iocontrol: remove the tool-prep-index pin

configs/sim/axis/db_demo/db_panel.xml

@@ -15,19 +15,6 @@
          <anchor>"w"</anchor>
        </label>
      </hbox>
-     <hbox>
-       <sint>
-         <halpin>"tool-prep-index"</halpin>
-         <format>"4d"</format>
-         <width>"6"</width>
-         <bg>"black"</bg>
-         <fg>"cyan"</fg>
-       </sint>
-       <label>
-         <text>"tool-prep-index"</text>
-         <anchor>"w"</anchor>
-       </label>
-     </hbox>
      <hbox>
        <sint>
          <halpin>"tool-prep-number"</halpin>

configs/sim/axis/db_demo/db_postgui.hal

@@ -50,9 +50,6 @@ net db:tool-changed => pyvcp.tool-changed
 net db:tool-number <= iocontrol.0.tool-number
 net db:tool-number => pyvcp.tool-number
 
-net db:tool-prep-index <= iocontrol.0.tool-prep-index
-net db:tool-prep-index => pyvcp.tool-prep-index
-
 net db:tool-prep-number <= iocontrol.0.tool-prep-number
 net db:tool-prep-number => pyvcp.tool-prep-number
 

docs/src/gcode/tool-compensation.adoc

@@ -152,15 +152,12 @@ The HAL input pin, `iocontrol.0.tool-prepared`, must be set by external HAL logi
 A G-code *M6* command asserts the HAL output pin `iocontrol.0.tool-change`.
 The related HAL input pin, `iocontrol.0.tool-prepared`, must be set by external HAL logic to indicate completion of the tool change leading to a subsequent reset of the tool-change pin.
 
-Tooldata is accessed by an ordered index (idx) that depends on the type of toolchanger specified by `[EMCIO]RANDOM_TOOLCHANGER=`__type__.
-
-. For `RANDOM_TOOLCHANGER = 0`, (0 is default and specifies a non-random toolchanger) idx is a number indicating the sequence in which tooldata was loaded.
-. For `RANDOM_TOOLCHANGER = 1`, idx is the *current* pocket number for the tool number specified by the G-code select tool command *T__n__*.
+The type of toolchanger is specified by `[EMCIO]RANDOM_TOOLCHANGER=`__type__:
+0 (the default) for a non-random toolchanger, 1 for a random toolchanger.
 
 The io program provides HAL output pins to facilitate toolchanger management:
 
 . *iocontrol.0.tool-prep-number*
-. *iocontrol.0.tool-prep-index*
 . *iocontrol.0.tool-prep-pocket*
 . *iocontrol.0.tool-from-pocket*
 
@@ -169,11 +166,9 @@ The io program provides HAL output pins to facilitate toolchanger management:
 . Tool number _n_==0 indicates no tool.
 . The pocket number for a tool is set when tooldata is loaded/reloaded from its data source ([EMCIO]TOOL_TABLE or [EMCIO]DB_PROGRAM).
 . At G-code *T__n__* (_n_ != 0) command:
-.. *iocontrol.0.tool-prep-index*  = _idx_ (index based on tooldata load sequence)
 .. *iocontrol.0.tool-prep-number* = _n_
 .. *iocontrol.0.tool-prep-pocket* = the pocket number for _n_
 . At G-code *T0* (_n_ == 0 remove) command:
-.. *iocontrol.0.tool-prep-index*  = 0
 .. *iocontrol.0.tool-prep-number* = 0
 .. *iocontrol.0.tool-prep-pocket* = 0
 . At M-code *M6* (following iocontrol.0.tool-changed pin 0-->1):
@@ -183,9 +178,8 @@ The io program provides HAL output pins to facilitate toolchanger management:
 
 . Tool number _n_==0 is *not special*.
 . Pocket number 0 is *special* as it indicates the *spindle*.
-. The *current* pocket number for tool _n_ is the tooldata index (_idx_) for tool _n_.
+. Tools move between pockets: the pocket number of tool _n_ is the pocket it is *currently* in.
 . At G-code command *T__n__*:
-.. *iocontrol.0.tool-prep-index*  = tooldata index (idx) for tool _n_
 .. *iocontrol.0.tool-prep-number* = _n_
 .. *iocontrol.0.tool-prep-pocket* = pocket number for tool _n_
 . At M-code *M6* (following iocontrol.0.tool-changed pin 0-->1):

docs/src/getting-started/updating-linuxcnc.adoc

@@ -254,6 +254,13 @@ between an integer source and the float pin, or a
 link:../man/man9/conv_real_sint.9.html[conv_real_sint] component
 between a float output and an integer input.
 
+The *iocontrol.0.tool-prep-index* pin has been removed. It carried the
+position of the prepared tool in LinuxCNC's internal copy of the tool
+table, which on a non-random toolchanger has no meaning outside
+LinuxCNC. Use *iocontrol.0.tool-prep-number* (the tool number) or
+*iocontrol.0.tool-prep-pocket* (its pocket) instead. A HAL file that
+still connects the pin fails to load.
+
 
 == Preview renderer now requires OpenGL 3.3 core
 

docs/src/man/man1/io.1.adoc

@@ -55,13 +55,6 @@ unless an absolute path is specified.
   FALSE when an internal E-stop condition exists.
 *iocontrol.0.user-request-enable* (bool, out)::
   TRUE when the user has requested that E-stop be cleared.
-*iocontrol.0.tool-prep-index* (sint, out)::
-  IO's internal array index of the prepped tool requested by the most recent T-word.
-  0 if no tool is prepped.  On Random toolchanger machines this is the tool's pocket number
-  (i.e., the same as the tool-prep-pocket pin),
-  on Non-random toolchanger machines this is a small integer corresponding to
-  the tool's location in the internal representation of the tool table.
-  This parameter returns to 0 after a successful tool change (M6).
 
 == REPORTING BUGS
 

src/emc/task/taskclass.cc

@@ -56,7 +56,6 @@ int Task::iocontrol_hal_init(void)
     CHK(hal_pin_new_bool(comp_id, HAL_OUT, &iocontrol_data->coolant_flood,    0, IOC0".coolant-flood"));
     CHK(hal_pin_new_sint(comp_id, HAL_OUT, &iocontrol_data->tool_prep_pocket, 0, IOC0".tool-prep-pocket"));
     CHK(hal_pin_new_sint(comp_id, HAL_OUT, &iocontrol_data->tool_from_pocket, 0, IOC0".tool-from-pocket"));
-    CHK(hal_pin_new_sint(comp_id, HAL_OUT, &iocontrol_data->tool_prep_index,  0, IOC0".tool-prep-index"));
     CHK(hal_pin_new_sint(comp_id, HAL_OUT, &iocontrol_data->tool_prep_number, 0, IOC0".tool-prep-number"));
     CHK(hal_pin_new_sint(comp_id, HAL_OUT, &iocontrol_data->tool_number,      0, IOC0".tool-number"));
     CHK(hal_pin_new_bool(comp_id, HAL_OUT, &iocontrol_data->tool_prepare,     0, IOC0".tool-prepare"));
@@ -90,7 +89,6 @@ void Task::hal_init_pins(void)
     hal_set_sint(iocontrol_data->tool_prep_number, 0);   /* output, pin that holds the tool number to be prepared, only valid when tool-prepare=TRUE */
     hal_set_sint(iocontrol_data->tool_prep_pocket, 0);   /* output, pin that holds the pocketno for the tool to be prepared, only valid when tool-prepare=TRUE */
     hal_set_sint(iocontrol_data->tool_from_pocket, 0);   /* output, always 0 at startup */
-    hal_set_sint(iocontrol_data->tool_prep_index, 0);    /* output, pin that holds the internal index (idx) of the tool to be prepared, for debug */
     hal_set_bool(iocontrol_data->tool_change, 0);        /* output, notifies a tool-change should happen (emc should be in the tool-change position) */
     hal_set_sint(iocontrol_data->tool_number, emcioStatus.tool.toolInSpindle);
 }
@@ -467,11 +465,11 @@ int Task::emcToolPrepare(int toolno)
         }
         rtapi_print_msg(RTAPI_MSG_DBG, "EMC_TOOL_PREPARE tool=%d idx=%d\n", toolno, idx);
 
-        hal_set_sint(iocontrol_data->tool_prep_index, idx); // any type of changer
+        prep_index = idx; // any type of changer
 
         // Note: some of the following logic could be simplified
         //       but is maintained to preserve runtests expectations
-        // Set HAL pins for tool number, pocket, and index.
+        // Set HAL pins for tool number and pocket.
         if (random_toolchanger) {
             // RANDOM_TOOLCHANGER
             hal_set_sint(iocontrol_data->tool_prep_number, tdata.toolno);
@@ -638,10 +636,7 @@ int Task::emcToolSetNumber(int number)//EMC_TOOL_SET_NUMBER
 int Task::read_tool_inputs(void)
 {
     if (hal_get_bool(iocontrol_data->tool_prepare) && hal_get_bool(iocontrol_data->tool_prepared)) {
-        // We get the clamped HAL value from tool_prep_index because it is
-        // assigned elsewhere to int and would be truncated. The content
-        // is a relative small index value anyway.
-        emcioStatus.tool.pocketPrepped = hal_get_si32_clamped(iocontrol_data->tool_prep_index); //check if tool has been (idx) prepared
+        emcioStatus.tool.pocketPrepped = prep_index; //check if tool has been (idx) prepared
         hal_set_bool(iocontrol_data->tool_prepare, 0);
         emcioStatus.status = RCS_STATUS::DONE;  // we finally finished to do tool-changing, signal task with RCS_DONE
         return 10; //prepped finished
@@ -668,7 +663,7 @@ int Task::read_tool_inputs(void)
         emcioStatus.tool.pocketPrepped = -1; //reset the tool preped number, -1 to permit tool 0 to be loaded
         hal_set_sint(iocontrol_data->tool_prep_number, 0); //likewise in HAL
         hal_set_sint(iocontrol_data->tool_prep_pocket, 0); //likewise in HAL
-        hal_set_sint(iocontrol_data->tool_prep_index, 0); //likewise in HAL
+        prep_index = 0;
         hal_set_bool(iocontrol_data->tool_change, 0); //also reset the tool change signal
         emcioStatus.status = RCS_STATUS::DONE;        // we finally finished to do tool-changing, signal task with RCS_DONE
         return 11; //change finished

src/emc/task/taskclass.hh

@@ -39,7 +39,6 @@ struct iocontrol_str {
     hal_sint_t tool_prep_pocket; /* output, pin that holds the pocketno for the tool table entry matching the tool to
                                             be prepared, only valid when tool-prepare=TRUE */
     hal_sint_t tool_from_pocket; /* output, pin indicating pocket current load tool retrieved from*/
-    hal_sint_t tool_prep_index;  /* output, pin for internal index (idx) of prepped tool above */
     hal_sint_t tool_prep_number; /* output, pin that holds the tool number to be prepared, only valid when tool-prepare=TRUE */
     hal_sint_t tool_number;      /* output, pin that holds the tool number currently in the spindle */
     hal_bool_t tool_prepared;    /* input, pin that notifies that the tool has been prepared */
@@ -90,6 +89,7 @@ public:
     char db_program[LINELEN] {};
     tooldb_t db_mode {tooldb_t::DB_NOTUSED};
     int tool_status;
+    int prep_index {0};  // tooldata index of the tool being prepared
 };
 
 extern Task *task_methods;