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

Extract common Dis/Engaging of idler in Error states into base class

pull/138/head
D.R.racer 2021-11-08 12:32:44 +01:00 committed by DRracer
parent c2325b687a
commit afab309d27
5 changed files with 36 additions and 42 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
src/logic/command_base.cpp
View File

@ -1,5 +1,6 @@
/// @file command_base.cpp
#include "command_base.h"
#include "../modules/globals.h"
#include "../modules/idler.h"
#include "../modules/selector.h"
#include "../modules/motion.h"
@ -105,4 +106,17 @@ void CommandBase::ErrDisengagingIdler() {
}
}
void CommandBase::GoToErrDisengagingIdler(ErrorCode ec) {
state = ProgressCode::ERRDisengagingIdler;
error = ec;
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::blink0);
mi::idler.Disengage();
}
void CommandBase::GoToErrEngagingIdler() {
state = ProgressCode::ERREngagingIdler;
mi::idler.Engage(mg::globals.ActiveSlot());
}
} // namespace logic

8
src/logic/command_base.h
View File

@ -75,9 +75,15 @@ protected:
/// If not, it returns false and sets the error to ErrorCode::INVALID_TOOL
bool CheckToolIndex(uint8_t index);
/// Common error processing - disengaging idler
/// Perform disengaging idler in ErrDisengagingIdler state
void ErrDisengagingIdler();
/// Transit the state machine into ErrDisengagingIdler
void GoToErrDisengagingIdler(ErrorCode ec);
/// Transit the state machine into ErrEngagingIdler
void GoToErrEngagingIdler();
ProgressCode state; ///< current progress state of the state machine
ErrorCode error; ///< current error code
};

18
src/logic/load_filament.cpp
View File

@ -45,11 +45,7 @@ bool LoadFilament::StepInner() {
if (feed.Step()) {
if (feed.State() == FeedToFinda::Failed) {
// @@TODO - try to repeat 6x - push/pull sequence - probably something to put into feed_to_finda as an option
state = ProgressCode::ERRDisengagingIdler;
error = ErrorCode::FINDA_DIDNT_SWITCH_ON;
mi::idler.Disengage();
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::blink0); // signal loading error
GoToErrDisengagingIdler(ErrorCode::FINDA_DIDNT_SWITCH_ON); // signal loading error
} else {
state = ProgressCode::RetractingFromFinda;
retract.Reset();
@ -59,14 +55,11 @@ bool LoadFilament::StepInner() {
case ProgressCode::RetractingFromFinda:
if (retract.Step()) {
if (retract.State() == RetractFromFinda::Failed) {
state = ProgressCode::ERRDisengagingIdler;
error = ErrorCode::FINDA_DIDNT_SWITCH_OFF;
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::blink0); // signal loading error
GoToErrDisengagingIdler(ErrorCode::FINDA_DIDNT_SWITCH_OFF); // signal loading error
} else {
state = ProgressCode::DisengagingIdler;
mi::idler.Disengage();
}
mi::idler.Disengage(); // disengage in both cases
}
break;
case ProgressCode::DisengagingIdler:
@ -88,8 +81,7 @@ bool LoadFilament::StepInner() {
mui::Event ev = mui::userInput.ConsumeEvent();
switch (ev) {
case mui::Event::Left: // try to manually load just a tiny bit - help the filament with the pulley
state = ProgressCode::ERREngagingIdler;
mi::idler.Engage(mg::globals.ActiveSlot());
GoToErrEngagingIdler();
break;
case mui::Event::Middle: // try again the whole sequence
// however it depends on the state of FINDA - if it is on, we must perform unload first
@ -127,7 +119,7 @@ bool LoadFilament::StepInner() {
GoToRetractingFromFinda();
} else if (mm::motion.QueueEmpty()) {
// helped a bit, but FINDA didn't trigger, return to the main error state
state = ProgressCode::ERRDisengagingIdler;
GoToErrDisengagingIdler(ErrorCode::FINDA_DIDNT_SWITCH_ON);
}
return false;
default: // we got into an unhandled state, better report it

