Add Stepping Status to emcmodule

docs/src/config/python-interface.adoc

@@ -278,6 +278,9 @@ see <<python:reading-ini-values,ReadingINI file values>> for an example.
 *paused*:: '(returns boolean)' -
   `motion paused` flag.
 
+*single_stepping*:: '(returns boolean)' -
+  `motion single_stepping` flag.
+
 *pocket_prepped*:: '(returns integer)' -
   A Tx command completed, and this pocket is prepared. -1 if no
   prepared pocket.

src/emc/nml_intf/emc.cc

@@ -1702,6 +1702,7 @@ void EMC_TRAJ_STAT::update(CMS * cms)
     cms->update(queueFull);
     cms->update(id);
     cms->update(paused);
+    cms->update(single_stepping);
     cms->update(scale);
     cms->update(rapid_scale);
     EmcPose_update(cms, &position);

src/emc/nml_intf/emc_nml.hh

@@ -794,8 +794,8 @@ class EMC_TRAJ_SET_TERM_COND:public EMC_TRAJ_CMD_MSG {
     void update(CMS * cms);
 
     int cond;
-    double tolerance; // used to set the precision/tolerance of path deviation 
-		      // during CONTINUOUS motion mode. 
+    double tolerance; // used to set the precision/tolerance of path deviation
+		      // during CONTINUOUS motion mode.
 };
 
 class EMC_TRAJ_SET_SPINDLESYNC:public EMC_TRAJ_CMD_MSG {
@@ -984,6 +984,7 @@ class EMC_TRAJ_STAT:public EMC_TRAJ_STAT_MSG {
     bool queueFull;		// non-zero means can't accept another motion
     int 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
     double rapid_scale;		// rapid scale factor
     //double spindle_scale;	// moved to EMC_SPINDLE_STAT
@@ -1379,7 +1380,7 @@ class EMC_TASK_PLAN_SET_OPTIONAL_STOP:public EMC_TASK_CMD_MSG {
     // Sub-class update() calls base-class update()
     // cppcheck-suppress duplInheritedMember
     void update(CMS * cms);
-    
+
     bool state; //state == ON, optional stop is on (e.g. we stop on any stops)
 };
 
@@ -1394,7 +1395,7 @@ class EMC_TASK_PLAN_SET_BLOCK_DELETE:public EMC_TASK_CMD_MSG {
     // Sub-class update() calls base-class update()
     // cppcheck-suppress duplInheritedMember
     void update(CMS * cms);
-    
+
     bool state; //state == ON, block delete is on, we ignore lines starting with "/"
 };
 
@@ -1408,7 +1409,7 @@ class EMC_TASK_PLAN_OPTIONAL_STOP:public EMC_TASK_CMD_MSG {
     // Sub-class update() calls base-class update()
     // cppcheck-suppress duplInheritedMember
     void update(CMS * cms);
-    
+
 };
 
 
@@ -1460,7 +1461,7 @@ class EMC_TASK_STAT:public EMC_TASK_STAT_MSG {
     double activeSettings[ACTIVE_SETTINGS];
     CANON_UNITS programUnits;	// CANON_UNITS_INCHES, MM, CM
 
-    int interpreter_errcode;	// return value from rs274ngc function 
+    int interpreter_errcode;	// return value from rs274ngc function
     // (only useful for new interpreter.)
     int task_paused;		// non-zero means task is paused
     double delayLeft;           // delay time left of G4, M66..
@@ -1747,7 +1748,7 @@ class EMC_SPINDLE_ORIENT:public EMC_SPINDLE_CMD_MSG {
 
     int spindle;
     double orientation;   // desired spindle position
-    int    mode;   
+    int    mode;
 };
 
 class EMC_SPINDLE_WAIT_ORIENT_COMPLETE:public EMC_SPINDLE_CMD_MSG {

src/emc/task/emctaskmain.cc

@@ -7,7 +7,7 @@
 * Author:
 * License: GPL Version 2
 * System: Linux
-*    
+*
 * Copyright (c) 2004 All rights reserved.
 *
 ********************************************************************/
@@ -217,7 +217,7 @@ int emcOperatorError(const char *fmt, ...)
     error_msg.error[0] = 0;
     // append error string
     va_start(ap, fmt);
-    vsnprintf(&error_msg.error[strlen(error_msg.error)], 
+    vsnprintf(&error_msg.error[strlen(error_msg.error)],
 	      sizeof(error_msg.error) - strlen(error_msg.error), fmt, ap);
     va_end(ap);
 
