Separate NoCommand and StartUp (new state machine)

The reasons for this change are:
- NoCommand is used during the lifetime of the firmware as a fallback in case an unknown command is received (simplifies command handling code). It must remain not doing anything.
- StartUp became a complex infrastructure which needs to "live" until an error is fixed (if any). That requires a "standard" StateInner() function which waits for the user to resolve the error.

Unit tests renamed as well.

src/application.cpp

@@ -18,6 +18,7 @@
 #include "logic/move_selector.h"
 #include "logic/no_command.h"
 #include "logic/set_mode.h"
+#include "logic/start_up.h"
 #include "logic/tool_change.h"
 #include "logic/unload_filament.h"
 
@@ -32,7 +33,7 @@ Application application;
 
 Application::Application()
     : lastCommandProcessedMs(0)
-    , currentCommand(&logic::noCommand)
+    , currentCommand(&logic::startUp)
     , currentCommandRq(mp::RequestMsgCodes::Reset, 0) {}
 
 void __attribute__((noinline)) Application::CheckManualOperation() {

src/logic/CMakeLists.txt

@@ -12,6 +12,7 @@ target_sources(
           no_command.cpp
           retract_from_finda.cpp
           set_mode.cpp
+          start_up.cpp
           tool_change.cpp
           unload_filament.cpp
           unload_to_finda.cpp

src/logic/no_command.cpp

@@ -1,46 +1,8 @@
 /// @file no_command.cpp
 #include "no_command.h"
-#include "../modules/buttons.h"
-#include "../modules/finda.h"
-#include "../modules/user_input.h"
 
 namespace logic {
 
 NoCommand noCommand;
 
-bool NoCommand::StepInner() {
-    switch (state) {
-    case ProgressCode::OK:
-        return true;
-    case ProgressCode::ERRWaitingForUser: {
-        // waiting for user buttons and/or a command from the printer
-        mui::Event ev = mui::userInput.ConsumeEvent();
-        switch (ev) {
-        case mui::Event::Middle:
-            switch (error) {
-            case ErrorCode::FINDA_VS_EEPROM_DISREPANCY:
-                // Retry
-                if (!mf::finda.CheckFINDAvsEEPROM()) {
-                    error = ErrorCode::FINDA_VS_EEPROM_DISREPANCY;
-                    state = ProgressCode::ERRWaitingForUser;
-                } else {
-                    error = ErrorCode::OK;
-                    state = ProgressCode::OK;
-                }
-                break;
-            default:
-                break;
-            }
-            break; // mui::Event::Middle
-        default:
-            break;
-        }
-        break; // ProgressCode::ERRWaitingForUser
-    }
-    default:
-        // Do nothing
-        break;
-    }
-    return false;
-}
 } // namespace logic

src/logic/no_command.h

@@ -15,15 +15,12 @@ public:
     bool Reset(uint8_t /*param*/) override { return true; }
 
     /// @returns true if the state machine finished its job, false otherwise
-    bool StepInner() override;
+    bool StepInner() override { return true; }
 
     /// Used to report initialization errors (which can be reported if the UART started up).
     /// Intentionally only available in the "noCommand" operation
     /// which is only active when the MMU starts and before it gets any other command from the printer.
-    inline void SetInitError(ErrorCode ec) {
+    inline void SetInitError(ErrorCode ec) { error = ec; }
-        error = ec;
-        state = ProgressCode::ERRWaitingForUser;
-    }
 };
 
