Import LinuxCNC source tree
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Wang Dequan
155
lib/python/mtc/observations.py
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155
lib/python/mtc/observations.py
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# Copyright (C) 2026 LinuxCNC contributors
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#
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# This program is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 2 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with this program; if not, write to the Free Software
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# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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# Shared DataItem registry.
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#
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# One source of truth for the DataItems exposed by the agent so the /probe
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# document (device_model) and the /current and /sample streams (streams) cannot
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# drift apart. Each DataItemDef records enough to emit both the <DataItem>
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# definition and its streamed observation (element name + component grouping).
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from dataclasses import dataclass
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from .kinematics import AXIS_LETTERS
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from .hal_items import resolve_component
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# LinuxCNC extension namespace for DataItems with no standard MTConnect type
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# (declared as xmlns:x on the probe and stream roots; types use "x:" prefix).
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EXT_NS = "urn:linuxcnc:mtconnect:1"
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@dataclass
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class DataItemDef:
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id: str
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category: str # SAMPLE / EVENT / CONDITION
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type: str # MTConnect type, e.g. POSITION, EXECUTION
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comp_id: str # component id this item lives under
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comp_type: str # component element, e.g. Linear, Controller, Path
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comp_name: str
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subType: str = None
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units: str = None
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name: str = None
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representation: str = None # e.g. "TABLE" for WORK_OFFSET
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ext: bool = False # extension type: emit as "x:<TYPE>" / <x:Element>
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constraints: dict = None # {"minimum": float, "maximum": float} on the probe
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native_units: str = None # nativeUnits when the machine unit != canonical
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@property
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def element(self):
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"""CamelCase observation element name, e.g. POSITION -> Position."""
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return "".join(p.capitalize() for p in self.type.split("_"))
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def build_dataitems(model, config):
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"""Return the full ordered list of DataItemDefs for a machine model."""
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dev = config.name
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dev_id = config.device_id # NCName-safe; matches probe Device id + stream componentId
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items = [
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DataItemDef("avail", "EVENT", "AVAILABILITY", dev_id, "Device", dev),
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DataItemDef("assetchg", "EVENT", "ASSET_CHANGED", dev_id, "Device", dev),
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DataItemDef("assetrm", "EVENT", "ASSET_REMOVED", dev_id, "Device", dev),
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DataItemDef("estop", "EVENT", "EMERGENCY_STOP", "ctrl", "Controller", "controller"),
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DataItemDef("mode", "EVENT", "CONTROLLER_MODE", "ctrl", "Controller", "controller"),
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DataItemDef("execution", "EVENT", "EXECUTION", "path", "Path", "path"),
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DataItemDef("program", "EVENT", "PROGRAM", "path", "Path", "path"),
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DataItemDef("line", "EVENT", "LINE_NUMBER", "path", "Path", "path", subType="ACTUAL"),
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DataItemDef("pathfeed", "SAMPLE", "PATH_FEEDRATE", "path", "Path", "path",
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units="MILLIMETER/SECOND",
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native_units=("INCH/SECOND"
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if config.native_linear_units == "INCH" else None)),
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DataItemDef("feedovr", "SAMPLE", "PATH_FEEDRATE", "path", "Path", "path",
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subType="OVERRIDE", units="PERCENT"),
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DataItemDef("toolnum", "EVENT", "TOOL_NUMBER", "path", "Path", "path"),
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DataItemDef("toolasset", "EVENT", "TOOL_ASSET_ID", "path", "Path", "path"),
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# Active work coordinate system (G54..G59.3) + G92, as a TABLE keyed by
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# the offset name with per-axis Cells. Mirrors g5x_index/g5x_offset.
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# WORK_OFFSET is a standard EVENT type; TABLE representation streams as
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# <WorkOffsetTable>.
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DataItemDef("workoffset", "EVENT", "WORK_OFFSET", "path", "Path", "path",
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representation="TABLE"),
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# Applied tool length offset (G43), keyed by active tool. TOOL_OFFSET is
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# a standard EVENT type; TABLE representation streams as <ToolOffsetTable>.
