keystick.cc

CNC 的开放码,EMC2 V2.2.8版

      mvwaddstr(window, 2, 28, scratch_string);
      sprintf(scratch_string, "%10ld %10d", emcStatus->io.heartbeat,
              emcStatus->io.echo_serial_number);
      mvwaddstr(window, 3, 28, scratch_string);
      sprintf(scratch_string, "%10ld %10d", emcStatus->motion.heartbeat,
              emcStatus->motion.echo_serial_number);
      mvwaddstr(window, 4, 28, scratch_string);

      sprintf(scratch_string, "%10d", usecs);
      mvwaddstr(window, 6, 28, scratch_string);
      sprintf(scratch_string, "%10d", FIRST_KEYUP_DELAY);
      mvwaddstr(window, 7, 28, scratch_string);
      sprintf(scratch_string, "%10d", NEXT_KEYUP_DELAY);
      mvwaddstr(window, 8, 28, scratch_string);

      sprintf(scratch_string, "%10d", emcStatus->task.execState);
      mvwaddstr(window, 10, 28, scratch_string);

      sprintf(scratch_string, "%10.3f", emcStatus->motion.traj.scale);
      mvwaddstr(window, 12, 28, scratch_string);
      sprintf(scratch_string, "%10.3f", emcStatus->motion.axis[0].scale);
      mvwaddstr(window, 13, 28, scratch_string);
      sprintf(scratch_string, "%10.3f", emcStatus->motion.axis[1].scale);
      mvwaddstr(window, 14, 28, scratch_string);
      sprintf(scratch_string, "%10.3f", emcStatus->motion.axis[2].scale);
      mvwaddstr(window, 15, 28, scratch_string);

      sprintf(scratch_string, "%10.3f%10.3f",
              emcStatus->motion.traj.velocity, emcStatus->motion.traj.maxVelocity);
      mvwaddstr(window, 17, 28, scratch_string);
      sprintf(scratch_string, "%10.3f%10.3f",
              emcStatus->motion.traj.acceleration, emcStatus->motion.traj.maxAcceleration);
      mvwaddstr(window, 18, 28, scratch_string);

      wattrset(window, 0);
      if (error_string[0])
        {
          printError(error_string);
        }

      wattrset(window, A_REVERSE);
      mvwaddstr(window, wmaxy - 1, wbegx, bottom_string);
      wattrset(window, 0);

      // restore cursor position
      wmove(window, savey, savex);
      wrefresh(window);
    }
  else if (window == toolwin)
    {
      wattrset(window, A_BOLD);
      mvwaddstr(window, 0, 34, "Tool Table");

      wattrset(window, 0);
      mvwaddstr(window, 2, 1, "Pocket        ID    Length  Diameter");

      wattrset(window, A_UNDERLINE);
      line = 4;
      for (t = 0; t < CANON_TOOL_MAX; t++)
        {
          if (emcStatus->io.tool.toolTable[t].id)
            {
              sprintf(scratch_string, "%4d%10d%10.4f%10.4f",
                      t,
                      emcStatus->io.tool.toolTable[t].id,
                      emcStatus->io.tool.toolTable[t].zoffset,
                      emcStatus->io.tool.toolTable[t].diameter);
              mvwaddstr(window, line++, 3, scratch_string);
            }
        }

      wattrset(window, 0);
      if (error_string[0])
        {
          printError(error_string);
        }

      wattrset(window, A_REVERSE);
      mvwaddstr(window, wmaxy - 1, wbegx, bottom_string);
      wattrset(window, 0);

      // restore cursor position
      wmove(window, savey, savex);
      wrefresh(window);
    }
  else if (window == progwin)
    {
      mvwaddstr(window, 0, 0, line_blank);
      wattrset(window, A_BOLD);
      if (emcStatus->task.file[0] == 0)
        {
          mvwaddstr(window, 0, 36, "(no program)");
        }
      else
        {
          mvwaddstr(window, 0, 36, emcStatus->task.file);
        }
      wattrset(window, 0);

      if (emcStatus->task.currentLine > 0)
        {
          if (emcStatus->task.motionLine > 0 &&
              emcStatus->task.motionLine < emcStatus->task.currentLine)
            {
              programActiveLine = emcStatus->task.motionLine;
            }
          else
            {
              programActiveLine = emcStatus->task.currentLine;
            }

          if (programFp)
            {
              if (programFpLine > programActiveLine)
                {
                  rewind(programFp);
                  programFpLine = 0;
                  programLineText[0] = 0;
                }

              // fast forward over past lines
              while (programFpLine < programActiveLine)
                {
                  fgets(programLineText, LINELEN, programFp);
                  programFpLine++;
                }

              // now we have the current line
              wattrset(window, A_BOLD);
              for (t = 0; t < 20; t++)
                {
                  // knock off CR, LF
                  len = strlen(programLineText) - 1;
                  while (len >= 0)
                    {
                      if (isspace(programLineText[len]))
                        {
                          programLineText[len] = 0;
                          len--;
                        }
                      else
                        {
                          break;
                        }
                    }

