Merge pull request #81 from machinekoder/machinekit-updates

Updates from upstream Machinekit

.gitignore

@@ -1,6 +1,6 @@
 build
-node_modules
-objects
-generated
-machinetalk
-doc_base
+/node_modules
+/objects
+/generated
+/machinetalk
+/doc_base

src/README.msgid

@@ -21,11 +21,12 @@ msgid's have to be unique across all messages and all proto files. This must be
 
 The absolute value of the msgid option is irrelevant as it is only used as a key; uniqueness counts. msgid's need not be sequential.
 
-It is helpful to use message id' less than say a few thousand because
-it will be transported in a limited-size field in the multiframe ring
-(a uint32_t), and there should be bits available for other purposes
-like specifying the encoding (protobuf, or a deserialized nanopb C
-struct).
+Any msgid value must be between 1 and msgidType.MSGID_MAX. This is
+checked at startup time in libmkproto and will result in an assert if
+violated. Values above MSGID_MAX to 4095 are reserved message ID
+values, see enum msgidType in types.proto .The reason is the
+limited-size field (12 bits) in the multiframe ring flag (see
+mfields_t).
 
 Convention for adding msgid's:
 ------------------------------
@@ -38,7 +39,7 @@ e.g. canon.proto:
 config.proto:
 	// msgid base: 200
 
-ans so forth.
+and so forth.
 
 To tag a message with a msgid, proceed like so (using canon.proto as example):
 
@@ -56,4 +57,26 @@ message Emc_Traj_Set_G5x {
     required OriginIndex   g5x_index = 20;
 }
 
+Accessing the msgid if the message name is known:
+-------------------------------------------------
 
+Google Protobuf, Python bindings:
+
+def msgid(m):
+    return m.DESCRIPTOR.GetOptions().Extensions[nanopb_msgopt].msgid
+
+
+Google Protobuf, C++ bindings:
+
+uint32 msgid(const ::google::protobuf::Message  &m)
+{
+  const ::google::protobuf::MessageOptions& options = m.GetDescriptor()->options();
+  return options.GetExtension(nanopb_msgopt).msgid();
+}
+
+Nanopb:
+
+use the <messagename>_msgid symbol which defines an integer constant
+
+NB: due to the use of 'package machinetalk;', for example, the nanopb symbol for
+message 'Container' is 'pb_Container_msgid'

src/machinetalk/protobuf/canon.proto

@@ -1,3 +1,4 @@
+syntax = "proto2";
 import "machinetalk/protobuf/nanopb.proto";
 
 // see README.msgid

src/machinetalk/protobuf/config.proto

@@ -1,3 +1,4 @@
+syntax = "proto2";
 import "machinetalk/protobuf/nanopb.proto";
 
 // see README.msgid

src/machinetalk/protobuf/emcclass.proto

@@ -1,3 +1,4 @@
+syntax = "proto2";
 import "machinetalk/protobuf/nanopb.proto";
 
 // see README.msgid

src/machinetalk/protobuf/firmware.proto

@@ -1,3 +1,4 @@
+syntax = "proto2";
 /** 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.

src/machinetalk/protobuf/jplan.proto

@@ -0,0 +1,23 @@
+syntax = "proto2";
+package machinetalk;
+
+// see README.msgid
+// msgid base: 350
+
+import "machinetalk/protobuf/nanopb.proto";
+
+
+message JplanJoint {
+    option (nanopb_msgopt).msgid = 352;
+
+    optional double pos_cmd = 1;
+    optional double max_vel = 2;
+    optional double max_acc = 3;
+    optional bool   enable  = 4;  // enable/disable this joint
+};
+
+message JplanCommand {
+    option (nanopb_msgopt).msgid = 354;
+
+    repeated JplanJoint joint =  2  [(nanopb).max_count = 10];;
+};

src/machinetalk/protobuf/log.proto

@@ -1,3 +1,4 @@
+syntax = "proto2";
 package machinetalk;
 // see README.msgid
 // msgid base: 400

src/machinetalk/protobuf/message.proto

@@ -1,3 +1,4 @@
+syntax = "proto2";
 // use a self-describing format as suggested in protobuf docs
 // and on the mailing list
 

src/machinetalk/protobuf/motcmds.proto

@@ -1,3 +1,4 @@
+syntax = "proto2";
 package machinetalk;
 
 // see README.msgid

src/machinetalk/protobuf/object.proto

@@ -1,3 +1,4 @@
+syntax = "proto2";
 // everything we know about objects, including HAL objects
 
 // see README.msgid
@@ -137,6 +138,8 @@ message Function {
     optional fixed32     runtime    = 5;
     optional fixed32     maxtime    = 6;
     optional bool        reentrant  = 7;
+    optional HalFunctType type      = 8;
+    optional bool        maxtime_increased = 9;
 }
 
 message Thread {
@@ -174,6 +177,7 @@ message Component {
 
     repeated Pin         pin            = 16;
     repeated Param       param          = 17;
+    repeated Function    funct          = 19;
 
