diff options
Diffstat (limited to 'src/GCodes/GCodes3.cpp')
| -rw-r--r-- | src/GCodes/GCodes3.cpp | 13 |
1 files changed, 9 insertions, 4 deletions
diff --git a/src/GCodes/GCodes3.cpp b/src/GCodes/GCodes3.cpp index 51db8901..a511b714 100644 --- a/src/GCodes/GCodes3.cpp +++ b/src/GCodes/GCodes3.cpp @@ -79,6 +79,10 @@ GCodeResult GCodes::SetPositions(GCodeBuffer& gb, const StringRef& reply) THROWS axisLettersMentioned.ClearBits(ms.GetOwnedAxisLetters()); if (axisLettersMentioned.IsNonEmpty()) { + if (!LockCurrentMovementSystemAndWaitForStandstill(gb)) // lock movement and get current coordinates before we try to allocate any axes + { + return GCodeResult::notFinished; + } AllocateAxisLetters(gb, ms, axisLettersMentioned); } #endif @@ -91,6 +95,7 @@ GCodeResult GCodes::SetPositions(GCodeBuffer& gb, const StringRef& reply) THROWS if (gb.Seen(axisLetters[axis])) { const float axisValue = gb.GetFValue(); +#if !SUPPORT_ASYNC_MOVES if (axesIncluded.IsEmpty()) { if (!LockCurrentMovementSystemAndWaitForStandstill(gb)) // lock movement and get current coordinates @@ -98,6 +103,7 @@ GCodeResult GCodes::SetPositions(GCodeBuffer& gb, const StringRef& reply) THROWS return GCodeResult::notFinished; } } +#endif axesIncluded.SetBit(axis); ms.currentUserPosition[axis] = gb.ConvertDistance(axisValue); } @@ -115,12 +121,12 @@ GCodeResult GCodes::SetPositions(GCodeBuffer& gb, const StringRef& reply) THROWS if (reprap.GetMove().GetKinematics().LimitPosition(ms.coords, nullptr, numVisibleAxes, axesIncluded, false, limitAxes) != LimitPositionResult::ok) { - ToolOffsetInverseTransform(ms); // make sure the limits are reflected in the user position + ToolOffsetInverseTransform(ms); // make sure the limits are reflected in the user position } - reprap.GetMove().SetNewPosition(ms.coords, true, gb.GetActiveQueueNumber()); #if SUPPORT_ASYNC_MOVES - ms.SaveOwnAxisCoordinates(); + ms.OwnedAxisCoordinatesUpdated(axesIncluded); // save coordinates of any owned axes we changed #endif + reprap.GetMove().SetNewPosition(ms.coords, true, gb.GetActiveQueueNumber()); if (!IsSimulating()) { axesHomed |= reprap.GetMove().GetKinematics().AxesAssumedHomed(axesIncluded); @@ -131,7 +137,6 @@ GCodeResult GCodes::SetPositions(GCodeBuffer& gb, const StringRef& reply) THROWS } reprap.MoveUpdated(); // because we may have updated axesHomed or zDatumSetByProbing } - } return GCodeResult::ok; |