regards,
Michael
Index: task/emctask.cc
===================================================================
RCS file: /cvs/emc2/src/emc/task/emctask.cc,v
retrieving revision 1.36
diff -U3 -r1.36 emctask.cc
--- task/emctask.cc 1 Mar 2009 00:50:33 -0000 1.36
+++ task/emctask.cc 3 Jun 2009 13:22:37 -0000
@@ -353,6 +353,11 @@
}
}
}
+
+ if (EMC_DEBUG & EMC_DEBUG_INTERP) {
+ rcs_print("emcTaskPlanInit() returned %d\n", retval);
+ }
+
return retval;
}
@@ -360,6 +365,10 @@
{
waitFlag = 1;
+ if (EMC_DEBUG & EMC_DEBUG_INTERP) {
+ rcs_print("emcTaskPlanSetWait() called\n");
+ }
+
return 0;
}
@@ -372,6 +381,10 @@
{
waitFlag = 0;
+ if (EMC_DEBUG & EMC_DEBUG_INTERP) {
+ rcs_print("emcTaskPlanClearWait() called\n");
+ }
+
return 0;
}
@@ -389,7 +402,13 @@
int emcTaskPlanSynch()
{
- return interp.synch();
+ int retval = interp.synch();
+
+ if (EMC_DEBUG & EMC_DEBUG_INTERP) {
+ rcs_print("emcTaskPlanSynch() returned %d\n", retval);
+ }
+
+ return retval;
}
int emcTaskPlanExit()
@@ -411,6 +430,11 @@
return retval;
}
taskplanopen = 1;
+
+ if (EMC_DEBUG & EMC_DEBUG_INTERP) {
+ rcs_print("emcTaskPlanOpen(%s) returned %d\n", file, retval);
+ }
+
return retval;
}
@@ -429,6 +453,11 @@
if (retval > INTERP_MIN_ERROR) {
print_interp_error(retval);
}
+
+ if (EMC_DEBUG & EMC_DEBUG_INTERP) {
+ rcs_print("emcTaskPlanRead() returned %d\n", retval);
+ }
+
return retval;
}
@@ -449,6 +478,11 @@
if(command != 0) {
FINISH();
}
+
+ if (EMC_DEBUG & EMC_DEBUG_INTERP) {
+ rcs_print("emcTaskPlanExecute(0) return %d\n", retval);
+ }
+
return retval;
}
@@ -461,6 +495,11 @@
if(command != 0) { // this means MDI
FINISH();
}
+
+ if (EMC_DEBUG & EMC_DEBUG_INTERP) {
+ rcs_print("emcTaskPlanExecute(%s) returned %d\n", command, retval);
+ }
+
return retval;
}
@@ -477,7 +516,13 @@
int emcTaskPlanLine()
{
- return interp.line();
+ int retval = interp.line();
+
+ if (EMC_DEBUG & EMC_DEBUG_INTERP) {
+ rcs_print("emcTaskPlanLine() returned %d\n", retval);
+ }
+
+ return retval;
}
int emcTaskPlanCommand(char *cmd)
@@ -485,6 +530,12 @@
char buf[LINELEN];
strcpy(cmd, interp.command(buf, LINELEN));
+
+ if (EMC_DEBUG & EMC_DEBUG_INTERP) {
+ rcs_print("emcTaskPlanCommand(%s) called. (line_number=%d)\n",
+ cmd, emcStatus->task.readLine);
+ }
+
return 0;
}
Index: task/emctaskmain.cc
===================================================================
RCS file: /cvs/emc2/src/emc/task/emctaskmain.cc,v
retrieving revision 1.137
diff -U3 -r1.137 emctaskmain.cc
--- task/emctaskmain.cc 26 May 2009 08:31:09 -0000 1.137
+++ task/emctaskmain.cc 3 Jun 2009 13:22:41 -0000
@@ -581,9 +581,6 @@
emcTaskQueueCommand(emcCommand);
// signify no more reading
