37 lines
1.3 KiB
C++
37 lines
1.3 KiB
C++
#pragma once
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#include "../../../../src/logic/command_base.h"
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#include "../../../../src/modules/globals.h"
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extern void main_loop();
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extern void ForceReinitAllAutomata();
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template <typename SM, typename COND>
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bool WhileCondition(SM &sm, COND cond, uint32_t maxLoops = 5000) {
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uint32_t step = 0;
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while (cond(step) && --maxLoops) {
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main_loop();
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sm.Step();
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++step;
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}
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return maxLoops > 0;
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}
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template <typename SM>
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bool WhileTopState(SM &sm, ProgressCode state, uint32_t maxLoops = 5000) {
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return WhileCondition(
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sm, [&](uint32_t) { return sm.TopLevelState() == state; }, maxLoops);
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}
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void EnsureActiveSlotIndex(uint8_t slot, modules::globals::FilamentLoadState loadState);
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void SetFINDAStateAndDebounce(bool press);
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void SimulateIdlerHoming();
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void SimulateSelectorHoming();
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void SimulateIdlerAndSelectorHoming();
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bool SimulateUnloadToFINDA(uint32_t step, uint32_t fsOff, uint32_t findaOff);
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// these are recommended max steps for simulated movement of the idler and selector
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// - roughly the amount of motion steps from one end to the other + some margin
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// ... could be computed in the future from the pre-set number of microsteps and real positions
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static constexpr uint32_t idlerEngageDisengageMaxSteps = 40000UL;
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static constexpr uint32_t selectorMoveMaxSteps = 40000UL;
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