motion: modify jog-inhibit. Add jog-stop and jog-stop-immediate

jog-inhibit now solely inhibits a jog from starting if True.
jog-stop will abort an active jog following associated acceleration 
values if True.
jog-stop-immediate will abort an active jog immediately (this may result 
in joint following errors) if True.

Author: snowgoer540

docs/man/man9/motion.9

@@ -212,11 +212,19 @@ TRUE if all active joints is homed.
 \fBmotion.jog\-inhibit\fR IN BIT
 If this bit is TRUE, jogging of any joint or axis is disallowed and an error
 is reported.
+
+.TP
+\fBmotion.jog\-stop\fR IN BIT
+If any jog is active when the pin state changes to TRUE then that jog will be
+stopped following the associated acceleration values.
+
+.TP
+\fBmotion.jog\-stop\-immediate\fR IN BIT
 If any jog is active when the pin state changes to TRUE then that jog will be
-stopped.
+stopped immediately.
 
 .TP
-\fBmotion.jog\-is-active\fR OUT BIT
+\fBmotion.jog\-is\-active\fR OUT BIT
 TRUE if any joint or axis is jogging.
 
 .TP

src/emc/motion/axis.c

@@ -317,64 +317,43 @@ void axis_jog_abs(int axis_num, double offset, double vel)
     axis->teleop_tp.enable = 1;
 }
 
-void axis_jog_abort(int axis_num)
+bool axis_jog_abort(int axis_num, bool immediate)
 {
+    bool aborted = 0;
     emcmot_axis_t *axis = &axis_array[axis_num];
-    axis->teleop_tp.enable = 0;
-}
-
-void axis_jog_abort_all(void)
-{
-    int n;
-    for (n = 0; n < EMCMOT_MAX_AXIS; n++) {
-        axis_jog_abort(n);
+    if (axis->teleop_tp.enable) {
+        aborted = 1;
     }
-}
-
-bool axis_jog_immediate_stop_all(void)
-{
-    int n;
-    bool aborted = false;
-
-    for (n = 0; n < EMCMOT_MAX_AXIS; n++) {
-        emcmot_axis_t *axis = &axis_array[n];
-        if (axis->teleop_tp.enable) {
-            aborted = true;
-        }
-        axis->teleop_tp.enable = 0;
+    axis->teleop_tp.enable = 0;
+    axis->kb_ajog_active = 0;
+    axis->wheel_ajog_active = 0;
+    if (immediate) {
         axis->teleop_tp.curr_vel = 0.0;
     }
     return aborted;
 }
 
-void axis_jog_inhibit_all(void)
+bool axis_jog_abort_all(bool immediate)
 {
     int n;
-    emcmot_axis_t *axis;
-
+    bool aborted = 0;
     for (n = 0; n < EMCMOT_MAX_AXIS; n++) {
-        axis = &axis_array[n];
-        if (axis->kb_ajog_active || axis->wheel_ajog_active) {
-            axis->teleop_tp.enable = 0;
-            axis->teleop_tp.curr_vel = 0.0;
-            axis->kb_ajog_active = 0;
-            axis->wheel_ajog_active = 0;
-        }
+        aborted = aborted || axis_jog_abort(n, immediate);
     }
+    return aborted;
 }
 
 bool axis_jog_is_active(void)
 {
     int n;
     emcmot_axis_t *axis;
-
     for (n = 0; n < EMCMOT_MAX_AXIS; n++) {
         axis = &axis_array[n];
         if (axis->kb_ajog_active || axis->wheel_ajog_active) {
-            return true;
+            return 1;
         }
     }
-    return false;
+    return 0;
 }
 
 void axis_handle_jogwheels(bool motion_teleop_flag, bool motion_enable_flag, bool homing_is_active)

