emcsh.cc

来自「CNC 的开放码,EMC2 V2.2.8版」· CC 代码 · 共 2,603 行 · 第 1/5 页

    }

    if (TCL_OK == Tcl_GetIntFromObj(0, objv[1], &joint)) {
	if (joint < 0 || joint >= EMC_AXIS_MAX) {
	    Tcl_SetResult(interp,
			  "emc_joint_limit: joint out of bounds",
			  TCL_VOLATILE);
	    return TCL_ERROR;
	}

	if (emcStatus->motion.axis[joint].minHardLimit) {
	    Tcl_SetResult(interp, "minhard", TCL_VOLATILE);
	    return TCL_OK;
	} else if (emcStatus->motion.axis[joint].minSoftLimit) {
	    Tcl_SetResult(interp, "minsoft", TCL_VOLATILE);
	    return TCL_OK;
	} else if (emcStatus->motion.axis[joint].maxSoftLimit) {
	    Tcl_SetResult(interp, "maxsoft", TCL_VOLATILE);
	    return TCL_OK;
	} else if (emcStatus->motion.axis[joint].maxHardLimit) {
	    Tcl_SetResult(interp, "maxsoft", TCL_VOLATILE);
	    return TCL_OK;
	} else {
	    Tcl_SetResult(interp, "ok", TCL_VOLATILE);
	    return TCL_OK;
	}
    }

    Tcl_SetResult(interp,
		  "emc_joint_limit: joint out of bounds", TCL_VOLATILE);
    return TCL_ERROR;
}

static int emc_joint_fault(ClientData clientdata,
			   Tcl_Interp * interp, int objc,
			   Tcl_Obj * CONST objv[])
{
    int joint;

    if (objc != 2) {
	Tcl_SetResult(interp,
		      "emc_joint_fault: need exactly 1 non-negative integer",
		      TCL_VOLATILE);
	return TCL_ERROR;
    }

    if (emcUpdateType == EMC_UPDATE_AUTO) {
	updateStatus();
    }

    if (TCL_OK == Tcl_GetIntFromObj(0, objv[1], &joint)) {
	if (joint < 0 || joint >= EMC_AXIS_MAX) {
	    Tcl_SetResult(interp,
			  "emc_joint_fault: joint out of bounds",
			  TCL_VOLATILE);
	    return TCL_ERROR;
	}

	if (emcStatus->motion.axis[joint].fault) {
	    Tcl_SetResult(interp, "fault", TCL_VOLATILE);
	    return TCL_OK;
	} else {
	    Tcl_SetResult(interp, "ok", TCL_VOLATILE);
	    return TCL_OK;
	}
    }

    Tcl_SetResult(interp,
		  "emc_joint_fault: joint out of bounds", TCL_VOLATILE);
    return TCL_ERROR;
}

static int emc_override_limit(ClientData clientdata,
			      Tcl_Interp * interp, int objc,
			      Tcl_Obj * CONST objv[])
{
    Tcl_Obj *obj;
    int on;

    if (objc == 1) {
	// no arg-- return status
	if (emcUpdateType == EMC_UPDATE_AUTO) {
	    updateStatus();
	}
	// motion overrides all axes at same time, so just reference index 0
	obj = Tcl_NewIntObj(emcStatus->motion.axis[0].overrideLimits);
	Tcl_SetObjResult(interp, obj);
	return TCL_OK;
    }

    if (objc == 2) {
	if (TCL_OK == Tcl_GetIntFromObj(0, objv[1], &on)) {
	    if (on) {
		if (0 != sendOverrideLimits(0)) {
		    Tcl_SetResult(interp,
				  "emc_override_limit: can't send command",
				  TCL_VOLATILE);
		    return TCL_OK;
		}
	    } else {
		if (0 != sendOverrideLimits(-1)) {
		    Tcl_SetResult(interp,
				  "emc_override_limit: can't send command",
				  TCL_VOLATILE);
		    return TCL_OK;
		}
	    }
	    return TCL_OK;
	} else {
	    Tcl_SetResult(interp, "emc_override_limit: need 0 or 1",
			  TCL_VOLATILE);
	    return TCL_ERROR;
	}
    }