     // do not create the component on MT_HALRCOMP_BIND if the component does not exist
     optional bool        no_create      = 18;
@@ -192,10 +196,16 @@ message Ring {
     optional bool        rtapi_shm     = 7;
     optional sfixed32      reader      = 8;
     optional sfixed32      writer      = 9;
-    optional sfixed32      size        = 10;
+    optional sfixed32      total_size  = 10;
     optional sfixed32      scratchpad  = 11;
+    optional sfixed32    ring_shmkey   = 12;
+    optional fixed32     encodings     = 13;
+    // optional socketType  haltalk_zeromq_stype = 14;
+    // optional bool        haltalk_adopt = 15;
+    // optional bool        haltalk_announce = 16;
+    // optional bool        haltalk_writes = 17;
+    // optional fixed32     paired_handle  = 18;
 }
-
 message Member {
 
     option (nanopb_msgopt).msgid = 711;
@@ -249,13 +259,13 @@ message Vtable {
     option (nanopb_msgopt).msgid = 714;
 
     optional string       name          = 1; //  [(nanopb).max_size = 41];
-    optional fixed32      context       = 2;
-    optional sfixed32     comp_id       = 4;
-    optional sfixed32     instance_id   = 5;
-    optional fixed32      handle        = 6;
-    optional sfixed32     refcount      = 7;
-    optional sfixed32     version       = 8;
-    optional fixed64      vtable        = 9;
+    optional fixed32      handle        = 2;
+    optional sfixed32     owner_id      = 3;
+
+    optional fixed32      context       = 5;
+    optional sfixed32     refcount      = 6;
+    optional sfixed32     version       = 7;
+    optional fixed64      vtable        = 8;
 }
 
 message Inst {
@@ -267,5 +277,9 @@ message Inst {
     optional fixed32      inst_id       = 3;
     optional fixed32      inst_size     = 4;
     optional fixed64      vtable        = 5;
+
+    repeated Pin         pin            = 16;
+    repeated Param       param          = 17;
+    repeated Function    funct          = 19;
 }
 

src/machinetalk/protobuf/preview.proto

@@ -1,3 +1,4 @@
+syntax = "proto2";
 package machinetalk;
 
 // see README.msgid

src/machinetalk/protobuf/ros.proto

@@ -0,0 +1,46 @@
+syntax = "proto2";
+package machinetalk;  // this should probably better be ros or pb:ros;
+
+// see README.msgid
+// msgid base: 370
+
+import "machinetalk/protobuf/nanopb.proto";
+
+// http://docs.ros.org/jade/api/std_msgs/html/msg/Header.html
+message Time {
+    option (nanopb_msgopt).msgid = 371;
+
+    optional uint32 secs = 1;
+    optional uint32 nsecs = 2;
+};
+
+message Header {
+    option (nanopb_msgopt).msgid = 372;
+
+    optional uint32 seq = 1;
+    optional Time stamp = 2;
+    optional string  frame_id = 3 [(nanopb).max_size = 20];
+}
+
+// http://docs.ros.org/indigo/api/trajectory_msgs/html/msg/JointTrajectoryPoint.html
+message JointTrajectoryPoint {
+    option (nanopb_msgopt).msgid = 373;
+
+    repeated double positions = 1         [(nanopb).max_count = 10];
+    repeated double velocities = 2        [(nanopb).max_count = 10];
+    repeated double accelerations = 3     [(nanopb).max_count = 10];
+    repeated double effort = 4            [(nanopb).max_count = 10];
+    optional double time_from_start = 5;
+
+    optional double duration = 7;         // of this segment, secs
+    optional uint32 serial = 8;           // segment being worked on
+};
+
+// http://docs.ros.org/jade/api/trajectory_msgs/html/msg/JointTrajectory.html
+message JointTrajectory {
+    option (nanopb_msgopt).msgid = 374;
+
+    optional Header header = 1;
+    repeated string joint_names = 2;
+    repeated JointTrajectoryPoint points = 3;
+};

src/machinetalk/protobuf/rtapi_message.proto

@@ -1,3 +1,4 @@
+syntax = "proto2";
 import "machinetalk/protobuf/nanopb.proto";
 import "machinetalk/protobuf/value.proto";
 
@@ -14,7 +15,7 @@ message RTAPI_Message {
     required int32 msglevel = 10; // [default = RTAPI_MSG_DBG];
 
     required string format     = 20 [default = "*** uninitialized ***",
-				    (nanopb).max_size = 100];
+                                     (nanopb).max_size = 100];
 
     // if this list of scalars is non-empty,
     // this implies sprintf(text, <arg>) should be applied

src/machinetalk/protobuf/rtapicommand.proto

@@ -1,3 +1,4 @@
+syntax = "proto2";
 import "machinetalk/protobuf/nanopb.proto";
 // see README.msgid
 // msgid base: 900

src/machinetalk/protobuf/status.proto

@@ -1,3 +1,4 @@
+syntax = "proto2";
 import "machinetalk/protobuf/nanopb.proto";
 import "machinetalk/protobuf/types.proto";
 import "machinetalk/protobuf/preview.proto";
@@ -398,6 +399,7 @@ message EmcStatusMotion {
     optional RCS_STATUS             state                   = 47; /// Current command execution status.
     optional double                 max_velocity            = 48; /// Maximum velocity override.
     optional double                 max_acceleration        = 49; /// TODO remove
+    optional double                 rapidrate               = 50; /// Current rapid override.
 }
 
 /**

src/machinetalk/protobuf/task.proto

@@ -1,3 +1,4 @@
+syntax = "proto2";
 // interpreter protocol messages
 
 

src/machinetalk/protobuf/test.proto

@@ -1,3 +1,4 @@
+syntax = "proto2";
 // use any of the below for testing and experimentation.
 
 import "machinetalk/protobuf/emcclass.proto";