♻️ Encapsulate PID in class (MarlinFirmware#24389)

thinkyhead · imp67 · commit 22979cba9936 · 2022-09-04T12:50:44.000+10:00
diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp
@@ -789,7 +789,7 @@ void idle(bool no_stepper_sleep/*=false*/) {
   manage_inactivity(no_stepper_sleep);
 
   // Manage Heaters (and Watchdog)
-  thermalManager.manage_heater();
+  thermalManager.task();
 
   // Max7219 heartbeat, animation, etc
   TERN_(MAX7219_DEBUG, max7219.idle_tasks());
diff --git a/Marlin/src/core/language.h b/Marlin/src/core/language.h
@@ -227,10 +227,6 @@
 #define STR_PID_DEBUG                       " PID_DEBUG "
 #define STR_PID_DEBUG_INPUT                 ": Input "
 #define STR_PID_DEBUG_OUTPUT                " Output "
-#define STR_PID_DEBUG_PTERM                 " pTerm "
-#define STR_PID_DEBUG_ITERM                 " iTerm "
-#define STR_PID_DEBUG_DTERM                 " dTerm "
-#define STR_PID_DEBUG_CTERM                 " cTerm "
 #define STR_INVALID_EXTRUDER_NUM            " - Invalid extruder number !"
 #define STR_MPC_AUTOTUNE                    "MPC Autotune"
 #define STR_MPC_AUTOTUNE_START              " start for " STR_E
diff --git a/Marlin/src/core/utility.cpp b/Marlin/src/core/utility.cpp
@@ -29,10 +29,10 @@ void safe_delay(millis_t ms) {
   while (ms > 50) {
     ms -= 50;
     delay(50);
-    thermalManager.manage_heater();
+    thermalManager.task();
   }
   delay(ms);
-  thermalManager.manage_heater(); // This keeps us safe if too many small safe_delay() calls are made
+  thermalManager.task(); // This keeps us safe if too many small safe_delay() calls are made
 }
 
 // A delay to provide brittle hosts time to receive bytes
diff --git a/Marlin/src/gcode/motion/G2_G3.cpp b/Marlin/src/gcode/motion/G2_G3.cpp
@@ -290,7 +290,7 @@ void plan_arc(
 
     for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
 
-      thermalManager.manage_heater();
+      thermalManager.task();
       const millis_t ms = millis();
       if (ELAPSED(ms, next_idle_ms)) {
         next_idle_ms = ms + 200UL;
diff --git a/Marlin/src/gcode/queue.cpp b/Marlin/src/gcode/queue.cpp
@@ -384,7 +384,7 @@ inline bool process_line_done(uint8_t &sis, char (&buff)[MAX_CMD_SIZE], int &ind
   buff[ind] = '\0';                   // Of course, I'm a Terminator.
   const bool is_empty = (ind == 0);   // An empty line?
   if (is_empty)
-    thermalManager.manage_heater();   // Keep sensors satisfied
+    thermalManager.task();            // Keep sensors satisfied
   else
     ind = 0;                          // Start a new line
   return is_empty;                    // Inform the caller
diff --git a/Marlin/src/lcd/e3v2/jyersui/dwin.cpp b/Marlin/src/lcd/e3v2/jyersui/dwin.cpp
@@ -1202,7 +1202,7 @@ void CrealityDWINClass::Menu_Item_Handler(uint8_t menu, uint8_t item, bool draw/
                 if (thermalManager.temp_hotend[0].target < thermalManager.extrude_min_temp)
                   Popup_Handler(ETemp);
                 else {
-                  if (thermalManager.temp_hotend[0].celsius < thermalManager.temp_hotend[0].target - 2) {
+                  if (thermalManager.temp_hotend[0].is_below_target(-2)) {
                     Popup_Handler(Heating);
                     thermalManager.wait_for_hotend(0);
                   }
@@ -1345,7 +1345,7 @@ void CrealityDWINClass::Menu_Item_Handler(uint8_t menu, uint8_t item, bool draw/
                 Popup_Handler(ETemp);
               }
               else {
-                if (thermalManager.temp_hotend[0].celsius < thermalManager.temp_hotend[0].target - 2) {
+                if (thermalManager.temp_hotend[0].is_below_target(-2)) {
                   Popup_Handler(Heating);
                   thermalManager.wait_for_hotend(0);
                   Redraw_Menu();
@@ -1732,7 +1732,7 @@ void CrealityDWINClass::Menu_Item_Handler(uint8_t menu, uint8_t item, bool draw/
               if (thermalManager.temp_hotend[0].target < thermalManager.extrude_min_temp)
                 Popup_Handler(ETemp);
               else {
-                if (thermalManager.temp_hotend[0].celsius < thermalManager.temp_hotend[0].target - 2) {
+                if (thermalManager.temp_hotend[0].is_below_target(-2)) {
                   Popup_Handler(Heating);
                   thermalManager.wait_for_hotend(0);
                 }
@@ -1751,7 +1751,7 @@ void CrealityDWINClass::Menu_Item_Handler(uint8_t menu, uint8_t item, bool draw/
                 Popup_Handler(ETemp);
               }
               else {
-                if (thermalManager.temp_hotend[0].celsius < thermalManager.temp_hotend[0].target - 2) {
+                if (thermalManager.temp_hotend[0].is_below_target(-2)) {
                   Popup_Handler(Heating);
                   thermalManager.wait_for_hotend(0);
                 }
@@ -1769,7 +1769,7 @@ void CrealityDWINClass::Menu_Item_Handler(uint8_t menu, uint8_t item, bool draw/
               if (thermalManager.temp_hotend[0].target < thermalManager.extrude_min_temp)
                 Popup_Handler(ETemp);
               else {
-                if (thermalManager.temp_hotend[0].celsius < thermalManager.temp_hotend[0].target - 2) {
+                if (thermalManager.temp_hotend[0].is_below_target(-2)) {
                   Popup_Handler(Heating);
                   thermalManager.wait_for_hotend(0);
                 }
@@ -4404,7 +4404,7 @@ void CrealityDWINClass::Popup_Control() {
             if (thermalManager.temp_hotend[0].target < thermalManager.extrude_min_temp)
               Popup_Handler(ETemp);
             else {
-              if (thermalManager.temp_hotend[0].celsius < thermalManager.temp_hotend[0].target - 2) {
+              if (thermalManager.temp_hotend[0].is_below_target(-2)) {
                 Popup_Handler(Heating);
                 thermalManager.wait_for_hotend(0);
               }
diff --git a/Marlin/src/lcd/extui/ui_api.cpp b/Marlin/src/lcd/extui/ui_api.cpp
@@ -169,7 +169,7 @@ namespace ExtUI {
   }
 
