A high-level command state machine - wrapps the rehoming procedure to be used from a printer. More...
#include <home.h>
Inheritance diagram for logic::Home:
Collaboration diagram for logic::Home:
Public Member Functions | |
| bool | Reset (uint8_t) override |
| Restart the automaton. | |
| bool | StepInner () override |
 Public Member Functions inherited from logic::CommandBase | |
| bool | Step () |
| virtual ProgressCode | State () const |
| ProgressCode | TopLevelState () const |
| virtual ErrorCode | Error () const |
| virtual ResultCode | Result () const |
| void | Panic (ErrorCode ec) |
Additional Inherited Members | |
| Static Public Member Functions inherited from logic::CommandBase | |
| 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 inherited from logic::CommandBase | |
| 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 inherited from logic::CommandBase | |
| 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
A high-level command state machine - wrapps the rehoming procedure to be used from a printer.
The home operation consists of:
- invalidates Idler's and Selector's homing flags
- waits until Idler and Selector finish their homing sequences
Beware - Idler and Selector will NOT perform the homing moves if filament sensor state is not in the right state
- Idler: filament must not be in the fsensor or nozzle
- Selector: filament must not be in the selector, fsensor or nozzle 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
Moreover - Idler and Selector try to home automagically a runtime when they know it is safe. This high-level command is just a way to invoke re-homing from the printer while all safety measures are kept.
Member Function Documentation
◆ StepInner()
|
overridevirtual |
- Returns
- true if the state machine finished its job, false otherwise
Implements logic::CommandBase.
The documentation for this class was generated from the following files:
