WORKS but need cleanup

ecmc_plugin_grbl/ecmcGrbl.cpp

@@ -391,6 +391,7 @@ bool ecmcGrbl::WriteGCodeSuccess() {
         setReset(0);
         setReset(1);
         setReset(0);
+        printf("SOMETHING BAD HAPPEND!!!!\n");
         grblCommandBufferIndex_ = 0;
         return false;  // for loop
       }
@@ -398,6 +399,7 @@ bool ecmcGrbl::WriteGCodeSuccess() {
       grblCommandBufferIndex_++;
     }
     else {
+      printf("NO MORE COMMANDS in buffer!!!\n");
       if( ( (grblCommandBufferIndex_ >= grblCommandBuffer_.size()) || !executeCmd_) && grblInitDone_) {
         writerBusy_ = 0;        
         return true;  // code executed once
@@ -411,18 +413,17 @@ bool ecmcGrbl::WriteGCodeSuccess() {
 }
 
 void ecmcGrbl::grblWriteCommand(std::string command) {
-
   // wait for grbl            
-  while(serial_get_rx_buffer_available() <= strlen(command.c_str())+1) {
-    delay_ms(1);
+  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);
   }
+  ecmc_write_command_serial(strdup(command.c_str()));
   if(cfgDbgMode_){
     printf("GRBL: INFO: Write command (command[%d] = %s)\n",
            grblCommandBufferIndex_,
            command.c_str());
   }
-  
-  ecmc_write_command_serial(strdup(command.c_str()));      
 }
 
  grblReplyType ecmcGrbl::grblReadReply() {
@@ -438,7 +439,7 @@ void ecmcGrbl::grblWriteCommand(std::string command) {
     if(c == '\n'&& reply.length() > 1) {
       if(reply.find(ECMC_PLUGIN_GRBL_GRBL_OK_STRING) != std::string::npos) {            
         if(cfgDbgMode_){
-          printf("GRBL: INFO: Reply OK\n");
+          printf("GRBL: INFO: Reply OK (%s)\n",reply.c_str());
         }
         return ECMC_GRBL_REPLY_OK;        
       } else if(reply.find(ECMC_PLUGIN_GRBL_GRBL_ERR_STRING) != std::string::npos) {
@@ -986,8 +987,11 @@ void  ecmcGrbl::addConfig(std::string command) {
         __FILE__,__FUNCTION__,__LINE__,ECMC_PLUGIN_CONFIG_ERROR_CODE);
     return;
   }
+  
+  commandStrip+='\n';
 
   epicsMutexLock(grblConfigBufferMutex_);
+
   grblConfigBuffer_.push_back(commandStrip.c_str());
   epicsMutexUnlock(grblConfigBufferMutex_);
   if(cfgDbgMode_){

grbl/grbl_gcode.c

@@ -69,6 +69,10 @@ void gc_sync_position()
 uint8_t gc_execute_line(char *line)
 {
    PRINTF_DEBUG("");
+   printf("gc_execute_line: %s\n",line);
+   if(strlen(line)<2) {
+     return(STATUS_OK);
+   }
 
   /* -------------------------------------------------------------------------------------
      STEP 1: Initialize parser block struct and copy current g-code state modes. The parser

grbl/grbl_protocol.c

@@ -80,7 +80,7 @@ void protocol_main_loop()
     delay_us(100);  // added for ecmc
     while((c = serial_read()) != SERIAL_NO_DATA) {
       if ((c == '\n') || (c == '\r')) { // End of line reached
-        
+    
         protocol_execute_realtime(); // Runtime command check point.
         if (sys.abort) { return; } // Bail to calling function upon system abort
 
@@ -93,7 +93,7 @@ void protocol_main_loop()
         if (line_flags & LINE_FLAG_OVERFLOW) {
           // Report line overflow error.
           report_status_message(STATUS_OVERFLOW);
-        } else if (line[0] == 0) {
+        } else if (line[0] == 0 || line[0]== '0') {
           // Empty or comment line. For syncing purposes.
           report_status_message(STATUS_OK);
         } else if (line[0] == '$') {
@@ -104,7 +104,11 @@ void protocol_main_loop()
           report_status_message(STATUS_SYSTEM_GC_LOCK);
         } else {
           // Parse and execute g-code block.
-          report_status_message(gc_execute_line(line));
+          printf("protocol: Line to gc_execute %s\n",line);
+          if(strlen(line)>1) {
+            
+            report_status_message(gc_execute_line(line));
+          }
         }
 
         // Reset tracking data for next line.

grbl/grbl_serial.c

@@ -106,6 +106,7 @@ uint16_t serial_get_tx_buffer_count()
 void serial_init()
 {
   printf("%s:%s:%d:\n",__FILE__,__FUNCTION__,__LINE__);
+  memset(&serial_rx_buffer[0],0,RX_RING_BUFFER);
   // Create some mutexes to ensure safe communication
   if(!(serialRxBufferMutex = epicsMutexCreate())) {
     printf("%s:%s:%d: Failed create serialRxBufferMutex\n",__FILE__,__FUNCTION__,__LINE__); 
@@ -203,15 +204,17 @@ uint8_t serial_read()
   uint16_t tail = serial_rx_buffer_tail; // Temporary serial_rx_buffer_tail (to optimize for volatile)
   if (serial_rx_buffer_head == tail) {
     MUTEX_UNLOCK(serialRxBufferMutex);
+    //printf("tail %u, head %u, available %u\n",serial_rx_buffer_tail,serial_rx_buffer_head,serial_get_rx_buffer_available());
     return SERIAL_NO_DATA;
   } else {
     uint8_t data = serial_rx_buffer[tail];
+    serial_rx_buffer[tail]=0;
 
     tail++;
     if (tail == RX_RING_BUFFER) { 
       tail = 0; 
     }
-    
+    //printf("tail %u, head %u, available %u\n",serial_rx_buffer_tail,serial_rx_buffer_head,serial_get_rx_buffer_available());
     serial_rx_buffer_tail = tail;
     MUTEX_UNLOCK(serialRxBufferMutex);
     return data;
@@ -270,10 +273,10 @@ void ecmc_add_char_to_buffer(char data)
         if (next_head == RX_RING_BUFFER) { next_head = 0; }
 
         // Write data to buffer unless it is full.
-        if (next_head != serial_rx_buffer_tail) {
+        //if (next_head != serial_rx_buffer_tail) {
           serial_rx_buffer[serial_rx_buffer_head] = data;
           serial_rx_buffer_head = next_head;
-        }
+        //}        
       }
   }
 }
@@ -285,11 +288,24 @@ void ecmc_write_command_serial(char* line) {
   for(i=0; i<strlen(line);i++) {
     ecmc_add_char_to_buffer(line[i]);    
   }
-  ecmc_add_char_to_buffer('\n');
-  MUTEX_UNLOCK(serialRxBufferMutex);
-  if(enableDebugPrintouts) {
-    printf("Added: %s",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");
+  MUTEX_UNLOCK(serialRxBufferMutex);
+  //if(enableDebugPrintouts) {
+    printf("Added: %s\n", line);
+  //}
   free(line);
 }
 

grbl/grbl_serial.h

@@ -22,6 +22,7 @@
 #ifndef serial_h
 #define serial_h
 
+#define RX_BUFFER_SIZE 100
 
 #ifndef RX_BUFFER_SIZE
   #define RX_BUFFER_SIZE 128
@@ -34,10 +35,6 @@
   #endif
 #endif
 
-
-//#define RX_BUFFER_SIZE 1024
-//#define TX_BUFFER_SIZE 1024
-
 #define SERIAL_NO_DATA 0xff