package pb

Get desktop application:
View/edit binary Protocol Buffers messages

• required sfixed32 error_code = 1

• optional Severity severity = 2

• optional string error_text = 3

• optional Originator origin = 4

Used in: Container

• required string name = 1

  unique key

• optional string description = 2

  comment

• optional ApplicationType type = 3

• optional string weburi = 4

  for type == JAVASCRIPT

• repeated File file = 5

  config params go here

Used in: Application

• QT5_QML = 1

• GLADEVCP = 2

• JAVASCRIPT = 3

Used in: Emc_Spindle_Orient

• _CANON_STOPPED = 1

• _CANON_CLOCKWISE = 2

• _CANON_COUNTERCLOCKWISE = 3

Used in: Container

• optional string name = 1

  [(nanopb).max_size = 41];

• optional fixed32 ninst = 2

• optional sfixed32 comp_id = 4

• optional fixed32 type = 5

• optional fixed32 state = 6

• optional fixed32 last_update = 7

• optional fixed32 last_bound = 8

• optional fixed32 last_unbound = 9

• optional fixed32 pid = 10

• optional string args = 11

  [(nanopb).max_count = 20,

• optional sfixed32 timer = 12

  (nanopb).max_size = 41];

  using layer information; not in HAL

• optional sfixed32 userarg1 = 14

• optional sfixed32 userarg2 = 15

• repeated Pin pin = 16

• repeated Param param = 17

• optional bool no_create = 18

  do not create the component on MT_HALRCOMP_BIND if the component does not exist

/ describes a connector

Used in: Firmware

• optional string name = 1

  / will appear in the HAL name

• optional sfixed32 pins = 2

  / number of pins

• required ContainerType type = 1

• optional sfixed64 tsc = 7

  protobuf-encoded submessages tags with values in the range 1 through 15 take one byte to encode so place the frequently used compound messages here

  rtapi_get_time

• repeated Preview preview = 8

• optional MotionCommand motcmd = 9

• optional MotionStatus motstat = 10

• optional bytes legacy_motcmd = 11

  emcmot_command_t wrapped in PB

• optional bytes legacy_motstat = 12

  emcmot_status_t wrapped in PB

• optional RTAPI_Message rtapi_message = 13

• optional TaskReply task_reply = 14

• optional TicketUpdate ticket_update = 15

• optional bytes syslog = 18

  RFC5424 syslog(3) encoding

• optional bytes legacy_nml = 19

  legacy NML container

• optional bytes legacy_motconfig = 20

  emcmot_config_t wrapped in PB

• optional int32 tv_sec = 21

  timestamps: as per struct timespec obtain with clock_gettime(CLOCK_REALTIME, &spec);

  can be used with ctime(3)

• optional int32 tv_nsec = 22

• optional string topic = 23

  this is for messages going over pub/sub streams and wind up in JSON frames duplicating the topic here allows us to drop the topic frame

• optional bool reply_required = 24

  force a response even if OK

• optional InterpreterStateType interp_state = 25

  interpreter status updates, MT_INTERP_STAT

• optional string interp_name = 26

• optional int32 rsvp = 30

  this is an or of bits in ReplyType:

  if/how to answer

• optional ContainerType in_reply_to = 33

• optional RCS_STATUS rcs_status = 35

• optional StatusType status = 40

• optional int32 serial = 45

  legacy command serials

• optional int32 reply_serial = 50

  echoes the legacy command serial

• optional int32 ticket = 55

  command serials

• optional int32 reply_ticket = 60

  echoes the legacy command serial

• optional int32 sequence = 62

  Credit based flow control: http://hintjens.com/blog:15

  running count used by producero

• optional int32 credit = 65

  updated by consumer

• optional int32 line_number = 66

  legacy line number as conveyed on interplist to be replaced by source context

• optional string name = 67

  used with MT_MESSAGEBUS_NO_DESTINATION

  faulty messagebus destination

• repeated string note = 68

  easy tack-on for debugging

• optional int32 retcode = 69

  all purpose integer return code

• optional bytes uuid = 72

  uuid helps distinguish server instances

• optional bool trace = 75

  log from intermediaries

• optional int32 instance = 77

  RTAPI instance if nonzero

• repeated Value value = 85

  generalized polymorphic argument list

  [(nanopb).max_count = 20];

• optional RTAPICommand rtapicmd = 86

• repeated ServiceAnnouncement service_announcement = 88

  a reply may carry several service announcements:

• repeated Component comp = 100

  remote comp description for MT_HALCOMP_CREATE: [comp, pins*]

• repeated Pin pin = 2

  high frequency - use single byte tag

• repeated Signal signal = 3

  high frequency - use single byte tag

• repeated Param param = 103

• repeated Thread thread = 104

• repeated Ring ring = 105

• repeated Group group = 106

• repeated Member member = 107

• repeated Function function = 108

• optional ProtocolParameters pparams = 109

• repeated Vtable vtable = 110

• repeated Inst inst = 111

• repeated Application app = 120

  the app field is included as a reply to a MT_LIST_APPLICATIONS and MT_RETRIEVE_APPLICATION message

• repeated Launcher launcher = 130

  the launcher field is reported by a MT_LAUNCHER_FULL_UPDATE or a MT_LAUNCHER_INCREMENTAL_UPDATE message

• optional int32 index = 131

• optional LogMessage log_message = 87

  infrequent compound messages optional bytes wou = 160; // Arais Wishbone-over-USB

• optional TaskPlanExecute tpexecute = 200

  taskplan (interpreter command) messages

• optional TaskPlanBlockDelete tpblockdelete = 201

• optional TaskPlanOptionalStop tpoptionalstop = 202

• optional TaskPlanOpen tpopen = 203

• optional TaskPlanReply taskplan_reply = 210

  interpreter reply

• optional Emc_Traj_Set_G5x traj_set_g5x = 300

  canon messages

• optional Emc_Traj_Set_G92 traj_set_g92 = 310

• optional Emc_Traj_Set_Rotation traj_set_rotation = 320

• optional Emc_Traj_Linear_Move traj_linear_move = 330

• optional Emc_Traj_Probe traj_probe = 340

• optional Emc_Traj_Circular_Move traj_circular_move = 350

• optional Emc_Traj_Rigid_Tap traj_rigid_tap = 360

• optional Emc_Traj_Set_Term_Cond traj_set_term_cond = 370

• optional Emc_Traj_Set_Spindlesync traj_set_spindlesync = 380

• optional Emc_Traj_Delay traj_delay = 390

• optional Emc_Spindle_On spindle_on = 400

• optional Emc_Spindle_Speed spindle_speed = 410

• optional Emc_Spindle_Orient spindle_orient = 420

• optional Emc_Spindle_Wait_Orient_Complete spindle_wait_orient_complete = 430

• optional Emc_Tool_Set_Offset tool_set_offet = 440

• optional Emc_Traj_Set_Offset traj_set_offset = 450

• optional Emc_Tool_Prepare tool_prepare = 460

• optional Emc_Tool_Set_Number tool_set_number = 470

• optional Emc_Traj_Set_Fo_Enable traj_set_fo_enable = 480

• optional Emc_Traj_Set_So_Enable traj_set_so_enable = 490

• optional Emc_Traj_Set_Fh_Enable traj_set_fh_enable = 500

• optional Emc_Motion_Adaptive motion_adaptive = 510

• optional Emc_Operator_Display operator_display = 520

• optional Emc_Operator_Text operator_text = 530

• optional Emc_Operator_Error operator_error = 540

• optional Emc_Motion_Set_Dout motion_set_dout = 550

• optional Emc_Motion_Set_Aout motion_set_aout = 560

• optional Emc_Aux_Input_Wait aux_input_wait = 570

• optional Emc_Exec_Plugin_Ca1l exec_plugin_call = 580

• optional Emc_Io_Plugin_Call io_plugin_call = 590

• optional EmcStatusConfig emc_status_config = 600

• optional EmcStatusMotion emc_status_motion = 601

• optional EmcStatusIo emc_status_io = 602

• optional EmcStatusTask emc_status_task = 603

• optional EmcStatusInterp emc_status_interp = 604

• optional EmcCommandParameters emc_command_params = 610

Used in: Container, TaskPlanReply

• 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_HALUPDATE_FULL = 25;

