124 lines
4.2 KiB
C++
124 lines
4.2 KiB
C++
#include "cut_filament.h"
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#include "../modules/buttons.h"
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#include "../modules/finda.h"
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#include "../modules/globals.h"
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#include "../modules/idler.h"
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#include "../modules/leds.h"
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#include "../modules/motion.h"
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#include "../modules/permanent_storage.h"
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#include "../modules/selector.h"
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namespace logic {
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CutFilament cutFilament;
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namespace mm = modules::motion;
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namespace mi = modules::idler;
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namespace ms = modules::selector;
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namespace mg = modules::globals;
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void CutFilament::Reset(uint8_t param) {
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error = ErrorCode::OK;
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if (mg::globals.FilamentLoaded()) {
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state = ProgressCode::UnloadingFilament;
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unl.Reset(mg::globals.ActiveSlot());
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} else {
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SelectFilamentSlot();
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}
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}
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void CutFilament::SelectFilamentSlot() {
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state = ProgressCode::SelectingFilamentSlot;
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uint8_t newFilamentSlot = mg::globals.ActiveSlot() + 1; // move 1 slot aside
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mi::idler.Engage(newFilamentSlot); //@@TODO does this make sense?
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ms::selector.MoveToSlot(newFilamentSlot);
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}
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bool CutFilament::Step() {
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switch (state) {
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case ProgressCode::UnloadingFilament:
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if (unl.Step()) {
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// unloading sequence finished - basically, no errors can occurr here
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// as UnloadFilament should handle all the possible error states on its own
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// There is no way the UnloadFilament to finish in an error state
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SelectFilamentSlot();
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}
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break;
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case ProgressCode::SelectingFilamentSlot:
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if (mm::motion.QueueEmpty()) { // idler and selector finished their moves
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feed.Reset(true);
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state = ProgressCode::FeedingToFinda;
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}
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break;
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case ProgressCode::FeedingToFinda: // @@TODO this state will be reused for repeated cutting of filament ... probably there will be multiple attempts, not sure
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//@@TODO - this is not correct - when the active slot is +1, the FINDA cannot detect the incoming filament - we can only pray that the filament moves
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//idler should hold slot 0, while the selector is at slot 1
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if (feed.Step()) {
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if (feed.State() == FeedToFinda::Failed) {
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// @@TODO
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} else {
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// move selector aside - prepare the blade into active position
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state = ProgressCode::PreparingBlade;
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ms::selector.MoveToSlot(mg::globals.ActiveSlot());
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}
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}
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break;
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case ProgressCode::PreparingBlade:
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if (mm::motion.QueueEmpty()) {
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state = ProgressCode::EngagingIdler;
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mi::idler.Engage(mg::globals.ActiveSlot());
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}
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break;
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case ProgressCode::EngagingIdler:
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if (mi::idler.Engaged()) {
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state = ProgressCode::PushingFilament;
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mm::motion.PlanMove(cutStepsPre, 0, 0, 1500, 0, 0); //@@TODO
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}
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break;
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case ProgressCode::PushingFilament:
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if (mm::motion.QueueEmpty()) {
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state = ProgressCode::PerformingCut;
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ms::selector.MoveToSlot(0);
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}
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break;
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case ProgressCode::PerformingCut:
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if (mm::motion.QueueEmpty()) { // this may not be necessary if we want the selector and pulley move at once
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state = ProgressCode::ReturningSelector;
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ms::selector.MoveToSlot(mg::globals.ActiveSlot()); // return selector back
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}
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break;
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case ProgressCode::ReturningSelector:
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if (mm::motion.QueueEmpty()) { // selector returned to position, feed the filament back to FINDA
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state = ProgressCode::FeedingToFinda;
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feed.Reset(true);
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}
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break;
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default: // we got into an unhandled state, better report it
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state = ProgressCode::ERRInternal;
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error = ErrorCode::INTERNAL;
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return true;
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}
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return false;
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}
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ProgressCode CutFilament::State() const {
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switch (state) {
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case ProgressCode::UnloadingFilament:
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return unl.State(); // report sub-automaton states properly
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default:
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return state;
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}
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}
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ErrorCode CutFilament::Error() const {
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switch (state) {
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case ProgressCode::UnloadingFilament:
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return unl.Error(); // report sub-automaton errors properly
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default:
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return error;
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}
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}
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} // namespace logic
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