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-rw-r--r--src/Endstops/Endstop.cpp23
-rw-r--r--src/Endstops/Endstop.h8
-rw-r--r--src/Endstops/EndstopDefs.h20
-rw-r--r--src/Endstops/EndstopsManager.cpp101
-rw-r--r--src/Endstops/EndstopsManager.h28
-rw-r--r--src/Endstops/ZProbe.cpp68
-rw-r--r--src/Endstops/ZProbe.h6
-rw-r--r--src/Endstops/ZProbeEndstop.cpp4
-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
-rw-r--r--src/Movement/Move.cpp18
-rw-r--r--src/Platform.cpp4
-rw-r--r--src/Platform.h2
-rw-r--r--src/RepRap.cpp27
-rw-r--r--src/Version.h2
21 files changed, 416 insertions, 238 deletions
diff --git a/src/Endstops/Endstop.cpp b/src/Endstops/Endstop.cpp
index ea4cf5a3..f80cdca9 100644
--- a/src/Endstops/Endstop.cpp
+++ b/src/Endstops/Endstop.cpp
@@ -10,6 +10,29 @@
// Endstop base class
DriversBitmap EndstopOrZProbe::stalledDrivers = 0; // used to track which drivers are reported as stalled, for stall detect endstops and stall detect Z probes
+#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(Endstop, __VA_ARGS__)
+
+constexpr ObjectModelTableEntry Endstop::objectModelTable[] =
+{
+ // Within each group, these entries must be in alphabetical order
+ // 0. Endstop members
+ { "triggered", OBJECT_MODEL_FUNC(self->Stopped() == EndStopHit::atStop), ObjectModelEntryFlags::live },
+ { "type", OBJECT_MODEL_FUNC(self->GetEndstopType().ToString()), ObjectModelEntryFlags::none },
+};
+
+constexpr uint8_t Endstop::objectModelTableDescriptor[] = { 1, 2 };
+
+DEFINE_GET_OBJECT_MODEL_TABLE(Endstop)
+
+#endif
+
Endstop::Endstop(uint8_t p_axis, EndStopPosition pos) noexcept : axis(p_axis), atHighEnd(pos == EndStopPosition::highEndStop)
{
}
diff --git a/src/Endstops/Endstop.h b/src/Endstops/Endstop.h
index fc84de1c..d4c8ee17 100644
--- a/src/Endstops/Endstop.h
+++ b/src/Endstops/Endstop.h
@@ -8,16 +8,17 @@
#ifndef SRC_ENDSTOPS_ENDSTOP_H_
#define SRC_ENDSTOPS_ENDSTOP_H_
-#include "RepRapFirmware.h"
+#include <RepRapFirmware.h>
+#include <ObjectModel/ObjectModel.h>
#include "EndstopDefs.h"
-#include "Hardware/IoPorts.h"
+#include <Hardware/IoPorts.h>
#include <General/FreelistManager.h>
class AxisDriversConfig;
class CanMessageBuffer;
// This is the base class for all types of endstops and for ZProbe.
-class EndstopOrZProbe
+class EndstopOrZProbe INHERIT_OBJECT_MODEL
{
public:
EndstopOrZProbe() noexcept : next(nullptr) {}
@@ -72,6 +73,7 @@ public:
protected:
Endstop(uint8_t axis, EndStopPosition pos) noexcept;
+ DECLARE_OBJECT_MODEL
private:
uint8_t axis; // which axis this endstop is on
diff --git a/src/Endstops/EndstopDefs.h b/src/Endstops/EndstopDefs.h
index 394f47b5..97eb1dc6 100644
--- a/src/Endstops/EndstopDefs.h
+++ b/src/Endstops/EndstopDefs.h
@@ -8,6 +8,8 @@
#ifndef SRC_ENDSTOPS_ENDSTOPDEFS_H_
#define SRC_ENDSTOPS_ENDSTOPDEFS_H_
+#include <NamedEnum.h>
+
// Forward declarations
class EndstopOrZProbe;
class Endstop;
@@ -53,15 +55,15 @@ enum class EndStopPosition : unsigned int
};
// Type of an endstop input - values must tally with the M574 command S parameter
-enum class EndStopType : unsigned int
-{
- unused_wasActiveLow = 0,
- inputPin = 1,
- zProbeAsEndstop = 2,
- motorStallAny = 3,
- motorStallIndividual = 4,
- numInputTypes = 5
-};
+NamedEnum
+( EndStopType, unsigned int,
+ unused_wasActiveLow,
+ inputPin,
+ zProbeAsEndstop,
+ motorStallAny,
+ motorStallIndividual,
+ numInputTypes
+);
// This is used as the return type of function Stopped.
