36 lines
1018 B
C++
36 lines
1018 B
C++
#pragma once
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#include <stdint.h>
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#include "command_base.h"
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#include "unload_filament.h"
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#include "load_filament.h"
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namespace logic {
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/// @brief A high-level command state machine - handles the complex logic of tool change - which is basically a chain of an Unload and a Load operation.
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class ToolChange : public CommandBase {
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public:
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inline ToolChange()
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: CommandBase() {}
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/// Restart the automaton
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/// @param param index of filament slot to change to - i.e. to load
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void Reset(uint8_t param) override;
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/// @returns true if the state machine finished its job, false otherwise
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bool Step() override;
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ProgressCode State() const override;
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ErrorCode Error() const override;
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private:
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UnloadFilament unl; ///< a high-level command/operation may be used as a building block of other operations as well
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LoadFilament load;
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uint8_t plannedSlot;
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};
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/// The one and only instance of ToolChange state machine in the FW
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extern ToolChange toolChange;
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} // namespace logic
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