emcTaskPlanSetWait();
- if (EMC_DEBUG & EMC_DEBUG_INTERP) {
- rcs_print("emcTaskPlanSetWait() called\n");
- }
// then resynch interpreter
emcTaskQueueCommand(&taskPlanSynchCmd);
break;
@@ -701,9 +698,6 @@
emcTaskQueueCommand(emcCommand);
// signify no more reading
emcTaskPlanSetWait();
- if (EMC_DEBUG & EMC_DEBUG_INTERP) {
- rcs_print("emcTaskPlanSetWait() called\n");
- }
// then resynch interpreter
emcTaskQueueCommand(&taskPlanSynchCmd);
break;
@@ -809,9 +803,6 @@
emcTaskQueueCommand(emcCommand);
// signify no more reading
emcTaskPlanSetWait();
- if (EMC_DEBUG & EMC_DEBUG_INTERP) {
- rcs_print("emcTaskPlanSetWait() called\n");
- }
// then resynch interpreter
emcTaskQueueCommand(&taskPlanSynchCmd);
break;
@@ -898,84 +889,44 @@
// delay reading of next line until all is done
if (interp_list.len() == 0 &&
emcTaskCommand == 0 &&
- emcStatus->task.execState ==
- EMC_TASK_EXEC_DONE) {
+ emcStatus->task.execState == EMC_TASK_EXEC_DONE) {
+ //
emcTaskPlanClearWait();
- if (EMC_DEBUG & EMC_DEBUG_INTERP) {
- rcs_print
- ("emcTaskPlanClearWait() called\n");
- }
}
} else {
readRetval = emcTaskPlanRead();
- if (EMC_DEBUG & EMC_DEBUG_INTERP) {
- rcs_print("emcTaskPlanRead() returned %d\n",
- readRetval);
- }
- /*! \todo MGS FIXME
- This next bit of code is goofy for the following reasons:
- 1. It uses numbers when these values are #defined in interp_return.hh...
- 2. This if() actually evaluates to if (readRetval != INTERP_OK)...
- 3. The "end of file" comment is inaccurate...
+ /*! \todo MGS FIXME The "end of file" comment is inaccurate...
*** Need to look at all calls to things that return INTERP_xxx values! ***
MGS */
- if (readRetval > INTERP_MIN_ERROR || readRetval == 3 /* INTERP_ENDFILE
- */ ||
- readRetval == 1 /* INTERP_EXIT */ ||
- readRetval == 2 /* INTERP_ENDFILE,
- INTERP_EXECUTE_FINISH */ ) {
- /* emcTaskPlanRead retval != INTERP_OK
- Signal to the rest of the system that that the interp
+ if (readRetval != INTERP_OK) {
+ /* Signal to the rest of the system that that the interp
is now in a paused state. */
- /*! \todo FIXME The above test *should* be reduced to:
- readRetVal != INTERP_OK
- (N.B. Watch for negative error codes.) */
+ /* (N.B. Watch for negative error codes.) */
emcStatus->task.interpState =
EMC_TASK_INTERP_WAITING;
} else {
// got a good line
// record the line number and command
emcStatus->task.readLine = emcTaskPlanLine();
- if (EMC_DEBUG & EMC_DEBUG_INTERP) {
- rcs_print
- ("emcTaskPlanLine() returned %d\n",
- emcStatus->task.readLine);
- }
interp_list.set_line_number(emcStatus->task.
readLine);
emcTaskPlanCommand((char *) &emcStatus->task.
