From c5a969775ca39391adab3027d117e1e327cb0080 Mon Sep 17 00:00:00 2001
From: Alden Hart <alden08@harts.org>
Date: Sat, 11 Mar 2017 08:55:50 -0500
Subject: [PATCH] Removed MOTION_HOLD state

---
 g2core/canonical_machine.cpp | 11 ++++++-----
 g2core/canonical_machine.h   |  4 ++--
 g2core/cycle_feedhold.cpp    |  6 +++---
 g2core/plan_exec.cpp         | 10 ++++++----
 4 files changed, 17 insertions(+), 14 deletions(-)

diff --git a/g2core/canonical_machine.cpp b/g2core/canonical_machine.cpp
index 082fd591..187bb52e 100644
--- a/g2core/canonical_machine.cpp
+++ b/g2core/canonical_machine.cpp
@@ -259,12 +259,13 @@ stat_t canonical_machine_test_assertions(cmMachine_t *_cm)
 void cm_set_motion_state(const cmMotionState motion_state)
 {
     cm->motion_state = motion_state;
+    ACTIVE_MODEL = (motion_state ? MODEL : RUNTIME);
 
-    switch (motion_state) {
-        case (MOTION_STOP): { ACTIVE_MODEL = MODEL; break; }
-        case (MOTION_RUN):  { ACTIVE_MODEL = RUNTIME; break; }
-        case (MOTION_HOLD): { ACTIVE_MODEL = RUNTIME; break; }
-    }
+//    switch (motion_state) {
+//        case (MOTION_STOP): { ACTIVE_MODEL = MODEL; break; }
+//        case (MOTION_RUN):  { ACTIVE_MODEL = RUNTIME; break; }
+//        case (MOTION_HOLD): { ACTIVE_MODEL = RUNTIME; break; }
+//    }
 }
 
 /*
diff --git a/g2core/canonical_machine.h b/g2core/canonical_machine.h
index aeccc690..fb8a181a 100644
--- a/g2core/canonical_machine.h
+++ b/g2core/canonical_machine.h
@@ -95,8 +95,8 @@ typedef enum {                  // Note: MachineState signals if the machine is
 
 typedef enum {
     MOTION_STOP = 0,            // motion has stopped: set when the steppers reach the end of the planner queue
-    MOTION_RUN,                 // machine is in motion: set when the steppers execute an ALINE segment
-    MOTION_HOLD                 // feedhold in progress: set whenever we leave FEEDHOLD_OFF, unset whenever we enter FEEDHOLD_OFF
+    MOTION_RUN                  // machine is in motion: set when the steppers execute an ALINE segment
+//    MOTION_HOLD                 // feedhold in progress: set whenever we leave FEEDHOLD_OFF, unset whenever we enter FEEDHOLD_OFF
 } cmMotionState;
 
 typedef enum {
diff --git a/g2core/cycle_feedhold.cpp b/g2core/cycle_feedhold.cpp
index 6a2f8f5a..3a714b9f 100644
--- a/g2core/cycle_feedhold.cpp
+++ b/g2core/cycle_feedhold.cpp
@@ -428,7 +428,7 @@ void cm_start_hold()
 {
     // Can only request a feedhold if the machine is in motion and there not one is not already in progress
     if ((cm1.hold_state == FEEDHOLD_OFF) && (mp_has_runnable_buffer(mp))) {
-        cm_set_motion_state(MOTION_HOLD);
+//        cm_set_motion_state(MOTION_HOLD);
         cm1.hold_state = FEEDHOLD_SYNC;   // invokes hold from aline execution
     }
 }
@@ -463,7 +463,7 @@ stat_t cm_feedhold_sequencing_callback()
     // invoking a p1 feedhold is a 2 step process - get to the stop, then execute the hold actions
     if (cm1.hold_state == FEEDHOLD_INITIATED) {
         if (mp_has_runnable_buffer(&mp1)) {         // bypass cm_start_hold() to start from here
-            cm_set_motion_state(MOTION_HOLD);
+//            cm_set_motion_state(MOTION_HOLD);
             cm1.hold_state = FEEDHOLD_SYNC;         // invokes hold from aline execution
         }
     }
@@ -474,7 +474,7 @@ stat_t cm_feedhold_sequencing_callback()
     // p2 feedhold states - feedhold in feedhold
     if (cm2.hold_state == FEEDHOLD_INITIATED) {
         if (mp_has_runnable_buffer(&mp2)) {
-            cm_set_motion_state(MOTION_HOLD);
+//            cm_set_motion_state(MOTION_HOLD);
             cm2.hold_state = FEEDHOLD_SYNC;
         }
     }
diff --git a/g2core/plan_exec.cpp b/g2core/plan_exec.cpp
index c6ba70d7..1bdea124 100644
--- a/g2core/plan_exec.cpp
+++ b/g2core/plan_exec.cpp
@@ -307,8 +307,8 @@ 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) {
+//        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
         }
     }
@@ -486,7 +486,8 @@ stat_t mp_exec_aline(mpBuf_t *bf)
     // Feed Override Processing - We need to handle the following cases (listed in rough sequence order):
 
     // Feedhold Processing - We need to handle the following cases (listed in rough sequence order):
-    if (cm->motion_state == MOTION_HOLD) {
+//    if (cm->motion_state == MOTION_HOLD) {
+    if (cm->hold_state != FEEDHOLD_OFF) {
         // 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
@@ -899,7 +900,8 @@ static stat_t _exec_aline_segment()
     // Otherwise if not at a section waypoint compute target from segment time and velocity
     // Don't do waypoint correction if you are going into a hold.
 
-    if ((--mr->segment_count == 0) && (cm->motion_state != MOTION_HOLD)) {
+//    if ((--mr->segment_count == 0) && (cm->motion_state != MOTION_HOLD)) {
+    if ((--mr->segment_count == 0) && (cm->hold_state == FEEDHOLD_OFF)) {
         copy_vector(mr->gm.target, mr->waypoint[mr->section]);
     } else {
         float segment_length = mr->segment_velocity * mr->segment_time;