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-rw-r--r--src/GCodes/GCodeException.cpp2
-rw-r--r--src/GCodes/GCodeException.h10
-rw-r--r--src/GCodes/GCodeInput.cpp32
-rw-r--r--src/GCodes/GCodeInput.h48
-rw-r--r--src/GCodes/GCodes.cpp6
-rw-r--r--src/GCodes/GCodes2.cpp8
-rw-r--r--src/GCodes/GCodes3.cpp6
-rw-r--r--src/GCodes/GCodes4.cpp231
8 files changed, 173 insertions, 170 deletions
diff --git a/src/GCodes/GCodeException.cpp b/src/GCodes/GCodeException.cpp
index 80024776..44e74a76 100644
--- a/src/GCodes/GCodeException.cpp
+++ b/src/GCodes/GCodeException.cpp
@@ -11,7 +11,7 @@
#include <GCodes/GCodeBuffer/GCodeBuffer.h>
// Construct the error message. This will be prefixed with "Error: " when it is returned to the user.
-void GCodeException::GetMessage(const StringRef &reply, const GCodeBuffer& gb) const
+void GCodeException::GetMessage(const StringRef &reply, const GCodeBuffer& gb) const noexcept
{
reply.copy((gb.IsDoingFileMacro()) ? "in file macro" : (gb.IsDoingFile()) ? "in GCode file" : "while executing command");
if (line >= 0 && column >= 0 && gb.IsDoingFile())
diff --git a/src/GCodes/GCodeException.h b/src/GCodes/GCodeException.h
index ad434132..f11d6e1d 100644
--- a/src/GCodes/GCodeException.h
+++ b/src/GCodes/GCodeException.h
@@ -16,24 +16,24 @@ class GCodeBuffer;
class GCodeException
{
public:
- GCodeException(int lin, int col, const char *msg) : line(lin), column(col), message(msg) { }
+ GCodeException(int lin, int col, const char *msg) noexcept : line(lin), column(col), message(msg) { }
- GCodeException(int lin, int col, const char *msg, const char *sparam) : line(lin), column(col), message(msg)
+ GCodeException(int lin, int col, const char *msg, const char *sparam) noexcept : line(lin), column(col), message(msg)
{
param.s = sparam;
}
- GCodeException(int lin, int col, const char *msg, uint32_t uparam) : line(lin), column(col), message(msg)
+ GCodeException(int lin, int col, const char *msg, uint32_t uparam) noexcept : line(lin), column(col), message(msg)
{
param.u = uparam;
}
- GCodeException(int lin, int col, const char *msg, int32_t iparam) : line(lin), column(col), message(msg)
+ GCodeException(int lin, int col, const char *msg, int32_t iparam) noexcept : line(lin), column(col), message(msg)
{
param.i = iparam;
}
- void GetMessage(const StringRef& reply, const GCodeBuffer& gb) const;
+ void GetMessage(const StringRef& reply, const GCodeBuffer& gb) const noexcept;
private:
int line;
diff --git a/src/GCodes/GCodeInput.cpp b/src/GCodes/GCodeInput.cpp
index ea791712..efd079ee 100644
--- a/src/GCodes/GCodeInput.cpp
+++ b/src/GCodes/GCodeInput.cpp
@@ -12,7 +12,7 @@
#include "GCodeBuffer/GCodeBuffer.h"
// Read some input bytes into the GCode buffer. Return true if there is a line of GCode waiting to be processed.
-bool StandardGCodeInput::FillBuffer(GCodeBuffer *gb)
+bool StandardGCodeInput::FillBuffer(GCodeBuffer *gb) noexcept
{
const size_t bytesToPass = min<size_t>(BytesCached(), GCODE_LENGTH);
for (size_t i = 0; i < bytesToPass; i++)
@@ -50,7 +50,7 @@ bool StandardGCodeInput::FillBuffer(GCodeBuffer *gb)
// G-code input class for wrapping around Stream-based hardware ports
-void StreamGCodeInput::Reset()
+void StreamGCodeInput::Reset() noexcept
{
while (device.available() > 0)
{
@@ -58,30 +58,30 @@ void StreamGCodeInput::Reset()
}
}
-char StreamGCodeInput::ReadByte()
+char StreamGCodeInput::ReadByte() noexcept
{
return static_cast<char>(device.read());
}
-size_t StreamGCodeInput::BytesCached() const
+size_t StreamGCodeInput::BytesCached() const noexcept
{
return device.available();
}
// Dynamic G-code input class for caching codes from software-defined sources
-RegularGCodeInput::RegularGCodeInput()
+RegularGCodeInput::RegularGCodeInput() noexcept
: state(GCodeInputState::idle), writingPointer(0), readingPointer(0)
{
}
-void RegularGCodeInput::Reset()
+void RegularGCodeInput::Reset() noexcept
{
state = GCodeInputState::idle;
writingPointer = readingPointer = 0;
}
-char RegularGCodeInput::ReadByte()
+char RegularGCodeInput::ReadByte() noexcept
{
char c = buffer[readingPointer++];
if (readingPointer == GCodeInputBufferSize)
@@ -92,7 +92,7 @@ char RegularGCodeInput::ReadByte()
}
-size_t RegularGCodeInput::BytesCached() const
+size_t RegularGCodeInput::BytesCached() const noexcept
{
if (writingPointer >= readingPointer)
{
@@ -101,12 +101,12 @@ size_t RegularGCodeInput::BytesCached() const
return GCodeInputBufferSize - readingPointer + writingPointer;
}
-size_t RegularGCodeInput::BufferSpaceLeft() const
+size_t RegularGCodeInput::BufferSpaceLeft() const noexcept
{
return (readingPointer - writingPointer - 1u) % GCodeInputBufferSize;
}
