Better m6 macros (#1425)

* WIP - Still borken * WIP Testing new ideas. * Update GCode.cpp * Fix alarm race and unhomed glitch * M2 and M30 return from macros * Handle % file delimiters * Update GCode.cpp --------- Co-authored-by: Mitch Bradley <[email protected]>
bdring · Jan 19, 2025 · 597a4e9 · 597a4e9
1 parent 21da0b2
commit 597a4e9
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Showing 9 changed files with 83 additions and 29 deletions.
diff --git a/FluidNC/src/Channel.h b/FluidNC/src/Channel.h
@@ -81,7 +81,8 @@ class Channel : public Stream {
 
     UTF8 _utf8;
 
-    bool _ended = false;
+    bool _ended   = false;
+    bool _percent = false;
 
 protected:
     bool _active = true;
@@ -180,6 +181,7 @@ class Channel : public Stream {
     void push(const std::string& s) { push(reinterpret_cast<const uint8_t*>(s.c_str()), s.length()); }
 
     void end() { _ended = true; }
+    void percent() { _percent = true; }
 
     // Pin extender functions
     virtual void out(const char* s, const char* tag);

diff --git a/FluidNC/src/GCode.cpp b/FluidNC/src/GCode.cpp
@@ -192,12 +192,13 @@ void collapseGCode(char* line) {
                 *outPtr = '\0';
                 return;
             case '%':
-                // TODO: Install '%' feature
-                // Program start-end percent sign NOT SUPPORTED.
-                // NOTE: This may be installed to distinguish between program running vs manual input,
-                // where, during a program, the system auto-cycle start will continue to execute
-                // everything until the next '%' sign. This will help fix resuming issues with certain
-                // functions that empty the planner buffer to execute its task on-time.
+                // Per https://linuxcnc.org/docs/html/gcode/overview.html#gcode:file-requirements
+                // % only applies to "job" channels like files and macros, not to serial channels
+                // where the sequence of lines is potentially never-ending.  A sender that handles
+                // files on the host system could apply the % semantics.
+                if (Job::active()) {
+                    Job::channel()->percent();
+                }
                 break;
             case '\r':
                 // In case one sneaks in
@@ -1613,6 +1614,7 @@ Error gc_execute_line(char* line) {
             bool stopped_spindle = false;   // was spindle stopped via the change
             bool new_spindle     = false;   // was the spindle changed
             protocol_buffer_synchronize();  // wait for motion in buffer to finish
+
             Spindles::Spindle::switchSpindle(
                 gc_state.selected_tool, Spindles::SpindleFactory::objects(), spindle, stopped_spindle, new_spindle);
             if (stopped_spindle) {
@@ -1621,13 +1623,19 @@ Error gc_execute_line(char* line) {
             if (new_spindle) {
                 gc_state.spindle_speed = 0.0;
             }
+            log_info("Sel:" << gc_state.selected_tool << " Cur:" << gc_state.current_tool);
             spindle->tool_change(gc_state.selected_tool, false, false);
-            gc_state.current_tool = gc_state.selected_tool;
-            report_ovr_counter    = 0;  // Set to report change immediately
+            if (spindle->_atc_name == "" && spindle->_m6_macro.get().empty()) {  // if neither of these exist we need to set the value here
+                gc_state.current_tool = gc_state.selected_tool;
+            }
+            report_ovr_counter = 0;  // Set to report change immediately
             gc_ovr_changed();
         }
     }
-    if (gc_block.modal.set_tool_number == SetToolNumber::Enable) {
+    if (gc_block.modal.set_tool_number == SetToolNumber::Enable) {  // M61
+        if (gc_block.values.q < 0) {
+            FAIL(Error::NegativeValue);  // https://linuxcnc.org/docs/2.8/html/gcode/m-code.html#mcode:m61
+        }
         gc_state.selected_tool = gc_block.values.q;
         bool stopped_spindle   = false;  // was spindle stopped via the change
         bool new_spindle       = false;  // was the spindle changed
@@ -1894,7 +1902,6 @@ Error gc_execute_line(char* line) {
 
             if (Job::active()) {
                 Job::channel()->end();
-                break;
             }
             // Upon program complete, only a subset of g-codes reset to certain defaults, according to
             // LinuxCNC's program end descriptions and testing. Only modal groups [G-code 1,2,3,5,7,12]

