A high-level command state machine - handles the complex logic of loading filament into a filament slot. More...

#include <load_filament.h>

Inheritance diagram for logic::LoadFilament:

Collaboration diagram for logic::LoadFilament:

Public Member Functions
bool	Reset (uint8_t param) override

void	ResetLimited (uint8_t param)

bool	StepInner () override

virtual ResultCode	Result () const override

Public Member Functions inherited from logic::CommandBase
bool	Step ()

virtual ProgressCode	State () const

ProgressCode	TopLevelState () const

virtual ErrorCode	Error () 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 - handles the complex logic of loading filament into a filament slot.

Member Function Documentation

◆ Reset()

bool logic::LoadFilament::Reset ( uint8_t param )

overridevirtual

Restart the automaton - performs unlimited rotation of the Pulley

Parameters

param index of filament slot to load

Implements logic::CommandBase.

◆ ResetLimited()

void logic::LoadFilament::ResetLimited ( uint8_t param )

Restart the automaton for a limited rotation of the Pulley

Parameters

param index of filament slot to load

◆ Result()

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

inlineoverridevirtual

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 from logic::CommandBase.

◆ StepInner()

bool logic::LoadFilament::StepInner ( )