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Continued refactoring

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This commit is contained in:
Alden Hart
2017-01-31 15:18:26 -05:00
parent 5a16215142
commit 3388e2d45c
3 changed files with 84 additions and 81 deletions
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10
g2core/config_app.cpp
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@@ -1360,7 +1360,7 @@ static stat_t _do_group_list(nvObj_t *nv, char list[][TOKEN_LEN+1]) // helper to
}
_do_group(nv, list[i]);
}
return (STAT_COMPLETE);
return (STAT_COMPLETE); // STAT_COMPLETE suppresses the normal response line
}
static stat_t _do_motors(nvObj_t *nv) // print parameters for all motor groups
@@ -1370,7 +1370,7 @@ static stat_t _do_motors(nvObj_t *nv) // print parameters for all motor groups
sprintf(group, "%d", i);
_do_group(nv, group);
}
return (STAT_COMPLETE);
return (STAT_COMPLETE); // STAT_COMPLETE suppresses the normal response line
}
static stat_t _do_axes(nvObj_t *nv) // print parameters for all axis groups
@@ -1392,7 +1392,7 @@ static stat_t _do_inputs(nvObj_t *nv) // print parameters for all input groups
sprintf(group, "di%d", i);
_do_group(nv, group);
}
return (STAT_COMPLETE);
return (STAT_COMPLETE); // STAT_COMPLETE suppresses the normal response line
}
static stat_t _do_outputs(nvObj_t *nv) // print parameters for all output groups
@@ -1402,7 +1402,7 @@ static stat_t _do_outputs(nvObj_t *nv) // print parameters for all output group
sprintf(group, "do%d", i);
_do_group(nv, group);
}
return (STAT_COMPLETE);
return (STAT_COMPLETE); // STAT_COMPLETE suppresses the normal response line
}
static stat_t _do_heaters(nvObj_t *nv) // print parameters for all heater groups
@@ -1412,7 +1412,7 @@ static stat_t _do_heaters(nvObj_t *nv) // print parameters for all heater group
sprintf(group, "he%d", i);
_do_group(nv, group);
}
return (STAT_COMPLETE);
return (STAT_COMPLETE); // STAT_COMPLETE suppresses the normal response line
}
static stat_t _do_all(nvObj_t *nv) // print all parameters

153
g2core/cycle_probing.cpp
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@@ -42,15 +42,13 @@
/**** Probe singleton structure ****/
#define MINIMUM_PROBE_TRAVEL 0.254
#define INVALID_PROBE_DESTINATION -1
#define INVALID_PROBE_START_STATE -2
struct pbProbingSingleton { // persistent probing runtime variables
bool wait_for_motion_end; // flag to use to now when the motion has ended
bool alarm_if_fail; // flag for G38.2 and G38.4, where failure is NOT an option
bool move_toward_contact; // flag for G38.4 and G38.5, where we move off of the contact
stat_t (*func)(); // binding for callback function state machine
stat_t (*func)(); // binding for callback function state machine
// controls for probing cycle
int8_t probe_input; // which input should we check?
@@ -71,8 +69,8 @@ static struct pbProbingSingleton pb;
static stat_t _probing_start();
static stat_t _probing_backoff();
static stat_t _probing_finish();
static stat_t _probing_finalize_exit();
static stat_t _probing_exit();
//static stat_t _probing_finalize_exit();
static stat_t _probing_error_exit(stat_t status);
static stat_t _probe_axis_move(const float target[], bool exact_position);
@@ -81,7 +79,8 @@ static stat_t _probe_axis_move(const float target[], bool exact_position);
* _motion_end_callback() - wait for end of move (sync to planner)
*/
static stat_t _set_probe_function(uint8_t (*func)()) {
static stat_t _set_probe_function(uint8_t (*func)())
{
pb.func = func;
return (STAT_EAGAIN);
}
@@ -146,8 +145,8 @@ static void _motion_end_callback(float* vect, bool* flag)
* the spindle to be turned on.
*/
uint8_t cm_straight_probe(float target[], bool flags[], bool alarm_if_fail, bool move_toward_contact) {
uint8_t cm_straight_probe(float target[], bool flags[], bool alarm_if_fail, bool move_toward_contact)
{
// error if zero feed rate
if (fp_ZERO(cm.gm.feed_rate)) {
return (STAT_GCODE_FEEDRATE_NOT_SPECIFIED);
@@ -183,14 +182,14 @@ uint8_t cm_straight_probe(float target[], bool flags[], bool alarm_if_fail, bool
}
}
// clear the old probe position
clear_vector(cm.probe_results[0]); // NOTE: relying on cm.probe_results will not detect a probe to 0,0,0.
clear_vector(cm.probe_results[0]); // NOTE: relying on cm.probe_results will not detect a probe to 0,0,0.
// queue a function to let us know when we can start probing
cm.probe_state[0] = PROBE_WAITING; // wait until planner queue empties before completing initialization
cm.probe_state[0] = PROBE_WAITING; // wait until planner queue empties before completing initialization
pb.wait_for_motion_end = true;
mp_queue_command(_motion_end_callback, nullptr, nullptr); // note: these args are ignored
return (STAT_OK);
}
}
/*
* cm_probing_cycle_callback() - handle probing progress
@@ -206,7 +205,8 @@ uint8_t cm_straight_probe(float target[], bool flags[], bool alarm_if_fail, bool
* Gcode model. That's what the wait_for_motion_end callback is about.
*/
uint8_t cm_probing_cycle_callback(void) {
uint8_t cm_probing_cycle_callback(void)
{
if ((cm.cycle_state != CYCLE_PROBE) && (cm.probe_state[0] != PROBE_WAITING)) { // exit if not in a probing cycle
return (STAT_NOOP);
}
@@ -220,8 +220,8 @@ uint8_t cm_probing_cycle_callback(void) {
* _probing_start() - start the probe or skip it if contact is already active
*/
static uint8_t _probing_start() {
static uint8_t _probing_start()
{
float start_position[AXES];
// Initializations. These initializations are required before starting the probing cycle
@@ -265,17 +265,17 @@ static uint8_t _probing_start() {
// Note that we're testing for SUCCESS here
int8_t probe_input = gpio_read_input(pb.probe_input); // returns `true` if contacted
// if (pb.move_toward_contact ^ probe_input) {
// return(_probing_error_exit(STAT_PROBE_HAS_INVALID_START_STATE));
// }
if (pb.move_toward_contact == probe_input) { // exclusive nor for booleans
return(_probing_error_exit(STAT_PROBE_HAS_INVALID_START_STATE));
}
if (probe_input == (pb.move_toward_contact ? INPUT_INACTIVE : INPUT_ACTIVE)) {
_probe_axis_move(pb.target, false);
return (_set_probe_function(_probing_backoff));
}
cm.probe_state[0] = PROBE_FAILED; // we failed
return (_set_probe_function(_probing_finish));
cm.probe_state[0] = PROBE_FAILED; // we failed
return (_set_probe_function(_probing_exit)); // exit after this move
}
/*
@@ -284,8 +284,8 @@ static uint8_t _probing_start() {
* Back off to the measured touch position captured by encoder snapshot
*/
static stat_t _probing_backoff() {
static stat_t _probing_backoff()
{
// Test if we've contacted
// INPUT_INACTIVE (false) is the correct start condition for G38.2 and G38.3
// INPUT_ACTIVE (true) is the right start condition for G38.4 and G38.5
@@ -299,18 +299,19 @@ static stat_t _probing_backoff() {
float contact_position[AXES];
kn_forward_kinematics(en_get_encoder_snapshot_vector(), contact_position);
_probe_axis_move(contact_position, true); // NB: feed rate is the same as the probe move
_probe_axis_move(contact_position, true); // NB: feed rate is the same as the probe move
} else {
cm.probe_state[0] = PROBE_FAILED;
}
return (_set_probe_function(_probing_finish));
return (_set_probe_function(_probing_exit)); // exit after the backoff
}
/*
* _probe_axis_move() - function to execute probing moves
*/
static stat_t _probe_axis_move(const float target[], bool exact_position) {
static stat_t _probe_axis_move(const float target[], bool exact_position)
{
auto stored_units_mode = cm.gm.units_mode;
auto stored_distance_mode = cm.gm.distance_mode;
if (exact_position) {
@@ -337,10 +338,61 @@ static stat_t _probe_axis_move(const float target[], bool exact_position) {
}
/*
* _probing_finish() - report probe results and clean up
* _probe_restore_settings() - helper for both exits
* _probing_exit() - clean up and exit
* _probing_error_exit()
*/
static void _probe_restore_settings() {
gpio_set_probing_mode(pb.probe_input, false); // set input back to normal operation
for (uint8_t axis = 0; axis < AXES; axis++) { // restore axis jerks
cm.a[axis].jerk_max = pb.saved_jerk[axis];
}
cm_set_coord_system(pb.saved_coord_system); // restore coordinate system...
