mirror
/
sane-project-backends
kopia lustrzana https://gitlab.com/sane-project/backends
1
0
Forkuj 0
Kod Zgłoszenia Projekty Wydania Wiki Aktywność

genesys: Extract handle_motor_position_after_hove_back_home_ta()

merge-requests/308/head
Povilas Kanapickas 2020-01-12 10:57:11 +02:00
rodzic e8e56e33d3
commit c5f397e778
1 zmienionych plików z 17 dodań i 18 usunięć
Pokaż statystyki Ściągnij plik aktualizacji Ściągnij plik porównania Expand all files Collapse all files

35
backend/genesys/genesys.cpp
Wyświetl plik

@ -1175,6 +1175,21 @@ void scanner_move_back_home(Genesys_Device& dev, bool wait_until_home)
dbg.log(DBG_info, "scanhead is still moving");
}
namespace {
void handle_motor_position_after_move_back_home_ta(Genesys_Device& dev)
{
if (dev.is_head_pos_known(ScanHeadId::PRIMARY)) {
if (dev.head_pos(ScanHeadId::PRIMARY) > dev.head_pos(ScanHeadId::SECONDARY)) {
dev.advance_head_pos_by_steps(ScanHeadId::PRIMARY, Direction::BACKWARD,
dev.head_pos(ScanHeadId::SECONDARY));
} else {
dev.set_head_pos_zero(ScanHeadId::PRIMARY);
}
dev.set_head_pos_zero(ScanHeadId::SECONDARY);
}
}
} // namespace
void scanner_move_back_home_ta(Genesys_Device& dev)
{
DBG_HELPER(dbg);
@ -1239,15 +1254,7 @@ void scanner_move_back_home_ta(Genesys_Device& dev)
if (is_testing_mode()) {
dev.interface->test_checkpoint("move_back_home_ta");
if (dev.is_head_pos_known(ScanHeadId::PRIMARY)) {
if (dev.head_pos(ScanHeadId::PRIMARY) > dev.head_pos(ScanHeadId::SECONDARY)) {
dev.advance_head_pos_by_steps(ScanHeadId::PRIMARY, Direction::BACKWARD,
dev.head_pos(ScanHeadId::SECONDARY));
} else {
dev.set_head_pos_zero(ScanHeadId::PRIMARY);
}
dev.set_head_pos_zero(ScanHeadId::SECONDARY);
}
handle_motor_position_after_move_back_home_ta(dev);
scanner_stop_action(dev);
dev.cmd_set->set_motor_mode(dev, local_reg, MotorMode::PRIMARY);
@ -1261,15 +1268,7 @@ void scanner_move_back_home_ta(Genesys_Device& dev)
if (status.is_at_home) {
dbg.log(DBG_info, "TA reached home position");
if (dev.is_head_pos_known(ScanHeadId::PRIMARY)) {
if (dev.head_pos(ScanHeadId::PRIMARY) > dev.head_pos(ScanHeadId::SECONDARY)) {
dev.advance_head_pos_by_steps(ScanHeadId::PRIMARY, Direction::BACKWARD,
dev.head_pos(ScanHeadId::SECONDARY));
} else {
dev.set_head_pos_zero(ScanHeadId::PRIMARY);
}
dev.set_head_pos_zero(ScanHeadId::SECONDARY);
}
handle_motor_position_after_move_back_home_ta(dev);
scanner_stop_action(dev);
dev.cmd_set->set_motor_mode(dev, local_reg, MotorMode::PRIMARY);