Michal
/
Prusa-Firmware-MMU
mirror of https://github.com/prusa3d/Prusa-Firmware-MMU
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Improve error handling of ToolChange state machines 

... and fix an edge case in LoadFilament
pull/138/head
D.R.racer 2021-11-04 11:15:53 +01:00 committed by DRracer
parent bfa710525b
commit 96397ec16b
3 changed files with 31 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
src/logic/load_filament.cpp
View File

@ -1,7 +1,6 @@
/// @file load_filament.cpp
#include "load_filament.h"
#include "../modules/finda.h"
#include "../modules/fsensor.h"
#include "../modules/globals.h"
#include "../modules/idler.h"
#include "../modules/leds.h"
@ -89,10 +88,6 @@ bool LoadFilament::StepInner() {
// FINDA is still NOT pressed - that smells bad
error = ErrorCode::FINDA_DIDNT_SWITCH_ON;
state = ProgressCode::ERRWaitingForUser; // stand still
} else if (!mfs::fsensor.Pressed()) {
// printer's filament sensor is still NOT pressed - that smells bad
error = ErrorCode::FSENSOR_DIDNT_SWITCH_ON;
state = ProgressCode::ERRWaitingForUser; // stand still
} else {
// all sensors are ok
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);
@ -115,7 +110,10 @@ bool LoadFilament::StepInner() {
case ProgressCode::ERRHelpingFilament:
if (mf::finda.Pressed()) {
// the help was enough to press the FINDA, we are ok, continue normally
state = ProgressCode::FeedingToBondtech;
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);
state = ProgressCode::RetractingFromFinda;
retract.Reset();
error = ErrorCode::RUNNING;
} else if (mm::motion.QueueEmpty()) {
// helped a bit, but FINDA didn't trigger, return to the main error state

32
src/logic/tool_change.cpp
View File

@ -2,6 +2,7 @@
#include "tool_change.h"
#include "../modules/buttons.h"
#include "../modules/finda.h"
#include "../modules/fsensor.h"
#include "../modules/globals.h"
#include "../modules/idler.h"
#include "../modules/leds.h"
@ -103,10 +104,22 @@ bool ToolChange::StepInner() {
Reset(mg::globals.ActiveSlot());
break;
case mui::Event::Right: // problem resolved - the user pushed the fillament by hand?
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on);
// mm::motion.PlanMove(mm::Pulley, 450, 5000); // @@TODO constants
state = ProgressCode::AvoidingGrind;
// we should check the state of all the sensors and either report another error or confirm the correct state
if (!mf::finda.Pressed()) {
// FINDA is still NOT pressed - that smells bad
error = ErrorCode::FINDA_DIDNT_SWITCH_ON;
state = ProgressCode::ERRWaitingForUser; // stand still
} else if (!mfs::fsensor.Pressed()) {
// printer's filament sensor is still NOT pressed - that smells bad
error = ErrorCode::FSENSOR_DIDNT_SWITCH_ON;
state = ProgressCode::ERRWaitingForUser; // stand still
} else {
// all sensors are ok
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on);
state = ProgressCode::OK;
error = ErrorCode::OK;
}
break;
default: // no event, continue waiting for user input
break;
@ -116,16 +129,23 @@ bool ToolChange::StepInner() {
case ProgressCode::ERREngagingIdler:
if (mi::idler.Engaged()) {
state = ProgressCode::ERRHelpingFilament;
mm::motion.PlanMove(mm::Pulley, 450, 5000); //@@TODO constants
mm::motion.PlanMove<mm::Pulley>(config::pulleyHelperMove, config::pulleySlowFeedrate);
}
return false;
case ProgressCode::ERRHelpingFilament:
// @@TODO helping filament needs improvement - the filament should try to move forward as long as the button is pressed
if (mf::finda.Pressed()) {
// the help was enough to press the FINDA, we are ok, continue normally
state = ProgressCode::FeedingToBondtech;
error = ErrorCode::RUNNING;
} else if (mfs::fsensor.Pressed()) {
// the help was enough to press the filament sensor, we are ok, continue normally
// This is not correct @@TODO - when the fsensor triggers, we still need to push the filament into the nozzle/gears
// which requires restarting James from its last stage
state = ProgressCode::FeedingToBondtech;
error = ErrorCode::RUNNING;
} else if (mm::motion.QueueEmpty()) {
// helped a bit, but FINDA didn't trigger, return to the main error state
// helped a bit, but FINDA/Fsensor didn't trigger, return to the main error state
state = ProgressCode::ERRDisengagingIdler;
}
return false;

2
tests/unit/logic/load_filament/test_load_filament.cpp
View File

@ -126,7 +126,7 @@ void FailedLoadToFindaResolveHelpFindaTriggered(uint8_t slot, logic::LoadFilamen
return lf.TopLevelState() == ProgressCode::ERRHelpingFilament; },
5000));
REQUIRE(VerifyState(lf, mg::FilamentLoadState::InSelector, slot, slot, true, true, ml::off, ml::blink0, ErrorCode::RUNNING, ProgressCode::FeedingToBondtech));
REQUIRE(VerifyState(lf, mg::FilamentLoadState::InSelector, slot, slot, true, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::RetractingFromFinda));
}
void FailedLoadToFindaResolveHelpFindaDidntTrigger(uint8_t slot, logic::LoadFilament &lf) {