From 741014988dbaa37d39a6d7d8068fd3a96d47bdd3 Mon Sep 17 00:00:00 2001
From: Alden Hart <alden08@harts.org>
Date: Sat, 11 Mar 2017 08:29:54 -0500
Subject: [PATCH] Simplified cm_get_combined_state

---
 g2core/canonical_machine.cpp | 55 +++++++++---------------------------
 g2core/plan_exec.cpp         |  2 ++
 2 files changed, 15 insertions(+), 42 deletions(-)

diff --git a/g2core/canonical_machine.cpp b/g2core/canonical_machine.cpp
index 2497a6ba..082fd591 100644
--- a/g2core/canonical_machine.cpp
+++ b/g2core/canonical_machine.cpp
@@ -284,59 +284,30 @@ cmProbeState    cm_get_probe_state()   { return cm->probe_state[0];}
 
 /*
  * cm_get_combined_state() - combines raw states into something a user might want to see
- *
- *  NOTE: On issuing a gcode command we call cm_cycle_start() before the motion gets queued. 
- *  We don't go to MOTION_RUN until the command is executed by mp_exec_aline(), planned, 
- *  queued, and started. So MOTION_STOP must actually return COMBINED_RUN to address this 
- *  case, even though under some circumstances it might actually be an exception case. 
- *  Therefore this assertion isn't valid:
- *      cm_panic(STAT_STATE_MANAGEMENT_ASSERTION_FAILURE, "mots2"));//"mots is stop but machine is in cycle"
- *      return (COMBINED_PANIC);
  */
 cmCombinedState cm_get_combined_state(cmMachine_t *_cm)
 {
-    if (_cm->machine_state <= MACHINE_PROGRAM_END) {  // replaces first 5 cm->machine_state cases
-        return ((cmCombinedState)_cm->machine_state); //...where MACHINE_xxx == COMBINED_xxx
-    }
     switch(_cm->machine_state) {
+        case MACHINE_INITIALIZING:
+        case MACHINE_READY:
+        case MACHINE_ALARM:
+        case MACHINE_PROGRAM_STOP:
+        case MACHINE_PROGRAM_END:   { return ((cmCombinedState)_cm->machine_state); }
         case MACHINE_INTERLOCK:     { return (COMBINED_INTERLOCK); }
         case MACHINE_SHUTDOWN:      { return (COMBINED_SHUTDOWN); }
         case MACHINE_PANIC:         { return (COMBINED_PANIC); }
         case MACHINE_CYCLE: {
-            switch(_cm->cycle_type) {
-                case CYCLE_HOMING:  { return (COMBINED_HOMING); }
-                case CYCLE_PROBE:   { return (COMBINED_PROBE); }
-                case CYCLE_JOG:     { return (COMBINED_JOG); }
-//                case CYCLE_MACHINING: case CYCLE_NONE: {
-//                    switch(_cm->motion_state) {
-//                        case MOTION_STOP:     { return (COMBINED_RUN); }    // See NOTE, above
-//                        case MOTION_RUN:      { return (COMBINED_RUN); }
-//                        case MOTION_HOLD:     { return (COMBINED_HOLD); }
-//                        default: {
-//                            cm_panic(STAT_STATE_MANAGEMENT_ASSERTION_FAILURE, "cm_get_combined_state() mots bad");// "mots has impossible value"
-//                            return (COMBINED_PANIC);
-//                        }
-//                    }
-
-                case CYCLE_MACHINING: {
-                    if (_cm->hold_state != FEEDHOLD_OFF) {
-                        return (COMBINED_HOLD);
-                    } else {
-                        return (COMBINED_RUN);                        
-                    }
-
-                }
-                default: {
-                    cm_panic(STAT_STATE_MANAGEMENT_ASSERTION_FAILURE, "cm_get_combined_state() cycs bad");    // "cycs has impossible value"
-                    return (COMBINED_PANIC);
-                }
+            switch(_cm->cycle_type)   {
+                case CYCLE_NONE:      { break; } // CYCLE_NONE cannot ever get here
+                case CYCLE_MACHINING: { return (_cm->hold_state == FEEDHOLD_OFF ? COMBINED_RUN : COMBINED_HOLD); }
+                case CYCLE_HOMING:    { return (COMBINED_HOMING); }
+                case CYCLE_PROBE:     { return (COMBINED_PROBE); }
+                case CYCLE_JOG:       { return (COMBINED_JOG); }
             }
         }
-        default: {
-            cm_panic(STAT_STATE_MANAGEMENT_ASSERTION_FAILURE, "cm_get_combined_state() macs bad");    // "macs has impossible value"
-            return (COMBINED_PANIC);
-        }
     }
+    cm_panic(STAT_STATE_MANAGEMENT_ASSERTION_FAILURE, "cm_get_combined_state() undefined state");
+    return (COMBINED_PANIC);
 }
 
 /***********************************************************************************
diff --git a/g2core/plan_exec.cpp b/g2core/plan_exec.cpp
index d5eecc7c..c6ba70d7 100644
--- a/g2core/plan_exec.cpp
+++ b/g2core/plan_exec.cpp
@@ -308,6 +308,7 @@ stat_t mp_exec_move()
 
         // Manage motion state transitions
         if ((cm->motion_state != MOTION_RUN) && (cm->motion_state != MOTION_HOLD)) {
+// +++++       if (cm->motion_state != MOTION_RUN) {
             cm_set_motion_state(MOTION_RUN);                // also sets active model to RUNTIME
         }
     }
@@ -552,6 +553,7 @@ stat_t mp_exec_aline(mpBuf_t *bf)
         if (bf->block_state == BLOCK_ACTIVE) {
             if (mp_free_run_buffer()) {                 // returns true of the buffer is empty
                 if (cm->hold_state == FEEDHOLD_OFF) {
+                    cm_set_motion_state(MOTION_STOP);   // also sets active model to RUNTIME
                     cm_cycle_end();                     // free buffer & end cycle if planner is empty
                 }
             } else {