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This commit is contained in:
Alden Hart
2017-02-24 15:53:43 -05:00
parent 166bf26e9a
commit fcaad6b524
3 changed files with 64 additions and 102 deletions
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g2core/plan_exec.cpp
+4 -28
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@@ -44,7 +44,7 @@ static stat_t _exec_aline_body(mpBuf_t *bf); // passing bf so that body can exte
static stat_t _exec_aline_tail(mpBuf_t *bf);
static stat_t _exec_aline_segment(void);
static void _exec_aline_normalize_block(mpBlockRuntimeBuf_t *b);
static stat_t _exec_aline_feedhold_processing(mpBuf_t *bf);
static stat_t _exec_aline_feedhold(mpBuf_t *bf);
static void _init_forward_diffs(float v_0, float v_1);
@@ -466,7 +466,7 @@ stat_t mp_exec_aline(mpBuf_t *bf)
if (cm->hold_state >= FEEDHOLD_ACTIONS_START) { // handles _exec_aline_feedhold_processing case (7)
return (STAT_NOOP); // VERY IMPORTANT to exit as a NOOP. No more movement
}
if (_exec_aline_feedhold_processing(bf) == STAT_OK) {
if (_exec_aline_feedhold(bf) == STAT_OK) {
return (STAT_OK); // STAT_OK terminates aline execution for this move
}
}
@@ -975,7 +975,7 @@ static void _exec_aline_normalize_block(mpBlockRuntimeBuf_t *b)
}
/*********************************************************************************************
* _exec_aline_feedhold_processing() - feedhold helper for mp_exec_aline()
* _exec_aline_feedhold() - feedhold helper for mp_exec_aline()
*
* This function performs the bulk of the feedhold state machine processing from within
* mp_exec_aline(). There is also a little chunk labeled "Feedhold Case (3-continued)".
@@ -984,33 +984,9 @@ static void _exec_aline_normalize_block(mpBlockRuntimeBuf_t *b)
*
* Returning STAT_OK ends the move. (i.e. returns STAT_OK from mp_exec_aline())
* Returning STAT_EAGAIN allows mp_exec_aline() to continue execution
*
* Feedhold Processing - We need to handle the following cases (listed in rough sequence order):
* (1) - Feedhold arrives while we are in the middle executing of a block
* (1a) - The block is currently accelerating - wait for the end of acceleration
* (1b) - The block is in a body - start deceleration
* (1b1) - The deceleration fits into the current block
* (1b2) - The deceleration does not fit and needs to continue in the next block
* (1c) - The block is in a head, but has not started execution yet - start deceleration
* (1c1) - The deceleration fits into the current block
* (1c2) - The deceleration does not fit and needs to continue in the next block
* (1d) - The block is currently in the tail - wait until the end of the block
* (1e) - We have a new block and a new feedhold request that arrived at EXACTLY the same time
* (unlikely, but handled as 1c).
* (2) - The block has decelerated to some velocity > zero, so needs continuation into next block
* (3) - The block has decelerated to zero velocity
* (3a) - The end of deceleration is detected (inline in mp_exec_aline())
* (3b) - The end of deceleration is signeled and transitioned
* (4) - We have finished all the runtime work now we have to wait for the motors to stop
* (4a) - It's a homing or probing feedhold - ditch the remaining buffer & go directly to OFF
* (4b) - It's a p2 feedhold - ditch the remaining buffer & signal we want a p2 queue flush
* (4c) - It's a normal feedhold - signal we want the p2 entry actions to execute
* (5) - The steppers have stopped. No motion should occur. Allows hold actions to complete
* (6) - Removing the hold state and there is queued motion - see cycle_feedhold.cpp
* (7) - Removing the hold state and there is no queued motion - see cycle_feedhold.cpp
*/
static stat_t _exec_aline_feedhold_processing(mpBuf_t *bf)
static stat_t _exec_aline_feedhold(mpBuf_t *bf)
{
// Case (4) - Wait for the steppers to stop
if (cm->hold_state == FEEDHOLD_MOTORS_STOPPING) {