41 lines
1.1 KiB
C++
41 lines
1.1 KiB
C++
/// @file cut_filament.h
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#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 "feed_to_finda.h"
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namespace logic {
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/// @brief A high-level command state machine - handles the complex logic of cutting filament
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class CutFilament : public CommandBase {
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public:
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inline CutFilament()
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: CommandBase() {}
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/// Restart the automaton
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/// @param param index of filament slot to perform cut onto
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bool 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 StepInner() 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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constexpr static const uint16_t cutStepsPre = 700;
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constexpr static const uint16_t cutStepsPost = 150;
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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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FeedToFinda feed;
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uint8_t cutSlot;
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void SelectFilamentSlot();
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};
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/// The one and only instance of CutFilament state machine in the FW
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extern CutFilament cutFilament;
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} // namespace logic
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