/******************************************************************** * Description: tp.c * Trajectory planner based on TC elements * * Derived from a work by Fred Proctor & Will Shackleford * * Author: * License: GPL Version 2 * System: Linux * * Copyright (c) 2004 All rights reserved. ********************************************************************/ #include "rtapi.h" /* rtapi_print_msg */ #include "posemath.h" /* Geometry types & functions */ #include "tc.h" #include "tp.h" #include "tp_private.h" #include "tp_shared.h" #include "emcpose.h" #include "rtapi_math.h" // #include "mot_priv.h" //#include "motion_debug.h" #include "motion_types.h" #include "motion_id.h" #include "spherical_arc.h" #include "blendmath.h" //KLUDGE Don't include all of emc.hh here, just hand-copy the TERM COND //definitions until we can break the emc constants out into a separate file. //#include "emc.hh" #define EMC_TRAJ_TERM_COND_STOP 0 #define EMC_TRAJ_TERM_COND_EXACT 1 #define EMC_TRAJ_TERM_COND_BLEND 2 /** * @section tpdebugflags TP debugging flags * Enable / disable various debugging functions here. * These flags control debug printing from RTAPI. These functions are * admittedly kludged on top of the existing rtapi_print framework. As written, * though, it's an easy way to selectively compile functions as static or not, * and selectively compile in assertions and debug printing. */ #include "tp_debug.h" #define TP_SHOW_BLENDS #define TP_OPTIMIZATION_LAZY /** static function primitives (ugly but less of a pain than moving code around)*/ STATIC int tpComputeBlendVelocity( TP_STRUCT const * const tp, TC_STRUCT * const tc, TC_STRUCT * const nexttc); STATIC int tpCheckEndCondition( TP_STRUCT const * const tp, TC_STRUCT * const tc, TC_STRUCT const * const nexttc); STATIC int tpUpdateCycle( TP_STRUCT * const tp, TC_STRUCT * const tc, TC_STRUCT const * const nexttc); STATIC int tpRunOptimization( TP_STRUCT * const tp); STATIC inline int tpAddSegmentToQueue( TP_STRUCT * const tp, TC_STRUCT * const tc, int inc_id); STATIC inline double tpGetMaxTargetVel( TP_STRUCT const * const tp, TC_STRUCT const * const tc); STATIC int tpAdjustAccelForTangent(TP_STRUCT const * const, TC_STRUCT * const tc, double normal_acc_scale); /** * @section tpcheck Internal state check functions. * These functions compartmentalize some of the messy state checks. * Hopefully this makes changes easier to track as much of the churn will be on small functions. */ /** * Check if the tail of the queue has a parabolic blend condition and update tc appropriately. * This sets flags so that accelerations are correct due to the current segment * having to blend with the previous. */ STATIC int tcCheckLastParabolic(TC_STRUCT * const tc, TC_STRUCT const * const prev_tc) { if (prev_tc && prev_tc->term_cond == TC_TERM_COND_PARABOLIC) { tp_debug_print("prev segment parabolic, flagging blend_prev\n"); tc->blend_prev = 1; } return TP_ERR_OK; } /** * Returns true if there is motion along ABC or UVW axes, false otherwise. */ STATIC int tpRotaryMotionCheck(TP_STRUCT const * const tp, TC_STRUCT const * const tc) { switch (tc->motion_type) { //Note lack of break statements due to every path returning case TC_RIGIDTAP: return false; case TC_LINEAR: if (tc->coords.line.abc.tmag_zero && tc->coords.line.uvw.tmag_zero) { return false; } else { return true; } case TC_CIRCULAR: if (tc->coords.circle.abc.tmag_zero && tc->coords.circle.uvw.tmag_zero) { return false; } else { return true; } case TC_SPHERICAL: return true; default: tp_debug_print("Unknown motion type!\n"); return false; } } /** * @section tpgetset Internal Get/Set functions * @brief Calculation / status functions for commonly used values. * These functions return the "actual" values of things like a trajectory * segment's feed override, while taking into account the status of tp itself. */ STATIC int tpGetMachineAccelBounds(TP_STRUCT const * const tp, PmCartesian * const acc_bound) { if (!acc_bound) { return TP_ERR_FAIL; } /* acc_bound->x = joints[0].acc_limit; */ /* acc_bound->y = joints[1].acc_limit; */ /* acc_bound->z = joints[2].acc_limit; */ acc_bound->x = get_acc_limit(tp->shared, 0); acc_bound->y = get_acc_limit(tp->shared, 1); acc_bound->z = get_acc_limit(tp->shared, 2); return TP_ERR_OK; } STATIC int tpGetMachineVelBounds(TP_STRUCT const * const tp, PmCartesian * const vel_bound) { if (!vel_bound) { return TP_ERR_FAIL; } /* vel_bound->x = joints[0].vel_limit; */ /* vel_bound->y = joints[1].vel_limit; */ /* vel_bound->z = joints[2].vel_limit; */ vel_bound->x = get_vel_limit(tp->shared, 0); vel_bound->y = get_vel_limit(tp->shared, 1); vel_bound->z = get_vel_limit(tp->shared, 2); return TP_ERR_OK; } STATIC int tpGetMachineActiveLimit(double * const act_limit, PmCartesian const * const bounds) { if (!act_limit) { return TP_ERR_FAIL; } //Start with max accel value *act_limit = rtapi_fmax(rtapi_fmax(bounds->x,bounds->y),bounds->z); // Compare only with active axes if (bounds->x > 0) { *act_limit = rtapi_fmin(*act_limit, bounds->x); } if (bounds->y > 0) { *act_limit = rtapi_fmin(*act_limit, bounds->y); } if (bounds->z > 0) { *act_limit = rtapi_fmin(*act_limit, bounds->z); } tp_debug_print(" arc blending a_max=%f\n", *act_limit); return TP_ERR_OK; } /** * Get a segment's feed scale based on the current planner state and tp_shared_t. */ STATIC double tpGetFeedScale(TP_STRUCT const * const tp, TC_STRUCT const * const tc) { //All reasons to disable feed override go here bool pausing = tp->pausing && tc->synchronized == TC_SYNC_NONE; bool aborting = tp->aborting; if (pausing) { tc_debug_print("pausing\n"); return 0.0; } else if (aborting) { tc_debug_print("aborting\n"); return 0.0; } else if (tc->synchronized == TC_SYNC_POSITION ) { return 1.0; } else if (tc->is_blending) { //KLUDGE: Don't allow feed override to keep blending from overruning max velocity return rtapi_fmin(get_net_feed_scale(tp->shared), 1.0); } else { return get_net_feed_scale(tp->shared); } } /** * Get target velocity for a tc based on the trajectory planner state. * This gives the requested velocity, capped by the segments maximum velocity. */ STATIC inline double tpGetRealTargetVel(TP_STRUCT const * const tp, TC_STRUCT const * const tc) { // Start with the scaled target velocity based on the current feed scale double v_target = tc->synchronized ? tc->target_vel : tc->reqvel; /*tc_debug_print("Initial v_target = %f\n",v_target);*/ // Get the maximum allowed target velocity, and make sure we're below it return rtapi_fmin(v_target * tpGetFeedScale(tp,tc), tpGetMaxTargetVel(tp, tc)); } /** * Get the worst-case target velocity for a segment based on the trajectory * planner state. */ STATIC inline double tpGetMaxTargetVel( TP_STRUCT const * const tp, TC_STRUCT const * const tc) { #ifdef TP_PEDANTIC if (!tp || !tc) { return TP_ERR_MISSING_INPUT; } #endif double max_scale = get_maxFeedScale(tp->shared); if (tc->is_blending) { //KLUDGE: Don't allow feed override to keep blending from overruning max velocity max_scale = rtapi_fmin(max_scale, 1.0); } // Get maximum reachable velocity from max feed override double v_max_target = tc->target_vel * max_scale; /* Check if the cartesian velocity limit applies and clip the maximum * velocity. The vLimit is from the max velocity slider, and should * restrict the maximum velocity during non-synced moves and velocity * synchronization. However, position-synced moves have the target velocity * computed in the TP, so it would disrupt position tracking to apply this * limit here. */ if (!tcPureRotaryCheck(tc) && (tc->synchronized != TC_SYNC_POSITION)){ /*tc_debug_print("Cartesian velocity limit active\n");*/ v_max_target = rtapi_fmin(v_max_target,tp->vLimit); } // Clip maximum velocity by the segment's own maximum velocity return rtapi_fmin(v_max_target, tc->maxvel); } /** * Get final velocity for a tc based on the trajectory planner state. * This function factors in the feed override and TC limits. It clamps the * final velocity to the maximum velocity and the next segment's target velocity */ STATIC inline double tpGetRealFinalVel(TP_STRUCT const * const tp, TC_STRUCT const * const tc, TC_STRUCT const * const nexttc) { /* If we're stepping, then it doesn't matter what the optimization says, we * want to end at a stop. If the term_cond gets changed out from under us, * detect this and force final velocity to zero. */ if (get_stepping(tp->shared) || tc->term_cond != TC_TERM_COND_TANGENT) { return 0.0; } // Get target velocities for this segment and next segment double v_target_this = tpGetRealTargetVel(tp, tc); double v_target_next = 0.0; if (nexttc) { v_target_next = tpGetRealTargetVel(tp, nexttc); } tc_debug_print("v_target_next = %f\n",v_target_next); // Limit final velocity to minimum of this and next target velocities double v_target = rtapi_fmin(v_target_this, v_target_next); double finalvel = rtapi_fmin(tc->finalvel, v_target); return finalvel; } /** * Get acceleration for a tc based on the trajectory planner state. */ STATIC inline double tpGetScaledAccel(TP_STRUCT const * const tp, TC_STRUCT const * const tc) { double a_scale = tc->maxaccel; /* Parabolic blending conditions: If the next segment or previous segment * has a parabolic blend with this one, acceleration is scaled down by 1/2 * so that the sum of the two does not exceed the maximum. */ if (tc->term_cond == TC_TERM_COND_PARABOLIC || tc->blend_prev) { a_scale *= 0.5; } if (tc->motion_type == TC_CIRCULAR || tc->motion_type == TC_SPHERICAL) { //Limit acceleration for cirular arcs to allow for normal acceleration a_scale *= BLEND_ACC_RATIO_TANGENTIAL; } return a_scale; } /** * Cap velocity based on trajectory properties */ STATIC inline double tpGetSampleVelocity(double vel, double length, double dt) { //FIXME div by zero check double v_sample = length / dt; return rtapi_fmin(vel,v_sample); } /** * Convert the 2-part spindle position and sign to a signed double. */ STATIC inline double tpGetSignedSpindlePosition(double spindle_pos, int spindle_dir) { if (spindle_dir < 0.0) { spindle_pos*=-1.0; } return spindle_pos; } /** * @section tpaccess tp class-like API */ /** * Create the trajectory planner structure with an empty queue. */ int tpCreate(TP_STRUCT * const tp, int _queueSize, TC_STRUCT * const tcSpace, tp_shared_t *shared) { if (0 == tp) { return TP_ERR_FAIL; } if (_queueSize <= 0) { tp->queueSize = TP_DEFAULT_QUEUE_SIZE; } else { tp->queueSize = _queueSize; } tp->shared = shared; /* create the queue */ if (-1 == tcqCreate(&tp->queue, tp->queueSize, tcSpace)) { return TP_ERR_FAIL; } /* init the rest of our data */ return tpInit(tp); } /** * Clears any potential DIO toggles and anychanged. * If any DIOs need to be changed: dios[i] = 1, DIO needs to get turned on, -1 * = off */ int tpClearDIOs(TP_STRUCT * const tp) { //XXX: All IO's will be flushed on next synced aio/dio! Is it ok? unsigned int i; tp->syncdio.anychanged = 0; RTAPI_ZERO_BITMAP(tp->syncdio.dio_mask, EMCMOT_MAX_DIO); tp->syncdio.aio_mask = 0ull; for (i = 0; i < get_num_dio(tp->shared); i++) { tp->syncdio.dios[i] = 0; } for (i = 0; i < get_num_aio(tp->shared); i++) { tp->syncdio.aios[i] = 0; } return TP_ERR_OK; } /** * "Soft initialize" the trajectory planner tp. * This is a "soft" initialization in that TP_STRUCT configuration * parameters (cycleTime, vMax, and aMax) are left alone, but the queue is * cleared, and the flags are set to an empty, ready queue. The currentPos * is left alone, and goalPos is set to this position. This function is * intended to put the motion queue in the state it would be if all queued * motions finished at the current position. */ int tpClear(TP_STRUCT * const tp) { tcqInit(&tp->queue); tp->queueSize = 0; tp->goalPos = tp->currentPos; tp->nextId = 0; tp->execId = 0; tp->motionType = 0; tp->termCond = TC_TERM_COND_PARABOLIC; tp->tolerance = 0.0; tp->done = 1; tp->depth = tp->activeDepth = 0; tp->aborting = 0; tp->pausing = 0; tp->synchronized = 0; tp->uu_per_rev = 0.0; set_spindleSync(tp->shared, 0); set_current_vel(tp->shared, 0.0); set_requested_vel(tp->shared, 0.0); set_distance_to_go(tp->shared, 0.0); zero_dtg(tp->shared); return tpClearDIOs(tp); } /** * Fully initialize the tp structure. * Sets