PrusaFirmware/Firmware/mmu2_protocol_logic.cpp

#include "mmu2_protocol_logic.h"
#include "mmu2_log.h"
#include "mmu2_fsensor.h"
#include "system_timer.h"
#include <string.h>

namespace MMU2 {

static const uint8_t supportedMmuFWVersion[3] PROGMEM = { 2, 1, 3 };

void ProtocolLogic::CheckAndReportAsyncEvents() {
    // even when waiting for a query period, we need to report a change in filament sensor's state
    // - it is vital for a precise synchronization of moves of the printer and the MMU
    uint8_t fs = (uint8_t)WhereIsFilament();
    if (fs != lastFSensor) {
        SendAndUpdateFilamentSensor();
    }
}

void ProtocolLogic::SendQuery() {
    SendMsg(RequestMsg(RequestMsgCodes::Query, 0));
    scopeState = ScopeState::QuerySent;
}

void ProtocolLogic::SendFINDAQuery() {
    SendMsg(RequestMsg(RequestMsgCodes::Finda, 0));
    scopeState = ScopeState::FINDAReqSent;
}

void ProtocolLogic::SendAndUpdateFilamentSensor() {
    SendMsg(RequestMsg(RequestMsgCodes::FilamentSensor, lastFSensor = (uint8_t)WhereIsFilament()));
    scopeState = ScopeState::FilamentSensorStateSent;
}

void ProtocolLogic::SendButton(uint8_t btn) {
    SendMsg(RequestMsg(RequestMsgCodes::Button, btn));
    scopeState = ScopeState::ButtonSent;
}

void ProtocolLogic::SendVersion(uint8_t stage) {
    SendMsg(RequestMsg(RequestMsgCodes::Version, stage));
    scopeState = (ScopeState)((uint_fast8_t)ScopeState::S0Sent + stage);
}

void ProtocolLogic::SendReadRegister(uint8_t index, ScopeState nextState) {
    SendMsg(RequestMsg(RequestMsgCodes::Read, index));
    scopeState = nextState;
}

void ProtocolLogic::SendWriteRegister(uint8_t index, uint16_t value, ScopeState nextState){
    SendWriteMsg(RequestMsg(RequestMsgCodes::Write, index, value));
    scopeState = nextState;
}

// searches for "ok\n" in the incoming serial data (that's the usual response of the old MMU FW)
struct OldMMUFWDetector {
    uint8_t ok;
    inline constexpr OldMMUFWDetector():ok(0) { }
    
    enum class State : uint8_t { MatchingPart, SomethingElse, Matched };
    
    /// @returns true when "ok\n" gets detected
    State Detect(uint8_t c){
        // consume old MMU FW's data if any -> avoid confusion of protocol decoder
        if(ok == 0 && c == 'o'){
            ++ok;
            return State::MatchingPart;
        } else if(ok == 1 && c == 'k'){
            ++ok;
            return State::MatchingPart;
        } else if(ok == 2 && c == '\n'){
            return State::Matched;
        }
        return State::SomethingElse;
    }
};

StepStatus ProtocolLogic::ExpectingMessage() {
    int bytesConsumed = 0;
    int c = -1;
    
    OldMMUFWDetector oldMMUh4x0r; // old MMU FW hacker ;)
        
