[Emc-commit] joints_axes3: Add axes teleop velocities to motion status to be used by gui

[Michael G. <gi...@gi...>]

Add axes teleop velocities to motion status to be used by gui

Signed-off-by: Michael Geszkiewicz <mi...@wp...>


http://git.linuxcnc.org/?p=emc2.git;a=commitdiff;h=7e3780b

---
 src/emc/motion/control.c                      |   14 +++++++++++++-
 src/emc/motion/motion.h                       |    5 +++++
 src/emc/nml_intf/emc_nml.hh                   |    2 ++
 src/emc/task/taskintf.cc                      |    4 ++++
 src/emc/usr_intf/axis/extensions/emcmodule.cc |   20 ++++++++++++++++++++
 5 files changed, 44 insertions(+), 1 deletions(-)

diff --git a/src/emc/motion/control.c b/src/emc/motion/control.c
index 75a1607..9e2f67d 100644
--- a/src/emc/motion/control.c
+++ b/src/emc/motion/control.c
@@ -1765,9 +1765,11 @@ static void output_to_hal(void)
 
 static void update_status(void)
 {
-    int joint_num, dio, aio;
+    int joint_num, axis_num, dio, aio;
     emcmot_joint_t *joint;
     emcmot_joint_status_t *joint_status;
+    emcmot_axis_t *axis;
+    emcmot_axis_status_t *axis_status;
 #ifdef WATCH_FLAGS
     static int old_joint_flags[8];
     static int old_motion_flag;
@@ -1802,6 +1804,16 @@ static void update_status(void)
 	joint_status->home_offset = joint->home_offset;
     }
 
+    for (axis_num = 0; axis_num < EMCMOT_MAX_AXIS; axis_num++) {
+	/* point to axis data */
+	axis = &axes[axis_num];
+	/* point to axis status */
+	axis_status = &(emcmotStatus->axis_status[axis_num]);
+
+	axis_status->vel_cmd = axis->vel_cmd;
+    }
+
+
     for (dio = 0; dio < emcmotConfig->numDIO; dio++) {
 	emcmotStatus->synch_di[dio] = *(emcmot_hal_data->synch_di[dio]);
 	emcmotStatus->synch_do[dio] = *(emcmot_hal_data->synch_do[dio]);
diff --git a/src/emc/motion/motion.h b/src/emc/motion/motion.h
index ff8ce1d..b646439 100644
--- a/src/emc/motion/motion.h
+++ b/src/emc/motion/motion.h
@@ -560,6 +560,10 @@ Suggestion: Split this in to an Error and a Status flag register..
 	simple_tp_t teleop_tp;	/* planner for teleop mode motion */
     } emcmot_axis_t;
 
+    typedef struct {
+        double vel_cmd;		/* comanded axis velocity */
+    } emcmot_axis_status_t;
+
 /*********************************
         STATUS STRUCTURE
 *********************************/
@@ -604,6 +608,7 @@ Suggestion: Split this in to an Error and a Status flag register..
 	int homing_active;	/* non-zero if any joint is homing */
 	home_sequence_state_t homingSequenceState;
 	emcmot_joint_status_t joint_status[EMCMOT_MAX_JOINTS];	/* all joint status data */
+        emcmot_axis_status_t axis_status[EMCMOT_MAX_AXIS];	/* all axis status data */
 
 	int on_soft_limit;	/* non-zero if any joint is on soft limit */
 
diff --git a/src/emc/nml_intf/emc_nml.hh b/src/emc/nml_intf/emc_nml.hh
index dbbc7f8..a52c07a 100644
--- a/src/emc/nml_intf/emc_nml.hh
+++ b/src/emc/nml_intf/emc_nml.hh
@@ -163,6 +163,8 @@ class EMC_AXIS_STAT:public EMC_AXIS_STAT_MSG {
 
     // For internal NML/CMS use only.
     void update(CMS * cms);
+
+    double velocity;		// current velocity
 };
 
 // declarations for EMC_JOINT classes
diff --git a/src/emc/task/taskintf.cc b/src/emc/task/taskintf.cc
index 7f2c6c6..3df27ef 100644
--- a/src/emc/task/taskintf.cc
+++ b/src/emc/task/taskintf.cc
@@ -473,6 +473,7 @@ double emcAxisGetMaxAcceleration(int axis)
 int emcAxisUpdate(EMC_AXIS_STAT stat[], int numAxes)
 {
     int axis_num;
+    emcmot_axis_status_t *axis;
     
     // check for valid range
     if (numAxes <= 0 || numAxes > EMCMOT_MAX_AXIS) {
@@ -480,6 +481,9 @@ int emcAxisUpdate(EMC_AXIS_STAT stat[], int numAxes)
     }
 
     for (axis_num = 0; axis_num < numAxes; axis_num++) {
+        axis = &(emcmotStatus.axis_status[axis_num]);
+
+        stat[axis_num].velocity = axis->vel_cmd;
     }
     return 0;
 }
diff --git a/src/emc/usr_intf/axis/extensions/emcmodule.cc b/src/emc/usr_intf/axis/extensions/emcmodule.cc
index 8877ac9..8839a27 100644
--- a/src/emc/usr_intf/axis/extensions/emcmodule.cc
+++ b/src/emc/usr_intf/axis/extensions/emcmodule.cc
@@ -552,6 +552,25 @@ static PyObject *Stat_joint(pyStatChannel *s) {
     return res;
 }
 
+#define F(x) F2(#x, x)
+#define F2(y,x) dict_add(res, y, s->status.motion.axis[axisno].x)
+static PyObject *Stat_axis_one(pyStatChannel *s, int axisno) {
+    PyObject *res = PyDict_New();
+    F(velocity);
+    return res;
+}
+
+#undef F
+#undef F2
+
+static PyObject *Stat_axis(pyStatChannel *s) {
+    PyObject *res = PyTuple_New(EMCMOT_MAX_AXIS);
+    for(int i=0; i<EMCMOT_MAX_AXIS; i++) {
+        PyTuple_SetItem(res, i, Stat_axis_one(s, i));
+    }
+    return res;
+}
+
 static PyStructSequence_Field tool_fields[] = {
     {(char*)"id", },
     {(char*)"xoffset", },
@@ -614,6 +633,7 @@ static PyGetSetDef Stat_getsetlist[] = {
     {(char*)"ain", (getter)Stat_ain},
     {(char*)"aout", (getter)Stat_aout},
     {(char*)"joint", (getter)Stat_joint},
+    {(char*)"axis", (getter)Stat_axis},
     {(char*)"din", (getter)Stat_din},
     {(char*)"dout", (getter)Stat_dout},
     {(char*)"gcodes", (getter)Stat_activegcodes},