-void NetworkGCodeInput::Put(MessageType mtype, char c)
+void NetworkGCodeInput::Put(MessageType mtype, char c) noexcept
{
if (BufferSpaceLeft() == 0)
{
@@ -190,7 +190,7 @@ void NetworkGCodeInput::Put(MessageType mtype, char c)
}
}
-void NetworkGCodeInput::Put(MessageType mtype, const char *buf)
+void NetworkGCodeInput::Put(MessageType mtype, const char *buf) noexcept
{
const size_t len = strlen(buf) + 1;
MutexLocker lock(bufMutex, 200);
@@ -207,13 +207,13 @@ void NetworkGCodeInput::Put(MessageType mtype, const char *buf)
}
}
-NetworkGCodeInput::NetworkGCodeInput() : RegularGCodeInput()
+NetworkGCodeInput::NetworkGCodeInput() noexcept : RegularGCodeInput()
{
bufMutex.Create("NetworkGCodeInput");
}
// Fill a GCodeBuffer with the last available G-code
-bool NetworkGCodeInput::FillBuffer(GCodeBuffer *gb) /*override*/
+bool NetworkGCodeInput::FillBuffer(GCodeBuffer *gb) noexcept /*override*/
{
MutexLocker lock(bufMutex, 10);
return lock && RegularGCodeInput::FillBuffer(gb);
@@ -224,14 +224,14 @@ bool NetworkGCodeInput::FillBuffer(GCodeBuffer *gb) /*override*/
// File-based G-code input source
// Reset this input. Should be called when the associated file is being closed
-void FileGCodeInput::Reset()
+void FileGCodeInput::Reset() noexcept
{
lastFile = nullptr;
RegularGCodeInput::Reset();
}
// Reset this input. Should be called when a specific G-code or macro file is closed outside of the reading context
-void FileGCodeInput::Reset(const FileData &file)
+void FileGCodeInput::Reset(const FileData &file) noexcept
{
if (file.f == lastFile)
{
@@ -240,7 +240,7 @@ void FileGCodeInput::Reset(const FileData &file)
}
// Read another chunk of G-codes from the file and return true if more data is available
-GCodeInputReadResult FileGCodeInput::ReadFromFile(FileData &file)
+GCodeInputReadResult FileGCodeInput::ReadFromFile(FileData &file) noexcept
{
const size_t bytesCached = BytesCached();
diff --git a/src/GCodes/GCodeInput.h b/src/GCodes/GCodeInput.h
index 5b432831..5c605096 100644
--- a/src/GCodes/GCodeInput.h
+++ b/src/GCodes/GCodeInput.h
@@ -13,39 +13,39 @@
#include "MessageType.h"
#include "RTOSIface/RTOSIface.h"
-const size_t GCodeInputBufferSize = 256; // How many bytes can we cache per input source?
-const size_t GCodeInputFileReadThreshold = 128; // How many free bytes must be available before data is read from the SD card?
+const size_t GCodeInputBufferSize = 256; // How many bytes can we cache per input source?
+const size_t GCodeInputFileReadThreshold = 128; // How many free bytes must be available before data is read from the SD card?
// This base class provides incoming G-codes for the GCodeBuffer class
class GCodeInput
{
public:
- virtual void Reset() = 0; // Clean all the cached data from this input
- virtual bool FillBuffer(GCodeBuffer *gb) = 0; // Fill a GCodeBuffer with the last available G-code
- virtual size_t BytesCached() const = 0; // How many bytes have been cached?
+ virtual void Reset() noexcept = 0; // Clean all the cached data from this input
+ virtual bool FillBuffer(GCodeBuffer *gb) noexcept = 0; // Fill a GCodeBuffer with the last available G-code
+ virtual size_t BytesCached() const noexcept = 0; // How many bytes have been cached?
};
// This class provides a standard implementation of FillBuffer that calls ReadByte() to supply individual characters
class StandardGCodeInput : public GCodeInput
{
public:
- bool FillBuffer(GCodeBuffer *gb) override; // Fill a GCodeBuffer with the last available G-code
+ bool FillBuffer(GCodeBuffer *gb) noexcept override; // Fill a GCodeBuffer with the last available G-code
protected:
- virtual char ReadByte() = 0; // Get the next byte from the source
+ virtual char ReadByte() noexcept = 0; // Get the next byte from the source
};
// This class wraps around an existing Stream device which lets us avoid double buffering.
class StreamGCodeInput : public StandardGCodeInput
{
public:
- StreamGCodeInput(Stream &dev) : device(dev) { }
+ StreamGCodeInput(Stream &dev) noexcept : device(dev) { }
- void Reset() override;
- size_t BytesCached() const override; // How many bytes have been cached?
+ void Reset() noexcept override;
+ size_t BytesCached() const noexcept override; // How many bytes have been cached?
protected:
- char ReadByte() override;
+ char ReadByte() noexcept override;
private:
Stream &device;
@@ -73,14 +73,14 @@ enum class GCodeInputState
class RegularGCodeInput : public StandardGCodeInput
{
public:
- RegularGCodeInput();
+ RegularGCodeInput() noexcept;
- void Reset() override;
- size_t BytesCached() const override; // How many bytes have been cached?
- size_t BufferSpaceLeft() const; // How much space do we have left?
