From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Mon, 5 Sep 2016 01:23:29 +0000 (-0700)
Subject: Alarm if machine position is set while the machine is moving
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=a25a88d6fe424f0b03a0c1a3187130533b8a7bd7;p=bbctrl-firmware

Alarm if machine position is set while the machine is moving
---

diff --git a/src/machine.c b/src/machine.c
index f37f021..6fa9bcd 100644
--- a/src/machine.c
+++ b/src/machine.c
@@ -721,7 +721,10 @@ static void _exec_offset(float *value, float *flag) {
  * mp_get_runtime_busy() to be sure the system is quiescent.
  */
 void mach_set_position(int axis, float position) {
-  // TODO: Interlock involving runtime_busy test
+  if ((mp_get_state() != STATE_HOLDING && mp_get_state() != STATE_READY) ||
+      mp_get_runtime_busy())
+    CM_ALARM(STAT_INTERNAL_ERROR);
+
   mach.position[axis] = position;
   mach.ms.target[axis] = position;
   mp_set_planner_position(axis, position);