Rename mp (modules::pulley) namespace to mpu

clashed with the already used `modules::protocol` (mp)

src/logic/command_base.cpp

@@ -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
     }
 }

src/logic/cut_filament.cpp

@@ -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:

src/logic/eject_filament.cpp

@@ -54,8 +54,8 @@ bool EjectFilament::StepInner() {
     case ProgressCode::ParkingSelector:
         if (mm::motion.QueueEmpty()) { // selector parked aside
             state = ProgressCode::EjectingFilament;
-            mp::pulley.InitAxis();
+            mpu::pulley.InitAxis();
-            mp::pulley.PlanMove(-config::filamentMinLoadedToMMU, config::pulleySlowFeedrate);
+            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;

src/logic/feed_to_bondtech.cpp

@@ -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();
+            mpu::pulley.InitAxis();
-            mp::pulley.PlanMove(config::defaultBowdenLength, config::pulleyLoadFeedrate, config::pulleySlowFeedrate);
+            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;

src/logic/feed_to_finda.cpp

@@ -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
         }

src/logic/load_filament.cpp

@@ -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:

src/logic/retract_from_finda.cpp

@@ -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:

src/logic/tool_change.cpp

@@ -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:

src/logic/unload_filament.cpp

@@ -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:

src/logic/unload_to_finda.cpp

@@ -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();
+            unloadStart_mm = mpu::pulley.CurrentPositionPulley_mm();
-            mp::pulley.PlanMove(-config::defaultBowdenLength - config::feedToFinda - config::filamentMinLoadedToMMU, config::pulleyUnloadFeedrate);
+            mpu::pulley.PlanMove(-config::defaultBowdenLength - config::feedToFinda - config::filamentMinLoadedToMMU, config::pulleyUnloadFeedrate);
         }
         return false;
     case WaitingForFINDA: {

src/modules/pulley.h

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

tests/unit/logic/stubs/main_loop_stub.cpp

@@ -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();