104 lines
3.1 KiB
C++
104 lines
3.1 KiB
C++
/// @file eject_filament.cpp
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#include "eject_filament.h"
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#include "../modules/buttons.h"
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#include "../modules/finda.h"
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#include "../modules/globals.h"
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#include "../modules/idler.h"
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#include "../modules/leds.h"
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#include "../modules/motion.h"
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#include "../modules/permanent_storage.h"
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#include "../modules/pulley.h"
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#include "../modules/selector.h"
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#include "../debug.h"
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namespace logic {
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EjectFilament ejectFilament;
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void EjectFilament::Reset(uint8_t param) {
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if (!CheckToolIndex(param)) {
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return;
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}
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error = ErrorCode::RUNNING;
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slot = param;
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if (mg::globals.FilamentLoaded() == mg::FilamentLoadState::NotLoaded) {
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FinishedOK();
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dbg_logic_P(PSTR("Already ejected"));
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} else if (mg::globals.FilamentLoaded() >= mg::FilamentLoadState::AtPulley) {
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state = ProgressCode::UnloadingFilament;
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unl.Reset(param); //@@TODO probably act on active extruder only
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} else {
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MoveSelectorAside();
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}
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}
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void EjectFilament::MoveSelectorAside() {
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state = ProgressCode::ParkingSelector;
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const uint8_t selectorParkedPos = (slot <= 2) ? 4 : 0;
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mi::idler.Engage(slot);
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ms::selector.MoveToSlot(selectorParkedPos);
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}
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bool EjectFilament::StepInner() {
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switch (state) {
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case ProgressCode::UnloadingFilament:
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if (unl.StepInner()) {
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// unloading sequence finished - basically, no errors can occur here
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// as UnloadFilament should handle all the possible error states on its own
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// There is no way the UnloadFilament to finish in an error state
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MoveSelectorAside();
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}
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break;
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case ProgressCode::ParkingSelector:
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if (mm::motion.QueueEmpty()) { // selector parked aside
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state = ProgressCode::EjectingFilament;
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mpu::pulley.InitAxis();
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mpu::pulley.PlanMove(-config::filamentMinLoadedToMMU, config::pulleySlowFeedrate);
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}
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break;
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case ProgressCode::EjectingFilament:
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if (mm::motion.QueueEmpty()) { // filament ejected
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state = ProgressCode::DisengagingIdler;
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mi::idler.Disengage();
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}
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break;
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case ProgressCode::DisengagingIdler:
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if (!mi::idler.Engaged()) { // idler disengaged
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mpu::pulley.Disable();
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mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::NotLoaded);
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FinishedOK();
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}
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break;
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case ProgressCode::OK:
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dbg_logic_fP(PSTR("FilamentLoadState after Eject %d"), mg::globals.FilamentLoaded());
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return true;
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default: // we got into an unhandled state, better report it
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state = ProgressCode::ERRInternal;
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error = ErrorCode::INTERNAL;
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return true;
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}
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return false;
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}
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ProgressCode EjectFilament::State() const {
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switch (state) {
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case ProgressCode::UnloadingFilament:
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return unl.State(); // report sub-automaton states properly
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default:
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return state;
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}
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}
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ErrorCode EjectFilament::Error() const {
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switch (state) {
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case ProgressCode::UnloadingFilament:
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return unl.Error(); // report sub-automaton errors properly
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default:
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return error;
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}
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}
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} // namespace logic
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