tp configuration to default values and calls tpClear to create a fresh, * empty queue. */ int tpInit(TP_STRUCT * const tp) { tp->cycleTime = 0.0; //Velocity limits tp->vLimit = 0.0; tp->ini_maxvel = 0.0; //Accelerations tp->aLimit = 0.0; PmCartesian acc_bound; //FIXME this acceleration bound isn't valid (nor is it used) tpGetMachineAccelBounds(tp, &acc_bound); tpGetMachineActiveLimit(&tp->aMax, &acc_bound); //Angular limits tp->wMax = 0.0; tp->wDotMax = 0.0; tp->spindle.offset = 0.0; tp->spindle.revs = 0.0; tp->spindle.waiting_for_index = MOTION_INVALID_ID; tp->spindle.waiting_for_atspeed = MOTION_INVALID_ID; ZERO_EMC_POSE(tp->currentPos); PmCartesian vel_bound; tpGetMachineVelBounds(tp, &vel_bound); tpGetMachineActiveLimit(&tp->vMax, &vel_bound); tp->old_spindlepos = 0.0; // sanity - just a temporary return tpClear(tp); } /** * Set the cycle time for the trajectory planner. */ int tpSetCycleTime(TP_STRUCT * const tp, double secs) { if (0 == tp || secs <= 0.0) { return TP_ERR_FAIL; } tp->cycleTime = secs; return TP_ERR_OK; } /** * Set requested velocity and absolute maximum velocity (bounded by machine). * This is called before adding lines or circles, specifying vMax (the velocity * requested by the F word) and ini_maxvel, the max velocity possible before * meeting a machine constraint caused by an AXIS's max velocity. (the TP is * allowed to go up to this high when feed override >100% is requested) These * settings apply to subsequent moves until changed. */ int tpSetVmax(TP_STRUCT * const tp, double vMax, double ini_maxvel) { if (0 == tp || vMax <= 0.0 || ini_maxvel <= 0.0) { return TP_ERR_FAIL; } tp->vMax = vMax; tp->ini_maxvel = ini_maxvel; return TP_ERR_OK; } /** * (?) Set the tool tip maximum velocity. * I think this is the [TRAJ] max velocity. This should be the max velocity of * const the TOOL TIP, not necessarily any particular axis. This applies to * subsequent moves until changed. */ int tpSetVlimit(TP_STRUCT * const tp, double vLimit) { if (!tp) return TP_ERR_FAIL; if (vLimit < 0.) tp->vLimit = 0.; else tp->vLimit = vLimit; return TP_ERR_OK; } /** Sets the max acceleration for the trajectory planner. */ int tpSetAmax(TP_STRUCT * const tp, double aMax) { if (0 == tp || aMax <= 0.0) { return TP_ERR_FAIL; } tp->aMax = aMax; return TP_ERR_OK; } /** * Sets the id that will be used for the next appended motions. * nextId is incremented so that the next time a motion is appended its id will * be one more than the previous one, modulo a signed int. If you want your own * ids for each motion, call this before each motion you append and stick what * you want in here. */ int tpSetId(TP_STRUCT * const tp, int id) { if (!MOTION_ID_VALID(id)) { rtapi_print_msg(RTAPI_MSG_ERR, "tpSetId: invalid motion id %d\n", id); return TP_ERR_FAIL; } if (0 == tp) { return TP_ERR_FAIL; } tp->nextId = id; return TP_ERR_OK; } /** Returns the id of the last motion that is currently executing.*/ int tpGetExecId(TP_STRUCT * const tp) { if (0 == tp) { return TP_ERR_FAIL; } return tp->execId; } struct state_tag_t tpGetExecTag(TP_STRUCT * const tp) { if (0 == tp) { struct state_tag_t empty = {0}; return empty; } return tp->execTag; } /** * Sets the termination condition for all subsequent queued moves. * If cond is TC_TERM_COND_STOP, motion comes to a stop before a subsequent move * begins. If cond is TC_TERM_COND_PARABOLIC, the following move is begun when the * current move slows below a calculated blend velocity. */ int tpSetTermCond(TP_STRUCT * const tp, int cond, double tolerance) { if (!tp) { return TP_ERR_FAIL; } switch (cond) { //Purposeful waterfall for now case TC_TERM_COND_PARABOLIC: case TC_TERM_COND_TANGENT: case TC_TERM_COND_EXACT: case TC_TERM_COND_STOP: tp->termCond = cond; tp->tolerance = tolerance; break; default: //Invalid condition return -1; } return TP_ERR_OK; } /** * Used to tell the tp the initial position. * It sets the current position AND the goal position to be the same. Used * only at TP initialization and when switching modes. */ int tpSetPos(TP_STRUCT * const tp, EmcPose const * const pos) { if (0 == tp) { return TP_ERR_FAIL; } int res_invalid = tpSetCurrentPos(tp, pos); if (res_invalid) { return TP_ERR_FAIL; } tp->goalPos = *pos; return TP_ERR_OK; } /** * Set current position. * It sets the current position AND the goal position to be the same. Used * only at TP initialization and when switching modes. */ int tpSetCurrentPos(TP_STRUCT * const tp, EmcPose const * const pos) { if (0 == tp) { return TP_ERR_FAIL; } if (emcPoseValid(pos)) { tp->currentPos = *pos; return TP_ERR_OK; } else { rtapi_print_msg(RTAPI_MSG_ERR, "Tried to set invalid pose in tpSetCurrentPos on id %d!" "pos is %.12g, %.12g, %.12g\n", tp->execId, pos->tran.x, pos->tran.y, pos->tran.z); return TP_ERR_INVALID; } } int tpAddCurrentPos(TP_STRUCT * const tp, EmcPose const * const disp) { if (!tp || !disp) { return TP_ERR_MISSING_INPUT; } if (emcPoseValid(disp)) { emcPoseSelfAdd(&tp->currentPos, disp); return TP_ERR_OK; } else { rtapi_print_msg(RTAPI_MSG_ERR, "Tried to set invalid pose in tpAddCurrentPos on id %d!" "disp is %.12g, %.12g, %.12g\n", tp->execId, disp->tran.x, disp->tran.y, disp->tran.z); return TP_ERR_INVALID; } } /** * Check for valid tp before queueing additional moves. */ int tpErrorCheck(TP_STRUCT const * const tp) { if (!tp) { rtapi_print_msg(RTAPI_MSG_ERR, "TP is null\n"); return TP_ERR_FAIL; } if (tp->aborting) { rtapi_print_msg(RTAPI_MSG_ERR, "TP is aborting\n"); return TP_ERR_FAIL; } return TP_ERR_OK; } /** * Find the "peak" velocity a segment can acheive if its velocity profile is triangular. * This is used to estimate blend velocity, though by itself is not enough * (since requested velocity and max velocity could be lower). */ STATIC double tpCalculateTriangleVel(TP_STRUCT const * const tp, TC_STRUCT * const tc) { //Compute peak velocity for blend calculations double acc_scaled = tpGetScaledAccel(tp, tc); double length = tc->target; if (!tc->finalized) { // blending may remove up to 1/2 of the segment length /= 2.0; } double triangle_vel = pmSqrt( acc_scaled * length); tp_debug_print("triangle vel for segment %d is %f\n", tc->id, triangle_vel); return triangle_vel; } /** * Handles the special case of blending into an unfinalized segment. * The problem here is that the last segment in the queue can always be cut * short by a blend to the next segment. However, we can only ever consume at * most 1/2 of the segment. This function computes the worst-case final * velocity the previous segment can have, if we want to exactly stop at the * halfway point. */ STATIC double tpCalculateOptimizationInitialVel(TP_STRUCT const * const tp, TC_STRUCT * const tc) { double acc_scaled = tpGetScaledAccel(tp, tc); //FIXME this is defined in two places! double triangle_vel = pmSqrt( acc_scaled * tc->target * BLEND_DIST_FRACTION); double max_vel = tpGetMaxTargetVel(tp, tc); tp_debug_print("optimization initial vel for segment %d is %f\n", tc->id, triangle_vel); return rtapi_fmin(triangle_vel, max_vel); } /** * Initialize a blend arc from its parent lines. * This copies and initializes properties from the previous and next lines to * initialize a blend arc. This function does not handle connecting the * segments together, however. */ STATIC int tpInitBlendArcFromPrev(TP_STRUCT const * const tp, TC_STRUCT const * const prev_tc, TC_STRUCT* const blend_tc, double vel, double ini_maxvel, double acc) { #ifdef TP_SHOW_BLENDS int canon_motion_type = EMC_MOTION_TYPE_ARC; #else int canon_motion_type = prev_tc->canon_motion_type; #endif tcInit(blend_tc, TC_SPHERICAL, canon_motion_type, tp->cycleTime, prev_tc->enables, prev_tc->atspeed); //FIXME refactor into Init blend_tc->tag = prev_tc->tag; // Copy over state data from TP tcSetupState(blend_tc, tp); // Set kinematics parameters from blend calculations tcSetupMotion(blend_tc, vel, ini_maxvel, acc); // Skip syncdio setup since this blend extends the previous line blend_tc->syncdio = prev_tc->syncdio; //enqueue the list of DIOs that need toggling // find "helix" length for target double length; arcLength(&blend_tc->coords.arc.xyz, &length); tp_info_print("blend tc length = %f\n",length); blend_tc->target = length; blend_tc->nominal_length = length; // Set the blend arc to be tangent to the next segment tcSetTermCond(blend_tc, TC_TERM_COND_TANGENT); //NOTE: blend arc radius and everything else is finalized, so set this to 1. //In the future, radius may be adjustable. tcFinalizeLength(blend_tc); return TP_ERR_OK; } STATIC int tcSetLineXYZ(TC_STRUCT * const tc, PmCartLine const * const line) { //Update targets with new arc length if (!line || tc->motion_type != TC_LINEAR) { return TP_ERR_FAIL; } if (!tc->coords.line.abc.tmag_zero || !tc->coords.line.uvw.tmag_zero) { rtapi_print_msg(RTAPI_MSG_ERR, "SetLineXYZ does not supportABC or UVW motion\n"); return TP_ERR_FAIL; } tc->coords.line.xyz = *line; tc->target = line->tmag; return TP_ERR_OK; } /** * Compare performance of blend arc and equivalent tangent speed. * If we can go faster by assuming the segments are already tangent (and * slowing down some), then prefer this over using the blend arc. This is * mostly useful for some odd arc-to-arc cases where the blend arc becomes very * short (and therefore slow). */ STATIC int tpCheckTangentPerformance(TP_STRUCT const * const tp, TC_STRUCT * const prev_tc, TC_STRUCT * const tc, TC_STRUCT * const blend_tc) { tcFinalizeLength(blend_tc); if (blend_tc->maxvel < tc->kink_vel) { tp_debug_print("segment maxvel %f is less than kink_vel %f, falling back to simple tangent\n", blend_tc->maxvel, tc->kink_vel); // Fall back to tangent, using kink_vel as final velocity tcSetTermCond(prev_tc, TC_TERM_COND_TANGENT); // Finally, reduce acceleration proportionally to prevent violations during "kink" const double kink_ratio = get_arcBlendTangentKinkRatio(tp->shared); tpAdjustAccelForTangent(tp, tc, kink_ratio); tpAdjustAccelForTangent(tp, prev_tc, kink_ratio); return TP_ERR_NO_ACTION; } else { tp_debug_print("segment maxvel %f is greater than kink_vel %f, using blend arc\n", blend_tc->maxvel, tc->kink_vel); // Since we get near-exact tangency with the blend arc, throw out the kink velocity since it's not relevant tc->kink_vel = -1.0; } return TP_ERR_OK; } STATIC int tpCreateLineArcBlend(TP_STRUCT * const tp, TC_STRUCT * const prev_tc, TC_STRUCT * const tc, TC_STRUCT * const blend_tc) { tp_debug_print("-- Starting LineArc blend arc --\n"); PmCartesian acc_bound, vel_bound; //Get machine limits tpGetMachineAccelBounds(tp, &acc_bound); tpGetMachineVelBounds(tp, &vel_bound); //Populate blend geometry struct BlendGeom3 geom; BlendParameters param; BlendPoints3 points_approx; BlendPoints3 points_exact; int res_init = blendInit3FromLineArc(&geom, ¶m, prev_tc, tc, &acc_bound, &vel_bound, get_maxFeedScale(tp->shared)); if (res_init != TP_ERR_OK) { tp_debug_print("blend init failed with code %d, aborting blend arc\n", res_init); return res_init; } // Check for coplanarity based on binormal and tangents int coplanar = pmCartCartParallel(&geom.binormal, &tc->coords.circle.xyz.normal, TP_ANGLE_EPSILON); if (!coplanar) { tp_debug_print("aborting arc, not coplanar\n"); return TP_ERR_FAIL; } int res_param = blendComputeParameters(¶m); int res_points = blendFindPoints3(&points_approx, &geom, ¶m); int res_post = blendLineArcPostProcess(&points_exact, &points_approx, ¶m, &geom, &prev_tc->coords.line.xyz, &tc->coords.circle.xyz); //Catch errors in blend setup if (res_init || res_param || res_points || res_post) { tp_debug_print("Got %d, %d, %d, %d for init, param, points, post, aborting arc\n", res_init, res_param, res_points, res_post); return TP_ERR_FAIL; } /* If blend calculations were successful, then we're ready to create the * blend arc. */ if (points_exact.trim2 > param.phi2_max) { tp_debug_print("trim2 %f > phi2_max %f, aborting arc...\n", points_exact.trim2, param.phi2_max); return TP_ERR_FAIL; } blendCheckConsume(¶m, &points_exact, prev_tc, get_arcBlendGapCycles(tp->shared)); //Store working copies of geometry PmCartLine line1_temp = prev_tc->coords.line.xyz; PmCircle circ2_temp = tc->coords.circle.xyz; // Change lengths of circles double new_len1 = line1_temp.tmag - points_exact.trim1; int res_stretch1 = pmCartLineStretch(&line1_temp, new_len1, false); double phi2_new = tc->coords.circle.xyz.angle - points_exact.trim2; tp_debug_print("phi2_new = %f\n",phi2_new); int res_stretch2 = pmCircleStretch(&circ2_temp, phi2_new, true); //TODO create blends if (res_stretch1 || res_stretch2) { tp_debug_print("segment resize failed, aborting arc\n"); return TP_ERR_FAIL; } //Get exact start and end points to account for spiral in arcs pmCartLinePoint(&line1_temp, line1_temp.tmag, &points_exact.arc_start); pmCirclePoint(&circ2_temp, 0.0, &points_exact.arc_end); //TODO deal with large spiral values, or else detect and fall back? blendPoints3Print(&points_exact); int res_arc = arcFromBlendPoints3(&blend_tc->coords.arc.xyz, &points_exact, &geom, ¶m); if (res_arc < 0) { tp_debug_print("arc creation failed, aborting arc\n"); return TP_ERR_FAIL; } // Note that previous restrictions don't allow ABC or UVW movement, so the // end and start points should be identical blend_tc->coords.arc.abc = prev_tc->coords.line.abc.end; blend_tc->coords.arc.uvw = prev_tc->coords.line.uvw.end; //set the max velocity to v_plan, since we'll violate constraints otherwise. tpInitBlendArcFromPrev(tp, prev_tc, blend_tc, param.v_req, param.v_plan, param.a_max); blend_tc->target_vel = param.v_actual; int res_tangent = checkTangentAngle(&circ2_temp, &blend_tc->coords.arc.xyz, &geom, ¶m, tp->cycleTime, true); if (res_tangent < 0) { tp_debug_print("failed tangent check, aborting arc...\n"); return TP_ERR_FAIL; } if (tpCheckTangentPerformance(tp, prev_tc, tc, blend_tc) == TP_ERR_NO_ACTION) { return TP_ERR_NO_ACTION; } tp_debug_print("Passed all tests, updating segments\n"); //Cleanup any mess from parabolic tc->blend_prev = 0; //TODO refactor to pass consume to connect function if (param.consume) { //Since we're consuming the previous segment, pop the last line off of the queue int res_pop = tcqPopBack(&tp->queue); if (res_pop) { tp_debug_print("failed to pop segment, aborting arc\n"); return TP_ERR_FAIL; } } else { tcSetLineXYZ(prev_tc, &line1_temp); } tcSetCircleXYZ(tc, &circ2_temp); tcSetTermCond(prev_tc, TC_TERM_COND_TANGENT); return TP_ERR_OK; } STATIC int tpCreateArcLineBlend(TP_STRUCT * const tp, TC_STRUCT * const prev_tc, TC_STRUCT * const tc, TC_STRUCT * const blend_tc) { tp_debug_print("-- Starting ArcLine blend arc --\n"); PmCartesian acc_bound, vel_bound; //Get machine limits tpGetMachineAccelBounds(tp, &acc_bound); tpGetMachineVelBounds(tp, &vel_bound); //Populate blend geometry struct BlendGeom3 geom; BlendParameters param; BlendPoints3 points_approx; BlendPoints3 points_exact; param.consume = 0; int res_init = blendInit3FromArcLine(&geom, ¶m, prev_tc, tc, &acc_bound, &vel_bound, get_maxFeedScale(tp->shared)); if (res_init != TP_ERR_OK) { tp_debug_print("blend init failed with code %d, aborting blend arc\n", res_init); return res_init; } // Check for coplanarity based on binormal int coplanar = pmCartCartParallel(&geom.binormal, &prev_tc->coords.circle.xyz.normal, TP_ANGLE_EPSILON); if (!coplanar) { tp_debug_print("aborting arc, not coplanar\n"); return TP_ERR_FAIL; } int res_param = blendComputeParameters(¶m); int res_points = blendFindPoints3(&points_approx, &geom, ¶m); int res_post = blendArcLinePostProcess(&points_exact, &points_approx, ¶m, &geom, &prev_tc->coords.circle.xyz, &tc->coords.line.xyz); //Catch errors in blend setup if (res_init || res_param || res_points || res_post) { tp_debug_print("Got %d, %d, %d, %d for init, param, points, post\n", res_init, res_param, res_points, res_post); return TP_ERR_FAIL; } blendCheckConsume(¶m, &points_exact, prev_tc, get_arcBlendGapCycles(tp->shared)); /* If blend calculations were successful, then we're ready to create the * blend arc. */ // Store working copies of geometry PmCircle circ1_temp = prev_tc->coords.circle.xyz; PmCartLine line2_temp = tc->coords.line.xyz; // Update start and end points of segment copies double phi1_new = circ1_temp.angle - points_exact.trim1; if (points_exact.trim1 > param.phi1_max) { tp_debug_print("trim1 %f > phi1_max %f, aborting arc...\n", points_exact.trim1, param.phi1_max); return TP_ERR_FAIL; } int res_stretch1 = pmCircleStretch(&circ1_temp, phi1_new, false); if (res_stretch1 != TP_ERR_OK) { return TP_ERR_FAIL; } double new_len2 = tc->target - points_exact.trim2; int res_stretch2 = pmCartLineStretch(&line2_temp, new_len2, true); if (res_stretch1 || res_stretch2) { tp_debug_print("segment resize failed, aborting arc\n"); return TP_ERR_FAIL; } pmCirclePoint(&circ1_temp, circ1_temp.angle, &points_exact.arc_start); pmCartLinePoint(&line2_temp, 0.0, &points_exact.arc_end); blendPoints3Print(&points_exact); int res_arc = arcFromBlendPoints3(&blend_tc->coords.arc.xyz, &points_exact, &geom, ¶m); if (res_arc < 0) { return TP_ERR_FAIL; } // Note that previous restrictions don't allow ABC or UVW movement, so the // end and start points should be identical blend_tc->coords.arc.abc = tc->coords.line.abc.start; blend_tc->coords.arc.uvw = tc->coords.line.uvw.start; //set the max velocity to v_plan, since we'll violate constraints otherwise. tpInitBlendArcFromPrev(tp, prev_tc, blend_tc, param.v_req, param.v_plan, param.a_max); blend_tc->target_vel = param.v_actual; int res_tangent = checkTangentAngle(&circ1_temp, &blend_tc->coords.arc.xyz, &geom, ¶m, tp->cycleTime, false); if (res_tangent) { tp_debug_print("failed tangent check, aborting arc...\n"); return TP_ERR_FAIL; } if (tpCheckTangentPerformance(tp, prev_tc, tc, blend_tc) == TP_ERR_NO_ACTION) { return TP_ERR_NO_ACTION; } tp_debug_print("Passed all tests, updating segments\n"); tcSetCircleXYZ(prev_tc, &circ1_temp); tcSetLineXYZ(tc, &line2_temp); //Cleanup any mess from parabolic tc->blend_prev = 0; tcSetTermCond(prev_tc, TC_TERM_COND_TANGENT); return TP_ERR_OK; } STATIC int tpCreateArcArcBlend(TP_STRUCT * const tp, TC_STRUCT * const prev_tc, TC_STRUCT * const tc, TC_STRUCT * const blend_tc) { tp_debug_print("-- Starting ArcArc blend arc --\n"); //TODO type checks int colinear = pmCartCartParallel(&prev_tc->coords.circle.xyz.normal, &tc->coords.circle.xyz.normal, TP_ANGLE_EPSILON); if (!colinear) { // Fail out if not collinear tp_debug_print("arc abort: not coplanar\n"); return TP_ERR_FAIL; } PmCartesian acc_bound, vel_bound; //Get machine limits tpGetMachineAccelBounds(tp, &acc_bound); tpGetMachineVelBounds(tp, &vel_bound); //Populate blend geometry struct BlendGeom3 geom; BlendParameters param; BlendPoints3 points_approx; BlendPoints3 points_exact; int res_init = blendInit3FromArcArc(&geom, ¶m, prev_tc, tc, &acc_bound, &vel_bound, get_maxFeedScale(tp->shared)); if (res_init != TP_ERR_OK) { tp_debug_print("blend init failed with code %d, aborting blend arc\n", res_init); return res_init; } int coplanar1 = pmCartCartParallel(&geom.binormal, &prev_tc->coords.circle.xyz.normal, TP_ANGLE_EPSILON); if (!coplanar1) { tp_debug_print("aborting blend arc, arc id %d is not coplanar with binormal\n", prev_tc->id); return TP_ERR_FAIL; } int coplanar2 = pmCartCartParallel(&geom.binormal, &tc->coords.circle.xyz.normal, TP_ANGLE_EPSILON); if (!coplanar2) { tp_debug_print("aborting blend arc, arc id %d is not coplanar with binormal\n", tc->id); return TP_ERR_FAIL; } int res_param = blendComputeParameters(¶m); int res_points = blendFindPoints3(&points_approx, &geom, ¶m); int res_post = blendArcArcPostProcess(&points_exact, &points_approx, ¶m, &geom, &prev_tc->coords.circle.xyz, &tc->coords.circle.xyz); //Catch errors in blend setup if (res_init || res_param || res_points || res_post) { tp_debug_print("Got %d, %d, %d, %d for init, param, points, post\n", res_init, res_param, res_points, res_post); return TP_ERR_FAIL; } blendCheckConsume(¶m, &points_exact, prev_tc, get_arcBlendGapCycles(tp->shared)); /* If blend calculations were successful, then we're ready to create the * blend arc. Begin work on temp copies of each circle here: */ double phi1_new = prev_tc->coords.circle.xyz.angle - points_exact.trim1; double phi2_new = tc->coords.circle.xyz.angle - points_exact.trim2; // TODO pare down this debug output tp_debug_print("phi1_new = %f, trim1 = %f\n", phi1_new, points_exact.trim1); tp_debug_print("phi2_new = %f, trim2 = %f\n", phi2_new, points_exact.trim2); if (points_exact.trim1 > param.phi1_max) { tp_debug_print("trim1 %f > phi1_max %f, aborting arc...\n", points_exact.trim1, param.phi1_max); return TP_ERR_FAIL; } if (points_exact.trim2 > param.phi2_max) { tp_debug_print("trim2 %f > phi2_max %f, aborting arc...\n", points_exact.trim2, param.phi2_max); return TP_ERR_FAIL; } //Store working copies of geometry PmCircle circ1_temp = prev_tc->coords.circle.xyz; PmCircle circ2_temp = tc->coords.circle.xyz; int res_stretch1 = pmCircleStretch(&circ1_temp, phi1_new, false); if (res_stretch1 != TP_ERR_OK) { return TP_ERR_FAIL; } int res_stretch2 = pmCircleStretch(&circ2_temp, phi2_new, true); if (res_stretch1 || res_stretch2) { tp_debug_print("segment resize failed, aborting arc\n"); return TP_ERR_FAIL; } //Get exact start and end points to account for spiral in arcs pmCirclePoint(&circ1_temp, circ1_temp.angle, &points_exact.arc_start); pmCirclePoint(&circ2_temp, 0.0, &points_exact.arc_end); tp_debug_print("Modified arc points\n"); blendPoints3Print(&points_exact); int res_arc = arcFromBlendPoints3(&blend_tc->coords.arc.xyz, &points_exact, &geom, ¶m); if (res_arc < 0) { return TP_ERR_FAIL; } // Note that previous restrictions don't allow ABC or UVW movement, so the // end and start points should be identical blend_tc->coords.arc.abc = prev_tc->coords.circle.abc.end; blend_tc->coords.arc.uvw = prev_tc->coords.circle.uvw.end; //set the max velocity to v_plan, since we'll violate constraints otherwise. tpInitBlendArcFromPrev(tp, prev_tc, blend_tc, param.v_req, param.v_plan, param.a_max); blend_tc->target_vel = param.v_actual; int res_tangent1 = checkTangentAngle(&circ1_temp, &blend_tc->coords.arc.xyz, &geom, ¶m, tp->cycleTime, false); int res_tangent2 = checkTangentAngle(&circ2_temp, &blend_tc->coords.arc.xyz, &geom, ¶m, tp->cycleTime, true); if (res_tangent1 || res_tangent2) { tp_debug_print("failed tangent check, aborting arc...\n"); return TP_ERR_FAIL; } if (tpCheckTangentPerformance(tp, prev_tc, tc, blend_tc) == TP_ERR_NO_ACTION) { return TP_ERR_NO_ACTION; } tp_debug_print("Passed all tests, updating segments\n"); tcSetCircleXYZ(prev_tc, &circ1_temp); tcSetCircleXYZ(tc, &circ2_temp); //Cleanup any mess from parabolic tc->blend_prev = 0; tcSetTermCond(prev_tc, TC_TERM_COND_TANGENT); return TP_ERR_OK; } STATIC int tpCreateLineLineBlend(TP_STRUCT * const tp, TC_STRUCT * const prev_tc, TC_STRUCT * const tc, TC_STRUCT * const blend_tc) { tp_debug_print("-- Starting LineLine blend arc --\n"); PmCartesian acc_bound, vel_bound; //Get machine limits tpGetMachineAccelBounds(tp, &acc_bound); tpGetMachineVelBounds(tp, &vel_bound); // Setup blend data structures BlendGeom3 geom; BlendParameters param; BlendPoints3 points; int res_init = blendInit3FromLineLine(&geom, ¶m, prev_tc, tc, &acc_bound, &vel_bound, get_maxFeedScale(tp->shared)); if (res_init != TP_ERR_OK) { tp_debug_print("blend init failed with code %d, aborting blend arc\n", res_init); return res_init; } int res_blend = blendComputeParameters(¶m); if (res_blend != TP_ERR_OK) { return res_blend; } blendFindPoints3(&points, &geom, ¶m); blendCheckConsume(¶m, &points, prev_tc, get_arcBlendGapCycles(tp->shared)); // Set up actual blend arc here int res_arc = arcFromBlendPoints3(&blend_tc->coords.arc.xyz, &points, &geom, ¶m); if (res_arc < 0) { return TP_ERR_FAIL; } // Note that previous restrictions don't allow ABC or UVW movement, so the // end and start points should be identical blend_tc->coords.arc.abc = prev_tc->coords.line.abc.end; blend_tc->coords.arc.uvw = prev_tc->coords.line.uvw.end; //set the max velocity to v_plan, since we'll violate constraints otherwise. tpInitBlendArcFromPrev(tp, prev_tc, blend_tc, param.v_req, param.v_plan, param.a_max); blend_tc->target_vel = param.v_actual; if (tpCheckTangentPerformance(tp, prev_tc, tc, blend_tc) == TP_ERR_NO_ACTION) { return TP_ERR_NO_ACTION; } int retval = TP_ERR_FAIL; //TODO refactor to pass consume to connect function if (param.consume) { //Since we're consuming the previous segment, pop the last line off of the queue retval = tcqPopBack(&tp->queue); if (retval) { //This is unrecoverable since we've already changed the line. Something is wrong if we get here... rtapi_print_msg(RTAPI_MSG_ERR, "PopBack failed\n"); return TP_ERR_FAIL; } //Since the blend arc meets the end of the previous line, we only need //to "connect" to the next line retval = tcConnectBlendArc(NULL, tc, &points.arc_start, &points.arc_end); } else { //TODO refactor connect function to stretch lines and check for bad stretching tp_debug_print("keeping previous line\n"); retval = tcConnectBlendArc(prev_tc, tc, &points.arc_start, &points.arc_end); } return retval; } /** * Add a newly created motion segment to the tp queue. * Returns an error code if the queue operation fails, otherwise adds a new * segment to the queue and updates the end point of the trajectory planner. */ STATIC inline int tpAddSegmentToQueue(TP_STRUCT * const tp, TC_STRUCT * const tc, int inc_id) { tc->id = tp->nextId; if (tcqPut(&tp->queue, tc) == -1) { rtapi_print_msg(RTAPI_MSG_ERR, "tcqPut failed.\n"); return TP_ERR_FAIL; } if (inc_id) { tp->nextId++; } // Store end of current move as new final goal of TP // KLUDGE: endpoint is garbage for rigid tap since it's supposed to retract past the start point. if (tc->motion_type != TC_RIGIDTAP) { tcGetEndpoint(tc, &tp->goalPos); } tp->done = 0; tp->depth = tcqLen(&tp->queue); //Fixing issue with duplicate id's? tp_debug_print("Adding TC id %d of type %d, total length %0.08f\n",tc->id,tc->motion_type,tc->target); return TP_ERR_OK; } STATIC int tpCheckCanonType(TC_STRUCT * const prev_tc, TC_STRUCT const * const tc) { if (!tc || !prev_tc) { return TP_ERR_FAIL; } if ((prev_tc->canon_motion_type == EMC_MOTION_TYPE_TRAVERSE) ^ (tc->canon_motion_type == EMC_MOTION_TYPE_TRAVERSE)) { tp_debug_print("Can't blend between rapid and feed move, aborting arc\n"); tcSetTermCond(prev_tc, TC_TERM_COND_STOP); } return TP_ERR_OK; } STATIC int tpSetupSyncedIO(TP_STRUCT * const tp, TC_STRUCT * const tc) { if (tp->syncdio.anychanged != 0) { tc->syncdio = tp->syncdio; //enqueue the list of DIOs that need toggling tpClearDIOs(tp); // clear out the list, in order to prepare for the next time we need to use it return TP_ERR_OK; } else { tc->syncdio.anychanged = 0; return TP_ERR_NO_ACTION; } } /** * Adds a rigid tap cycle to the motion queue. */ int tpAddRigidTap(TP_STRUCT * const tp, EmcPose end, double vel, double ini_maxvel, double acc, unsigned char enables, struct state_tag_t tag) { if (tpErrorCheck(tp)) { return TP_ERR_FAIL; } tp_info_print("== AddRigidTap ==\n"); if(!tp->synchronized) { rtapi_print_msg(RTAPI_MSG_ERR, "Cannot add unsynchronized rigid tap move.\n"); return TP_ERR_FAIL; } TC_STRUCT tc = {0}; /* Initialize rigid tap move. * NOTE: rigid tapping does not have a canonical type. * NOTE: always need atspeed since this is a synchronized movement. * */ tcInit(&tc, TC_RIGIDTAP, 0, tp->cycleTime, enables, 1); // Setup any synced IO for this move tpSetupSyncedIO(tp, &tc); // Copy over state data from the trajectory planner tcSetupState(&tc, tp); // Copy in motion parameters tcSetupMotion(&tc, vel, ini_maxvel, acc); // Setup rigid tap geometry pmRigidTapInit(&tc.coords.rigidtap, &tp->goalPos, &end); tc.target = pmRigidTapTarget(&tc.coords.rigidtap, tp->uu_per_rev); // Force exact stop mode after rigid tapping regardless of TP setting tcSetTermCond(&tc, TC_TERM_COND_STOP); TC_STRUCT *prev_tc; //Assume non-zero error code is failure prev_tc = tcqLast(&tp->queue); tcFinalizeLength(prev_tc); tcFlagEarlyStop(prev_tc, &tc); int retval = tpAddSegmentToQueue(tp, &tc, true); tpRunOptimization(tp); return retval; } STATIC blend_type_t tpCheckBlendArcType(TP_STRUCT const * const tp, TC_STRUCT const * const prev_tc, TC_STRUCT const * const tc) { if (!prev_tc || !tc) { tp_debug_print("prev_tc or tc doesn't exist\n"); return BLEND_NONE; } //If exact stop, we don't compute the arc if (prev_tc->term_cond != TC_TERM_COND_PARABOLIC) { tp_debug_print("Wrong term cond = %u\n", prev_tc->term_cond); return BLEND_NONE; } //If we have any rotary axis motion, then don't create a blend arc if (tpRotaryMotionCheck(tp, tc) || tpRotaryMotionCheck(tp, prev_tc)) { tp_debug_print("One of the segments has rotary motion, aborting blend arc\n"); return BLEND_NONE; } if (tc->finalized || prev_tc->finalized) { tp_debug_print("Can't create blend when segment lengths are finalized\n"); return BLEND_NONE; } tp_debug_print("Motion types: prev_tc = %u, tc = %u\n", prev_tc->motion_type,tc->motion_type); //If not linear blends, we can't easily compute an arc if ((prev_tc->motion_type == TC_LINEAR) && (tc->motion_type == TC_LINEAR)) { return BLEND_LINE_LINE; } else if (prev_tc->motion_type == TC_LINEAR && tc->motion_type == TC_CIRCULAR) { return BLEND_LINE_ARC; } else if (prev_tc->motion_type == TC_CIRCULAR && tc->motion_type == TC_LINEAR) { return BLEND_ARC_LINE; } else if (prev_tc->motion_type == TC_CIRCULAR && tc->motion_type == TC_CIRCULAR) { return BLEND_ARC_ARC; } else { return BLEND_NONE; } } /** * Based on the nth and (n-1)th segment, find a safe final velocity for the (n-1)th segment. * This function also caps the target velocity if velocity ramping is enabled. If we * don't do this, then the linear segments (with higher tangential * acceleration) will speed up and slow down to reach their target velocity, * creating "humps" in the velocity profile. */ STATIC int tpComputeOptimalVelocity(TP_STRUCT const * const tp, TC_STRUCT * const tc, TC_STRUCT * const prev1_tc) { //Calculate the maximum starting velocity vs_back of segment tc, given the //trajectory parameters double acc_this = tpGetScaledAccel(tp, tc); // Find the reachable velocity of tc, moving backwards in time double vs_back = pmSqrt(pmSq(tc->finalvel) + 2.0 * acc_this * tc->target); // Find the reachable velocity of prev1_tc, moving forwards in time double vf_limit_this = tc->maxvel; double vf_limit_prev = prev1_tc->maxvel; if (prev1_tc->kink_vel >=0 ) { vf_limit_prev = rtapi_fmin(vf_limit_prev, prev1_tc->kink_vel); } //Limit the PREVIOUS velocity by how much we can overshoot into double vf_limit = rtapi_fmin(vf_limit_this, vf_limit_prev); if (vs_back >= vf_limit ) { //If we've hit the requested velocity, then prev_tc is definitely a "peak" vs_back = vf_limit; prev1_tc->optimization_state = TC_OPTIM_AT_MAX; tp_debug_print("found peak due to v_limit\n"); } //Limit tc's target velocity to avoid creating "humps" in the velocity profile prev1_tc->finalvel = vs_back; tp_info_print(" prev1_tc-> fv = %f, tc->fv = %f, capped target = %f\n", prev1_tc->finalvel, tc->finalvel, tc->target_vel); return TP_ERR_OK; } /** * Do "rising tide" optimization to find allowable final velocities for each queued segment. * Walk along the queue from the back to the front. Based on the "current" * segment's final velocity, calculate the previous segment's maximum allowable * final velocity. The depth we walk along the queue is controlled by the * TP_LOOKAHEAD_DEPTH constant for now. The process safetly aborts early due to * a short queue or other conflicts. */ STATIC int tpRunOptimization(TP_STRUCT * const tp) { // Pointers to the "current", previous, and 2nd previous trajectory // components. Current in this context means the segment being optimized, // NOT the currently excecuting segment. TC_STRUCT *tc; TC_STRUCT *prev1_tc; int ind, x; int len = tcqLen(&tp->queue); //TODO make lookahead depth configurable from the INI file int hit_peaks = 0; // Flag that says we've hit at least 1 non-tangent segment bool hit_non_tangent = false; /* Starting at the 2nd to last element in the queue, work backwards towards * the front. We can't do anything with the very last element because its * length may change if a new line is added to the queue.*/ for (x = 1; x < get_arcBlendOptDepth(tp->shared) + 2; ++x) { tp_info_print("==== Optimization step %d ====\n",x); // Update the pointers to the trajectory segments in use ind = len-x; tc = tcqItem(&tp->queue, ind); prev1_tc = tcqItem(&tp->queue, ind-1); if ( !prev1_tc || !tc) { tp_debug_print(" Reached end of queue in optimization\n"); return TP_ERR_OK; } // stop optimizing if we hit a non-tangent segment (final velocity // stays zero) if (prev1_tc->term_cond != TC_TERM_COND_TANGENT) { if (hit_non_tangent) { // 2 or more non-tangent segments means we're past where the optimizer can help tp_debug_print("Found 2nd non-tangent segment, stopping optimization\n"); return TP_ERR_OK; } else { tp_debug_print("Found first non-tangent segment, contining\n"); hit_non_tangent = true; continue; } } double progress_ratio = prev1_tc->progress / prev1_tc->target; // can safely decelerate to halfway point of segment from 25% of segment double cutoff_ratio = BLEND_DIST_FRACTION / 2.0; if (progress_ratio >= cutoff_ratio) { tp_debug_print("segment %d has moved past %f percent progress, cannot blend safely!\n", ind-1, cutoff_ratio * 100.0); return TP_ERR_OK; } //Somewhat pedantic check for other conditions that would make blending unsafe if (prev1_tc->splitting || prev1_tc->blending_next) { tp_debug_print("segment %d is already blending, cannot optimize safely!\n", ind-1); return TP_ERR_OK; } tp_info_print(" current term = %u, type = %u, id = %u, accel_mode = %d\n", tc->term_cond, tc->motion_type, tc->id, tc->accel_mode); tp_info_print(" prev term = %u, type = %u, id = %u, accel_mode = %d\n", prev1_tc->term_cond, prev1_tc->motion_type, prev1_tc->id, prev1_tc->accel_mode); if (tc->atspeed) { //Assume worst case that we have a stop at this point. This may cause a //slight hiccup, but the alternative is a sudden hard stop. tp_debug_print("Found atspeed at id %d\n",tc->id); tc->finalvel = 0.0; } if (!tc->finalized) { tp_debug_print("Segment %d, type %d not finalized, continuing\n",tc->id,tc->motion_type); // use worst-case final velocity that allows for up to 1/2 of a segment to be consumed. prev1_tc->finalvel = rtapi_fmin(prev1_tc->maxvel, tpCalculateOptimizationInitialVel(tp,tc)); tc->finalvel = 0.0; } else { tpComputeOptimalVelocity(tp, tc, prev1_tc); } tc->active_depth = x - 2 - hit_peaks; #ifdef TP_OPTIMIZATION_LAZY if (tc->optimization_state == TC_OPTIM_AT_MAX) { hit_peaks++; } if (hit_peaks > TP_OPTIMIZATION_CUTOFF) { return TP_ERR_OK; } #endif } tp_debug_print("Reached optimization depth limit\n"); return TP_ERR_OK; } STATIC double pmCartAbsMax(PmCartesian const * const v) { return rtapi_fmax(rtapi_fmax(rtapi_fabs(v->x),rtapi_fabs(v->y)),rtapi_fabs(v->z)); } STATIC int tpAdjustAccelForTangent(TP_STRUCT const * const tp, TC_STRUCT * const tc, double normal_acc_scale) { if (normal_acc_scale >= 1.0) { rtapi_print_msg(RTAPI_MSG_ERR,"Can't have acceleration scale %f > 1.0\n",normal_acc_scale); return TP_ERR_FAIL; } double a_reduction_ratio = 1.0 - normal_acc_scale; tp_debug_print(" acceleration reduction ratio is %f\n", a_reduction_ratio); tc->maxaccel *= a_reduction_ratio; return TP_ERR_OK; } /** * Check for tangency between the current segment and previous segment. * If the current and previous segment are tangent, then flag the previous * segment as tangent, and limit the current segment's velocity by the sampling * rate. */ STATIC int tpSetupTangent(TP_STRUCT const * const tp, TC_STRUCT * const prev_tc, TC_STRUCT * const tc) { if (!tc || !prev_tc) { tp_debug_print("missing tc or prev tc in tangent check\n"); return TP_ERR_FAIL; } //If we have ABCUVW movement, then don't check for tangency if (tpRotaryMotionCheck(tp, tc) || tpRotaryMotionCheck(tp, prev_tc)) { tp_debug_print("found rotary axis motion\n"); return TP_ERR_FAIL; } if (get_arcBlendOptDepth(tp->shared) < 2) { tp_debug_print("Optimization depth %d too low for tangent optimization\n", get_arcBlendOptDepth(tp->shared)); return TP_ERR_FAIL; } if (prev_tc->term_cond == TC_TERM_COND_STOP) { tp_debug_print("Found exact stop condition\n"); return TP_ERR_FAIL; } PmCartesian prev_tan, this_tan; int res_endtan = tcGetEndTangentUnitVector(prev_tc, &prev_tan); int res_starttan = tcGetStartTangentUnitVector(tc, &this_tan); if (res_endtan || res_starttan) { tp_debug_print("Got %d and %d from tangent vector calc\n", res_endtan, res_starttan); } tp_debug_print("prev tangent vector: %f %f %f\n", prev_tan.x, prev_tan.y, prev_tan.z); tp_debug_print("this tangent vector: %f %f %f\n", this_tan.x, this_tan.y, this_tan.z); double dot = -1.0; const double SHARP_CORNER_DEG = 2.0; const double SHARP_CORNER_THRESHOLD = rtapi_cos(PM_PI * (1.0 - SHARP_CORNER_DEG / 180.0)); pmCartCartDot(&prev_tan, &this_tan, &dot); if (dot < SHARP_CORNER_THRESHOLD) { tp_debug_print("Found sharp corner\n"); tcSetTermCond(prev_tc, TC_TERM_COND_STOP); return TP_ERR_FAIL; } // Calculate instantaneous acceleration required for change in direction // from v1 to v2, assuming constant speed double v_max1 = rtapi_fmin(prev_tc->maxvel, prev_tc->reqvel * get_maxFeedScale(tp->shared)); double v_max2 = rtapi_fmin(tc->maxvel, tc->reqvel * get_maxFeedScale(tp->shared)); double v_max = rtapi_fmin(v_max1, v_max2); tp_debug_print("tangent v_max = %f\n",v_max); double a_inst = v_max / tp->cycleTime; // Set up worst-case final velocity PmCartesian acc1, acc2, acc_diff; pmCartScalMult(&prev_tan, a_inst, &acc1); pmCartScalMult(&this_tan, a_inst, &acc2); pmCartCartSub(&acc2,&acc1,&acc_diff); //TODO store this in TP struct instead? PmCartesian acc_bound; tpGetMachineAccelBounds(tp, &acc_bound); PmCartesian acc_scale; findAccelScale(&acc_diff,&acc_bound,&acc_scale); tp_debug_print("acc_diff: %f %f %f\n", acc_diff.x, acc_diff.y, acc_diff.z); tp_debug_print("acc_scale: %f %f %f\n", acc_scale.x, acc_scale.y, acc_scale.z); //FIXME this ratio is arbitrary, should be more easily tunable double acc_scale_max = pmCartAbsMax(&acc_scale); //KLUDGE lumping a few calculations together here if (prev_tc->motion_type == TC_CIRCULAR || tc->motion_type == TC_CIRCULAR) { acc_scale_max /= BLEND_ACC_RATIO_TANGENTIAL; } const double kink_ratio = get_arcBlendTangentKinkRatio(tp->shared); if (acc_scale_max < kink_ratio) { tp_debug_print(" Kink acceleration within %g, treating as tangent\n", kink_ratio); tcSetTermCond(prev_tc, TC_TERM_COND_TANGENT); tc->kink_vel = v_max; tpAdjustAccelForTangent(tp, tc, acc_scale_max); tpAdjustAccelForTangent(tp, prev_tc, acc_scale_max); return TP_ERR_OK; } else { tc->kink_vel = v_max * kink_ratio / acc_scale_max; tp_debug_print("Kink acceleration scale %f above %f, kink vel = %f, blend arc may be faster\n", acc_scale_max, kink_ratio, tc->kink_vel); return TP_ERR_NO_ACTION; } } /** * Handle creating a blend arc when a new line segment is about to enter the queue. * This function handles the checks, setup, and calculations for creating a new * blend arc. Essentially all of the blend arc functions are called through * here to isolate the process. */ STATIC int tpHandleBlendArc(TP_STRUCT * const tp, TC_STRUCT * const tc) { tp_debug_print("*****************************************\n** Handle Blend Arc **\n"); TC_STRUCT *prev_tc; prev_tc = tcqLast(&tp->queue); //If the previous segment has already started, then don't create a blend //arc for the next pair. // TODO May be able to lift this restriction if we can ensure that we leave // 1 timestep's worth of distance in prev_tc if ( !prev_tc) { tp_debug_print(" queue empty\n"); return TP_ERR_FAIL; } if (prev_tc->progress > prev_tc->target / 2.0) { tp_debug_print(" prev_tc progress (%f) is too large, aborting blend arc\n", prev_tc->progress); return TP_ERR_FAIL; } // Check for tangency between segments and handle any errors // TODO possibly refactor this into a macro? int res_tan = tpSetupTangent(tp, prev_tc, tc); switch (res_tan) { // Abort blend arc creation in these cases case TP_ERR_FAIL: tp_debug_print(" tpSetupTangent failed, aborting blend arc\n"); case TP_ERR_OK: return res_tan; break; case TP_ERR_NO_ACTION: default: //Continue with creation break; } TC_STRUCT blend_tc = {0}; blend_type_t type = tpCheckBlendArcType(tp, prev_tc, tc); int res_create; switch (type) { case BLEND_LINE_LINE: res_create = tpCreateLineLineBlend(tp, prev_tc, tc, &blend_tc); break; case BLEND_LINE_ARC: res_create = tpCreateLineArcBlend(tp, prev_tc, tc, &blend_tc); break; case BLEND_ARC_LINE: res_create = tpCreateArcLineBlend(tp, prev_tc, tc, &blend_tc); break; case BLEND_ARC_ARC: res_create = tpCreateArcArcBlend(tp, prev_tc, tc, &blend_tc); break; default: tp_debug_print("intersection type not recognized, aborting arc\n"); res_create = TP_ERR_FAIL; break; } if (res_create == TP_ERR_OK) { //Need to do this here since the length changed tpAddSegmentToQueue(tp, &blend_tc, false); } else { return res_create; } return TP_ERR_OK; } //TODO final setup steps as separate functions // /** * Add a straight line to the tc queue. * end of the previous move to the new end specified here at the * currently-active accel and vel settings from the tp struct. */ int tpAddLine(TP_STRUCT * const tp, EmcPose end, int canon_motion_type, double vel, double ini_maxvel, double acc, unsigned char enables, char atspeed, int indexrotary, struct state_tag_t tag) { if (tpErrorCheck(tp) < 0) { return TP_ERR_FAIL; } tp_info_print("== AddLine ==\n"); // Initialize new tc struct for the line segment TC_STRUCT tc = {0}; tcInit(&tc, TC_LINEAR, canon_motion_type, tp->cycleTime, enables, atspeed); tc.tag = tag; // Copy in motion parameters tcSetupMotion(&tc, vel, ini_maxvel, acc); // Setup any synced IO for this move tpSetupSyncedIO(tp, &tc); // Copy over state data from the trajectory planner tcSetupState(&tc, tp); // Setup line geometry pmLine9Init(&tc.coords.line, &tp->goalPos, &end); tc.target = pmLine9Target(&tc.coords.line); if (tc.target < TP_POS_EPSILON) { rtapi_print_msg(RTAPI_MSG_DBG,"failed to create line id %d, zero-length segment\n",tp->nextId); return TP_ERR_ZERO_LENGTH; } tc.nominal_length = tc.target; tcClampVelocityByLength(&tc); // For linear move, set rotary axis settings tc.indexrotary = indexrotary; //TODO refactor this into its own function TC_STRUCT *prev_tc; prev_tc = tcqLast(&tp->queue); tpCheckCanonType(prev_tc, &tc); if (get_arcBlendEnable(tp->shared)){ tpHandleBlendArc(tp, &tc); } tcCheckLastParabolic(&tc, prev_tc); tcFinalizeLength(prev_tc); tcFlagEarlyStop(prev_tc, &tc); int retval = tpAddSegmentToQueue(tp, &tc, true); //Run speed optimization (will abort safely if there are no tangent segments) tpRunOptimization(tp); return retval; } /** * Adds a circular (circle, arc, helix) move from the end of the * last move to this new position. * * @param end is the xyz/abc point of the destination. * * see pmCircleInit for further details on how arcs are specified. Note that * degenerate arcs/circles are not allowed. We are guaranteed to have a move in * xyz so the target is always the circle/arc/helical length. */ int tpAddCircle(TP_STRUCT * const tp, EmcPose end, PmCartesian center, PmCartesian normal, int turn, int canon_motion_type, double vel, double ini_maxvel, double acc, unsigned char enables, char atspeed, struct state_tag_t tag) { if (tpErrorCheck(tp)<0) { return TP_ERR_FAIL; } tp_info_print("== AddCircle ==\n"); tp_debug_print("ini_maxvel = %f\n",ini_maxvel); TC_STRUCT tc = {0}; tcInit(&tc, TC_CIRCULAR, canon_motion_type, tp->cycleTime, enables, atspeed); tc.tag = tag; // Setup any synced IO for this move tpSetupSyncedIO(tp, &tc); // Copy over state data from the trajectory planner tcSetupState(&tc, tp); // Setup circle geometry int res_init = pmCircle9Init(&tc.coords.circle, &tp->goalPos, &end, ¢er, &normal, turn); if (res_init) return res_init; // Update tc target with existing circular segment tc.target = pmCircle9Target(&tc.coords.circle); if (tc.target < TP_POS_EPSILON) { return TP_ERR_FAIL; } tp_debug_print("tc.target = %f\n",tc.target); tc.nominal_length = tc.target; //Reduce max velocity to match sample rate tcClampVelocityByLength(&tc); double v_max_actual = pmCircleActualMaxVel(&tc.coords.circle.xyz, ini_maxvel, acc, false); // Copy in motion parameters tcSetupMotion(&tc, vel, v_max_actual, acc); TC_STRUCT *prev_tc; prev_tc = tcqLast(&tp->queue); tpCheckCanonType(prev_tc, &tc); if (get_arcBlendEnable(tp->shared)){ tpHandleBlendArc(tp, &tc); findSpiralArcLengthFit(&tc.coords.circle.xyz, &tc.coords.circle.fit); } tcCheckLastParabolic(&tc, prev_tc); tcFinalizeLength(prev_tc); tcFlagEarlyStop(prev_tc, &tc); int retval = tpAddSegmentToQueue(tp, &tc, true); tpRunOptimization(tp); return retval; } /** * Adjusts blend velocity and acceleration to safe limits. * If we are blending between tc and nexttc, then we need to figure out what a * safe blend velocity is based on the known trajectory parameters. This * function updates the TC_STRUCT data with a safe blend velocity. */ STATIC int tpComputeBlendVelocity(TP_STRUCT const * const tp, TC_STRUCT * const tc, TC_STRUCT * const nexttc) { /* Pre-checks for valid pointers */ if (!nexttc || !tc) { return TP_ERR_FAIL; } if (tc->term_cond != TC_TERM_COND_PARABOLIC) { return TP_ERR_NO_ACTION; } double acc_this = tpGetScaledAccel(tp, tc); double acc_next = tpGetScaledAccel(tp, nexttc); // cap the blend velocity at the current requested speed (factoring in feed override) double target_vel_this; double target_vel_next; target_vel_this = tpGetRealTargetVel(tp, tc); target_vel_next = tpGetRealTargetVel(tp, nexttc); double v_reachable_this = rtapi_fmin(tpCalculateTriangleVel(tp,tc), target_vel_this); double v_reachable_next = rtapi_fmin(tpCalculateTriangleVel(tp,nexttc), target_vel_next); /* Compute the maximum allowed blend time for each segment. * This corresponds to the minimum acceleration that will just barely reach * max velocity as we are 1/2 done the segment. */ double t_max_this = tc->target / v_reachable_this; double t_max_next = nexttc->target / v_reachable_next; double t_max_reachable = rtapi_fmin(t_max_this, t_max_next); // How long the blend phase would be at maximum acceleration double t_min_blend_this = v_reachable_this / acc_this; double t_min_blend_next = v_reachable_next / acc_next; double t_max_blend = rtapi_fmax(t_min_blend_this, t_min_blend_next); // The longest blend time we can get that's still within the 1/2 segment restriction double t_blend = rtapi_fmin(t_max_reachable, t_max_blend); // Now, use this blend time to find the best acceleration / velocity for each segment double v_blend_this = rtapi_fmin(v_reachable_this, t_blend * acc_this); double v_blend_next = rtapi_fmin(v_reachable_next, t_blend * acc_next); double theta; if (tc->tolerance > 0) { /* see diagram blend.fig. T (blend tolerance) is given, theta * is calculated from dot(s1, s2) * * blend criteria: we are decelerating at the end of segment s1 * and we pass distance d from the end. * find the corresponding velocity v when passing d. * * in the drawing note d = 2T/cos(theta) * * when v1 is decelerating at a to stop, v = at, t = v/a * so required d = .5 a (v/a)^2 * * equate the two expressions for d and solve for v */ double tblend_vel; PmCartesian v1, v2; tcGetEndAccelUnitVector(tc, &v1); tcGetStartAccelUnitVector(nexttc, &v2); findIntersectionAngle(&v1, &v2, &theta); /* Minimum value of cos(theta) to prevent numerical instability */ const double min_cos_theta = rtapi_cos(PM_PI / 2.0 - TP_MIN_ARC_ANGLE); if (rtapi_cos(theta) > min_cos_theta) { tblend_vel = 2.0 * pmSqrt(acc_this * tc->tolerance / rtapi_cos(theta)); v_blend_this = rtapi_fmin(v_blend_this, tblend_vel); v_blend_next = rtapi_fmin(v_blend_next, tblend_vel); } } tc->blend_vel = v_blend_this; nexttc->blend_vel = v_blend_next; return TP_ERR_OK; } /** * Calculate distance update from velocity and acceleration. */ STATIC int tcUpdateDistFromAccel(TC_STRUCT * const tc, double acc, double vel_desired) { // If the resulting velocity is less than zero, than we're done. This // causes a small overshoot, but in practice it is very small. double v_next = tc->currentvel + acc * tc->cycle_time; // update position in this tc using trapezoidal integration // Note that progress can be greater than the target after this step. if (v_next < 0.0) { v_next = 0.0; //KLUDGE: the trapezoidal planner undershoots by half a cycle time, so //forcing the endpoint here is necessary. However, velocity undershoot //also occurs during pausing and stopping, which can happen far from //the end. If we could "cruise" to the endpoint within a cycle at our //current speed, then assume that we want to be at the end. if ((tc->target - tc->progress) < (tc->currentvel * tc->cycle_time)) { tc->progress = tc->target; } } else { double displacement = (v_next + tc->currentvel) * 0.5 * tc->cycle_time; tc->progress += displacement; clip_max(&tc->progress,tc->target); } tc->currentvel = v_next; // Check if we can make the desired velocity tc->on_final_decel = (rtapi_fabs(vel_desired - tc->currentvel) < TP_VEL_EPSILON) && (acc < 0.0); return TP_ERR_OK; } STATIC void tpDebugCycleInfo(TP_STRUCT const * const tp, TC_STRUCT const * const tc, TC_STRUCT const * const nexttc, double acc) { #ifdef TC_DEBUG // Find maximum allowed velocity from feed and machine limits double tc_target_vel = tpGetRealTargetVel(tp, tc); // Store a copy of final velocity double tc_finalvel = tpGetRealFinalVel(tp, tc, nexttc); /* Debug Output */ tc_debug_print("tc state: vr = %f, vf = %f, maxvel = %f\n", tc_target_vel, tc_finalvel, tc->maxvel); tc_debug_print(" currentvel = %f, fs = %f, tc = %f, term = %d\n", tc->currentvel, tpGetFeedScale(tp,tc), tc->cycle_time, tc->term_cond); tc_debug_print(" acc = %f,T = %f, P = %f\n", acc, tc->target, tc->progress); tc_debug_print(" motion type %d\n", tc->motion_type); if (tc->on_final_decel) { rtapi_print(" on final decel\n"); } #endif } /** * Compute updated position and velocity for a timestep based on a trapezoidal * motion profile. * @param tc trajectory segment being processed. * * Creates the trapezoidal velocity profile based on the segment's velocity and * acceleration limits. The formula has been tweaked slightly to allow a * non-zero velocity at the instant the target is reached. */ void tpCalculateTrapezoidalAccel(TP_STRUCT const * const tp, TC_STRUCT * const tc, TC_STRUCT const * const nexttc, double * const acc, double * const vel_desired) { tc_debug_print("using trapezoidal acceleration\n"); // Find maximum allowed velocity from feed and machine limits double tc_target_vel = tpGetRealTargetVel(tp, tc); // Store a copy of final velocity double tc_finalvel = tpGetRealFinalVel(tp, tc, nexttc); #ifdef TP_PEDANTIC if (tc_finalvel > 0.0 && tc->term_cond != TC_TERM_COND_TANGENT) { rtapi_print_msg(RTAPI_MSG_ERR, "Final velocity of %f with non-tangent segment!\n",tc_finalvel); tc_finalvel = 0.0; } #endif /* Calculations for desired velocity based on trapezoidal profile */ double dx = tc->target - tc->progress; double maxaccel = tpGetScaledAccel(tp, tc); double discr_term1 = pmSq(tc_finalvel); double discr_term2 = maxaccel * (2.0 * dx - tc->currentvel * tc->cycle_time); double tmp_adt = maxaccel * tc->cycle_time * 0.5; double discr_term3 = pmSq(tmp_adt); double discr = discr_term1 + discr_term2 + discr_term3; // Descriminant is a little more complicated with final velocity term. If // descriminant < 0, we've overshot (or are about to). Do the best we can // in this situation #ifdef TP_PEDANTIC if (discr < 0.0) { rtapi_print_msg(RTAPI_MSG_ERR, "discriminant %f < 0 in velocity calculation!\n", discr); } #endif //Start with -B/2 portion of quadratic formula double maxnewvel = -tmp_adt; //If the discriminant term brings our velocity above zero, add it to the total //We can ignore the calculation otherwise because negative velocities are clipped to zero if (discr > discr_term3) { maxnewvel += pmSqrt(discr); } // Find bounded new velocity based on target velocity // Note that we use a separate variable later to check if we're on final decel double newvel = saturate(maxnewvel, tc_target_vel); // Calculate acceleration needed to reach newvel, bounded by machine maximum double dt = rtapi_fmax(tc->cycle_time, TP_TIME_EPSILON); double maxnewaccel = (newvel - tc->currentvel) / dt; *acc = saturate(maxnewaccel, maxaccel); *vel_desired = maxnewvel; } /** * Calculate "ramp" acceleration for a cycle. */ STATIC int tpCalculateRampAccel(TP_STRUCT const * const tp, TC_STRUCT * const tc, TC_STRUCT const * const nexttc, double * const acc, double * const vel_desired) { tc_debug_print("using ramped acceleration\n"); // displacement remaining in this segment double dx = tc->target - tc->progress; if (!tc->blending_next) { tc->vel_at_blend_start = tc->currentvel; } double vel_final = tpGetRealFinalVel(tp, tc, nexttc); /* Check if the final velocity is too low to properly ramp up.*/ if (vel_final < TP_VEL_EPSILON) { tp_debug_print(" vel_final %f too low for velocity ramping\n", vel_final); return TP_ERR_FAIL; } double vel_avg = (tc->currentvel + vel_final) / 2.0; // Calculate time remaining in this segment assuming constant acceleration double dt = 1e-16; if (vel_avg > TP_VEL_EPSILON) { dt = rtapi_fmax( dx / vel_avg, 1e-16); } // Calculate velocity change between final and current velocity double dv = vel_final - tc->currentvel; // Estimate constant acceleration required double acc_final = dv / dt; // Saturate estimated acceleration against maximum allowed by segment double acc_max = tpGetScaledAccel(tp, tc); // Output acceleration and velocity for position update *acc = saturate(acc_final, acc_max); *vel_desired = vel_final; return TP_ERR_OK; } void tpToggleDIOs(TP_STRUCT const * const tp, TC_STRUCT * const tc) { unsigned int i = 0; if (tc->syncdio.anychanged != 0) { // we have DIO's to turn on or off for (i=0; i < get_num_dio(tp->shared); i++) { if (!(RTAPI_BIT_TEST(tc->syncdio.dio_mask, i))) continue; if (tc->syncdio.dios[i] > 0) dioWrite(tp->shared, i, 1); // turn DIO[i] on if (tc->syncdio.dios[i] < 0) dioWrite(tp->shared, i, 0); // turn DIO[i] off } for (i=0; i < get_num_aio(tp->shared); i++) { if (!(tc->syncdio.aio_mask & (1ull << i))) continue; aioWrite(tp->shared, i, tc->syncdio.aios[i]); // set AIO[i] } tc->syncdio.anychanged = 0; //we have turned them all on/off, nothing else to do for this TC the next time } } /** * Handle special cases for rigid tapping. * This function deals with updating the goal position and spindle position * during a rigid tap cycle. In particular, the target and spindle goal need to * be carefully handled since we're reversing direction. */ STATIC void tpUpdateRigidTapState(TP_STRUCT * const tp, TC_STRUCT * const tc) { double new_spindlepos = get_spindleRevs(tp->shared); if (get_spindle_direction(tp->shared) < 0) new_spindlepos = -new_spindlepos; switch (tc->coords.rigidtap.state) { case TAPPING: tc_debug_print("TAPPING\n"); if (tc->progress >= tc->coords.rigidtap.reversal_target) { // command reversal set_spindle_speed(tp->shared, get_spindle_speed(tp->shared) * -1.0); tc->coords.rigidtap.state = REVERSING; } break; case REVERSING: tc_debug_print("REVERSING\n"); if (new_spindlepos < tp->old_spindlepos) { PmCartesian start, end; PmCartLine *aux = &tc->coords.rigidtap.aux_xyz; PmCartLine *aux = &tc->coords.rigidtap.aux_uvw; // we've stopped, so set a new target at the original position tc->coords.rigidtap.spindlerevs_at_reversal = new_spindlepos + tp->spindle.offset; pmCartLinePoint(&tc->coords.rigidtap.xyz, tc->progress, &start); pmCartLinePoint(&tc->coords.rigidtap.uvw, tc->progress, &start); end = tc->coords.rigidtap.xyz.start; end = tc->coords.rigidtap.uvw.start; pmCartLineInit(aux, &start, &end); rtapi_print_msg(RTAPI_MSG_DBG, "old target = %f", tc->target); tc->coords.rigidtap.reversal_target = aux->tmag; tc->target = aux->tmag + 10. * tc->uu_per_rev; tc->progress = 0.0; rtapi_print_msg(RTAPI_MSG_DBG, "new target = %f", tc->target); tc->coords.rigidtap.state = RETRACTION; } tp->old_spindlepos = new_spindlepos; tc_debug_print("Spindlepos = %f\n", new_spindlepos); break; case RETRACTION: tc_debug_print("RETRACTION\n"); if (tc->progress >= tc->coords.rigidtap.reversal_target) { set_spindle_speed(tp->shared, get_spindle_speed(tp->shared) * -1.0); tc->coords.rigidtap.state = FINAL_REVERSAL; } break; case FINAL_REVERSAL: tc_debug_print("FINAL_REVERSAL\n"); if (new_spindlepos > tp->old_spindlepos) { PmCartesian start, end; PmCartLine *aux = &tc->coords.rigidtap.aux_xyz; PmCartLine *aux = &tc->coords.rigidtap.aux_uvw; pmCartLinePoint(aux, tc->progress, &start); end = tc->coords.rigidtap.xyz.start; end = tc->coords.rigidtap.uvw.start; pmCartLineInit(aux, &start, &end); tc->target = aux->tmag; tc->progress = 0.0; //No longer need spindle sync at this point tc->synchronized = 0; tc->target_vel = tc->maxvel; tc->coords.rigidtap.state = FINAL_PLACEMENT; } tp->old_spindlepos = new_spindlepos; break; case FINAL_PLACEMENT: tc_debug_print("FINAL_PLACEMENT\n"); // this is a regular move now, it'll stop at target above. break; } } /** * Update emcMotStatus with information about trajectory motion. * Based on the specified trajectory segment tc, read its progress and status * flags. Then, update upper level data through tp_shared_t. */ STATIC int tpUpdateMovementStatus(TP_STRUCT * const tp, TC_STRUCT const * const tc ) { if (!tp) { return TP_ERR_FAIL; } if (!tc) { // Assume that we have no active segment, so we should clear out the status fields set_requested_vel(tp->shared, 0); set_current_vel(tp->shared, 0); set_distance_to_go(tp->shared, 0); emcPoseZero2fp(tp->shared->dtg); tp->motionType = 0; tp->activeDepth = 0; return TP_ERR_STOPPED; } EmcPose tc_pos; tcGetEndpoint(tc, &tc_pos); tc_debug_print("tc id = %u canon_type = %u mot type = %u\n", tc->id, tc->canon_motion_type, tc->motion_type); tp->motionType = tc->canon_motion_type; tp->activeDepth = tc->active_depth; set_distance_to_go(tp->shared, tc->target - tc->progress); set_enables_queued(tp->shared, tc->enables); // report our line number to the guis tp->execId = tc->id; set_requested_vel(tp->shared, tc->reqvel); set_current_vel(tp->shared, tc->currentvel); emcPoseSub2fp(&tc_pos, &tp->currentPos, tp->shared->dtg); return TP_ERR_OK; } /** * Do a parabolic blend by updating the nexttc. * Perform the actual blending process by updating the target velocity for the * next segment, then running a cycle update. */ STATIC void tpUpdateBlend(TP_STRUCT * const tp, TC_STRUCT * const tc, TC_STRUCT * const nexttc) { double save_vel = nexttc->target_vel; if (tpGetFeedScale(tp, nexttc) > TP_VEL_EPSILON) { double dv = tc->vel_at_blend_start - tc->currentvel; double vel_start = rtapi_fmax(tc->vel_at_blend_start, TP_VEL_EPSILON); // Clip the ratio at 1 and 0 double blend_progress = rtapi_fmax(rtapi_fmin(dv / vel_start, 1.0), 0.0); double blend_scale = tc->vel_at_blend_start / tc->blend_vel; nexttc->target_vel = blend_progress * nexttc->blend_vel * blend_scale; // Mark the segment as blending so we handle the new target velocity properly nexttc->is_blending = true; } else { // Drive the target velocity to zero since we're stopping nexttc->target_vel = 0.0; } tpUpdateCycle(tp, nexttc, NULL); //Restore the original target velocity nexttc->target_vel = save_vel; } /** * Cleanup if tc is not valid (empty queue). * If the program ends, or we hit QUEUE STARVATION, do a soft reset on the trajectory planner. * TODO merge with tpClear? */ STATIC void tpHandleEmptyQueue(TP_STRUCT * const tp) { tcqInit(&tp->queue); tp->goalPos = tp->currentPos; tp->done = 1; tp->depth = tp->activeDepth = 0; tp->aborting = 0; tp->execId = 0; tp->motionType = 0; tpUpdateMovementStatus(tp, NULL); tpResume(tp); // when not executing a move, use the current enable flags set_enables_queued(tp->shared, get_enables_new(tp->shared)); } /** Wrapper function to unlock rotary axes */ STATIC void tpSetRotaryUnlock(TP_STRUCT * const tp, int axis, int unlock) { SetRotaryUnlock(tp->shared, axis, unlock); } /** Wrapper function to check rotary axis lock */ STATIC int tpGetRotaryIsUnlocked(TP_STRUCT * const tp, int axis) { return GetRotaryIsUnlocked(tp->shared, axis); } /** * Cleanup after a trajectory segment is complete. * If the current move is complete and we're not waiting on the spindle for * const this move, then pop if off the queue and perform cleanup operations. * Finally, get the next move in the queue. */ STATIC int tpCompleteSegment(TP_STRUCT * const tp, TC_STRUCT const * const tc) { if (tp->spindle.waiting_for_atspeed == tc->id) { return TP_ERR_FAIL; } // if we're synced, and this move is ending, save the // spindle position so the next synced move can be in // the right place. if(tc->synchronized != TC_SYNC_NONE) { tp->spindle.offset += tc->target / tc->uu_per_rev; } else { tp->spindle.offset = 0.0; } if(tc->indexrotary != -1) { // this was an indexing move, so