206 lines
8.0 KiB
C++
206 lines
8.0 KiB
C++
bool VerifyEnvironmentState(mg::FilamentLoadState fls, uint8_t idlerSlotIndex, uint8_t selectorSlotIndex,
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bool findaPressed, bool pulleyEnabled, ml::Mode greenLEDMode, ml::Mode redLEDMode) {
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CHECKED_ELSE(mg::globals.FilamentLoaded() & fls) { // beware - abusing the values as bit masks to detect multiple situations at once
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WARN("FilamentLoaded mismatch");
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WARN("mg::globals.FilamentLoaded()): " << (int)mg::globals.FilamentLoaded());
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WARN("Expected state, fls: " << (int)fls);
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return false;
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}
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if( mg::globals.FilamentLoaded() >= mg::FilamentLoadState::InSelector ){
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// check eeprom content - filament blocking the selector
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uint8_t eeSlot = 0xff;
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CHECKED_ELSE(mps::FilamentLoaded::get(eeSlot)){
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WARN("mps::FilamentLoaded::get(eeSlot) returned false");
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return false;
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}
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CHECKED_ELSE(eeSlot == selectorSlotIndex){
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WARN("eeSlot does not match selectorSlotIndex");
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WARN("eeSlot: " << (int)eeSlot);
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WARN("selectorSlotIndex: " << (int)selectorSlotIndex);
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return false;
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}
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} else {
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// check eeprom content - filament blocking the selector
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uint8_t eeSlot = 0xff;
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CHECKED_ELSE(mps::FilamentLoaded::get(eeSlot) == false){
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WARN("mps::FilamentLoaded::get(eeSlot) returned true");
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return false;
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}
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}
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if( idlerSlotIndex < config::toolCount ){ // abusing invalid index to skip checking of slot and position
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CHECKED_ELSE(mm::axes[mm::Idler].pos == mi::Idler::SlotPosition(idlerSlotIndex).v) {
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WARN("mm::axes[mm::Idler].pos != mi::Idler::SlotPosition(idlerSlotIndex).v");
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return false;
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}
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CHECKED_ELSE(mi::idler.Engaged() == (idlerSlotIndex < config::toolCount)) {
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WARN("mi::idler.Engaged() != (idlerSlotIndex < config::toolCount)");
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return false;
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}
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}
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if( mi::idler.State() == mi::Idler::HomeForward || mi::idler.State() == mi::Idler::HomeBack ){
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CHECKED_ELSE(mi::idler.Slot() == 0xff){
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WARN("mi::idler.Slot() != 0xff");
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return false;
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}
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CHECKED_ELSE(mi::idler.HomingValid() == false){
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WARN("mi::idler.HomingValid() != false");
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return false;
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}
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}
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if( selectorSlotIndex < config::toolCount ){ // abusing invalid index to skip checking of slot and position
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CHECKED_ELSE(mm::axes[mm::Selector].pos == ms::Selector::SlotPosition(selectorSlotIndex).v) {
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WARN("mm::axes[mm::Selector].pos != ms::Selector::SlotPosition(selectorSlotIndex).v");
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return false;
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}
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CHECKED_ELSE(ms::selector.Slot() == selectorSlotIndex) {
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WARN("ms::selector.Slot() != selectorSlotIndex");
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return false;
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}
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}
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if( ms::selector.State() == ms::Selector::HomeForward || ms::selector.State() == ms::Selector::HomeBack ){
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CHECKED_ELSE(ms::selector.Slot() == 0xff){
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WARN("ms::selector.Slot() != 0xff");
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return false;
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}
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CHECKED_ELSE(ms::selector.HomingValid() == false){
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WARN("ms::selector.Slot() != 0xff");
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return false;
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}
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}
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CHECKED_ELSE(mf::finda.Pressed() == findaPressed) {
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if(mf::finda.Pressed() && !findaPressed) WARN("FINDA is expected to be 0, but its 1");
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else WARN("FINDA is expected to be 1, but its 0");
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return false;
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}
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CHECKED_ELSE(mm::PulleyEnabled() == pulleyEnabled){
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if(mm::PulleyEnabled() && !pulleyEnabled) WARN("Pulley motor is expected to be disabled, but its enabled");
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else WARN("Pulley motor is expected to be enabled, but its disabled");
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return false;
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}
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for(uint8_t ledIndex = 0; ledIndex < config::toolCount; ++ledIndex){
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if( ledIndex != selectorSlotIndex ){
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// the other LEDs should be off
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auto red = ml::leds.Mode(ledIndex, ml::red);
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CHECKED_ELSE(red == ml::off) {
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WARN("red != ml::off");
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return false;
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}
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auto green = ml::leds.Mode(ledIndex, ml::green);
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CHECKED_ELSE(green == ml::off) {
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WARN("green != ml::off");
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return false;
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}
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} else {
