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Stubbed in an explicit job kill command - instead of just treating it like an alarm.

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Alden Hart
2017-03-03 07:17:56 -05:00
parent d2b27a014f
commit f9dc7e6942
5 changed files with 28 additions and 4 deletions
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g2core/plan_exec.cpp
+8 -1
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@@ -240,6 +240,13 @@ stat_t mp_exec_move()
{
mpBuf_t *bf;
// It is possible to try to try to exec from a priming planner if coming off a hold
// This occurs if new p1 commands (and were held back) arrived while in a hold
// if (mp->planner_state <= PLANNER_PRIMING) {
// st_prep_null();
// return (STAT_NOOP);
// }
// Run an out of band dwell. It was probably set in the previous st_load_move()
if (mr->out_of_band_dwell_flag) {
mr->out_of_band_dwell_flag = false;
@@ -258,7 +265,7 @@ stat_t mp_exec_move()
// first-time operations
if (bf->buffer_state != MP_BUFFER_RUNNING) {
if ((bf->buffer_state < MP_BUFFER_PREPPED) && (cm->motion_state == MOTION_RUN)) {
debug_trap("mp_exec_move() buffer is not prepped. Starvation"); // IMPORTANT: can't rpt_exception from here!
// debug_trap("mp_exec_move() buffer is not prepped. Starvation"); // IMPORTANT: can't rpt_exception from here!
st_prep_null();
return (STAT_NOOP);
}