emc_nml.hh

CNC 的开放码,EMC2 V2.2.8版

    double aout[EMC_AUX_MAX_AOUT];	// digital output readings
    double ain[EMC_AUX_MAX_AIN];	// digital input readings
};

// EMC_SPINDLE type declarations

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

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

class EMC_SPINDLE_INIT:public EMC_SPINDLE_CMD_MSG {
  public:
    EMC_SPINDLE_INIT():EMC_SPINDLE_CMD_MSG(EMC_SPINDLE_INIT_TYPE,
					   sizeof(EMC_SPINDLE_INIT)) {
    };

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

class EMC_SPINDLE_HALT:public EMC_SPINDLE_CMD_MSG {
  public:
    EMC_SPINDLE_HALT():EMC_SPINDLE_CMD_MSG(EMC_SPINDLE_HALT_TYPE,
					   sizeof(EMC_SPINDLE_HALT)) {
    };

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

class EMC_SPINDLE_ABORT:public EMC_SPINDLE_CMD_MSG {
  public:
    EMC_SPINDLE_ABORT():EMC_SPINDLE_CMD_MSG(EMC_SPINDLE_ABORT_TYPE,
					    sizeof(EMC_SPINDLE_ABORT)) {
    };

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

class EMC_SPINDLE_ON:public EMC_SPINDLE_CMD_MSG {
  public:
    EMC_SPINDLE_ON():EMC_SPINDLE_CMD_MSG(EMC_SPINDLE_ON_TYPE,
					 sizeof(EMC_SPINDLE_ON)),
	speed(0), factor(0), xoffset(0) {
    };

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

    double speed;   // commanded speed in RPMs or maximum speed for CSS
    double factor;  // Zero for constant RPM.  numerator of speed for CSS
    double xoffset; // X axis offset compared to center of rotation, for CSS
};

class EMC_SPINDLE_OFF:public EMC_SPINDLE_CMD_MSG {
  public:
    EMC_SPINDLE_OFF():EMC_SPINDLE_CMD_MSG(EMC_SPINDLE_OFF_TYPE,
					  sizeof(EMC_SPINDLE_OFF)) {
    };

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

class EMC_SPINDLE_FORWARD:public EMC_SPINDLE_CMD_MSG {
  public:
    EMC_SPINDLE_FORWARD():EMC_SPINDLE_CMD_MSG(EMC_SPINDLE_FORWARD_TYPE,
					      sizeof(EMC_SPINDLE_FORWARD))
    {
    };

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

    double speed;		// commanded speed in RPMs
};

class EMC_SPINDLE_REVERSE:public EMC_SPINDLE_CMD_MSG {
  public:
    EMC_SPINDLE_REVERSE():EMC_SPINDLE_CMD_MSG(EMC_SPINDLE_REVERSE_TYPE,
					      sizeof(EMC_SPINDLE_REVERSE))
    {
    };

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

    double speed;		// commanded speed in RPMs
};

class EMC_SPINDLE_STOP:public EMC_SPINDLE_CMD_MSG {
  public:
    EMC_SPINDLE_STOP():EMC_SPINDLE_CMD_MSG(EMC_SPINDLE_STOP_TYPE,
					   sizeof(EMC_SPINDLE_STOP)) {
    };

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

class EMC_SPINDLE_INCREASE:public EMC_SPINDLE_CMD_MSG {
  public:
    EMC_SPINDLE_INCREASE():EMC_SPINDLE_CMD_MSG(EMC_SPINDLE_INCREASE_TYPE,
					       sizeof
					       (EMC_SPINDLE_INCREASE)) {
    };

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

    double speed;		// commanded speed in RPMs
};

class EMC_SPINDLE_DECREASE:public EMC_SPINDLE_CMD_MSG {
  public:
    EMC_SPINDLE_DECREASE():EMC_SPINDLE_CMD_MSG(EMC_SPINDLE_DECREASE_TYPE,
					       sizeof
					       (EMC_SPINDLE_DECREASE)) {
    };

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

    double speed;		// commanded speed in RPMs
};

class EMC_SPINDLE_CONSTANT:public EMC_SPINDLE_CMD_MSG {
  public:
    EMC_SPINDLE_CONSTANT():EMC_SPINDLE_CMD_MSG(EMC_SPINDLE_CONSTANT_TYPE,
					       sizeof
					       (EMC_SPINDLE_CONSTANT)) {
    };

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

    double speed;		// commanded speed in RPMs
};

class EMC_SPINDLE_BRAKE_RELEASE:public EMC_SPINDLE_CMD_MSG {
  public:
    EMC_SPINDLE_BRAKE_RELEASE():EMC_SPINDLE_CMD_MSG
	(EMC_SPINDLE_BRAKE_RELEASE_TYPE,
	 sizeof(EMC_SPINDLE_BRAKE_RELEASE)) {
    };

