowdenLength = 341.0_mm; /// ~341.0_mm /// Minimum bowden length. @TODO Should be stored in EEPROM. -static constexpr U_mm MaximumBowdenLength = 792.0_mm;/// ~792.0_mm /// Maximum bowden length. @TODO Should be stored in EEPROM. -static constexpr U_mm FeedToFINDA = CuttingEdgeToFINDAmidpoint+FilamentMinLoadedToMMU; +static constexpr U_mm MaximumBowdenLength = 792.0_mm; /// ~792.0_mm /// Maximum bowden length. @TODO Should be stored in EEPROM. +static constexpr U_mm FeedToFINDA = CuttingEdgeToFINDAmidpoint + FilamentMinLoadedToMMU; static constexpr U_mm CutLength = 8.0_mm; /// Begin: Pulley axis configuration @@ -117,15 +117,15 @@ static constexpr U_mm SelectorOffsetFromMax = 1.0_mm; /// Selector offset from h /// selector.dirOn = true = Home at max: selector hits left side of the MMU2S body /// selector.dirOn = false = Home at min: selector POM nut hit the selector motor static constexpr U_mm selectorSlotPositions[toolCount + 1] = { - -///selctor max positions + + ///selctor max positions SelectorOffsetFromMax + 0 * SelectorSlotDistance, ///1.0_mm + 0 * 14.0_mm = 1.0_mm SelectorOffsetFromMax + 1 * SelectorSlotDistance, ///1.0_mm + 1 * 14.0_mm = 15.0_mm SelectorOffsetFromMax + 2 * SelectorSlotDistance, ///1.0_mm + 2 * 14.0_mm = 29.0_mm SelectorOffsetFromMax + 3 * SelectorSlotDistance, ///1.0_mm + 3 * 14.0_mm = 43.0_mm SelectorOffsetFromMax + 4 * SelectorSlotDistance, ///1.0_mm + 4 * 14.0_mm = 57.0_mm SelectorOffsetFromMax + 5 * SelectorSlotDistance ///1.0_mm + 5 * 14.0_mm = 71.0_mm -/* + /* ///selector min positions SelectorOffsetFromMin - 1.0_mm - 0 * SelectorSlotDistance, ///75.5_mm - 1.0_mm - 0 * 14.0_mm = 74.5_mm SelectorOffsetFromMin - 1.0_mm - 1 * SelectorSlotDistance, ///75.5_mm - 1.0_mm - 1 * 14.0_mm = 60.5_mm diff --git a/src/logic/feed_to_bondtech.cpp b/src/logic/feed_to_bondtech.cpp index 40e29a6..d220cad 100644 --- a/src/logic/feed_to_bondtech.cpp +++ b/src/logic/feed_to_bondtech.cpp @@ -7,17 +7,17 @@ #include "../modules/motion.h" #include "../modules/permanent_storage.h" #ifdef DEBUG_LOGIC - #include "../hal/usart.h" - #include - #include +#include "../hal/usart.h" +#include +#include #endif //DEBUG_LOGIC namespace logic { void FeedToBondtech::Reset(uint8_t maxRetries) { - #ifdef DEBUG_LOGIC - hu::usart1.puts("\nFeed to Bondtech\n\n"); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + hu::usart1.puts("\nFeed to Bondtech\n\n"); +#endif //DEBUG_LOGIC state = EngagingIdler; this->maxRetries = maxRetries; ml::leds.SetMode(mg::globals.ActiveSlot(), ml::Color::green, ml::Mode::blink0); @@ -30,21 +30,21 @@ bool FeedToBondtech::Step() { switch (state) { case EngagingIdler: if (mi::idler.Engaged()) { - #ifdef DEBUG_LOGIC +#ifdef DEBUG_LOGIC uint16_t startSteps = mm::motion.CurPosition(mm::Pulley); char str[30]; sprintf_P(str, PSTR("\nPulley start steps %u\n\n"), startSteps); hu::usart1.puts(str); - #endif //DEBUG_LOGIC +#endif //DEBUG_LOGIC state = PushingFilament; mm::motion.PlanMove(config::DefaultBowdenLength, config::pulleyFeedrate); //@@TODO constants - there was some strange acceleration sequence in the original FW, // we can probably hand over some array of constants for hand-tuned acceleration + leverage some smoothing in the stepper as well } return false; case PushingFilament: - #ifdef DEBUG_LOGIC - hu::usart1.puts("\nFeed to Bondtech --> Pushing\n\n"); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + hu::usart1.puts("\nFeed to Bondtech --> Pushing\n\n"); +#endif //DEBUG_LOGIC if (mfs::fsensor.Pressed()) { mm::motion.AbortPlannedMoves(); // stop pushing filament mi::idler.Disengage(); @@ -57,22 +57,22 @@ bool FeedToBondtech::Step() { } return false; case DisengagingIdler: - #ifdef DEBUG_LOGIC - hu::usart1.puts("\nFeed to Bondtech --> DisengagingIdler\n\n"); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + hu::usart1.puts("\nFeed to Bondtech --> DisengagingIdler\n\n"); +#endif //DEBUG_LOGIC if (!mi::idler.Engaged()) { state = OK; ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on); } return false; case OK: - #ifdef DEBUG_LOGIC +#ifdef DEBUG_LOGIC hu::usart1.puts("\nFeed to Bondtech\n\n"); - #endif //DEBUG_LOGIC +#endif //DEBUG_LOGIC case Failed: - #ifdef DEBUG_LOGIC +#ifdef DEBUG_LOGIC hu::usart1.puts("\nFeed to Bondtech FAILED\n\n"); - #endif //DEBUG_LOGIC +#endif //DEBUG_LOGIC default: return true; } diff --git a/src/logic/feed_to_finda.cpp b/src/logic/feed_to_finda.cpp index 83b0314..dbe35ef 100644 --- a/src/logic/feed_to_finda.cpp +++ b/src/logic/feed_to_finda.cpp @@ -46,7 +46,7 @@ bool FeedToFinda::Step() { if (mm::motion.QueueEmpty()) { // all moves have been finished state = DisengagingIdler; mi::idler.Disengage(); - } + } return false; case DisengagingIdler: if (!mi::idler.Engaged()) { diff --git a/src/logic/load_filament.cpp b/src/logic/load_filament.cpp index 052117c..57fb877 100644 --- a/src/logic/load_filament.cpp +++ b/src/logic/load_filament.cpp @@ -8,9 +8,9 @@ #include "../modules/selector.h" #include "../modules/user_input.h" #ifdef DEBUG_LOGIC - #include "../hal/usart.h" - #include - #include +#include "../hal/usart.h" +#include +#include #endif //DEBUG_LOGIC namespace logic { @@ -21,9 +21,9 @@ void LoadFilament::Reset(uint8_t param) { if (!CheckToolIndex(param)) { return; } - #ifdef DEBUG_LOGIC - hu::usart1.puts("Load Filament\n\n"); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + hu::usart1.puts("Load Filament\n\n"); +#endif //DEBUG_LOGIC state = ProgressCode::EngagingIdler; error = ErrorCode::RUNNING; mg::globals.SetActiveSlot(param); diff --git a/src/logic/tool_change.cpp b/src/logic/tool_change.cpp index ba48b31..7773086 100644 --- a/src/logic/tool_change.cpp +++ b/src/logic/tool_change.cpp @@ -8,9 +8,9 @@ #include "../modules/permanent_storage.h" #include "../modules/selector.h" #ifdef DEBUG_LOGIC - #include "../hal/usart.h" - #include - #include +#include "../hal/usart.h" +#include +#include #endif //DEBUG_LOGIC namespace logic { @@ -23,10 +23,10 @@ void ToolChange::Reset(uint8_t param) { } if (param == mg::globals.ActiveSlot() && mg::globals.FilamentLoaded()) { - // we are already at the correct slot and the filament is loaded - nothing to do - #ifdef DEBUG_LOGIC - hu::usart1.puts("we are already at the correct slot and the filament is loaded - nothing to do\n"); - #endif //DEBUG_LOGIC +// we are already at the correct slot and the filament is loaded - nothing to do +#ifdef DEBUG_LOGIC + hu::usart1.puts("we are already at the correct slot and the filament is loaded - nothing to do\n"); +#endif //DEBUG_LOGIC return; } @@ -35,16 +35,16 @@ void ToolChange::Reset(uint8_t