+ void Reset() noexcept override;
+ size_t BytesCached() const noexcept override; // How many bytes have been cached?
+ size_t BufferSpaceLeft() const noexcept; // How much space do we have left?
protected:
- char ReadByte() override;
+ char ReadByte() noexcept override;
GCodeInputState state;
size_t writingPointer, readingPointer;
@@ -97,12 +97,12 @@ class FileGCodeInput : public RegularGCodeInput
{
public:
- FileGCodeInput() : RegularGCodeInput(), lastFile(nullptr) { }
+ FileGCodeInput() noexcept : RegularGCodeInput(), lastFile(nullptr) { }
- void Reset() override; // Clears the buffer. Should be called when the associated file is being closed
- void Reset(const FileData &file); // Clears the buffer of a specific file. Should be called when it is closed or re-opened outside the reading context
+ void Reset() noexcept override; // Clears the buffer. Should be called when the associated file is being closed
+ void Reset(const FileData &file) noexcept; // Clears the buffer of a specific file. Should be called when it is closed or re-opened outside the reading context
- GCodeInputReadResult ReadFromFile(FileData &file); // Read another chunk of G-codes from the file and return true if more data is available
+ GCodeInputReadResult ReadFromFile(FileData &file) noexcept; // Read another chunk of G-codes from the file and return true if more data is available
private:
FileStore *lastFile;
@@ -114,13 +114,13 @@ private:
class NetworkGCodeInput : public RegularGCodeInput
{
public:
- NetworkGCodeInput();
+ NetworkGCodeInput() noexcept;
- bool FillBuffer(GCodeBuffer *gb) override; // Fill a GCodeBuffer with the last available G-code
- void Put(MessageType mtype, const char *buf); // Append a null-terminated string to the buffer
+ bool FillBuffer(GCodeBuffer *gb) noexcept override; // Fill a GCodeBuffer with the last available G-code
+ void Put(MessageType mtype, const char *buf) noexcept; // Append a null-terminated string to the buffer
private:
- void Put(MessageType mtype, char c); // Append a single character. This does NOT lock the mutex!
+ void Put(MessageType mtype, char c) noexcept; // Append a single character. This does NOT lock the mutex!
Mutex bufMutex;
};
diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp
index a926657b..1df814ba 100644
--- a/src/GCodes/GCodes.cpp
+++ b/src/GCodes/GCodes.cpp
@@ -2583,7 +2583,8 @@ GCodeResult GCodes::ExecuteG30(GCodeBuffer& gb, const StringRef& reply)
{
// Do a Z probe at the specified point.
gb.SetState(GCodeState::probingAtPoint0);
- if (platform.GetCurrentZProbeType() != ZProbeType::none && platform.GetCurrentZProbeType() != ZProbeType::blTouch && !probeIsDeployed)
+ const ZProbeType t = platform.GetCurrentZProbeType();
+ if (t != ZProbeType::none && t != ZProbeType::blTouch && !probeIsDeployed)
{
DoFileMacro(gb, DEPLOYPROBE_G, false, 30);
}
@@ -2654,7 +2655,8 @@ GCodeResult GCodes::ProbeGrid(GCodeBuffer& gb, const StringRef& reply)
gridXindex = gridYindex = 0;
gb.SetState(GCodeState::gridProbing1);
- if (platform.GetCurrentZProbeType() != ZProbeType::none && platform.GetCurrentZProbeType() != ZProbeType::blTouch && !probeIsDeployed)
+ const ZProbeType t = platform.GetCurrentZProbeType();
+ if (t != ZProbeType::none && t != ZProbeType::blTouch && !probeIsDeployed)
{
DoFileMacro(gb, DEPLOYPROBE_G, false, 29);
}
diff --git a/src/GCodes/GCodes2.cpp b/src/GCodes/GCodes2.cpp
index 06e3c961..2682321d 100644
--- a/src/GCodes/GCodes2.cpp
+++ b/src/GCodes/GCodes2.cpp
@@ -4086,15 +4086,15 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
case 851: // Set Z probe offset, only for Marlin compatibility
{
- ZProbe& zp = platform.GetCurrentZProbe();
+ auto zp = platform.GetCurrentZProbe();
if (gb.Seen('Z'))
{
- zp.SetTriggerHeight(-gb.GetFValue());
- zp.SetSaveToConfigOverride();
+ zp->SetTriggerHeight(-gb.GetFValue());
+ zp->SetSaveToConfigOverride();
}
else
{
- reply.printf("Z probe offset is %.2fmm", (double)(-zp.GetConfiguredTriggerHeight()));
+ reply.printf("Z probe offset is %.2fmm", (double)(-zp->GetConfiguredTriggerHeight()));
}
}
break;
diff --git a/src/GCodes/GCodes3.cpp b/src/GCodes/GCodes3.cpp
index b45443a2..4b07516a 100644
--- a/src/GCodes/GCodes3.cpp
+++ b/src/GCodes/GCodes3.cpp
@@ -769,7 +769,7 @@ GCodeResult GCodes::StraightProbe(GCodeBuffer& gb, const StringRef& reply)
const size_t probeToUse = gb.Seen('P') ? gb.GetUIValue() : platform.GetEndstops().GetCurrentZProbeNumber();
// Check if this probe exists to not run into a nullptr dereference later
