Check whether this trigger is active and update the input states. This is called in a polling loop, so it needs to be fast. TODO when we switch to interrupt-driven endstops, make this interrupt-driven instead
| 34 | // Check whether this trigger is active and update the input states. This is called in a polling loop, so it needs to be fast. |
| 35 | // TODO when we switch to interrupt-driven endstops, make this interrupt-driven instead |
| 36 | bool TriggerItem::Check() noexcept |
| 37 | { |
| 38 | bool triggered = false; |
| 39 | |
| 40 | // Check the endstops |
| 41 | const AxesBitmap endstopsMonitored = highLevelEndstops | lowLevelEndstops; |
| 42 | if (endstopsMonitored.IsNonEmpty()) |
| 43 | { |
| 44 | EndstopsManager& endstops = reprap.GetPlatform().GetEndstops(); |
| 45 | endstopsMonitored.Iterate([this, &endstops, &triggered](unsigned int axis, unsigned int) noexcept |
| 46 | { |
| 47 | const bool stopped = endstops.Stopped(axis); |
| 48 | if (stopped != endstopStates.IsBitSet(axis)) |
| 49 | { |
| 50 | if (stopped) |
| 51 | { |
| 52 | endstopStates.SetBit(axis); |
| 53 | if (highLevelEndstops.IsBitSet(axis)) |
| 54 | { |
| 55 | triggered = true; |
| 56 | } |
| 57 | } |
| 58 | else |
| 59 | { |
| 60 | endstopStates.ClearBit(axis); |
| 61 | if (lowLevelEndstops.IsBitSet(axis)) |
| 62 | { |
| 63 | triggered = true; |
| 64 | } |
| 65 | } |
| 66 | } |
| 67 | } |
| 68 | ); |
| 69 | } |
| 70 | |
| 71 | const InputPortsBitmap portsMonitored = highLevelInputs | lowLevelInputs; |
| 72 | if (portsMonitored.IsNonEmpty()) |
| 73 | { |
| 74 | Platform& platform = reprap.GetPlatform(); |
| 75 | portsMonitored.Iterate([this, &platform, &triggered](unsigned int inPort, unsigned int) noexcept |
| 76 | { |
| 77 | const bool isActive = reprap.GetPlatform().GetGpInPort(inPort).GetState(); |
| 78 | if (isActive != inputStates.IsBitSet(inPort)) |
| 79 | { |
| 80 | if (isActive) |
| 81 | { |
| 82 | inputStates.SetBit(inPort); |
| 83 | if (highLevelInputs.IsBitSet(inPort)) |
| 84 | { |
| 85 | triggered = true; |
| 86 | } |
| 87 | } |
| 88 | else |
| 89 | { |
| 90 | inputStates.ClearBit(inPort); |
| 91 | if (lowLevelInputs.IsBitSet(inPort)) |
| 92 | { |
| 93 | triggered = true; |
no test coverage detected