    Tcl_SetResult(interp, "emc_override_limit: need no args, 0 or 1",
		  TCL_VOLATILE);
    return TCL_ERROR;
}

static int emc_joint_homed(ClientData clientdata,
			   Tcl_Interp * interp, int objc,
			   Tcl_Obj * CONST objv[])
{
    int joint;

    if (objc != 2) {
	Tcl_SetResult(interp,
		      "emc_joint_homed: need exactly 1 non-negative integer",
		      TCL_VOLATILE);
	return TCL_ERROR;
    }

    if (emcUpdateType == EMC_UPDATE_AUTO) {
	updateStatus();
    }

    if (TCL_OK == Tcl_GetIntFromObj(0, objv[1], &joint)) {
	if (joint < 0 || joint >= EMC_AXIS_MAX) {
	    Tcl_SetResult(interp,
			  "emc_joint_homed: joint out of bounds",
			  TCL_VOLATILE);
	    return TCL_ERROR;
	}

	if (emcStatus->motion.axis[joint].homed) {
	    Tcl_SetResult(interp, "homed", TCL_VOLATILE);
	    return TCL_OK;
	} else {
	    Tcl_SetResult(interp, "not", TCL_VOLATILE);
	    return TCL_OK;
	}
    }

    Tcl_SetResult(interp,
		  "emc_joint_homed: joint out of bounds", TCL_VOLATILE);
    return TCL_ERROR;
}

static int emc_mdi(ClientData clientdata,
		   Tcl_Interp * interp, int objc, Tcl_Obj * CONST objv[])
{
    char string[256];
    int t;

    if (objc < 2) {
	Tcl_SetResult(interp, "emc_mdi: need command", TCL_VOLATILE);
	return TCL_ERROR;
    }
    // bug-- check for string overflow
    strcpy(string, Tcl_GetStringFromObj(objv[1], 0));
    for (t = 2; t < objc; t++) {
	strcat(string, " ");
	strcat(string, Tcl_GetStringFromObj(objv[t], 0));
    }

    if (0 != sendMdiCmd(string)) {
	Tcl_SetResult(interp, "emc_mdi: error executing command",
		      TCL_VOLATILE);
	return TCL_OK;
    }

    return TCL_OK;
}

static int emc_home(ClientData clientdata,
		    Tcl_Interp * interp, int objc, Tcl_Obj * CONST objv[])
{
    int axis;

    if (objc != 2) {
	Tcl_SetResult(interp, "emc_home: need axis", TCL_VOLATILE);
	return TCL_ERROR;
    }

    if (TCL_OK == Tcl_GetIntFromObj(0, objv[1], &axis)) {
	sendHome(axis);
	return TCL_OK;
    }

    Tcl_SetResult(interp, "emc_home: need axis as integer, 0..",
		  TCL_VOLATILE);
    return TCL_ERROR;
}

static int emc_jog_stop(ClientData clientdata,
			Tcl_Interp * interp, int objc,
			Tcl_Obj * CONST objv[])
{
    int axis;

    if (objc != 2) {
	Tcl_SetResult(interp, "emc_jog_stop: need axis", TCL_VOLATILE);
	return TCL_ERROR;
    }

    if (0 != Tcl_GetIntFromObj(0, objv[1], &axis)) {
	Tcl_SetResult(interp, "emc_jog_stop: need axis as integer, 0..",
		      TCL_VOLATILE);
	return TCL_ERROR;
    }

    if (0 != sendJogStop(axis)) {
	Tcl_SetResult(interp, "emc_jog_stop: can't send jog stop msg",
		      TCL_VOLATILE);
	return TCL_OK;
    }

    return TCL_OK;
}

static int emc_jog(ClientData clientdata,
		   Tcl_Interp * interp, int objc, Tcl_Obj * CONST objv[])
{
    int axis;
    double speed;

    if (objc != 3) {
	Tcl_SetResult(interp, "emc_jog: need axis and speed",
		      TCL_VOLATILE);
	return TCL_ERROR;
    }

    if (0 != Tcl_GetIntFromObj(0, objv[1], &axis)) {
	Tcl_SetResult(interp, "emc_jog: need axis as integer, 0..",
		      TCL_VOLATILE);
	return TCL_ERROR;
    }
    if (0 != Tcl_GetDoubleFromObj(0, objv[2], &speed)) {
	Tcl_SetResult(interp, "emc_jog: need speed as real number",
		      TCL_VOLATILE);
	return TCL_ERROR;
    }

