Extract Unload filament into a separate file

+ cleanup the object structure
+ add no_command as the starting "operation" to simplify the rest of the command handling at runtime

CMakeLists.txt

@@ -195,7 +195,10 @@ target_sources(
           src/modules/finda.cpp
           src/modules/leds.cpp
           src/modules/motion.cpp
-          src/logic/mm_control.cpp
+          src/logic/command_base.cpp
+          src/logic/no_command.cpp
+          src/logic/unload_filament.cpp
+          src/logic/unload_to_finda.cpp
   )
 
 set_property(

src/logic/command_base.cpp

@@ -0,0 +1,5 @@
+#include "command_base.h"
+
+namespace logic {
+
+} // namespace logic

src/logic/command_base.h

@@ -0,0 +1,49 @@
+#pragma once
+#include <stdint.h>
+#include "error_codes.h"
+#include "progress_codes.h"
+
+/// Base class defining common API for high-level operations/commands/state machines
+///
+/// Which state machines are high-level? Those which are being initiated either by a command over the serial line or from a button
+/// - they report their progress to the printer
+/// - they can be composed of other sub automatons
+
+namespace logic {
+
+/// Tasks derived from this base class are the top-level operations inhibited by the printer.
+/// These tasks report their progress and only one of these tasks is allowed to run at once.
+class CommandBase {
+public:
+    inline CommandBase()
+        : state(ProgressCode::OK)
+        , error(ErrorCode::OK) {}
+
+    // Normally, a base class should (must) have a virtual destructor to enable correct deallocation of superstructures.
+    // However, in our case we don't want ANY destruction of these objects and moreover - adding a destructor like this
+    // makes the linker complain about missing operator delete(), which is really not something we want/need in our case.
+    // Without the destructor, the linker is "happy" ;)
+    // virtual ~CommandBase() = default;
+
+    /// resets the automaton
+    virtual void Reset() = 0;
+
+    /// steps the state machine
+    /// @returns true if the automaton finished its work
+    virtual bool Step() = 0;
+
+    /// @returns progress of operation - each automaton consists of several internal states
+    /// which should be reported to the user via the printer's LCD
+    /// E.g. Tool change: first tries to unload filament, then selects another slot and then tries to load filament
+    virtual ProgressCode State() const { return state; }
+
+    /// @returns status of the operation - e.g. RUNNING, OK, or an error code if the operation failed
+    /// Please see @ErrorCode for more details
+    virtual ErrorCode Error() const { return error; }
+
+protected:
+    ProgressCode state;
+    ErrorCode error;
+};
+
+} // namespace logic

src/logic/error_codes.h

@@ -0,0 +1,15 @@
+#pragma once
+#include <stdint.h>
+
+/// A complete set of error codes which may be a result of a high-level command/operation
+/// This header file shall be included in the printer's firmware as well as a reference,
+/// therefore the error codes have been extracted to one place
+
+enum class ErrorCode : int_fast8_t {
+    RUNNING = 0, ///< the operation is still running
+    OK, ///< the operation finished OK
+
+    /// Unload Filament related error codes
+    UNLOAD_FINDA_DIDNT_TRIGGER = -1, ///< FINDA didn't trigger while unloading filament - either there is something blocking the metal ball or a cable is broken/disconnected
+    UNLOAD_ERROR2 = -2,
+};

