emcsh.cc

Source code for an Numeric Cmputer

	}

	emc_axis_jog_msg.serial_number = ++emcCommandSerialNumber;
	emc_axis_jog_msg.axis = axis;
	emc_axis_jog_msg.vel = speed / 60.0;
	emcCommandBuffer->write(emc_axis_jog_msg);
    } else {
	emc_set_teleop_vector.serial_number = ++emcCommandSerialNumber;
	emc_set_teleop_vector.vector.tran.x = 0.0;
	emc_set_teleop_vector.vector.tran.y = 0.0;
	emc_set_teleop_vector.vector.tran.z = 0.0;

	switch (axis) {
	case 0:
	    emc_set_teleop_vector.vector.tran.x = speed / 60.0;
	    break;
	case 1:
	    emc_set_teleop_vector.vector.tran.y = speed / 60.0;
	    break;
	case 2:
	    emc_set_teleop_vector.vector.tran.z = speed / 60.0;
	    break;
	case 3:
	    emc_set_teleop_vector.vector.a = speed / 60.0;
	    break;
	case 4:
	    emc_set_teleop_vector.vector.b = speed / 60.0;
	    break;
	case 5:
	    emc_set_teleop_vector.vector.c = speed / 60.0;
	    break;
	}
	emcCommandBuffer->write(emc_set_teleop_vector);
    }

    axisJogging = axis;
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendJogIncr(int axis, double speed, double incr)
{
    EMC_AXIS_INCR_JOG emc_axis_incr_jog_msg;

    if (axis < 0 || axis >= EMC_AXIS_MAX) {
	return -1;
    }

    if (0 == jogPol[axis]) {
	speed = -speed;
    }

    emc_axis_incr_jog_msg.serial_number = ++emcCommandSerialNumber;
    emc_axis_incr_jog_msg.axis = axis;
    emc_axis_incr_jog_msg.vel = speed / 60.0;
    emc_axis_incr_jog_msg.incr = incr;
    emcCommandBuffer->write(emc_axis_incr_jog_msg);

    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }
    axisJogging = -1;

    return 0;
}

static int sendMistOn()
{
    EMC_COOLANT_MIST_ON emc_coolant_mist_on_msg;

    emc_coolant_mist_on_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_coolant_mist_on_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendMistOff()
{
    EMC_COOLANT_MIST_OFF emc_coolant_mist_off_msg;

    emc_coolant_mist_off_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_coolant_mist_off_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendFloodOn()
{
    EMC_COOLANT_FLOOD_ON emc_coolant_flood_on_msg;

    emc_coolant_flood_on_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_coolant_flood_on_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendFloodOff()
{
    EMC_COOLANT_FLOOD_OFF emc_coolant_flood_off_msg;

    emc_coolant_flood_off_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_coolant_flood_off_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendLubeOn()
{
    EMC_LUBE_ON emc_lube_on_msg;

    emc_lube_on_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_lube_on_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendLubeOff()
{
    EMC_LUBE_OFF emc_lube_off_msg;

    emc_lube_off_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_lube_off_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendSpindleForward()
{
    EMC_SPINDLE_ON emc_spindle_on_msg;
    if (emcStatus->task.activeSettings[2] != 0) {
	emc_spindle_on_msg.speed = fabs(emcStatus->task.activeSettings[2]);
    } else {
	emc_spindle_on_msg.speed = +500;
    }
    emc_spindle_on_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_spindle_on_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendSpindleReverse()
{
    EMC_SPINDLE_ON emc_spindle_on_msg;
    if (emcStatus->task.activeSettings[2] != 0) {
	emc_spindle_on_msg.speed =
	    -1 * fabs(emcStatus->task.activeSettings[2]);
    } else {
	emc_spindle_on_msg.speed = -500;
    }
    emc_spindle_on_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_spindle_on_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendSpindleOff()
{
    EMC_SPINDLE_OFF emc_spindle_off_msg;

    emc_spindle_off_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_spindle_off_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendSpindleIncrease()
{
    EMC_SPINDLE_INCREASE emc_spindle_increase_msg;

    emc_spindle_increase_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_spindle_increase_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendSpindleDecrease()
{
    EMC_SPINDLE_DECREASE emc_spindle_decrease_msg;

