refactor to toolehead offset code for clarity

src/replicatorg/app/ui/onboard/MachineOnboardParameters.java

@@ -81,9 +81,9 @@ public class MachineOnboardParameters extends JPanel {
 	private JFormattedTextField vref3 = new JFormattedTextField(threePlaces);
 	private JFormattedTextField vref4 = new JFormattedTextField(threePlaces);
 
-        private JFormattedTextField xNozzleOffsetField = new JFormattedTextField(threePlaces);
-        private JFormattedTextField yNozzleOffsetField = new JFormattedTextField(threePlaces);
-        private JFormattedTextField zNozzleOffsetField = new JFormattedTextField(threePlaces);
+        private JFormattedTextField xToolheadOffsetField = new JFormattedTextField(threePlaces);
+        private JFormattedTextField yToolheadOffsetField = new JFormattedTextField(threePlaces);
+        private JFormattedTextField zToolheadOffsetField = new JFormattedTextField(threePlaces);
 
 
 	/** Prompts the user to fire a bot  reset after the changes have been sent to the board.
@@ -157,9 +157,9 @@ private void commit() {
 			target.setStoredStepperVoltage(4, ((Number)vref4.getValue()).intValue());
 		}
 
-        target.eepromStoreToolDelta(0, ((Number)xNozzleOffsetField.getValue()).doubleValue());
-        target.eepromStoreToolDelta(1, ((Number)yNozzleOffsetField.getValue()).doubleValue());
-        target.eepromStoreToolDelta(2, ((Number)zNozzleOffsetField.getValue()).doubleValue());
+        target.eepromStoreToolDelta(0, ((Number)xToolheadOffsetField.getValue()).doubleValue());
+        target.eepromStoreToolDelta(1, ((Number)yToolheadOffsetField.getValue()).doubleValue());
+        target.eepromStoreToolDelta(2, ((Number)zToolheadOffsetField.getValue()).doubleValue());
 
         requestResetFromUser();
 	}
@@ -234,11 +234,12 @@ private void loadParameters() {
 			vref3.setValue(this.target.getStoredStepperVoltage(3));
 			vref4.setValue(this.target.getStoredStepperVoltage(4));
 		}
-
-                xNozzleOffsetField.setValue(this.target.getNozzleOffset(0));
-                yNozzleOffsetField.setValue(this.target.getNozzleOffset(1));
-                zNozzleOffsetField.setValue(this.target.getNozzleOffset(2));
-
+
+		if(target.hasToolheadsOffset()) {
+			xToolheadOffsetField.setValue(this.target.getToolheadsOffset(0));
+			yToolheadOffsetField.setValue(this.target.getToolheadsOffset(1));
+			zToolheadOffsetField.setValue(this.target.getToolheadsOffset(2));
+		}    
 	}
 
 	protected void dispose() {
@@ -340,19 +341,21 @@ public MachineOnboardParameters(OnboardParameters target, Driver driver, JFrame
 			add(new JLabel("B home offset (mm)"));
 			add(bAxisHomeOffsetField,"wrap");
 		}
-
-                xNozzleOffsetField.setColumns(10);
-                yNozzleOffsetField.setColumns(10);
-                zNozzleOffsetField.setColumns(10);
-
-                add(new JLabel("X nozzle offset (mm)"));
-                add(xNozzleOffsetField, "wrap");
-
-                add(new JLabel("Y nozzle offset (mm)"));
-                add(yNozzleOffsetField, "wrap");
-
-                add(new JLabel("Z nozzle offset (mm)"));
-                add(zNozzleOffsetField, "wrap");
+
+		if(target.hasToolheadsOffset()) {
+		    xToolheadOffsetField.setColumns(10);
+		    yToolheadOffsetField.setColumns(10);
+		    zToolheadOffsetField.setColumns(10);
+
+		    add(new JLabel("X toolhead offset (mm)"));
+		    add(xToolheadOffsetField, "wrap");
+
+		    add(new JLabel("Y toolhead offset (mm)"));
+		    add(yToolheadOffsetField, "wrap");
+
+		    add(new JLabel("Z toolhead offset (mm)"));
+		    add(zToolheadOffsetField, "wrap");
+		}
 
 
 		resetToFactoryButton.addActionListener(new ActionListener() {

src/replicatorg/drivers/OnboardParameters.java

@@ -42,7 +42,13 @@ public interface OnboardParameters {
 	double getAxisHomeOffset(int axis);
 	void setAxisHomeOffset(int axis, double d);
 
-    double getNozzleOffset(int axis);
+
+	/// returns true if the target machine stores toolhead offsets
+	boolean hasToolheadsOffset();
+
+	/// return the total toolhead offset (tolerance error, plus
+	/// standard toolhead distance) in mm
+	double getToolheadsOffset(int axis);
 
     /// set to EEPROM the distance out of tolerance the 
     /// specified axis is

src/replicatorg/drivers/gen3/MightyBoard.java

@@ -35,7 +35,7 @@
 import replicatorg.drivers.RetryException;
 import replicatorg.drivers.Version;
 import replicatorg.machine.model.AxisId;
-import replicatorg.machine.model.NozzleOffset;
+import replicatorg.machine.model.ToolheadsOffset;
 import replicatorg.machine.model.ToolModel;
 import replicatorg.util.Point5d;
 
@@ -260,9 +260,10 @@ public MightyBoard() {
 
 		stepperValues= new Hashtable();
 
-		// Make sure this accurately reflects what versions this supports
-		minimumVersion = new Version(5, 3);
-		preferredVersion = new Version(5, 3);
+		// Make sure this accurately reflects the minimum prefered 
+		// firmware version we want this driver to support.
+		minimumVersion = new Version(5,2);
+		preferredVersion = new Version(5,2);
 
 	}
 
@@ -769,9 +770,12 @@ public void setAxisHomeOffset(int axis, double offset) {
 	}
 
 	@Override
-	public double getNozzleOffset(int axis) {
+	public boolean hasToolheadsOffset() { return true;}
 
-		Base.logger.finest("MigtyBoard getNozzleOffset" + axis);
+	@Override
+	public double getToolheadsOffset(int axis) {
+
+		Base.logger.finest("MigtyBoard getToolheadsOffset" + axis);
 		if ((axis < 0) || (axis > 2)) {
 			// TODO: handle this
 			Base.logger.severe("axis out of range" + axis);
@@ -782,23 +786,24 @@ public double getNozzleOffset(int axis) {
 
 		double val = read32FromEEPROM(MightyBoardEEPROM.TOLERANCE_ERROR_STEPS + axis*4);
 
-		NozzleOffset nozzleOffsets = getMachine().getNozzleOffsets();
-                Point5d stepsPerMM = getMachine().getStepsPerMM();
+		ToolheadsOffset toolheadsOffset = getMachine().getToolheadsOffsets();
+		Point5d stepsPerMM = getMachine().getStepsPerMM();
 		switch(axis) {
 			case 0:
-				val = (val)/stepsPerMM.x()/10.0 + nozzleOffsets.x();
+				val = (val)/stepsPerMM.x()/10.0 + toolheadsOffset.x();
 				break;
 			case 1:
-				val = (val)/stepsPerMM.y()/10.0 + nozzleOffsets.y();
+				val = (val)/stepsPerMM.y()/10.0 + toolheadsOffset.y();
 				break;
 			case 2:
-				val = (val)/stepsPerMM.z()/10.0 + nozzleOffsets.z();
+				val = (val)/stepsPerMM.z()/10.0 + toolheadsOffset.z();
 				break;
 		}
 
 		return val;
 	}
 
+
 	/**
 	 * Stores to EEPROM in motor steps counts, how far out of 
 	 * tolerance the toolhead0 to toolhead1 distance is. XML settings are used
@@ -816,17 +821,17 @@ public void eepromStoreToolDelta(int axis, double distanceMm) {
 		int offsetSteps = 0;
 
 		Point5d stepsPerMM = getMachine().getStepsPerMM();
-		NozzleOffset nozzleOffsets = getMachine().getNozzleOffsets();
+		ToolheadsOffset toolheadsOffset = getMachine().getToolheadsOffsets();
 
 		switch(axis) {
 			case 0:
-				offsetSteps = (int)((distanceMm-nozzleOffsets.x())*stepsPerMM.x()*10.0);
+				offsetSteps = (int)((distanceMm-toolheadsOffset.x())*stepsPerMM.x()*10.0);
 				break;
 			case 1:
-				offsetSteps = (int)((distanceMm-nozzleOffsets.y())*stepsPerMM.y()*10.0);
+				offsetSteps = (int)((distanceMm-toolheadsOffset.y())*stepsPerMM.y()*10.0);
 				break;
 			case 2:
-				offsetSteps = (int)((distanceMm-nozzleOffsets.z())*stepsPerMM.z()*10.0);
+				offsetSteps = (int)((distanceMm-toolheadsOffset.z())*stepsPerMM.z()*10.0);
 				break;
 		}
 		write32ToEEPROM32(MightyBoardEEPROM.TOLERANCE_ERROR_STEPS + axis*4,offsetSteps);

