Use old and new copies of local memory instead of shmem and local copy
in all input checks. All write operations are performed to shared memory.
---
src/emc/usr_intf/halui.cc | 244 ++++++++++++++++++++++----------------------
1 files changed, 122 insertions(+), 122 deletions(-)
diff --git a/src/emc/usr_intf/halui.cc b/src/emc/usr_intf/halui.cc
index 9133eff..7ae49ee 100644
--- a/src/emc/usr_intf/halui.cc
+++ b/src/emc/usr_intf/halui.cc
@@ -1626,32 +1626,32 @@ static void hal_init_pins()
{
int joint;
- old_halui_data.machine_on = *(halui_data->machine_on) = 0;
- old_halui_data.machine_off = *(halui_data->machine_off) = 0;
+ (*halui_old->machine_on) = *(halui_data->machine_on) = 0;
+ (*halui_old->machine_off) = *(halui_data->machine_off) = 0;
- old_halui_data.estop_activate = *(halui_data->estop_activate) = 0;
- old_halui_data.estop_reset = *(halui_data->estop_reset) = 0;
+ (*halui_old->estop_activate) = *(halui_data->estop_activate) = 0;
+ (*halui_old->estop_reset) = *(halui_data->estop_reset) = 0;
for (joint=0; joint < num_axes; joint++) {
- *(halui_data->joint_home[joint]) = old_halui_data.joint_home[joint] = 0;
- *(halui_data->joint_unhome[joint]) = old_halui_data.joint_unhome[joint]
= 0;
- *(halui_data->joint_nr_select[joint]) =
old_halui_data.joint_nr_select[joint] = 0;
- *(halui_data->jog_minus[joint]) = old_halui_data.jog_minus[joint] = 0;
- *(halui_data->jog_plus[joint]) = old_halui_data.jog_plus[joint] = 0;
- *(halui_data->jog_analog[joint]) = old_halui_data.jog_analog[joint] = 0;
+ *(halui_data->joint_home[joint]) = (*halui_old->joint_home)[joint] = 0;
+ *(halui_data->joint_unhome[joint]) = (*halui_old->joint_unhome)[joint]
= 0;
+ *(halui_data->joint_nr_select[joint]) =
(*halui_old->joint_nr_select)[joint] = 0;
+ *(halui_data->jog_minus[joint]) = (*halui_old->jog_minus)[joint] = 0;
+ *(halui_data->jog_plus[joint]) = (*halui_old->jog_plus)[joint] = 0;
+ *(halui_data->jog_analog[joint]) = (*halui_old->jog_analog)[joint] = 0;
}
- *(halui_data->joint_home[num_axes]) = old_halui_data.joint_home[num_axes]
= 0;
- *(halui_data->jog_minus[num_axes]) = old_halui_data.jog_minus[num_axes] =
0;
- *(halui_data->jog_plus[num_axes]) = old_halui_data.jog_plus[num_axes] = 0;
+ *(halui_data->joint_home[num_axes]) = (*halui_old->joint_home)[num_axes] =
0;
+ *(halui_data->jog_minus[num_axes]) = (*halui_old->jog_minus)[num_axes] = 0;
+ *(halui_data->jog_plus[num_axes]) = (*halui_old->jog_plus)[num_axes] = 0;
*(halui_data->jog_deadband) = 0.2;
*(halui_data->jog_speed) = 0;
*(halui_data->joint_selected) = 0; // select joint 0 by default
- *(halui_data->fo_scale) = old_halui_data.fo_scale = 0.1; //sane default
- *(halui_data->so_scale) = old_halui_data.so_scale = 0.1; //sane default
+ *(halui_data->fo_scale) = (*halui_old->fo_scale) = 0.1; //sane default
+ *(halui_data->so_scale) = (*halui_old->so_scale) = 0.1; //sane default
}
static int check_bit_changed(hal_bit_t *halpin, hal_bit_t *oldpin) {
@@ -1685,223 +1685,223 @@ static void check_hal_changes()
}
//check if machine_on pin has changed (the rest work exactly the same)
- if (check_bit_changed(halui_data->machine_on,
&(old_halui_data.machine_on)) != 0)
+ if (check_bit_changed(halui_new->machine_on, ((halui_old->machine_on))) !=
0)
sendMachineOn(); //send MachineOn NML command
- if (check_bit_changed(halui_data->machine_off,
&(old_halui_data.machine_off)) != 0)
+ if (check_bit_changed(halui_new->machine_off, ((halui_old->machine_off)))
!= 0)
sendMachineOff();
- if (check_bit_changed(halui_data->estop_activate,
&(old_halui_data.estop_activate)) != 0)
+ if (check_bit_changed(halui_new->estop_activate,
((halui_old->estop_activate))) != 0)
sendEstop();
- if (check_bit_changed(halui_data->estop_reset,
&(old_halui_data.estop_reset)) != 0)
+ if (check_bit_changed(halui_new->estop_reset, ((halui_old->estop_reset)))
!= 0)
sendEstopReset();
- if (check_bit_changed(halui_data->mode_manual,
&(old_halui_data.mode_manual)) != 0)
+ if (check_bit_changed(halui_new->mode_manual, ((halui_old->mode_manual)))
!= 0)
sendManual();
- if (check_bit_changed(halui_data->mode_auto, &(old_halui_data.mode_auto))
!= 0)
+ if (check_bit_changed(halui_new->mode_auto, ((halui_old->mode_auto))) != 0)
sendAuto();
- if (check_bit_changed(halui_data->mode_mdi, &(old_halui_data.mode_mdi)) !=
0)
+ if (check_bit_changed(halui_new->mode_mdi, ((halui_old->mode_mdi))) != 0)
sendMdi();
- if (check_bit_changed(halui_data->mode_teleop,
&(old_halui_data.mode_teleop)) != 0)
+ if (check_bit_changed(halui_new->mode_teleop, ((halui_old->mode_teleop)))
!= 0)
sendTeleop();
- if (check_bit_changed(halui_data->mode_joint,
&(old_halui_data.mode_joint)) != 0)
+ if (check_bit_changed(halui_new->mode_joint, ((halui_old->mode_joint))) !=
0)
sendJoint();
- if (check_bit_changed(halui_data->mist_on, &(old_halui_data.mist_on)) != 0)
+ if (check_bit_changed(halui_new->mist_on, ((halui_old->mist_on))) != 0)
sendMistOn();
- if (check_bit_changed(halui_data->mist_off, &(old_halui_data.mist_off)) !=
0)
+ if (check_bit_changed(halui_new->mist_off, ((halui_old->mist_off))) != 0)
sendMistOff();
- if (check_bit_changed(halui_data->flood_on, &(old_halui_data.flood_on)) !=
0)
+ if (check_bit_changed(halui_new->flood_on, ((halui_old->flood_on))) != 0)
sendFloodOn();
- if (check_bit_changed(halui_data->flood_off, &(old_halui_data.flood_off))
!= 0)
+ if (check_bit_changed(halui_new->flood_off, ((halui_old->flood_off))) != 0)
sendFloodOff();
- if (check_bit_changed(halui_data->lube_on, &(old_halui_data.lube_on)) != 0)
+ if (check_bit_changed(halui_new->lube_on, ((halui_old->lube_on))) != 0)
sendLubeOn();
- if (check_bit_changed(halui_data->lube_off, &(old_halui_data.lube_off)) !=
0)
+ if (check_bit_changed(halui_new->lube_off, ((halui_old->lube_off))) != 0)
sendLubeOff();
- if (check_bit_changed(halui_data->program_run,
&(old_halui_data.program_run)) != 0)
+ if (check_bit_changed(halui_new->program_run, ((halui_old->program_run)))
!= 0)
sendProgramRun(0);
- if (check_bit_changed(halui_data->program_pause,
&(old_halui_data.program_pause)) != 0)
+ if (check_bit_changed(halui_new->program_pause,