• MT_STP_UPDATE = 28

• MT_STP_NOGROUP = 27

• MT_SHUTDOWN = 45

  MT_OFFER = 30; MT_CONFIRM_OFFER = 35; MT_DISPLAY_MESSAGE = 40;

• MT_CONFIRM_SHUTDOWN = 50

• MT_RTMESSAGE0 = 30

  identification of individual RTMessage submessages field Container.rtmessage

• 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

  keepalive test

• MT_PING_ACKNOWLEDGE = 215

• MT_REJECT = 220

• MT_DONE = 240

• MT_SERVICE_REQUEST = 250

  ask for a specific list of services as specified in a ServiceRequest

• MT_SERVICE_ANNOUNCEMENT = 251

  respond to the above with one or several ServiceDescription messages

• MT_SERVICE_PROBE = 252

  query for all available services

• MT_MESSAGEBUS_NO_DESTINATION = 255

  error message generated by messagebus also fills in note, destinaton

• MT_HALRCOMP_BIND = 256

  rcomp creation and binding

• MT_HALRCOMP_BIND_CONFIRM = 257

• MT_HALRCOMP_BIND_REJECT = 258

• MT_HALRCOMP_SET = 259

  the following to a similar to MT_HALRCOMMAND_SET and MT_HALRCOMMAND_GET, except in the context of HALRcomp, only pins and params are evaluated also, to set a pin or param, it must have direction HAL_OUT or HAL_IO

• MT_HALRCOMP_SET_REJECT = 260

• MT_HALRCOMP_ACK = 263

• MT_HALRCOMMAND_SET = 265

  HAL object general setter/getter operations these work as viewed from halcmd and include signals

• 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

  introspection request

• MT_HALRCOMMAND_DESCRIPTION = 277

  full HAL description

• MT_HALRCOMP_FULL_UPDATE = 288

  rcomp tracking

• MT_HALRCOMP_INCREMENTAL_UPDATE = 289

• MT_HALRCOMP_ERROR = 290

• MT_HALGROUP_BIND = 294

  group creation and binding

• MT_HALGROUP_BIND_CONFIRM = 295

• MT_HALGROUP_BIND_REJECT = 296

• MT_HALGROUP_FULL_UPDATE = 297

  group tracking

• MT_HALGROUP_INCREMENTAL_UPDATE = 298

• MT_HALGROUP_ERROR = 299

• MT_RTAPI_APP_EXIT = 300

  rtapi_app commands from halcmd:

• 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

  application discovery

• MT_DESCRIBE_APPLICATION = 351

  this is answered with a MT_DESCRIBE_APPLICATION type and repeated field apps (see message Application)

• MT_RETRIEVE_APPLICATION = 352

• MT_APPLICATION_DETAIL = 353

  this is answered with a MT_APPLICATION_DETAIL type and a single field apps BUT all files and config items are attached in the message Application

• MT_ERROR = 360

  generic error reply. note field contains explanation.

• MT_FULL_UPDATE = 370

  generic full update and incremental update

• MT_INCREMENTAL_UPDATE = 371

• MT_TASK_REPLY = 400

  task/client comms

• MT_TICKET_UPDATE = 401

• MT_CREDIT_UPDATE = 450

  credit-based flow control for queues

  sent by consumer

• MT_EMCMOT_LOWER = 1000

  adjust this to be below lowest motion message type

• MT_EMCMOT_UPPER = 1100

  adjust this to be above highest motion message type

  neded for the is_Motion_container(msgtype) test in container.hh

• MT_EMCMOT_ABORT = 1001

  --- snip ---

• 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

  --- snip ---

• MT_PRU_FIRMWARE = 2048

• MT_MESA_5I20_FIRMWARE = 3000

  Mesanet firmware types: 3000 - 3999

• MT_BLOB = 4000

  a blob of unspecified content - for temporary use during development

• MT_TEST1 = 5001

  test message range: 5000-5100 - never used by core code

• MT_TEST2 = 5002

• MT_TEST3 = 5003

• MT_EMC_NML_LOWER = 10000

  adjust this to be below lowest NML message type

• MT_EMC_NML_UPPER = 13000

  adjust this to be above highest NML message type

  neded for the is_NML_container(msgtype) test in container.hh

• MT_EMC_OPERATOR_ERROR = 10011

  --- snip ---

• 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

  --- snip ---

• MT_EMCSTAT_FULL_UPDATE = 12500

  EMC status

• MT_EMCSTAT_INCREMENTAL_UPDATE = 12501

• MT_EMC_NML_ERROR = 12510

  EMC error

• MT_EMC_NML_TEXT = 12511

• MT_EMC_NML_DISPLAY = 12512

• MT_EMCCMD_EXECUTED = 12520

  EMC command

• MT_EMCCMD_COMPLETED = 12521

• MT_LAUNCHER_FULL_UPDATE = 12600

  launcher pub-sub

• MT_LAUNCHER_INCREMENTAL_UPDATE = 12601

• MT_LAUNCHER_ERROR = 12602

• MT_LAUNCHER_START = 12610

  launcher command

• MT_LAUNCHER_TERMINATE = 12611

• MT_LAUNCHER_KILL = 12612

• MT_LAUNCHER_WRITE_STDIN = 12613

• MT_LAUNCHER_CALL = 12614

• MT_LAUNCHER_SHUTDOWN = 12615

* Types for EMC angular units.

Used in: EmcStatusConfig

• ANGULAR_UNITS_DEGREES = 1

  / Degrees.

• ANGULAR_UNITS_RADIAN = 2

  / Radian.

• ANGULAR_UNITS_GRAD = 3

  / Grad.

* Axis types.

Used in: EmcStatusConfigAxis

• EMC_AXIS_LINEAR = 1

  / Axis is using linear units.

• EMC_AXIS_ANGULAR = 2

  / Axis is using angular units.

* Types for EMC Canon units.

Used in: EmcStatusInterp

• CANON_UNITS_INCH = 1

  / Inches.

• CANON_UNITS_MM = 2

  / Millimeters.

• CANON_UNITS_CM = 3

  / Centimeters.

* EMC command parameters.

Used in: Container

• optional uint32 index = 1

  / General purpose index.

• optional uint32 debug_level = 2

  / Debug level.

• optional int32 line_number = 3

  / General purpose line number.

• optional double scale = 4

  / General purpose scale value.

• optional double velocity = 5

  / General purpose velocity value.

• optional double distance = 6

  / General purpose distance value.

• optional double value = 7

  / General purpose value.

• optional bool enable = 8

  / General purpose enable value.

• optional string command = 9

  / General purpose command string.

• optional string path = 10

  / General purpose path string.

• optional EmcTaskModeType task_mode = 100

  / Task mode.

• optional EmcTaskStateType task_state = 101

  / Task state.