cm_set_distance_mode(pb.saved_distance_mode); // ...distance mode...
cm.soft_limit_enable = pb.saved_soft_limit_enable; // ...and soft limit setting
cm_set_motion_mode(MODEL, MOTION_MODE_CANCEL_MOTION_MODE); // cancel feed modes used during probing
cm_canned_cycle_end();
}
static stat_t _probing_exit()
{
_probe_restore_settings(); // cleanup first
for (uint8_t axis = 0; axis < AXES; axis++) {
cm.probe_results[0][axis] = cm_get_absolute_position(ACTIVE_MODEL, axis);
}
if (cm.probe_state[0] == PROBE_SUCCEEDED) {
return (STAT_OK);
}
if (pb.alarm_if_fail) {
cm_alarm(STAT_PROBE_CYCLE_FAILED, "Probing error - probe failed to change.");
}
return (STAT_PROBE_CYCLE_FAILED);
}
static stat_t _probing_error_exit(stat_t status)
{
_probe_restore_settings(); // cleanup first
if (pb.alarm_if_fail) { // generate an alarm
char message[16] = { "probe error" };
cm_alarm(status, message);
}
nv_add_conditional_message(get_status_message(status));
nv_print_list(status, TEXT_MULTILINE_FORMATTED, JSON_RESPONSE_FORMAT);
return (status);
}
/*
* _probing_finish() - report probe results and clean up
*/
/*
static stat_t _probing_finish() {
for (uint8_t axis = 0; axis < AXES; axis++) {
cm.probe_results[0][axis] = cm_get_absolute_position(ACTIVE_MODEL, axis);
}
@@ -371,53 +423,4 @@ static stat_t _probing_finish() {
return (_set_probe_function(_probing_finalize_exit));
}
/*
* _probe_restore_settings()
* _probing_finalize_exit()
* _probing_error_exit()
*
* _probing_finalize_exit() and _probing_error_exit() generate their own warning/error messages.
* Since the exits return via the probing callback- and not the main controller - they require
* their own display processing.
*/
static void _probe_restore_settings() {
gpio_set_probing_mode(pb.probe_input, false); // set input back to normal operation
for (uint8_t axis = 0; axis < AXES; axis++) { // restore axis jerks
cm.a[axis].jerk_max = pb.saved_jerk[axis];
}
cm_set_coord_system(pb.saved_coord_system); // restore coordinate system...
cm_set_distance_mode(pb.saved_distance_mode); // ...distance mode...
cm.soft_limit_enable = pb.saved_soft_limit_enable; // ...and soft limit setting
cm_set_motion_mode(MODEL, MOTION_MODE_CANCEL_MOTION_MODE); // cancel feed modes used during probing
cm_canned_cycle_end();
}
static stat_t _probing_finalize_exit() {
_probe_restore_settings(); // cleanup first
if (cm.probe_state[0] == PROBE_SUCCEEDED) {
return (STAT_OK);
}
if (pb.alarm_if_fail) {
cm_alarm(STAT_PROBE_CYCLE_FAILED, "Probing error - probe failed to change.");
}
return (STAT_PROBE_CYCLE_FAILED);
}
static stat_t _probing_error_exit(stat_t status) {
_probe_restore_settings(); // cleanup first
if (pb.alarm_if_fail) { // generate an alarm
char message[16] = { "probe error" };
cm_alarm(status, message);
}
nv_add_conditional_message(get_status_message(status));
nv_print_list(status, TEXT_MULTILINE_FORMATTED, JSON_RESPONSE_FORMAT);
return (status);
}
*/

2
g2core/error.h
View File

@@ -654,7 +654,7 @@ static const char stat_250[] = "Probe cycle failed";
static const char stat_251[] = "Probe travel is too small";
static const char stat_252[] = "No probe switch configured";
static const char stat_253[] = "Multiple probe switches configured";
static const char stat_254[] = "Probe switch configured on ABC axis";
static const char stat_254[] = "Probe has invalid starting state";
static const char stat_255[] = "255";
static const char *const stat_msg[] = {