canterp.cc

Source code for an Numeric Cmputer

/********************************************************************
* Description:  canterp.cc
*               This file, 'canterp.cc', implements an interpreter 
*               of a file of printed canonical interfaces
*
* Author: proctor
* License: GPL Version 2
*    
* Copyright (c) 2005 All rights reserved.
*
* Last change: 
# $Revision: 1.10 $
* $Author: cradek $
* $Date: 2006/03/21 02:42:28 $
********************************************************************/
/*
  canterp.cc

  Straight-through interpreter of a file of printed canonical interface
  commands like these:

  1 N..... USE_LENGTH_UNITS(CANON_UNITS_MM)
  2 N..... SET_ORIGIN_OFFSETS(0.0000, 0.0000, 0.0000)
  3 N..... SET_FEED_REFERENCE(CANON_XYZ)
  4 N..... COMMENT("Circle Diamond Square Program")
  5 N..... COMMENT("Tom Kramer")
  6 N..... COMMENT("26-Sep-1994")
  7 N..... COMMENT("Assumes 4"x4"x2" finished stock")
  8 N..... COMMENT("Top of stock at Z=2"")
  9 N..... COMMENT("Cutter does not descend more than 0.94" below top")
  10 N0080  MIST_OFF()
  11 N0080  FLOOD_OFF()
  12 N0090  USE_TOOL_LENGTH_OFFSET(1.0000)
  13 N0110  STRAIGHT_TRAVERSE(0.0000, 0.0000, 3.0000)
  14 N0140  SET_FEED_RATE(16.0000)
  15 N0140  SET_SPINDLE_SPEED(3500.0000)
  16 N0140  START_SPINDLE_CLOCKWISE()
  17 N0150  COMMENT("MILLING AN ENCLOSED POCKET")
  18 N0160  STRAIGHT_TRAVERSE(0.0000, 3.9150, 3.0000)
  19 N0170  STRAIGHT_TRAVERSE(0.0000, 3.9150, 2.1000)
  20 N0180  COMMENT("start left circle zigzag")
  21 N0180  STRAIGHT_FEED(0.0000, 3.9150, 1.6875)
  22 N0190  STRAIGHT_FEED(4.0000, 3.9150, 1.6875)
  23 N0200  STRAIGHT_FEED(4.0000, 3.7250, 1.6875)
  24 N0210  STRAIGHT_FEED(0.0000, 3.7250, 1.6875)
  25 N0220  STRAIGHT_FEED(0.0000, 3.5350, 1.6875)
  26 N0230  STRAIGHT_FEED(1.4370, 3.5350, 1.6875)
  27 N0240  ARC_FEED(1.0704, 3.3450, 2.0000, 2.0000, 1, 1.6875)

  which typically come out of one of Tom Kramer's interpreters.
  The first two columns are ignored, the rest is converted to
  equivalent canonical calls.
*/

#include <stdio.h>		// FILE, fopen(), fclose()
#include <string.h>		// strcpy()
#include <ctype.h>		// isspace()
#include "emc.hh"		// emcStatus
#include "canon.hh"		// CANON_VECTOR, GET_PROGRAM_ORIGIN()

static FILE *the_file = NULL;	// our file pointer
static char the_file_name[LINELEN] = { 0 };	// our file pointer
static char the_command[LINELEN] = { 0 };	// our current command
static char the_command_name[LINELEN] = { 0 };	// just the name part
static char the_command_args[LINELEN] = { 0 };	// just the args part
static int the_line_number = 0;	// current line number
static int waitFlag = 0;	// local wait flag

// flag for how we want to interpret traj coord mode, as mdi or auto
static int mdiOrAuto = EMC_TASK_MODE_AUTO;

int emcTaskInit()
{
    return 0;
}

int emcTaskHalt()
{
    return 0;
}

int emcTaskAbort()
{
    emcMotionAbort();
    emcIoAbort();

    return 0;
}

int emcTaskSetMode(int mode)
{
    int retval = 0;

    switch (mode) {
    case EMC_TASK_MODE_MANUAL:
	// go to manual mode
	emcTrajSetMode(EMC_TRAJ_MODE_FREE);
	mdiOrAuto = EMC_TASK_MODE_AUTO;	// we'll default back to here
	break;

    case EMC_TASK_MODE_MDI:
	// go to mdi mode
	emcTrajSetMode(EMC_TRAJ_MODE_COORD);
	emcTaskPlanSynch();
	mdiOrAuto = EMC_TASK_MODE_MDI;
	break;

    case EMC_TASK_MODE_AUTO:
	// go to auto mode
	emcTrajSetMode(EMC_TRAJ_MODE_COORD);
	emcTaskPlanSynch();
	mdiOrAuto = EMC_TASK_MODE_AUTO;
	break;

    default:
	retval = -1;
	break;
    }

    return retval;
}

int emcTaskSetState(int state)
{
    int t;
    int retval = 0;

    switch (state) {
    case EMC_TASK_STATE_OFF:
	// turn the machine servos off-- go into ESTOP_RESET state
	for (t = 0; t < emcStatus->motion.traj.axes; t++) {
	    emcAxisDisable(t);
	}
	emcTrajDisable();
	emcLubeOff();
	break;

    case EMC_TASK_STATE_ON:
	// turn the machine servos on
	emcTrajEnable();
	for (t = 0; t < emcStatus->motion.traj.axes; t++) {
	    emcAxisEnable(t);
	}
	emcLubeOn();
	break;

    case EMC_TASK_STATE_ESTOP_RESET:
	// reset the estop
	emcAuxEstopOff();
	emcLubeOff();
	break;

    case EMC_TASK_STATE_ESTOP:
	// go into estop-- do both IO estop and machine servos off
	emcAuxEstopOn();
	for (t = 0; t < emcStatus->motion.traj.axes; t++) {
	    emcAxisDisable(t);
	}
	emcTrajDisable();
	emcLubeOff();
	break;

    default:
	retval = -1;
	break;
    }

    return retval;
}

// WM access functions

/*
  determineMode()

  Looks at mode of subsystems, and returns associated mode

  Depends on traj mode, and mdiOrAuto flag

  traj mode   mdiOrAuto     mode
  ---------   ---------     ----
  FREE        XXX           MANUAL
  COORD       MDI           MDI
  COORD       AUTO          AUTO
  */
static int determineMode()
{
    // if traj is in free mode, then we're in manual mode
    if (emcStatus->motion.traj.mode == EMC_TRAJ_MODE_FREE ||
	emcStatus->motion.traj.mode == EMC_TRAJ_MODE_TELEOP) {
	return EMC_TASK_MODE_MANUAL;
    }
    // else traj is in coord mode-- we can be in either mdi or auto
    return mdiOrAuto;
}

/*
  determineState()

  Looks at state of subsystems, and returns associated state

  Depends on traj enabled, io estop, and desired task state

  traj enabled   io estop      state
  ------------   --------      -----
  DISABLED       ESTOP         ESTOP
  ENABLED        ESTOP         ESTOP
  DISABLED       OUT OF ESTOP  ESTOP_RESET
  ENABLED        OUT OF ESTOP  ON
  */
static int determineState()
{
    if (emcStatus->io.aux.estop) {
	return EMC_TASK_STATE_ESTOP;
    }

    if (!emcStatus->motion.traj.enabled) {
	return EMC_TASK_STATE_ESTOP_RESET;
    }

    return EMC_TASK_STATE_ON;
}

int emcTaskPlanInit(void)
{
    if (the_file != NULL) {
	fclose(the_file);
	the_file = NULL;
    }
    the_file_name[0] = 0;
    the_command[0] = 0;
    the_command_name[0] = 0;
    the_command_args[0] = 0;
    the_line_number = 0;
    waitFlag = 0;
    taskplanopen = 1;

    return 0;
}

int emcTaskPlanSetWait(void)
{
    waitFlag = 1;

    return 0;
}

int emcTaskPlanIsWait(void)
{
    return waitFlag;
}

int emcTaskPlanClearWait(void)
{
    waitFlag = 0;

    return 0;
}

int emcTaskPlanSynch(void)
{
    return 0;
}

int emcTaskPlanExit(void)
{
    return 0;
}

int emcTaskPlanOpen(const char *file)
{
    if (the_file != NULL) {
	fclose(the_file);
    }

    if (NULL == (the_file = fopen(file, "r"))) {
	return 1;
    }
    strcpy(the_file_name, file);
    the_command[0] = 0;
    the_command_name[0] = 0;
    the_command_args[0] = 0;
    the_line_number = 0;
    waitFlag = 0;
    taskplanopen = 1;

    if (emcStatus != 0) {
	emcStatus->task.motionLine = 0;
	emcStatus->task.currentLine = 0;
	emcStatus->task.readLine = 0;
    }

    return 0;
}

/*
  We expect lines like this:

  {ws}1<white>N1<ws>cmd{ws}({ws}{arg1{ws}}){extra}

 */

char *skipwhite(char *ptr)
{
    while (isspace(*ptr))
	ptr++;
    return ptr;
}

char *findwhite(char *ptr)
{
    while (!isspace(*ptr) && 0 != *ptr)
	ptr++;
    return ptr;
}

static int canterp_parse(char *buffer)
{
    char *ptr = buffer;
    char *cmd_ptr = the_command;
    char *name_ptr = the_command_name;
    char *args_ptr = the_command_args;
    char *last_quote_ptr;
    int inquote;

    *cmd_ptr = 0;
    *name_ptr = 0;
    *args_ptr = 0;

    // skip leading white space, return if nothing else found
    if (0 == *(ptr = skipwhite(ptr)))
	return 0;

    // ---cut here if no leading line number, N-number columns---

    // skip the first column, return if nothing else found
    if (0 == *(ptr = findwhite(ptr)))
	return 0;

    // skip following white space, return if nothing else found
    if (0 == *(ptr = skipwhite(ptr)))
	return 0;

    // skip the second column, return if nothing else found
    if (0 == *(ptr = findwhite(ptr)))
	return 0;

    // skip following white space, return if nothing else found
    if (0 == *(ptr = skipwhite(ptr)))
	return 0;

    // ---cut to here---

    // we got something; store the name, up to space or the '('
    while (!isspace(*ptr) && '(' != *ptr && 0 != *ptr) {
	*name_ptr++ = *ptr;
	*cmd_ptr++ = *ptr++;
    }
    if (isspace(*ptr))
	ptr = skipwhite(ptr);

    if (0 == *ptr) {
	// no parens, just a command name
	*name_ptr = 0;
	*cmd_ptr = 0;
	return 0;
    }

    if ('(' != *ptr) {
	// we're missing the '(', so flag an error
	*name_ptr = 0;
	*cmd_ptr = 0;
	return 1;
    }
    // we got the '(', so keep going
    *name_ptr = 0;		// terminate the name
    *cmd_ptr++ = *ptr++;	// add the '(' to the full command

    /*
       now we're at the args; skip first and last quotes when building
       args_ptr, and make commas spaces for easy parsing later
     */
    last_quote_ptr = 0;
    inquote = 0;
    while (')' != *ptr && 0 != *ptr) {
	if ('"' == *ptr) {
	    if (!inquote) {
		// here's the first quote, so suppress it in args_ptr
		inquote = 1;
		*cmd_ptr++ = *ptr++;
		continue;
	    }
	    /*
	       else it's a quote-in-quote, so mark it as the last so we
	       can delete it, thus handling any internal quotes, perhaps
	       used for inch marks
	     */
	    last_quote_ptr = args_ptr;
	}
	*args_ptr++ = (*ptr == ',' ? ' ' : *ptr);
	*cmd_ptr++ = *ptr++;
    }
    if (0 == *ptr) {
	// finished args without ')', so error
	*args_ptr = 0;
	*cmd_ptr = 0;
	return 1;
    }
    if (0 != last_quote_ptr)
	*last_quote_ptr = 0;
    *args_ptr = 0;
    *cmd_ptr++ = ')';
    *cmd_ptr = 0;

    return 0;
}

int emcTaskPlanRead(void)
{
    char buffer[LINELEN];

    if (NULL == fgets(buffer, LINELEN, the_file)) {
	return 1;
    }

    the_line_number++;

    return canterp_parse(buffer);
}

int emcTaskPlanExecute(const char *command)
{
    int retval;
    double d1, d2, d3, d4, d5, d6, d7, d8;
    int i1;
    char s1[256];

    if (command) {
	retval = canterp_parse((char *) command);
	if (retval)
	    return retval;
    }