Machinetalk Protobuf Documentation
- canon.proto
- Emc_Aux_Input_Wait
- Emc_Exec_Plugin_Ca1l
- Emc_Io_Plugin_Call
- Emc_Motion_Adaptive
- Emc_Motion_Set_Aout
- Emc_Motion_Set_Dout
- Emc_Operator_Display
- Emc_Operator_Error
- Emc_Operator_Text
- Emc_Spindle_On
- Emc_Spindle_Orient
- Emc_Spindle_Speed
- Emc_Spindle_Wait_Orient_Complete
- Emc_Tool_Prepare
- Emc_Tool_Set_Number
- Emc_Tool_Set_Offset
- Emc_Traj_Circular_Move
- Emc_Traj_Delay
- Emc_Traj_Linear_Move
- Emc_Traj_Probe
- Emc_Traj_Rigid_Tap
- Emc_Traj_Set_Fh_Enable
- Emc_Traj_Set_Fo_Enable
- Emc_Traj_Set_G5x
- Emc_Traj_Set_G92
- Emc_Traj_Set_Offset
- Emc_Traj_Set_Rotation
- Emc_Traj_Set_So_Enable
- Emc_Traj_Set_Spindlesync
- Emc_Traj_Set_Term_Cond
- config.proto
- emcclass.proto
- firmware.proto
- log.proto
- message.proto
- motcmds.proto
- nanopb.proto
- object.proto
- preview.proto
- rtapi_message.proto
- rtapicommand.proto
- status.proto
- EmcCommandParameters
- EmcProgramExtension
- EmcStatusAnalogIO
- EmcStatusConfig
- EmcStatusConfigAxis
- EmcStatusDigitalIO
- EmcStatusGCode
- EmcStatusInterp
- EmcStatusIo
- EmcStatusLimit
- EmcStatusMCode
- EmcStatusMotion
- EmcStatusMotionAxis
- EmcStatusSetting
- EmcStatusTask
- EmcStatusUserCommand
- EmcToolData
- EmcAngularUnitsType
- EmcAxisType
- EmcCanonUnitsType
- EmcInterpExitCodeType
- EmcInterpStateType
- EmcKinematicsType
- EmcLinearUnitsType
- EmcPositionFeedbackType
- EmcPositionOffsetType
- EmcTaskExecStateType
- EmcTaskModeType
- EmcTaskStateType
- EmcTimeUnitsType
- EmcTrajectoryModeType
- task.proto
- test.proto
- types.proto
- value.proto
- Scalar Value Types
canon.proto
Emc_Aux_Input_Wait
|
Field |
Type |
Label |
Description |
|
index |
required |
||
|
input_type |
required |
||
|
wait_type |
required |
||
|
timeout |
required |
Emc_Exec_Plugin_Ca1l
|
Field |
Type |
Label |
Description |
|
call |
required |
Emc_Io_Plugin_Call
|
Field |
Type |
Label |
Description |
|
call |
required |
Emc_Motion_Adaptive
|
Field |
Type |
Label |
Description |
|
status |
required |
Emc_Motion_Set_Aout
|
Field |
Type |
Label |
Description |
|
index |
required |
||
|
start |
required |
||
|
end |
required |
||
|
now |
required |
Emc_Motion_Set_Dout
|
Field |
Type |
Label |
Description |
|
index |
required |
||
|
start |
required |
||
|
end |
required |
||
|
now |
required |
Emc_Spindle_On
|
Field |
Type |
Label |
Description |
|
speed |
required |
||
|
factor |
required |
||
|
xoffset |
required |
Emc_Spindle_Orient
|
Field |
Type |
Label |
Description |
|
orientation |
required |
||
|
mode |
required |
Emc_Spindle_Speed
|
Field |
Type |
Label |
Description |
|
speed |
required |
||
|
factor |
required |
||
|
xoffset |
required |
Emc_Spindle_Wait_Orient_Complete
|
Field |
Type |
Label |
Description |
|
timeout |
required |
Emc_Tool_Set_Number
|
Field |
Type |
Label |
Description |
|
tool |
required |
Emc_Tool_Set_Offset
|
Field |
Type |
Label |
Description |
|
|
required |
||
|
toolno |
required |
||
|
offset |
required |
||
|
diameter |
required |
||
|
frontangle |
required |
||
|
backangle |
required |
||
|
orientation |
required |
Emc_Traj_Circular_Move
|
Field |
Type |
Label |
Description |
|
type |
required |
||
|
end |
required |
||
|
center |
required |
||
|
normal |
required |
||
|
vel |
required |
||
|
ini_maxvel |
required |
||
|
acc |
required |
||
|
feed_mode |
required |
||
|
turn |
required |
Emc_Traj_Delay
|
Field |
Type |
Label |
Description |
|
delay |
required |
Emc_Traj_Linear_Move
|
Field |
Type |
Label |
Description |
|
type |
required |
||
|
end |
required |
||
|
vel |
required |
||
|
ini_maxvel |
required |
||
|
acc |
required |
||
|
feed_mode |
required |
||
|
indexrotary |
required |
Emc_Traj_Probe
|
Field |
Type |
Label |
Description |
|
type |
required |
||
|
pos |
required |
||
|
vel |
required |
||
|
ini_maxvel |
required |
||
|
acc |
required |
||
|
probe_type |
required |
Emc_Traj_Rigid_Tap
|
Field |
Type |
Label |
Description |
|
pos |
required |
||
|
vel |
required |
||
|
ini_maxvel |
required |
||
|
acc |
required |
Emc_Traj_Set_Fh_Enable
|
Field |
Type |
Label |
Description |
|
mode |
required |
Emc_Traj_Set_Fo_Enable
|
Field |
Type |
Label |
Description |
|
mode |
required |
Emc_Traj_Set_G5x
|
Field |
Type |
Label |
Description |
|
origin |
required |
||
|
g5x_index |
required |
Emc_Traj_Set_G92
|
Field |
Type |
Label |
Description |
|
origin |
required |
Emc_Traj_Set_Offset
|
Field |
Type |
Label |
Description |
|
offset |
required |
Emc_Traj_Set_Rotation
|
Field |
Type |
Label |
Description |
|
rotation |
required |
Emc_Traj_Set_So_Enable
|
Field |
Type |
Label |
Description |
|
mode |
required |
Emc_Traj_Set_Spindlesync
|
Field |
Type |
Label |
Description |
|
feed_per_revolution |
required |
||
|
velocity_mode |
required |
Emc_Traj_Set_Term_Cond
|
Field |
Type |
Label |
Description |
|
cond |
required |
||
|
tolerance |
required |
config.proto
Application
|
Field |
Type |
Label |
Description |
|
name |
required |
||
|
description |
optional |
||
|
type |
optional |
||
|
weburi |
optional |
||
|
file |
repeated |
File
|
Field |
Type |
Label |
Description |
|
name |
required |
||
|
encoding |
required |
||
|
blob |
optional |
Launcher
|
Field |
Type |
Label |
Description |
|
index |
required |
||
|
name |
optional |
||
|
description |
optional |
||
|
image |
optional |
||
|
info |
optional |
||
|
running |
optional |
||
|
terminating |
optional |
||
|
command |
optional |
||
|
shell |
optional |
||
|
output |
repeated |
||
|
returncode |
optional |
||
|
workdir |
optional |
||
|
priority |
optional |
MachineInfo
|
Field |
Type |
Label |
Description |
|
type |
optional |
||
|
manufacturer |
optional |
||
|
model |
optional |
||
|
variant |
optional |
ApplicationType
|
Name |
Number |
Description |
|
QT5_QML |
1 |
|
|
GLADEVCP |
2 |
|
|
JAVASCRIPT |
3 |
FileContent
|
Name |
Number |
Description |
|
CLEARTEXT |
1 |
|
|
ZLIB |
2 |
emcclass.proto
firmware.proto
firmware descriptor for hostmot2
The message Firmware encodes the detail which used to be hardcoded in the low-level hostmot2 driver
in the struct hm2_lowlevel_io_struct.
It is placed in the firmware at a well-known location including a length field.
The lowlevel driver decodes this message, and calls hm2_register() accordingly.
