logic::CommandBase Class Reference

Base class defining common API for high-level operations/commands/state machines. More...

#include <command_base.h>

Inheritance diagram for logic::CommandBase:

Public Member Functions
virtual bool	Reset (uint8_t param)=0
bool	Step ()
virtual bool	StepInner ()=0
virtual ProgressCode	State () const
ProgressCode	TopLevelState () const
virtual ErrorCode	Error () const
virtual ResultCode	Result () const
void	Panic (ErrorCode ec)

Static Public Member Functions
static void	InvalidateHoming ()
	Invalidates homing state on Idler and Selector - doesn't change anything about filament load status.
static void	InvalidateHomingAndFilamentState ()
static void	HoldIdlerSelector ()
	Put Idler and Selector on-hold - they shall not move (not even home) until ResumeIdlerSelector is called.
static void	ResumeIdlerSelector ()
	Allow Idler and Selector to move/home again. Any move needs to be newly planned.

Protected Member Functions
bool	CheckToolIndex (uint8_t index)
bool	WaitForModulesErrorRecovery ()
bool	WaitForOneModuleErrorRecovery (ErrorCode iState, modules::motion::MovableBase &m, uint8_t axisMask)
void	ErrDisengagingIdler ()
	Perform disengaging idler in ErrDisengagingIdler state.
void	GoToErrDisengagingIdler (ErrorCode deferredEC)
	Transit the state machine into ErrDisengagingIdler.
void	GoToErrEngagingIdler ()
	Transit the state machine into ErrEngagingIdler.
void	FinishedOK ()
	Process end of command which finished OK.

Protected Attributes
ProgressCode	state
	current progress state of the state machine
ErrorCode	error
	current error code
ErrorCode	deferredErrorCode
	planned error code - occurs when doing GoToErrDisengagingIdler - after the idler disengaged, the error is set (not before)
ProgressCode	stateBeforeModuleFailed
	saved state of the state machine before a common error happened
ErrorCode	errorBeforeModuleFailed
	saved error of the state machine before a common error happened
uint8_t	recoveringMovableErrorAxisMask

Detailed Description

Base class defining common API for high-level operations/commands/state machines.

Which state machines are high-level? Those which are being initiated either by a command over the serial line or from a button

• they report their progress to the printer
• they can be composed of other sub automata

Tasks derived from this base class are the top-level operations inhibited by the printer. These tasks report their progress and only one of these tasks is allowed to run at once.

Member Function Documentation

CheckToolIndex()

bool logic::CommandBase::CheckToolIndex ( uint8_t  index )

protected

Returns

true if the slot/tool index is within specified range (0 - config::toolCount) If not, it returns false and sets the error to ErrorCode::INVALID_TOOL

Error()

virtual ErrorCode logic::CommandBase::Error ( ) const

inlinevirtual

Returns

status of the operation - e.g. RUNNING, OK, or an error code if the operation failed.

Beware - the same rule about composite operations as with State() applies to Error() as well. Please see ErrorCode for more details

Reimplemented in logic::ToolChange, logic::EjectFilament, and logic::CutFilament.

InvalidateHomingAndFilamentState()

void logic::CommandBase::InvalidateHomingAndFilamentState ( )

static

Invalidates homing state on Idler and Selector + resets the knowledge about filament presence according to known sensors (FINDA+FSensor)

Panic()

void logic::CommandBase::Panic

(

ErrorCode

ec

)

Switches the state machine into an error state of code ec. It shall be used to halt the firmware while retaining the capability of reporting the error state to the printer

• a kind of similar to runtime assertions. Called from main.cpp's global funtion Panic() . The derived state machines have no (implemented) way of getting out of this state (intentionally). The only way out is to reset the board.

Reset()

virtual bool logic::CommandBase::Reset ( uint8_t  param )

pure virtual

resets the automaton

Parameters

param

numerical parameter that comes with some commands (e.g. T1 for tool change 1)

Returns

true if the command was accepted and started (which may not be possible e.g. due to filament position)

Implemented in logic::StartUp, logic::NoCommand, logic::Home, logic::UnloadFilament, logic::ToolChange, logic::SetMode, logic::MoveSelector, logic::LoadFilament, logic::HWSanity, logic::EjectFilament, and logic::CutFilament.

Result()

virtual ResultCode logic::CommandBase::Result ( ) const

inlinevirtual

Returns

result of a command - only valid after the command finished its work. Default returned value is OK for all commands. So far there is only one example usage: LoadFilament can be terminated with a button -> Result will be Cancelled. The printer then can display "Loading cancelled"

Reimplemented in logic::LoadFilament.

State()

virtual ProgressCode logic::CommandBase::State ( ) const

inlinevirtual

Returns

progress of operation - each automaton consists of several internal states which should be reported to the user via the printer's LCD E.g. Tool change: first tries to unload filament, then selects another slot and then tries to load filament

Beware - derived automata report detailed states of underlying state machines if any E.g. Eject filament first tries to unload filament, which is a standalone automaton. Therefore until the unload is finished, this method will report the internal state of Unload filament. The reason for this is to be able to report exactly what is happening to the printer, especially loading and unloading sequences (and errors)

Reimplemented in logic::ToolChange, logic::EjectFilament, and logic::CutFilament.

Step()

bool logic::CommandBase::Step

(

)

Steps the state machine. This is the preferred way of stepping the machine as it handles the global HW error states uniformly (so that the derived classes do not have to deal with these error states on their own). Each derived class then only implements its own logic via the virtual StepInner method.

Returns

true if the automaton finished its work

StepInner()

virtual bool logic::CommandBase::StepInner ( )

pure virtual

Each derived class shall implement its own state machine logic in this method It is being called from Step after the HW error states have been checked

Implemented in logic::UnloadFilament, logic::ToolChange, logic::StartUp, logic::SetMode, logic::NoCommand, logic::MoveSelector, logic::LoadFilament, logic::HWSanity, logic::Home, logic::EjectFilament, and logic::CutFilament.

TopLevelState()

ProgressCode logic::CommandBase::TopLevelState ( ) const

inline

Returns

progress of operation of only this state machine - regardless of any underlying automata (if any) Therefore it is not a vitual method.

WaitForModulesErrorRecovery()

bool logic::CommandBase::WaitForModulesErrorRecovery ( )

protected

Checks for errors of modules - that includes TMC errors, Idler and Selector errors and possibly more. The idea is to check blocking errors at one spot consistently. Some of the detected errors can be irrecoverable (i.e. need power cycling the MMU).

Returns

true if waiting for a recovery, false if the state machine can continue.

WaitForOneModuleErrorRecovery()

bool logic::CommandBase::WaitForOneModuleErrorRecovery ( ErrorCode  iState, modules::motion::MovableBase &  m, uint8_t  axisMask  )

protected

Returns

true when still waiting for a module to recover, false otherwise.

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The documentation for this class was generated from the following files:

• src/logic/command_base.h
• src/logic/command_base.cpp