emcmodule.cc: add taskbeat (task) and heartbeat (motion) to Python stat interface

Piggy backs off of commit 2001815 (some discussion at Pull Request #3809)

Author: snowgoer540

docs/src/config/python-interface.adoc

@@ -190,6 +190,10 @@ see <<python:reading-ini-values,ReadingINI file values>> for an example.
   Active G-codes for each modal group. +
  The integer values reflect the nominal G-code numbers multiplied by 10. (Examples: 10 = 'G1', 430 = 'G43', 923 = 'G92.3')
 
+*heartbeat*:: '(returns integer)' -
+  motion controller heartbeat counter. Increments every servo cycle.
+  Rate is determined by `[EMCMOT]SERVO_PERIOD` in the INI file.
+
 *homed*:: '(returns tuple of integers)' -
   currently homed joints, with 0 = not homed, 1 = homed.
 
@@ -351,6 +355,10 @@ see <<python:reading-ini-values,ReadingINI file values>> for an example.
 *tool_in_spindle*:: '(returns integer)' -
   current tool number.
 
+*taskbeat*:: '(returns integer)' -
+  task main loop heartbeat counter. Increments every task cycle.
+  Rate is determined by `[TASK]CYCLE_TIME` in the INI file.
+
 *tool_from_pocket*:: '(returns integer)' -
   pocket number for the currently loaded tool (0 if no tool loaded).
 

src/emc/usr_intf/axis/extensions/emcmodule.cc

@@ -805,6 +805,22 @@ static PyObject *Stat_tool_table(pyStatChannel * /*s*/, void *) {
     return res;
 }
 
+static PyObject *Stat_heartbeat(pyStatChannel *s, void *) {
+#if PY_VERSION_HEX >= 0x030e00f0  // 3.14
+    return PyLong_FromUInt64(s->status.motion.heartbeat);
+#else
+    return PyLong_FromUnsignedLongLong(s->status.motion.heartbeat);
+#endif
+}
+
+static PyObject *Stat_taskbeat(pyStatChannel *s, void *) {
+#if PY_VERSION_HEX >= 0x030e00f0  // 3.14
+    return PyLong_FromUInt64(s->status.task.taskbeat);
+#else
+    return PyLong_FromUnsignedLongLong(s->status.task.taskbeat);
+#endif
+}
+
 static PyGetSetDef Stat_getsetlist[] = {
     {(char*)"actual_position", (getter)Stat_actual, NULL, NULL, NULL},
     {(char*)"ain", (getter)Stat_ain, NULL, NULL, NULL},
@@ -838,6 +854,12 @@ static PyGetSetDef Stat_getsetlist[] = {
         (char*)"The tooltable, expressed as a list of tools.  Each tool is a dict with the\n"
         "tool id (tool number), diameter, offsets, etc.", NULL
     },
+    {(char*)"heartbeat", (getter)Stat_heartbeat, NULL,
+        (char*)"Motion controller heartbeat counter. Increments every servo cycle.", NULL
+    },
+    {(char*)"taskbeat", (getter)Stat_taskbeat, NULL,
+        (char*)"Task main loop heartbeat counter. Increments every task cycle.", NULL
+    },
     {}
 };