task: change c enums to class enums

Author: rene-dev

src/emc/nml_intf/emc.hh

@@ -246,46 +246,46 @@ struct PM_CARTESIAN;
 #define EMC_STAT_TYPE                                ((NMLTYPE) 1999)
 
 // types for EMC_TASK mode
-enum EMC_TASK_MODE_ENUM {
-    EMC_TASK_MODE_MANUAL = 1,
-    EMC_TASK_MODE_AUTO = 2,
-    EMC_TASK_MODE_MDI = 3
+enum class EMC_TASK_MODE {
+    MANUAL = 1,
+    AUTO = 2,
+    MDI = 3
 };
 
 // types for EMC_TASK state
-enum EMC_TASK_STATE_ENUM {
-    EMC_TASK_STATE_ESTOP = 1,
-    EMC_TASK_STATE_ESTOP_RESET = 2,
-    EMC_TASK_STATE_OFF = 3,
-    EMC_TASK_STATE_ON = 4
+enum class EMC_TASK_STATE {
+    ESTOP = 1,
+    ESTOP_RESET = 2,
+    OFF = 3,
+    ON = 4
 };
 
 // types for EMC_TASK execState
-enum EMC_TASK_EXEC_ENUM {
-    EMC_TASK_EXEC_ERROR = 1,
-    EMC_TASK_EXEC_DONE = 2,
-    EMC_TASK_EXEC_WAITING_FOR_MOTION = 3,
-    EMC_TASK_EXEC_WAITING_FOR_MOTION_QUEUE = 4,
-    EMC_TASK_EXEC_WAITING_FOR_IO = 5,
-    EMC_TASK_EXEC_WAITING_FOR_MOTION_AND_IO = 7,
-    EMC_TASK_EXEC_WAITING_FOR_DELAY = 8,
-    EMC_TASK_EXEC_WAITING_FOR_SYSTEM_CMD = 9,
-    EMC_TASK_EXEC_WAITING_FOR_SPINDLE_ORIENTED = 10
+enum class EMC_TASK_EXEC {
+    ERROR = 1,
+    DONE = 2,
+    WAITING_FOR_MOTION = 3,
+    WAITING_FOR_MOTION_QUEUE = 4,
+    WAITING_FOR_IO = 5,
+    WAITING_FOR_MOTION_AND_IO = 7,
+    WAITING_FOR_DELAY = 8,
+    WAITING_FOR_SYSTEM_CMD = 9,
+    WAITING_FOR_SPINDLE_ORIENTED = 10
 };
 
 // types for EMC_TASK interpState
-enum EMC_TASK_INTERP_ENUM {
-    EMC_TASK_INTERP_IDLE = 1,
-    EMC_TASK_INTERP_READING = 2,
-    EMC_TASK_INTERP_PAUSED = 3,
-    EMC_TASK_INTERP_WAITING = 4
+enum class EMC_TASK_INTERP {
+    IDLE = 1,
+    READING = 2,
+    PAUSED = 3,
+    WAITING = 4
 };
 
 // types for motion control
-enum EMC_TRAJ_MODE_ENUM {
-    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,
+enum class EMC_TRAJ_MODE {
+    FREE = 1,	// independent-axis motion,
+    COORD = 2,	// coordinated-axis motion,
+    TELEOP = 3	// velocity based world coordinates motion,
 };
 
 // types for emcIoAbort() reasons
@@ -398,7 +398,7 @@ extern int emcTrajSetAxes(int axismask);
 extern int emcTrajSetSpindles(int spindles);
 extern int emcTrajSetUnits(double linearUnits, double angularUnits);
 extern int emcTrajSetCycleTime(double cycleTime);
-extern int emcTrajSetMode(int traj_mode);
+extern int emcTrajSetMode(EMC_TRAJ_MODE traj_mode);
 extern int emcTrajSetVelocity(double vel, double ini_maxvel);
 extern int emcTrajSetAcceleration(double acc);
 extern int emcTrajSetMaxVelocity(double vel);

src/emc/nml_intf/emc_nml.hh

@@ -602,7 +602,7 @@ class EMC_TRAJ_SET_MODE:public EMC_TRAJ_CMD_MSG {
     // For internal NML/CMS use only.
     void update(CMS * cms);
 
