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domecam.changes Changed

_service Changed

domecam-0.1.14.obscpio/.hgtags -> domecam-0.1.15.obscpio/.hgtags Changed

domecam-0.1.14.obscpio/CMakeLists.txt -> domecam-0.1.15.obscpio/CMakeLists.txt Changed

domecam-0.1.14.obscpio/include/carriage.h -> domecam-0.1.15.obscpio/include/carriage.h Changed

@@ -76,6 +76,10 @@
 		limit_reached();
 	};
 
+	struct axis_not_homed: public error {
+		axis_not_homed(std::uint16_t axis);
+	};
+
 	enum class direction: std::uint16_t {
 		stop = 0x0000,
 		cw   = 0x0001,
@@ -114,11 +118,11 @@
 		status_t& operator=(const status_t&) = default;
 		status_t& operator=(status_t&&) = default;
 
-		operator std::uint16_t() const {
+		operator std::uint16_t() const noexcept {
 			return status_;
 		}
 
-		std::uint16_t limit_switch_mask(direction d) const {
+		std::uint16_t limit_switch_mask(direction d) const noexcept {
 			assert(d != direction::stop);
 
 			return (status_ & axis ?
@@ -127,6 +131,47 @@
 		}
 	};
 
+	class user_t {
+	private:
+		std::uint16_t user_;
+
+	public:
+		enum mask: std::uint16_t {
+			axis1_homed = 1 << 15,
+			axis0_homed = 1 << 14
+		};
+
+		user_t(std::uint16_t);
+		user_t(const user_t&) = default;
+		user_t(user_t&&) = default;
+		user_t& operator=(const user_t&) = default;
+		user_t& operator=(user_t&&) = default;
+
+		operator std::uint16_t() const noexcept {
+			return user_;
+		}
+
+		constexpr std::uint16_t axis_homed_mask() const noexcept {
+			return axis1_homed | axis0_homed;
+		}
+
+		std::uint16_t axis_homed_mask(status_t status) const noexcept {
+			return status & status_t::axis ? axis1_homed : axis0_homed;
+		}
+
+		user_t flag_homed(status_t status) const noexcept {
+			return static_cast<std::uint16_t>(user_ | axis_homed_mask(status));
+		}
+
+		bool is_homed() const noexcept {
+			return user_ & axis_homed_mask();
+		}
+
+		bool is_homed(status_t status) const noexcept {
+			return user_ & axis_homed_mask(status);
+		}
+	};
+
 	constexpr static std::uint16_t default_speed = 144;
 
 	struct command {
@@ -151,6 +196,9 @@
 	template<std::uint8_t tag, class T>
 	typename reply_traits<unary_command<tag, T>>::result_type transaction(const unary_command<tag, T>& cmd);
 
+	void flag_axis_homed();
+	void ensure_axis_homed();
+
 protected:
 	virtual std::size_t available() = 0;
 	virtual std::size_t drain() = 0;
@@ -182,8 +230,8 @@
 	void accel(std::uint16_t a);
 	std::uint16_t sync_mask();
 	void sync_mask(std::uint16_t mask);
-	std::uint16_t user_data();
-	void user_data(std::uint16_t data);
+	user_t user_data();
+	void user_data(user_t data);
 	void axis(std::uint16_t a);
 	void home();
 };

domecam-0.1.14.obscpio/src/carriage.cpp -> domecam-0.1.15.obscpio/src/carriage.cpp Changed

@@ -133,6 +133,10 @@
 
 constexpr abstract_carriage::serialized_type abstract_carriage::limit_reached::fingerprint;
 
+abstract_carriage::axis_not_homed::axis_not_homed(std::uint16_t axis):
+	error(std::string("Axis ") + std::to_string(axis) + std::string(" is not homed")) {
+}
+
 
 abstract_carriage::command::~command() = default;
 
@@ -329,6 +333,8 @@
 		explicit c(std::int16_t shift): nullary_command(encode('R', shift)) {}
 	};
 
+	ensure_axis_homed();
+
 	return transaction(c{rpos});
 }
 
@@ -427,15 +433,15 @@
 	transaction(c{mask});
 }
 
-std::uint16_t abstract_carriage::user_data() {
+abstract_carriage::user_t abstract_carriage::user_data() {
 	struct c: public unary_command<'u', std::uint16_t> {};
 
 	return transaction(c{});
 }
 
-void abstract_carriage::user_data(std::uint16_t data) {
+void abstract_carriage::user_data(user_t data) {
 	struct c: public nullary_command {
-		explicit c(std::uint16_t data): nullary_command(encode('u', data)) {}
+		explicit c(user_t data): nullary_command(encode('u', data)) {}
 	};
 
 	transaction(c{data});
@@ -452,6 +458,7 @@
 void abstract_carriage::home() {
 	sync_track(direction::ccw);
 	reset_absolute();
+	flag_axis_homed();
 }
 
 abstract_carriage::serialized_type abstract_carriage::raw_transaction(const serialized_type& cmd) {
@@ -488,12 +495,35 @@
 	return reply_traits<command_type>::parse_reply(cmd, raw_transaction(cmd.serialize()));
 }
 
+void abstract_carriage::flag_axis_homed() {
+	const auto s = status();
+	const auto u = user_data();
+
+	user_data(u.flag_homed(s));
+}
+
+void abstract_carriage::ensure_axis_homed() {
+	const auto u = user_data();
+
+	/* Shortcut: every axis is homed. */
+	if (u.is_homed())
+		return;
+
+	/* Not every axis is homed. Which is current one? */
+	if (const auto s = status(); !u.is_homed(s))
+		throw axis_not_homed{!!(s & status_t::axis)};
+}
+
 abstract_carriage::~abstract_carriage() = default;
 
 abstract_carriage::status_t::status_t(std::uint16_t status):
 	status_(status) {
 }
 
+abstract_carriage::user_t::user_t(std::uint16_t user):
+	user_(user) {
+}
+
 constexpr std::uint16_t abstract_carriage::default_speed;
 
 std::size_t carriage::available() {

domecam-0.1.14.obscpio/src/executorfwd.cpp -> domecam-0.1.15.obscpio/src/executorfwd.cpp Changed

domecam.obsinfo Changed

Changes of Revision 29