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Merged
grandixximo merged 1 commit into from
Aug 4, 2026
+120 −87
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hal: Update iocontrol to use getter/setter #4338

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168 changes: 99 additions & 69 deletions src/emc/task/taskclass.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -38,27 +38,40 @@ using namespace linuxcnc;
*
* Called By: main
********************************************************************/
#define IOC0 "iocontrol.0"

#define CHK(x) do { \
int _rv = (x); \
if(_rv < 0) { \
rtapi_print_msg(RTAPI_MSG_ERR, IOC0": cannot create HAL pin\n"); \
return -1; \
} \
} while(0)

int Task::iocontrol_hal_init(void)
{
iocontrol.add_pin("user-enable-out", hal_dir::OUT, iocontrol_data.user_enable_out);
iocontrol.add_pin("emc-enable-in", hal_dir::IN, iocontrol_data.emc_enable_in);
iocontrol.add_pin("user-request-enable", hal_dir::OUT, iocontrol_data.user_request_enable);
iocontrol.add_pin("coolant-mist", hal_dir::OUT, iocontrol_data.coolant_mist);
iocontrol.add_pin("coolant-flood", hal_dir::OUT, iocontrol_data.coolant_flood);
iocontrol.add_pin("tool-prep-pocket", hal_dir::OUT, iocontrol_data.tool_prep_pocket);
iocontrol.add_pin("tool-from-pocket", hal_dir::OUT, iocontrol_data.tool_from_pocket);
iocontrol.add_pin("tool-prep-index", hal_dir::OUT, iocontrol_data.tool_prep_index);
iocontrol.add_pin("tool-prep-number", hal_dir::OUT, iocontrol_data.tool_prep_number);
iocontrol.add_pin("tool-number", hal_dir::OUT, iocontrol_data.tool_number);
iocontrol.add_pin("tool-prepare", hal_dir::OUT, iocontrol_data.tool_prepare);
iocontrol.add_pin("tool-prepared", hal_dir::IN, iocontrol_data.tool_prepared);
iocontrol.add_pin("tool-change", hal_dir::OUT, iocontrol_data.tool_change);
iocontrol.add_pin("tool-changed", hal_dir::IN, iocontrol_data.tool_changed);
iocontrol.ready();
if (iocontrol.error < 0)
CHK(hal_pin_new_bool(comp_id, HAL_OUT, &iocontrol_data->user_enable_out, 0, IOC0".user-enable-out"));
CHK(hal_pin_new_bool(comp_id, HAL_IN, &iocontrol_data->emc_enable_in, 0, IOC0".emc-enable-in"));
CHK(hal_pin_new_bool(comp_id, HAL_OUT, &iocontrol_data->user_request_enable, 0, IOC0".user-request-enable"));
CHK(hal_pin_new_bool(comp_id, HAL_OUT, &iocontrol_data->coolant_mist, 0, IOC0".coolant-mist"));
CHK(hal_pin_new_bool(comp_id, HAL_OUT, &iocontrol_data->coolant_flood, 0, IOC0".coolant-flood"));
CHK(hal_pin_new_si32(comp_id, HAL_OUT, &iocontrol_data->tool_prep_pocket, 0, IOC0".tool-prep-pocket"));
CHK(hal_pin_new_si32(comp_id, HAL_OUT, &iocontrol_data->tool_from_pocket, 0, IOC0".tool-from-pocket"));
CHK(hal_pin_new_si32(comp_id, HAL_OUT, &iocontrol_data->tool_prep_index, 0, IOC0".tool-prep-index"));
CHK(hal_pin_new_si32(comp_id, HAL_OUT, &iocontrol_data->tool_prep_number, 0, IOC0".tool-prep-number"));
CHK(hal_pin_new_si32(comp_id, HAL_OUT, &iocontrol_data->tool_number, 0, IOC0".tool-number"));
CHK(hal_pin_new_bool(comp_id, HAL_OUT, &iocontrol_data->tool_prepare, 0, IOC0".tool-prepare"));
CHK(hal_pin_new_bool(comp_id, HAL_IN, &iocontrol_data->tool_prepared, 0, IOC0".tool-prepared"));
CHK(hal_pin_new_bool(comp_id, HAL_OUT, &iocontrol_data->tool_change, 0, IOC0".tool-change"));
CHK(hal_pin_new_bool(comp_id, HAL_IN, &iocontrol_data->tool_changed, 0, IOC0".tool-changed"));
if(hal_ready(comp_id) < 0) {
hal_exit(comp_id);
comp_id = -1;
return -1;
}
return 0;
}
#undef CHK

/********************************************************************
*
Expand All @@ -70,17 +83,17 @@ int Task::iocontrol_hal_init(void)
********************************************************************/
void Task::hal_init_pins(void)
{
iocontrol_data.user_enable_out=0; /* output, FALSE when EMC wants stop */
iocontrol_data.user_request_enable=0;/* output, used to reset HAL latch */
iocontrol_data.coolant_mist=0; /* coolant mist output pin */
iocontrol_data.coolant_flood=0; /* coolant flood output pin */
iocontrol_data.tool_prepare=0; /* output, pin that notifies HAL it needs to prepare a tool */
iocontrol_data.tool_prep_number=0; /* output, pin that holds the tool number to be prepared, only valid when tool-prepare=TRUE */
iocontrol_data.tool_prep_pocket=0; /* output, pin that holds the pocketno for the tool to be prepared, only valid when tool-prepare=TRUE */
iocontrol_data.tool_from_pocket=0; /* output, always 0 at startup */
iocontrol_data.tool_prep_index=0; /* output, pin that holds the internal index (idx) of the tool to be prepared, for debug */
iocontrol_data.tool_change=0; /* output, notifies a tool-change should happen (emc should be in the tool-change position) */
iocontrol_data.tool_number = emcioStatus.tool.toolInSpindle;
hal_set_bool(iocontrol_data->user_enable_out, 0); /* output, FALSE when EMC wants stop */
hal_set_bool(iocontrol_data->user_request_enable, 0);/* output, used to reset HAL latch */
hal_set_bool(iocontrol_data->coolant_mist, 0); /* coolant mist output pin */
hal_set_bool(iocontrol_data->coolant_flood, 0); /* coolant flood output pin */
hal_set_bool(iocontrol_data->tool_prepare, 0); /* output, pin that notifies HAL it needs to prepare a tool */
hal_set_si32(iocontrol_data->tool_prep_number, 0); /* output, pin that holds the tool number to be prepared, only valid when tool-prepare=TRUE */
hal_set_si32(iocontrol_data->tool_prep_pocket, 0); /* output, pin that holds the pocketno for the tool to be prepared, only valid when tool-prepare=TRUE */
hal_set_si32(iocontrol_data->tool_from_pocket, 0); /* output, always 0 at startup */
hal_set_si32(iocontrol_data->tool_prep_index, 0); /* output, pin that holds the internal index (idx) of the tool to be prepared, for debug */
hal_set_bool(iocontrol_data->tool_change, 0); /* output, notifies a tool-change should happen (emc should be in the tool-change position) */
hal_set_si32(iocontrol_data->tool_number, emcioStatus.tool.toolInSpindle);
}

Task *task_methods;
Expand Down Expand Up @@ -110,7 +123,11 @@ int emcToolSetNumber(int number) { return task_methods->emcToolSetNumber(number)

int emcTaskOnce(const char * /*filename*/, EMC_IO_STAT &emcioStatus)
{
task_methods = new Task(emcioStatus);
task_methods = new Task(emcioStatus);
if(task_methods->comp_id < 0) {
// This happens when init is incomplete
return -1;
}
if (int res = task_methods->iocontrol_hal_init()) {
return res;
}
Expand All @@ -129,12 +146,25 @@ struct _inittab builtin_modules[] = {