- if (platform.GetEndstops().GetZProbe(probeToUse) == nullptr)
+ if (platform.GetEndstops().GetZProbe(probeToUse).IsNull())
{
reply.catf("Invalid probe number: %d", probeToUse);
return GCodeResult::error;
@@ -800,7 +800,7 @@ GCodeResult GCodes::ProbeTool(GCodeBuffer& gb, const StringRef& reply)
if (useProbe)
{
probeNumberToUse = gb.GetUIValue();
- if (platform.GetEndstops().GetZProbe(probeNumberToUse) == nullptr)
+ if (platform.GetEndstops().GetZProbe(probeNumberToUse).IsNull())
{
reply.copy("Invalid probe number");
return GCodeResult::error;
@@ -879,7 +879,7 @@ GCodeResult GCodes::FindCenterOfCavity(GCodeBuffer& gb, const StringRef& reply,
if (useProbe)
{
probeNumberToUse = gb.GetUIValue();
- if (platform.GetEndstops().GetZProbe(probeNumberToUse) == nullptr)
+ if (platform.GetEndstops().GetZProbe(probeNumberToUse).IsNull())
{
reply.copy("Invalid probe number");
return GCodeResult::error;
diff --git a/src/GCodes/GCodes4.cpp b/src/GCodes/GCodes4.cpp
index 652d54f9..33761417 100644
--- a/src/GCodes/GCodes4.cpp
+++ b/src/GCodes/GCodes4.cpp
@@ -475,11 +475,11 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
if (move.IsAccessibleProbePoint(x, y))
{
SetMoveBufferDefaults();
- const ZProbe& zp = platform.GetCurrentZProbe();
- moveBuffer.coords[X_AXIS] = x - zp.GetXOffset();
- moveBuffer.coords[Y_AXIS] = y - zp.GetYOffset();
- moveBuffer.coords[Z_AXIS] = zp.GetStartingHeight();
- moveBuffer.feedRate = zp.GetTravelSpeed();
+ const auto zp = platform.GetCurrentZProbe();
+ moveBuffer.coords[X_AXIS] = x - zp->GetXOffset();
+ moveBuffer.coords[Y_AXIS] = y - zp->GetYOffset();
+ moveBuffer.coords[Z_AXIS] = zp->GetStartingHeight();
+ moveBuffer.feedRate = zp->GetTravelSpeed();
NewMoveAvailable(1);
tapsDone = 0;
@@ -516,8 +516,8 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
if (LockMovementAndWaitForStandstill(gb))
{
lastProbedTime = millis();
- const ZProbe& zp = platform.GetCurrentZProbe();
- if (zp.GetProbeType() != ZProbeType::none && zp.GetTurnHeatersOff())
+ const auto zp = platform.GetCurrentZProbe();
+ if (zp->GetProbeType() != ZProbeType::none && zp->GetTurnHeatersOff())
{
reprap.GetHeat().SuspendHeaters(true);
}
@@ -527,12 +527,12 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
case GCodeState::gridProbing3: // ready to probe the current grid probe point
{
- const ZProbe& zp = platform.GetCurrentZProbe();
- if (millis() - lastProbedTime >= (uint32_t)(zp.GetRecoveryTime() * SecondsToMillis))
+ const auto zp = platform.GetCurrentZProbe();
+ if (millis() - lastProbedTime >= (uint32_t)(zp->GetRecoveryTime() * SecondsToMillis))
{
// Probe the bed at the current XY coordinates
// Check for probe already triggered at start
- if (zp.GetProbeType() == ZProbeType::none)
+ if (zp->GetProbeType() == ZProbeType::none)
{
// No Z probe, so do manual mesh levelling instead
UnlockAll(gb); // release the movement lock to allow manual Z moves
@@ -540,12 +540,12 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
doingManualBedProbe = true; // suspend the Z movement limit
DoManualBedProbe(gb);
}
- else if (platform.GetCurrentZProbe().Stopped() == EndStopHit::atStop)
+ else if (zp->Stopped() == EndStopHit::atStop)
{
reprap.GetHeat().SuspendHeaters(false);
platform.Message(ErrorMessage, "Z probe already triggered before probing move started\n");
gb.SetState(GCodeState::normal);
- if (zp.GetProbeType() != ZProbeType::none && !probeIsDeployed)
+ if (zp->GetProbeType() != ZProbeType::none && !probeIsDeployed)
{
DoFileMacro(gb, RETRACTPROBE_G, false, 29);
}
@@ -562,11 +562,11 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
gb.SetState(GCodeState::normal);
break;
}
- platform.GetCurrentZProbe().SetProbing(true);
+ zp->SetProbing(true);
moveBuffer.checkEndstops = true;
moveBuffer.reduceAcceleration = true;
- moveBuffer.coords[Z_AXIS] = -zp.GetDiveHeight() + zp.GetActualTriggerHeight();
- moveBuffer.feedRate = zp.GetProbingSpeed();
+ moveBuffer.coords[Z_AXIS] = -zp->GetDiveHeight() + zp->GetActualTriggerHeight();
+ moveBuffer.feedRate = zp->GetProbingSpeed();
NewMoveAvailable(1);
gb.AdvanceState();
}
@@ -580,32 +580,32 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
doingManualBedProbe = false;
++tapsDone;
reprap.GetHeat().SuspendHeaters(false);
- const ZProbe& zp = platform.GetCurrentZProbe();
- if (zp.GetProbeType() == ZProbeType::none)
+ const auto zp = platform.GetCurrentZProbe();
+ if (zp->GetProbeType() == ZProbeType::none)
{
// No Z probe, so we are doing manual mesh levelling. Take the current Z height as the height error.
