tma.c

激光加工控制系统 可以读入plt文件

  else{
    e_x = b_x;
    e_y = atof(&(buf[b_p+1]));
    e_y -= o_y;
  }

  i = b_p + 1;
  while ((buf[i] != 'I')&&(buf[i] != 0))
    i ++;
  if (buf[i] == 'I'){
    j = b_p + 1;
    while ((buf[j] != 'J')&&(buf[i] != 0))
      j ++;
    if (buf[j] != 0){
      chbak = buf[j];
      buf[j] = 0;
    }
    I = atof(&(buf[i+1]));
    buf[j] = chbak;
  }
  else
    I = oldi;

  i = b_p + 1;
  while ((buf[i] != 'J')&&(buf[i] != 0))
    i ++;
  if (buf[i] == 'J'){
    J = atof(&(buf[i+1]));
  }
  else
    J = oldj;

  cx = I + b_x;
  cy = J + b_y;

  r = sqrt((b_x-cx)*(b_x-cx)+(b_y-cy)*(b_y-cy));
  vmax = x_once_max_v_pulses;
  amax = x_once_max_a_pulses;
  oldx = curx = b_x;
  oldy = cury = b_y;
  ba = count_angle(cx,cy,b_x,b_y);
  ea = count_angle(cx,cy,e_x,e_y);
  an = ba;
  ll = x_len_to_acc/xsteps;
  if (ba > ea){
    len = r*(ba-ea);
  }
  else{
    len = r*(ba + 2*PI - ea);
  }
  if (type == 3)
    len = r*2*PI - len;
  if ((fabs(ba-ea) < 0.0001) || (fabs(fabs(ba-ea)-2*PI) < 0.0001))
    len = r*2*PI;

  if (len > 2*ll){
    s = (len - 2*ll)*xsteps - (int)((len - 2*ll)*xsteps/vmax)*vmax;
    s2 = s1 = s/2;
    for (i=0;i<x_times;i++){
      strcpy(buf1,"P");
      if (s1 > 0){
	if (s1 > 1){
	  angle = ((i+1)*x_once_max_a_pulses+2)/(r*xsteps);
	  s1 -= 2;
	}
	else{
	  angle = ((i+1)*x_once_max_a_pulses+1)/(r*xsteps);
	  s1 --;
	}
      }
      else
	angle = (i+1)*x_once_max_a_pulses/(r*xsteps);
      if (type == 2){
	an -= angle;
	if (an < 0)
	  an += 2*PI;
      }
      else{
	an += angle;
	if (an > 2*PI)
	  an -= 2*PI;
      }

      curx = cx + r*cos(an);
      cury = cy + r*sin(an);
      xx = (curx - oldx)*xsteps;
      yy = (cury - oldy)*ysteps;
      oldx = curx;
      oldy = cury;
      if (xx > 0)
	x = xx + x_adj + 0.5;
      else
	x = xx + x_adj - 0.5;
      if (yy > 0)
	y = yy + y_adj + 0.5;
      else
	y = yy + y_adj - 0.5;
      x_adj += xx - x;
      y_adj += yy - y;
      if (((oldxx > 0)&&(x < 0))||((oldxx < 0)&&(x > 0))){
	strcpy(buf1,"P");
	itoa(0,buf2,10);
	strcat(buf1,buf2);
	itoa(0,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
	strcpy(buf1,"P");
	itoa(x,buf2,10);
	strcat(buf1,buf2);
	itoa(y,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
      }
      else if (((oldyy > 0)&&(y < 0))||((oldyy < 0)&&(y > 0))){
	strcpy(buf1,"P");
	itoa(0,buf2,10);
	strcat(buf1,buf2);
	itoa(0,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
	strcpy(buf1,"P");
	itoa(x,buf2,10);
	strcat(buf1,buf2);
	itoa(y,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
      }
      else{
	strcpy(buf1,"P");
	itoa(x,buf2,10);
	strcat(buf1,buf2);
	itoa(y,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
      }
    }

    times = (int)((len - 2*ll)*xsteps/vmax);
    for (i=0;i<times;i++){
      strcpy(buf1,"P");
      angle = vmax/(r*xsteps);
      if (type == 2){
	an -= angle;
	if (an < 0)
	  an += 2*PI;
      }
      else{
	an += angle;
	if (an > 2*PI)
	  an -= 2*PI;
      }

      curx = cx + r*cos(an);
      cury = cy + r*sin(an);
      xx = (curx - oldx)*xsteps;
      yy = (cury - oldy)*ysteps;
      oldx = curx;
      oldy = cury;
      if (xx > 0)
	x = xx + x_adj + 0.5;
      else
	x = xx + x_adj - 0.5;
      if (yy > 0)
	y = yy + y_adj + 0.5;
      else
	y = yy + y_adj - 0.5;
      x_adj += xx - x;
      y_adj += yy - y;
      if (((oldxx > 0)&&(x < 0))||((oldxx < 0)&&(x > 0))){
	strcpy(buf1,"P");
	itoa(0,buf2,10);
	strcat(buf1,buf2);
	itoa(0,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
	strcpy(buf1,"P");
	itoa(x,buf2,10);
	strcat(buf1,buf2);
	itoa(y,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
      }
      else if (((oldyy > 0)&&(y < 0))||((oldyy < 0)&&(y > 0))){
	strcpy(buf1,"P");
	itoa(0,buf2,10);
	strcat(buf1,buf2);
	itoa(0,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
	strcpy(buf1,"P");
	itoa(x,buf2,10);
	strcat(buf1,buf2);
	itoa(y,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
      }
      else{
	strcpy(buf1,"P");
	itoa(x,buf2,10);
	strcat(buf1,buf2);
	itoa(y,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
      }
    }

    for (i=0;i<x_times;i++){
      strcpy(buf1,"P");
      if (s2 > 0){
	if (s2 > 1){
	  angle = ((x_times - i)*x_once_max_a_pulses+2)/(r*xsteps);
	  s2 -= 2;
	}
	else{
	  angle = ((x_times - i)*x_once_max_a_pulses+1)/(r*xsteps);
	  s2 --;
	}
      }
      else
	angle = (x_times - i)*x_once_max_a_pulses/(r*xsteps);
      if (type == 2){
	an -= angle;
	if (an < 0)
	  an += 2*PI;
      }
      else{
	an += angle;
	if (an > 2*PI)
	  an -= 2*PI;
      }

      if (i == x_times-1)
	an = ea;
      curx = cx + r*cos(an);
      cury = cy + r*sin(an);
      if (i == x_times-1){
	an = ea;
	curx = e_x;
	cury = e_y;
      }
      xx = (curx - oldx)*xsteps;
      yy = (cury - oldy)*ysteps;
      oldx = curx;
      oldy = cury;
      if (xx > 0)
	x = xx + x_adj + 0.5;
      else
	x = xx + x_adj - 0.5;
      if (yy > 0)
	y = yy + y_adj + 0.5;
      else
	y = yy + y_adj - 0.5;
      x_adj += xx - x;
      y_adj += yy - y;
      if (((oldxx > 0)&&(x < 0))||((oldxx < 0)&&(x > 0))){
	strcpy(buf1,"P");
	itoa(0,buf2,10);
	strcat(buf1,buf2);
	itoa(0,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
	strcpy(buf1,"P");
	itoa(x,buf2,10);
	strcat(buf1,buf2);
	itoa(y,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
      }
      else if (((oldyy > 0)&&(y < 0))||((oldyy < 0)&&(y > 0))){
	strcpy(buf1,"P");
	itoa(0,buf2,10);
	strcat(buf1,buf2);
	itoa(0,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
	strcpy(buf1,"P");
	itoa(x,buf2,10);
	strcat(buf1,buf2);
	itoa(y,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
      }
      else{
	strcpy(buf1,"P");
	itoa(x,buf2,10);
	strcat(buf1,buf2);
	itoa(y,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
      }
    }
  }
  else{
    if (len < x_once_max_a_pulses/xsteps){
      oldx = b_x;
      oldy = b_y;
      curx = e_x;
      cury = e_y;
      xx = (curx - oldx)*xsteps;
      yy = (cury - oldy)*ysteps;
      oldx = curx;
      oldy = cury;
      if (xx > 0)
	x = xx + x_adj + 0.5;
      else
	x = xx + x_adj - 0.5;
      if (yy > 0)
	y = yy + y_adj + 0.5;
      else
	y = yy + y_adj - 0.5;
      x_adj += xx - x;
      y_adj += yy - y;
      strcpy(buf1,"P");
      itoa(x,buf2,10);
      strcat(buf1,buf2);
      itoa(y,buf2,10);
      strcat(buf1," ");
      strcat(buf1,buf2);
      put_a_line(to_file,buf1);
    }
    else if (len < 2*x_once_max_a_pulses/xsteps){
      oldx = b_x;
      oldy = b_y;
      an = count_angle(cx,cy,(b_x+e_x)/2,(b_y+e_y)/2);
      curx = cx + r*cos(an);
      cury = cy + r*sin(an);
      xx = (curx - oldx)*xsteps;
      yy = (cury - oldy)*ysteps;
      oldx = curx;
      oldy = cury;
      if (xx > 0)
	x = xx + x_adj + 0.5;
      else
	x = xx + x_adj - 0.5;
      if (yy > 0)
	y = yy + y_adj + 0.5;
      else
	y = yy + y_adj - 0.5;
      x_adj += xx - x;
      y_adj += yy - y;
      strcpy(buf1,"P");
      itoa(x,buf2,10);
      strcat(buf1,buf2);
      itoa(y,buf2,10);
      strcat(buf1," ");
      strcat(buf1,buf2);
      put_a_line(to_file,buf1);
      curx = e_x;
      cury = e_y;
      xx = (curx - oldx)*xsteps;
      yy = (cury - oldy)*ysteps;
      oldx = curx;
      oldy = cury;
      if (xx > 0)
	x = xx + x_adj + 0.5;
      else
	x = xx + x_adj - 0.5;
      if (yy > 0)
	y = yy + y_adj + 0.5;
      else
	y = yy + y_adj - 0.5;
      x_adj += xx - x;
      y_adj += yy - y;
      strcpy(buf1,"P");
      itoa(x,buf2,10);
      strcat(buf1,buf2);
      itoa(y,buf2,10);
      strcat(buf1," ");
      strcat(buf1,buf2);
      put_a_line(to_file,buf1);
    }
    else{
    len /= 2;
    times = 0;
    ll = 0;
    while (ll < len){
      times ++;
      ll += times*x_once_max_a_pulses/xsteps;
    }
    ll -= times*x_once_max_a_pulses/xsteps;
    times --;
    s1 = s2 = (len - ll)*xsteps;
    for (i=0;i<times;i++){
      strcpy(buf1,"P");
      if (s1 > 0){
	if (s1 > 1){
	  angle = ((i+1)*x_once_max_a_pulses+2)/(r*xsteps);
	  s1 -= 2;
	}
	else{
	  angle = ((i+1)*x_once_max_a_pulses+1)/(r*xsteps);
	  s1 --;
	}
      }
      else
	angle = (i+1)*x_once_max_a_pulses/(r*xsteps);
      if (type == 2){
	an -= angle;
	if (an < 0)
	  an += 2*PI;
      }
      else{
	an += angle;
	if (an > 2*PI)
	  an -= 2*PI;
      }

      curx = cx + r*cos(an);
      cury = cy + r*sin(an);
      xx = (curx - oldx)*xsteps;
      yy = (cury - oldy)*ysteps;
      oldx = curx;
      oldy = cury;
      if (xx > 0)
	x = xx + x_adj + 0.5;
      else
	x = xx + x_adj - 0.5;
      if (yy > 0)
	y = yy + y_adj + 0.5;
      else
	y = yy + y_adj - 0.5;
      x_adj += xx - x;
      y_adj += yy - y;
      if (((oldxx > 0)&&(x < 0))||((oldxx < 0)&&(x > 0))){
	strcpy(buf1,"P");
	itoa(0,buf2,10);
	strcat(buf1,buf2);
	itoa(0,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
	strcpy(buf1,"P");
	itoa(x,buf2,10);
	strcat(buf1,buf2);
	itoa(y,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
      }
      else if (((oldyy > 0)&&(y < 0))||((oldyy < 0)&&(y > 0))){
	strcpy(buf1,"P");
	itoa(0,buf2,10);
	strcat(buf1,buf2);
	itoa(0,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
	strcpy(buf1,"P");
	itoa(x,buf2,10);
	strcat(buf1,buf2);
	itoa(y,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
      }
      else{
	strcpy(buf1,"P");
	itoa(x,buf2,10);
	strcat(buf1,buf2);
	itoa(y,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
      }
    }

    for (i=0;i<times;i++){
      strcpy(buf1,"P");
      if (s2 > 0){
	if (s2 > 1){
	  angle = ((times - i)*x_once_max_a_pulses+2)/(r*xsteps);
	  s2 -= 2;
	}
	else{
	  angle = ((times - i)*x_once_max_a_pulses+1)/(r*xsteps);
	  s2 --;
	}
      }
      else
	angle = (times - i)*x_once_max_a_pulses/(r*xsteps);
      if (type == 2){
	an -= angle;
	if (an < 0)
	  an += 2*PI;
      }
      else{
	an += angle;
	if (an > 2*PI)
	  an -= 2*PI;
      }

      if (i == times-1)
	an = ea;
      curx = cx + r*cos(an);
      cury = cy + r*sin(an);
      if (i == times-1){
	an = ea;
	curx = e_x;
	cury = e_y;
      }
      xx = (curx - oldx)*xsteps;
      yy = (cury - oldy)*ysteps;
      oldx = curx;
      oldy = cury;
      if (xx > 0)
	x = xx + x_adj + 0.5;
      else
	x = xx + x_adj - 0.5;
      if (yy > 0)
	y = yy + y_adj + 0.5;
      else
	y = yy + y_adj - 0.5;
      x_adj += xx - x;
      y_adj += yy - y;
      if (((oldxx > 0)&&(x < 0))||((oldxx < 0)&&(x > 0))){
	strcpy(buf1,"P");
	itoa(0,buf2,10);
	strcat(buf1,buf2);
	itoa(0,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
	strcpy(buf1,"P");
	itoa(x,buf2,10);
	strcat(buf1,buf2);
	itoa(y,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
      }
      else if (((oldyy > 0)&&(y < 0))||((oldyy < 0)&&(y > 0))){
	strcpy(buf1,"P");
	itoa(0,buf2,10);
	strcat(buf1,buf2);
	itoa(0,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
	strcpy(buf1,"P");
	itoa(x,buf2,10);
	strcat(buf1,buf2);
	itoa(y,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
      }
      else{
	strcpy(buf1,"P");
	itoa(x,buf2,10);
	strcat(buf1,buf2);
	itoa(y,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
      }
    }
    }
  }