I really like this... :-) It sounds like a very good approach.
Dave
On 10/10/2013 7:35 AM, Michael Haberler wrote:
> we had a long discussion on IRC yesterday on this theme
>
> the gist was that accretion of possibly surprising features with limited
> applicability in motion is undesirable
> the state machine and offset pin approach I proposed yesterday are such a
> case of feature accretion
>
> the way out was suggested by Andy, which opens the path to programmable
> behavior at the UI level with minimal motion changes (pretty much as the code
> stands).
>
> the key observations (and I hadnt thought of this admittedly) are:
>
> - it is possible to track the state of activity during jog-while paused in a
> UI or custom program *)
> - during pause now jog commands can be issued from a UI or that custom
> program as well; that was not possible before
> - meaning it is now possible to activate an optional, customizable UI
> function on pause, and do any of the following:
>
> 1. record positions - initial pause positions, and any further jog locations
> 2. as alternative to a direct reentry move from a offset location, previous
> jog locations can be selected as 'goto', or replayed in reverse order
>
> doing this in say Python in the UI not only adds flexibility, it does not
> burden motion complexity with extra states and moves. If one absolutely has
> to do an automatic move on pause, that is possible in the same scheme, but
> motion changes are not needed.
>
> I would think that gives the best feature mix: keyboard jog can be done
> pretty much now, whereas more complex setups like record/replay are possible
> without involving fiddling with motion internals, just plain Python is
> enough. I would actually think this also works with wheel jogs just the same
> once that is added.
>
> - Michael
>
>
> *) Python example and program output to track jog positions during pause (not
> necessary to understand in detail - just to show it isnt all that
> complicated):
>
> import time
> import sys
> import linuxcnc
>
> s = linuxcnc.stat()
> s.poll()
> previous_state = s.pause_state
>
> names = ("RUNNING", "PAUSING", "PAUSED", "PAUSED_IN_OFFSET", "JOGGING",
> "JOG_ABORTING", "RETURNING", "PAUSING_FOR_STEP")
>
> while True:
> s.poll() # get current status values
>
> # detect changes in s.pause_state
> if s.pause_state != previous_state:
> print names[previous_state], "->",names[s.pause_state]
>
> if s.pause_state == linuxcnc.PAUSED:
> print "stopped at initial pause position:", s.actual_position
>
> if s.pause_state == linuxcnc.PAUSED_IN_OFFSET:
> print "stopped at offset:", s.actual_position
>
> previous_state = s.pause_state
>
> time.sleep(0.2)
>
> -------
>
> Example run:
>
>
> Running this in parallel with Axis produces this (# = my remarks):
>
> # reaction to pause button
> RUNNING -> PAUSED
>
> # motion has stopped, program detects that and displays initial pause
> position:
> stopped at initial pause position: (-3.8268308818897636,
> 0.019685039370078188, -10.157954787401579, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
>
> # incremental jog 0.1in on X axis via keyboard:
> PAUSED -> JOGGING
>
> # motion has stopped, we're not at initial pause position anymore:
> JOGGING -> PAUSED_IN_OFFSET
> stopped at offset: (-3.7268308818897635, 0.019685039370078369,
> -10.157954787401579, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
>
> # incremental jog 0.1in on Z axis via keyboard:
> PAUSED_IN_OFFSET -> JOGGING
>
> # jog stopped:
> JOGGING -> PAUSED_IN_OFFSET
> stopped at offset: (-3.7268308818898732, 0.019685039370109226,
> -10.05795548036826, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
>
> # resume hit - automatic return to initial pause position begins:
> PAUSED_IN_OFFSET -> RETURNING
>
> # arrived at initial pause position - program execution resumes:
> RETURNING -> RUNNING
>
>
>
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