diff options
| author | David Crocker <dcrocker@eschertech.com> | 2020-01-18 18:21:02 +0300 |
|---|---|---|
| committer | David Crocker <dcrocker@eschertech.com> | 2020-01-18 18:21:02 +0300 |
| commit | e0bbf71357b07c22e6d43be3cca5c7422163be32 (patch) | |
| tree | ca83dbb87348e51c735b106900b69142f5c058f5 /src/Endstops/EndstopsManager.h | |
| parent | d577af1d5874392d28c65427afbf4006f8a6d521 (diff) | |
Lock ZProbes when accessing them and added more items to OM
Diffstat (limited to 'src/Endstops/EndstopsManager.h')
| -rw-r--r-- | src/Endstops/EndstopsManager.h | 28 |
1 files changed, 20 insertions, 8 deletions
diff --git a/src/Endstops/EndstopsManager.h b/src/Endstops/EndstopsManager.h index 0c8d0313..0ee184af 100644 --- a/src/Endstops/EndstopsManager.h +++ b/src/Endstops/EndstopsManager.h @@ -8,9 +8,10 @@ #ifndef SRC_ENDSTOPS_ENDSTOPMANAGER_H_ #define SRC_ENDSTOPS_ENDSTOPMANAGER_H_ -#include "RepRapFirmware.h" +#include <RepRapFirmware.h> #include "EndstopDefs.h" -#include "GCodes/GCodeResult.h" +#include <GCodes/GCodeResult.h> +#include <ObjectModel/ObjectModel.h> #include <RTOSIface/RTOSIface.h> #if SUPPORT_CAN_EXPANSION @@ -21,7 +22,7 @@ class CanMessageBuffer; class StallDetectionEndstop; // Endstop manager class -class EndstopsManager +class EndstopsManager INHERIT_OBJECT_MODEL { public: EndstopsManager() noexcept; @@ -57,9 +58,11 @@ public: GCodeResult HandleM558(GCodeBuffer& gb, const StringRef &reply) THROWS_GCODE_EXCEPTION; // M558 GCodeResult HandleG31(GCodeBuffer& gb, const StringRef& reply) THROWS_GCODE_EXCEPTION; // G31 - ZProbe& GetCurrentZProbe() const noexcept; - const size_t GetCurrentZProbeNumber() const noexcept { return currentZProbeNumber; } - ZProbe *GetZProbe(size_t num) const noexcept; + ReadLockedPointer<ZProbe> GetZProbe(size_t index) const noexcept; + size_t GetCurrentZProbeNumber() const noexcept { return currentZProbeNumber; } + ReadLockedPointer<ZProbe> GetCurrentOrDefaultZProbe() const noexcept; + ZProbe& GetCurrentOrDefaultZProbeFromISR() const noexcept; + void SetZProbeDefaults() noexcept; GCodeResult ProgramZProbe(GCodeBuffer& gb, const StringRef& reply) THROWS_GCODE_EXCEPTION; @@ -73,17 +76,26 @@ public: bool WriteZProbeParameters(FileStore *f, bool includingG31) const noexcept; #endif +protected: + DECLARE_OBJECT_MODEL + OBJECT_MODEL_ARRAY(endstops) + OBJECT_MODEL_ARRAY(probes) + private: // Add an endstop to the active list void AddToActive(EndstopOrZProbe& e) noexcept; +#if SUPPORT_OBJECT_MODEL + size_t GetNumProbesToReport() const noexcept; +#endif + // Translate end stop result to text static const char *TranslateEndStopResult(EndStopHit es, bool atHighEnd) noexcept; - ReadLockedPointer<ZProbe> FindZProbe(size_t index) const noexcept; ReadLockedPointer<Endstop> FindEndstop(size_t axis) const noexcept; - static ReadWriteLock endstopsLock; // used to lock both endstops and Z probes + static ReadWriteLock endstopsLock; + static ReadWriteLock zProbesLock; EndstopOrZProbe * volatile activeEndstops; // linked list of endstops and Z probes that are active for the current move size_t currentZProbeNumber; // which Z probe we are using |