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Many many changes to get the plan bound to a canonical machine. Not working yet for motion.

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This commit is contained in:
Alden Hart
2017-01-09 13:43:41 -05:00
parent e6aca99fa8
commit ddf32df2fd
12 changed files with 296 additions and 237 deletions
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g2core/plan_exec.cpp
+6 -6
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@@ -564,7 +564,7 @@ stat_t mp_exec_aline(mpBuf_t *bf)
mp_free_run_buffer();
}
mp_replan_queue(mp_get_r(ACTIVE_Q)); // make it replan all the blocks
mp_replan_queue(mp_get_r()); // make it replan all the blocks
// mp_replan_queue(mb.r); // make it replan all the blocks
return (STAT_OK);
@@ -654,7 +654,7 @@ stat_t mp_exec_aline(mpBuf_t *bf)
} else {
mr.block_state = BLOCK_INACTIVE; // invalidate mr buffer (reset)
mr.section_state = SECTION_OFF;
mp.run_time_remaining = 0.0; // it's done, so time goes to zero
mp->run_time_remaining = 0.0; // it's done, so time goes to zero
mr.entry_velocity = mr.r->exit_velocity; // feed the old exit into the entry.
@@ -694,7 +694,7 @@ stat_t mp_plan_feedhold_move()
void mp_exit_hold_state()
{
cm->hold_state = FEEDHOLD_OFF;
if (mp_has_runnable_buffer(ACTIVE_Q)) {
if (mp_has_runnable_buffer(mp)) { //+++++
cm_set_motion_state(MOTION_RUN);
sr_request_status_report(SR_REQUEST_IMMEDIATE);
} else {
@@ -1074,9 +1074,9 @@ static stat_t _exec_aline_segment()
}
// Update the mb->run_time_remaining -- we know it's missing the current segment's time before it's loaded, that's ok.
mp.run_time_remaining -= mr.segment_time;
if (mp.run_time_remaining < 0) {
mp.run_time_remaining = 0.0;
mp->run_time_remaining -= mr.segment_time;
if (mp->run_time_remaining < 0) {
mp->run_time_remaining = 0.0;
}
// Call the stepper prep function