g30zHeightError = moveBuffer.coords[Z_AXIS];
}
else
{
- platform.GetCurrentZProbe().SetProbing(false);
+ zp->SetProbing(false);
if (!zProbeTriggered)
{
platform.Message(ErrorMessage, "Z probe was not triggered during probing move\n");
gb.SetState(GCodeState::normal);
- if (zp.GetProbeType() != ZProbeType::none && !probeIsDeployed)
+ if (zp->GetProbeType() != ZProbeType::none && !probeIsDeployed)
{
DoFileMacro(gb, RETRACTPROBE_G, false, 29);
}
break;
}
- g30zHeightError = moveBuffer.coords[Z_AXIS] - zp.GetActualTriggerHeight();
+ g30zHeightError = moveBuffer.coords[Z_AXIS] - zp->GetActualTriggerHeight();
g30zHeightErrorSum += g30zHeightError;
}
gb.AdvanceState();
- if (platform.GetCurrentZProbeType() == ZProbeType::blTouch)
+ if (zp->GetProbeType() == ZProbeType::blTouch)
{
DoFileMacro(gb, RETRACTPROBE_G, false, 29); // bltouch needs to be retracted when it triggers
}
@@ -616,9 +616,9 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
// Move back up to the dive height
SetMoveBufferDefaults();
{
- const ZProbe& zp = platform.GetCurrentZProbe();
- moveBuffer.coords[Z_AXIS] = zp.GetStartingHeight();
- moveBuffer.feedRate = zp.GetTravelSpeed();
+ const auto zp = platform.GetCurrentZProbe();
+ moveBuffer.coords[Z_AXIS] = zp->GetStartingHeight();
+ moveBuffer.feedRate = zp->GetTravelSpeed();
}
NewMoveAvailable(1);
gb.AdvanceState();
@@ -628,24 +628,24 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
if (LockMovementAndWaitForStandstill(gb))
{
// See whether we need to do any more taps
- const ZProbe& params = platform.GetCurrentZProbe();
+ const auto zp = platform.GetCurrentZProbe();
bool acceptReading = false;
- if (params.GetMaxTaps() < 2)
+ if (zp->GetMaxTaps() < 2)
{
acceptReading = true;
}
else if (tapsDone >= 2)
{
g30zHeightErrorLowestDiff = min<float>(g30zHeightErrorLowestDiff, fabsf(g30zHeightError - g30PrevHeightError));
- if (params.GetTolerance() > 0.0)
+ if (zp->GetTolerance() > 0.0)
{
- if (g30zHeightErrorLowestDiff <= params.GetTolerance())
+ if (g30zHeightErrorLowestDiff <= zp->GetTolerance())
{
g30zHeightError = (g30zHeightError + g30PrevHeightError)/2;
acceptReading = true;
}
}
- else if (tapsDone == params.GetMaxTaps())
+ else if (tapsDone == zp->GetMaxTaps())
{
g30zHeightError = g30zHeightErrorSum/tapsDone;
acceptReading = true;
@@ -657,7 +657,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
reprap.GetMove().AccessHeightMap().SetGridHeight(gridXindex, gridYindex, g30zHeightError);
gb.AdvanceState();
}
- else if (tapsDone < params.GetMaxTaps())
+ else if (tapsDone < zp->GetMaxTaps())
{
// Tap again
lastProbedTime = millis();
@@ -668,7 +668,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
{
platform.Message(ErrorMessage, "Z probe readings not consistent\n");
gb.SetState(GCodeState::normal);
- if (params.GetProbeType() != ZProbeType::none && !probeIsDeployed)
+ if (zp->GetProbeType() != ZProbeType::none && !probeIsDeployed)
{
DoFileMacro(gb, RETRACTPROBE_G, false, 29);
}
@@ -765,9 +765,9 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
// Initial state when executing G30 with a P parameter. Start by moving to the dive height at the current position.
SetMoveBufferDefaults();
{
- const ZProbe& zp = platform.GetCurrentZProbe();
- moveBuffer.coords[Z_AXIS] = zp.GetStartingHeight();
- moveBuffer.feedRate = zp.GetTravelSpeed();
+ const auto zp = platform.GetCurrentZProbe();
+ moveBuffer.coords[Z_AXIS] = zp->GetStartingHeight();
+ moveBuffer.feedRate = zp->GetTravelSpeed();
}
NewMoveAvailable(1);
gb.AdvanceState();
@@ -780,9 +780,9 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
// Head is at the dive height but needs to be moved to the correct XY position. The XY coordinates have already been stored.
SetMoveBufferDefaults();
(void)reprap.GetMove().GetProbeCoordinates(g30ProbePointIndex, moveBuffer.coords[X_AXIS], moveBuffer.coords[Y_AXIS], true);
- const ZProbe& zp = platform.GetCurrentZProbe();
- moveBuffer.coords[Z_AXIS] = zp.GetStartingHeight();
- moveBuffer.feedRate = zp.GetTravelSpeed();
+ const auto zp = platform.GetCurrentZProbe();
+ moveBuffer.coords[Z_AXIS] = zp->GetStartingHeight();
+ moveBuffer.feedRate = zp->GetTravelSpeed();
NewMoveAvailable(1);
InitialiseTaps();
@@ -808,7 +808,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
{
// Head has finished moving to the correct XY position
lastProbedTime = millis(); // start the probe recovery timer
- if (platform.GetCurrentZProbe().GetTurnHeatersOff())
+ if (platform.GetCurrentZProbe()->GetTurnHeatersOff())
{
reprap.GetHeat().SuspendHeaters(true);
}
@@ -819,54 +819,56 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
case GCodeState::probingAtPoint3:
// Executing G30 with a P parameter. The move to put the head at the specified XY coordinates has been completed and the recovery timer started.
