Current single stepping is done in task with little part implemented in motion.
Task fetches one line ( there is some debate about line classification, but more on that later) from rs274. Then does some checking on it and passes it to motion. At this point, in the checking part, task does single stepping. However, for the commands that have already been queued to motion, task tells motion to single step those commands too. Beyond this task will only send one command at a time to motion which will execute them while task waits for that execution to complete. At this time (during single stepping) read ahead from rs274 is not stopped. That goes on to for us over or cannon queue is full or task is waiting for explicit sync command i.e tool change m66 etc. What qualifies as single line of gcode from rs274 is decided by the canon commands. Canon commands are used to send commands to task from rs274. Canon commands are lined up by rs274 into a canon queue for task to read from. A bunch of cannon commands like mcodes don't have line numbers in them. Thus task cannot stop for them during single stepping. If we add line numbers to those cannon commands, task should automatically start stopping for them during single stepping. Task implements a simple line number check while waiting for single stepping, which is "Keep sending commands to motion to execute till we don't see a different line number". Hope this explains helps. - automata On Sun, 19 Apr, 2020, 11:33 am Reinhard, <[email protected]> wrote: > On Sonntag, 19. April 2020, 07:56:12 CEST Chris Morley wrote: > > Motion does the movement planning so would be the one to know when to > stop > > before breaking limits. > > Well, if motion does the movement planning, than motion performs > taskmanagers > job. Movement planning is not motion. > And if motion does the movement planning, it should of cause know about > single > step or auto mode and should know about g-code lines and machine commands. > > Very weird design. > > > > > _______________________________________________ > Emc-developers mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-developers > _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
