Removed deprecated axis and deprecated_axes fields

These were flagged as deprecated in 2015, and 7 years seem like long
enough time for people to prepare for its removal.  Also adjusted
tests to no longer expect the field, and update documentation to mention that
the field was removed in version 2.9.

Author: petterreinholdtsen

docs/src/code/code-notes.adoc

@@ -1519,13 +1519,8 @@ FIXME: `axis_mask` and `axes` overspecify the number of axes
   of 0x5, an XYZ machine would have 0x7, and an XYZB machine would
   have an `axis_mask` of 0x17.
 
-`status.motion.traj.axes` (deprecated)::
-  The value of this variable is one more than the index of the
-  highest-numbered axis present on the machine. As in the `axis_mask`,
-  the index of X in 0, Y is 1, etc.  An XZ machine has `axes` value
-  of 3, as does an XYZ machine.  An XYZW machine has `axes` value 9.
-  This variable is not terribly helpful, and its use is deprecated.
-  Use `axis_mask` instead.
+`status.motion.traj.axes` (removed)::
+  This value was removed in LinuxCNC version 2.9.  Use `axis_mask` instead.
 
 `status.motion.traj.joints`::
   A count of the number of joints the machine has. A normal lathe

lib/python/linuxcnc_util.py

@@ -44,7 +44,6 @@ def wait_for_linuxcnc_startup(self, timeout=10.0):
         while time.time() - start_time < timeout:
             self.status.poll()
             if (self.status.angular_units == 0.0) \
-                or (self.status.axes == 0) \
                 or (self.status.axis_mask == 0) \
                 or (self.status.cycle_time == 0.0) \
                 or (self.status.exec_state != linuxcnc.EXEC_DONE) \

src/emc/nml_intf/emc.cc

@@ -2371,7 +2371,6 @@ void EMC_TRAJ_STAT::update(CMS * cms)
     cms->update(linearUnits);
     cms->update(angularUnits);
     cms->update(cycleTime);
-    cms->update(deprecated_axes);
     cms->update(axis_mask);
     cms->update((int *) &mode, 1);
     cms->update(enabled);

src/emc/nml_intf/emc_nml.hh

@@ -1033,10 +1033,6 @@ class EMC_TRAJ_STAT:public EMC_TRAJ_STAT_MSG {
     double cycleTime;		// cycle time, in seconds
     int joints;			// maximum joint number
     int spindles;			// maximum spindle number
-    union {
-        int deprecated_axes;
-        int axes __attribute__((deprecated));			// maximum axis number
-    };
     int axis_mask;		// mask of axes actually present
     enum EMC_TRAJ_MODE_ENUM mode;	// EMC_TRAJ_MODE_FREE,
     // EMC_TRAJ_MODE_COORD

src/emc/nml_intf/emcglb.h

@@ -93,7 +93,6 @@ typedef struct TrajConfig_t {
     int Spindles;
     double MaxAccel;
     double MaxVel;
-    int DeprecatedAxes;
     int AxisMask;
     double LinearUnits;
     double AngularUnits;

src/emc/nml_intf/emcops.cc

@@ -59,7 +59,6 @@ EMC_TRAJ_STAT_MSG(EMC_TRAJ_STAT_TYPE, sizeof(EMC_TRAJ_STAT)),
     angularUnits = 1.0;
     cycleTime = 0.0;
     joints = 1;
-    deprecated_axes = 1;
     axis_mask = 1;
     mode = EMC_TRAJ_MODE_FREE;
     enabled = OFF;

src/emc/task/taskintf.cc

@@ -1021,7 +1021,6 @@ int emcTrajSetAxes(int axismask)
     for(int i=0; i<EMCMOT_MAX_AXIS; i++)
         if(axismask & (1<<i)) axes = i+1;
 
-    TrajConfig.DeprecatedAxes = axes;
     TrajConfig.AxisMask = axismask;
 
     if (emc_debug & EMC_DEBUG_CONFIG) {
@@ -1284,7 +1283,6 @@ int emcTrajInit()
     TrajConfig.Inited = 0;
     TrajConfig.Joints = 0;
     TrajConfig.MaxAccel = DBL_MAX;
-    TrajConfig.DeprecatedAxes = 0;
     TrajConfig.AxisMask = 0;
     TrajConfig.LinearUnits = 1.0;
     TrajConfig.AngularUnits = 1.0;
@@ -1545,7 +1543,6 @@ int emcTrajUpdate(EMC_TRAJ_STAT * stat)
 
     stat->joints = TrajConfig.Joints;
     stat->spindles = TrajConfig.Spindles;
-    stat->deprecated_axes = TrajConfig.DeprecatedAxes;
     stat->axis_mask = TrajConfig.AxisMask;
     stat->linearUnits = TrajConfig.LinearUnits;
     stat->angularUnits = TrajConfig.AngularUnits;

src/emc/task/taskmodule.cc

@@ -168,7 +168,6 @@ struct TaskWrap : public Task, public bp::wrapper<Task> {
 
 };
 