src/logic/mm_control.cpp

@@ -1,194 +0,0 @@
-#include "mm_control.h"
-#include "../modules/motion.h"
-#include "../modules/leds.h"
-#include "../modules/buttons.h"
-#include "../modules/finda.h"
-#include "../modules/permanent_storage.h"
-
-namespace logic {
-
-// "small" state machines will serve as building blocks for high-level commands/operations
-// - engage/disengage idler
-// - rotate pulley to some direction as long as the FINDA is on/off
-// - rotate some axis to some fixed direction
-// - load/unload to finda
-//
-
-// motion planning
-// - we need some kind of planner buffer, especially because of accelerations
-//   because we may need to match the ramps between moves seamlessly - just like on a printer
-
-/// A "small" automaton example - Try to unload filament to FINDA and if it fails try to recover several times.
-/// \dot
-/// digraph example {
-///    node [shape=record, fontname=Helvetica, fontsize=10];
-///    b [ label="class B" URL="\ref B"];
-///    c [ label="class C" URL="\ref C"];
-///    b -> c [ arrowhead="open", style="dashed" ];
-///}
-///\enddot
-struct UnloadToFinda {
-    enum {
-        WaitingForFINDA,
-        OK,
-        Failed
-    };
-    uint8_t state;
-    uint8_t maxTries;
-    inline UnloadToFinda(uint8_t maxTries)
-        : maxTries(maxTries) { Reset(); }
-
-    /// Restart the automaton
-    inline void Reset() {
-        namespace mm = modules::motion;
-        namespace mf = modules::finda;
-        // check the inital state of FINDA and plan the moves
-        if (mf::finda.Pressed()) {
-            state = OK; // FINDA is already off, we assume the fillament is not there, i.e. already unloaded
-        } else {
-            // FINDA is sensing the filament, plan moves to unload it
-            int unloadSteps = /*BowdenLength::get() +*/ 1100; // @@TODO
-            const int second_point = unloadSteps - 1300;
-            //            mm::motion.PlanMove(mm::Pulley, -1400, 6000); // @@TODO constants
-            //            mm::motion.PlanMove(mm::Pulley, -1800 + 1400, 2500); // @@TODO constants 1800-1400 = 400
-            //            mm::motion.PlanMove(mm::Pulley, -second_point + 1800, 550); // @@TODO constants
-            state = WaitingForFINDA;
-        }
-    }
-
-    /// @returns true if the state machine finished its job, false otherwise
-    bool Step() {
-        namespace mm = modules::motion;
-        namespace mf = modules::finda;
-        switch (state) {
-        case WaitingForFINDA:
-            if (modules::finda::finda.Pressed()) {
-                // detected end of filament
-                state = OK;
-            } else if (/*tmc2130_read_gstat() &&*/ mm::motion.QueueEmpty()) {
-                // we reached the end of move queue, but the FINDA didn't switch off
-                // two possible causes - grinded filament of malfunctioning FINDA
-                if (--maxTries) {
-                    Reset(); // try again
-                } else {
-                    state = Failed;
-                }
-            }
-            return false;
-        case OK:
-        case Failed:
-        default:
-            return true;
-        }
-    }
-};
-
-/// A high-level command state machine
-/// Handles the complex logic of unloading filament
-class UnloadFilament : public TaskBase {
-    enum State {
-        EngagingIdler,
-        UnloadingToFinda,
-        DisengagingIdler,
-        AvoidingGrind,
-        Finishing,
-        OK,
-        ERR1DisengagingIdler,
-        ERR1WaitingForUser
-    };
-
-    UnloadToFinda unl;
-
-    inline UnloadFilament()
-        : TaskBase()
-        , unl(3) { Reset(); }
-
-    /// Restart the automaton
-    void Reset() override {
-        namespace mm = modules::motion;
-        // unloads filament from extruder - filament is above Bondtech gears
-        mm::motion.InitAxis(mm::Pulley);
-        state = EngagingIdler;
-        mm::motion.Idler(mm::Engage);
-    }
-
-    /// @returns true if the state machine finished its job, false otherwise
-    bool Step() override {
-        namespace mm = modules::motion;
-        switch (state) {
-        case EngagingIdler: // state 1 engage idler
-            if (mm::motion.IdlerEngaged()) { // if idler is in parked position un-park it get in contact with filament
-                state = UnloadingToFinda;
-                unl.Reset();
-            }
-            return false;
-        case UnloadingToFinda: // state 2 rotate pulley as long as the FINDA is on
-            if (unl.Step()) {
-                if (unl.state == UnloadToFinda::Failed) {
-                    // couldn't unload to FINDA, report error and wait for user to resolve it
-                    state = ERR1DisengagingIdler;
-                    //                    modules::leds::leds.SetMode(active_extruder, modules::leds::red, modules::leds::blink0);
-                } else {
-                    state = DisengagingIdler;
-                }
-                // in all cases disengage the idler
-                mm::motion.Idler(mm::Disengage);
-            }
-            return false;
-        case DisengagingIdler:
-            if (mm::motion.IdlerDisengaged()) {
-                state = AvoidingGrind;
-                //                mm::motion.PlanMove(mm::Pulley, -100, 10); // @@TODO constants
-            }
-            return false;
-        case AvoidingGrind: // state 3 move a little bit so it is not a grinded hole in filament
-            if (mm::motion.QueueEmpty()) {
-                state = Finishing;
-                mm::motion.Idler(mm::Disengage);
-                return true;
-            }
-            return false;
-        case Finishing:
-            if (mm::motion.QueueEmpty()) {
-                state = OK;
-                mm::motion.DisableAxis(mm::Pulley);
-            }
-            return false;
-        case ERR1DisengagingIdler: // couldn't unload to FINDA
-            if (mm::motion.IdlerDisengaged()) {
-                state = ERR1WaitingForUser;
-            }
-            return false;
-        case ERR1WaitingForUser: {
-            // waiting for user buttons and/or a command from the printer
-            bool help = modules::buttons::buttons.ButtonPressed(modules::buttons::Left) /*|| command_help()*/;
-            bool tryAgain = modules::buttons::buttons.ButtonPressed(modules::buttons::Middle) /*|| command_tryAgain()*/;
-            bool userResolved = modules::buttons::buttons.ButtonPressed(modules::buttons::Right) /*|| command_userResolved()*/;
-            if (help) {
-                // try to manually unload just a tiny bit - help the filament with the pulley
-                //@@TODO
-            } else if (tryAgain) {
-                // try again the whole sequence
-                Reset();
-            } else if (userResolved) {
-                // problem resolved - the user pulled the fillament by hand
-                //                modules::leds::leds.SetMode(active_extruder, modules::leds::red, modules::leds::off);
-                //                modules::leds::leds.SetMode(active_extruder, modules::leds::green, modules::leds::on);
-                //                mm::motion.PlanMove(mm::Pulley, 450, 5000); // @@TODO constants
-                state = AvoidingGrind;
-            }
-            return false;
-        }
-        case OK:
-            //            isFilamentLoaded = false; // filament unloaded
-            return true; // successfully finished
-        }
-    }
-
-    /// @returns progress of operation
-    virtual uint8_t Progress() const override {
-        return state; // for simplicity return state, will be more elaborate later in order to report the exact state of the MMU into the printer
-    }
-};
-
-} // namespace logic

