Module axis_wait 

Generic wait-for-axis-done function block. Common wait-for-axis-done function block.

Most state machines that command a motion axis end up writing the same 15-line wait handler over and over: poll is_busy, then check is_error, then handle state.timed_out, then route to the next state. AxisWait collapses that into a single call returning a WaitStatus the caller matches on.

It is stateless — all state lives in the AxisHandle (the drive) and the caller’s [StateMachine] (the timeout). Because it takes any &impl AxisHandle, the same call works for AxisX / AxisY / AxisZ / AxisC or any custom handle.

Example

use autocore_std::motion::axis_wait::{AxisWait, WaitStatus};

Some(MyState::WaitMoveDone) => {
    match AxisWait::poll(axis_z, &self.state) {
        WaitStatus::Pending => {}
        WaitStatus::Done => {
            self.state.index = MyState::NextStep as i32;
        }
        WaitStatus::Error(msg) => {
            log::error!("Z axis error: {}", msg);
            self.state.index = MyState::Reset as i32;
        }
        WaitStatus::Timeout => {
            log::error!("Timeout waiting for Z motion");
            self.state.index = MyState::Reset as i32;
        }
    }
}

Pairing with a follow_up_state enum

State machines that re-use one wait state across many transitions typically pair this with an Option<MyState> field set by the command-issuing state. The Done arm reads + clears it:

WaitStatus::Done => {
    self.state.index = self.follow_up_state
        .take()
        .map(|s| s as i32)
        .unwrap_or(MyState::Idle as i32);
}

Structs

AxisWait

Wait-for-axis-done function block. Stateless — all state lives in the drive and the caller’s StateMachine.

Enums

WaitStatus

Result of a single AxisWait::poll call.