• optional EmcTrajectoryModeType traj_mode = 102

  / Trajectory mode.

• optional EmcPose pose = 103

  / General purpose pose.

• optional EmcToolData tool_data = 104

  / Tool data.

• repeated EmcToolData tool_table = 105

  / Complete tool table.

* Types for EMC interpreter exit codes.

Used in: EmcStatusInterp

• 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.

* Types for EMC task interpreter state.

Used in: EmcStatusInterp

• 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.

* EMC kinematics type.

Used in: EmcStatusConfig

• 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.

* Types for EMC linear units.

Used in: EmcStatusConfig

• LINEAR_UNITS_INCH = 1

  / Inches.

• LINEAR_UNITS_MM = 2

  / Millimeters.

• LINEAR_UNITS_CM = 3

  / Centimeters.

Used in: EmcCommandParameters, Emc_Tool_Set_Offset, Emc_Traj_Circular_Move, Emc_Traj_Linear_Move, Emc_Traj_Probe, Emc_Traj_Rigid_Tap, Emc_Traj_Set_G5x, Emc_Traj_Set_G92, Emc_Traj_Set_Offset, MotionCommand, MotionStatus, Test1, Value

• required PmCartesian tran = 10

• optional double a = 20

• optional double b = 30

• optional double c = 40

• optional double u = 50

• optional double v = 60

• optional double w = 70

* Position feedback types.

Used in: EmcStatusConfig

• EMC_CONFIG_ACTUAL_FEEDBACK = 1

  / Feed back current position.

• EMC_CONFIG_COMMANDED_FEEDBACK = 2

  / Feed back commanded position.

* Position offset types.

Used in: EmcStatusConfig

• EMC_CONFIG_RELATIVE_OFFSET = 1

  / Offset in relative coordinates.

• EMC_CONFIG_MACHINE_OFFSET = 2

  / Offset in machine coordinates.

* Program extension message.

Used in: EmcStatusConfig

• required int32 index = 1

  / Index of the program extension.

• optional string extension = 2

  / Supported program extension. E.g. .gcode GCode program

* Analog IO pin message.

Used in: EmcStatusMotion

• required int32 index = 1

  / Index of analog IO pin.

• optional double value = 2

  / Current value of analog IO pin.

* EMC status configuration message.

Used in: Container

• optional double default_acceleration = 1

  / Default acceleration. Reflects parameter [TRAJ]DEFAULT_ACCELERATION.

• optional int32 axes = 3

  optional double angular_units = 2; // Angular units scale. Reflects [TRAJ]ANGULAR_UNITS field removed

  / Number of axes. Reflects [TRAJ]AXES

• repeated EmcStatusConfigAxis axis = 4

  / Per axis configuration values.

• optional int32 axis_mask = 5

  / 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.

• optional double cycle_time = 6

  / Polling cycle time. Reflects [TRAJ]CYCLE_TIME

• optional int32 debug = 7

  / Debug flag.

• optional EmcKinematicsType kinematics_type = 8

  / Kinematics type.

• optional double max_acceleration = 10

  optional double linear_units = 9; // Linear units scale. Reflects [TRAJ]LINEAR_UNITS field removed

  / Maximum acceleration. Reflects [TRAJ]MAX_ACCELERATION

• optional double max_velocity = 11

  / Maximum velocity. Reflects [TRAJ]MAX_VELOCITY

• optional EmcLinearUnitsType linear_units = 12

  / Linear machine units. Reflects [TRAJ]LINEAR_UNITS

• optional double default_velocity = 13

  / Default velocity. Reflects [TRAJ]DEFAULT_VELOCITY

• repeated EmcProgramExtension program_extension = 14

  / List if program supported program extensions.

• optional EmcPositionOffsetType position_offset = 15

  / Position offset type. Reflects [DISPLAY]POSITION_OFFSET

• optional EmcPositionFeedbackType position_feedback = 16

  / Position feedback type. Reflects [DISPLAY]POSITION_FEEDBACK

• optional double max_feed_override = 17

  / Maximum feed override. Reflects [DISPLAY]MAX_FEED_OVERRIDE

• optional double min_feed_override = 18

  / Minimum feed override. Reflects [DISPLAY]MIN_FEED_OVERRIDE

• optional double max_spindle_override = 19

  / Maximum spindle speed override. Reflects [DISPLAY]MAX_SPINDLE_OVERRIDE

• optional double min_spindle_override = 20

  / Minimum spindle override. Reflects [DISPLAY]MIN_SPINDLE_OVERRIDE

• optional double default_spindle_speed = 21

  / Default spindle speed. Reflects [DISPLAY]DEFAULT_SPINDLE_SPEED

• optional double default_linear_velocity = 22

  / Default linear velocity. Reflects [DISPLAY]DEFAULT_LINEAR_VELOCITY

• optional double min_velocity = 23

  / Minimum velocity override. Reflects [DISPLAY]MIN_VELOCITY

• optional double max_linear_velocity = 24

  / Maximum linear velocity. Reflects [DISPLAY]MAX_LINEAR_VELOCITY

• optional double min_linear_velocity = 25

  / Minimum linear velocity. Reflects [DISPLAY]MIN_LINEAR_VELOCITY

• optional double default_angular_velocity = 26

  / Default angular velocity. Reflects [DISPLAY]DEFAULT_ANGULAR_VELOCITY

• optional double max_angular_velocity = 27

  / Maximum angular velocity. Reflects [DISPLAY]MAX_ANGULAR_VELOCITY

• optional double min_angular_velocity = 28

  / Minimum angular velocity. Reflects [DISPLAY]MIN_ANGULAR_VELOCITY

• optional string increments = 29

  / White space separated jog increments. Reflects [DISPLAY]INCREMENTS

• optional string grids = 30

  / Grid intervals. Reflects [DISPLAY]GRIDS

• optional bool lathe = 31

  / Is machine a lathe. Reflects [DISPLAY]LATHE

• optional string geometry = 32

  / Geometry of machine. E.g. XYZ. Reflects [DISPLAY]GEOMETRY

• optional uint32 arcdivision = 33

  / Display granularity for arcs. Reflects [DISPLAY]ARCDIVISION

• optional bool no_force_homing = 34

  / Do not enforce homing. Reflects [DISPLAY]NO_FORCE_HOMING

• optional string remote_path = 35

  / Remote file path. Reflects [DISPLAY]PROGRAM_PREFIX

• optional EmcTimeUnitsType time_units = 36

  / Time units type. Reflects [DISPLAY]TIME_UNITS

• optional string name = 37

  / Machine name. Reflects [EMC]MACHINE

• repeated EmcStatusUserCommand user_command = 38

  / List of user commands. Reflects [DISPLAY]USER_COMMAND

• optional EmcAngularUnitsType angular_units = 39

  / Angular machine units. Reflects [TRAJ]ANGULAR_UNITS

* Stores per axis information from configuration.

Used in: EmcStatusConfig

• required int32 index = 1

  / Axis index.

• optional EmcAxisType axis_type = 2

  / Type of axis. Reflects [AXIS_N]TYPE

• optional double backlash = 3

  / Axis backlash. Reflects [AXIS_N]BACKLASH

• optional double max_ferror = 4

  / Maximum following error. Reflects [AXIS_N]FERROR

• optional double max_position_limit = 5

  / Maximum position limit. Reflects [AXIS_N]MAX_LIMIT

• optional double min_ferror = 6

  / Minimum following error. Reflects [AXIS_N]MIN_FERROR

• optional double min_position_limit = 7

  / Minimum position limit. Reflects [AXIS_N]MIN_LIMIT

• optional int32 home_sequence = 9

  optional double units = 8; // Units per mm. field removed

  / Homing sequence index. Reflects [AXIS_N]HOME_SEQUENCE

• optional double max_acceleration = 10

  / Maximum acceleration. Reflects [AXIS_N]MAX_ACCELERATION

• optional double max_velocity = 11

  / Maximum velocity. Reflects [AXIS_N]MAX_VELOCITY

• optional string increments = 12

  / Axis increments space separated.Reflects [AXIS_N]INCREMENTS or [DISPLAY]INCREMENTS

* Digital IO pin message.

