emc.cc

Source code for an Numeric Cmputer

}

/*
*	NML/CMS Update function for EMC_SPINDLE_INIT
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:16 UTC 2003
*/
void EMC_SPINDLE_INIT::update(CMS * cms)
{

    EMC_SPINDLE_CMD_MSG::update(cms);

}

/*
*	NML/CMS Update function for EMC_AUX_HALT
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:16 UTC 2003
*/
void EMC_AUX_HALT::update(CMS * cms)
{

    EMC_AUX_CMD_MSG::update(cms);

}

/*
*	NML/CMS Update function for EMC_TASK_PLAN_END
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:16 UTC 2003
*/
void EMC_TASK_PLAN_END::update(CMS * cms)
{

    EMC_TASK_CMD_MSG::update(cms);

}

/*
*	NML/CMS Update function for EMC_TRAJ_SET_OFFSET
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:16 UTC 2003
*/
void EMC_TRAJ_SET_OFFSET::update(CMS * cms)
{

    EMC_TRAJ_CMD_MSG::update(cms);
    EmcPose_update(cms, &offset);

}

/*
*	NML/CMS Update function for EMC_AXIS_ABORT
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:16 UTC 2003
*/
void EMC_AXIS_ABORT::update(CMS * cms)
{

    EMC_AXIS_CMD_MSG::update(cms);

}

/*
*	NML/CMS Update function for EMC_TRAJ_CMD_MSG
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_TRAJ_CMD_MSG::update(CMS * cms)
{

}

/*
*	NML/CMS Update function for EMC_OPERATOR_ERROR
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_OPERATOR_ERROR::update(CMS * cms)
{
    cms->update(id);
    cms->update(error, 256);

}

/*
*	NML/CMS Update function for EMC_SET_AIO_INDEX
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_SET_AIO_INDEX::update(CMS * cms)
{
    cms->update(value);
    cms->update(index);

}

/*
*	NML/CMS Update function for EMC_AXIS_SET_MAX_VELOCITY
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_AXIS_SET_MAX_VELOCITY::update(CMS * cms)
{

    EMC_AXIS_CMD_MSG::update(cms);
    cms->update(vel);

}

/*
*	NML/CMS Update function for EMC_SET_DEBUG
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_SET_DEBUG::update(CMS * cms)
{
    cms->update(debug);

}

/*
*	NML/CMS Update function for EMC_HALT
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_HALT::update(CMS * cms)
{

    EMC_CMD_MSG::update(cms);

}

/*
*	NML/CMS Update function for EMC_SET_DIO_INDEX
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_SET_DIO_INDEX::update(CMS * cms)
{
    cms->update(value);
    cms->update(index);

}

/*
*	NML/CMS Update function for EMC_TASK_PLAN_STEP
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_TASK_PLAN_STEP::update(CMS * cms)
{

    EMC_TASK_CMD_MSG::update(cms);

}

/*
*	NML/CMS Update function for EMC_AXIS_DISABLE
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_AXIS_DISABLE::update(CMS * cms)
{

    EMC_AXIS_CMD_MSG::update(cms);

}

/*
*	NML/CMS Update function for EMC_AXIS_SET_GAINS
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_AXIS_SET_GAINS::update(CMS * cms)
{

    EMC_AXIS_CMD_MSG::update(cms);
    cms->update(p);
    cms->update(i);
    cms->update(d);
    cms->update(ff0);
    cms->update(ff1);
    cms->update(ff2);
    cms->update(bias);
    cms->update(maxError);
    cms->update(deadband);

}

/*
*	NML/CMS Update function for EMC_AXIS_SET_GAINS
*	Manually generated  - don't use NML CodeGen Java Applet.
*/
void EMC_AXIS_SET_BACKLASH::update(CMS * cms)
{

    EMC_AXIS_CMD_MSG::update(cms);
    cms->update(backlash);

}

/*
*	NML/CMS Update function for EMC_AXIS_SET_STEP_PARAMS
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_AXIS_SET_STEP_PARAMS::update(CMS * cms)
{

    EMC_AXIS_CMD_MSG::update(cms);
    cms->update(setup_time);
    cms->update(hold_time);

}

/*
*	NML/CMS Update function for EMC_TRAJ_SET_ORIGIN
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_TRAJ_SET_ORIGIN::update(CMS * cms)
{

    EMC_TRAJ_CMD_MSG::update(cms);
    EmcPose_update(cms, &origin);

}

/*
*	NML/CMS Update function for EMC_SPINDLE_BRAKE_ENGAGE
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_SPINDLE_BRAKE_ENGAGE::update(CMS * cms)
{

    EMC_SPINDLE_CMD_MSG::update(cms);

}

/*
*	NML/CMS Update function for EMC_AXIS_SET_CYCLE_TIME
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_AXIS_SET_CYCLE_TIME::update(CMS * cms)
{

    EMC_AXIS_CMD_MSG::update(cms);
    cms->update(cycleTime);

}

/*
*	NML/CMS Update function for EMC_TRAJ_STAT
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_TRAJ_STAT::update(CMS * cms)
{

    EMC_TRAJ_STAT_MSG::update(cms);
    cms->update(linearUnits);
    cms->update(angularUnits);
    cms->update(cycleTime);
    cms->update(axes);
    cms->update((int *) &mode, 1);
    cms->update(enabled);
    cms->update(inpos);
    cms->update(queue);
    cms->update(activeQueue);
    cms->update(queueFull);
    cms->update(id);
    cms->update(paused);
    cms->update(scale);
    EmcPose_update(cms, &position);
    EmcPose_update(cms, &actualPosition);
    cms->update(velocity);
    cms->update(acceleration);
    cms->update(maxVelocity);
    cms->update(maxAcceleration);
    EmcPose_update(cms, &probedPosition);
    cms->update(probe_index);
    cms->update(probe_polarity);
    cms->update(probe_tripped);
    cms->update(probing);
    cms->update(probeval);
    cms->update(kinematics_type);
    cms->update(motion_type);

}

/*
*	NML/CMS Update function for EMC_AXIS_HOME
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_AXIS_HOME::update(CMS * cms)
{

    EMC_AXIS_CMD_MSG::update(cms);

}

/*
*	NML/CMS Update function for EMC_AXIS_INIT
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_AXIS_INIT::update(CMS * cms)
{

    EMC_AXIS_CMD_MSG::update(cms);

}

/*
*	NML/CMS Update function for EMC_AXIS_ENABLE
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_AXIS_ENABLE::update(CMS * cms)
{

    EMC_AXIS_CMD_MSG::update(cms);

}

/*
*	NML/CMS Update function for EMC_TRAJ_SET_MAX_ACCELERATION
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_TRAJ_SET_MAX_ACCELERATION::update(CMS * cms)
{

    EMC_TRAJ_CMD_MSG::update(cms);
    cms->update(acceleration);

}

/*
*	NML/CMS Update function for EMC_LUBE_STAT_MSG
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_LUBE_STAT_MSG::update(CMS * cms)
{

}

/*
*	NML/CMS Update function for EMC_LUBE_STAT
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_LUBE_STAT::update(CMS * cms)
{

    EMC_LUBE_STAT_MSG::update(cms);
    cms->update(on);
    cms->update(level);

}

/*
*	NML/CMS Update function for EMC_SPINDLE_INCREASE
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_SPINDLE_INCREASE::update(CMS * cms)
{

    EMC_SPINDLE_CMD_MSG::update(cms);
    cms->update(speed);

}

/*
*	NML/CMS Update function for EMC_TASK_INIT
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_TASK_INIT::update(CMS * cms)
{

    EMC_TASK_CMD_MSG::update(cms);

}

/*
*	NML/CMS Update function for EMC_AUX_CMD_MSG
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_AUX_CMD_MSG::update(CMS * cms)
{

}

/*
*	NML/CMS Update function for EMC_SPINDLE_HALT
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_SPINDLE_HALT::update(CMS * cms)
{

    EMC_SPINDLE_CMD_MSG::update(cms);

}

/*
*	NML/CMS Update function for EMC_TRAJ_SET_TELEOP_VECTOR
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_TRAJ_SET_TELEOP_VECTOR::update(CMS * cms)
{

    EMC_TRAJ_CMD_MSG::update(cms);
    EmcPose_update(cms, &vector);

}

/*
*	NML/CMS Update function for EMC_AXIS_SET_MIN_FERROR
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_AXIS_SET_MIN_FERROR::update(CMS * cms)
{

    EMC_AXIS_CMD_MSG::update(cms);
    cms->update(ferror);

}

/*
*	NML/CMS Update function for EMC_SET_POLARITY
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_SET_POLARITY::update(CMS * cms)
{
    cms->update(value);
    cms->update(polarity);

}

/*
*	NML/CMS Update function for EMC_AUX_ESTOP_ON
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_AUX_ESTOP_ON::update(CMS * cms)
{

    EMC_AUX_CMD_MSG::update(cms);

}

/*
*	NML/CMS Update function for EMC_NULL
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_NULL::update(CMS * cms)
{

}

/*
*	NML/CMS Update function for EMC_COOLANT_FLOOD_OFF
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_COOLANT_FLOOD_OFF::update(CMS * cms)
{

    EMC_COOLANT_CMD_MSG::update(cms);

}

/*
*	NML/CMS Update function for EmcPose
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EmcPose_update(CMS * cms, EmcPose * x)
{
    PmCartesian_update(cms, &(x->tran));
    cms->update(x->a);
    cms->update(x->b);
    cms->update(x->c);

}

/*
*	NML/CMS Update function for EMC_MOTION_STAT
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_MOTION_STAT::update(CMS * cms)
{

    EMC_MOTION_STAT_MSG::update(cms);
    traj.update(cms);
    for (int i_axis = 0; i_axis < 8; i_axis++)
	axis[i_axis].update(cms);
    cms->update(debug);

}

/*
*	NML/CMS Update function for EMC_AXIS_SET_OUTPUT
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_AXIS_SET_OUTPUT::update(CMS * cms)
{

    EMC_AXIS_CMD_MSG::update(cms);
    cms->update(output);

}

/*
*	NML/CMS Update function for EMC_TRAJ_PAUSE
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_TRAJ_PAUSE::update(CMS * cms)
{

    EMC_TRAJ_CMD_MSG::update(cms);

}

/*
*	NML/CMS Update function for EMC_AUX_STAT_MSG
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_AUX_STAT_MSG::update(CMS * cms)
{

}

/*
*	NML/CMS Update function for EMC_TRAJ_SET_MAX_VELOCITY
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_TRAJ_SET_MAX_VELOCITY::update(CMS * cms)
{

    EMC_TRAJ_CMD_MSG::update(cms);
    cms->update(velocity);

}

/*
*	NML/CMS Update function for EMC_TASK_PLAN_OPEN
*	Automatically generated by NML CodeGen Java Applet.
*	on Sat Oct 11 13:45:17 UTC 2003
*/
void EMC_TASK_PLAN_OPEN::update(CMS * cms)
{

    EMC_TASK_CMD