17
src/logic/tool_change.cpp
View File

@ -60,11 +60,7 @@ bool ToolChange::StepInner() {
case ProgressCode::FeedingToFinda:
if (feed.Step()) {
if (feed.State() == FeedToFinda::Failed) {
state = ProgressCode::ERRDisengagingIdler;
error = ErrorCode::FINDA_DIDNT_SWITCH_ON;
mi::idler.Disengage();
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::blink0); // signal loading error
GoToErrDisengagingIdler(ErrorCode::FINDA_DIDNT_SWITCH_ON); // signal loading error
} else {
state = ProgressCode::FeedingToBondtech;
james.Reset(3);
@ -74,11 +70,7 @@ bool ToolChange::StepInner() {
case ProgressCode::FeedingToBondtech:
if (james.Step()) {
if (james.State() == FeedToBondtech::Failed) {
state = ProgressCode::ERRDisengagingIdler;
error = ErrorCode::FSENSOR_DIDNT_SWITCH_ON;
mi::idler.Disengage();
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::blink0); // signal loading error
GoToErrDisengagingIdler(ErrorCode::FSENSOR_DIDNT_SWITCH_ON); // signal loading error
} else {
state = ProgressCode::OK;
error = ErrorCode::OK;
@ -97,8 +89,7 @@ bool ToolChange::StepInner() {
mui::Event ev = mui::userInput.ConsumeEvent();
switch (ev) {
case mui::Event::Left: // try to manually load just a tiny bit - help the filament with the pulley
state = ProgressCode::ERREngagingIdler;
mi::idler.Engage(mg::globals.ActiveSlot());
GoToErrEngagingIdler();
break;
case mui::Event::Middle: // try again the whole sequence
Reset(mg::globals.ActiveSlot());
@ -146,7 +137,7 @@ bool ToolChange::StepInner() {
error = ErrorCode::RUNNING;
} else if (mm::motion.QueueEmpty()) {
// helped a bit, but FINDA/Fsensor didn't trigger, return to the main error state
state = ProgressCode::ERRDisengagingIdler;
GoToErrDisengagingIdler(ErrorCode::FSENSOR_DIDNT_SWITCH_ON);
}
return false;
default: // we got into an unhandled state, better report it

21
src/logic/unload_filament.cpp
View File

@ -38,16 +38,11 @@ bool UnloadFilament::StepInner() {
if (unl.Step()) {
if (unl.State() == UnloadToFinda::Failed) {
// couldn't unload to FINDA, report error and wait for user to resolve it
state = ProgressCode::ERRDisengagingIdler;
error = ErrorCode::FINDA_DIDNT_SWITCH_OFF;
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::blink0);
mi::idler.Disengage();
GoToErrDisengagingIdler(ErrorCode::FINDA_DIDNT_SWITCH_OFF);
} else if (mfs::fsensor.Pressed()) {
// fsensor still pressed - that smells bad - a piece of filament may still be present in the heatsink
// and that would cause serious problems while loading another filament
state = ProgressCode::ERRDisengagingIdler;
error = ErrorCode::FSENSOR_DIDNT_SWITCH_OFF;
GoToErrDisengagingIdler(ErrorCode::FSENSOR_DIDNT_SWITCH_OFF);
} else {
state = ProgressCode::RetractingFromFinda;
retract.Reset();
@ -57,14 +52,11 @@ bool UnloadFilament::StepInner() {
case ProgressCode::RetractingFromFinda:
if (retract.Step()) {
if (retract.State() == RetractFromFinda::Failed) {
state = ProgressCode::ERRDisengagingIdler;
error = ErrorCode::FINDA_DIDNT_SWITCH_OFF;
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::blink0); // signal loading error
GoToErrDisengagingIdler(ErrorCode::FINDA_DIDNT_SWITCH_OFF); // signal unloading error
} else {
state = ProgressCode::DisengagingIdler;
mi::idler.Disengage();
}
mi::idler.Disengage();
}
return false;
case ProgressCode::DisengagingIdler:
@ -85,8 +77,7 @@ bool UnloadFilament::StepInner() {
mui::Event ev = mui::userInput.ConsumeEvent();
switch (ev) {
case mui::Event::Left: // try to manually unload just a tiny bit - help the filament with the pulley
state = ProgressCode::ERREngagingIdler;
mi::idler.Engage(mg::globals.ActiveSlot());
GoToErrEngagingIdler();
break;
case mui::Event::Middle: // try again the whole sequence
Reset(0);
@ -127,7 +118,7 @@ bool UnloadFilament::StepInner() {
error = ErrorCode::RUNNING;
} else if (mm::motion.QueueEmpty()) {
// helped a bit, but FINDA didn't trigger, return to the main error state
state = ProgressCode::ERRDisengagingIdler;
GoToErrDisengagingIdler(ErrorCode::FINDA_DIDNT_SWITCH_OFF);
}
return false;
case ProgressCode::OK: