On 10/02/2016 10:40 AM, Danny Miller wrote: > > On 10/2/2016 11:35 AM, Sebastian Kuzminsky wrote: >> >> It would probably be easy to add a motion pin with that information, i'd >> be happy to guide you through that if you like. >> >> > Sounds like a lot of complexity, but it's of great value to know how > that works. Shoot!
I should know better by now than to say "It would probably be easy"... I looked into this a bit and it turns out to be hard instead. The commanded S-word doesn't get sent from Task to Motion until the spindle-on command (M3/M4) runs. So exporting it to HAL from Motion won't work without huge plumbing changes. But the information *is* available in the Interpreter (in Task), and shared from there to all other components that want it, via the Status structure. The bests place to export it from is probably halui. So I change my suggestion from "add a pin to Motion", to "add a pin to halui". In src/emc/usr_intf, look at halui.cc. In emcTaskNmlGet() it connects to the Status channel, and ends up with a pointer named emcStatus, that points to the current Status structure. The Status structure is defined in a bit of a complicated way, but after peeling off some of the layers you end up in src/emc/nml_intf/emc_nml.hh, in the structure named EMC_TASK_STAT. It has a member called "activeSettings", which contains (among other things) the currently programmed S-word, no matter what your M3/M4/M5 setting is. The S-word gets put into the Status activeSettings array in src/emc/rs274ngc/rs274ngc_pre.cc, by the Interp::active_settings() function. This function gets called by Task every time through its loop, Task passes it a pointer to the Status active_settings array as the "settings" argument. active_settings() copies the information from one of Interp's internal variables, called "_setup". _setup gets the speed information in src/emc/rs274ngc/interp_write.cc, in the write_settings() function. There you can see that the speed info is at index 2 in the array. So! Look in halui.cc for where (for example) halui.spindle.is-on is created, and use that as a template to create a new (float) pin named (perhaps) halui.spindle.selected-speed or .programmed-speed or something. Add a little chunk of code to halui's modify_hal_pins() to copy the Status active_settings[2] value to that pin, and you should be done. Feel free to ask questions if any of that wasn't clear. Some introductory documentation about hacking on linuxcnc is here: http://linuxcnc.org/docs/devel/html/code/contributing-to-linuxcnc.html http://linuxcnc.org/docs/devel/html/code/building-linuxcnc.html -- Sebastian Kuzminsky ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, SlashDot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