    // try to consume as many rx bytes as possible (until a message has been completed)
    while ((c = uart->read()) >= 0) {
        ++bytesConsumed;
        RecordReceivedByte(c);
        switch (protocol.DecodeResponse(c)) {
        case DecodeStatus::MessageCompleted:
            rsp = protocol.GetResponseMsg();
            LogResponse();
            RecordUARTActivity(); // something has happened on the UART, update the timeout record
            return MessageReady;
        case DecodeStatus::NeedMoreData:
            break;
        case DecodeStatus::Error:{
            // consume old MMU FW's data if any -> avoid confusion of protocol decoder
            auto old = oldMMUh4x0r.Detect(c);
            if( old == OldMMUFWDetector::State::Matched ){
                // hack bad FW version - BEWARE - we silently assume that the first query is an "S0"
                // The old MMU FW responds with "ok\n" and we fake the response to a bad FW version at this spot
                rsp = ResponseMsg(RequestMsg(RequestMsgCodes::Version, 0), ResponseMsgParamCodes::Accepted, 0);
                return MessageReady;
            } else if( old == OldMMUFWDetector::State::MatchingPart ){
                break;
            }
            }
            [[fallthrough]]; // otherwise
        default:
            RecordUARTActivity(); // something has happened on the UART, update the timeout record
            return ProtocolError;
        }
    }
    if (bytesConsumed != 0) {
        RecordUARTActivity(); // something has happened on the UART, update the timeout record
        return Processing;    // consumed some bytes, but message still not ready
    } else if (Elapsed(linkLayerTimeout)) {
        return CommunicationTimeout;
    }
    return Processing;
}

void ProtocolLogic::SendMsg(RequestMsg rq) {
    uint8_t txbuff[Protocol::MaxRequestSize()];
    uint8_t len = Protocol::EncodeRequest(rq, txbuff);
    uart->write(txbuff, len);
    LogRequestMsg(txbuff, len);
    RecordUARTActivity();
}

void ProtocolLogic::SendWriteMsg(RequestMsg rq){
    uint8_t txbuff[Protocol::MaxRequestSize()];
    uint8_t len = Protocol::EncodeWriteRequest(rq.value, rq.value2, txbuff);
    uart->write(txbuff, len);
    LogRequestMsg(txbuff, len);
    RecordUARTActivity();
}

void ProtocolLogic::StartSeqRestart() {
    retries = maxRetries;
    SendVersion(0);
}

void ProtocolLogic::DelayedRestartRestart() {
    scopeState = ScopeState::RecoveringProtocolError;
}

void ProtocolLogic::CommandRestart() {
    scopeState = ScopeState::CommandSent;
    SendMsg(rq);
}

void ProtocolLogic::IdleRestart() {
    scopeState = ScopeState::Ready;
}

StepStatus ProtocolLogic::ProcessVersionResponse(uint8_t stage) {
    if (rsp.request.code != RequestMsgCodes::Version || rsp.request.value != stage) {
        // got a response to something else - protocol corruption probably, repeat the query OR restart the comm by issuing S0?
        SendVersion(stage);
    } else {
        mmuFwVersion[stage] = rsp.paramValue;
        if (mmuFwVersion[stage] != pgm_read_byte(supportedMmuFWVersion + stage)) {
            if (--retries == 0) {
                return VersionMismatch;
            } else {
                SendVersion(stage);
            }
        } else {
            dataTO.Reset(); // got a meaningful response from the MMU, stop data layer timeout tracking
            SendVersion(stage + 1);
        }
    }
    return Processing;
}

StepStatus ProtocolLogic::ScopeStep() {
    if ( ! ExpectsResponse() ) {
        // we are waiting for something
        switch (currentScope) {
        case Scope::DelayedRestart:
            return DelayedRestartWait();
        case Scope::Idle:
            return IdleWait();
        case Scope::Command:
            return CommandWait();
        case Scope::Stopped:
            return StoppedStep();
        default:
            break;
        }
    } else {
        // we are expecting a message
        if (auto expmsg = ExpectingMessage(); expmsg != MessageReady) // this whole statement takes 12B
            return expmsg;

        // process message
        switch (currentScope) {
        case Scope::StartSeq:
            return StartSeqStep(); // ~270B
        case Scope::Idle:
            return IdleStep(); // ~300B
        case Scope::Command:
            return CommandStep(); // ~430B
        case Scope::Stopped:
            return StoppedStep();
        default:
            break;
        }
    }
    return Finished;
}

StepStatus ProtocolLogic::StartSeqStep() {
    // solve initial handshake
    switch (scopeState) {
    case ScopeState::S0Sent: // received response to S0 - major
    case ScopeState::S1Sent: // received response to S1 - minor
    case ScopeState::S2Sent: // received response to S2 - minor
        return ProcessVersionResponse((uint8_t)scopeState - (uint8_t)ScopeState::S0Sent);
    case ScopeState::S3Sent: // received response to S3 - revision
        if (rsp.request.code != RequestMsgCodes::Version || rsp.request.value != 3) {
            // got a response to something else - protocol corruption probably, repeat the query OR restart the comm by issuing S0?
            SendVersion(3);
        } else {
            mmuFwVersionBuild = rsp.paramValue; // just register the build number
            // Start General Interrogation after line up.
            // For now we just send the state of the filament sensor, but we may request
            // data point states from the MMU as well. TBD in the future, especially with another protocol
            SendAndUpdateFilamentSensor();
        }
        return Processing;
    case ScopeState::FilamentSensorStateSent:
        SwitchFromStartToIdle();
        return Processing; // Returning Finished is not a good idea in case of a fast error recovery
        // - it tells the printer, that the command which experienced a protocol error and recovered successfully actually terminated.
        // In such a case we must return "Processing" in order to keep the MMU state machine running and prevent the printer from executing next G-codes.
        break;
    default:
        return VersionMismatch;
    }
    return Finished;
}

StepStatus ProtocolLogic::DelayedRestartWait() {
    if (Elapsed(heartBeatPeriod)) { // this basically means, that we are waiting until there is some traffic on
        while (uart->read() != -1)
            ; // clear the input buffer
        // switch to StartSeq
        Start();
    }
    return Processing;
}

StepStatus ProtocolLogic::CommandWait() {
    if (Elapsed(heartBeatPeriod)) {
        SendQuery();
    } else {
        // even when waiting for a query period, we need to report a change in filament sensor's state
        // - it is vital for a precise synchronization of moves of the printer and the MMU
        CheckAndReportAsyncEvents();
    }
    return Processing;
}

StepStatus ProtocolLogic::ProcessCommandQueryResponse() {
    switch (rsp.paramCode) {
    case ResponseMsgParamCodes::Processing:
        progressCode = static_cast<ProgressCode>(rsp.paramValue);
        errorCode = ErrorCode::OK;
        SendAndUpdateFilamentSensor(); // keep on reporting the state of fsensor regularly
        return Processing;
    case ResponseMsgParamCodes::Error:
        // in case of an error the progress code remains as it has been before
        errorCode = static_cast<ErrorCode>(rsp.paramValue);
        // keep on reporting the state of fsensor regularly even in command error state
        // - the MMU checks FINDA and fsensor even while recovering from errors
        SendAndUpdateFilamentSensor();
        return CommandError;
    case ResponseMsgParamCodes::Button:
        // The user pushed a button on the MMU. Save it, do what we need to do
        // to prepare, then pass it back to the MMU so it can work its magic.
        buttonCode = static_cast<Buttons>(rsp.paramValue);
        SendAndUpdateFilamentSensor();
        return ButtonPushed;
    case ResponseMsgParamCodes::Finished:
        progressCode = ProgressCode::OK;
        scopeState = ScopeState::Ready;
        return Finished;
    default:
        return ProtocolError;
    }
}

StepStatus ProtocolLogic::CommandStep() {
    switch (scopeState) {
    case ScopeState::CommandSent: {
        switch (rsp.paramCode) { // the response should be either accepted or rejected
        case ResponseMsgParamCodes::Accepted:
            progressCode = ProgressCode::OK;
            errorCode = ErrorCode::RUNNING;
            scopeState = ScopeState::Wait;
            break;
        case ResponseMsgParamCodes::Rejected:
            // rejected - should normally not happen, but report the error up
            progressCode = ProgressCode::OK;
            errorCode = ErrorCode::PROTOCOL_ERROR;
            return CommandRejected;
        default:
            return ProtocolError;
        }
    } break;
    case ScopeState::QuerySent:
        return ProcessCommandQueryResponse();
    case ScopeState::FilamentSensorStateSent:
        SendFINDAQuery();
        return Processing;
    case ScopeState::FINDAReqSent:
        SendReadRegister(4, ScopeState::StatisticsSent);
        scopeState = ScopeState::StatisticsSent;
        return Processing;
    case ScopeState::StatisticsSent:
        scopeState = ScopeState::Wait;
        return Processing;
    case ScopeState::ButtonSent:
        if (rsp.paramCode == ResponseMsgParamCodes::Accepted) {
            // Button was accepted, decrement the retry.
            mmu2.DecrementRetryAttempts();
        }
        SendAndUpdateFilamentSensor();
        break;
    default:
        return ProtocolError;
    }
    return Processing;
}