((halui_old->program_pause))) != 0)
sendProgramPause();
- if (check_bit_changed(halui_data->program_os_on,
&(old_halui_data.program_os_on)) != 0)
+ if (check_bit_changed(halui_new->program_os_on,
((halui_old->program_os_on))) != 0)
sendSetOptionalStop(ON);
- if (check_bit_changed(halui_data->program_os_off,
&(old_halui_data.program_os_off)) != 0)
+ if (check_bit_changed(halui_new->program_os_off,
((halui_old->program_os_off))) != 0)
sendSetOptionalStop(OFF);
- if (check_bit_changed(halui_data->program_bd_on,
&(old_halui_data.program_bd_on)) != 0)
+ if (check_bit_changed(halui_new->program_bd_on,
((halui_old->program_bd_on))) != 0)
sendSetBlockDelete(ON);
- if (check_bit_changed(halui_data->program_bd_off,
&(old_halui_data.program_bd_off)) != 0)
+ if (check_bit_changed(halui_new->program_bd_off,
((halui_old->program_bd_off))) != 0)
sendSetBlockDelete(OFF);
- if (check_bit_changed(halui_data->program_resume,
&(old_halui_data.program_resume)) != 0)
+ if (check_bit_changed(halui_new->program_resume,
((halui_old->program_resume))) != 0)
sendProgramResume();
- if (check_bit_changed(halui_data->program_step,
&(old_halui_data.program_step)) != 0)
+ if (check_bit_changed(halui_new->program_step,
((halui_old->program_step))) != 0)
sendProgramStep();
- if (check_bit_changed(halui_data->program_stop,
&(old_halui_data.program_stop)) != 0)
+ if (check_bit_changed(halui_new->program_stop,
((halui_old->program_stop))) != 0)
sendAbort();
//max-velocity stuff
- counts = *halui_data->mv_counts;
- if (counts != old_halui_data.mv_counts) {
- if (*halui_data->mv_count_enable) {
- if (*halui_data->mv_direct_value) {
- sendMaxVelocity(counts * *halui_data->mv_scale);
+ counts = *halui_new->mv_counts;
+ if (counts != (*halui_old->mv_counts)) {
+ if (*halui_new->mv_count_enable) {
+ if (*halui_new->mv_direct_value) {
+ sendMaxVelocity(counts * *halui_new->mv_scale);
} else {
- sendMaxVelocity( *halui_data->mv_value + (counts -
old_halui_data.mv_counts) *
- *halui_data->mv_scale);
+ sendMaxVelocity( *halui_new->mv_value + (counts -
(*halui_old->mv_counts)) *
+ *halui_new->mv_scale);
}
}
- old_halui_data.mv_counts = counts;
+ (*halui_old->mv_counts) = counts;
}
//feed-override stuff
- counts = *halui_data->fo_counts;
- if (counts != old_halui_data.fo_counts) {
- if (*halui_data->fo_count_enable) {
- if (*halui_data->fo_direct_value) {
- sendFeedOverride(counts * *halui_data->fo_scale);
+ counts = *halui_new->fo_counts;
+ if (counts != (*halui_old->fo_counts)) {
+ if (*halui_new->fo_count_enable) {
+ if (*halui_new->fo_direct_value) {
+ sendFeedOverride(counts * *halui_new->fo_scale);
} else {
- sendFeedOverride( *halui_data->fo_value + (counts -
old_halui_data.fo_counts) *
- *halui_data->fo_scale);
+ sendFeedOverride( *halui_new->fo_value + (counts -
(*halui_old->fo_counts)) *
+ *halui_new->fo_scale);
}
}
- old_halui_data.fo_counts = counts;
+ (*halui_old->fo_counts) = counts;
}
//spindle-override stuff
- counts = *halui_data->so_counts;
- if (counts != old_halui_data.so_counts) {
- if (*halui_data->so_count_enable) {
- if (*halui_data->so_direct_value) {
- sendSpindleOverride(counts * *halui_data->so_scale);
+ counts = *halui_new->so_counts;
+ if (counts != (*halui_old->so_counts)) {
+ if (*halui_new->so_count_enable) {
+ if (*halui_new->so_direct_value) {
+ sendSpindleOverride(counts * *halui_new->so_scale);
} else {
- sendSpindleOverride( *halui_data->so_value + (counts -
old_halui_data.so_counts) *
- *halui_data->so_scale);
+ sendSpindleOverride( *halui_new->so_value + (counts -
(*halui_old->so_counts)) *
+ *halui_new->so_scale);
}
}
- old_halui_data.so_counts = counts;
+ (*halui_old->so_counts) = counts;
}
- if (check_bit_changed(halui_data->mv_increase,
&(old_halui_data.mv_increase)) != 0)
- sendMaxVelocity(*halui_data->mv_value + *halui_data->mv_scale);
- if (check_bit_changed(halui_data->mv_decrease,
&(old_halui_data.mv_decrease)) != 0)
- sendMaxVelocity(*halui_data->mv_value - *halui_data->mv_scale);
+ if (check_bit_changed(halui_new->mv_increase, ((halui_old->mv_increase)))
!= 0)
+ sendMaxVelocity(*halui_new->mv_value + *halui_new->mv_scale);
+ if (check_bit_changed(halui_new->mv_decrease, ((halui_old->mv_decrease)))
!= 0)
+ sendMaxVelocity(*halui_new->mv_value - *halui_new->mv_scale);
- if (check_bit_changed(halui_data->fo_increase,
&(old_halui_data.fo_increase)) != 0)
- sendFeedOverride(*halui_data->fo_value + *halui_data->fo_scale);
- if (check_bit_changed(halui_data->fo_decrease,
&(old_halui_data.fo_decrease)) != 0)
- sendFeedOverride(*halui_data->fo_value - *halui_data->fo_scale);
+ if (check_bit_changed(halui_new->fo_increase, ((halui_old->fo_increase)))
!= 0)
+ sendFeedOverride(*halui_new->fo_value + *halui_new->fo_scale);
+ if (check_bit_changed(halui_new->fo_decrease, ((halui_old->fo_decrease)))
!= 0)
+ sendFeedOverride(*halui_new->fo_value - *halui_new->fo_scale);
- if (check_bit_changed(halui_data->so_increase,
&(old_halui_data.so_increase)) != 0)
- sendSpindleOverride(*halui_data->so_value + *halui_data->so_scale);
- if (check_bit_changed(halui_data->so_decrease,
&(old_halui_data.so_decrease)) != 0)
- sendSpindleOverride(*halui_data->so_value - *halui_data->so_scale);
+ if (check_bit_changed(halui_new->so_increase, ((halui_old->so_increase)))
!= 0)
+ sendSpindleOverride(*halui_new->so_value + *halui_new->so_scale);
+ if (check_bit_changed(halui_new->so_decrease, ((halui_old->so_decrease)))
!= 0)
+ sendSpindleOverride(*halui_new->so_value - *halui_new->so_scale);
//spindle stuff
- if (check_bit_changed(halui_data->spindle_start,
&(old_halui_data.spindle_start)) != 0)
+ if (check_bit_changed(halui_new->spindle_start,
((halui_old->spindle_start))) != 0)
sendSpindleForward();
- if (check_bit_changed(halui_data->spindle_stop,
&(old_halui_data.spindle_stop)) != 0)
+ if (check_bit_changed(halui_new->spindle_stop,
((halui_old->spindle_stop))) != 0)
sendSpindleOff();
- if (check_bit_changed(halui_data->spindle_forward,
&(old_halui_data.spindle_forward)) != 0)
+ if (check_bit_changed(halui_new->spindle_forward,
((halui_old->spindle_forward))) != 0)
sendSpindleForward();
- if (check_bit_changed(halui_data->spindle_reverse,
&(old_halui_data.spindle_reverse)) != 0)
+ if (check_bit_changed(halui_new->spindle_reverse,
((halui_old->spindle_reverse))) != 0)
sendSpindleReverse();
- bit = *(halui_data->spindle_increase);
- if (bit != old_halui_data.spindle_increase) {
+ bit = *(halui_new->spindle_increase);
+ if (bit != (*halui_old->spindle_increase)) {
if (bit != 0)
sendSpindleIncrease();
if (bit == 0)
sendSpindleConstant();
- old_halui_data.spindle_increase = bit;
+ (*halui_old->spindle_increase) = bit;
}
- bit = *(halui_data->spindle_decrease);
- if (bit != old_halui_data.spindle_decrease) {
+ bit = *(halui_new->spindle_decrease);
+ if (bit != (*halui_old->spindle_decrease)) {
if (bit != 0)
sendSpindleDecrease();
if (bit == 0)
sendSpindleConstant();
- old_halui_data.spindle_decrease = bit;
+ (*halui_old->spindle_decrease) = bit;
}
- if (check_bit_changed(halui_data->spindle_brake_on,
&(old_halui_data.spindle_brake_on)) != 0)
+ if (check_bit_changed(halui_new->spindle_brake_on,
((halui_old->spindle_brake_on))) != 0)
sendBrakeEngage();
- if (check_bit_changed(halui_data->spindle_brake_off,
&(old_halui_data.spindle_brake_off)) != 0)
+ if (check_bit_changed(halui_new->spindle_brake_off,
((halui_old->spindle_brake_off))) != 0)
sendBrakeRelease();
- if (check_bit_changed(halui_data->abort, &(old_halui_data.abort)) != 0)
+ if (check_bit_changed(halui_new->abort, ((halui_old->abort))) != 0)
sendAbort();
- if (check_bit_changed(halui_data->home_all, &(old_halui_data.home_all)) !=
0)
+ if (check_bit_changed(halui_new->home_all, ((halui_old->home_all))) != 0)
sendHome(-1);
// joint stuff (selection, homing..)
select_changed = -1; // flag to see if the selected joint changed
for (joint=0; joint < num_axes; joint++) {
- if (check_bit_changed(halui_data->joint_home[joint],
&(old_halui_data.joint_home[joint])) != 0)
+ if (check_bit_changed(halui_new->joint_home[joint],
((halui_old->joint_home)[joint])) != 0)
sendHome(joint);
- if (check_bit_changed(halui_data->joint_unhome[joint],
&(old_halui_data.joint_unhome[joint])) != 0)
+ if (check_bit_changed(halui_new->joint_unhome[joint],
((halui_old->joint_unhome)[joint])) != 0)
sendUnhome(joint);
- bit = *(halui_data->jog_minus[joint]);
- if (bit != old_halui_data.jog_minus[joint]) {
+ bit = *(halui_new->jog_minus[joint]);
+ if (bit != (*halui_old->jog_minus)[joint]) {
if (bit != 0)
- sendJogCont(joint,-*(halui_data->jog_speed));
+ sendJogCont(joint,-*(halui_new->jog_speed));
else
sendJogStop(joint);
- old_halui_data.jog_minus[joint] = bit;
+ (*halui_old->jog_minus)[joint] = bit;
}
- bit = *(halui_data->jog_plus[joint]);
- if (bit != old_halui_data.jog_plus[joint]) {
+ bit = *(halui_new->jog_plus[joint]);
+ if (bit != (*halui_old->jog_plus)[joint]) {
if (bit != 0)
- sendJogCont(joint,*(halui_data->jog_speed));
+ sendJogCont(joint,*(halui_new->jog_speed));
else
sendJogStop(joint);
- old_halui_data.jog_plus[joint] = bit;
+ (*halui_old->jog_plus)[joint] = bit;
}
- floatt = *(halui_data->jog_analog[joint]);
- if (floatt != old_halui_data.jog_analog[joint]) {
- if (fabs(floatt) > *(halui_data->jog_deadband))
- sendJogCont(joint,*(halui_data->jog_speed) *
*(halui_data->jog_analog[joint]));
+ floatt = *(halui_new->jog_analog[joint]);
+ if (floatt != (*halui_old->jog_analog)[joint]) {
+ if (fabs(floatt) > *(halui_new->jog_deadband))
+ sendJogCont(joint,*(halui_new->jog_speed) *
*(halui_new->jog_analog[joint]));
else
sendJogStop(joint);
- old_halui_data.jog_analog[joint] = floatt;
+ (*halui_old->jog_analog)[joint] = floatt;
}
// check to see if another joint has been selected
- bit = *(halui_data->joint_nr_select[joint]);
- if (bit != old_halui_data.joint_nr_select[joint]) {
+ bit = *(halui_new->joint_nr_select[joint]);
+ if (bit != (*halui_old->joint_nr_select)[joint]) {
if (bit != 0) {
*(halui_data->joint_selected) = joint;
select_changed = joint; // flag that we changed the selected
joint
}
- old_halui_data.joint_home[joint] = bit;
+ (*halui_old->joint_home)[joint] = bit;
}
}
@@ -1915,34 +1915,34 @@ static void check_hal_changes()
}
}
- if (check_bit_changed(halui_data->joint_home[num_axes],
&(old_halui_data.joint_home[num_axes])) != 0)
- sendHome(*(halui_data->joint_selected));
+ if (check_bit_changed(halui_new->joint_home[num_axes],
((halui_old->joint_home)[num_axes])) != 0)
+ sendHome(*(halui_new->joint_selected));
- if (check_bit_changed(halui_data->joint_unhome[num_axes],
&(old_halui_data.joint_unhome[num_axes])) != 0)
- sendUnhome(*(halui_data->joint_selected));
+ if (check_bit_changed(halui_new->joint_unhome[num_axes],
((halui_old->joint_unhome)[num_axes])) != 0)
+ sendUnhome(*(halui_new->joint_selected));
- bit = *(halui_data->jog_minus[num_axes]);
- js = *(halui_data->joint_selected);
- if (bit != old_halui_data.jog_minus[num_axes]) {
+ bit = *(halui_new->jog_minus[num_axes]);
+ js = *(halui_new->joint_selected);
+ if (bit != (*halui_old->jog_minus)[num_axes]) {
if (bit != 0)
- sendJogCont(js, -*(halui_data->jog_speed));
+ sendJogCont(js, -*(halui_new->jog_speed));
else
sendJogStop(js);
- old_halui_data.jog_minus[num_axes] = bit;
+ (*halui_old->jog_minus)[num_axes] = bit;
}
- bit = *(halui_data->jog_plus[num_axes]);
- js = *(halui_data->joint_selected);
- if (bit != old_halui_data.jog_plus[num_axes]) {
+ bit = *(halui_new->jog_plus[num_axes]);
+ js = *(halui_new->joint_selected);
+ if (bit != (*halui_old->jog_plus)[num_axes]) {
if (bit != 0)
- sendJogCont(js,*(halui_data->jog_speed));
+ sendJogCont(js,*(halui_new->jog_speed));
else
sendJogStop(js);
- old_halui_data.jog_plus[num_axes] = bit;
+ (*halui_old->jog_plus)[num_axes] = bit;
}
for(int n = 0; n < num_mdi_commands; n++) {
- if (check_bit_changed(halui_data->mdi_commands[n],
&(old_halui_data.mdi_commands[n])) != 0)
+ if (check_bit_changed(halui_new->mdi_commands[n],
((halui_old->mdi_commands)[n])) != 0)
sendMdiCommand(n);
}
}
--
1.7.1
------------------------------------------------------------------------------
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and start using them to simplify application deployment and
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