@@ -466,7 +466,7 @@ static int checkInterpList(NML_INTERP_LIST * il, EMC_STAT * /*stat*/)
     	    emcOperatorError("%s", error_msg->error);
     	    break;
 	}
-	
+
 	//FIXME: there was limit checking tests below, see if they were needed
 	case EMC_TRAJ_LINEAR_MOVE_TYPE:
 	    break;
@@ -535,7 +535,7 @@ void readahead_reading(void)
 				    EMC_TASK_INTERP::WAITING;
 				interp_list.clear();
 				emcAbortCleanup(EMC_ABORT::INTERPRETER_ERROR,
-						"interpreter error"); 
+						"interpreter error");
 			    } else if (execRetval == -1
 				    || execRetval == INTERP_EXIT ) {
 				emcStatus->task.interpState =
@@ -585,7 +585,7 @@ void readahead_reading(void)
 
 			    if (emcStatus->task.readLine < programStartLine &&
 				emcTaskPlanLevel() == 0) {
-			    
+
 				//update the position with our current position, as the other positions are only skipped through
 				CANON_UPDATE_END_POINT(emcStatus->motion.traj.actualPosition.tran.x,
 						       emcStatus->motion.traj.actualPosition.tran.y,
@@ -648,7 +648,7 @@ static void mdi_execute_hook(void)
 	    emcTaskCommand == 0 &&
 	    emcStatus->task.execState ==
 	    EMC_TASK_EXEC::DONE) {
-	    emcTaskPlanClearWait(); 
+	    emcTaskPlanClearWait();
 	    mdi_execute_wait = 0;
 	    mdi_execute_hook();
 	}
@@ -670,11 +670,11 @@ static void mdi_execute_hook(void)
     // determine when a MDI command actually finishes normally.
     if (interp_list.len() == 0 &&
 	emcTaskCommand == 0 &&
-	emcStatus->task.execState ==  EMC_TASK_EXEC::DONE && 
-	emcStatus->task.interpState != EMC_TASK_INTERP::IDLE && 
+	emcStatus->task.execState ==  EMC_TASK_EXEC::DONE &&
+	emcStatus->task.interpState != EMC_TASK_INTERP::IDLE &&
 	emcStatus->motion.traj.queue == 0 &&
-	emcStatus->io.status == RCS_STATUS::DONE && 
-	!mdi_execute_wait && 
+	emcStatus->io.status == RCS_STATUS::DONE &&
+	!mdi_execute_wait &&
 	!mdi_execute_next) {
 
 	// finished. Check for dequeuing of queued MDI command is done in emcTaskPlan().
@@ -1076,7 +1076,7 @@ static int emcTaskPlan(void)
 		case EMC_TASK_PLAN_STEP_TYPE:
 		    // handles case where first action is to step the program
 		    taskPlanRunCmd.line = 0;	// run from start
-		    /*! \todo FIXME-- can have GUI set this; send a run instead of a 
+		    /*! \todo FIXME-- can have GUI set this; send a run instead of a
 		       step */
 		    retval = emcTaskIssueCommand(&taskPlanRunCmd);
 		    if(retval != 0) break;
@@ -1174,6 +1174,7 @@ static int emcTaskPlan(void)
 		    break;
 
 		case EMC_TASK_PLAN_STEP_TYPE:
+		    emcStatus->motion.traj.single_stepping = 1;
 		    stepping = 1;	// set stepping mode in case it's not
 		    steppingWait = 0;	// clear the wait
 		    break;
@@ -1188,7 +1189,7 @@ static int emcTaskPlan(void)
 
                // handle interp readahead logic
                 readahead_reading();
-                
+
 		break;		// EMC_TASK_INTERP::READING
 
 	    case EMC_TASK_INTERP::PAUSED:	// ON, AUTO, PAUSED
@@ -1249,6 +1250,7 @@ static int emcTaskPlan(void)
 		    break;
 
 		case EMC_TASK_PLAN_STEP_TYPE:
+		    emcStatus->motion.traj.single_stepping = 1;
 		    stepping = 1;
 		    steppingWait = 0;
 		    if (emcStatus->motion.traj.paused &&
@@ -1324,6 +1326,7 @@ static int emcTaskPlan(void)
 		    break;
 