StepStatus ProtocolLogic::IdleWait() {
    if (scopeState == ScopeState::Ready) { // check timeout
        if (Elapsed(heartBeatPeriod)) {
            SendQuery();
            return Processing;
        }
    }
    return Finished;
}

StepStatus ProtocolLogic::IdleStep() {
    switch (scopeState) {
    case ScopeState::QuerySent: // check UART
        // If we are accidentally in Idle and we receive something like "T0 P1" - that means the communication dropped out while a command was in progress.
        // That causes no issues here, we just need to switch to Command processing and continue there from now on.
        // The usual response in this case should be some command and "F" - finished - that confirms we are in an Idle state even on the MMU side.
        switch (rsp.request.code) {
        case RequestMsgCodes::Cut:
        case RequestMsgCodes::Eject:
        case RequestMsgCodes::Load:
        case RequestMsgCodes::Mode:
        case RequestMsgCodes::Tool:
        case RequestMsgCodes::Unload:
            if (rsp.paramCode != ResponseMsgParamCodes::Finished) {
                return SwitchFromIdleToCommand();
            }
            break;
        case RequestMsgCodes::Reset:
            // this one is kind of special
            // we do not transfer to any "running" command (i.e. we stay in Idle),
            // but in case there is an error reported we must make sure it gets propagated
            switch (rsp.paramCode) {
            case ResponseMsgParamCodes::Button:
                // The user pushed a button on the MMU. Save it, do what we need to do
                // to prepare, then pass it back to the MMU so it can work its magic.
                buttonCode = static_cast<Buttons>(rsp.paramValue);
                SendFINDAQuery();
                return ButtonPushed;
            case ResponseMsgParamCodes::Processing:
                // @@TODO we may actually use this branch to report progress of manual operation on the MMU
                // The MMU sends e.g. X0 P27 after its restart when the user presses an MMU button to move the Selector
                // For now let's behave just like "finished"
            case ResponseMsgParamCodes::Finished:
                errorCode = ErrorCode::OK;
                break;
            default:
                errorCode = static_cast<ErrorCode>(rsp.paramValue);
                SendFINDAQuery(); // continue Idle state without restarting the communication
                return CommandError;
            }
            break;
        default:
            return ProtocolError;
        }
        SendFINDAQuery();
        return Processing;
    case ScopeState::FINDAReqSent:
        SendReadRegister(4, ScopeState::StatisticsSent);
        scopeState = ScopeState::StatisticsSent;
        return Processing;
    case ScopeState::StatisticsSent:
        failStatistics = rsp.paramValue;
        scopeState = ScopeState::Ready;
        return Finished;
    case ScopeState::ButtonSent:
        if (rsp.paramCode == ResponseMsgParamCodes::Accepted) {
            // Button was accepted, decrement the retry.
            mmu2.DecrementRetryAttempts();
        }
        SendFINDAQuery();
        return Processing;
    case ScopeState::ReadRegisterSent:
        if (rsp.paramCode == ResponseMsgParamCodes::Accepted) {
            // @@TODO just dump the value onto the serial
        }
        return Finished;
    case ScopeState::WriteRegisterSent:
        if (rsp.paramCode == ResponseMsgParamCodes::Accepted) {
            // @@TODO do something? Retry if not accepted?
        }
        return Finished;
    default:
        return ProtocolError;
    }

