tmac.c

激光加工控制系统 可以读入plt文件

	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);
      }
    }
    }
  }

  oldx = e_x;
  oldy = e_y;
  oldi = I;
  oldj = J;
  strcpy(buf1,"P0 0");
  put_a_line(to_file,buf1);
}

float count_angle(float x0, float y0, float x1, float y1)
{
  float a;

  if ((x1-x0)*(x1-x0)+(y1-y0)*(y1-y0) < 1e-8)
    return 0;
  a = acos((x1-x0)/sqrt((x1-x0)*(x1-x0)+(y1-y0)*(y1-y0)));
  if (y1 < y0)
    a = 2*PI - a;
  return a;
}

recover_data()
{
  int i;

  xmaxv = xmaxv3;
  ymaxv = ymaxv3;
  zmaxv = zmaxv3;
  xmaxa = xmaxa3;
  ymaxa = ymaxa3;
  zmaxa = zmaxa3;
  xmaxv1 = xmaxv;               // Max Speed units(G CODE) per danwei
  ymaxv1 = ymaxv;
  x_once_max_v_pulses = xmaxv*xsteps*interval/(1000.0);
  y_once_max_v_pulses = ymaxv*ysteps*interval/(1000.0);
  if (danwei == MINUTES){
    x_once_max_v_pulses /= 60.0;
    y_once_max_v_pulses /= 60.0;
  }
  x_times = x_once_max_v_pulses/x_once_max_a_pulses;
  if (x_times > 1)
    x_once_max_v_pulses = x_once_max_a_pulses*x_times;
  x_len_to_acc = 0;
  for (i=0;i<x_times;i++){
    x_len_to_acc += (i+1)*x_once_max_a_pulses;
  }
  y_times = y_once_max_v_pulses/y_once_max_a_pulses;
  if (y_times > 1)
    y_once_max_v_pulses = y_once_max_a_pulses*y_times;
  y_len_to_acc = 0;
  for (i=0;i<y_times;i++){
    y_len_to_acc += (i+1)*y_once_max_a_pulses;
  }
}

set_data()
{
  int i;

  xmaxv3 = xmaxv;
  ymaxv3 = ymaxv;
  zmaxv3 = zmaxv;
  xmaxa3 = xmaxa;
  ymaxa3 = ymaxa;
  zmaxa3 = zmaxa;
  xmaxv = xmaxv2;
  ymaxv = ymaxv2;
  zmaxv = zmaxv2;
  xmaxa = xmaxa2;
  ymaxa = ymaxa2;
  zmaxa = zmaxa2;
  xmaxv1 = xmaxv;               // Max Speed units(G CODE) per danwei
  ymaxv1 = ymaxv;
  x_once_max_v_pulses = xmaxv*xsteps*interval/(1000.0);
  y_once_max_v_pulses = ymaxv*ysteps*interval/(1000.0);
  if (danwei == MINUTES){
    x_once_max_v_pulses /= 60.0;
    y_once_max_v_pulses /= 60.0;
  }
  x_times = x_once_max_v_pulses/x_once_max_a_pulses;
  if (x_times > 1)
    x_once_max_v_pulses = x_once_max_a_pulses*x_times;
  x_len_to_acc = 0;
  for (i=0;i<x_times;i++){
    x_len_to_acc += (i+1)*x_once_max_a_pulses;
  }
  y_times = y_once_max_v_pulses/y_once_max_a_pulses;
  if (y_times > 1)
    y_once_max_v_pulses = y_once_max_a_pulses*y_times;
  y_len_to_acc = 0;
  for (i=0;i<y_times;i++){
    y_len_to_acc += (i+1)*y_once_max_a_pulses;
  }
}