Function SetRemoteDriverValues

src/CAN/CanInterface.cpp:674–704

// Members of namespace CanInterface, and associated local functions

template<class T> static GCodeResult SetRemoteDriverValues(const CanDriversData<T>& data, const StringRef& reply, CanMessageType mt) noexcept
{
	GCodeResult rslt = GCodeResult::ok;
	size_t start = 0;
	for (;;)
	{
		CanDriversBitmap driverBits;
		const size_t savedStart = start;
		const CanAddress boardAddress = data.GetNextBoardDriverBitmap(start, driverBits);
		if (boardAddress == CanId::NoAddress)
		{
			break;
		}
		CanMessageBuffer * const buf = CanMessageBuffer::Allocate();
		if (buf == nullptr)
		{
			return GCodeResult::noCanBuffer;
		}
		const CanRequestId rid = CanInterface::AllocateRequestId(boardAddress, buf);
		CanMessageMultipleDrivesRequest<T> * const msg = buf->SetupRequestMessage<CanMessageMultipleDrivesRequest<T>>(rid, CanInterface::GetCanAddress(), boardAddress, mt);
		msg->driversToUpdate = driverBits.GetRaw();
		const size_t numDrivers = driverBits.CountSetBits();
		for (size_t i = 0; i < numDrivers; ++i)
		{
			msg->values[i] = data.GetElement(savedStart + i);
		}
		buf->dataLength = msg->GetActualDataLength(numDrivers);
		rslt = max(rslt, CanInterface::SendRequestAndGetStandardReply(buf, rid, reply));
	}
	return rslt;
}

// Set remote drivers to enabled, disabled, or idle
// This function is called by both the main task and the Move task.