emc.hh

Source code for an Numeric Cmputer

    void update(CMS * cms);

    int axes;
};

class EMC_TRAJ_SET_CYCLE_TIME:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_SET_CYCLE_TIME():EMC_TRAJ_CMD_MSG
	(EMC_TRAJ_SET_CYCLE_TIME_TYPE, sizeof(EMC_TRAJ_SET_CYCLE_TIME)) {
    };

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

    double cycleTime;
};

class EMC_TRAJ_SET_MODE:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_SET_MODE():EMC_TRAJ_CMD_MSG(EMC_TRAJ_SET_MODE_TYPE,
					 sizeof(EMC_TRAJ_SET_MODE)) {
    };

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

    enum EMC_TRAJ_MODE_ENUM mode;
};

class EMC_TRAJ_SET_VELOCITY:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_SET_VELOCITY():EMC_TRAJ_CMD_MSG(EMC_TRAJ_SET_VELOCITY_TYPE,
					     sizeof(EMC_TRAJ_SET_VELOCITY))
    {
    };

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

    double velocity;
    double ini_maxvel;
};

class EMC_TRAJ_SET_ACCELERATION:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_SET_ACCELERATION():EMC_TRAJ_CMD_MSG
	(EMC_TRAJ_SET_ACCELERATION_TYPE,
	 sizeof(EMC_TRAJ_SET_ACCELERATION)) {
    };

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

    double acceleration;
};

class EMC_TRAJ_SET_MAX_VELOCITY:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_SET_MAX_VELOCITY():EMC_TRAJ_CMD_MSG
	(EMC_TRAJ_SET_MAX_VELOCITY_TYPE,
	 sizeof(EMC_TRAJ_SET_MAX_VELOCITY)) {
    };

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

    double velocity;
};

class EMC_TRAJ_SET_MAX_ACCELERATION:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_SET_MAX_ACCELERATION():EMC_TRAJ_CMD_MSG
	(EMC_TRAJ_SET_MAX_ACCELERATION_TYPE,
	 sizeof(EMC_TRAJ_SET_MAX_ACCELERATION)) {
    };

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

    double acceleration;
};

class EMC_TRAJ_SET_SCALE:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_SET_SCALE():EMC_TRAJ_CMD_MSG(EMC_TRAJ_SET_SCALE_TYPE,
					  sizeof(EMC_TRAJ_SET_SCALE)) {
    };

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

    double scale;
};

class EMC_TRAJ_SET_MOTION_ID:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_SET_MOTION_ID():EMC_TRAJ_CMD_MSG(EMC_TRAJ_SET_MOTION_ID_TYPE,
					      sizeof
					      (EMC_TRAJ_SET_MOTION_ID)) {
    };

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

    int id;
};

class EMC_TRAJ_INIT:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_INIT():EMC_TRAJ_CMD_MSG(EMC_TRAJ_INIT_TYPE,
				     sizeof(EMC_TRAJ_INIT)) {
    };

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

class EMC_TRAJ_HALT:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_HALT():EMC_TRAJ_CMD_MSG(EMC_TRAJ_HALT_TYPE,
				     sizeof(EMC_TRAJ_HALT)) {
    };

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

class EMC_TRAJ_ENABLE:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_ENABLE():EMC_TRAJ_CMD_MSG(EMC_TRAJ_ENABLE_TYPE,
				       sizeof(EMC_TRAJ_ENABLE)) {
    };

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

class EMC_TRAJ_DISABLE:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_DISABLE():EMC_TRAJ_CMD_MSG(EMC_TRAJ_DISABLE_TYPE,
					sizeof(EMC_TRAJ_DISABLE)) {
    };

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

class EMC_TRAJ_ABORT:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_ABORT():EMC_TRAJ_CMD_MSG(EMC_TRAJ_ABORT_TYPE,
				      sizeof(EMC_TRAJ_ABORT)) {
    };

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

class EMC_TRAJ_PAUSE:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_PAUSE():EMC_TRAJ_CMD_MSG(EMC_TRAJ_PAUSE_TYPE,
				      sizeof(EMC_TRAJ_PAUSE)) {
    };

