iniaxis.cc

Source code for an Numeric Cmputer

	} else {
	    // found, but invalid
	    if (EMC_DEBUG & EMC_DEBUG_INVALID) {
		rcs_print_error
		    ("invalid inifile value for [%s] HOME: %s\n",
		     axisString, inistring);
	    }
	    home = 0.0;		// default
	}
    } else {
	// not found at all
	home = 0.0;
	if (EMC_DEBUG & EMC_DEBUG_DEFAULTS) {
	    rcs_print_error("can't find [%s] HOME, using default\n",
			    axisString);
	}
    }

    if (NULL != (inistring = axisInifile->find("HOME_OFFSET", axisString))) {
	if (1 == sscanf(inistring, "%lf", &offset)) {
	    // found, and valid
	} else {
	    // found, but invalid
	    if (EMC_DEBUG & EMC_DEBUG_INVALID) {
		rcs_print_error
		    ("invalid inifile value for [%s] HOME_OFFSET: %s\n",
		     axisString, inistring);
	    }
	    offset = 0.0;	// default
	}
    } else {
	// not found at all
	offset = 0.0;
	if (EMC_DEBUG & EMC_DEBUG_DEFAULTS) {
	    rcs_print_error("can't find [%s] HOME_OFFSET, using default\n",
			    axisString);
	}
    }

    if (NULL !=
	(inistring = axisInifile->find("HOME_SEARCH_VEL", axisString))) {
	if (1 == sscanf(inistring, "%lf", &search_vel)) {
	    // found, and valid
	} else {
	    // found, but invalid
	    if (EMC_DEBUG & EMC_DEBUG_INVALID) {
		rcs_print_error
		    ("invalid inifile value for [%s] HOME_SEARCH_VEL: %s\n",
		     axisString, inistring);
	    }
	    search_vel = 0.0;	// default - skips entire homing process
	}
    } else {
	// not found at all
	search_vel = 0.0;
	if (EMC_DEBUG & EMC_DEBUG_DEFAULTS) {
	    rcs_print_error
		("can't find [%s] HOME_SEARCH_VEL, using default\n",
		 axisString);
	}
    }

    if (NULL !=
	(inistring = axisInifile->find("HOME_LATCH_VEL", axisString))) {
	if (1 == sscanf(inistring, "%lf", &latch_vel)) {
	    // found, and valid
	} else {
	    // found, but invalid
	    if (EMC_DEBUG & EMC_DEBUG_INVALID) {
		rcs_print_error
		    ("invalid inifile value for [%s] HOME_LATCH_VEL: %s\n",
		     axisString, inistring);
	    }
	    latch_vel = 0.0;	// default
	}
    } else {
	// not found at all
	latch_vel = 0.0;
	if (EMC_DEBUG & EMC_DEBUG_DEFAULTS) {
	    rcs_print_error
		("can't find [%s] HOME_LATCH_VEL, using default\n",
		 axisString);
	}
    }

    if (NULL !=
	(inistring = axisInifile->find("HOME_USE_INDEX", axisString))) {
	if (1 == strbool(inistring, &use_index)) {
	    // found, and valid
	} else {
	    // found, but invalid
	    if (EMC_DEBUG & EMC_DEBUG_INVALID) {
		rcs_print_error
		    ("invalid inifile value for [%s] HOME_USE_INDEX: %s\n",
		     axisString, inistring);
	    }
	    use_index = 0;	// default
	}
    } else {
	// not found at all
	use_index = 0;
	if (EMC_DEBUG & EMC_DEBUG_DEFAULTS) {
	    rcs_print_error
		("can't find [%s] HOME_USE_INDEX, using default\n",
		 axisString);
	}
    }

    if (NULL !=
	(inistring =
	 axisInifile->find("HOME_IGNORE_LIMITS", axisString))) {
	if (1 == strbool(inistring, &ignore_limits)) {
	    // found, and valid
	} else {
	    // found, but invalid
	    if (EMC_DEBUG & EMC_DEBUG_INVALID) {
		rcs_print_error
		    ("invalid inifile value for [%s] HOME_IGNORE_LIMITS: %s\n",
		     axisString, inistring);
	    }
	    ignore_limits = 0;	// default
	}
    } else {
	// not found at all
	ignore_limits = 0;
	if (EMC_DEBUG & EMC_DEBUG_DEFAULTS) {
	    rcs_print_error
		("can't find [%s] HOME_IGNORE_LIMITS, using default\n",
		 axisString);
	}
    }
    // issue NML message to set all params
    if (0 != emcAxisSetHomingParams(axis, home, offset, search_vel,
				    latch_vel, use_index, ignore_limits)) {
	if (EMC_DEBUG & EMC_DEBUG_CONFIG) {
	    rcs_print_error("bad return from emcAxisSetHomingParams\n");
	}
	return -1;
    }

    // set maximum velocity

    if (NULL !=
	(inistring = axisInifile->find("MAX_VELOCITY", axisString))) {
	if (1 == sscanf(inistring, "%lf", &maxVelocity)) {
	    // found, and valid
	} else {
	    // found, but invalid
	    if (EMC_DEBUG & EMC_DEBUG_INVALID) {
		rcs_print_error
		    ("invalid inifile value for [%s] MAX_VELOCITY: %s\n",
		     axisString, inistring);
	    }
	    maxVelocity = DEFAULT_AXIS_MAX_VELOCITY;	// default
	}
    } else {
	// not found at all
	maxVelocity = DEFAULT_AXIS_MAX_VELOCITY;
	if (EMC_DEBUG & EMC_DEBUG_DEFAULTS) {
	    rcs_print_error
		("can't find [%s] MAX_VELOCITY, using default\n",
		 axisString);
	}
    }
    if (0 != emcAxisSetMaxVelocity(axis, maxVelocity)) {
	if (EMC_DEBUG & EMC_DEBUG_CONFIG) {
	    rcs_print_error("bad return from emcAxisSetMaxVelocity\n");
	}
	return -1;
    }

    if (NULL !=
	(inistring = axisInifile->find("MAX_ACCELERATION", axisString))) {
	if (1 == sscanf(inistring, "%lf", &maxAcceleration)) {
	    // found, and valid
	} else {
	    // found, but invalid
	    if (EMC_DEBUG & EMC_DEBUG_INVALID) {
		rcs_print_error
		    ("invalid inifile value for [%s] MAX_ACCELERATION: %s\n",
		     axisString, inistring);
	    }
	    maxAcceleration = DEFAULT_AXIS_MAX_ACCELERATION;	// default
	}
    } else {
	// not found at all
	maxAcceleration = DEFAULT_AXIS_MAX_ACCELERATION;
	if (EMC_DEBUG & EMC_DEBUG_DEFAULTS) {
	    rcs_print_error
		("can't find [%s] MAX_ACCELERATION, using default\n",
		 axisString);
	}
    }
    if (0 != emcAxisSetMaxAcceleration(axis, maxAcceleration)) {
	if (EMC_DEBUG & EMC_DEBUG_CONFIG) {
	    rcs_print_error("bad return from emcAxisSetMaxAcceleration\n");
	}
	return -1;
    }

    if (NULL != (inistring = axisInifile->find("COMP_FILE", axisString))) {
	if (0 != emcAxisLoadComp(axis, inistring)) {
	    if (EMC_DEBUG & EMC_DEBUG_CONFIG) {
		rcs_print_error("bad return from emcAxisLoadComp\n");
	    }
	    return -1;
	}
    }
    // else not found, so ignore

    // lastly, activate axis. Do this last so that the motion controller
    // won't flag errors midway during configuration
    emcAxisActivate(axis);

    return 0;
}

/*
  iniAxis(int axis, const char *filename)

  Loads ini file parameters for specified axis, [0 .. AXES - 1]

  Looks for AXES in TRAJ section for how many to do, up to
  EMC_AXIS_MAX.
 */
int iniAxis(int axis, const char *filename)
{
    int retval = 0;
    const char *inistring;
    int axes;

    axisInifile = new Inifile;
    if (axisInifile->open(filename) == false) {
	return -1;
    }

    if (NULL != (inistring = axisInifile->find("AXES", "TRAJ"))) {
	if (1 == sscanf(inistring, "%d", &axes)) {
	    // found, and valid
	} else {
	    // found, but invalid
	    if (EMC_DEBUG & EMC_DEBUG_INVALID) {
		rcs_print_error
		    ("invalid inifile value for [TRAJ] AXES: %s\n",
		     inistring);
	    }
	    axes = 0;
	}
    } else {
	// not found at all
	axes = 1;
	if (EMC_DEBUG & EMC_DEBUG_DEFAULTS) {
	    rcs_print_error("can't find [TRAJ] AXES, using default %d\n",
			    axes);
	}
    }

    if (axis < 0 || axis >= axes) {
	// requested axis exceeds machine axes
	axisInifile->close();
	delete axisInifile;
	return -1;
    }
    // load its values
    if (0 != loadAxis(axis)) {
	retval = -1;
    }
    // close the inifile
    axisInifile->close();
    delete axisInifile;

    return retval;
}

/*! \todo FIXME-- begin temporary insert of ini file stuff */

#define INIFILE_MIN_FLOAT_PRECISION 3
#define INIFILE_BACKUP_SUFFIX ".bak"

int iniGetFloatPrec(const char *str)
{
    const char *ptr = str;
    int prec = 0;

    // find '.', return min precision if no decimal point
    while (1) {
	if (*ptr == 0) {
	    return INIFILE_MIN_FLOAT_PRECISION;
	}
	if (*ptr == '.') {
	    break;
	}
	ptr++;
    }

    // ptr is on '.', so step over
    ptr++;

    // count number of digits until whitespace or end or non-digit
    while (1) {
	if (*ptr == 0) {
	    break;
	}
	if (!isdigit(*ptr)) {
	    break;
	}
	// else it's a digit
	prec++;
	ptr++;
    }

    return prec >
	INIFILE_MIN_FLOAT_PRECISION ? prec : INIFILE_MIN_FLOAT_PRECISION;
}

int iniFormatFloat(char *fmt, const char *var, const char *val)
{
    sprintf(fmt, "%s = %%.%df\n", var, iniGetFloatPrec(val));

    return 0;
}

// 'val' in this case is a string with a pair of floats, the first
// which sets the precision
int iniFormatFloat2(char *fmt, const char *var, const char *val)
{
    int prec;

    /*! \todo FIXME-- should capture each one's float precision; right
       now we're using the first as the precision for both */
    prec = iniGetFloatPrec(val);
    sprintf(fmt, "%s = %%.%df %%.%df\n", var, prec, prec);

    return 0;
}

// end temporary insert of ini file stuff

/*
  dumpAxis(int axis, const char *filename, EMC_AXIS_STAT *status)

  This used to rewrite an AXIS_n section of the ini file.  Everyone
  now seems to think this is a bad idea.  It's certainly incompatible
  with template/sample configurations that should not be changed by
  the user OR the program.
 */
int dumpAxis(int axis, const char *filename, EMC_AXIS_STAT * status)
{
    return 0;
}