 		case EMC_TASK_PLAN_STEP_TYPE:
+		    emcStatus->motion.traj.single_stepping = 1;
 		    stepping = 1;	// set stepping mode in case it's not
 		    steppingWait = 0;	// clear the wait
 		    break;
@@ -1892,10 +1895,10 @@ static int emcTaskIssueCommand(NMLmsg * cmd)
 
     case EMC_TRAJ_PROBE_TYPE:
 	retval = emcTrajProbe(
-	    ((EMC_TRAJ_PROBE *) cmd)->pos, 
+	    ((EMC_TRAJ_PROBE *) cmd)->pos,
 	    ((EMC_TRAJ_PROBE *) cmd)->type,
 	    ((EMC_TRAJ_PROBE *) cmd)->vel,
-            ((EMC_TRAJ_PROBE *) cmd)->ini_maxvel,  
+            ((EMC_TRAJ_PROBE *) cmd)->ini_maxvel,
 	    ((EMC_TRAJ_PROBE *) cmd)->acc,
             ((EMC_TRAJ_PROBE *) cmd)->probe_type);
 	break;
@@ -1907,7 +1910,7 @@ static int emcTaskIssueCommand(NMLmsg * cmd)
 	    emcAuxInputWaitIndex = -1;
 	    taskExecDelayTimeout = 0.0;
 	} else {
-	    emcAuxInputWaitType = emcAuxInputWaitMsg->wait_type; // remember what we are waiting for 
+	    emcAuxInputWaitType = emcAuxInputWaitMsg->wait_type; // remember what we are waiting for
 	    emcAuxInputWaitIndex = emcAuxInputWaitMsg->index; // remember the input to look at
 	    emcStatus->task.input_timeout = 2; // set timeout flag, gets cleared if input changes before timeout happens
 	    // set the timeout clock to expire at 'now' + delay time
@@ -1924,7 +1927,7 @@ static int emcTaskIssueCommand(NMLmsg * cmd)
 	emcTrajUpdateTag(((EMC_TRAJ_LINEAR_MOVE *) cmd)->tag);
 	retval = emcTrajRigidTap(((EMC_TRAJ_RIGID_TAP *) cmd)->pos,
 	        ((EMC_TRAJ_RIGID_TAP *) cmd)->vel,
-        	((EMC_TRAJ_RIGID_TAP *) cmd)->ini_maxvel,  
+        	((EMC_TRAJ_RIGID_TAP *) cmd)->ini_maxvel,
 		((EMC_TRAJ_RIGID_TAP *) cmd)->acc,
 		((EMC_TRAJ_RIGID_TAP *) cmd)->scale);
 	break;
@@ -2123,6 +2126,7 @@ static int emcTaskIssueCommand(NMLmsg * cmd)
 		// clear out the interpreter state
 		emcStatus->task.interpState = EMC_TASK_INTERP::IDLE;
 		emcStatus->task.execState = EMC_TASK_EXEC::DONE;
+		emcStatus->motion.traj.single_stepping = 0;
 		stepping = 0;
 		steppingWait = 0;
 
@@ -2217,6 +2221,7 @@ static int emcTaskIssueCommand(NMLmsg * cmd)
 	break;
 
     case EMC_TASK_PLAN_EXECUTE_TYPE:
+	emcStatus->motion.traj.single_stepping = 0;
 	stepping = 0;
 	steppingWait = 0;
 	execute_msg = (EMC_TASK_PLAN_EXECUTE *) cmd;
@@ -2312,6 +2317,7 @@ static int emcTaskIssueCommand(NMLmsg * cmd)
             retval = -1;
             break;
         }
+	emcStatus->motion.traj.single_stepping = 0;
 	stepping = 0;
 	steppingWait = 0;
 	if (!taskplanopen && emcStatus->task.file[0] != 0) {
@@ -2360,6 +2366,7 @@ static int emcTaskIssueCommand(NMLmsg * cmd)
 	emcTrajResume();
 	emcStatus->task.interpState = interpResumeState;
 	emcStatus->task.task_paused = 0;
+	emcStatus->motion.traj.single_stepping = 0;
 	stepping = 0;
 	steppingWait = 0;
 	retval = 0;
@@ -2590,6 +2597,7 @@ static int emcTaskExecute(void)
 	// clear out the interpreter state
 	emcStatus->task.interpState = EMC_TASK_INTERP::IDLE;
 	emcStatus->task.execState = EMC_TASK_EXEC::DONE;
+	emcStatus->motion.traj.single_stepping = 0;
 	stepping = 0;
 	steppingWait = 0;
 
