emc.hh

Source code for an Numeric Cmputer

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

class EMC_MOTION_ABORT:public EMC_MOTION_CMD_MSG {
  public:
    EMC_MOTION_ABORT():EMC_MOTION_CMD_MSG(EMC_MOTION_ABORT_TYPE,
					  sizeof(EMC_MOTION_ABORT)) {
    };

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

class EMC_MOTION_SET_AOUT:public EMC_MOTION_CMD_MSG {
  public:
    EMC_MOTION_SET_AOUT():EMC_MOTION_CMD_MSG(EMC_MOTION_SET_AOUT_TYPE,
					     sizeof(EMC_MOTION_SET_AOUT)) {
    };

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

    unsigned char index;	// which to set
    double start;		// value at start
    double end;			// value at end
    unsigned char now;		// wether command is imediate or synched with motion
};

class EMC_MOTION_SET_DOUT:public EMC_MOTION_CMD_MSG {
  public:
    EMC_MOTION_SET_DOUT():EMC_MOTION_CMD_MSG(EMC_MOTION_SET_DOUT_TYPE,
					     sizeof(EMC_MOTION_SET_DOUT)) {
    };

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

    unsigned char index;	// which to set
    unsigned char start;	// binary value at start
    unsigned char end;		// binary value at end
    unsigned char now;		// wether command is imediate or synched with motion
};

// EMC_MOTION status base class
class EMC_MOTION_STAT_MSG:public RCS_STAT_MSG {
  public:
    EMC_MOTION_STAT_MSG(NMLTYPE t, size_t s):RCS_STAT_MSG(t, s) {
	heartbeat = 0;
    };

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

    unsigned long int heartbeat;
};

// number of axes in EMC_MOTION_STAT class
#define EMC_AXIS_MAX 8

class EMC_MOTION_STAT:public EMC_MOTION_STAT_MSG {
  public:
    EMC_MOTION_STAT():EMC_MOTION_STAT_MSG(EMC_MOTION_STAT_TYPE,
					  sizeof(EMC_MOTION_STAT)) {
    };

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

    // aggregate of motion-related status classes
    EMC_TRAJ_STAT traj;
    EMC_AXIS_STAT axis[EMC_AXIS_MAX];

    int debug;			// copy of EMC_DEBUG global
};

// declarations for EMC_TASK classes

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

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

class EMC_TASK_INIT:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_INIT():EMC_TASK_CMD_MSG(EMC_TASK_INIT_TYPE,
				     sizeof(EMC_TASK_INIT)) {
    };

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

class EMC_TASK_HALT:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_HALT():EMC_TASK_CMD_MSG(EMC_TASK_HALT_TYPE,
				     sizeof(EMC_TASK_HALT)) {
    };

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

class EMC_TASK_ABORT:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_ABORT():EMC_TASK_CMD_MSG(EMC_TASK_ABORT_TYPE,
				      sizeof(EMC_TASK_ABORT)) {
    };

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

class EMC_TASK_SET_MODE:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_SET_MODE():EMC_TASK_CMD_MSG(EMC_TASK_SET_MODE_TYPE,
					 sizeof(EMC_TASK_SET_MODE)) {
    };

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

    enum EMC_TASK_MODE_ENUM mode;
};

class EMC_TASK_SET_STATE:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_SET_STATE():EMC_TASK_CMD_MSG(EMC_TASK_SET_STATE_TYPE,
					  sizeof(EMC_TASK_SET_STATE)) {
    };

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

    enum EMC_TASK_STATE_ENUM state;
};

class EMC_TASK_PLAN_OPEN:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_OPEN():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_OPEN_TYPE,
					  sizeof(EMC_TASK_PLAN_OPEN)) {
    };

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

    char file[LINELEN];
};

class EMC_TASK_PLAN_RUN:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_RUN():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_RUN_TYPE,
					 sizeof(EMC_TASK_PLAN_RUN)) {
    };

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

    int line;			// line to run from; 0 or 1 means from start,
    // negative means run through to verify
};

class EMC_TASK_PLAN_READ:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_READ():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_READ_TYPE,
					  sizeof(EMC_TASK_PLAN_READ)) {
    };

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

class EMC_TASK_PLAN_EXECUTE:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_EXECUTE():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_EXECUTE_TYPE,
					     sizeof(EMC_TASK_PLAN_EXECUTE))
    {
    };

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

    char command[LINELEN];
};

class EMC_TASK_PLAN_PAUSE:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_PAUSE():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_PAUSE_TYPE,
					   sizeof(EMC_TASK_PLAN_PAUSE)) {
    };

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

class EMC_TASK_PLAN_STEP:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_STEP():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_STEP_TYPE,
					  sizeof(EMC_TASK_PLAN_STEP)) {
    };

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

class EMC_TASK_PLAN_RESUME:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_RESUME():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_RESUME_TYPE,
					    sizeof(EMC_TASK_PLAN_RESUME)) {
    };

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

class EMC_TASK_PLAN_END:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_END():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_END_TYPE,
					 sizeof(EMC_TASK_PLAN_END)) {
    };

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

class EMC_TASK_PLAN_CLOSE:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_CLOSE():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_CLOSE_TYPE,
					   sizeof(EMC_TASK_PLAN_CLOSE)) {
    };

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

class EMC_TASK_PLAN_INIT:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_INIT():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_INIT_TYPE,
					  sizeof(EMC_TASK_PLAN_INIT)) {
    };

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

class EMC_TASK_PLAN_SYNCH:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_SYNCH():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_SYNCH_TYPE,
					   sizeof(EMC_TASK_PLAN_SYNCH)) {
    };

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

// EMC_TASK status base class
class EMC_TASK_STAT_MSG:public RCS_STAT_MSG {
  public:
    EMC_TASK_STAT_MSG(NMLTYPE t, size_t s):RCS_STAT_MSG(t, s) {
	heartbeat = 0;
    };

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

    unsigned long int heartbeat;
};

class EMC_TASK_STAT:public EMC_TASK_STAT_MSG {
  public:
    EMC_TASK_STAT();

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

    enum EMC_TASK_MODE_ENUM mode;	// EMC_TASK_MODE_MANUAL, etc.
    enum EMC_TASK_STATE_ENUM state;	// EMC_TASK_STATE_ESTOP, etc.

    enum EMC_TASK_EXEC_ENUM execState;	// EMC_DONE,WAITING_FOR_MOTION, etc.
    enum EMC_TASK_INTERP_ENUM interpState;	// EMC_IDLE,READING,PAUSED,WAITING
    int motionLine;		// line motion is executing-- may lag
    int currentLine;		// line currently executing
    int readLine;		// line interpreter has read to
    char file[LINELEN];
    char command[LINELEN];
    EmcPose origin;		// origin, in user units, currently active
    EmcPose toolOffset;		// tool offset, in general pose form
    int activeGCodes[ACTIVE_G_CODES];
    int activeMCodes[ACTIVE_M_CODES];
    double activeSettings[ACTIVE_SETTINGS];
    CANON_UNITS programUnits;	// CANON_UNITS_INCHES,MM,CM

    int interpreter_errcode;	// return value from rs274ngc function 
    // (only useful for new interpreter.)
};

// declarations for EMC_TOOL classes

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

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

class EMC_TOOL_INIT:public EMC_TOOL_CMD_MSG {
  public:
    EMC_TOOL_INIT():EMC_TOOL_CMD_MSG(EMC_TOOL_INIT_TYPE,
				     sizeof(EMC_TOOL_INIT)) {
    };

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

class EMC_TOOL_HALT:public EMC_TOOL_CMD_MSG {
  public:
    EMC_TOOL_HALT():EMC_TOOL_CMD_MSG(EMC_TOOL_HALT_TYPE,
				     sizeof(EMC_TOOL_HALT)) {
    };

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

class EMC_TOOL_ABORT:public EMC_TOOL_CMD_MSG {
  public:
    EMC_TOOL_ABORT():EMC_TOOL_CMD_MSG(EMC_TOOL_ABORT_TYPE,
				      sizeof(EMC_TOOL_ABORT)) {
    };

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

class EMC_TOOL_PREPARE:public EMC_TOOL_CMD_MSG {
  public:
    EMC_TOOL_PREPARE():EMC_TOOL_CMD_MSG(EMC_TOOL_PREPARE_TYPE,
					sizeof(EMC_TOOL_PREPARE)) {
    };

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

    int tool;
};

class EMC_TOOL_LOAD:public EMC_TOOL_CMD_MSG {
  public:
    EMC_TOOL_LOAD():EMC_TOOL_CMD_MSG(EMC_TOOL_LOAD_TYPE,
				     sizeof(EMC_TOOL_LOAD)) {
    };

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

class EMC_TOOL_UNLOAD:public EMC_TOOL_CMD_MSG {
  public:
    EMC_TOOL_UNLOAD():EMC_TOOL_CMD_MSG(EMC_TOOL_UNLOAD_TYPE,
				       sizeof(EMC_TOOL_UNLOAD)) {
    };

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

class EMC_TOOL_LOAD_TOOL_TABLE:public EMC_TOOL_CMD_MSG {
  public:
    EMC_TOOL_LOAD_TOOL_TABLE():EMC_TOOL_CMD_MSG
	(EMC_TOOL_LOAD_TOOL_TABLE_TYPE, sizeof(EMC_TOOL_LOAD_TOOL_TABLE)) {
    };

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

    char file[LINELEN];		// name of tool table, empty means default
};

class EMC_TOOL_SET_OFFSET:public EMC_TOOL_CMD_MSG {
  public:
    EMC_TOOL_SET_OFFSET():EMC_TOOL_CMD_MSG(EMC_TOOL_SET_OFFSET_TYPE,
					   sizeof(EMC_TOOL_SET_OFFSET)) {
    };

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

    int tool;
    double length;
    double diameter;
};

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

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

class EMC_TOOL_STAT:public EMC_TOOL_STAT_MSG {
  public:
    EMC_TOOL_STAT();

    // For internal NML/CMS use only.
    void update(CMS * cms);
    EMC_TOOL_STAT operator =(EMC_TOOL_STAT s);	// need this for [] members

    int toolPrepped;		// tool ready for loading, 0 is no tool
    int toolInSpindle;		// tool loaded, 0 is no tool
    CANON_TOOL_TABLE toolTable[CANON_TOOL_MAX + 1];
};

// EMC_AUX type declarations

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

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

class EMC_AUX_INIT:public EMC_AUX_CMD_MSG {
  public:
    EMC_AUX_INIT():EMC_AUX_CMD_MSG(EMC_AUX_INIT_TYPE, sizeof(EMC_AUX_INIT)) {
    };

    // For internal