   void yield() {
-    if (!flags.printer_killed) thermalManager.manage_heater();
+    if (!flags.printer_killed) thermalManager.task();
   }
 
   void enableHeater(const extruder_t extruder) {
diff --git a/Marlin/src/libs/buzzer.cpp b/Marlin/src/libs/buzzer.cpp
@@ -48,7 +48,7 @@ void Buzzer::tone(const uint16_t duration, const uint16_t frequency/*=0*/) {
   if (!ui.sound_on) return;
   while (buffer.isFull()) {
     tick();
-    thermalManager.manage_heater();
+    thermalManager.task();
   }
   tone_t tone = { duration, frequency };
   buffer.enqueue(tone);
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
@@ -966,7 +966,7 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
     next_idle_ms = ms + 200UL;
     return idle();
   }
-  thermalManager.manage_heater();  // Returns immediately on most calls
+  thermalManager.task();  // Returns immediately on most calls
 }
 
 #if IS_KINEMATIC
diff --git a/Marlin/src/module/planner_bezier.cpp b/Marlin/src/module/planner_bezier.cpp
@@ -123,7 +123,7 @@ void cubic_b_spline(
 
   for (float t = 0; t < 1;) {
 
-    thermalManager.manage_heater();
+    thermalManager.task();
     millis_t now = millis();
     if (ELAPSED(now, next_idle_ms)) {
       next_idle_ms = now + 200UL;
diff --git a/Marlin/src/module/temperature.cpp b/Marlin/src/module/temperature.cpp
diff --git a/Marlin/src/module/temperature.h b/Marlin/src/module/temperature.h
diff --git a/Marlin/src/sd/usb_flashdrive/Sd2Card_FlashDrive.cpp b/Marlin/src/sd/usb_flashdrive/Sd2Card_FlashDrive.cpp

Original file line number	Diff line number	Diff line change
`@@ -29,10 +29,10 @@ void safe_delay(millis_t ms) {`
`29`	`29`	`while (ms > 50) {`
`30`	`30`	`ms -= 50;`
`31`	`31`	`delay(50);`
`32`		`- thermalManager.manage_heater();`
	`32`	`+ thermalManager.task();`
`33`	`33`	`}`
`34`	`34`	`delay(ms);`
`35`		`- thermalManager.manage_heater(); // This keeps us safe if too many small safe_delay() calls are made`
	`35`	`+ thermalManager.task(); // This keeps us safe if too many small safe_delay() calls are made`
`36`	`36`	`}`
`37`	`37`
`38`	`38`	`// A delay to provide brittle hosts time to receive bytes`
Original file line number	Diff line number	Diff line change
`@@ -169,7 +169,7 @@ namespace ExtUI {`
`169`	`169`	`}`
`170`	`170`
`171`	`171`	`void yield() {`
`172`		`- if (!flags.printer_killed) thermalManager.manage_heater();`
	`172`	`+ if (!flags.printer_killed) thermalManager.task();`
`173`	`173`	`}`
`174`	`174`
`175`	`175`	`void enableHeater(const extruder_t extruder) {`
Original file line number	Diff line number	Diff line change
`@@ -48,7 +48,7 @@ void Buzzer::tone(const uint16_t duration, const uint16_t frequency/=0/) {`
`48`	`48`	`if (!ui.sound_on) return;`
`49`	`49`	`while (buffer.isFull()) {`
`50`	`50`	`tick();`
`51`		`- thermalManager.manage_heater();`
	`51`	`+ thermalManager.task();`
`52`	`52`	`}`
`53`	`53`	`tone_t tone = { duration, frequency };`
`54`	`54`	`buffer.enqueue(tone);`
Original file line number	Diff line number	Diff line change
`@@ -966,7 +966,7 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {`
`966`	`966`	`next_idle_ms = ms + 200UL;`
`967`	`967`	`return idle();`
`968`	`968`	`}`
`969`		`- thermalManager.manage_heater(); // Returns immediately on most calls`
	`969`	`+ thermalManager.task(); // Returns immediately on most calls`
`970`	`970`	`}`
`971`	`971`
`972`	`972`	`#if IS_KINEMATIC`