More work on remote Z probe support

1 files changed, 141 insertions, 0 deletions

diff --git a/src/Endstops/RemoteZProbe.cpp b/src/Endstops/RemoteZProbe.cpp
new file mode 100644
index 00000000..203a8cca
--- /dev/null
+++ b/src/Endstops/RemoteZProbe.cpp
@@ -0,0 +1,141 @@
+/*
+ * RemoteZProbe.cpp
+ *
+ *  Created on: 14 Sep 2019
+ *      Author: David
+ */
+
+#include "RemoteZProbe.h"
+
+#if SUPPORT_CAN_EXPANSION
+
+#include <CanMessageBuffer.h>
+#include <CAN/CanInterface.h>
+#include <CAN/CanMessageGenericConstructor.h>
+#include <RepRap.h>
+#include <Platform.h>
+
+// Members of class RemoteZProbe
+RemoteZProbe::~RemoteZProbe()
+{
+	CanMessageBuffer * const buf = CanMessageBuffer::Allocate();
+	if (buf != nullptr)
+	{
+		const CanRequestId rid = CanInterface::AllocateRequestId(boardAddress);
+		auto msg = buf->SetupRequestMessage<CanMessageDestroyZProbe>(rid, CanId::MasterAddress, boardAddress);
+		msg->number = number;
+		String<StringLength50> reply;
+		if (CanInterface::SendRequestAndGetStandardReply(buf, rid, reply.GetRef()) != GCodeResult::ok)
+		{
+			reprap.GetPlatform().Message(ErrorMessage, reply.c_str());
+		}
+	}
+}
+
+GCodeResult RemoteZProbe::AppendPinNames(const StringRef& str) const
+{
+	CanMessageBuffer * const buf = CanMessageBuffer::Allocate();
+	if (buf == nullptr)
+	{
+		str.cat("[not available: no CAN buffer]");
+		return GCodeResult::warning;
+	}
+
+	const CanRequestId rid = CanInterface::AllocateRequestId(boardAddress);
+	auto msg = buf->SetupRequestMessage<CanMessageGetZProbePinNames>(rid, CanId::MasterAddress, boardAddress);
+	msg->number = number;
+	String<StringLength20> pinNames;
+	const GCodeResult rslt = CanInterface::SendRequestAndGetStandardReply(buf, rid, pinNames.GetRef());
+	if (rslt == GCodeResult::ok)
+	{
+		str.cat(pinNames.c_str());
+	}
+	else
+	{
+		str.catf("[not available: %s]", pinNames.c_str());
+	}
+	return rslt;
+}
+
+void RemoteZProbe::SetProbing(bool isProbing) const
+{
+	CanMessageBuffer * const buf = CanMessageBuffer::Allocate();
+	if (buf == nullptr)
+	{
+		reprap.GetPlatform().Message(ErrorMessage, "No CAN buffer");
+	}
+	else
+	{
+		const CanRequestId rid = CanInterface::AllocateRequestId(boardAddress);
+		auto msg = buf->SetupRequestMessage<CanMessageSetProbing>(rid, CanId::MasterAddress, boardAddress);
+		msg->number = number;
+		String<StringLength50> reply;
+		if (CanInterface::SendRequestAndGetStandardReply(buf, rid, reply.GetRef()) != GCodeResult::ok)
+		{
+			reprap.GetPlatform().Message(ErrorMessage, reply.c_str());
+		}
+	}
+}
+
+// Create a remote Z probe
+GCodeResult RemoteZProbe::Create(const StringRef& pinNames, const StringRef& reply)
+{
+	CanMessageBuffer * const buf = CanMessageBuffer::Allocate();
+	if (buf == nullptr)
+	{
+		reply.copy("No CAN buffer");
+		return GCodeResult::error;
+	}
+
+	const CanRequestId rid = CanInterface::AllocateRequestId(boardAddress);
+	auto msg = buf->SetupRequestMessage<CanMessageCreateZProbe>(rid, CanId::MasterAddress, boardAddress);
+	msg->probeNumber = number;
+	msg->probeType = (uint8_t)type;
+	SafeStrncpy(msg->pinNames, pinNames.c_str(), ARRAY_SIZE(msg->pinNames));
+	buf->dataLength = msg->GetActualDataLength();
+
+	return CanInterface::SendRequestAndGetStandardReply(buf, rid, reply);
+}
+
+// Configure an existing remote Z probe
+GCodeResult RemoteZProbe::Configure(GCodeBuffer& gb, const StringRef &reply, bool& seen)
+{
+	GCodeResult rslt = ZProbe::Configure(gb, reply, seen);
+	if (seen && rslt == GCodeResult::ok)
+	{
+		CanMessageBuffer * const buf = CanMessageBuffer::Allocate();
+		if (buf == nullptr)
+		{
+			reply.copy("No CAN buffer");
+			rslt = GCodeResult::error;
+		}
+		else
+		{
+			const CanRequestId rid = CanInterface::AllocateRequestId(boardAddress);
+			auto msg = buf->SetupRequestMessage<CanMessageConfigureZProbe>(rid, CanId::MasterAddress, boardAddress);
+
+			msg->number = number;
+			msg->type = (uint8_t)type;
+			msg->triggerHeight = triggerHeight;
+			msg->calibTemperature = calibTemperature;
+			msg->temperatureCoefficient = temperatureCoefficient;
+			msg->adcValue = adcValue;
+			msg->misc = misc.all;
+			msg->sensor = sensor;
+
+			rslt = CanInterface::SendRequestAndGetStandardReply(buf, rid, reply);
+		}
+	}
+	return rslt;
+}
+
+GCodeResult RemoteZProbe::SendProgram(const uint32_t zProbeProgram[], size_t len, const StringRef& reply)
+{
+	//TODO
+	reply.copy("Programming remote Z probes not yet supported");
+	return GCodeResult::error;
+}
+
+#endif
+
+// End