-    enum EMC_TRAJ_MODE_ENUM mode;
+    EMC_TRAJ_MODE mode;
 };
 
 class EMC_TRAJ_SET_VELOCITY:public EMC_TRAJ_CMD_MSG {
@@ -1034,8 +1034,8 @@ class EMC_TRAJ_STAT:public EMC_TRAJ_STAT_MSG {
     int joints;			// maximum joint number
     int spindles;			// maximum spindle number
     int axis_mask;		// mask of axes actually present
-    enum EMC_TRAJ_MODE_ENUM mode;	// EMC_TRAJ_MODE_FREE,
-    // EMC_TRAJ_MODE_COORD
+    EMC_TRAJ_MODE mode;	// EMC_TRAJ_MODE::FREE,
+    // EMC_TRAJ_MODE::COORD
     bool enabled;		// non-zero means enabled
 
     bool inpos;			// non-zero means in position
@@ -1282,7 +1282,7 @@ class EMC_TASK_SET_MODE:public EMC_TASK_CMD_MSG {
     // For internal NML/CMS use only.
     void update(CMS * cms);
 
-    enum EMC_TASK_MODE_ENUM mode;
+    EMC_TASK_MODE mode;
 };
 
 class EMC_TASK_SET_STATE:public EMC_TASK_CMD_MSG {
@@ -1294,7 +1294,7 @@ class EMC_TASK_SET_STATE:public EMC_TASK_CMD_MSG {
     // For internal NML/CMS use only.
     void update(CMS * cms);
 
-    enum EMC_TASK_STATE_ENUM state;
+    EMC_TASK_STATE state;
 };
 
 class EMC_TASK_PLAN_OPEN:public EMC_TASK_CMD_MSG {
@@ -1488,11 +1488,11 @@ class EMC_TASK_STAT:public EMC_TASK_STAT_MSG {
     // For internal NML/CMS use only.
     void update(CMS * cms);
 
-    enum EMC_TASK_MODE_ENUM mode;	// EMC_TASK_MODE_MANUAL, etc.
-    enum EMC_TASK_STATE_ENUM state;	// EMC_TASK_STATE_ESTOP, etc.
+    EMC_TASK_MODE mode;	// EMC_TASK_MODE::MANUAL, etc.
+    EMC_TASK_STATE state;	// EMC_TASK_STATE::ESTOP, etc.
 
-    enum EMC_TASK_EXEC_ENUM execState;	// EMC_DONE,WAITING_FOR_MOTION, etc.
-    enum EMC_TASK_INTERP_ENUM interpState;	// EMC_IDLE,READING,PAUSED,WAITING
+    EMC_TASK_EXEC execState;	// EMC_DONE,WAITING_FOR_MOTION, etc.
+    EMC_TASK_INTERP interpState;	// EMC_IDLE,READING,PAUSED,WAITING
     int callLevel;              // current subroutine level - 0 if not in a subroutine, > 0 otherwise
     int motionLine;		// line motion is executing-- may lag
     int currentLine;		// line currently executing

src/emc/nml_intf/emcops.cc

@@ -60,7 +60,7 @@ EMC_TRAJ_STAT_MSG(EMC_TRAJ_STAT_TYPE, sizeof(EMC_TRAJ_STAT)),
     cycleTime = 0.0;
     joints = 1;
     axis_mask = 1;
-    mode = EMC_TRAJ_MODE_FREE;
+    mode = EMC_TRAJ_MODE::FREE;
     enabled = OFF;
     inpos = ON;
     queue = 0;
@@ -117,10 +117,10 @@ EMC_TASK_STAT_MSG(EMC_TASK_STAT_TYPE, sizeof(EMC_TASK_STAT))
 {
     int t;
 
-    mode = EMC_TASK_MODE_MANUAL;
-    state = EMC_TASK_STATE_ESTOP;
-    execState = EMC_TASK_EXEC_DONE;
-    interpState = EMC_TASK_INTERP_IDLE;
+    mode = EMC_TASK_MODE::MANUAL;
+    state = EMC_TASK_STATE::ESTOP;
+    execState = EMC_TASK_EXEC::DONE;
+    interpState = EMC_TASK_INTERP::IDLE;
     callLevel = 0;
     motionLine = 0;
     currentLine = 0;

src/emc/task/emctask.cc

@@ -41,7 +41,7 @@
 //note:the +1 is for the PROGRAM_PREFIX or default directory==nc_files
 
 /* flag for how we want to interpret traj coord mode, as mdi or auto */
-static int mdiOrAuto = EMC_TASK_MODE_AUTO;
+static EMC_TASK_MODE mdiOrAuto = EMC_TASK_MODE::AUTO;
 
 InterpBase *pinterp=0;
 #define interp (*pinterp)
@@ -219,7 +219,7 @@ int emcTaskStateRestore()
 {
     int res = 0;
     // Do NOT restore on MDI command
-    if (emcStatus->task.mode == EMC_TASK_MODE_AUTO) {
+    if (emcStatus->task.mode == EMC_TASK_MODE::AUTO) {
         // Validity of state tag checked within restore function
         res = pinterp->restore_from_tag(emcStatus->motion.traj.tag);
     }
@@ -235,8 +235,8 @@ int emcTaskAbort()
     interp_list.clear();
 
     // clear out the interpreter state
-    emcStatus->task.interpState = EMC_TASK_INTERP_IDLE;
-    emcStatus->task.execState = EMC_TASK_EXEC_DONE;
+    emcStatus->task.interpState = EMC_TASK_INTERP::IDLE;
+    emcStatus->task.execState = EMC_TASK_EXEC::DONE;
     emcStatus->task.task_paused = 0;
     emcStatus->task.motionLine = 0;
     emcStatus->task.readLine = 0;
@@ -265,7 +265,7 @@ int emcTaskAbort()
     return 0;
 }
 
-int emcTaskSetMode(int mode)
+int emcTaskSetMode(EMC_TASK_MODE mode)
 {
     int retval = 0;
 
@@ -275,30 +275,30 @@ int emcTaskSetMode(int mode)
     }
 
     switch (mode) {
-    case EMC_TASK_MODE_MANUAL:
+    case EMC_TASK_MODE::MANUAL:
 	// go to manual mode
         if (all_homed()) {
-            emcTrajSetMode(EMC_TRAJ_MODE_TELEOP);
+            emcTrajSetMode(EMC_TRAJ_MODE::TELEOP);
         } else {
-            emcTrajSetMode(EMC_TRAJ_MODE_FREE);
+            emcTrajSetMode(EMC_TRAJ_MODE::FREE);
         }
-	mdiOrAuto = EMC_TASK_MODE_AUTO;	// we'll default back to here
+	mdiOrAuto = EMC_TASK_MODE::AUTO;	// we'll default back to here
 	break;
 
-    case EMC_TASK_MODE_MDI:
+    case EMC_TASK_MODE::MDI:
 	// go to mdi mode
-	emcTrajSetMode(EMC_TRAJ_MODE_COORD);
+	emcTrajSetMode(EMC_TRAJ_MODE::COORD);
 	emcTaskAbort();
 	emcTaskPlanSynch();
-	mdiOrAuto = EMC_TASK_MODE_MDI;
+	mdiOrAuto = EMC_TASK_MODE::MDI;
 	break;
 
-    case EMC_TASK_MODE_AUTO:
+    case EMC_TASK_MODE::AUTO:
 	// go to auto mode
-	emcTrajSetMode(EMC_TRAJ_MODE_COORD);
+	emcTrajSetMode(EMC_TRAJ_MODE::COORD);
 	emcTaskAbort();
 	emcTaskPlanSynch();
-	mdiOrAuto = EMC_TASK_MODE_AUTO;
+	mdiOrAuto = EMC_TASK_MODE::AUTO;
 	break;
 
     default:
@@ -309,13 +309,13 @@ int emcTaskSetMode(int mode)
     return retval;
 }
 
-int emcTaskSetState(int state)
+int emcTaskSetState(EMC_TASK_STATE state)
 {
     int t;
     int retval = 0;
 
     switch (state) {
-    case EMC_TASK_STATE_OFF:
+    case EMC_TASK_STATE::OFF:
         emcMotionAbort();
 	// turn the machine servos off-- go into READY state
     for (t = 0; t < emcStatus->motion.traj.spindles; t++)  emcSpindleAbort(t);
@@ -331,7 +331,7 @@ int emcTaskSetState(int state)
 	emcTaskPlanSynch();
 	break;
 
-    case EMC_TASK_STATE_ON:
+    case EMC_TASK_STATE::ON:
 	// turn the machine servos on
 	emcTrajEnable();
 	for (t = 0; t < emcStatus->motion.traj.joints; t++){
@@ -340,7 +340,7 @@ int emcTaskSetState(int state)
 	emcLubeOn();
 	break;
 
-    case EMC_TASK_STATE_ESTOP_RESET:
+    case EMC_TASK_STATE::ESTOP_RESET:
 	// reset the estop
 	emcAuxEstopOff();
 	emcLubeOff();
@@ -351,7 +351,7 @@ int emcTaskSetState(int state)
 	emcTaskPlanSynch();
 	break;
 
-    case EMC_TASK_STATE_ESTOP:
+    case EMC_TASK_STATE::ESTOP:
         emcMotionAbort();
 	for (t = 0; t < emcStatus->motion.traj.spindles; t++) emcSpindleAbort(t);
 	// go into estop-- do both IO estop and machine servos off
@@ -393,15 +393,15 @@ int emcTaskSetState(int state)
   COORD       MDI           MDI
   COORD       AUTO          AUTO
   */
-static int determineMode()
+EMC_TASK_MODE determineMode()
 {
-    if (emcStatus->motion.traj.mode == EMC_TRAJ_MODE_FREE) {
-        return EMC_TASK_MODE_MANUAL;
+    if (emcStatus->motion.traj.mode == EMC_TRAJ_MODE::FREE) {
+        return EMC_TASK_MODE::MANUAL;
     }
-    if (emcStatus->motion.traj.mode == EMC_TRAJ_MODE_TELEOP) {
-        return EMC_TASK_MODE_MANUAL;
+    if (emcStatus->motion.traj.mode == EMC_TRAJ_MODE::TELEOP) {
+        return EMC_TASK_MODE::MANUAL;
     }
-    // for EMC_TRAJ_MODE_COORD
+    // for EMC_TRAJ_MODE::COORD
     return mdiOrAuto;
 }
 
@@ -419,17 +419,17 @@ static int determineMode()
   DISABLED       OUT OF ESTOP  ESTOP_RESET
   ENABLED        OUT OF ESTOP  ON
   */
-static int determineState()
+static EMC_TASK_STATE determineState()
 {
     if (emcStatus->io.aux.estop) {
-	return EMC_TASK_STATE_ESTOP;
+	return EMC_TASK_STATE::ESTOP;
     }
 
     if (!emcStatus->motion.traj.enabled) {
-	return EMC_TASK_STATE_ESTOP_RESET;
+	return EMC_TASK_STATE::ESTOP_RESET;
     }
 
-    return EMC_TASK_STATE_ON;
+    return EMC_TASK_STATE::ON;
 }
 
 static int waitFlag = 0;
@@ -692,11 +692,11 @@ int emcTaskPlanCommand(char *cmd)
 
 int emcTaskUpdate(EMC_TASK_STAT * stat)
 {
-    stat->mode = (enum EMC_TASK_MODE_ENUM) determineMode();
-    int oldstate = stat->state;
-    stat->state = (enum EMC_TASK_STATE_ENUM) determineState();
+    stat->mode = determineMode();
+    EMC_TASK_STATE oldstate = stat->state;
+    stat->state = determineState();
 
-    if(oldstate == EMC_TASK_STATE_ON && oldstate != stat->state) {
+    if(oldstate == EMC_TASK_STATE::ON && oldstate != stat->state) {
 	emcTaskAbort();
     for (int s = 0; s < emcStatus->motion.traj.spindles; s++) emcSpindleAbort(s);
         emcIoAbort(EMC_ABORT_TASK_STATE_NOT_ON);
@@ -718,15 +718,15 @@ int emcTaskUpdate(EMC_TASK_STAT * stat)
     // update active G and M codes
     // Start by assuming that we can't unpack a state tag from motion
     int res_state = INTERP_ERROR;
-    if (emcStatus->task.interpState != EMC_TASK_INTERP_IDLE) {
+    if (emcStatus->task.interpState != EMC_TASK_INTERP::IDLE) {
         res_state = interp.active_modes(&stat->activeGCodes[0],
 					&stat->activeMCodes[0],
 					&stat->activeSettings[0],
 					emcStatus->motion.traj.tag);
     } 
     // If we get an error from trying to unpack from the motion state, always
     // use interp's internal state, so the active state is never out of date
-    if (emcStatus->task.mode != EMC_TASK_MODE_AUTO ||
+    if (emcStatus->task.mode != EMC_TASK_MODE::AUTO ||
 	res_state == INTERP_ERROR) {
         interp.active_g_codes(&stat->activeGCodes[0]);
         interp.active_m_codes(&stat->activeMCodes[0]);