// Note the ordering: we need more-stopped-value > less-stopped-value
diff --git a/src/Endstops/EndstopsManager.cpp b/src/Endstops/EndstopsManager.cpp
index a6a8460e..a890012e 100644
--- a/src/Endstops/EndstopsManager.cpp
+++ b/src/Endstops/EndstopsManager.cpp
@@ -26,7 +26,47 @@
# include "CanMessageBuffer.h"
#endif
-ReadWriteLock EndstopsManager::endstopsLock; // used to lock both endstops and Z probes
+ReadWriteLock EndstopsManager::endstopsLock;
+ReadWriteLock EndstopsManager::zProbesLock;
+
+#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(EndstopsManager, __VA_ARGS__)
+
+constexpr ObjectModelArrayDescriptor EndstopsManager::endstopsArrayDescriptor =
+{
+ &endstopsLock,
+ [] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return reprap.GetGCodes().GetVisibleAxes(); },
+ [] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue
+ { return ExpressionValue(((const EndstopsManager*)self)->FindEndstop(context.GetLastIndex()).Ptr()); }
+};
+
+constexpr ObjectModelArrayDescriptor EndstopsManager::probesArrayDescriptor =
+{
+ &zProbesLock,
+ [] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return ((const EndstopsManager*)self)->GetNumProbesToReport(); },
+ [] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue
+ { return ExpressionValue(((const EndstopsManager*)self)->GetZProbe(context.GetLastIndex()).Ptr()); }
+};
+
+constexpr ObjectModelTableEntry EndstopsManager::objectModelTable[] =
+{
+ // Within each group, these entries must be in alphabetical order
+ // 0. sensors members
+ { "endstops", OBJECT_MODEL_FUNC_NOSELF(&endstopsArrayDescriptor), ObjectModelEntryFlags::live },
+ { "probes", OBJECT_MODEL_FUNC_NOSELF(&probesArrayDescriptor), ObjectModelEntryFlags::live },
+};
+
+constexpr uint8_t EndstopsManager::objectModelTableDescriptor[] = { 1, 2 };
+
+DEFINE_GET_OBJECT_MODEL_TABLE(EndstopsManager)
+
+#endif
EndstopsManager::EndstopsManager() noexcept : activeEndstops(nullptr), extrudersEndstop(nullptr), isHomingMove(false)
{
@@ -68,6 +108,35 @@ void EndstopsManager::Init() noexcept
currentZProbeNumber = 0;
}
+ReadLockedPointer<Endstop> EndstopsManager::FindEndstop(size_t axis) const noexcept
+{
+ ReadLocker lock(endstopsLock);
+ return ReadLockedPointer<Endstop>(lock, (axis < MaxAxes) ? axisEndstops[axis] : nullptr);
+}
+
+ReadLockedPointer<ZProbe> EndstopsManager::GetZProbe(size_t index) const noexcept
+{
+ ReadLocker lock(zProbesLock);
+ return ReadLockedPointer<ZProbe>(lock, (index < ARRAY_SIZE(zProbes)) ? zProbes[index] : nullptr);
+}
+
+// Return the current Z probe if there is one, else a default Z probe
+ReadLockedPointer<ZProbe> EndstopsManager::GetCurrentOrDefaultZProbe() const noexcept
+{
+ ReadLocker lock(zProbesLock);
+ return ReadLockedPointer<ZProbe>(lock,
+ (currentZProbeNumber < ARRAY_SIZE(zProbes) && zProbes[currentZProbeNumber] != nullptr)
+ ? zProbes[currentZProbeNumber]
+ : defaultZProbe);
+}
+
+ZProbe& EndstopsManager::GetCurrentOrDefaultZProbeFromISR() const noexcept
+{
+ return (currentZProbeNumber < ARRAY_SIZE(zProbes) && zProbes[currentZProbeNumber] != nullptr)
+ ? *zProbes[currentZProbeNumber]
+ : *defaultZProbe;
+}
+
// Add an endstop to the active list
void EndstopsManager::AddToActive(EndstopOrZProbe& e) noexcept
{
@@ -320,7 +389,7 @@ GCodeResult EndstopsManager::HandleM574(GCodeBuffer& gb, const StringRef& reply,
}
else
{