    // The "return Finished" in this state machine requires a bit of explanation:
    // The Idle state either did nothing (still waiting for the heartbeat timeout)
    // or just successfully received the answer to Q0, whatever that was.
    // In both cases, it is ready to hand over work to a command or something else,
    // therefore we are returning Finished (also to exit mmu_loop() and unblock Marlin's loop!).
    // If there is no work, we'll end up in the Idle state again
    // and we'll send the heartbeat message after the specified timeout.
    return Finished;
}

ProtocolLogic::ProtocolLogic(MMU2Serial *uart)
    : currentScope(Scope::Stopped)
    , scopeState(ScopeState::Ready)
    , plannedRq(RequestMsgCodes::unknown, 0)
    , lastUARTActivityMs(0)
    , dataTO()
    , rsp(RequestMsg(RequestMsgCodes::unknown, 0), ResponseMsgParamCodes::unknown, 0)
    , state(State::Stopped)
    , lrb(0)
    , uart(uart)
    , errorCode(ErrorCode::OK)
    , progressCode(ProgressCode::OK)
    , buttonCode(NoButton)
    , lastFSensor((uint8_t)WhereIsFilament())
    , findaPressed(false)
    , failStatistics(0)
    , mmuFwVersion { 0, 0, 0 }
{}

void ProtocolLogic::Start() {
    state = State::InitSequence;
    currentScope = Scope::StartSeq;
    protocol.ResetResponseDecoder(); // important - finished delayed restart relies on this
    StartSeqRestart();
}

void ProtocolLogic::Stop() {
    state = State::Stopped;
    currentScope = Scope::Stopped;
}

void ProtocolLogic::ToolChange(uint8_t slot) {
    PlanGenericRequest(RequestMsg(RequestMsgCodes::Tool, slot));
}

void ProtocolLogic::Statistics() {
    PlanGenericRequest(RequestMsg(RequestMsgCodes::Version, 3));
}

void ProtocolLogic::UnloadFilament() {
    PlanGenericRequest(RequestMsg(RequestMsgCodes::Unload, 0));
}

void ProtocolLogic::LoadFilament(uint8_t slot) {
    PlanGenericRequest(RequestMsg(RequestMsgCodes::Load, slot));
}

void ProtocolLogic::EjectFilament(uint8_t slot) {
    PlanGenericRequest(RequestMsg(RequestMsgCodes::Eject, slot));
}

void ProtocolLogic::CutFilament(uint8_t slot) {
    PlanGenericRequest(RequestMsg(RequestMsgCodes::Cut, slot));
}

void ProtocolLogic::ResetMMU() {
    PlanGenericRequest(RequestMsg(RequestMsgCodes::Reset, 0));
}

void ProtocolLogic::Button(uint8_t index) {
    PlanGenericRequest(RequestMsg(RequestMsgCodes::Button, index));
}

void ProtocolLogic::Home(uint8_t mode) {
    PlanGenericRequest(RequestMsg(RequestMsgCodes::Home, mode));
}

void ProtocolLogic::ReadRegister(uint8_t address){
    PlanGenericRequest(RequestMsg(RequestMsgCodes::Read, address));
}

void ProtocolLogic::WriteRegister(uint8_t address, uint16_t data){
    PlanGenericRequest(RequestMsg(RequestMsgCodes::Write, address, data));
}

void ProtocolLogic::PlanGenericRequest(RequestMsg rq) {
    plannedRq = rq;
    if (!ExpectsResponse()) {
        ActivatePlannedRequest();
    } // otherwise wait for an empty window to activate the request
}

