queued MDI: support in task & Axis

For MDI, the interpreter is now fed through mdi_input_queue.

The test for enabling an MDI input window now is:

	interp_state == INTERP_IDLE or
	(mdi_input_queue.len() < maxlen && exec_mode == MDI)

see axis.tcl and axis.py diffs for details.

share/axis/tcl/axis.tcl

@@ -2001,11 +2001,18 @@ proc update_state {args} {
         set ::position [concat [_ "Position:"] $coord_str $display_str]
     }
 
-    if {$::task_state == $::STATE_ON && $::interp_state == $::INTERP_IDLE} {
+    if {$::task_state == $::STATE_ON} {
-        if {$::last_interp_state != $::INTERP_IDLE || $::last_task_state != $::task_state} {
+	if {$::interp_state == $::INTERP_IDLE} {
-            set_mode_from_tab
+	    if {$::last_interp_state != $::INTERP_IDLE || $::last_task_state != $::task_state} {
-        }
+		set_mode_from_tab
-        enable_group $::manual
+	    }
+	    enable_group $::manual
+	}
+	if {$::queued_mdi_commands < $::max_queued_mdi_commands } {
+	    enable_group $::manual
+	} else {
+	    disable_group $::manual
+	}
     } else {
         disable_group $::manual
     }
@@ -2085,6 +2092,8 @@ set motion_mode 0
 set kinematics_type -1
 set metric 0
 set max_speed 1
+set queued_mdi_commands 0
+set max_queued_mdi_commands 10
 trace variable taskfile w update_title
 trace variable machine w update_title
 trace variable taskfile w queue_update_state
@@ -2104,6 +2113,7 @@ trace variable motion_mode w queue_update_state
 trace variable kinematics_type w queue_update_state
 trace variable on_any_limit w queue_update_state
 trace variable motion_mode w joint_mode_switch
+trace variable queued_mdi_commands  w queue_update_state
 
 set editor_deleted 0
 

src/emc/nml_intf/emc.cc

@@ -269,6 +269,9 @@ int emcFormat(NMLTYPE type, void *buffer, CMS * cms)
     case EMC_TASK_PLAN_END_TYPE:
 	((EMC_TASK_PLAN_END *) buffer)->update(cms);
 	break;
+    case EMC_TASK_PLAN_EXECUTE_INTERNAL_TYPE:
+	((EMC_TASK_PLAN_EXECUTE_INTERNAL *) buffer)->update(cms);
+	break;
     case EMC_TASK_PLAN_EXECUTE_TYPE:
 	((EMC_TASK_PLAN_EXECUTE *) buffer)->update(cms);
 	break;
@@ -625,6 +628,8 @@ const char *emc_symbol_lookup(long type)
 	return "EMC_TASK_PLAN_CLOSE";
     case EMC_TASK_PLAN_END_TYPE:
 	return "EMC_TASK_PLAN_END";
+    case EMC_TASK_PLAN_EXECUTE_INTERNAL_TYPE:
+	return "EMC_TASK_PLAN_EXECUTE_INTERNAL";
     case EMC_TASK_PLAN_EXECUTE_TYPE:
 	return "EMC_TASK_PLAN_EXECUTE";
     case EMC_TASK_PLAN_INIT_TYPE:
@@ -2634,10 +2639,22 @@ void EMC_TRAJ_SET_MODE::update(CMS * cms)
 }
 
 /*
-*	NML/CMS Update function for EMC_TASK_PLAN_EXECUTE
+*	NML/CMS Update function for EMC_TASK_PLAN_EXECUTE_INTERNAL
 *	Automatically generated by NML CodeGen Java Applet.
 *	on Sat Oct 11 13:45:17 UTC 2003
 */
+void EMC_TASK_PLAN_EXECUTE_INTERNAL::update(CMS * cms)
+{
+
+    EMC_TASK_CMD_MSG::update(cms);
+    cms->update(command, 256);
+
+}
+
+/*
+*	NML/CMS Update function for EMC_TASK_PLAN_EXECUTE
+*	manually generated by mhaberler  Thu May 24 15:43:22
+*/
 void EMC_TASK_PLAN_EXECUTE::update(CMS * cms)
 {
 

src/emc/nml_intf/emc.hh

@@ -164,7 +164,9 @@ class PM_CARTESIAN;
 #define EMC_TASK_PLAN_OPEN_TYPE                      ((NMLTYPE) 506)
 #define EMC_TASK_PLAN_RUN_TYPE                       ((NMLTYPE) 507)
 #define EMC_TASK_PLAN_READ_TYPE                      ((NMLTYPE) 508)
-#define EMC_TASK_PLAN_EXECUTE_TYPE                   ((NMLTYPE) 509)
+// this enables distinguishing MDI commands coming from the UI from
+// internally generated execute commands
+#define EMC_TASK_PLAN_EXECUTE_INTERNAL_TYPE                   ((NMLTYPE) 509)
 #define EMC_TASK_PLAN_PAUSE_TYPE                     ((NMLTYPE) 510)
 #define EMC_TASK_PLAN_STEP_TYPE                      ((NMLTYPE) 511)
 #define EMC_TASK_PLAN_RESUME_TYPE                    ((NMLTYPE) 512)
@@ -175,6 +177,7 @@ class PM_CARTESIAN;
 #define EMC_TASK_PLAN_SET_OPTIONAL_STOP_TYPE         ((NMLTYPE) 517)
 #define EMC_TASK_PLAN_SET_BLOCK_DELETE_TYPE          ((NMLTYPE) 518)
 #define EMC_TASK_PLAN_OPTIONAL_STOP_TYPE             ((NMLTYPE) 519)
+#define EMC_TASK_PLAN_EXECUTE_TYPE                   ((NMLTYPE) 520)
 
 #define EMC_TASK_STAT_TYPE                           ((NMLTYPE) 599)
 

src/emc/nml_intf/emc_nml.hh

@@ -1253,6 +1253,19 @@ class EMC_TASK_PLAN_READ:public EMC_TASK_CMD_MSG {
     void update(CMS * cms);
 };
 
+class EMC_TASK_PLAN_EXECUTE_INTERNAL:public EMC_TASK_CMD_MSG {
+  public:
+    EMC_TASK_PLAN_EXECUTE_INTERNAL():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_EXECUTE_INTERNAL_TYPE,
+					     sizeof(EMC_TASK_PLAN_EXECUTE_INTERNAL))
+    {
+    };
+
+    // For internal NML/CMS use only.
+    void update(CMS * cms);
+
+    char command[LINELEN];
+};
+
 class EMC_TASK_PLAN_EXECUTE:public EMC_TASK_CMD_MSG {
   public:
     EMC_TASK_PLAN_EXECUTE():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_EXECUTE_TYPE,
@@ -1419,6 +1432,7 @@ class EMC_TASK_STAT:public EMC_TASK_STAT_MSG {
     // (only useful for new interpreter.)
     int task_paused;		// non-zero means task is paused
     double delayLeft;           // delay time left of G4, M66..
+    int queuedMDIcommands;      // current length of MDI input queue
 };
 
 // declarations for EMC_TOOL classes

src/emc/nml_intf/emcops.cc

@@ -142,6 +142,7 @@ EMC_TASK_STAT_MSG(EMC_TASK_STAT_TYPE, sizeof(EMC_TASK_STAT))
     interpreter_errcode = 0;
     task_paused = 0;
     delayLeft = 0.0;
+    queuedMDIcommands = 0;
 }
 
 EMC_TOOL_STAT::EMC_TOOL_STAT():

src/emc/task/emctaskmain.cc

@@ -401,7 +401,7 @@ static EMC_TOOL_SET_NUMBER *emc_tool_set_number_msg;
 static EMC_TASK_SET_MODE *mode_msg;
 static EMC_TASK_SET_STATE *state_msg;
 static EMC_TASK_PLAN_RUN *run_msg;
-static EMC_TASK_PLAN_EXECUTE *execute_msg;
+static EMC_TASK_PLAN_EXECUTE_INTERNAL *execute_msg;
 static EMC_TASK_PLAN_OPEN *open_msg;
 static EMC_TASK_PLAN_SET_OPTIONAL_STOP *os_msg;
 static EMC_TASK_PLAN_SET_BLOCK_DELETE *bd_msg;
@@ -433,6 +433,11 @@ static int mdi_execute_wait = 0;
 // Side queue to store MDI commands
 static NML_INTERP_LIST mdi_execute_queue;
 
+// MDI input queue
+static NML_INTERP_LIST mdi_input_queue;
+#define  MAX_MDI_QUEUE 10
+static int max_mdi_queued_commands = MAX_MDI_QUEUE;
+
 /*
   checkInterpList(NML_INTERP_LIST *il, EMC_STAT *stat) takes a pointer
   to an interpreter list and a pointer to the EMC status, pops each NML
@@ -712,8 +717,10 @@ static void mdi_execute_hook(void)
 	!mdi_execute_wait && 
 	!mdi_execute_next) {
 
-	if (emc_debug & EMC_DEBUG_INTERP)
+	// finished. Check for dequeuing of queued MDI command is done in emcTaskPlan().
-	    rcs_print("mdi_execute_hook: MDI command '%s' done\n", emcStatus->task.command); 
+	if (emc_debug & EMC_DEBUG_TASK_ISSUE)
+	    rcs_print("mdi_execute_hook: MDI command '%s' done (remaining: %d)\n",
+		      emcStatus->task.command, mdi_input_queue.len());
 	emcStatus->task.command[0] = 0;
 	emcStatus->task.interpState = EMC_TASK_INTERP_IDLE;
     }
@@ -724,7 +731,7 @@ static void mdi_execute_hook(void)
 
     mdi_execute_next = 0;
 
-    EMC_TASK_PLAN_EXECUTE msg;
+    EMC_TASK_PLAN_EXECUTE_INTERNAL msg;
     msg.command[0] = (char) 0xff;
 
     interp_list.append(msg);
@@ -955,7 +962,7 @@ static int emcTaskPlan(void)
 
 		// queued commands
 
-	    case EMC_TASK_PLAN_EXECUTE_TYPE:
+	    case EMC_TASK_PLAN_EXECUTE_INTERNAL_TYPE:
 		// resynch the interpreter, since we may have moved
 		// externally
 		emcTaskIssueCommand(&taskPlanSynchCmd);
@@ -983,8 +990,8 @@ static int emcTaskPlan(void)
 		// otherwise we can't handle it
 
 	    default:
-		emcOperatorError(0, _("can't do that (%s) in manual mode"),
+		emcOperatorError(0, _("can't do that (%s:%d) in manual mode"),
-			emc_symbol_lookup(type));
+				 emc_symbol_lookup(type),(int) type);
 		retval = -1;
 		break;
 
@@ -1039,7 +1046,7 @@ static int emcTaskPlan(void)
 		case EMC_TASK_PLAN_INIT_TYPE:
 		case EMC_TASK_PLAN_OPEN_TYPE:
 		case EMC_TASK_PLAN_RUN_TYPE:
-		case EMC_TASK_PLAN_EXECUTE_TYPE:
+		case EMC_TASK_PLAN_EXECUTE_INTERNAL_TYPE:
 		case EMC_TASK_PLAN_PAUSE_TYPE:
 		case EMC_TASK_PLAN_RESUME_TYPE:
 		case EMC_TASK_PLAN_SET_OPTIONAL_STOP_TYPE:
@@ -1196,7 +1203,7 @@ static int emcTaskPlan(void)
 		case EMC_TASK_SET_MODE_TYPE:
 		case EMC_TASK_SET_STATE_TYPE:
 		case EMC_TASK_ABORT_TYPE:
-		case EMC_TASK_PLAN_EXECUTE_TYPE:
+		case EMC_TASK_PLAN_EXECUTE_INTERNAL_TYPE:
 		case EMC_TASK_PLAN_PAUSE_TYPE:
 		case EMC_TASK_PLAN_RESUME_TYPE:
 		case EMC_TASK_PLAN_SET_OPTIONAL_STOP_TYPE:
@@ -1263,7 +1270,7 @@ static int emcTaskPlan(void)
 		case EMC_SPINDLE_INCREASE_TYPE:
 		case EMC_SPINDLE_DECREASE_TYPE:
 		case EMC_SPINDLE_CONSTANT_TYPE:
-		case EMC_TASK_PLAN_EXECUTE_TYPE:
+		case EMC_TASK_PLAN_EXECUTE_INTERNAL_TYPE:
 		case EMC_TASK_PLAN_PAUSE_TYPE:
 		case EMC_TASK_PLAN_RESUME_TYPE:
 		case EMC_TASK_PLAN_SET_OPTIONAL_STOP_TYPE:
@@ -1311,6 +1318,27 @@ static int emcTaskPlan(void)
 	    break;		// case EMC_TASK_MODE_AUTO
 
 	case EMC_TASK_MODE_MDI:	// ON, MDI
+
+	    if (emcStatus->task.interpState == EMC_TASK_INTERP_IDLE &&
+		// emcCommand == NULL &&
+		mdi_input_queue.len() > 0) {
+		// MDI done, and queued command(s) remaining:
+		EMC_TASK_PLAN_EXECUTE *mdicmd = (EMC_TASK_PLAN_EXECUTE *) mdi_input_queue.get();
+		if (mdicmd) {
+		    emcCommand = mdicmd;
+		    type = emcCommand->type;
+		    if (emc_debug & EMC_DEBUG_TASK_ISSUE)
+			rcs_print("emcTaskPlan: MDI: dequeueing '%s' (remaining: %d)\n",
+				  mdicmd->command, mdi_input_queue.len());
+		} else {
+		    rcs_print_error("emcTaskPlan: MDI: dequeueing NULL command? (remaining: %d)\n",
+				    mdi_input_queue.len());
+		    type = 0;
+		}
+	    } else
+		emcCommand = emcCommandBuffer->get_address();
+	    emcStatus->task.queuedMDIcommands = mdi_input_queue.len();
+
 	    switch (type) {
 	    case 0:
 	    case EMC_NULL_TYPE:
@@ -1350,7 +1378,7 @@ static int emcTaskPlan(void)
 	    case EMC_TASK_SET_STATE_TYPE:
 	    case EMC_TASK_PLAN_INIT_TYPE:
 	    case EMC_TASK_PLAN_OPEN_TYPE:
-	    case EMC_TASK_PLAN_EXECUTE_TYPE:
+	    case EMC_TASK_PLAN_EXECUTE_INTERNAL_TYPE:
 	    case EMC_TASK_PLAN_PAUSE_TYPE:
 	    case EMC_TASK_PLAN_SET_OPTIONAL_STOP_TYPE:
 	    case EMC_TASK_PLAN_SET_BLOCK_DELETE_TYPE:
@@ -1368,6 +1396,29 @@ static int emcTaskPlan(void)
 		retval = emcTaskIssueCommand(emcCommand);
 		break;
 
+	    case EMC_TASK_PLAN_EXECUTE_TYPE:
+		// in MDI, and a command currently executing.
+		if (emcStatus->task.interpState != EMC_TASK_INTERP_IDLE) {
+		    // in MDI, and a command currently executing.
+		    if (mdi_input_queue.len() < max_mdi_queued_commands) {
+			// space left to queue it.
+			mdi_input_queue.append(emcCommand);
+			emcStatus->task.queuedMDIcommands = mdi_input_queue.len();
+			if (emc_debug & EMC_DEBUG_TASK_ISSUE) {
+			    rcs_print("MDI: queueing '%s' (queue len=%d)\n",
+				      execute_msg->command,mdi_input_queue.len());
+			}
+		    } else {
+			emcOperatorError(0, _("maximum number of queued MDI commands exceeded (%d)"),
+					 max_mdi_queued_commands);
+		    }
+		} else {
+		    emcStatus->task.queuedMDIcommands = 0;
+		    // MDI input queue empty. Go ahead and issue right away.
+		    retval = emcTaskIssueCommand(emcCommand);
+		}
+		break;
+
 	    case EMC_TOOL_LOAD_TOOL_TABLE_TYPE:
 	    case EMC_TOOL_SET_OFFSET_TYPE:
 		// send to IO
@@ -1380,8 +1431,8 @@ static int emcTaskPlan(void)
 
 		// otherwise we can't handle it
 	    default:
-		emcOperatorError(0, _("can't do that (%s) in MDI mode"),
+		emcOperatorError(0, _("can't do that (%s:%d) in MDI mode"),
-			emc_symbol_lookup(type));
+			emc_symbol_lookup(type),(int) type);
 
 		retval = -1;
 		break;
@@ -1499,7 +1550,7 @@ static int emcTaskCheckPreconditions(NMLmsg * cmd)
     case EMC_TASK_PLAN_INIT_TYPE:
     case EMC_TASK_PLAN_RUN_TYPE:
     case EMC_TASK_PLAN_SYNCH_TYPE:
-    case EMC_TASK_PLAN_EXECUTE_TYPE:
+    case EMC_TASK_PLAN_EXECUTE_INTERNAL_TYPE:
 	return EMC_TASK_EXEC_WAITING_FOR_MOTION_AND_IO;
 	break;
 
@@ -2089,10 +2140,11 @@ static int emcTaskIssueCommand(NMLmsg * cmd)
 	}
 	break;
 
+    case EMC_TASK_PLAN_EXECUTE_INTERNAL_TYPE:
     case EMC_TASK_PLAN_EXECUTE_TYPE:
 	stepping = 0;
 	steppingWait = 0;
-	execute_msg = (EMC_TASK_PLAN_EXECUTE *) cmd;
+	execute_msg = (EMC_TASK_PLAN_EXECUTE_INTERNAL *) cmd;
         if (!all_homed() && !no_force_homing) { //!no_force_homing = force homing before MDI
             emcOperatorError(0, _("Can't issue MDI command when not homed"));
             retval = -1;
@@ -2367,7 +2419,7 @@ static int emcTaskCheckPostconditions(NMLmsg * cmd)
     case EMC_TASK_PLAN_END_TYPE:
     case EMC_TASK_PLAN_INIT_TYPE:
     case EMC_TASK_PLAN_SYNCH_TYPE:
-    case EMC_TASK_PLAN_EXECUTE_TYPE:
+    case EMC_TASK_PLAN_EXECUTE_INTERNAL_TYPE:
     case EMC_TASK_PLAN_OPTIONAL_STOP_TYPE:
 	return EMC_TASK_EXEC_DONE;
 	break;
@@ -3132,6 +3184,11 @@ static int iniLoad(const char *filename)
 	io_error = strdup(inistring);
     }
 
+    // max number of queued MDI commands
+    if (NULL != (inistring = inifile.Find("MDI_QUEUED_COMMANDS", "TASK"))) {
+	max_mdi_queued_commands = atoi(inistring);
+    }
+
     // close it
     inifile.Close();
 

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

@@ -313,6 +313,7 @@ static PyMemberDef Stat_members[] = {
     {(char*)"input_timeout", T_BOOL, O(task.input_timeout), READONLY},
     {(char*)"rotation_xy", T_DOUBLE, O(task.rotation_xy), READONLY},
     {(char*)"delay_left", T_DOUBLE, O(task.delayLeft), READONLY},
+    {(char*)"queued_mdi_commands", T_INT, O(task.queuedMDIcommands), READONLY},
 
 // motion
 //   EMC_TRAJ_STAT traj

src/emc/usr_intf/axis/scripts/axis.py

@@ -130,6 +130,8 @@ try:
 except TclError:
     print root_window.tk.call("set", "errorInfo")
     raise
+
+
 program_start_line = 0
 program_start_line_last = -1
 
@@ -752,6 +754,7 @@ class LivePlotter:
         root_window.update_idletasks()
         vupdate(vars.exec_state, self.stat.exec_state)
         vupdate(vars.interp_state, self.stat.interp_state)
+        vupdate(vars.queued_mdi_commands, self.stat.queued_mdi_commands)
         if hal_present == 1 :
             set_manual_mode = comp["set-manual-mode"]
             if self.set_manual_mode != set_manual_mode:
@@ -858,7 +861,7 @@ initiated action (whether an MDI command or a jog) is acceptable.
 This means this function returns True when the mdi tab is visible."""
     if do_poll: s.poll()
     if s.task_state != linuxcnc.STATE_ON: return False
-    return s.interp_state == linuxcnc.INTERP_IDLE
+    return s.interp_state == linuxcnc.INTERP_IDLE or (s.task_mode == linuxcnc.MODE_MDI and s.queued_mdi_commands < vars.max_queued_mdi_commands.get())
 
 # If LinuxCNC is not already in one of the modes given, switch it to the
 # first mode
@@ -2545,6 +2548,8 @@ vars = nf.Variables(root_window,
     ("touch_off_system", StringVar),
     ("machine", StringVar),
     ("on_any_limit", BooleanVar),
+    ("queued_mdi_commands", IntVar),
+    ("max_queued_mdi_commands", IntVar),
 )
 vars.linuxcnctop_command.set(os.path.join(os.path.dirname(sys.argv[0]), "linuxcnctop"))
 vars.highlight_line.set(-1)
@@ -3261,6 +3266,8 @@ _tk_seticon.seticon(widgets.about_window, icon)
 _tk_seticon.seticon(widgets.help_window, icon)
 
 vars.kinematics_type.set(s.kinematics_type)
+vars.max_queued_mdi_commands.set(int(inifile.find("TASK", "MDI_QUEUED_COMMANDS") or  10))
+
 def balance_ja():
     w = max(widgets.axes.winfo_reqwidth(), widgets.joints.winfo_reqwidth())
     h = max(widgets.axes.winfo_reqheight(), widgets.joints.winfo_reqheight())