M669 and object model now report segmentation

9 files changed, 56 insertions, 20 deletions

diff --git a/src/Movement/Kinematics/CoreKinematics.cpp b/src/Movement/Kinematics/CoreKinematics.cpp
index f7ddb669..fe451930 100644
--- a/src/Movement/Kinematics/CoreKinematics.cpp
+++ b/src/Movement/Kinematics/CoreKinematics.cpp
@@ -310,7 +310,8 @@ bool CoreKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const String
 	}
 	else if (!seenSeg)
 	{
-		reply.printf("Kinematics is %s%s, matrix:", ((modified) ? "modified " : ""), GetName(false));
+		Kinematics::Configure(mCode, gb, reply, error);
+		reply.catf(", %smatrix:", ((modified) ? "modified " : ""));
 		const size_t numVisibleAxes = reprap.GetGCodes().GetVisibleAxes();
 		const size_t numTotalAxes = reprap.GetGCodes().GetTotalAxes();
 		for (size_t axis = 0; axis < numVisibleAxes; ++axis)
diff --git a/src/Movement/Kinematics/FiveBarScaraKinematics.cpp b/src/Movement/Kinematics/FiveBarScaraKinematics.cpp
index a60498a0..3e1ff1e1 100644
--- a/src/Movement/Kinematics/FiveBarScaraKinematics.cpp
+++ b/src/Movement/Kinematics/FiveBarScaraKinematics.cpp
@@ -709,7 +709,8 @@ bool FiveBarScaraKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, cons
 		else if (!seenNonGeometry && !gb.Seen('K'))
 		{
 			//TODO print all the parameters here
-			reply.printf("Kinematics is FiveBarScara, documented in https://duet3d.dozuki.com/Guide/Five+Bar+Parallel+SCARA/24?lang=en");
+			Kinematics::Configure(mCode, gb, reply, error);
+			reply.catf(", documented in https://duet3d.dozuki.com/Guide/Five+Bar+Parallel+SCARA/24?lang=en");
 		}
 
 		return seen;
diff --git a/src/Movement/Kinematics/HangprinterKinematics.cpp b/src/Movement/Kinematics/HangprinterKinematics.cpp
index 1c05fc27..41fe3464 100644
--- a/src/Movement/Kinematics/HangprinterKinematics.cpp
+++ b/src/Movement/Kinematics/HangprinterKinematics.cpp
@@ -56,7 +56,7 @@ constexpr ObjectModelTableEntry HangprinterKinematics::objectModelTable[] =
 
 constexpr uint8_t HangprinterKinematics::objectModelTableDescriptor[] = { 1, 3 };
 
-DEFINE_GET_OBJECT_MODEL_TABLE(HangprinterKinematics)
+DEFINE_GET_OBJECT_MODEL_TABLE_WITH_PARENT(HangprinterKinematics, Kinematics)
 
 #endif
 
@@ -182,20 +182,18 @@ bool HangprinterKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const
 		}
 		else if (!seenNonGeometry && !gb.Seen('K'))
 		{
-			reply.printf("Hangprinter\n"
+			Kinematics::Configure(mCode, gb, reply, error);
+			reply.lcatf(
 				"A:%.2f, %.2f, %.2f\n"
 				"B:%.2f, %.2f, %.2f\n"
 				"C:%.2f, %.2f, %.2f\n"
 				"D:%.2f, %.2f, %.2f\n"
-				"P:Print radius: %.1f\n"
-				"S:Segments/s: %d\n"
-				"T:Min segment length: %.2f\n",
+				"P:Print radius: %.1f",
 				(double)anchors[A_AXIS][X_AXIS], (double)anchors[A_AXIS][Y_AXIS], (double)anchors[A_AXIS][Z_AXIS],
 				(double)anchors[B_AXIS][X_AXIS], (double)anchors[B_AXIS][Y_AXIS], (double)anchors[B_AXIS][Z_AXIS],
 				(double)anchors[C_AXIS][X_AXIS], (double)anchors[C_AXIS][Y_AXIS], (double)anchors[C_AXIS][Z_AXIS],
 				(double)anchors[D_AXIS][X_AXIS], (double)anchors[D_AXIS][Y_AXIS], (double)anchors[D_AXIS][Z_AXIS],
-				(double)printRadius,
-				(int)GetSegmentsPerSecond(), (double)GetMinSegmentLength()
+				(double)printRadius
 				);
 		}
 	}
diff --git a/src/Movement/Kinematics/Kinematics.cpp b/src/Movement/Kinematics/Kinematics.cpp
index f75a5fd2..f6478693 100644
--- a/src/Movement/Kinematics/Kinematics.cpp
+++ b/src/Movement/Kinematics/Kinematics.cpp
@@ -22,6 +22,33 @@
 
 const char * const Kinematics::HomeAllFileName = "homeall.g";
 