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

class EMC_TRAJ_STEP:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_STEP():EMC_TRAJ_CMD_MSG(EMC_TRAJ_STEP_TYPE,
				     sizeof(EMC_TRAJ_STEP)) {
    };

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

class EMC_TRAJ_RESUME:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_RESUME():EMC_TRAJ_CMD_MSG(EMC_TRAJ_RESUME_TYPE,
				       sizeof(EMC_TRAJ_RESUME)) {
    };

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

class EMC_TRAJ_DELAY:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_DELAY():EMC_TRAJ_CMD_MSG(EMC_TRAJ_DELAY_TYPE,
				      sizeof(EMC_TRAJ_DELAY)) {
    };

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

    double delay;		// delay in seconds
};

class EMC_TRAJ_LINEAR_MOVE:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_LINEAR_MOVE():EMC_TRAJ_CMD_MSG(EMC_TRAJ_LINEAR_MOVE_TYPE,
					    sizeof(EMC_TRAJ_LINEAR_MOVE)) {
    };

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

    int type;
    EmcPose end;		// end point
};

class EMC_TRAJ_CIRCULAR_MOVE:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_CIRCULAR_MOVE():EMC_TRAJ_CMD_MSG(EMC_TRAJ_CIRCULAR_MOVE_TYPE,
					      sizeof
					      (EMC_TRAJ_CIRCULAR_MOVE)) {
    };

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

    EmcPose end;
    PM_CARTESIAN center;
    PM_CARTESIAN normal;
    int turn;
    int type;
};

class EMC_TRAJ_SET_TERM_COND:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_SET_TERM_COND():EMC_TRAJ_CMD_MSG(EMC_TRAJ_SET_TERM_COND_TYPE,
					      sizeof
					      (EMC_TRAJ_SET_TERM_COND)) {
    };

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

    int cond;
    double tolerance; // used to set the precision/tolerance of path deviation 
		      // during CONTINUOUS motion mode. 
};

class EMC_TRAJ_SET_SPINDLESYNC:public EMC_TRAJ_CMD_MSG {
    public:
        EMC_TRAJ_SET_SPINDLESYNC():EMC_TRAJ_CMD_MSG(EMC_TRAJ_SET_SPINDLESYNC_TYPE,
                sizeof(EMC_TRAJ_SET_SPINDLESYNC)) {
        };

        void update(CMS * cms);
        double spindlesync;
};

class EMC_TRAJ_SET_OFFSET:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_SET_OFFSET():EMC_TRAJ_CMD_MSG(EMC_TRAJ_SET_OFFSET_TYPE,
					   sizeof(EMC_TRAJ_SET_OFFSET)) {
    };

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

    EmcPose offset;
};

class EMC_TRAJ_SET_ORIGIN:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_SET_ORIGIN():EMC_TRAJ_CMD_MSG(EMC_TRAJ_SET_ORIGIN_TYPE,
					   sizeof(EMC_TRAJ_SET_ORIGIN)) {
    };

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

    EmcPose origin;
};

class EMC_TRAJ_SET_HOME:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_SET_HOME():EMC_TRAJ_CMD_MSG(EMC_TRAJ_SET_HOME_TYPE,
					 sizeof(EMC_TRAJ_SET_HOME)) {
    };

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

    EmcPose home;
};

class EMC_TRAJ_SET_PROBE_INDEX:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_SET_PROBE_INDEX():EMC_TRAJ_CMD_MSG
	(EMC_TRAJ_SET_PROBE_INDEX_TYPE, sizeof(EMC_TRAJ_SET_PROBE_INDEX)) {
    };

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

    int index;
};

class EMC_TRAJ_SET_PROBE_POLARITY:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_SET_PROBE_POLARITY():EMC_TRAJ_CMD_MSG
	(EMC_TRAJ_SET_PROBE_POLARITY_TYPE,
	 sizeof(EMC_TRAJ_SET_PROBE_POLARITY)) {
    };

