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Fixed some naming on the debug traps; changed detection threshold for “zero length moves” from 1/100 micron to 1/10th micron

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This commit is contained in:
Alden Hart
2017-02-20 10:50:34 -05:00
parent 5810eda239
commit 5363980d9f
7 changed files with 33 additions and 34 deletions
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g2core/plan_exec.cpp
+13 -14
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@@ -166,10 +166,10 @@ static stat_t _plan_aline(mpBuf_t *bf, float entry_velocity)
mpBlockRuntimeBuf_t* block = mr->p; // set a local planning block so it doesn't change on you
mp_calculate_ramps(block, bf, entry_velocity); // (which it will if you don't do this)
__debug_trap_if_true((block->exit_velocity > block->cruise_velocity),
debug_trap_if_true((block->exit_velocity > block->cruise_velocity),
"_plan_line() exit velocity > cruise velocity after calculate_ramps()");
__debug_trap_if_true((block->head_length < 0.00001 && block->body_length < 0.00001 && block->tail_length < 0.00001),
debug_trap_if_true((block->head_length < 0.00001 && block->body_length < 0.00001 && block->tail_length < 0.00001),
"_plan_line() zero or negative length block after calculate_ramps()");
bf->buffer_state = MP_BUFFER_PLANNED; //...here
@@ -256,28 +256,28 @@ stat_t mp_exec_move()
// first-time operations
if (bf->buffer_state != MP_BUFFER_RUNNING) {
if ((bf->buffer_state < MP_BUFFER_PREPPED) && (cm->motion_state == MOTION_RUN)) {
__debug_trap("mp_exec_move() buffer is not prepped"); // IMPORTANT: can't rpt_exception from here!
debug_trap("mp_exec_move() buffer is not prepped. Starvation"); // IMPORTANT: can't rpt_exception from here!
st_prep_null();
return (STAT_NOOP);
}
if (bf->nx->buffer_state < MP_BUFFER_PREPPED) {
if ((bf->nx->buffer_state < MP_BUFFER_PREPPED) && (bf->nx->buffer_state > MP_BUFFER_EMPTY)) {
// This detects buffer starvation, but also can be a single-line "jog" or command
// rpt_exception(42, "mp_exec_move() next buffer is empty");
// ^^^ CAUSES A CRASH. We can't rpt_exception from here!
debug_trap("mp_exec_move() no buffer prepped - starvation");
}
if (bf->buffer_state == MP_BUFFER_PREPPED) {
if (cm->motion_state == MOTION_RUN) {
__debug_trap("mp_exec_move() don't have a block planned"); // IMPORTANT: can't rpt_exception from here!
}
// We need to have it planned. We don't want to do this here, as it
// might already be happening in a lower interrupt.
debug_trap_if_true((cm->motion_state == MOTION_RUN), "mp_exec_move() buffer prepped but not planned");
// IMPORTANT: can't rpt_exception from here!
// We need to have it planned. We don't want to do this here,
// as it might already be happening in a lower interrupt.
st_request_forward_plan();
return (STAT_NOOP);
}
if (bf->buffer_state == MP_BUFFER_PLANNED) {
bf->buffer_state = MP_BUFFER_RUNNING; // must precede mp_planner_time_acccounting()
bf->buffer_state = MP_BUFFER_RUNNING; // must precede mp_planner_time_acccounting()
} else {
return (STAT_NOOP);
}
@@ -289,7 +289,6 @@ stat_t mp_exec_move()
// (and have called mp_exec_aline via bf->bf_func).
// This also allows mp_exec_aline to advance mr->p first.
if (bf->nx->buffer_state >= MP_BUFFER_PREPPED) {
// if (bf->nx->buffer_state == MP_BUFFER_PREPPED) {
st_request_forward_plan();
}
@@ -877,7 +876,7 @@ static stat_t _exec_aline_head(mpBuf_t *bf)
_init_forward_diffs(mr->entry_velocity, mr->r->cruise_velocity); // <-- sets inital segment_velocity
}
if (mr->segment_time < MIN_SEGMENT_TIME) {
__debug_trap("mr->segment_time < MIN_SEGMENT_TIME (head)");
debug_trap("mr->segment_time < MIN_SEGMENT_TIME (head)");
return(STAT_OK); // exit without advancing position, say we're done
}
mr->section = SECTION_HEAD;
@@ -922,7 +921,7 @@ static stat_t _exec_aline_body(mpBuf_t *bf)
mr->segment_velocity = mr->r->cruise_velocity;
mr->segment_count = (uint32_t)mr->segments;
if (mr->segment_time < MIN_SEGMENT_TIME) {
__debug_trap("mr->segment_time < MIN_SEGMENT_TIME (body)");
debug_trap("mr->segment_time < MIN_SEGMENT_TIME (body)");
return(STAT_OK); // exit without advancing position, say we're done
}
@@ -963,7 +962,7 @@ static stat_t _exec_aline_tail(mpBuf_t *bf)
_init_forward_diffs(mr->r->cruise_velocity, mr->r->exit_velocity); // <-- sets inital segment_velocity
}
if (mr->segment_time < MIN_SEGMENT_TIME) {
__debug_trap("mr->segment_time < MIN_SEGMENT_TIME (tail)");
debug_trap("mr->segment_time < MIN_SEGMENT_TIME (tail)");
return(STAT_OK); // exit without advancing position, say we're done
// return(STAT_MINIMUM_TIME_MOVE); // exit without advancing position
}