xhc-whb04b-6 fixes backport to 2.9

src/hal/user_comps/xhc-whb04b-6/hal.cc

@@ -58,7 +58,7 @@ void Hal::freeSimulatedPin(void** pin)
     if (*pin != nullptr)
     {
         free(*pin);
-        pin = nullptr;
+        *pin = nullptr;
     }
 }
 // ----------------------------------------------------------------------
@@ -581,11 +581,6 @@ void Hal::init(const MetaButtonCodes* metaButtons, const KeyCodes& keyCodes)
     mIsInitialized = true;
 }
 // ----------------------------------------------------------------------
-bool Hal::isInitialized()
-{
-    return mIsInitialized;
-}
-// ----------------------------------------------------------------------
 hal_float_t Hal::getAxisXPosition(bool absolute) const
 {
     if (absolute)
@@ -1358,8 +1353,9 @@ void Hal::setJogCounts(const HandWheelCounters& counters)
     *memory->out.axisAJogCounts = counters.counts(HandWheelCounters::CounterNameToIndex::AXIS_A);
     *memory->out.axisBJogCounts = counters.counts(HandWheelCounters::CounterNameToIndex::AXIS_B);
     *memory->out.axisCJogCounts = counters.counts(HandWheelCounters::CounterNameToIndex::AXIS_C);
-        requestManualMode(false);
-        requestTeleopMode(false);
+
+    requestManualMode(false);
+    requestTeleopMode(false);
 }
 // ----------------------------------------------------------------------
 void Hal::setFunction(bool enabled)
@@ -1374,6 +1370,13 @@ bool Hal::requestAutoMode(bool isRisingEdge)
 // ----------------------------------------------------------------------
 bool Hal::requestManualMode(bool isRisingEdge)
 {
+    if(isRisingEdge && !*memory->in.isProgramIdle)
+    {
+        //Don't try to change to manual when not idle
+        //When a program is running, this will fail
+        //When an MDI command is active, this would stop it
+        return false;
+    }
     return requestMode(isRisingEdge, memory->out.doModeManual, memory->in.isModeManual);
 }
 // ----------------------------------------------------------------------

src/hal/user_comps/xhc-whb04b-6/hal.h

@@ -351,7 +351,7 @@ class Hal
     void init(const MetaButtonCodes* metaButtons, const KeyCodes& codes);
     //! \return true if void init(const MetaButtonCodes*, const KeyCodes&) has been called beforehand,
     //! false otherwise
-    bool isInitialized();
+    bool isInitialized() const { return mIsInitialized; };
     //! \return true if simulation mode is enabled, false otherwise
     bool isSimulationModeEnabled() const;
     //! indicates the program has been invoked in hal mode or normal

src/hal/user_comps/xhc-whb04b-6/pendant.cc

@@ -332,8 +332,8 @@ FeedRotaryButtonCodes::FeedRotaryButtonCodes() :
     percent_30(0x10, "1", "30%"),
     percent_60(0x1a, "5", "60%"),
     percent_100(0x1b, "10", "100%"),
-    lead(0x1c, "Lead", ""),  // user jasenk2 seem to need 0x9b for xhc-whb06-4 see : https://github.com/LinuxCNC/linuxcnc/pull/987
-    // solution added in this file for use both know keycodes (0x1c) + Jasenk (0x9b)
+    lead(0x1c, "Lead", ""),  // user jasenk2 seem to need 0x9b for xhc-whb06-4 see : https://github.com/LinuxCNC/linuxcnc/pull/987, zajc3w needs 0x9B for xhc-whb06-6 see: https://github.com/LinuxCNC/linuxcnc/issues/3485
+    lead9B(0x9B, "Lead", ""), //previous solution ommited line 607 and key code 0x9b was still not recognised 
     undefined(0x00, "", ""),
     codeMap{
         {percent_2.code,   &percent_2},
@@ -343,6 +343,7 @@ FeedRotaryButtonCodes::FeedRotaryButtonCodes() :
         {percent_60.code,  &percent_60},
         {percent_100.code, &percent_100},
         {lead.code,        &lead},
+        {lead9B.code,      &lead9B},
         {undefined.code,   &undefined}
     }
 {
@@ -541,6 +542,7 @@ FeedRotaryButton::FeedRotaryButton(const KeyCode& keyCode,
     mStepMode(stepMode),
     mIsPermitted(false),
     mStepSize(0),
+    mIsStepMode_5_10(false),
     mEventListener(listener)
 {
 }
@@ -566,6 +568,8 @@ FeedRotaryButton& FeedRotaryButton::operator=(const FeedRotaryButton& other)
 {
     RotaryButton::operator=(other);
     mStepMode = other.mStepMode;
+    mStepSize = other.mStepSize;
+    mEventListener = other.mEventListener;
     return *this;
 }
 // ----------------------------------------------------------------------
@@ -582,6 +586,11 @@ void FeedRotaryButton::setStepMode(HandwheelStepmodes::Mode stepMode)
     update();
 }
 // ----------------------------------------------------------------------
+void FeedRotaryButton::setStepMode_5_10(bool enable)
+{
+    mIsStepMode_5_10 = enable;
+}
+// ----------------------------------------------------------------------
 HandwheelStepmodes::Mode FeedRotaryButton::stepMode() const
 {
     return mStepMode;
@@ -600,7 +609,7 @@ void FeedRotaryButton::update()
         return;
     }
 
