motion/ecmc_plugin_grbl
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Add busy bit

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This commit is contained in:
Anders Sandstrom
2022-01-26 16:43:09 +01:00
parent 55ce426476
commit 5593772b71
10 changed files with 171 additions and 32 deletions
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55
ecmc_plugin_grbl/.vscode/settings.json vendored
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@@ -18,6 +18,59 @@
"bitset": "cpp",
"memory": "cpp",
"random": "cpp",
"future": "cpp"
"future": "cpp",
"iosfwd": "cpp",
"cctype": "cpp",
"clocale": "cpp",
"cmath": "cpp",
"csetjmp": "cpp",
"csignal": "cpp",
"cstdarg": "cpp",
"cstddef": "cpp",
"cstdio": "cpp",
"cstdlib": "cpp",
"cstring": "cpp",
"ctime": "cpp",
"cwchar": "cpp",
"cwctype": "cpp",
"atomic": "cpp",
"cfenv": "cpp",
"charconv": "cpp",
"chrono": "cpp",
"cinttypes": "cpp",
"codecvt": "cpp",
"complex": "cpp",
"condition_variable": "cpp",
"cstdint": "cpp",
"cuchar": "cpp",
"deque": "cpp",
"forward_list": "cpp",
"list": "cpp",
"unordered_map": "cpp",
"unordered_set": "cpp",
"vector": "cpp",
"exception": "cpp",
"algorithm": "cpp",
"iterator": "cpp",
"map": "cpp",
"memory_resource": "cpp",
"numeric": "cpp",
"set": "cpp",
"string": "cpp",
"string_view": "cpp",
"fstream": "cpp",
"initializer_list": "cpp",
"iomanip": "cpp",
"iostream": "cpp",
"limits": "cpp",
"mutex": "cpp",
"new": "cpp",
"scoped_allocator": "cpp",
"shared_mutex": "cpp",
"sstream": "cpp",
"stdexcept": "cpp",
"streambuf": "cpp",
"thread": "cpp",
"valarray": "cpp"
}
}