@@ -2738,7 +2746,7 @@ static int emcTaskExecute(void)
 	}
 	// delay can be also be because we wait for an input
 	// if the index is set (not -1)
-	if (emcAuxInputWaitIndex >= 0) { 
+	if (emcAuxInputWaitIndex >= 0) {
 	    switch (emcAuxInputWaitType) {
 		case WAIT_MODE_HIGH:
 		    if (emcStatus->motion.synch_di[emcAuxInputWaitIndex] != 0) {
@@ -2749,12 +2757,12 @@ static int emcTaskExecute(void)
 		    }
 		    break;
 
-    		case WAIT_MODE_RISE: 
+    		case WAIT_MODE_RISE:
 		    if (emcStatus->motion.synch_di[emcAuxInputWaitIndex] == 0) {
 			emcAuxInputWaitType = WAIT_MODE_HIGH;
 		    }
 		    break;
-		    
+
 		case WAIT_MODE_LOW:
 		    if (emcStatus->motion.synch_di[emcAuxInputWaitIndex] == 0) {
 			emcStatus->task.input_timeout = 0; // clear timeout flag
@@ -2776,7 +2784,7 @@ static int emcTaskExecute(void)
 		    emcStatus->task.execState = EMC_TASK_EXEC::DONE;
 		    emcStatus->task.delayLeft = 0;
 		    break;
-		
+
 		default:
 		    emcOperatorError("Unknown Wait Mode");
 	    }
@@ -3435,7 +3443,7 @@ int main(int argc, char *argv[])
 
 	// check for subordinate errors, and halt task if so
         if (   emcStatus->motion.status == RCS_STATUS::ERROR
-            && emcStatus->motion.on_soft_limit) { 
+            && emcStatus->motion.on_soft_limit) {
            if (!gave_soft_limit_message) {
                 emcOperatorError("On Soft Limit");
                 // if gui does not provide a means to switch to joint mode
@@ -3464,7 +3472,7 @@ int main(int argc, char *argv[])
 	    }
 	    // motion already should have reported this condition (and set RCS_STATUS::ERROR?)
 	    // an M19 orient failed to complete within timeout
-	    // if ((emcStatus->motion.status == RCS_STATUS::ERROR) && 
+	    // if ((emcStatus->motion.status == RCS_STATUS::ERROR) &&
 	    // 	(emcStatus->motion.spindle.orient_state == EMCMOT_ORIENT_FAULTED) &&
 	    // 	(emcStatus->motion.spindle.orient_fault != 0)) {
 	    // 	emcOperatorError("wait for orient complete timed out");
@@ -3497,6 +3505,7 @@ int main(int argc, char *argv[])
 	    // clear out the interpreter state
 	    emcStatus->task.interpState = EMC_TASK_INTERP::IDLE;
 	    emcStatus->task.execState = EMC_TASK_EXEC::DONE;
+		emcStatus->motion.traj.single_stepping = 0;
 	    stepping = 0;
 	    steppingWait = 0;
 

src/emc/usr_intf/axis/extensions/emcmodule.cc

@@ -466,6 +466,7 @@ static PyMemberDef Stat_members[] = {
     {(char*)"queue_full", T_BOOL, O(motion.traj.queueFull), READONLY, NULL},
     {(char*)"motion_id", T_INT, O(motion.traj.id), READONLY, NULL},
     {(char*)"paused", T_BOOL, O(motion.traj.paused), READONLY, NULL},
+    {(char*)"single_stepping", T_BOOL, O(motion.traj.single_stepping), READONLY, NULL},
     {(char*)"feedrate", T_DOUBLE, O(motion.traj.scale), READONLY, NULL},
     {(char*)"rapidrate", T_DOUBLE, O(motion.traj.rapid_scale), READONLY, NULL},
     {(char*)"velocity", T_DOUBLE, O(motion.traj.velocity), READONLY, NULL},
@@ -2592,7 +2593,7 @@ static struct PyModuleDef linuxcnc_moduledef = {
 PyMODINIT_FUNC PyInit_linuxcnc(void);
 PyMODINIT_FUNC PyInit_linuxcnc(void)
 {
-        
+
     verbose_nml_error_messages = 0;
     clear_rcs_print_flag(~0);