Connector
describes a connector
|
Field |
Type |
Label |
Description |
|
name |
optional |
will appear in the HAL name |
|
|
pins |
optional |
number of pins |
Firmware
|
Field |
Type |
Label |
Description |
|
build_sha |
optional |
the machinekit/socfpga build SHA |
|
|
fpga_part_number |
optional |
sets hm2_lowlevel_io_struct.fpga_part_number |
|
|
connector |
repeated |
sets hm2_lowlevel_io_struct.num_ioport_connectors, ioport_connector_name, pins_per_connector |
|
|
num_leds |
optional |
sets hm2_lowlevel_io_struct.num_leds |
|
|
board_name |
optional |
sets hm2_lowlevel_io_struct.num_leds |
|
|
comment |
optional |
descriptive text, uninterpreted – use for log message if present |
log.proto
message.proto
Container
|
Field |
Type |
Label |
Description |
|
type |
required |
||
|
tsc |
optional |
||
|
preview |
repeated |
||
|
motcmd |
optional |
||
|
motstat |
optional |
||
|
legacy_motcmd |
optional |
||
|
legacy_motstat |
optional |
||
|
rtapi_message |
optional |
||
|
task_reply |
optional |
||
|
ticket_update |
optional |
||
|
syslog |
optional |
||
|
legacy_nml |
optional |
||
|
legacy_motconfig |
optional |
||
|
tv_sec |
optional |
||
|
tv_nsec |
optional |
||
|
topic |
optional |
||
|
reply_required |
optional |
||
|
interp_state |
optional |
||
|
interp_name |
optional |
||
|
rsvp |
optional |
||
|
in_reply_to |
optional |
||
|
rcs_status |
optional |
||
|
status |
optional |
||
|
serial |
optional |
||
|
reply_serial |
optional |
||
|
ticket |
optional |
||
|
reply_ticket |
optional |
||
|
sequence |
optional |
||
|
credit |
optional |
||
|
line_number |
optional |
||
|
name |
optional |
||
|
note |
repeated |
||
|
retcode |
optional |
||
|
uuid |
optional |
||
|
trace |
optional |
||
|
instance |
optional |
||
|
value |
repeated |
||
|
rtapicmd |
optional |
||
|
service_announcement |
repeated |
||
|
comp |
repeated |
||
|
pin |
repeated |
||
|
signal |
repeated |
||
|
param |
repeated |
||
|
thread |
repeated |
||
|
ring |
repeated |
||
|
group |
repeated |
||
|
member |
repeated |
||
|
function |
repeated |
||
|
pparams |
optional |
||
|
vtable |
repeated |
||
|
inst |
repeated |
||
|
app |
repeated |
||
|
launcher |
repeated |
||
|
index |
optional |
||
|
log_message |
optional |
||
|
tpexecute |
optional |
||
|
tpblockdelete |
optional |
||
|
tpoptionalstop |
optional |
||
|
tpopen |
optional |
||
|
taskplan_reply |
optional |
||
|
traj_set_g5x |
optional |
||
|
traj_set_g92 |
optional |
||
|
traj_set_rotation |
optional |
||
|
traj_linear_move |
optional |
||
|
traj_probe |
optional |
||
|
traj_circular_move |
optional |
||
|
traj_rigid_tap |
optional |
||
|
traj_set_term_cond |
optional |
||
|
traj_set_spindlesync |
optional |
||
|
traj_delay |
optional |
||
|
spindle_on |
optional |
||
|
spindle_speed |
optional |
||
|
spindle_orient |
optional |
||
|
spindle_wait_orient_complete |
optional |
||
|
tool_set_offet |
optional |
||
|
traj_set_offset |
optional |
||
|
tool_prepare |
optional |
||
|
tool_set_number |
optional |
||
|
traj_set_fo_enable |
optional |
||
|
traj_set_so_enable |
optional |
||
|
traj_set_fh_enable |
optional |
||
|
motion_adaptive |
optional |
||
|
operator_display |
optional |
||
|
operator_text |
optional |
||
|
operator_error |
optional |
||
|
motion_set_dout |
optional |
||
|
motion_set_aout |
optional |
||
|
aux_input_wait |
optional |
||
|
exec_plugin_call |
optional |
||
|
io_plugin_call |
optional |
||
|
emc_status_config |
optional |
||
|
emc_status_motion |
optional |
||
|
emc_status_io |
optional |
||
|
emc_status_task |
optional |
||
|
emc_status_interp |
optional |
||
|
emc_command_params |
optional |
motcmds.proto
MotionCommand
|
Field |
Type |
Label |
Description |
|
command |
required |
||
|
commandNum |
required |
||
|
motor_offset |
optional |
||
|
maxLimit |
optional |
||
|
minLimit |
optional |
||
|
pos |
optional |
||
|
center |
optional |
||
|
normal |
optional |
||
|
turn |
optional |
||
|
vel |
optional |
||
|
ini_maxvel |
optional |
||
|
motion_type |
optional |
||
|
spindlesync |
optional |
||
|
acc |
optional |
||
|
backlash |
optional |
||
|
id |
optional |
||
|
termCond |
optional |
||
|
tolerance |
optional |
||
|
axis |
optional |
||
|
scale |
optional |
||
|
offset |
optional |
||
|
home |
optional |
||
|
home_final_vel |
optional |
||
|
search_vel |
optional |
||
|
latch_vel |
optional |
||
|
flags |
optional |
||
|
home_sequence |
optional |
||
|
volatile_home |
optional |
||
|
minFerror |
optional |
||
|
maxFerror |
optional |
||
|
wdWait |
optional |
||
|
debug |
optional |
||
|
now |
optional |
||
|
out |
optional |
||
|
start |
optional |
||
|
end |
optional |
||
|
mode |
optional |
||
|
comp_nominal |
optional |
||
|
comp_forward |
optional |
||
|
comp_reverse |
optional |
||
|
probe_type |
optional |
||
|
tool_offset |
optional |
MotionStatus
|
Field |
Type |
Label |
Description |
|
commandEcho |
required |
||
|
commandNumEcho |
required |
||
|
commandStatus |
required |
||
|
carte_pos_fb |
optional |
MotionType
|
Name |
Number |
Description |
|
_EMC_MOTION_TYPE_NONE |
0 |
|
|
_EMC_MOTION_TYPE_TRAVERSE |
1 |
|
|
_EMC_MOTION_TYPE_FEED |
2 |
|
|
_EMC_MOTION_TYPE_ARC |
3 |
|
|
_EMC_MOTION_TYPE_TOOLCHANGE |
4 |
|
|
_EMC_MOTION_TYPE_PROBING |
5 |
|
|
_EMC_MOTION_TYPE_INDEXROTARY |
6 |
cmd_code_t
|
Name |
Number |
Description |
|
EMCMOT_ABORT |
4000 |
|
|
EMCMOT_AXIS_ABORT |
4001 |
|
|
EMCMOT_ENABLE |
4002 |
|
|
EMCMOT_DISABLE |
4003 |
|
|
EMCMOT_ENABLE_AMPLIFIER |
4004 |
|
|
EMCMOT_DISABLE_AMPLIFIER |
4005 |
|
|
EMCMOT_ENABLE_WATCHDOG |
4006 |
|
|
EMCMOT_DISABLE_WATCHDOG |
4007 |
|
|
EMCMOT_ACTIVATE_JOINT |
4008 |
|
|
EMCMOT_DEACTIVATE_JOINT |
4009 |
|
|
EMCMOT_PAUSE |
4010 |
|
|
EMCMOT_RESUME |
4011 |
|
|
EMCMOT_STEP |
4012 |
|
|
EMCMOT_FREE |
4013 |
|
|
EMCMOT_COORD |
4014 |
|
|
EMCMOT_TELEOP |
4015 |
|
|
EMCMOT_SPINDLE_SCALE |
4016 |
|
|
EMCMOT_SS_ENABLE |
4017 |
|
|
EMCMOT_FEED_SCALE |
4018 |
|
|
EMCMOT_FS_ENABLE |
4019 |
|
|
EMCMOT_FH_ENABLE |
4020 |
|
|
EMCMOT_AF_ENABLE |
4021 |
|
|
EMCMOT_OVERRIDE_LIMITS |
4022 |
|
|
EMCMOT_HOME |
4023 |
|
|
EMCMOT_UNHOME |
4024 |
|
|
EMCMOT_JOG_CONT |
4025 |
|
|
EMCMOT_JOG_INCR |
4026 |
|
|
EMCMOT_JOG_ABS |
4027 |
|
|
EMCMOT_SET_LINE |
4028 |
|
|
EMCMOT_SET_CIRCLE |
4029 |
|
|
EMCMOT_SET_TELEOP_VECTOR |
4030 |
|
|
EMCMOT_CLEAR_PROBE_FLAGS |
4031 |
|
|
EMCMOT_PROBE |
4032 |
|
|
EMCMOT_RIGID_TAP |
4033 |
|
|
EMCMOT_SET_POSITION_LIMITS |
4034 |
|
|
EMCMOT_SET_BACKLASH |
4035 |
|
|
EMCMOT_SET_MIN_FERROR |
4036 |
|
|
EMCMOT_SET_MAX_FERROR |
4037 |
|
|
EMCMOT_SET_VEL |
4038 |
|
|
EMCMOT_SET_VEL_LIMIT |
4039 |
|
|
EMCMOT_SET_JOINT_VEL_LIMIT |
4040 |
|
|
EMCMOT_SET_JOINT_ACC_LIMIT |
4041 |
|
|
EMCMOT_SET_ACC |
4042 |
|
|
EMCMOT_SET_TERM_COND |
4043 |
|
|
EMCMOT_SET_NUM_AXES |
4044 |
|
|
EMCMOT_SET_WORLD_HOME |
4045 |
|
|
EMCMOT_SET_HOMING_PARAMS |
4046 |
|
|
EMCMOT_SET_DEBUG |
4047 |
|
|
EMCMOT_SET_DOUT |
4048 |
|
|
EMCMOT_SET_AOUT |
4049 |
|
|
EMCMOT_SET_SPINDLESYNC |
4050 |
|
|
EMCMOT_SPINDLE_ON |
4051 |
|
|
EMCMOT_SPINDLE_OFF |
4052 |
|
|
EMCMOT_SPINDLE_INCREASE |
4053 |
|
|
EMCMOT_SPINDLE_DECREASE |
4054 |
|
|
EMCMOT_SPINDLE_BRAKE_ENGAGE |
4055 |
|
|
EMCMOT_SPINDLE_BRAKE_RELEASE |
4056 |
|
|
EMCMOT_SET_MOTOR_OFFSET |
4057 |
|
|
EMCMOT_SET_JOINT_COMP |
4058 |
|
|
EMCMOT_SET_OFFSET |
4059 |
cmd_status_t
|
Name |
Number |
Description |
|
EMCMOT_COMMAND_OK |
0 |
|
|
EMCMOT_COMMAND_UNKNOWN_COMMAND |
1 |
|
|
EMCMOT_COMMAND_INVALID_COMMAND |
2 |
|
|
EMCMOT_COMMAND_INVALID_PARAMS |
3 |
|
|
EMCMOT_COMMAND_BAD_EXEC |
4 |
nanopb.proto
NanoPBOptions
|
Field |
Type |
Label |
Description |
|
max_size |
optional |
||
|
max_count |
optional |
||
|
int_size |
optional |
||
|
type |
optional |
||
|
long_names |
optional |
||
|
packed_struct |
optional |
||
|
skip_message |
optional |
||
|
no_unions |
optional |
||
|
msgid |
optional |
FieldType
|
Name |
Number |
Description |
|
FT_DEFAULT |
0 |
|
|
FT_CALLBACK |
1 |
|
|
FT_POINTER |
4 |
|
|
FT_STATIC |
2 |
|
|
FT_IGNORE |
3 |
IntSize
|
Name |
Number |
Description |
|
IS_DEFAULT |
0 |
|
|
IS_8 |
8 |
|
|
IS_16 |
16 |
|
|
IS_32 |
32 |
|
|
IS_64 |
64 |
object.proto
AnError
|
Field |
Type |
Label |
Description |
|
error_code |
required |
||
|
severity |
optional |
||
|
error_text |
optional |
||
|
origin |
optional |
Component
|
Field |
Type |
Label |
Description |
|
name |
optional |
||
|
ninst |
optional |
||
|
comp_id |
optional |
||
|
type |
optional |
||
|
state |
optional |
||
|
last_update |
optional |
||
|
last_bound |
optional |
||
|
last_unbound |
optional |
||
|
pid |
optional |
||
|
args |
optional |
||
|
timer |
optional |
||
|
userarg1 |
optional |
||
|
userarg2 |
optional |
||
|
pin |
repeated |
||
|
param |
repeated |
||
|
no_create |
optional |
Function
|
Field |
Type |
Label |
Description |
|
name |
optional |
||
|
handle |
optional |
||
|
owner_id |
optional |
||
|
users |
optional |
||
|
runtime |
optional |
||
|
maxtime |
optional |
||
|
reentrant |
optional |
Group
|
Field |
Type |
Label |
Description |
|
name |
optional |
||
|
handle |
optional |
||
|
userarg1 |
optional |
||
|
userarg2 |
optional |
||
|
refcount |
optional |
||
|
member |
repeated |
Inst
|
Field |
Type |
Label |
Description |
|
name |
optional |
||
|
comp_id |
optional |
||
|
inst_id |
optional |
||
|
inst_size |
optional |
||
|
vtable |
optional |
Member
|
Field |
Type |
Label |
Description |
|
mtype |
optional |
||
|
userarg1 |
optional |
||
|
epsilon |
optional |
||
|
signal |
optional |
||
|
groupname |
optional |
||
|
handle |
optional |
||
|
pin |
optional |
||
|
param |
optional |
Originator
|
Field |
Type |
Label |
Description |
|
origin |
optional |
||
|
detail |
optional |
||
|
name |
optional |
||
|
id |
optional |
||
|
instance |
optional |
Param
|
Field |
Type |
Label |
Description |
|
type |
optional |
||
|
name |
optional |
||
|
handle |
optional |
||
|
halbit |
optional |
||
|
halfloat |
optional |
||
|
hals32 |
optional |
||
|
halu32 |
optional |
||
|
strval |
optional |
||
|
blob |
optional |
||
|
dir |
optional |
||
|
oldname |
optional |
||
|
owner |
optional |
||
|
runtime |
optional |
||
|
maytime |
optional |
Pin
|
Field |
Type |
Label |
Description |
|
type |
optional |
||
|
name |
optional |
||
|
handle |
optional |
||
|
dir |
optional |
||
|
halbit |
optional |
||
|
halfloat |
optional |
||
|
hals32 |
optional |
||
|
halu32 |
optional |
||
|
owner |
optional |
||
|
linked |
optional |
||
|
oldname |
optional |
||
|
epsilon |
optional |
||
|
flags |
optional |
ProtocolParameters
|
Field |
Type |
Label |
Description |
|
keepalive_timer |
optional |
||
|
group_timer |
optional |
||
|
rcomp_timer |
optional |
Ring
|
Field |
Type |
Label |
Description |
|
name |
optional |
||
|
handle |
optional |
||
|
owner |
optional |
||
|
stream |
optional |
||
|
wmutex |
optional |
||
|
rmutex |
optional |
||
|
rtapi_shm |
optional |
||
|
reader |
optional |
||
|
writer |
optional |
||
|
size |
optional |
||
|
scratchpad |
optional |
ServiceAnnouncement
|
Field |
Type |
Label |
Description |
|
stype |
required |
||
|
version |
required |
||
|
instance |
required |
||
|
api |
required |
||
|
uri |
required |
||
|
description |
optional |
Signal
|
Field |
Type |
Label |
Description |
|
type |
optional |
||
|
name |
optional |
||
|
handle |
optional |
||
|
halbit |
optional |
||
|
halfloat |
optional |
||
|
hals32 |
optional |
||
|
halu32 |
optional |
||
|
strval |
optional |
||
|
blob |
optional |
||
|
readers |
optional |
||
|
writers |
optional |
||
|
bidirs |
optional |
Thread
|
Field |
Type |
Label |
Description |
|
name |
optional |
||
|
handle |
optional |
||
|
uses_fp |
optional |
||
|
period |
optional |
||
|
priority |
optional |
||
|
task_id |
optional |
||
|
cpu_id |
optional |
||
|
function |
repeated |
preview.proto
Position
Preview position.
|
Field |
Type |
Label |
Description |
|
x |
optional |
||
|
y |
optional |
||
|
z |
optional |
||
|
a |
optional |
||
|
b |
optional |
||
|
c |
optional |
||
|
u |
optional |
||
|
v |
optional |
||
|
w |
optional |
Preview
The preview data structure.
|
Field |
Type |
Label |
Description |
|
type |
required |
Type of the preview operation. |
|
|
line_number |
optional |
The line number this preview command corresponds to. |
|
|
pos |
optional |
move dest pos/offset for PV_STRAIGHT_*, PV_RIGID_TAP, PV_SET_* _OFFSET_position for PV_ARC_FEED, PV_USE_TOOL_OFFSET |
|
|
first_end |
optional |
First point for PV_ARC_FEED. |
|
|
second_end |
optional |
Second point for PV_ARC_FEED. |
|
|
first_axis |
optional |
First axis for PV_ARC_FEED. |
|
|
second_axis |
optional |
Second axis for PV_ARC_FEED. |
|
|
rotation |
optional |
Rotation for PV_ARC_FEED. |
|
|
axis_end_point |
optional |
Axis endpoint for PV_ARC_FEED. |
|
|
xy_rotation |
optional |
XY rotation for PV_SET_XY_ROTATION. |
|
|
plane |
optional |
Plane for PV_SET_XY_ROTATION. |
|
|
rate |
optional |
feedrate for PV_SET_TRAVERSE_RATE and PV_SET_FEED_RATE. |
|
|
feed_mode |
optional |
Mode for PV_SET_FEED_MODE. |
|
|
time |
optional |
Time for PV_DWELL. |
|
|
text |
optional |
Text for PV_COMMENT and PV_MESSAGE. |
|
|
angular_units |
optional |
Angular units: rarely used. |
|
|
length_units |
optional |
Length units: rarely used. |
|
|
probetype |
optional |
Probe type: rarely used. |
|
|
kins |
optional |
Kinematics type: rarely used. |
|
|
axismask |
optional |
Axis mask: rarely used. |
|
|
g5_index |
optional |
g5_index: rarely used. |
|
|
|
optional |
Pocket for PV_CHANGE_TOOL and PV_CHANGE_TOOL_NUMBER. |
|
|
stype |
optional |
Source type for PV_SOURCE_CONTEXT. |
|
|
filename |
optional |
File name if source type is a NGC file. |
|
|
cmdstring |
optional |
Command string if source type is a MDI command. |
|
|
call_level |
optional |
Call stack depth. |
KinematicsType
Experimental axis/joint representation.
|
Name |
Number |
Description |
|
KT_JOINT |
1 |
Joint kinematics. |
|
KT_TRIVKINS |
2 |
Trivial kinematics. |
|
KT_DELTA |
3 |
Delta kinematics. |
PreviewOpType
Type for preview operations.
|
Name |
Number |
Description |
|
PV_STRAIGHT_PROBE |
1 |
Straight probe. |
|
PV_RIGID_TAP |
2 |
Rigid tap. |
|
PV_STRAIGHT_FEED |
3 |
Straight feed move. |
|
PV_ARC_FEED |
4 |
Arc feed move. |
|
PV_STRAIGHT_TRAVERSE |
5 |
Straight traverse move. |
|
PV_SET_G5X_OFFSET |
6 |
Set G5x offset. |
|
PV_SET_G92_OFFSET |
7 |
Set G92 offset. |
|
PV_SET_XY_ROTATION |
8 |
Set XY rotation. |
|
PV_SELECT_PLANE |
9 |
Select plane. |
|
PV_SET_TRAVERSE_RATE |
10 |
Set feedrate for traverse moves. |
|
PV_SET_FEED_RATE |
11 |
Set feedrate for normal moves. |
|
PV_CHANGE_TOOL |
12 |
Change tool. |
|
PV_CHANGE_TOOL_NUMBER |
13 |
Change tool number. |
|
PV_DWELL |
14 |
Dwell. |
|
PV_MESSAGE |
15 |
Print message. |
|
PV_COMMENT |
16 |
GCode comment. |
|
PV_USE_TOOL_OFFSET |
17 |
Use tool offset. |
|
PV_SET_PARAMS |
18 |
kins, axismask, angle_units, length_units |
|
PV_SET_FEED_MODE |
19 |
Set the feed mode. |
|
PV_SOURCE_CONTEXT |
20 |
Change the source context. |
|
PV_PREVIEW_START |
21 |
Start of preview |
|
PV_PREVIEW_END |
22 |
End of preview |
SourceType
Preview source types..
|
Name |
Number |
Description |
|
ST_NGC_FILE |
1 |
An NGC file. |
|
ST_NGC_STRING |
2 |
A MDI string. |
|
ST_PYTHON_METHOD |
3 |
A Python method. |
rtapi_message.proto
rtapicommand.proto
RTAPICommand
|
Field |
Type |
Label |
Description |
|
instance |
required |
||
|
modname |
optional |
||
|
rt_msglevel |
optional |
||
|
user_msglevel |
optional |
||
|
argv |
repeated |
||
|
threadname |
optional |
||
|
threadperiod |
optional |
||
|
use_fp |
optional |
||
|
cpu |
optional |
||
|
comp |
optional |
||
|
func |
optional |
||
|
instname |
optional |
||
|
flags |
optional |
status.proto
EmcCommandParameters
EMC command parameters.
|
Field |
Type |
Label |
Description |
|
index |
optional |
General purpose index. |
|
|
debug_level |
optional |
Debug level. |
|
|
line_number |
optional |
General purpose line number. |
|
|
scale |
optional |
General purpose scale value. |
|
|
velocity |
optional |
General purpose velocity value. |
|
|
distance |
optional |
General purpose distance value. |
|
|
value |
optional |
General purpose value. |
|
|
enable |
optional |
General purpose enable value. |
|
|
command |
optional |
General purpose command string. |
|
|
path |
optional |
General purpose path string. |
|
|
task_mode |
optional |
Task mode. |
|
|
task_state |
optional |
Task state. |
|
|
traj_mode |
optional |
Trajectory mode. |
|
|
pose |
optional |
General purpose pose. |
|
|
tool_data |
optional |
Tool data. |
|
|
tool_table |
repeated |
Complete tool table. |
EmcProgramExtension
Program extension message.
|
Field |
Type |
Label |
Description |
|
index |
required |
Index of the program extension. |
|
|
extension |
optional |
Supported program extension. E.g. .gcode GCode program |
EmcStatusAnalogIO
Analog IO pin message.
|
Field |
Type |
Label |
Description |
|
index |
required |
Index of analog IO pin. |
|
|
value |
optional |
Current value of analog IO pin. |
EmcStatusConfig
EMC status configuration message.
|
Field |
Type |
Label |
Description |
|
default_acceleration |
optional |
Default acceleration. Reflects parameter [TRAJ]DEFAULT_ACCELERATION. |
|
|
axes |
optional |
Number of axes. Reflects [TRAJ]AXES |
|
|
axis |
repeated |
Per axis configuration values. |
|
|
axis_mask |
optional |
Mask of axes. Reflects [TRAJ]COORDINATES and returns the sum of the axes X=1, Y=2, Z=4, A=8, B=16, C=32, U=64, V=128, W=256. |
|
|
cycle_time |
optional |
Polling cycle time. Reflects [TRAJ]CYCLE_TIME |
|
|
debug |
optional |
Debug flag. |
|
|
kinematics_type |
optional |
Kinematics type. |
|
|
max_acceleration |
optional |
Maximum acceleration. Reflects [TRAJ]MAX_ACCELERATION |
|
|
max_velocity |
optional |
Maximum velocity. Reflects [TRAJ]MAX_VELOCITY |
|
|
linear_units |
optional |
Linear machine units. Reflects [TRAJ]LINEAR_UNITS |
|
|
default_velocity |
optional |
Default velocity. Reflects [TRAJ]DEFAULT_VELOCITY |
|
|
program_extension |
repeated |
List if program supported program extensions. |
|
|
position_offset |
optional |
Position offset type. Reflects [DISPLAY]POSITION_OFFSET |
|
|
position_feedback |
optional |
Position feedback type. Reflects [DISPLAY]POSITION_FEEDBACK |
|
|
max_feed_override |
optional |
Maximum feed override. Reflects [DISPLAY]MAX_FEED_OVERRIDE |
|
|
min_feed_override |
optional |
Minimum feed override. Reflects [DISPLAY]MIN_FEED_OVERRIDE |
|
|
max_spindle_override |
optional |
Maximum spindle speed override. Reflects [DISPLAY]MAX_SPINDLE_OVERRIDE |
|
|
min_spindle_override |
optional |
Minimum spindle override. Reflects [DISPLAY]MIN_SPINDLE_OVERRIDE |
|
|
default_spindle_speed |
optional |
Default spindle speed. Reflects [DISPLAY]DEFAULT_SPINDLE_SPEED |
|
|
default_linear_velocity |
optional |
Default linear velocity. Reflects [DISPLAY]DEFAULT_LINEAR_VELOCITY |
|
|
min_velocity |
optional |
Minimum velocity override. Reflects [DISPLAY]MIN_VELOCITY |
|
|
max_linear_velocity |
optional |
Maximum linear velocity. Reflects [DISPLAY]MAX_LINEAR_VELOCITY |
|
|
min_linear_velocity |
optional |
Minimum linear velocity. Reflects [DISPLAY]MIN_LINEAR_VELOCITY |
|
|
default_angular_velocity |
optional |
Default angular velocity. Reflects [DISPLAY]DEFAULT_ANGULAR_VELOCITY |
|
|
max_angular_velocity |
optional |
Maximum angular velocity. Reflects [DISPLAY]MAX_ANGULAR_VELOCITY |
|
|
min_angular_velocity |
optional |
Minimum angular velocity. Reflects [DISPLAY]MIN_ANGULAR_VELOCITY |
|
|
increments |
optional |
White space separated jog increments. Reflects [DISPLAY]INCREMENTS |
|
|
grids |
optional |
Grid intervals. Reflects [DISPLAY]GRIDS |
|
|
lathe |
optional |
Is machine a lathe. Reflects [DISPLAY]LATHE |
|
|
geometry |
optional |
Geometry of machine. E.g. XYZ. Reflects [DISPLAY]GEOMETRY |
|
|
arcdivision |
optional |
Display granularity for arcs. Reflects [DISPLAY]ARCDIVISION |
|
|
no_force_homing |
optional |
Do not enforce homing. Reflects [DISPLAY]NO_FORCE_HOMING |
|
|
remote_path |
optional |
Remote file path. Reflects [DISPLAY]PROGRAM_PREFIX |
|
|
time_units |
optional |
Time units type. Reflects [DISPLAY]TIME_UNITS |
|
|
name |
optional |
Machine name. Reflects [EMC]MACHINE |
|
|
user_command |
repeated |
List of user commands. Reflects [DISPLAY]USER_COMMAND |
|
|
angular_units |
optional |
Angular machine units. Reflects [TRAJ]ANGULAR_UNITS |
EmcStatusConfigAxis
Stores per axis information from configuration.
|
Field |
Type |
Label |
Description |
|
index |
required |
Axis index. |
|
|
axis_type |
optional |
Type of axis. Reflects [AXIS_N]TYPE |
|
|
backlash |
optional |
Axis backlash. Reflects [AXIS_N]BACKLASH |
|
|
max_ferror |
optional |
Maximum following error. Reflects [AXIS_N]FERROR |
|
|
max_position_limit |
optional |
Maximum position limit. Reflects [AXIS_N]MAX_LIMIT |
|
|
min_ferror |
optional |
Minimum following error. Reflects [AXIS_N]MIN_FERROR |
|
|
min_position_limit |
optional |
Minimum position limit. Reflects [AXIS_N]MIN_LIMIT |
|
|
home_sequence |
optional |
Homing sequence index. Reflects [AXIS_N]HOME_SEQUENCE |
|
|
max_acceleration |
optional |
Maximum acceleration. Reflects [AXIS_N]MAX_ACCELERATION |
|
|
max_velocity |
optional |
Maximum velocity. Reflects [AXIS_N]MAX_VELOCITY |
|
|
increments |
optional |
Axis increments space separated.Reflects [AXIS_N]INCREMENTS or [DISPLAY]INCREMENTS |
EmcStatusDigitalIO
Digital IO pin message.
|
Field |
Type |
Label |
Description |
|
index |
required |
Index of digital IO pin. |
|
|
value |
optional |
Current value of digital IO pin. |
EmcStatusGCode
Currently active GCodes message.
|
Field |
Type |
Label |
Description |
|
index |
required |
Index of the GCode. |
|
|
value |
optional |
GCode value. E.g. 210 for G21 |
EmcStatusInterp
EMC status interpreter message.
|
Field |
Type |
Label |
Description |
|
command |
optional |
Currently executing command. |
|
|
gcodes |
repeated |
Currently active GCodes. |
|
|
interp_state |
optional |
Current state of RS274NGC interpreter. |
|
|
interpreter_errcode |
optional |
Current RS274NGC interpreter return code. |
|
|
mcodes |
repeated |
Currently active MCodes. |
|
|
settings |
repeated |
Current interpreter settings. [0] = sequence number, [1] = feed rate, [2] = velocity |
|
|
program_units |
optional |
Current interpreter program units. |
EmcStatusIo
EMC IO message.
|
Field |
Type |
Label |
Description |
|
estop |
optional |
Estop active. |
|
|
flood |
optional |
Flood enabled. |
|
|
lube |
optional |
Lube enabled. |
|
|
lube_level |
optional |
Lube level. Reflects iocontrol.0.lube_level |
|
|
mist |
optional |
Mist enabled. |
|
|
tool_offset |
optional |
Offset values of the current tool. |
|
|
tool_table |
repeated |
List of tool entries. |
|
|
pocket_prepped |
optional |
A Tx command completed and this pocket is prepared |
|
|
tool_in_spindle |
optional |
Current tool number. |
EmcStatusLimit
Limit mask message.
|
Field |
Type |
Label |
Description |
|
index |
required |
Axis index. |
|
|
value |
optional |
Axis limit mask. minHardLimit=1, maxHardLimit=2, minSoftLimit=4, maxSoftLimit=8 |
EmcStatusMCode
Currently active MCodes message.
|
Field |
Type |
Label |
Description |
|
index |
required |
Index of MCode. |
|
|
value |
optional |
MCode value. E.g. 100 for M100 |
EmcStatusMotion
EMC status motion message.
|
Field |
Type |
Label |
Description |
|
active_queue |
optional |
Number of motions blending. |
|
|
actual_position |
optional |
Current trajectory position. |
|
|
adaptive_feed_enabled |
optional |
Status of adaptive feed override. |
|
|
ain |
repeated |
Status of analog input pins. |
|
|
aout |
repeated |
Status of analog output pins. |
|
|
axis |
repeated |
Per axis motion values. |
|
|
block_delete |
optional |
Block delete on or off. |
|
|
current_line |
optional |
Currently executing line. |
|
|
current_vel |
optional |
Current velocity in Cartesian space. |
|
|
delay_left |
optional |
Remaining time on dwell (G4) command. |
|
|
din |
repeated |
Status of digital input pins. |
|
|
distance_to_go |
optional |
Remaining distance of current move reported by trajectory planner. |
|
|
dout |
repeated |
Status of digital output pins. |
|
|
dtg |
optional |
Remaining distance of current move reported by trajectory planner. |
|
|
enabled |
optional |
Trajectory planner enabled flag. |
|
|
feed_hold_enabled |
optional |
Enable flag for feed hold. |
|
|
feed_override_enabled |
optional |
Enable flag for feed override. |
|
|
feedrate |
optional |
Current feedrate override. |
|
|
g5x_index |
optional |
Currently active coordinate system. |
|
|
g5x_offset |
optional |
Offset of the currently active coordinate system. |
|
|
g92_offset |
optional |
Current G92 offset. |
|
|
id |
optional |
Currently executing motion id. |
|
|
inpos |
optional |
Machine in position flag. |
|
|
joint_actual_position |
optional |
Actual joint position. |
|
|
joint_position |
optional |
Desired joint position. |
|
|
limit |
repeated |
Axis limit masks. |
|
|
motion_line |
optional |
Source line number motion is currently executing. Relation to id is unclear. |
|
|
motion_type |
optional |
Trajectory planner mode. |
|
|
motion_mode |
optional |
Trajectory mode. |
|
|
paused |
optional |
Motion paused flag. |
|
|
position |
optional |
Trajectory position. |
|
|
probe_tripped |
optional |
True if probe has tripped. |
|
|
probe_val |
optional |
Reflects the value of the motion.probe-input pin |
|
|
probed_position |
optional |
Position where probe has tripped |
|
|
probing |
optional |
Probe operation in progress. |
|
|
queue |
optional |
Current size of trajectory planner queue. |
|
|
queue_full |
optional |
Trajectory planner queue is full. |
|
|
rotation_xy |
optional |
Current XY rotation around Z axis. |
|
|
spindle_brake |
optional |
Spindle braked. |
|
|
spindle_direction |
optional |
Rotational direction of the spindle. forward=1, reverse=-1. |
|
|
spindle_enabled |
optional |
Spindle enabled. |
|
|
spindle_increasing |
optional |
Spindle speed is increasing. |
|
|
spindle_override_enabled |
optional |
Spindle override is enabled. |
|
|
spindle_speed |
optional |
Spindle speed value in rpm. > 0 is clockwise, < 0 is counterclockwise |
|
|
spindlerate |
optional |
Spindle speed override. |
|
|
state |
optional |
Current command execution status. |
|
|
max_velocity |
optional |
Maximum velocity override. |
|
|
max_acceleration |
optional |
TODO remove |
EmcStatusMotionAxis
Stores per axis information from motion.
|
Field |
Type |
Label |
Description |
|
index |
required |
Axis index. |
|
|
enabled |
optional |
Axis is enabled. |
|
|
fault |
optional |
Axis amp fault. |
|
|
ferror_current |
optional |
Current following error. |
|
|
ferror_highmark |
optional |
Magnitude of maximum following error. |
|
|
homed |
optional |
Axis has been homed. |
|
|
homing |
optional |
Homing currently progress. |
|
|
inpos |
optional |
Axis is in position. |
|
|
input |
optional |
Current input position. |
|
|
max_hard_limit |
optional |
Maximum hard limit exceeded. |
|
|
max_soft_limit |
optional |
Maximum position limit was exceeded. |
|
|
min_hard_limit |
optional |
Minimum hard limit was exceeded. |
|
|
min_soft_limit |
optional |
Minimum position limit was exceeded. |
|
|
output |
optional |
Commanded output position. |
|
|
override_limits |
optional |
Limits are overridden. |
|
|
velocity |
optional |
Current velocity. |
EmcStatusSetting
Interpreter setting message.
|
Field |
Type |
Label |
Description |
|
index |
required |
Index of interpreter setting. |
|
|
value |
optional |
Interpreter settings value. |
EmcStatusTask
EMC status task message.
|
Field |
Type |
Label |
Description |
|
echo_serial_number |
optional |
The serial number of the last executed command set by a UI to task.All commands carry a serial number. Once the command has been executed,its serial number is reflected in echo_serial_number. |
|
|
exec_state |
optional |
Task execution state. |
|
|
file |
optional |
Currently executing gcode file. |
|
|
input_timeout |
optional |
Flag for M66 timer in progress. |
|
|
optional_stop |
optional |
Optional stop enabled. |
|
|
read_line |
optional |
Line the RS274NGC interpreter is currently reading. TODO move to interp |
|
|
task_mode |
optional |
Current task mode. |
|
|
task_paused |
optional |
Task paused. |
|
|
task_state |
optional |
Current task state. |
|
|
total_lines |
optional |
Total number of lines of currently active program file. |
EmcStatusUserCommand
User command message.
|
Field |
Type |
Label |
Description |
|
index |
required |
User command index. |
|
|
command |
optional |
User command separated by semicolon. E.g. G1A20;G1A0 Remove Filament. |
EmcToolData
Tool table data.
|
Field |
Type |
Label |
Description |
|
index |
required |
Tool table index (not tool id). |
|
|
id |
optional |
ID/number of the tool. |
|
|
diameter |
optional |
Diameter of the tool. |
|
|
frontangle |
optional |
Front angle of the tool (only on lathe). |
|
|
backangle |
optional |
Back angle of the tool (only on lathe). |
|
|
orientation |
optional |
Orientation of the tool (lathe only, 0-9). |
|
|
offset |
optional |
Position offset of the tool. |
|
|
comment |
optional |
User comment. |
|
|
|
optional |
Tool pocket position. |
EmcAngularUnitsType
Types for EMC angular units.
|
Name |
Number |
Description |
|
ANGULAR_UNITS_DEGREES |
1 |
Degrees. |
|
ANGULAR_UNITS_RADIAN |
2 |
Radian. |
|
ANGULAR_UNITS_GRAD |
3 |
Grad. |
EmcAxisType
Axis types.
|
Name |
Number |
Description |
|
EMC_AXIS_LINEAR |
1 |
Axis is using linear units. |
|
EMC_AXIS_ANGULAR |
2 |
Axis is using angular units. |
EmcCanonUnitsType
Types for EMC Canon units.
|
Name |
Number |
Description |
|
CANON_UNITS_INCH |
1 |
Inches. |
|
CANON_UNITS_MM |
2 |
Millimeters. |
|
CANON_UNITS_CM |
3 |
Centimeters. |
EmcInterpExitCodeType
Types for EMC interpreter exit codes.
|
Name |
Number |
Description |
|
EMC_INTERP_EXIT_OK |
0 |
Interpreter exited successfully. |
|
EMC_INTERP_EXIT_EXIT |
1 |
Interpreter exited with no status information. |
|
EMC_INTERP_EXIT_EXECUTE_FINISH |
2 |
Interpreter execution finished. |
|
EMC_INTERP_EXIT_ENDFILE |
3 |
Interpreter has reached end of file. |
|
EMC_INTERP_EXIT_FILE_NOT_OPEN |
4 |
Interpreter could not open the file. |
|
EMC_INTERP_EXIT_ERROR |
5 |
Interpreter exited with an error. |
EmcInterpStateType
Types for EMC task interpreter state.
|
Name |
Number |
Description |
|
EMC_TASK_INTERP_IDLE |
1 |
Task interpreter is idling. |
|
EMC_TASK_INTERP_READING |
2 |
Task interpreter is reading. |
|
EMC_TASK_INTERP_PAUSED |
3 |
Task interpreter is paused. |
|
EMC_TASK_INTERP_WAITING |
4 |
Task interpreter is waiting. |
EmcKinematicsType
EMC kinematics type.
|
Name |
Number |
Description |
|
KINEMATICS_IDENTITY |
1 |
Identity kinematics. |
|
KINEMATICS_FORWARD_ONLY |
2 |
Forward only kinematics. |
|
KINEMATICS_INVERSE_ONLY |
3 |
Inverse only kinematics. |
|
KINEMATICS_BOTH |
4 |
Forward and inverse kinematics. |
EmcLinearUnitsType
Types for EMC linear units.
|
Name |
Number |
Description |
|
LINEAR_UNITS_INCH |
1 |
Inches. |
|
LINEAR_UNITS_MM |
2 |
Millimeters. |
|
LINEAR_UNITS_CM |
3 |
Centimeters. |
EmcPositionFeedbackType
Position feedback types.
|
Name |
Number |
Description |
|
EMC_CONFIG_ACTUAL_FEEDBACK |
1 |
Feed back current position. |
|
EMC_CONFIG_COMMANDED_FEEDBACK |
2 |
Feed back commanded position. |
EmcPositionOffsetType
Position offset types.
|
Name |
Number |
Description |
|
EMC_CONFIG_RELATIVE_OFFSET |
1 |
Offset in relative coordinates. |
|
EMC_CONFIG_MACHINE_OFFSET |
2 |
Offset in machine coordinates. |
EmcTaskExecStateType
Types for EMC task execution state.
|
Name |
Number |
Description |
|
EMC_TASK_EXEC_ERROR |
1 |
Error during task execution. |
|
EMC_TASK_EXEC_DONE |
2 |
Task execution has bee completed. |
|
EMC_TASK_EXEC_WAITING_FOR_MOTION |
3 |
Task execution is waiting for Motion. |
|
EMC_TASK_EXEC_WAITING_FOR_MOTION_QUEUE |
4 |
Task execution is waiting for Motion queue. |
|
EMC_TASK_EXEC_WAITING_FOR_IO |
5 |
Task execution is waiting for IO. |
|
EMC_TASK_EXEC_WAITING_FOR_MOTION_AND_IO |
7 |
Task execution is waiting for Motion and IO. |
|
EMC_TASK_EXEC_WAITING_FOR_DELAY |
8 |
Task execution is waiting for a delay. |
|
EMC_TASK_EXEC_WAITING_FOR_SYSTEM_CMD |
9 |
Task execution is waiting for a system command. |
|
EMC_TASK_EXEC_WAITING_FOR_SPINDLE_ORIENTED |
10 |
Task execution is waiting for spindle orientation to complete. |
EmcTaskModeType
Types for EMC task modes.
|
Name |
Number |
Description |
|
EMC_TASK_MODE_MANUAL |
1 |
Manual task mode. For example jogging. |
|
EMC_TASK_MODE_AUTO |
2 |
Automatic task mode. For example program execution. |
|
EMC_TASK_MODE_MDI |
3 |
MDI task mode. MDI commands only. |
EmcTaskStateType
Types for EMC task state.
|
Name |
Number |
Description |
|
EMC_TASK_STATE_ESTOP |
1 |
Task is in ESTOP. |
|
EMC_TASK_STATE_ESTOP_RESET |
2 |
Task is trying to reset an ESTOP. |
|
EMC_TASK_STATE_OFF |
3 |
Task is turned off (no ESTOP) |
|
EMC_TASK_STATE_ON |
4 |
Task is turned on. |
EmcTimeUnitsType
Types for EMC time units.
|
Name |
Number |
Description |
|
TIME_UNITS_MINUTE |
1 |
Minutes. |
|
TIME_UNITS_SECOND |
2 |
Seconds. |
EmcTrajectoryModeType
Types for trajectory motion control.
|
Name |
Number |
Description |
|
EMC_TRAJ_MODE_FREE |
1 |
Independent axis motion. |
|
EMC_TRAJ_MODE_COORD |
2 |
Coordinated axis motion. |
|
EMC_TRAJ_MODE_TELEOP |
3 |
Velocity based world coordinates motion. |
task.proto
TaskPlanBlockDelete
|
Field |
Type |
Label |
Description |
|
state |
required |
TaskPlanOpen
|
Field |
Type |
Label |
Description |
|
filename |
required |
TaskPlanOptionalStop
|
Field |
Type |
Label |
Description |
|
state |
required |
TaskPlanReply
|
Field |
Type |
Label |
Description |
|
cmd |
required |
||
|
errormsg |
optional |
TaskReply
|
Field |
Type |
Label |
Description |
|
ticket |
required |
TicketUpdate
|
Field |
Type |
Label |
Description |
|
cticket |
required |
||
|
status |
required |
||
|
text |
optional |
test.proto
Test1
|
Field |
Type |
Label |
Description |
|
op |
required |
||
|
end |
required |
||
|
center |
optional |
||
|
normal |
optional |
||
|
turn |
optional |
Test2
|
Field |
Type |
Label |
Description |
Test3
|
Field |
Type |
Label |
Description |
TestOpType
|
Name |
Number |
Description |
|
LINE |
10 |
|
|
CIRCLE |
20 |
types.proto
CanonDirection
|
Name |
Number |
Description |
|
_CANON_STOPPED |
1 |
|
|
_CANON_CLOCKWISE |
2 |
|
|
_CANON_COUNTERCLOCKWISE |
3 |
ContainerType
|
Name |
Number |
Description |
|
MT_RTMESSAGE |
2 |
|
|
MT_MOTCMD |
3 |
|
|
MT_MOTSTATUS |
4 |
|
|
MT_LEGACY_MOTCMD |
5 |
|
|
MT_LEGACY_MOTSTATUS |
6 |
|
|
MT_WOU |
7 |
|
|
MT_HALUPDATE |
8 |
|
|
MT_RTAPI_MESSAGE |
9 |
|
|
MT_LOG_MESSAGE |
10 |
|
|
MT_PREVIEW |
11 |
|
|
MT_PROGRESS |
12 |
|
|
MT_INTERP_STAT |
13 |
|
|
MT_SYSLOG |
18 |
|
|
MT_LEGACY_NML |
19 |
|
|
MT_LEGACY_MOTCONFIG |
20 |
|
|
MT_STP_UPDATE_FULL |
26 |
|
|
MT_STP_UPDATE |
28 |
|
|
MT_STP_NOGROUP |
27 |
|
|
MT_SHUTDOWN |
45 |
|
|
MT_CONFIRM_SHUTDOWN |
50 |
|
|
MT_RTMESSAGE0 |
30 |
|
|
MT_RTMESSAGE1 |
31 |
|
|
MT_RTMESSAGE2 |
32 |
|
|
MT_RTMESSAGE3 |
33 |
|
|
MT_RTMESSAGE4 |
34 |
|
|
MT_ASCII |
100 |
|
|
MT_UNICODE |
101 |
|
|
MT_GCODE |
102 |
|
|
MT_PYTHON |
103 |
|
|
MT_PICKLE |
104 |
|
|
MT_TCL |
105 |
|
|
MT_XML |
106 |
|
|
MT_JSON |
107 |
|
|
MT_JPEG |
108 |
|
|
MT_PNG |
109 |
|
|
MT_TIFF |
110 |
|
|
MT_POSTSCRIPT |
111 |
|
|
MT_SVG |
112 |
|
|
MT_ZMQ_SUBSCRIBE |
150 |
|
|
MT_ZMQ_UNSUBSCRIBE |
151 |
|
|
MT_PING |
210 |
|
|
MT_PING_ACKNOWLEDGE |
215 |
|
|
MT_REJECT |
220 |
|
|
MT_DONE |
240 |
|
|
MT_SERVICE_REQUEST |
250 |
|
|
MT_SERVICE_ANNOUNCEMENT |
251 |
|
|
MT_SERVICE_PROBE |
252 |
|
|
MT_MESSAGEBUS_NO_DESTINATION |
255 |
|
|
MT_HALRCOMP_BIND |
256 |
|
|
MT_HALRCOMP_BIND_CONFIRM |
257 |
|
|
MT_HALRCOMP_BIND_REJECT |
258 |
|
|
MT_HALRCOMP_SET |
259 |
|
|
MT_HALRCOMP_SET_REJECT |
260 |
|
|
MT_HALRCOMP_ACK |
263 |
|
|
MT_HALRCOMMAND_SET |
265 |
|
|
MT_HALRCOMMAND_SET_REJECT |
266 |
|
|
MT_HALRCOMMAND_GET |
267 |
|
|
MT_HALRCOMMAND_GET_REJECT |
268 |
|
|
MT_HALRCOMMAND_CREATE |
269 |
|
|
MT_HALRCOMMAND_CREATE_REJECT |
270 |
|
|
MT_HALRCOMMAND_DELETE |
271 |
|
|
MT_HALRCOMMAND_DELETE_REJECT |
272 |
|
|
MT_HALRCOMMAND_ACK |
273 |
|
|
MT_HALRCOMMAND_ERROR |
274 |
|
|
MT_HALRCOMMAND_DESCRIBE |
276 |
|
|
MT_HALRCOMMAND_DESCRIPTION |
277 |
|
|
MT_HALRCOMP_FULL_UPDATE |
288 |
|
|
MT_HALRCOMP_INCREMENTAL_UPDATE |
289 |
|
|
MT_HALRCOMP_ERROR |
290 |
|
|
MT_HALGROUP_BIND |
294 |
|
|
MT_HALGROUP_BIND_CONFIRM |
295 |
|
|
MT_HALGROUP_BIND_REJECT |
296 |
|
|
MT_HALGROUP_FULL_UPDATE |
297 |
|
|
MT_HALGROUP_INCREMENTAL_UPDATE |
298 |
|
|
MT_HALGROUP_ERROR |
299 |
|
|
MT_RTAPI_APP_EXIT |
300 |
|
|
MT_RTAPI_APP_PING |
301 |
|
|
MT_RTAPI_APP_LOADRT |
302 |
|
|
MT_RTAPI_APP_LOG |
303 |
|
|
MT_RTAPI_APP_UNLOADRT |
305 |
|
|
MT_RTAPI_APP_NEWINST |
306 |
|
|
MT_RTAPI_APP_NEWTHREAD |
307 |
|
|
MT_RTAPI_APP_DELTHREAD |
308 |
|
|
MT_RTAPI_APP_CALLFUNC |
309 |
|
|
MT_RTAPI_APP_REPLY |
310 |
|
|
MT_RTAPI_APP_DELINST |
311 |
|
|
MT_LIST_APPLICATIONS |
350 |
|
|
MT_DESCRIBE_APPLICATION |
351 |
|
|
MT_RETRIEVE_APPLICATION |
352 |
|
|
MT_APPLICATION_DETAIL |
353 |
|
|
MT_ERROR |
360 |
|
|
MT_FULL_UPDATE |
370 |
|
|
MT_INCREMENTAL_UPDATE |
371 |
|
|
MT_TASK_REPLY |
400 |
|
|
MT_TICKET_UPDATE |
401 |
|
|
MT_CREDIT_UPDATE |
450 |
|
|
MT_EMCMOT_LOWER |
1000 |
|
|
MT_EMCMOT_UPPER |
1100 |
|
|
MT_EMCMOT_ABORT |
1001 |
|
|
MT_EMCMOT_AXIS_ABORT |
1002 |
|
|
MT_EMCMOT_ENABLE |
1003 |
|
|
MT_EMCMOT_DISABLE |
1004 |
|
|
MT_EMCMOT_ENABLE_AMPLIFIER |
1005 |
|
|
MT_EMCMOT_DISABLE_AMPLIFIER |
1006 |
|
|
MT_EMCMOT_ENABLE_WATCHDOG |
1007 |
|
|
MT_EMCMOT_DISABLE_WATCHDOG |
1008 |
|
|
MT_EMCMOT_ACTIVATE_JOINT |
1009 |
|
|
MT_EMCMOT_DEACTIVATE_JOINT |
1010 |
|
|
MT_EMCMOT_PAUSE |
1011 |
|
|
MT_EMCMOT_RESUME |
1012 |
|
|
MT_EMCMOT_STEP |
1013 |
|
|
MT_EMCMOT_FREE |
1014 |
|
|
MT_EMCMOT_COORD |
1015 |
|
|
MT_EMCMOT_TELEOP |
1016 |
|
|
MT_EMCMOT_SPINDLE_SCALE |
1017 |
|
|
MT_EMCMOT_SS_ENABLE |
1018 |
|
|
MT_EMCMOT_FEED_SCALE |
1019 |
|
|
MT_EMCMOT_FS_ENABLE |
1020 |
|
|
MT_EMCMOT_FH_ENABLE |
1021 |
|
|
MT_EMCMOT_AF_ENABLE |
1022 |
|
|
MT_EMCMOT_OVERRIDE_LIMITS |
1023 |
|
|
MT_EMCMOT_HOME |
1024 |
|
|
MT_EMCMOT_UNHOME |
1025 |
|
|
MT_EMCMOT_JOG_CONT |
1026 |
|
|
MT_EMCMOT_JOG_INCR |
1027 |
|
|
MT_EMCMOT_JOG_ABS |
1028 |
|
|
MT_EMCMOT_SET_LINE |
1029 |
|
|
MT_EMCMOT_SET_CIRCLE |
1030 |
|
|
MT_EMCMOT_SET_TELEOP_VECTOR |
1031 |
|
|
MT_EMCMOT_CLEAR_PROBE_FLAGS |
1032 |
|
|
MT_EMCMOT_PROBE |
1033 |
|
|
MT_EMCMOT_RIGID_TAP |
1034 |
|
|
MT_EMCMOT_SET_POSITION_LIMITS |
1035 |
|
|
MT_EMCMOT_SET_BACKLASH |
1036 |
|
|
MT_EMCMOT_SET_MIN_FERROR |
1037 |
|
|
MT_EMCMOT_SET_MAX_FERROR |
1038 |
|
|
MT_EMCMOT_SET_VEL |
1039 |
|
|
MT_EMCMOT_SET_VEL_LIMIT |
1040 |
|
|
MT_EMCMOT_SET_JOINT_VEL_LIMIT |
1041 |
|
|
MT_EMCMOT_SET_JOINT_ACC_LIMIT |
1042 |
|
|
MT_EMCMOT_SET_ACC |
1043 |
|
|
MT_EMCMOT_SET_TERM_COND |
1044 |
|
|
MT_EMCMOT_SET_NUM_AXES |
1045 |
|
|
MT_EMCMOT_SET_WORLD_HOME |
1046 |
|
|
MT_EMCMOT_SET_HOMING_PARAMS |
1047 |
|
|
MT_EMCMOT_SET_DEBUG |
1048 |
|
|
MT_EMCMOT_SET_DOUT |
1049 |
|
|
MT_EMCMOT_SET_AOUT |
1050 |
|
|
MT_EMCMOT_SET_SPINDLESYNC |
1051 |
|
|
MT_EMCMOT_SPINDLE_ON |
1052 |
|
|
MT_EMCMOT_SPINDLE_OFF |
1053 |
|
|
MT_EMCMOT_SPINDLE_INCREASE |
1054 |
|
|
MT_EMCMOT_SPINDLE_DECREASE |
