change emcmot motion id to struct containing hash of filename

Author: Robert Schöftner

src/emc/motion-logger/motion-logger.c

@@ -464,7 +464,7 @@ int main(int argc, char* argv[]) {
                     c->pos.tran.x, c->pos.tran.y, c->pos.tran.z,
                     c->pos.a, c->pos.b, c->pos.c,
                     c->pos.u, c->pos.v, c->pos.w,
-                    c->id, c->motion_type,
+                    c->id.line_number, c->motion_type,
                     c->vel, c->ini_maxvel,
                     c->acc, c->turn
                 );
@@ -481,7 +481,7 @@ int main(int argc, char* argv[]) {
                 log_print("    center: x=%.6g, y=%.6g, z=%.6g\n", c->center.x, c->center.y, c->center.z);
                 log_print("    normal: x=%.6g, y=%.6g, z=%.6g\n", c->normal.x, c->normal.y, c->normal.z);
                 log_print("    id=%d, motion_type=%d, vel=%.6g, ini_maxvel=%.6g, acc=%.6g, turn=%d\n",
-                    c->id, c->motion_type,
+                    c->id.line_number, c->motion_type,
                     c->vel, c->ini_maxvel,
                     c->acc, c->turn
                 );

src/emc/motion/command.c

@@ -1003,7 +1003,7 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
 		emcmotStatus->commandStatus = EMCMOT_COMMAND_INVALID_COMMAND;
 		SET_MOTION_ERROR_FLAG(1);
 		break;
-	    } else if (!inRange(emcmotCommand->pos, emcmotCommand->id, "Linear")) {
+	    } else if (!inRange(emcmotCommand->pos, emcmotCommand->id.line_number, "Linear")) {
 		reportError(_("invalid params in linear command"));
 		emcmotStatus->commandStatus = EMCMOT_COMMAND_INVALID_PARAMS;
 		tpAbort(&emcmotInternal->coord_tp);
@@ -1041,8 +1041,8 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
 					emcmotCommand->tag);
         //KLUDGE ignore zero length line
         if (res_addline < 0) {
-            reportError(_("can't add linear move at line %d, error code %d"),
-                    emcmotCommand->id, res_addline);
+            reportError(_("can't add linear move id %ld at %s line %d, error code %d"),
+                    emcmotCommand->id.id, emcmotCommand->tag.filename, emcmotCommand->tag.fields[0], res_addline);
             emcmotStatus->commandStatus = EMCMOT_COMMAND_BAD_EXEC;
             tpAbort(&emcmotInternal->coord_tp);
             SET_MOTION_ERROR_FLAG(1);
@@ -1072,7 +1072,7 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
 		emcmotStatus->commandStatus = EMCMOT_COMMAND_INVALID_COMMAND;
 		SET_MOTION_ERROR_FLAG(1);
 		break;
-	    } else if (!inRange(emcmotCommand->pos, emcmotCommand->id, "Circular")) {
+	    } else if (!inRange(emcmotCommand->pos, emcmotCommand->id.line_number, "Circular")) {
 		emcmotStatus->commandStatus = EMCMOT_COMMAND_INVALID_PARAMS;
 		tpAbort(&emcmotInternal->coord_tp);
 		SET_MOTION_ERROR_FLAG(1);
@@ -1097,8 +1097,8 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
                             emcmotCommand->acc, emcmotCommand->ini_maxjerk, emcmotStatus->enables_new,
 			    issue_atspeed, emcmotCommand->tag);
         if (res_addcircle < 0) {
-            reportError(_("can't add circular move at line %d, error code %d"),
-                    emcmotCommand->id, res_addcircle);
+            reportError(_("can't add circular move id %ld at %s line %d, error code %d"),
+                    emcmotCommand->id.id, emcmotCommand->tag.filename, emcmotCommand->tag.fields[0], res_addcircle);
 		emcmotStatus->commandStatus = EMCMOT_COMMAND_BAD_EXEC;
 		tpAbort(&emcmotInternal->coord_tp);
 		SET_MOTION_ERROR_FLAG(1);
@@ -1449,7 +1449,7 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
 		emcmotStatus->commandStatus = EMCMOT_COMMAND_INVALID_COMMAND;
 		SET_MOTION_ERROR_FLAG(1);
 		break;
-	    } else if (!inRange(emcmotCommand->pos, emcmotCommand->id, "Probe")) {
+	    } else if (!inRange(emcmotCommand->pos, emcmotCommand->id.line_number, "Probe")) {
 		emcmotStatus->commandStatus = EMCMOT_COMMAND_INVALID_PARAMS;
 		tpAbort(&emcmotInternal->coord_tp);
 		SET_MOTION_ERROR_FLAG(1);
@@ -1519,7 +1519,7 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
 		emcmotStatus->commandStatus = EMCMOT_COMMAND_INVALID_COMMAND;
 		SET_MOTION_ERROR_FLAG(1);
 		break;
-	    } else if (!inRange(emcmotCommand->pos, emcmotCommand->id, "Rigid tap")) {
+	    } else if (!inRange(emcmotCommand->pos, emcmotCommand->id.line_number, "Rigid tap")) {
 		emcmotStatus->commandStatus = EMCMOT_COMMAND_INVALID_PARAMS;
 		tpAbort(&emcmotInternal->coord_tp);
 		SET_MOTION_ERROR_FLAG(1);
@@ -1545,8 +1545,8 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
                                     emcmotCommand->tag);
         if (res_addtap < 0) {
             emcmotStatus->atspeed_next_feed = 0; /* rigid tap always waits for spindle to be at-speed */
-            reportError(_("can't add rigid tap move at line %d, error code %d"),
-                    emcmotCommand->id, res_addtap);
+            reportError(_("can't add rigid tap move id %ld at %s line %d, error code %d"),
+                    emcmotCommand->id.id, emcmotCommand->tag.filename, emcmotCommand->tag.fields[0], res_addtap);
 		tpAbort(&emcmotInternal->coord_tp);
 		SET_MOTION_ERROR_FLAG(1);
 		break;

src/emc/motion/control.c

@@ -1947,7 +1947,7 @@ static void output_to_hal(void)
 				emcmotStatus->spindle_status[spindle_num].speed / 60.;
     }
 
-    *(emcmot_hal_data->program_line) = emcmotStatus->id;
+    *(emcmot_hal_data->program_line) = emcmotStatus->id.line_number;
     *(emcmot_hal_data->tp_reverse) = emcmotStatus->reverse_run;
     *(emcmot_hal_data->motion_type) = emcmotStatus->motionType;
     *(emcmot_hal_data->distance_to_go) = emcmotStatus->distance_to_go;
@@ -2179,7 +2179,7 @@ static void update_status(void)
     /* check to see if we should pause in order to implement
        single emcmotStatus->stepping */
 
-    if (emcmotStatus->stepping && emcmotInternal->idForStep != emcmotStatus->id) {
+    if (emcmotStatus->stepping && emcmotInternal->idForStep.id != emcmotStatus->id.id) {
       tpPause(&emcmotInternal->coord_tp);
       emcmotStatus->stepping = 0;
       emcmotStatus->paused = 1;

src/emc/motion/emcmotcfg.h

@@ -13,6 +13,8 @@
 #ifndef EMCMOTCFG_H
 #define EMCMOTCFG_H
 
+#include <stdint.h>
+
 /* default name of EMCMOT INI file */
 #define DEFAULT_EMCMOT_INIFILE "emc.ini"	/* same as for EMC-- we're in 
 						   touch */
@@ -72,4 +74,20 @@
 /* max following error */
 #define DEFAULT_MAX_FERROR 100
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+typedef union {
+  // note: CMS can't deal with 64bit values nor with bitfields
+	int64_t id;
+	struct {
+		int line_number;
+		unsigned filename_hash;
+	};
+} emcmot_motion_id_t;
+
+#ifdef __cplusplus
+}
+#endif
+
 #endif

src/emc/motion/motion.c

@@ -890,7 +890,7 @@ static int init_comm_buffers(void)
        override, and feed hold are on */
     emcmotStatus->enables_new = FS_ENABLED | SS_ENABLED | FH_ENABLED;
     emcmotStatus->enables_queued = emcmotStatus->enables_new;
-    emcmotStatus->id = 0;
+    emcmotStatus->id.id = 0;
     emcmotStatus->depth = 0;
     emcmotStatus->activeDepth = 0;
     emcmotStatus->paused = 0;

src/emc/motion/motion.h

@@ -68,6 +68,7 @@ to another.
 #include "simple_tp.h"
 #include "rtapi_limits.h"
 #include <stdarg.h>
+#include <stdint.h>
 #include "rtapi_bool.h"
 #include "state_tag.h"
 #include "tp_types.h"
@@ -77,7 +78,7 @@ to another.
 // this should be really be tested for in command.c
 
 #define MOTION_INVALID_ID INT_MIN
-#define MOTION_ID_VALID(x) ((x) != MOTION_INVALID_ID)
+#define MOTION_ID_VALID(x) ((x.line_number) != MOTION_INVALID_ID)
 