src/logic/mm_control.h

@@ -1,42 +0,0 @@
-#pragma once
-#include <stdint.h>
-
-/// @@TODO @3d-gussner
-/// Extract the current state machines of high-level operations (load fillament, unload fillament etc.) here
-/// Design some nice non-blocking API for these operations
-///
-/// Which automatons are high-level? Those which are being initiated either by a command over the serial line or from a button
-/// - they report their progress to the printer
-/// - they can be composed of other sub automatons
-
-namespace logic {
-
-/// Tasks derived from this base class are the top-level operations inhibited by the printer.
-/// These tasks report their progress and only one of these tasks is allowed to run at once.
-class TaskBase {
-public:
-    inline TaskBase() = default;
-
-    virtual void Reset() = 0;
-    virtual bool Step() = 0;
-    /// probably individual states of the automaton
-    virtual uint8_t Progress() const = 0;
-    /// @@TODO cleanup status codes
-    /// @returns 0 if the operation is still running
-    ///          1 if the operation finished OK
-    ///          >=2 if the operation failed - the value is the error code
-    virtual int8_t Status() const = 0;
-
-protected:
-    uint8_t state;
-};
-
-class Logic {
-
-public:
-    inline Logic() = default;
-
-    void UnloadFilament();
-};
-
-} // namespace logic

src/logic/no_command.cpp

@@ -0,0 +1,7 @@
+#include "no_command.h"
+
+namespace logic {
+
+NoCommand noCommand;
+
+} // namespace logic

src/logic/no_command.h

@@ -0,0 +1,23 @@
+#pragma once
+#include <stdint.h>
+#include "command_base.h"
+#include "unload_to_finda.h"
+
+namespace logic {
+
+/// A dummy No-command operation just to make the init of the firmware consistent (and cleaner code during processing)
+class NoCommand : public CommandBase {
+public:
+    inline NoCommand()
+        : CommandBase() {}
+
+    /// Restart the automaton
+    void Reset() override {}
+
+    /// @returns true if the state machine finished its job, false otherwise
+    bool Step() override { return true; }
+};
+
+extern NoCommand noCommand;
+
+} // namespace logic

