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Remove iocontrol, and move its functionality into task. #2497

Merged
merged 10 commits into from
Sep 26, 2023
Merged

Remove iocontrol, and move its functionality into task. #2497

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764655e
moving all IO handling from iocontrol to task
rene-dev May 16, 2023
ae7380e
remove io from debian package
rene-dev May 16, 2023
89e8092
fix g0 test
rene-dev May 19, 2023
4054ae2
move iocontrol hal struct to taskclass
rene-dev May 19, 2023
a16dea7
add missing import
rene-dev May 19, 2023
9fbfb90
wait for iocontrol pins to appear
rene-dev May 19, 2023
31c01d4
remove iocontrol.cc and makefile
rene-dev May 19, 2023
cf1fd95
remove emcIoSetDebug
rene-dev May 20, 2023
2fec4a1
remove unused nml messages
rene-dev May 20, 2023
9d79c2a
Merge branch 'master' into taskio
rene-dev Sep 26, 2023
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2 changes: 0 additions & 2 deletions configs/common/client.nml
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Original file line number Diff line number Diff line change
Expand Up @@ -22,5 +22,3 @@ B emcError SHMEM 192.168.0.4 8192 0 0 3
P xemc emcCommand REMOTE 192.168.0.4 W 0 10.0 0 10
P xemc emcStatus REMOTE 192.168.0.4 R 0 10.0 0 10
P xemc emcError REMOTE 192.168.0.4 R 0 10.0 0 10
P xemc toolCmd REMOTE 192.168.0.4 W 0 10.0 0 10
P xemc toolSts REMOTE 192.168.0.4 R 0 10.0 0 10
11 changes: 0 additions & 11 deletions configs/common/linuxcnc.nml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,29 +10,18 @@ B emcCommand SHMEM localhost 8192 0 0 1
B emcError SHMEM localhost 8192 0 0 3 16 1003 TCP=5005 xdr queue
B emcStatus SHMEM localhost 20480 0 0 2 16 1002 TCP=5005 xdr

# These are for the IO controller, EMCIO
B toolCmd SHMEM localhost 1024 0 0 4 16 1004 TCP=5005 xdr
B toolSts SHMEM localhost 1024 0 0 5 16 1005 TCP=5005 xdr

# Processes
# Name Buffer Type Host Ops server? timeout master? cnum

P emc emcCommand LOCAL localhost RW 0 1.0 0 0
P emc emcStatus LOCAL localhost W 0 1.0 0 0
P emc emcError LOCAL localhost W 0 1.0 0 0
P emc toolCmd LOCAL localhost W 0 1.0 0 0
P emc toolSts LOCAL localhost R 0 1.0 0 0

P emcsvr emcCommand LOCAL localhost W 1 1.0 1 2
P emcsvr emcStatus LOCAL localhost R 1 1.0 1 2
P emcsvr emcError LOCAL localhost R 1 1.0 1 2
P emcsvr toolCmd LOCAL localhost W 1 1.0 1 2
P emcsvr toolSts LOCAL localhost R 1 1.0 1 2
P emcsvr default LOCAL localhost RW 1 1.0 1 2

P tool emcError LOCAL localhost W 0 1.0 0 3
P tool toolCmd LOCAL localhost R 0 1.0 0 3
P tool toolSts LOCAL localhost W 0 1.0 0 3

P xemc emcCommand LOCAL localhost W 0 10.0 0 10
P xemc emcStatus LOCAL localhost R 0 10.0 0 10
Expand Down
11 changes: 0 additions & 11 deletions configs/common/linuxcnc_big.nml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,29 +10,18 @@ B emcCommand SHMEM localhost 8192 0 0 1
B emcError SHMEM localhost 8192 0 0 3 16 1003 TCP=5005 xdr queue
B emcStatus SHMEM localhost 170000 0 0 2 16 1002 TCP=5005 xdr

# These are for the IO controller, EMCIO
B toolCmd SHMEM localhost 2048 0 0 4 16 1004 TCP=5005 xdr
B toolSts SHMEM localhost 155648 0 0 5 16 1005 TCP=5005 xdr

# Processes
# Name Buffer Type Host Ops server? timeout master? cnum

P emc emcCommand LOCAL localhost RW 0 1.0 0 0
P emc emcStatus LOCAL localhost W 0 1.0 0 0
P emc emcError LOCAL localhost W 0 1.0 0 0
P emc toolCmd LOCAL localhost W 0 1.0 0 0
P emc toolSts LOCAL localhost R 0 1.0 0 0

P emcsvr emcCommand LOCAL localhost W 1 1.0 1 2
P emcsvr emcStatus LOCAL localhost R 1 1.0 1 2
P emcsvr emcError LOCAL localhost R 1 1.0 1 2
P emcsvr toolCmd LOCAL localhost W 1 1.0 1 2
P emcsvr toolSts LOCAL localhost R 1 1.0 1 2
P emcsvr default LOCAL localhost RW 1 1.0 1 2

P tool emcError LOCAL localhost W 0 1.0 0 3
P tool toolCmd LOCAL localhost R 0 1.0 0 3
P tool toolSts LOCAL localhost W 0 1.0 0 3

P xemc emcCommand LOCAL localhost W 0 10.0 0 10
P xemc emcStatus LOCAL localhost R 0 10.0 0 10
Expand Down
15 changes: 0 additions & 15 deletions configs/common/server.nml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,34 +13,19 @@ B emcCommand SHMEM localhost 8192 0 0 1
B emcStatus SHMEM localhost 10240 0 0 2 16 1002 TCP=5005 xdr
B emcError SHMEM localhost 8192 0 0 3 16 1003 TCP=5005 xdr queue

# These are for the IO controller, EMCIO
B toolCmd SHMEM localhost 1024 0 0 4 16 1004 TCP=5005 xdr
B toolSts SHMEM localhost 4096 0 0 5 16 1005 TCP=5005 xdr
B spindleCmd SHMEM localhost 1024 0 0 6 16 1006 TCP=5005 xdr
B spindleSts SHMEM localhost 1024 0 0 7 16 1007 TCP=5005 xdr

# Processes
# Name Buffer Type Host Ops server? timeout master? cnum

P emc emcCommand LOCAL localhost RW 0 1.0 0 0
P emc emcStatus LOCAL localhost W 0 1.0 0 0
P emc emcError LOCAL localhost W 0 1.0 0 0
P emc toolCmd LOCAL localhost W 0 1.0 0 0
P emc toolSts LOCAL localhost R 0 1.0 0 0

P emcsvr emcCommand LOCAL localhost W 1 1.0 1 2
P emcsvr emcStatus LOCAL localhost R 1 1.0 1 2
P emcsvr emcError LOCAL localhost R 1 1.0 1 2
P emcsvr toolCmd LOCAL localhost W 1 1.0 1 2
P emcsvr toolSts LOCAL localhost R 1 1.0 1 2
P emcsvr default LOCAL localhost RW 1 1.0 1 2

P tool emcError LOCAL localhost W 0 1.0 0 3
P tool toolCmd LOCAL localhost RW 0 1.0 0 3
P tool toolSts LOCAL localhost W 0 1.0 0 3

P xemc emcCommand REMOTE 192.168.0.14 W 0 10.0 0 10
P xemc emcStatus REMOTE 192.168.0.14 R 0 10.0 0 10
P xemc emcError REMOTE 192.168.0.14 R 0 10.0 0 10
P xemc toolCmd REMOTE 192.168.0.14 W 0 10.0 0 10
P xemc toolSts REMOTE 192.168.0.14 R 0 10.0 0 10
2 changes: 0 additions & 2 deletions debian/linuxcnc.install.in
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Original file line number Diff line number Diff line change
Expand Up @@ -34,8 +34,6 @@ usr/bin/hy_gt_vfd
usr/bin/hy_vfd
usr/bin/image-to-gcode
usr/bin/inivar
usr/bin/io
usr/bin/iov2
usr/bin/latency-histogram
usr/bin/latency-plot
usr/bin/latency-test
Expand Down
35 changes: 8 additions & 27 deletions scripts/linuxcnc.in
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Original file line number Diff line number Diff line change
Expand Up @@ -541,11 +541,6 @@ if [ -z "$HOMEMOD" ] ; then
HOMEMOD=${retval:-homemod} #use default if not found
fi


# 2.4. get io information
GetFromIniEx IO IO EMCIO EMCIO io
EMCIO=$retval

# 2.5. get task information
GetFromIni TASK TASK
EMCTASK=$retval
Expand Down Expand Up @@ -830,19 +825,16 @@ fi
# "halcmd loadrt" can find them
export HAL_RTMOD_DIR=$LINUXCNC_RTLIB_DIR

# 4.3.4. Run io in background if so defined in INI
if [ "$EMCIO" != "" ] ; then
echo "Starting LinuxCNC IO program: $EMCIO" >>$PRINT_FILE
if ! program_available $EMCIO ; then
echo "Can't execute IO program $EMCIO"
Cleanup
exit 1
fi
$HALCMD loadusr -Wn iocontrol $EMCIO -ini "$INIFILE"
else
echo "Skipping LinuxCNC IO program >>$PRINT_FILE"
# 4.3.7. Run task in background
echo "Starting TASK program: $EMCTASK" >>$PRINT_FILE
if ! program_available $EMCTASK ; then
echo "Can't execute TASK program $EMCTASK"
Cleanup
exit 1
fi

halcmd loadusr -Wn iocontrol $EMCTASK -ini "$INIFILE"

# 4.3.5. Run halui in background, if necessary
if [ -n "$HALUI" ] ; then
echo "Starting HAL User Interface program: $HALUI" >>$PRINT_FILE
Expand Down Expand Up @@ -936,17 +928,6 @@ else
done
fi


# 4.3.7. Run task in background
echo "Starting TASK program: $EMCTASK" >>$PRINT_FILE
if ! program_available $EMCTASK ; then
echo "Can't execute TASK program $EMCTASK"
Cleanup
exit 1
fi

halcmd loadusr -Wn inihal $EMCTASK -ini "$INIFILE" &

# 4.3.8. execute discrete HAL commands from INI file (if any)
# get first command from INI file
NUM=1
Expand Down
2 changes: 1 addition & 1 deletion src/Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -181,7 +181,7 @@ SUBDIRS := \
emc/usr_intf/axis emc/usr_intf/touchy emc/usr_intf/stepconf emc/usr_intf/pncconf \
emc/usr_intf/gremlin emc/usr_intf/gscreen emc/usr_intf/pyui emc/usr_intf/qtvcp \
emc/usr_intf/gmoccapy emc/usr_intf/qtplasmac emc/usr_intf/mdro\
emc/usr_intf emc/nml_intf emc/task emc/iotask emc/kinematics emc/tp emc/canterp \
emc/usr_intf emc/nml_intf emc/task emc/kinematics emc/tp emc/canterp \
emc/motion emc/ini emc/rs274ngc emc/sai emc/pythonplugin \
emc/motion-logger \
emc/tooldata \
Expand Down
15 changes: 0 additions & 15 deletions src/emc/iotask/Submakefile
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