Add global state hive

+ solve many TODO's in the code (active slot/extruder and filament loaded flag)

CMakeLists.txt

@@ -166,14 +166,12 @@ if(CMAKE_CROSSCOMPILING)
 
   # produce ASM listing
   add_custom_command(
-    TARGET firmware POST_BUILD
+    TARGET firmware POST_BUILD COMMAND ${CMAKE_OBJDUMP} -CSd firmware > firmware.asm
-    COMMAND ${CMAKE_OBJDUMP} -CSd firmware > firmware.asm
     )
 
   # inform about the firmware's size in terminal
   add_custom_command(
-    TARGET firmware POST_BUILD
+    TARGET firmware POST_BUILD COMMAND ${CMAKE_SIZE_UTIL} -C --mcu=atmega32u4 firmware
-    COMMAND ${CMAKE_SIZE_UTIL} -C --mcu=atmega32u4 firmware
     )
   report_size(firmware)
 
@@ -199,6 +197,7 @@ target_sources(
           src/modules/debouncer.cpp
           src/modules/finda.cpp
           src/modules/fsensor.cpp
+          src/modules/globals.cpp
           src/modules/idler.cpp
           src/modules/leds.cpp
           src/modules/motion.cpp

src/logic/cut_filament.cpp

@@ -1,6 +1,7 @@
 #include "cut_filament.h"
 #include "../modules/buttons.h"
 #include "../modules/finda.h"
+#include "../modules/globals.h"
 #include "../modules/idler.h"
 #include "../modules/leds.h"
 #include "../modules/motion.h"
@@ -14,15 +15,14 @@ CutFilament cutFilament;
 namespace mm = modules::motion;
 namespace mi = modules::idler;
 namespace ms = modules::selector;
+namespace mg = modules::globals;
 
 void CutFilament::Reset(uint8_t param) {
     error = ErrorCode::OK;
 
-    bool isFilamentLoaded = true; //@@TODO
+    if (mg::globals.FilamentLoaded()) {
-
-    if (isFilamentLoaded) {
         state = ProgressCode::UnloadingFilament;
-        unl.Reset(param); //@@TODO probably only act on active_extruder
+        unl.Reset(mg::globals.ActiveSlot());
     } else {
         SelectFilamentSlot();
     }
@@ -30,8 +30,8 @@ void CutFilament::Reset(uint8_t param) {
 
 void CutFilament::SelectFilamentSlot() {
     state = ProgressCode::SelectingFilamentSlot;
-    uint8_t newFilamentSlot = 0; //@@TODO
+    uint8_t newFilamentSlot = mg::globals.ActiveSlot() + 1; // move 1 slot aside
-    mi::idler.Engage(newFilamentSlot);
+    mi::idler.Engage(newFilamentSlot); //@@TODO does this make sense?
     ms::selector.MoveToSlot(newFilamentSlot);
 }
 
@@ -64,16 +64,14 @@ bool CutFilament::Step() {
             } else {
                 // move selector aside - prepare the blade into active position
                 state = ProgressCode::PreparingBlade;
-                uint8_t newFilamentSlot = 1; //@@TODO
+                ms::selector.MoveToSlot(mg::globals.ActiveSlot());
-                ms::selector.MoveToSlot(newFilamentSlot + 1);
             }
         }
         break;
     case ProgressCode::PreparingBlade:
         if (mm::motion.QueueEmpty()) {
             state = ProgressCode::EngagingIdler;
-            uint8_t newFilamentSlot = 0; //@@TODO
+            mi::idler.Engage(mg::globals.ActiveSlot());
-            mi::idler.Engage(newFilamentSlot);
         }
         break;
     case ProgressCode::EngagingIdler:
@@ -91,8 +89,7 @@ bool CutFilament::Step() {
     case ProgressCode::PerformingCut:
         if (mm::motion.QueueEmpty()) { // this may not be necessary if we want the selector and pulley move at once
             state = ProgressCode::ReturningSelector;
-            uint8_t newFilamentSlot = 0; //@@TODO
+            ms::selector.MoveToSlot(mg::globals.ActiveSlot()); // return selector back
-            ms::selector.MoveToSlot(newFilamentSlot); // return selector back
         }
         break;
     case ProgressCode::ReturningSelector:

src/logic/eject_filament.cpp

@@ -1,6 +1,7 @@
 #include "eject_filament.h"
 #include "../modules/buttons.h"
 #include "../modules/finda.h"
+#include "../modules/globals.h"
 #include "../modules/idler.h"
 #include "../modules/leds.h"
 #include "../modules/motion.h"
@@ -14,14 +15,13 @@ EjectFilament ejectFilament;
 namespace mm = modules::motion;
 namespace mi = modules::idler;
 namespace ms = modules::selector;
+namespace mg = modules::globals;
 
 void EjectFilament::Reset(uint8_t param) {
     error = ErrorCode::OK;
     slot = param;
 
