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Prusa-Firmware-MMU
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Rename mp (modules::pulley) namespace to mpu 

clashed with the already used `modules::protocol` (mp)
pull/154/head
D.R.racer 2022-01-17 09:00:05 +01:00 committed by DRracer
parent b36e6b99a1
commit c5e5f57100
12 changed files with 27 additions and 27 deletions
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4
src/logic/command_base.cpp
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@ -120,7 +120,7 @@ bool CommandBase::WaitForModulesErrorRecovery() {
if (WaitForOneModuleErrorRecovery(CheckMovable(ms::selector), ms::selector))
return true;
if (WaitForOneModuleErrorRecovery(CheckMovable(mp::pulley), mp::pulley))
if (WaitForOneModuleErrorRecovery(CheckMovable(mpu::pulley), mpu::pulley))
return true;
return false;
@ -180,7 +180,7 @@ bool CommandBase::CheckToolIndex(uint8_t index) {
void CommandBase::ErrDisengagingIdler() {
if (!mi::idler.Engaged()) {
state = ProgressCode::ERRWaitingForUser;
mp::pulley.Disable();
mpu::pulley.Disable();
mui::userInput.Clear(); // remove all buffered events if any just before we wait for some input
}
}

4
src/logic/cut_filament.cpp
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@ -61,7 +61,7 @@ bool CutFilament::StepInner() {
} else {
// unload back to the pulley
state = ProgressCode::UnloadingToPulley;
mp::pulley.PlanMove(-config::cutLength, config::pulleyUnloadFeedrate);
mpu::pulley.PlanMove(-config::cutLength, config::pulleyUnloadFeedrate);
}
}
break;
@ -75,7 +75,7 @@ bool CutFilament::StepInner() {
case ProgressCode::PreparingBlade:
if (ms::selector.Slot() == cutSlot + 1) {
state = ProgressCode::PushingFilament;
mp::pulley.PlanMove(config::cutLength, config::pulleyUnloadFeedrate); //
mpu::pulley.PlanMove(config::cutLength, config::pulleyUnloadFeedrate); //
}
break;
case ProgressCode::PushingFilament:

6
src/logic/eject_filament.cpp
View File

@ -54,8 +54,8 @@ bool EjectFilament::StepInner() {
case ProgressCode::ParkingSelector:
if (mm::motion.QueueEmpty()) { // selector parked aside
state = ProgressCode::EjectingFilament;
mp::pulley.InitAxis();
mp::pulley.PlanMove(-config::filamentMinLoadedToMMU, config::pulleySlowFeedrate);
mpu::pulley.InitAxis();
mpu::pulley.PlanMove(-config::filamentMinLoadedToMMU, config::pulleySlowFeedrate);
}
break;
case ProgressCode::EjectingFilament:
@ -66,7 +66,7 @@ bool EjectFilament::StepInner() {
break;
case ProgressCode::DisengagingIdler:
if (!mi::idler.Engaged()) { // idler disengaged
mp::pulley.Disable();
mpu::pulley.Disable();
mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::NotLoaded);
state = ProgressCode::OK;
error = ErrorCode::OK;