86
ecmc_plugin_grbl/ecmcGrbl.cpp
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@@ -27,7 +27,10 @@ extern "C" {
#include "grbl.h"
}
// Global vars
int enableDebugPrintouts = 0;
int stepperInterruptEnable = 0;
system_t sys;
int32_t sys_position[N_AXIS]; // Real-time machine (aka home) position vector in steps.
int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
@@ -115,7 +118,8 @@ ecmcGrbl::ecmcGrbl(char* configStr,
grblInitDone_ = 0;
cfgAutoEnableAtStart_ = 0;
autoEnableExecuted_ = 0;
timeToNextExeMs_ = 0;
timeToNextExeMs_ = 0;
writerBusy_ = 0;
grblCommandBufferIndex_ = 0;
grblCommandBuffer_.clear();
@@ -132,7 +136,7 @@ ecmcGrbl::ecmcGrbl(char* configStr,
// auto execute
if(cfgAutoStart_) {
executeCmd_ = 1;
setExecute(1);
}
// global varaible in grbl
@@ -265,7 +269,7 @@ void ecmcGrbl::doWriteWorker() {
// basically flush buffer
for(;;) {
while(serial_get_tx_buffer_count()==0) {
delay_ms(1);
delay_ms(2);
}
char c = ecmc_get_char_from_grbl_tx_buffer();
reply += c;
@@ -277,18 +281,21 @@ void ecmcGrbl::doWriteWorker() {
break;
}
}
// wait for epics state && auto enable at start
while(getEcmcEpicsIOCState()!=16 || !autoEnableExecuted_) {
delay_ms(2);
}
// GRBL ready, now we can send comamnds
for(;;) {
if( (grblCommandBuffer_.size() > grblCommandBufferIndex_) &&
getEcmcEpicsIOCState()==16 &&
autoEnableExecuted_ &&
executeCmd_) {
epicsMutexLock(grblCommandBufferMutex_);
std::string command = grblCommandBuffer_[grblCommandBufferIndex_];
if( (grblCommandBuffer_.size() > grblCommandBufferIndex_) &&
executeCmd_) {
epicsMutexLock(grblCommandBufferMutex_);
std::string command = grblCommandBuffer_[grblCommandBufferIndex_];
epicsMutexUnlock(grblCommandBufferMutex_);
// wait for grbl
while(serial_get_rx_buffer_available() <= strlen(command.c_str())+1) {
delay_ms(1);
@@ -298,8 +305,10 @@ void ecmcGrbl::doWriteWorker() {
grblCommandBufferIndex_,
command.c_str());
}
ecmc_write_command_serial(strdup(command.c_str()));
reply = "";
ecmc_write_command_serial(strdup(command.c_str()));
reply = "";
// Wait for reply!
for(;;) {
while(serial_get_tx_buffer_count()==0) {
@@ -315,6 +324,7 @@ void ecmcGrbl::doWriteWorker() {
command.c_str());
}
break;
} else if(reply.find(ECMC_PLUGIN_GRBL_GRBL_ERR_STRING) != std::string::npos) {
if(cfgDbgMode_){
printf("GRBL Reply: ERROR (command[%d] = %s)\n",
@@ -322,19 +332,38 @@ void ecmcGrbl::doWriteWorker() {
command.c_str());
}
errorCode_ = ECMC_PLUGIN_GRBL_COMMAND_ERROR_CODE;
// Stop Motion here!!
// stop motion
setExecute(0);
setReset(1);
setReset(0);
break;
} 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());
}
// system has reset
setExecute(0);
break;
} else {
// keep waiting (no break)
// keep waiting (no break)
if(cfgDbgMode_){
printf("GRBL Reply: Non protocol related: %s\n",reply.c_str());
}
}
}
}
// All rows written
//if(grblCommandBufferIndex_ == grblCommandBuffer_.size()) {
// writerBusy_ = 0;
//}
grblCommandBufferIndex_++;
}
else {
writerBusy_ = 0;
// Wait for right condition to start
delay_ms(5);
}
}
@@ -511,15 +540,20 @@ int ecmcGrbl::grblRTexecute(int ecmcError) {
return 0;
}
if((ecmcError_ == 0 && ecmcError>0) || (errorCode_>0 && errorCodeOld_ == 0)) {
if((ecmcError_ == 0 && ecmcError>0) || (errorCode_>0 && errorCodeOld_ == 0)) {
setHalt(0);
setHalt(1);
setReset(0);
setReset(1);
if(ecmcError != errorCode_) { // ecmc error the reset
if(ecmcError>0 && ecmcError_ == 0) {
setReset(0);
setReset(1);
}
}
setExecute(0);
printf("Error encountered: ecmc 0x%x, plugin 0x%x\n",ecmcError,errorCode_);
ecmcError_ = ecmcError;
errorCodeOld_ = errorCode_;
return errorCode_;
}
@@ -566,8 +600,12 @@ void ecmcGrbl::postExeAxes() {
// trigg start of g-code
int ecmcGrbl::setExecute(int exe) {
if(!exe) {
writerBusy_ = 0;
}
if(!executeCmd_ && exe) {
//
grblCommandBufferIndex_ = 0;
writerBusy_ = 1;
}
executeCmd_ = exe;
return 0;
@@ -575,7 +613,7 @@ int ecmcGrbl::setExecute(int exe) {
int ecmcGrbl::setHalt(int halt) {
if(!haltCmd_ && halt) {
//suspend with a "CMD_FEED_HOLD" command maybe?
system_set_exec_state_flag(EXEC_FEED_HOLD);
}
haltCmd_ = halt;
return 0;
@@ -583,7 +621,7 @@ int ecmcGrbl::setHalt(int halt) {
int ecmcGrbl::setResume(int resume) {
if(!resumeCmd_ && resume) {
//hepp
system_set_exec_state_flag(EXEC_CYCLE_START);
}
resumeCmd_ = resume;
return 0;
@@ -593,10 +631,14 @@ int ecmcGrbl::setReset(int reset) {
if(!resetCmd_ && reset) {
mc_reset();
}
resetCmd_ = reset;
resetCmd_ = reset;
return 0;
}
int ecmcGrbl::getBusy() {
return getEcmcEpicsIOCState()!=16 || writerBusy_ || stepperInterruptEnable;
}
// Avoid issues with std:to_string()
std::string ecmcGrbl::to_string(int value) {
std::ostringstream os;

2
ecmc_plugin_grbl/ecmcGrbl.h
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@@ -50,6 +50,7 @@ class ecmcGrbl : public asynPortDriver {
int setHalt(int halt);
int setResume(int resume);
int setReset(int reset);
int getBusy();
private:
void parseConfigStr(char *configStr);
void preExeAxes();
@@ -86,6 +87,7 @@ class ecmcGrbl : public asynPortDriver {
int autoEnableExecuted_;
int grblExeCycles_;
double timeToNextExeMs_;
bool writerBusy_;
};
#endif /* ECMC_GRBL_H_ */

7
ecmc_plugin_grbl/ecmcGrblWrap.cpp
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@@ -92,6 +92,13 @@ int setResume(int resume) {
return 0;
}
int getBusy() {
if(grbl){
return grbl->getBusy();
}
return 0;
}
int setReset(int reset) {
if(grbl){
return grbl->setReset(reset);

