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Renaming and commenting - no functional changes

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Alden Hart
2017-03-04 10:07:18 -05:00
parent 4bd5435a2a
commit b68782a5d1
3 changed files with 25 additions and 28 deletions
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g2core/plan_exec.cpp
+7 -6
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@@ -480,9 +480,9 @@ stat_t mp_exec_aline(mpBuf_t *bf)
// Feedhold Processing - We need to handle the following cases (listed in rough sequence order):
if (cm->motion_state == MOTION_HOLD) {
// if FEEDHOLD_ACTIONS_START, FEEDHOLD_ACTIONS_WAIT, FEEDHOLD HOLD or FEEDHOLD_P2_EXIT
if (cm->hold_state >= FEEDHOLD_ACTIONS_START) { // handles _exec_aline_feedhold_processing case (7)
return (STAT_NOOP); // VERY IMPORTANT to exit as a NOOP. Do not load another move
// if FEEDHOLD_P2_START, FEEDHOLD_P2_WAIT, FEEDHOLD HOLD or FEEDHOLD_P2_EXIT
if (cm->hold_state >= FEEDHOLD_P2_START) { // handles _exec_aline_feedhold_processing case (7)
return (STAT_NOOP); // VERY IMPORTANT to exit as a NOOP. Do not load another move
}
// STAT_OK terminates aline execution for this move
// STAT_NOOP terminates execution and does not load another move
@@ -517,7 +517,7 @@ stat_t mp_exec_aline(mpBuf_t *bf)
bf->plannable = false;
}
// Feedhold Case (3b): Look for the end of the deceleration to transition HOLD states
// Feedhold Case (3): Look for the end of the deceleration to transition HOLD states
// This code sets states used by _exec_feedhold_processing() helper.
if (cm->hold_state == FEEDHOLD_DECEL_TO_ZERO) {
if ((status == STAT_OK) || (status == STAT_NOOP)) {
@@ -1050,7 +1050,7 @@ static stat_t _exec_aline_feedhold(mpBuf_t *bf)
st_request_forward_plan(); // replan the current bf buffer
// Set state to enable transition to p2 and perform entry actions in the p2 planner
cm->hold_state = FEEDHOLD_ACTIONS_START; // executes entirely out of p2 planner
cm->hold_state = FEEDHOLD_P2_START; // executes entirely out of p2 planner
}
sr_request_status_report(SR_REQUEST_IMMEDIATE);
@@ -1059,8 +1059,9 @@ static stat_t _exec_aline_feedhold(mpBuf_t *bf)
return (STAT_NOOP); // hold here. leave with a NOOP so it does not attempt another load and exec.
}
// Case (3b) - Decelerated to zero. See also Feedhold Case (3a) in mp_exec_aline()
// Case (3') - Decelerated to zero. See also Feedhold Case (3) in mp_exec_aline()
// Update the run buffer then force a replan of the whole planner queue. Replans from zero velocity
// This state might not appear necessary, but it is to handle closely packed !~ and other cases
if (cm->hold_state == FEEDHOLD_DECEL_COMPLETE) {
cm->hold_state = FEEDHOLD_MOTORS_STOPPING; // wait for the motors to come to a complete stop
return (STAT_OK); // exit from mp_exec_aline()