38 lines
1.3 KiB
C++
38 lines
1.3 KiB
C++
/// @file home.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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namespace logic {
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/// @brief A high-level command state machine - wrapps the rehoming procedure to be used from a printer
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///
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/// The home operation consists of:
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/// - invalidates Idler's and Selector's homing flags
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/// - waits until Idler and Selector finish their homing sequences
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///
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/// Beware - Idler and Selector will NOT perform the homing moves if filament sensor state is not in the right state
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/// - Idler: filament must not be in the fsensor or nozzle
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/// - Selector: filament must not be in the selector, fsensor or nozzle
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/// It is up to the printer to let the MMU unload filament first (to make sure everything is safe) and then issue the homing command
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///
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/// Moreover - Idler and Selector try to home automagically a runtime when they know it is safe.
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/// This high-level command is just a way to invoke re-homing from the printer while all safety measures are kept.
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class Home : public CommandBase {
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public:
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inline Home()
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: CommandBase() {}
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/// Restart the automaton
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/// @param param unused
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void 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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};
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/// The one and only instance of Home state machine in the FW
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extern Home home;
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} // namespace logic
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