 /// The one and only instance of NoCommand state machine in the FW

src/logic/start_up.cpp

@@ -0,0 +1,46 @@
+/// @file
+#include "start_up.h"
+#include "../modules/buttons.h"
+#include "../modules/finda.h"
+#include "../modules/user_input.h"
+
+namespace logic {
+
+StartUp startUp;
+
+bool StartUp::StepInner() {
+    switch (state) {
+    case ProgressCode::OK:
+        return true;
+    case ProgressCode::ERRWaitingForUser: {
+        // waiting for user buttons and/or a command from the printer
+        mui::Event ev = mui::userInput.ConsumeEvent();
+        switch (ev) {
+        case mui::Event::Middle:
+            switch (error) {
+            case ErrorCode::FINDA_VS_EEPROM_DISREPANCY:
+                // Retry
+                if (!mf::finda.CheckFINDAvsEEPROM()) {
+                    error = ErrorCode::FINDA_VS_EEPROM_DISREPANCY;
+                    state = ProgressCode::ERRWaitingForUser;
+                } else {
+                    error = ErrorCode::OK;
+                    state = ProgressCode::OK;
+                }
+                break;
+            default:
+                break;
+            }
+            break; // mui::Event::Middle
+        default:
+            break;
+        }
+        break; // ProgressCode::ERRWaitingForUser
+    }
+    default:
+        // Do nothing
+        break;
+    }
+    return false;
+}
+} // namespace logic

src/logic/start_up.h

@@ -0,0 +1,32 @@
+/// @file no_command.h
+#pragma once
+#include <stdint.h>
+#include "command_base.h"
+
+namespace logic {
+
+/// @brief Firmware start up sequence with error handling & reporting
+class StartUp : public CommandBase {
+public:
+    inline StartUp()
+        : CommandBase() {}
+
+    /// Restart the automaton
+    bool Reset(uint8_t /*param*/) override { return true; }
+
+    /// @returns true if the state machine finished its job, false otherwise
+    bool StepInner() override;
+
+    /// Used to report initialization errors (which can be reported if the UART started up).
+    /// Intentionally only available in the "noCommand" operation
+    /// which is only active when the MMU starts and before it gets any other command from the printer.
+    inline void SetInitError(ErrorCode ec) {
+        error = ec;
+        state = ProgressCode::ERRWaitingForUser;
+    }
+};
+
+/// The one and only instance of StartUp state machine in the FW
+extern StartUp startUp;
+
+} // namespace logic

src/main.cpp

@@ -28,7 +28,7 @@
 #include "application.h"
 
 #include "logic/hw_sanity.h"
-#include "logic/no_command.h"
+#include "logic/start_up.h"
 
 /// One-time setup of HW and SW components
 /// Called before entering the loop() function
@@ -91,7 +91,7 @@ static void setup2() {
     mf::finda.BlockingInit();
 
     if (!mf::finda.CheckFINDAvsEEPROM()) {
-        logic::noCommand.SetInitError(ErrorCode::FINDA_VS_EEPROM_DISREPANCY);
+        logic::startUp.SetInitError(ErrorCode::FINDA_VS_EEPROM_DISREPANCY);
     }
 
     /// Turn off all leds
@@ -110,7 +110,7 @@ static void setup2() {
 
     if (logic::hwSanity.Error() != ErrorCode::OK) {
         // forward the issue to the logic startup handler.
-        logic::noCommand.SetInitError(logic::hwSanity.Error());
+        logic::startUp.SetInitError(logic::hwSanity.Error());
     } else {
         // Idler and Selector decide whether homing is possible/safe
         mi::idler.Init();

tests/unit/application/CMakeLists.txt

@@ -39,6 +39,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/home.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/set_mode.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/start_up.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/feed_to_finda.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/feed_to_bondtech.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/retract_from_finda.cpp

tests/unit/logic/CMakeLists.txt

@@ -12,7 +12,7 @@ add_subdirectory(eject_filament)
 
 add_subdirectory(load_filament)
 
