motion/ecmc_plugin_grbl
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Allow also start when epics state is 29

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This commit is contained in:
Anders Sandstrom
2023-03-08 10:53:31 +01:00
parent 9e373084b0
commit 5a7616d26f
4 changed files with 21 additions and 21 deletions
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14
ecmc_plugin_grbl/ecmcGrbl.cpp
View File

@@ -263,7 +263,7 @@ void ecmcGrbl::doWriteWorker() {
printf("GRBL: INFO: Wait for IOC state RUN \n");
}
// wait for epics state
while(getEcmcEpicsIOCState()!=16) {
while(getEcmcEpicsIOCState()!=16 && getEcmcEpicsIOCState()!=29) {
delay_ms(2);
}
delay_ms(2);
@@ -391,7 +391,7 @@ bool ecmcGrbl::WriteGCodeSuccess() {
setReset(0);
setReset(1);
setReset(0);
printf("SOMETHING BAD HAPPEND!!!!\n");
printf("GRBL: ERROR: Grbl reply not OK (motion stopped)\n");
grblCommandBufferIndex_ = 0;
return false; // for loop
}
@@ -399,7 +399,7 @@ bool ecmcGrbl::WriteGCodeSuccess() {
grblCommandBufferIndex_++;
}
else {
printf("NO MORE COMMANDS in buffer!!!\n");
printf("GRBL: INFO: No more commands in buffer!!!\n");
if( ( (grblCommandBufferIndex_ >= grblCommandBuffer_.size()) || !executeCmd_) && grblInitDone_) {
writerBusy_ = 0;
return true; // code executed once
@@ -415,8 +415,8 @@ bool ecmcGrbl::WriteGCodeSuccess() {
void ecmcGrbl::grblWriteCommand(std::string command) {
// wait for grbl
while(serial_get_rx_buffer_available() <= strlen(command.c_str()+1)) {
printf("WAITING for freee in buffer %d %d\n",serial_get_rx_buffer_available(),strlen(command.c_str()+1));
delay_ms(1000);
//printf("WAITING for free in buffer %d %d\n",serial_get_rx_buffer_available(),strlen(command.c_str()+1));
delay_ms(10);
}
ecmc_write_command_serial(strdup(command.c_str()));
if(cfgDbgMode_){
@@ -889,7 +889,7 @@ int ecmcGrbl::getBusy() {
return getEcmcEpicsIOCState()!=16 || writerBusy_ || stepperInterruptEnable || !grblInitDone_;
}
int ecmcGrbl::getParserBusy() {
int ecmcGrbl::getParserBusy() {
return getEcmcEpicsIOCState()!=16 || writerBusy_ || !grblInitDone_;
}
@@ -987,7 +987,7 @@ void ecmcGrbl::addConfig(std::string command) {
__FILE__,__FUNCTION__,__LINE__,ECMC_PLUGIN_CONFIG_ERROR_CODE);
return;
}
commandStrip+='\n';
epicsMutexLock(grblConfigBufferMutex_);

2
grbl/grbl_gcode.c
View File

@@ -69,7 +69,7 @@ void gc_sync_position()
uint8_t gc_execute_line(char *line)
{
PRINTF_DEBUG("");
printf("gc_execute_line: %s\n",line);
//printf("gc_execute_line: %s\n",line);
if(strlen(line)<2) {
return(STATUS_OK);
}

2
grbl/grbl_protocol.c
View File

@@ -104,7 +104,7 @@ void protocol_main_loop()
report_status_message(STATUS_SYSTEM_GC_LOCK);
} else {
// Parse and execute g-code block.
printf("protocol: Line to gc_execute %s\n",line);
//printf("protocol: Line to gc_execute %s\n",line);
if(strlen(line)>1) {
report_status_message(gc_execute_line(line));

24
grbl/grbl_serial.c
View File

@@ -291,20 +291,20 @@ void ecmc_write_command_serial(char* line) {
//ecmc_add_char_to_buffer('\n');
printf("Serial Buffer tail %u head %u, avail %u\n",serial_rx_buffer_tail,serial_rx_buffer_head,serial_get_rx_buffer_available());
for(i = 0;i<RX_RING_BUFFER;i++) {
if(serial_rx_buffer[i]==0) {
printf("x");
} else if ( serial_rx_buffer[i]=='\n' || serial_rx_buffer[i]=='\r' ) {
printf("r");
} else {
printf("%c",serial_rx_buffer[i]);
}
}
printf("\n");
// printf("Serial Buffer tail %u head %u, avail %u\n",serial_rx_buffer_tail,serial_rx_buffer_head,serial_get_rx_buffer_available());
// for(i = 0;i<RX_RING_BUFFER;i++) {
// if(serial_rx_buffer[i]==0) {
// printf("x");
// } else if ( serial_rx_buffer[i]=='\n' || serial_rx_buffer[i]=='\r' ) {
// printf("r");
// } else {
// printf("%c",serial_rx_buffer[i]);
// }
// }
// printf("\n");
MUTEX_UNLOCK(serialRxBufferMutex);
//if(enableDebugPrintouts) {
printf("Added: %s\n", line);
// printf("Added: %s\n", line);
//}
free(line);
}