1055 |
|
|
MT_EMCMOT_SPINDLE_BRAKE_ENGAGE |
1056 |
|
|
MT_EMCMOT_SPINDLE_BRAKE_RELEASE |
1057 |
|
|
MT_EMCMOT_SET_MOTOR_OFFSET |
1058 |
|
|
MT_EMCMOT_SET_JOINT_COMP |
1059 |
|
|
MT_EMCMOT_SET_OFFSET |
1060 |
|
|
MT_EMCMOT_COMMAND_OK |
1061 |
|
|
MT_EMCMOT_COMMAND_UNKNOWN_COMMAND |
1062 |
|
|
MT_EMCMOT_COMMAND_INVALID_COMMAND |
1063 |
|
|
MT_EMCMOT_COMMAND_INVALID_PARAMS |
1064 |
|
|
MT_EMCMOT_COMMAND_BAD_EXEC |
1065 |
|
|
MT_EMCMOT_MOTION_DISABLED |
1066 |
|
|
MT_EMCMOT_MOTION_FREE |
1067 |
|
|
MT_EMCMOT_MOTION_TELEOP |
1068 |
|
|
MT_EMCMOT_MOTION_COORD |
1069 |
|
|
MT_EMCMOT_JOINT_FLAG |
1070 |
|
|
MT_EMCMOT_MOTION_FLAG |
1071 |
|
|
MT_PRU_FIRMWARE |
2048 |
|
|
MT_MESA_5I20_FIRMWARE |
3000 |
|
|
MT_BLOB |
4000 |
|
|
MT_TEST1 |
5001 |
|
|
MT_TEST2 |
5002 |
|
|
MT_TEST3 |
5003 |
|
|
MT_EMC_NML_LOWER |
10000 |
|
|
MT_EMC_NML_UPPER |
13000 |
|
|
MT_EMC_OPERATOR_ERROR |
10011 |
|
|
MT_EMC_OPERATOR_TEXT |
10012 |
|
|
MT_EMC_OPERATOR_DISPLAY |
10013 |
|
|
MT_EMC_NULL |
10021 |
|
|
MT_EMC_SET_DEBUG |
10022 |
|
|
MT_EMC_SYSTEM_CMD |
10030 |
|
|
MT_EMC_AXIS_SET_AXIS |
10101 |
|
|
MT_EMC_AXIS_SET_UNITS |
10102 |
|
|
MT_EMC_AXIS_SET_MIN_POSITION_LIMIT |
10107 |
|
|
MT_EMC_AXIS_SET_MAX_POSITION_LIMIT |
10108 |
|
|
MT_EMC_TOOL_START_CHANGE |
1110 |
|
|
MT_EMC_EXEC_PLUGIN_CALL |
1112 |
|
|
MT_EMC_IO_PLUGIN_CALL |
1113 |
|
|
MT_EMC_AXIS_SET_FERROR |
10111 |
|
|
MT_EMC_AXIS_SET_HOMING_PARAMS |
10112 |
|
|
MT_EMC_AXIS_SET_MIN_FERROR |
10115 |
|
|
MT_EMC_AXIS_SET_MAX_VELOCITY |
10116 |
|
|
MT_EMC_AXIS_INIT |
10118 |
|
|
MT_EMC_AXIS_HALT |
10119 |
|
|
MT_EMC_AXIS_ABORT |
10120 |
|
|
MT_EMC_AXIS_ENABLE |
10121 |
|
|
MT_EMC_AXIS_DISABLE |
10122 |
|
|
MT_EMC_AXIS_HOME |
10123 |
|
|
MT_EMC_AXIS_UNHOME |
10135 |
|
|
MT_EMC_AXIS_JOG |
10124 |
|
|
MT_EMC_AXIS_INCR_JOG |
10125 |
|
|
MT_EMC_AXIS_ABS_JOG |
10126 |
|
|
MT_EMC_AXIS_ACTIVATE |
10127 |
|
|
MT_EMC_AXIS_DEACTIVATE |
10128 |
|
|
MT_EMC_AXIS_OVERRIDE_LIMITS |
10129 |
|
|
MT_EMC_AXIS_LOAD_COMP |
10131 |
|
|
MT_EMC_AXIS_SET_BACKLASH |
10134 |
|
|
MT_EMC_AXIS_STAT |
10199 |
|
|
MT_EMC_TRAJ_SET_AXES |
10201 |
|
|
MT_EMC_TRAJ_SET_UNITS |
10202 |
|
|
MT_EMC_TRAJ_SET_CYCLE_TIME |
10203 |
|
|
MT_EMC_TRAJ_SET_MODE |
10204 |
|
|
MT_EMC_TRAJ_SET_VELOCITY |
10205 |
|
|
MT_EMC_TRAJ_SET_ACCELERATION |
10206 |
|
|
MT_EMC_TRAJ_SET_MAX_VELOCITY |
10207 |
|
|
MT_EMC_TRAJ_SET_MAX_ACCELERATION |
10208 |
|
|
MT_EMC_TRAJ_SET_SCALE |
10209 |
|
|
MT_EMC_TRAJ_SET_MOTION_ID |
10210 |
|
|
MT_EMC_TRAJ_INIT |
10211 |
|
|
MT_EMC_TRAJ_HALT |
10212 |
|
|
MT_EMC_TRAJ_ENABLE |
10213 |
|
|
MT_EMC_TRAJ_DISABLE |
10214 |
|
|
MT_EMC_TRAJ_ABORT |
10215 |
|
|
MT_EMC_TRAJ_PAUSE |
10216 |
|
|
MT_EMC_TRAJ_STEP |
10217 |
|
|
MT_EMC_TRAJ_RESUME |
10218 |
|
|
MT_EMC_TRAJ_DELAY |
10219 |
|
|
MT_EMC_TRAJ_LINEAR_MOVE |
10220 |
|
|
MT_EMC_TRAJ_CIRCULAR_MOVE |
10221 |
|
|
MT_EMC_TRAJ_SET_TERM_COND |
10222 |
|
|
MT_EMC_TRAJ_SET_OFFSET |
10223 |
|
|
MT_EMC_TRAJ_SET_G5X |
10224 |
|
|
MT_EMC_TRAJ_SET_HOME |
10225 |
|
|
MT_EMC_TRAJ_SET_ROTATION |
10226 |
|
|
MT_EMC_TRAJ_SET_G92 |
10227 |
|
|
MT_EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG |
10228 |
|
|
MT_EMC_TRAJ_PROBE |
10229 |
|
|
MT_EMC_TRAJ_SET_TELEOP_ENABLE |
10230 |
|
|
MT_EMC_TRAJ_SET_TELEOP_VECTOR |
10231 |
|
|
MT_EMC_TRAJ_SET_SPINDLESYNC |
10232 |
|
|
MT_EMC_TRAJ_SET_SPINDLE_SCALE |
10233 |
|
|
MT_EMC_TRAJ_SET_FO_ENABLE |
10234 |
|
|
MT_EMC_TRAJ_SET_SO_ENABLE |
10235 |
|
|
MT_EMC_TRAJ_SET_FH_ENABLE |
10236 |
|
|
MT_EMC_TRAJ_RIGID_TAP |
10237 |
|
|
MT_EMC_TRAJ_STAT |
10299 |
|
|
MT_EMC_MOTION_INIT |
10301 |
|
|
MT_EMC_MOTION_HALT |
10302 |
|
|
MT_EMC_MOTION_ABORT |
10303 |
|
|
MT_EMC_MOTION_SET_AOUT |
10304 |
|
|
MT_EMC_MOTION_SET_DOUT |
10305 |
|
|
MT_EMC_MOTION_ADAPTIVE |
10306 |
|
|
MT_EMC_SPINDLE_ORIENT |
10317 |
|
|
MT_EMC_SPINDLE_WAIT_ORIENT_COMPLETE |
10318 |
|
|
MT_EMC_MOTION_STAT |
10399 |
|
|
MT_EMC_TASK_INIT |
10501 |
|
|
MT_EMC_TASK_HALT |
10502 |
|
|
MT_EMC_TASK_ABORT |
10503 |
|
|
MT_EMC_TASK_SET_MODE |
10504 |
|
|
MT_EMC_TASK_SET_STATE |
10505 |
|
|
MT_EMC_TASK_PLAN_OPEN |
10506 |
|
|
MT_EMC_TASK_PLAN_RUN |
10507 |
|
|
MT_EMC_TASK_PLAN_READ |
10508 |
|
|
MT_EMC_TASK_PLAN_EXECUTE |
10509 |
|
|
MT_EMC_TASK_PLAN_PAUSE |
10510 |
|
|
MT_EMC_TASK_PLAN_STEP |
10511 |
|
|
MT_EMC_TASK_PLAN_RESUME |
10512 |
|
|
MT_EMC_TASK_PLAN_END |
10513 |
|
|
MT_EMC_TASK_PLAN_CLOSE |
10514 |
|
|
MT_EMC_TASK_PLAN_INIT |
10515 |
|
|
MT_EMC_TASK_PLAN_SYNCH |
10516 |
|
|
MT_EMC_TASK_PLAN_SET_OPTIONAL_STOP |
10517 |
|
|
MT_EMC_TASK_PLAN_SET_BLOCK_DELETE |
10518 |
|
|
MT_EMC_TASK_PLAN_OPTIONAL_STOP |
10519 |
|
|
MT_EMC_TASK_PLAN_RESET |
10520 |
|
|
MT_EMC_TASK_PLAN_REPLY |
10530 |
|
|
MT_EMC_TASK_STAT |
10599 |
|
|
MT_EMC_TOOL_INIT |
11101 |
|
|
MT_EMC_TOOL_HALT |
11102 |
|
|
MT_EMC_TOOL_ABORT |
11103 |
|
|
MT_EMC_TOOL_PREPARE |
11104 |
|
|
MT_EMC_TOOL_LOAD |
11105 |
|
|
MT_EMC_TOOL_UNLOAD |
11106 |
|
|
MT_EMC_TOOL_LOAD_TOOL_TABLE |
11107 |
|
|
MT_EMC_TOOL_SET_OFFSET |
11108 |
|
|
MT_EMC_TOOL_SET_NUMBER |
11109 |
|
|
MT_EMC_TOOL_UPDATE_TOOL_TABLE |
11110 |
|
|
MT_EMC_TOOL_STAT |
11199 |
|
|
MT_EMC_AUX_ESTOP_ON |
11206 |
|
|
MT_EMC_AUX_ESTOP_OFF |
11207 |
|
|
MT_EMC_AUX_ESTOP_RESET |
11208 |
|
|
MT_EMC_AUX_INPUT_WAIT |
11209 |
|
|
MT_EMC_AUX_STAT |
11299 |
|
|
MT_EMC_SPINDLE_ON |
11304 |
|
|
MT_EMC_SPINDLE_OFF |
11305 |
|
|
MT_EMC_SPINDLE_INCREASE |
11309 |
|
|
MT_EMC_SPINDLE_DECREASE |
11310 |
|
|
MT_EMC_SPINDLE_CONSTANT |
11311 |
|
|
MT_EMC_SPINDLE_BRAKE_RELEASE |
11312 |
|
|
MT_EMC_SPINDLE_BRAKE_ENGAGE |
11313 |
|
|
MT_EMC_SPINDLE_SPEED |
11316 |
|
|
MT_EMC_SPINDLE_STAT |
11399 |
|
|
MT_EMC_COOLANT_MIST_ON |
11404 |
|
|
MT_EMC_COOLANT_MIST_OFF |
11405 |
|
|
MT_EMC_COOLANT_FLOOD_ON |
11406 |
|
|
MT_EMC_COOLANT_FLOOD_OFF |
11407 |
|
|
MT_EMC_COOLANT_STAT |
11499 |
|
|
MT_EMC_LUBE_ON |
11504 |
|
|
MT_EMC_LUBE_OFF |
11505 |
|
|
MT_EMC_LUBE_STAT |
11599 |
|
|
MT_EMC_IO_INIT |
11601 |
|
|
MT_EMC_IO_HALT |
11602 |
|
|
MT_EMC_IO_ABORT |
11603 |
|
|
MT_EMC_IO_SET_CYCLE_TIME |
11604 |
|
|
MT_EMC_IO_STAT |
11699 |
|
|
MT_EMC_INIT |
11901 |
|
|
MT_EMC_HALT |
11902 |
|
|
MT_EMC_ABORT |
11903 |
|
|
MT_EMC_STAT |
11999 |
|
|
MT_EMCSTAT_FULL_UPDATE |
12500 |
|
|
MT_EMCSTAT_INCREMENTAL_UPDATE |
12501 |
|
|
MT_EMC_NML_ERROR |
12510 |
|
|
MT_EMC_NML_TEXT |
12511 |
|
|
MT_EMC_NML_DISPLAY |
12512 |
|
|
MT_EMCCMD_EXECUTED |
12520 |
|
|
MT_EMCCMD_COMPLETED |
12521 |
|
|
MT_LAUNCHER_FULL_UPDATE |
12600 |
|
|
MT_LAUNCHER_INCREMENTAL_UPDATE |
12601 |
|
|
MT_LAUNCHER_ERROR |
12602 |
|
|
MT_LAUNCHER_START |
12610 |
|
|
MT_LAUNCHER_TERMINATE |
12611 |
|
|
MT_LAUNCHER_KILL |
12612 |
|
|
MT_LAUNCHER_WRITE_STDIN |
12613 |
|
|
MT_LAUNCHER_CALL |
12614 |
|
|
MT_LAUNCHER_SHUTDOWN |
12615 |
HalParamDirection
|
Name |
Number |
Description |
|
HAL_RO |
64 |
|
|
HAL_RW |
192 |
HalPinDirection
|
Name |
Number |
Description |
|
HAL_IN |
16 |
|
|
HAL_OUT |
32 |
|
|
HAL_IO |
48 |
InputType
|
Name |
Number |
Description |
|
_ANALOG_INPUT |
0 |
|
|
_DIGITAL_INPUT |
1 |
InterpreterStateType
|
Name |
Number |
Description |
|
INTERP_IDLE |
1 |
|
|
INTERP_RUNNING |
2 |
|
|
INTERP_SYNC_WAIT |
3 |
|
|
INTERP_PAUSED |
4 |
|
|
INTERP_QUEUE_WAIT |
5 |
|
|
INTERP_ABORT_WAIT |
6 |
|
|
INTERP_STATE_UNSET |
99 |
MsgLevel
|
Name |
Number |
Description |
|
RTAPI_MSG_NONE |
0 |
|
|
RTAPI_MSG_ERR |
1 |
|
|
RTAPI_MSG_WARN |
2 |
|
|
RTAPI_MSG_INFO |
3 |
|
|
RTAPI_MSG_DBG |
4 |
|
|
RTAPI_MSG_ALL |
5 |
MsgOrigin
|
Name |
Number |
Description |
|
MSG_KERNEL |
0 |
|
|
MSG_RTUSER |
1 |
|
|
MSG_ULAPI |
2 |
ObjectType
|
Name |
Number |
Description |
|
HAL_PIN |
1 |
|
|
HAL_SIGNAL |
2 |
|
|
HAL_PARAM |
3 |
|
|
HAL_THREAD |
4 |
|
|
HAL_FUNCT |
5 |
|
|
HAL_ALIAS |
6 |
|
|
HAL_COMP_RT |
7 |
|
|
HAL_COMP_USER |
8 |
|
|
HAL_COMP_REMOTE |
9 |
|
|
HAL_RING |
10 |
|
|
HAL_GROUP |
11 |
|
|
HAL_MEMBER_SIGNAL |
12 |
|
|
HAL_MEMBER_GROUP |
13 |
|
|
HAL_MEMBER_PIN |
14 |
|
|
HAL_MEMBER_PARAM |
15 |
|
|
RING_RECORD |
16 |
|
|
RING_STREAM |
17 |
|
|
HAL_VTABLE |
18 |
|
|
HAL_INST |
19 |
|
|
RING_MULTIFRAME |
20 |
|
|
VALUE |
120 |
|
|
INSTANCE |
121 |
|
|
ORIGINATOR |
122 |
|
|
NAMED_VALUE |
125 |
|
|
OT_ERROR |
130 |
OriginDetail
|
Name |
Number |
Description |
|
UNIX_SIGNAL |
10 |
|
|
INSTANCE_SHUTDOWN |
20 |
|
|
ZMQ_SOCKET |
70 |
|
|
NML_LAYER |
80 |
|
|
RCS_LAYER |
90 |
|
|
CMS_LAYER |
100 |
|
|
IP_LAYER |
110 |
|
|
TCP_LAYER |
120 |
|
|
PGM_LAYER |
130 |
OriginIndex
|
Name |
Number |
Description |
|
ORIGIN_UNKNOWN |
0 |
|
|
ORIGIN_G54 |
1 |
|
|
ORIGIN_G55 |
2 |
|
|
ORIGIN_G56 |
3 |
|
|
ORIGIN_G57 |
4 |
|
|
ORIGIN_G58 |
5 |
|
|
ORIGIN_G59 |
6 |
|
|
ORIGIN_G59_1 |
7 |
|
|
ORIGIN_G59_2 |
8 |
|
|
ORIGIN_G59_3 |
9 |
OriginType
|
Name |
Number |
Description |
|
PROCESS |
10 |
|
|
USER_THREAD |
20 |
|
|
RT_THREAD |
30 |
|
|
COMPONENT |
40 |
|
|
THREAD_FUNCTION |
50 |
|
|
COMPONENT_INIT |
60 |
|
|
COMPONENT_EXIT |
70 |
|
|
GROUP |
80 |
|
|
PIN |
90 |
|
|
SIGNAL |
100 |
RCS_STATUS
|
Name |
Number |
Description |
|
UNINITIALIZED_STATUS |
-1 |
|
|
RCS_DONE |
1 |
|
|
RCS_EXEC |
2 |
|
|
RCS_ERROR |
3 |
|
|
RCS_RECEIVED |
4 |
ReplyType
|
Name |
Number |
Description |
|
NONE |
0 |
|
|
ON_RECEPTION |
1 |
|
|
ON_QUEUED |
2 |
|
|
ON_COMPLETION |
4 |
|
|
ALL_STEPS |
255 |
ServiceAPI
|
Name |
Number |
Description |
|
SA_ZMQ_PROTOBUF |
1 |
|
|
SA_WS_JSON |
2 |
ServiceType
|
Name |
Number |
Description |
|
ST_LOGGING |
1 |
|
|
ST_CONFIG |
2 |
|
|
ST_REDIS |
3 |
|
|
ST_HTTP |
4 |
|
|
ST_HTTPS |
5 |
|
|
ST_WEBSOCKET |
6 |
|
|
ST_WEBSOCKETS |
7 |
|
|
ST_RTAPI_COMMAND |
8 |
|
|
ST_STP_HALGROUP |
9 |
|
|
ST_STP_HALRCOMP |
10 |
|
|
ST_STP_INTERP |
11 |
|
|
ST_STP_TASK |
12 |
|
|
ST_HAL_RCOMMAND |
13 |
|
|
ST_TASK_COMMAND |
14 |
|
|
ST_INTERP_COMMAND |
15 |
|
|
ST_MESSAGEBUS_COMMAND |
16 |
|
|
ST_MESSAGEBUS_RESPONSE |
17 |
Severity
|
Name |
Number |
Description |
|
S_INFORMATIONAL |
1 |
|
|
S_WARNING |
2 |
|
|
S_FAIL |
4 |
StatusType
|
Name |
Number |
Description |
|
ENQUEUED |
1 |
|
|
PROCESSING |
2 |
|
|
COMPLETE |
3 |
|
|
FAILED |
4 |
TermConditionType
|
Name |
Number |
Description |
|
_EMC_TRAJ_TERM_COND_STOP |
1 |
|
|
_EMC_TRAJ_TERM_COND_BLEND |
2 |
ValueType
|
Name |
Number |
Description |
|
HAL_BIT |
1 |
|
|
HAL_FLOAT |
2 |
|
|
HAL_S32 |
3 |
|
|
HAL_U32 |
4 |
|
|
STRING |
5 |
|
|
BYTES |
6 |
|
|
INT32 |
20 |
|
|
UINT32 |
30 |
|
|
INT64 |
40 |
|
|
UINT64 |
50 |
|
|
DOUBLE |
60 |
|
|
BOOL |
80 |
|
|
CARTESIAN |
100 |
|
|
LEGACY_CARTESIAN |
110 |
|
|
POSE |
120 |
|
|
LEGACY_POSE |
130 |
WaitType
|
Name |
Number |
Description |
|
IMMEDIATE |
0 |
|
|
RISE |
1 |
|
|
FALL |
2 |
|
|
BE_HIGH |
3 |
|
|
BE_LOW |
4 |
value.proto
Value
|
Field |
Type |
Label |
Description |
|
type |
required |
||
|
halbit |
optional |
||
|
halfloat |
optional |
||
|
hals32 |
optional |
||
|
halu32 |
optional |
||
|
v_bytes |
optional |
||
|
v_int32 |
optional |
||
|
v_int64 |
optional |
||
|
v_uint32 |
optional |
||
|
v_uint64 |
optional |
||
|
v_double |
optional |
||
|
v_string |
optional |
||
|
v_bool |
optional |
||
|
carte |
optional |
||
|
pose |
optional |
Scalar Value Types
|
.proto Type |
Notes |
C++ Type |
Java Type |
Python Type |
|
double |
double |
float |
||
|
float |
float |
float |
||
|
Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint32 instead. |
int32 |
int |
int |
|
|
Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint64 instead. |
int64 |
long |
int/long |
|
|
Uses variable-length encoding. |
uint32 |
int |
int/long |
|
|
Uses variable-length encoding. |
uint64 |
long |
int/long |
|
|
Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int32s. |
int32 |
int |
int |
|
|
Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int64s. |
int64 |
long |
int/long |
|
|
Always four bytes. More efficient than uint32 if values are often greater than 2^28. |
uint32 |
int |
int |
|
|
Always eight bytes. More efficient than uint64 if values are often greater than 2^56. |
uint64 |
long |
int/long |
|
|
Always four bytes. |
int32 |
int |
int |
|
|
Always eight bytes. |
int64 |
long |
int/long |
|
|
bool |
boolean |
boolean |
||
|
A string must always contain UTF-8 encoded or 7-bit ASCII text. |
string |
String |
str/unicode |
|
|
May contain any arbitrary sequence of bytes. |
string |
ByteString |
str |