 #ifdef __cplusplus
 extern "C" {
@@ -222,7 +223,7 @@ extern "C" {
     double ini_maxjerk;
     int planner_type;	/* planner type: 0 = trapezoidal, 1 = S-curve */
 	double backlash;	/* amount of backlash */
-	int id;			/* id for motion */
+	emcmot_motion_id_t id;			/* id for motion */
 	int termCond;		/* termination condition */
 	double tolerance;	/* tolerance for path deviation in CONTINUOUS mode */
 	int joint;		/* which joint index to use for below */
@@ -626,7 +627,7 @@ Suggestion: Split this in to an Error and a Status flag register..
 	unsigned int heartbeat;
 	int config_num;		/* incremented whenever configuration
 				   changed. */
-	int id;			/* id for executing motion */
+	emcmot_motion_id_t id;			/* id for executing motion */
 	int depth;		/* motion queue depth */
 	int activeDepth;	/* depth of active blend elements */
 	int queueFull;		/* Flag to indicate the tc queue is full */
@@ -751,7 +752,7 @@ typedef struct emcmot_internal_t {
     int overriding;     /* non-zero means we've initiated an joint
                            move while overriding limits */
     TP_STRUCT coord_tp; /* coordinated mode planner */
-    int idForStep;      /* status id while stepping */
+    emcmot_motion_id_t idForStep;      /* status id while stepping */
     } emcmot_internal_t;
 
 /* error ring buffer access functions */

src/emc/motion/usrmotintf.cc

@@ -78,7 +78,7 @@ int usrmotWriteEmcmotCommand(emcmot_command_t * c)
     double end;
 
     if (!MOTION_ID_VALID(c->id)) {
-        rcs_print("USRMOT: ERROR: invalid motion id: %d\n",c->id);
+        rcs_print("USRMOT: ERROR: invalid motion id: %d %u\n", c->id.line_number, c->id.filename_hash);
 	return EMCMOT_COMM_INVALID_MOTION_ID;
     }
 
@@ -256,8 +256,8 @@ void printTPstruct(TP_STRUCT * tp)
     printf("vLimit=%f\n", tp->vLimit);
     printf("wMax=%f\n", tp->wMax);
     printf("wDotMax=%f\n", tp->wDotMax);
-    printf("nextId=%d\n", tp->nextId);
-    printf("execId=%d\n", tp->execId);
+    printf("nextId=%ld\n", tp->nextId.id);
+    printf("execId=%ld\n", tp->execId.id);
     printf("termCond=%d\n", tp->termCond);
     printf("currentPos :");
     printEmcPose(&tp->currentPos);
@@ -425,7 +425,7 @@ void usrmotPrintEmcmotStatus(emcmot_status_t *s, int which)
 #endif
 	printf("velocity:     \t%f\n", s->vel);
 	printf("accel:        \t%f\n", s->acc);
-	printf("id:           \t%d\n", s->id);
+	printf("id:           \t%ld\n", s->id.id);
 	printf("depth:        \t%d\n", s->depth);
 	printf("active depth: \t%d\n", s->activeDepth);
 	printf("inpos:        \t%d\n",

src/emc/nml_intf/emc.cc

@@ -1702,7 +1702,8 @@ void EMC_TRAJ_STAT::update(CMS * cms)
     cms->update(queue);
     cms->update(activeQueue);
     cms->update(queueFull);
-    cms->update(id);
+    cms->update(id.line_number);
+    cms->update(id.filename_hash);
     cms->update(paused);
     cms->update(single_stepping);
     cms->update(scale);

src/emc/nml_intf/emc.hh

@@ -354,7 +354,7 @@ extern int emcTrajSetFHEnable(unsigned char mode);   //feed hold enable
 extern int emcTrajSetSpindleScale(int spindle, double scale);
 extern int emcTrajSetSOEnable(unsigned char mode);   //spindle speed override enable
 extern int emcTrajSetAFEnable(unsigned char enable); //adaptive feed enable
-extern int emcTrajSetMotionId(int id);
+extern int emcTrajSetMotionId(emcmot_motion_id_t id);
 extern double emcTrajGetLinearUnits();
 extern double emcTrajGetAngularUnits();
 

src/emc/nml_intf/emc_nml.hh

@@ -982,7 +982,7 @@ class EMC_TRAJ_STAT:public EMC_TRAJ_STAT_MSG {
     // current
     int activeQueue;		// number of motions blending
     bool queueFull;		// non-zero means can't accept another motion
-    int id;			// id of the currently executing motion
+    emcmot_motion_id_t 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