Task::Task(EMC_IO_STAT & emcioStatus_in) :
emcioStatus(emcioStatus_in),
iocontrol_data{},
iocontrol("iocontrol.0"),
iocontrol_data(nullptr),
comp_id(-1),
ini_filename(emc_inifile),
tool_status(0)
{

comp_id = hal_init(IOC0);
if(comp_id < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, IOC0": ERROR: hal_init() failed\n");
return; // emcTaskOnce() fails on comp_id
}
iocontrol_data = reinterpret_cast<iocontrol_str *>(hal_malloc(sizeof(*iocontrol_data)));
if(!iocontrol_data) {
rtapi_print_msg(RTAPI_MSG_ERR, IOC0": ERROR: hal_malloc() failed\n");
hal_exit(comp_id);
comp_id = -1;
return; // emcTaskOnce() fails on comp_id
}

IniFile inifile(ini_filename);

if (inifile) {
Expand Down Expand Up @@ -365,10 +395,10 @@ int Task::emcIoAbort(EMC_ABORT /*reason*/)//EMC_TOOL_ABORT_TYPE
rtapi_print_msg(RTAPI_MSG_DBG, "EMC_TOOL_ABORT\n");
emcioStatus.coolant.mist = 0;
emcioStatus.coolant.flood = 0;
iocontrol_data.coolant_mist = 0; /* coolant mist output pin */
iocontrol_data.coolant_flood = 0; /* coolant flood output pin */
iocontrol_data.tool_change = 0; /* abort tool change if in progress */
iocontrol_data.tool_prepare = 0; /* abort tool prepare if in progress */
hal_set_bool(iocontrol_data->coolant_mist, 0); /* coolant mist output pin */
hal_set_bool(iocontrol_data->coolant_flood, 0); /* coolant flood output pin */
hal_set_bool(iocontrol_data->tool_change, 0); /* abort tool change if in progress */
hal_set_bool(iocontrol_data->tool_prepare, 0); /* abort tool prepare if in progress */
// release task wait on pending tool-change/prepare (old NML iocontrol
// returned RCS_DONE by default; in-process call must do it explicitly)
emcioStatus.status = RCS_STATUS::DONE;
Expand All @@ -378,47 +408,47 @@ int Task::emcIoAbort(EMC_ABORT /*reason*/)//EMC_TOOL_ABORT_TYPE
int Task::emcAuxEstopOn()//EMC_AUX_ESTOP_ON_TYPE
{
/* assert an ESTOP to the outside world (thru HAL) */
iocontrol_data.user_enable_out = 0; //disable on ESTOP_ON
iocontrol_data.user_request_enable = 0;
hal_set_bool(iocontrol_data->user_enable_out, 0); //disable on ESTOP_ON
hal_set_bool(iocontrol_data->user_request_enable, 0);
hal_init_pins(); //resets all HAL pins to safe valuea
return 0;
}

int Task::emcAuxEstopOff()
{
/* remove ESTOP */
iocontrol_data.user_enable_out = 1; //we're good to enable on ESTOP_OFF
hal_set_bool(iocontrol_data->user_enable_out, 1); //we're good to enable on ESTOP_OFF
/* generate a rising edge to reset optional HAL latch */
iocontrol_data.user_request_enable = 1;
hal_set_bool(iocontrol_data->user_request_enable, 1);
emcioStatus.aux.estop = 0;
return 0;
}

int Task::emcCoolantMistOn()
{
emcioStatus.coolant.mist = 1;
iocontrol_data.coolant_mist = 1;
hal_set_bool(iocontrol_data->coolant_mist, 1);
return 0;
}

int Task::emcCoolantMistOff()
{
emcioStatus.coolant.mist = 0;
iocontrol_data.coolant_mist = 0;
hal_set_bool(iocontrol_data->coolant_mist, 0);
return 0;
}

int Task::emcCoolantFloodOn()
{
emcioStatus.coolant.flood = 1;
iocontrol_data.coolant_flood = 1;
hal_set_bool(iocontrol_data->coolant_flood, 1);
return 0;
}

int Task::emcCoolantFloodOff()
{
emcioStatus.coolant.flood = 0;
iocontrol_data.coolant_flood = 0;
hal_set_bool(iocontrol_data->coolant_flood, 0);
return 0;
}

