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/*
* Endstop.h
*
* Created on: 4 Apr 2019
* Author: David
*/
#ifndef SRC_ENDSTOPS_ENDSTOP_H_
#define SRC_ENDSTOPS_ENDSTOP_H_
#include <RepRapFirmware.h>
#include <ObjectModel/ObjectModel.h>
#include "EndstopDefs.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 INHERIT_OBJECT_MODEL
{
public:
EndstopOrZProbe() noexcept : next(nullptr) {}
virtual ~EndstopOrZProbe() noexcept {}
virtual EndStopHit Stopped() const noexcept = 0;
virtual EndstopHitDetails CheckTriggered(bool goingSlow) noexcept = 0;
virtual bool Acknowledge(EndstopHitDetails what) noexcept = 0;
EndstopOrZProbe *GetNext() const noexcept { return next; }
void SetNext(EndstopOrZProbe *e) noexcept { next = e; }
static void UpdateStalledDrivers(DriversBitmap drivers, bool isStalled) noexcept;
protected:
static DriversBitmap GetStalledDrivers() noexcept { return stalledDrivers; }
private:
EndstopOrZProbe *next; // next endstop in linked list
static DriversBitmap stalledDrivers; // used to track which drivers are reported as stalled, for stall detect endstops and stall detect Z probes
};
inline void EndstopOrZProbe::UpdateStalledDrivers(DriversBitmap drivers, bool isStalled) noexcept
{
if (isStalled)
{
stalledDrivers |= drivers;
}
else
{
stalledDrivers &= ~drivers;
}
}
class Endstop : public EndstopOrZProbe
{
public:
virtual EndStopType GetEndstopType() const noexcept = 0;
virtual bool Prime(const Kinematics& kin, const AxisDriversConfig& axisDrivers) noexcept = 0;
virtual void AppendDetails(const StringRef& str) noexcept = 0;
#if SUPPORT_CAN_EXPANSION
// Process a remote endstop input change that relates to this endstop
virtual void HandleRemoteInputChange(CanAddress src, uint8_t handleMinor, bool state) noexcept { }
#endif
unsigned int GetAxis() const noexcept { return axis; }
bool GetAtHighEnd() const noexcept { return atHighEnd; }
void SetAtHighEnd(bool b) noexcept { atHighEnd = b; }
protected:
Endstop(uint8_t axis, EndStopPosition pos) noexcept;
DECLARE_OBJECT_MODEL
private:
uint8_t axis; // which axis this endstop is on
bool atHighEnd; // whether this endstop is at the max (true) or the min (false)
};
#endif /* SRC_ENDSTOPS_ENDSTOP_H_ */
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