    if (0 != sendJogCont(axis, speed)) {
	Tcl_SetResult(interp, "emc_jog: can't jog", TCL_VOLATILE);
	return TCL_OK;
    }

    return TCL_OK;
}

static int emc_jog_incr(ClientData clientdata,
			Tcl_Interp * interp, int objc,
			Tcl_Obj * CONST objv[])
{
    int axis;
    double speed;
    double incr;

    if (objc != 4) {
	Tcl_SetResult(interp,
		      "emc_jog_incr: need axis, speed, and increment",
		      TCL_VOLATILE);
	return TCL_ERROR;
    }

    if (0 != Tcl_GetIntFromObj(0, objv[1], &axis)) {
	Tcl_SetResult(interp, "emc_jog_incr: need axis as integer, 0..",
		      TCL_VOLATILE);
	return TCL_ERROR;
    }
    if (0 != Tcl_GetDoubleFromObj(0, objv[2], &speed)) {
	Tcl_SetResult(interp, "emc_jog_incr: need speed as real number",
		      TCL_VOLATILE);
	return TCL_ERROR;
    }
    if (0 != Tcl_GetDoubleFromObj(0, objv[3], &incr)) {
	Tcl_SetResult(interp,
		      "emc_jog_incr: need increment as real number",
		      TCL_VOLATILE);
	return TCL_ERROR;
    }

    if (0 != sendJogIncr(axis, speed, incr)) {
	Tcl_SetResult(interp, "emc_jog_incr: can't jog", TCL_VOLATILE);
	return TCL_OK;
    }

    return TCL_OK;
}

static int emc_feed_override(ClientData clientdata,
			     Tcl_Interp * interp, int objc,
			     Tcl_Obj * CONST objv[])
{
    Tcl_Obj *feedobj;
    int percent;

    if (objc == 1) {
	// no arg-- return status
	if (emcUpdateType == EMC_UPDATE_AUTO) {
	    updateStatus();
	}
	feedobj =
	    Tcl_NewIntObj((int)
			  (emcStatus->motion.traj.scale * 100.0 + 0.5));
	Tcl_SetObjResult(interp, feedobj);
	return TCL_OK;
    }

    if (objc != 2) {
	Tcl_SetResult(interp, "emc_feed_override: need percent",
		      TCL_VOLATILE);
	return TCL_ERROR;
    }

    if (TCL_OK == Tcl_GetIntFromObj(0, objv[1], &percent)) {
	sendFeedOverride(((double) percent) / 100.0);
	return TCL_OK;
    }

    Tcl_SetResult(interp, "emc_feed_override: need percent", TCL_VOLATILE);
    return TCL_ERROR;
}

static int emc_spindle_override(ClientData clientdata,
			     Tcl_Interp * interp, int objc,
			     Tcl_Obj * CONST objv[])
{
    Tcl_Obj *feedobj;
    int percent;

    if (objc == 1) {
	// no arg-- return status
	if (emcUpdateType == EMC_UPDATE_AUTO) {
	    updateStatus();
	}
	feedobj =
	    Tcl_NewIntObj((int)
			  (emcStatus->motion.traj.spindle_scale * 100.0 + 0.5));
	Tcl_SetObjResult(interp, feedobj);
	return TCL_OK;
    }

    if (objc != 2) {
	Tcl_SetResult(interp, "emc_spindle_override: need percent",
		      TCL_VOLATILE);
	return TCL_ERROR;
    }

    if (TCL_OK == Tcl_GetIntFromObj(0, objv[1], &percent)) {
	sendSpindleOverride(((double) percent) / 100.0);
	return TCL_OK;
    }

