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

src/logic/command_base.cpp

@@ -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

src/logic/command_base.h

@@ -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
 };

src/logic/load_filament.cpp

@@ -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;
+                GoToErrDisengagingIdler(ErrorCode::FINDA_DIDNT_SWITCH_ON); // signal loading error
-                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
             } 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;
+                GoToErrDisengagingIdler(ErrorCode::FINDA_DIDNT_SWITCH_OFF); // signal loading error
-                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
             } 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;
+            GoToErrEngagingIdler();
-            mi::idler.Engage(mg::globals.ActiveSlot());
             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

src/logic/tool_change.cpp

@@ -60,11 +60,7 @@ bool ToolChange::StepInner() {
     case ProgressCode::FeedingToFinda:
         if (feed.Step()) {
             if (feed.State() == FeedToFinda::Failed) {
-                state = ProgressCode::ERRDisengagingIdler;
+                GoToErrDisengagingIdler(ErrorCode::FINDA_DIDNT_SWITCH_ON); // signal loading error
-                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
             } 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;
+                GoToErrDisengagingIdler(ErrorCode::FSENSOR_DIDNT_SWITCH_ON); // signal loading error
-                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
             } 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;
+            GoToErrEngagingIdler();
-            mi::idler.Engage(mg::globals.ActiveSlot());
             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

src/logic/unload_filament.cpp

@@ -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;
+                GoToErrDisengagingIdler(ErrorCode::FINDA_DIDNT_SWITCH_OFF);
-                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();
             } 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;
+                GoToErrDisengagingIdler(ErrorCode::FSENSOR_DIDNT_SWITCH_OFF);
-                error = 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;
+                GoToErrDisengagingIdler(ErrorCode::FINDA_DIDNT_SWITCH_OFF); // signal unloading error
-                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
             } 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;
+            GoToErrEngagingIdler();
-            mi::idler.Engage(mg::globals.ActiveSlot());
             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: