canterp.cc

Source code for an Numeric Cmputer

    if (!strcmp(the_command_name, "STRAIGHT_FEED")) {
	if (6 != sscanf(the_command_args, "%lf %lf %lf %lf %lf %lf",
			&d1, &d2, &d3, &d4, &d5, &d6)) {
	    return 1;
	}
	STRAIGHT_FEED(d1, d2, d3, d4, d5, d6);
	return 0;
    }

    if (!strcmp(the_command_name, "ARC_FEED")) {
	if (9 != sscanf(the_command_args,
			"%lf %lf %lf %lf %d %lf %lf %lf %lf",
			&d1, &d2, &d3, &d4, &i1, &d5, &d6, &d7, &d8)) {
	    return 1;
	}
	ARC_FEED(d1, d2, d3, d4, i1, d5, d6, d7, d8);
	return 0;
    }

    if (!strcmp(the_command_name, "STRAIGHT_TRAVERSE")) {
	if (6 != sscanf(the_command_args, "%lf %lf %lf %lf %lf %lf",
			&d1, &d2, &d3, &d4, &d5, &d6)) {
	    return 1;
	}
	STRAIGHT_TRAVERSE(d1, d2, d3, d4, d5, d6);
	return 0;
    }

    if (!strcmp(the_command_name, "STRAIGHT_PROBE")) {
	if (6 != sscanf(the_command_args, "%lf %lf %lf %lf %lf %lf",
			&d1, &d2, &d3, &d4, &d5, &d6)) {
	    return 1;
	}
	STRAIGHT_PROBE(d1, d2, d3, d4, d5, d6);
	return 0;
    }

    if (!strcmp(the_command_name, "USE_LENGTH_UNITS")) {
	if (!strcmp(the_command_args, "CANON_UNITS_MM")) {
	    USE_LENGTH_UNITS(CANON_UNITS_MM);
	    return 0;
	}
	if (!strcmp(the_command_args, "CANON_UNITS_CM")) {
	    USE_LENGTH_UNITS(CANON_UNITS_MM);
	    return 0;
	}
	if (!strcmp(the_command_args, "CANON_UNITS_INCHES")) {
	    USE_LENGTH_UNITS(CANON_UNITS_INCHES);
	    return 0;
	}
	return 1;
    }

    if (!strcmp(the_command_name, "SET_ORIGIN_OFFSETS")) {
	if (6 != sscanf(the_command_args, "%lf %lf %lf %lf %lf %lf",
			&d1, &d2, &d3, &d4, &d5, &d6)) {
	    return 1;
	}
	SET_ORIGIN_OFFSETS(d1, d2, d3, d4, d5, d6);
	return 0;
    }

    if (!strcmp(the_command_name, "SET_FEED_REFERENCE")) {
	if (!strcmp(the_command_args, "CANON_WORKPIECE")) {
	    SET_FEED_REFERENCE(CANON_WORKPIECE);
	    return 0;
	}
	if (!strcmp(the_command_args, "CANON_XYZ")) {
	    SET_FEED_REFERENCE(CANON_XYZ);
	    return 0;
	}
	return 1;
    }

    if (!strcmp(the_command_name, "SELECT_PLANE")) {
	if (!strcmp(the_command_args, "CANON_PLANE_XY")) {
	    SELECT_PLANE(CANON_PLANE_XY);
	    return 0;
	}
	if (!strcmp(the_command_args, "CANON_PLANE_YZ")) {
	    SELECT_PLANE(CANON_PLANE_YZ);
	    return 0;
	}
	if (!strcmp(the_command_args, "CANON_PLANE_XZ")) {
	    SELECT_PLANE(CANON_PLANE_XZ);
	    return 0;
	}
	return 1;
    }

    if (!strcmp(the_command_name, "COMMENT")) {
	COMMENT(the_command_args);
	return 0;
    }

    if (!strcmp(the_command_name, "MIST_OFF")) {
	MIST_OFF();
	return 0;
    }

    if (!strcmp(the_command_name, "FLOOD_OFF")) {
	FLOOD_OFF();
	return 0;
    }

    if (!strcmp(the_command_name, "MIST_ON")) {
	MIST_ON();
	return 0;
    }

    if (!strcmp(the_command_name, "FLOOD_ON")) {
	FLOOD_ON();
	return 0;
    }

    if (!strcmp(the_command_name, "USE_TOOL_LENGTH_OFFSET")) {
	if (1 != sscanf(the_command_args, "%lf", &d1)) {
	    return 1;
	}
	USE_TOOL_LENGTH_OFFSET(d1);
	return 0;
    }

    if (!strcmp(the_command_name, "SET_FEED_RATE")) {
	if (1 != sscanf(the_command_args, "%lf", &d1)) {
	    return 1;
	}
	SET_FEED_RATE(d1);
	return 0;
    }