10
src/logic/feed_to_bondtech.cpp
View File

@ -24,7 +24,7 @@ void logic::FeedToBondtech::GoToPushToNozzle() {
mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InFSensor);
// plan a slow move to help push filament into the nozzle
//@@TODO the speed in mm/s must correspond to printer's feeding speed!
mp::pulley.PlanMove(config::fsensorToNozzle, config::pulleySlowFeedrate);
mpu::pulley.PlanMove(config::fsensorToNozzle, config::pulleySlowFeedrate);
state = PushingFilamentIntoNozzle;
}
@ -35,8 +35,8 @@ bool FeedToBondtech::Step() {
dbg_logic_P(PSTR("Feed to Bondtech --> Idler engaged"));
dbg_logic_fP(PSTR("Pulley start steps %u"), mm::motion.CurPosition(mm::Pulley));
state = PushingFilamentToFSensor;
mp::pulley.InitAxis();
mp::pulley.PlanMove(config::defaultBowdenLength, config::pulleyLoadFeedrate, config::pulleySlowFeedrate);
mpu::pulley.InitAxis();
mpu::pulley.PlanMove(config::defaultBowdenLength, config::pulleyLoadFeedrate, config::pulleySlowFeedrate);
}
return false;
case PushingFilamentToFSensor:
@ -56,7 +56,7 @@ bool FeedToBondtech::Step() {
mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InNozzle);
mi::idler.Disengage();
// while disengaging the idler, keep on moving with the pulley to avoid grinding while the printer is trying to grab the filament itself
mp::pulley.PlanMove(config::fsensorToNozzleAvoidGrind, config::pulleySlowFeedrate);
mpu::pulley.PlanMove(config::fsensorToNozzleAvoidGrind, config::pulleySlowFeedrate);
state = DisengagingIdler;
}
return false;
@ -65,7 +65,7 @@ bool FeedToBondtech::Step() {
dbg_logic_P(PSTR("Feed to Bondtech --> Idler disengaged"));
dbg_logic_fP(PSTR("Pulley end steps %u"), mm::motion.CurPosition(mm::Pulley));
state = OK;
mp::pulley.Disable();
mpu::pulley.Disable();
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on);
}
return false;

4
src/logic/feed_to_finda.cpp
View File

@ -30,12 +30,12 @@ bool FeedToFinda::Step() {
dbg_logic_P(PSTR("Feed to Finda --> Idler engaged"));
dbg_logic_fP(PSTR("Pulley start steps %u"), mm::motion.CurPosition(mm::Pulley));
state = PushingFilament;
mp::pulley.InitAxis();
mpu::pulley.InitAxis();
// @@TODO this may never happen as load filament always assumes the filament is at least at the pulley
// if (mg::globals.FilamentLoaded() == mg::FilamentLoadState::NotLoaded) { // feed slowly filament to PTFE
// mp::pulley.PlanMove(config::filamentMinLoadedToMMU, config::pulleySlowFeedrate);
// }
mp::pulley.PlanMove(config::maximumFeedToFinda, config::pulleySlowFeedrate);
mpu::pulley.PlanMove(config::maximumFeedToFinda, config::pulleySlowFeedrate);
mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InSelector);
mui::userInput.Clear(); // remove all buffered events if any just before we wait for some input
}

4
src/logic/load_filament.cpp
View File

@ -42,7 +42,7 @@ void logic::LoadFilament::FinishedCorrectly() {
state = ProgressCode::OK;
error = ErrorCode::OK;
ml::leds.SetPairButOffOthers(mg::globals.ActiveSlot(), ml::off, ml::off);
mp::pulley.Disable();
mpu::pulley.Disable();
}
bool LoadFilament::StepInner() {
@ -118,7 +118,7 @@ bool LoadFilament::StepInner() {
case ProgressCode::ERREngagingIdler:
if (mi::idler.Engaged()) {
state = ProgressCode::ERRHelpingFilament;
mp::pulley.PlanMove(config::pulleyHelperMove, config::pulleySlowFeedrate);
mpu::pulley.PlanMove(config::pulleyHelperMove, config::pulleySlowFeedrate);
}
return false;
case ProgressCode::ERRHelpingFilament:

2
src/logic/retract_from_finda.cpp
View File

@ -23,7 +23,7 @@ bool RetractFromFinda::Step() {
if (mi::idler.Engaged()) {
dbg_logic_fP(PSTR("Pulley start steps %u"), mm::motion.CurPosition(mm::Pulley));
state = UnloadBackToPTFE;
mp::pulley.PlanMove(-(config::cuttingEdgeToFindaMidpoint + config::cuttingEdgeRetract), config::pulleyUnloadFeedrate);
mpu::pulley.PlanMove(-(config::cuttingEdgeToFindaMidpoint + config::cuttingEdgeRetract), config::pulleyUnloadFeedrate);
}
return false;
case UnloadBackToPTFE:

