131 lines
4.4 KiB
C++
131 lines
4.4 KiB
C++
/// @file cut_filament.cpp
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#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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void CutFilament::Reset(uint8_t param) {
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if (!CheckToolIndex(param)) {
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return;
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}
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error = ErrorCode::RUNNING;
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cutSlot = param;
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if (mg::globals.FilamentLoaded() >= mg::FilamentLoadState::InSelector) {
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state = ProgressCode::UnloadingFilament;
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unl.Reset(cutSlot);
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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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mi::idler.Engage(cutSlot);
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ms::selector.MoveToSlot(cutSlot);
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ml::leds.SetMode(cutSlot, ml::green, ml::blink0);
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ml::leds.SetMode(cutSlot, ml::red, ml::off);
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}
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bool CutFilament::StepInner() {
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switch (state) {
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case ProgressCode::UnloadingFilament:
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if (unl.StepInner()) {
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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 (mi::idler.Engaged() && ms::selector.Slot() == cutSlot) { // idler and selector finished their moves
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mg::globals.SetActiveSlot(cutSlot);
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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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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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// unload back to the pulley
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state = ProgressCode::UnloadingToPulley;
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mm::motion.PlanMove<mm::Pulley>(-config::cutLength, config::pulleyFeedrate);
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}
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}
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break;
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case ProgressCode::UnloadingToPulley:
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if (mm::motion.QueueEmpty()) { // idler and selector finished their moves
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// move selector aside - prepare the blade into active position
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state = ProgressCode::PreparingBlade;
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mg::globals.SetFilamentLoaded(cutSlot, mg::FilamentLoadState::AtPulley);
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ms::selector.MoveToSlot(cutSlot + 1);
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}
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case ProgressCode::PreparingBlade:
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if (ms::selector.Slot() == cutSlot + 1) {
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state = ProgressCode::PushingFilament;
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mm::motion.PlanMove<mm::Pulley>(config::cutLength, config::pulleyFeedrate); //
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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 (ms::selector.Slot() == 0) { // 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(5); // move selector to the other end of its axis to cleanup
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}
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break;
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case ProgressCode::ReturningSelector:
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if (ms::selector.Slot() == 5) { // selector returned to position, feed the filament back to FINDA
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state = ProgressCode::OK;
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error = ErrorCode::OK;
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ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on);
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ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);
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feed.Reset(true);
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}
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break;
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case ProgressCode::OK:
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return true;
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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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