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Run XYZAC through upstream LinuxCNC TP

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This commit is contained in:
wangdequan
2026-09-01 11:44:05 +08:00
parent bbdfad8364
commit d18141ec81
23 changed files with 1550 additions and 139 deletions
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64
patches/linuxcnc/0001-export-native-task-heartbeat.patch
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@@ -1,7 +1,39 @@
diff --git a/src/emc/nml_intf/emc.cc b/src/emc/nml_intf/emc.cc
index 59fdabe..cdba7ed 100644
--- a/src/emc/nml_intf/emc.cc
+++ b/src/emc/nml_intf/emc.cc
@@ -1838,6 +1838,7 @@ void EMC_TRAJ_STAT::update(CMS * cms)
cms->update(probeval);
cms->update(kinematics_type);
cms->update(motion_type);
+ cms->update(motion_heartbeat);
}
@@ -2261,4 +2262,4 @@ void EMC_MOTION_ADAPTIVE::update(CMS * cms)
void EMC_MOTION_CMD_MSG::update(CMS * cms)
{
-}
\ No newline at end of file
+}
diff --git a/src/emc/nml_intf/emc_nml.hh b/src/emc/nml_intf/emc_nml.hh
index 2d5e61e..8c713b7 100644
--- a/src/emc/nml_intf/emc_nml.hh
+++ b/src/emc/nml_intf/emc_nml.hh
@@ -834,6 +834,7 @@ class EMC_TRAJ_STAT:public EMC_TRAJ_STAT_MSG {
//bool spindle_override_enabled; moved to SPINDLE_STAT
bool adaptive_feed_enabled;
bool feed_hold_enabled;
+ uint32_t motion_heartbeat; // native motion-controller servo-cycle counter
StateTag tag;
};
diff --git a/src/emc/task/emctaskmain.cc b/src/emc/task/emctaskmain.cc
index 6d5ebd5..d215e2e 100644
--- a/src/emc/task/emctaskmain.cc
+++ b/src/emc/task/emctaskmain.cc
@@ -3490,4 +3490,9 @@ int main(int argc, char *argv[])
@@ -3490,6 +3490,11 @@ int main(int argc, char *argv[])
// since emcStatus was passed to the WM init functions, it
// will be updated in the _update() functions above. There's
// no need to call the individual functions on all WM items.
@@ -11,16 +43,40 @@ diff --git a/src/emc/task/emctaskmain.cc b/src/emc/task/emctaskmain.cc
+ // wall-clock sampling.
+ emcStatus->task.heartbeat++;
emcStatusBuffer->write(emcStatus);
// wait on timer cycle, if specified, or calculate actual
diff --git a/src/emc/task/taskintf.cc b/src/emc/task/taskintf.cc
index 36fbd97..b3ae2aa 100644
--- a/src/emc/task/taskintf.cc
+++ b/src/emc/task/taskintf.cc
@@ -1612,6 +1612,7 @@ int emcTrajUpdate(EMC_TRAJ_STAT * stat)
stat->feed_override_enabled = enables & FS_ENABLED;
stat->adaptive_feed_enabled = enables & AF_ENABLED;
stat->feed_hold_enabled = enables & FH_ENABLED;
+ stat->motion_heartbeat = emcmotStatus.heartbeat;
if (new_config) {
stat->cycleTime = emcmotConfig.trajCycleTime;
diff --git a/src/emc/usr_intf/axis/extensions/emcmodule.cc b/src/emc/usr_intf/axis/extensions/emcmodule.cc
index b43f041..96f12a2 100644
--- a/src/emc/usr_intf/axis/extensions/emcmodule.cc
+++ b/src/emc/usr_intf/axis/extensions/emcmodule.cc
@@ -409,4 +409,7 @@ static PyMemberDef Stat_members[] = {
@@ -409,6 +409,9 @@ static PyMemberDef Stat_members[] = {
{(char*)"echo_serial_number", T_INT, O(echo_serial_number), READONLY},
{(char*)"echo_serial_number", T_INT, O(echo_serial_number), READONLY},
{(char*)"state", T_INT, O(status), READONLY},
+ {(char*)"task_heartbeat", T_UINT, O(task.heartbeat), READONLY,
+ "Native EMC task-loop heartbeat. This counter is incremented by the "
+ "LinuxCNC task thread and is suitable for identifying native status ticks."},
// task
{(char*)"task_mode", T_INT, O(task.mode), READONLY},
@@ -473,6 +476,8 @@ static PyMemberDef Stat_members[] = {
{(char*)"feed_override_enabled", T_BOOL, O(motion.traj.feed_override_enabled), READONLY},
{(char*)"adaptive_feed_enabled", T_BOOL, O(motion.traj.adaptive_feed_enabled), READONLY},
{(char*)"feed_hold_enabled", T_BOOL, O(motion.traj.feed_hold_enabled), READONLY},
+ {(char*)"motion_heartbeat", T_UINT, O(motion.traj.motion_heartbeat), READONLY,
+ "Native motion-controller servo-cycle counter."},
{(char*)"num_extrajoints", T_INT, O(motion.numExtraJoints), READONLY},