motion/ecmc_plugin_grbl
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This commit is contained in:
Anders Sandstrom
2022-01-27 16:16:59 +01:00
parent 4d54e03b9e
commit 35880fe838
2 changed files with 59 additions and 38 deletions
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92
ecmc_plugin_grbl/ecmcGrbl.cpp
View File

@@ -47,7 +47,7 @@ volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bit
// Start worker for socket read()
void f_worker_read(void *obj) {
if(!obj) {
printf("%s/%s:%d: Error: Worker read thread ecmcGrbl object NULL..\n",
printf("%s/%s:%d: GRBL: ERROR: Worker read thread ecmcGrbl object NULL..\n",
__FILE__, __FUNCTION__, __LINE__);
return;
}
@@ -58,7 +58,7 @@ void f_worker_read(void *obj) {
// Thread that writes commands to grbl
void f_worker_write(void *obj) {
if(!obj) {
printf("%s/%s:%d: Error: Worker read thread ecmcGrbl object NULL..\n",
printf("%s/%s:%d: GRBL: ERROR: Worker read thread ecmcGrbl object NULL..\n",
__FILE__, __FUNCTION__, __LINE__);
return;
}
@@ -69,7 +69,7 @@ void f_worker_write(void *obj) {
// Start worker for socket connect()
void f_worker_main(void *obj) {
if(!obj) {
printf("%s/%s:%d: Error: Worker main thread ecmcGrbl object NULL..\n",
printf("%s/%s:%d: GRBL: ERROR: Worker main thread ecmcGrbl object NULL..\n",
__FILE__, __FUNCTION__, __LINE__);
return;
}
@@ -127,7 +127,7 @@ ecmcGrbl::ecmcGrbl(char* configStr,
grblCommandBuffer_.clear();
if(!(grblCommandBufferMutex_ = epicsMutexCreate())) {
throw std::runtime_error("Error: Failed create mutex thread for write().");
throw std::runtime_error("GRBL: ERROR: Failed create mutex thread for write().");
}
parseConfigStr(configStr); // Assigns all configs
@@ -147,7 +147,7 @@ ecmcGrbl::ecmcGrbl(char* configStr,
//Check atleast one valid axis
if(cfgXAxisId_<0 && cfgXAxisId_<0 && cfgXAxisId_<0 && cfgSpindleAxisId_<0) {
throw std::out_of_range("No valid axis choosen.");
throw std::out_of_range("GRBL: ERROR: No valid axis choosen.");
}
//// Create worker thread for reading socket
@@ -159,20 +159,25 @@ ecmcGrbl::ecmcGrbl(char* configStr,
// Create worker thread for main grbl loop
std::string threadname = "ecmc.grbl.main";
if(epicsThreadCreate(threadname.c_str(), 0, 32768, f_worker_main, this) == NULL) {
throw std::runtime_error("Error: Failed create worker thread for main().");
throw std::runtime_error("GRBL: ERROR: Failed create worker thread for main().");
}
// Create worker thread for write socket
threadname = "ecmc.grbl.write";
if(epicsThreadCreate(threadname.c_str(), 0, 32768, f_worker_write, this) == NULL) {
throw std::runtime_error("Error: Failed create worker thread for write().");
throw std::runtime_error("GRBL: ERROR: Failed create worker thread for write().");
}
// wait for grblInitDone_!
