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Silenced responses from probing - excepting status reports

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This commit is contained in:
Alden Hart
2017-01-31 16:09:09 -05:00
parent 3388e2d45c
commit 68bd2281f2
2 changed files with 27 additions and 70 deletions
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95
g2core/cycle_probing.cpp
View File

@@ -43,21 +43,21 @@
#define MINIMUM_PROBE_TRAVEL 0.254
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
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?
int8_t probe_input; // which input should we check?
// state saved from gcode model
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
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];
@@ -70,20 +70,10 @@ static struct pbProbingSingleton pb;
static stat_t _probing_start();
static stat_t _probing_backoff();
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);
/**** HELPERS ***************************************************************************
* _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_probe_function(uint8_t (*func)())
{
pb.func = func;
return (STAT_EAGAIN);
}
// helper
static void _motion_end_callback(float* vect, bool* flag)
{
@@ -271,11 +261,13 @@ static uint8_t _probing_start()
if (probe_input == (pb.move_toward_contact ? INPUT_INACTIVE : INPUT_ACTIVE)) {
_probe_axis_move(pb.target, false);
return (_set_probe_function(_probing_backoff));
pb.func = _probing_backoff;
return (STAT_EAGAIN);
}
cm.probe_state[0] = PROBE_FAILED; // we failed
return (_set_probe_function(_probing_exit)); // exit after this move
pb.func = _probing_exit;
return (STAT_EAGAIN);
}
/*
@@ -303,7 +295,8 @@ static stat_t _probing_backoff()
} else {
cm.probe_state[0] = PROBE_FAILED;
}
return (_set_probe_function(_probing_exit)); // exit after the backoff
pb.func = _probing_exit;
return (STAT_EAGAIN);
}
/*
@@ -343,8 +336,8 @@ static stat_t _probe_axis_move(const float target[], bool exact_position)
* _probing_error_exit()
*/
static void _probe_restore_settings() {
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
@@ -355,23 +348,27 @@ static void _probe_restore_settings() {
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
sr_request_status_report(SR_REQUEST_IMMEDIATE); // request SR for success or failure
cm_canned_cycle_end();
}
static stat_t _probing_exit()
static stat_t _probing_exit()
{
_probe_restore_settings(); // cleanup first
// set absolute position in probe results vector
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);
}
// handle failure cases
if (pb.alarm_if_fail) {
cm_alarm(STAT_PROBE_CYCLE_FAILED, "Probing error - probe failed to change.");
cm_alarm(STAT_PROBE_CYCLE_FAILED, "probing error");
}
return (STAT_PROBE_CYCLE_FAILED);
return (STAT_OK);
}
static stat_t _probing_error_exit(stat_t status)
@@ -382,45 +379,5 @@ static stat_t _probing_error_exit(stat_t status)
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);
}
// If probe was successful the 'e' word == 1, otherwise e == 0 to signal an error
char buf[32];
char* bufp = buf;
bufp += sprintf(bufp, "{\"prb\":{\"e\":%i, \"", (int)cm.probe_state[0]);
if (pb.flags[AXIS_X]) {
sprintf(bufp, "x\":%0.3f}}\n", cm.probe_results[0][AXIS_X]);
}
if (pb.flags[AXIS_Y]) {
sprintf(bufp, "y\":%0.3f}}\n", cm.probe_results[0][AXIS_Y]);
}
if (pb.flags[AXIS_Z]) {
sprintf(bufp, "z\":%0.3f}}\n", cm.probe_results[0][AXIS_Z]);
}
if (pb.flags[AXIS_A]) {
sprintf(bufp, "a\":%0.3f}}\n", cm.probe_results[0][AXIS_A]);
}
if (pb.flags[AXIS_B]) {
sprintf(bufp, "b\":%0.3f}}\n", cm.probe_results[0][AXIS_B]);
}
if (pb.flags[AXIS_C]) {
sprintf(bufp, "c\":%0.3f}}\n", cm.probe_results[0][AXIS_C]);
}
xio_writeline(buf);
return (_set_probe_function(_probing_finalize_exit));
}
*/

2
g2core/settings/settings_makeblock.h
View File

@@ -67,7 +67,7 @@
#define STATUS_REPORT_DEFAULTS "line","stat","posx","posy","posz",\
"vel", "unit","feed","coor","momo",\
"plan","path","dist",\
"plan","path","dist","prbe","prbz",\
"mpox","mpoy","mpoz",\
"admo","frmo","cycs","hold"
// "_ts1","_cs1","_es1","_xs1","_fe1"