+#if SUPPORT_OBJECT_MODEL
+
+// Object model table and functions
+// Note: if using GCC version 7.3.1 20180622 and lambda functions are used in this table, you must compile this file with option -std=gnu++17.
+// Otherwise the table will be allocated in RAM instead of flash, which wastes too much RAM.
+
+// Macro to build a standard lambda function that includes the necessary type conversions
+#define OBJECT_MODEL_FUNC(...) OBJECT_MODEL_FUNC_BODY(Kinematics, __VA_ARGS__)
+#define OBJECT_MODEL_FUNC_IF(...) OBJECT_MODEL_FUNC_IF_BODY(Kinematics, __VA_ARGS__)
+
+constexpr ObjectModelTableEntry Kinematics::objectModelTable[] =
+{
+	// Within each group, these entries must be in alphabetical order
+	// 0. kinematics members
+	{ "segmentation",		OBJECT_MODEL_FUNC_IF(self->segmentationType.useSegmentation, self, 1), 	ObjectModelEntryFlags::none },
+
+	// 1. segmentation members
+	{ "minSegLength",		OBJECT_MODEL_FUNC(self->minSegmentLength, 2), 							ObjectModelEntryFlags::none },
+	{ "segmentsPerSec",		OBJECT_MODEL_FUNC(self->segmentsPerSecond, 1), 							ObjectModelEntryFlags::none },
+};
+
+constexpr uint8_t Kinematics::objectModelTableDescriptor[] = { 2, 1, 2 };
+
+DEFINE_GET_OBJECT_MODEL_TABLE(Kinematics)
+
+#endif
+
 // Constructor. Pass segsPerSecond <= 0.0 to get non-segmented kinematics.
 Kinematics::Kinematics(KinematicsType t, SegmentationType segType) noexcept
 	: segmentsPerSecond(DefaultSegmentsPerSecond), minSegmentLength(DefaultMinSegmentLength), reciprocalMinSegmentLength(1.0/DefaultMinSegmentLength),
@@ -37,7 +64,15 @@ bool Kinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const StringRef&
 	{
 		if (!gb.Seen('K'))
 		{
-			reply.printf("Kinematics is %s", GetName());
+			reply.printf("Kinematics is %s, ", GetName());
+			if (segmentationType.useSegmentation)
+			{
+				reply.catf("%d segments/sec, min. segment length %.2fmm", (int)segmentsPerSecond, (double)minSegmentLength);
+			}
+			else
+			{
+				reply.cat("no segmentation");
+			}
 		}
 	}
 	else
diff --git a/src/Movement/Kinematics/Kinematics.h b/src/Movement/Kinematics/Kinematics.h
index 7f587662..34fa474a 100644
--- a/src/Movement/Kinematics/Kinematics.h
+++ b/src/Movement/Kinematics/Kinematics.h
@@ -223,7 +223,7 @@ public:
 	float GetReciprocalMinSegmentLength() const noexcept pre(UseSegmentation()) { return reciprocalMinSegmentLength; }
 
 protected:
-	DECLARE_OBJECT_MODEL_VIRTUAL
+	DECLARE_OBJECT_MODEL
 
 	Kinematics(KinematicsType t, SegmentationType segType) noexcept;
 
