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Name collision fix with "_handler" and some code rarrangement.

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This commit is contained in:
Rob Giseburt
2018-03-04 17:49:55 -06:00
parent 8a07cee665
commit f2f42a3262
2 changed files with 137 additions and 135 deletions
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88
g2core/controller.cpp
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@@ -81,6 +81,44 @@ static stat_t _controller_state(void); // manage controller state trans
static Motate::OutputPin<Motate::kOutputSAFE_PinNumber> safe_pin;
gpioDigitalInputHandler _shutdown_input_handler {
[&](const bool state, const inputEdgeFlag edge, const uint8_t triggering_pin_number) {
if (edge != INPUT_EDGE_LEADING) { return false; }
cm.shutdown_requested = triggering_pin_number;
return false; // allow others to see this notice
},
5, // priority
nullptr // next - nullptr to start with
};
gpioDigitalInputHandler _limit_input_handler {
[&](const bool state, const inputEdgeFlag edge, const uint8_t triggering_pin_number) {
if (edge != INPUT_EDGE_LEADING) { return false; }
cm.limit_requested = triggering_pin_number;
return false; // allow others to see this notice
},
5, // priority
nullptr // next - nullptr to start with
};
gpioDigitalInputHandler _interlock_input_handler {
[&](const bool state, const inputEdgeFlag edge, const uint8_t triggering_pin_number) {
if (edge == INPUT_EDGE_LEADING) {
cm.safety_interlock_disengaged = triggering_pin_number;
} else { // edge == INPUT_EDGE_TRAILING
cm.safety_interlock_reengaged = triggering_pin_number;
}
return false; // allow others to see this notice
},
5, // priority
nullptr // next - nullptr to start with
};
/***********************************************************************************
**** CODE *************************************************************************
***********************************************************************************/
@@ -106,9 +144,9 @@ void controller_init()
}
// IndicatorLed.setFrequency(100000);
din_handlers[INPUT_ACTION_SHUTDOWN].registerHandler(&_shutdown_handler);
din_handlers[INPUT_ACTION_LIMIT].registerHandler(&_limit_handler);
din_handlers[INPUT_ACTION_INTERLOCK].registerHandler(&_interlock_handler);
din_handlers[INPUT_ACTION_SHUTDOWN].registerHandler(&_shutdown_input_handler);
din_handlers[INPUT_ACTION_LIMIT].registerHandler(&_limit_input_handler);
din_handlers[INPUT_ACTION_INTERLOCK].registerHandler(&_interlock_input_handler);
}
void controller_request_enquiry()
@@ -466,10 +504,10 @@ static stat_t _sync_to_planner()
/* ALARM STATE HANDLERS
*
* _shutdown_handler() - put system into shutdown state
* _shutdown_handler - a gpioDigitalInputHandler to capture pin change events
* _shutdown_input_handler - a gpioDigitalInputHandler to capture pin change events
* _limit_switch_handler() - shut down system if limit switch fired
* _limit_handler - a gpioDigitalInputHandler to capture pin change events
* _interlock_handler() - feedhold and resume depending on edge
* _limit_input_handler - a gpioDigitalInputHandler to capture pin change events
* _interlock_input_handler() - feedhold and resume depending on edge
* _interlock_handler - a gpioDigitalInputHandler to capture pin change events
*
* Some handlers return EAGAIN causing the control loop to never advance beyond that point.
@@ -480,18 +518,6 @@ static stat_t _sync_to_planner()
* - safety_interlock_requested == INPUT_EDGE_TRAILING is interlock offset
*/
gpioDigitalInputHandler _shutdown_handler {
[&](const bool state, const inputEdgeFlag edge, const uint8_t triggering_pin_number) {
if (edge != INPUT_EDGE_LEADING) { return false; }
cm.shutdown_requested = triggering_pin_number;
return false; // allow others to see this notice
},
5, // priority
nullptr // next - nullptr to start with
};
static stat_t _shutdown_handler(void)
{
if (cm.shutdown_requested != 0) { // request may contain the (non-zero) input number
@@ -503,18 +529,6 @@ static stat_t _shutdown_handler(void)
return(STAT_OK);
}
gpioDigitalInputHandler _limit_handler {
[&](const bool state, const inputEdgeFlag edge, const uint8_t triggering_pin_number) {
if (edge != INPUT_EDGE_LEADING) { return false; }
cm.limit_requested = triggering_pin_number;
return false; // allow others to see this notice
},
5, // priority
nullptr // next - nullptr to start with
};
static stat_t _limit_switch_handler(void)
{
auto machine_state = cm_get_machine_state();
@@ -533,20 +547,6 @@ static stat_t _limit_switch_handler(void)
return (STAT_OK);
}
gpioDigitalInputHandler _interlock_handler {
[&](const bool state, const inputEdgeFlag edge, const uint8_t triggering_pin_number) {
if (edge == INPUT_EDGE_LEADING) {
cm.safety_interlock_disengaged = triggering_pin_number;
} else { // edge == INPUT_EDGE_TRAILING
cm.safety_interlock_reengaged = triggering_pin_number;
}
return false; // allow others to see this notice
},
5, // priority
nullptr // next - nullptr to start with
};
static stat_t _interlock_handler(void)
{
if (cm.safety_interlock_enable) {