src/replicatorg/drivers/gen3/Sanguino3GDriver.java

@@ -285,6 +285,7 @@ protected PacketResponse runQuery(byte[] packet, int retries) {
 	protected PacketResponse runQuery(byte[] packet) {
 		return runQuery(packet, 1);
 	}
+
 	//// Get a list of all toolheads we save onboard preferences for 
 	public List<Integer> toolheadsWithStoredData()
 	{
@@ -2199,16 +2200,21 @@ public void setAxisHomeOffset(int axis, double offset) {
 		writeToEEPROM(Sanguino3GEEPRPOM.EEPROM_AXIS_HOME_POSITIONS_OFFSET
 				+ axis * 4, intToLE(offsetSteps));
 	}
-
-        public double getNozzleOffset(int axis) {
-        	Base.logger.info("Cannot get tolerance error for S3G driver");
-            return 0.0;
-        }
-
-        public void eepromStoreToolDelta(int axis, double offset){
-        	Base.logger.info("Cannot store tolerance error for S3G driver");
-            return;
-        }
+
+	@Override
+	public boolean hasToolheadsOffset() { return false;}
+
+	@Override
+    public double getToolheadsOffset(int axis) {
+    	Base.logger.info("Cannot get tolerance error for S3G driver");
+        return 0.0;
+    }
+
+	@Override
+    public void eepromStoreToolDelta(int axis, double offset){
+    	Base.logger.info("Cannot store tolerance error for S3G driver");
+        return;
+    }
 
 	public void storeHomePositions(EnumSet<AxisId> axes) throws RetryException {
 		byte b = 0;

src/replicatorg/machine/model/MachineModel.java

@@ -30,6 +30,7 @@
 import java.util.Set;
 import java.util.Vector;
 import java.util.concurrent.atomic.AtomicReference;
+import replicatorg.machine.*;
 
 import org.w3c.dom.Node;
 import org.w3c.dom.NodeList;
@@ -89,8 +90,8 @@ public class MachineModel
 	// our build volume
 	protected BuildVolume buildVolume;
 
-        // nozzle offsets
-        protected NozzleOffset nozzleOffsets;
+    // nozzle offsets
+    protected ToolheadsOffset toolheadsOfffsets;
 
 	private MachineType machineType = null;
 
@@ -102,7 +103,7 @@ public MachineModel()
 		clamps = new Vector<ClampModel>();
 		tools = new Vector<ToolModel>();
 		buildVolume = new BuildVolume(100,100,100); // preload it with the default values
-                nozzleOffsets = new NozzleOffset(0.0, 0.0, 0.0);
+                toolheadsOfffsets = new ToolheadsOffset(0.0, 0.0, 0.0);
 
 		//currentPosition = new Point3d();
 		minimum = new Point5d();
@@ -221,9 +222,9 @@ private void parseOffsets()
                                             zNozzleOffset = Double.parseDouble(XML.getAttributeValue(offsetNode, "zNozzle"));
                                     } catch (Exception e) {}
 
-                                        nozzleOffsets.setX(xNozzleOffset);
-                                        nozzleOffsets.setY(yNozzleOffset);
-                                        nozzleOffsets.setZ(zNozzleOffset);
+                                        toolheadsOfffsets.setX(xNozzleOffset);
+                                        toolheadsOfffsets.setY(yNozzleOffset);
+                                        toolheadsOfffsets.setZ(zNozzleOffset);
 				}
 			}
 		}
@@ -471,7 +472,7 @@ public Point5d stepsToMM(Point5d steps)
         /**
 	 * Get steps-mm conversion value
 	 */
-	public NozzleOffset getNozzleOffsets() { return nozzleOffsets; }
+	public ToolheadsOffset getToolheadsOffsets() { return toolheadsOfffsets; }
 
 	/*************************************
 	*  Convert millimeters to machine steps

src/replicatorg/machine/model/NozzleOffset.java → src/replicatorg/machine/model/ToolheadsOffset.java

@@ -1,22 +1,22 @@
 package replicatorg.machine.model;
 
 /**
- *
+ * Class to contain a machine specific toolheads offset. 
+ * 
+ * NOTE: This breaks our object model a bit (these should be stored per-tool, 
+ * not per-machine) but frankly, we just need to ship this.
  * @author alison
  */
-public class NozzleOffset {
+public class ToolheadsOffset {
 
 	private double x;
 	private double y;
 	private double z;
-	/* 
-	 * TODO: This, more complex class could implement things like a cut-outs and places to avoid such as tool-changers. 
-	 * Perhaps managed whether it's confirmed to be empty or contains objects that we need to travel around? 
-	 */	
-	public NozzleOffset(){
+
+	public ToolheadsOffset(){
 	}
 
-	public NozzleOffset(double x, double y, double z){
+	public ToolheadsOffset(double x, double y, double z){
 		this.setX(x);
 		this.setY(y);
 		this.setZ(z);