Expand All @@ -438,29 +468,29 @@ int Task::emcToolPrepare(int toolno)
}
rtapi_print_msg(RTAPI_MSG_DBG, "EMC_TOOL_PREPARE tool=%d idx=%d\n", toolno, idx);

iocontrol_data.tool_prep_index = idx; // any type of changer
hal_set_si32(iocontrol_data->tool_prep_index, idx); // any type of changer

// Note: some of the following logic could be simplified
// but is maintained to preserve runtests expectations
// Set HAL pins for tool number, pocket, and index.
if (random_toolchanger) {
// RANDOM_TOOLCHANGER
iocontrol_data.tool_prep_number = tdata.toolno;
hal_set_si32(iocontrol_data->tool_prep_number, tdata.toolno);
if (idx == 0) {
emcioStatus.tool.pocketPrepped = 0; // pocketPrepped is an idx
iocontrol_data.tool_prep_pocket = 0;
hal_set_si32(iocontrol_data->tool_prep_pocket, 0);
return 0;
}
(iocontrol_data.tool_prep_pocket) = tdata.pocketno;
hal_set_si32(iocontrol_data->tool_prep_pocket, tdata.pocketno);
} else {
// NON_RANDOM_TOOLCHANGER
if (idx == 0) {
emcioStatus.tool.pocketPrepped = 0; // pocketPrepped is an idx
iocontrol_data.tool_prep_number = 0;
iocontrol_data.tool_prep_pocket = 0;
hal_set_si32(iocontrol_data->tool_prep_number, 0);
hal_set_si32(iocontrol_data->tool_prep_pocket, 0);
} else {
iocontrol_data.tool_prep_number = tdata.toolno;
iocontrol_data.tool_prep_pocket = tdata.pocketno;
hal_set_si32(iocontrol_data->tool_prep_number, tdata.toolno);
hal_set_si32(iocontrol_data->tool_prep_pocket, tdata.pocketno);
}
}
// it doesn't make sense to prep the spindle pocket
Expand All @@ -471,7 +501,7 @@ int Task::emcToolPrepare(int toolno)
}

/* then set the prepare pin to tell external logic to get started */
iocontrol_data.tool_prepare = 1;
hal_set_bool(iocontrol_data->tool_prepare, 1);
// the feedback logic is done inside read_hal_inputs()
// we only need to set RCS_EXEC if RCS_DONE is not already set by the above logic
if (tool_status != 10) //set above to 10 in case PREP already finished (HAL loopback machine)
Expand All @@ -498,7 +528,7 @@ int Task::emcToolLoad()//EMC_TOOL_LOAD_TYPE

if (emcioStatus.tool.pocketPrepped != -1) {
//notify HW for toolchange
iocontrol_data.tool_change = 1;
hal_set_bool(iocontrol_data->tool_change, 1);
// the feedback logic is done inside read_hal_inputs() we only
// need to set RCS_EXEC if RCS_DONE is not already set by the
// above logic
Expand Down Expand Up @@ -589,9 +619,9 @@ int Task::emcToolSetNumber(int number)//EMC_TOOL_SET_NUMBER
"EMC_TOOL_SET_NUMBER old_loaded_tool=%d new_idx_number=%d new_tool=%d\n"
, emcioStatus.tool.toolInSpindle, idx, tdata.toolno);
//likewise in HAL
iocontrol_data.tool_number = emcioStatus.tool.toolInSpindle;
hal_set_si32(iocontrol_data->tool_number, emcioStatus.tool.toolInSpindle);
if (emcioStatus.tool.toolInSpindle == 0) {
emcioStatus.tool.toolFromPocket = iocontrol_data.tool_from_pocket = 0; // no tool in spindle
emcioStatus.tool.toolFromPocket = hal_set_si32(iocontrol_data->tool_from_pocket, 0); // no tool in spindle
}

