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Cleaned up the error exit

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This commit is contained in:
Alden Hart
2017-01-31 14:03:30 -05:00
parent ba730ddf6c
commit 5a16215142
3 changed files with 67 additions and 103 deletions
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g2core/canonical_machine.h
+1 -2
View File
@@ -766,8 +766,7 @@ stat_t cm_homing_cycle_start_no_set(void); // G28.4
stat_t cm_homing_cycle_callback(void); // G28.2/.4 main loop callback
// Probe cycles
stat_t cm_straight_probe(float target[],
bool flags[],
stat_t cm_straight_probe(float target[], bool flags[],
bool alarm_if_fail,
bool move_toward_contact); // G38.x
stat_t cm_probing_cycle_callback(void); // G38.x main loop callback
g2core/cycle_probing.cpp
+62 -96
View File
@@ -42,6 +42,8 @@
/**** 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
@@ -51,13 +53,13 @@ struct pbProbingSingleton { // persistent probing runtime variables
stat_t (*func)(); // binding for callback function state machine
// controls for probing cycle
uint8_t probe_input; // which input should we check?
int8_t probe_input; // which input should we check?
// state saved from gcode model
uint8_t saved_distance_mode; // G90,G91 global setting
uint8_t saved_coord_system; // G54 - G59 setting
bool saved_soft_limit_enable; // turn off soft limits during probing
float saved_jerk[AXES]; // saved and restored for each axis
cmDistanceMode saved_distance_mode; // G90,G91 global setting
cmCoordSystem saved_coord_system; // G54 - G59 setting
bool saved_soft_limit_enable; // turn off soft limits during probing
float saved_jerk[AXES]; // saved and restored for each axis
// probe destination
float target[AXES];
@@ -71,20 +73,20 @@ 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_error_exit(int8_t axis);
static stat_t _probing_error_exit(stat_t status);
static stat_t _probe_axis_move(const float target[], bool exact_position);
/**** HELPERS ***************************************************************************
* _set_pb_func() - a convenience for setting the next dispatch vector and exiting
* _probe_axis_move_callback() - wait for end of move (syn to planner)
* _set_probe_function() - a convenience for setting the next dispatch vector and exiting
* _motion_end_callback() - wait for end of move (sync to planner)
*/
static stat_t _set_pb_func(uint8_t (*func)()) {
static stat_t _set_probe_function(uint8_t (*func)()) {
pb.func = func;
return (STAT_EAGAIN);
}
static void _probe_axis_move_callback(float* vect, bool* flag)
static void _motion_end_callback(float* vect, bool* flag)
{
pb.wait_for_motion_end = false;
}
@@ -140,11 +142,13 @@ static void _probe_axis_move_callback(float* vect, bool* flag)
* PROBE_SUCCEEDED, then we roll 0 to 1, and 1 to 2, up to PROBES_STORED-1.
* The oldest probe is "lost."
*
* Note: Spindle and coolant are not affected during probing. Some probes require
* the spindle to be turned on.
*/
uint8_t cm_straight_probe(float target[], bool flags[], bool alarm_if_fail, bool move_toward_contact) {
// trap zero feed rate condition
// error if zero feed rate
if (fp_ZERO(cm.gm.feed_rate)) {
return (STAT_GCODE_FEEDRATE_NOT_SPECIFIED);
}
@@ -155,9 +159,9 @@ uint8_t cm_straight_probe(float target[], bool flags[], bool alarm_if_fail, bool
return (STAT_GCODE_AXIS_IS_MISSING);
}
// initialize the probe input
// initialize the probe input; error if no probe input specified
if ((pb.probe_input = gpio_get_probing_input()) == -1) {
return (STAT_PROBE_INPUT_NOT_CONFIGURED);
return (STAT_NO_PROBE_INPUT_CONFIGURED);
}
// setup
@@ -179,29 +183,27 @@ uint8_t cm_straight_probe(float target[], bool flags[], bool alarm_if_fail, bool
}
}
// clear the old probe position
// NOTE: relying on cm.probe_results will not detect a probe to 0,0,0.
clear_vector(cm.probe_results[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
pb.wait_for_motion_end = true;
mp_queue_command(_probe_axis_move_callback, nullptr, nullptr); // note: these args are ignored
mp_queue_command(_motion_end_callback, nullptr, nullptr); // note: these args are ignored
return (STAT_OK);
}
/*
* cm_probing_cycle_callback() - handle probing progress
*
* This is called regularly from the controller. If we report NOOP, the
* controller will continue with other tasks. Otherwise the controller will
* not execute any later tasks, including read any more "data".