printf("Waiting for grbl init..");
if(cfgDbgMode_) {
printf("GRBL: INFO: Waiting for grbl init..");
}
while(!grblInitDone_) {
delay_ms(100);
printf(".");
if(cfgDbgMode_) {
printf(".");
}
}
delay_ms(100);
}
@@ -279,7 +284,7 @@ void ecmcGrbl::doWriteWorker() {
if(c == '\n' &&
reply.find(ECMC_PLUGIN_GRBL_GRBL_STARTUP_STRING) != std::string::npos ) {
if(cfgDbgMode_){
printf("GRBL READY FOR COMMANDS: %s\n",reply.c_str());
printf("GRBL: INFO: Ready for commands: %s\n",reply.c_str());
}
break;
}
@@ -309,7 +314,7 @@ void ecmcGrbl::doWriteWorker() {
delay_ms(1);
}
if(cfgDbgMode_){
printf("Write command to grbl (command[%d] = %s)\n",
printf("GRBL: INFO: Write command (command[%d] = %s)\n",
grblCommandBufferIndex_,
command.c_str());
}
@@ -327,7 +332,7 @@ void ecmcGrbl::doWriteWorker() {
if(c == '\n'&& reply.length() > 1) {
if(reply.find(ECMC_PLUGIN_GRBL_GRBL_OK_STRING) != std::string::npos) {
if(cfgDbgMode_){
printf("GRBL Reply: OK (command[%d] = %s)\n",
printf("GRBL: INFO: Reply OK (command[%d] = %s)\n",
grblCommandBufferIndex_,
command.c_str());
}
@@ -335,7 +340,7 @@ void ecmcGrbl::doWriteWorker() {
} else if(reply.find(ECMC_PLUGIN_GRBL_GRBL_ERR_STRING) != std::string::npos) {
if(cfgDbgMode_){
printf("GRBL Reply: ERROR (command[%d] = %s)\n",
printf("GRBL: ERROR: Reply ERROR (command[%d] = %s)\n",
grblCommandBufferIndex_,
command.c_str());
}
@@ -348,7 +353,7 @@ void ecmcGrbl::doWriteWorker() {
} else if(reply.find(ECMC_PLUGIN_GRBL_GRBL_STARTUP_STRING) != std::string::npos ) {
if(cfgDbgMode_){
printf("GRBL READY FOR COMMANDS: %s\n",reply.c_str());
printf("GRBL: INFO: Ready for commands: %s\n",reply.c_str());
}
// system has reset
setExecute(0);
@@ -357,7 +362,7 @@ void ecmcGrbl::doWriteWorker() {
} else {
// keep waiting (no break)
if(cfgDbgMode_){
printf("GRBL Reply: Non protocol related: %s\n",reply.c_str());
printf("GRBL: INFO: Reply non protocol related: %s\n",reply.c_str());
}
}
@@ -454,7 +459,7 @@ void ecmcGrbl::doMainWorker() {
return;
}
if(cfgDbgMode_){
printf("********************after protocol_main_loop()********************************\n");
printf("GRBL: INFO: Resetting (after protocol_main_loop())...\n");
}
delay_ms(1);
}
@@ -538,9 +543,8 @@ void ecmcGrbl::checkLimits(int ecmcAxisId) {
void ecmcGrbl::giveControlToEcmcIfNeeded() {
// Give total control to ecmc at negitive edge of any limit switch
if(!limitsSummary_ && limitsSummaryOld_) {
printf("####################### ECMC IN CONTROL\n");
// Give total control to ecmc at negative edge of any limit switch
if(!limitsSummary_ && limitsSummaryOld_) {
int source = ECMC_DATA_SOURCE_INTERNAL;
if(cfgXAxisId_>=0) {
getAxisTrajSource(cfgXAxisId_,&source);
@@ -548,26 +552,36 @@ void ecmcGrbl::giveControlToEcmcIfNeeded() {
setAxisTrajSource(cfgXAxisId_,ECMC_DATA_SOURCE_INTERNAL);
}
}
if(cfgYAxisId_>=0) {
getAxisTrajSource(cfgYAxisId_,&source);
if(source == ECMC_DATA_SOURCE_EXTERNAL) {
setAxisTrajSource(cfgYAxisId_,ECMC_DATA_SOURCE_INTERNAL);
}
}
if(cfgZAxisId_>=0) {
getAxisTrajSource(cfgZAxisId_,&source);
if(source == ECMC_DATA_SOURCE_EXTERNAL) {
setAxisTrajSource(cfgZAxisId_,ECMC_DATA_SOURCE_INTERNAL);
}
}
// reset grbl
// Stop spindle
