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Canon cleanup #4748

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9dc04e2
canon: move the NURBS math helpers to nurbs_math.hh
rene-dev Oct 28, 2026
3aaef5b
canon: return whole poses from the position and tool offset queries
rene-dev Oct 28, 2026
c5735e0
canon: pass text as std::string_view, return the parameter file name
rene-dev Oct 28, 2026
51febee
sai: print canon calls with {fmt}
rene-dev Oct 29, 2026
260aa28
interp: remove the unused setup.log_file
rene-dev Oct 29, 2026
91dca07
interp: keep program_prefix and wizard_root in std::string
rene-dev Oct 29, 2026
0a6d48b
interp: keep the error text in the Interp, as a std::string
rene-dev Oct 29, 2026
749c04e
interp: return std::string from the InterpBase text getters
rene-dev Oct 29, 2026
a0cee6b
interp: build file search paths in std::string instead of PATH_MAX bu…
rene-dev Oct 29, 2026
10fb59d
interp: drop fixed buffers from the error stack, REMAP parsing and co…
rene-dev Oct 29, 2026
737af96
interp: build the remap call line in a std::string
rene-dev Oct 29, 2026
b8c9b6d
interp, task: review cleanups
rene-dev Nov 1, 2026
d8fc823
interp: free the wordexp() result after WRDE_NOSPACE
rene-dev Nov 1, 2026
9af83ae
interp: make stack_index read-only from Python
rene-dev Nov 1, 2026
1abfd54
canterp, sai: stop the error stack loop
rene-dev Nov 1, 2026
ba6b810
interp: close the parameter files on every error path
rene-dev Nov 1, 2026
3b7b61e
task: print the current orientation for an RPY comment without values
rene-dev Nov 1, 2026
2bb44bc
interp: reject REMAP lines that would have no effect
rene-dev Nov 1, 2026
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50 changes: 22 additions & 28 deletions src/emc/canterp/canterp.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -66,11 +66,11 @@ static char the_command_args[LINELEN] = { 0 }; // just the args part

class Canterp : public InterpBase {
public:
Canterp () : f(NULL), filename{} {}
char *error_text(int errcode, char *buf, size_t buflen) override;
char *stack_name(int index, char *buf, size_t buflen) override;
char *line_text(char *buf, size_t buflen) override;
char *file_name(char *buf, size_t buflen) override;
Canterp () : f(NULL) {}
std::string error_text(int errcode) override;
std::string stack_name(int index) override;
std::string line_text() override;
std::string file_name() override;
size_t line_length() override;
int sequence_number() override;
int ini_load(const char *inifile) override;
Expand All @@ -87,8 +87,8 @@ class Canterp : public InterpBase {
int reset() override;
int line() override;
int call_level() override;
char *command(char *buf, size_t buflen) override;
char *file(char *buf, size_t buflen) override;
std::string command() override;
std::string file() override;
int on_abort(int reason, const char *message) override;
void active_g_codes(int active_gcodes[ACTIVE_G_CODES]) override;
void active_m_codes(int active_mcodes[ACTIVE_M_CODES]) override;
Expand All @@ -103,18 +103,16 @@ class Canterp : public InterpBase {
void set_loop_on_main_m99(bool state) override;
FILE* get_stdout() override { return NULL; };
FILE *f;
char filename[PATH_MAX];
std::string filename;
};

char *Canterp::error_text(int errcode, char *buf, size_t buflen) {
if(errcode < INTERP_MIN_ERROR) snprintf(buf, buflen, "OK %d", errcode);
else snprintf(buf, buflen, "ERROR %d", errcode);
return buf;
std::string Canterp::error_text(int errcode) {
return (errcode < INTERP_MIN_ERROR ? "OK " : "ERROR ") + std::to_string(errcode);
}

char *Canterp::stack_name(int index, char *buf, size_t buflen) {
snprintf(buf, buflen, "<stack %d>", index);
return buf;
// canterp has no call stack; an empty name ends the caller's loop
std::string Canterp::stack_name(int /*index*/) {
return {};
}

int Canterp::ini_load(const char * /*inifile*/) {
Expand Down Expand Up @@ -697,7 +695,7 @@ int Canterp::execute() {
int Canterp::open(const char *newfilename) {
if(f) fclose(f);
f = fopen(newfilename, "r");
if(f) snprintf(filename, sizeof(filename), "%s", newfilename);
if(f) filename = newfilename;
return f ? INTERP_OK : INTERP_ERROR;
}

Expand All @@ -715,27 +713,23 @@ int Canterp::reset() { return 0; }
int Canterp::line() { return 0; }
int Canterp::call_level() { return 0; }

char *Canterp::line_text(char *buf, size_t bufsize) {
snprintf(buf, bufsize, "<Canterp::line_text>");
return buf;
std::string Canterp::line_text() {
return "<Canterp::line_text>";
}
char *Canterp::file_name(char *buf, size_t bufsize) {
snprintf(buf, bufsize, "%s", filename);
return buf;
std::string Canterp::file_name() {
return filename;
}
char *Canterp::file(char *buf, size_t bufsize) {
snprintf(buf, bufsize, "%s", filename);
return buf;
std::string Canterp::file() {
return filename;
}
int Canterp::on_abort(int reason, const char *message)
{
fprintf(stderr, "Canterp::on_abort reason=%d message='%s'", reason, message);
reset();
return INTERP_OK;
}
char *Canterp::command(char *buf, size_t bufsize) {
snprintf(buf, bufsize, "<Canterp::command>");
return buf;
std::string Canterp::command() {
return "<Canterp::command>";
}
size_t Canterp::line_length() {
return 0;
Expand Down
152 changes: 18 additions & 134 deletions src/emc/nml_intf/canon.hh
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,8 @@
#define CANON_HH

#include <stdio.h> // FILE
#include <string>
#include <string_view>
#include <vector>

#include <emcpos.h>
Expand Down Expand Up @@ -522,80 +524,6 @@ extern void STRAIGHT_FEED(int lineno,
double a, double b, double c,
double u, double v, double w);

/* Additional functions needed to calculate nurbs G5 points */

extern std::vector<unsigned int> nurbs_G5_knot_vector_creator(unsigned int n, unsigned int k);

extern double nurbs_G5_Nmix(unsigned int i, unsigned int k, double u, const std::vector<unsigned int>& knot_vector);

extern double nurbs_G5_Rden(double u, unsigned int k,
const std::vector<NURBS_CONTROL_POINT>& nurbs_control_points,
const std::vector<unsigned int>& knot_vector);

extern NURBS_PLANE_POINT nurbs_G5_point(double u, unsigned int k,
const std::vector<NURBS_CONTROL_POINT>& nurbs_control_points,
const std::vector<unsigned int>& knot_vector);

extern NURBS_PLANE_POINT nurbs_G5_tangent(double u, unsigned int k,
const std::vector<NURBS_CONTROL_POINT>& nurbs_control_points,
const std::vector<unsigned int>& knot_vector);

/* Additional functions needed to calculate nurbs points G_6_2*/

extern std::vector<double> nurbs_g6_knot_vector_creator(unsigned int n, unsigned int k, const std::vector<NURBS_G6_CONTROL_POINT>& nurbs_control_points);

std::vector<double> nurbs_interval_span_knot_vector_creator(unsigned int n, unsigned int k, const std::vector<double>& knot_vector_);

extern double nurbs_lderv(double u, unsigned int k, const std::vector<NURBS_G6_CONTROL_POINT>& nurbs_control_points, const std::vector<double>& knot_vector_);

extern double nurbs_Sa1_b1_length_(double a1, double b1, unsigned int k, const std::vector<NURBS_G6_CONTROL_POINT>& nurbs_control_points, const std::vector<double>& knot_vector_);

extern std::vector<double> nurbs_lenght_vector_creator(unsigned int k, const std::vector<NURBS_G6_CONTROL_POINT>& nurbs_control_points, const std::vector<double>& knot_vector_, const std::vector<double>& span_knot_vector);

extern double nurbs_lenght_tot(int j, const std::vector<double>& span_knot_vector, const std::vector<double>& lenght_vector);

extern double nurbs_lenght_l_u(double u, unsigned int k, const std::vector<NURBS_G6_CONTROL_POINT>& nurbs_control_points, const std::vector<double>& knot_vector_, const std::vector<double>& span_knot_vector, const std::vector<double>& lenght_vector);

extern std::vector<double> nurbs_Du_span_knot_vector_creator(unsigned int k, const std::vector<NURBS_G6_CONTROL_POINT>& nurbs_control_points, const std::vector<double>& knot_vector_, const std::vector<double>& span_knot_vector);

extern std::vector<double> nurbs_costant_crator(const std::vector<double>& span_knot_vector, const std::vector<double>& lenght_vector, const std::vector<double>& Du_span_knot_vector);

extern double nurbs_uj_l(double l, const std::vector<double>& span_knot_vector, const std::vector<double>& lenght_vector, const std::vector<double>& nurbs_costant);

/* Funzioni di supporto all'algoritmo di suddivisione */
extern std::vector<double> nurbs_G6_new_control_point_nurbs1(double u, unsigned int k, const std::vector<NURBS_G6_CONTROL_POINT>& nurbs_control_points, const std::vector<double>& knot_vector_ );

extern std::vector<double> nurbs_G6_new_control_point_nurbs2(double u, unsigned int k, const std::vector<NURBS_G6_CONTROL_POINT>& nurbs_control_points, const std::vector<double>& knot_vector_ );

extern std::vector<double> nurbs_G6_knot_vector_new_creator_sgment(unsigned int k, const std::vector<NURBS_G6_CONTROL_POINT>& nurbs_control_points);
/* ... */

extern double nurbs_G6_Nmix(unsigned int i, unsigned int k, double u, const std::vector<double>& knot_vector_);

extern std::vector< std::vector<double> > nurbs_G6_Nmix_creator(double u, unsigned int k, double n, const std::vector<double>& knot_vector_);

extern double nurbs_G6_Rden(double u, unsigned int k, const std::vector<NURBS_G6_CONTROL_POINT>& nurbs_control_points, const std::vector<double>& knot_vector_);

extern NURBS_PLANE_POINT nurbs_G6_point(double u, unsigned int k, const std::vector<NURBS_G6_CONTROL_POINT>& nurbs_control_points, const std::vector<double>& knot_vector_);

extern double nurbs_G6_Rdenx(double u, unsigned int k, const std::vector<NURBS_G6_CONTROL_POINT>& nurbs_control_points, const std::vector<double>& knot_vector_, const std::vector< std::vector<double> >& A6);

extern NURBS_PLANE_POINT nurbs_G6_pointx(double u, unsigned int k, const std::vector<NURBS_G6_CONTROL_POINT>& nurbs_control_points, const std::vector<double>& knot_vector_, const std::vector< std::vector<double> >& A6);

extern NURBS_PLANE_POINT nurbs_G6_point_x(double u, unsigned int k, const std::vector<NURBS_G6_CONTROL_POINT>& nurbs_control_points, const std::vector<double>& knot_vector_);

extern NURBS_PLANE_POINT nurbs_G6_tangent_x(double u, unsigned int k, const std::vector<NURBS_G6_CONTROL_POINT>& nurbs_control_points, const std::vector<double>& knot_vector_);

/*Funzioni di supporto all'algoritmo di suddivisione********************************************************************/
extern std::vector<double> nurbs_G6_new_control_point_nurbs1(double u, unsigned int k, const std::vector<NURBS_G6_CONTROL_POINT>& nurbs_control_points, const std::vector<double>& knot_vector_ );

extern std::vector<double> nurbs_G6_new_control_point_nurbs2(double u, unsigned int k, const std::vector<NURBS_G6_CONTROL_POINT>& nurbs_control_points, const std::vector<double>& knot_vector_ );

extern std::vector<double> nurbs_G6_knot_vector_new_creator_sgment(unsigned int k, const std::vector<NURBS_G6_CONTROL_POINT>& nurbs_control_points);

/* End of NURBS functions*/


/* Canon calls */

extern void NURBS_G5_FEED(int lineno, const std::vector<NURBS_CONTROL_POINT>& nurbs_control_points, unsigned int nurbs_order, CANON_PLANE plane);
Expand All @@ -606,8 +534,6 @@ extern void NURBS_G5_FEED(int lineno, const std::vector<NURBS_CONTROL_POINT>& nu
extern void NURBS_G6_FEED(int lineno, const std::vector<NURBS_G6_CONTROL_POINT>& nurbs_control_points, unsigned int k, double feedrate, int l, CANON_PLANE plane);
// this is for G6xx

extern double alpha_finder(double dx, double dy);


/********************************************************************************************************************/

Expand Down Expand Up @@ -737,7 +663,7 @@ controller.
An attempt to move an axis while it is clamped should result in an
error condition in the controller. */

extern void COMMENT(const char *s);
extern void COMMENT(std::string_view s);

/* This function has no physical effect. If commands are being printed or
logged, the comment command is printed or logged, including the string
Expand Down Expand Up @@ -768,11 +694,11 @@ extern void FLOOD_OFF();
extern void FLOOD_ON();
/* Turn flood coolant on. */

extern void MESSAGE(char *s);
extern void MESSAGE(std::string_view s);

extern void LOG(char *s);
extern void LOGOPEN(char *s);
extern void LOGAPPEND(char *s);
extern void LOG(std::string_view s);
extern void LOGOPEN(std::string_view filename);
extern void LOGAPPEND(std::string_view filename);
extern void LOGCLOSE();

extern void MIST_OFF();
Expand Down Expand Up @@ -969,55 +895,22 @@ extern double GET_EXTERNAL_ORIGIN_Z();

*/

// returns nothing but copies the name of the parameter file into
// the filename array, stopping at max_size if the name is longer
// An empty string may be placed in filename.
extern void GET_EXTERNAL_PARAMETER_FILE_NAME(char *filename, int max_size);
// returns the name of the parameter file, or an empty string if none is set
extern std::string GET_EXTERNAL_PARAMETER_FILE_NAME();

extern void SET_PARAMETER_FILE_NAME(const char *name);
extern void SET_PARAMETER_FILE_NAME(std::string_view name);

// returns the currently active plane
extern CANON_PLANE GET_EXTERNAL_PLANE();

// returns the current a-axis position
extern double GET_EXTERNAL_POSITION_A();

// returns the current b-axis position
extern double GET_EXTERNAL_POSITION_B();

// returns the current c-axis position
extern double GET_EXTERNAL_POSITION_C();

// returns the current x-axis position
extern double GET_EXTERNAL_POSITION_X();

// returns the current y-axis position
extern double GET_EXTERNAL_POSITION_Y();

// returns the current z-axis position
extern double GET_EXTERNAL_POSITION_Z();

// returns the current u-axis position
extern double GET_EXTERNAL_POSITION_U();

// returns the current v-axis position
extern double GET_EXTERNAL_POSITION_V();

// returns the current w-axis position
extern double GET_EXTERNAL_POSITION_W();
// returns the current position of all nine axes, in program units
// and the current work coordinate system
extern CANON_POSITION GET_EXTERNAL_POSITION();


// Returns the position of the specified axis at the last probe trip,
// Returns the position of all axes at the last probe trip,
// in the current work coordinate system.
extern double GET_EXTERNAL_PROBE_POSITION_A();
extern double GET_EXTERNAL_PROBE_POSITION_B();
extern double GET_EXTERNAL_PROBE_POSITION_C();
extern double GET_EXTERNAL_PROBE_POSITION_X();
extern double GET_EXTERNAL_PROBE_POSITION_Y();
extern double GET_EXTERNAL_PROBE_POSITION_Z();
extern double GET_EXTERNAL_PROBE_POSITION_U();
extern double GET_EXTERNAL_PROBE_POSITION_V();
extern double GET_EXTERNAL_PROBE_POSITION_W();
extern CANON_POSITION GET_EXTERNAL_PROBE_POSITION();

// Returns the value for any analog non-contact probing.
extern double GET_EXTERNAL_PROBE_VALUE();
Expand All @@ -1035,16 +928,8 @@ extern double GET_EXTERNAL_SPEED(int spindle);
// Returns the system value for direction of spindle turning
extern CANON_DIRECTION GET_EXTERNAL_SPINDLE(int spindle);

// returns current tool length offset
extern double GET_EXTERNAL_TOOL_LENGTH_XOFFSET();
extern double GET_EXTERNAL_TOOL_LENGTH_YOFFSET();
extern double GET_EXTERNAL_TOOL_LENGTH_ZOFFSET();
extern double GET_EXTERNAL_TOOL_LENGTH_AOFFSET();
extern double GET_EXTERNAL_TOOL_LENGTH_BOFFSET();
extern double GET_EXTERNAL_TOOL_LENGTH_COFFSET();
extern double GET_EXTERNAL_TOOL_LENGTH_UOFFSET();
extern double GET_EXTERNAL_TOOL_LENGTH_VOFFSET();
extern double GET_EXTERNAL_TOOL_LENGTH_WOFFSET();
// returns current tool length offset, in program units
extern EmcPose GET_EXTERNAL_TOOL_LENGTH_OFFSET();

// Returns the system value for the carousel slot in which the tool
// currently in the spindle belongs. Return value zero means there is no
Expand Down Expand Up @@ -1089,7 +974,6 @@ extern double GET_EXTERNAL_ANALOG_INPUT(int index, double def);
extern int GET_EXTERNAL_AXIS_MASK();


#define PARAMETER_FILE_NAME_LENGTH 100

#define USER_DEFINED_FUNCTION_NUM 100
typedef void (*USER_DEFINED_FUNCTION_TYPE) (int num, double arg1,
Expand All @@ -1108,7 +992,7 @@ extern void FINISH(void);
extern void ON_RESET(void);

// expose CANON_ERROR
extern void CANON_ERROR(const char *fmt, ...) __attribute__((format(printf,1,2)));
extern void CANON_ERROR(std::string_view message);

extern int GET_EXTERNAL_OFFSET_APPLIED();
extern EmcPose GET_EXTERNAL_OFFSETS();
Expand Down
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