Skip to content

Commit

Permalink
Merge pull request #6 from strahlex/mkwrapper
Browse files Browse the repository at this point in the history 
Machinetalk requirements for mkwrapper
  • Loading branch information
@mhaberler
mhaberler committed Sep 29, 2014
2 parents a49d4d7 + c20524c commit 0b94620
Show file tree
Hide file tree
Showing 5 changed files with 342 additions and 0 deletions.
1 change: 1 addition & 0 deletions proto/canon.proto
View file
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@ import "nanopb.proto";
import "types.proto";
import "emcclass.proto";
import "motcmds.proto";
import "status.proto";

package pb;

Expand Down
11 changes: 11 additions & 0 deletions proto/message.proto
View file
Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@ import "rtapicommand.proto";
import "rtapi_message.proto";
import "config.proto";
import "preview.proto";
import "status.proto";

message Container {

Expand Down Expand Up @@ -70,6 +71,7 @@ message Container {

// interpreter status updates, MT_INTERP_STAT
optional InterpreterStateType interp_state = 25 [(nanopb).type = FT_IGNORE];
optional string interp_name = 26;

// this is an or of bits in ReplyType:
optional int32 rsvp = 30; // if/how to answer
Expand Down Expand Up @@ -199,6 +201,15 @@ message Container {
optional Emc_Exec_Plugin_Ca1l exec_plugin_call = 580;
optional Emc_Io_Plugin_Call io_plugin_call = 590;

optional EmcStatusConfig emc_status_config = 600;
optional EmcStatusMotion emc_status_motion = 601;
optional EmcStatusIo emc_status_io = 602;
optional EmcStatusTask emc_status_task = 603;
optional EmcStatusInterp emc_status_interp = 604;

optional EmcCommandParameters emc_command_params = 610;


// less commonly used types

// // firmware types. Add as needed
Expand Down
12 changes: 12 additions & 0 deletions proto/preview.proto
View file
Original file line number Diff line number Diff line change
Expand Up @@ -44,8 +44,15 @@ enum PreviewOpType {
PV_USE_TOOL_OFFSET = 17;
PV_SET_PARAMS = 18; // kins, axismask, angle_units, length_units
PV_SET_FEED_MODE = 19;
PV_SOURCE_CONTEXT = 20;
}

enum SourceType {
ST_NGC_FILE = 1; // an NGC filename
ST_NGC_STRING = 2; // an MDI string
ST_PYTHON_METHOD = 3;
};

message Preview {
required PreviewOpType type = 1;
optional int32 line_number = 2;
Expand Down Expand Up @@ -91,4 +98,9 @@ message Preview {
// PV_CHANGE_TOOL, PV_CHANGE_TOOL_NUMBER
optional int32 pocket = 107;

// PV_SOURCE_CONTEXT
optional SourceType stype = 110;
optional string filename = 111; // an NGC
optional string cmdstring = 112; // an MDI command
optional int32 call_level = 113; // call stack depth
}
310 changes: 310 additions & 0 deletions proto/status.proto
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,310 @@
import "types.proto";
import "preview.proto";
import "emcclass.proto";

package pb;

enum EmcTaskExecStateType {
EMC_TASK_EXEC_ERROR = 1;
EMC_TASK_EXEC_DONE = 2;
EMC_TASK_EXEC_WAITING_FOR_MOTION = 3;
EMC_TASK_EXEC_WAITING_FOR_MOTION_QUEUE = 4;
EMC_TASK_EXEC_WAITING_FOR_IO = 5;
EMC_TASK_EXEC_WAITING_FOR_MOTION_AND_IO = 7;
EMC_TASK_EXEC_WAITING_FOR_DELAY = 8;
EMC_TASK_EXEC_WAITING_FOR_SYSTEM_CMD = 9;
EMC_TASK_EXEC_WAITING_FOR_SPINDLE_ORIENTED = 10;
}

enum EmcInterpStateType {
EMC_TASK_INTERP_IDLE = 1;
EMC_TASK_INTERP_READING = 2;
EMC_TASK_INTERP_PAUSED = 3;
EMC_TASK_INTERP_WAITING = 4;
}

enum EmcInterpExitCodeType {
EMC_INTERP_EXIT_OK = 0;
EMC_INTERP_EXIT_EXIT = 1;
EMC_INTERP_EXIT_EXECUTE_FINISH = 2;
EMC_INTERP_EXIT_ENDFILE = 3;
EMC_INTERP_EXIT_FILE_NOT_OPEN = 4;
EMC_INTERP_EXIT_ERROR = 5;
}

enum EmcKinematicsType {
KINEMATICS_IDENTITY = 1;
KINEMATICS_FORWARD_ONLY = 2;
KINEMATICS_INVERSE_ONLY = 3;
KINEMATICS_BOTH = 4;
}

enum EmcTrajectoryModeType {
EMC_TRAJ_MODE_FREE = 1;
EMC_TRAJ_MODE_COORD = 2;
EMC_TRAJ_MODE_TELEOP = 3;
}

enum EmcCanonUnitsType {
CANON_UNITS_INCHES = 1;
CANON_UNITS_MM = 2;
CANON_UNITS_CM = 3;
}

enum EmcTimeUnitsType {
TIME_UNITS_MINUTE = 1;
TIME_UNITS_SECOND = 2;
}

enum EmcTaskModeType {
EMC_TASK_MODE_MANUAL = 1;
EMC_TASK_MODE_AUTO = 2;
EMC_TASK_MODE_MDI = 3;
}

enum EmcTaskStateType {
EMC_TASK_STATE_ESTOP = 1;
EMC_TASK_STATE_ESTOP_RESET = 2;
EMC_TASK_STATE_OFF = 3;
EMC_TASK_STATE_ON = 4;
}

enum EmcAxisType {
EMC_AXIS_LINEAR = 1;
EMC_AXIS_ANGULAR = 2;
}

enum EmcPositionOffsetType {
EMC_CONFIG_RELATIVE_OFFSET = 1;
EMC_CONFIG_MACHINE_OFFSET = 2;
}

enum EmcPositionFeedbackType {
EMC_CONFIG_ACTUAL_FEEDBACK = 1;
EMC_CONFIG_COMMANDED_FEEDBACK = 2;
}

message EmcToolData {
required int32 index = 1;
optional int32 id = 2;
optional double xOffset = 3;
optional double yOffset = 4;
optional double zOffset = 5;
optional double aOffset = 6;
optional double bOffset = 7;
optional double cOffset = 8;
optional double uOffset = 9;
optional double vOffset = 10;
optional double wOffset = 11;
optional double diameter = 12;
optional double frontangle = 13;
optional double backangle = 14;
optional int32 orientation = 15;
}

message EmcStatusMotionAxis {
required int32 index = 1;
optional bool enabled = 2;
optional bool fault = 3;
optional double ferror_current = 4;
optional double ferror_highmark = 5;
optional bool homed = 6;
optional bool homing = 7;
optional bool inpos = 8;
optional double input = 9;
optional bool max_hard_limit = 10;
optional bool max_soft_limit = 11;
optional bool min_hard_limit = 12;
optional bool min_soft_limit = 13;
optional double output = 14;
optional bool override_limits = 15;
optional double velocity = 16;
}

message EmcStatusConfigAxis {
required int32 index = 1;
optional EmcAxisType axisType = 2;
optional double backlash = 3;
optional double max_ferror = 4;
optional double max_position_limit = 5;
optional double min_ferror = 6;
optional double min_position_limit = 7;
optional double units = 8;
optional int32 home_sequence = 9;
}

message EmcProgramExtension {
required int32 index = 1;
optional string extension = 2;
}

message EmcStatusAnalogIO {
required int32 index = 1;
optional double value = 2;
}

message EmcStatusDigitalIO {
required int32 index = 1;
optional bool value = 2;
}

message EmcStatusLimit {
required int32 index = 1;
optional int32 value = 2;
}

message EmcStatusGCode {
required int32 index = 1;
optional int32 value = 2;
}

message EmcStatusMCode {
required int32 index = 1;
optional int32 value = 2;
}

message EmcStatusSetting {
required int32 index = 1;
optional double value = 2;
}

message EmcStatusConfig {
optional double default_acceleration = 1;
optional double angular_units = 2;
optional int32 axes = 3;
repeated EmcStatusConfigAxis axis = 4;
optional int32 axis_mask = 5;
optional double cycle_time = 6;
optional int32 debug = 7;
optional EmcKinematicsType kinematics_type = 8;
optional double linear_units = 9;
optional double max_acceleration = 10;
optional double max_velocity = 11;
optional EmcCanonUnitsType program_units = 12;
optional double default_velocity = 13;
repeated EmcProgramExtension program_extension = 14;
optional EmcPositionOffsetType position_offset = 15;
optional EmcPositionFeedbackType position_feedback = 16;
optional double max_feed_override = 17;
optional double min_feed_override = 18;
optional double max_spindle_override = 19;
optional double min_spindle_override = 20;
optional double default_spindle_speed = 21;
optional double default_linear_velocity = 22;
optional double min_velocity = 23;
optional double max_linear_velocity = 24;
optional double min_linear_velocity = 25;
optional double default_angular_velocity = 26;
optional double max_angular_velocity = 27;
optional double min_angular_velocity = 28;
optional string increments = 29;
optional string grids = 30;
optional bool lathe = 31;
optional string geometry = 32;
optional uint32 arcdivision = 33;
optional bool no_force_homing = 34;
optional string remote_path = 35;
optional EmcTimeUnitsType time_units = 36;
}