* This is called regularly from the controller. If we report NOOP, the controller
* will continue with other tasks. Otherwise the controller will not execute any
* later tasks, including read any more "data".
*
* Note: When coding a cycle (like this one) you must wait until
* the last move has actually been queued (or has finished) before declaring
* the cycle to be done. Otherwise there is a nasty race condition in
* _controller_HSM() that may accept the next command before the position of
* the final move has been recorded in the Gcode model. That's what the call
* to cm_get_runtime_busy() is about.
* Note: When coding a cycle (like this one) you must wait until the last move has
* actually been queued (or has finished) before declaring the cycle to be done.
* Otherwise there is a nasty race condition in _controller_HSM() that may accept
* the next command before the position of the final move has been recorded in the
* Gcode model. That's what the wait_for_motion_end callback is about.
*/
uint8_t cm_probing_cycle_callback(void) {
@@ -235,8 +237,8 @@ static uint8_t _probing_start() {
cm.cycle_state = CYCLE_PROBE;
// save relevant non-axis parameters from Gcode model
pb.saved_coord_system = cm_get_coord_system(ACTIVE_MODEL);
pb.saved_distance_mode = cm_get_distance_mode(ACTIVE_MODEL);
pb.saved_coord_system = (cmCoordSystem)cm_get_coord_system(ACTIVE_MODEL);
pb.saved_distance_mode = (cmDistanceMode)cm_get_distance_mode(ACTIVE_MODEL);
pb.saved_soft_limit_enable = cm.soft_limit_enable;
// set working values
@@ -252,26 +254,28 @@ static uint8_t _probing_start() {
// error if the probe target is too close to the current position
if (get_axis_vector_length(start_position, pb.target) < MINIMUM_PROBE_TRAVEL) {
_probing_error_exit(-2);
return(_probing_error_exit(STAT_PROBE_TRAVEL_TOO_SMALL));
}
gpio_set_probing_mode(pb.probe_input, true);
// turn off spindle and start the move
// cm_spindle_optional_pause(true); // pause the spindle if it's on
// initial probe state, don't probe if we're already 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
// 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 (probe_input == (pb.move_toward_contact ? INPUT_INACTIVE : INPUT_ACTIVE)) {
_probe_axis_move(pb.target, false);
return (_set_pb_func(_probing_backoff));
return (_set_probe_function(_probing_backoff));
}
cm.probe_state[0] = PROBE_FAILED; // we failed
return (_set_pb_func(_probing_finish));
return (_set_probe_function(_probing_finish));
}
/*
@@ -299,7 +303,7 @@ static stat_t _probing_backoff() {
} else {
cm.probe_state[0] = PROBE_FAILED;
}
return (_set_pb_func(_probing_finish));
return (_set_probe_function(_probing_finish));
}
/*
@@ -328,7 +332,7 @@ static stat_t _probe_axis_move(const float target[], bool exact_position) {
cm.gm.units_mode = stored_units_mode;
cm.gm.distance_mode = stored_distance_mode;
}
mp_queue_command(_probe_axis_move_callback, nullptr, nullptr); // the last two arguments are ignored anyway
mp_queue_command(_motion_end_callback, nullptr, nullptr); // the last two arguments are ignored anyway
return (STAT_EAGAIN);
}
@@ -365,93 +369,55 @@ static stat_t _probing_finish() {
}
xio_writeline(buf);
return (_set_pb_func(_probing_finalize_exit));
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() {
// set input back to normal operation
gpio_set_probing_mode(pb.probe_input, false);
// restore axis jerks
for (uint8_t axis = 0; axis < AXES; axis++) {
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
// restore coordinate system and distance mode
cm_set_coord_system(pb.saved_coord_system);
cm_set_distance_mode(pb.saved_distance_mode);
cm.soft_limit_enable = pb.saved_soft_limit_enable;
// restart spindle if it was paused
// cm_spindle_resume(spindle.dwell_seconds);
// cancel the feed modes used during probing
cm_set_motion_mode(MODEL, MOTION_MODE_CANCEL_MOTION_MODE);
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();
_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(int8_t axis) {
// cleanup first
_probe_restore_settings();
static stat_t _probing_error_exit(stat_t status) {
// Generate the warning/error message.
