83 lines
3.5 KiB
Diff
83 lines
3.5 KiB
Diff
diff --git a/src/emc/nml_intf/emc.cc b/src/emc/nml_intf/emc.cc
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index 59fdabe..cdba7ed 100644
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--- a/src/emc/nml_intf/emc.cc
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+++ b/src/emc/nml_intf/emc.cc
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@@ -1838,6 +1838,7 @@ void EMC_TRAJ_STAT::update(CMS * cms)
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cms->update(probeval);
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cms->update(kinematics_type);
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cms->update(motion_type);
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+ cms->update(motion_heartbeat);
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}
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@@ -2261,4 +2262,4 @@ void EMC_MOTION_ADAPTIVE::update(CMS * cms)
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void EMC_MOTION_CMD_MSG::update(CMS * cms)
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{
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-}
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\ No newline at end of file
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+}
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diff --git a/src/emc/nml_intf/emc_nml.hh b/src/emc/nml_intf/emc_nml.hh
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index 2d5e61e..8c713b7 100644
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--- a/src/emc/nml_intf/emc_nml.hh
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+++ b/src/emc/nml_intf/emc_nml.hh
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@@ -834,6 +834,7 @@ class EMC_TRAJ_STAT:public EMC_TRAJ_STAT_MSG {
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//bool spindle_override_enabled; moved to SPINDLE_STAT
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bool adaptive_feed_enabled;
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bool feed_hold_enabled;
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+ uint32_t motion_heartbeat; // native motion-controller servo-cycle counter
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StateTag tag;
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};
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diff --git a/src/emc/task/emctaskmain.cc b/src/emc/task/emctaskmain.cc
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index 6d5ebd5..d215e2e 100644
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--- a/src/emc/task/emctaskmain.cc
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+++ b/src/emc/task/emctaskmain.cc
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@@ -3490,6 +3490,11 @@ int main(int argc, char *argv[])
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// since emcStatus was passed to the WM init functions, it
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// will be updated in the _update() functions above. There's
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// no need to call the individual functions on all WM items.
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+ // EMC_TASK_STAT_MSG::heartbeat is the native task-cycle oracle used by
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+ // external clients. Keep it monotonic and publish it with this cycle's
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+ // status image so a reader can identify every task tick without relying on
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+ // wall-clock sampling.
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+ emcStatus->task.heartbeat++;
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emcStatusBuffer->write(emcStatus);
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// wait on timer cycle, if specified, or calculate actual
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diff --git a/src/emc/task/taskintf.cc b/src/emc/task/taskintf.cc
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index 36fbd97..b3ae2aa 100644
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--- a/src/emc/task/taskintf.cc
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+++ b/src/emc/task/taskintf.cc
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@@ -1612,6 +1612,7 @@ int emcTrajUpdate(EMC_TRAJ_STAT * stat)
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stat->feed_override_enabled = enables & FS_ENABLED;
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stat->adaptive_feed_enabled = enables & AF_ENABLED;
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stat->feed_hold_enabled = enables & FH_ENABLED;
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+ stat->motion_heartbeat = emcmotStatus.heartbeat;
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if (new_config) {
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stat->cycleTime = emcmotConfig.trajCycleTime;
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diff --git a/src/emc/usr_intf/axis/extensions/emcmodule.cc b/src/emc/usr_intf/axis/extensions/emcmodule.cc
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index b43f041..96f12a2 100644
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--- a/src/emc/usr_intf/axis/extensions/emcmodule.cc
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+++ b/src/emc/usr_intf/axis/extensions/emcmodule.cc
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@@ -409,6 +409,9 @@ static PyMemberDef Stat_members[] = {
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{(char*)"echo_serial_number", T_INT, O(echo_serial_number), READONLY},
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{(char*)"echo_serial_number", T_INT, O(echo_serial_number), READONLY},
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{(char*)"state", T_INT, O(status), READONLY},
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+ {(char*)"task_heartbeat", T_UINT, O(task.heartbeat), READONLY,
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+ "Native EMC task-loop heartbeat. This counter is incremented by the "
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+ "LinuxCNC task thread and is suitable for identifying native status ticks."},
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// task
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{(char*)"task_mode", T_INT, O(task.mode), READONLY},
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@@ -473,6 +476,8 @@ static PyMemberDef Stat_members[] = {
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{(char*)"feed_override_enabled", T_BOOL, O(motion.traj.feed_override_enabled), READONLY},
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{(char*)"adaptive_feed_enabled", T_BOOL, O(motion.traj.adaptive_feed_enabled), READONLY},
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{(char*)"feed_hold_enabled", T_BOOL, O(motion.traj.feed_hold_enabled), READONLY},
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+ {(char*)"motion_heartbeat", T_UINT, O(motion.traj.motion_heartbeat), READONLY,
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+ "Native motion-controller servo-cycle counter."},
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{(char*)"num_extrajoints", T_INT, O(motion.numExtraJoints), READONLY},
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