    emc_spindle_decrease_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_spindle_decrease_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendSpindleConstant()
{
    EMC_SPINDLE_CONSTANT emc_spindle_constant_msg;

    emc_spindle_constant_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_spindle_constant_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendBrakeEngage()
{
    EMC_SPINDLE_BRAKE_ENGAGE emc_spindle_brake_engage_msg;

    emc_spindle_brake_engage_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_spindle_brake_engage_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendBrakeRelease()
{
    EMC_SPINDLE_BRAKE_RELEASE emc_spindle_brake_release_msg;

    emc_spindle_brake_release_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_spindle_brake_release_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendAbort()
{
    EMC_TASK_ABORT task_abort_msg;

    task_abort_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(task_abort_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendHome(int axis)
{
    EMC_AXIS_HOME emc_axis_home_msg;

    emc_axis_home_msg.serial_number = ++emcCommandSerialNumber;
    emc_axis_home_msg.axis = axis;
    emcCommandBuffer->write(emc_axis_home_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendFeedOverride(double override)
{
    EMC_TRAJ_SET_SCALE emc_traj_set_scale_msg;

    if (override < 0.0) {
	override = 0.0;
    }

    emc_traj_set_scale_msg.serial_number = ++emcCommandSerialNumber;
    emc_traj_set_scale_msg.scale = override;
    emcCommandBuffer->write(emc_traj_set_scale_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendTaskPlanInit()
{
    EMC_TASK_PLAN_INIT task_plan_init_msg;

    task_plan_init_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(task_plan_init_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

// saved value of last program opened
static char lastProgramFile[LINELEN] = "";

static int sendProgramOpen(char *program)
{
    EMC_TASK_PLAN_OPEN emc_task_plan_open_msg;

    // save this to run again
    strcpy(lastProgramFile, program);

    emc_task_plan_open_msg.serial_number = ++emcCommandSerialNumber;
    strcpy(emc_task_plan_open_msg.file, program);
    emcCommandBuffer->write(emc_task_plan_open_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

// programStartLine is the saved valued of the line that
// sendProgramRun(int line) sent
static int programStartLine = 0;

static int sendProgramRun(int line)
{
    EMC_TASK_PLAN_RUN emc_task_plan_run_msg;

    if (emcUpdateType == EMC_UPDATE_AUTO) {
	updateStatus();
    }
    // first reopen program if it's not open
    if (0 == emcStatus->task.file[0]) {
	// send a request to open last one
	sendProgramOpen(lastProgramFile);
    }
    // save the start line, to compare against active line later
    programStartLine = line;

    emc_task_plan_run_msg.serial_number = ++emcCommandSerialNumber;
    emc_task_plan_run_msg.line = line;
    emcCommandBuffer->write(emc_task_plan_run_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendProgramPause()
{
    EMC_TASK_PLAN_PAUSE emc_task_plan_pause_msg;

    emc_task_plan_pause_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_task_plan_pause_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendProgramResume()
{
    EMC_TASK_PLAN_RESUME emc_task_plan_resume_msg;

    emc_task_plan_resume_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_task_plan_resume_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendProgramStep()
{
    EMC_TASK_PLAN_STEP emc_task_plan_step_msg;

    emc_task_plan_step_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_task_plan_step_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendMdiCmd(char *mdi)
{
    EMC_TASK_PLAN_EXECUTE emc_task_plan_execute_msg;

    strcpy(emc_task_plan_execute_msg.command, mdi);
    emc_task_plan_execute_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_task_plan_execute_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendLoadToolTable(const char *file)
{
    EMC_TOOL_LOAD_TOOL_TABLE emc_tool_load_tool_table_msg;

    strcpy(emc_tool_load_tool_table_msg.file, file);
    emc_tool_load_tool_table_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_tool_load_tool_table_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

static int sendToolSetOffset(int tool, double length, double diameter)
{
    EMC_TOOL_SET_OFFSET emc_tool_set_offset_msg;

    emc_tool_set_offset_msg.tool = tool;
    emc_tool_set_offset_msg.length = length;
    emc_tool_set_offset_msg.diameter = diameter;
    emc_tool_set_offset_msg.serial_number = ++emcCommandSerialNumber;