// OR executing G30 without a P parameter, and the recovery timer has been started.
- if (millis() - lastProbedTime >= (uint32_t)(platform.GetCurrentZProbe().GetRecoveryTime() * SecondsToMillis))
{
- // The probe recovery time has elapsed, so we can start the probing move
- const ZProbe& zp = platform.GetCurrentZProbe();
- if (zp.GetProbeType() == ZProbeType::none)
- {
- // No Z probe, so we are doing manual 'probing'
- UnlockAll(gb); // release the movement lock to allow manual Z moves
- gb.AdvanceState(); // resume at the next state when the user has finished
- doingManualBedProbe = true; // suspend the Z movement limit
- DoManualBedProbe(gb);
- }
- else if (platform.GetCurrentZProbe().Stopped() == EndStopHit::atStop) // check for probe already triggered at start
+ const auto zp = platform.GetCurrentZProbe();
+ if (millis() - lastProbedTime >= (uint32_t)(zp->GetRecoveryTime() * SecondsToMillis))
{
- // Z probe is already triggered at the start of the move, so abandon the probe and record an error
- reprap.GetHeat().SuspendHeaters(false);
- platform.Message(ErrorMessage, "Z probe already triggered at start of probing move\n");
- if (g30ProbePointIndex >= 0)
+ // The probe recovery time has elapsed, so we can start the probing move
+ if (zp->GetProbeType() == ZProbeType::none)
{
- reprap.GetMove().SetZBedProbePoint(g30ProbePointIndex, zp.GetDiveHeight(), true, true);
+ // No Z probe, so we are doing manual 'probing'
+ UnlockAll(gb); // release the movement lock to allow manual Z moves
+ gb.AdvanceState(); // resume at the next state when the user has finished
+ doingManualBedProbe = true; // suspend the Z movement limit
+ DoManualBedProbe(gb);
}
- gb.SetState(GCodeState::normal); // no point in doing anything else
- if (zp.GetProbeType() != ZProbeType::none && !probeIsDeployed)
+ else if (zp->Stopped() == EndStopHit::atStop) // check for probe already triggered at start
{
- DoFileMacro(gb, RETRACTPROBE_G, false, 30);
+ // Z probe is already triggered at the start of the move, so abandon the probe and record an error
+ reprap.GetHeat().SuspendHeaters(false);
+ platform.Message(ErrorMessage, "Z probe already triggered at start of probing move\n");
+ if (g30ProbePointIndex >= 0)
+ {
+ reprap.GetMove().SetZBedProbePoint(g30ProbePointIndex, zp->GetDiveHeight(), true, true);
+ }
+ gb.SetState(GCodeState::normal); // no point in doing anything else
+ if (zp->GetProbeType() != ZProbeType::none && !probeIsDeployed)
+ {
+ DoFileMacro(gb, RETRACTPROBE_G, false, 30);
+ }
}
- }
- else
- {
- zProbeTriggered = false;
- SetMoveBufferDefaults();
- if (!platform.GetEndstops().EnableCurrentZProbe())
+ else
{
- error = true;
- reply.copy("Failed to enable Z probe");
- gb.SetState(GCodeState::normal);
- break;
- }
+ zProbeTriggered = false;
+ SetMoveBufferDefaults();
+ if (!platform.GetEndstops().EnableCurrentZProbe())
+ {
+ error = true;
+ reply.copy("Failed to enable Z probe");
+ gb.SetState(GCodeState::normal);
+ break;
+ }
- platform.GetCurrentZProbe().SetProbing(true);
- moveBuffer.checkEndstops = true;
- moveBuffer.reduceAcceleration = true;
- moveBuffer.coords[Z_AXIS] = (IsAxisHomed(Z_AXIS))
- ? platform.AxisMinimum(Z_AXIS) - zp.GetDiveHeight() + zp.GetActualTriggerHeight() // Z axis has been homed, so no point in going very far
- : -1.1 * platform.AxisTotalLength(Z_AXIS); // Z axis not homed yet, so treat this as a homing move
- moveBuffer.feedRate = zp.GetProbingSpeed();
- NewMoveAvailable(1);
- gb.AdvanceState();
+ zp->SetProbing(true);
+ moveBuffer.checkEndstops = true;
+ moveBuffer.reduceAcceleration = true;
+ moveBuffer.coords[Z_AXIS] = (IsAxisHomed(Z_AXIS))
+ ? platform.AxisMinimum(Z_AXIS) - zp->GetDiveHeight() + zp->GetActualTriggerHeight() // Z axis has been homed, so no point in going very far
+ : -1.1 * platform.AxisTotalLength(Z_AXIS); // Z axis not homed yet, so treat this as a homing move
+ moveBuffer.feedRate = zp->GetProbingSpeed();
+ NewMoveAvailable(1);
+ gb.AdvanceState();
+ }
}
}
break;
@@ -880,15 +882,15 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
doingManualBedProbe = false;
hadProbingError = false;
++tapsDone;
- const ZProbe& zp = platform.GetCurrentZProbe();
- if (zp.GetProbeType() == ZProbeType::none)
+ const auto zp = platform.GetCurrentZProbe();
+ if (zp->GetProbeType() == ZProbeType::none)
{
// No Z probe, so we are doing manual mesh levelling. Take the current Z height as the height error.