-typedef pp::array_1_t< EMC_AXIS_STAT, EMCMOT_MAX_AXIS> axis_array, (*axis_w)( EMC_MOTION_STAT &m );
 typedef pp::array_1_t< EMC_SPINDLE_STAT, EMCMOT_MAX_SPINDLES> spindle_array, (*spindle_w)( EMC_MOTION_STAT &m );
 typedef pp::array_1_t< int, EMCMOT_MAX_DIO> synch_dio_array, (*synch_dio_w)( EMC_MOTION_STAT &m );
 typedef pp::array_1_t< double, EMCMOT_MAX_AIO> analog_io_array, (*analog_io_w)( EMC_MOTION_STAT &m );
@@ -185,10 +184,6 @@ static  tool_array tool_wrapper ( EMC_TOOL_STAT & t) {
 }
 #endif //}
 
-static  axis_array axis_wrapper ( EMC_MOTION_STAT & m) {
-    return axis_array(m.axis);
-}
-
 static  spindle_array spindle_wrapper ( EMC_MOTION_STAT & m) {
     return spindle_array(m.spindle);
 }
@@ -329,13 +324,10 @@ BOOST_PYTHON_MODULE(emctask) {
 	.def_readonly("tooltable_filename", &Task::tooltable_filename)
 	;
 
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
     class_ <EMC_TRAJ_STAT, boost::noncopyable>("EMC_TRAJ_STAT",no_init)
 	.def_readwrite("linearUnits", &EMC_TRAJ_STAT::linearUnits )
 	.def_readwrite("angularUnits", &EMC_TRAJ_STAT::angularUnits )
 	.def_readwrite("cycleTime", &EMC_TRAJ_STAT::cycleTime )
-	.def_readwrite("axes", &EMC_TRAJ_STAT::axes )
 	.def_readwrite("axis_mask", &EMC_TRAJ_STAT::axis_mask )
 	.def_readwrite("mode", &EMC_TRAJ_STAT::mode )
 	.def_readwrite("enabled", &EMC_TRAJ_STAT::enabled )
@@ -365,7 +357,6 @@ BOOST_PYTHON_MODULE(emctask) {
 	.def_readwrite("adaptive_feed_enabled", &EMC_TRAJ_STAT::adaptive_feed_enabled )
 	.def_readwrite("feed_hold_enabled", &EMC_TRAJ_STAT::feed_hold_enabled )
 	;
-#pragma GCC diagnostic pop
     class_ <EMC_JOINT_STAT, boost::noncopyable>("EMC_JOINT_STAT",no_init)
 	.def_readwrite("units", &EMC_JOINT_STAT::units)
 	.def_readwrite("backlash", &EMC_JOINT_STAT::backlash)
@@ -414,9 +405,6 @@ BOOST_PYTHON_MODULE(emctask) {
 
     class_ <EMC_MOTION_STAT, boost::noncopyable>("EMC_MOTION_STAT",no_init)
 	.def_readwrite("traj", &EMC_MOTION_STAT::traj)
-	.add_property( "axis",
-		       bp::make_function( axis_w(&axis_wrapper),
-					  bp::with_custodian_and_ward_postcall< 0, 1 >()))
 	.add_property( "spindle",
 			   bp::make_function( spindle_w(&spindle_wrapper),
 					  bp::with_custodian_and_ward_postcall< 0, 1 >()))

src/emc/usr_intf/axis/extensions/emcmodule.cc

@@ -722,11 +722,6 @@ static PyObject *Stat_tool_table(pyStatChannel *s) {
     return res;
 }
 
-static PyObject *Stat_axes(pyStatChannel *s) {
-    PyErr_WarnEx(PyExc_DeprecationWarning, "stat.axes is deprecated and will be removed in the future", 0);
-    return PyLong_FromLong(s->status.motion.traj.deprecated_axes);
-}
-
 // XXX io.tool.toolTable
 // XXX EMC_JOINT_STAT motion.joint[]
 
@@ -761,7 +756,6 @@ static PyGetSetDef Stat_getsetlist[] = {
         (char*)"The tooltable, expressed as a list of tools.  Each tool is a dict with the\n"
         "tool id (tool number), diameter, offsets, etc."
     },
-    {(char*)"axes", (getter)Stat_axes},
     {NULL}
 };
 

tests/abort/feed-rate/test-ui.py

@@ -23,7 +23,6 @@ def wait_for_linuxcnc_startup(status, timeout=10.0):
     while time.time() - start_time < timeout:
         status.poll()
         if (status.angular_units == 0.0) \
-            or (status.axes == 0) \
             or (status.axis_mask == 0) \
             or (status.cycle_time == 0.0) \
             or (status.exec_state != linuxcnc.EXEC_DONE) \