                  // print this line
                  mvwaddstr(window, t+2, wbegx, line_blank);
                  mvwaddstr(window, t+2, wbegx, programLineText);
                  wattrset(window, 0);

                  // get the next line
                  if (fgets(programLineText, LINELEN, programFp))
                    {
                      programFpLine++;
                    }
                  else
                    {
                      // make it a blank line to clear any old stuff
                      strcpy(programLineText, line_blank);
                    }
                }
            }
          else
            {
              programLineText[0] = 0;
            }
        }
      else
        {
          programActiveLine = 0;
          programLineText[0] = 0;
          line_string[0] = 0;
        }

      wattrset(window, 0);
      if (error_string[0])
        {
          printError(error_string);
        }

      wattrset(window, A_REVERSE);
      mvwaddstr(window, wmaxy - 1, wbegx, bottom_string);
      wattrset(window, 0);

      // restore cursor position
      wmove(window, savey, savex);
      wrefresh(window);
    }
  else // if (window == stdscr)
    {
      // print the function key labels
      printFkeys();

      // print the status labels

      wattrset(window, 0);

      mvwaddstr(window, 6, 1, "Override:");
      mvwaddstr(window, 7, 1, "Tool:");
      mvwaddstr(window, 8, 1, "Offset:");

      mvwaddstr(window, 7, 61, "Speed:");
      mvwaddstr(window, 8, 61, "Incr:             ");

      strcpy(scratch_string, "--X--");
      if (emcStatus->motion.axis[0].minHardLimit)
        scratch_string[0] = '*';
      if (emcStatus->motion.axis[0].minSoftLimit)
        scratch_string[1] = '*';
      if (emcStatus->motion.axis[0].maxSoftLimit)
        scratch_string[3] = '*';
      if (emcStatus->motion.axis[0].maxHardLimit)
        scratch_string[4] = '*';
      mvwaddstr(window, 10, 27, scratch_string);

      strcpy(scratch_string, "--Y--");
      if (emcStatus->motion.axis[1].minHardLimit)
        scratch_string[0] = '*';
      if (emcStatus->motion.axis[1].minSoftLimit)
        scratch_string[1] = '*';
      if (emcStatus->motion.axis[1].maxSoftLimit)
        scratch_string[3] = '*';
      if (emcStatus->motion.axis[1].maxHardLimit)
        scratch_string[4] = '*';
      mvwaddstr(window, 10, 47, scratch_string);

      strcpy(scratch_string, "--Z--");
      if (emcStatus->motion.axis[2].minHardLimit)
        scratch_string[0] = '*';
      if (emcStatus->motion.axis[2].minSoftLimit)
        scratch_string[1] = '*';
      if (emcStatus->motion.axis[2].maxSoftLimit)
        scratch_string[3] = '*';
      if (emcStatus->motion.axis[2].maxHardLimit)
        scratch_string[4] = '*';
      mvwaddstr(window, 10, 67, scratch_string);

      if (coords == COORD_ABSOLUTE)
        {
          if (posDisplay == POS_DISPLAY_CMD)
            {
              mvwaddstr(window, 11, 1, "Absolute Cmd Pos:");
            }
          else
            {
              mvwaddstr(window, 11, 1, "Absolute Act Pos:");
            }
          mvwaddstr(window, 12, 0, line_blank);
        }
      else
        {
          coords = COORD_RELATIVE;
          if (posDisplay == POS_DISPLAY_CMD)
            {
              mvwaddstr(window, 11, 1, "Relative Cmd Pos:");
            }
          else
            {
              mvwaddstr(window, 11, 1, "Relative Act Pos:");
            }
        }

      mvwaddstr(window, 14, 0, line_blank);
      mvwaddstr(window, 15, 0, line_blank);
      mvwaddstr(window, 16, 0, line_blank);
      mvwaddstr(window, 17, 0, line_blank);
      mvwaddstr(window, 18, 0, line_blank);
      mvwaddstr(window, 19, 0, line_blank);
      if (emcStatus->task.mode == EMC_TASK_MODE_AUTO)
        {
          mvwaddstr(window, 14, 1, "Program:");
          mvwaddstr(window, 15, 1, "Line:");
          mvwaddstr(window, 16, 1, "Command:");
          mvwaddstr(window, 17, 1, "Interpreter:");
          mvwaddstr(window, 18, 1, "Modal G Codes:");
          mvwaddstr(window, 19, 1, "Modal M Codes:");
        }
      else if (emcStatus->task.mode == EMC_TASK_MODE_MDI)
        {
          mvwaddstr(window, 16, 1, "Command:");
          mvwaddstr(window, 17, 1, "Interpreter:");
          mvwaddstr(window, 18, 1, "Modal G Codes:");
          mvwaddstr(window, 19, 1, "Modal M Codes:");
        }

