xemc.cc

CNC 的开放码,EMC2 V2.2.8版

  if (done) {
    XtVaGetValues(toolSetOffsetTool, XtNstring, &str1, NULL);
    XtVaGetValues(toolSetOffsetLength, XtNstring, &str2, NULL);
    XtVaGetValues(toolSetOffsetDiameter, XtNstring, &str3, NULL);

    if (1 == sscanf(str1, "%d", &tool) &&
        1 == sscanf(str2, "%lf", &length) &&
        1 == sscanf(str3, "%lf", &diameter)) {
      sendToolSetOffset(tool, length, diameter);
    }
  }

  XtPopdown(toolSetOffsetShell);
}

static void toolSetOffsetUpAction(Widget w, XEvent *event, String *params, Cardinal *num_params)
{
  char string[256];

  sprintf(string, "%d", emcStatus->io.tool.toolInSpindle);
  XtVaSetValues(toolSetOffsetTool, XtNstring, string, NULL);
  sprintf(string, "%f",
          emcStatus->motion.traj.actualPosition.tran.z -
          emcStatus->task.origin.tran.z);
  XtVaSetValues(toolSetOffsetLength, XtNstring, string, NULL);
  XtVaSetValues(toolSetOffsetDiameter, XtNstring, "0.0", NULL);

  dialogPopup(NULL, toolSetOffsetShell, NULL);
  // trap window kill
  XSetWMProtocols(XtDisplay(topLevel), XtWindow(toolSetOffsetShell), &killAtom, 1);
}

static Pixel toolSetOffsetFormBorderColor;
static int toolSetOffsetReturnIsDone = 1;

static void toolSetOffsetReturnAction(Widget w, XEvent *event, String *params, Cardinal *num_params)
{
  if (toolSetOffsetReturnIsDone) {
    toolSetOffsetDoDone(1);
  }
  else {
    toolSetOffsetDoDone(0);
  }
}

static void toolSetOffsetDoneCB(Widget w, XtPointer client_data, XtPointer call_data)
{
  toolSetOffsetDoDone(1);
}

static void toolSetOffsetCancelCB(Widget w, XtPointer client_data, XtPointer call_data)
{
  toolSetOffsetDoDone(0);
}

static void toolSetOffsetTabAction(Widget w, XEvent *event, String *params, Cardinal *num_params)
{
  if (toolSetOffsetReturnIsDone) {
    setBorderColor(toolSetOffsetDone, toolSetOffsetFormBorderColor);
    setBorderColor(toolSetOffsetCancel, pixelRed);
    toolSetOffsetReturnIsDone = 0;
  }
  else {
    setBorderColor(toolSetOffsetDone, pixelRed);
    setBorderColor(toolSetOffsetCancel, toolSetOffsetFormBorderColor);
    toolSetOffsetReturnIsDone = 1;
  }
}

static void doPosOffsetDone()
{
  String string;
  char cmd[256];
  double val;

  string = XawDialogGetValueString(posOffsetDialog);

  if (1 == sscanf(string, "%lf", &val)) {
    // send MDI command
    // FIXME-- this RS-274-NGC specific; need to add NML way to do this
    sprintf(cmd, "G92%s%f\n",
            activeAxis == 0 ? "X" :
            activeAxis == 1 ? "Y" :
            activeAxis == 2 ? "Z" : "X",
            val);
    sendMdiCmd(cmd);
  }

  XtPopdown(posOffsetShell);
}

static void posOffsetUpAction(Widget w, XEvent *event, String *params, Cardinal *num_params)
{
  if (w == posLabel[0]) {
    activeAxis = 0;
  }
  else if (w == posLabel[1]) {
    activeAxis = 1;
  }
  else if (w == posLabel[2]) {
    activeAxis = 2;
  }

  XtVaSetValues(posOffsetDialog, XtNvalue, "0.0", NULL);
  dialogPopup(NULL, posOffsetShell, NULL);
  // trap window kill
  XSetWMProtocols(XtDisplay(topLevel), XtWindow(posOffsetShell), &killAtom, 1);
}

static void posOffsetReturnAction(Widget w, XEvent *event, String *params, Cardinal *num_params)
{
  doPosOffsetDone();
}

static void doJogSpeedDone()
{
  String string;
  int val;
  char labelString[80];

  string = XawDialogGetValueString(jogSpeedDialog);

  if (1 == sscanf(string, "%d", &val)) {
    jogSpeed = val;
    if (jogSpeed > maxJogSpeed) {
      jogSpeed = maxJogSpeed;
    }
    sprintf(labelString, "%d", jogSpeed);
    setLabel(jogSpeedLabel, labelString);
    redraw = 1;
  }

  XtPopdown(jogSpeedShell);
}

static void jogSpeedReturnAction(Widget w, XEvent *event, String *params, Cardinal *num_params)
{
  doJogSpeedDone();
}

static void doFeedOverrideDone()
{
  String string;
  double val;

  string = XawDialogGetValueString(feedOverrideDialog);

  if (1 == sscanf(string, "%lf", &val)) {
    sendFeedOverride(val / 100.0);
  }

  XtPopdown(feedOverrideShell);
}

static void feedOverrideReturnAction(Widget w, XEvent *event, String *params, Cardinal *num_params)
{
  doFeedOverrideDone();
}

static void programRunCB(Widget w, XtPointer client_data, XtPointer call_data)
{
  sendProgramRun(programStartLine);
}

static void programPauseCB(Widget w, XtPointer client_data, XtPointer call_data)
{
  sendProgramPause();
}

static void programResumeCB(Widget w, XtPointer client_data, XtPointer call_data)
{
  sendProgramResume();
}

static void programStepCB(Widget w, XtPointer client_data, XtPointer call_data)
{
  sendProgramStep();
}

static void programVerifyCB(Widget w, XtPointer client_data, XtPointer call_data)
{
  programStartLine = -1;
  sendProgramRun(programStartLine);
}

static void helpXemcReturnAction(Widget w, XEvent *event, String *params, Cardinal *num_params)
{
  XtPopdown(helpXemcShell);
}

static void helpAboutReturnAction(Widget w, XEvent *event, String *params, Cardinal *num_params)
{
  XtPopdown(helpAboutShell);
}

static void genericDoneCB(Widget w, XtPointer client_data, XtPointer call_data)
{
  XtPopdown((Widget) client_data);
}

// button handling code

static void downAction(Widget w,
                       XEvent *ev,
                       String *params,
                       Cardinal *numParams)
{
  char string[80];

  if (w == spindleIncLabel) {
    sendSpindleIncrease();
  }
  else if (w == spindleDecLabel) {
    sendSpindleDecrease();
  }
  else if (w == jogMinusLabel) {
    if (jogIncrement > 0.0) {
      sendJogIncr(activeAxis, -jogSpeed, jogIncrement);
    }
    else {
      sendJogCont(activeAxis, -jogSpeed);
    }
  }
  else if (w == jogPlusLabel) {
    if (jogIncrement > 0.0) {
      sendJogIncr(activeAxis, jogSpeed, jogIncrement);
    }
    else {
      sendJogCont(activeAxis, jogSpeed);
    }
  }
  else if (w == posLabel[0]) {
    activeAxis = 0;
  }
  else if (w == posLabel[1]) {
    activeAxis = 1;
  }
  else if (w == posLabel[2]) {
    activeAxis = 2;
  }
  else if (w == jogSpeedLabel) {
    // pop up menu to change jog speed
    XtVaSetValues(jogSpeedDialog,
                  XtNvalue, "",
                  NULL);
    dialogPopup(NULL, jogSpeedShell, NULL);
    // trap window kill
    XSetWMProtocols(XtDisplay(topLevel), XtWindow(jogSpeedShell), &killAtom, 1);
  }
  else if (w == jogSpeedDecLabel) {
    // change it once here and redraw
    if (--jogSpeed <= 0) {
      jogSpeed = 1;
    }
    sprintf(string, "%d", jogSpeed);
    setLabel(jogSpeedLabel, string);
    redraw = 1;

    // set jogSpeedChange so that timer callback will continue to change
    // until button up clears it
    jogSpeedChange = -1;
  }
  else if (w == jogSpeedIncLabel) {
    // change it once here and redraw
    if (++jogSpeed > maxJogSpeed) {
      jogSpeed = maxJogSpeed;
    }
    sprintf(string, "%d", jogSpeed);
    setLabel(jogSpeedLabel, string);
    redraw = 1;

    // set jogSpeedChange so that timer callback will continue to change
    // until button up clears it
    jogSpeedChange = +1;
  }
  else if (w == feedOverrideLabel) {
    // pop up menu to change feed override
    XtVaSetValues(feedOverrideDialog,
                  XtNvalue, "",
                  NULL);
    dialogPopup(NULL, feedOverrideShell, NULL);
    // trap window kill
    XSetWMProtocols(XtDisplay(topLevel), XtWindow(feedOverrideShell), &killAtom, 1);
  }
  else if (w == feedOverrideDecLabel) {
    // change it once here and redraw
    if ((feedOverride -= 10) <= 0) {
      feedOverride = 0;
    }
    sprintf(string, "%3d", feedOverride);
    setLabel(feedOverrideLabel, string);
    redraw = 1;

    // set feedOverrideChange so that timer callback will continue to change
    // until button up clears it
    feedOverrideChange = -1;
  }
  else if (w == feedOverrideIncLabel) {
    // change it once here and redraw
    if ((feedOverride += 10) > maxFeedOverride) {
      feedOverride = maxFeedOverride;
    }
    sprintf(string, "%3d", feedOverride);
    setLabel(feedOverrideLabel, string);
    redraw = 1;

    // set feedOverrideChange so that timer callback will continue to change
    // until button up clears it
    feedOverrideChange = +1;
  }
  else {
    printf("down\n");
  }
}

static void upAction(Widget w,
                     XEvent *ev,
                     String *params,
                     Cardinal *numParams)
{
  if (w == spindleIncLabel) {
    sendSpindleConstant();
  }
  else if (w == spindleDecLabel) {
    sendSpindleConstant();
  }
  else if (w == jogMinusLabel) {
    // only stop it if it's continuous jogging
    if (jogIncrement <= 0.0) {
      sendJogStop(axisJogging);
    }
  }
  else if (w == jogPlusLabel) {
    // only stop it if it's continuous jogging
    if (jogIncrement <= 0.0) {
      sendJogStop(axisJogging);
    }
  }
  else if (w == posLabel[0]) {
  }
  else if (w == posLabel[1]) {
  }
  else if (w == posLabel[2]) {
  }
  else if (w == jogSpeedDecLabel) {
    jogSpeedChange = 0;
  }
  else if (w == jogSpeedIncLabel) {
    jogSpeedChange = 0;
  }
  else if (w == feedOverrideDecLabel) {
    feedOverrideChange = 0;
    sendFeedOverride((double) feedOverride / 100.0);
  }
  else if (w == feedOverrideIncLabel) {
    feedOverrideChange = 0;
    sendFeedOverride((double) feedOverride / 100.0);
  }
  else {
    printf("up\n");
  }
}

static void mdiReturnAction(Widget w, XEvent *event, String *params, Cardinal *num_params)
{
  String string;

  XtVaGetValues(mdiFormText, XtNstring, &string, NULL);

  sendMdiCmd(string);
}

// key handling code

// FIXME-- better way to get these?
#define XEVENT_TYPE_XKEY_KEY_PRESS_EVENT 2
#define XEVENT_TYPE_XKEY_KEY_RELEASE_EVENT 3
#define XKEY_EVENT_STATE_NONE    0x00
#define XKEY_EVENT_STATE_SHIFT   0x01
#define XKEY_EVENT_STATE_CONTROL 0x04
#define XKEY_EVENT_STATE_ALT     0x08

#define KEY_ESC     9
#define KEY_F1     67
#define KEY_F2     68
#define KEY_F3     69
#define KEY_F4     70
#define KEY_F5     71
#define KEY_F6     72
#define KEY_F7     73
#define KEY_F8     74
#define KEY_F9     75
#define KEY_F10    76
#define KEY_F11    95
#define KEY_F12    96
#define KEY_PGUP   99
#define KEY_PGDN  105
#define KEY_LEFT  100
#define KEY_RIGHT 102
#define KEY_UP     98
#define KEY_DOWN  104
#define KEY_X      53
#define KEY_Y      29
#define KEY_Z      52
#define KEY_HOME   97
#define KEY_END   103
#define KEY_1      10
#define KEY_2      11
#define KEY_3      12
#define KEY_4      13
#define KEY_5      14
#define KEY_6      15
#define KEY_7      16
#define KEY_8      17
#define KEY_9      18
#define KEY_0      19
#define KEY_O      32
#define KEY_E      26
#define KEY_R      27
#define KEY_T      28
#define KEY_P      33
#define KEY_V      55
#define KEY_A      38
#define KEY_S      39
#define KEY_L      46
#define KEY_B      56
#define KEY_F      41
#define KEY_COMMA  59
#define KEY_PERIOD 60
#define KEY_I      31
#define KEY_C      54

static int keyReleaseOut = 0;   // set if we saw a release, cleared right away
                                // if the key repeat kicks back on, else it
                                // goes through as a true key release
static double keyReleaseTime = 0.0;
static unsigned int keyPressState;
static unsigned int keyPressKeycode;
static unsigned int keyReleaseState;
static unsigned int keyReleaseKeycode;

static void keyPressAction(unsigned int state, unsigned int keycode)
{
  char string[256];
  static double saveJogIncrement = 0.1000;

  switch (keycode) {

  case KEY_ESC:
    sendAbort();
    break;

  case KEY_F1:
    // estop toggle
    if (emcStatus->task.state == EMC_TASK_STATE_ESTOP) {
      sendEstopReset();
    }
    else {
      sendEstop();
    }
    break;

  case KEY_F2:
    // estop toggle
    if (emcStatus->task.state == EMC_TASK_STATE_ESTOP_RESET) {
      sendMachineOn();
    }
    else {
      sendMachineOff();
    }
    break;

  case KEY_F3:
    // manual mode
    sendManual();
    break;

  case KEY_F4:
    // auto mode
    sendAuto();
    break;

  case KEY_F5:
    // mdi mode
    sendMdi();
    break;

  case KEY_F6:
    sendTaskPlanInit();
    break;

  case KEY_F7:
    // mist toggle
    if (emcStatus->io.coolant.mist) {
      sendMistOff();
    }
    else {
      sendMistOn();
    }
    break;

  case KEY_F8:
    // flood toggle
    if (emcStatus->io.coolant.flood) {
      sendFloodOff();
    }
    else {
      sendFloodOn();
    }
    break;

  case KEY_F9:
    // spindle fwd/off
    if (emcStatus->motion.spindle.direction == 0) {
      // it's off, so turn forward
      sendSpindleForward();
    }
    else
      {
        // it's not off, so turn off
        sendSpindleOff();
      }
    break;

  case KEY_F10:
    // spindle rev/off
    if (emcStatus->motion.spindle.direction == 0) {
      // it's off, so turn reverse
      sendSpindleReverse();
    }
    else
      {
        // it's not off, so turn off
        sendSpindleOff();
      }