src/logic/progress_codes.h

@@ -0,0 +1,19 @@
+#pragma once
+#include <stdint.h>
+
+/// A complete set of progress codes which may be reported while running a high-level command/operation
+/// This header file shall be included in the printer's firmware as well as a reference,
+/// therefore the progress codes have been extracted to one place
+
+enum class ProgressCode : uint_fast8_t {
+    OK = 0, ///< finished ok
+
+    /// Unload Filament related progress codes
+    EngagingIdler,
+    UnloadingToFinda,
+    DisengagingIdler,
+    AvoidingGrind,
+    FinishingMoves,
+    ERR1DisengagingIdler,
+    ERR1WaitingForUser
+};

src/logic/unload_filament.cpp

@@ -0,0 +1,95 @@
+#include "unload_filament.h"
+#include "../modules/buttons.h"
+#include "../modules/finda.h"
+#include "../modules/leds.h"
+#include "../modules/motion.h"
+#include "../modules/permanent_storage.h"
+
+namespace logic {
+
+UnloadFilament unloadFilament;
+
+void UnloadFilament::Reset() {
+    namespace mm = modules::motion;
+    // unloads filament from extruder - filament is above Bondtech gears
+    mm::motion.InitAxis(mm::Pulley);
+    state = ProgressCode::EngagingIdler;
+    error = ErrorCode::OK;
+    mm::motion.Idler(mm::Engage);
+}
+
+bool UnloadFilament::Step() {
+    namespace mm = modules::motion;
+    switch (state) {
+    case ProgressCode::EngagingIdler: // state 1 engage idler
+        if (mm::motion.IdlerEngaged()) { // if idler is in parked position un-park it get in contact with filament
+            state = ProgressCode::UnloadingToFinda;
+            unl.Reset();
+        }
+        return false;
+    case ProgressCode::UnloadingToFinda: // state 2 rotate pulley as long as the FINDA is on
+        if (unl.Step()) {
+            if (unl.state == UnloadToFinda::Failed) {
+                // couldn't unload to FINDA, report error and wait for user to resolve it
+                state = ProgressCode::ERR1DisengagingIdler;
+                //                    modules::leds::leds.SetMode(active_extruder, modules::leds::red, modules::leds::blink0);
+            } else {
+                state = ProgressCode::DisengagingIdler;
+            }
+            // in all cases disengage the idler
+            mm::motion.Idler(mm::Disengage);
+        }
+        return false;
+    case ProgressCode::DisengagingIdler:
+        if (mm::motion.IdlerDisengaged()) {
+            state = ProgressCode::AvoidingGrind;
+            //                mm::motion.PlanMove(mm::Pulley, -100, 10); // @@TODO constants
+        }
+        return false;
+    case ProgressCode::AvoidingGrind: // state 3 move a little bit so it is not a grinded hole in filament
+        if (mm::motion.QueueEmpty()) {
+            state = ProgressCode::FinishingMoves;
+            mm::motion.Idler(mm::Disengage);
+            return true;
+        }
+        return false;
+    case ProgressCode::FinishingMoves:
+        if (mm::motion.QueueEmpty()) {
+            state = ProgressCode::OK;
+            mm::motion.DisableAxis(mm::Pulley);
+        }
+        return false;
+    case ProgressCode::ERR1DisengagingIdler: // couldn't unload to FINDA
+        error = ErrorCode::UNLOAD_FINDA_DIDNT_TRIGGER;
+        if (mm::motion.IdlerDisengaged()) {
+            state = ProgressCode::ERR1WaitingForUser;
+        }
+        return false;
+    case ProgressCode::ERR1WaitingForUser: {
+        // waiting for user buttons and/or a command from the printer
+        bool help = modules::buttons::buttons.ButtonPressed(modules::buttons::Left) /*|| command_help()*/;
+        bool tryAgain = modules::buttons::buttons.ButtonPressed(modules::buttons::Middle) /*|| command_tryAgain()*/;
+        bool userResolved = modules::buttons::buttons.ButtonPressed(modules::buttons::Right) /*|| command_userResolved()*/;
+        if (help) {
+            // try to manually unload just a tiny bit - help the filament with the pulley
+            //@@TODO
+        } else if (tryAgain) {
+            // try again the whole sequence
+            Reset();
+        } else if (userResolved) {
+            // problem resolved - the user pulled the fillament by hand
+            //                modules::leds::leds.SetMode(active_extruder, modules::leds::red, modules::leds::off);
+            //                modules::leds::leds.SetMode(active_extruder, modules::leds::green, modules::leds::on);
+            //                mm::motion.PlanMove(mm::Pulley, 450, 5000); // @@TODO constants
+            state = ProgressCode::AvoidingGrind;
+        }
+        return false;
+    }
+    case ProgressCode::OK:
+        //            isFilamentLoaded = false; // filament unloaded
+        return true; // successfully finished
+    }
+    return false;
+}
+
+} // namespace logic