before we remove it we must // relock the axis tpSetRotaryUnlock(tp, tc->indexrotary, 0); // if it is now locked, fall through and remove the finished move. // otherwise, just come back later and check again if(tpGetRotaryIsUnlocked(tp, tc->indexrotary)) { return TP_ERR_FAIL; } } // done with this move tcqRemove(&tp->queue, 1); tp_debug_print("Finished tc id %d\n", tc->id); return TP_ERR_OK; } /** * Handle an abort command. * Based on the current motion state, handle the consequences of an abort command. */ STATIC int tpHandleAbort(TP_STRUCT * const tp, TC_STRUCT * const tc, TC_STRUCT * const nexttc) { if(!tp->aborting) { //Don't need to do anything if not aborting return TP_ERR_NO_ACTION; } //If the motion has stopped, then it's safe to reset the TP struct. if( MOTION_ID_VALID(tp->spindle.waiting_for_index) || MOTION_ID_VALID(tp->spindle.waiting_for_atspeed) || (tc->currentvel == 0.0 && (!nexttc || nexttc->currentvel == 0.0))) { tcqInit(&tp->queue); tp->goalPos = tp->currentPos; tp->done = 1; tp->depth = tp->activeDepth = 0; tp->aborting = 0; tp->execId = 0; tp->motionType = 0; tp->synchronized = 0; tp->spindle.waiting_for_index = MOTION_INVALID_ID; tp->spindle.waiting_for_atspeed = MOTION_INVALID_ID; set_spindleSync(tp->shared, 0); tpResume(tp); return TP_ERR_STOPPED; } //FIXME consistent error codes return TP_ERR_SLOWING; } /** * Check if the spindle has reached the required speed for a move. * Returns a "wait" code if the spindle needs to spin up before a move and it * has not reached the requested speed, or the spindle index has not been * detected. */ STATIC int tpCheckAtSpeed(TP_STRUCT * const tp, TC_STRUCT * const tc) { // this is no longer the segment we were waiting_for_index for if (MOTION_ID_VALID(tp->spindle.waiting_for_index) && tp->spindle.waiting_for_index != tc->id) { rtapi_print_msg(RTAPI_MSG_ERR, "Was waiting for index on motion id %d, but reached id %d\n", tp->spindle.waiting_for_index, tc->id); tp->spindle.waiting_for_index = MOTION_INVALID_ID; } if (MOTION_ID_VALID(tp->spindle.waiting_for_atspeed) && tp->spindle.waiting_for_atspeed != tc->id) { rtapi_print_msg(RTAPI_MSG_ERR, "Was waiting for atspeed on motion id %d, but reached id %d\n", tp->spindle.waiting_for_atspeed, tc->id); tp->spindle.waiting_for_atspeed = MOTION_INVALID_ID; } if (MOTION_ID_VALID(tp->spindle.waiting_for_atspeed)) { if(!get_spindle_is_atspeed(tp->shared)) { // spindle is still not at the right speed, so wait another cycle return TP_ERR_WAITING; } else { tp->spindle.waiting_for_atspeed = MOTION_INVALID_ID; } } if (MOTION_ID_VALID(tp->spindle.waiting_for_index)) { if (get_spindle_index_enable(tp->shared)) { /* haven't passed index yet */ return TP_ERR_WAITING; } else { /* passed index, start the move */ set_spindleSync(tp->shared, 1); tp->spindle.waiting_for_index = MOTION_INVALID_ID; tc->sync_accel = 1; tp->spindle.revs = 0; } } return TP_ERR_OK; } /** * "Activate" a segment being read for the first time. * This function handles initial setup of a new segment read off of the queue * for the first time. */ STATIC int tpActivateSegment(TP_STRUCT * const tp, TC_STRUCT * const tc) { //Check if already active if (!tc || tc->active) { return TP_ERR_OK; } if (!tp) { return TP_ERR_MISSING_INPUT; } /* Based on the INI setting for "cutoff frequency", this calculation finds * short segments that can have their acceleration be simple ramps, instead * of a trapezoidal motion. This leads to fewer jerk spikes, at a slight * performance cost. * */ double cutoff_time = 1.0 / (rtapi_fmax(get_arcBlendRampFreq(tp->shared), TP_TIME_EPSILON)); double length = tc->target - tc->progress; // Given what velocities we can actually reach, estimate the total time for the segment under ramp conditions double segment_time = 2.0 * length / (tc->currentvel + rtapi_fmin(tc->finalvel,tpGetRealTargetVel(tp,tc))); if (segment_time < cutoff_time && tc->canon_motion_type != EMC_MOTION_TYPE_TRAVERSE && tc->term_cond == TC_TERM_COND_TANGENT && tc->motion_type != TC_RIGIDTAP) { tp_debug_print("segment_time = %f, cutoff_time = %f, ramping\n", segment_time, cutoff_time); tc->accel_mode = TC_ACCEL_RAMP; } // Do at speed checks that only happen once int needs_atspeed = tc->atspeed || (tc->synchronized == TC_SYNC_POSITION && !(get_spindleSync(tp->shared))); if ( needs_atspeed && !(get_spindle_is_atspeed(tp->shared))) { tp->spindle.waiting_for_atspeed = tc->id; return TP_ERR_WAITING; } if (tc->indexrotary != -1) { // request that the axis unlock tpSetRotaryUnlock(tp, tc->indexrotary, 1); // if it is unlocked, fall through and start the move. // otherwise, just come back later and check again if (!tpGetRotaryIsUnlocked(tp, tc->indexrotary)) return TP_ERR_WAITING; } // Temporary debug message tp_debug_print("Activate tc id = %d target_vel = %f req_vel = %f final_vel = %f length = %f\n", tc->id, tc->target_vel, tc->reqvel, tc->finalvel, tc->target); tc->active = 1; //Do not change initial velocity here, since tangent blending already sets this up tp->motionType = tc->canon_motion_type; tc->blending_next = 0; tc->on_final_decel = 0; if (TC_SYNC_POSITION == tc->synchronized && !(get_spindleSync(tp->shared))) { tp_debug_print("Setting up position sync\n"); // if we aren't already synced, wait tp->spindle.waiting_for_index = tc->id; // ask for an index reset set_spindle_index_enable(tp->shared, 1); tp->spindle.offset = 0.0; rtapi_print_msg(RTAPI_MSG_DBG, "Waiting on sync...\n"); return TP_ERR_WAITING; } // Update the modal state displayed by the TP tp->execTag = tc->tag; return TP_ERR_OK; } /** * Run velocity mode synchronization. * Update requested velocity to follow the spindle's velocity (scaled by feed rate). */ STATIC void tpSyncVelocityMode(TP_STRUCT * const tp, TC_STRUCT * const tc, TC_STRUCT const * nexttc) { double speed = get_spindleSpeedIn(tp->shared); double pos_error = rtapi_fabs(speed) * tc->uu_per_rev; // Account for movement due to parabolic blending with next segment if(nexttc) { pos_error -= nexttc->progress; } tc->target_vel = pos_error; } /** * Run position mode synchronization. * Updates requested velocity for a trajectory segment to track the spindle's position. */ STATIC void tpSyncPositionMode(TP_STRUCT * const tp, TC_STRUCT * const tc, TC_STRUCT * const nexttc ) { double spindle_pos = tpGetSignedSpindlePosition(get_spindleRevs(tp->shared), get_spindle_direction(tp->shared)); tp_debug_print("Spindle at %f\n",spindle_pos); double spindle_vel, target_vel; double oldrevs = tp->spindle.revs; if ((tc->motion_type == TC_RIGIDTAP) && (tc->coords.rigidtap.state == RETRACTION || tc->coords.rigidtap.state == FINAL_REVERSAL)) { tp->spindle.revs = tc->coords.rigidtap.spindlerevs_at_reversal - spindle_pos; } else { tp->spindle.revs = spindle_pos; } double pos_desired = (tp->spindle.revs - tp->spindle.offset) * tc->uu_per_rev; double pos_error = pos_desired - tc->progress; if(nexttc) { pos_error -= nexttc->progress; } if(tc->sync_accel) { // detect when velocities match, and move the target accordingly. // acceleration will abruptly stop and we will be on our new target. // FIX: this is driven by TP cycle time, not the segment cycle time double dt = rtapi_fmax(tp->cycleTime, TP_TIME_EPSILON); spindle_vel = tp->spindle.revs / ( dt * tc->sync_accel++); target_vel = spindle_vel * tc->uu_per_rev; if(tc->currentvel >= target_vel) { tc_debug_print("Hit accel target in pos sync\n"); // move target so as to drive pos_error to 0 next cycle tp->spindle.offset = tp->spindle.revs - tc->progress / tc->uu_per_rev; tc->sync_accel = 0; tc->target_vel = target_vel; } else { tc_debug_print("accelerating in pos_sync\n"); // beginning of move and we are behind: accel as fast as we can tc->target_vel = tc->maxvel; } } else { // we have synced the beginning of the move as best we can - // track position (minimize pos_error). tc_debug_print("tracking in pos_sync\n"); double errorvel; spindle_vel = (tp->spindle.revs - oldrevs) / tp->cycleTime; target_vel = spindle_vel * tc->uu_per_rev; errorvel = pmSqrt(rtapi_fabs(pos_error) * tpGetScaledAccel(tp,tc)); if(pos_error<0) { errorvel *= -1.0; } tc->target_vel = target_vel + errorvel; } //Finally, clip requested velocity at zero if (tc->target_vel < 0.0) { tc->target_vel = 0.0; } if (nexttc && nexttc->synchronized) { //If the next move is synchronized too, then match it's //requested velocity to the current move nexttc->target_vel = tc->target_vel; } } /** * Perform parabolic blending if needed between segments and handle status updates. * This isolates most of the parabolic blend stuff to make the code path * between tangent and parabolic blends easier to follow. */ STATIC int tpDoParabolicBlending(TP_STRUCT * const tp, TC_STRUCT * const tc, TC_STRUCT * const nexttc) { tc_debug_print("in DoParabolicBlend\n"); tpUpdateBlend(tp,tc,nexttc); /* Status updates */ //Decide which segment we're in depending on which is moving faster if(tc->currentvel > nexttc->currentvel) { tpUpdateMovementStatus(tp, tc); } else { tpToggleDIOs(tp, nexttc); tpUpdateMovementStatus(tp, nexttc); } #ifdef TP_SHOW_BLENDS // hack to show blends in axis tp->motionType = 0; #endif //Update velocity status based on both tc and nexttc set_current_vel(tp->shared, tc->currentvel + nexttc->currentvel); return TP_ERR_OK; } /** * Do a complete update on one segment. * Handles the majority of updates on a single segment for the current cycle. */ STATIC int tpUpdateCycle(TP_STRUCT * const tp, TC_STRUCT * const tc, TC_STRUCT const * const nexttc) { //placeholders for position for this update EmcPose before; //Store the current position due to this TC tcGetPos(tc, &before); // Update the start velocity if we're not blending yet if (!tc->blending_next) { tc->vel_at_blend_start = tc->currentvel; } // Run cycle update with stored cycle time int res_accel = 1; double acc=0, vel_desired=0; // If the slowdown is not too great, use velocity ramping instead of trapezoidal velocity // Also, don't ramp up for parabolic blends if (tc->accel_mode && tc->term_cond == TC_TERM_COND_TANGENT) { res_accel = tpCalculateRampAccel(tp, tc, nexttc, &acc, &vel_desired); } // Check the return in case the ramp calculation failed, fall back to trapezoidal if (res_accel != TP_ERR_OK) { tpCalculateTrapezoidalAccel(tp, tc, nexttc, &acc, &vel_desired); } tcUpdateDistFromAccel(tc, acc, vel_desired); tpDebugCycleInfo(tp, tc, nexttc, acc); //Check if we're near the end of the cycle and set appropriate changes tpCheckEndCondition(tp, tc, nexttc); EmcPose displacement; // Calculate displacement tcGetPos(tc, &displacement); emcPoseSelfSub(&displacement, &before); //Store displacement (checking for valid pose) int res_set = tpAddCurrentPos(tp, &displacement); #ifdef TC_DEBUG double mag; emcPoseMagnitude(&displacement, &mag); tc_debug_print("cycle movement = %f\n", mag); #endif return res_set; } /** * Send default values to status structure. */ STATIC int tpUpdateInitialStatus(TP_STRUCT const * const tp) { // Update queue length set_tcqlen(tp->shared, tcqLen(&tp->queue)); // Set default value for requested speed set_requested_vel(tp->shared, 0.0); return TP_ERR_OK; } /** * Flag a segment as needing a split cycle. * In addition to flagging a segment as splitting, do any preparations to store * data for the next cycle. */ STATIC inline int tcSetSplitCycle(TC_STRUCT * const tc, double split_time, double v_f) { tp_debug_print("split time for id %d is %.16g\n", tc->id, split_time); if (tc->splitting != 0 && split_time > 0.0) { rtapi_print_msg(RTAPI_MSG_ERR,"already splitting on id %d with cycle time %.16g, dx = %.16g, split time %.12g\n", tc->id, tc->cycle_time, tc->target-tc->progress, split_time); return TP_ERR_FAIL; } tc->splitting = 1; tc->cycle_time = split_time; tc->term_vel = v_f; return 0; } /** * Check remaining time in a segment and calculate split cycle if necessary. * This function estimates how much time we need to complete the next segment. * If it's greater than one timestep, then we do nothing and carry on. If not, * then we flag the segment as "splitting", so that during the next cycle, * it handles the transition to the next segment. */ STATIC int tpCheckEndCondition( TP_STRUCT const * const tp, TC_STRUCT * const tc, TC_STRUCT const * const nexttc) { //Assume no split time unless we find otherwise tc->cycle_time = tp->cycleTime; //Initial guess at dt for next round double dx = tc->target - tc->progress; tc_debug_print("tpCheckEndCondition: dx = %e\n",dx); if (dx <= TP_POS_EPSILON) { //If the segment is close to the target position, then we assume that it's done. tp_debug_print("close to target, dx = %.12f\n",dx); //Force progress to land exactly on the target to prevent numerical errors. tc->progress = tc->target; tcSetSplitCycle(tc, 0.0, tc->currentvel); if (tc->term_cond == TC_TERM_COND_STOP || tc->term_cond == TC_TERM_COND_EXACT) { tc->remove = 1; } return TP_ERR_OK; } else if (tc->term_cond == TC_TERM_COND_STOP || tc->term_cond == TC_TERM_COND_EXACT) { return TP_ERR_NO_ACTION; } double v_f = tpGetRealFinalVel(tp, tc, nexttc); double v_avg = (tc->currentvel + v_f) / 2.0; //Check that we have a non-zero "average" velocity between now and the //finish. If not, it means that we have to accelerate from a stop, which //will take longer than the minimum 2 timesteps that each segment takes, so //we're safely far form the end. //Get dt assuming that we can magically reach the final velocity at //the end of the move. // //KLUDGE: start with a value below the cutoff double dt = TP_TIME_EPSILON / 2.0; if (v_avg > TP_VEL_EPSILON) { //Get dt from distance and velocity (avoid div by zero) dt = rtapi_fmax(dt, dx / v_avg); } else { if ( dx > (v_avg * tp->cycleTime) && dx > TP_POS_EPSILON) { tc_debug_print(" below velocity threshold, assuming far from end\n"); return TP_ERR_NO_ACTION; } } //Calculate the acceleration this would take: double dv = v_f - tc->currentvel; double a_f = dv / dt; //If this is a valid acceleration, then we're done. If not, then we solve //for v_f and dt given the max acceleration allowed. double a_max = tpGetScaledAccel(tp,tc); //If we exceed the maximum acceleration, then the dt estimate is too small. double a = a_f; int recalc = sat_inplace(&a, a_max); //Need to recalculate vf and above if (recalc) { tc_debug_print(" recalculating with a_f = %f, a = %f\n", a_f, a); double disc = pmSq(tc->currentvel / a) + 2.0 / a * dx; if (disc < 0) { //Should mean that dx is too big, i.e. we're not close enough tc_debug_print(" dx = %f, too large, not at end yet\n",dx); return TP_ERR_NO_ACTION; } if (disc < TP_TIME_EPSILON * TP_TIME_EPSILON) { tc_debug_print("disc too small, skipping sqrt\n"); dt = -tc->currentvel / a; } else if (a > 0) { tc_debug_print("using positive sqrt\n"); dt = -tc->currentvel / a + pmSqrt(disc); } else { tc_debug_print("using negative sqrt\n"); dt = -tc->currentvel / a - pmSqrt(disc); } tc_debug_print(" revised dt = %f\n", dt); //Update final velocity with actual result v_f = tc->currentvel + dt * a; } if (dt < TP_TIME_EPSILON) { //Close enough, call it done tc_debug_print("revised dt small, finishing tc\n"); tc->progress = tc->target; tcSetSplitCycle(tc, 0.0, v_f); } else if (dt < tp->cycleTime ) { tc_debug_print(" corrected v_f = %f, a = %f\n", v_f, a); tcSetSplitCycle(tc, dt, v_f); } else { tc_debug_print(" dt = %f, not at end yet\n",dt); } return TP_ERR_OK; } STATIC int tpHandleSplitCycle(TP_STRUCT * const tp, TC_STRUCT * const tc, TC_STRUCT * const nexttc) { if (tc->remove) { //Don't need to update since this segment is flagged for removal return TP_ERR_NO_ACTION; } //Pose data to calculate movement due to finishing current TC EmcPose before; tcGetPos(tc, &before); tp_debug_print("tc id %d splitting\n",tc->id); //Shortcut tc update by assuming we arrive at end tc->progress = tc->target; //Get displacement from prev. position EmcPose displacement; tcGetPos(tc, &displacement); emcPoseSelfSub(&displacement, &before); // Update tp's position (checking for valid pose) tpAddCurrentPos(tp, &displacement); #ifdef TC_DEBUG double mag; emcPoseMagnitude(&displacement, &mag); tc_debug_print("cycle movement = %f\n",mag); #endif // Trigger removal of current segment at the end of the cycle tc->remove = 1; if (!nexttc) { tp_debug_print("no nexttc in split cycle\n"); return TP_ERR_OK; } switch (tc->term_cond) { case TC_TERM_COND_TANGENT: nexttc->cycle_time = tp->cycleTime - tc->cycle_time; nexttc->currentvel = tc->term_vel; tp_debug_print("Doing tangent split\n"); break; case TC_TERM_COND_PARABOLIC: break; case TC_TERM_COND_STOP: break; case TC_TERM_COND_EXACT: break; default: rtapi_print_msg(RTAPI_MSG_ERR,"unknown term cond %d in segment %d\n", tc->term_cond, tc->id); } // Run split cycle update with remaining time in nexttc // KLUDGE: use next cycle after nextc to prevent velocity dip (functions fail gracefully w/ NULL) TC_STRUCT *next2tc = tcqItem(&tp->queue, 2); tpUpdateCycle(tp, nexttc, next2tc); // Update status for the split portion // FIXME redundant tangent check, refactor to switch if (tc->cycle_time > nexttc->cycle_time && tc->term_cond == TC_TERM_COND_TANGENT) { //Majority of time spent in current segment tpToggleDIOs(tp, tc); tpUpdateMovementStatus(tp, tc); } else { tpToggleDIOs(tp, nexttc); tpUpdateMovementStatus(tp, nexttc); } return TP_ERR_OK; } STATIC int tpHandleRegularCycle(TP_STRUCT * const tp, TC_STRUCT * const tc, TC_STRUCT * const nexttc) { if (tc->remove) { //Don't need to update since this segment is flagged for removal return TP_ERR_NO_ACTION; } //Run with full cycle time tc_debug_print("Normal cycle\n"); tc->cycle_time = tp->cycleTime; tpUpdateCycle(tp, tc, nexttc); /* Parabolic blending */ tpComputeBlendVelocity(tp, tc, nexttc); if (nexttc && tcIsBlending(tc)) { tpDoParabolicBlending(tp, tc, nexttc); } else { //Update status for a normal step tpToggleDIOs(tp, tc); tpUpdateMovementStatus(tp, tc); } return TP_ERR_OK; } /** * Calculate an updated goal position for the next timestep. * This is the brains of the operation. It's called every TRAJ period and is * expected to set tp->currentPos to the new machine position. Lots of other * const tp fields (depth, done, etc) have to be twiddled to communicate the * status; I think those are spelled out here correctly and I can't clean it up * without breaking the API that the TP presents to motion. */ int tpRunCycle(TP_STRUCT * const tp, long period) { //Pointers to current and next trajectory component TC_STRUCT *tc; TC_STRUCT *nexttc; /* Get pointers to current and relevant future segments. It's ok here if * future segments don't exist (NULL pointers) as we check for this later). */ tc = tcqItem(&tp->queue, 0); nexttc = tcqItem(&tp->queue, 1); //Set GUI status to "zero" state tpUpdateInitialStatus(tp); //If we have a NULL pointer, then the queue must be empty, so we're done. if(!tc) { tpHandleEmptyQueue(tp); return TP_ERR_WAITING; } tc_debug_print("-------------------\n"); #ifdef TC_DEBUG //Hack debug output for timesteps static double time_elapsed = 0; time_elapsed+=tp->cycleTime; #endif /* If the queue empties enough, assume that the program is near the end. * This forces the last segment to be "finalized" to let the optimizer run.*/ /*tpHandleLowQueue(tp);*/ /* If we're aborting or pausing and the velocity has reached zero, then we * don't need additional planning and can abort here. */ if (tpHandleAbort(tp, tc, nexttc) == TP_ERR_STOPPED) { return TP_ERR_STOPPED; } //Return early if we have a reason to wait (i.e. not ready for motion) if (tpCheckAtSpeed(tp, tc) != TP_ERR_OK){ return TP_ERR_WAITING; } if(!tc->active) { int res = tpActivateSegment(tp, tc); // Need to wait to continue motion, end planning here if (res == TP_ERR_WAITING) { return TP_ERR_WAITING; } } // Preprocess rigid tap move (handles threading direction reversals) if (tc->motion_type == TC_RIGIDTAP) { tpUpdateRigidTapState(tp, tc); } /** If synchronized with spindle, calculate requested velocity to track * spindle motion.*/ switch (tc->synchronized) { case TC_SYNC_NONE: set_spindleSync(tp->shared, 0); break; case TC_SYNC_VELOCITY: tp_debug_print("sync velocity\n"); tpSyncVelocityMode(tp, tc, nexttc); break; case TC_SYNC_POSITION: tp_debug_print("sync position\n"); tpSyncPositionMode(tp, tc, nexttc); break; default: tp_debug_print("unrecognized spindle sync state!\n"); break; } #ifdef TC_DEBUG EmcPose pos_before = tp->currentPos; #endif tcClearFlags(tc); tcClearFlags(nexttc); // Update the current tc if (tc->splitting) { tpHandleSplitCycle(tp, tc, nexttc); } else { tpHandleRegularCycle(tp, tc, nexttc); } #ifdef TC_DEBUG double mag; EmcPose disp; emcPoseSub(&tp->currentPos, &pos_before, &disp); emcPoseMagnitude(&disp, &mag); tc_debug_print("time: %.12e total movement = %.12e vel = %.12e\n", time_elapsed, mag, get_current_vel(tp->shared)); tc_debug_print("tp_displacement = %.12e %.12e %.12e time = %.12e\n", disp.tran.x, disp.tran.y, disp.tran.z, time_elapsed); #endif // If TC is complete, remove it from the queue. if (tc->remove) { tpCompleteSegment(tp, tc); } return TP_ERR_OK; } int tpSetSpindleSync(TP_STRUCT * const tp, double sync, int mode) { if(sync) { if (mode) { tp->synchronized = TC_SYNC_VELOCITY; } else { tp->synchronized = TC_SYNC_POSITION; } tp->uu_per_rev = sync; } else tp->synchronized = 0; return TP_ERR_OK; } int tpPause(TP_STRUCT * const tp) { if (0 == tp) { return TP_ERR_FAIL; } tp->pausing = 1; return TP_ERR_OK; } int tpResume(TP_STRUCT * const tp) { if (0 == tp) { return TP_ERR_FAIL; } tp->pausing = 0; return TP_ERR_OK; } int tpAbort(TP_STRUCT * const tp) { if (0 == tp) { return TP_ERR_FAIL; } if (!tp->aborting) { /* const to abort, signal a pause and set our abort flag */ tpPause(tp); tp->aborting = 1; } return tpClearDIOs(tp); //clears out any already cached DIOs } int tpGetMotionType(TP_STRUCT * const tp) { return tp->motionType; } int tpGetPos(TP_STRUCT const * const tp, EmcPose * const pos) { if (0 == tp) { ZERO_EMC_POSE((*pos)); return TP_ERR_FAIL; } else { *pos = tp->currentPos; } return TP_ERR_OK; } int tpIsDone(TP_STRUCT * const tp) { if (0 == tp) { return TP_ERR_OK; } return tp->done; } int tpQueueDepth(TP_STRUCT * const tp) { if (0 == tp) { return TP_ERR_OK; } return tp->depth; } int tpActiveDepth(TP_STRUCT * const tp) { if (0 == tp) { return TP_ERR_OK; } return tp->activeDepth; } int tpSetAout(TP_STRUCT * const tp, unsigned int index, double start, double end) { if (0 == tp) { return TP_ERR_FAIL; } tp->syncdio.anychanged = 1; //something has changed tp->syncdio.aio_mask |= (1ull << index); tp->syncdio.aios[index] = start; return TP_ERR_OK; } int tpSetDout(TP_STRUCT * const tp, unsigned int index, unsigned char start, unsigned char end) { if (0 == tp) { return TP_ERR_FAIL; } tp->syncdio.anychanged = 1; //something has changed RTAPI_BIT_SET(tp->syncdio.dio_mask, index); if (start > 0) tp->syncdio.dios[index] = 1; // the end value can't be set from canon currently, and has the same value as start else tp->syncdio.dios[index] = -1; return TP_ERR_OK; } // test whether a tpPause() has actually resulted in motion stopped // needed since a synchronized motion in progress will not be paused int tpIsPaused(TP_STRUCT * tp) { TC_STRUCT *tc; if (0 == tp) { // I assume this would be a fatal error? //rtapi_print_msg(RTAPI_MSG_DBG, " tpIsPaused(): tp == NULL\n"); return 0; } tc = tcqItem(&tp->queue, 0); if (!tc) { // motion queue empty. //rtapi_print_msg(RTAPI_MSG_DBG, " tpIsPaused(): motion queue empty\n"); return tp->pausing; } //rtapi_print_msg(RTAPI_MSG_DBG, " tpIsPaused(): pausing=%d synced=%d velmode=%d\n", // tp->pausing, tc->synchronized, tc->velocity_mode); //If the machine is still moving, then it's not actually paused yet if ( get_current_vel(tp->shared) > TP_VEL_EPSILON) { tp_debug_print("IsPaused: still slowing"); return 0; } return (tp->pausing && (!tc->synchronized || tp->velocity_mode) ); // alternate way of expressing - not sure: // return (tp->pausing && (tp->feed_override == 0.0)); } // prime an alternate motion queue with current parameters // this avoids tracking calls in parallel // to tpSetCycleTime(), tpSetVmax(),tpSetAmax(),tpSetVlimit() // it does not tpSetPos(), tpSetExeciId(),or completely tpClear() the altq int tpSnapshot(TP_STRUCT * from, TP_STRUCT * to) { if (from == 0 || to == 0) { return -1; } to->vMax = from->vMax; to->ini_maxvel = from->ini_maxvel; to->vLimit = from->vLimit; to->aMax = from->aMax; to->cycleTime = from->cycleTime; return 0; } // vim:sw=4:sts=4:et: