From e2659d7e9e3b5c8b6633c365af872475f7d752f7 Mon Sep 17 00:00:00 2001 From: Rene Hopf Date: Sun, 18 Jun 2023 14:25:30 +0200 Subject: [PATCH] remove unused nml commands --- src/emc/iotask/ioControl.cc | 11 - src/emc/iotask/ioControl_v2.cc | 11 - src/emc/nml_intf/emc.cc | 365 +-------------------------------- src/emc/nml_intf/emc.hh | 29 --- src/emc/nml_intf/emc_nml.hh | 222 -------------------- src/emc/task/emctaskmain.cc | 6 - 6 files changed, 1 insertion(+), 643 deletions(-) diff --git a/src/emc/iotask/ioControl.cc b/src/emc/iotask/ioControl.cc index 20e49f96496..e1f0c01e94d 100644 --- a/src/emc/iotask/ioControl.cc +++ b/src/emc/iotask/ioControl.cc @@ -841,11 +841,6 @@ int main(int argc, char *argv[]) case 0: break; - case EMC_IO_INIT_TYPE: - rtapi_print_msg(RTAPI_MSG_DBG, "EMC_IO_INIT\n"); - hal_init_pins(); - break; - case EMC_TOOL_INIT_TYPE: tooldata_load(io_tool_table_file); reload_tool_number(emcioStatus.tool.toolInSpindle); @@ -1085,12 +1080,6 @@ int main(int argc, char *argv[]) *(iocontrol_data->user_request_enable) = 1; break; - case EMC_AUX_ESTOP_RESET_TYPE: - rtapi_print_msg(RTAPI_MSG_DBG, "EMC_AUX_ESTOP_RESET\n"); - // doesn't do anything right now, this will need to come from GUI - // but that means task needs to be rewritten/rethinked - break; - case EMC_LUBE_ON_TYPE: rtapi_print_msg(RTAPI_MSG_DBG, "EMC_LUBE_ON\n"); emcioStatus.lube.on = 1; diff --git a/src/emc/iotask/ioControl_v2.cc b/src/emc/iotask/ioControl_v2.cc index c7fcad7a857..54d46d620cf 100644 --- a/src/emc/iotask/ioControl_v2.cc +++ b/src/emc/iotask/ioControl_v2.cc @@ -977,11 +977,6 @@ int main(int argc, char *argv[]) case 0: break; - case EMC_IO_INIT_TYPE: - rtapi_print_msg(RTAPI_MSG_DBG, "EMC_IO_INIT\n"); - hal_init_pins(); - break; - case EMC_TOOL_INIT_TYPE: tooldata_load(io_tool_table_file); reload_tool_number(emcioStatus.tool.toolInSpindle); @@ -1237,12 +1232,6 @@ int main(int argc, char *argv[]) *(iocontrol_data->user_request_enable) = 1; break; - case EMC_AUX_ESTOP_RESET_TYPE: - rtapi_print_msg(RTAPI_MSG_DBG, "EMC_AUX_ESTOP_RESET\n"); - // doesn't do anything right now, this will need to come from GUI - // but that means task needs to be rewritten/rethinked - break; - case EMC_LUBE_ON_TYPE: rtapi_print_msg(RTAPI_MSG_DBG, "EMC_LUBE_ON\n"); emcioStatus.lube.on = 1; diff --git a/src/emc/nml_intf/emc.cc b/src/emc/nml_intf/emc.cc index 5b7949a395e..05f7348bfe3 100644 --- a/src/emc/nml_intf/emc.cc +++ b/src/emc/nml_intf/emc.cc @@ -48,12 +48,6 @@ void initialize_CANON_POSITION(CANON_POSITION * x); int emcFormat(NMLTYPE type, void *buffer, CMS * cms) { switch (type) { - case EMC_ABORT_TYPE: - ((EMC_ABORT *) buffer)->update(cms); - break; - case EMC_AUX_ESTOP_RESET_TYPE: - ((EMC_AUX_ESTOP_RESET *) buffer)->update(cms); - break; case EMC_AUX_ESTOP_OFF_TYPE: ((EMC_AUX_ESTOP_OFF *) buffer)->update(cms); break; @@ -63,15 +57,6 @@ int emcFormat(NMLTYPE type, void *buffer, CMS * cms) case EMC_AUX_STAT_TYPE: ((EMC_AUX_STAT *) buffer)->update(cms); break; - case EMC_JOINT_ABORT_TYPE: - ((EMC_JOINT_ABORT *) buffer)->update(cms); - break; - case EMC_JOINT_ACTIVATE_TYPE: - ((EMC_JOINT_ACTIVATE *) buffer)->update(cms); - break; - case EMC_JOINT_DEACTIVATE_TYPE: - ((EMC_JOINT_DEACTIVATE *) buffer)->update(cms); - break; case EMC_JOINT_DISABLE_TYPE: ((EMC_JOINT_DISABLE *) buffer)->update(cms); break; @@ -87,9 +72,6 @@ int emcFormat(NMLTYPE type, void *buffer, CMS * cms) case EMC_JOINT_UNHOME_TYPE: ((EMC_JOINT_UNHOME *) buffer)->update(cms); break; - case EMC_JOINT_INIT_TYPE: - ((EMC_JOINT_INIT *) buffer)->update(cms); - break; case EMC_JOG_CONT_TYPE: ((EMC_JOG_CONT *) buffer)->update(cms); break; @@ -108,9 +90,6 @@ int emcFormat(NMLTYPE type, void *buffer, CMS * cms) case EMC_JOINT_OVERRIDE_LIMITS_TYPE: ((EMC_JOINT_OVERRIDE_LIMITS *) buffer)->update(cms); break; - case EMC_JOINT_SET_JOINT_TYPE: - ((EMC_JOINT_SET_JOINT *) buffer)->update(cms); - break; case EMC_JOINT_SET_FERROR_TYPE: ((EMC_JOINT_SET_FERROR *) buffer)->update(cms); break; @@ -132,9 +111,6 @@ int emcFormat(NMLTYPE type, void *buffer, CMS * cms) case EMC_JOINT_SET_MIN_POSITION_LIMIT_TYPE: ((EMC_JOINT_SET_MIN_POSITION_LIMIT *) buffer)->update(cms); break; - case EMC_JOINT_SET_UNITS_TYPE: - ((EMC_JOINT_SET_UNITS *) buffer)->update(cms); - break; case EMC_JOINT_STAT_TYPE: ((EMC_JOINT_STAT *) buffer)->update(cms); break; @@ -153,24 +129,6 @@ int emcFormat(NMLTYPE type, void *buffer, CMS * cms) case EMC_COOLANT_STAT_TYPE: ((EMC_COOLANT_STAT *) buffer)->update(cms); break; - case EMC_HALT_TYPE: - ((EMC_HALT *) buffer)->update(cms); - break; - case EMC_INIT_TYPE: - ((EMC_INIT *) buffer)->update(cms); - break; - case EMC_IO_ABORT_TYPE: - ((EMC_IO_ABORT *) buffer)->update(cms); - break; - case EMC_IO_HALT_TYPE: - ((EMC_IO_HALT *) buffer)->update(cms); - break; - case EMC_IO_INIT_TYPE: - ((EMC_IO_INIT *) buffer)->update(cms); - break; - case EMC_IO_SET_CYCLE_TIME_TYPE: - ((EMC_IO_SET_CYCLE_TIME *) buffer)->update(cms); - break; case EMC_IO_STAT_TYPE: ((EMC_IO_STAT *) buffer)->update(cms); break; @@ -183,15 +141,6 @@ int emcFormat(NMLTYPE type, void *buffer, CMS * cms) case EMC_LUBE_STAT_TYPE: ((EMC_LUBE_STAT *) buffer)->update(cms); break; - case EMC_MOTION_ABORT_TYPE: - ((EMC_MOTION_ABORT *) buffer)->update(cms); - break; - case EMC_MOTION_HALT_TYPE: - ((EMC_MOTION_HALT *) buffer)->update(cms); - break; - case EMC_MOTION_INIT_TYPE: - ((EMC_MOTION_INIT *) buffer)->update(cms); - break; case EMC_MOTION_SET_AOUT_TYPE: ((EMC_MOTION_SET_AOUT *) buffer)->update(cms); break; @@ -261,12 +210,6 @@ int emcFormat(NMLTYPE type, void *buffer, CMS * cms) case EMC_TASK_ABORT_TYPE: ((EMC_TASK_ABORT *) buffer)->update(cms); break; - case EMC_TASK_HALT_TYPE: - ((EMC_TASK_HALT *) buffer)->update(cms); - break; - case EMC_TASK_INIT_TYPE: - ((EMC_TASK_INIT *) buffer)->update(cms); - break; case EMC_TASK_PLAN_CLOSE_TYPE: ((EMC_TASK_PLAN_CLOSE *) buffer)->update(cms); break; @@ -285,9 +228,6 @@ int emcFormat(NMLTYPE type, void *buffer, CMS * cms) case EMC_TASK_PLAN_PAUSE_TYPE: ((EMC_TASK_PLAN_PAUSE *) buffer)->update(cms); break; - case EMC_TASK_PLAN_READ_TYPE: - ((EMC_TASK_PLAN_READ *) buffer)->update(cms); - break; case EMC_TASK_PLAN_RESUME_TYPE: ((EMC_TASK_PLAN_RESUME *) buffer)->update(cms); break; @@ -402,9 +342,6 @@ int emcFormat(NMLTYPE type, void *buffer, CMS * cms) case EMC_TRAJ_SET_CYCLE_TIME_TYPE: ((EMC_TRAJ_SET_CYCLE_TIME *) buffer)->update(cms); break; - case EMC_TRAJ_SET_HOME_TYPE: - ((EMC_TRAJ_SET_HOME *) buffer)->update(cms); - break; case EMC_TRAJ_SET_MAX_ACCELERATION_TYPE: ((EMC_TRAJ_SET_MAX_ACCELERATION *) buffer)->update(cms); break; @@ -479,24 +416,14 @@ int emcFormat(NMLTYPE type, void *buffer, CMS * cms) const char *emc_symbol_lookup(uint32_t type) { switch (type) { - case EMC_ABORT_TYPE: - return "EMC_ABORT"; case EMC_EXEC_PLUGIN_CALL_TYPE: return "EMC_EXEC_PLUGIN_CALL"; - case EMC_AUX_ESTOP_RESET_TYPE: - return "EMC_AUX_ESTOP_RESET"; case EMC_AUX_ESTOP_OFF_TYPE: return "EMC_AUX_ESTOP_OFF"; case EMC_AUX_ESTOP_ON_TYPE: return "EMC_AUX_ESTOP_ON"; case EMC_AUX_STAT_TYPE: return "EMC_AUX_STAT"; - case EMC_JOINT_ABORT_TYPE: - return "EMC_JOINT_ABORT"; - case EMC_JOINT_ACTIVATE_TYPE: - return "EMC_JOINT_ACTIVATE"; - case EMC_JOINT_DEACTIVATE_TYPE: - return "EMC_JOINT_DEACTIVATE"; case EMC_JOINT_DISABLE_TYPE: return "EMC_JOINT_DISABLE"; case EMC_JOINT_ENABLE_TYPE: @@ -515,14 +442,10 @@ const char *emc_symbol_lookup(uint32_t type) return "EMC_JOG_ABS"; case EMC_JOG_STOP_TYPE: return "EMC_JOG_STOP"; - case EMC_JOINT_INIT_TYPE: - return "EMC_JOINT_INIT"; case EMC_JOINT_LOAD_COMP_TYPE: return "EMC_JOINT_LOAD_COMP"; case EMC_JOINT_OVERRIDE_LIMITS_TYPE: return "EMC_JOINT_OVERRIDE_LIMITS"; - case