src/logic/unload_filament.h

@@ -0,0 +1,28 @@
+#pragma once
+#include <stdint.h>
+#include "command_base.h"
+#include "unload_to_finda.h"
+
+namespace logic {
+
+/// A high-level command state machine
+/// Handles the complex logic of unloading filament
+class UnloadFilament : public CommandBase {
+public:
+    inline UnloadFilament()
+        : CommandBase()
+        , unl(3) { Reset(); }
+
+    /// Restart the automaton
+    void Reset() override;
+
+    /// @returns true if the state machine finished its job, false otherwise
+    bool Step() override;
+
+private:
+    UnloadToFinda unl;
+};
+
+extern UnloadFilament unloadFilament;
+
+} // namespace logic

src/logic/unload_to_finda.cpp

@@ -0,0 +1,52 @@
+#include "unload_to_finda.h"
+#include "../modules/motion.h"
+#include "../modules/leds.h"
+#include "../modules/buttons.h"
+#include "../modules/finda.h"
+#include "../modules/permanent_storage.h"
+
+namespace logic {
+
+void UnloadToFinda::Reset() {
+    namespace mm = modules::motion;
+    namespace mf = modules::finda;
+    // check the inital state of FINDA and plan the moves
+    if (mf::finda.Pressed()) {
+        state = OK; // FINDA is already off, we assume the fillament is not there, i.e. already unloaded
+    } else {
+        // FINDA is sensing the filament, plan moves to unload it
+        int unloadSteps = /*BowdenLength::get() +*/ 1100; // @@TODO
+        const int second_point = unloadSteps - 1300;
+        //            mm::motion.PlanMove(mm::Pulley, -1400, 6000); // @@TODO constants
+        //            mm::motion.PlanMove(mm::Pulley, -1800 + 1400, 2500); // @@TODO constants 1800-1400 = 400
+        //            mm::motion.PlanMove(mm::Pulley, -second_point + 1800, 550); // @@TODO constants
+        state = WaitingForFINDA;
+    }
+}
+
+bool UnloadToFinda::Step() {
+    namespace mm = modules::motion;
+    namespace mf = modules::finda;
+    switch (state) {
+    case WaitingForFINDA:
+        if (modules::finda::finda.Pressed()) {
+            // detected end of filament
+            state = OK;
+        } else if (/*tmc2130_read_gstat() &&*/ mm::motion.QueueEmpty()) {
+            // we reached the end of move queue, but the FINDA didn't switch off
+            // two possible causes - grinded filament of malfunctioning FINDA
+            if (--maxTries) {
+                Reset(); // try again
+            } else {
+                state = Failed;
+            }
+        }
+        return false;
+    case OK:
+    case Failed:
+    default:
+        return true;
+    }
+}
+
+} // namespace logic