    if (!strcmp(the_command_name, "SET_TRAVERSE_RATE")) {
	if (1 != sscanf(the_command_args, "%lf", &d1)) {
	    return 1;
	}
	SET_TRAVERSE_RATE(d1);
	return 0;
    }

    if (!strcmp(the_command_name, "SELECT_TOOL")) {
	if (1 != sscanf(the_command_args, "%d", &i1)) {
	    return 1;
	}
	SELECT_TOOL(i1);
	return 0;
    }

    if (!strcmp(the_command_name, "CHANGE_TOOL")) {
	if (1 != sscanf(the_command_args, "%d", &i1)) {
	    return 1;
	}
	CHANGE_TOOL(i1);
	return 0;
    }

    if (!strcmp(the_command_name, "DWELL")) {
	if (1 != sscanf(the_command_args, "%lf", &d1)) {
	    return 1;
	}
	DWELL(d1);
	return 0;
    }

    if (!strcmp(the_command_name, "STOP")) {
	STOP();
	return 0;
    }

    if (!strcmp(the_command_name, "SPINDLE_RETRACT")) {
	SPINDLE_RETRACT();
	return 0;
    }

    if (!strcmp(the_command_name, "SPINDLE_RETRACT_TRAVERSE")) {
	SPINDLE_RETRACT_TRAVERSE();
	return 0;
    }

    if (!strcmp(the_command_name, "LOCK_SPINDLE_Z")) {
	LOCK_SPINDLE_Z();
	return 0;
    }

    if (!strcmp(the_command_name, "USE_SPINDLE_FORCE")) {
	USE_SPINDLE_FORCE();
	return 0;
    }

    if (!strcmp(the_command_name, "USE_NO_SPINDLE_FORCE")) {
	USE_NO_SPINDLE_FORCE();
	return 0;
    }

    if (!strcmp(the_command_name, "CLAMP_AXIS")) {
	if (!strcmp(the_command_args, "CANON_AXIS_X")) {
	    CLAMP_AXIS(CANON_AXIS_X);
	    return 0;
	}
	if (!strcmp(the_command_args, "CANON_AXIS_Y")) {
	    CLAMP_AXIS(CANON_AXIS_Y);
	    return 0;
	}
	if (!strcmp(the_command_args, "CANON_AXIS_Z")) {
	    CLAMP_AXIS(CANON_AXIS_Z);
	    return 0;
	}
	if (!strcmp(the_command_args, "CANON_AXIS_A")) {
	    CLAMP_AXIS(CANON_AXIS_A);
	    return 0;
	}
	if (!strcmp(the_command_args, "CANON_AXIS_B")) {
	    CLAMP_AXIS(CANON_AXIS_B);
	    return 0;
	}
	if (!strcmp(the_command_args, "CANON_AXIS_C")) {
	    CLAMP_AXIS(CANON_AXIS_C);
	    return 0;
	}
	return 1;
    }

    if (!strcmp(the_command_name, "UNCLAMP_AXIS")) {
	if (!strcmp(the_command_args, "CANON_AXIS_X")) {
	    UNCLAMP_AXIS(CANON_AXIS_X);
	    return 0;
	}
	if (!strcmp(the_command_args, "CANON_AXIS_Y")) {
	    UNCLAMP_AXIS(CANON_AXIS_Y);
	    return 0;
	}
	if (!strcmp(the_command_args, "CANON_AXIS_Z")) {
	    UNCLAMP_AXIS(CANON_AXIS_Z);
	    return 0;
	}
	if (!strcmp(the_command_args, "CANON_AXIS_A")) {
	    UNCLAMP_AXIS(CANON_AXIS_A);
	    return 0;
	}
	if (!strcmp(the_command_args, "CANON_AXIS_B")) {
	    UNCLAMP_AXIS(CANON_AXIS_B);
	    return 0;
	}
	if (!strcmp(the_command_args, "CANON_AXIS_C")) {
	    UNCLAMP_AXIS(CANON_AXIS_C);
	    return 0;
	}
	return 1;
    }

    if (!strcmp(the_command_name, "SET_CUTTER_RADIUS_COMPENSATION")) {
	if (1 != sscanf(the_command_args, "%lf", &d1)) {
	    return 1;
	}
	SET_CUTTER_RADIUS_COMPENSATION(d1);
	return 0;
    }

    if (!strcmp(the_command_name, "START_CUTTER_RADIUS_COMPENSATION")) {
	if (1 != sscanf(the_command_args, "%d", &i1)) {
	    return 1;
	}
	START_CUTTER_RADIUS_COMPENSATION(i1);
	return 0;
    }

    if (!strcmp(the_command_name, "STOP_CUTTER_RADIUS_COMPENSATION")) {
	STOP_CUTTER_RADIUS_COMPENSATION();
	return 0;
    }

    if (!strcmp(the_command_name, "START_SPEED_FEED_SYNCH")) {
	if (1 != sscanf(the_command_args, "%lf", &d1)) {
            return 1;
        }
	START_SPEED_FEED_SYNCH(d1);
	return 0;
    }

    if (!strcmp(the_command_name, "STOP_SPEED_FEED_SYNCH")) {
	STOP_SPEED_FEED_SYNCH();
	return 0;
    }

    if (!strcmp(the_command_name, "SET_SPINDLE_SPEED")) {
	if (1 != sscanf(the_command_args, "%lf", &d1)) {
	    return 1;
	}
	SET_SPINDLE_SPEED(d1);
	return 0;
    }

    if (!strcmp(the_command_name, "START_SPINDLE_CLOCKWISE")) {
	START_SPINDLE_CLOCKWISE();
	return 0;
    }

    if (!strcmp(the_command_name, "START_SPINDLE_COUNTERCLOCKWISE")) {
	START_SPINDLE_COUNTERCLOCKWISE();
	return 0;
    }

    if (!strcmp(the_command_name, "STOP_SPINDLE_TURNING")) {
	STOP_SPINDLE_TURNING();
	return 0;
    }

    if (!strcmp(the_command_name, "ORIENT_SPINDLE")) {
	if (2 != sscanf(the_command_args, "%lf %s", &d1, s1)) {
	    return 1;
	}
	if (!strcmp(s1, "CANON_CLOCKWISE")) {
	    ORIENT_SPINDLE(d1, CANON_CLOCKWISE);
	    return 0;
	}
	if (!strcmp(s1, "CANON_COUNTERCLOCKWISE")) {
	    ORIENT_SPINDLE(d1, CANON_COUNTERCLOCKWISE);
	    return 0;
	}
	return 1;
    }

    if (!strcmp(the_command_name, "DISABLE_SPEED_OVERRIDE")) {
	DISABLE_SPEED_OVERRIDE();
	return 0;
    }

    if (!strcmp(the_command_name, "DISABLE_FEED_OVERRIDE")) {
	DISABLE_FEED_OVERRIDE();
	return 0;
    }

    if (!strcmp(the_command_name, "ENABLE_SPEED_OVERRIDE")) {
	ENABLE_SPEED_OVERRIDE();
	return 0;
    }

    if (!strcmp(the_command_name, "ENABLE_FEED_OVERRIDE")) {
	ENABLE_FEED_OVERRIDE();
	return 0;
    }

    if (!strcmp(the_command_name, "PROGRAM_STOP")) {
	PROGRAM_STOP();
	return 0;
    }

    if (!strcmp(the_command_name, "OPTIONAL_PROGRAM_STOP")) {
	OPTIONAL_PROGRAM_STOP();
	return 0;
    }

    if (!strcmp(the_command_name, "PROGRAM_END")) {
	PROGRAM_END();
	return 0;
    }

    if (!strcmp(the_command_name, "PALLET_SHUTTLE")) {
	PALLET_SHUTTLE();
	return 0;
    }

    if (!strcmp(the_command_name, "SET_MOTION_CONTROL_MODE")) {
	if (!strcmp(the_command_args, "CANON_EXACT_PATH")) {
	    SET_MOTION_CONTROL_MODE(CANON_EXACT_PATH, 0);
	    return 0;
	}
	if (!strcmp(the_command_args, "CANON_EXACT_STOP")) {
	    SET_MOTION_CONTROL_MODE(CANON_EXACT_STOP, 0);
	    return 0;
	}
	if (!strcmp(the_command_args, "CANON_CONTINUOUS")) {
	    SET_MOTION_CONTROL_MODE(CANON_CONTINUOUS, 0);
	    return 0;
	}
	return 1;
    }

    if (!strcmp(the_command_name, "MESSAGE")) {
	MESSAGE(the_command_args);
	return 0;
    }

    if (!strcmp(the_command_name, "INIT_CANON")) {
	INIT_CANON();
	return 0;
    }

    if (!strcmp(the_command_name, "TURN_PROBE_OFF")) {
	TURN_PROBE_OFF();
	return 0;
    }

    if (!strcmp(the_command_name, "TURN_PROBE_ON")) {
	TURN_PROBE_ON();
	return 0;
    }

    fprintf(stderr, "canterp: unrecognized canonical command %s\n",
	    the_command);
    return 1;
}

int emcTaskPlanClose(void)
{
    taskplanopen = 0;

    return 0;
}

int emcTaskPlanLine(void)
{
    return the_line_number;
}

int emcTaskPlanCommand(char *cmd)
{
    strcpy(cmd, the_command);

    return 0;
}

int emcTaskUpdate(EMC_TASK_STAT * stat)
{
    stat->mode = (enum EMC_TASK_MODE_ENUM) determineMode();
    stat->state = (enum EMC_TASK_STATE_ENUM) determineState();

    // execState set in main
    // interpState set in main
    if (emcStatus->motion.traj.id > 0) {
	stat->motionLine = emcStatus->motion.traj.id;
    }
    // currentLine set in main
    // readLine set in main

    strcpy(stat->file, the_file_name);
    // command set in main

    stat->heartbeat++;

    return 0;
}