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motion: Implement Position/CurPosition returning AxisUnit 

These come in handy to avoid manual casts and enforce types at runtime.
pull/150/head
Yuri D'Elia 2022-01-31 19:46:04 +01:00 committed by DRracer
parent e318a9f9c1
commit 86d5e87a09
2 changed files with 20 additions and 0 deletions
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16
src/modules/motion.h
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@ -166,6 +166,14 @@ public:
/// @param axis axis affected /// @param axis axis affected
pos_t Position(Axis axis) const; pos_t Position(Axis axis) const;
/// @returns head position of an axis, but in AxisUnit.
/// The Axis needs to be supplied as the first template argument: Position<axis>().
/// @see Position
template <Axis A>
constexpr AxisUnit<pos_t, A, Lenght> Position() const {
return AxisUnit<pos_t, A, Lenght> { Position(A) };
}
/// Fetch the current position of the axis while stepping. This function is expensive! /// Fetch the current position of the axis while stepping. This function is expensive!
/// It's necessary only in exceptional cases. For regular usage, Position() should /// It's necessary only in exceptional cases. For regular usage, Position() should
/// probably be used instead. /// probably be used instead.
@ -173,6 +181,14 @@ public:
/// @returns the current position of the axis /// @returns the current position of the axis
pos_t CurPosition(Axis axis) const { return axisData[axis].ctrl.CurPosition(); } pos_t CurPosition(Axis axis) const { return axisData[axis].ctrl.CurPosition(); }
/// Fetch the current axis position, but in AxisUnit. This function is expensive!
/// The Axis needs to be supplied as the first template argument: CurPosition<axis>().
/// @see CurPosition
template <Axis A>
constexpr AxisUnit<pos_t, A, Lenght> CurPosition() const {
return AxisUnit<pos_t, A, Lenght> { CurPosition(A) };
}
/// Set the position of an axis. Should only be called when the queue is empty. /// Set the position of an axis. Should only be called when the queue is empty.
/// @param axis axis affected /// @param axis axis affected
/// @param x position to set /// @param x position to set

4
tests/unit/modules/motion/test_motion.cpp
View File

@ -93,6 +93,8 @@ TEST_CASE("motion::unit", "[motion]") {
motion.PlanMoveTo<Selector>(10.0_S_mm, 100.0_S_mm_s); motion.PlanMoveTo<Selector>(10.0_S_mm, 100.0_S_mm_s);
CHECK(stepUntilDone() != -1); CHECK(stepUntilDone() != -1);
REQUIRE(motion.Position(Selector) == target); REQUIRE(motion.Position(Selector) == target);
S_pos_t s_target = motion.Position<Selector>();
REQUIRE(s_target.v == target);
// move directly with physical units // move directly with physical units
motion.PlanMoveTo<Selector>(10.0_mm, 100.0_mm_s); motion.PlanMoveTo<Selector>(10.0_mm, 100.0_mm_s);
@ -103,6 +105,8 @@ TEST_CASE("motion::unit", "[motion]") {
motion.PlanMove<Selector>(-5.0_S_mm, 100.0_S_mm_s); motion.PlanMove<Selector>(-5.0_S_mm, 100.0_S_mm_s);
CHECK(stepUntilDone() != -1); CHECK(stepUntilDone() != -1);
REQUIRE(motion.Position(Selector) == target / 2); REQUIRE(motion.Position(Selector) == target / 2);
s_target = motion.Position<Selector>();
REQUIRE(s_target.v == target / 2);
// relative move with physical unit // relative move with physical unit
motion.PlanMove<Selector>(-5.0_mm, 100.0_mm_s); motion.PlanMove<Selector>(-5.0_mm, 100.0_mm_s);