bool ProtocolLogic::ActivatePlannedRequest() {
    switch(plannedRq.code){
    case RequestMsgCodes::Button:
        // only issue the button to the MMU and do not restart the state machines
        SendButton(plannedRq.value);
        plannedRq = RequestMsg(RequestMsgCodes::unknown, 0);
        return true;
    case RequestMsgCodes::Read:
        SendReadRegister(plannedRq.value, ScopeState::ReadRegisterSent );
        plannedRq = RequestMsg(RequestMsgCodes::unknown, 0);
        return true;
    case RequestMsgCodes::Write:
        SendWriteRegister(plannedRq.value, plannedRq.value2, ScopeState::WriteRegisterSent );
        plannedRq = RequestMsg(RequestMsgCodes::unknown, 0);
        return true;
    case RequestMsgCodes::unknown:
        return false;
    default:// commands
        currentScope = Scope::Command;
        SetRequestMsg(plannedRq);
        plannedRq = RequestMsg(RequestMsgCodes::unknown, 0);
        CommandRestart();
        return true;
    }
}

StepStatus ProtocolLogic::SwitchFromIdleToCommand() {
    currentScope = Scope::Command;
    SetRequestMsg(rsp.request);
    // we are recovering from a communication drop out, the command is already running
    // and we have just received a response to a Q0 message about a command progress
    return ProcessCommandQueryResponse();
}

void ProtocolLogic::SwitchToIdle() {
    state = State::Running;
    currentScope = Scope::Idle;
    IdleRestart();
}

void ProtocolLogic::SwitchFromStartToIdle() {
    state = State::Running;
    currentScope = Scope::Idle;
    IdleRestart();
    SendQuery(); // force sending Q0 immediately
}

bool ProtocolLogic::Elapsed(uint32_t timeout) const {
    return _millis() >= (lastUARTActivityMs + timeout);
}

void ProtocolLogic::RecordUARTActivity() {
    lastUARTActivityMs = _millis();
}

void ProtocolLogic::RecordReceivedByte(uint8_t c) {
    lastReceivedBytes[lrb] = c;
    lrb = (lrb + 1) % lastReceivedBytes.size();
}

constexpr char NibbleToChar(uint8_t c) {
    switch (c) {
    case 0:
    case 1:
    case 2:
    case 3:
    case 4:
    case 5:
    case 6:
    case 7:
    case 8:
    case 9:
        return c + '0';
    case 10:
    case 11:
    case 12:
    case 13:
    case 14:
    case 15:
        return (c - 10) + 'a';
    default:
        return 0;
    }
}

void ProtocolLogic::FormatLastReceivedBytes(char *dst) {
    for (uint8_t i = 0; i < lastReceivedBytes.size(); ++i) {
        uint8_t b = lastReceivedBytes[(lrb - i - 1) % lastReceivedBytes.size()];
        dst[i * 3] = NibbleToChar(b >> 4);
        dst[i * 3 + 1] = NibbleToChar(b & 0xf);
        dst[i * 3 + 2] = ' ';
    }
    dst[(lastReceivedBytes.size() - 1) * 3 + 2] = 0; // terminate properly
}

void ProtocolLogic::FormatLastResponseMsgAndClearLRB(char *dst) {
    *dst++ = '<';
    for (uint8_t i = 0; i < lrb; ++i) {
        uint8_t b = lastReceivedBytes[i];
        if (b < 32)
            b = '.';
        if (b > 127)
            b = '.';
        *dst++ = b;
    }
    *dst = 0; // terminate properly
    lrb = 0;  // reset the input buffer index in case of a clean message
}

void ProtocolLogic::LogRequestMsg(const uint8_t *txbuff, uint8_t size) {
    constexpr uint_fast8_t rqs = modules::protocol::Protocol::MaxRequestSize() + 2;
    char tmp[rqs] = ">";
    static char lastMsg[rqs] = "";
    for (uint8_t i = 0; i < size; ++i) {
        uint8_t b = txbuff[i];
        if (b < 32)
            b = '.';
        if (b > 127)
            b = '.';
        tmp[i + 1] = b;
    }
    tmp[size + 1] = '\n';
    tmp[size + 2] = 0;
    if (!strncmp_P(tmp, PSTR(">S0*99.\n"), rqs) && !strncmp(lastMsg, tmp, rqs)) {
        // @@TODO we skip the repeated request msgs for now
        // to avoid spoiling the whole log just with ">S0" messages
        // especially when the MMU is not connected.
        // We'll lose the ability to see if the printer is actually
        // trying to find the MMU, but since it has been reliable in the past
        // we can live without it for now.
    } else {
        MMU2_ECHO_MSG(tmp);
    }
    memcpy(lastMsg, tmp, rqs);
}

void ProtocolLogic::LogError(const char *reason_P) {
    char lrb[lastReceivedBytes.size() * 3];
    FormatLastReceivedBytes(lrb);

