102 lines
4.0 KiB
C++
102 lines
4.0 KiB
C++
/// @file idler.h
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#pragma once
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#include "../config/config.h"
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#include "axisunit.h"
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#include "movable_base.h"
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namespace modules {
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/// The idler namespace provides all necessary facilities related to the logical model of the idler device of the MMU unit.
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namespace idler {
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namespace mm = modules::motion;
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/// The Idler model handles asynchronnous Engaging / Disengaging operations and keeps track of idler's current state.
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class Idler : public motion::MovableBase {
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public:
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inline constexpr Idler()
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: MovableBase(mm::Idler)
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, plannedMove(Operation::disengage)
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, currentlyEngaged(Operation::disengage)
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, fwdHomeTrigger(false) {}
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/// Plan engaging of the idler to a specific filament slot
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/// @param slot index to be activated
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/// @returns #OperationResult
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/// @note if(state==OnHold) all attempts to Engage are rejected with OperationResult::Rejected
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OperationResult Engage(uint8_t slot);
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/// Plan disengaging of the idler, i.e. parking the idler
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/// @returns #OperationResult
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/// @note if(state==OnHold) all attempts to Disengage are rejected with OperationResult::Rejected
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OperationResult Disengage();
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/// Plan partial disengaging of the idler
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/// @returns #OperationResult
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OperationResult PartiallyDisengage(uint8_t slot);
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/// Performs one step of the state machine according to currently planned operation
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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 / partially 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 == Operation::engage; }
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inline bool Disengaged() const { return currentlyEngaged == Operation::disengage; }
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inline bool PartiallyDisengaged() const { return currentlyEngaged == Operation::intermediate; }
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/// @returns predefined positions of individual slots
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static constexpr mm::I_pos_t SlotPosition(uint8_t slot) {
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return mm::unitToAxisUnit<mm::I_pos_t>(config::idlerSlotPositions[slot]);
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}
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/// @returns predefined intermediate positions between individual slots
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static constexpr mm::I_pos_t IntermediateSlotPosition(uint8_t slot) {
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return mm::unitToAxisUnit<mm::I_pos_t>(config::idlerIntermediateSlotPositions[slot]);
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}
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/// @returns the index of idle position of the idler, usually 5 in case of 0-4 valid indices of filament slots
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inline static constexpr uint8_t IdleSlotIndex() { return config::toolCount; }
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/// Initializes the idler after restart/cold boot
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/// Reads the active slot from the EEPROM and decides if the idler is safe to move (not hold the filament while printing)
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/// - free -> home the idler
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/// - blocked -> set idler's position according to the active filament slot
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void Init();
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protected:
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virtual void PrepareMoveToPlannedSlot() override;
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virtual void PlanHomingMoveForward() override;
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virtual void PlanHomingMoveBack() override;
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virtual bool FinishHomingAndPlanMoveToParkPos() override;
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virtual void FinishMove() override;
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virtual void UpdateAdaptiveSGTHRS(bool forward) override;
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private:
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enum class Operation : uint8_t {
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disengage = 0,
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engage = 1,
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intermediate = 2 ///< planned movement will be to an intermediate position between slots (different array of positions)
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};
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OperationResult PlanMoveInner(uint8_t slot, Operation plannedOp);
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/// direction of travel - engage/disengage/disengageIntermediate
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Operation plannedMove;
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/// current state
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Operation currentlyEngaged;
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void SetSGTHRS(int16_t sgthrs);
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bool fwdHomeTrigger;
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};
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/// The one and only instance of Idler in the FW
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extern Idler idler;
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} // namespace idler
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} // namespace modules
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namespace mi = modules::idler;
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