Part 2 ... not finished yet

src/logic/tool_change.dot

@@ -0,0 +1,47 @@
+digraph architecture {
+    graph [fontname=Helvetica, fontsize=10]
+    node [shape=record, fontname=Helvetica, fontsize=10]
+    edge [fontname=Helvetica, fontsize=10]
+    compound=true;
+    subgraph cluster_tool_change { label="tool_change"
+        reset
+        ActiveSlot_FilamentLoadState [label="Slot && FilLoadState", shape=diamond]
+        return
+        FilamentLoadState [shape=diamond]
+        UnloadingFilament
+        FeedingToFinda
+        FINDA [shape=diamond]
+        ErrorFINDAnotON
+        FeedingToBondtech
+        FSensor [shape=diamond]
+        ErrorFSnotON
+        ERRWaitingForUser
+        FinishedCorrectly
+        {rank = same
+                FeedingToBondtech ErrorFINDAnotON
+        }
+        {rank = same
+                FinishedCorrectly ERRWaitingForUser
+        }
+        {rank = same
+            FinishedCorrectly return
+
+        }
+    }
+    reset -> ActiveSlot_FilamentLoadState
+    ActiveSlot_FilamentLoadState:w -> return [label = "Slot && InNozzle"]
+    ActiveSlot_FilamentLoadState:s -> FilamentLoadState:n
+    FilamentLoadState -> UnloadingFilament [label=">=InSelector"]
+    FilamentLoadState:e -> FeedingToFinda [label="<InSelector"]
+    UnloadingFilament -> FeedingToFinda
+    FeedingToFinda -> FINDA
+    FINDA:w -> ErrorFINDAnotON [label="OFF"]
+    ErrorFINDAnotON -> ERRWaitingForUser
+    FINDA:s -> FeedingToBondtech:n [label="ON"]
+    FeedingToBondtech -> FSensor
+    FSensor:w -> ErrorFSnotON [label="OFF"]
+    ErrorFSnotON -> ERRWaitingForUser
+    FSensor -> FinishedCorrectly [label="ON"]
+
+
+}

src/logic/tool_change.h

@@ -9,6 +9,8 @@
 namespace logic {
 
 /// @brief  A high-level command state machine - handles the complex logic of tool change - which is basically a chain of an Unload and a Load operation.
+/// State machine overview:
+/// @dotfile tool_change.dot
 class ToolChange : public CommandBase {
 public:
     inline ToolChange()

src/logic/unload_filament.cpp

@@ -1,39 +1,4 @@
 /// @file unload_filament.cpp
-///@dot
-///digraph architecture {
-///    graph [fontname=Helvetica, fontsize=10];
-///    node [shape=record, fontname=Helvetica, fontsize=10];
-///    edge [fontname=Helvetica, fontsize=10];
-///    compound=true;
-///    subgraph cluster_unload_filament { label="unload_filament"
-///         reset;
-///         UnloadFilament [ URL="\ref logic::UnloadFilament"];
-///         finda_FilLoadState [ shape=diamond, label="FINDA && FilLoadState"];
-///         return [shape="oval"];
-///         UnloadingToFinda [ URL="\ref logic::UnloadingToFinda", shape=diamond];
-///         ErrorFSnotOFF [shape=oval];
-///         ErrorFINDAnotOFF [shape=oval];
-///         RetractingFromFinda [shape=diamond];
-///         DisengagingIdler [shape=diamond];
-///         ERRDisengagingIdler [shape=hexagon];
-///         Finished [shape=oval];
-///         {rank = same; finda_FilLoadState; return;}
-///         {rank = same; ErrorFSnotOFF; UnloadingToFinda; ErrorFINDAnotOFF;}
-///         {rank = same; DisengagingIdler; ERRDisengagingIdler;}
-///    }
-///    reset -> finda_FilLoadState
-///    finda_FilLoadState -> return [label="NO && < 2"];
-///    finda_FilLoadState -> UnloadFilament [label="YES && >=2"];
-///    UnloadFilament -> UnloadingToFinda;
-///    UnloadingToFinda -> ErrorFSnotOFF [label="err"];
-///    UnloadingToFinda -> ErrorFINDAnotOFF [label="err"];
-///    UnloadingToFinda -> RetractingFromFinda;
-///    RetractingFromFinda -> ErrorFINDAnotOFF [label="err"];
-///    RetractingFromFinda -> DisengagingIdler;
-///    DisengagingIdler -> ERRDisengagingIdler [label="err"];
-///    DisengagingIdler -> Finished;
-///}
-///@enddot
 