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

class EMC_SPINDLE_BRAKE_ENGAGE:public EMC_SPINDLE_CMD_MSG {
  public:
    EMC_SPINDLE_BRAKE_ENGAGE():EMC_SPINDLE_CMD_MSG
	(EMC_SPINDLE_BRAKE_ENGAGE_TYPE, sizeof(EMC_SPINDLE_BRAKE_ENGAGE)) {
    };

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

class EMC_SPINDLE_ENABLE:public EMC_SPINDLE_CMD_MSG {
  public:
    EMC_SPINDLE_ENABLE():EMC_SPINDLE_CMD_MSG(EMC_SPINDLE_ENABLE_TYPE,
					     sizeof(EMC_SPINDLE_ENABLE)) {
    };

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

class EMC_SPINDLE_DISABLE:public EMC_SPINDLE_CMD_MSG {
  public:
    EMC_SPINDLE_DISABLE():EMC_SPINDLE_CMD_MSG(EMC_SPINDLE_DISABLE_TYPE,
					      sizeof(EMC_SPINDLE_DISABLE))
    {
    };

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


// EMC_COOLANT type declarations

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

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

class EMC_COOLANT_INIT:public EMC_COOLANT_CMD_MSG {
  public:
    EMC_COOLANT_INIT():EMC_COOLANT_CMD_MSG(EMC_COOLANT_INIT_TYPE,
					   sizeof(EMC_COOLANT_INIT)) {
    };

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

class EMC_COOLANT_HALT:public EMC_COOLANT_CMD_MSG {
  public:
    EMC_COOLANT_HALT():EMC_COOLANT_CMD_MSG(EMC_COOLANT_HALT_TYPE,
					   sizeof(EMC_COOLANT_HALT)) {
    };

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

class EMC_COOLANT_ABORT:public EMC_COOLANT_CMD_MSG {
  public:
    EMC_COOLANT_ABORT():EMC_COOLANT_CMD_MSG(EMC_COOLANT_ABORT_TYPE,
					    sizeof(EMC_COOLANT_ABORT)) {
    };

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

class EMC_COOLANT_MIST_ON:public EMC_COOLANT_CMD_MSG {
  public:
    EMC_COOLANT_MIST_ON():EMC_COOLANT_CMD_MSG(EMC_COOLANT_MIST_ON_TYPE,
					      sizeof(EMC_COOLANT_MIST_ON))
    {
    };

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

class EMC_COOLANT_MIST_OFF:public EMC_COOLANT_CMD_MSG {
  public:
    EMC_COOLANT_MIST_OFF():EMC_COOLANT_CMD_MSG(EMC_COOLANT_MIST_OFF_TYPE,
					       sizeof
					       (EMC_COOLANT_MIST_OFF)) {
    };

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

class EMC_COOLANT_FLOOD_ON:public EMC_COOLANT_CMD_MSG {
  public:
    EMC_COOLANT_FLOOD_ON():EMC_COOLANT_CMD_MSG(EMC_COOLANT_FLOOD_ON_TYPE,
					       sizeof
					       (EMC_COOLANT_FLOOD_ON)) {
    };

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

class EMC_COOLANT_FLOOD_OFF:public EMC_COOLANT_CMD_MSG {
  public:
    EMC_COOLANT_FLOOD_OFF():EMC_COOLANT_CMD_MSG(EMC_COOLANT_FLOOD_OFF_TYPE,
						sizeof
						(EMC_COOLANT_FLOOD_OFF)) {
    };

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

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

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

class EMC_COOLANT_STAT:public EMC_COOLANT_STAT_MSG {
  public:
    EMC_COOLANT_STAT();

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

    int mist;			// 0 off, 1 on
    int flood;			// 0 off, 1 on
};

// EMC_LUBE type declarations

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

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

class EMC_LUBE_INIT:public EMC_LUBE_CMD_MSG {
  public:
    EMC_LUBE_INIT():EMC_LUBE_CMD_MSG(EMC_LUBE_INIT_TYPE,
				     sizeof(EMC_LUBE_INIT)) {
    };

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

class EMC_LUBE_HALT:public EMC_LUBE_CMD_MSG {
  public:
    EMC_LUBE_HALT():EMC_LUBE_CMD_MSG(EMC_LUBE_HALT_TYPE,
				     sizeof(EMC_LUBE_HALT)) {
    };

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

class EMC_LUBE_ABORT:public EMC_LUBE_CMD_MSG {
  public:
    EMC_LUBE_ABORT():EMC_LUBE_CMD_MSG(EMC_LUBE_ABORT_TYPE,
				      sizeof(EMC_LUBE_ABORT)) {
    };

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

class EMC_LUBE_ON:public EMC_LUBE_CMD_MSG {
  public:
    EMC_LUBE_ON():EMC_LUBE_CMD_MSG(EMC_LUBE_ON_TYPE, sizeof(EMC_LUBE_ON)) {
    };

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

class EMC_LUBE_OFF:public EMC_LUBE_CMD_MSG {
  public:
    EMC_LUBE_OFF():EMC_LUBE_CMD_MSG(EMC_LUBE_OFF_TYPE,
				    sizeof(EMC_LUBE_OFF)) {
    };

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

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

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

class EMC_LUBE_STAT:public EMC_LUBE_STAT_MSG {
  public:
    EMC_LUBE_STAT();

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

    int on;			// 0 off, 1 on
    int level;			// 0 low, 1 okay
};

// EMC IO configuration classes

class EMC_SET_DIO_INDEX:public RCS_CMD_MSG {
  public:
    EMC_SET_DIO_INDEX():RCS_CMD_MSG(EMC_SET_DIO_INDEX_TYPE,
				    sizeof(EMC_SET_DIO_INDEX)) {
    };

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

    int value;			// one of enum EMC_SET_DIO_INDEX_XXX
    int index;			// index, 0..max
};

class EMC_SET_AIO_INDEX:public RCS_CMD_MSG {
  public:
    EMC_SET_AIO_INDEX():RCS_CMD_MSG(EMC_SET_AIO_INDEX_TYPE,
				    sizeof(EMC_SET_AIO_INDEX)) {
    };

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

    int value;			// one of enum EMC_SET_AIO_INDEX_XXX
    int index;			// index, 0..max
};


// EMC_IO is aggregate of all EMC IO-related status classes

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

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

class EMC_IO_INIT:public EMC_IO_CMD_MSG {
  public:
    EMC_IO_INIT():EMC_IO_CMD_MSG(EMC_IO_INIT_TYPE, sizeof(EMC_IO_INIT)) {
    };

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

class EMC_IO_HALT:public EMC_IO_CMD_MSG {
  public:
    EMC_IO_HALT():EMC_IO_CMD_MSG(EMC_IO_HALT_TYPE, sizeof(EMC_IO_HALT)) {
    };

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

class EMC_IO_ABORT:public EMC_IO_CMD_MSG {
  public:
    EMC_IO_ABORT():EMC_IO_CMD_MSG(EMC_IO_ABORT_TYPE, sizeof(EMC_IO_ABORT)) {
    };

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

class EMC_IO_SET_CYCLE_TIME:public EMC_IO_CMD_MSG {
  public:
    EMC_IO_SET_CYCLE_TIME():EMC_IO_CMD_MSG(EMC_IO_SET_CYCLE_TIME_TYPE,
					   sizeof(EMC_IO_SET_CYCLE_TIME)) {
    };

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

    double cycleTime;
};

// EMC_IO status base class
class EMC_IO_STAT_MSG:public RCS_STAT_MSG {
  public:
    EMC_IO_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_IO_STAT:public EMC_IO_STAT_MSG {
  public:
    EMC_IO_STAT():EMC_IO_STAT_MSG(EMC_IO_STAT_TYPE, sizeof(EMC_IO_STAT)) {
    };

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

    // top-level stuff
    double cycleTime;
    int debug;			// copy of EMC_DEBUG global

    // aggregate of IO-related status classes
    EMC_TOOL_STAT tool;
    EMC_COOLANT_STAT coolant;
    EMC_AUX_STAT aux;
    EMC_LUBE_STAT lube;
};

// EMC is aggregate of EMC_TASK, EMC_TRAJ, EMC_IO, etc.

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

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

class EMC_INIT:public EMC_CMD_MSG {
  public:
    EMC_INIT():EMC_CMD_MSG(EMC_INIT_TYPE, sizeof(EMC_INIT)) {
    };

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

class EMC_HALT:public EMC_CMD_MSG {
  public:
    EMC_HALT():EMC_CMD_MSG(EMC_HALT_TYPE, sizeof(EMC_HALT)) {
    };

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

class EMC_ABORT:public EMC_CMD_MSG {
  public:
    EMC_ABORT():EMC_CMD_MSG(EMC_ABORT_TYPE, sizeof(EMC_ABORT)) {
    };

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

// EMC status base class

class EMC_STAT_MSG:public RCS_STAT_MSG {
  public:
    EMC_STAT_MSG(NMLTYPE t, size_t s):RCS_STAT_MSG(t, s) {
    };

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

class EMC_STAT:public EMC_STAT_MSG {
  public:
    EMC_STAT();

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

    // the top-level EMC_TASK status class
    EMC_TASK_STAT task;

    // subordinate status classes
    EMC_MOTION_STAT motion;
    EMC_IO_STAT io;

    int debug;			// copy of EMC_DEBUG global
};

/*
   Declarations of EMC status class implementations, for major subsystems.
   These are defined in the appropriate main() files, and referenced
   by code in other files to get EMC status.
   */


#endif