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/*
* Scanner.h
*
* Created on: 21 Mar 2017
* Author: Christian
*/
#ifndef SRC_SCANNER_H_
#define SRC_SCANNER_H_
#include "RepRapFirmware.h"
#include "GCodes/GCodeBuffer/GCodeBuffer.h"
#include "ObjectModel/ObjectModel.h"
#if SUPPORT_SCANNER
#define SCANNER_AS_SEPARATE_TASK (0) // set to 1 to use a separate task for the scanner (requires RTOS enabled too)
//#define SCANNER_AS_SEPARATE_TASK (defined(RTOS)) // set to 1 to use a separate task for the scanner (requires RTOS enabled too)
const size_t ScanBufferSize = 128; // Size of the buffer for incoming commands
enum class ScannerState
{
Disconnected, // scanner mode is disabled
Idle, // scanner is registered but not active
EnablingAlign, // running align_on.g
DisablingAlign, // running align_off.g
ScanningPre, // running scan_pre.g
Scanning, // 3D scanner is scanning
ScanningPost, // running scan_post.g
PostProcessing, // post-processor is busy
CalibratingPre, // running calibrate_pre.g
Calibrating, // 3D scanner is calibrating
CalibratingPost, // running calibrate_post.g
Uploading // uploading a binary file
};
class Scanner INHERIT_OBJECT_MODEL
{
public:
friend class GCodes;
Scanner(Platform& p) noexcept : platform(p) { }
void Init() noexcept;
void Exit() noexcept;
void Spin() noexcept;
bool IsEnabled() const noexcept { return enabled; } // Is the usage of a 3D scanner enabled?
bool Enable() noexcept; // Enable 3D scanner extension. Returns true when done
bool IsRegistered() const noexcept; // Is the 3D scanner registered and ready to use?
void Register() noexcept; // Register a 3D scanner instance
// External scanners are automatically unregistered when the main port (USB) is closed
// Start a new 3D scan. Returns true when the scan has been initiated
bool StartScan(const char *filename, int param, int resolution, int mode) noexcept;
bool Cancel() noexcept; // Cancel current 3D scanner action. Returns true when done
bool Calibrate(int mode) noexcept; // Calibrate the 3D scanner. Returns true when done
bool SetAlignment(bool on) noexcept; // Send ALIGN ON/OFF to the 3D scanner. Returns true when done
bool Shutdown() noexcept; // Send SHUTDOWN to the scanner and unregisters it
bool DoingGCodes() const noexcept { return doingGCodes; } // Has the scanner run any G-codes since the last state transition?
const char GetStatusCharacter() const noexcept; // Returns the status char for the status response
float GetProgress() const noexcept; // Returns the progress of the current action
protected:
DECLARE_OBJECT_MODEL
private:
GCodeBuffer *serialGCode;
void SetGCodeBuffer(GCodeBuffer *gb) noexcept;
void SetState(const ScannerState s) noexcept;
void ProcessCommand() noexcept;
bool IsDoingFileMacro() const noexcept;
void DoFileMacro(const char *filename) noexcept;
Platform& platform;
bool enabled;
bool doingGCodes;
float progress;
ScannerState state;
char buffer[ScanBufferSize];
size_t bufferPointer;
int calibrationMode;
String<MaxFilenameLength> scanFilename;
int scanRange, scanResolution, scanMode;
const char *uploadFilename;
size_t uploadSize, uploadBytesLeft;
FileStore *fileBeingUploaded;
};
inline bool Scanner::IsRegistered() const noexcept { return (state != ScannerState::Disconnected); }
inline void Scanner::SetGCodeBuffer(GCodeBuffer *gb) noexcept { serialGCode = gb; }
#endif
#endif
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