g30zStoppedHeight = g30zHeightError = moveBuffer.coords[Z_AXIS];
}
else
{
- platform.GetCurrentZProbe().SetProbing(false);
+ zp->SetProbing(false);
if (!zProbeTriggered)
{
platform.Message(ErrorMessage, "Z probe was not triggered during probing move\n");
@@ -901,7 +903,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
float m[MaxAxes];
reprap.GetMove().GetCurrentMachinePosition(m, false); // get height without bed compensation
g30zStoppedHeight = m[Z_AXIS] - g30HValue; // save for later
- g30zHeightError = g30zStoppedHeight - zp.GetActualTriggerHeight();
+ g30zHeightError = g30zStoppedHeight - zp->GetActualTriggerHeight();
g30zHeightErrorSum += g30zHeightError;
}
}
@@ -913,7 +915,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
{
// G30 S-1 command taps once and reports the height, S-2 sets the tool offset to the negative of the current height, S-3 sets the Z probe trigger height
gb.SetState(GCodeState::probingAtPoint7); // special state for reporting the stopped height at the end
- if (zp.GetProbeType() != ZProbeType::none && !probeIsDeployed)
+ if (zp->GetProbeType() != ZProbeType::none && !probeIsDeployed)
{
DoFileMacro(gb, RETRACTPROBE_G, false, 30); // retract the probe before moving to the new state
}
@@ -923,14 +925,14 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
if (tapsDone == 1 && !hadProbingError)
{
// Reset the Z axis origin according to the height error so that we can move back up to the dive height
- moveBuffer.coords[Z_AXIS] = zp.GetActualTriggerHeight();
+ moveBuffer.coords[Z_AXIS] = zp->GetActualTriggerHeight();
reprap.GetMove().SetNewPosition(moveBuffer.coords, false);
// Find the coordinates of the Z probe to pass to SetZeroHeightError
float tempCoords[MaxAxes];
memcpy(tempCoords, moveBuffer.coords, sizeof(tempCoords));
- tempCoords[X_AXIS] += zp.GetXOffset();
- tempCoords[Y_AXIS] += zp.GetYOffset();
+ tempCoords[X_AXIS] += zp->GetXOffset();
+ tempCoords[Y_AXIS] += zp->GetYOffset();
reprap.GetMove().SetZeroHeightError(tempCoords);
ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition);
@@ -941,7 +943,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
}
gb.AdvanceState();
- if (zp.GetProbeType() == ZProbeType::blTouch)
+ if (zp->GetProbeType() == ZProbeType::blTouch)
{
DoFileMacro(gb, RETRACTPROBE_G, false, 30); // bltouch needs to be retracted when it triggers
}
@@ -952,9 +954,9 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
// Move back up to the dive height before we change anything, in particular before we adjust leadscrews
SetMoveBufferDefaults();
{
- const ZProbe& zp = platform.GetCurrentZProbe();
- moveBuffer.coords[Z_AXIS] = zp.GetStartingHeight();
- moveBuffer.feedRate = zp.GetTravelSpeed();
+ const auto zp = platform.GetCurrentZProbe();
+ moveBuffer.coords[Z_AXIS] = zp->GetStartingHeight();
+ moveBuffer.feedRate = zp->GetTravelSpeed();
}
NewMoveAvailable(1);
gb.AdvanceState();
@@ -965,16 +967,16 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
if (LockMovementAndWaitForStandstill(gb))
{
// See whether we need to do any more taps
- const ZProbe& params = platform.GetCurrentZProbe();
+ const auto zp = platform.GetCurrentZProbe();
bool acceptReading = false;
- if (params.GetMaxTaps() < 2)
+ if (zp->GetMaxTaps() < 2)
{
acceptReading = true;
}
else if (tapsDone >= 2)
{
g30zHeightErrorLowestDiff = min<float>(g30zHeightErrorLowestDiff, fabsf(g30zHeightError - g30PrevHeightError));
- if (params.GetTolerance() > 0.0 && g30zHeightErrorLowestDiff <= params.GetTolerance())
+ if (zp->GetTolerance() > 0.0 && g30zHeightErrorLowestDiff <= zp->GetTolerance())
{
g30zHeightError = (g30zHeightError + g30PrevHeightError)/2;
acceptReading = true;
@@ -983,7 +985,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
if (!acceptReading)
{
- if (tapsDone < params.GetMaxTaps())
+ if (tapsDone < zp->GetMaxTaps())
{
// Tap again
g30PrevHeightError = g30zHeightError;
@@ -994,7 +996,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
// We no longer flag this as a probing error, instead we take the average and issue a warning
g30zHeightError = g30zHeightErrorSum/tapsDone;
- if (params.GetTolerance() > 0.0) // zero or negative tolerance means always average all readings, so no warning message
+ if (zp->GetTolerance() > 0.0) // zero or negative tolerance means always average all readings, so no warning message
{
platform.Message(WarningMessage, "Z probe readings not consistent\n");
}
@@ -1013,13 +1015,13 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
// Find the coordinates of the Z probe to pass to SetZeroHeightError
float tempCoords[MaxAxes];
memcpy(tempCoords, moveBuffer.coords, sizeof(tempCoords));
- tempCoords[X_AXIS] += params.GetXOffset();
- tempCoords[Y_AXIS] += params.GetYOffset();
+ tempCoords[X_AXIS] += zp->GetXOffset();
+ tempCoords[Y_AXIS] += zp->GetYOffset();
reprap.GetMove().SetZeroHeightError(tempCoords);
ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition);
}
gb.AdvanceState();
- if (platform.GetCurrentZProbeType() != ZProbeType::none && !probeIsDeployed)
+ if (zp->GetProbeType() != ZProbeType::none && !probeIsDeployed)
{
DoFileMacro(gb, RETRACTPROBE_G, false, 30);
}
@@ -1055,8 +1057,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
if (g30SValue == -3)
{
// Adjust the Z probe trigger height to the stop height
- ZProbe& zp = platform.GetCurrentZProbe();
- zp.SetTriggerHeight(g30zStoppedHeight);
+ platform.GetCurrentZProbe()->SetTriggerHeight(g30zStoppedHeight);
reply.printf("Z probe trigger height set to %.3f mm", (double)g30zStoppedHeight);
}
else if (g30SValue == -2)
@@ -1087,9 +1088,9 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
if (LockMovementAndWaitForStandstill(gb))
{
const StraightProbeSettings& sps = reprap.GetMove().GetStraightProbeSettings();
- const ZProbe& zp = *(platform.GetEndstops().GetZProbe(sps.GetZProbeToUse()));
+ const auto zp = platform.GetEndstops().GetZProbe(sps.GetZProbeToUse());
gb.AdvanceState();
- if (zp.GetProbeType() != ZProbeType::none && !probeIsDeployed)
+ if (zp.IsNotNull() && zp->GetProbeType() != ZProbeType::none && !probeIsDeployed)
{
DoFileMacro(gb, DEPLOYPROBE_G, false, 38);
}
@@ -1100,9 +1101,9 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
if (LockMovementAndWaitForStandstill(gb))
{
const StraightProbeSettings& sps = reprap.GetMove().GetStraightProbeSettings();
- const ZProbe& zp = *(platform.GetEndstops().GetZProbe(sps.GetZProbeToUse()));
+ const auto zp = platform.GetEndstops().GetZProbe(sps.GetZProbeToUse());
lastProbedTime = millis(); // start the probe recovery timer
- if (zp.GetTurnHeatersOff())
+ if (zp.IsNotNull() && zp->GetTurnHeatersOff())
{
reprap.GetHeat().SuspendHeaters(true);
}
@@ -1112,12 +1113,12 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
case GCodeState::straightProbe2:
// Executing G38. The probe has been deployed and the recovery timer has been started.
- if (millis() - lastProbedTime >= (uint32_t)(platform.GetCurrentZProbe().GetRecoveryTime() * SecondsToMillis))
+ if (millis() - lastProbedTime >= (uint32_t)(platform.GetCurrentZProbe()->GetRecoveryTime() * SecondsToMillis))
{
// The probe recovery time has elapsed, so we can start the probing move
const StraightProbeSettings& sps = reprap.GetMove().GetStraightProbeSettings();
- const ZProbe& zp = *(platform.GetEndstops().GetZProbe(sps.GetZProbeToUse()));
- if (zp.GetProbeType() == ZProbeType::none)
+ const auto zp = platform.GetEndstops().GetZProbe(sps.GetZProbeToUse());
+ if (zp.IsNull() || zp->GetProbeType() == ZProbeType::none)
{
// No Z probe, so we are doing manual 'probing'
UnlockAll(gb); // release the movement lock to allow manual Z moves
@@ -1127,7 +1128,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
else
{
const bool probingAway = sps.ProbingAway();
- const bool atStop = (zp.Stopped() == EndStopHit::atStop);
+ const bool atStop = (zp->Stopped() == EndStopHit::atStop);
if (probingAway != atStop)
{
// Z probe is already in target state at the start of the move, so abandon the probe and signal an error if the type demands so
@@ -1138,7 +1139,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
error = true;
}
gb.SetState(GCodeState::normal); // no point in doing anything else
- if (zp.GetProbeType() != ZProbeType::none && !probeIsDeployed)
+ if (zp->GetProbeType() != ZProbeType::none && !probeIsDeployed)
{
DoFileMacro(gb, RETRACTPROBE_G, false, 38);
}
@@ -1155,11 +1156,11 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
break;
}
- zp.SetProbing(true);
+ zp->SetProbing(true);
moveBuffer.checkEndstops = true;
moveBuffer.reduceAcceleration = true;
sps.SetCoordsToTarget(moveBuffer.coords);
- moveBuffer.feedRate = zp.GetProbingSpeed();
+ moveBuffer.feedRate = zp->GetProbingSpeed();
NewMoveAvailable(1);
gb.AdvanceState();
}
@@ -1175,10 +1176,10 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
reprap.GetHeat().SuspendHeaters(false);
const StraightProbeSettings& sps = reprap.GetMove().GetStraightProbeSettings();
const bool probingAway = sps.ProbingAway();
- const ZProbe& zp = *(platform.GetEndstops().GetZProbe(sps.GetZProbeToUse()));
- if (zp.GetProbeType() != ZProbeType::none)
+ const auto zp = platform.GetEndstops().GetZProbe(sps.GetZProbeToUse());
+ if (zp.IsNotNull() && zp->GetProbeType() != ZProbeType::none)
{
- zp.SetProbing(false);
+ zp->SetProbing(false);
if (!zProbeTriggered && sps.SignalError())
{
platform.MessageF(ErrorMessage, "Z probe %s during probing move\n", probingAway ? "did not loose contact" : "was not triggered");
@@ -1187,7 +1188,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
}
gb.SetState(GCodeState::normal);
- if (zp.GetProbeType() != ZProbeType::none && !probeIsDeployed)
+ if (zp->GetProbeType() != ZProbeType::none && !probeIsDeployed)
{
DoFileMacro(gb, RETRACTPROBE_G, false, 38); // retract the probe before moving to the new state
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-08-30 20:51:49 +0300