-add_subdirectory(no_command)
+add_subdirectory(start_up)
 
 add_subdirectory(tool_change)
 

tests/unit/logic/cut_filament/CMakeLists.txt

@@ -14,6 +14,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/logic/no_command.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/retract_from_finda.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/set_mode.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/start_up.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/tool_change.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp

tests/unit/logic/eject_filament/CMakeLists.txt

@@ -14,6 +14,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/logic/no_command.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/retract_from_finda.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/set_mode.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/start_up.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/tool_change.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp

tests/unit/logic/failing_tmc/CMakeLists.txt

@@ -14,6 +14,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/logic/no_command.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/retract_from_finda.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/set_mode.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/start_up.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/tool_change.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp

tests/unit/logic/feed_to_bondtech/CMakeLists.txt

@@ -14,6 +14,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/logic/no_command.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/retract_from_finda.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/set_mode.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/start_up.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/tool_change.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp

tests/unit/logic/feed_to_finda/CMakeLists.txt

@@ -14,6 +14,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/logic/no_command.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/retract_from_finda.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/set_mode.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/start_up.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/tool_change.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp

tests/unit/logic/homing/CMakeLists.txt

@@ -14,6 +14,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/logic/no_command.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/retract_from_finda.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/set_mode.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/start_up.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/tool_change.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp

tests/unit/logic/load_filament/CMakeLists.txt

@@ -15,6 +15,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/logic/no_command.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/retract_from_finda.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/set_mode.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/start_up.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/tool_change.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp

tests/unit/logic/start_up/CMakeLists.txt

@@ -1,6 +1,6 @@
 # define the test executable
 add_executable(
-  no_command_tests
+  start_up_tests
   ${CMAKE_SOURCE_DIR}/src/application.cpp
   ${CMAKE_SOURCE_DIR}/src/registers.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/command_base.cpp
@@ -14,6 +14,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/logic/no_command.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/retract_from_finda.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/set_mode.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/start_up.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/tool_change.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp
@@ -42,14 +43,14 @@ add_executable(
   ${LOGIC_STUBS_DIR}/homing.cpp
   ${LOGIC_STUBS_DIR}/main_loop_stub.cpp
   ${LOGIC_STUBS_DIR}/stub_motion.cpp
-  test_no_command.cpp
+  test_start_up.cpp
   )
 
 # define required search paths
 target_include_directories(
-  no_command_tests PUBLIC "${CMAKE_SOURCE_DIR}/src/modules" "${CMAKE_SOURCE_DIR}/src/hal"
+  start_up_tests PUBLIC "${CMAKE_SOURCE_DIR}/src/modules" "${CMAKE_SOURCE_DIR}/src/hal"
-                          "${CMAKE_SOURCE_DIR}/src/logic"
+                        "${CMAKE_SOURCE_DIR}/src/logic"
   )
 
 # tell build system about the test case
-add_catch_test(no_command_tests)
+add_catch_test(start_up_tests)

tests/unit/logic/start_up/test_start_up.cpp

@@ -12,7 +12,7 @@
 #include "../../../../src/modules/pulley.h"
 #include "../../../../src/modules/user_input.h"
 
-#include "../../../../src/logic/no_command.h"
+#include "../../../../src/logic/start_up.h"
 
 #include "../../modules/stubs/stub_adc.h"
 
@@ -23,30 +23,30 @@
 #include "../helpers/helpers.ipp"
 
 TEST_CASE("no_command::SetInitError", "[no_command]") {
-    logic::NoCommand nc;
+    logic::StartUp su;
 
     // Step 1 - Check there are no errors
-    REQUIRE(nc.Error() == ErrorCode::OK);
+    REQUIRE(su.Error() == ErrorCode::OK);
-    REQUIRE(nc.State() == ProgressCode::OK);
+    REQUIRE(su.State() == ProgressCode::OK);
 
     // Step 2 - Create error
-    nc.SetInitError(ErrorCode::FINDA_VS_EEPROM_DISREPANCY);
+    su.SetInitError(ErrorCode::FINDA_VS_EEPROM_DISREPANCY);
 
     // Step 3 - Check error is waiting for user input
-    REQUIRE(nc.Error() == ErrorCode::FINDA_VS_EEPROM_DISREPANCY);
+    REQUIRE(su.Error() == ErrorCode::FINDA_VS_EEPROM_DISREPANCY);
-    REQUIRE(nc.State() == ProgressCode::ERRWaitingForUser);
+    REQUIRE(su.State() == ProgressCode::ERRWaitingForUser);
 
     // Step 4 - Loop through a few iterations, error remains unchanged
     for (size_t i = 0; i < 100; ++i) {
-        nc.Step();
+        su.Step();
     }
 
-    REQUIRE(nc.Error() == ErrorCode::FINDA_VS_EEPROM_DISREPANCY);
+    REQUIRE(su.Error() == ErrorCode::FINDA_VS_EEPROM_DISREPANCY);
-    REQUIRE(nc.State() == ProgressCode::ERRWaitingForUser);
+    REQUIRE(su.State() == ProgressCode::ERRWaitingForUser);
 }
 
 TEST_CASE("no_command::FINDA_VS_EEPROM_DISREPANCY_retry", "[no_command]") {
-    logic::NoCommand nc;
+    logic::StartUp su;
 
     // Initalise the ADC
     hal::adc::SetADC(config::buttonsADCIndex, config::buttonADCMaxValue);
@@ -56,33 +56,33 @@ TEST_CASE("no_command::FINDA_VS_EEPROM_DISREPANCY_retry", "[no_command]") {
     SetFINDAStateAndDebounce(true);
 
     // Step 1 - Check there are no errors
-    REQUIRE(nc.Error() == ErrorCode::OK);
+    REQUIRE(su.Error() == ErrorCode::OK);
-    REQUIRE(nc.State() == ProgressCode::OK);
+    REQUIRE(su.State() == ProgressCode::OK);
 
     // Step 2 - Create error
-    nc.SetInitError(ErrorCode::FINDA_VS_EEPROM_DISREPANCY);
+    su.SetInitError(ErrorCode::FINDA_VS_EEPROM_DISREPANCY);
 
     // Step 3 - Check error is waiting for user input
-    REQUIRE(nc.Error() == ErrorCode::FINDA_VS_EEPROM_DISREPANCY);
+    REQUIRE(su.Error() == ErrorCode::FINDA_VS_EEPROM_DISREPANCY);
-    REQUIRE(nc.State() == ProgressCode::ERRWaitingForUser);
+    REQUIRE(su.State() == ProgressCode::ERRWaitingForUser);
 
     // Step 4 - Press and release button (from Printer)
-    PressButtonAndDebounce(nc, mb::Middle, true);
+    PressButtonAndDebounce(su, mb::Middle, true);
-    ClearButtons(nc);
+    ClearButtons(su);
 
     // Check that the error is still present
-    REQUIRE(nc.Error() == ErrorCode::FINDA_VS_EEPROM_DISREPANCY);
+    REQUIRE(su.Error() == ErrorCode::FINDA_VS_EEPROM_DISREPANCY);
-    REQUIRE(nc.State() == ProgressCode::ERRWaitingForUser);
+    REQUIRE(su.State() == ProgressCode::ERRWaitingForUser);
 
     // Untrigger FINDA and FSensor
     SetFSensorStateAndDebounce(false);
     SetFINDAStateAndDebounce(false);
 
     // Step 4 - Press and release button
-    PressButtonAndDebounce(nc, mb::Middle, true);
+    PressButtonAndDebounce(su, mb::Middle, true);
-    ClearButtons(nc);
+    ClearButtons(su);
 
     // Now the error should be gone :)
-    REQUIRE(nc.Error() == ErrorCode::OK);
+    REQUIRE(su.Error() == ErrorCode::OK);
-    REQUIRE(nc.State() == ProgressCode::OK);
+    REQUIRE(su.State() == ProgressCode::OK);
 }

tests/unit/logic/tool_change/CMakeLists.txt

@@ -15,6 +15,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/logic/no_command.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/retract_from_finda.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/set_mode.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/start_up.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/tool_change.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp

tests/unit/logic/unload_filament/CMakeLists.txt

@@ -14,6 +14,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/logic/no_command.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/retract_from_finda.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/set_mode.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/start_up.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/tool_change.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp

tests/unit/logic/unload_to_finda/CMakeLists.txt

@@ -14,6 +14,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/logic/no_command.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/retract_from_finda.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/set_mode.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/start_up.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/tool_change.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp