plasmac: monitor motion.eoffset-limited to determine if the commanded motion is outside of the soft limits

This is intended to prevent some instances where the commanded movement of the axis under control of eoffsets becomes outside of the soft limits.  In these cases, movement will cease and the machine will sit motionless indefinitely.  State is reported for future debugging should users encounter this situation.

Author: snowgoer540

lib/hallib/plasmac.tcl

@@ -19,6 +19,7 @@ net plasmac:homed               motion.is-all-homed         =>  plasmac.homed
 net plasmac:ignore-arc-ok-0     motion.digital-out-01       =>  plasmac.ignore-arc-ok-0
 net plasmac:motion-type         motion.motion-type          =>  plasmac.motion-type
 net plasmac:offsets-active      motion.eoffset-active       =>  plasmac.offsets-active
+net plasmac:offsets-limited     motion.eoffset-limited      =>  plasmac.offsets-limited
 net plasmac:program-is-idle     halui.program.is-idle       =>  plasmac.program-is-idle
 net plasmac:program-is-paused   halui.program.is-paused     =>  plasmac.program-is-paused
 net plasmac:program-is-running  halui.program.is-running    =>  plasmac.program-is-running

src/hal/components/plasmac.comp

@@ -7,7 +7,7 @@ A plasma cutting table control component for use with the LinuxCNC 2.10.
 
 === VERSION
 
-015
+016
 
 === SUMMARY
 
@@ -90,6 +90,7 @@ pin in  float   offset_probe_y              "Y axis offset for offset probe (mac
 pin in  bit     offset_set_probe            "deploy probe for setting offsets";
 pin in  bit     offset_set_scribe           "deploy scribe for setting offsets";
 pin in  bit     offsets_active              "offsets are active, connect to motion.eoffset-active";
+pin in  bit     offsets_limited             "offsets are limited, connect to motion.eoffset-limited";
 pin in  s32     ohmic_max_attempts          "maximum ohmic probe attempts before fallback to float switch";
 pin in  bit     ohmic_probe                 "ohmic probe input, from ohmic-sense-out or external component/pin";
 pin in  bit     ohmic_probe_enable          "enable ohmic probe";
@@ -251,6 +252,7 @@ variable int    laser_y_target;             /* target count for laser recovery y
 variable float  last_arc_voltage;           /* last sensed arc voltage */
 variable bool   manual_cut;                 /* manual cut mode is active */
 variable int    offset_datum;               /* datum for safe height calcs */
+variable bool   offset_limit_error = false; /* has an offset error been reported (prevents repeat messages)*/
 variable int    offset_max;                 /* maximum allowed offset */
 variable int    offset_min;                 /* minimum allowed offset */
 variable float  offset_probe_timer;         /* offset probe deployment delay time */
@@ -416,6 +418,15 @@ typedef enum{OFF,
              RESETTING,
             } laser_recovery_state_t;
 
+static const char *state_names[] = {
+    "IDLE", "PROBE_HEIGHT", "PROBE_DOWN", "PROBE_UP", "ZERO_HEIGHT",
+    "PIERCE_HEIGHT", "TORCH_ON", "ARC_OK", "PIERCE_DELAY", "PUDDLE_JUMP",
+    "CUT_HEIGHT", "CUT_MODE_01", "CUT_MODE_2", "PAUSE_AT_END", "SAFE_HEIGHT",
+    "MAX_HEIGHT", "END_CUT", "END_JOB", "TORCHPULSE", "PAUSED_MOTION",
+    "OHMIC_TEST", "PROBE_TEST", "SCRIBING", "CONSUMABLE_CHANGE_ON",
+    "CONSUMABLE_CHANGE_OFF", "CUT_RECOVERY_ON", "CUT_RECOVERY_OFF", "DEBUG"
+};
+
 state_t state = IDLE;
 stop_type_t stop_type = NONE;
 move_direction_t move_direction = ZERO;
@@ -546,6 +557,23 @@ FUNCTION(_) {
     }
     probe_out = float_switch && tube_cut && state == IDLE;
 
+    if(offsets_limited && offsets_active) {
+        if(!offset_limit_error) {
+            torch_on = FALSE;
+            if(program_is_running && !program_is_paused) {
+                program_pause = TRUE;
+            }
+            stop_type = PAUSE;
+            probe_inhibit = TRUE;
+            rtapi_print_msg(RTAPI_MSG_ERR,"Offset limit violation (state: %s)\n"
+                                          "program is paused.\n", state_names[state]);
+            state = MAX_HEIGHT;
+            offset_limit_error = true;
+        }
+    } else {
+        offset_limit_error = false;
+    }
+
 // I don't recall why z_relative was originally created!!!
 // commit # b29d1af 24 Oct 2019
 //    /* output the relative Z height */