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Checkpoint added Primary and Alternate planner queue section from the buffer primitives

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This commit is contained in:
Alden Hart
2016-12-05 15:47:41 -05:00
parent 0d0fdd9ddb
commit 470923f0f7
9 changed files with 169 additions and 71 deletions
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g2core/plan_exec.cpp
+5 -4
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@@ -419,8 +419,8 @@ stat_t mp_exec_aline(mpBuf_t *bf)
// Case (5) - decelerated to zero
// Update the run buffer then force a replan of the whole planner queue
if (cm.hold_state == FEEDHOLD_DECEL_END) {
mr.block_state = BLOCK_INACTIVE; // invalidate mr buffer to reset the new move
bf->block_state = BLOCK_INITIAL_ACTION; // tell _exec to re-use the bf buffer
mr.block_state = BLOCK_INACTIVE; // invalidate mr buffer to reset the new move
bf->block_state = BLOCK_INITIAL_ACTION; // tell _exec to re-use the bf buffer
bf->length = get_axis_vector_length(mr.target, mr.position);// reset length
//bf->entry_vmax = 0; // set bp+0 as hold point
@@ -431,7 +431,8 @@ stat_t mp_exec_aline(mpBuf_t *bf)
mp_free_run_buffer();
}
mp_replan_queue(mb.r); // make it replan all the blocks
mp_replan_queue(mp_get_r(ACTIVE_Q)); // make it replan all the blocks
// mp_replan_queue(mb.r); // make it replan all the blocks
return (STAT_OK);
}
@@ -560,7 +561,7 @@ stat_t mp_plan_feedhold_move()
void mp_exit_hold_state()
{
cm.hold_state = FEEDHOLD_OFF;
if (mp_has_runnable_buffer()) {
if (mp_has_runnable_buffer(ACTIVE_Q)) {
cm_set_motion_state(MOTION_RUN);
sr_request_status_report(SR_REQUEST_IMMEDIATE);
} else {