Split mdi flag to wait and next for waiting and feeding respectively.
Abort on all conditions where emcTaskAbort is called.
Signed-off-by: Pavel Shramov <shra...@mexmat.net>
---
src/emc/task/emctaskmain.cc | 37 ++++++++++++++++++++++++++++---------
1 files changed, 28 insertions(+), 9 deletions(-)
diff --git a/src/emc/task/emctaskmain.cc b/src/emc/task/emctaskmain.cc
index a95d7ab..62a7298 100644
--- a/src/emc/task/emctaskmain.cc
+++ b/src/emc/task/emctaskmain.cc
@@ -384,8 +384,12 @@ int steppingWait = 0;
static int steppedLine = 0;
// Variables to handle MDI call interrupts
+// Depth of call level before interrupted MDI call
static int mdi_execute_level = -1;
-static int mdi_execute_queue = 0;
+// Schedule execute(0) command
+static int mdi_execute_next = 0;
+// Wait after interrupted command
+static int mdi_execute_wait = 0;
/*
checkInterpList(NML_INTERP_LIST *il, EMC_STAT *stat) takes a pointer
@@ -619,26 +623,34 @@ interpret_again:
} // if interp len is less than max
}
-static void mdi_execute_hook(void)
+static void mdi_execute_abort(void)
{
- if (mdi_execute_level < 0) return;
-
- if (interp_list.len() > EMC_TASK_INTERP_MAX_LEN) return;
+ // XXX: Reset needed?
+ mdi_execute_level = -1;
+ mdi_execute_wait = 0;
+ mdi_execute_next = 0;
+}
- if (emcTaskPlanIsWait()) {
+static void mdi_execute_hook(void)
+{
+ if (mdi_execute_wait && emcTaskPlanIsWait()) {
// delay reading of next line until all is done
if (interp_list.len() == 0 &&
emcTaskCommand == 0 &&
emcStatus->task.execState ==
EMC_TASK_EXEC_DONE) {
emcTaskPlanClearWait();
+ mdi_execute_wait = 0;
mdi_execute_hook();
}
return;
}
- if (!mdi_execute_queue) return;
- mdi_execute_queue = 0;
+ if (!mdi_execute_next) return;
+
+ if (interp_list.len() > EMC_TASK_INTERP_MAX_LEN) return;
+
+ mdi_execute_next = 0;
EMC_TASK_PLAN_EXECUTE msg;
msg.command[0] = (char) 0xff;
@@ -1901,6 +1913,7 @@ static int emcTaskIssueCommand(NMLmsg * cmd)
emcTaskAbort();
emcIoAbort();
emcSpindleAbort();
+ mdi_execute_abort();
retval = 0;
break;
@@ -1923,6 +1936,7 @@ static int emcTaskIssueCommand(NMLmsg * cmd)
// abort motion
emcTaskAbort();
+ mdi_execute_abort();
// without emcTaskPlanClose(), a new run command resumes at
// aborted line-- feature that may be considered later
@@ -2010,10 +2024,12 @@ static int emcTaskIssueCommand(NMLmsg * cmd)
mdi_execute_level = -1;
} else if (level > 0) {
// Still insude call. Need another execute(0) call
- mdi_execute_queue = 1;
+ mdi_execute_next = 1;
}
}
if (execRetval == INTERP_EXECUTE_FINISH) {
+ // Flag MDI wait
+ mdi_execute_wait = 1;
// need to flush execution, so signify no more reading
// until all is done
emcTaskPlanSetWait();
@@ -2280,6 +2296,7 @@ static int emcTaskExecute(void)
emcTaskAbort();
emcIoAbort();
emcSpindleAbort();
+ mdi_execute_abort();
// without emcTaskPlanClose(), a new run command resumes at
// aborted line-- feature that may be considered later
@@ -3038,6 +3055,7 @@ int main(int argc, char *argv[])
emcIoAbort();
emcSpindleAbort();
emcAxisUnhome(-2); // only those joints which are volatile_home
+ mdi_execute_abort();
emcTaskPlanSynch();
}
if (emcStatus->io.coolant.mist) {
@@ -3066,6 +3084,7 @@ int main(int argc, char *argv[])
emcTaskAbort();
emcIoAbort();
emcSpindleAbort();
+ mdi_execute_abort();
// without emcTaskPlanClose(), a new run command resumes at
// aborted line-- feature that may be considered later
{
--
1.7.1
------------------------------------------------------------------------------
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