63 lines
1.6 KiB
C++
63 lines
1.6 KiB
C++
#pragma once
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#include <stdint.h>
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/// Idler model
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/// Handles asynchronnous Engaging / Disengaging operations
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/// Keeps track of idler's current state
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namespace modules {
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namespace idler {
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class Idler {
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public:
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enum {
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Ready = 0,
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Moving,
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Failed
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};
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// public operations on the idler
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/// @retuns false in case an operation is already underway
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bool Engage(uint8_t slot);
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/// @retuns false in case an operation is already underway
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bool Disengage();
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/// @retuns false in case an operation is already underway
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bool Home();
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/// @returns true if the idler is ready to accept new commands (i.e. it has finished the last operation)
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bool Step();
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/// @returns the current state of idler - engaged / disengaged
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/// this state is updated only when a planned move is successfully finished, so it is safe for higher-level
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/// state machines to use this call as a waiting condition for the desired state of the idler
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inline bool Engaged() const { return currentlyEngaged; }
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inline uint8_t Slot() const { return currentSlot; }
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private:
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constexpr static const uint16_t slotPositions[5] = { 1, 2, 3, 4, 5 }; // @@TODO
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/// internal state of the automaton
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uint8_t state;
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/// direction of travel - engage/disengage
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bool plannedEngage;
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uint8_t plannedSlot;
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/// current state
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uint8_t currentSlot;
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bool currentlyEngaged;
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inline Idler()
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: plannedEngage(false)
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, plannedSlot(0)
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, state(Ready)
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, currentSlot(0)
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, currentlyEngaged(false) {}
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};
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extern Idler idler;
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} // namespace idler
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} // namespace modules
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