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auto red = ml::leds.Mode(selectorSlotIndex, ml::red);
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CHECKED_ELSE(red == redLEDMode) {
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WARN("red != redLEDMode");
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return false;
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}
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auto green = ml::leds.Mode(selectorSlotIndex, ml::green);
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CHECKED_ELSE(green == greenLEDMode) {
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WARN("green != greenLEDMode");
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return false;
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}
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}
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}
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return true;
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}
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// LED checked at selector's index
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template<typename SM>
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bool VerifyState(SM &uf, mg::FilamentLoadState fls, uint8_t idlerSlotIndex, uint8_t selectorSlotIndex,
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bool findaPressed, bool pulleyEnabled, ml::Mode greenLEDMode, ml::Mode redLEDMode, ErrorCode err, ProgressCode topLevelProgress) {
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CHECKED_ELSE(VerifyEnvironmentState(fls, idlerSlotIndex, selectorSlotIndex, findaPressed, pulleyEnabled, greenLEDMode, redLEDMode)) {
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return false;
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}
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CHECKED_ELSE(uf.Error() == err) {
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return false;
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}
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auto tls = uf.TopLevelState();
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CHECKED_ELSE(tls == topLevelProgress) {
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return false;
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}
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return true;
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}
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// LED checked at their own ledCheckIndex index
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template<typename SM>
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bool VerifyState2(SM &uf, mg::FilamentLoadState fls, uint8_t idlerSlotIndex, uint8_t selectorSlotIndex,
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bool findaPressed, bool pulleyEnabled, uint8_t ledCheckIndex, ml::Mode greenLEDMode, ml::Mode redLEDMode, ErrorCode err, ProgressCode topLevelProgress) {
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CHECKED_ELSE(mg::globals.FilamentLoaded() & fls) {
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return false;
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}
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if( idlerSlotIndex < config::toolCount ){ // abusing invalid index to skip checking of slot and position
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CHECKED_ELSE(mm::axes[mm::Idler].pos == mi::Idler::SlotPosition(idlerSlotIndex).v) {
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return false;
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}
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CHECKED_ELSE(mi::idler.Engaged() == (idlerSlotIndex < config::toolCount)) {
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return false;
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}
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}
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if( selectorSlotIndex < config::toolCount ){ // abusing invalid index to skip checking of slot and position
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CHECKED_ELSE(mm::axes[mm::Selector].pos == ms::Selector::SlotPosition(selectorSlotIndex).v) {
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return false;
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}
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CHECKED_ELSE(ms::selector.Slot() == selectorSlotIndex) {
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return false;
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}
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}
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CHECKED_ELSE(mf::finda.Pressed() == findaPressed) {
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return false;
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}
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CHECKED_ELSE(mm::PulleyEnabled() == pulleyEnabled){
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return false;
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}
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for(uint8_t ledIndex = 0; ledIndex < config::toolCount; ++ledIndex){
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if( ledIndex != ledCheckIndex ){
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// the other LEDs should be off
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CHECKED_ELSE(ml::leds.Mode(ledIndex, ml::red) == ml::off) {
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return false;
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}
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CHECKED_ELSE(ml::leds.Mode(ledIndex, ml::green) == ml::off) {
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return false;
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}
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} else {
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auto lmr = ml::leds.Mode(ledCheckIndex, ml::red);
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CHECKED_ELSE(lmr == redLEDMode) {
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return false;
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}
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auto lmg = ml::leds.Mode(ledCheckIndex, ml::green);
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CHECKED_ELSE(lmg == greenLEDMode) {
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return false;
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}
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}
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}
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CHECKED_ELSE(uf.Error() == err) {
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return false;
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}
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CHECKED_ELSE(uf.TopLevelState() == topLevelProgress) {
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return false;
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}
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return true;
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}
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template<typename SM>
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void InvalidSlot(SM &logicSM, uint8_t activeSlot, uint8_t invSlot){
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ForceReinitAllAutomata();
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EnsureActiveSlotIndex(5, mg::FilamentLoadState::AtPulley);
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REQUIRE(VerifyEnvironmentState(mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), ms::Selector::IdleSlotIndex(), false, false, ml::off, ml::off));
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EnsureActiveSlotIndex(activeSlot, mg::FilamentLoadState::AtPulley);
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logicSM.Reset(invSlot);
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REQUIRE(VerifyState(logicSM, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), activeSlot, false, false, ml::off, ml::off, ErrorCode::INVALID_TOOL, ProgressCode::OK));
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}
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