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Removed {switch} and {return} commands

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Alden Hart
2017-01-13 09:00:33 -05:00
parent 7a0ea7d28a
commit dee29211d3
3 changed files with 36 additions and 50 deletions
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g2core/canonical_machine.cpp
+27 -37
View File
@@ -1777,7 +1777,7 @@ stat_t cm_mto_control(const float P_word, const bool P_flag) // M50.1
operations from within the secondary context.
Oddities of the general solution:
- Should we allow a feedhold to be peformed if the tool is not moving?
- Should we allow a feedhold to be performed if the tool is not moving?
Right now we don't, but with the secondary context this might be useful
What you see here is a Q&D to only allow feedholds from the primary context.
@@ -1801,7 +1801,11 @@ void cm_request_feedhold(void)
return;
}
// only generate request if not already in a feedhold and the machine is in motion
if ((cm1.hold_state == FEEDHOLD_OFF) && (cm1.motion_state != MOTION_STOP)) {
// if ((cm1.hold_state == FEEDHOLD_OFF) && (cm1.motion_state != MOTION_STOP)) {
// only generate request if not already in a feedhold
// It's OK if the machine is stopped - this just enters the feedhold context
if (cm1.hold_state == FEEDHOLD_OFF) {
cm1.hold_state = FEEDHOLD_REQUESTED;
}
}
@@ -1834,7 +1838,7 @@ stat_t cm_feedhold_sequencing_callback()
}
if (cm1.hold_state == FEEDHOLD_FINALIZING) {
cm1.hold_state = FEEDHOLD_HOLD;
cm_switch_to_hold(); // perform Z lift, spindle & coolant operations
cm_switch_to_hold_context(); // perform Z lift, spindle & coolant operations
}
if (cm1.queue_flush_state == FLUSH_REQUESTED) {
cm_queue_flush(); // queue flush won't run until runtime is idle
@@ -1860,8 +1864,6 @@ bool cm_has_hold()
void cm_start_hold()
{
if (mp_has_runnable_buffer(mp)) { //+++++ // meaning there's something running
// cm_spindle_optional_pause(spindle.pause_on_hold); // pause if this option is selected
// cm_coolant_optional_pause(coolant.pause_on_hold); // pause if this option is selected
cm_set_motion_state(MOTION_HOLD);
cm->hold_state = FEEDHOLD_SYNC; // invokes hold from aline execution
}
@@ -1871,39 +1873,18 @@ void cm_end_hold()
{
if (cm1.hold_state == FEEDHOLD_HOLD) {
cm1.end_hold_requested = false;
cm_return_from_hold();
cm_return_from_hold_context();
}
}
/*
* cm_switch_to_hold() - switch canonical machine to secondary machine
* cm_return_from_hold() - return secondary canoncial machine to primary machine
* cm_switch_to_hold_context() - switch to secondary machine context
*
* Doing a Switch is only safe when the machine has completely stopped during a feedhold
* Switch works to switch from the primary planer to the secondary planner
* Use Return to return to the primary planner
* Moving between contexts is only safe when the machine is completely stopped
* either during a feedhold or when idle.
*/
stat_t cm_switch(nvObj_t *nv)
{
stat_t status = cm_switch_to_hold();
if (status != STAT_OK) {
nv->valuetype = TYPE_NULL;
}
return (status);
}
stat_t cm_return(nvObj_t *nv)
{
stat_t status = cm_return_from_hold();
cm_end_hold();
if (status != STAT_OK) {
nv->valuetype = TYPE_NULL;
}
return (status);
}
stat_t cm_switch_to_hold()
stat_t cm_switch_to_hold_context()
{
// Must be in the primary CM and fully stopped in a hold
if ((cm != &cm1) || (cm->hold_state != FEEDHOLD_HOLD)) {
@@ -1957,13 +1938,22 @@ stat_t cm_switch_to_hold()
return (STAT_OK);
}
/*
* cm_return_from_hold_context() - initiate return from secondary context
* cm_return_from_hold_callback() - main loop callback to finsh return once moves are done
* _planner_done_callback() - callback to sync to end of planner operations
*
* Moving between contexts is only safe when the machine is completely stopped
* either during a feedhold or when idle.
