motion/ecmc_plugin_grbl
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Also allow running in epics state 29 (without network)

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This commit is contained in:
Anders Sandstrom
2023-03-08 13:12:21 +01:00
parent 5a7616d26f
commit ede5448175
1 changed files with 12 additions and 8 deletions
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20
ecmc_plugin_grbl/ecmcGrbl.cpp
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@@ -366,14 +366,16 @@ bool ecmcGrbl::autoEnableAxesSuccess() {
}
bool ecmcGrbl::WriteGCodeSuccess() {
//printf("START WRITE G_CODE!\n");
for(;;) {
//printf("grblCommandBuffer_.size() %d grblCommandBufferIndex_ %d executeCmd_ %d ecmcData_.allEnabled %d\n",grblCommandBuffer_.size(), grblCommandBufferIndex_,executeCmd_ ,ecmcData_.allEnabled);
if( (grblCommandBuffer_.size() > grblCommandBufferIndex_)
&& executeCmd_ && ecmcData_.allEnabled) {
&& executeCmd_ && ecmcData_.allEnabled) {
epicsMutexLock(grblCommandBufferMutex_);
std::string commandRaw = grblCommandBuffer_[grblCommandBufferIndex_];
epicsMutexUnlock(grblCommandBufferMutex_);
std::string command = commandRaw.substr(0, commandRaw.find(ECMC_CONFIG_FILE_COMMENT_CHAR));
//printf("commandRaw");
if(command.length() == 0) {
continue;
}
@@ -399,7 +401,7 @@ bool ecmcGrbl::WriteGCodeSuccess() {
grblCommandBufferIndex_++;
}
else {
printf("GRBL: INFO: 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
@@ -413,7 +415,8 @@ bool ecmcGrbl::WriteGCodeSuccess() {
}
void ecmcGrbl::grblWriteCommand(std::string command) {
// wait for grbl
// wait for grbl
printf("WAIT FOR SPACE IN BUFFER\n");
while(serial_get_rx_buffer_available() <= strlen(command.c_str()+1)) {
//printf("WAITING for free in buffer %d %d\n",serial_get_rx_buffer_available(),strlen(command.c_str()+1));
delay_ms(10);
@@ -765,7 +768,7 @@ void ecmcGrbl::readEcmcStatus(int ecmcError) {
// grb realtime thread!!!
int ecmcGrbl::grblRTexecute(int ecmcError) {
if(getEcmcEpicsIOCState()!=16 || !grblInitDone_ || unrecoverableError_) {
if((getEcmcEpicsIOCState()!=16 && getEcmcEpicsIOCState()!=29) || !grblInitDone_ || unrecoverableError_) {
return 0;
}
@@ -886,11 +889,12 @@ int ecmcGrbl::setReset(int reset) {
}
int ecmcGrbl::getBusy() {
return getEcmcEpicsIOCState()!=16 || writerBusy_ || stepperInterruptEnable || !grblInitDone_;
return (getEcmcEpicsIOCState()!=16 && getEcmcEpicsIOCState()!=29) || writerBusy_ || stepperInterruptEnable || !grblInitDone_;
}
int ecmcGrbl::getParserBusy() {
return getEcmcEpicsIOCState()!=16 || writerBusy_ || !grblInitDone_;
int ecmcGrbl::getParserBusy() {
bool stateOK = getEcmcEpicsIOCState()==16 || getEcmcEpicsIOCState()==29;
return !stateOK || writerBusy_ || !grblInitDone_;
}
int ecmcGrbl::getCodeRowNum() {