removed unused amplifier enable and disable cmd

Author: rene-dev

src/emc/motion-logger/motion-logger.c

@@ -321,14 +321,6 @@ int main(int argc, char* argv[]) {
                 update_motion_state();
                 break;
 
-            case EMCMOT_JOINT_ENABLE_AMPLIFIER:
-                log_print("ENABLE_AMPLIFIER\n");
-                break;
-
-            case EMCMOT_JOINT_DISABLE_AMPLIFIER:
-                log_print("DISABLE_AMPLIFIER\n");
-                break;
-
             case EMCMOT_ENABLE_WATCHDOG:
                 log_print("ENABLE_WATCHDOG\n");
                 break;

src/emc/motion/command.c

@@ -1342,26 +1342,6 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
 	    }
 	    SET_JOINT_ACTIVE_FLAG(joint, 0);
 	    break;
-	case EMCMOT_JOINT_ENABLE_AMPLIFIER:
-	    /* enable the amplifier directly, but don't enable calculations */
-	    /* can be done at any time */
-	    rtapi_print_msg(RTAPI_MSG_DBG, "JOINT_ENABLE_AMP");
-	    rtapi_print_msg(RTAPI_MSG_DBG, " %d", joint_num);
-	    if (joint == 0) {
-		break;
-	    }
-	    break;
-
-	case EMCMOT_JOINT_DISABLE_AMPLIFIER:
-	    /* disable the joint calculations and amplifier, but don't disable
-	       calculations */
-	    /* can be done at any time */
-	    rtapi_print_msg(RTAPI_MSG_DBG, "JOINT_DISABLE_AMP");
-	    rtapi_print_msg(RTAPI_MSG_DBG, " %d", joint_num);
-	    if (joint == 0) {
-		break;
-	    }
-	    break;
 
 	case EMCMOT_JOINT_HOME:
 	    /* home the specified joint */

src/emc/motion/motion.h

@@ -159,8 +159,6 @@ extern "C" {
 	EMCMOT_JOG_ABORT,               /* abort one joint num or axis num */
 	EMCMOT_JOINT_ACTIVATE,          /* make joint active */
 	EMCMOT_JOINT_DEACTIVATE,        /* make joint inactive */
-	EMCMOT_JOINT_ENABLE_AMPLIFIER,  /* enable amp outputs */
-	EMCMOT_JOINT_DISABLE_AMPLIFIER, /* disable amp outputs */
 	EMCMOT_JOINT_HOME,              /* home a joint or all joints */
 	EMCMOT_JOINT_UNHOME,            /* unhome a joint or all joints*/
 	EMCMOT_SET_JOINT_POSITION_LIMITS, /* set the joint position +/- limits */

src/emc/nml_intf/emc.cc

@@ -57,12 +57,6 @@ int emcFormat(NMLTYPE type, void *buffer, CMS * cms)
     case EMC_AUX_STAT_TYPE:
 	((EMC_AUX_STAT *) buffer)->update(cms);
 	break;
-    case EMC_JOINT_DISABLE_TYPE:
-	((EMC_JOINT_DISABLE *) buffer)->update(cms);
-	break;
-    case EMC_JOINT_ENABLE_TYPE:
-	((EMC_JOINT_ENABLE *) buffer)->update(cms);
-	break;
     case EMC_JOINT_HALT_TYPE:
 	((EMC_JOINT_HALT *) buffer)->update(cms);
 	break;
@@ -424,10 +418,6 @@ const char *emc_symbol_lookup(uint32_t type)
 	return "EMC_AUX_ESTOP_ON";
     case EMC_AUX_STAT_TYPE:
 	return "EMC_AUX_STAT";
-    case EMC_JOINT_DISABLE_TYPE:
-	return "EMC_JOINT_DISABLE";
-    case EMC_JOINT_ENABLE_TYPE:
-	return "EMC_JOINT_ENABLE";
     case EMC_JOINT_HALT_TYPE:
 	return "EMC_JOINT_HALT";
     case EMC_JOINT_HOME_TYPE:
@@ -1984,18 +1974,6 @@ void EMC_TASK_PLAN_STEP::update(CMS * cms)
 
 }
 
-/*
-*	NML/CMS Update function for EMC_JOINT_DISABLE
-*	Automatically generated by NML CodeGen Java Applet.
-*	on Sat Oct 11 13:45:17 UTC 2003
-*/
-void EMC_JOINT_DISABLE::update(CMS * cms)
-{
-
-    EMC_JOINT_CMD_MSG::update(cms);
-
-}
-
 /*
 *	NML/CMS Update function for EMC_JOINT_SET_BACKLASH
 *	Manually generated  - don't use NML CodeGen Java Applet.
@@ -2106,18 +2084,6 @@ void EMC_JOINT_UNHOME::update(CMS * cms)
 
 }
 
-/*
-*	NML/CMS Update function for EMC_JOINT_ENABLE
-*	Automatically generated by NML CodeGen Java Applet.
-*	on Sat Oct 11 13:45:17 UTC 2003
-*/
-void EMC_JOINT_ENABLE::update(CMS * cms)
-{
-
-    EMC_JOINT_CMD_MSG::update(cms);
-
-}
-
 /*
 *	NML/CMS Update function for EMC_TRAJ_SET_MAX_ACCELERATION
 *	Automatically generated by NML CodeGen Java Applet.

src/emc/nml_intf/emc.hh

@@ -66,8 +66,6 @@ struct PM_CARTESIAN;
 #define EMC_JOINT_SET_MIN_FERROR_TYPE                 ((NMLTYPE) 115)
 #define EMC_JOINT_SET_MAX_VELOCITY_TYPE               ((NMLTYPE) 116)
 #define EMC_JOINT_HALT_TYPE                           ((NMLTYPE) 119)
-#define EMC_JOINT_ENABLE_TYPE                         ((NMLTYPE) 121)
-#define EMC_JOINT_DISABLE_TYPE                        ((NMLTYPE) 122)
 #define EMC_JOINT_HOME_TYPE                           ((NMLTYPE) 123)
 #define EMC_JOG_CONT_TYPE                             ((NMLTYPE) 124)
 #define EMC_JOG_INCR_TYPE                             ((NMLTYPE) 125)
@@ -338,8 +336,6 @@ extern int emcJointSetMaxAcceleration(int joint, double acc);
 
 extern int emcJointInit(int joint);
 extern int emcJointHalt(int joint);
-extern int emcJointEnable(int joint);
-extern int emcJointDisable(int joint);
 extern int emcJointHome(int joint);
 extern int emcJointUnhome(int joint);
 extern int emcJointActivate(int joint);

src/emc/nml_intf/emc_nml.hh

@@ -302,26 +302,6 @@ class EMC_JOINT_HALT:public EMC_JOINT_CMD_MSG {
     void update(CMS * cms);
 };
 
-class EMC_JOINT_ENABLE:public EMC_JOINT_CMD_MSG {
-  public:
-    EMC_JOINT_ENABLE():EMC_JOINT_CMD_MSG(EMC_JOINT_ENABLE_TYPE,
-				       sizeof(EMC_JOINT_ENABLE)) {
-    };
-
-    // For internal NML/CMS use only.
-    void update(CMS * cms);
-};
-
-class EMC_JOINT_DISABLE:public EMC_JOINT_CMD_MSG {
-  public:
-    EMC_JOINT_DISABLE():EMC_JOINT_CMD_MSG(EMC_JOINT_DISABLE_TYPE,
-					sizeof(EMC_JOINT_DISABLE)) {
-    };
-
-    // For internal NML/CMS use only.
-    void update(CMS * cms);
-};
-
 class EMC_JOINT_HOME:public EMC_JOINT_CMD_MSG {
   public:
     EMC_JOINT_HOME():EMC_JOINT_CMD_MSG(EMC_JOINT_HOME_TYPE,

src/emc/task/emctask.cc

@@ -319,9 +319,6 @@ int emcTaskSetState(EMC_TASK_STATE state)
         emcMotionAbort();
 	// turn the machine servos off-- go into READY state
     for (t = 0; t < emcStatus->motion.traj.spindles; t++)  emcSpindleAbort(t);
-	for (t = 0; t < emcStatus->motion.traj.joints; t++) {
-	    emcJointDisable(t);
-	}
 	emcTrajDisable();
 	emcIoAbort(EMC_ABORT_TASK_STATE_OFF);
 	emcLubeOff();
@@ -334,9 +331,6 @@ int emcTaskSetState(EMC_TASK_STATE state)
     case EMC_TASK_STATE::ON:
 	// turn the machine servos on
 	emcTrajEnable();
-	for (t = 0; t < emcStatus->motion.traj.joints; t++){
-		emcJointEnable(t);
-	}
 	emcLubeOn();
 	break;
 
@@ -356,9 +350,6 @@ int emcTaskSetState(EMC_TASK_STATE state)
 	for (t = 0; t < emcStatus->motion.traj.spindles; t++) emcSpindleAbort(t);
 	// go into estop-- do both IO estop and machine servos off
 	emcAuxEstopOn();
-	for (t = 0; t < emcStatus->motion.traj.joints; t++) {
-	    emcJointDisable(t);
-	}
 	emcTrajDisable();
 	emcLubeOff();
 	emcTaskAbort();

src/emc/task/emctaskmain.cc

@@ -359,8 +359,6 @@ int emcSystemCmd(char *s)
 
 // shorthand typecasting ptrs
 static EMC_JOINT_HALT *joint_halt_msg;
-static EMC_JOINT_DISABLE *disable_msg;
-static EMC_JOINT_ENABLE *enable_msg;
 static EMC_JOINT_HOME *home_msg;
 static EMC_JOINT_UNHOME *unhome_msg;
 static EMC_JOG_CONT *jog_cont_msg;
@@ -806,8 +804,6 @@ static int emcTaskPlan(void)
 		// immediate commands
 	    case EMC_JOINT_SET_BACKLASH_TYPE:
 	    case EMC_JOINT_SET_HOMING_PARAMS_TYPE:
-	    case EMC_JOINT_DISABLE_TYPE:
-	    case EMC_JOINT_ENABLE_TYPE:
 	    case EMC_JOINT_SET_FERROR_TYPE:
 	    case EMC_JOINT_SET_MIN_FERROR_TYPE:
 	    case EMC_JOINT_LOAD_COMP_TYPE:
@@ -898,8 +894,6 @@ static int emcTaskPlan(void)
 
 		// immediate commands
 
-	    case EMC_JOINT_DISABLE_TYPE:
-	    case EMC_JOINT_ENABLE_TYPE:
 	    case EMC_JOINT_SET_BACKLASH_TYPE:
 	    case EMC_JOINT_SET_HOMING_PARAMS_TYPE:
 	    case EMC_JOINT_SET_FERROR_TYPE:
@@ -1671,16 +1665,6 @@ static int emcTaskIssueCommand(NMLmsg * cmd)
 
 	// joint commands
 
-    case EMC_JOINT_DISABLE_TYPE:
-	disable_msg = (EMC_JOINT_DISABLE *) cmd;
-	retval = emcJointDisable(disable_msg->joint);
-	break;
-
-    case EMC_JOINT_ENABLE_TYPE:
-	enable_msg = (EMC_JOINT_ENABLE *) cmd;
-	retval = emcJointEnable(enable_msg->joint);
-	break;
-
     case EMC_JOINT_HOME_TYPE:
 	home_msg = (EMC_JOINT_HOME *) cmd;
 	retval = emcJointHome(home_msg->joint);
@@ -3356,9 +3340,6 @@ int main(int argc, char *argv[])
     emcMotionAbort();
     for (int s = 0; s < emcStatus->motion.traj.spindles; s++) emcSpindleAbort(s);
     emcAuxEstopOn();
-    for (int t = 0; t < emcStatus->motion.traj.joints; t++) {
-        emcJointDisable(t);
-    }
     emcTrajDisable();
     emcLubeOff();
     emcIoAbort(EMC_ABORT_TASK_STATE_ESTOP);

src/emc/task/taskintf.cc

@@ -740,30 +740,6 @@ int emcJointOverrideLimits(int joint)
     return usrmotWriteEmcmotCommand(&emcmotCommand);
 }
 
-int emcJointEnable(int joint)
-{
-    if (joint < 0 || joint >= EMCMOT_MAX_JOINTS) {
-	return 0;
-    }
-
-    emcmotCommand.command = EMCMOT_JOINT_ENABLE_AMPLIFIER;
-    emcmotCommand.joint = joint;
-
-    return usrmotWriteEmcmotCommand(&emcmotCommand);
-}
-
-int emcJointDisable(int joint)
-{
-    if (joint < 0 || joint >= EMCMOT_MAX_JOINTS) {
-	return 0;
-    }
-
-    emcmotCommand.command = EMCMOT_JOINT_DISABLE_AMPLIFIER;
-    emcmotCommand.joint = joint;
-
-    return usrmotWriteEmcmotCommand(&emcmotCommand);
-}
-
 int emcJointHome(int joint)
 {
     if (joint < -1 || joint >= EMCMOT_MAX_JOINTS) {

src/emc/usr_intf/emcsh.cc

@@ -3089,8 +3089,6 @@ static int emc_joint_enable(ClientData clientdata,
 	setresult(interp,"emc_joint_enable: need 0, 1 for disable, enable");
 	return TCL_ERROR;
     }
-
-    sendJointEnable(joint, val);
     return TCL_OK;
 }