-    bool isFilamentLoaded = true; //@@TODO
+    if (mg::globals.FilamentLoaded()) {
-
-    if (isFilamentLoaded) {
         state = ProgressCode::UnloadingFilament;
         unl.Reset(param); //@@TODO probably act on active extruder only
     } else {

src/logic/feed_to_bondtech.cpp

@@ -1,6 +1,7 @@
 #include "feed_to_bondtech.h"
 #include "../modules/buttons.h"
 #include "../modules/fsensor.h"
+#include "../modules/globals.h"
 #include "../modules/idler.h"
 #include "../modules/leds.h"
 #include "../modules/motion.h"
@@ -13,11 +14,12 @@ namespace mfs = modules::fsensor;
 namespace mi = modules::idler;
 namespace ml = modules::leds;
 namespace mp = modules::permanent_storage;
+namespace mg = modules::globals;
 
 void FeedToBondtech::Reset(uint8_t maxRetries) {
     state = EngagingIdler;
     this->maxRetries = maxRetries;
-    mi::idler.Engage(0 /*active_extruder*/); // @@TODO
+    mi::idler.Engage(mg::globals.ActiveSlot());
 }
 
 bool FeedToBondtech::Step() {
@@ -27,7 +29,7 @@ bool FeedToBondtech::Step() {
     case EngagingIdler:
         if (mi::idler.Engaged()) {
             state = PushingFilament;
-            ml::leds.SetMode(0, ml::Color::green, ml::blink0); //@@TODO active slot index
+            ml::leds.SetMode(mg::globals.ActiveSlot(), ml::Color::green, ml::blink0);
             mm::motion.PlanMove(steps, 0, 0, 4500, 0, 0); //@@TODO constants - there was some strange acceleration sequence in the original FW,
             // we can probably hand over some array of constants for hand-tuned acceleration + leverage some smoothing in the stepper as well
         }
@@ -46,7 +48,7 @@ bool FeedToBondtech::Step() {
     case DisengagingIdler:
         if (!mi::idler.Engaged()) {
             state = OK;
-            ml::leds.SetMode(0, ml::Color::green, ml::on); //@@TODO active slot index
+            ml::leds.SetMode(mg::globals.ActiveSlot(), ml::Color::green, ml::on);
         }
         return false;
     case OK:

src/logic/feed_to_finda.cpp

@@ -1,6 +1,7 @@
 #include "feed_to_finda.h"
 #include "../modules/buttons.h"
 #include "../modules/finda.h"
+#include "../modules/globals.h"
 #include "../modules/idler.h"
 #include "../modules/leds.h"
 #include "../modules/motion.h"
@@ -13,11 +14,12 @@ namespace mf = modules::finda;
 namespace mi = modules::idler;
 namespace ml = modules::leds;
 namespace mb = modules::buttons;
+namespace mg = modules::globals;
 
 void FeedToFinda::Reset(bool feedPhaseLimited) {
     state = EngagingIdler;
     this->feedPhaseLimited = feedPhaseLimited;
-    mi::idler.Engage(0 /*active_extruder*/); // @@TODO
+    mi::idler.Engage(mg::globals.ActiveSlot());
 }
 
 bool FeedToFinda::Step() {
@@ -25,7 +27,7 @@ bool FeedToFinda::Step() {
     case EngagingIdler:
         if (mi::idler.Engaged()) {
             state = PushingFilament;
-            ml::leds.SetMode(0, ml::Color::green, ml::blink0); //@@TODO active slot index
+            ml::leds.SetMode(mg::globals.ActiveSlot(), ml::Color::green, ml::blink0);
             mm::motion.PlanMove(feedPhaseLimited ? 1500 : 65535, 0, 0, 4000, 0, 0); //@@TODO constants
         }
         return false;
@@ -48,7 +50,7 @@ bool FeedToFinda::Step() {
     case DisengagingIdler:
         if (!mi::idler.Engaged()) {
             state = OK;
-            ml::leds.SetMode(0, ml::Color::green, ml::on); //@@TODO active slot index
+            ml::leds.SetMode(mg::globals.ActiveSlot(), ml::Color::green, ml::on);
         }
         return false;
     case OK:

src/logic/load_filament.cpp

@@ -1,6 +1,7 @@
 #include "load_filament.h"
 #include "../modules/buttons.h"
 #include "../modules/finda.h"
+#include "../modules/globals.h"
 #include "../modules/idler.h"
 #include "../modules/leds.h"
 #include "../modules/motion.h"
@@ -16,11 +17,13 @@ namespace mi = modules::idler;
 namespace ms = modules::selector;
 namespace mf = modules::finda;
 namespace ml = modules::leds;
+namespace mg = modules::globals;
 
 void LoadFilament::Reset(uint8_t param) {
     state = ProgressCode::EngagingIdler;
     error = ErrorCode::OK;
-    mi::idler.Engage(param); // @@TODO
+    mg::globals.SetActiveSlot(param);
+    mi::idler.Engage(mg::globals.ActiveSlot());
 }
 
 bool LoadFilament::Step() {
@@ -38,7 +41,7 @@ bool LoadFilament::Step() {
                 // @@TODO - try to repeat 6x - push/pull sequence - probably something to put into feed_to_finda as an option
                 state = ProgressCode::ERR1DisengagingIdler;
                 mi::idler.Disengage();
-                ml::leds.SetMode(0, ml::Color::red, ml::Mode::blink0); // signal loading error //@@TODO slot index
+                ml::leds.SetMode(mg::globals.ActiveSlot(), ml::Color::red, ml::Mode::blink0); // signal loading error
             } else {
                 state = ProgressCode::FeedingToBondtech;
                 james.Reset(2);
@@ -46,7 +49,7 @@ bool LoadFilament::Step() {
         }
         break;
     case ProgressCode::FeedingToBondtech:
-        if (james.Step()) {
+        if (james.Step()) { // No, Mr. Bond, I expect you to FEED
             switch (james.State()) {
             case FeedToBondtech::Failed:
 
@@ -62,6 +65,7 @@ bool LoadFilament::Step() {
         }
         break;
     case ProgressCode::OK:
+        mg::globals.SetFilamentLoaded(true);
         return true;
     case ProgressCode::ERR1DisengagingIdler: // couldn't unload to FINDA
         error = ErrorCode::FINDA_DIDNT_TRIGGER;
@@ -82,8 +86,8 @@ bool LoadFilament::Step() {
             Reset(0); // @@TODO param
         } else if (userResolved) {
             // problem resolved - the user pulled the fillament by hand
-            //                modules::leds::leds.SetMode(active_extruder, modules::leds::red, modules::leds::off);
+            modules::leds::leds.SetMode(mg::globals.ActiveSlot(), modules::leds::red, modules::leds::off);
-            //                modules::leds::leds.SetMode(active_extruder, modules::leds::green, modules::leds::on);
+            modules::leds::leds.SetMode(mg::globals.ActiveSlot(), modules::leds::green, modules::leds::on);
             //                mm::motion.PlanMove(mm::Pulley, 450, 5000); // @@TODO constants
             state = ProgressCode::AvoidingGrind;
         }

src/logic/tool_change.cpp

@@ -1,6 +1,7 @@
 #include "tool_change.h"
 #include "../modules/buttons.h"
 #include "../modules/finda.h"
+#include "../modules/globals.h"
 #include "../modules/idler.h"
 #include "../modules/leds.h"
 #include "../modules/motion.h"
@@ -14,18 +15,17 @@ ToolChange toolChange;
 namespace mm = modules::motion;
 namespace mi = modules::idler;
 namespace ms = modules::selector;
+namespace mg = modules::globals;
 
 void ToolChange::Reset(uint8_t param) {
-    //    if( param == active_extruder ) // @@TODO
+    if (param == mg::globals.ActiveSlot())
-    //        return true;
+        return;
 
     plannedSlot = param;
 
