Struct AxisWait 

pub struct AxisWait;

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

Implementations

impl AxisWait

pub fn poll<A: AxisHandle + ?Sized>( axis: &A, state: &StateMachine, ) -> WaitStatus

Poll the axis exactly once. Call this from inside your wait state.

Decision order:

1. !is_busy && is_error → WaitStatus::Error with the drive’s error_message(). Checked first because the busy bit typically clears before the error bit on a faulted move.
2. !is_busy → WaitStatus::Done.
3. state.timed_out() → WaitStatus::Timeout.
4. Otherwise → WaitStatus::Pending.

error_message defaults to "" if the handle hasn’t overridden it (see the AxisHandle trait); regenerated Axis* handles override it to return the drive’s actual message.

pub fn resolve<A: AxisHandle + ?Sized>( axis: &A, state: &StateMachine, follow_up: &mut Option<i32>, default_next: i32, error_next: i32, label: &str, ) -> Option<i32>

Convenience wrapper for the common pattern: on Done, jump to the follow-up state (or default_next if no follow-up was set); on Error or Timeout, log and jump to error_next. Returns the new state index, or None if the caller should stay put (the Pending case).

Example

Some(MyState::WaitMoveDone) => {
    if let Some(next) = AxisWait::resolve(
        axis_z,
        &self.state,
        &mut self.follow_up_state,
        MyState::Idle as i32,
        MyState::Reset as i32,
        "Z axis",
    ) {
        self.state.index = next;
    }
}