 #include "unload_filament.h"
 #include "../modules/finda.h"

src/logic/unload_filament.dot

@@ -1,33 +1,40 @@
 digraph architecture {
-   graph [fontname=Helvetica, fontsize=10];
+   graph [fontname=Helvetica, fontsize=10]
-   node [shape=record, fontname=Helvetica, fontsize=10];
+   node [shape=record, fontname=Helvetica, fontsize=10]
-   edge [fontname=Helvetica, fontsize=10];
+   edge [fontname=Helvetica, fontsize=10]
    compound=true;
    subgraph cluster_unload_filament { label="unload_filament"
-        reset;
+        reset
-        UnloadFilament [ URL="\ref logic::UnloadFilament"];
+        UnloadFilament [ URL="\ref logic::UnloadFilament"]
-        finda_FilLoadState [ shape=diamond, label="FINDA && FilLoadState"];
+        finda_FilLoadState [ shape=diamond, label="FINDA && FilLoadState"]
-        return [shape="oval"];
+        return [shape="oval"]
-        UnloadingToFinda [ URL="\ref logic::UnloadingToFinda", shape=diamond];
+        UnloadingToFinda [ URL="\ref logic::UnloadingToFinda", shape=diamond]
-        ErrorFSnotOFF [shape=oval];
+        ErrorFSnotOFF [shape=oval]
-        ErrorFINDAnotOFF [shape=oval];
+        ErrorFINDAnotOFF [shape=oval]
-        RetractingFromFinda [shape=diamond];
+        RetractingFromFinda [shape=diamond]
-        DisengagingIdler [shape=diamond];
+        DisengagingIdler [shape=diamond]
-        ERRDisengagingIdler [shape=hexagon];
+        ERRDisengagingIdler [shape=hexagon]
-        Finished [shape=oval];
+        Finished [shape=oval]
-        {rank = same; finda_FilLoadState; return;}
+        {rank = same
-        {rank = same; ErrorFSnotOFF; UnloadingToFinda; ErrorFINDAnotOFF;}
+        finda_FilLoadState return
-        {rank = same; DisengagingIdler; ERRDisengagingIdler;}
+        }
+        {rank = same
+        edge[ style=invis]
+        ErrorFSnotOFF -> UnloadingToFinda-> ErrorFINDAnotOFF
+        }
+        {rank = same
+        DisengagingIdler ERRDisengagingIdler
+        }
    }
    reset -> finda_FilLoadState
-   finda_FilLoadState -> return [label="NO && < 2"];
+   finda_FilLoadState -> return [label="NO && < 2"]
-   finda_FilLoadState -> UnloadFilament [label="YES && >=2"];
+   finda_FilLoadState -> UnloadFilament [label="YES && >=2"]
-   UnloadFilament -> UnloadingToFinda;
+   UnloadFilament -> UnloadingToFinda
-   UnloadingToFinda -> ErrorFSnotOFF [label="err"];
+   UnloadingToFinda -> ErrorFSnotOFF [label="err"]
-   UnloadingToFinda -> ErrorFINDAnotOFF [label="err"];
+   UnloadingToFinda -> ErrorFINDAnotOFF [label="err"]
-   UnloadingToFinda -> RetractingFromFinda;
+   UnloadingToFinda -> RetractingFromFinda
-   RetractingFromFinda -> ErrorFINDAnotOFF [label="err"];
+   RetractingFromFinda:e -> ErrorFINDAnotOFF [label="err"]
-   RetractingFromFinda -> DisengagingIdler;
+   RetractingFromFinda:s -> DisengagingIdler:n
-   DisengagingIdler -> ERRDisengagingIdler [label="err"];
+   DisengagingIdler -> ERRDisengagingIdler [label="err"]
-   DisengagingIdler -> Finished;
+   DisengagingIdler -> Finished
 }

src/logic/unload_to_finda.dot

@@ -0,0 +1,36 @@
+digraph architecture {
+    graph [fontname=Helvetica, fontsize=10];
+    node [shape=record, fontname=Helvetica, fontsize=10];
+    edge [fontname=Helvetica, fontsize=10];
+    compound=true;
+    subgraph cluster_unload_to_finda { label="unload_to_finda"
+         Reset;
+         retry [shape=circle];
+         finda_state [ shape=diamond, label="FINDA"];
+         engage_idler [shape=circle];
+         EngagingIdler [ shape=diamond];
+         UnloadingToFinda [shape=diamond];
+         pull_pulley [shape=circle];
+         WaitingForFINDA [ shape=diamond, label="Waiting for FINDA"];
+         AboardPlannedMoves [shape=circle];
+         OK;
+         Failed;
+         {rank = same; finda_state; retry;}
+         {rank = same; engage_idler; EngagingIdler;}
+         {rank = same; pull_pulley; UnloadingToFinda;}
+         {rank = same; WaitingForFINDA; AboardPlannedMoves;}
+         {rank = same; OK; Failed;}
+    }
+    Reset -> finda_state;
+    finda_state -> OK [label="NO"];
+    finda_state -> EngagingIdler [label="YES"];
+    EngagingIdler -> engage_idler;
+    EngagingIdler -> UnloadingToFinda [label=">=InSelector"];
+    EngagingIdler -> Failed [label="<InSelector"];
+    UnloadingToFinda -> pull_pulley [label="Idler engaged"];
+    UnloadingToFinda -> WaitingForFINDA;
+    WaitingForFINDA -> AboardPlannedMoves [label="FINDA off"];
+    AboardPlannedMoves -> OK;
+    WaitingForFINDA -> retry [label="FINDA still on"];
+    retry -> Reset [label="maxTries"];
+}

src/logic/unload_to_finda.h

@@ -11,6 +11,9 @@ namespace logic {
 /// - rotate pulley to some direction as long as the FINDA is on/off
 /// - rotate some axis to some fixed direction
 /// - load/unload to finda
+///
+/// State machine overview:
+/// @dotfile unload_to_finda.dot
 struct UnloadToFinda {
     /// internal states of the state machine
     enum {