    Tcl_SetResult(interp, "emc_spindle_override: need percent", TCL_VOLATILE);
    return TCL_ERROR;
}

static int emc_task_plan_init(ClientData clientdata,
			      Tcl_Interp * interp, int objc,
			      Tcl_Obj * CONST objv[])
{
    if (0 != sendTaskPlanInit()) {
	Tcl_SetResult(interp, "emc_task_plan_init: can't init interpreter",
		      TCL_VOLATILE);
	return TCL_OK;
    }

    return TCL_OK;
}

static int emc_open(ClientData clientdata,
		    Tcl_Interp * interp, int objc, Tcl_Obj * CONST objv[])
{
    if (objc != 2) {
	Tcl_SetResult(interp, "emc_open: need file", TCL_VOLATILE);
	return TCL_ERROR;
    }

    if (0 != sendProgramOpen(Tcl_GetStringFromObj(objv[1], 0))) {
	Tcl_SetResult(interp, "emc_open: can't open file", TCL_VOLATILE);
	return TCL_OK;
    }

    return TCL_OK;
}

static int emc_run(ClientData clientdata,
		   Tcl_Interp * interp, int objc, Tcl_Obj * CONST objv[])
{
    int line;

    if (objc == 1) {
	if (0 != sendProgramRun(0)) {
	    Tcl_SetResult(interp, "emc_run: can't execute program",
			  TCL_VOLATILE);
	    return TCL_OK;
	}
    }

    if (objc == 2) {
	if (0 != Tcl_GetIntFromObj(0, objv[1], &line)) {
	    Tcl_SetResult(interp, "emc_run: need integer start line",
			  TCL_VOLATILE);
	    return TCL_ERROR;
	}
	if (0 != sendProgramRun(line)) {
	    Tcl_SetResult(interp, "emc_run: can't execute program",
			  TCL_VOLATILE);
	    return TCL_OK;
	}
    }

    return TCL_OK;
}

static int emc_pause(ClientData clientdata,
		     Tcl_Interp * interp, int objc, Tcl_Obj * CONST objv[])
{
    if (0 != sendProgramPause()) {
	Tcl_SetResult(interp, "emc_pause: can't pause program",
		      TCL_VOLATILE);
	return TCL_OK;
    }

    return TCL_OK;
}

static int emc_optional_stop(ClientData clientdata,
			      Tcl_Interp * interp, int objc,
			      Tcl_Obj * CONST objv[])
{
    Tcl_Obj *obj;
    int on;

    if (objc == 1) {
	// no arg-- return status
	if (emcUpdateType == EMC_UPDATE_AUTO) {
	    updateStatus();
	}
	// get the current state from the status
	obj = Tcl_NewIntObj(emcStatus->task.optional_stop_state);
	Tcl_SetObjResult(interp, obj);
	return TCL_OK;
    }

    if (objc == 2) {
	if (TCL_OK == Tcl_GetIntFromObj(0, objv[1], &on)) {
	    if (0 != sendSetOptionalStop(on)) {
		    Tcl_SetResult(interp,
				  "emc_optional_stop: can't send command",
				  TCL_VOLATILE);
		    return TCL_OK;
	    }
	    return TCL_OK;
	} else {
	    Tcl_SetResult(interp, "emc_optional_stop: need 0 or 1",
			  TCL_VOLATILE);
	    return TCL_ERROR;
	}
    }

    Tcl_SetResult(interp, "emc_optional_stop: need no args, 0 or 1",
		  TCL_VOLATILE);
    return TCL_ERROR;
}

static int emc_resume(ClientData clientdata,
		      Tcl_Interp * interp, int objc,
		      Tcl_Obj * CONST objv[])
{
    if (0 != sendProgramResume()) {
	Tcl_SetResult(interp, "emc_resume: can't resume program",
		      TCL_VOLATILE);
	return TCL_OK;
    }

    return TCL_OK;
}

static int emc_step(ClientData clientdata,
		    Tcl_Interp * interp, int objc, Tcl_Obj * CONST objv[])
{
    if (0 != sendProgramStep()) {
	Tcl_SetResult(interp, "emc_step: can't step program",
		      TCL_VOLATILE);
	return TCL_OK;
    }

    return TCL_OK;
}

static int emc_abort(ClientData clientdata,
		     Tcl_Interp * interp, int objc, Tcl_Obj * CONST objv[])
{
    if (0 != sendAbort()) {
	Tcl_SetResult(interp, "emc_abort: can't execute program",
		      TCL_VOLATILE);
	return TCL_OK;
    }

    return TCL_OK;
}

static int emc_program(ClientData clientdata,
		       Tcl_Interp * interp, int objc,
		       Tcl_Obj * CONST objv[])
{
    if (objc != 1) {