4
ecmc_plugin_grbl/ecmcGrblWrap.h
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@@ -54,6 +54,10 @@ int setResume(int resume);
*/
int setReset(int reset);
/** \brief get grbl busy\n
*/
int getBusy();
// Delete object
void deleteGrbl();

36
ecmc_plugin_grbl/ecmcPluginGrbl.c
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@@ -119,6 +119,12 @@ double grbl_mc_reset(double halt) {
return setReset((int)halt);
}
// Plc function for reset grbl
double grbl_get_busy() {
return getBusy();
}
// Register data for plugin so ecmc know what to use
struct ecmcPluginData pluginDataDef = {
// Allways use ECMC_PLUG_VERSION_MAGIC
@@ -173,7 +179,7 @@ struct ecmcPluginData pluginDataDef = {
.funcGenericObj = NULL,
},
.funcs[1] =
{ /*----can_connect----*/
{ /*----grbl_mc_halt----*/
// Function name (this is the name you use in ecmc plc-code)
.funcName = "grbl_mc_halt",
// Function description
@@ -219,7 +225,7 @@ struct ecmcPluginData pluginDataDef = {
.funcGenericObj = NULL,
},
.funcs[3] =
{ /*----can_connect----*/
{ /*----grbl_mc_reset----*/
// Function name (this is the name you use in ecmc plc-code)
.funcName = "grbl_mc_reset",
// Function description
@@ -241,7 +247,31 @@ struct ecmcPluginData pluginDataDef = {
.funcArg10 = NULL,
.funcGenericObj = NULL,
},
.funcs[4] = {0}, // last element set all to zero..
.funcs[4] =
{ /*----can_connect----*/
// Function name (this is the name you use in ecmc plc-code)
.funcName = "grbl_get_busy",
// Function description
.funcDesc = "double grbl_get_busy() : Get grbl system busy",
/**
* 7 different prototypes allowed (only doubles since reg in plc).
* Only funcArg${argCount} func shall be assigned the rest set to NULL.
**/
.funcArg0 = grbl_get_busy,
.funcArg1 = NULL,
.funcArg2 = NULL,
.funcArg3 = NULL,
.funcArg4 = NULL,
.funcArg5 = NULL,
.funcArg6 = NULL,
.funcArg7 = NULL,
.funcArg8 = NULL,
.funcArg9 = NULL,
.funcArg10 = NULL,
.funcGenericObj = NULL,
},
.funcs[5] = {0}, // last element set all to zero..
// PLC consts
.consts[0] = {0}, // last element set all to zero..
};

2
grbl/grbl_stepper.c
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@@ -181,8 +181,6 @@ typedef struct {
} st_prep_t;
static st_prep_t prep;
static bool stepperInterruptEnable = 0;
/* BLOCK VELOCITY PROFILE DEFINITION
__________________________

1
grbl/grbl_system.h
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@@ -152,6 +152,7 @@ extern system_t sys;
// NOTE: These position variables may need to be declared as volatiles, if problems arise.
extern int enableDebugPrintouts;
extern int stepperInterruptEnable;
extern int32_t sys_position[N_AXIS]; // Real-time machine (aka home) position vector in steps.
extern int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.

2
iocsh/plc/grbl.plc Normal file
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@@ -0,0 +1,2 @@
println('GRBL busy:', grbl_get_busy());

8
iocsh/test.script
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@@ -67,10 +67,10 @@ epicsEnvUnset(ECMC_PLUGIN_CONFIG)
ecmcGrblAddCommand("G1X20Y20F180");
ecmcGrblAddCommand("G2X0Y0R20");
ecmcGrblAddCommand("G0X10Y10");
ecmcGrblAddCommand("G2X0adadsdY0R20");
ecmcGrblAddCommand("G1X0Y0");
#ecmcGrblAddCommand("G0X10Y10");
#ecmcGrblAddCommand("G1X0Y0");
#ecmcGrblAddCommand("G2X0adadsdY0R20");
#ecmcGrblAddCommand("G1X0Y20");
#ecmcGrblAddCommand("G1X10Y0F360");
#ecmcGrblAddCommand("G4P1");
@@ -79,7 +79,7 @@ ecmcGrblAddCommand("G1X0Y0");
##############################################################################
## PLC 0
# $(SCRIPTEXEC) $(ecmccfg_DIR)loadPLCFile.cmd, "PLC_ID=0, SAMPLE_RATE_MS=1000,FILE=./plc/can.plc")
$(SCRIPTEXEC) $(ecmccfg_DIR)loadPLCFile.cmd, "PLC_ID=0, SAMPLE_RATE_MS=100,FILE=./plc/grbl.plc")
##############################################################################
############# Configure diagnostics: