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来自「CNC 的开放码,EMC2 V2.2.8版」· CC 代码 · 共 1,402 行 · 第 1/3 页

int sendEstop()
{
    EMC_TASK_SET_STATE state_msg;

    state_msg.state = EMC_TASK_STATE_ESTOP;
    state_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(state_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

int sendEstopReset()
{
    EMC_TASK_SET_STATE state_msg;

    state_msg.state = EMC_TASK_STATE_ESTOP_RESET;
    state_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(state_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

int sendMachineOn()
{
    EMC_TASK_SET_STATE state_msg;

    state_msg.state = EMC_TASK_STATE_ON;
    state_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(state_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

int sendMachineOff()
{
    EMC_TASK_SET_STATE state_msg;

    state_msg.state = EMC_TASK_STATE_OFF;
    state_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(state_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

int sendManual()
{
    EMC_TASK_SET_MODE mode_msg;

    mode_msg.mode = EMC_TASK_MODE_MANUAL;
    mode_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(mode_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

int sendAuto()
{
    EMC_TASK_SET_MODE mode_msg;

    mode_msg.mode = EMC_TASK_MODE_AUTO;
    mode_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(mode_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

int sendMdi()
{
    EMC_TASK_SET_MODE mode_msg;

    mode_msg.mode = EMC_TASK_MODE_MDI;
    mode_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(mode_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

int sendOverrideLimits(int axis)
{
    EMC_AXIS_OVERRIDE_LIMITS lim_msg;

    lim_msg.axis = axis;	// neg means off, else on for all
    lim_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(lim_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}
static int axisJogging = -1;

int sendJogStop(int axis)
{
    EMC_AXIS_ABORT emc_axis_abort_msg;
    
    // in case of TELEOP mode we really need to send an TELEOP_VECTOR message
    // not a simple AXIS_ABORT, as more than one axis would be moving
    // (hint TELEOP mode is for nontrivial kinematics)
    EMC_TRAJ_SET_TELEOP_VECTOR emc_set_teleop_vector;

    if (axis < 0 || axis >= EMC_AXIS_MAX) {
	return -1;
    }

    if (emcStatus->motion.traj.mode != EMC_TRAJ_MODE_TELEOP) {
	emc_axis_abort_msg.serial_number = ++emcCommandSerialNumber;
	emc_axis_abort_msg.axis = axis;
	emcCommandBuffer->write(emc_axis_abort_msg);

	if (emcWaitType == EMC_WAIT_RECEIVED) {
	    return emcCommandWaitReceived(emcCommandSerialNumber);
	} else if (emcWaitType == EMC_WAIT_DONE) {
	    return emcCommandWaitDone(emcCommandSerialNumber);
	}

	axisJogging = -1;
    }
    else {
	emc_set_teleop_vector.serial_number = ++emcCommandSerialNumber;
	emc_set_teleop_vector.vector.tran.x = 0;
	emc_set_teleop_vector.vector.tran.y = 0;
	emc_set_teleop_vector.vector.tran.z = 0;
	emc_set_teleop_vector.vector.a = 0;
	emc_set_teleop_vector.vector.b = 0;
	emc_set_teleop_vector.vector.c = 0;
	emcCommandBuffer->write(emc_set_teleop_vector);

	if (emcWaitType == EMC_WAIT_RECEIVED) {
	    return emcCommandWaitReceived(emcCommandSerialNumber);
	} else if (emcWaitType == EMC_WAIT_DONE) {
	    return emcCommandWaitDone(emcCommandSerialNumber);
	}
	// \todo FIXME - should remember a list of jogging axes, and remove the last one
	axisJogging = -1;
	
    }
    return 0;
}

int sendJogCont(int axis, double speed)
{
    EMC_AXIS_JOG emc_axis_jog_msg;
    EMC_TRAJ_SET_TELEOP_VECTOR emc_set_teleop_vector;

    if (axis < 0 || axis >= EMC_AXIS_MAX) {
	return -1;
    }

    if (emcStatus->motion.traj.mode != EMC_TRAJ_MODE_TELEOP) {
	if (0 == jogPol[axis]) {
	    speed = -speed;
	}

	emc_axis_jog_msg.serial_number = ++emcCommandSerialNumber;
	emc_axis_jog_msg.axis = axis;
	emc_axis_jog_msg.vel = speed / 60.0;
	emcCommandBuffer->write(emc_axis_jog_msg);
    } else {
	emc_set_teleop_vector.serial_number = ++emcCommandSerialNumber;
	emc_set_teleop_vector.vector.tran.x = 0.0;
	emc_set_teleop_vector.vector.tran.y = 0.0;
	emc_set_teleop_vector.vector.tran.z = 0.0;

	switch (axis) {
	case 0:
	    emc_set_teleop_vector.vector.tran.x = speed / 60.0;
	    break;
	case 1:
	    emc_set_teleop_vector.vector.tran.y = speed / 60.0;
	    break;
	case 2:
	    emc_set_teleop_vector.vector.tran.z = speed / 60.0;
	    break;
	case 3:
	    emc_set_teleop_vector.vector.a = speed / 60.0;
	    break;
	case 4:
	    emc_set_teleop_vector.vector.b = speed / 60.0;
	    break;
	case 5:
	    emc_set_teleop_vector.vector.c = speed / 60.0;
	    break;
	}
	emcCommandBuffer->write(emc_set_teleop_vector);
    }

    axisJogging = axis;
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

int sendJogIncr(int axis, double speed, double incr)
{
    EMC_AXIS_INCR_JOG emc_axis_incr_jog_msg;

    if (axis < 0 || axis >= EMC_AXIS_MAX) {
	return -1;
    }

    if (0 == jogPol[axis]) {
	speed = -speed;
    }

    emc_axis_incr_jog_msg.serial_number = ++emcCommandSerialNumber;
    emc_axis_incr_jog_msg.axis = axis;
    emc_axis_incr_jog_msg.vel = speed / 60.0;
    emc_axis_incr_jog_msg.incr = incr;
    emcCommandBuffer->write(emc_axis_incr_jog_msg);

    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }
    axisJogging = -1;

    return 0;
}

int sendMistOn()
{
    EMC_COOLANT_MIST_ON emc_coolant_mist_on_msg;

    emc_coolant_mist_on_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_coolant_mist_on_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

int sendMistOff()
{
    EMC_COOLANT_MIST_OFF emc_coolant_mist_off_msg;

    emc_coolant_mist_off_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_coolant_mist_off_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

int sendFloodOn()
{
    EMC_COOLANT_FLOOD_ON emc_coolant_flood_on_msg;

    emc_coolant_flood_on_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_coolant_flood_on_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

int sendFloodOff()
{
    EMC_COOLANT_FLOOD_OFF emc_coolant_flood_off_msg;

    emc_coolant_flood_off_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_coolant_flood_off_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

int sendLubeOn()
{
    EMC_LUBE_ON emc_lube_on_msg;

    emc_lube_on_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_lube_on_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

int sendLubeOff()
{
    EMC_LUBE_OFF emc_lube_off_msg;

    emc_lube_off_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_lube_off_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

int sendSpindleForward()
{
    EMC_SPINDLE_ON emc_spindle_on_msg;
    if (emcStatus->task.activeSettings[2] != 0) {
	emc_spindle_on_msg.speed = fabs(emcStatus->task.activeSettings[2]);
    } else {
	emc_spindle_on_msg.speed = +500;
    }
    emc_spindle_on_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_spindle_on_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

int sendSpindleReverse()
{
    EMC_SPINDLE_ON emc_spindle_on_msg;
    if (emcStatus->task.activeSettings[2] != 0) {
	emc_spindle_on_msg.speed =
	    -1 * fabs(emcStatus->task.activeSettings[2]);
    } else {
	emc_spindle_on_msg.speed = -500;
    }
    emc_spindle_on_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_spindle_on_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

int sendSpindleOff()
{
    EMC_SPINDLE_OFF emc_spindle_off_msg;

    emc_spindle_off_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_spindle_off_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

int sendSpindleIncrease()
{
    EMC_SPINDLE_INCREASE emc_spindle_increase_msg;

    emc_spindle_increase_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_spindle_increase_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

int sendSpindleDecrease()
{
    EMC_SPINDLE_DECREASE emc_spindle_decrease_msg;

    emc_spindle_decrease_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_spindle_decrease_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

int sendSpindleConstant()
{
    EMC_SPINDLE_CONSTANT emc_spindle_constant_msg;

    emc_spindle_constant_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_spindle_constant_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

int sendBrakeEngage()
{
    EMC_SPINDLE_BRAKE_ENGAGE emc_spindle_brake_engage_msg;

    emc_spindle_brake_engage_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_spindle_brake_engage_msg);
    if (emcWaitType == EMC_WAIT_RECEIVED) {
	return emcCommandWaitReceived(emcCommandSerialNumber);
    } else if (emcWaitType == EMC_WAIT_DONE) {
	return emcCommandWaitDone(emcCommandSerialNumber);
    }

    return 0;
}

int sendBrakeRelease()
{