src/logic/unload_to_finda.h

@@ -0,0 +1,40 @@
+#pragma once
+#include <stdint.h>
+
+/// Unload to FINDA "small" state machine
+/// "small" state machines will serve as building blocks for high-level commands/operations
+/// - engage/disengage idler
+/// - rotate pulley to some direction as long as the FINDA is on/off
+/// - rotate some axis to some fixed direction
+/// - load/unload to finda
+
+namespace logic {
+
+/// A "small" automaton example - Try to unload filament to FINDA and if it fails try to recover several times.
+/// \dot
+/// digraph example {
+///    node [shape=record, fontname=Helvetica, fontsize=10];
+///    b [ label="class B" URL="\ref B"];
+///    c [ label="class C" URL="\ref C"];
+///    b -> c [ arrowhead="open", style="dashed" ];
+///}
+///\enddot
+struct UnloadToFinda {
+    enum {
+        WaitingForFINDA,
+        OK,
+        Failed
+    };
+    uint8_t state;
+    uint8_t maxTries;
+    inline UnloadToFinda(uint8_t maxTries)
+        : maxTries(maxTries) { Reset(); }
+
+    /// Restart the automaton
+    void Reset();
+
+    /// @returns true if the state machine finished its job, false otherwise
+    bool Step();
+};
+
+} // namespace logic

src/main.cpp

@@ -13,14 +13,14 @@
 #include "modules/leds.h"
 #include "modules/protocol.h"
 
-#include "logic/mm_control.h"
+#include "logic/command_base.h"
+#include "logic/no_command.h"
+#include "logic/unload_filament.h"
 
 static modules::protocol::Protocol protocol;
-//static modules::buttons::Buttons buttons;
-//static modules::leds::LEDs leds;
 
-// @@TODO we need a dummy noCommand to init the pointer with ... makes the rest of the code much better and safer
+logic::CommandBase *currentCommand = &logic::noCommand;
-logic::TaskBase *currentCommand = nullptr;
+
 /// remember the request message that started the currently running command
 modules::protocol::RequestMsg currentCommandRq(modules::protocol::RequestMsgCodes::unknown, 0);
 
@@ -121,7 +121,7 @@ void SendMessage(const modules::protocol::ResponseMsg &msg) {
 
 void PlanCommand(const modules::protocol::RequestMsg &rq) {
     namespace mp = modules::protocol;
-    if ((currentCommand == nullptr) || (currentCommand->Status() == 1)) {
+    if (currentCommand->Error() == ErrorCode::OK) {
         // we are allowed to start a new command
         switch (rq.code) {
         case mp::RequestMsgCodes::Cut:
@@ -137,7 +137,7 @@ void PlanCommand(const modules::protocol::RequestMsg &rq) {
             // currentCommand = &toolCommand;
             break;
         case mp::RequestMsgCodes::Unload:
-            // currentCommand = &unloadCommand;
+            currentCommand = &logic::unloadFilament;
             break;
         default:
             // currentCommand = &noCommand;
@@ -149,27 +149,23 @@ void PlanCommand(const modules::protocol::RequestMsg &rq) {
 
 void ReportRunningCommand() {
     namespace mp = modules::protocol;
-    if (!currentCommand) {
-        // @@TODO what to report after startup?
-    } else {
     mp::ResponseMsgParamCodes commandStatus;
     uint8_t value = 0;
-        switch (currentCommand->Status()) {
+    switch (currentCommand->Error()) {
-        case 0:
+    case ErrorCode::RUNNING:
         commandStatus = mp::ResponseMsgParamCodes::Processing;
-            value = currentCommand->Progress();
+        value = (uint8_t)currentCommand->State();
         break;
-        case 1:
+    case ErrorCode::OK:
         commandStatus = mp::ResponseMsgParamCodes::Finished;
         break;
     default:
         commandStatus = mp::ResponseMsgParamCodes::Error;
-            value = currentCommand->Status() - 2; // @@TODO cleanup
+        value = (uint8_t)currentCommand->Error();
         break;
     }
     SendMessage(mp::ResponseMsg(currentCommandRq, commandStatus, value));
 }
-}
 
 void ProcessRequestMsg(const modules::protocol::RequestMsg &rq) {
     namespace mp = modules::protocol;

src/modules/motion.h

@@ -83,7 +83,7 @@ public:
     void Step();
 
     /// @returns true if all planned moves have been finished
-    bool QueueEmpty() const;
+    bool QueueEmpty() const { return false; }
 
     /// stop whatever moves are being done
     void AbortPlannedMoves() {}