    MMU2_ERROR_MSGRPGM(reason_P);
    SERIAL_ECHOPGM(", last bytes: ");
    SERIAL_ECHOLN(lrb);
}

void ProtocolLogic::LogResponse() {
    char lrb[lastReceivedBytes.size()];
    FormatLastResponseMsgAndClearLRB(lrb);
    MMU2_ECHO_MSG(lrb);
    SERIAL_ECHOLN();
}

StepStatus ProtocolLogic::SuppressShortDropOuts(const char *msg_P, StepStatus ss) {
    if (dataTO.Record(ss)) {
        LogError(msg_P);
        return dataTO.InitialCause();
    } else {
        return Processing; // suppress short drop outs of communication
    }
}

StepStatus ProtocolLogic::HandleCommunicationTimeout() {
    uart->flush(); // clear the output buffer
    protocol.ResetResponseDecoder();
    Start();
    return SuppressShortDropOuts(PSTR("Communication timeout"), CommunicationTimeout);
}

StepStatus ProtocolLogic::HandleProtocolError() {
    uart->flush(); // clear the output buffer
    state = State::InitSequence;
    currentScope = Scope::DelayedRestart;
    DelayedRestartRestart();
    return SuppressShortDropOuts(PSTR("Protocol Error"), ProtocolError);
}

StepStatus ProtocolLogic::Step() {
    if (!ExpectsResponse()) { // if not waiting for a response, activate a planned request immediately
        ActivatePlannedRequest();
    }
    auto currentStatus = ScopeStep();
    switch (currentStatus) {
    case Processing:
        // we are ok, the state machine continues correctly
        break;
    case Finished: {
        // We are ok, switching to Idle if there is no potential next request planned.
        // But the trouble is we must report a finished command if the previous command has just been finished
        // i.e. only try to find some planned command if we just finished the Idle cycle
        bool previousCommandFinished = currentScope == Scope::Command; // @@TODO this is a nasty hack :(
        if (!ActivatePlannedRequest()) {                               // if nothing is planned, switch to Idle
            SwitchToIdle();
        } else {
            // if the previous cycle was Idle and now we have planned a new command -> avoid returning Finished
            if (!previousCommandFinished && currentScope == Scope::Command) {
                currentStatus = Processing;
            }
        }
    } break;
    case CommandRejected:
        // we have to repeat it - that's the only thing we can do
        // no change in state
        // @@TODO wait until Q0 returns command in progress finished, then we can send this one
        LogError(PSTR("Command rejected"));
        CommandRestart();
        break;
    case CommandError:
        LogError(PSTR("Command Error"));
        // we shall probably transfer into the Idle state and await further instructions from the upper layer
        // Idle state may solve the problem of keeping up the heart beat running
        break;
    case VersionMismatch:
        LogError(PSTR("Version mismatch"));
        Stop(); // cannot continue
        break;
    case ProtocolError:
        currentStatus = HandleProtocolError();
        break;
    case CommunicationTimeout:
        currentStatus = HandleCommunicationTimeout();
        break;
    default:
        break;
    }
    return currentStatus;
}

uint8_t ProtocolLogic::CommandInProgress() const {
    if (currentScope != Scope::Command)
        return 0;
    return (uint8_t)ReqMsg().code;
}

bool DropOutFilter::Record(StepStatus ss) {
    if (occurrences == maxOccurrences) {
        cause = ss;
    }
    --occurrences;
    return occurrences == 0;
}

} // namespace MMU2