_probe_restore_settings(); // cleanup first
// Since the error exit returns via the probing callback - and not the main
// controller - it requires its own display processing.
nv_reset_nv_list();
if (axis == -3) {
const char* msg = "Probing error - probe input is already active";
if (pb.alarm_if_fail) {
cm_alarm(STAT_PROBE_CYCLE_FAILED, msg);
} else {
nv_add_conditional_message(msg);
}
} else if (axis == -4) {
const char* msg = "Probing error - probe input is already inactive";
if (pb.alarm_if_fail) {
cm_alarm(STAT_PROBE_CYCLE_FAILED, msg);
} else {
nv_add_conditional_message(msg);
}
} else if (axis == -2) {
const char* msg = "Probing error - invalid probe destination";
if (pb.alarm_if_fail) {
cm_alarm(STAT_PROBE_CYCLE_FAILED, msg);
} else {
nv_add_conditional_message(msg);
}
} else {
char msg[NV_MESSAGE_LEN];
sprintf(msg, "Probing error - %c axis cannot move during probing", cm_get_axis_char(axis));
if (pb.alarm_if_fail) {
cm_alarm(STAT_PROBE_CYCLE_FAILED, msg);
} else {
nv_add_conditional_message(msg);
}
if (pb.alarm_if_fail) { // generate an alarm
char message[16] = { "probe error" };
cm_alarm(status, message);
}
if (!pb.alarm_if_fail) {
nv_print_list(STAT_PROBE_CYCLE_FAILED, TEXT_MULTILINE_FORMATTED, JSON_RESPONSE_FORMAT);
}
return (STAT_PROBE_CYCLE_FAILED);
nv_add_conditional_message(get_status_message(status));
nv_print_list(status, TEXT_MULTILINE_FORMATTED, JSON_RESPONSE_FORMAT);
return (status);
}
g2core/error.h
+4 -5
View File
@@ -280,10 +280,9 @@ char *get_status_message(stat_t status);
#define STAT_T_WORD_IS_MISSING 180
#define STAT_T_WORD_IS_INVALID 181
#define STAT_PROBE_INPUT_NOT_CONFIGURED 182
/* reserved for Gcode or other program errors */
#define STAT_ERROR_182 182
#define STAT_ERROR_183 183
#define STAT_ERROR_184 184
#define STAT_ERROR_185 185
@@ -364,9 +363,9 @@ char *get_status_message(stat_t status);
#define STAT_PROBE_CYCLE_FAILED 250 // probing cycle did not complete
#define STAT_PROBE_TRAVEL_TOO_SMALL 251
#define STAT_NO_PROBE_SWITCH_CONFIGURED 252
#define STAT_NO_PROBE_INPUT_CONFIGURED 252
#define STAT_MULTIPLE_PROBE_SWITCHES_CONFIGURED 253
#define STAT_PROBE_SWITCH_ON_ABC_AXIS 254
#define STAT_PROBE_HAS_INVALID_START_STATE 254
#define STAT_ERROR_255 255
@@ -576,7 +575,7 @@ static const char stat_179[] = "S word invalid";
static const char stat_180[] = "T word missing";
static const char stat_181[] = "T word invalid";
static const char stat_182[] = "Probe Input Not Configured";
static const char stat_182[] = "182";
static const char stat_183[] = "183";
static const char stat_184[] = "184";
static const char stat_185[] = "185";