command);
- if (EMC_DEBUG & EMC_DEBUG_INTERP) {
- rcs_print
- ("emcTaskPlanCommand(%s) called. (line_number=%d)\n",
- ((char *) &emcStatus->task.command),
- emcStatus->task.readLine);
- }
// and execute it
execRetval = emcTaskPlanExecute(0);
- if (EMC_DEBUG & EMC_DEBUG_INTERP) {
- rcs_print
- ("emcTaskPlanExecute(0) return %d\n",
- execRetval);
- }
if (execRetval == -1 /* INTERP_ERROR */ ||
- execRetval > INTERP_MIN_ERROR || execRetval == 1 /* INTERP_EXIT
- */ ) {
+ execRetval > INTERP_MIN_ERROR ||
+ execRetval == INTERP_EXIT) {
// end of file
emcStatus->task.interpState =
EMC_TASK_INTERP_WAITING;
- } else if (execRetval == 2 /* INTERP_EXECUTE_FINISH
- */ ) {
+ } else if (execRetval == INTERP_EXECUTE_FINISH) {
// INTERP_EXECUTE_FINISH signifies
// that no more reading should be done until
// everything
// outstanding is completed
emcTaskPlanSetWait();
- if (EMC_DEBUG & EMC_DEBUG_INTERP) {
- rcs_print
- ("emcTaskPlanSetWait() called\n");
- }
// and resynch interp WM
emcTaskQueueCommand(&taskPlanSynchCmd);
} else if (execRetval != 0) {
@@ -985,7 +936,6 @@
emcStatus->task.motionLine = 0;
emcStatus->task.readLine = 0;
} else {
-
// executed a good line
}
@@ -993,8 +943,7 @@
// read
// through it
if (programStartLine < 0 ||
- emcStatus->task.readLine <
- programStartLine) {
+ emcStatus->task.readLine < programStartLine) {
// we're stepping over lines, so check them
// for
// limits, etc. and clear then out
@@ -1012,17 +961,18 @@
}
if (emcStatus->task.readLine < programStartLine) {
-
- //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,
- emcStatus->motion.traj.actualPosition.tran.z,
- emcStatus->motion.traj.actualPosition.a,
- emcStatus->motion.traj.actualPosition.b,
- emcStatus->motion.traj.actualPosition.c,
- emcStatus->motion.traj.actualPosition.u,
- emcStatus->motion.traj.actualPosition.v,
- emcStatus->motion.traj.actualPosition.w);
+ //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,
+ emcStatus->motion.traj.actualPosition.tran.z,
+ emcStatus->motion.traj.actualPosition.a,
+ emcStatus->motion.traj.actualPosition.b,
+ emcStatus->motion.traj.actualPosition.c,
+ emcStatus->motion.traj.actualPosition.u,
+ emcStatus->motion.traj.actualPosition.v,
+ emcStatus->motion.traj.actualPosition.w);
}
if (count++ < EMC_TASK_INTERP_MAX_LEN
@@ -1278,9 +1228,6 @@
emcTaskQueueCommand(emcCommand);
// signify no more reading
emcTaskPlanSetWait();
- if (EMC_DEBUG & EMC_DEBUG_INTERP) {
- rcs_print("emcTaskPlanSetWait() called\n");
- }
// then resynch interpreter
emcTaskQueueCommand(&taskPlanSynchCmd);
break;
@@ -1462,7 +1409,7 @@
if (0 == cmd) {
if (EMC_DEBUG & EMC_DEBUG_TASK_ISSUE) {
- printf("emcTaskIssueCommand() null command\n");
+ rcs_print("emcTaskIssueCommand() null command\n");
}
return 0;
}
@@ -1953,10 +1900,6 @@
case EMC_TASK_PLAN_OPEN_TYPE:
open_msg = (EMC_TASK_PLAN_OPEN *) cmd;
retval = emcTaskPlanOpen(open_msg->file);
- if (EMC_DEBUG & EMC_DEBUG_INTERP) {
- rcs_print("emcTaskPlanOpen(%s) returned %d\n", open_msg->file,
- retval);
- }
if (retval > INTERP_MIN_ERROR) {
retval = -1;
}
@@ -1987,18 +1930,11 @@
