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Reworked _plan_commands() to be safer for race conditions

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This commit is contained in:
Alden Hart
2016-12-01 15:57:23 -05:00
parent a4a7514d9a
commit 8fdb1f36dd
1 changed files with 25 additions and 30 deletions
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g2core/plan_exec.cpp
+25 -30
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@@ -148,19 +148,13 @@ static void _init_forward_diffs(float v_0, float v_1);
* j. RUNNING-COMMAND COMMAND(s) PLANNED-MOVE skip command(s), exit NOOP
* (Note: all COMMAND(s) in j. should be in PLANNED state)
*/
/*
static stat_t _plan_command(mpBuf_t *bf) // plan a single command
{
bf->buffer_state = MP_BUFFER_PLANNED; // report that we "planned" something...
return (STAT_OK);
}
*/
static mpBuf_t *_plan_commands(mpBuf_t *bf) // plan or skip commands; return bf past last command
{
while (bf->block_type == BLOCK_TYPE_COMMAND) {
if (bf->buffer_state < MP_BUFFER_PLANNED) { // skip buffers that are already planned
bf->buffer_state = MP_BUFFER_PLANNED; // really just a stub, for now
// _plan_command(mpBuf_t *bf);
// must test for buffer state first as the buffer is only "safe" once it's >= PREPPED
while ((bf->buffer_state >= MP_BUFFER_PREPPED) && (bf->block_type == BLOCK_TYPE_COMMAND)) {
if (bf->buffer_state != MP_BUFFER_PLANNED) { // skip already planned buffers
bf->buffer_state = MP_BUFFER_PLANNED; // "planning" is just setting the state (for now)
}
bf = bf->nx;
}
@@ -198,40 +192,41 @@ static stat_t _plan_move(mpBuf_t *bf, float entry_velocity)
stat_t mp_forward_plan()
{
mpBuf_t *bf = mp_get_run_buffer();
float entry_velocity;
// Case 0: Examine current running buffer for early exit conditions
if (bf == NULL) { // 0a: NULL means nothing is running - this is OK
if (bf == NULL) { // case 0a: NULL means nothing is running - this is OK
st_prep_null();
return (STAT_NOOP);
}
if (bf->buffer_state < MP_BUFFER_PREPPED) { // 0b: nothing to do. get outta here.
if (bf->buffer_state < MP_BUFFER_PREPPED) { // case 0b: nothing to do. get outta here.
return (STAT_NOOP);
}
// Case 2: Runtime conditions - preset bf to behave like case 1 conditions
float entry_velocity = mr.entry_velocity; // preset velocity for command cases - Note 2
// Case 2: Running cases - move bf past run buffer so it acts like case 1
if (bf->buffer_state == MP_BUFFER_RUNNING) {
bf = bf->nx; // all you need to do is to move to next buffer
entry_velocity = mr.r->exit_velocity; // set entry_velocity to mr.r->exit_velocity
bf = bf->nx;
entry_velocity = mr.r->exit_velocity; // set Note 1 entry_velocity (move cases)
} else {
entry_velocity = mr.entry_velocity; // set Note 2 entry velocity (command cases)
}
// run buffer is a command; start cases 1f - 1k, 2c, 2d, 2e, 2h, 2i, 2j
// bf points to command; start cases 1f, 1g, 1h, 1i, 1j, 1k, 2c, 2d, 2e, 2h, 2i, 2j
if (bf->block_type != BLOCK_TYPE_ALINE) { // meaning it's a COMMAND
bf = _plan_commands(bf); // plan or skip past already planned commands
// entry_velocity = mr.entry_velocity; // set entry_velocity for Note 1a
}// bf will always be on a non-command at this point
bf = _plan_commands(bf); // plan commands or skip past already planned commands
// bf now points to the first non-command buffer past the command(s)
if ((bf->block_type == BLOCK_TYPE_ALINE) && (bf->buffer_state > MP_BUFFER_PREPPED )) { // case 1i
entry_velocity = mr.r->exit_velocity; // set entry_velocity for Note 1a
}
}
// bf will always be on a non-command at this point - either a move or empty buffer
// process move
if (bf->block_type == BLOCK_TYPE_ALINE) { // do cases 1a - 1e; finish cases 1f - 1k
if (bf->buffer_state == MP_BUFFER_PREPPED) {// do 1a; finish 1f, 1j
if (bf->buffer_state == MP_BUFFER_PREPPED) {// do 1a; finish 1f, 1j, 2d, 2i
return (_plan_move(bf, entry_velocity));
} else {
// 1d, 1h: diagnostics. Can be commented out.
if ((bf->nx->block_type == BLOCK_TYPE_ALINE) && (bf->nx->buffer_state > MP_BUFFER_PREPPED )) {
__asm__("BKPT"); // illegal condition
}
// do 1b, 1c, 1e; finish 1g, 1j, 1k, 2e, 2j
return (STAT_NOOP);
return (STAT_NOOP); // do 1b, 1c, 1d, 1e; finish 1g, 1h, 1j, 1k, 2e, 2j
}
}
return (STAT_OK); // report that we planned something...