-    bool isFilamentLoaded = true; //@@TODO
+    if (mg::globals.FilamentLoaded()) {
-
-    if (isFilamentLoaded) {
         state = ProgressCode::UnloadingFilament;
-        unl.Reset(0); //@@TODO act on active extruder only
+        unl.Reset(mg::globals.ActiveSlot());
     } else {
         state = ProgressCode::LoadingFilament;
         load.Reset(plannedSlot);

src/logic/unload_filament.cpp

@@ -1,9 +1,10 @@
 #include "unload_filament.h"
 #include "../modules/buttons.h"
 #include "../modules/finda.h"
+#include "../modules/globals.h"
+#include "../modules/idler.h"
 #include "../modules/leds.h"
 #include "../modules/motion.h"
-#include "../modules/idler.h"
 #include "../modules/permanent_storage.h"
 
 namespace logic {
@@ -12,13 +13,14 @@ UnloadFilament unloadFilament;
 
 namespace mm = modules::motion;
 namespace mi = modules::idler;
+namespace mg = modules::globals;
 
 void UnloadFilament::Reset(uint8_t param) {
     // unloads filament from extruder - filament is above Bondtech gears
     mm::motion.InitAxis(mm::Pulley);
     state = ProgressCode::EngagingIdler;
     error = ErrorCode::OK;
-    modules::idler::idler.Engage(0); //@@TODO
+    modules::idler::idler.Engage(mg::globals.ActiveSlot());
 }
 
 bool UnloadFilament::Step() {
@@ -34,7 +36,7 @@ bool UnloadFilament::Step() {
             if (unl.state == UnloadToFinda::Failed) {
                 // couldn't unload to FINDA, report error and wait for user to resolve it
                 state = ProgressCode::ERR1DisengagingIdler;
-                //                    modules::leds::leds.SetMode(active_extruder, modules::leds::red, modules::leds::blink0);
+                modules::leds::leds.SetMode(mg::globals.ActiveSlot(), modules::leds::red, modules::leds::blink0);
             } else {
                 state = ProgressCode::DisengagingIdler;
             }
@@ -80,15 +82,15 @@ bool UnloadFilament::Step() {
             Reset(0); // @@TODO param
         } else if (userResolved) {
             // problem resolved - the user pulled the fillament by hand
-            //                modules::leds::leds.SetMode(active_extruder, modules::leds::red, modules::leds::off);
+            modules::leds::leds.SetMode(mg::globals.ActiveSlot(), modules::leds::red, modules::leds::off);
-            //                modules::leds::leds.SetMode(active_extruder, modules::leds::green, modules::leds::on);
+            modules::leds::leds.SetMode(mg::globals.ActiveSlot(), modules::leds::green, modules::leds::on);
             //                mm::motion.PlanMove(mm::Pulley, 450, 5000); // @@TODO constants
             state = ProgressCode::AvoidingGrind;
         }
         return false;
     }
     case ProgressCode::OK:
-        //            isFilamentLoaded = false; // filament unloaded
+        mg::globals.SetFilamentLoaded(false); // filament unloaded
         return true; // successfully finished
     }
     return false;

src/modules/globals.cpp

@@ -0,0 +1,30 @@
+#include "globals.h"
+#include "permanent_storage.h"
+
+namespace modules {
+namespace globals {
+
+void Globals::Init() {
+    modules::permanent_storage::FilamentLoaded::get(activeSlot); //@@TODO check for errors
+    // @@TODO where to obtain information whether a slot is loaded with a filament?
+}
+
+uint8_t Globals::ActiveSlot() const {
+    return activeSlot;
+}
+
+void Globals::SetActiveSlot(uint8_t newActiveSlot) {
+    activeSlot = newActiveSlot;
+    modules::permanent_storage::FilamentLoaded::set(activeSlot);
+}
+
+bool Globals::FilamentLoaded() const {
+    return filamentLoaded;
+}
+
+void Globals::SetFilamentLoaded(bool newFilamentLoaded) {
+    filamentLoaded = newFilamentLoaded;
+}
+
+} // namespace globals
+} // namespace modules

src/modules/globals.h

@@ -0,0 +1,25 @@
+#pragma once
+#include <stdint.h>
+
+namespace modules {
+namespace globals {
+
+class Globals {
+public:
+    void Init();
+
+    uint8_t ActiveSlot() const;
+    void SetActiveSlot(uint8_t newActiveSlot);
+
+    bool FilamentLoaded() const;
+    void SetFilamentLoaded(bool newFilamentLoaded);
+
+private:
+    uint8_t activeSlot;
+    bool filamentLoaded;
+};
+
+extern Globals globals;
+
+} // namespace globals
+} // namespace modules