iocontrol.cc

CNC 的开放码,EMC2 V2.2.8版

    return 0;
}

/********************************************************************
*
* Description: saveToolTable(const char *filename, CANON_TOOL_TABLE toolTable[])
*		Saves the tool table from toolTable[] array into file filename.
*		  Array is CANON_TOOL_MAX + 1 entries, since 0 is included.
*
* Return Value: Zero on success or -1 if file not found.
*
* Side Effects: Default setting used if the parameter not found in
*		the ini file.
*
* Called By: main()
*
********************************************************************/
static int saveToolTable(const char *filename,
			 CANON_TOOL_TABLE toolTable[])
{
    int pocket;
    FILE *fp;
    const char *name;

    fprintf(stderr,"I thought saveToolTable wasn't used.  Please report.\n");
    return 0;

    // check filename
    if (filename[0] == 0) {
	name = TOOL_TABLE_FILE;
    } else {
	// point to name provided
	name = filename;
    }

    // open tool table file
    if (NULL == (fp = fopen(name, "w"))) {
	// can't open file
	return -1;
    }
    // write header
    fprintf(fp, "POC\tFMS\tLEN\t\tDIAM\n");

    for (pocket = 1; pocket <= CANON_TOOL_MAX; pocket++) {
	fprintf(fp, "%d\t%d\t%f\t%f\n",
		pocket,
		toolTable[pocket].id,
		toolTable[pocket].zoffset, toolTable[pocket].diameter);
    }

    // close the file
    fclose(fp);

    return 0;
}

static int done = 0;

/********************************************************************
*
* Description: quit(int sig)
*		Signal handler for SIGINT - Usually generated by a
*		Ctrl C sequence from the keyboard.
*
* Return Value: None.
*
* Side Effects: Sets the termination condition of the main while loop.
*
* Called By: Operating system.
*
********************************************************************/
static void quit(int sig)
{
    done = 1;
}

/********************************************************************
*
* Description: iocontrol_hal_init(void)
*
* Side Effects: Exports HAL pins.
*
* Called By: main
********************************************************************/
int iocontrol_hal_init(void)
{
    char name[HAL_NAME_LEN + 2];	//name of the pin to be registered
    int n = 0, retval;		//n - number of the hal component (only one for iocotrol)

    /* STEP 1: initialise the hal component */
    comp_id = hal_init("iocontrol");
    if (comp_id < 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
			"IOCONTROL: ERROR: hal_init() failed\n");
	return -1;
    }

    /* STEP 2: allocate shared memory for iocontrol data */
    iocontrol_data = (iocontrol_str *) hal_malloc(sizeof(iocontrol_str));
    if (iocontrol_data == 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
			"IOCONTROL: ERROR: hal_malloc() failed\n");
	hal_exit(comp_id);
	return -1;
    }

    /* STEP 3a: export the out-pin(s) */

    // user-enable-out
    rtapi_snprintf(name, HAL_NAME_LEN, "iocontrol.%d.user-enable-out", n);
    retval =
	hal_pin_bit_new(name, HAL_OUT, &(iocontrol_data->user_enable_out), comp_id);
    if (retval != HAL_SUCCESS) {
	rtapi_print_msg(RTAPI_MSG_ERR,
			"IOCONTROL: ERROR: iocontrol %d pin user-enable-out export failed with err=%i\n",
			n, retval);
	hal_exit(comp_id);
	return -1;
    }
    // user-request-enable
    rtapi_snprintf(name, HAL_NAME_LEN, "iocontrol.%d.user-request-enable", n);
    retval =
	hal_pin_bit_new(name, HAL_OUT, &(iocontrol_data->user_request_enable), comp_id);
    if (retval != HAL_SUCCESS) {
	rtapi_print_msg(RTAPI_MSG_ERR,
			"IOCONTROL: ERROR: iocontrol %d pin user-request-enable export failed with err=%i\n",
			n, retval);
	hal_exit(comp_id);
	return -1;
    }
    // coolant-flood
    rtapi_snprintf(name, HAL_NAME_LEN, "iocontrol.%d.coolant-flood", n);
    retval =
	hal_pin_bit_new(name, HAL_OUT, &(iocontrol_data->coolant_flood),	comp_id);
    if (retval != HAL_SUCCESS) {
	rtapi_print_msg(RTAPI_MSG_ERR,
			"IOCONTROL: ERROR: iocontrol %d pin coolant-flood export failed with err=%i\n",
			n, retval);
	hal_exit(comp_id);
	return -1;
    }
    // coolant-mist
    rtapi_snprintf(name, HAL_NAME_LEN, "iocontrol.%d.coolant-mist", n);
    retval =
	hal_pin_bit_new(name, HAL_OUT, &(iocontrol_data->coolant_mist),
			comp_id);
    if (retval != HAL_SUCCESS) {
	rtapi_print_msg(RTAPI_MSG_ERR,
			"IOCONTROL: ERROR: iocontrol %d pin coolant-mist export failed with err=%i\n",
			n, retval);
	hal_exit(comp_id);
	return -1;
    }
    // lube
    rtapi_snprintf(name, HAL_NAME_LEN, "iocontrol.%d.lube", n);
    retval =
	hal_pin_bit_new(name, HAL_OUT, &(iocontrol_data->lube), comp_id);
    if (retval != HAL_SUCCESS) {
	rtapi_print_msg(RTAPI_MSG_ERR,
			"IOCONTROL: ERROR: iocontrol %d pin lube export failed with err=%i\n",
			n, retval);
	hal_exit(comp_id);
	return -1;
    }
    // tool-prepare
    rtapi_snprintf(name, HAL_NAME_LEN, "iocontrol.%d.tool-prepare", n);
    retval =
	hal_pin_bit_new(name, HAL_OUT, &(iocontrol_data->tool_prepare), comp_id);
    if (retval != HAL_SUCCESS) {
	rtapi_print_msg(RTAPI_MSG_ERR,
			"IOCONTROL: ERROR: iocontrol %d pin tool-prepare export failed with err=%i\n",
			n, retval);
	hal_exit(comp_id);
	return -1;
    }
    // tool-number
    rtapi_snprintf(name, HAL_NAME_LEN, "iocontrol.%d.tool-number", n);
    retval =
	hal_pin_s32_new(name, HAL_OUT, &(iocontrol_data->tool_number), comp_id);
    if (retval != HAL_SUCCESS) {
	rtapi_print_msg(RTAPI_MSG_ERR,
			"IOCONTROL: ERROR: iocontrol %d pin tool-number export failed with err=%i\n",
			n, retval);
	hal_exit(comp_id);
	return -1;
    }
    // tool-prep-number
    rtapi_snprintf(name, HAL_NAME_LEN, "iocontrol.%d.tool-prep-number", n);
    retval =
	hal_pin_s32_new(name, HAL_OUT, &(iocontrol_data->tool_prep_number), comp_id);
    if (retval != HAL_SUCCESS) {
	rtapi_print_msg(RTAPI_MSG_ERR,
			"IOCONTROL: ERROR: iocontrol %d pin tool-prep-number export failed with err=%i\n",
			n, retval);
	hal_exit(comp_id);
	return -1;
    }
    // tool-prepared
    rtapi_snprintf(name, HAL_NAME_LEN, "iocontrol.%d.tool-prepared", n);
    retval =
	hal_pin_bit_new(name, HAL_IN, &(iocontrol_data->tool_prepared), comp_id);
    if (retval != HAL_SUCCESS) {
	rtapi_print_msg(RTAPI_MSG_ERR,
			"IOCONTROL: ERROR: iocontrol %d pin tool-prepared export failed with err=%i\n",
			n, retval);
	hal_exit(comp_id);
	return -1;
    }
    // tool-change
    rtapi_snprintf(name, HAL_NAME_LEN, "iocontrol.%d.tool-change", n);
    retval =
	hal_pin_bit_new(name, HAL_OUT, &(iocontrol_data->tool_change), comp_id);
    if (retval != HAL_SUCCESS) {
	rtapi_print_msg(RTAPI_MSG_ERR,
			"IOCONTROL: ERROR: iocontrol %d pin tool-change export failed with err=%i\n",
			n, retval);
	hal_exit(comp_id);
	return -1;
    }
    // tool-changed
    rtapi_snprintf(name, HAL_NAME_LEN, "iocontrol.%d.tool-changed", n);
    retval =
	hal_pin_bit_new(name, HAL_IN, &(iocontrol_data->tool_changed), comp_id);
    if (retval != HAL_SUCCESS) {
	rtapi_print_msg(RTAPI_MSG_ERR,
			"IOCONTROL: ERROR: iocontrol %d pin tool-changed export failed with err=%i\n",
			n, retval);
	hal_exit(comp_id);
	return -1;
    }
    /* STEP 3b: export the in-pin(s) */

    // emc-enable-in
    rtapi_snprintf(name, HAL_NAME_LEN, "iocontrol.%d.emc-enable-in", n);
    retval =
	hal_pin_bit_new(name, HAL_IN, &(iocontrol_data->emc_enable_in), comp_id);
    if (retval != HAL_SUCCESS) {
	rtapi_print_msg(RTAPI_MSG_ERR,
			"IOCONTROL: ERROR: iocontrol %d pin emc-enable-in export failed with err=%i\n",
			n, retval);
	hal_exit(comp_id);
	return -1;
    }
    // lube_level
    rtapi_snprintf(name, HAL_NAME_LEN, "iocontrol.%d.lube_level", n);
    retval =
	hal_pin_bit_new(name, HAL_IN, &(iocontrol_data->lube_level), comp_id);
    if (retval != HAL_SUCCESS) {
	rtapi_print_msg(RTAPI_MSG_ERR,
			"IOCONTROL: ERROR: iocontrol %d pin lube_level export failed with err=%i\n",
			n, retval);
	hal_exit(comp_id);
	return -1;
    }

    hal_ready(comp_id);

    return 0;
}

/********************************************************************
*
* Description: hal_init_pins(void)
*
* Side Effects: Sets HAL pins default values.
*
* Called By: main
********************************************************************/
void hal_init_pins(void)
{
    *(iocontrol_data->user_enable_out)=0;	/* output, FALSE when EMC wants stop */
    *(iocontrol_data->user_request_enable)=0;	/* output, used to reset HAL latch */
    *(iocontrol_data->coolant_mist)=0;		/* coolant mist output pin */
    *(iocontrol_data->coolant_flood)=0;		/* coolant flood output pin */
    *(iocontrol_data->lube)=0;			/* lube output pin */
    *(iocontrol_data->tool_prepare)=0;		/* output, pin that notifies HAL it needs to prepare a tool */
    *(iocontrol_data->tool_prep_number)=0;	/* output, pin that holds the tool number to be prepared, only valid when tool-prepare=TRUE */
    *(iocontrol_data->tool_change)=0;		/* output, notifies a tool-change should happen (emc should be in the tool-change position) */
}


/********************************************************************
*
* Description: read_hal_inputs(void)
*			Reads the pin values from HAL 
*			this function gets called once per cycle
*			It sets the values for the emcioStatus.aux.*
*
* Returns:	returns > 0 if any of the status has changed
*		we then need to update through NML
*
* Side Effects: updates values
*
* Called By: main every CYCLE
********************************************************************/
int read_hal_inputs(void)
{
    int oldval, retval = 0;

    oldval = emcioStatus.aux.estop;

    if ( *(iocontrol_data->emc_enable_in)==0) //check for estop from HW
	emcioStatus.aux.estop = 1;
    else
	emcioStatus.aux.estop = 0;
    
    if (oldval != emcioStatus.aux.estop) {
	retval = 1;
    }
    
    
    oldval = emcioStatus.lube.level;
    emcioStatus.lube.level = *(iocontrol_data->lube_level);	//check for lube_level from HW
    if (oldval != emcioStatus.lube.level) {
	retval = 1;
    }
    return retval;
}


/********************************************************************
*
* Description: read_tool_inputs(void)
*			Reads the tool-pin values from HAL 
*			this function gets called once per cycle
*			It sets the values for the emcioStatus.aux.*
*
* Returns:	returns which of the status has changed
*		we then need to update through NML (a bit different as read_hal_inputs)
*
* Side Effects: updates values
*
* Called By: main every CYCLE
********************************************************************/
int read_tool_inputs(void)
{
    if (*iocontrol_data->tool_prepare && *iocontrol_data->tool_prepared) {
	emcioStatus.tool.toolPrepped = *(iocontrol_data->tool_prep_number); //check if tool has been prepared
	*(iocontrol_data->tool_prepare) = 0;
	emcioStatus.status = RCS_DONE;  // we finally finished to do tool-changing, signal task with RCS_DONE
	return 10; //prepped finished
    }
    
    if (*iocontrol_data->tool_change && *iocontrol_data->tool_changed) {
	emcioStatus.tool.toolInSpindle = emcioStatus.tool.toolPrepped; //the tool now in the spindle is the one that was prepared
	*(iocontrol_data->tool_number) = emcioStatus.tool.toolInSpindle; //likewise in HAL
	emcioStatus.tool.toolPrepped = -1; //reset the tool preped number, -1 to permit tool 0 to be loaded
	*(iocontrol_data->tool_prep_number) = 0; //likewise in HAL
	*(iocontrol_data->tool_change) = 0; //also reset the tool change signal
	emcioStatus.status = RCS_DONE;	// we finally finished to do tool-changing, signal task with RCS_DONE
	return 11; //change finished
    }
    return 0;
}

static void do_hal_exit(void) {
    hal_exit(comp_id);
}

/********************************************************************
*
* Description: main(int argc, char * argv[])
*		Connects to NML buffers and enters an endless loop
*		processing NML IO commands. Print statements are
*		sent to the console indicating which IO command was