Add Feed to FINDA state machine

src/logic/feed_to_finda.cpp

@@ -0,0 +1,61 @@
+#include "feed_to_finda.h"
+#include "../modules/buttons.h"
+#include "../modules/finda.h"
+#include "../modules/idler.h"
+#include "../modules/leds.h"
+#include "../modules/motion.h"
+#include "../modules/permanent_storage.h"
+
+namespace logic {
+
+namespace mm = modules::motion;
+namespace mf = modules::finda;
+namespace mi = modules::idler;
+namespace ml = modules::leds;
+namespace mb = modules::buttons;
+
+void FeedToFinda::Reset(bool feedPhaseLimited) {
+    state = EngagingIdler;
+    this->feedPhaseLimited = feedPhaseLimited;
+    mi::idler.Engage(0 /*active_extruder*/); // @@TODO
+}
+
+bool FeedToFinda::Step() {
+    switch (state) {
+    case EngagingIdler:
+        if (mi::idler.Engaged()) {
+            state = PushingFilament;
+            ml::leds.SetMode(0, ml::Color::green, ml::blink0); //@@TODO active slot index
+            mm::motion.PlanMove(feedPhaseLimited ? 1500 : 65535, 0, 0, 4000, 0, 0); //@@TODO constants
+        }
+        return false;
+    case PushingFilament:
+        if (mf::finda.Pressed() || (feedPhaseLimited && mb::buttons.AnyButtonPressed())) { // @@TODO probably also a command from the printer
+            mm::motion.AbortPlannedMoves(); // stop pushing filament
+            // FINDA triggered - that means it works and detected the filament tip
+            state = UnloadBackToPTFE;
+            mm::motion.PlanMove(-600, 0, 0, 4000, 0, 0); //@@TODO constants
+        } else if (mm::motion.QueueEmpty()) { // all moves have been finished and FINDA didn't switch on
+            state = Failed;
+        }
+        return false;
+    case UnloadBackToPTFE:
+        if (mm::motion.QueueEmpty()) { // all moves have been finished
+            state = DisengagingIdler;
+            mi::idler.Disengage();
+        }
+        return false;
+    case DisengagingIdler:
+        if (!mi::idler.Engaged()) {
+            state = OK;
+            ml::leds.SetMode(0, ml::Color::green, ml::on); //@@TODO active slot index
+        }
+        return false;
+    case OK:
+    case Failed:
+    default:
+        return true;
+    }
+}
+
+} // namespace logic

src/logic/feed_to_finda.h

@@ -0,0 +1,44 @@
+#pragma once
+#include <stdint.h>
+
+/// @brief Feed filament to FINDA
+///
+/// Continuously feed filament until FINDA is not switched ON
+/// and than retract to align filament 600 steps away from FINDA.
+
+namespace logic {
+
+struct FeedToFinda {
+    enum {
+        EngagingIdler,
+        PushingFilament,
+        UnloadBackToPTFE,
+        DisengagingIdler,
+        OK,
+        Failed
+    };
+
+    inline FeedToFinda()
+        : state(OK)
+        , feedPhaseLimited(true) {}
+
+    /// Restart the automaton
+    /// @param feedPhaseLimited
+    ///  * true feed phase is limited, doesn't react on button press
+    ///  * false feed phase is unlimited, can be interrupted by any button press after blanking time
+    void Reset(bool feedPhaseLimited);
+
+    /// @returns true if the state machine finished its job, false otherwise
+    bool Step();
+
+    /// This method may be used to check the result of the automaton
+    /// @returns OK if everything went OK and FINDA triggered (or the user pressed a button)
+    /// @returns Failed if the FINDA didn't trigger
+    inline uint8_t State() const { return state; }
+
+private:
+    uint8_t state;
+    bool feedPhaseLimited;
+};
+
+} // namespace logic