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DataItemDef("tooloffset", "EVENT", "TOOL_OFFSET", "path", "Path", "path",
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representation="TABLE"),
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# Active XY coordinate-system rotation (G10 L2 R). No standard MTConnect
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# type exists, so this is a LinuxCNC extension (x:COORDINATE_ROTATION).
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# NOTE: extension observations are not representable in the base
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# MTConnectStreams schema (it has no extension point) -- see PR plan.
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DataItemDef("xyrotation", "SAMPLE", "COORDINATE_ROTATION", "path", "Path",
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"path", units="DEGREE", ext=True),
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]
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lin_native = (config.native_linear_units
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if config.native_linear_units != config.linear_units else None)
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for axis in model.axes:
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aid = axis.letter.lower()
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cid = "axis_%s" % aid
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if axis.kind == "LINEAR":
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comp_type, dtype, units, native = "Linear", "POSITION", config.linear_units, lin_native
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else:
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comp_type, dtype, units, native = "Rotary", "ANGLE", config.angular_units, None
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items.append(DataItemDef("pos_%s" % aid, "SAMPLE", dtype, cid, comp_type,
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axis.letter, subType="ACTUAL", units=units,
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native_units=native))
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items.append(DataItemDef("poscmd_%s" % aid, "SAMPLE", dtype, cid, comp_type,
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axis.letter, subType="COMMANDED", units=units,
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native_units=native))
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# Advertise the spindle's usable speed band ([SPINDLE_0] forward velocity
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# limits, in RPM) as MTConnect Constraints on the commanded velocity, but
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# only when the INI actually sets them (LinuxCNC's default max is ~2.1e9).
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spdl_constraints = None
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lo, hi = config.spindle_speed_min, config.spindle_speed_max
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if lo is not None or hi is not None:
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spdl_constraints = {}
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if lo is not None:
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spdl_constraints["minimum"] = lo
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if hi is not None:
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spdl_constraints["maximum"] = hi
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items += [
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DataItemDef("spdl_speed", "SAMPLE", "ROTARY_VELOCITY", "spindle", "Rotary", "S",
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subType="ACTUAL", units="REVOLUTION/MINUTE"),
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DataItemDef("spdl_speed_cmd", "SAMPLE", "ROTARY_VELOCITY", "spindle", "Rotary", "S",
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subType="COMMANDED", units="REVOLUTION/MINUTE",
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constraints=spdl_constraints),
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DataItemDef("spdl_mode", "EVENT", "ROTARY_MODE", "spindle", "Rotary", "S"),
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DataItemDef("spdl_dir", "EVENT", "DIRECTION", "spindle", "Rotary", "S", subType="ROTARY"),
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]
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# Coolant system (iocontrol flood/mist). LinuxCNC exposes plain on/off with
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# no standard MTConnect enum, so these are extension events (x:FLOOD/x:MIST).
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items += [
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DataItemDef("coolant_flood", "EVENT", "FLOOD", "coolant", "Coolant",
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"coolant", ext=True),
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DataItemDef("coolant_mist", "EVENT", "MIST", "coolant", "Coolant",
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"coolant", ext=True),
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]
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# User-declared HAL pins ([MTCONNECT]HAL_ITEM), hosted on the component each
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# names (default: a generic Sensor). Same registry -> they flow to /probe,
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# /current, /sample, MQTT and SHDR automatically.
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for it in getattr(config, "hal_items", None) or []:
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comp_id, comp_type, comp_name = resolve_component(it.component, model)
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items.append(DataItemDef(it.id, "SAMPLE", it.type, comp_id, comp_type,
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comp_name, subType=it.subType, units=it.units,
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name=it.name))
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return items
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def axis_index(letter):
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"""Index of an axis letter into a 9-element (XYZABCUVW) position tuple."""
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return AXIS_LETTERS.index(letter)
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