emc.hh

Source code for an Numeric Cmputer

extern int emcTrajSetMaxVelocity(double vel);
extern int emcTrajSetMaxAcceleration(double acc);
extern int emcTrajSetScale(double scale);
extern int emcTrajSetMotionId(int id);

extern int emcTrajInit();
extern int emcTrajHalt();
extern int emcTrajEnable();
extern int emcTrajDisable();
extern int emcTrajAbort();
extern int emcTrajPause();
extern int emcTrajStep();
extern int emcTrajResume();
extern int emcTrajDelay(double delay);
extern int emcTrajLinearMove(EmcPose end, int type);
extern int emcTrajCircularMove(EmcPose end, PM_CARTESIAN center,
			       PM_CARTESIAN normal, int turn, int type);
extern int emcTrajSetTermCond(int cond, double tolerance);
extern int emcTrajSetSpindleSync(double spindlesync);
extern int emcTrajSetOffset(EmcPose offset);
extern int emcTrajSetOrigin(EmcPose origin);
extern int emcTrajSetHome(EmcPose home);
extern int emcTrajSetProbeIndex(int index);
extern int emcTrajSetProbePolarity(int polarity);
extern int emcTrajClearProbeTrippedFlag();
extern int emcTrajProbe(EmcPose pos);

class EMC_TRAJ_STAT;		// forward decl
extern int emcTrajUpdate(EMC_TRAJ_STAT * stat);

// implementation functions for EMC_MOTION aggregate types

extern int emcMotionInit();
extern int emcMotionHalt();
extern int emcMotionAbort();
extern int emcMotionSetDebug(int debug);
extern int emcMotionSetAout(unsigned char index, double start, double end,
                            unsigned char now);
extern int emcMotionSetDout(unsigned char index, unsigned char start,
			    unsigned char end, unsigned char now);

class EMC_MOTION_STAT;		// forward decl
extern int emcMotionUpdate(EMC_MOTION_STAT * stat);

// implementation functions for EMC_TASK types

extern int emcTaskInit();
extern int emcTaskHalt();
extern int emcTaskAbort();
extern int emcTaskSetMode(int mode);
extern int emcTaskSetState(int state);
extern int emcTaskPlanInit();
extern int emcTaskPlanSetWait();
extern int emcTaskPlanIsWait();
extern int emcTaskPlanClearWait();
extern int emcTaskPlanSynch();
extern int emcTaskPlanExit();
extern int emcTaskPlanOpen(const char *file);
extern int emcTaskPlanRead();
extern int emcTaskPlanRun(int line);
extern int emcTaskPlanExecute(const char *command);
extern int emcTaskPlanPause();
extern int emcTaskPlanResume();
extern int emcTaskPlanClose();

extern int emcTaskPlanLine();
extern int emcTaskPlanCommand(char *cmd);

class EMC_TASK_STAT;		// forward decl
extern int emcTaskUpdate(EMC_TASK_STAT * stat);

// implementation functions for EMC_TOOL types

extern int emcToolInit();
extern int emcToolHalt();
extern int emcToolAbort();
extern int emcToolPrepare(int tool);
extern int emcToolLoad();
extern int emcToolUnload();
extern int emcToolLoadToolTable(const char *file);
extern int emcToolSetOffset(int tool, double length, double diameter);

extern int emcToolSetToolTableFile(const char *file);

class EMC_TOOL_STAT;		// forward decl
extern int emcToolUpdate(EMC_TOOL_STAT * stat);

// implementation functions for EMC_AUX types

extern int emcAuxInit();
extern int emcAuxHalt();
extern int emcAuxAbort();
extern int emcAuxDioWrite(int index, int value);
extern int emcAuxAioWrite(int index, double value);
extern int emcAuxEstopOn();
extern int emcAuxEstopOff();
extern int emcAuxEstopReset();

extern int emcAuxEstopSetSenseIndex(int index);
extern int emcAuxEstopSetWriteIndex(int index);

extern int emcAuxEstopSetSensePolarity(int polarity);
extern int emcAuxEstopSetWritePolarity(int polarity);

class EMC_AUX_STAT;		// forward decl
extern int emcAuxUpdate(EMC_AUX_STAT * stat);

