91 lines
2.8 KiB
C++
91 lines
2.8 KiB
C++
#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"
|
|
#include "../modules/permanent_storage.h"
|
|
#include "../modules/selector.h"
|
|
|
|
namespace logic {
|
|
|
|
ToolChange toolChange;
|
|
|
|
void ToolChange::Reset(uint8_t param) {
|
|
if (!CheckToolIndex(param)) {
|
|
return;
|
|
}
|
|
|
|
if (param == mg::globals.ActiveSlot() && mg::globals.FilamentLoaded()) {
|
|
// we are already at the correct slot and the filament is loaded - nothing to do
|
|
return;
|
|
}
|
|
|
|
// we are either already at the correct slot, just the filament is not loaded - load the filament directly
|
|
// or we are standing at another slot ...
|
|
plannedSlot = param;
|
|
|
|
if (mg::globals.FilamentLoaded()) {
|
|
state = ProgressCode::UnloadingFilament;
|
|
unl.Reset(mg::globals.ActiveSlot());
|
|
} else {
|
|
state = ProgressCode::LoadingFilament;
|
|
load.Reset(plannedSlot);
|
|
}
|
|
}
|
|
|
|
bool ToolChange::StepInner() {
|
|
switch (state) {
|
|
case ProgressCode::UnloadingFilament:
|
|
if (unl.StepInner()) {
|
|
// unloading sequence finished - basically, no errors can occurr here
|
|
// as UnloadFilament should handle all the possible error states on its own
|
|
// There is no way the UnloadFilament to finish in an error state
|
|
state = ProgressCode::LoadingFilament;
|
|
load.Reset(plannedSlot);
|
|
}
|
|
break;
|
|
case ProgressCode::LoadingFilament:
|
|
if (load.StepInner()) {
|
|
// loading sequence finished - basically, no errors can occurr here
|
|
// as LoadFilament should handle all the possible error states on its own
|
|
// There is no way the LoadFilament to finish in an error state
|
|
state = ProgressCode::OK;
|
|
error = ErrorCode::OK;
|
|
}
|
|
break;
|
|
case ProgressCode::OK:
|
|
return true;
|
|
default: // we got into an unhandled state, better report it
|
|
state = ProgressCode::ERRInternal;
|
|
error = ErrorCode::INTERNAL;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
ProgressCode ToolChange::State() const {
|
|
switch (state) {
|
|
case ProgressCode::UnloadingFilament:
|
|
return unl.State(); // report sub-automaton states properly
|
|
case ProgressCode::LoadingFilament:
|
|
return load.State(); // report sub-automaton states properly
|
|
default:
|
|
return state;
|
|
}
|
|
}
|
|
|
|
ErrorCode ToolChange::Error() const {
|
|
switch (state) {
|
|
case ProgressCode::UnloadingFilament:
|
|
return unl.Error(); // report sub-automaton errors properly
|
|
case ProgressCode::LoadingFilament:
|
|
return load.Error(); // report sub-automaton errors properly
|
|
default:
|
|
return error;
|
|
}
|
|
}
|
|
|
|
} // namespace logic
|