- switch (inputType)
+ switch (inputType.ToBaseType())
{
case EndStopType::motorStallAny:
// Asking for stall detection endstop, so we can delete any existing endstop(s) and create new ones
@@ -393,7 +462,7 @@ void EndstopsManager::GetM119report(const StringRef& reply) noexcept
: TranslateEndStopResult(axisEndstops[axis]->Stopped(), axisEndstops[axis]->GetAtHighEnd());
reply.catf("%c: %s, ", reprap.GetGCodes().GetAxisLetters()[axis], status);
}
- reply.catf("Z probe: %s", TranslateEndStopResult(GetCurrentZProbe().Stopped(), false));
+ reply.catf("Z probe: %s", TranslateEndStopResult(GetCurrentOrDefaultZProbe()->Stopped(), false));
}
const char *EndstopsManager::TranslateEndStopResult(EndStopHit es, bool atHighEnd) noexcept
@@ -412,17 +481,6 @@ const char *EndstopsManager::TranslateEndStopResult(EndStopHit es, bool atHighEn
}
}
-ZProbe& EndstopsManager::GetCurrentZProbe() const noexcept
-{
- ZProbe * const zp = (currentZProbeNumber < MaxZProbes) ? zProbes[currentZProbeNumber] : nullptr;
- return (zp == nullptr) ? *defaultZProbe : *zp;
-}
-
-ZProbe *EndstopsManager::GetZProbe(size_t num) const noexcept
-{
- return (num < ARRAY_SIZE(zProbes)) ? zProbes[num] : nullptr;
-}
-
void EndstopsManager::SetZProbeDefaults() noexcept
{
zProbes[0]->SetDefaults();
@@ -625,6 +683,21 @@ GCodeResult EndstopsManager::HandleG31(GCodeBuffer& gb, const StringRef& reply)
return zProbes[probeNumber]->HandleG31(gb, reply);
}
+#if SUPPORT_OBJECT_MODEL
+
+size_t EndstopsManager::GetNumProbesToReport() const noexcept
+{
+ size_t ret = MaxZProbes;
+ while (ret != 0 && zProbes[ret - 1] == nullptr)
+ {
+ --ret;
+ }
+ return ret;
+}
+
+#endif
+
+
#if SUPPORT_CAN_EXPANSION
// Handle signalling of a remote switch change, when the handle indicates that it is being used as an endstop.
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
diff --git a/src/Endstops/ZProbe.cpp b/src/Endstops/ZProbe.cpp
index 672f470c..d148cc5b 100644
--- a/src/Endstops/ZProbe.cpp
+++ b/src/Endstops/ZProbe.cpp
@@ -13,6 +13,63 @@
#include "Storage/FileStore.h"
#include "Heating/Heat.h"
+#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(ZProbe, __VA_ARGS__)
+
+constexpr ObjectModelArrayDescriptor ZProbe::offsetsArrayDescriptor =
+{
+ nullptr,
+ [] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return 2; },
+ [] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue
+ { return ExpressionValue((context.GetLastIndex() == 0) ? ((const ZProbe*)self)->xOffset : ((const ZProbe*)self)->yOffset); }
+};
+
+constexpr ObjectModelArrayDescriptor ZProbe::valueArrayDescriptor =
+{
+ nullptr,
+ [] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return (((const ZProbe*)self)->type == ZProbeType::dumbModulated) ? 2 : 1; },
+ [] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue
+ { int v1 = 0;
+ return ExpressionValue
+ ( (context.GetLastIndex() == 0)
+ ? (int32_t)((const ZProbe*)self)->GetRawReading()
+ : (((const ZProbe*)self)->GetSecondaryValues(v1), v1)
+ );
+ }
+};
+
+constexpr ObjectModelTableEntry ZProbe::objectModelTable[] =
+{
+ // Within each group, these entries must be in alphabetical order
+ // 0. Probe members
+ { "calibrationTemperature", OBJECT_MODEL_FUNC(self->calibTemperature), ObjectModelEntryFlags::none },
+ { "disablesHeaters", OBJECT_MODEL_FUNC((bool)self->misc.parts.turnHeatersOff), ObjectModelEntryFlags::none },