// implementation functions for EMC_SPINDLE types

extern int emcSpindleInit();
extern int emcSpindleHalt();
extern int emcSpindleAbort();
extern int emcSpindleOn(double speed);
extern int emcSpindleOff();
extern int emcSpindleForward();
extern int emcSpindleReverse();
extern int emcSpindleStop();
extern int emcSpindleIncrease();
extern int emcSpindleDecrease();
extern int emcSpindleConstant();
extern int emcSpindleBrakeRelease();
extern int emcSpindleBrakeEngage();
extern int emcSpindleEnable();
extern int emcSpindleDisable();

extern int emcSpindleSetForwardIndex(int index);
extern int emcSpindleSetReverseIndex(int index);
extern int emcSpindleSetDecreaseIndex(int index);
extern int emcSpindleSetIncreaseIndex(int index);
extern int emcSpindleSetBrakeIndex(int index);
extern int emcSpindleSetEnableIndex(int index);

extern int emcSpindleSetOnIndex(int index);
extern int emcMinVoltsPerRpm(double volts);
extern int emcMaxVoltsPerRpm(double volts);

extern int emcSpindleSetForwardPolarity(int polarity);
extern int emcSpindleSetReversePolarity(int polarity);
extern int emcSpindleSetDecreasePolarity(int polarity);
extern int emcSpindleSetIncreasePolarity(int polarity);
extern int emcSpindleSetBrakePolarity(int polarity);
extern int emcSpindleSetEnablePolarity(int polarity);

extern int emcSpindleSetOffWait(double wait);
extern int emcSpindleSetOnWait(double wait);

class EMC_SPINDLE_STAT;		// forward decl
extern int emcSpindleUpdate(EMC_SPINDLE_STAT * stat);

// implementation functions for EMC_COOLANT types

extern int emcCoolantInit();
extern int emcCoolantHalt();
extern int emcCoolantAbort();
extern int emcCoolantMistOn();
extern int emcCoolantMistOff();
extern int emcCoolantFloodOn();
extern int emcCoolantFloodOff();

extern int emcCoolantSetMistIndex(int index);
extern int emcCoolantSetFloodIndex(int index);

extern int emcCoolantSetMistPolarity(int polarity);
extern int emcCoolantSetFloodPolarity(int polarity);

class EMC_COOLANT_STAT;		// forward decl
extern int emcCoolantUpdate(EMC_COOLANT_STAT * stat);

// implementation functions for EMC_LUBE types

extern int emcLubeInit();
extern int emcLubeHalt();
extern int emcLubeAbort();
extern int emcLubeOn();
extern int emcLubeOff();

extern int emcLubeSetSenseIndex(int index);
extern int emcLubeSetSensePolarity(int polarity);
extern int emcLubeSetWriteIndex(int index);
extern int emcLubeSetWritePolarity(int polarity);

class EMC_LUBE_STAT;		// forward decl
extern int emcLubeUpdate(EMC_LUBE_STAT * stat);

// implementation functions for EMC_IO types

extern int emcIoInit();
extern int emcIoHalt();
extern int emcIoAbort();
extern int emcIoSetCycleTime(double cycleTime);
extern int emcIoSetDebug(int debug);

class EMC_IO_STAT;		// forward decl
extern int emcIoUpdate(EMC_IO_STAT * stat);

// implementation functions for EMC aggregate types

extern int emcInit();
extern int emcHalt();
extern int emcAbort();

class EMC_STAT;			// forward decl
extern int emcUpdate(EMC_STAT * stat);

// ------------------
// CLASS DECLARATIONS
// ------------------

// declarations for EMC general classes

/**
 * Send a textual error message to the operator.
 * The message is put in the errlog buffer to be read by the GUI.
 * This allows the controller a generic way to send error messages to
 * the operator.
 */
class EMC_OPERATOR_ERROR:public RCS_CMD_MSG {
  public:
    EMC_OPERATOR_ERROR():RCS_CMD_MSG(EMC_OPERATOR_ERROR_TYPE,
				     sizeof(EMC_OPERATOR_ERROR)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    int id;
    char error[LINELEN];
};

/**
 * Send a textual information message to the operator.
 * This is similiar to EMC_OPERATOR_ERROR message except that the messages are
 * sent in situations not necessarily considered to be errors.
 */
class EMC_OPERATOR_TEXT:public RCS_CMD_MSG {
  public:
    EMC_OPERATOR_TEXT():RCS_CMD_MSG(EMC_OPERATOR_TEXT_TYPE,
				    sizeof(EMC_OPERATOR_TEXT)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    int id;
    char text[LINELEN];
};

/**
 * Send the URL or filename of a document to display.
 * This message is placed in the errlog buffer  to be read by the GUI.
 * If the GUI is capable of doing so it will show the operator a
 * previously created document, using the URL or filename provided.
 * This message is placed in the errlog channel to be read by the GUI.
 * This provides a general means of reporting an error from within the
 * controller without having to program the GUI to recognize each error type.
 */
class EMC_OPERATOR_DISPLAY:public RCS_CMD_MSG {
  public:
    EMC_OPERATOR_DISPLAY():RCS_CMD_MSG(EMC_OPERATOR_DISPLAY_TYPE,
				       sizeof(EMC_OPERATOR_DISPLAY)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    int id;
    char display[LINELEN];
};

#define EMC_SYSTEM_CMD_LEN 256
/*
  execute a system command
*/
class EMC_SYSTEM_CMD:public RCS_CMD_MSG {
  public:
    EMC_SYSTEM_CMD():RCS_CMD_MSG(EMC_SYSTEM_CMD_TYPE,
				 sizeof(EMC_SYSTEM_CMD)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    char string[EMC_SYSTEM_CMD_LEN];
};

class EMC_NULL:public RCS_CMD_MSG {
  public:
    EMC_NULL():RCS_CMD_MSG(EMC_NULL_TYPE, sizeof(EMC_NULL)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_SET_DEBUG:public RCS_CMD_MSG {
  public:
    EMC_SET_DEBUG():RCS_CMD_MSG(EMC_SET_DEBUG_TYPE, sizeof(EMC_SET_DEBUG)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    int debug;
};

// declarations for EMC_AXIS classes

/*
 * AXIS command base class.
 * This is the base class for all commands that operate on a single axis.
 * The axis parameter specifies which axis the command affects.
 * These commands are sent to the emcCommand buffer to be read by the
 * TASK program that will then pass along corresponding messages to the
 * motion system.
 */
class EMC_AXIS_CMD_MSG:public RCS_CMD_MSG {
  public:
    EMC_AXIS_CMD_MSG(NMLTYPE t, size_t s):RCS_CMD_MSG(t, s) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    // 0 = X, 1 = Y, 2 = Z, etc.
    int axis;
};

// values for EMC_AXIS_SET_AXIS, axisType
#define EMC_AXIS_LINEAR 1
#define EMC_AXIS_ANGULAR 2

/**
 * Set the axis type to linear or angular.
 * Similiar to the AXIS_TYPE field in the ".ini" file.
 */
class EMC_AXIS_SET_AXIS:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_SET_AXIS():EMC_AXIS_CMD_MSG(EMC_AXIS_SET_AXIS_TYPE,
					 sizeof(EMC_AXIS_SET_AXIS)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    // EMC_AXIS_LINEAR, EMC_AXIS_ANGULAR
    unsigned char axisType;
};

/**
 * Set the units conversion factor.
 * @see EMC_AXIS_SET_INPUT_SCALE
 */
class EMC_AXIS_SET_UNITS:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_SET_UNITS():EMC_AXIS_CMD_MSG(EMC_AXIS_SET_UNITS_TYPE,
					  sizeof(EMC_AXIS_SET_UNITS)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    // units per mm, deg for linear, angular
    double units;
};

/**
 * Set the PID gains.
 * This command sets the PID gains as well as a few other parameters used
 * by the PID compensator.
 */
class EMC_AXIS_SET_GAINS:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_SET_GAINS():EMC_AXIS_CMD_MSG(EMC_AXIS_SET_GAINS_TYPE,
					  sizeof(EMC_AXIS_SET_GAINS)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    double p;
    double i;
    double d;
    double ff0;
    double ff1;
    double ff2;
    double bias;
    double maxError;
    double deadband;
};

/**
 * Set the Axis backlash.
 * This command sets the backlash value.
 */
class EMC_AXIS_SET_BACKLASH:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_SET_BACKLASH():EMC_AXIS_CMD_MSG(EMC_AXIS_SET_BACKLASH_TYPE,
					     sizeof(EMC_AXIS_SET_BACKLASH))
    {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    double backlash;
};

/**
 * Set the cycle time for the servo task.
 * Increase this value to get more CPU time for running low-priority tasks,
 * decrease it to get more precise control of the motion.
 * There is only one cycle time that applies to all axis, so you might as well
 * set the axis parameter to zero.
 */
class EMC_AXIS_SET_CYCLE_TIME:public EMC_AXIS_CMD_MSG {
  public:
    EMC_AXIS_SET_CYCLE_TIME():EMC_AXIS_CMD_MSG
	(EMC_AXIS_SET_CYCLE_TIME_TYPE, sizeof(EMC_AXIS_SET_CYCLE_TIME)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    // PERIOD in seconds, between repeating the low level servo calculations.
    double cycleTime;
};

/**
 * Change the scale factor and offset for the position input.
 * This command sets the same value as the INPUT_SCALE parameter in the ".ini"
 * file.
 * These two values are the scale and offset factors for the axis input from
 * the raw feedback device, e.g., an incremental encoder. The second value
 * (offset) is subtracted from raw input (e.g., encoder counts), and
 * divided by the first value (scale factor), before being used as feedback.
 * The units on the scale value are in raw units (e.g., counts) per user units
 * (e.g., inch). The units on the offset value are in raw units(e.g., counts).
 *
 * Specifically, when reading inputs, the EMC first reads the raw sensor
 * values. The units on these values are the sensor units, typically
 * A/D counts, or encoder ticks. These units, and the location of their 0
 * value, will not in general correspond to the quasi-SI units used in the EMC. * Hence a scaling is done immediately upon sampling:
 *
 * input = (raw - offset) / scale
 *
 * The value for scale can be obtained analytically by doing a unit analysis,
 * i.e., units are [sensor units]/[desired input SI units]. For example, on