diff --git a/FluidNC/src/InputFile.cpp b/FluidNC/src/InputFile.cpp
@@ -24,6 +24,9 @@ Error InputFile::readLine(char* line, int maxlen) {
         }
         if (c == '\n') {
             ++_line_number;
+            if (len == 0) {
+                ++_blank_lines;
+            }
             break;
         }
         line[len++] = c;
@@ -62,6 +65,17 @@ Error InputFile::pollLine(char* line) {
     if (_pending_error != Error::Ok) {
         return _pending_error;
     }
+    if (_percent) {
+        _percent = false;
+        // If the first non-blank line in the file is a % line, it denotes start-of-file.
+        // Otherwise a % line causes the rest of the file to be skipped, per
+        // https://linuxcnc.org/docs/html/gcode/overview.html#gcode:file-requirements
+        // The line with % is not blank, so if it is the first non-blank line
+        // _line_number will be one more than _blank_lines
+        if (_line_number != (_blank_lines + 1)) {
+            _ended = true;
+        }
+    }
     if (_ended) {
         end_message();
         return Error::Eof;

diff --git a/FluidNC/src/InputFile.h b/FluidNC/src/InputFile.h
@@ -24,6 +24,8 @@ class InputFile : public FileStream {
     Error _pending_error = Error::Ok;
     void  end_message();
 
+    size_t _blank_lines = 0;
+
 public:
     // fsname is the default file system on which the file is located, in case the path does not specify
     // path is the full path to the file

diff --git a/FluidNC/src/Machine/Homing.cpp b/FluidNC/src/Machine/Homing.cpp
@@ -43,7 +43,7 @@ namespace Machine {
 
     uint32_t Homing::_runs;
 
-    AxisMask Homing::_unhomed_axes;  // Bitmap of axes whose position is unknown
+    AxisMask Homing::_unhomed_axes = 0;  // Bitmap of axes whose position is unknown
 
     bool Homing::axis_is_homed(size_t axis) {
         return bitnum_is_false(_unhomed_axes, axis);
@@ -55,7 +55,9 @@ namespace Machine {
         set_bitnum(_unhomed_axes, axis);
     }
     void Homing::set_all_axes_unhomed() {
-        _unhomed_axes = Machine::Axes::homingMask;
+        if (config->_start->_mustHome) {
+            _unhomed_axes = Machine::Axes::homingMask;
+        }
     }
     void Homing::set_all_axes_homed() {
         _unhomed_axes = 0;

diff --git a/FluidNC/src/Machine/Macros.cpp b/FluidNC/src/Machine/Macros.cpp
@@ -100,6 +100,10 @@ Error MacroChannel::readLine(char* line, int maxlen) {
     }
     line[len] = '\0';
     ++_line_number;
+    if (len == 0) {
+        ++_blank_lines;
+    }
+
     return len ? Error::Ok : Error::Eof;
 }
 
@@ -117,6 +121,11 @@ void MacroChannel::ack(Error status) {
 
 MacroChannel::MacroChannel(Macro* macro) : Channel(macro->name(), false), _macro(macro) {}
 
+void MacroChannel::end_message() {
+    _progress += name();
+    _progress += ": Sent";
+}
+
 Error MacroChannel::pollLine(char* line) {
     // Macros only execute as proper jobs so we should not be polling one with a null line
     if (!line) {
@@ -125,6 +134,21 @@ Error MacroChannel::pollLine(char* line) {
     if (_pending_error != Error::Ok) {
         return _pending_error;
     }
+    if (_percent) {
+        _percent = false;
+        // If the first non-blank line in the macro is a % line, it denotes start-of-file.
+        // Otherwise a % line causes the rest of the macro to be skipped, per
+        // https://linuxcnc.org/docs/html/gcode/overview.html#gcode:file-requirements
+        // The line with % is not blank, so if it is the first non-blank line
+        // _line_number will be one more than _blank_lines
+        if (_line_number != _blank_lines + 1) {
+            _ended = true;
+        }
+    }
+    if (_ended) {
+        end_message();
+        return Error::Eof;
+    }
     switch (auto err = readLine(line, Channel::maxLine)) {
         case Error::Ok: {
             log_debug("Macro line: " << line);
@@ -136,8 +160,7 @@ Error MacroChannel::pollLine(char* line) {
         }
             return Error::Ok;
         case Error::Eof:
-            _progress = name();
-            _progress += ": Sent";
+            end_message();
             return Error::Eof;
         default:
             log_error("Macro readLine failed");

diff --git a/FluidNC/src/Machine/Macros.h b/FluidNC/src/Machine/Macros.h
@@ -58,10 +58,12 @@ namespace Machine {
     private:
         Error  _pending_error = Error::Ok;
         size_t _position      = 0;
+        size_t _blank_lines   = 0;
 
         Macro* _macro;
 
         Error readLine(char* line, int maxlen);
+        void  end_message();
 
     public:
         Error pollLine(char* line) override;

diff --git a/FluidNC/src/Protocol.cpp b/FluidNC/src/Protocol.cpp
@@ -153,7 +153,7 @@ void polling_loop(void* unused) {
                 // channels to see if one has a line ready.
                 activeChannel = pollChannels(activeLine);
             } else {
-                if (state_is(State::Alarm) || state_is(State::ConfigAlarm)) {
+                if (state_is(State::Alarm) || state_is(State::ConfigAlarm) || state_is(State::Critical)) {
                     log_debug("Unwinding from Alarm");
                     Job::abort();
                     unwind_cause = nullptr;
@@ -449,9 +449,8 @@ static void protocol_do_start() {
         send_alarm(ExecAlarm::Init);
         return;
     }
-    Homing::set_all_axes_homed();
-    if (config->_start->_mustHome && Machine::Axes::homingMask) {
-        Homing::set_all_axes_unhomed();
+    Homing::set_all_axes_unhomed();
+    if (Homing::unhomed_axes()) {
         // If there is an axis with homing configured, enter Alarm state on startup
         send_alarm(ExecAlarm::Unhomed);
     } else {
@@ -465,20 +464,25 @@ static void protocol_do_alarm(void* alarmVoid) {
     if (spindle->_off_on_alarm) {
         spindle->stop();
     }
-    alarm_msg(lastAlarm);
+    // It is important to do set_state() before alarm_msg() because the
+    // latter can cause a task switch that can introduce a race condition
+    // whereby polling_loop() does not see the state change.
     if (lastAlarm == ExecAlarm::HardLimit || lastAlarm == ExecAlarm::HardStop) {
-        set_state(State::Critical);  // Set system alarm state
-        report_error_message(Message::CriticalEvent);
         protocol_disable_steppers();
         Homing::set_all_axes_unhomed();
+        set_state(State::Critical);  // Set system alarm state
+        alarm_msg(lastAlarm);
+        report_error_message(Message::CriticalEvent);
         return;
     }
     if (lastAlarm == ExecAlarm::SoftLimit) {
         set_state(State::Critical);  // Set system alarm state
+        alarm_msg(lastAlarm);
         report_error_message(Message::CriticalEvent);
         return;
     }
     set_state(State::Alarm);
+    alarm_msg(lastAlarm);
 }
 
 static void protocol_start_holding() {

diff --git a/FluidNC/src/Spindles/Spindle.cpp b/FluidNC/src/Spindles/Spindle.cpp
@@ -42,9 +42,10 @@ namespace Spindles {
                 spindle->stop();      // stop the current spindle
                 stop_spindle = true;  // used to stop the next spindle
             }
-            if (candidate != spindle) {
-                spindle = candidate;
-                new_spindle = true;
+            if (candidate != spindle) {  // we are changing spindles
+                gc_state.selected_tool = new_tool;
+                spindle                = candidate;
+                new_spindle            = true;
                 log_info("Changed to spindle:" << spindle->name());
             }
         } else {
@@ -134,22 +135,19 @@ namespace Spindles {
             return _atc->tool_change(tool_number, pre_select, set_tool);
         }
         if (!_m6_macro.get().empty()) {
-            log_info(_name << " spindle changed to tool:" << tool_number << " using m6_macro");
             if (pre_select) {
                 return true;
             }
             _last_tool = tool_number;
             if (set_tool) {
                 return true;
             }
-
-            //if (tool_number != _last_tool) {
-            log_info(_name << " spindle run macro: " << _m6_macro.get());
             _m6_macro.run(nullptr);
             _last_tool = tool_number;
             return true;
             //}
         }
+
         return true;
     }