halui.cc

Source code for an Numeric Cmputer

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;
}


//currently commented out to reduce warnings
/*
//sendFoo messages
//used for sending NML messages
static int sendDebug(int level)
{
    EMC_SET_DEBUG debug_msg;

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

    return 0;
}




static int sendOverrideLimits(int axis)
{
    EMC_AXIS_OVERRIDE_LIMITS lim_msg;

    lim_msg.axis = axis;	// neg means off, else on for all
    lim_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(lim_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}
static int axisJogging = -1;

static int sendJogStop(int axis)
{
    EMC_AXIS_ABORT emc_axis_abort_msg;
    
    // in case of TELEOP mode we really need to send an TELEOP_VECTOR message
    // not a simple AXIS_ABORT, as more than one axis would be moving
    // (hint TELEOP mode is for nontrivial kinematics)
    EMC_TRAJ_SET_TELEOP_VECTOR emc_set_teleop_vector;

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

    if (emcStatus->motion.traj.mode != EMC_TRAJ_MODE_TELEOP) {
	emc_axis_abort_msg.serial_number = ++emcCommandSerialNumber;
	emc_axis_abort_msg.axis = axis;
	emcCommandBuffer->write(emc_axis_abort_msg);

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

	axisJogging = -1;
    }
    else {
	emc_set_teleop_vector.serial_number = ++emcCommandSerialNumber;
	emc_set_teleop_vector.vector.tran.x = 0;
	emc_set_teleop_vector.vector.tran.y = 0;
	emc_set_teleop_vector.vector.tran.z = 0;
	emc_set_teleop_vector.vector.a = 0;
	emc_set_teleop_vector.vector.b = 0;
	emc_set_teleop_vector.vector.c = 0;
	emcCommandBuffer->write(emc_set_teleop_vector);

	if (emcWaitType == EMC_WAIT_RECEIVED) {
	    return emcCommandWaitReceived(emcCommandSerialNumber);
	} else if (emcWaitType == EMC_WAIT_DONE) {
	    return emcCommandWaitDone(emcCommandSerialNumber);
	}
	// \todo FIXME - should remember a list of jogging axes, and remove the last one
	axisJogging = -1;
	
    }
    return 0;
}

static int sendJogCont(int axis, double speed)
{
    EMC_AXIS_JOG emc_axis_jog_msg;
    EMC_TRAJ_SET_TELEOP_VECTOR emc_set_teleop_vector;

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

    if (emcStatus->motion.traj.mode != EMC_TRAJ_MODE_TELEOP) {
	if (0 == jogPol[axis]) {
	    speed = -speed;
	}

	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 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;
}

// 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();
    }

    if (0 == emcStatus->task.file[0]) {
	return -1; // no program open
    }
    // 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);