From 7337e977657b380e4aefacb85e1657fd4584b050 Mon Sep 17 00:00:00 2001
From: Yuri D'Elia <wavexx@thregr.org>
Date: Sun, 11 Jul 2021 21:38:01 +0200
Subject: [PATCH] Rename Motion::DisableAxis to Disable

Implement Motion::SetEnabled (for symmetry with TMC2130::SetEnabled).

Rename DisableAxis to Disable and use the new SetEnabled. This makes the
member names more consistent.
---
 src/logic/eject_filament.cpp           | 2 +-
 src/logic/load_filament.cpp            | 2 +-
 src/logic/unload_filament.cpp          | 2 +-
 src/modules/idler.cpp                  | 2 +-
 src/modules/motion.cpp                 | 5 ++++-
 src/modules/motion.h                   | 6 +++++-
 src/modules/selector.cpp               | 2 +-
 tests/unit/logic/stubs/stub_motion.cpp | 4 ++--
 8 files changed, 16 insertions(+), 9 deletions(-)

diff --git a/src/logic/eject_filament.cpp b/src/logic/eject_filament.cpp
index 67e64d4..82e7dbd 100644
--- a/src/logic/eject_filament.cpp
+++ b/src/logic/eject_filament.cpp
@@ -61,7 +61,7 @@ bool EjectFilament::Step() {
         break;
     case ProgressCode::DisengagingIdler:
         if (!mi::idler.Engaged()) { // idler disengaged
-            mm::motion.DisableAxis(mm::Pulley);
+            mm::motion.Disable(mm::Pulley);
             state = ProgressCode::OK;
         }
         break;
diff --git a/src/logic/load_filament.cpp b/src/logic/load_filament.cpp
index c5b3331..121bde9 100644
--- a/src/logic/load_filament.cpp
+++ b/src/logic/load_filament.cpp
@@ -59,7 +59,7 @@ bool LoadFilament::Step() {
             case FeedToBondtech::Failed:
 
             case FeedToBondtech::OK:
-                mm::motion.DisableAxis(mm::Pulley);
+                mm::motion.Disable(mm::Pulley);
                 mi::idler.Disengage();
                 state = ProgressCode::DisengagingIdler;
             }
diff --git a/src/logic/unload_filament.cpp b/src/logic/unload_filament.cpp
index 7be6110..3e32394 100644
--- a/src/logic/unload_filament.cpp
+++ b/src/logic/unload_filament.cpp
@@ -63,7 +63,7 @@ bool UnloadFilament::Step() {
     case ProgressCode::FinishingMoves:
         if (mm::motion.QueueEmpty()) {
             state = ProgressCode::OK;
-            mm::motion.DisableAxis(mm::Pulley);
+            mm::motion.Disable(mm::Pulley);
             mg::globals.SetFilamentLoaded(false); // filament unloaded
             ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on);
         }
diff --git a/src/modules/idler.cpp b/src/modules/idler.cpp
index a23e1fa..6be1be4 100644
--- a/src/modules/idler.cpp
+++ b/src/modules/idler.cpp
@@ -66,7 +66,7 @@ bool Idler::Step() {
         currentSlot = plannedSlot;
 
         if (!Engaged()) // turn off power into the Idler motor when disengaged (no force necessary)
-            mm::motion.DisableAxis(mm::Idler);
+            mm::motion.Disable(mm::Idler);
 
         return true;
     case Failed:
diff --git a/src/modules/motion.cpp b/src/modules/motion.cpp
index 98bc703..e590e0a 100644
--- a/src/modules/motion.cpp
+++ b/src/modules/motion.cpp
@@ -7,7 +7,10 @@ Motion motion;
 
 void Motion::InitAxis(Axis axis) {}
 
-void Motion::DisableAxis(Axis axis) {}
+void Motion::SetEnabled(Axis axis, bool enabled) {
+    axisData[axis].drv.SetEnabled(axisParams[axis].params, enabled);
+    axisData[axis].enabled = enabled;
+}
 
 bool Motion::StallGuard(Axis axis) { return false; }
 
diff --git a/src/modules/motion.h b/src/modules/motion.h
index 0c7f0e5..8b0ef1a 100644
--- a/src/modules/motion.h
+++ b/src/modules/motion.h
@@ -77,8 +77,11 @@ public:
     /// state especially when the TMC may get randomly reset (deinited)
     void InitAxis(Axis axis);
 
+    /// Set axis power status
+    void SetEnabled(Axis axis, bool enabled);
+
     /// Disable axis motor
-    void DisableAxis(Axis axis);
+    void Disable(Axis axis) { SetEnabled(axis, false); }
 
     /// @returns true if a stall guard event occurred recently on the axis
     bool StallGuard(Axis axis);
@@ -148,6 +151,7 @@ private:
     struct AxisData {
         TMC2130 drv; ///< Motor driver
         pulse_gen::PulseGen ctrl; ///< Motor controller
+        bool enabled; ///< Axis enabled
     };
 
     /// Helper to initialize AxisData members
diff --git a/src/modules/selector.cpp b/src/modules/selector.cpp
index fe07788..ed0f8a6 100644
--- a/src/modules/selector.cpp
+++ b/src/modules/selector.cpp
@@ -44,7 +44,7 @@ bool Selector::Step() {
         return false;
     case Ready:
         currentSlot = plannedSlot;
-        mm::motion.DisableAxis(mm::Selector); // turn off selector motor's power every time
+        mm::motion.Disable(mm::Selector); // turn off selector motor's power every time
         return true;
     case Failed:
     default:
diff --git a/tests/unit/logic/stubs/stub_motion.cpp b/tests/unit/logic/stubs/stub_motion.cpp
index bad3a51..f7cd8e3 100644
--- a/tests/unit/logic/stubs/stub_motion.cpp
+++ b/tests/unit/logic/stubs/stub_motion.cpp
@@ -18,8 +18,8 @@ void Motion::InitAxis(Axis axis) {
     axes[axis].enabled = true;
 }
 
-void Motion::DisableAxis(Axis axis) {
-    axes[axis].enabled = false;
+void Motion::SetEnabled(Axis axis, bool enabled) {
+    axes[axis].enabled = enabled;
 }
 
 bool Motion::StallGuard(Axis axis) {