interp_list.set_line_number(--pseudoMdiLineNumber);
}
execRetval = emcTaskPlanExecute(execute_msg->command, pseudoMdiLineNumber);
- if (EMC_DEBUG & EMC_DEBUG_INTERP) {
- rcs_print("emcTaskPlanExecute(%s) returned %d\n",
- execute_msg->command, execRetval);
- }
if (execRetval == 2 /* INTERP_ENDFILE */ ) {
// this is an end-of-file
// need to flush execution, so signify no more reading
// until all is done
emcTaskPlanSetWait();
- if (EMC_DEBUG & EMC_DEBUG_INTERP) {
- rcs_print("emcTaskPlanSetWait() called\n");
- }
// and resynch the interpreter WM
emcTaskQueueCommand(&taskPlanSynchCmd);
// it's success, so retval really is 0
@@ -2068,9 +2004,6 @@
case EMC_TASK_PLAN_INIT_TYPE:
retval = emcTaskPlanInit();
- if (EMC_DEBUG & EMC_DEBUG_INTERP) {
- rcs_print("emcTaskPlanInit() returned %d\n", retval);
- }
if (retval > INTERP_MIN_ERROR) {
retval = -1;
}
@@ -2078,9 +2011,6 @@
case EMC_TASK_PLAN_SYNCH_TYPE:
retval = emcTaskPlanSynch();
- if (EMC_DEBUG & EMC_DEBUG_INTERP) {
- rcs_print("emcTaskPlanSynch() returned %d\n", retval);
- }
if (retval > INTERP_MIN_ERROR) {
retval = -1;
}
@@ -2116,7 +2046,7 @@
}
/* debug */
if ((EMC_DEBUG & EMC_DEBUG_TASK_ISSUE) && retval) {
- printf("emcTaskIssueCommand() returning: %d\n", retval);
+ rcs_print("emcTaskIssueCommand() returning: %d\n", retval);
}
return retval;
}
@@ -3163,7 +3093,7 @@
/* debugging */
if (emcTaskNoDelay) {
if (EMC_DEBUG & EMC_DEBUG_INTERP) {
- printf("cycle times (seconds): %f min, %f max\n", minTime,
+ rcs_print("cycle times (seconds): %f min, %f max\n", minTime,
maxTime);
}
}
Index: nml_intf/interpl.cc
===================================================================
RCS file: /cvs/emc2/src/emc/nml_intf/interpl.cc,v
retrieving revision 1.11
diff -U3 -r1.11 interpl.cc
--- nml_intf/interpl.cc 7 Jan 2009 22:34:30 -0000 1.11
+++ nml_intf/interpl.cc 3 Jun 2009 13:22:41 -0000
@@ -20,6 +20,7 @@
#include "rcs.hh" // LinkedList
#include "interpl.hh" // these decls
+#include "emc.hh"
#include "emcglb.h"
#include "linklist.hh"
#include "nmlmsg.hh" /* class NMLmsg */
@@ -88,15 +89,12 @@
size %
32), 1);
-// #ifdef DEBUG_INTERPL
-#if 1
if (EMC_DEBUG & EMC_DEBUG_INTERP_LIST) {
rcs_print
- ("NML_INTERP_LIST::append(nml_msg{size=%d,type=%d}) : list_size=%d, line_number = %d\n",
- nml_msg.size, nml_msg.type, linked_list_ptr->list_size,
- temp_node.line_number);
+ ("NML_INTERP_LIST::append(nml_msg{size=%d,type=%s}) : list_size=%d, line_number=%d\n",
+ nml_msg.size, emc_symbol_lookup(nml_msg.type),
+ linked_list_ptr->list_size, temp_node.line_number);
}
-#endif
return 0;
}
@@ -161,14 +159,12 @@
size %
32), 1);
-#ifdef DEBUG_INTERPL
if (EMC_DEBUG & EMC_DEBUG_INTERP_LIST) {
rcs_print
- ("NML_INTERP_LIST::append(nml_msg{size=%d,type=%d}) : list_size=%d, line_number = %d\n",
- nml_msg_ptr->size, nml_msg_ptr->type,
+ ("NML_INTERP_LIST::append(nml_msg_ptr{size=%d,type=%s}) : list_size=%d, line_number=%d\n",
+ nml_msg_ptr->size, emc_symbol_lookup(nml_msg_ptr->type),
linked_list_ptr->list_size, temp_node.line_number);
}
-#endif
return 0;
}
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