return 0;
Expand All @@ -613,36 +643,36 @@ int Task::emcToolSetNumber(int number)//EMC_TOOL_SET_NUMBER
********************************************************************/
int Task::read_tool_inputs(void)
{
if (iocontrol_data.tool_prepare && iocontrol_data.tool_prepared) {
emcioStatus.tool.pocketPrepped = iocontrol_data.tool_prep_index; //check if tool has been (idx) prepared
iocontrol_data.tool_prepare = 0;
if (hal_get_bool(iocontrol_data->tool_prepare) && hal_get_bool(iocontrol_data->tool_prepared)) {
emcioStatus.tool.pocketPrepped = hal_get_si32(iocontrol_data->tool_prep_index); //check if tool has been (idx) prepared
hal_set_bool(iocontrol_data->tool_prepare, 0);
emcioStatus.status = RCS_STATUS::DONE; // we finally finished to do tool-changing, signal task with RCS_DONE
return 10; //prepped finished
}

if (iocontrol_data.tool_change && iocontrol_data.tool_changed) {
if (hal_get_bool(iocontrol_data->tool_change) && hal_get_bool(iocontrol_data->tool_changed)) {
if(!random_toolchanger && emcioStatus.tool.pocketPrepped == 0) {
emcioStatus.tool.toolInSpindle = 0;
emcioStatus.tool.toolFromPocket = iocontrol_data.tool_from_pocket = 0;
emcioStatus.tool.toolFromPocket = hal_set_si32(iocontrol_data->tool_from_pocket, 0);
} else {
// the tool now in the spindle is the one that was prepared
CANON_TOOL_TABLE tdata;
if (tooldata_get(&tdata,emcioStatus.tool.pocketPrepped) != IDX_OK) {
UNEXPECTED_MSG; return -1;
}
emcioStatus.tool.toolInSpindle = tdata.toolno;
emcioStatus.tool.toolFromPocket = iocontrol_data.tool_from_pocket = tdata.pocketno;
emcioStatus.tool.toolFromPocket = hal_set_si32(iocontrol_data->tool_from_pocket, tdata.pocketno);
}
if (emcioStatus.tool.toolInSpindle == 0) {
emcioStatus.tool.toolFromPocket = iocontrol_data.tool_from_pocket = 0;
emcioStatus.tool.toolFromPocket = hal_set_si32(iocontrol_data->tool_from_pocket, 0);
}
iocontrol_data.tool_number = emcioStatus.tool.toolInSpindle; //likewise in HAL
hal_set_si32(iocontrol_data->tool_number, emcioStatus.tool.toolInSpindle); //likewise in HAL
load_tool(emcioStatus.tool.pocketPrepped);
emcioStatus.tool.pocketPrepped = -1; //reset the tool preped number, -1 to permit tool 0 to be loaded
iocontrol_data.tool_prep_number = 0; //likewise in HAL
iocontrol_data.tool_prep_pocket = 0; //likewise in HAL
iocontrol_data.tool_prep_index = 0; //likewise in HAL
iocontrol_data.tool_change = 0; //also reset the tool change signal
hal_set_si32(iocontrol_data->tool_prep_number, 0); //likewise in HAL
hal_set_si32(iocontrol_data->tool_prep_pocket, 0); //likewise in HAL
hal_set_si32(iocontrol_data->tool_prep_index, 0); //likewise in HAL
hal_set_bool(iocontrol_data->tool_change, 0); //also reset the tool change signal
emcioStatus.status = RCS_STATUS::DONE; // we finally finished to do tool-changing, signal task with RCS_DONE
return 11; //change finished
}
Expand All @@ -651,12 +681,12 @@ int Task::read_tool_inputs(void)

void Task::run(){ // called periodically from emctaskmain.cc
tool_status = read_tool_inputs();
if (iocontrol_data.emc_enable_in == 0) //check for estop from HW
if (!hal_get_bool(iocontrol_data->emc_enable_in)) //check for estop from HW
emcioStatus.aux.estop = 1;
else {
emcioStatus.aux.estop = 0;
if (iocontrol_data.user_request_enable == 1) {
iocontrol_data.user_request_enable = 0;
if (hal_get_bool(iocontrol_data->user_request_enable)) {
hal_set_bool(iocontrol_data->user_request_enable, 0);
}
}
}
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