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Test and fix autoenable

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This commit is contained in:
Anders Sandstrom
2022-02-08 15:27:16 +01:00
parent 050412fb22
commit da242c5e19
4 changed files with 34 additions and 44 deletions
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16
ecmc_plugin_grbl/ecmcGrbl.cpp
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@@ -28,7 +28,7 @@ extern "C" {
#include "grbl.h"
}
// Global vars
// Global grbl vars
int enableDebugPrintouts = 0;
int stepperInterruptEnable = 0;
@@ -126,10 +126,8 @@ ecmcGrbl::ecmcGrbl(char* configStr,
throw std::runtime_error("GRBL: ERROR: Failed create mutex for command buffer.");
}
parseConfigStr(configStr); // Assigns all configs
ecmcData_.xAxis.axisId = cfgXAxisId_;
ecmcData_.yAxis.axisId = cfgYAxisId_;
ecmcData_.zAxis.axisId = cfgZAxisId_;
@@ -348,11 +346,11 @@ bool ecmcGrbl::autoEnableAxesSuccess() {
return true;
}
if(!cfgAutoEnable_ && !errorCode_) {
if(cfgAutoEnable_ && !errorCode_) {
setAllAxesEnable(1);
}
int loopCounter=0;
int loopCounter = 0;
while(!ecmcData_.allEnabled || loopCounter >= 100) {
delay_ms(cfgAutoEnableTimeOutSecs_*10); //*1000/100
loopCounter++;
@@ -375,7 +373,6 @@ bool ecmcGrbl::WriteGCodeSuccess() {
if(command.length() == 0) {
continue;
}
printf("KHEWALHsl:dh:lashdlöaskd_akndsa_skjndläasldkjnlkasjfd\n");
//Write command (will block untill written)
grblWriteCommand(command);
@@ -901,13 +898,6 @@ int ecmcGrbl::getCodeRowNum() {
return grblCommandBufferIndex_;
}
// Avoid issues with std:to_string()
std::string ecmcGrbl::to_string(int value) {
std::ostringstream os;
os << value;
return os.str();
}
int ecmcGrbl::getError() {
return errorCode_;
}

43
ecmc_plugin_grbl/ecmcGrbl.h
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@@ -70,14 +70,14 @@ class ecmcGrbl : public asynPortDriver {
double exeSampelTimeMs);
~ecmcGrbl();
void doMainWorker();
void doWriteWorker();
void doMainWorker(); // Simulated grbl main.c
void doWriteWorker(); // Simulated grbl client
void addCommand(std::string command);
void addConfig(std::string command);
void loadGCodeFile(std::string filename, int append);
void loadConfigFile(std::string fileName, int append);
int enterRT();
int grblRTexecute(int ecmcError);
int grblRTexecute(int ecmcError); //ecmc rt thread (main)
int setExecute(int exe);
int setHalt(int halt);
int setResume(int resume);
@@ -91,25 +91,24 @@ class ecmcGrbl : public asynPortDriver {
int getAllAxesEnabled();
private:
void parseConfigStr(char *configStr);
void readEcmcStatus(int ecmcError);
void preExeAxes();
void postExeAxes();
void preExeAxis(ecmcAxisStatusData ecmcAxisData, int grblAxisId);
void postExeAxis(ecmcAxisStatusData ecmcAxisData, int grblAxisId);
void giveControlToEcmcIfNeeded();
void syncAxisPosition(ecmcAxisStatusData ecmcAxisData, int grblAxisId);
bool getEcmcAxisEnabled(int ecmcAxisId);
double getEcmcAxisActPos(int axis);
int getEcmcAxisTrajSource(int ecmcAxisId);
bool getEcmcAxisLimitBwd(int ecmcAxisId);
bool getEcmcAxisLimitFwd(int ecmcAxisId);
static std::string to_string(int value);
grblReplyType grblReadReply();
void grblWriteCommand(std::string command);
bool applyConfigsSuccess();
bool WriteGCodeSuccess();
bool autoEnableAxesSuccess();
void parseConfigStr(char *configStr); // constructor (iocsh thread)
void readEcmcStatus(int ecmcError); // ecmc rt thread
void preExeAxes(); // ecmc rt thread
void postExeAxes(); // ecmc rt thread
void preExeAxis(ecmcAxisStatusData ecmcAxisData, int grblAxisId); //ecmc rt thread
void postExeAxis(ecmcAxisStatusData ecmcAxisData, int grblAxisId); //ecmc rt thread
void giveControlToEcmcIfNeeded(); //ecmc rt thread
void syncAxisPosition(ecmcAxisStatusData ecmcAxisData, int grblAxisId); //ecmc rt thread
bool getEcmcAxisEnabled(int ecmcAxisId); //ecmc rt thread
double getEcmcAxisActPos(int axis); //ecmc rt thread
int getEcmcAxisTrajSource(int ecmcAxisId); //ecmc rt thread
bool getEcmcAxisLimitBwd(int ecmcAxisId); //ecmc rt thread
bool getEcmcAxisLimitFwd(int ecmcAxisId); //ecmc rt thread
grblReplyType grblReadReply(); // doWriteWorker thread
void grblWriteCommand(std::string command); // doWriteWorker thread
bool applyConfigsSuccess(); // doWriteWorker thread
bool WriteGCodeSuccess(); // doWriteWorker thread
bool autoEnableAxesSuccess(); // doWriteWorker thread
int cfgDbgMode_;
int cfgXAxisId_;

17
iocsh/plc/grbl.plc
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@@ -13,14 +13,15 @@ ax2.reset:=0;
ax3.reset:=0;
# Enable axis in state 0
if(static.state==0) {
if(not(grbl_get_busy()) and not(grbl_get_error())) {
grbl_set_all_enable(1);
};
if(grbl_get_all_enabled()) {
static.state:=1;
};
};
#if(static.state==0) {
# if(not(grbl_get_busy()) and not(grbl_get_error())) {
# grbl_set_all_enable(1);
# };
# if(grbl_get_all_enabled()) {
# static.state:=1;
# };
#};
static.state:=1;
# Trigg motion
if(static.state == 1) {

2
iocsh/test.script
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@@ -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=0;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=0;") # 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)