2
src/logic/tool_change.cpp
View File

@ -133,7 +133,7 @@ bool ToolChange::StepInner() {
case ProgressCode::ERREngagingIdler:
if (mi::idler.Engaged()) {
state = ProgressCode::ERRHelpingFilament;
mp::pulley.PlanMove(config::pulleyHelperMove, config::pulleySlowFeedrate);
mpu::pulley.PlanMove(config::pulleyHelperMove, config::pulleySlowFeedrate);
}
return false;
case ProgressCode::ERRHelpingFilament:

6
src/logic/unload_filament.cpp
View File

@ -25,7 +25,7 @@ void UnloadFilament::Reset(uint8_t /*param*/) {
}
// unloads filament from extruder - filament is above Bondtech gears
mp::pulley.InitAxis();
mpu::pulley.InitAxis();
state = ProgressCode::UnloadingToFinda;
error = ErrorCode::RUNNING;
unl.Reset(maxRetries);
@ -35,7 +35,7 @@ void UnloadFilament::Reset(uint8_t /*param*/) {
void UnloadFilament::FinishedCorrectly() {
state = ProgressCode::OK;
error = ErrorCode::OK;
mp::pulley.Disable();
mpu::pulley.Disable();
mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::AtPulley); // filament unloaded
ml::leds.SetPairButOffOthers(mg::globals.ActiveSlot(), ml::off, ml::off);
}
@ -133,7 +133,7 @@ bool UnloadFilament::StepInner() {
case ProgressCode::ERREngagingIdler:
if (mi::idler.Engaged()) {
state = ProgressCode::ERRHelpingFilament;
mp::pulley.PlanMove(-config::pulleyHelperMove, config::pulleySlowFeedrate);
mpu::pulley.PlanMove(-config::pulleyHelperMove, config::pulleySlowFeedrate);
}
return false;
case ProgressCode::ERRHelpingFilament:

6
src/logic/unload_to_finda.cpp
View File

@ -33,7 +33,7 @@ bool UnloadToFinda::Step() {
case EngagingIdler:
if (mg::globals.FilamentLoaded() >= mg::FilamentLoadState::InSelector) {
state = UnloadingToFinda;
mp::pulley.InitAxis();
mpu::pulley.InitAxis();
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
} else {
state = FailedFINDA;
@ -43,8 +43,8 @@ bool UnloadToFinda::Step() {
if (mi::idler.Engaged()) {
state = WaitingForFINDA;
mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InSelector);
unloadStart_mm = mp::pulley.CurrentPositionPulley_mm();
mp::pulley.PlanMove(-config::defaultBowdenLength - config::feedToFinda - config::filamentMinLoadedToMMU, config::pulleyUnloadFeedrate);
unloadStart_mm = mpu::pulley.CurrentPositionPulley_mm();
mpu::pulley.PlanMove(-config::defaultBowdenLength - config::feedToFinda - config::filamentMinLoadedToMMU, config::pulleyUnloadFeedrate);
}
return false;
case WaitingForFINDA: {

2
src/modules/pulley.h
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@ -47,4 +47,4 @@ extern Pulley pulley;
} // namespace pulley
} // namespace modules
namespace mp = modules::pulley;
namespace mpu = modules::pulley;

4
tests/unit/logic/stubs/main_loop_stub.cpp
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@ -27,7 +27,7 @@ void main_loop() {
mf::finda.Step();
mfs::fsensor.Step();
mi::idler.Step();
mp::pulley.Step();
mpu::pulley.Step();
ms::selector.Step();
mm::motion.Step();
mui::userInput.Step();
@ -52,7 +52,7 @@ void ForceReinitAllAutomata() {
new (&mf::finda) mf::FINDA();
new (&mfs::fsensor) mfs::FSensor();
new (&mi::idler) mi::Idler();
new (&mp::pulley) mp::Pulley();
new (&mpu::pulley) mpu::Pulley();
new (&ms::selector) ms::Selector();
new (&mm::motion) mm::Motion();