param) { plannedSlot = param; if (mg::globals.FilamentLoaded()) { - #ifdef DEBUG_LOGIC - hu::usart1.puts("Filament is loaded --> unload\n"); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + hu::usart1.puts("Filament is loaded --> unload\n"); +#endif //DEBUG_LOGIC state = ProgressCode::UnloadingFilament; unl.Reset(mg::globals.ActiveSlot()); } else { state = ProgressCode::LoadingFilament; - #ifdef DEBUG_LOGIC - hu::usart1.puts("Filament is not loaded --> load\n"); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + hu::usart1.puts("Filament is not loaded --> load\n"); +#endif //DEBUG_LOGIC load.Reset(plannedSlot); } } diff --git a/src/logic/unload_filament.cpp b/src/logic/unload_filament.cpp index 705e910..4ac6a4f 100644 --- a/src/logic/unload_filament.cpp +++ b/src/logic/unload_filament.cpp @@ -7,9 +7,9 @@ #include "../modules/permanent_storage.h" #include "../modules/user_input.h" #ifdef DEBUG_LOGIC - #include "../hal/usart.h" - #include - #include +#include "../hal/usart.h" +#include +#include #endif //DEBUG_LOGIC namespace logic { diff --git a/src/logic/unload_to_finda.cpp b/src/logic/unload_to_finda.cpp index 4a37e38..e3e0d54 100644 --- a/src/logic/unload_to_finda.cpp +++ b/src/logic/unload_to_finda.cpp @@ -35,7 +35,7 @@ bool UnloadToFinda::Step() { state = WaitingForFINDA; int unloadSteps = mps::BowdenLength::get() + 1100; const int second_point = unloadSteps - 1300; - mm::motion.PlanMove(-config::DefaultBowdenLength -config::FeedToFINDA -config::FilamentMinLoadedToMMU, config::pulleyFeedrate); // @@TODO constants + mm::motion.PlanMove(-config::DefaultBowdenLength - config::FeedToFINDA - config::FilamentMinLoadedToMMU, config::pulleyFeedrate); // @@TODO constants } return false; case WaitingForFINDA: diff --git a/src/modules/idler.cpp b/src/modules/idler.cpp index 5775477..0452e83 100644 --- a/src/modules/idler.cpp +++ b/src/modules/idler.cpp @@ -4,9 +4,9 @@ #include "motion.h" #include "permanent_storage.h" #ifdef DEBUG_LOGIC - #include "../hal/usart.h" - #include - #include +#include "../hal/usart.h" +#include +#include #endif //DEBUG_LOGIC namespace modules { @@ -16,44 +16,44 @@ Idler idler; void Idler::PrepareMoveToPlannedSlot() { mm::motion.PlanMoveTo(SlotPosition(plannedSlot), mm::unitToAxisUnit(config::idlerFeedrate)); - #ifdef DEBUG_LOGIC - char str[30]; - sprintf_P(str, PSTR("Prepare Move Idler slot %d\n"), plannedSlot); - hu::usart1.puts(str); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + char str[30]; + sprintf_P(str, PSTR("Prepare Move Idler slot %d\n"), plannedSlot); + hu::usart1.puts(str); +#endif //DEBUG_LOGIC } void Idler::PlanHomingMove() { mm::motion.PlanMove(mm::unitToAxisUnit(-config::idlerLimits.lenght * 2), mm::unitToAxisUnit(config::idlerFeedrate)); - #ifdef DEBUG_LOGIC - hu::usart1.puts("Plan Homing Idler\n"); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + hu::usart1.puts("Plan Homing Idler\n"); +#endif //DEBUG_LOGIC } Idler::OperationResult Idler::Disengage() { if (state == Moving) { - #ifdef DEBUG_LOGIC - hu::usart1.puts("Moving --> Disengage refused\n"); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + hu::usart1.puts("Moving --> Disengage refused\n"); +#endif //DEBUG_LOGIC return OperationResult::Refused; } plannedSlot = IdleSlotIndex(); plannedEngage = false; if (!Engaged()) { - #ifdef DEBUG_LOGIC - hu::usart1.puts("Disengage Idler\n"); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + hu::usart1.puts("Disengage Idler\n"); +#endif //DEBUG_LOGIC return OperationResult::Accepted; } return InitMovement(mm::Idler); } Idler::OperationResult Idler::Engage(uint8_t slot) { - if (state == Moving){ - #ifdef DEBUG_LOGIC - hu::usart1.puts("Moving --> Engage refused\n"); - #endif //DEBUG_LOGIC + if (state == Moving) { +#ifdef DEBUG_LOGIC + hu::usart1.puts("Moving --> Engage refused\n"); +#endif //DEBUG_LOGIC return OperationResult::Refused; } @@ -61,9 +61,9 @@ Idler::OperationResult Idler::Engage(uint8_t slot) { plannedEngage = true; if (Engaged()) { - #ifdef DEBUG_LOGIC - hu::usart1.puts("Engage Idler\n"); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + hu::usart1.puts("Engage Idler\n"); +#endif //DEBUG_LOGIC return OperationResult::Accepted; } @@ -81,21 +81,21 @@ bool Idler::Home() { bool Idler::Step() { switch (state) { case Moving: - #ifdef DEBUG_LOGIC - //hu::usart1.puts("Moving Idler\n"); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + //hu::usart1.puts("Moving Idler\n"); +#endif //DEBUG_LOGIC PerformMove(mm::Idler); return false; case Homing: - #ifdef DEBUG_LOGIC - hu::usart1.puts("Homing Idler\n"); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + hu::usart1.puts("Homing Idler\n"); +#endif //DEBUG_LOGIC PerformHome(mm::Idler); return false; case Ready: - #ifdef DEBUG_LOGIC - //hu::usart1.puts("Idler Ready\n"); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + //hu::usart1.puts("Idler Ready\n"); +#endif //DEBUG_LOGIC currentlyEngaged = plannedEngage; currentSlot = plannedSlot; @@ -104,9 +104,9 @@ bool Idler::Step() { return true; case Failed: - #ifdef DEBUG_LOGIC - hu::usart1.puts("Idler Failed\n"); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + hu::usart1.puts("Idler Failed\n"); +#endif //DEBUG_LOGIC default: return true; } diff --git a/src/modules/motion.cpp b/src/modules/motion.cpp index 77e48a5..dcc09cc 100644 --- a/src/modules/motion.cpp +++ b/src/modules/motion.cpp @@ -1,9 +1,9 @@ #include "motion.h" #include "../panic.h" #ifdef DEBUG_LOGIC - #include "../hal/usart.h" - #include - #include +#include "../hal/usart.h" +#include +#include #endif //DEBUG_LOGIC // TODO: use proper timer abstraction @@ -50,11 +50,11 @@ void Motion::StallGuardReset(Axis axis) { } void Motion::PlanMoveTo(Axis axis, pos_t pos, steps_t feed_rate, steps_t end_rate) { - #ifdef DEBUG_LOGIC - char str[30]; - sprintf_P(str, PSTR("Move axis %d to %u\n"), axis, pos); - hu::usart1.puts(str); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + char str[30]; + sprintf_P(str, PSTR("Move axis %d to %u\n"), axis, pos); + hu::usart1.puts(str); +#endif //DEBUG_LOGIC if (axisData[axis].ctrl.PlanMoveTo(pos, feed_rate, end_rate)) { // move was queued, prepare the axis diff --git a/src/modules/selector.cpp b/src/modules/selector.cpp index da859ed..aba0826 100644 --- a/src/modules/selector.cpp +++ b/src/modules/selector.cpp @@ -4,9 +4,9 @@ #include "motion.h" #include "permanent_storage.h" #ifdef DEBUG_LOGIC - #include "../hal/usart.h" - #include - #include +#include "../hal/usart.h" +#include +#include #endif //DEBUG_LOGIC namespace modules { @@ -16,33 +16,33 @@ Selector selector; void