69 lines
2.2 KiB
Rust
69 lines
2.2 KiB
Rust
mod gpio;
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mod serial;
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use thiserror::Error;
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use tracing::{info, warn};
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#[derive(Debug, Error)]
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pub enum PlateChangerError {
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#[error("plate changer hardware not responding")]
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NotResponding,
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#[error("sensor validation failed: {0}")]
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SensorMismatch(String),
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#[error("serial transport error: {0}")]
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Serial(#[from] serial::SerialError),
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}
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#[derive(Debug, Clone, Copy, PartialEq, Eq)]
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pub enum CycleOutcome {
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Success,
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Retried,
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}
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/// Drives a mechanical plate-swap cycle: signal the changer over serial,
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/// wait for it to report completion, then cross-check the physical sensors
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/// (plate-present, bed-clear) before releasing the print queue to continue.
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pub struct PlateChanger {
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port: serial::SerialPort,
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}
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impl PlateChanger {
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pub fn open(path: &str, baud: u32) -> Result<Self, PlateChangerError> {
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Ok(Self {
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port: serial::SerialPort::open(path, baud)?,
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})
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}
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pub async fn run_cycle(&mut self, slot: u8) -> Result<CycleOutcome, PlateChangerError> {
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info!(slot, "starting plate change cycle");
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self.port.send_command(&serial::Command::Eject).await?;
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self.port.await_ack(std::time::Duration::from_secs(30)).await?;
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self.port.send_command(&serial::Command::LoadSlot(slot)).await?;
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self.port.await_ack(std::time::Duration::from_secs(30)).await?;
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match self.validate_sensors().await {
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Ok(()) => Ok(CycleOutcome::Success),
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Err(err) => {
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warn!(?err, slot, "sensor validation failed, retrying cycle once");
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self.port.send_command(&serial::Command::LoadSlot(slot)).await?;
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self.port.await_ack(std::time::Duration::from_secs(30)).await?;
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self.validate_sensors().await?;
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Ok(CycleOutcome::Retried)
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}
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}
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}
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async fn validate_sensors(&mut self) -> Result<(), PlateChangerError> {
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let state = gpio::read_sensor_state().await;
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if !state.plate_present {
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return Err(PlateChangerError::SensorMismatch("plate not detected on bed".into()));
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}
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if !state.bed_clear {
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return Err(PlateChangerError::SensorMismatch("bed obstruction detected".into()));
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}
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Ok(())
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}
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}
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