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change emcmot motion id to struct containing hash of filename #3772

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change emcmot motion id to struct containing hash of filename #3772

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4 changes: 2 additions & 2 deletions src/emc/motion-logger/motion-logger.c
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Original file line number Diff line number Diff line change
Expand Up @@ -464,7 +464,7 @@ int main(int argc, char* argv[]) {
c->pos.tran.x, c->pos.tran.y, c->pos.tran.z,
c->pos.a, c->pos.b, c->pos.c,
c->pos.u, c->pos.v, c->pos.w,
c->id, c->motion_type,
c->id.line_number, c->motion_type,
c->vel, c->ini_maxvel,
c->acc, c->turn
);
Expand All @@ -481,7 +481,7 @@ int main(int argc, char* argv[]) {
log_print(" center: x=%.6g, y=%.6g, z=%.6g\n", c->center.x, c->center.y, c->center.z);
log_print(" normal: x=%.6g, y=%.6g, z=%.6g\n", c->normal.x, c->normal.y, c->normal.z);
log_print(" id=%d, motion_type=%d, vel=%.6g, ini_maxvel=%.6g, acc=%.6g, turn=%d\n",
c->id, c->motion_type,
c->id.line_number, c->motion_type,
c->vel, c->ini_maxvel,
c->acc, c->turn
);
Expand Down
20 changes: 10 additions & 10 deletions src/emc/motion/command.c
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Expand Up @@ -1003,7 +1003,7 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
emcmotStatus->commandStatus = EMCMOT_COMMAND_INVALID_COMMAND;
SET_MOTION_ERROR_FLAG(1);
break;
} else if (!inRange(emcmotCommand->pos, emcmotCommand->id, "Linear")) {
} else if (!inRange(emcmotCommand->pos, emcmotCommand->id.line_number, "Linear")) {
reportError(_("invalid params in linear command"));
emcmotStatus->commandStatus = EMCMOT_COMMAND_INVALID_PARAMS;
tpAbort(&emcmotInternal->coord_tp);
Expand Down Expand Up @@ -1041,8 +1041,8 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
emcmotCommand->tag);
//KLUDGE ignore zero length line
if (res_addline < 0) {
reportError(_("can't add linear move at line %d, error code %d"),
emcmotCommand->id, res_addline);
reportError(_("can't add linear move id %ld at %s line %d, error code %d"),
emcmotCommand->id.id, emcmotCommand->tag.filename, emcmotCommand->tag.fields[0], res_addline);
emcmotStatus->commandStatus = EMCMOT_COMMAND_BAD_EXEC;
tpAbort(&emcmotInternal->coord_tp);
SET_MOTION_ERROR_FLAG(1);
Expand Down Expand Up @@ -1072,7 +1072,7 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
emcmotStatus->commandStatus = EMCMOT_COMMAND_INVALID_COMMAND;
SET_MOTION_ERROR_FLAG(1);
break;
} else if (!inRange(emcmotCommand->pos, emcmotCommand->id, "Circular")) {
} else if (!inRange(emcmotCommand->pos, emcmotCommand->id.line_number, "Circular")) {
emcmotStatus->commandStatus = EMCMOT_COMMAND_INVALID_PARAMS;
tpAbort(&emcmotInternal->coord_tp);
SET_MOTION_ERROR_FLAG(1);
Expand All @@ -1097,8 +1097,8 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
emcmotCommand->acc, emcmotCommand->ini_maxjerk, emcmotStatus->enables_new,
issue_atspeed, emcmotCommand->tag);
if (res_addcircle < 0) {
reportError(_("can't add circular move at line %d, error code %d"),
emcmotCommand->id, res_addcircle);
reportError(_("can't add circular move id %ld at %s line %d, error code %d"),
emcmotCommand->id.id, emcmotCommand->tag.filename, emcmotCommand->tag.fields[0], res_addcircle);
emcmotStatus->commandStatus = EMCMOT_COMMAND_BAD_EXEC;
tpAbort(&emcmotInternal->coord_tp);
SET_MOTION_ERROR_FLAG(1);
Expand Down Expand Up @@ -1449,7 +1449,7 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
emcmotStatus->commandStatus = EMCMOT_COMMAND_INVALID_COMMAND;
SET_MOTION_ERROR_FLAG(1);
break;
} else if (!inRange(emcmotCommand->pos, emcmotCommand->id, "Probe")) {
} else if (!inRange(emcmotCommand->pos, emcmotCommand->id.line_number, "Probe")) {
emcmotStatus->commandStatus = EMCMOT_COMMAND_INVALID_PARAMS;
tpAbort(&emcmotInternal->coord_tp);
SET_MOTION_ERROR_FLAG(1);
Expand Down Expand Up @@ -1519,7 +1519,7 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
emcmotStatus->commandStatus = EMCMOT_COMMAND_INVALID_COMMAND;
SET_MOTION_ERROR_FLAG(1);
break;
} else if (!inRange(emcmotCommand->pos, emcmotCommand->id, "Rigid tap")) {
} else if (!inRange(emcmotCommand->pos, emcmotCommand->id.line_number, "Rigid tap")) {
emcmotStatus->commandStatus = EMCMOT_COMMAND_INVALID_PARAMS;
tpAbort(&emcmotInternal->coord_tp);
SET_MOTION_ERROR_FLAG(1);
Expand All @@ -1545,8 +1545,8 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
emcmotCommand->tag);
if (res_addtap < 0) {
emcmotStatus->atspeed_next_feed = 0; /* rigid tap always waits for spindle to be at-speed */
reportError(_("can't add rigid tap move at line %d, error code %d"),
emcmotCommand->id, res_addtap);
reportError(_("can't add rigid tap move id %ld at %s line %d, error code %d"),
emcmotCommand->id.id, emcmotCommand->tag.filename, emcmotCommand->tag.fields[0], res_addtap);
tpAbort(&emcmotInternal->coord_tp);
SET_MOTION_ERROR_FLAG(1);
break;
Expand Down
4 changes: 2 additions & 2 deletions src/emc/motion/control.c
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Expand Up @@ -1947,7 +1947,7 @@ static void output_to_hal(void)
emcmotStatus->spindle_status[spindle_num].speed / 60.;
}

