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Add Stepping Status to emcmodule #3560

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3 changes: 3 additions & 0 deletions docs/src/config/python-interface.adoc
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Expand Up @@ -278,6 +278,9 @@ see <<python:reading-ini-values,ReadingINI file values>> for an example.
*paused*:: '(returns boolean)' -
`motion paused` flag.

*stepping*:: '(returns boolean)' -
`motion stepping` flag.
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@satiowadahc satiowadahc Sep 11, 2025

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I even added documentation for once :)


*pocket_prepped*:: '(returns integer)' -
A Tx command completed, and this pocket is prepared. -1 if no
prepared pocket.
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1 change: 1 addition & 0 deletions src/emc/nml_intf/emc_nml.hh
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Expand Up @@ -984,6 +984,7 @@ class EMC_TRAJ_STAT:public EMC_TRAJ_STAT_MSG {
bool queueFull; // non-zero means can't accept another motion
int id; // id of the currently executing motion
bool paused; // non-zero means motion paused
bool stepping; // non-zero means motion stepping single block
double scale; // velocity scale factor
double rapid_scale; // rapid scale factor
//double spindle_scale; // moved to EMC_SPINDLE_STAT
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9 changes: 9 additions & 0 deletions src/emc/task/emctaskmain.cc
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Expand Up @@ -1174,6 +1174,7 @@ static int emcTaskPlan(void)
break;

case EMC_TASK_PLAN_STEP_TYPE:
emcStatus->motion.traj.stepping = 1;
stepping = 1; // set stepping mode in case it's not
steppingWait = 0; // clear the wait
break;
Expand Down Expand Up @@ -1249,6 +1250,7 @@ static int emcTaskPlan(void)
break;

case EMC_TASK_PLAN_STEP_TYPE:
emcStatus->motion.traj.stepping = 1;
stepping = 1;
steppingWait = 0;
if (emcStatus->motion.traj.paused &&
Expand Down Expand Up @@ -1324,6 +1326,7 @@ static int emcTaskPlan(void)
break;

case EMC_TASK_PLAN_STEP_TYPE:
emcStatus->motion.traj.stepping = 1;
stepping = 1; // set stepping mode in case it's not
steppingWait = 0; // clear the wait
break;
Expand Down Expand Up @@ -2123,6 +2126,7 @@ static int emcTaskIssueCommand(NMLmsg * cmd)
// clear out the interpreter state
emcStatus->task.interpState = EMC_TASK_INTERP::IDLE;
emcStatus->task.execState = EMC_TASK_EXEC::DONE;
emcStatus->motion.traj.stepping = 0;
stepping = 0;
steppingWait = 0;

Expand Down Expand Up @@ -2217,6 +2221,7 @@ static int emcTaskIssueCommand(NMLmsg * cmd)
break;

case EMC_TASK_PLAN_EXECUTE_TYPE:
emcStatus->motion.traj.stepping = 0;
stepping = 0;
steppingWait = 0;
execute_msg = (EMC_TASK_PLAN_EXECUTE *) cmd;
Expand Down Expand Up @@ -2312,6 +2317,7 @@ static int emcTaskIssueCommand(NMLmsg * cmd)
retval = -1;
break;
}
emcStatus->motion.traj.stepping = 0;
stepping = 0;
steppingWait = 0;
if (!taskplanopen && emcStatus->task.file[0] != 0) {
Expand Down Expand Up @@ -2360,6 +2366,7 @@ static int emcTaskIssueCommand(NMLmsg * cmd)
emcTrajResume();
emcStatus->task.interpState = interpResumeState;
emcStatus->task.task_paused = 0;
emcStatus->motion.traj.stepping = 0;
stepping = 0;
steppingWait = 0;
retval = 0;
Expand Down Expand Up @@ -2590,6 +2597,7 @@ static int emcTaskExecute(void)
// clear out the interpreter state
emcStatus->task.interpState = EMC_TASK_INTERP::IDLE;
emcStatus->task.execState = EMC_TASK_EXEC::DONE;
emcStatus->motion.traj.stepping = 0;
stepping = 0;
steppingWait = 0;

Expand Down Expand Up @@ -3497,6 +3505,7 @@ int main(int argc, char *argv[])
// clear out the interpreter state
emcStatus->task.interpState = EMC_TASK_INTERP::IDLE;
emcStatus->task.execState = EMC_TASK_EXEC::DONE;
emcStatus->motion.traj.stepping = 0;
stepping = 0;
steppingWait = 0;

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1 change: 1 addition & 0 deletions src/emc/usr_intf/axis/extensions/emcmodule.cc
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Expand Up @@ -466,6 +466,7 @@ static PyMemberDef Stat_members[] = {
{(char*)"queue_full", T_BOOL, O(motion.traj.queueFull), READONLY, NULL},
{(char*)"motion_id", T_INT, O(motion.traj.id), READONLY, NULL},
{(char*)"paused", T_BOOL, O(motion.traj.paused), READONLY, NULL},
{(char*)"stepping", T_BOOL, O(motion.traj.stepping), READONLY, NULL},
{(char*)"feedrate", T_DOUBLE, O(motion.traj.scale), READONLY, NULL},
{(char*)"rapidrate", T_DOUBLE, O(motion.traj.rapid_scale), READONLY, NULL},
{(char*)"velocity", T_DOUBLE, O(motion.traj.velocity), READONLY, NULL},
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