Used in: EmcStatusMotion

• required int32 index = 1

  / Index of digital IO pin.

• optional bool value = 2

  / Current value of digital IO pin.

* Currently active GCodes message.

Used in: EmcStatusInterp

• required int32 index = 1

  / Index of the GCode.

• optional int32 value = 2

  / GCode value. E.g. 210 for G21

* EMC status interpreter message.

Used in: Container

• optional string command = 1

  / Currently executing command.

• repeated EmcStatusGCode gcodes = 2

  / Currently active GCodes.

• optional EmcInterpStateType interp_state = 3

  / Current state of RS274NGC interpreter.

• optional EmcInterpExitCodeType interpreter_errcode = 4

  / Current RS274NGC interpreter return code.

• repeated EmcStatusMCode mcodes = 5

  / Currently active MCodes.

• repeated EmcStatusSetting settings = 6

  / Current interpreter settings. [0] = sequence number, [1] = feed rate, [2] = velocity

• optional EmcCanonUnitsType program_units = 7

  / Current interpreter program units.

* EMC IO message.

Used in: Container

• optional bool estop = 1

  / Estop active.

• optional bool flood = 2

  / Flood enabled.

• optional bool lube = 3

  / Lube enabled.

• optional bool lube_level = 4

  / Lube level. Reflects iocontrol.0.lube_level

• optional bool mist = 5

  / Mist enabled.

• optional bool pocket_prepped = 6

  / A Tx command completed and this pocket is prepared. TODO wrong type?

• optional bool tool_in_spindle = 7

  / Current tool number.

• optional Position tool_offset = 8

  / Offset values of the current tool.

• repeated EmcToolData tool_table = 9

  / List of tool entries.

* Limit mask message.

Used in: EmcStatusMotion

• required int32 index = 1

  / Axis index.

• optional int32 value = 2

  / Axis limit mask. minHardLimit=1, maxHardLimit=2, minSoftLimit=4, maxSoftLimit=8

* Currently active MCodes message.

Used in: EmcStatusInterp

• required int32 index = 1

  / Index of MCode.

• optional int32 value = 2

  / MCode value. E.g. 100 for M100

* EMC status motion message.

Used in: Container

• optional int32 active_queue = 1

  / Number of motions blending.

• optional Position actual_position = 2

  / Current trajectory position.

• optional bool adaptive_feed_enabled = 3

  / Status of adaptive feed override.

• repeated EmcStatusAnalogIO ain = 4

  / Status of analog input pins.

• repeated EmcStatusAnalogIO aout = 5

  / Status of analog output pins.

• repeated EmcStatusMotionAxis axis = 6

  / Per axis motion values.

• optional bool block_delete = 7

  / Block delete on or off.

• optional int32 current_line = 8

  / Currently executing line.

• optional double current_vel = 9

  / Current velocity in Cartesian space.

• optional double delay_left = 10

  / Remaining time on dwell (G4) command.

• repeated EmcStatusDigitalIO din = 11

  / Status of digital input pins.

• optional double distance_to_go = 12

  / Remaining distance of current move reported by trajectory planner.

• repeated EmcStatusDigitalIO dout = 13

  / Status of digital output pins.

• optional Position dtg = 14

  / Remaining distance of current move reported by trajectory planner.

• optional bool enabled = 15

  / Trajectory planner enabled flag.

• optional bool feed_hold_enabled = 16

  / Enable flag for feed hold.

• optional bool feed_override_enabled = 17

  / Enable flag for feed override.

• optional double feedrate = 18

  / Current feedrate override.

• optional OriginIndex g5x_index = 19

  / Currently active coordinate system.

• optional Position g5x_offset = 20

  / Offset of the currently active coordinate system.

• optional Position g92_offset = 21

  / Current G92 offset.

• optional int32 id = 23

  / Currently executing motion id.

• optional bool inpos = 24

  / Machine in position flag.

• optional Position joint_actual_position = 25

  / Actual joint position.

• optional Position joint_position = 26

  / Desired joint position.

• repeated EmcStatusLimit limit = 27

  / Axis limit masks.

• optional int32 motion_line = 28

  / Source line number motion is currently executing. Relation to id is unclear.

• optional MotionType motion_type = 29

  / Trajectory planner mode.

• optional EmcTrajectoryModeType motion_mode = 30

  / Trajectory mode.

• optional bool paused = 31

  / Motion paused flag.

• optional Position position = 32

  / Trajectory position.

• optional bool probe_tripped = 33

  / True if probe has tripped.

• optional int32 probe_val = 34

  / Reflects the value of the motion.probe-input pin

• optional Position probed_position = 35

  / Position where probe has tripped

• optional bool probing = 36

  / Probe operation in progress.

• optional int32 queue = 37

  / Current size of trajectory planner queue.

• optional bool queue_full = 38

  / Trajectory planner queue is full.

• optional double rotation_xy = 39

  / Current XY rotation around Z axis.

• optional bool spindle_brake = 40

  / Spindle braked.

• optional int32 spindle_direction = 41

  / Rotational direction of the spindle. forward=1, reverse=-1.

• optional bool spindle_enabled = 42

  / Spindle enabled.

• optional int32 spindle_increasing = 43

  / Spindle speed is increasing.

• optional bool spindle_override_enabled = 44

  / Spindle override is enabled.

• optional double spindle_speed = 45

  / Spindle speed value in rpm. > 0 is clockwise, < 0 is counterclockwise

• optional double spindlerate = 46

  / Spindle speed override.

• optional RCS_STATUS state = 47

  / Current command execution status.

• optional double max_velocity = 48

  / Maximum velocity override.

• optional double max_acceleration = 49

  / TODO remove

* Stores per axis information from motion.

Used in: EmcStatusMotion

• required int32 index = 1

  / Axis index.

• optional bool enabled = 2

  / Axis is enabled.

• optional bool fault = 3

  / Axis amp fault.

• optional double ferror_current = 4

  / Current following error.

• optional double ferror_highmark = 5

  / Magnitude of maximum following error.

• optional bool homed = 6

  / Axis has been homed.

• optional bool homing = 7

  / Homing currently progress.

• optional bool inpos = 8

  / Axis is in position.

• optional double input = 9

  / Current input position.

• optional bool max_hard_limit = 10

  / Maximum hard limit exceeded.

• optional bool max_soft_limit = 11

  / Maximum position limit was exceeded.

• optional bool min_hard_limit = 12

  / Minimum hard limit was exceeded.

• optional bool min_soft_limit = 13

  / Minimum position limit was exceeded.

• optional double output = 14

  / Commanded output position.

• optional bool override_limits = 15

  / Limits are overridden.

• optional double velocity = 16

  / Current velocity.

* Interpreter setting message.

Used in: EmcStatusInterp

• required int32 index = 1

  / Index of interpreter setting.

• optional double value = 2

  / Interpreter settings value.

* EMC status task message.

Used in: Container

• optional int32 echo_serial_number = 1

  * 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.

• optional EmcTaskExecStateType exec_state = 2

  / Task execution state.

• optional string file = 3

  / Currently executing gcode file.

• optional bool input_timeout = 4

  / Flag for M66 timer in progress.

• optional bool optional_stop = 5

  / Optional stop enabled.

• optional int32 read_line = 6

  / Line the RS274NGC interpreter is currently reading. TODO move to interp

• optional EmcTaskModeType task_mode = 7

  / Current task mode.

• optional int32 task_paused = 8

  / Task paused.

• optional EmcTaskStateType task_state = 9

  / Current task state.

• optional int32 total_lines = 10

  / Total number of lines of currently active program file.

* User command message.

Used in: EmcStatusConfig

• required int32 index = 1

  / User command index.

• optional string command = 2

  / User command separated by semicolon. E.g. G1A20;G1A0 Remove Filament.

* Types for EMC task execution state.

Used in: EmcStatusTask

• 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.

* Types for EMC task modes.

Used in: EmcCommandParameters, EmcStatusTask

• 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.

* Types for EMC task state.

Used in: EmcCommandParameters, EmcStatusTask

• 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.

* Types for EMC time units.

Used in: EmcStatusConfig

• TIME_UNITS_MINUTE = 1

  / Minutes.

• TIME_UNITS_SECOND = 2

  / Seconds.

* Tool table data.

Used in: EmcCommandParameters, EmcStatusIo

• required int32 index = 1

  / Tool table index (not tool id).

• optional int32 id = 2

  / ID/number of the tool.

• optional double diameter = 12

  optional double xOffset = 3; offsets replaced by Position message optional double yOffset = 4; optional double zOffset = 5; optional double aOffset = 6; optional double bOffset = 7; optional double cOffset = 8; optional double uOffset = 9; optional double vOffset = 10; optional double wOffset = 11;

  / Diameter of the tool.

• optional double frontangle = 13

  / Front angle of the tool (only on lathe).

• optional double backangle = 14

  / Back angle of the tool (only on lathe).

• optional int32 orientation = 15

  / Orientation of the tool (lathe only, 0-9).

• optional Position offset = 16

  / Position offset of the tool.

• optional string comment = 17

  / User comment.

• optional int32 pocket = 18

  / Tool pocket position.

* Types for trajectory motion control.

Used in: EmcCommandParameters, EmcStatusMotion

• 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.

Used in: Container

• required uint32 index = 10

• required InputType input_type = 20

• required WaitType wait_type = 30

• required double timeout = 40

Used in: Container

• required bytes call = 20

Used in: Container

• required bytes call = 20

Used in: Container

• required bool status = 10

Used in: Container

• required uint32 index = 10

• required double start = 20

• required double end = 30

• required bool now = 40

Used in: Container

• required uint32 index = 10

• required bool start = 20

• required bool end = 30

• required bool now = 40

Used in: Container

• required int32 id = 10

• required string display = 20

Used in: Container

• required int32 id = 10

• required string error = 20

Used in: Container

• required int32 id = 10

• required string text = 20

Used in: Container

• required double speed = 10

• required double factor = 20

• required double xoffset = 30

Used in: Container

• required double orientation = 10

• required CanonDirection mode = 20

Used in: Container

• required double speed = 10

• required double factor = 20

• required double xoffset = 30

Used in: Container

• required double timeout = 10

Used in: Container

• required int32 pocket = 10

• required int32 tool = 20

Used in: Container

• required int32 tool = 10

Used in: Container

• required int32 pocket = 10

• required int32 toolno = 15

• required EmcPose offset = 20

• required double diameter = 30

• required double frontangle = 40

• required double backangle = 50

• required int32 orientation = 60

Used in: Container

• required MotionType type = 10

  redundant - identified by message type

• required EmcPose end = 20

• required PmCartesian center = 25

• required PmCartesian normal = 27

• required double vel = 30

• required double ini_maxvel = 40

• required double acc = 50

• required bool feed_mode = 60

• required int32 turn = 70

Used in: Container

• required double delay = 10

Used in: Container

• required MotionType type = 10

• required EmcPose end = 20

• required double vel = 30

• required double ini_maxvel = 40

• required double acc = 50

• required bool feed_mode = 60

• required int32 indexrotary = 70

Used in: Container

• required MotionType type = 10

• required EmcPose pos = 20

• required double vel = 30

• required double ini_maxvel = 40

• required double acc = 50

• required uint32 probe_type = 60

Used in: Container

• required EmcPose pos = 20

• required double vel = 30

• required double ini_maxvel = 40

• required double acc = 50

Used in: Container

• required bool mode = 10

Used in: Container

• required bool mode = 10

Used in: Container

• required EmcPose origin = 10

• required OriginIndex g5x_index = 20

Used in: Container

• required EmcPose origin = 10

Used in: Container

• required EmcPose offset = 10

Used in: Container

• required double rotation = 10

Used in: Container

• required bool mode = 10

Used in: Container

• required double feed_per_revolution = 10

• required bool velocity_mode = 20

Used in: Container

• required TermConditionType cond = 10

• required double tolerance = 20

Used in: Application, Launcher

• required string name = 1

  flat for now

• required FileContent encoding = 2

• optional bytes blob = 3

Used in: File

• CLEARTEXT = 1

• ZLIB = 2

• optional string build_sha = 1

  / the machinekit/socfpga build SHA

• optional string fpga_part_number = 2

  / sets hm2_lowlevel_io_struct.fpga_part_number

• repeated Connector connector = 3

  / sets hm2_lowlevel_io_struct.num_ioport_connectors, ioport_connector_name, pins_per_connector

• optional sfixed32 num_leds = 4

  / sets hm2_lowlevel_io_struct.num_leds

• optional string board_name = 5

  / sets hm2_lowlevel_io_struct.num_leds

• optional string comment = 6

  / descriptive text, uninterpreted - use for log message if present

Used in: Container

• optional string name = 1

  [(nanopb).max_size = 41];

• optional fixed32 handle = 2

• optional fixed32 owner_id = 3

• optional fixed32 users = 4

• optional fixed32 runtime = 5

• optional fixed32 maxtime = 6

• optional bool reentrant = 7

Used in: Container

• optional string name = 1

  [(nanopb).max_size = 41];

• optional fixed32 handle = 2

• optional sfixed32 userarg1 = 4

• optional sfixed32 userarg2 = 5

• optional sfixed32 refcount = 6

• repeated Member member = 7

  list of signals or group names

Used in: Param

• HAL_RO = 64

  the following tags correspond to hal.h: hal_param_dir_t

• HAL_RW = 192

Used in: Pin

• HAL_IN = 16

  the following tags correspond to hal.h: hal_pin_dir_t

• HAL_OUT = 32

• HAL_IO = 48

  (HAL_IN | HAL_OUT),

Used in: Emc_Aux_Input_Wait

• _ANALOG_INPUT = 0

• _DIGITAL_INPUT = 1

Used in: Container

• optional string name = 1

  [(nanopb).max_size = 41];

• optional sfixed32 comp_id = 2

• optional fixed32 inst_id = 3

• optional fixed32 inst_size = 4

• optional fixed64 vtable = 5

describes a RTAPI/HAL/LinuxCNC instance

Used in: Originator

• optional string name = 1

  [(nanopb).max_size = 41];

• optional sfixed32 id = 2

types for EMC_TASK interpState

Used in: Container

• 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

  to ease change tracking

* Experimental axis/joint representation.

Used in: Preview

• KT_JOINT = 1

  / Joint kinematics.

• KT_TRIVKINS = 2

  / Trivial kinematics.

• KT_DELTA = 3

  / Delta kinematics.

message for mklauncher

Used in: Container

• required int32 index = 1

  index is necessary to access repeated

• optional string name = 2

  visible name

• optional string description = 3

  description of the config

• optional File image = 4

  image representing the configuration

• optional MachineInfo info = 5

  information about the machine

• optional bool running = 6

  indicates whether the config is running or not

• optional bool terminating = 7

  indicates if a terminations signal was sent to the process

• optional string command = 8

  configuration start command

• optional bool shell = 9

  if the configuration command is executed in a shell

• repeated StdoutLine output = 10

  stdout output of the command

• optional int32 returncode = 11

  return code of the command

• optional string workdir = 12

  working dir of the command

Used in: Container

• required MsgOrigin origin = 10

• required int32 pid = 20

• required MsgLevel level = 30

• required string tag = 40

  [(nanopb).max_size = 20];

• required string text = 50

  [(nanopb).max_size = 100];

Used in: Launcher

• optional string type = 1

  type of the machine, e.g. FDM, CNC, ...

• optional string manufacturer = 2

  manufacturer of the machine

• optional string model = 3

  machine model

• optional string variant = 4

  variant of the machine

Used in: Container, Group

• optional ObjectType mtype = 1

• optional sfixed32 userarg1 = 2

• optional double epsilon = 3

• optional Signal signal = 4

  if mtype == HAL_MEMBER_SIGNAL

• optional string groupname = 5

  if mtype == HAL_MEMBER_GROUP

  [(nanopb).max_size = 41];

• optional fixed32 handle = 6

• optional Pin pin = 7

  if mtype == HAL_MEMBER_PIN

• optional Param param = 8

  if mtype == HAL_MEMBER_PARAM

Used in: Container

• required cmd_code_t command = 10

• required fixed32 commandNum = 20

  increment this for new command

• optional double motor_offset = 30

  offset from joint to motor position

• optional double maxLimit = 40

  pos value for position limit, output

• optional double minLimit = 50

  neg value for position limit, output

• optional EmcPose pos = 60

  line/circle endpt, or teleop vector

• optional PmCartesian center = 70

  center for circle

• optional PmCartesian normal = 80

  normal vec for circle

• optional fixed32 turn = 90

  turns for circle or which rotary to unlock for a line

• optional double vel = 100

  max velocity

• optional double ini_maxvel = 110

  max velocity allowed by machine

• optional MotionType motion_type = 120

  optional constraints (the ini file)

  this move is because of traverse, feed, arc, or toolchange

• optional double spindlesync = 130

  user units per spindle revolution, 0 = no sync

• optional double acc = 140

  max acceleration

• optional double backlash = 150

  amount of backlash

• optional fixed32 id = 160

  id for motion

• optional fixed32 termCond = 170

  termination condition

• optional double tolerance = 180

  tolerance for path deviation in CONTINUOUS mode

• optional fixed32 axis = 190

  which index to use for below

• optional double scale = 200

  FIXME-AJ: replace with joint

  velocity scale or spindle_speed scale arg

• optional double offset = 210

  input, output, or home offset arg

• optional double home = 220

  joint home position

• optional double home_final_vel = 230

  joint velocity for moving from OFFSET to HOME

• optional double search_vel = 240

  home search velocity

• optional double latch_vel = 250

  home latch velocity

• optional fixed32 flags = 260

  homing config flags, other boolean args

• optional fixed32 home_sequence = 270

  order in homing sequence

• optional fixed32 volatile_home = 280

  joint should get unhomed when we get unhome -2

• optional double minFerror = 290

  optional (generated by task upon estop, etc)

  min following error

• optional double maxFerror = 300

  max following error

• optional fixed32 wdWait = 310

  cycle to wait before toggling wd

• optional fixed32 debug = 320

  debug level, from DEBUG in .ini file

• optional int32 now = 330

• optional int32 out = 340

• optional int32 start = 350

• optional int32 end = 360

  these are related to synched AOUT/DOUT

• optional int32 mode = 370

  now=wether now or synched, out = which gets set, start=start value, end=end value

  used for turning overrides etc. on/off

• optional double comp_nominal = 380

  compensation triplet, nominal, forward, reverse

• optional double comp_forward = 390

  compensation triplet, nominal, forward, reverse

• optional double comp_reverse = 400

  compensation triplet, nominal, forward, reverse

• optional int32 probe_type = 410

  ~1 = error if probe operation is unsuccessful (ngc default) |1 = suppress error, report in # instead ~2 = move until probe trips (ngc default) |2 = move until probe clears

• optional EmcPose tool_offset = 420

  TLO

Used in: Container

• required cmd_code_t commandEcho = 10

  echo of input command

• required fixed32 commandNumEcho = 20

  increment this for new command

• required cmd_status_t commandStatus = 30

  result of most recent command

• optional EmcPose carte_pos_fb = 40

  actual Cartesian position

add _ to avoid collision with macros in emc/nml_intf/motion_typesh

Used in: EmcStatusMotion, Emc_Traj_Circular_Move, Emc_Traj_Linear_Move, Emc_Traj_Probe, MotionCommand

• _EMC_MOTION_TYPE_NONE = 0

  sometimes also 0 is reported

• _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

Used in: LogMessage

• RTAPI_MSG_NONE = 0

  see enum msg_level_t in rtapi.h

• RTAPI_MSG_ERR = 1

• RTAPI_MSG_WARN = 2

• RTAPI_MSG_INFO = 3

• RTAPI_MSG_DBG = 4

• RTAPI_MSG_ALL = 5

see rtapi.h

Used in: LogMessage

• MSG_KERNEL = 0

• MSG_RTUSER = 1

• MSG_ULAPI = 2

Used in: Member

• HAL_PIN = 1

  option allow_alias = true; // for src/hal.h enum doesnt work with ptotoc-c NB: leading underscore to disambiguate

• 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

  used at all?

• INSTANCE = 121

• ORIGINATOR = 122

• NAMED_VALUE = 125

• OT_ERROR = 130

Used in: Originator

• 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

Used in: EmcStatusMotion, Emc_Traj_Set_G5x

• 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

Used in: Originator

• 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

describes an entity which may cause a message: a process, a component, a thread, a group, a remote component also used as a optional error detail

Used in: AnError

• optional OriginType origin = 1

• optional OriginDetail detail = 2

• optional string name = 3

  [(nanopb).max_size = 41];

• optional sfixed32 id = 4

• optional Instance instance = 5

Used in: Component, Container, Member

• optional ValueType type = 1

• optional string name = 2

  [(nanopb).max_size = 41];

• optional fixed32 handle = 3

• optional bool halbit = 5

• optional double halfloat = 6

• optional sfixed32 hals32 = 7

• optional fixed32 halu32 = 8

• optional string strval = 9

• optional bytes blob = 10

• optional HalParamDirection dir = 11

• optional string oldname = 12

  [(nanopb).max_size = 41];

• optional sfixed32 owner = 13

• optional sfixed32 runtime = 14

• optional sfixed32 maytime = 15

Used in: Component, Container, Member

• optional ValueType type = 1

• optional string name = 2

  [(nanopb).max_size = 41];

• optional fixed32 handle = 3

• optional HalPinDirection dir = 4

• optional bool halbit = 5

  One of the following must be filled in, depending on type.

• optional double halfloat = 6

• optional sfixed32 hals32 = 7

• optional fixed32 halu32 = 8

• optional sfixed32 owner = 9

• optional bool linked = 10

• optional string oldname = 11

  [(nanopb).max_size = 41];

• optional double epsilon = 12

• optional fixed32 flags = 13

Used in: EmcPose, Emc_Traj_Circular_Move, MotionCommand, Test1, Value

• optional double x = 10

• optional double y = 20

• optional double z = 30

* Preview position.

Used in: EmcStatusIo, EmcStatusMotion, EmcToolData, Preview

• optional double x = 3

• optional double y = 4

• optional double z = 5

• optional double a = 6

• optional double b = 7

• optional double c = 8

• optional double u = 9

• optional double v = 10

• optional double w = 11

* The preview data structure.

Used in: Container

• required PreviewOpType type = 1

  / Type of the preview operation.

• optional int32 line_number = 2

  / The line number this preview command corresponds to.

• optional Position pos = 3

  * move dest pos/offset for PV_STRAIGHT_*, PV_RIGID_TAP, PV_SET_* _OFFSET _position for PV_ARC_FEED, PV_USE_TOOL_OFFSET

• optional double first_end = 4

  for PV_ARC_FEED only:

  / First point for PV_ARC_FEED.

• optional double second_end = 5

  / Second point for PV_ARC_FEED.

• optional double first_axis = 6

  / First axis for PV_ARC_FEED.

• optional double second_axis = 7

  / Second axis for PV_ARC_FEED.

• optional int32 rotation = 8

  / Rotation for PV_ARC_FEED.

• optional double axis_end_point = 9

  / Axis endpoint for PV_ARC_FEED.

• optional double xy_rotation = 10

  for PV_SET_XY_ROTATION:

  / XY rotation for PV_SET_XY_ROTATION.

• optional int32 plane = 11

  for PV_SELECT_PLANE:

  / Plane for PV_SET_XY_ROTATION.

• optional double rate = 12

  for PV_SET_TRAVERSE_RATE, PV_SET_FEED_RATE

  / feedrate for PV_SET_TRAVERSE_RATE and PV_SET_FEED_RATE.

• optional int32 feed_mode = 13

  PV_SET_FEED_MODE

  / Mode for PV_SET_FEED_MODE.

• optional double time = 14

  PV_DWELL

  / Time for PV_DWELL.

• optional string text = 15

  PV_COMMENT, PV_MESSAGE

  / Text for PV_COMMENT and PV_MESSAGE.

• optional double angular_units = 101

  rarely used:

  / Angular units: rarely used.

• optional double length_units = 102

  / Length units: rarely used.

• optional int32 probetype = 103

  / Probe type: rarely used.

• optional KinematicsType kins = 104

  / Kinematics type: rarely used.

• optional int32 axismask = 105

  / Axis mask: rarely used.

• optional int32 g5_index = 106

  / g5_index: rarely used.

• optional int32 pocket = 107

  PV_CHANGE_TOOL, PV_CHANGE_TOOL_NUMBER

  / Pocket for PV_CHANGE_TOOL and PV_CHANGE_TOOL_NUMBER.

• optional SourceType stype = 110

  PV_SOURCE_CONTEXT

  / Source type for PV_SOURCE_CONTEXT.

• optional string filename = 111

  / File name if source type is a NGC file.

• optional string cmdstring = 112

  / Command string if source type is a MDI command.

• optional int32 call_level = 113

  / Call stack depth.

* Type for preview operations.

Used in: Preview

• 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.

Used in: Container

• optional sfixed32 keepalive_timer = 1

  group and rcomp ping interval sent by haltalk

• optional sfixed32 group_timer = 2

  group default scan timer

• optional sfixed32 rcomp_timer = 3

  rcomp default scan timer

Used in: Container, EmcStatusMotion, TicketUpdate

• UNINITIALIZED_STATUS = -1

• RCS_DONE = 1

• RCS_EXEC = 2

• RCS_ERROR = 3

• RCS_RECEIVED = 4

Used in: Container

• required int32 instance = 1

• optional string modname = 2

• optional int32 rt_msglevel = 3

• optional int32 user_msglevel = 4

• repeated string argv = 5

  string argv-type vector; used in MT_RTAPI_APP_* and possibly others

• optional string threadname = 6

• optional int32 threadperiod = 7

• optional bool use_fp = 8

• optional int32 cpu = 9

• optional string comp = 10

• optional string func = 11

• optional string instname = 12

• optional int32 flags = 13

Used in: Container

• required int32 msglevel = 10

  [default = RTAPI_MSG_DBG];

• required string format = 20

• repeated Value arg = 30

  if this list of scalars is non-empty, this implies sprintf(text, <arg>) should be applied before display

• NONE = 0

  NONE wont work with zmq REQ/REP sockets: they require a reply better to use XREQ/XREP

• ON_RECEPTION = 1

• ON_QUEUED = 2

• ON_COMPLETION = 4

• ALL_STEPS = 255

Used in: Container

• optional string name = 1

  [(nanopb).max_size = 41];

• optional fixed32 handle = 2

• optional sfixed32 owner = 3

• optional bool stream = 4

• optional bool wmutex = 5

• optional bool rmutex = 6

• optional bool rtapi_shm = 7

• optional sfixed32 reader = 8

• optional sfixed32 writer = 9

• optional sfixed32 size = 10

• optional sfixed32 scratchpad = 11

Used in: ServiceAnnouncement

• SA_ZMQ_PROTOBUF = 1

• SA_WS_JSON = 2

a service, for announcement/response to ServiceRequest via zbeacon(7)

Used in: Container

• required ServiceType stype = 1

• required fixed32 version = 2

• required fixed32 instance = 3

  RTAPI instance id

• required ServiceAPI api = 8

• required string uri = 6

• optional string description = 7

services exported by various entities

Used in: ServiceAnnouncement

• 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

Used in: AnError

• S_INFORMATIONAL = 1

• S_WARNING = 2

• S_FAIL = 4

Used in: Container, Member

• optional ValueType type = 1

• optional string name = 2

  [(nanopb).max_size = 41];

• optional fixed32 handle = 3

• optional bool halbit = 5

• optional double halfloat = 6

• optional sfixed32 hals32 = 7

• optional fixed32 halu32 = 8

• optional string strval = 9

• optional bytes blob = 10

• optional fixed32 readers = 11

• optional fixed32 writers = 12

• optional fixed32 bidirs = 13

* Preview source types..

Used in: Preview

• ST_NGC_FILE = 1

  / An NGC file.

• ST_NGC_STRING = 2

  / A MDI string.

• ST_PYTHON_METHOD = 3

  / A Python method.

Used in: Container

• ENQUEUED = 1

  intermediate

• PROCESSING = 2

  -- '' --

• COMPLETE = 3

  final

• FAILED = 4

  -- '' --

Used in: Launcher

• required int32 index = 1

• optional string line = 2

Used in: Container

• required bool state = 10

Used in: Container

• optional string command = 10

  "MDI"

• optional sfixed32 line = 30

Used in: Container

• required string filename = 10

Used in: Container

• required bool state = 10

Used in: Container

• required ContainerType cmd = 10

• optional string errormsg = 20

Ticket msgs

Used in: Container

• required fixed32 ticket = 10

add leading _ to avoid collision with macros in emc.hh

Used in: Emc_Traj_Set_Term_Cond

• _EMC_TRAJ_TERM_COND_STOP = 1

• _EMC_TRAJ_TERM_COND_BLEND = 2

• required TestOpType op = 10

  minimum params to encode line or circle

• required EmcPose end = 20

• optional PmCartesian center = 30

• optional PmCartesian normal = 40

• optional int32 turn = 50

(message has no fields)

(message has no fields)

Used in: Test1

• LINE = 10

• CIRCLE = 20

Used in: Container

• optional string name = 1

  [(nanopb).max_size = 41];

• optional fixed32 handle = 2

• optional bool uses_fp = 3

• optional fixed32 period = 4

• optional sfixed32 priority = 5

• optional fixed32 task_id = 6

• optional fixed32 cpu_id = 7

• repeated string function = 8

  [(nanopb).max_count = 100];

signal completion of a particular ticket

Used in: Container

• required fixed32 cticket = 10

• required RCS_STATUS status = 20

• optional string text = 30

Used in: Container, RTAPI_Message

• required ValueType type = 10

  actual values

• optional bool halbit = 100

  scalars

• optional double halfloat = 101

• optional sfixed32 hals32 = 102

• optional fixed32 halu32 = 103

• optional bytes v_bytes = 120

• optional sfixed32 v_int32 = 130

• optional sfixed64 v_int64 = 140

• optional fixed32 v_uint32 = 150

• optional fixed64 v_uint64 = 160

• optional double v_double = 170

• optional string v_string = 180

• optional bool v_bool = 190

• optional PmCartesian carte = 200

  compound types

• optional EmcPose pose = 220

Used in: Param, Pin, Signal, Value

• HAL_BIT = 1

  the following tags correspond to hal.h: hal_type_t;

• 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

Used in: Container

• 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

Used in: Emc_Aux_Input_Wait

• IMMEDIATE = 0

• RISE = 1

• FALL = 2

• BE_HIGH = 3

• BE_LOW = 4

motion commands. enum cmd_code_t from src/emc/motion.h

Used in: MotionCommand, MotionStatus

• EMCMOT_ABORT = 4000

  abort all motion

• EMCMOT_AXIS_ABORT = 4001

  abort one axis

• EMCMOT_ENABLE = 4002

  FIXME-AJ: replace command name to EMCMOT_JOINT_ABORT

  enable servos for active joints

• EMCMOT_DISABLE = 4003

  disable servos for active joints

• EMCMOT_ENABLE_AMPLIFIER = 4004

  enable amp outputs

• EMCMOT_DISABLE_AMPLIFIER = 4005

  disable amp outputs

• EMCMOT_ENABLE_WATCHDOG = 4006

  enable watchdog sound = 4000; parport

• EMCMOT_DISABLE_WATCHDOG = 4007

  enable watchdog sound = 4000; parport

• EMCMOT_ACTIVATE_JOINT = 4008

  make joint active

• EMCMOT_DEACTIVATE_JOINT = 4009

  make joint inactive

• EMCMOT_PAUSE = 4010

  pause motion

• EMCMOT_RESUME = 4011

  resume motion

• EMCMOT_STEP = 4012

  resume motion until id encountered

• EMCMOT_FREE = 4013

  set mode to free (joint) motion

• EMCMOT_COORD = 4014

  set mode to coordinated motion

• EMCMOT_TELEOP = 4015

  set mode to teleop

• EMCMOT_SPINDLE_SCALE = 4016

  set scale factor for spindle speed

• EMCMOT_SS_ENABLE = 4017

  enable/disable scaling the spindle speed

• EMCMOT_FEED_SCALE = 4018

  set scale factor for feedrate

• EMCMOT_FS_ENABLE = 4019

  enable/disable scaling feedrate

• EMCMOT_FH_ENABLE = 4020

  enable/disable feed_hold

• EMCMOT_AF_ENABLE = 4021

  enable/disable adaptive feedrate

• EMCMOT_OVERRIDE_LIMITS = 4022

  temporarily ignore limits until jog done

• EMCMOT_HOME = 4023

  home a joint or all joints

• EMCMOT_UNHOME = 4024

  unhome a joint or all joints

• EMCMOT_JOG_CONT = 4025

  continuous jog

• EMCMOT_JOG_INCR = 4026

  incremental jog

• EMCMOT_JOG_ABS = 4027

  absolute jog

• EMCMOT_SET_LINE = 4028

  queue up a linear move

• EMCMOT_SET_CIRCLE = 4029

  queue up a circular move

• EMCMOT_SET_TELEOP_VECTOR = 4030

  Move at a given velocity but in world cartesian coordinates = 4000; not in joint space like EMCMOT_JOG_*

• EMCMOT_CLEAR_PROBE_FLAGS = 4031

  clears probeTripped flag

• EMCMOT_PROBE = 4032

  go to pos = 4000; stop if probe trips = 4000; record trip pos

• EMCMOT_RIGID_TAP = 4033

  go to pos = 4000; with sync to spindle speed = 4000; then return to initial pos

• EMCMOT_SET_POSITION_LIMITS = 4034

  set the joint position +/- limits

• EMCMOT_SET_BACKLASH = 4035

  set the joint backlash

• EMCMOT_SET_MIN_FERROR = 4036

  minimum following error = 4000; input units

• EMCMOT_SET_MAX_FERROR = 4037

  maximum following error = 4000; input units

• EMCMOT_SET_VEL = 4038

  set the velocity for subsequent moves

• EMCMOT_SET_VEL_LIMIT = 4039

  set the max vel for all moves (tooltip)

• EMCMOT_SET_JOINT_VEL_LIMIT = 4040

  set the max joint vel

• EMCMOT_SET_JOINT_ACC_LIMIT = 4041

  set the max joint accel

• EMCMOT_SET_ACC = 4042

  set the max accel for moves (tooltip)

• EMCMOT_SET_TERM_COND = 4043

  set termination condition (stop = 4000; blend)

• EMCMOT_SET_NUM_AXES = 4044

  set the number of joints

• EMCMOT_SET_WORLD_HOME = 4045

  FIXME-AJ: function needs to get renamed

  set pose for world home

• EMCMOT_SET_HOMING_PARAMS = 4046

  sets joint homing parameters

• EMCMOT_SET_DEBUG = 4047

  sets the debug level

• EMCMOT_SET_DOUT = 4048

  sets or unsets a DIO = 4000; this can be imediate or synched with motion

• EMCMOT_SET_AOUT = 4049

  sets or unsets a AIO = 4000; this can be imediate or synched with motion

• EMCMOT_SET_SPINDLESYNC = 4050

  syncronize motion to spindle encoder

• EMCMOT_SPINDLE_ON = 4051

  start the spindle

• EMCMOT_SPINDLE_OFF = 4052

  stop the spindle

• EMCMOT_SPINDLE_INCREASE = 4053

  spindle faster

• EMCMOT_SPINDLE_DECREASE = 4054

  spindle slower

• EMCMOT_SPINDLE_BRAKE_ENGAGE = 4055

  engage the spindle brake

• EMCMOT_SPINDLE_BRAKE_RELEASE = 4056

  release the spindle brake

• EMCMOT_SET_MOTOR_OFFSET = 4057

  set the offset between joint and motor

• EMCMOT_SET_JOINT_COMP = 4058

  set a compensation triplet for a joint (nominal, forw., rev.)

• EMCMOT_SET_OFFSET = 4059

  set tool offsets

Used in: MotionStatus

• EMCMOT_COMMAND_OK = 0

  cmd honored

• EMCMOT_COMMAND_UNKNOWN_COMMAND = 1

  cmd not understood

• EMCMOT_COMMAND_INVALID_COMMAND = 2

  cmd can't be handled now

• EMCMOT_COMMAND_INVALID_PARAMS = 3

  bad cmd params

• EMCMOT_COMMAND_BAD_EXEC = 4

  error trying to initiate