Improve code style (constexpr + unions = avoid reinterpret_cast)

src/application.cpp

@@ -283,3 +283,11 @@ void Application::Step() {
 
     currentCommand->Step();
 }
+
+uint8_t Application::CurrentProgressCode() {
+    return (uint8_t)currentCommand->State();
+}
+
+uint16_t Application::CurrentErrorCode() {
+    return (uint16_t)currentCommand->Error();
+}

src/application.h

@@ -23,6 +23,9 @@ public:
     /// Perform one step of top level
     void Step();
 
+    uint8_t CurrentProgressCode();
+    uint16_t CurrentErrorCode();
+
 private:
     /// Checks if the MMU can enter manual mode (user can move the selector with buttons)
     /// The MMU enters idle mode after 5s from the last command finished and there must be no filament present in the selector.

src/registers.cpp

@@ -1,38 +1,98 @@
 #include "registers.h"
 #include "version.h"
+#include "application.h"
+
+#include "modules/globals.h"
+#include "modules/finda.h"
+#include "modules/fsensor.h"
 
 struct RegisterFlags {
     uint8_t writable : 1;
-    uint8_t eeprom : 1; // 1: register is located in eeprom
+    uint8_t rwfuncs : 1; // 1: register needs special read and write functions
     uint8_t size : 2; // 0: 1 bit, 1: 1 byte, 2: 2 bytes
     constexpr RegisterFlags(bool writable, uint8_t size)
         : writable(writable)
-        , eeprom(0)
+        , rwfuncs(0)
         , size(size) {}
-    constexpr RegisterFlags(bool writable, bool eeprom, uint8_t size)
+    constexpr RegisterFlags(bool writable, bool rwfuncs, uint8_t size)
         : writable(writable)
-        , eeprom(eeprom)
+        , rwfuncs(rwfuncs)
         , size(size) {}
 };
 
+using TReadFunc = uint16_t (*)();
+using TWriteFunc = void (*)(uint16_t);
+
 struct RegisterRec {
     RegisterFlags flags;
-    void *address;
+    union U1 {
+        void *addr;
+        TReadFunc readFunc;
+        constexpr explicit U1(TReadFunc r)
+            : readFunc(r) {}
+        constexpr explicit U1(void *a)
+            : addr(a) {}
+    } A1;
+
+    union U2 {
+        void *addr;
+        TWriteFunc writeFunc;
+        constexpr explicit U2(TWriteFunc w)
+            : writeFunc(w) {}
+        constexpr explicit U2(void *a)
+            : addr(a) {}
+    } A2;
+
     template <typename T>
     constexpr RegisterRec(bool writable, T *address)
         : flags(RegisterFlags(writable, sizeof(T)))
-        , address((void *)address) {}
-    constexpr RegisterRec(bool writable, bool eeprom, void *eepromAddress, uint8_t bytes)
-        : flags(RegisterFlags(writable, eeprom, bytes))
-        , address(eepromAddress) {}
+        , A1((void *)address)
+        , A2((void *)nullptr) {}
+    constexpr RegisterRec(TReadFunc readFunc, uint8_t bytes)
+        : flags(RegisterFlags(false, true, bytes))
+        , A1(readFunc)
+        , A2((void *)nullptr) {}
+
+    constexpr RegisterRec(TReadFunc readFunc, TWriteFunc writeFunc, uint8_t bytes)
+        : flags(RegisterFlags(true, true, bytes))
+        , A1(readFunc)
+        , A2(writeFunc) {}
 };
 
+// @@TODO it is nice to see all the supported registers at one spot,
+// however it requires including all bunch of dependencies
+// which makes unit testing and separation of modules much harder.
 static const RegisterRec registers[] = {
     RegisterRec(false, &project_major),
-    RegisterRec(false, &project_minor),
-    RegisterRec(false, &project_build_number),
-    RegisterRec(false, true, (void *)0, 2), // @@TODO needs improvement
 
+    RegisterRec(false, &project_minor),
+
+    RegisterRec(false, &project_build_number),
+
+    RegisterRec( // MMU errors
+        []() -> uint16_t { return mg::globals.DriveErrors(); },
+        [](uint16_t) {}, // @@TODO think about setting/clearing the error counter from the outside
+        2),
+
+    RegisterRec([]() -> uint16_t { return application.CurrentProgressCode(); }, 1),
+
+    RegisterRec([]() -> uint16_t { return application.CurrentErrorCode(); }, 2),
+
+    RegisterRec( // filamentState
+        []() -> uint16_t { return mg::globals.FilamentLoaded(); },
+        [](uint16_t v) { return mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), (mg::FilamentLoadState)v); },
+        1),
+
+    RegisterRec( // FINDA
+        []() -> uint16_t { return mf::finda.Pressed(); },
+        1),
+
+    RegisterRec( // fsensor
+        []() -> uint16_t { return mfs::fsensor.Pressed(); },
+        [](uint16_t v) { return mfs::fsensor.ProcessMessage(v); },
+        1),
+
+    RegisterRec([]() -> uint16_t { return mg::globals.MotorsStealth(); }, 1), // mode (stealth = 1/normal = 0)
 };
 
 static constexpr uint8_t registersSize = sizeof(registers) / sizeof(RegisterRec);
@@ -42,21 +102,30 @@ bool ReadRegister(uint8_t address, uint16_t &value) {
         return false;
     }
     value = 0;
-    if (!registers[address].flags.eeprom) {
+    if (!registers[address].flags.rwfuncs) {
         switch (registers[address].flags.size) {
         case 0:
         case 1:
-            value = *(uint8_t *)registers[address].address;
+            value = *(uint8_t *)registers[address].A1.addr;
             break;
         case 2:
-            value = *(uint16_t *)registers[address].address;
+            value = *(uint16_t *)registers[address].A1.addr;
             break;
         default:
             return false;
         }
         return true;
     } else {
-        return false; // @@TODO
+        switch (registers[address].flags.size) {
+        case 0:
+        case 1:
+        case 2:
+            value = registers[address].A1.readFunc();
+            break;
+        default:
+            return false;
+        }
+        return true;
     }
 }
 
@@ -67,20 +136,29 @@ bool WriteRegister(uint8_t address, uint16_t value) {
     if (!registers[address].flags.writable) {
         return false;
     }
-    if (!registers[address].flags.eeprom) {
+    if (!registers[address].flags.rwfuncs) {
         switch (registers[address].flags.size) {
         case 0:
         case 1:
-            *(uint8_t *)registers[address].address = value;
+            *(uint8_t *)registers[address].A1.addr = value;
             break;
         case 2:
-            *(uint16_t *)registers[address].address = value;
+            *(uint16_t *)registers[address].A1.addr = value;
             break;
         default:
             return false;
         }
         return true;
     } else {
-        return false; // @@TODO
+        switch (registers[address].flags.size) {
+        case 0:
+        case 1:
+        case 2:
+            registers[address].A2.writeFunc(value);
+            break;
+        default:
+            return false;
+        }
+        return true;
     }
 }