diff --git a/src/Movement/Kinematics/PolarKinematics.cpp b/src/Movement/Kinematics/PolarKinematics.cpp
index b3c04a85..8e9d4af6 100644
--- a/src/Movement/Kinematics/PolarKinematics.cpp
+++ b/src/Movement/Kinematics/PolarKinematics.cpp
@@ -96,9 +96,9 @@ bool PolarKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const Strin
 		}
 		else if (!seenNonGeometry && !gb.Seen('K'))
 		{
-			reply.printf("Kinematics is Polar with radius %.1f to %.1fmm, homed radius %.1fmm, segments/sec %d, min. segment length %.2f",
-							(double)minRadius, (double)maxRadius, (double)homedRadius,
-							(int)GetSegmentsPerSecond(), (double)GetMinSegmentLength());
+			Kinematics::Configure(mCode, gb, reply, error);
+			reply.catf(", radius %.1f to %.1fmm, homed radius %.1fmm",
+							(double)minRadius, (double)maxRadius, (double)homedRadius);
 		}
 		return seen;
 	}
diff --git a/src/Movement/Kinematics/RotaryDeltaKinematics.cpp b/src/Movement/Kinematics/RotaryDeltaKinematics.cpp
index 6ec33dc4..9ef081a2 100644
--- a/src/Movement/Kinematics/RotaryDeltaKinematics.cpp
+++ b/src/Movement/Kinematics/RotaryDeltaKinematics.cpp
@@ -154,7 +154,8 @@ bool RotaryDeltaKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const
 			}
 			else if (!seenNonGeometry && !gb.Seen('K'))
 			{
-				reply.printf("Kinematics is rotary delta, arms (%.3f,%.2f,%.3f)mm, rods (%.3f,%.3f,%.3f)mm, bearingHeights (%.3f,%.2f,%.3f)mm"
+				Kinematics::Configure(mCode, gb, reply, error);
+				reply.catf(", arms (%.3f,%.2f,%.3f)mm, rods (%.3f,%.3f,%.3f)mm, bearingHeights (%.3f,%.2f,%.3f)mm"
 							 ", arm movement %.1f to %.1f" DEGREE_SYMBOL
 							 ", delta radius %.3f, bed radius %.1f"
 							 ", angle corrections (%.3f,%.3f,%.3f)" DEGREE_SYMBOL ,
diff --git a/src/Movement/Kinematics/ScaraKinematics.cpp b/src/Movement/Kinematics/ScaraKinematics.cpp
index 4a80872c..6c9a2e31 100644
--- a/src/Movement/Kinematics/ScaraKinematics.cpp
+++ b/src/Movement/Kinematics/ScaraKinematics.cpp
@@ -223,13 +223,13 @@ bool ScaraKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const Strin
 		}
 		else if (!seenNonGeometry && !gb.Seen('K'))
 		{
-			reply.printf("Kinematics is Scara with proximal arm %.2fmm range %.1f to %.1f" DEGREE_SYMBOL
-							"%s, distal arm %.2fmm range %.1f to %.1f" DEGREE_SYMBOL "%s, crosstalk %.1f:%.1f:%.1f, bed origin (%.1f, %.1f), segments/sec %d, min. segment length %.2f",
+			Kinematics::Configure(mCode, gb, reply, error);
+			reply.printf(", proximal arm %.2fmm range %.1f to %.1f" DEGREE_SYMBOL
+							"%s, distal arm %.2fmm range %.1f to %.1f" DEGREE_SYMBOL "%s, crosstalk %.1f:%.1f:%.1f, bed origin (%.1f, %.1f)",
 							(double)proximalArmLength, (double)thetaLimits[0], (double)thetaLimits[1], (supportsContinuousRotation[0]) ? " (continuous)" : "",
 							(double)distalArmLength, (double)psiLimits[0], (double)psiLimits[1], (supportsContinuousRotation[0]) ? " (continuous)" : "",
 							(double)crosstalk[0], (double)crosstalk[1], (double)crosstalk[2],
-							(double)xOffset, (double)yOffset,
-							(int)GetSegmentsPerSecond(), (double)GetMinSegmentLength());
+							(double)xOffset, (double)yOffset);
 		}
 		return seen;
 	}
diff --git a/src/Movement/Kinematics/ZLeadscrewKinematics.cpp b/src/Movement/Kinematics/ZLeadscrewKinematics.cpp
index 1d56972a..44ade884 100644
--- a/src/Movement/Kinematics/ZLeadscrewKinematics.cpp
+++ b/src/Movement/Kinematics/ZLeadscrewKinematics.cpp
@@ -64,7 +64,7 @@ constexpr ObjectModelTableEntry ZLeadscrewKinematics::objectModelTable[] =
 
 constexpr uint8_t ZLeadscrewKinematics::objectModelTableDescriptor[] = { 2, 1, 6 };
 
-DEFINE_GET_OBJECT_MODEL_TABLE(ZLeadscrewKinematics)
+DEFINE_GET_OBJECT_MODEL_TABLE_WITH_PARENT(ZLeadscrewKinematics, Kinematics)
 
 #endif