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Checkpoint bug fix in forward planning for dwells

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This commit is contained in:
Alden Hart
2016-12-02 12:00:40 -05:00
parent 8fdb1f36dd
commit e5056174fd
5 changed files with 22 additions and 12 deletions
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g2core/config.cpp
Executable → Regular
+15 -5
View File
@@ -584,7 +584,9 @@ nvObj_t *nv_add_object(const char *token) // add an object to the body usi
nvObj_t *nv = nv_body;
for (uint8_t i=0; i<NV_BODY_LEN; i++) {
if (nv->valuetype != TYPE_EMPTY) {
if ((nv = nv->nx) == NULL) return(NULL); // not supposed to find a NULL; here for safety
if ((nv = nv->nx) == NULL) { // not supposed to find a NULL; here for safety
return(NULL);
}
continue;
}
// load the index from the token or die trying
@@ -600,7 +602,9 @@ nvObj_t *nv_add_integer(const char *token, const uint32_t value)// add an intege
nvObj_t *nv = nv_body;
for (uint8_t i=0; i<NV_BODY_LEN; i++) {
if (nv->valuetype != TYPE_EMPTY) {
if ((nv = nv->nx) == NULL) return(NULL); // not supposed to find a NULL; here for safety
if ((nv = nv->nx) == NULL) { // not supposed to find a NULL; here for safety
return(NULL);
}
continue;
}
strncpy(nv->token, token, TOKEN_LEN);
@@ -616,7 +620,9 @@ nvObj_t *nv_add_data(const char *token, const uint32_t value)// add an integer o
nvObj_t *nv = nv_body;
for (uint8_t i=0; i<NV_BODY_LEN; i++) {
if (nv->valuetype != TYPE_EMPTY) {
if ((nv = nv->nx) == NULL) return(NULL); // not supposed to find a NULL; here for safety
if ((nv = nv->nx) == NULL) { // not supposed to find a NULL; here for safety
return(NULL);
}
continue;
}
strcpy(nv->token, token);
@@ -633,7 +639,9 @@ nvObj_t *nv_add_float(const char *token, const float value) // add a float ob
nvObj_t *nv = nv_body;
for (uint8_t i=0; i<NV_BODY_LEN; i++) {
if (nv->valuetype != TYPE_EMPTY) {
if ((nv = nv->nx) == NULL) return(NULL); // not supposed to find a NULL; here for safety
if ((nv = nv->nx) == NULL) { // not supposed to find a NULL; here for safety
return(NULL);
}
continue;
}
strncpy(nv->token, token, TOKEN_LEN);
@@ -649,7 +657,9 @@ nvObj_t *nv_add_string(const char *token, const char *string) // add a string ob
nvObj_t *nv = nv_body;
for (uint8_t i=0; i<NV_BODY_LEN; i++) {
if (nv->valuetype != TYPE_EMPTY) {
if ((nv = nv->nx) == NULL) return(NULL); // not supposed to find a NULL; here for safety
if ((nv = nv->nx) == NULL) { // not supposed to find a NULL; here for safety
return(NULL);
}
continue;
}
strncpy(nv->token, token, TOKEN_LEN);
g2core/error.h
Executable → Regular
View File
g2core/gcode_parser.cpp
Executable → Regular
View File
g2core/plan_exec.cpp
+1 -1
View File
@@ -152,7 +152,7 @@ static void _init_forward_diffs(float v_0, float v_1);
static mpBuf_t *_plan_commands(mpBuf_t *bf) // plan or skip commands; return bf past last command
{
// must test for buffer state first as the buffer is only "safe" once it's >= PREPPED
while ((bf->buffer_state >= MP_BUFFER_PREPPED) && (bf->block_type == BLOCK_TYPE_COMMAND)) {
while ((bf->buffer_state >= MP_BUFFER_PREPPED) && (bf->block_type >= BLOCK_TYPE_COMMAND)) {
if (bf->buffer_state != MP_BUFFER_PLANNED) { // skip already planned buffers
bf->buffer_state = MP_BUFFER_PLANNED; // "planning" is just setting the state (for now)
}
g2core/planner.h
+6 -6
View File
@@ -180,12 +180,12 @@ typedef enum { // bf->buffer_state values in incresing orde
} bufferState;
typedef enum { // bf->block_type values
BLOCK_TYPE_NULL = 0, // null move - does a no-op
BLOCK_TYPE_ALINE, // acceleration planned line
BLOCK_TYPE_DWELL, // delay with no movement
BLOCK_TYPE_COMMAND, // general command
BLOCK_TYPE_JSON_WAIT, // general command
BLOCK_TYPE_TOOL, // T command
BLOCK_TYPE_NULL = 0, // MUST=0 null move - does a no-op
BLOCK_TYPE_ALINE = 1, // MUST=1 acceleration planned line
BLOCK_TYPE_COMMAND = 2, // MUST=2 general command
BLOCK_TYPE_DWELL, // Gcode dwell
BLOCK_TYPE_JSON_WAIT, // JSON wait command
BLOCK_TYPE_TOOL, // T command (T, not M6 tool change)
BLOCK_TYPE_SPINDLE_SPEED, // S command
BLOCK_TYPE_STOP, // program stop
BLOCK_TYPE_END // program end