message EmcStatusMotion {
optional int32 active_queue = 1;
optional Position actual_position = 2;
optional bool adaptive_feed_enabled = 3;
repeated EmcStatusAnalogIO ain = 4;
repeated EmcStatusAnalogIO aout = 5;
repeated EmcStatusMotionAxis axis = 6;
optional bool block_delete = 7;
optional int32 current_line = 8;
optional double current_vel = 9;
optional double delay_left = 10;
repeated EmcStatusDigitalIO din = 11;
optional double distance_to_go = 12;
repeated EmcStatusDigitalIO dout = 13;
optional Position dtg = 14;
optional bool enabled = 15;
optional bool feed_hold_enabled = 16;
optional bool feed_override_enabled = 17;
optional double feedrate = 18;
optional OriginIndex g5x_index = 19;
optional Position g5x_offset = 20;
optional Position g92_offset = 21;
optional int32 id = 23;
optional bool inpos = 24;
optional Position joint_actual_position = 25;
optional Position joint_position = 26;
repeated EmcStatusLimit limit = 27;
optional int32 motion_line = 28;
optional EmcTrajectoryModeType motion_type = 29;
optional EmcTrajectoryModeType motion_mode = 30;
optional bool paused = 31;
optional Position position = 32;
optional bool probe_tripped = 33;
optional int32 probe_val = 34;
optional Position probed_position = 35;
optional bool probing = 36;
optional int32 queue = 37;
optional bool queue_full = 38;
optional double rotation_xy = 39;
optional bool spindle_brake = 40;
optional int32 spindle_direction = 41;
optional bool spindle_enabled = 42;
optional int32 spindle_increasing = 43;
optional bool spindle_override_enabled = 44;
optional double spindle_speed = 45;
optional double spindlerate = 46;
optional RCS_STATUS state = 47;
optional double max_velocity = 48;
optional double max_acceleration = 49;
}

message EmcStatusIo {
optional bool estop = 1;
optional bool flood = 2;
optional bool lube = 3;
optional bool lube_level = 4;
optional bool mist = 5;
optional bool pocket_prepped = 6;
optional bool tool_in_spindle = 7;
optional Position tool_offset = 8;
repeated EmcToolData tool_table = 9;
}

message EmcStatusTask {
optional int32 echo_serial_number = 1;
optional EmcTaskExecStateType exec_state = 2;
optional string file = 3;
optional bool input_timeout = 4;
optional bool optional_stop = 5;
optional int32 read_line = 6;
optional EmcTaskModeType task_mode = 7;
optional int32 task_paused = 8;
optional EmcTaskStateType task_state = 9;
}

message EmcStatusInterp {
optional string command = 1;
repeated EmcStatusGCode gcodes = 2;
optional EmcInterpStateType interp_state = 3;
optional EmcInterpExitCodeType interpreter_errcode = 4;
repeated EmcStatusMCode mcodes = 5;
repeated EmcStatusSetting settings = 6;
}

message EmcCommandParameters {
optional uint32 index = 1;
optional uint32 debug_level = 2;
optional int32 line_number = 3;
optional double scale = 4;
optional double velocity = 5;
optional double distance = 6;
optional double value = 7;
optional bool enable = 8;
optional string command = 9;
optional string path = 10;
optional EmcTaskModeType task_mode = 100;
optional EmcTaskStateType task_state = 101;
optional EmcTrajectoryModeType traj_mode = 102;
optional EmcPose pose = 103;
optional EmcToolData tool_data = 104;
}
8 changes: 8 additions & 0 deletions proto/types.proto
View file
Original file line number Diff line number Diff line change
Expand Up @@ -615,6 +615,14 @@ enum ContainerType {
MT_EMC_STAT = 11999;
// --- snip ---

// EMC status
MT_EMCSTAT_FULL_UPDATE = 12500;
MT_EMCSTAT_INCREMENTAL_UPDATE = 12501;

// EMC error
MT_EMC_NML_ERROR = 12510;
MT_EMC_NML_TEXT = 12511;
MT_EMC_NML_DISPLAY = 12512;
}

enum OriginIndex {
Expand Down

0 comments on commit 0b94620

Please sign in to comment.