Selector::PrepareMoveToPlannedSlot() { mm::motion.PlanMoveTo(SlotPosition(plannedSlot), mm::unitToAxisUnit(config::selectorFeedrate)); - #ifdef DEBUG_LOGIC - char str[30]; - sprintf_P(str, PSTR("Prepare Move Selector slot %d\n"), plannedSlot); - hu::usart1.puts(str); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + char str[30]; + sprintf_P(str, PSTR("Prepare Move Selector slot %d\n"), plannedSlot); + hu::usart1.puts(str); +#endif //DEBUG_LOGIC } void Selector::PlanHomingMove() { mm::motion.PlanMove(mm::unitToAxisUnit(config::selectorLimits.lenght * 2), mm::unitToAxisUnit(config::selectorFeedrate)); - #ifdef DEBUG_LOGIC - hu::usart1.puts("Plan Homing Selector\n"); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + hu::usart1.puts("Plan Homing Selector\n"); +#endif //DEBUG_LOGIC } Selector::OperationResult Selector::MoveToSlot(uint8_t slot) { if (state == Moving) { - #ifdef DEBUG_LOGIC - hu::usart1.puts("Moving --> Selector refused\n"); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + hu::usart1.puts("Moving --> Selector refused\n"); +#endif //DEBUG_LOGIC return OperationResult::Refused; } plannedSlot = slot; if (currentSlot == slot) { - #ifdef DEBUG_LOGIC - hu::usart1.puts("Moving Selector\n"); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + hu::usart1.puts("Moving Selector\n"); +#endif //DEBUG_LOGIC return OperationResult::Accepted; } return InitMovement(mm::Selector); @@ -59,27 +59,27 @@ bool Selector::Step() { switch (state) { case Moving: PerformMove(mm::Selector); - #ifdef DEBUG_LOGIC - //hu::usart1.puts("Moving Selector\n"); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + //hu::usart1.puts("Moving Selector\n"); +#endif //DEBUG_LOGIC return false; case Homing: - #ifdef DEBUG_LOGIC - hu::usart1.puts("Homing Selector\n"); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + hu::usart1.puts("Homing Selector\n"); +#endif //DEBUG_LOGIC PerformHome(mm::Selector); return false; case Ready: - #ifdef DEBUG_LOGIC - //hu::usart1.puts("Selector Ready\n"); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + //hu::usart1.puts("Selector Ready\n"); +#endif //DEBUG_LOGIC currentSlot = plannedSlot; mm::motion.Disable(mm::Selector); // turn off selector motor's power every time return true; case Failed: - #ifdef DEBUG_LOGIC - hu::usart1.puts("Selector Failed\n"); - #endif //DEBUG_LOGIC +#ifdef DEBUG_LOGIC + hu::usart1.puts("Selector Failed\n"); +#endif //DEBUG_LOGIC default: return true; } diff --git a/tests/unit/logic/feed_to_finda/test_feed_to_finda.cpp b/tests/unit/logic/feed_to_finda/test_feed_to_finda.cpp index c742281..83f4a3f 100644 --- a/tests/unit/logic/feed_to_finda/test_feed_to_finda.cpp +++ b/tests/unit/logic/feed_to_finda/test_feed_to_finda.cpp @@ -71,11 +71,11 @@ TEST_CASE("feed_to_finda::feed_phase_unlimited", "[feed_to_finda]") { 5000)); // disengaging idler - REQUIRE(ff.State() == FeedToFinda::DisengagingIdler); - REQUIRE(WhileCondition( - ff, - [&](int) { return mi::idler.Engaged(); }, - 5000)); + REQUIRE(ff.State() == FeedToFinda::DisengagingIdler); + REQUIRE(WhileCondition( + ff, + [&](int) { return mi::idler.Engaged(); }, + 5000)); CHECK(mm::axes[mm::Idler].pos == mi::Idler::SlotPosition(5).v); // @@TODO constants CHECK(mm::axes[mm::Selector].pos == ms::Selector::SlotPosition(0).v);