EMC_JOINT_SET_JOINT_TYPE: - return "EMC_JOINT_SET_AXIS"; case EMC_JOINT_SET_FERROR_TYPE: return "EMC_JOINT_SET_FERROR"; case EMC_JOINT_SET_BACKLASH_TYPE: @@ -537,8 +460,6 @@ const char *emc_symbol_lookup(uint32_t type) return "EMC_JOINT_SET_MIN_FERROR"; case EMC_JOINT_SET_MIN_POSITION_LIMIT_TYPE: return "EMC_JOINT_SET_MIN_POSITION_LIMIT"; - case EMC_JOINT_SET_UNITS_TYPE: - return "EMC_JOINT_SET_UNITS"; case EMC_JOINT_STAT_TYPE: return "EMC_JOINT_STAT"; case EMC_COOLANT_FLOOD_OFF_TYPE: @@ -551,18 +472,6 @@ const char *emc_symbol_lookup(uint32_t type) return "EMC_COOLANT_MIST_ON"; case EMC_COOLANT_STAT_TYPE: return "EMC_COOLANT_STAT"; - case EMC_HALT_TYPE: - return "EMC_HALT"; - case EMC_INIT_TYPE: - return "EMC_INIT"; - case EMC_IO_ABORT_TYPE: - return "EMC_IO_ABORT"; - case EMC_IO_HALT_TYPE: - return "EMC_IO_HALT"; - case EMC_IO_INIT_TYPE: - return "EMC_IO_INIT"; - case EMC_IO_SET_CYCLE_TIME_TYPE: - return "EMC_IO_SET_CYCLE_TIME"; case EMC_IO_STAT_TYPE: return "EMC_IO_STAT"; case EMC_LUBE_OFF_TYPE: @@ -571,12 +480,6 @@ const char *emc_symbol_lookup(uint32_t type) return "EMC_LUBE_ON"; case EMC_LUBE_STAT_TYPE: return "EMC_LUBE_STAT"; - case EMC_MOTION_ABORT_TYPE: - return "EMC_MOTION_ABORT"; - case EMC_MOTION_HALT_TYPE: - return "EMC_MOTION_HALT"; - case EMC_MOTION_INIT_TYPE: - return "EMC_MOTION_INIT"; case EMC_MOTION_SET_AOUT_TYPE: return "EMC_MOTION_SET_AOUT"; case EMC_MOTION_SET_DOUT_TYPE: @@ -623,10 +526,6 @@ const char *emc_symbol_lookup(uint32_t type) return "EMC_STAT"; case EMC_TASK_ABORT_TYPE: return "EMC_TASK_ABORT"; - case EMC_TASK_HALT_TYPE: - return "EMC_TASK_HALT"; - case EMC_TASK_INIT_TYPE: - return "EMC_TASK_INIT"; case EMC_TASK_PLAN_CLOSE_TYPE: return "EMC_TASK_PLAN_CLOSE"; case EMC_TASK_PLAN_END_TYPE: @@ -639,8 +538,6 @@ const char *emc_symbol_lookup(uint32_t type) return "EMC_TASK_PLAN_OPEN"; case EMC_TASK_PLAN_PAUSE_TYPE: return "EMC_TASK_PLAN_PAUSE"; - case EMC_TASK_PLAN_READ_TYPE: - return "EMC_TASK_PLAN_READ"; case EMC_TASK_PLAN_RESUME_TYPE: return "EMC_TASK_PLAN_RESUME"; case EMC_TASK_PLAN_RUN_TYPE: @@ -717,8 +614,6 @@ const char *emc_symbol_lookup(uint32_t type) return "EMC_TRAJ_SET_AXES"; case EMC_TRAJ_SET_CYCLE_TIME_TYPE: return "EMC_TRAJ_SET_CYCLE_TIME"; - case EMC_TRAJ_SET_HOME_TYPE: - return "EMC_TRAJ_SET_HOME"; case EMC_TRAJ_SET_MAX_ACCELERATION_TYPE: return "EMC_TRAJ_SET_MAX_ACCELERATION"; case EMC_TRAJ_SET_MAX_VELOCITY_TYPE: @@ -808,19 +703,6 @@ void EMC_SPINDLE_STAT_MSG::update(CMS * cms) } -/* -* NML/CMS Update function for EMC_TRAJ_SET_HOME -* Automatically generated by NML CodeGen Java Applet. -* on Sat Oct 11 13:45:16 UTC 2003 -*/ -void EMC_TRAJ_SET_HOME::update(CMS * cms) -{ - - EMC_TRAJ_CMD_MSG::update(cms); - EmcPose_update(cms, &home); - -} - /* * NML/CMS Update function for EMC_CMD_MSG * Automatically generated by NML CodeGen Java Applet. @@ -831,19 +713,6 @@ void EMC_CMD_MSG::update(CMS * cms) } -/* -* NML/CMS Update function for EMC_AUX_ESTOP_RESET -* Automatically generated by AJ. -* on Sun Oct 13 23:46:26 GMT+2 2005 -*/ -void EMC_AUX_ESTOP_RESET::update(CMS * cms) -{ - - EMC_AUX_CMD_MSG::update(cms); - -} - - /* * NML/CMS Update function for EMC_AUX_ESTOP_OFF * Automatically generated by NML CodeGen Java Applet. @@ -910,31 +779,6 @@ void EMC_TOOL_STAT::update(CMS * cms) #endif //} } -/* -* NML/CMS Update function for EMC_MOTION_INIT -* Automatically generated by NML CodeGen Java Applet. -* on Sat Oct 11 13:45:16 UTC 2003 -*/ -void EMC_MOTION_INIT::update(CMS * cms) -{ - - EMC_MOTION_CMD_MSG::update(cms); - -} - -/* -* NML/CMS Update function for EMC_JOINT_SET_UNITS -* Automatically generated by NML CodeGen Java Applet. -* on Sat Oct 11 13:45:16 UTC 2003 -*/ -void EMC_JOINT_SET_UNITS::update(CMS * cms) -{ - - EMC_JOINT_CMD_MSG::update(cms); - cms->update(units); - -} - /* * NML/CMS Update function for EMC_SPINDLE_CONSTANT * Automatically generated by NML CodeGen Java Applet. @@ -1127,18 +971,6 @@ void EMC_JOINT_SET_MIN_POSITION_LIMIT::update(CMS * cms) } -/* -* NML/CMS Update function for EMC_JOINT_DEACTIVATE -* Automatically generated by NML CodeGen Java Applet. -* on Sat Oct 11 13:45:16 UTC 2003 -*/ -void EMC_JOINT_DEACTIVATE::update(CMS * cms) -{ - - EMC_JOINT_CMD_MSG::update(cms); - -} - /* * NML/CMS Update function for EMC_TRAJ_SET_VELOCITY * Automatically generated by NML CodeGen Java Applet. @@ -1178,18 +1010,6 @@ void EMC_TRAJ_SET_MOTION_ID::update(CMS * cms) } -/* -* NML/CMS Update function for EMC_MOTION_HALT -* Automatically generated by NML CodeGen Java Applet. -* on Sat Oct 11 13:45:16 UTC 2003 -*/ -void EMC_MOTION_HALT::update(CMS * cms) -{ - - EMC_MOTION_CMD_MSG::update(cms); - -} - /* * NML/CMS Update function for EMC_TASK_PLAN_INIT * Automatically generated by NML CodeGen Java Applet. @@ -1280,18 +1100,6 @@ void EMC_JOG_CMD_MSG::update(CMS * cms) } -/* -* NML/CMS Update function for EMC_IO_INIT -* Automatically generated by NML CodeGen Java Applet. -* on Sat Oct 11 13:45:16 UTC 2003 -*/ -void EMC_IO_INIT::update(CMS * cms) -{ - - EMC_IO_CMD_MSG::update(cms); - -} - /* * NML/CMS Update function for EMC_STAT * Automatically generated by NML CodeGen Java Applet. @@ -1383,18 +1191,6 @@ void EMC_COOLANT_STAT_MSG::update(CMS * cms) } -/* -* NML/CMS Update function for EMC_MOTION_ABORT -* Automatically generated by NML CodeGen Java Applet. -* on Sat Oct 11 13:45:16 UTC 2003 -*/ -void EMC_MOTION_ABORT::update(CMS * cms) -{ - - EMC_MOTION_CMD_MSG::update(cms); - -} - /* * NML/CMS Update function for EMC_TRAJ_RESUME * Automatically generated by NML CodeGen Java Applet. @@ -1407,19 +1203,6 @@ void EMC_TRAJ_RESUME::update(CMS * cms) } -/* -* NML/CMS Update function for EMC_JOINT_SET_JOINT -* Automatically generated by NML CodeGen Java Applet. -* on Sat Oct 11 13:45:16 UTC 2003 -*/ -void EMC_JOINT_SET_JOINT::update(CMS * cms) -{ - - EMC_JOINT_CMD_MSG::update(cms); - cms->update(jointType); - -} - /* * NML/CMS Update function for EMC_TRAJ_ABORT * Automatically generated by NML CodeGen Java Applet. @@ -1648,18 +1431,6 @@ void EMC_TRAJ_STAT_MSG::update(CMS * cms) } -/* -* NML/CMS Update function for EMC_IO_HALT -* Automatically generated by NML CodeGen Java Applet. -* on Sat Oct 11 13:45:16 UTC 2003 -*/ -void EMC_IO_HALT::update(CMS * cms) -{ - - EMC_IO_CMD_MSG::update(cms); - -} - /* * NML/CMS Update function for EMC_OPERATOR_TEXT * Automatically generated by NML CodeGen Java Applet. @@ -1684,18 +1455,6 @@ void EMC_COOLANT_MIST_OFF::update(CMS * cms) } -/* -* NML/CMS Update function for EMC_TASK_PLAN_READ -* Automatically generated by NML CodeGen Java Applet. -* on Sat Oct 11 13:45:16 UTC 2003 -*/ -void EMC_TASK_PLAN_READ::update(CMS * cms) -{ - - EMC_TASK_CMD_MSG::update(cms); - -} - /* * NML/CMS Update function for EMC_TOOL_HALT * Automatically generated by NML CodeGen Java Applet. @@ -1747,18 +1506,6 @@ void EMC_IO_STAT_MSG::update(CMS * cms) } -/* -* NML/CMS Update function for EMC_ABORT -* Automatically generated by NML CodeGen Java Applet. -* on Sat Oct 11 13:45:16 UTC 2003 -*/ -void EMC_ABORT::update(CMS * cms) -{ - - EMC_CMD_MSG::update(cms); - -} - /* * NML/CMS Update function for EMC_EXEC_PLUGIN_CALL * Manually added by Michael Haberler @@ -1854,18 +1601,6 @@ void EMC_AXIS_STAT_MSG::update(CMS * cms) cms->update(axis); } -/* -* NML/CMS Update function for EMC_INIT -* Automatically generated by NML CodeGen Java Applet. -* on Sat Oct 11 13:45:16 UTC 2003 -*/ -void EMC_INIT::update(CMS * cms) -{ - - EMC_CMD_MSG::update(cms); - -} - /* * NML/CMS Update function for EMC_TRAJ_SET_SCALE * Automatically generated by NML CodeGen Java Applet. @@ -1939,19 +1674,6 @@ void EMC_TRAJ_SET_FH_ENABLE::update(CMS * cms) } - -/* -* NML/CMS Update function for EMC_IO_ABORT -* Automatically generated by NML CodeGen Java Applet. -* on Sat Oct 11 13:45:16 UTC 2003 -*/ -void EMC_IO_ABORT::update(CMS * cms) -{ - - EMC_IO_CMD_MSG::update(cms); - -} - /* * NML/CMS Update function for EMC_TASK_STAT * Automatically generated by NML CodeGen Java Applet. @@ -2124,18 +1846,6 @@ void EMC_JOG_INCR::update(CMS * cms) } -/* -* NML/CMS Update function for EMC_JOINT_ACTIVATE -* Automatically generated by NML CodeGen Java Applet. -* on Sat Oct 11 13:45:16 UTC 2003 -*/ -void EMC_JOINT_ACTIVATE::update(CMS * cms) -{ - - EMC_JOINT_CMD_MSG::update(cms); - -} - /* * NML/CMS Update function for EMC_SPINDLE_ON * Automatically generated by NML CodeGen Java Applet. @@ -2216,18 +1926,6 @@ void EMC_TRAJ_SET_OFFSET::update(CMS * cms) } -/* -* NML/CMS Update function for EMC_JOINT_ABORT -* Automatically generated by NML CodeGen Java Applet. -* on Sat Oct 11 13:45:16 UTC 2003 -*/ -void EMC_JOINT_ABORT::update(CMS * cms) -{ - - EMC_JOINT_CMD_MSG::update(cms); - -} - /* * NML/CMS Update function for EMC_TRAJ_CMD_MSG * Automatically generated by NML CodeGen Java Applet. @@ -2274,18 +1972,6 @@ void EMC_SET_DEBUG::update(CMS * cms) } -/* -* NML/CMS Update function for EMC_HALT -* Automatically generated by NML CodeGen Java Applet. -* on Sat Oct 11 13:45:17 UTC 2003 -*/ -void EMC_HALT::update(CMS * cms) -{ - - EMC_CMD_MSG::update(cms); - -} - /* * NML/CMS Update function for EMC_TASK_PLAN_STEP * Automatically generated by NML CodeGen Java Applet. @@ -2420,18 +2106,6 @@ void EMC_JOINT_UNHOME::update(CMS * cms) } -/* -* NML/CMS Update function for EMC_JOINT_INIT -* Automatically generated by NML CodeGen Java Applet. -* on Sat Oct 11 13:45:17 UTC 2003 -*/ -void EMC_JOINT_INIT::update(CMS * cms) -{ - - EMC_JOINT_CMD_MSG::update(cms); - -} - /* * NML/CMS Update function for EMC_JOINT_ENABLE * Automatically generated by NML CodeGen Java Applet. @@ -2494,17 +2168,6 @@ void EMC_SPINDLE_INCREASE::update(CMS * cms) } -/* -* NML/CMS Update function for EMC_TASK_INIT -* Automatically generated by NML CodeGen Java Applet. -* on Sat Oct 11 13:45:17 UTC 2003 -*/ -void EMC_TASK_INIT::update(CMS * cms) -{ - - EMC_TASK_CMD_MSG::update(cms); - -} /* * NML/CMS Update function for EMC_AUX_CMD_MSG @@ -2822,18 +2485,6 @@ void EMC_MOTION_STAT_MSG::update(CMS * cms) } -/* -* NML/CMS Update function for EMC_TASK_HALT -* Automatically generated by NML CodeGen Java Applet. -* on Sat Oct 11 13:45:17 UTC 2003 -*/ -void EMC_TASK_HALT::update(CMS * cms) -{ - - EMC_TASK_CMD_MSG::update(cms); - -} - /* * NML/CMS Update function for EMC_TRAJ_PROBE * Automatically generated by NML CodeGen Java Applet. @@ -2984,18 +2635,4 @@ void EMC_MOTION_ADAPTIVE::update(CMS * cms) void EMC_MOTION_CMD_MSG::update(CMS * cms) { -} - - -/* -* NML/CMS Update function for EMC_IO_SET_CYCLE_TIME -* Automatically generated by NML CodeGen Java Applet. -* on Sat Oct 11 13:45:17 UTC 2003 -*/ -void EMC_IO_SET_CYCLE_TIME::update(CMS * cms) -{ - - EMC_IO_CMD_MSG::update(cms); - cms->update(cycleTime); - -} +} \ No newline at end of file diff --git a/src/emc/nml_intf/emc.hh b/src/emc/nml_intf/emc.hh index f1a3227fece..ef5d26dc4c8 100644 --- a/src/emc/nml_intf/emc.hh +++ b/src/emc/nml_intf/emc.hh @@ -59,25 +59,19 @@ struct PM_CARTESIAN; // NML for EMC_JOINT -#define EMC_JOINT_SET_JOINT_TYPE ((NMLTYPE) 101) -#define EMC_JOINT_SET_UNITS_TYPE ((NMLTYPE) 102) #define EMC_JOINT_SET_MIN_POSITION_LIMIT_TYPE ((NMLTYPE) 107) #define EMC_JOINT_SET_MAX_POSITION_LIMIT_TYPE ((NMLTYPE) 108) #define EMC_JOINT_SET_FERROR_TYPE ((NMLTYPE) 111) #define EMC_JOINT_SET_HOMING_PARAMS_TYPE ((NMLTYPE) 112) #define EMC_JOINT_SET_MIN_FERROR_TYPE ((NMLTYPE) 115) #define EMC_JOINT_SET_MAX_VELOCITY_TYPE ((NMLTYPE) 116) -#define EMC_JOINT_INIT_TYPE ((NMLTYPE) 118) #define EMC_JOINT_HALT_TYPE ((NMLTYPE) 119) -#define EMC_JOINT_ABORT_TYPE ((NMLTYPE) 