From bf19c96113049994a4bda0a514820bb28ec3076d Mon Sep 17 00:00:00 2001
From: Anders Sandstrom <anders.sandstrom@esss.se>
Date: Tue, 8 Feb 2022 15:34:05 +0100
Subject: [PATCH] Test and fix auto start

---
 ecmc_plugin_grbl/ecmcGrbl.cpp | 12 +++++++++---
 iocsh/test.script             |  4 ++--
 2 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/ecmc_plugin_grbl/ecmcGrbl.cpp b/ecmc_plugin_grbl/ecmcGrbl.cpp
index 65a95d0..ac5c247 100644
--- a/ecmc_plugin_grbl/ecmcGrbl.cpp
+++ b/ecmc_plugin_grbl/ecmcGrbl.cpp
@@ -235,7 +235,7 @@ void ecmcGrbl::parseConfigStr(char *configStr) {
   }
 }
 
-// Main program for writing configs and g-code to grbl
+// Main program for grbl client (interaction with grbl, configs and g-code)
 void ecmcGrbl::doWriteWorker() {
   // simulate serial connection here (need mutex)
   std::string reply = "";
@@ -267,8 +267,8 @@ void ecmcGrbl::doWriteWorker() {
       delay_ms(2);
     }
     delay_ms(2);
-  
-    // Blocks until written
+
+    // Write configs (blocks)     
     if(cfgDbgMode_){
       printf("GRBL: INFO: Configuration start\n");
     }    
@@ -278,6 +278,12 @@ void ecmcGrbl::doWriteWorker() {
     
     // All configs done above
     writerBusy_ = false;
+    
+    if(cfgAutoStart_) {
+      setExecute(0);
+      setExecute(1);
+    }
+
     for(;;) {
 
       // wait for execute
diff --git a/iocsh/test.script b/iocsh/test.script
index 475fa78..d1260db 100644
--- a/iocsh/test.script
+++ b/iocsh/test.script
@@ -84,7 +84,7 @@ 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=0;") # Only one option implemented in this plugin
+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
 ${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)
@@ -117,7 +117,7 @@ ecmcGrblLoadGCodeFile("./plc/gcode.nc",0)
 
 ##############################################################################
 ## PLC 0
-$(SCRIPTEXEC) $(ecmccfg_DIR)loadPLCFile.cmd, "PLC_ID=0, SAMPLE_RATE_MS=1000,FILE=./plc/grbl.plc")
+#$(SCRIPTEXEC) $(ecmccfg_DIR)loadPLCFile.cmd, "PLC_ID=0, SAMPLE_RATE_MS=1000,FILE=./plc/grbl.plc")
 
 ##############################################################################
 ############# Configure diagnostics: