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Checkpoint. Running 2 planners. Passes (most) regressions; separated Gcode inits from CM inits; added CM dependency injection to arc commands

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Alden Hart
2017-01-10 12:36:33 -05:00
parent 53d8af3b9f
commit cb0ab6c787
10 changed files with 174 additions and 225 deletions
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g2core/plan_arc.cpp
+16 -16
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@@ -2,7 +2,7 @@
* plan_arc.c - arc planning and motion execution
* This file is part of the g2core project
*
* Copyright (c) 2010 - 2016 Alden S. Hart, Jr.
* Copyright (c) 2010 - 2017 Alden S. Hart, Jr.
*
* This file ("the software") is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License, version 2 as published by the
@@ -47,10 +47,10 @@ static stat_t _test_arc_soft_limits(void);
/*
* cm_arc_init() - initialize arc structures
*/
void cm_arc_init()
void cm_arc_init(cmMachine_t *_cm)
{
cm->arc.magic_start = MAGICNUM;
cm->arc.magic_end = MAGICNUM;
_cm->arc.magic_start = MAGICNUM;
_cm->arc.magic_end = MAGICNUM;
}
/*
@@ -59,9 +59,9 @@ void cm_arc_init()
* OK to call if no arc is running
*/
void cm_abort_arc()
void cm_abort_arc(cmMachine_t *_cm)
{
cm->arc.run_state = BLOCK_INACTIVE;
_cm->arc.run_state = BLOCK_INACTIVE;
}
/*
@@ -73,26 +73,26 @@ void cm_abort_arc()
* Parts of this routine were informed by the grbl project.
*/
stat_t cm_arc_callback()
stat_t cm_arc_callback(cmMachine_t *_cm)
{
if (cm->arc.run_state == BLOCK_INACTIVE) {
if (_cm->arc.run_state == BLOCK_INACTIVE) {
return (STAT_NOOP);
}
if (mp_planner_is_full(mp)) { //+++++
return (STAT_EAGAIN);
}
cm->arc.theta += cm->arc.segment_theta;
cm->arc.gm.target[cm->arc.plane_axis_0] = cm->arc.center_0 + sin(cm->arc.theta) * cm->arc.radius;
cm->arc.gm.target[cm->arc.plane_axis_1] = cm->arc.center_1 + cos(cm->arc.theta) * cm->arc.radius;
cm->arc.gm.target[cm->arc.linear_axis] += cm->arc.segment_linear_travel;
_cm->arc.theta += _cm->arc.segment_theta;
_cm->arc.gm.target[_cm->arc.plane_axis_0] = _cm->arc.center_0 + sin(_cm->arc.theta) * _cm->arc.radius;
_cm->arc.gm.target[_cm->arc.plane_axis_1] = _cm->arc.center_1 + cos(_cm->arc.theta) * _cm->arc.radius;
_cm->arc.gm.target[_cm->arc.linear_axis] += _cm->arc.segment_linear_travel;
mp_aline(&(cm->arc.gm)); // run the line
copy_vector(cm->arc.position, cm->arc.gm.target); // update arc current position
mp_aline(&(_cm->arc.gm)); // run the line
copy_vector(_cm->arc.position, _cm->arc.gm.target); // update arc current position
if (--(cm->arc.segment_count) > 0) {
if (--(_cm->arc.segment_count) > 0) {
return (STAT_EAGAIN);
}
cm->arc.run_state = BLOCK_INACTIVE;
_cm->arc.run_state = BLOCK_INACTIVE;
return (STAT_OK);
}