120) #define EMC_JOINT_ENABLE_TYPE ((NMLTYPE) 121) #define EMC_JOINT_DISABLE_TYPE ((NMLTYPE) 122) #define EMC_JOINT_HOME_TYPE ((NMLTYPE) 123) #define EMC_JOG_CONT_TYPE ((NMLTYPE) 124) #define EMC_JOG_INCR_TYPE ((NMLTYPE) 125) #define EMC_JOG_ABS_TYPE ((NMLTYPE) 126) -#define EMC_JOINT_ACTIVATE_TYPE ((NMLTYPE) 127) -#define EMC_JOINT_DEACTIVATE_TYPE ((NMLTYPE) 128) #define EMC_JOINT_OVERRIDE_LIMITS_TYPE ((NMLTYPE) 129) #define EMC_JOINT_LOAD_COMP_TYPE ((NMLTYPE) 131) #define EMC_JOINT_SET_BACKLASH_TYPE ((NMLTYPE) 134) @@ -120,7 +114,6 @@ struct PM_CARTESIAN; #define EMC_TRAJ_SET_TERM_COND_TYPE ((NMLTYPE) 222) #define EMC_TRAJ_SET_OFFSET_TYPE ((NMLTYPE) 223) #define EMC_TRAJ_SET_G5X_TYPE ((NMLTYPE) 224) -#define EMC_TRAJ_SET_HOME_TYPE ((NMLTYPE) 225) #define EMC_TRAJ_SET_ROTATION_TYPE ((NMLTYPE) 226) #define EMC_TRAJ_SET_G92_TYPE ((NMLTYPE) 227) #define EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG_TYPE ((NMLTYPE) 228) @@ -137,9 +130,6 @@ struct PM_CARTESIAN; // EMC_MOTION aggregate class type declaration -#define EMC_MOTION_INIT_TYPE ((NMLTYPE) 301) -#define EMC_MOTION_HALT_TYPE ((NMLTYPE) 302) -#define EMC_MOTION_ABORT_TYPE ((NMLTYPE) 303) #define EMC_MOTION_SET_AOUT_TYPE ((NMLTYPE) 304) #define EMC_MOTION_SET_DOUT_TYPE ((NMLTYPE) 305) #define EMC_MOTION_ADAPTIVE_TYPE ((NMLTYPE) 306) @@ -148,14 +138,11 @@ struct PM_CARTESIAN; // NML for EMC_TASK -#define EMC_TASK_INIT_TYPE ((NMLTYPE) 501) -#define EMC_TASK_HALT_TYPE ((NMLTYPE) 502) #define EMC_TASK_ABORT_TYPE ((NMLTYPE) 503) #define EMC_TASK_SET_MODE_TYPE ((NMLTYPE) 504) #define EMC_TASK_SET_STATE_TYPE ((NMLTYPE) 505) #define EMC_TASK_PLAN_OPEN_TYPE ((NMLTYPE) 506) #define EMC_TASK_PLAN_RUN_TYPE ((NMLTYPE) 507) -#define EMC_TASK_PLAN_READ_TYPE ((NMLTYPE) 508) #define EMC_TASK_PLAN_EXECUTE_TYPE ((NMLTYPE) 509) #define EMC_TASK_PLAN_PAUSE_TYPE ((NMLTYPE) 510) #define EMC_TASK_PLAN_STEP_TYPE ((NMLTYPE) 511) @@ -194,7 +181,6 @@ struct PM_CARTESIAN; // EMC_AUX type declarations #define EMC_AUX_ESTOP_ON_TYPE ((NMLTYPE) 1206) #define EMC_AUX_ESTOP_OFF_TYPE ((NMLTYPE) 1207) -#define EMC_AUX_ESTOP_RESET_TYPE ((NMLTYPE) 1208) #define EMC_AUX_INPUT_WAIT_TYPE ((NMLTYPE) 1209) #define EMC_AUX_STAT_TYPE ((NMLTYPE) 1299) @@ -226,23 +212,8 @@ struct PM_CARTESIAN; #define EMC_LUBE_OFF_TYPE ((NMLTYPE) 1505) #define EMC_LUBE_STAT_TYPE ((NMLTYPE) 1599) -// EMC_IO aggregate class type declaration -#define EMC_IO_INIT_TYPE ((NMLTYPE) 1601) -#define EMC_IO_HALT_TYPE ((NMLTYPE) 1602) -#define EMC_IO_ABORT_TYPE ((NMLTYPE) 1603) -#define EMC_IO_SET_CYCLE_TIME_TYPE ((NMLTYPE) 1604) - #define EMC_IO_STAT_TYPE ((NMLTYPE) 1699) -// EMC aggregate class type declaration -// these are placeholders -#define EMC_LOG_TYPE_IO_CMD 21 // command into EMC IO controller -#define EMC_LOG_TYPE_TASK_CMD 51 // command into EMC Task controller - -#define EMC_INIT_TYPE ((NMLTYPE) 1901) -#define EMC_HALT_TYPE ((NMLTYPE) 1902) -#define EMC_ABORT_TYPE ((NMLTYPE) 1903) - #define EMC_STAT_TYPE ((NMLTYPE) 1999) // types for EMC_TASK mode diff --git a/src/emc/nml_intf/emc_nml.hh b/src/emc/nml_intf/emc_nml.hh index d620f00933e..e6c5ee4e096 100644 --- a/src/emc/nml_intf/emc_nml.hh +++ b/src/emc/nml_intf/emc_nml.hh @@ -187,40 +187,6 @@ class EMC_JOINT_CMD_MSG:public RCS_CMD_MSG { int joint; }; -/** - * Set the joint type to linear or angular. - * Similar to the JOINT_TYPE field in the INI file. - */ -class EMC_JOINT_SET_JOINT:public EMC_JOINT_CMD_MSG { - public: - EMC_JOINT_SET_JOINT():EMC_JOINT_CMD_MSG(EMC_JOINT_SET_JOINT_TYPE, - sizeof(EMC_JOINT_SET_JOINT)) { - }; - - // For internal NML/CMS use only. - void update(CMS * cms); - - // EMC_JOINT_LINEAR, EMC_JOINT_ANGULAR - unsigned char jointType; -}; - -/** - * Set the units conversion factor. - * @see EMC_JOINT_SET_INPUT_SCALE - */ -class EMC_JOINT_SET_UNITS:public EMC_JOINT_CMD_MSG { - public: - EMC_JOINT_SET_UNITS():EMC_JOINT_CMD_MSG(EMC_JOINT_SET_UNITS_TYPE, - sizeof(EMC_JOINT_SET_UNITS)) { - }; - - // For internal NML/CMS use only. - void update(CMS * cms); - - // units per mm, deg for linear, angular - double units; -}; - /** * Set the Axis backlash. * This command sets the backlash value. @@ -326,16 +292,6 @@ class EMC_JOINT_SET_MAX_VELOCITY:public EMC_JOINT_CMD_MSG { double vel; }; -class EMC_JOINT_INIT:public EMC_JOINT_CMD_MSG { - public: - EMC_JOINT_INIT():EMC_JOINT_CMD_MSG(EMC_JOINT_INIT_TYPE, - sizeof(EMC_JOINT_INIT)) { - }; - - // For internal NML/CMS use only. - void update(CMS * cms); -}; - class EMC_JOINT_HALT:public EMC_JOINT_CMD_MSG { public: EMC_JOINT_HALT():EMC_JOINT_CMD_MSG(EMC_JOINT_HALT_TYPE, @@ -346,16 +302,6 @@ class EMC_JOINT_HALT:public EMC_JOINT_CMD_MSG { void update(CMS * cms); }; -class EMC_JOINT_ABORT:public EMC_JOINT_CMD_MSG { - public: - EMC_JOINT_ABORT():EMC_JOINT_CMD_MSG(EMC_JOINT_ABORT_TYPE, - sizeof(EMC_JOINT_ABORT)) { - }; - - // For internal NML/CMS use only. - void update(CMS * cms); -}; - class EMC_JOINT_ENABLE:public EMC_JOINT_CMD_MSG { public: EMC_JOINT_ENABLE():EMC_JOINT_CMD_MSG(EMC_JOINT_ENABLE_TYPE, @@ -449,26 +395,6 @@ class EMC_JOG_STOP:public EMC_JOG_CMD_MSG { int jjogmode; // 1==> joint jog, 0==> axis jog }; -class EMC_JOINT_ACTIVATE:public EMC_JOINT_CMD_MSG { - public: - EMC_JOINT_ACTIVATE():EMC_JOINT_CMD_MSG(EMC_JOINT_ACTIVATE_TYPE, - sizeof(EMC_JOINT_ACTIVATE)) { - }; - - // For internal NML/CMS use only. - void update(CMS * cms); -}; - -class EMC_JOINT_DEACTIVATE:public EMC_JOINT_CMD_MSG { - public: - EMC_JOINT_DEACTIVATE():EMC_JOINT_CMD_MSG(EMC_JOINT_DEACTIVATE_TYPE, - sizeof(EMC_JOINT_DEACTIVATE)) { - }; - - // For internal NML/CMS use only. - void update(CMS * cms); -}; - class EMC_JOINT_OVERRIDE_LIMITS:public EMC_JOINT_CMD_MSG { public: EMC_JOINT_OVERRIDE_LIMITS():EMC_JOINT_CMD_MSG @@ -947,18 +873,6 @@ class EMC_TRAJ_SET_ROTATION:public EMC_TRAJ_CMD_MSG { double rotation; }; -class EMC_TRAJ_SET_HOME:public EMC_TRAJ_CMD_MSG { - public: - EMC_TRAJ_SET_HOME():EMC_TRAJ_CMD_MSG(EMC_TRAJ_SET_HOME_TYPE, - sizeof(EMC_TRAJ_SET_HOME)) { - }; - - // For internal NML/CMS use only. - void update(CMS * cms); - - EmcPose home; -}; - class EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG:public EMC_TRAJ_CMD_MSG { public: EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG():EMC_TRAJ_CMD_MSG @@ -1087,36 +1001,6 @@ class EMC_MOTION_CMD_MSG:public RCS_CMD_MSG { void update(CMS * cms); }; -class EMC_MOTION_INIT:public EMC_MOTION_CMD_MSG { - public: - EMC_MOTION_INIT():EMC_MOTION_CMD_MSG(EMC_MOTION_INIT_TYPE, - sizeof(EMC_MOTION_INIT)) { - }; - - // For internal NML/CMS use only. - void update(CMS * cms); -}; - -class EMC_MOTION_HALT:public EMC_MOTION_CMD_MSG { - public: - EMC_MOTION_HALT():EMC_MOTION_CMD_MSG(EMC_MOTION_HALT_TYPE, - sizeof(EMC_MOTION_HALT)) { - }; - - // For internal NML/CMS use only. - void update(CMS * cms); -}; - -class EMC_MOTION_ABORT:public EMC_MOTION_CMD_MSG { - public: - EMC_MOTION_ABORT():EMC_MOTION_CMD_MSG(EMC_MOTION_ABORT_TYPE, - sizeof(EMC_MOTION_ABORT)) { - }; - - // For internal NML/CMS use only. - void update(CMS * cms); -}; - class EMC_MOTION_SET_AOUT:public EMC_MOTION_CMD_MSG { public: EMC_MOTION_SET_AOUT():EMC_MOTION_CMD_MSG(EMC_MOTION_SET_AOUT_TYPE, @@ -1243,26 +1127,6 @@ class EMC_TASK_CMD_MSG:public RCS_CMD_MSG { void update(CMS * cms); }; -class EMC_TASK_INIT:public EMC_TASK_CMD_MSG { - public: - EMC_TASK_INIT():EMC_TASK_CMD_MSG(EMC_TASK_INIT_TYPE, - sizeof(EMC_TASK_INIT)) { - }; - - // For internal NML/CMS use only. - void update(CMS * cms); -}; - -class EMC_TASK_HALT:public EMC_TASK_CMD_MSG { - public: - EMC_TASK_HALT():EMC_TASK_CMD_MSG(EMC_TASK_HALT_TYPE, - sizeof(EMC_TASK_HALT)) { - }; - - // For internal NML/CMS use only. - void update(CMS * cms); -}; - class