Dynomotion

Group: DynoMotion Message: 11361 From: Hardy Family Date: 4/12/2015
Subject: Detecting when axis is disabled, and killing threads
Two questions:

1. Looking through the kflop C programming API, I could not find a function to detect whether an axis is currently disabled.  Is there one?

The reason I need this is that sometimes the kflop will automatically disable an axis e.g. when there is excessive following error.  So my tool-changer code will continue on without being aware.

What I am planning to do is temporarily reduce the allowable following error so that it can effectively detect when there is excessive force on an axis (e.g. somebody manually inserted a tool in one of the slots, then the tool change program tries to put back another tool in that same slot).

2. On a related note, is there a function to kill another thread?  In my case, when an estop is detected (which is done in my thread 1 supervisor), I would like it to kill all other threads, which would be much more robust than relying on all the other threads to stop what they are doing whenever they notice an estop condition, although that's the way I have programmed it now.

Failing that, is there a setjmp/longjmp I can link to?  That would at least make it a bit cleaner to implement estop handling in each worker thread.

Regards,
SJH
Group: DynoMotion Message: 11362 From: Tom Kerekes Date: 4/12/2015
Subject: Re: Detecting when axis is disabled, and killing threads
Hi SJH,

#1 The variable ch0->Enable will be false if Axis Channel 0 is disabled.

#2 PauseThread(x); can be used to kill another Thread.  I prefer to have Threads terminate on their own to put/leave things in a known state. 

setjmp and longjmp are not currently supported.

Regards
TK


Group: DynoMotion Message: 11368 From: Hardy Family Date: 4/12/2015
Subject: Re: Detecting when axis is disabled, and killing threads


On Sun, Apr 12, 2015 at 12:43 PM, Tom Kerekes tk@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:
 

Hi SJH,

#1 The variable ch0->Enable will be false if Axis Channel 0 is disabled.

That works, thanks!
 
 
#2 PauseThread(x); can be used to kill another Thread.  I prefer to have Threads terminate on their own to put/leave things in a known state. 

That almost does what I want, but for the tool changer program, the PC is waiting for that thread to terminate.  So in addition to pausing the thread, I need a way to tell the PC to stop waiting for that thread to finish.  Any advice on how to do that?
 

setjmp and longjmp are not currently supported.

OK then.

Regards,
SJH

 

Regards
TK


Group: DynoMotion Message: 11369 From: Tom Kerekes Date: 4/12/2015
Subject: Re: Detecting when axis is disabled, and killing threads
Hi SJH,

I believe KMotionCNC only waits for the thread to be no longer executing.  PauseThread should provide that condition.  Have you tried it?  Is your Application waiting for something else?

Regards
TK

Group: DynoMotion Message: 11373 From: Hardy Family Date: 4/13/2015
Subject: Re: Detecting when axis is disabled, and killing threads
OK, that works.  I assumed that "pause" was technically still executing.  So is there any difference between what PauseThread() does and the "kill <thread>" command?

Regards,
SJH


On Sun, Apr 12, 2015 at 8:14 PM, Tom Kerekes tk@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:
 

Hi SJH,

I believe KMotionCNC only waits for the thread to be no longer executing.  PauseThread should provide that condition.  Have you tried it?  Is your Application waiting for something else?

Regards
TK

Group: DynoMotion Message: 11374 From: Tom Kerekes Date: 4/13/2015
Subject: Re: Detecting when axis is disabled, and killing threads
Hi SJS,

There is no difference other than that a C Program can ResumeThread() where it was stopped.

Regards
TK