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Catch case where in FEEDHOLD_SYNC and no more moves to clear it

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Fixes #75
This commit is contained in:
Rob Giseburt
2020-01-10 19:25:12 -06:00
parent 1bdbf5cc06
commit 905a3692a2
1 changed files with 12 additions and 8 deletions
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g2core/planner.cpp
+12 -8
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@@ -593,15 +593,19 @@ bool mp_is_phat_city_time()
stat_t mp_planner_callback()
{
// Edgge case: If there's no runnable buffer, FEEDHOLD_SYNC will never exit
if (cm->hold_state == FEEDHOLD_SYNC && cm->cycle_type == CYCLE_NONE) {
cm->hold_state = FEEDHOLD_MOTION_STOPPED;
}
// Test if the planner has transitioned to an IDLE state
if ((mp_get_planner_buffers(mp) == mp->q.queue_size) && // detect and set IDLE state
(cm->motion_state == MOTION_STOP) && (cm->hold_state == FEEDHOLD_OFF)) {
mp->planner_state = PLANNER_IDLE;
return (STAT_OK);
if (mp_get_planner_buffers(mp) == mp->q.queue_size) {
// Edgge case: If there's no runnable buffer, FEEDHOLD_SYNC will never exit
if (cm->hold_state == FEEDHOLD_SYNC) {
cm->hold_state = FEEDHOLD_MOTION_STOPPED;
}
// detect and set IDLE state
if ((cm->motion_state == MOTION_STOP) && (cm->hold_state == FEEDHOLD_OFF)) {
mp->planner_state = PLANNER_IDLE;
return (STAT_OK);
}
}
bool _timed_out = mp->block_timeout.isPast();