*/
// Callback to run at when the G30 return move is finished
static void _return_move_callback(float* vect, bool* flag)
static void _planner_done_callback(float* vect, bool* flag)
{
cm2.waiting_for_motion_end = false;
cm2.waiting_for_planner_done = false;
}
stat_t cm_return_from_hold() // LATER: if value == true return with offset corrections
stat_t cm_return_from_hold_context() // LATER: if value == true return with offset corrections
{
// Must be in the secondary CM and fully stopped
if ((cm != &cm2) || (cm->motion_state != MOTION_STOP)) {
@@ -1984,8 +1974,8 @@ stat_t cm_return_from_hold() // LATER: if value == true return with offset c
float target[] = { 0,0,0,0,0,0 }; // LATER: Make this move return through XY, then Z
bool flags[] = { 0,0,0,0,0,0 };
cm_goto_g30_position(target, flags); // initiate a return move
cm->waiting_for_motion_end = true; // indicates running the final G30 move in the secondary
mp_queue_command(_return_move_callback, nullptr, nullptr);
cm->waiting_for_planner_done = true; // indicates running the final G30 move in the secondary
mp_queue_command(_planner_done_callback, nullptr, nullptr);
cm_select = CM_SECONDARY_RETURN;
return (STAT_OK);
@@ -1997,7 +1987,7 @@ stat_t cm_return_from_hold_callback()
if (cm_select != CM_SECONDARY_RETURN) { // exit if not in secondary planner
return (STAT_NOOP);
}
if (cm->waiting_for_motion_end) { // sync to planner move ends (via _return_move_callback)
if (cm->waiting_for_planner_done) { // sync to planner move ends (via _return_move_callback)
return (STAT_EAGAIN);
}
g2core/canonical_machine.h
+7 -11
View File
@@ -257,7 +257,7 @@ typedef struct cmMachine { // struct to manage canonical machin
cmSafetyState safety_interlock_state; // safety interlock state
uint32_t esc_boot_timer; // timer for Electronic Speed Control (Spindle electronics) to boot
bool waiting_for_motion_end; // set true during a return-to-primary planner operation (G30 is completing)
bool waiting_for_planner_done; // cm_return_from_hold_context() uses this to tell when secondary planner finished
bool end_hold_requested; // request restart after feedhold
bool deferred_write_flag; // G10 data has changed (e.g. offsets) - flag to persist them
uint8_t limit_requested; // set non-zero to request limit switch processing (value is input number)
@@ -433,28 +433,24 @@ stat_t cm_mfo_control(const float P_word, const bool P_flag); // M50
stat_t cm_mto_control(const float P_word, const bool P_flag); // M50.1
// See spindle.cpp for cm_sso_control() // M51
// Program Functions (4.3.10)
// Feedhold and related functions
void cm_request_feedhold(void);
void cm_request_end_hold(void);
void cm_request_queue_flush(void);
void cm_request_end_queue_flush(void);
stat_t cm_feedhold_sequencing_callback(void); // process feedhold, cycle start and queue flush requests
stat_t cm_return_callback(void); // return from secondary planner
// Feedhold and related functions
bool cm_has_hold(void);
void cm_start_hold(void);
void cm_end_hold(void);
stat_t cm_switch_to_hold_context(void); // move to secondary planner for in-hold actions
stat_t cm_return_from_hold_context(void); // return to primary planner
stat_t cm_return_from_hold_callback(void); // main loop callback for synchronization
void cm_queue_flush(void); // flush serial and planner queues with coordinate resets
void cm_end_queue_flush(void);
stat_t cm_switch(nvObj_t *nv);
stat_t cm_return(nvObj_t *nv);
stat_t cm_switch_to_hold(void);
stat_t cm_return_from_hold(void);
stat_t cm_return_from_hold_callback(void);
// Program Functions (4.3.10)
void cm_cycle_start(void); // (no Gcode)
void cm_cycle_end(void); // (no Gcode)
void cm_canned_cycle_end(void); // end of canned cycle
g2core/config_app.cpp
+2 -2
View File
@@ -906,8 +906,8 @@ const cfgItem_t cfgArray[] = {
{ "", "tram", _f0,0, cm_print_tram,cm_get_tram,cm_set_tram,(float *)&cs.null, 0 }, // SET to attempt setting rotation matrix from probes
{ "", "defa",_f0, 0, tx_print_nul, help_defa,set_defaults,(float *)&cs.null,0 }, // set/print defaults / help screen
{ "", "flash",_f0,0, tx_print_nul, help_flash,hw_flash, (float *)&cs.null,0 },
{ "", "switch",_f0,0, tx_print_nul, get_nul, cm_switch, (float *)&cs.null,0 },
{ "", "return",_f0,0, tx_print_nul, get_nul, cm_return, (float *)&cs.null,0 },
// { "", "switch",_f0,0, tx_print_nul, get_nul, cm_switch, (float *)&cs.null,0 },
// { "", "return",_f0,0, tx_print_nul, get_nul, cm_return, (float *)&cs.null,0 },
#ifdef __HELP_SCREENS
{ "", "help",_f0, 0, tx_print_nul, help_config, set_nul, (float *)&cs.null,0 }, // prints config help screen