-    if (*mKey == KeyCodes::Feed.lead)
+    if (*mKey == KeyCodes::Feed.lead || *mKey == KeyCodes::Feed.lead9B)
     {
         mStepSize    = mLeadSizeMapper.getStepSize(HandwheelLeadModeStepSize::PositionNameIndex::LEAD);
         mIsPermitted = mLeadSizeMapper.isPermitted(HandwheelLeadModeStepSize::PositionNameIndex::LEAD);
@@ -621,7 +630,7 @@ void FeedRotaryButton::update()
         mStepSize    = mStepSizeMapper.getStepSize(second);
         mIsPermitted = mStepSizeMapper.isPermitted(second);
 
-        if (mIsStepMode_5_10 && mStepSize > 2) {mStepSize    = 0;}             // TODO DOES NOT WORK bool variable seems to be not synched inside pendant.h
+        if (!mIsStepMode_5_10 && mStepSize > 2) {mStepSize    = 1.0;}
 
     }
     else if (mStepMode == HandwheelStepmodes::Mode::CON)
@@ -666,6 +675,7 @@ std::ostream& operator<<(std::ostream& os, const AxisRotaryButton& data)
 AxisRotaryButton& AxisRotaryButton::operator=(const AxisRotaryButton& other)
 {
     RotaryButton::operator=(other);
+    mEventListener = other.mEventListener;
     return *this;
 }
 // ----------------------------------------------------------------------
@@ -723,11 +733,6 @@ void Handwheel::enableVerbose(bool enable)
     }
 }
 // ----------------------------------------------------------------------
-void Handwheel::setMode(HandWheelCounters::CounterNameToIndex activeCounterMode)
-{
-    mCounters.setActiveCounter(activeCounterMode);
-}
-// ----------------------------------------------------------------------
 void Handwheel::count(int8_t delta)
 {
     assert(mEventListener != nullptr);
@@ -827,6 +832,8 @@ ButtonsState& ButtonsState::operator=(const ButtonsState& other)
     mCurrentMetaButton = other.mCurrentMetaButton;
     mAxisButton        = other.mAxisButton;
     mFeedButton        = other.mFeedButton;
+    mPreviousState     = other.mPreviousState;
+    mEventListener     = other.mEventListener;
     return *this;
 }
 // ----------------------------------------------------------------------
@@ -1356,7 +1363,7 @@ void Pendant::onFeedActiveEvent(const KeyCode& feed)
 // ----------------------------------------------------------------------
 void Pendant::dispatchFeedEventToHandwheel(const KeyCode& feed, bool isActive)
 {
-    if (feed.code == KeyCodes::Feed.lead.code || feed.code == 0x9b) // user jasenk2 seem to need 0x9b for xhc-whb06-4 see : https://github.com/LinuxCNC/linuxcnc/pull/987
+    if (feed.code == KeyCodes::Feed.lead.code || feed.code == KeyCodes::Feed.lead9B.code) // user jasenk2 seem to need 0x9b for xhc-whb06-4 see : https://github.com/LinuxCNC/linuxcnc/pull/987
     {
         mHandWheel.counters().enableLeadCounter(isActive);
     }
@@ -1388,7 +1395,7 @@ void Pendant::dispatchActiveFeedToHal(const KeyCode& feed, bool isActive)
     {
         mHal.setFeedValueSelected100(isActive);
     }
-    else if (feed.code == KeyCodes::Feed.lead.code || feed.code == 0x9b) // user jasenk2 seem to need 0x9b for xhc-whb06-4 see : https://github.com/LinuxCNC/linuxcnc/pull/987
+    else if (feed.code == KeyCodes::Feed.lead.code || feed.code == KeyCodes::Feed.lead9B.code) // user jasenk2 seem to need 0x9b for xhc-whb06-4 see : https://github.com/LinuxCNC/linuxcnc/pull/987
     {
         mHal.setFeedValueSelectedLead(isActive);
         mCurrentButtonsState.feedButton().setStepMode(HandwheelStepmodes::Mode::MPG);
@@ -1477,11 +1484,17 @@ bool Pendant::onJogDialEvent(const HandWheelCounters& counters, int8_t delta)
