Perform a re-check (LoadFilamentLimited) after successful LoadFilament

- [] Unit tests of unlimited LoadFilament need to be introduced as the complexity of this scenario is increasing

.

src/logic/load_filament.cpp

@@ -21,6 +21,7 @@ void LoadFilament::Reset(uint8_t param) {
     }
     dbg_logic_P(PSTR("Load Filament"));
     mg::globals.SetFilamentLoaded(param, mg::FilamentLoadState::AtPulley); // still at pulley, haven't moved yet
+    verifyLoadedFilament = 1;
     Reset2(false);
 }
 
@@ -61,10 +62,12 @@ bool LoadFilament::StepInner() {
             case FeedToFinda::Failed: // @@TODO - try to repeat 6x - push/pull sequence - probably something to put into feed_to_finda as an option
                 GoToErrDisengagingIdler(ErrorCode::FINDA_DIDNT_SWITCH_ON); // signal loading error
                 break;
+            case FeedToFinda::Stopped:
+                // as requested in MMU-116 - stopping an unsuccessful feed should retract as well but not check the filament
+                verifyLoadedFilament = 0;
+                // [[fallthrough]]
             case FeedToFinda::OK:
-            case FeedToFinda::Stopped: // as requested in MMU-77 - stopping an unsuccessful feed should retract as well
+                GoToRetractingFromFinda();
-                state = ProgressCode::RetractingFromFinda;
-                retract.Reset();
                 break;
             }
         }
@@ -74,8 +77,15 @@ bool LoadFilament::StepInner() {
             if (retract.State() == RetractFromFinda::Failed) {
                 GoToErrDisengagingIdler(ErrorCode::FINDA_DIDNT_SWITCH_OFF); // signal loading error
             } else {
-                state = ProgressCode::DisengagingIdler;
+                if (verifyLoadedFilament) {
-                mi::idler.Disengage();
+                    --verifyLoadedFilament;
+                    // as requested in MMU-116 - once the filament gets retracted after first feed, perform a short re-check
+                    // by doing a limited load + retract. That ensures the filament can be loaded into the selector later when needed.
+                    ResetLimited(mg::globals.ActiveSlot());
+                } else {
+                    state = ProgressCode::DisengagingIdler;
+                    mi::idler.Disengage();
+                }
             }
         }
         break;

src/logic/load_filament.h

@@ -11,7 +11,8 @@ namespace logic {
 class LoadFilament : public CommandBase {
 public:
     inline LoadFilament()
-        : CommandBase() {}
+        : CommandBase()
+        , verifyLoadedFilament(0) {}
 
     /// Restart the automaton - performs unlimited rotation of the Pulley
     /// @param param index of filament slot to load
@@ -33,6 +34,12 @@ private:
 
     FeedToFinda feed;
     RetractFromFinda retract;
+
+    /// As requested in MMU-116:
+    /// Once the filament gets retracted after first feed, perform a short re-check by doing a limited load + retract.
+    /// That ensures the filament can be loaded into the selector later when needed.
+    /// verifyLoadedFilament holds the number of re-checks to be performed (we expect >1 re-checks will be requested one day ;) )
+    uint8_t verifyLoadedFilament;
 };
 
 /// The one and only instance of LoadFilament state machine in the FW