Merge pull request #3809 from BsAtHome/fix_heartbeat

Fix heartbeats from task and motion

Author: snowgoer540

src/emc/motion/motion.h

@@ -60,6 +60,8 @@ to another.
 #ifndef MOTION_H
 #define MOTION_H
 
+#include <stdint.h>
+
 #include "posemath.h"		/* PmCartesian, PmPose, pmCartMag() */
 #include "emcpos.h"		/* EmcPose */
 #include "cubic.h"		/* CUBIC_STRUCT, CUBIC_COEFF */
@@ -623,7 +625,7 @@ Suggestion: Split this in to an Error and a Status flag register..
 /*! \todo FIXME - all structure members beyond this point are in limbo */
 
 	/* dynamic status-- changes every cycle */
-	unsigned int heartbeat;
+	uint64_t heartbeat;     /* Incremented every time the motion controller is done. */
 	int config_num;		/* incremented whenever configuration
 				   changed. */
 	int id;			/* id for executing motion */

src/emc/motion/usrmotintf.cc

@@ -370,7 +370,7 @@ void usrmotPrintEmcmotStatus(emcmot_status_t *s, int which)
 	    );
 	printf("cmd:          \t%d\n", s->commandEcho);
 	printf("cmd num:      \t%d\n", s->commandNumEcho);
-	printf("heartbeat:    \t%u\n", s->heartbeat);
+	printf("heartbeat:    \t%lu\n", s->heartbeat);
 /*! \todo Another #if 0 */
 #if 0				/*! \todo FIXME - change to work with joint
 				   structures */

src/emc/nml_intf/emc.cc

@@ -881,7 +881,7 @@ void EMC_AUX_STAT::update(CMS * cms)
 */
 void EMC_TASK_STAT_MSG::update(CMS * cms)
 {
-    cms->update(heartbeat);
+    cms->update(taskbeat);
 }
 
 /*
@@ -1847,6 +1847,7 @@ void EMC_MOTION_STAT::update(CMS * cms)
     EmcPose_update(cms, &eoffset_pose);
     cms->update(numExtraJoints);
     cms->update(jogging_active);
+    cms->update(heartbeat);
 }
 
 /*

src/emc/nml_intf/emc_nml.hh

@@ -1157,6 +1157,7 @@ class EMC_MOTION_STAT:public EMC_MOTION_STAT_MSG {
     EmcPose eoffset_pose;
     int numExtraJoints;
     bool jogging_active;
+    uint64_t heartbeat;  // motion controller's heartbeat counter
 };
 
 // declarations for EMC_TASK classes
@@ -1422,13 +1423,13 @@ class EMC_TASK_STAT_MSG:public RCS_STAT_MSG {
   public:
     EMC_TASK_STAT_MSG(NMLTYPE t, size_t s)
       : RCS_STAT_MSG(t, s),
-	heartbeat(0)
+	taskbeat(0)
     {};
 
     // For internal NML/CMS use only.
     void update(CMS * cms);
 
-    uint32_t heartbeat;
+    uint64_t taskbeat;  // milltask's main loop heartbeat counter
 };
 
 class EMC_TASK_STAT:public EMC_TASK_STAT_MSG {

src/emc/task/emctask.cc

@@ -734,6 +734,9 @@ int emcTaskUpdate(EMC_TASK_STAT * stat)
     //update state of block delete
     stat->block_delete_state = GET_BLOCK_DELETE();
 
+    extern uint64_t task_beat;  // Main loop heartbeat in emctaskmain.cc
+    stat->taskbeat = task_beat;
+
     return 0;
 }
 

src/emc/task/emctaskmain.cc

@@ -138,6 +138,7 @@ static int emctask_shutdown(void);
 extern void backtrace(int signo);
 int _task = 1; // control preview behaviour when remapping
 static int joints = 0;
+uint64_t task_beat = 0;  // Task's main loop heartbeat counter
 
 // for operator display on iocontrol signalling a toolchanger fault if io.fault is set
 // %d receives io.reason
@@ -3379,6 +3380,8 @@ int main(int argc, char *argv[])
     }
     while (!done) {
         static int gave_soft_limit_message = 0;
+        task_beat++;  // Task's heartbeat
+
         check_ini_hal_items(emcStatus->motion.traj.joints);
 	// read command
 	if (0 != emcCommandBuffer->read()) {
@@ -3585,11 +3588,11 @@ int main(int argc, char *argv[])
     // end of while (! done)
 
     rcs_print(
-        "task: %u cycles, min=%.6f, max=%.6f, avg=%.6f, %u latency excursions (> %dx expected cycle time of %.6fs)\n",
-        emcStatus->task.heartbeat,
+        "task: %lu cycles, min=%.6f, max=%.6f, avg=%.6f, %u latency excursions (> %dx expected cycle time of %.6fs)\n",
+        task_beat,
         minTime,
         maxTime,
-        (emcStatus->task.heartbeat != 0) ?  (endTime - first_start_time) / emcStatus->task.heartbeat : -1.0,
+        task_beat ? (endTime - first_start_time) / task_beat : -1.0,
         num_latency_warnings,
         latency_excursion_factor,
         emc_task_cycle_time

src/emc/task/taskintf.cc

@@ -2095,6 +2095,8 @@ int emcMotionUpdate(EMC_MOTION_STAT * stat)
     stat->echo_serial_number = localMotionEchoSerialNumber;
     stat->debug = emcmotConfig.debug;
 
+    stat->heartbeat = emcmotStatus.heartbeat; // Motion controller's heartbeat
+
     for (dio = 0; dio < EMCMOT_MAX_DIO; dio++) {
 	stat->synch_di[dio] = emcmotStatus.synch_di[dio];
 	stat->synch_do[dio] = emcmotStatus.synch_do[dio];