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

    int polarity;
};

class EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG():EMC_TRAJ_CMD_MSG
	(EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG_TYPE,
	 sizeof(EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG)) {
    };

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

class EMC_TRAJ_SET_TELEOP_ENABLE:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_SET_TELEOP_ENABLE():EMC_TRAJ_CMD_MSG
	(EMC_TRAJ_SET_TELEOP_ENABLE_TYPE,
	 sizeof(EMC_TRAJ_SET_TELEOP_ENABLE)) {
    };

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

    int enable;
};

class EMC_TRAJ_SET_TELEOP_VECTOR:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_SET_TELEOP_VECTOR():EMC_TRAJ_CMD_MSG
	(EMC_TRAJ_SET_TELEOP_VECTOR_TYPE,
	 sizeof(EMC_TRAJ_SET_TELEOP_VECTOR)) {
    };

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

    EmcPose vector;
};

class EMC_TRAJ_PROBE:public EMC_TRAJ_CMD_MSG {
  public:
    EMC_TRAJ_PROBE():EMC_TRAJ_CMD_MSG(EMC_TRAJ_PROBE_TYPE,
				      sizeof(EMC_TRAJ_PROBE)) {
    };

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

    EmcPose pos;
};

// EMC_TRAJ status base class
class EMC_TRAJ_STAT_MSG:public RCS_STAT_MSG {
  public:
    EMC_TRAJ_STAT_MSG(NMLTYPE t, size_t s):RCS_STAT_MSG(t, s) {
    };

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

class EMC_TRAJ_STAT:public EMC_TRAJ_STAT_MSG {
  public:
    EMC_TRAJ_STAT();

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

    double linearUnits;		// units per mm
    double angularUnits;	// units per degree
    double cycleTime;		// cycle time, in seconds
    int axes;			// number of axes in group
    enum EMC_TRAJ_MODE_ENUM mode;	// EMC_TRAJ_MODE_FREE,
    // EMC_TRAJ_MODE_COORD
    int enabled;		// non-zero means enabled

    int inpos;			// non-zero means in position
    int queue;			// number of pending motions, counting
    // current
    int activeQueue;		// number of motions blending
    int queueFull;		// non-zero means can't accept another motion
    int id;			// id of the currently executing motion
    int paused;			// non-zero means motion paused
    double scale;		// velocity scale factor

    EmcPose position;		// current commanded position
    EmcPose actualPosition;	// current actual position, from forward kins
    double velocity;		// system velocity, for subsequent motions
    double acceleration;	// system acceleration, for subsequent
    // motions
    double maxVelocity;		// max system velocity
    double maxAcceleration;	// system acceleration

    EmcPose probedPosition;	// last position where probe was tripped.
    int probe_index;		// which wire or digital input is the probe
    // on.
    int probe_polarity;		// which value should the probe look for to
    // trip.
    int probe_tripped;		// Has the probe been tripped since the last
    // clear.
    int probing;		// Are we currently looking for a probe
    // signal.
    int probeval;		// Current value of probe input.
    int kinematics_type;	// identity=1,serial=2,parallel=3,custom=4
    int motion_type;
};

// emc_MOTION is aggregate of all EMC motion-related status classes

// EMC_MOTION command base class
class EMC_MOTION_CMD_MSG:public RCS_CMD_MSG {
  public:
    EMC_MOTION_CMD_MSG(NMLTYPE t, size_t s):RCS_CMD_MSG(t, s) {
    };

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

class EMC_MOTION_INIT:public EMC_MOTION_CMD_MSG {
  public:
    EMC_MOTION_INIT():EMC_MOTION_CMD_MSG(EMC_MOTION_INIT_TYPE,
					 sizeof(EMC_MOTION_INIT)) {
    };

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

class EMC_MOTION_HALT:public EMC_MOTION_CMD_MSG {
  public:
    EMC_MOTION_HALT():EMC_MOTION_CMD_MSG(EMC_MOTION_HALT_TYPE,
					 sizeof(EMC_MOTION_HALT)) {
    };