ini setting [JOINTS_n]UNITS not used (JA)

Notes:
1) joint values are dimensionless numbers
2) remove unused reading of ini setting [JOINTS_N]UNITS as the
   setting is not used in interpreter, task, motion, etc.
3) xyzabcuvw coordinates use:
      [TRAJ]LINEAR_UNITS
      [TRAJ]ANGULAR_UNITS
   as managed by the interpreter and required for startup
4) guis may have historical usage of [AXIS_L]UNITS but
   the settings are not processed by the base code (interpreter,
   task, motion, etc.)

Author: dngarrett

docs/src/code/nml-messages.txt

@@ -11,7 +11,6 @@ for details see src/emc/nml_intf/emc.hh
     JOINT
 ----
     EMC_JOINT_SET_JOINT_TYPE
-    EMC_JOINT_SET_UNITS_TYPE
     EMC_JOINT_SET_MIN_POSITION_LIMIT_TYPE
     EMC_JOINT_SET_MAX_POSITION_LIMIT_TYPE
     EMC_JOINT_SET_FERROR_TYPE

docs/src/code/nml-messages_es.txt

@@ -14,7 +14,6 @@ Para mas detalles, vea src/emc/nml_intf/emc.hh
     JOINT
 ----
     EMC_JOINT_SET_JOINT_TYPE
-    EMC_JOINT_SET_UNITS_TYPE
     EMC_JOINT_SET_MIN_POSITION_LIMIT_TYPE
     EMC_JOINT_SET_MAX_POSITION_LIMIT_TYPE
     EMC_JOINT_SET_FERROR_TYPE

docs/src/config/ini-config.txt

@@ -1121,11 +1121,6 @@ For more information on kinematics modules see the manpage: '$ man kins'
 * 'TYPE = LINEAR' -
     The type of joint, either LINEAR or ANGULAR.
 
-* 'UNITS = INCH' -
-    (((UNITS))) If specified, this setting overrides the related [TRAJ] UNITS setting.
-    (e.g., [TRAJ]LINEAR_UNITS if the TYPE of this joint is LINEAR,
-    [TRAJ]ANGULAR_UNITS if the TYPE of this joint is ANGULAR)
-
 * 'MAX_VELOCITY = 1.2' -
     Maximum velocity for this joint in <<sec:traj-section,machine units>> per second.
 

docs/src/config/python-interface.txt

@@ -404,7 +404,11 @@ of a particular axis:
 import linuxcnc
 s = linuxcnc.stat()
 s.poll()
-print "Joint 1 homed: ", s.joint[1]["homed"]
+# for trivkins where the axis indices 0,1,2 correspond to x,y,z:
+xidx=0;yidx=1;zidx=2
+print("Axis x max_position_limit: ", s.axis[xidx]["max_position_limit"])
+print("Axis y max_position_limit: ", s.axis[yidx]["max_position_limit"])
+print("Axis z max_position_limit: ", s.axis[zidx]["max_position_limit"])
 ---------------------------------------------------------------------
 
 Note that many properties that were formerly in the `axis` dictionary are
@@ -413,11 +417,11 @@ these items (such as backlash) are not the properties of an axis.
 
 *max_position_limit*:: '(returns float)' -
 maximum limit (soft limit) for axis motion, in machine units.configuration
-parameter, reflects [JOINT_n]MAX_LIMIT.
+parameter, reflects [AXIS_n]MAX_LIMIT.
 
 *min_position_limit*:: '(returns float)' -
 minimum limit (soft limit) for axis motion, in machine units.configuration
-parameter, reflects [JOINT_n]MIN_LIMIT.
+parameter, reflects [AXIS_n]MIN_LIMIT.
 
 *velocity*:: '(returns float)' -
 current velocity.
@@ -427,7 +431,7 @@ current velocity.
 For each joint, the following dictionary keys are available:
 
 *backlash*:: '(returns float)' -
-Backlash in machine units. configuration parameter, reflects [JOINT_n]BACKLASH.
+Backlash configuration parameter, reflects [JOINT_n]BACKLASH (dimensionless)
 
 *enabled*:: '(returns integer)' -
 non-zero means enabled.
@@ -466,7 +470,7 @@ parameter, reflects [JOINT_n]FERROR.
 non-zero means max hard limit exceeded.
 
 *max_position_limit*:: '(returns float)' -
-maximum limit (soft limit) for joint motion, in machine units. configuration
+maximum limit (soft limit) for joint motion (dimensionless). configuration
 parameter, reflects [JOINT_n]MAX_LIMIT.
 
 *max_soft_limit*::
@@ -479,7 +483,7 @@ configuration parameter, reflects [JOINT_n]MIN_FERROR.
 non-zero means min hard limit exceeded.
 
 *min_position_limit*:: '(returns float)' -
-minimum limit (soft limit) for joint motion, in machine units. configuration
+minimum limit (soft limit) for joint motion (dimensionless) configuration
 parameter, reflects [JOINT_n]MIN_LIMIT.
 
 *min_soft_limit*:: '(returns integer)' -
@@ -491,11 +495,6 @@ commanded output position.
 *override_limits*:: '(returns integer)' -
 non-zero means limits are overridden.
 
-*units*:: '(returns float)' -
-joint units per mm, or per degree for angular joints. +
-(joint units are the same as machine units, unless set otherwise
-by the configuration parameter [JOINT_n]UNITS)
-
 *velocity*:: '(returns float)' -
 current velocity.
 

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

@@ -1285,6 +1285,10 @@ assertion of index_enable.
 
 axis.py default for [DISPLAY]GEOMETRY was:"XYZBCUVW",is:"XYZABCUVW"
 
+Removed unused [JOINT_n]UNITS and support in emcsh.cc,emcrsh.cc
+emcmodule.cc (python-interface)
+ 
+
 === Code Updates
 
 Management of the internal storage of tool data and the communication

src/emc/ini/inijoint.cc

@@ -54,7 +54,6 @@ extern value_inihal_data old_inihal_data;
   calls:
 
   emcJointSetType(int joint, unsigned char jointType);
-  emcJointSetUnits(int joint, double units);
   emcJointSetBacklash(int joint, double backlash);
   emcJointSetMinPositionLimit(int joint, double limit);
   emcJointSetMaxPositionLimit(int joint, double limit);
@@ -75,7 +74,6 @@ static int loadJoint(int joint, EmcIniFile *jointIniFile)
     char jointString[16];
     const char *inistring;
     EmcJointType jointType;
-    double units;
     double backlash;
     double offset;
     double limit;
@@ -109,16 +107,6 @@ static int loadJoint(int joint, EmcIniFile *jointIniFile)
             return -1;
         }
 
-        // set units
-        if(jointType == EMC_LINEAR){
-            units = emcTrajGetLinearUnits();
-        }else{
-            units = emcTrajGetAngularUnits();
-        }
-        if (0 != emcJointSetUnits(joint, units)) {
-            return -1;
-        }
-
         // set backlash
         backlash = 0;	                // default
         jointIniFile->Find(&backlash, "BACKLASH", jointString);

src/emc/nml_intf/emc.cc

@@ -132,9 +132,6 @@ int emcFormat(NMLTYPE type, void *buffer, CMS * cms)
     case EMC_JOINT_SET_MIN_POSITION_LIMIT_TYPE:
 	((EMC_JOINT_SET_MIN_POSITION_LIMIT *) buffer)->update(cms);
 	break;
-    case EMC_JOINT_SET_UNITS_TYPE:
-	((EMC_JOINT_SET_UNITS *) buffer)->update(cms);
-	break;
     case EMC_JOINT_STAT_TYPE:
 	((EMC_JOINT_STAT *) buffer)->update(cms);
 	break;
@@ -537,8 +534,6 @@ const char *emc_symbol_lookup(uint32_t type)
 	return "EMC_JOINT_SET_MIN_FERROR";
     case EMC_JOINT_SET_MIN_POSITION_LIMIT_TYPE:
 	return "EMC_JOINT_SET_MIN_POSITION_LIMIT";
-    case EMC_JOINT_SET_UNITS_TYPE:
-	return "EMC_JOINT_SET_UNITS";
     case EMC_JOINT_STAT_TYPE:
 	return "EMC_JOINT_STAT";
     case EMC_COOLANT_FLOOD_OFF_TYPE:
@@ -921,19 +916,6 @@ void EMC_MOTION_INIT::update(CMS * cms)
 
 }
 
-/*
-*	NML/CMS Update function for EMC_JOINT_SET_UNITS
-*	Automatically generated by NML CodeGen Java Applet.
-*	on Sat Oct 11 13:45:16 UTC 2003
-*/
-void EMC_JOINT_SET_UNITS::update(CMS * cms)
-{
-
-    EMC_JOINT_CMD_MSG::update(cms);
-    cms->update(units);
-
-}
-
 /*
 *	NML/CMS Update function for EMC_SPINDLE_CONSTANT
 *	Automatically generated by NML CodeGen Java Applet.
@@ -1802,7 +1784,6 @@ void EMC_JOINT_STAT::update(CMS * cms)
 
     EMC_JOINT_STAT_MSG::update(cms);
     cms->update(jointType);
-    cms->update(units);
     cms->update(backlash);
     cms->update(minPositionLimit);
     cms->update(maxPositionLimit);

src/emc/nml_intf/emc.hh

@@ -61,7 +61,6 @@ struct PM_CARTESIAN;
 // NML for EMC_JOINT
 
 #define EMC_JOINT_SET_JOINT_TYPE                       ((NMLTYPE) 101)
-#define EMC_JOINT_SET_UNITS_TYPE                      ((NMLTYPE) 102)
 #define EMC_JOINT_SET_MIN_POSITION_LIMIT_TYPE         ((NMLTYPE) 107)
 #define EMC_JOINT_SET_MAX_POSITION_LIMIT_TYPE         ((NMLTYPE) 108)
 #define EMC_JOINT_SET_FERROR_TYPE                     ((NMLTYPE) 111)
@@ -351,7 +350,6 @@ extern int emcAxisUpdate(EMC_AXIS_STAT stat[], int numAxes);
 // implementation functions for EMC_JOINT types
 
 extern int emcJointSetType(int joint, unsigned char jointType);
-extern int emcJointSetUnits(int joint, double units);
 extern int emcJointSetBacklash(int joint, double backlash);
 extern int emcJointSetMinPositionLimit(int joint, double limit);
 extern int emcJointSetMaxPositionLimit(int joint, double limit);

src/emc/nml_intf/emc_nml.hh

@@ -204,24 +204,7 @@ class EMC_JOINT_SET_JOINT:public EMC_JOINT_CMD_MSG {
 };
 
 /**
- * Set the units conversion factor.
- * @see EMC_JOINT_SET_INPUT_SCALE
- */
-class EMC_JOINT_SET_UNITS:public EMC_JOINT_CMD_MSG {
-  public:
-    EMC_JOINT_SET_UNITS():EMC_JOINT_CMD_MSG(EMC_JOINT_SET_UNITS_TYPE,
-					  sizeof(EMC_JOINT_SET_UNITS)) {
-    };
-
-    // For internal NML/CMS use only.
-    void update(CMS * cms);
-
-    // units per mm, deg for linear, angular
-    double units;
-};
-
-/**
- * Set the Axis backlash.
+ * Set the Joint backlash.
  * This command sets the backlash value.
  */
 class EMC_JOINT_SET_BACKLASH:public EMC_JOINT_CMD_MSG {
@@ -514,7 +497,6 @@ class EMC_JOINT_STAT:public EMC_JOINT_STAT_MSG {
 
     // configuration parameters
     unsigned char jointType;	// EMC_JOINT_LINEAR, EMC_JOINT_ANGULAR
-    double units;		// units per mm, deg for linear, angular
     double backlash;
     double minPositionLimit;
     double maxPositionLimit;

src/emc/nml_intf/emcops.cc

@@ -28,7 +28,6 @@ EMC_JOINT_STAT::EMC_JOINT_STAT():
 EMC_JOINT_STAT_MSG(EMC_JOINT_STAT_TYPE, sizeof(EMC_JOINT_STAT))
 {
     jointType = EMC_LINEAR;
-    units = 1.0;
     backlash = 0.0;
     minPositionLimit = -1.0;
     maxPositionLimit = 1.0;