if(cfgSpindleAxisId_>=0) {
setAxisTargetVel(cfgSpindleAxisId_, 0);
}
// Halt grbl and stop motion (even though should be handled by ecmc)
setExecute(0);
setReset(0);
setHalt(0);
setHalt(1);
errorCode_ = ECMC_PLUGIN_LIMIT_SWITCH_VIOLATION_ERROR_CODE;
// Also reset for safety
autoEnableExecuted_ = 1;
cfgAutoStart_ = 0;
// Also reset for safety (avoid autoenable)
autoEnableExecuted_ = 1;
cfgAutoStart_ = 0;
cfgAutoEnableAtStart_ = 0;
}
@@ -575,18 +589,25 @@ void ecmcGrbl::giveControlToEcmcIfNeeded() {
}
void ecmcGrbl::syncAxisPositionIfNotEnabled(int ecmcAxisId, int grblAxisId) {
// sync positions when not enabled
bool sync = 0;
if(ecmcAxisId<0) {
return;
}
if(!getEcmcAxisEnabled(ecmcAxisId)) {
sys_position[grblAxisId] = (int32_t)(double(settings.steps_per_mm[grblAxisId])*getEcmcAxisActPos(ecmcAxisId));
// sync positions when not enabled
if(!getEcmcAxisEnabled(ecmcAxisId)) {
sync = 1;
}
// sync positions when ecmc is in internal mode
if(!sync) {
int source = ECMC_DATA_SOURCE_INTERNAL;
getAxisTrajSource(ecmcAxisId,&source);
if(source == ECMC_DATA_SOURCE_INTERNAL) {
sync = 1;
}
}
if(sync) {
sys_position[grblAxisId] = (int32_t)(double(settings.steps_per_mm[grblAxisId])*getEcmcAxisActPos(ecmcAxisId));
plan_sync_position();
gc_sync_position();
}
@@ -614,7 +635,7 @@ int ecmcGrbl::grblRTexecute(int ecmcError) {
}
}
setExecute(0);
printf("Error encountered: ecmc 0x%x, plugin 0x%x\n",ecmcError,errorCode_);
printf("GRBL: ERROR: ecmc 0x%x, plugin 0x%x\n",ecmcError,errorCode_);
ecmcError_ = ecmcError;
errorCodeOld_ = errorCode_;
@@ -718,7 +739,8 @@ void ecmcGrbl::addCommand(std::string command) {
grblCommandBuffer_.push_back(command.c_str());
epicsMutexUnlock(grblCommandBufferMutex_);
if(cfgDbgMode_){
printf("%s:%s:%d: Buffer size %d\n",__FILE__,__FUNCTION__,__LINE__,grblCommandBuffer_.size());
printf("%s:%s:%d:GRBL: INFO: Buffer size %d\n",
__FILE__,__FUNCTION__,__LINE__,grblCommandBuffer_.size());
}
}
void ecmcGrbl::loadFile(std::string fileName, int append) {
@@ -730,7 +752,7 @@ void ecmcGrbl::loadFile(std::string fileName, int append) {
file.open(fileName);
if (!file.good()) {
if(cfgDbgMode_){
printf("%s:%s:%d: ERROR: File not found: %s (0x%x)\n",
printf("%s:%s:%d:GRBL: ERROR: File not found: %s (0x%x)\n",
__FILE__,__FUNCTION__,__LINE__,fileName,ECMC_PLUGIN_LOAD_FILE_ERROR_CODE);
}
errorCode_ = ECMC_PLUGIN_LOAD_FILE_ERROR_CODE;

5
grbl/grbl_protocol.c
View File

@@ -75,8 +75,7 @@ void protocol_main_loop()
uint8_t c;
for (;;) {
// Process one line of incoming serial data, as the data becomes available. Performs an
// initial filtering by removing spaces and comments and capitalizing all letters.
delay_ms(1);
// initial filtering by removing spaces and comments and capitalizing all letters.
while((c = serial_read()) != SERIAL_NO_DATA) {
if ((c == '\n') || (c == '\r')) { // End of line reached
@@ -153,7 +152,7 @@ void protocol_main_loop()
}
delay_us(100);
}
delay_ms(2);
// If there are no more characters in the serial read buffer to be processed and executed,
// this indicates that g-code streaming has either filled the planner buffer or has
// completed. In either case, auto-cycle start, if enabled, any queued moves.