*(emcmot_hal_data->program_line) = emcmotStatus->id;
*(emcmot_hal_data->program_line) = emcmotStatus->id.line_number;
*(emcmot_hal_data->tp_reverse) = emcmotStatus->reverse_run;
*(emcmot_hal_data->motion_type) = emcmotStatus->motionType;
*(emcmot_hal_data->distance_to_go) = emcmotStatus->distance_to_go;
Expand Down Expand Up @@ -2179,7 +2179,7 @@ static void update_status(void)
/* check to see if we should pause in order to implement
single emcmotStatus->stepping */

if (emcmotStatus->stepping && emcmotInternal->idForStep != emcmotStatus->id) {
if (emcmotStatus->stepping && emcmotInternal->idForStep.id != emcmotStatus->id.id) {
tpPause(&emcmotInternal->coord_tp);
emcmotStatus->stepping = 0;
emcmotStatus->paused = 1;
Expand Down
18 changes: 18 additions & 0 deletions src/emc/motion/emcmotcfg.h
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,8 @@
#ifndef EMCMOTCFG_H
#define EMCMOTCFG_H

#include <stdint.h>

/* default name of EMCMOT INI file */
#define DEFAULT_EMCMOT_INIFILE "emc.ini" /* same as for EMC-- we're in
touch */
Expand Down Expand Up @@ -72,4 +74,20 @@
/* max following error */
#define DEFAULT_MAX_FERROR 100

#ifdef __cplusplus
extern "C" {
#endif
typedef union {
// note: CMS can't deal with 64bit values nor with bitfields
int64_t id;
struct {
int line_number;
unsigned filename_hash;
};
} emcmot_motion_id_t;