EMC_TASK_ABORT:public EMC_TASK_CMD_MSG { public: EMC_TASK_ABORT():EMC_TASK_CMD_MSG(EMC_TASK_ABORT_TYPE, @@ -1322,16 +1186,6 @@ class EMC_TASK_PLAN_RUN:public EMC_TASK_CMD_MSG { // negative means run through to verify }; -class EMC_TASK_PLAN_READ:public EMC_TASK_CMD_MSG { - public: - EMC_TASK_PLAN_READ():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_READ_TYPE, - sizeof(EMC_TASK_PLAN_READ)) { - }; - - // For internal NML/CMS use only. - void update(CMS * cms); -}; - class EMC_TASK_PLAN_EXECUTE:public EMC_TASK_CMD_MSG { public: EMC_TASK_PLAN_EXECUTE():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_EXECUTE_TYPE, @@ -1707,16 +1561,6 @@ class EMC_AUX_ESTOP_OFF:public EMC_AUX_CMD_MSG { void update(CMS * cms); }; -class EMC_AUX_ESTOP_RESET:public EMC_AUX_CMD_MSG { - public: - EMC_AUX_ESTOP_RESET():EMC_AUX_CMD_MSG(EMC_AUX_ESTOP_RESET_TYPE, - sizeof(EMC_AUX_ESTOP_RESET)) { - }; - - // For internal NML/CMS use only. - void update(CMS * cms); -}; - class EMC_AUX_INPUT_WAIT:public EMC_AUX_CMD_MSG { public: EMC_AUX_INPUT_WAIT():EMC_AUX_CMD_MSG(EMC_AUX_INPUT_WAIT_TYPE, @@ -2046,45 +1890,6 @@ class EMC_IO_CMD_MSG:public RCS_CMD_MSG { void update(CMS * cms); }; -class EMC_IO_INIT:public EMC_IO_CMD_MSG { - public: - EMC_IO_INIT():EMC_IO_CMD_MSG(EMC_IO_INIT_TYPE, sizeof(EMC_IO_INIT)) { - }; - - // For internal NML/CMS use only. - void update(CMS * cms); -}; - -class EMC_IO_HALT:public EMC_IO_CMD_MSG { - public: - EMC_IO_HALT():EMC_IO_CMD_MSG(EMC_IO_HALT_TYPE, sizeof(EMC_IO_HALT)) { - }; - - // For internal NML/CMS use only. - void update(CMS * cms); -}; - -class EMC_IO_ABORT:public EMC_IO_CMD_MSG { - public: - EMC_IO_ABORT():EMC_IO_CMD_MSG(EMC_IO_ABORT_TYPE, sizeof(EMC_IO_ABORT)) { - }; - - // For internal NML/CMS use only. - void update(CMS * cms); -}; - -class EMC_IO_SET_CYCLE_TIME:public EMC_IO_CMD_MSG { - public: - EMC_IO_SET_CYCLE_TIME():EMC_IO_CMD_MSG(EMC_IO_SET_CYCLE_TIME_TYPE, - sizeof(EMC_IO_SET_CYCLE_TIME)) { - }; - - // For internal NML/CMS use only. - void update(CMS * cms); - - double cycleTime; -}; - // EMC_IO status base class class EMC_IO_STAT_MSG:public RCS_STAT_MSG { public: @@ -2131,33 +1936,6 @@ class EMC_CMD_MSG:public RCS_CMD_MSG { void update(CMS * cms); }; -class EMC_INIT:public EMC_CMD_MSG { - public: - EMC_INIT():EMC_CMD_MSG(EMC_INIT_TYPE, sizeof(EMC_INIT)) { - }; - - // For internal NML/CMS use only. - void update(CMS * cms); -}; - -class EMC_HALT:public EMC_CMD_MSG { - public: - EMC_HALT():EMC_CMD_MSG(EMC_HALT_TYPE, sizeof(EMC_HALT)) { - }; - - // For internal NML/CMS use only. - void update(CMS * cms); -}; - -class EMC_ABORT:public EMC_CMD_MSG { - public: - EMC_ABORT():EMC_CMD_MSG(EMC_ABORT_TYPE, sizeof(EMC_ABORT)) { - }; - - // For internal NML/CMS use only. - void update(CMS * cms); -}; - /** queue a call to a task-time Python plugin method * call is expected to be a tuple of (method,pickled posargs,pickled kwargs) */ diff --git a/src/emc/task/emctaskmain.cc b/src/emc/task/emctaskmain.cc index 2b7a38373d2..0b002960c52 100644 --- a/src/emc/task/emctaskmain.cc +++ b/src/emc/task/emctaskmain.cc @@ -810,7 +810,6 @@ static int emcTaskPlan(void) case EMC_JOINT_ENABLE_TYPE: case EMC_JOINT_SET_FERROR_TYPE: case EMC_JOINT_SET_MIN_FERROR_TYPE: - case EMC_JOINT_ABORT_TYPE: case EMC_JOINT_LOAD_COMP_TYPE: case EMC_JOINT_UNHOME_TYPE: case EMC_TRAJ_SET_SCALE_TYPE: @@ -822,7 +821,6 @@ static int emcTaskPlan(void) case EMC_TRAJ_SET_SO_ENABLE_TYPE: case EMC_TRAJ_SET_VELOCITY_TYPE: case EMC_TRAJ_SET_ACCELERATION_TYPE: - case EMC_TASK_INIT_TYPE: case EMC_TASK_SET_MODE_TYPE: case EMC_TASK_SET_STATE_TYPE: case EMC_TASK_PLAN_INIT_TYPE: @@ -2102,10 +2100,6 @@ static int emcTaskIssueCommand(NMLmsg * cmd) // task commands - case EMC_TASK_INIT_TYPE: - retval = emcTaskInit(); - break; - case EMC_TASK_ABORT_TYPE: // abort everything emcTaskAbort();