                    {
                        mHal.toggleFeedrateDecrease();
                    }
-             }
-             else if (!counters.isLeadCounterActive() && (feedButton.stepMode() == HandwheelStepmodes::Mode::CON || feedButton.stepMode() == HandwheelStepmodes::Mode::STEP))
-             {      // Normal Mode
-                    mHal.setJogCounts(counters);
-             }
+            }
+
+            if (!counters.isLeadCounterActive())
+            {
+                //The counters must be set always if not in lead mode
+                //Otherwhise, the machine will move, sometimes a long distance in the following case:
+                //MGP mode -> Wheel turned -> CON or STEP mode -> After first wheel pulse
+                //due to the counters are increased in MPG mode but not set until the first wheel count event
+                //Setting them does not create a move in MPG mode due to the scale is zero
+                mHal.setJogCounts(counters);
+            }
         }
         mDisplay.onJogDialEvent(counters, delta);
         return true;
@@ -1567,17 +1580,17 @@ void Pendant::dispatchAxisEventToHal(const KeyCode& axis, bool isActive)
 // ----------------------------------------------------------------------
 void Pendant::setLeadModeSpindle(bool enable)
 {
-    mIsLeadModeSpindle = true;
+    mIsLeadModeSpindle = enable;
 }
 // ----------------------------------------------------------------------
 void Pendant::setLeadModeFeed(bool enable)
 {
-    mIsLeadModeFeed = true;
+    mIsLeadModeFeed = enable;
 }
 // ----------------------------------------------------------------------
 void Pendant::setStepMode_5_10(bool enable)
 {
-    mIsStepMode_5_10 = true;
+    mCurrentButtonsState.feedButton().setStepMode_5_10(enable);
 }
 // ----------------------------------------------------------------------
 Display::Display(const ButtonsState& currentButtonsState, Hal& hal, UsbOutPackageData& displayData) :

src/hal/user_comps/xhc-whb04b-6/pendant.h

@@ -226,6 +226,7 @@ class FeedRotaryButtonCodes
     const KeyCode                           percent_60;
     const KeyCode                           percent_100;
     const KeyCode                           lead;
+    const KeyCode                           lead9B;
     const KeyCode                           undefined;
     const std::map<uint8_t, const KeyCode*> codeMap;
 
@@ -391,6 +392,7 @@ class FeedRotaryButton : public RotaryButton
     ~FeedRotaryButton();
     virtual bool setKeyCode(const KeyCode& keyCode) override;
     void setStepMode(HandwheelStepmodes::Mode stepMode);
+    void setStepMode_5_10(bool enable);
     HandwheelStepmodes::Mode stepMode() const;
     float stepSize() const;
     bool isPermitted() const override;
@@ -438,7 +440,6 @@ class Handwheel
     Handwheel(const FeedRotaryButton& feedButton, KeyEventListener* listener = nullptr);
     ~Handwheel();
     void enableVerbose(bool enable);
-    void setMode(HandWheelCounters::CounterNameToIndex mode);
     void count(int8_t delta);
     const HandWheelCounters& counters() const;
     HandWheelCounters& counters();
@@ -586,7 +587,6 @@ class Pendant : public KeyEventListener
     //! if in Lead mode: if true jog wheel changes the spindle speed, changes the feed override otherwise
     bool         mIsLeadModeSpindle = false;
     bool         mIsLeadModeFeed = false;
-    bool         mIsStepMode_5_10 = false;
 
     float mScale;
     float mMaxVelocity;