task: gate probe completion on full motion drain (#3650)#3970
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grandixximo wants to merge 1 commit intoLinuxCNC:masterfrom
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task: gate probe completion on full motion drain (#3650)#3970grandixximo wants to merge 1 commit intoLinuxCNC:masterfrom
grandixximo wants to merge 1 commit intoLinuxCNC:masterfrom
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Probe is a queue-buster: the interpreter must wait for the probing
motion to fully stop before reading probe parameters (#5061..#5069),
otherwise the result is sampled mid-motion and the position reported
is stale.
Previously EMC_TRAJ_PROBE_TYPE returned EMC_TASK_EXEC::DONE as its
postcondition, so the interp_list could advance to the next command
(typically EMC_TASK_PLAN_SYNCH) and then to the next read() before the
trajectory queue had fully drained. With a bouncy probe (re-trip during
deceleration) or under cyclic G38.x sequences, the next read_inputs()
ran while motion.traj.queue > 0 and the CHKS guard fired:
"Queue is not empty after probing"
Add a dedicated EMC_TASK_EXEC::WAITING_FOR_PROBE postcondition state
that holds the interp_list until:
- motion.status == DONE
- io.status == DONE
- motion.traj.queue == 0
- motion.traj.probing is clear
This makes the safety guarantee explicit at the probe boundary instead
of relying on the next command's precondition to drain the queue, and
covers the timing windows where bouncy probe edges or rapid successive
G38.x commands let the interpreter race ahead of the planner.
Closes LinuxCNC#3650
Closes LinuxCNC#662
Closes LinuxCNC#263
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working on it