sai: refactor SAI to store its static vars in a class for easier clea…

…nup.

Collectes scattered static variables into a single container class for
one-click reset of all internal state in saicanon. This includes some
cleanup of global variables in canon.hh that were either lazily
implemented (instead of a getter / setter) or not used except by
saicanon.

src/Makefile

@@ -306,6 +306,7 @@ HEADERS := \
     emc/rs274ngc/interp_fwd.hh \
     emc/rs274ngc/interp_base.hh \
     emc/rs274ngc/rs274ngc.hh \
+    emc/rs274ngc/saicanon.hh \
     hal/hal.h \
     hal/hal_parport.h \
     hal/drivers/mesa-hostmot2/hostmot2-serial.h \

src/emc/nml_intf/canon.hh

@@ -820,6 +820,8 @@ extern double GET_EXTERNAL_ORIGIN_Z();
 // An empty string may be placed in filename.
 extern void GET_EXTERNAL_PARAMETER_FILE_NAME(char *filename, int max_size);
 
+extern void SET_PARAMETER_FILE_NAME(const char *name);
+
 // returns the currently active plane
 extern CANON_PLANE GET_EXTERNAL_PLANE();
 
@@ -935,10 +937,7 @@ extern double GET_EXTERNAL_ANALOG_INPUT(int index, double def);
 // Returns the mask of axes present in the system
 extern int GET_EXTERNAL_AXIS_MASK();
 
-extern FILE *_outfile;		/* where to print, set in main */
-extern CANON_TOOL_TABLE _tools[];	/* in canon.cc */
-extern int _pockets_max;		/* in canon.cc */
-extern char _parameter_file_name[];	/* in canon.cc */
+
 #define PARAMETER_FILE_NAME_LENGTH 100
 
 #define USER_DEFINED_FUNCTION_NUM 100

src/emc/rs274ngc/canonmodule.cc

@@ -134,6 +134,7 @@ BOOST_PYTHON_MODULE(emccanon) {
     def("GET_EXTERNAL_MIST",&GET_EXTERNAL_MIST);
     def("GET_EXTERNAL_MOTION_CONTROL_MODE",&GET_EXTERNAL_MOTION_CONTROL_MODE);
     def("GET_EXTERNAL_MOTION_CONTROL_TOLERANCE",&GET_EXTERNAL_MOTION_CONTROL_TOLERANCE);
+    def("SET_PARAMETER_FILE_NAME",&SET_PARAMETER_FILE_NAME);
     def("GET_EXTERNAL_PARAMETER_FILE_NAME",&GET_EXTERNAL_PARAMETER_FILE_NAME);
     def("GET_EXTERNAL_PLANE",&GET_EXTERNAL_PLANE);
     def("GET_EXTERNAL_POCKETS_MAX",&GET_EXTERNAL_POCKETS_MAX);

src/emc/rs274ngc/gcodemodule.cc

@@ -517,6 +517,12 @@ double GET_EXTERNAL_POSITION_U() { return _pos_u; }
 double GET_EXTERNAL_POSITION_V() { return _pos_v; }
 double GET_EXTERNAL_POSITION_W() { return _pos_w; }
 void INIT_CANON() {}
+
+void SET_PARAMETER_FILE_NAME(const char *name)
+{
+  strncpy(_parameter_file_name, name, PARAMETER_FILE_NAME_LENGTH);
+}
+
 void GET_EXTERNAL_PARAMETER_FILE_NAME(char *name, int max_size) {
     PyObject *result = PyObject_GetAttrString(callback, "parameter_file");
     if(!result) { name[0] = 0; return; }

src/emc/rs274ngc/rs274ngc_pre.cc

@@ -2364,20 +2364,21 @@ int Interp::ini_load(const char *filename)
     logDebug("Opened inifile:%s:", filename);
 
 
+    char parameter_file_name[LINELEN]={};
     if (NULL != (inistring = inifile.Find("PARAMETER_FILE", "RS274NGC"))) {
-	// found it
-	strncpy(_parameter_file_name, inistring, LINELEN);
-        if (_parameter_file_name[LINELEN-1] != '\0') {
+        strncpy(parameter_file_name, inistring, LINELEN);
+
+        if (parameter_file_name[LINELEN-1] != '\0') {
             logDebug("%s:[RS274NGC]PARAMETER_FILE is too long (max len %d)", filename, LINELEN-1);
-            inifile.Close();
-            _parameter_file_name[0] = '\0';
-            return -1;
+        } else {
+          logDebug("found PARAMETER_FILE:%s:", parameter_file_name);
         }
-        logDebug("found PARAMETER_FILE:%s:", _parameter_file_name);
     } else {
-	// not found, leave RS274NGC_PARAMETER_FILE alone
+      // not found, leave RS274NGC_PARAMETER_FILE alone
         logDebug("did not find PARAMETER_FILE");
     }
+    SET_PARAMETER_FILE_NAME(parameter_file_name);
+    CHKS(strlen(parameter_file_name) > 0, _("Parameter file name is missing"));
 
     // close it
     inifile.Close();

src/emc/sai/Submakefile

@@ -4,7 +4,15 @@ SAISRCS := $(addprefix emc/sai/, saicanon.cc driver.cc dummyemcstat.cc) \
 	emc/rs274ngc/tool_parse.cc emc/task/taskmodule.cc emc/task/taskclass.cc
 USERSRCS += $(SAISRCS)
 
+INCLUDES += emc/sai
+
 ../bin/rs274: $(call TOOBJS, $(SAISRCS)) ../lib/librs274.so.0 ../lib/liblinuxcnc.a ../lib/libnml.so.0 \
 	../lib/liblinuxcnchal.so.0 ../lib/liblinuxcncini.so.0 ../lib/libpyplugin.so.0
 	$(ECHO) Linking $(notdir $@)
 	$(Q)$(CXX) $(LDFLAGS) -o $@ $^ $(ULFLAGS) $(BOOST_PYTHON_LIBS) -l$(LIBPYTHON) $(READLINE_LIBS)
+
+$(patsubst ./emc/sai/%,../include/%,$(wildcard ./emc/sai/*.h)): ../include/%.h: ./emc/sai/%.h
+	cp $^ $@
+$(patsubst ./emc/sai/%,../include/%,$(wildcard ./emc/sai/*.hh)): ../include/%.hh: ./emc/sai/%.hh
+	cp $^ $@
+

src/emc/sai/driver.cc

@@ -37,6 +37,8 @@
 #include <glob.h>
 #include <wordexp.h>
 
+#include <saicanon.hh>
+
 InterpBase *pinterp;
 #define interp_new (*pinterp)
 const char *prompt = "READ => ";
@@ -334,7 +336,7 @@ int read_tool_file(  /* ARGUMENTS         */
       tool_file_name = buffer;
     }
 
-  return loadToolTable(tool_file_name, _tools, 0, 0);
+  return loadToolTable(tool_file_name, _sai._tools, 0, 0);
 }
 
 /************************************************************************/
@@ -552,7 +554,7 @@ int main (int argc, char ** argv)
   block_delete = OFF;
   print_stack = OFF;
   tool_flag = 0;
-  strcpy(_parameter_file_name, default_name);
+  SET_PARAMETER_FILE_NAME(default_name);
   _outfile = stdout; /* may be reset below */
   go_flag = 0;
 
@@ -563,7 +565,7 @@ int main (int argc, char ** argv)
       switch(c) {
           case 'p': interp = optarg; break;
           case 't': read_tool_file(optarg); tool_flag=1; break;
-          case 'v': strcpy(_parameter_file_name, optarg); break;
+          case 'v': SET_PARAMETER_FILE_NAME(optarg); break;
           case 'b': block_delete = (block_delete == OFF) ? ON : OFF; break;
           case 's': print_stack = (print_stack == OFF) ? ON : OFF; break;
           case 'n': do_next = atoi(optarg); break;