emc_nml.hh

CNC 的开放码,EMC2 V2.2.8版

// EMC_SPINDLE status base class
class EMC_SPINDLE_STAT_MSG:public RCS_STAT_MSG {
  public:
    EMC_SPINDLE_STAT_MSG(NMLTYPE t, size_t s):RCS_STAT_MSG(t, s) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_SPINDLE_STAT:public EMC_SPINDLE_STAT_MSG {
  public:
    EMC_SPINDLE_STAT();

    // For internal NML/CMS use only.
    void update(CMS * cms);

    double speed;		// spindle speed in RPMs
    int direction;		// 0 stopped, 1 forward, -1 reverse
    int brake;			// 0 released, 1 engaged
    int increasing;		// 1 increasing, -1 decreasing, 0 neither
    int enabled;		// non-zero means enabled
};

class EMC_MOTION_STAT:public EMC_MOTION_STAT_MSG {
  public:
    EMC_MOTION_STAT():EMC_MOTION_STAT_MSG(EMC_MOTION_STAT_TYPE,
					  sizeof(EMC_MOTION_STAT)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    // aggregate of motion-related status classes
    EMC_TRAJ_STAT traj;
    EMC_AXIS_STAT axis[EMC_AXIS_MAX];
    EMC_SPINDLE_STAT spindle;

    int synch_di[EMC_MAX_DIO];  // motion inputs queried by interp
    double analog_input[EMC_MAX_AIO]; //motion analog inputs queried by interp
    int debug;			// copy of EMC_DEBUG global
};

// declarations for EMC_TASK classes

// EMC_TASK command base class
class EMC_TASK_CMD_MSG:public RCS_CMD_MSG {
  public:
    EMC_TASK_CMD_MSG(NMLTYPE t, size_t s):RCS_CMD_MSG(t, s) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_TASK_INIT:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_INIT():EMC_TASK_CMD_MSG(EMC_TASK_INIT_TYPE,
				     sizeof(EMC_TASK_INIT)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_TASK_HALT:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_HALT():EMC_TASK_CMD_MSG(EMC_TASK_HALT_TYPE,
				     sizeof(EMC_TASK_HALT)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_TASK_ABORT:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_ABORT():EMC_TASK_CMD_MSG(EMC_TASK_ABORT_TYPE,
				      sizeof(EMC_TASK_ABORT)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_TASK_SET_MODE:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_SET_MODE():EMC_TASK_CMD_MSG(EMC_TASK_SET_MODE_TYPE,
					 sizeof(EMC_TASK_SET_MODE)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    enum EMC_TASK_MODE_ENUM mode;
};

class EMC_TASK_SET_STATE:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_SET_STATE():EMC_TASK_CMD_MSG(EMC_TASK_SET_STATE_TYPE,
					  sizeof(EMC_TASK_SET_STATE)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    enum EMC_TASK_STATE_ENUM state;
};

class EMC_TASK_PLAN_OPEN:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_OPEN():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_OPEN_TYPE,
					  sizeof(EMC_TASK_PLAN_OPEN)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    char file[LINELEN];
};

class EMC_TASK_PLAN_RUN:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_RUN():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_RUN_TYPE,
					 sizeof(EMC_TASK_PLAN_RUN)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    int line;			// line to run from; 0 or 1 means from start,
    // negative means run through to verify
};

class EMC_TASK_PLAN_READ:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_READ():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_READ_TYPE,
					  sizeof(EMC_TASK_PLAN_READ)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_TASK_PLAN_EXECUTE:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_EXECUTE():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_EXECUTE_TYPE,
					     sizeof(EMC_TASK_PLAN_EXECUTE))
    {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    char command[LINELEN];
};