#ifdef __cplusplus
}
#endif

#endif
2 changes: 1 addition & 1 deletion src/emc/motion/motion.c
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Expand Up @@ -890,7 +890,7 @@ static int init_comm_buffers(void)
override, and feed hold are on */
emcmotStatus->enables_new = FS_ENABLED | SS_ENABLED | FH_ENABLED;
emcmotStatus->enables_queued = emcmotStatus->enables_new;
emcmotStatus->id = 0;
emcmotStatus->id.id = 0;
emcmotStatus->depth = 0;
emcmotStatus->activeDepth = 0;
emcmotStatus->paused = 0;
Expand Down
9 changes: 5 additions & 4 deletions src/emc/motion/motion.h
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Original file line number Diff line number Diff line change
Expand Up @@ -68,6 +68,7 @@ to another.
#include "simple_tp.h"
#include "rtapi_limits.h"
#include <stdarg.h>
#include <stdint.h>
#include "rtapi_bool.h"
#include "state_tag.h"
#include "tp_types.h"
Expand All @@ -77,7 +78,7 @@ to another.
// this should be really be tested for in command.c

#define MOTION_INVALID_ID INT_MIN
#define MOTION_ID_VALID(x) ((x) != MOTION_INVALID_ID)
#define MOTION_ID_VALID(x) ((x.line_number) != MOTION_INVALID_ID)

#ifdef __cplusplus
extern "C" {
Expand Down Expand Up @@ -222,7 +223,7 @@ extern "C" {
double ini_maxjerk;
int planner_type; /* planner type: 0 = trapezoidal, 1 = S-curve */
double backlash; /* amount of backlash */
int id; /* id for motion */
emcmot_motion_id_t id; /* id for motion */
int termCond; /* termination condition */
double tolerance; /* tolerance for path deviation in CONTINUOUS mode */
int joint; /* which joint index to use for below */
Expand Down Expand Up @@ -626,7 +627,7 @@ Suggestion: Split this in to an Error and a Status flag register..
unsigned int heartbeat;
int config_num; /* incremented whenever configuration
changed. */
int id; /* id for executing motion */
emcmot_motion_id_t id; /* id for executing motion */
int depth; /* motion queue depth */
int activeDepth; /* depth of active blend elements */
int queueFull; /* Flag to indicate the tc queue is full */
Expand Down Expand Up @@ -751,7 +752,7 @@ typedef struct emcmot_internal_t {
int overriding; /* non-zero means we've initiated an joint
move while overriding limits */
TP_STRUCT coord_tp; /* coordinated mode planner */
int idForStep; /* status id while stepping */
emcmot_motion_id_t idForStep; /* status id while stepping */
} emcmot_internal_t;

/* error ring buffer access functions */
Expand Down
8 changes: 4 additions & 4 deletions src/emc/motion/usrmotintf.cc
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Expand Up @@ -78,7 +78,7 @@ int usrmotWriteEmcmotCommand(emcmot_command_t * c)
double end;

if (!MOTION_ID_VALID(c->id)) {
rcs_print("USRMOT: ERROR: invalid motion id: %d\n",c->id);
rcs_print("USRMOT: ERROR: invalid motion id: %d %u\n", c->id.line_number, c->id.filename_hash);
return EMCMOT_COMM_INVALID_MOTION_ID;
}

Expand Down Expand Up @@ -256,8 +256,8 @@ void printTPstruct(TP_STRUCT * tp)
printf("vLimit=%f\n", tp->vLimit);
printf("wMax=%f\n", tp->wMax);
printf("wDotMax=%f\n", tp->wDotMax);
printf("nextId=%d\n", tp->nextId);
printf("execId=%d\n", tp->execId);
printf("nextId=%ld\n", tp->nextId.id);
printf("execId=%ld\n", tp->execId.id);
printf("termCond=%d\n", tp->termCond);
printf("currentPos :");
printEmcPose(&tp->currentPos);
Expand Down Expand Up @@ -425,7 +425,7 @@ void usrmotPrintEmcmotStatus(emcmot_status_t *s, int which)
#endif
printf("velocity: \t%f\n", s->vel);
printf("accel: \t%f\n", s->acc);
printf("id: \t%d\n", s->id);
printf("id: \t%ld\n", s->id.id);
printf("depth: \t%d\n", s->depth);
printf("active depth: \t%d\n", s->activeDepth);
printf("inpos: \t%d\n",
Expand Down
3 changes: 2 additions & 1 deletion src/emc/nml_intf/emc.cc
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Expand Up @@ -1702,7 +1702,8 @@ void EMC_TRAJ_STAT::update(CMS * cms)
cms->update(queue);
cms->update(activeQueue);
cms->update(queueFull);
cms->update(id);
cms->update(id.line_number);
cms->update(id.filename_hash);
cms->update(paused);
cms->update(single_stepping);
cms->update(scale);
Expand Down
2 changes: 1 addition & 1 deletion src/emc/nml_intf/emc.hh
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Expand Up @@ -354,7 +354,7 @@ extern int emcTrajSetFHEnable(unsigned char mode); //feed hold enable
extern int emcTrajSetSpindleScale(int spindle, double scale);
extern int emcTrajSetSOEnable(unsigned char mode); //spindle speed override enable
extern int emcTrajSetAFEnable(unsigned char enable); //adaptive feed enable
extern int emcTrajSetMotionId(int id);
extern int emcTrajSetMotionId(emcmot_motion_id_t id);
extern double emcTrajGetLinearUnits();
extern double emcTrajGetAngularUnits();

Expand Down
2 changes: 1 addition & 1 deletion src/emc/nml_intf/emc_nml.hh
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Expand Up @@ -982,7 +982,7 @@ class EMC_TRAJ_STAT:public EMC_TRAJ_STAT_MSG {
// current
int activeQueue; // number of motions blending
bool queueFull; // non-zero means can't accept another motion
int id; // id of the currently executing motion
emcmot_motion_id_t id; // id of the currently executing motion
bool paused; // non-zero means motion paused
bool single_stepping; // non-zero means motion stepping single block
double scale; // velocity scale factor
Expand Down
2 changes: 1 addition & 1 deletion src/emc/nml_intf/emcglb.h
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Expand Up @@ -98,7 +98,7 @@ typedef struct TrajConfig_t {
int AxisMask;
double LinearUnits;
double AngularUnits;
int MotionId;
emcmot_motion_id_t MotionId;
} TrajConfig_t;

#ifdef __cplusplus
Expand Down
12 changes: 11 additions & 1 deletion src/emc/nml_intf/interpl.cc
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Expand Up @@ -114,7 +114,17 @@ int NML_INTERP_LIST::len()
return ((int)linked_list.size());
}

int NML_INTERP_LIST::get_line_number()
int NML_INTERP_LIST::get_line_number() const
{
return line_number;
}

void NML_INTERP_LIST::set_filename(const std::string& s)
{
filename = s;
}

const std::string& NML_INTERP_LIST::get_filename() const
{
return filename;
}
6 changes: 5 additions & 1 deletion src/emc/nml_intf/interpl.hh
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Expand Up @@ -19,6 +19,7 @@

#include <deque>
#include <memory>
#include <string>

class NMLmsg;

Expand All @@ -35,7 +36,9 @@ class NML_INTERP_LIST
{
public:
void set_line_number(int line);
int get_line_number();
int get_line_number() const;
void set_filename(const std::string& s);
const std::string& get_filename() const;
int append(std::unique_ptr<NMLmsg>&& command);
std::unique_ptr<NMLmsg> get();
void clear();
Expand All @@ -47,6 +50,7 @@ private:
int next_line_number = 0; // line number used to fill temp_node
int line_number = 0; // line number of node from get()
// NML_INTERP_LIST_NODE node; // pointer returned by get
std::string filename;
};

extern NML_INTERP_LIST interp_list; /* NML Union, for interpreter */
Expand Down
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