Make logic prototype compilable

CMakeLists.txt

@@ -195,6 +195,7 @@ target_sources(
           src/modules/finda.cpp
           src/modules/leds.cpp
           src/modules/motion.cpp
+          src/logic/mm_control.cpp
   )
 
 set_property(

src/logic/mm_control.cpp

@@ -49,9 +49,9 @@ struct UnloadToFinda {
             // 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, -1400, 6000); // @@TODO constants
-            mm::motion.PlanMove(mm::Pulley, -1800 + 1400, 2500); // @@TODO constants 1800-1400 = 400
+            //            mm::motion.PlanMove(mm::Pulley, -1800 + 1400, 2500); // @@TODO constants 1800-1400 = 400
-            mm::motion.PlanMove(mm::Pulley, -second_point + 1800, 550); // @@TODO constants
+            //            mm::motion.PlanMove(mm::Pulley, -second_point + 1800, 550); // @@TODO constants
             state = WaitingForFINDA;
         }
     }
@@ -117,17 +117,17 @@ class UnloadFilament : public TaskBase {
         namespace mm = modules::motion;
         switch (state) {
         case EngagingIdler: // state 1 engage idler
-            if (mm::motion.IdlerEngaged()) { // if idler is in parked position un-park him get in contact with filament
+            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 == UnloadToFinda2::Failed) {
+                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);
+                    //                    modules::leds::leds.SetMode(active_extruder, modules::leds::red, modules::leds::blink0);
                 } else {
                     state = DisengagingIdler;
                 }
@@ -138,7 +138,7 @@ class UnloadFilament : public TaskBase {
         case DisengagingIdler:
             if (mm::motion.IdlerDisengaged()) {
                 state = AvoidingGrind;
-                mm::motion.PlanMove(mm::Pulley, -100, 10); // @@TODO constants
+                //                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
@@ -159,7 +159,7 @@ class UnloadFilament : public TaskBase {
                 state = ERR1WaitingForUser;
             }
             return false;
-        case ERR1WaitingForUser:
+        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()*/;
@@ -172,14 +172,15 @@ class UnloadFilament : public TaskBase {
                 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::red, modules::leds::off);
-                modules::leds::leds.SetMode(active_extruder, modules::leds::green, modules::leds::on);
+                //                modules::leds::leds.SetMode(active_extruder, modules::leds::green, modules::leds::on);
-                mm::motion.PlanMove(mm::Pulley, 450, 5000); // @@TODO constants
+                //                mm::motion.PlanMove(mm::Pulley, 450, 5000); // @@TODO constants
                 state = AvoidingGrind;
             }
             return false;
+        }
         case OK:
-            isFilamentLoaded = false; // filament unloaded
+            //            isFilamentLoaded = false; // filament unloaded
             return true; // successfully finished
         }
     }

src/main.cpp

@@ -75,6 +75,8 @@ void setup() {
 
     cpu::Init();
 
+    // watchdog init
+
     shr16::shr16.Init();
     modules::leds::leds.SetMode(4, modules::leds::Color::green, modules::leds::Mode::blink0);
     modules::leds::leds.Step(0);
@@ -249,6 +251,7 @@ void loop() {
     modules::leds::leds.Step(0);
     modules::finda::finda.Step();
     currentCommand->Step();
+    // add a watchdog reset
 }
 
 int main() {

src/modules/leds.cpp

@@ -4,6 +4,8 @@
 namespace modules {
 namespace leds {
 
+LEDs leds;
+
 void LED::SetMode(Mode mode) {
     state.mode = mode;
     // set initial state of LEDs correctly - transition from one mode to another

src/modules/motion.cpp

@@ -6,14 +6,18 @@ namespace motion {
 
 Motion motion;
 
-void Motion::PlanMove(Axis axis, float targetPosition, uint16_t feedrate) {}
+void Motion::PlanMove(uint16_t pulley, uint16_t idler, uint16_t selector, uint16_t feedrate, uint16_t starting_speed, uint16_t ending_speed) {}
 
-void Motion::Home(Axis axis) {}
+void Motion::Home(Axis axis, bool direction) {}
 
 void Motion::SetMode(MotorMode mode) {}
 
 void Motion::Step() {}
 
+bool Motion::IdlerDisengaged() const { return true; }
+
+bool Motion::IdlerEngaged() const { return true; }
+
 void ISR() {}
 
 //@@TODO check the directions

src/modules/motion.h

@@ -58,6 +58,7 @@ public:
     static void StepPulley(uint8_t on);
 };
 
+/// @@TODO this is subject of discussion and change in the future
 class Motion {
 public:
     /// Init axis driver
@@ -67,10 +68,12 @@ public:
     void DisableAxis(Axis axis) {}
 
     /// Enqueue move of a specific motor/axis into planner buffer
-    void PlanMove(Axis axis, float targetPosition, uint16_t feedrate);
+    /// @param pulley, idler, selector - target coords
+    void PlanMove(uint16_t pulley, uint16_t idler, uint16_t selector, uint16_t feedrate, uint16_t starting_speed, uint16_t ending_speed);
 
     /// Enqueue performing of homing of an axis
-    void Home(Axis axis);
+    /// @@TODO
+    void Home(Axis axis, bool direction);
 
     /// Set mode of TMC/motors operation
     /// Common for all axes/motors
@@ -88,6 +91,9 @@ public:
     /// probably higher-level operations knowing the semantic meaning of axes
     void Idler(IdlerMode im) {}
 
+    bool IdlerDisengaged() const;
+    bool IdlerEngaged() const;
+
 private:
 };