class EMC_TASK_PLAN_PAUSE:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_PAUSE():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_PAUSE_TYPE,
					   sizeof(EMC_TASK_PLAN_PAUSE)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_TASK_PLAN_STEP:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_STEP():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_STEP_TYPE,
					  sizeof(EMC_TASK_PLAN_STEP)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_TASK_PLAN_RESUME:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_RESUME():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_RESUME_TYPE,
					    sizeof(EMC_TASK_PLAN_RESUME)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_TASK_PLAN_END:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_END():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_END_TYPE,
					 sizeof(EMC_TASK_PLAN_END)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_TASK_PLAN_CLOSE:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_CLOSE():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_CLOSE_TYPE,
					   sizeof(EMC_TASK_PLAN_CLOSE)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_TASK_PLAN_INIT:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_INIT():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_INIT_TYPE,
					  sizeof(EMC_TASK_PLAN_INIT)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_TASK_PLAN_SYNCH:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_SYNCH():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_SYNCH_TYPE,
					   sizeof(EMC_TASK_PLAN_SYNCH)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_TASK_PLAN_SET_OPTIONAL_STOP:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_SET_OPTIONAL_STOP():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_SET_OPTIONAL_STOP_TYPE,
					   sizeof(EMC_TASK_PLAN_SET_OPTIONAL_STOP)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
    
    bool state; //state == ON, optional stop is on (e.g. we stop on any stops)
};

class EMC_TASK_PLAN_SET_BLOCK_DELETE:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_SET_BLOCK_DELETE():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_SET_BLOCK_DELETE_TYPE,
					   sizeof(EMC_TASK_PLAN_SET_BLOCK_DELETE)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
    
    bool state; //state == ON, block delete is on, we ignore lines starting with "/"
};

class EMC_TASK_PLAN_OPTIONAL_STOP:public EMC_TASK_CMD_MSG {
  public:
    EMC_TASK_PLAN_OPTIONAL_STOP():EMC_TASK_CMD_MSG(EMC_TASK_PLAN_OPTIONAL_STOP_TYPE,
					   sizeof(EMC_TASK_PLAN_OPTIONAL_STOP)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
    
};


// EMC_TASK status base class
class EMC_TASK_STAT_MSG:public RCS_STAT_MSG {
  public:
    EMC_TASK_STAT_MSG(NMLTYPE t, size_t s):RCS_STAT_MSG(t, s) {
	heartbeat = 0;
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    unsigned long int heartbeat;
};

class EMC_TASK_STAT:public EMC_TASK_STAT_MSG {
  public:
    EMC_TASK_STAT();

    // For internal NML/CMS use only.
    void update(CMS * cms);

    enum EMC_TASK_MODE_ENUM mode;	// EMC_TASK_MODE_MANUAL, etc.
    enum EMC_TASK_STATE_ENUM state;	// EMC_TASK_STATE_ESTOP, etc.

    enum EMC_TASK_EXEC_ENUM execState;	// EMC_DONE,WAITING_FOR_MOTION, etc.
    enum EMC_TASK_INTERP_ENUM interpState;	// EMC_IDLE,READING,PAUSED,WAITING
    int motionLine;		// line motion is executing-- may lag
    int currentLine;		// line currently executing
    int readLine;		// line interpreter has read to
    bool optional_stop_state;	// state of optional stop (== ON means we stop on M1)
    bool block_delete_state;	// state of block delete (== ON means we ignore lines starting with "/")
    bool input_timeout;		// has a timeout happened on digital input
    char file[LINELEN];
    char command[LINELEN];
    EmcPose origin;		// origin, in user units, currently active
    EmcPose toolOffset;		// tool offset, in general pose form
    int activeGCodes[ACTIVE_G_CODES];
    int activeMCodes[ACTIVE_M_CODES];
    double activeSettings[ACTIVE_SETTINGS];
    CANON_UNITS programUnits;	// CANON_UNITS_INCHES,MM,CM

    int interpreter_errcode;	// return value from rs274ngc function 
    // (only useful for new interpreter.)
};

// declarations for EMC_TOOL classes

// EMC_TOOL command base class
class EMC_TOOL_CMD_MSG:public RCS_CMD_MSG {
  public:
    EMC_TOOL_CMD_MSG(NMLTYPE t, size_t s):RCS_CMD_MSG(t, s) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_TOOL_INIT:public EMC_TOOL_CMD_MSG {
  public:
    EMC_TOOL_INIT():EMC_TOOL_CMD_MSG(EMC_TOOL_INIT_TYPE,
				     sizeof(EMC_TOOL_INIT)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_TOOL_HALT:public EMC_TOOL_CMD_MSG {
  public:
    EMC_TOOL_HALT():EMC_TOOL_CMD_MSG(EMC_TOOL_HALT_TYPE,
				     sizeof(EMC_TOOL_HALT)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_TOOL_ABORT:public EMC_TOOL_CMD_MSG {
  public:
    EMC_TOOL_ABORT():EMC_TOOL_CMD_MSG(EMC_TOOL_ABORT_TYPE,
				      sizeof(EMC_TOOL_ABORT)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_TOOL_PREPARE:public EMC_TOOL_CMD_MSG {
  public:
    EMC_TOOL_PREPARE():EMC_TOOL_CMD_MSG(EMC_TOOL_PREPARE_TYPE,
					sizeof(EMC_TOOL_PREPARE)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    int tool;
};

class EMC_TOOL_LOAD:public EMC_TOOL_CMD_MSG {
  public:
    EMC_TOOL_LOAD():EMC_TOOL_CMD_MSG(EMC_TOOL_LOAD_TYPE,
				     sizeof(EMC_TOOL_LOAD)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_TOOL_UNLOAD:public EMC_TOOL_CMD_MSG {
  public:
    EMC_TOOL_UNLOAD():EMC_TOOL_CMD_MSG(EMC_TOOL_UNLOAD_TYPE,
				       sizeof(EMC_TOOL_UNLOAD)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_TOOL_LOAD_TOOL_TABLE:public EMC_TOOL_CMD_MSG {
  public:
    EMC_TOOL_LOAD_TOOL_TABLE():EMC_TOOL_CMD_MSG
	(EMC_TOOL_LOAD_TOOL_TABLE_TYPE, sizeof(EMC_TOOL_LOAD_TOOL_TABLE)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    char file[LINELEN];		// name of tool table, empty means default
};

class EMC_TOOL_SET_OFFSET:public EMC_TOOL_CMD_MSG {
  public:
    EMC_TOOL_SET_OFFSET():EMC_TOOL_CMD_MSG(EMC_TOOL_SET_OFFSET_TYPE,
					   sizeof(EMC_TOOL_SET_OFFSET)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    int tool;
    double length;
    double diameter;
};

// EMC_TOOL status base class
class EMC_TOOL_STAT_MSG:public RCS_STAT_MSG {
  public:
    EMC_TOOL_STAT_MSG(NMLTYPE t, size_t s):RCS_STAT_MSG(t, s) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_TOOL_STAT:public EMC_TOOL_STAT_MSG {
  public:
    EMC_TOOL_STAT();

    // For internal NML/CMS use only.
    void update(CMS * cms);
    EMC_TOOL_STAT operator =(EMC_TOOL_STAT s);	// need this for [] members

    int toolPrepped;		// tool ready for loading, 0 is no tool
    int toolInSpindle;		// tool loaded, 0 is no tool
    CANON_TOOL_TABLE toolTable[CANON_TOOL_MAX + 1];
};

// EMC_AUX type declarations

// EMC_AUX command base class
class EMC_AUX_CMD_MSG:public RCS_CMD_MSG {
  public:
    EMC_AUX_CMD_MSG(NMLTYPE t, size_t s):RCS_CMD_MSG(t, s) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_AUX_INIT:public EMC_AUX_CMD_MSG {
  public:
    EMC_AUX_INIT():EMC_AUX_CMD_MSG(EMC_AUX_INIT_TYPE, sizeof(EMC_AUX_INIT)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_AUX_HALT:public EMC_AUX_CMD_MSG {
  public:
    EMC_AUX_HALT():EMC_AUX_CMD_MSG(EMC_AUX_HALT_TYPE, sizeof(EMC_AUX_HALT)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_AUX_ABORT:public EMC_AUX_CMD_MSG {
  public:
    EMC_AUX_ABORT():EMC_AUX_CMD_MSG(EMC_AUX_ABORT_TYPE,
				    sizeof(EMC_AUX_ABORT)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_AUX_DIO_WRITE:public EMC_AUX_CMD_MSG {
  public:
    EMC_AUX_DIO_WRITE():EMC_AUX_CMD_MSG(EMC_AUX_DIO_WRITE_TYPE,
					sizeof(EMC_AUX_DIO_WRITE)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    int index;
    int value;
};

class EMC_AUX_AIO_WRITE:public EMC_AUX_CMD_MSG {
  public:
    EMC_AUX_AIO_WRITE():EMC_AUX_CMD_MSG(EMC_AUX_AIO_WRITE_TYPE,
					sizeof(EMC_AUX_AIO_WRITE)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    int index;
    double value;
};

class EMC_AUX_ESTOP_ON:public EMC_AUX_CMD_MSG {
  public:
    EMC_AUX_ESTOP_ON():EMC_AUX_CMD_MSG(EMC_AUX_ESTOP_ON_TYPE,
				       sizeof(EMC_AUX_ESTOP_ON)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_AUX_ESTOP_OFF:public EMC_AUX_CMD_MSG {
  public:
    EMC_AUX_ESTOP_OFF():EMC_AUX_CMD_MSG(EMC_AUX_ESTOP_OFF_TYPE,
					sizeof(EMC_AUX_ESTOP_OFF)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_AUX_ESTOP_RESET:public EMC_AUX_CMD_MSG {
  public:
    EMC_AUX_ESTOP_RESET():EMC_AUX_CMD_MSG(EMC_AUX_ESTOP_RESET_TYPE,
					sizeof(EMC_AUX_ESTOP_RESET)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

class EMC_AUX_INPUT_WAIT:public EMC_AUX_CMD_MSG {
  public:
    EMC_AUX_INPUT_WAIT():EMC_AUX_CMD_MSG(EMC_AUX_INPUT_WAIT_TYPE,
					sizeof(EMC_AUX_INPUT_WAIT)) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);

    int index;			// input channel to wait for
    int input_type;		// DIGITAL or ANALOG
    int wait_type;		// 0 - immediate, 1- rise, 2 - fall, 3 - be high, 4 - be low
    int timeout;		// timeout for waiting
};


// EMC_AUX status base class
class EMC_AUX_STAT_MSG:public RCS_STAT_MSG {
  public:
    EMC_AUX_STAT_MSG(NMLTYPE t, size_t s):RCS_STAT_MSG(t, s) {
    };

    // For internal NML/CMS use only.
    void update(CMS * cms);
};

#define EMC_AUX_MAX_DOUT 4	// digital out bytes
#define EMC_AUX_MAX_DIN  4	// digital in bytes
#define EMC_AUX_MAX_AOUT 32	// analog out points
#define EMC_AUX_MAX_AIN  32	// analog in points

class EMC_AUX_STAT:public EMC_AUX_STAT_MSG {
  public:
    EMC_AUX_STAT();

    // For internal NML/CMS use only.
    void update(CMS * cms);
    EMC_AUX_STAT operator =(EMC_AUX_STAT s);	// need this for [] members

    int estop;			// non-zero means estopped

    unsigned char dout[EMC_AUX_MAX_DOUT];	// digital output readings
    unsigned char din[EMC_AUX_MAX_DIN];	// digital input readings