From 83aa9c113a30aacdd27f1cdd58e1e688cc444efa Mon Sep 17 00:00:00 2001
From: Richard Bowman <r.w.bowman@bath.ac.uk>
Date: Wed, 23 Jun 2021 20:13:41 +0100
Subject: [PATCH] Add a command to make moves blocking if desired

---
 src/modules/stage/stage.cpp | 30 +++++++++++++++++++++++++++++-
 1 file changed, 29 insertions(+), 1 deletion(-)

diff --git a/src/modules/stage/stage.cpp b/src/modules/stage/stage.cpp
index 555db65..350e8a3 100644
--- a/src/modules/stage/stage.cpp
+++ b/src/modules/stage/stage.cpp
@@ -16,12 +16,14 @@ const int min_step_delay_eeprom = sizeof(long) * n_motors;
 long ramp_time;
 const int ramp_time_eeprom = sizeof(long) * (n_motors + 1);
 const int axis_max_eeprom = sizeof(long) * (n_motors + 2);
+const int blocking_moves_eeprom = sizeof(long) * (n_motors + 3);
 Stepper *motors[n_motors];
 signed long current_pos[n_motors];
 long steps_remaining[n_motors];
 
 bool stage_moving = false;
 bool notify_on_stop = false;
+bool blocking_moves = false;
 
 void stage_setup()
 {
@@ -49,6 +51,8 @@ void stage_setup()
         ramp_time = 0;
         EEPROM.put(ramp_time_eeprom, ramp_time);
     }
+    EEPROM.get(blocking_moves_eeprom, blocking_moves);
+    // TODO: do we need to do something to initialise this?
 
     register_module(stage_commands, stage_loop);
 }
@@ -111,7 +115,13 @@ void start_move(long displ[n_motors])
     move_start_time = micros();
     final_scaled_t = (float)max_steps * min_step_delay; //NB total time taken will be final_scaled_t + 2*ramp_time
     stage_moving = true;
-    Serial.println("done.");
+    if (blocking_moves){
+        notify_on_stop = true;
+    }
+    else
+    {
+        Serial.println("done.");
+    }
 }
 
 void stage_loop()
@@ -260,6 +270,23 @@ void stage_ramp_time(String command)
     free(args[0]);
 }
 
+void update_blocking_moves(String command)
+{
+    char * args[1];
+    parse_arguments(args, command, 1);
+    if (args[0][0] == '?')
+    {
+        Serial.print("blocking_moves ");
+        Serial.println(blocking_moves ? "true" : "false");
+    }
+    else
+    {
+        blocking_moves = args[0][0] == 't';
+        EEPROM.put(blocking_moves_eeprom, blocking_moves);
+        Serial.println("done.");
+    }
+}
+
 void stage_zero(String command)
 {
     EACH_MOTOR current_pos[i] = 0;
@@ -307,4 +334,5 @@ extern const Command stage_commands[] = {
     {"stop", stage_stop},
     {"moving", is_stage_moving},
     {"notify_on_stop", activate_notify_on_stop},
+    {"blocking_moves", update_blocking_moves},
     END_COMMAND};
\ No newline at end of file