command_base.h

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#pragma once
#include <stdint.h>
#include "error_codes.h"
#include "progress_codes.h"
#include "result_codes.h"
 
namespace modules {
namespace motion {
class MovableBase;
}
}
 
namespace logic {
 
ErrorCode AddErrorAxisBit(ErrorCode ec, uint8_t axis);
 
class CommandBase {
public:
    inline constexpr CommandBase()
        : state(ProgressCode::OK)
        , error(ErrorCode::OK)
        , deferredErrorCode(ErrorCode::OK)
        , stateBeforeModuleFailed(ProgressCode::Empty)
        , errorBeforeModuleFailed(ErrorCode::OK)
        , recoveringMovableErrorAxisMask(0) {}
 
    // Normally, a base class should (must) have a virtual destructor to enable correct deallocation of superstructures.
    // However, in our case we don't want ANY destruction of these objects and moreover - adding a destructor like this
    // makes the linker complain about missing operator delete(), which is really not something we want/need in our case.
    // Without the destructor, the linker is "happy" ;)
    // virtual ~CommandBase() = default;
 
    virtual bool Reset(uint8_t param) = 0;
 
    bool Step();
 
    virtual bool StepInner() = 0;
 
    virtual ProgressCode State() const { return state; }
 
    ProgressCode TopLevelState() const { return state; }
 
    virtual ErrorCode Error() const { return error; }
 
    virtual ResultCode Result() const { return ResultCode::OK; }
 
    void Panic(ErrorCode ec);
 
    static void InvalidateHoming();
 
    static void InvalidateHomingAndFilamentState();
 
    static void HoldIdlerSelector();
 
    static void ResumeIdlerSelector();
 
#ifndef UNITTEST
protected:
#endif
    bool CheckToolIndex(uint8_t index);
 
    bool WaitForModulesErrorRecovery();
 
    bool WaitForOneModuleErrorRecovery(ErrorCode iState, modules::motion::MovableBase &m, uint8_t axisMask);
 
    void ErrDisengagingIdler();
 
    void GoToErrDisengagingIdler(ErrorCode deferredEC);
 
    void GoToErrEngagingIdler();
 
    void FinishedOK();
 
    ProgressCode state; 
    ErrorCode error; 
    ErrorCode deferredErrorCode; 
    ProgressCode stateBeforeModuleFailed; 
    ErrorCode errorBeforeModuleFailed; 
    uint8_t recoveringMovableErrorAxisMask;
};
 
} // namespace logic