      // end of labels

      // fill the status strings in

      switch(emcStatus->task.state)
        {
        case EMC_TASK_STATE_OFF:
          sprintf(state_string, "       OFF        ");
          break;
        case EMC_TASK_STATE_ON:
          sprintf(state_string, "       ON         ");
          break;
        case EMC_TASK_STATE_ESTOP:
          sprintf(state_string, "      ESTOP       ");
          break;
        case EMC_TASK_STATE_ESTOP_RESET:
          sprintf(state_string, "   ESTOP RESET    ");
          break;
        default:
          sprintf(state_string, "        ?         ");
          break;
        }

      switch(emcStatus->task.mode)
        {
        case EMC_TASK_MODE_MANUAL:
          sprintf(mode_string, "      MANUAL      ");
          break;
        case EMC_TASK_MODE_AUTO:
          sprintf(mode_string, "       AUTO       ");
          break;
        case EMC_TASK_MODE_MDI:
          sprintf(mode_string, "       MDI        ");
          break;
        default:
          sprintf(mode_string, "        ?         ");
          break;
        }

      if (emcStatus->motion.spindle.increasing > 0)
        sprintf(spindle_string, " SPINDLE INCREASE ");
      else if (emcStatus->motion.spindle.increasing < 0)
        sprintf(spindle_string, " SPINDLE DECREASE ");
      else if (emcStatus->motion.spindle.direction > 0)
        sprintf(spindle_string, " SPINDLE FORWARD  ");
      else if (emcStatus->motion.spindle.direction < 0)
        sprintf(spindle_string, " SPINDLE REVERSE  ");
      else
        sprintf(spindle_string, " SPINDLE STOPPED  ");

      if (emcStatus->motion.spindle.brake)
        sprintf(brake_string,   "    BRAKE ON      ");
      else
        sprintf(brake_string,   "    BRAKE OFF     ");

      if (emcStatus->io.coolant.mist)
        sprintf(mist_string,    "    MIST ON       ");
      else
        sprintf(mist_string,    "    MIST OFF      ");

      if (emcStatus->io.coolant.flood)
        sprintf(flood_string,   "    FLOOD ON      ");
      else
        sprintf(flood_string,   "    FLOOD OFF     ");

      if (emcStatus->io.lube.on)
        sprintf(lube_on_string,    "     LUBE ON      ");
      else
        sprintf(lube_on_string,    "     LUBE OFF     ");

      if (! emcStatus->io.lube.level)
        sprintf(lube_level_string,    "     LUBE OK      ");
      else
        sprintf(lube_level_string,    "     LUBE LOW     ");

      sprintf(home_string, "    --- HOMED     ");
      if (emcStatus->motion.axis[0].homed)
        {
          home_string[4] = 'X';
        }
      if (emcStatus->motion.axis[1].homed)
        {
          home_string[5] = 'Y';
        }
      if (emcStatus->motion.axis[2].homed)
        {
          home_string[6] = 'Z';
        }

      if (coords == COORD_ABSOLUTE)
        {
          if (posDisplay == POS_DISPLAY_ACT)
            {
              sprintf(pos_string, "%13.4f  %18.4f  %18.4f",
                      emcStatus->motion.traj.actualPosition.tran.x,
                      emcStatus->motion.traj.actualPosition.tran.y,
                      emcStatus->motion.traj.actualPosition.tran.z);
            }
          else
            {
              sprintf(pos_string, "%13.4f  %18.4f  %18.4f",
                      emcStatus->motion.traj.position.tran.x,
                      emcStatus->motion.traj.position.tran.y,
                      emcStatus->motion.traj.position.tran.z);
            }
        }
      else
        {
          coords = COORD_RELATIVE;
          if (posDisplay == POS_DISPLAY_ACT)
            {
              sprintf(pos_string, "%13.4f  %18.4f  %18.4f",
                      emcStatus->motion.traj.actualPosition.tran.x -
                      emcStatus->task.origin.tran.x,
                      emcStatus->motion.traj.actualPosition.tran.y -
                      emcStatus->task.origin.tran.y,
                      emcStatus->motion.traj.actualPosition.tran.z -
                      emcStatus->task.origin.tran.z -
                      emcStatus->task.toolOffset.tran.z);
            }
          else
            {
              sprintf(pos_string, "%13.4f  %18.4f  %18.4f",
                      emcStatus->motion.traj.position.tran.x -
                      emcStatus->task.origin.tran.x,
                      emcStatus->motion.traj.position.tran.y -
                      emcStatus->task.origin.tran.y,
                      emcStatus->motion.traj.position.tran.z -
                      emcStatus->task.origin.tran.z -
                      emcStatus->task.toolOffset.tran.z);
            }
        }

      sprintf(origin_string, "%13.4f  %18.4f  %18.4f",
              emcStatus->task.origin.tran.x,
              emcStatus->task.origin.tran.y,
              emcStatus->task.origin.tran.z);

      sprintf(speed_string, "%10.1f", jogSpeed);
      if (jogMode == JOG_INCREMENTAL)
        {
          sprintf(incr_string,  "%10.4f", jogIncrement);
        }
      else
        {
          sprintf(incr_string, "continuous");
        }

      if (! programOpened)
        {
          // print the last one opened, since we'll send this by default
          strcpy(prog_string, programFile);
        }
      else
        {
          // print the one the controller knows about
          strcpy(prog_string, emcStatus->task.file);
        }

      if (emcStatus->task.currentLine > 0)
        {
          if (emcStatus->task.motionLine > 0 &&