Make ToolChange retry 3x before throwing out an error

src/config/config.h

@@ -67,6 +67,10 @@ static constexpr uint16_t stepTimerQuantum = 256; // 256 = 128us
 /// Max retries of FeedToBondtech used in LoadFilament
 static constexpr uint8_t feedToBondtechMaxRetries = 2;
 
+/// Max attempts of ToolChange before throwing out an error - obviously, this has to be >= 1
+static constexpr uint8_t toolChangeAttempts = 3;
+static_assert(toolChangeAttempts >= 1);
+
 /// Distances
 static constexpr U_mm pulleyToCuttingEdge = 33.0_mm; /// 33.0_mm /// Pulley to cutting edge.
 /// Case 1: FINDA working: This should be the max retraction after FINDA un-triggers.

src/logic/tool_change.cpp

@@ -17,6 +17,10 @@ namespace logic {
 
 ToolChange toolChange;
 
+ToolChange::ToolChange()
+    : CommandBase()
+    , attempts(config::toolChangeAttempts) {}
+
 bool ToolChange::Reset(uint8_t param) {
     if (!CheckToolIndex(param)) {
         return false;
@@ -28,6 +32,10 @@ bool ToolChange::Reset(uint8_t param) {
         return true;
     }
 
+    return Reset(param, config::toolChangeAttempts);
+}
+
+bool ToolChange::Reset(uint8_t param, uint8_t att) {
     // @@TODO establish printer in charge of UI processing for the ToolChange command only.
     // We'll see how that works and then probably we'll introduce some kind of protocol settings to switch UI handling.
     mui::userInput.SetPrinterInCharge(true);
@@ -35,6 +43,7 @@ bool ToolChange::Reset(uint8_t param) {
     // we are either already at the correct slot, just the filament is not loaded - load the filament directly
     // or we are standing at another slot ...
     plannedSlot = param;
+    attempts = att;
 
     if (mg::globals.FilamentLoaded() >= mg::FilamentLoadState::InSelector) {
         dbg_logic_P(PSTR("Filament is loaded --> unload"));
@@ -50,6 +59,14 @@ bool ToolChange::Reset(uint8_t param) {
     return true;
 }
 
+void ToolChange::GoToRetryIfPossible(ErrorCode ec) {
+    if (--attempts) {
+        Reset(mg::globals.ActiveSlot(), attempts);
+    } else {
+        GoToErrDisengagingIdler(ec);
+    }
+}
+
 void logic::ToolChange::GoToFeedingToBondtech() {
     ml::leds.SetPairButOffOthers(mg::globals.ActiveSlot(), ml::blink0, ml::off);
     james.Reset(3);
@@ -83,7 +100,7 @@ bool ToolChange::StepInner() {
     case ProgressCode::FeedingToFinda:
         if (feed.Step()) {
             if (feed.State() == FeedToFinda::Failed) {
-                GoToErrDisengagingIdler(ErrorCode::FINDA_DIDNT_SWITCH_ON); // signal loading error
+                GoToRetryIfPossible(ErrorCode::FINDA_DIDNT_SWITCH_ON); // signal loading error
             } else {
                 GoToFeedingToBondtech();
             }
@@ -93,10 +110,10 @@ bool ToolChange::StepInner() {
         if (james.Step()) {
             switch (james.State()) {
             case FeedToBondtech::Failed:
-                GoToErrDisengagingIdler(ErrorCode::FSENSOR_DIDNT_SWITCH_ON); // signal loading error
+                GoToRetryIfPossible(ErrorCode::FSENSOR_DIDNT_SWITCH_ON); // signal loading error
                 break;
             case FeedToBondtech::FSensorTooEarly:
-                GoToErrDisengagingIdler(ErrorCode::FSENSOR_TOO_EARLY); // signal loading error
+                GoToRetryIfPossible(ErrorCode::FSENSOR_TOO_EARLY); // signal loading error
                 break;
             default:
                 ToolChangeFinishedCorrectly();

src/logic/tool_change.h

@@ -11,8 +11,7 @@ namespace logic {
 /// @brief  A high-level command state machine - handles the complex logic of tool change - which is basically a chain of an Unload and a Load operation.
 class ToolChange : public CommandBase {
 public:
-    inline ToolChange()
-        : CommandBase() {}
+    ToolChange();
 
     /// Restart the automaton
     /// @param param index of filament slot to change to - i.e. to load
@@ -27,9 +26,13 @@ public:
 
 #ifndef UNITTEST
 private:
+#else
+    inline void SetAttempts(uint8_t att) { attempts = att; }
 #endif
     void GoToFeedingToBondtech();
     void GoToFeedingToFinda();
+    bool Reset(uint8_t param, uint8_t att);
+    void GoToRetryIfPossible(ErrorCode ec);
 
     /// Common code for a correct completion of UnloadFilament
     void ToolChangeFinishedCorrectly();
@@ -38,6 +41,7 @@ private:
     FeedToFinda feed;
     FeedToBondtech james; // bond ;)
     uint8_t plannedSlot;
+    uint8_t attempts; ///< how many attempts shall the state machine try before throwing out an error - obviously this has to be >= 1
 };
 
 /// The one and only instance of ToolChange state machine in the FW

tests/unit/logic/tool_change/test_tool_change.cpp

@@ -72,6 +72,7 @@ void ToolChange(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSlot) {
 
     // restart the automaton
     tc.Reset(toSlot);
+    tc.SetAttempts(1);
 
     REQUIRE(WhileCondition(
         tc,
@@ -106,6 +107,7 @@ void NoToolChange(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSlot) {
 
     // restart the automaton
     tc.Reset(toSlot);
+    tc.SetAttempts(1);
 
     // should not do anything
     REQUIRE(tc.TopLevelState() == ProgressCode::OK);
@@ -122,6 +124,7 @@ void JustLoadFilament(logic::ToolChange &tc, uint8_t slot) {
 
     // restart the automaton
     tc.Reset(slot);
+    tc.SetAttempts(1);
 
     FeedingToFinda(tc, slot);
 
@@ -182,6 +185,7 @@ void ToolChangeFailLoadToFinda(logic::ToolChange &tc, uint8_t fromSlot, uint8_t
 
     // restart the automaton
     tc.Reset(toSlot);
+    tc.SetAttempts(1);
 
     REQUIRE(WhileCondition(tc, std::bind(SimulateUnloadToFINDA, _1, 100, 2'000), 200'000));
     REQUIRE(WhileTopState(tc, ProgressCode::UnloadingFilament, 5000));
@@ -346,6 +350,7 @@ void ToolChangeFailFSensor(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSl
 
     // restart the automaton
     tc.Reset(toSlot);
+    tc.SetAttempts(1);
 
     REQUIRE(VerifyState(tc, mg::FilamentLoadState::InNozzle, mi::idler.IdleSlotIndex(), fromSlot, true, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingFilament));
     // simulate unload to finda but fail the fsensor test