src/emc/motion/axis.h

@@ -20,10 +20,8 @@ void axis_check_constraints(double pos[], int failing_axes[]);
 void axis_jog_cont(int axis_num, double vel, long servo_period);
 void axis_jog_incr(int axis_num, double offset, double vel, long servo_period);
 void axis_jog_abs(int axis_num, double offset, double vel);
-void axis_jog_abort_all(void);
-void axis_jog_abort(int axis_num);
-bool axis_jog_immediate_stop_all(void);
-void axis_jog_inhibit_all(void);
+bool axis_jog_abort_all(bool immediate);
+bool axis_jog_abort(int axis_num, bool immediate);
 bool axis_jog_is_active(void);
 
 void axis_output_to_hal(double *pcmd_p[]);

src/emc/motion/command.c

@@ -503,7 +503,7 @@ void emcmotCommandHandler(void *arg, long servo_period)
 	    rtapi_print_msg(RTAPI_MSG_DBG, " %d", joint_num);
 	    /* check for coord or free space motion active */
 	    if (GET_MOTION_TELEOP_FLAG()) {
-                axis_jog_abort_all();
+                axis_jog_abort_all(0);
 	    } else if (GET_MOTION_COORD_FLAG()) {
 		tpAbort(&emcmotInternal->coord_tp);
 	    } else {
@@ -538,7 +538,7 @@ void emcmotCommandHandler(void *arg, long servo_period)
 	    if (GET_MOTION_TELEOP_FLAG()) {
 		/* tell teleop planner to stop */
 		if ((emcmotCommand->axis >= 0) && (emcmotCommand->axis < EMCMOT_MAX_AXIS)) {
-                    axis_jog_abort(emcmotCommand->axis);
+                    axis_jog_abort(emcmotCommand->axis, 0);
                 }
 	    } else if (GET_MOTION_COORD_FLAG()) {
 		/* do nothing in coord mode */
@@ -557,7 +557,7 @@ void emcmotCommandHandler(void *arg, long servo_period)
 	    break;
 
 	case EMCMOT_FREE:
-            axis_jog_abort_all();
+            axis_jog_abort_all(0);
 	    /* change the mode to free mode motion (joint mode) */
 	    /* can be done at any time */
 	    /* this code doesn't actually make the transition, it merely
@@ -820,7 +820,7 @@ void emcmotCommandHandler(void *arg, long servo_period)
 	        joint->kb_jjog_active = 1;
 	        /* and let it go */
 	        joint->free_tp.enable = 1;
-                axis_jog_abort_all();
+                axis_jog_abort_all(0);
 	        /*! \todo FIXME - should we really be clearing errors here? */
 	        SET_JOINT_ERROR_FLAG(joint, 0);
 	        /* clear joints homed flag(s) if we don't have forward kins.
@@ -897,7 +897,7 @@ void emcmotCommandHandler(void *arg, long servo_period)
 	        joint->kb_jjog_active = 1;
 	        /* and let it go */
 	        joint->free_tp.enable = 1;
-                axis_jog_abort_all();
+                axis_jog_abort_all(0);
 	        SET_JOINT_ERROR_FLAG(joint, 0);
 	        /* clear joint homed flag(s) if we don't have forward kins.
 	           Otherwise, a transition into coordinated mode will incorrectly

src/emc/motion/control.c

@@ -86,6 +86,15 @@ static double *pcmd_p[EMCMOT_MAX_AXIS];
 */
 static void process_inputs(void);
 
+/* 'joint_jog_abort_all()' if either jog-stop or jog-stop-immediate
+   become True while jogging then the jog will abort.
+   jog-stop will stop the active jog following the associated
+   acceleration values.
+   jog-stop-immediate will immediately stop jogging (potentially
+   causing joint following errors).
+*/
+static void joint_jog_abort_all(bool immediate);
+
 /* 'do forward kins()' takes the position feedback in joint coords
    and applies the forward kinematics to it to generate feedback
    in Cartesean coordinates.  It has code to handle machines that
@@ -529,24 +538,30 @@ static void process_inputs(void)
 			}
 		}
     }
-    // if jog in progress
-    if (enables & *(emcmot_hal_data->jog_inhibit) && *(emcmot_hal_data->jog_is_active)) {
-        // stop any joint jog
-        int jNum;
-        for (jNum = 0; jNum < NO_OF_KINS_JOINTS; jNum++) {
-            joint = &joints[jNum];
-            if (joint->kb_jjog_active || joint->wheel_jjog_active) {
-                joint->free_tp.enable = 0;
-                joint->free_tp.curr_vel = 0.0;
-                joint->kb_jjog_active = 0;
-                joint->wheel_jjog_active = 0;
-            }
+    // if jog in progress stop the jog if requested
+    if (enables & *(emcmot_hal_data->jog_is_active) && (*(emcmot_hal_data->jog_stop) || *(emcmot_hal_data->jog_stop_immediate))) {
+        joint_jog_abort_all(*(emcmot_hal_data->jog_stop_immediate));
+        axis_jog_abort_all(*(emcmot_hal_data->jog_stop_immediate));
+        if (*(emcmot_hal_data->jog_stop_immediate)) {
+          reportError("Jog aborted by jog-stop-immediate");
+        } else {
+          reportError("Jog aborted by jog-stop");
         }
-        // stop any axis jog
-        axis_jog_inhibit_all();
+    }
+}
 
-        *(emcmot_hal_data->jog_is_active) = 0;
-        reportError("Jog aborted by jog-inhibit");
+static void joint_jog_abort_all(bool immediate)
+{
+    int jNum;
+    emcmot_joint_t *joint;
+    for (jNum = 0; jNum < NO_OF_KINS_JOINTS; jNum++) {
+        joint = &joints[jNum];
+        joint->free_tp.enable = 0;
+        joint->kb_jjog_active = 0;
+        joint->wheel_jjog_active = 0;
+        if (immediate) {
+          joint->free_tp.curr_vel = 0.0;
+        }
     }
 }
 
@@ -733,7 +748,7 @@ static void process_probe_inputs(void)
                 if(!aborted) aborted=2;
             }
         }
-        if (axis_jog_immediate_stop_all()) {
+        if (axis_jog_abort_all(1)) {
             aborted = 3;
         }
 
@@ -858,7 +873,7 @@ static void set_operating_mode(void)
 	       we just went into disabled state */
 	}
 
-    axis_jog_immediate_stop_all();
+    axis_jog_abort_all(1);
 
 	SET_MOTION_ENABLE_FLAG(0);
 	/* don't clear the motion error flag, since that may signify why we
@@ -1301,7 +1316,7 @@ static void get_pos_cmds(long period)
 	break;
 
     case EMCMOT_MOTION_COORD:
-        axis_jog_immediate_stop_all();
+        axis_jog_abort_all(1);
 
 	/* check joint 0 to see if the interpolators are empty */
 	coord_cubic_active = 1;
@@ -1512,7 +1527,7 @@ static void get_pos_cmds(long period)
         && GET_MOTION_TELEOP_FLAG()
         && emcmotStatus->on_soft_limit ) {
         SET_MOTION_ERROR_FLAG(1);
-        axis_jog_immediate_stop_all();
+        axis_jog_abort_all(1);
     }
     if (ext_offset_teleop_limit || ext_offset_coord_limit) {
         *(emcmot_hal_data->eoffset_limited) = 1;
@@ -1810,7 +1825,6 @@ static void output_to_hal(void)
     joint_hal_t *joint_data;
     static int old_motion_index[EMCMOT_MAX_SPINDLES] = {0};
     static int old_hal_index[EMCMOT_MAX_SPINDLES] = {0};
-    bool activeJog = 0;
 
     /* output machine info to HAL for scoping, etc */
     *(emcmot_hal_data->motion_enabled) = GET_MOTION_ENABLE_FLAG();
@@ -2015,17 +2029,12 @@ static void output_to_hal(void)
 	                                 + joint->motor_offset;
 	    continue;
 	}
-        // joint jog is in progress
-        if (joint->kb_jjog_active || joint->wheel_jjog_active) {
-                activeJog = 1;
-        }
     } // for joint_num
 
     axis_output_to_hal(pcmd_p);
-    if (axis_jog_is_active()) {
-        activeJog = 1;
-    }
-    *(emcmot_hal_data->jog_is_active) = activeJog;
+
+    *(emcmot_hal_data->jog_is_active) = axis_jog_is_active() || joint_jog_is_active();
+
 }
 
 static void update_status(void)
@@ -2110,6 +2119,8 @@ static void update_status(void)
       emcmotStatus->misc_error[misc_error] = *(emcmot_hal_data->misc_error[misc_error]);
     }
 
+    emcmotStatus->jogging_active = *(emcmot_hal_data->jog_is_active);
+
     /*! \todo FIXME - the rest of this function is stuff that was apparently
        dropped in the initial move from emcmot.c to control.c.  I
        don't know how much is still needed, and how much is baggage.
@@ -2125,8 +2136,6 @@ static void update_status(void)
     emcmotStatus->motionType = tpGetMotionType(&emcmotInternal->coord_tp);
     emcmotStatus->queueFull = tcqFull(&emcmotInternal->coord_tp.queue);
 
-    emcmotStatus->jogging_active =  axis_jog_is_active()
-                                 || joint_jog_is_active();
     /* check to see if we should pause in order to implement
        single emcmotStatus->stepping */
 

src/emc/motion/mot_priv.h

@@ -129,6 +129,8 @@ typedef struct {
     hal_bit_t *feed_inhibit;	/* RPI: set TRUE to stop motion (non maskable)*/
     hal_bit_t *homing_inhibit;	/* RPI: set TRUE to inhibit homing*/
     hal_bit_t *jog_inhibit;	/* RPI: set TRUE to inhibit jogging*/
+    hal_bit_t *jog_stop;	/* RPI: set TRUE to stop jogging following accel values*/
+    hal_bit_t *jog_stop_immediate;	/* RPI: set TRUE to stop jogging immediately*/
     hal_bit_t *jog_is_active;	/* RPI: TRUE if active jogging*/
     hal_bit_t *tp_reverse;	/* Set true if trajectory planner is running in reverse*/
     hal_bit_t *motion_enabled;	/* RPI: motion enable for all joints */

src/emc/motion/motion.c

@@ -475,6 +475,8 @@ static int init_hal_io(void)
     CALL_CHECK(hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->feed_inhibit), mot_comp_id, "motion.feed-inhibit"));
     CALL_CHECK(hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->homing_inhibit), mot_comp_id, "motion.homing-inhibit"));
     CALL_CHECK(hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->jog_inhibit), mot_comp_id, "motion.jog-inhibit"));
+    CALL_CHECK(hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->jog_stop), mot_comp_id, "motion.jog-stop"));
+    CALL_CHECK(hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->jog_stop_immediate), mot_comp_id, "motion.jog-stop-immediate"));
     CALL_CHECK(hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->tp_reverse), mot_comp_id, "motion.tp-reverse"));
     CALL_CHECK(hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->enable), mot_comp_id, "motion.enable"));
     CALL_CHECK(hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->is_all_homed), mot_comp_id, "motion.is-all-homed"));
@@ -611,6 +613,8 @@ static int init_hal_io(void)
     *(emcmot_hal_data->feed_inhibit) = 0;
     *(emcmot_hal_data->homing_inhibit) = 0;
     *(emcmot_hal_data->jog_inhibit) = 0;
+    *(emcmot_hal_data->jog_stop) = 0;
+    *(emcmot_hal_data->jog_stop_immediate) = 0;
     *(emcmot_hal_data->is_all_homed) = 0;
 
     *(emcmot_hal_data->probe_input) = 0;