Add timeout for auto enable

ecmc_plugin_grbl/ecmcGrbl.cpp

@@ -125,6 +125,8 @@ ecmcGrbl::ecmcGrbl(char* configStr,
   limitsSummary_        = 0;
   limitsSummaryOld_     = 0;
   spindleAcceleration_  = 0;
+  cfgAutoEnableTimeOutSecs_ = ECMC_PLUGIN_AUTO_ENABLE_TIME_OUT_SEC;
+  autoEnableTimeOutCounter_ = 0;
   grblCommandBufferIndex_ = 0;
   grblCommandBuffer_.clear();
 
@@ -467,9 +469,26 @@ void ecmcGrbl::doMainWorker() {
   }
 }
 
+int   ecmcGrbl::setAllAxesEnable(int enable) {
+
+  if(cfgXAxisId_ >= 0) {
+     setAxisEnable(cfgXAxisId_, enable);
+  }
+  if(cfgYAxisId_ >= 0 ) {
+    setAxisEnable(cfgYAxisId_, enable);
+  }
+  if(cfgZAxisId_ >=0 ) {
+    setAxisEnable(cfgZAxisId_, enable);
+  }
+  if(cfgSpindleAxisId_ >= 0) {
+    setAxisEnable(cfgSpindleAxisId_, enable);
+  }
+  return 0;
+}
+
 void  ecmcGrbl::autoEnableAxisAtStart(int ecmcAxisId) {
   
-  if(!cfgAutoEnableAtStart_ || autoEnableExecuted_ || getEcmcEpicsIOCState()!=16) { 
+  if(!cfgAutoEnableAtStart_ || autoEnableExecuted_ || getEcmcEpicsIOCState()!=16 || errorCode_) { 
     return;
   }
   
@@ -485,7 +504,7 @@ bool  ecmcGrbl::getEcmcAxisEnabled(int ecmcAxisId) {
   return ena;
 }
 
-bool ecmcGrbl::getAllConfiguredAxisEnabled() {
+bool ecmcGrbl::getAllAxesEnabled() {
   int ena = 1;
   if(cfgXAxisId_ >= 0 && ena) {
     ena = getEcmcAxisEnabled(cfgXAxisId_);
@@ -520,8 +539,22 @@ void ecmcGrbl::preExeAxes() {
 
   //spindle
   autoEnableAxisAtStart(cfgSpindleAxisId_);
-  if(getAllConfiguredAxisEnabled()) {
+  
+  if(getAllAxesEnabled()) {
     autoEnableExecuted_ = 1;
+    autoEnableTimeOutCounter_ = 0;
+  } else {
+    if(cfgAutoEnableAtStart_) {
+      if(autoEnableTimeOutCounter_ >= cfgAutoEnableTimeOutSecs_/exeSampleTimeMs_*1000) {
+        errorCode_ = ECMC_PLUGIN_AUTO_ENABLE_TIMEOUT_ERROR_CODE;
+        if(errorCode_!=errorCodeOld_) {
+          printf("GRBL: ERROR: Auto enable timeout 0x%x\n",errorCode_);
+        }
+        setAllAxesEnable(0);
+      } else {
+        autoEnableTimeOutCounter_++;
+      }
+    }
   }
 }
 

ecmc_plugin_grbl/ecmcGrbl.h

@@ -54,7 +54,8 @@ class ecmcGrbl : public asynPortDriver {
   int                      getBusy();
   int                      getParserBusy();
   int                      getCodeRowNum();
-
+  int                      setAllAxesEnable(int enable);
+  bool                     getAllAxesEnabled();
  private:
   void                     parseConfigStr(char *configStr);
   void                     preExeAxes();
@@ -65,7 +66,6 @@ class ecmcGrbl : public asynPortDriver {
   void                     checkLimits(int ecmcAxisId);
   void                     giveControlToEcmcIfNeeded();
   bool                     getEcmcAxisEnabled(int ecmcAxisId);
-  bool                     getAllConfiguredAxisEnabled();
   double                   getEcmcAxisActPos(int axis);
   void                     syncAxisPositionIfNotEnabled(int ecmcAxisId, int grblAxisId);
   static std::string       to_string(int value);
@@ -97,6 +97,8 @@ class ecmcGrbl : public asynPortDriver {
   int                      limitsSummary_;
   int                      limitsSummaryOld_;
   double                   spindleAcceleration_;
+  int                      cfgAutoEnableTimeOutSecs_;
+  int                      autoEnableTimeOutCounter_;
 };
 
 #endif  /* ECMC_GRBL_H_ */

ecmc_plugin_grbl/ecmcGrblDefs.h

@@ -31,6 +31,9 @@
 #define ECMC_PLUGIN_LOAD_FILE_ERROR_CODE 0x103
 #define ECMC_PLUGIN_LIMIT_SWITCH_VIOLATION_ERROR_CODE 0x104
 #define ECMC_PLUGIN_SPINDLE_ACC_ERROR_CODE 0x105
+#define ECMC_PLUGIN_AUTO_ENABLE_TIMEOUT_ERROR_CODE 0x106
+
+#define ECMC_PLUGIN_AUTO_ENABLE_TIME_OUT_SEC 5 
 
 #define ECMC_PLUGIN_GRBL_GRBL_STARTUP_STRING "for help]"
 #define ECMC_PLUGIN_GRBL_GRBL_OK_STRING "ok"

iocsh/test.script

@@ -82,7 +82,7 @@ epicsEnvSet("PLUGIN_VER" ,"develop")
 require ecmc_plugin_grbl $(PLUGIN_VER)
 
 epicsEnvSet(ECMC_PLUGIN_FILNAME,"/home/pi/epics/base-7.0.5/require/${E3_REQUIRE_VERSION}/siteMods/ecmc_plugin_grbl/$(PLUGIN_VER)/lib/${EPICS_HOST_ARCH=linux-x86_64}/libecmc_plugin_grbl.so")
-epicsEnvSet(ECMC_PLUGIN_CONFIG,"DBG_PRINT=1;X_AXIS=1;Y_AXIS=2;SPINDLE_AXIS=3;AUTO_ENABLE=1;AUTO_START=1;") # Only one option implemented in this plugin
+epicsEnvSet(ECMC_PLUGIN_CONFIG,"DBG_PRINT=0;X_AXIS=1;Y_AXIS=2;SPINDLE_AXIS=3;AUTO_ENABLE=1;AUTO_START=1;") # Only one option implemented in this plugin
 ${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=0,FILE=${ECMC_PLUGIN_FILNAME},CONFIG='${ECMC_PLUGIN_CONFIG}', REPORT=1"
 epicsEnvUnset(ECMC_PLUGIN_FILNAME)
 epicsEnvUnset(ECMC_PLUGIN_CONFIG)