+ { "diveHeight", OBJECT_MODEL_FUNC(self->diveHeight), ObjectModelEntryFlags::none },
+ { "maxProbeCount", OBJECT_MODEL_FUNC((int32_t)self->misc.parts.maxTaps), ObjectModelEntryFlags::none },
+ { "offsets", OBJECT_MODEL_FUNC_NOSELF(&offsetsArrayDescriptor), ObjectModelEntryFlags::none },
+ { "recoveryTime", OBJECT_MODEL_FUNC(self->recoveryTime), ObjectModelEntryFlags::none },
+ { "speed", OBJECT_MODEL_FUNC(self->probeSpeed), ObjectModelEntryFlags::none },
+ { "temperatureCoefficient", OBJECT_MODEL_FUNC(self->temperatureCoefficient), ObjectModelEntryFlags::none },
+ { "threshold", OBJECT_MODEL_FUNC((int32_t)self->adcValue), ObjectModelEntryFlags::none },
+ { "tolerance", OBJECT_MODEL_FUNC(self->tolerance), ObjectModelEntryFlags::none },
+ { "travelSpeed", OBJECT_MODEL_FUNC(self->travelSpeed), ObjectModelEntryFlags::none },
+ { "triggerHeight", OBJECT_MODEL_FUNC(self->triggerHeight), ObjectModelEntryFlags::none },
+ { "type", OBJECT_MODEL_FUNC((int32_t)self->type), ObjectModelEntryFlags::none },
+ { "value", OBJECT_MODEL_FUNC_NOSELF(&valueArrayDescriptor), ObjectModelEntryFlags::live },
+};
+
+constexpr uint8_t ZProbe::objectModelTableDescriptor[] = { 1, 14 };
+
+DEFINE_GET_OBJECT_MODEL_TABLE(ZProbe)
+
+#endif
+
ZProbe::ZProbe(unsigned int num, ZProbeType p_type) noexcept : EndstopOrZProbe(), number(num)
{
SetDefaults();
@@ -106,7 +163,7 @@ int ZProbe::GetReading() const noexcept
return (misc.parts.invertReading) ? 1000 - zProbeVal : zProbeVal;
}
-int ZProbe::GetSecondaryValues(int& v1, int& v2) noexcept
+int ZProbe::GetSecondaryValues(int& v1) const noexcept
{
const Platform& p = reprap.GetPlatform();
if (p.GetZProbeOnFilter().IsValid() && p.GetZProbeOffFilter().IsValid())
@@ -114,7 +171,7 @@ int ZProbe::GetSecondaryValues(int& v1, int& v2) noexcept
switch (type)
{
case ZProbeType::dumbModulated: // modulated IR sensor
- v1 = (int) (p.GetZProbeOnFilter().GetSum() / ZProbeAverageReadings); // pass back the reading with IR turned on
+ v1 = (int)(p.GetZProbeOnFilter().GetSum() / ZProbeAverageReadings); // pass back the reading with IR turned on
return 1;
default:
break;
@@ -245,15 +302,12 @@ GCodeResult ZProbe::HandleG31(GCodeBuffer& gb, const StringRef& reply)
else
{
const int v0 = GetReading();
- int v1, v2;
- switch (GetSecondaryValues(v1, v2))
+ int v1;
+ switch (GetSecondaryValues(v1))
{
case 1:
reply.printf("Current reading %d (%d)", v0, v1);
break;
- case 2:
- reply.printf("Current reading %d (%d, %d)", v0, v1, v2);
- break;
default:
reply.printf("Current reading %d", v0);
break;
diff --git a/src/Endstops/ZProbe.h b/src/Endstops/ZProbe.h
index 0e2b6801..364cd6bd 100644
--- a/src/Endstops/ZProbe.h
+++ b/src/Endstops/ZProbe.h
@@ -47,7 +47,7 @@ public:
void SetProbingAway(const bool probingAway) noexcept { misc.parts.probingAway = probingAway; }
int GetReading() const noexcept;
- int GetSecondaryValues(int& v1, int& v2) noexcept;
+ int GetSecondaryValues(int& v1) const noexcept;
GCodeResult HandleG31(GCodeBuffer& gb, const StringRef& reply) THROWS_GCODE_EXCEPTION;
void SetTriggerHeight(float height) noexcept { triggerHeight = height; }
@@ -60,6 +60,10 @@ public:
static constexpr unsigned int MaxTapsLimit = 31; // must be low enough to fit in the maxTaps field
protected:
+ DECLARE_OBJECT_MODEL
+ OBJECT_MODEL_ARRAY(offsets)
+ OBJECT_MODEL_ARRAY(value)
+
uint8_t number;
ZProbeType type;
int8_t sensor; // the sensor number used for temperature calibration
diff --git a/src/Endstops/ZProbeEndstop.cpp b/src/Endstops/ZProbeEndstop.cpp
index dc12dd5f..c4c919a0 100644
--- a/src/Endstops/ZProbeEndstop.cpp
+++ b/src/Endstops/ZProbeEndstop.cpp
@@ -20,8 +20,8 @@ ZProbeEndstop::ZProbeEndstop(uint8_t axis, EndStopPosition pos) noexcept : Endst
// Test whether we are at or near the stop
EndStopHit ZProbeEndstop::Stopped() const noexcept
{
- const ZProbe * const zp = reprap.GetPlatform().GetEndstops().GetZProbe(zProbeNumber);
- return (zp != nullptr) ? zp->Stopped() : EndStopHit::atStop;
+ const auto zp = reprap.GetPlatform().GetEndstops().GetZProbe(zProbeNumber);
+ return (zp.IsNotNull()) ? zp->Stopped() : EndStopHit::atStop;
}
// This is called to prime axis endstops
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
}
diff --git a/src/Movement/Move.cpp b/src/Movement/Move.cpp
index 13060a17..56ccd6aa 100644
--- a/src/Movement/Move.cpp
+++ b/src/Movement/Move.cpp
@@ -345,8 +345,13 @@ bool Move::IsRawMotorMove(uint8_t moveType) const noexcept
// Return true if the specified point is accessible to the Z probe
bool Move::IsAccessibleProbePoint(float x, float y) const noexcept
{
- const ZProbe& params = reprap.GetPlatform().GetCurrentZProbe();
- return kinematics->IsReachable(x - params.GetXOffset(), y - params.GetYOffset(), false);
+ const auto zp = reprap.GetPlatform().GetCurrentZProbe();
+ if (zp.IsNotNull())
+ {
+ x -= zp->GetXOffset();
+ y -= zp->GetYOffset();
+ }
+ return kinematics->IsReachable(x, y, false);
}
// Pause the print as soon as we can, returning true if we are able to skip any moves and updating 'rp' to the first move we skipped.
@@ -865,9 +870,12 @@ float Move::GetProbeCoordinates(int count, float& x, float& y, bool wantNozzlePo
y = probePoints.GetYCoord(count);
if (wantNozzlePosition)
{
- const ZProbe& rp = reprap.GetPlatform().GetCurrentZProbe();
- x -= rp.GetXOffset();
- y -= rp.GetYOffset();
+ const auto zp = reprap.GetPlatform().GetCurrentZProbe();
+ if (zp.IsNotNull())
+ {
+ x -= zp->GetXOffset();
+ y -= zp->GetYOffset();
+ }
}
return probePoints.GetZHeight(count);
}
diff --git a/src/Platform.cpp b/src/Platform.cpp
index c22bdb41..bf71ce3b 100644
--- a/src/Platform.cpp
+++ b/src/Platform.cpp
@@ -3812,7 +3812,7 @@ void Platform::SetAxisMinimum(size_t axis, float value, bool byProbing) noexcept
ZProbeType Platform::GetCurrentZProbeType() const noexcept
{
- return endstops.GetCurrentZProbe().GetProbeType();
+ return endstops.GetCurrentOrDefaultZProbe()->GetProbeType();
}
void Platform::InitZProbeFilters() noexcept
@@ -4405,7 +4405,7 @@ void Platform::Tick() noexcept
}
#endif
- const ZProbe& currentZProbe = GetCurrentZProbe();
+ const ZProbe& currentZProbe = endstops.GetCurrentOrDefaultZProbeFromISR();
switch (tickState)
{
case 1:
diff --git a/src/Platform.h b/src/Platform.h
index 59d2f37f..001758db 100644
--- a/src/Platform.h
+++ b/src/Platform.h
@@ -451,7 +451,7 @@ public:
// Endstops and Z probe
EndstopsManager& GetEndstops() noexcept { return endstops; }
- ZProbe& GetCurrentZProbe() noexcept { return endstops.GetCurrentZProbe(); }
+ ReadLockedPointer<ZProbe> GetCurrentZProbe() noexcept { return endstops.GetCurrentOrDefaultZProbe(); }
ZProbeType GetCurrentZProbeType() const noexcept;
void InitZProbeFilters() noexcept;
const volatile ZProbeAveragingFilter& GetZProbeOnFilter() const noexcept { return zProbeOnFilter; }
diff --git a/src/RepRap.cpp b/src/RepRap.cpp
index b57d291b..8b78e4bf 100644
--- a/src/RepRap.cpp
+++ b/src/RepRap.cpp
@@ -156,6 +156,7 @@ constexpr ObjectModelTableEntry RepRap::objectModelTable[] =
{ "job", OBJECT_MODEL_FUNC(self->printMonitor), ObjectModelEntryFlags::live },
{ "move", OBJECT_MODEL_FUNC(self->move), ObjectModelEntryFlags::live },
{ "network", OBJECT_MODEL_FUNC(self->network), ObjectModelEntryFlags::none },
+ { "sensors", OBJECT_MODEL_FUNC(&self->platform->GetEndstops()), ObjectModelEntryFlags::none },
{ "state", OBJECT_MODEL_FUNC(self, 1), ObjectModelEntryFlags::live },
{ "tools", OBJECT_MODEL_FUNC_NOSELF(&toolsArrayDescriptor), ObjectModelEntryFlags::live },
@@ -166,7 +167,7 @@ constexpr ObjectModelTableEntry RepRap::objectModelTable[] =
{ "upTime", OBJECT_MODEL_FUNC_NOSELF((int32_t)((millis64()/1000u) & 0x7FFFFFFF)), ObjectModelEntryFlags::live },
};
-constexpr uint8_t RepRap::objectModelTableDescriptor[] = { 2, 8, 4 };
+constexpr uint8_t RepRap::objectModelTableDescriptor[] = { 2, 9, 4 };
DEFINE_GET_OBJECT_MODEL_TABLE(RepRap)
@@ -1188,16 +1189,14 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) noe
response->cat(",\"sensors\":{");
// Probe
- const int v0 = platform->GetCurrentZProbe().GetReading();
- int v1, v2;
- switch (platform->GetCurrentZProbe().GetSecondaryValues(v1, v2))
+ const auto zp = platform->GetCurrentZProbe();
+ const int v0 = zp->GetReading();
+ int v1;
+ switch (zp->GetSecondaryValues(v1))
{
case 1:
response->catf("\"probeValue\":%d,\"probeSecondary\":[%d]", v0, v1);
break;
- case 2:
- response->catf("\"probeValue\":%d,\"probeSecondary\":[%d,%d]", v0, v1, v2);
- break;
default:
response->catf("\"probeValue\":%d", v0);
break;
@@ -1484,11 +1483,11 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) noe
/* Probe */
{
- const ZProbe& zp = platform->GetCurrentZProbe();
+ const auto zp = platform->GetCurrentZProbe();
// Trigger threshold, trigger height, type
response->catf(",\"probe\":{\"threshold\":%d,\"height\":%.2f,\"type\":%u}",
- zp.GetAdcValue(), (double)zp.GetConfiguredTriggerHeight(), (unsigned int)zp.GetProbeType());
+ zp->GetAdcValue(), (double)zp->GetConfiguredTriggerHeight(), (unsigned int)zp->GetProbeType());
}
/* Tool Mapping */
@@ -1916,16 +1915,14 @@ OutputBuffer *RepRap::GetLegacyStatusResponse(uint8_t type, int seq) noexcept
response->catf(",\"tool\":%d", GetCurrentToolNumber());
// Send the Z probe value
- const int v0 = platform->GetCurrentZProbe().GetReading();
- int v1, v2;
- switch (platform->GetCurrentZProbe().GetSecondaryValues(v1, v2))
+ const auto zp = platform->GetCurrentZProbe();
+ const int v0 = zp->GetReading();
+ int v1;
+ switch (zp->GetSecondaryValues(v1))
{
case 1:
response->catf(",\"probe\":\"%d (%d)\"", v0, v1);
break;
- case 2:
- response->catf(",\"probe\":\"%d (%d, %d)\"", v0, v1, v2);
- break;
default:
response->catf(",\"probe\":\"%d\"", v0);
break;
diff --git a/src/Version.h b/src/Version.h
index 2b0fcf5f..988ea29f 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -20,7 +20,7 @@
#endif
#ifndef DATE
-# define DATE "2020-01-17b3"
+# define DATE "2020-01-18b1"
#endif
#define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman, printm3d"
generated by cgit v1.2.3 (git 2.25.1) at 2024-08-30 22:49:04 +0300