emclcd.cc

CNC 的开放码,EMC2 V2.2.8版

  return jog(0, -jogSpeed);
}

static int leftKeyRelease()
{
  return jogStop(0);
}

static int rightKey()
{
  return jog(0, jogSpeed);
}

static int rightKeyRelease()
{
  return jogStop(0);
}

static int upKey()
{
  return jog(1, jogSpeed);
}

static int upKeyRelease()
{
  return jogStop(1);
}

static int downKey()
{
  return jog(1, -jogSpeed);
}

static int downKeyRelease()
{
  return jogStop(1);
}

static int startKey()
{
  if (runStatus == rsIdle)
    return sendProgramRun(0);
  else return -1;
}

static int pauseKey()
{
  if (runStatus == rsRun)
    return sendProgramPause();
  else
    if (runStatus == rsPause)
      return sendProgramResume();
    else return -1;
}

static int stopKey()
{
  return sendAbort();
}

static int stepKey()
{
  return sendProgramStep();
}

static int nextKey()
{
  int temp;

  if (curScreen == stMain) {
    temp = jogMode;
    temp++;
    temp %= 5;
    menuSetInt("Jog", "jog_mode", temp);
    jogMode = (jogModeType) temp;
    displayJogMode(jogMode);
    }
  return 0;
}

static int prevKey()
{
  int temp;

  if (curScreen == stMain) {
    temp = jogMode;
    temp--;
    if (temp < 0) temp = 4;
    menuSetInt("Jog", "jog_mode", temp);
    jogMode = (jogModeType) temp;
    displayJogMode(jogMode);
    }
  return 0;
}

static int enterKey()
{
  sendHome(0);
  sendHome(1);
  sendHome(2);
  return 0;
}

static int doKey(keyType k)
{
  switch (k) {
    case ktLeftPress:
      leftKey();
      break;
    case ktLeftRelease: 
      leftKeyRelease();
      break;
    case ktRightPress: 
      rightKey();
      break;
    case ktRightRelease: 
      rightKeyRelease();
      break;
    case ktUpPress: 
      upKey();
      break;
    case ktUpRelease: 
      upKeyRelease();
      break;
    case ktDownPress: 
      downKey();
      break;
    case ktDownRelease: 
      downKeyRelease();
      break;
    case ktMenuPress: break;
    case ktMenuRelease: break;
    case ktStartPress: 
      startKey();
      break; 
    case ktStartRelease: break;
    case ktPausePress: 
      pauseKey();
      break;
    case ktPauseRelease: break;
    case ktStopPress: 
      stopKey();
      break;
    case ktStopRelease: break;
    case ktStepPress:
      stepKey();
      break;
    case ktStepRelease: break;
    case ktTestPress: break;
    case ktTestRelease: break;
    case ktHelpPress: break;
    case ktHelpRelease: break;
    case ktNextPress: 
      nextKey();
      break;
    case ktNextRelease: break;
    case ktPrevPress: 
      prevKey();
      break;
    case ktPrevRelease: break;
    case ktEnterPress: 
      enterKey();
      break;
    case ktEnterRelease: break;
    case ktUnknown: ;
    }
  return 0;
}

static int parseLine()
{
  char *pch;

  pch = strtok(buffer, delims);
  switch (lookupRsp(pch)) {
    case rmConnect: parseConnect(); break;
    case rmSuccess: ; break;
    case rmHuh:
      pch = strtok(NULL, delims);
      printf("Error: %s\n", pch); 
      break;
    case rmListen:
      pch = strtok(NULL, delims);
      printf("listening to %s\n", pch); 
      curScreen = lookupScreen(pch);
      break;
    case rmIgnore: 
      pch = strtok(NULL, delims);
      printf("ignoring %s\n", pch); 
      break;
    case rmKey: 
      pch = strtok(NULL, delims);
      printf("key entered %s\n", pch);
      doKey(lookupKey(pch[0]));
      break;
    case rmMenuEvent: 
      pch = strtok(NULL, delims);
      printf("menuevent %s\n", pch);
      doMenuEvent(pch);
      break;
    case rmUnknown: printf("unknown command %s\n", buffer);
    }
  return 0;
}

static int startup()
{
  return sockConnect(DEFAULT_SERVER, DEFAULT_PORT);
}

static int initScreens()
{
  screensInitialized = createScreens();
  screensInitialized = createWidgets();
  screensInitialized = createKeys();
  screensInitialized = createMenus();
  setNewScreen(stMain);
  printf("Screens created.\n");
  return 0;
}

static int stepCount(char *fileName)
{
  FILE *f;
  char buffer[80];
  int len;

  sprintf(buffer, "wc -l < %s", fileName);
  f = popen(buffer, "r");
  memset(buffer, '\0', sizeof(buffer));
  if (f != NULL) {
    len = fread(buffer, sizeof(char), 79, f);
    if (len > 0) printf("result = %s\n", buffer);
    else printf("Nothing to read\n");
    }
  pclose(f);
  return atoi(buffer);
}

#define STATUSWIDGET 10
#define FEED_OVERRIDE_WIDGET 12
#define JOG_WIDGET 13

static void slowLoop()
{
  char *fname;
  char buf[8];
  static char status[8] = "";
  static int oldFeedOverride = 0;

  if (emcStatus->task.file[0] != 0) {
    fname = extractFileName(emcStatus->task.file);
    if (strcmp(fname, programName) != 0) {
      strcpy(programName, widgetSetStr(PROG_WIDGET1, fname, programName));
      strcpy(programName, widgetSetStr(PROG_WIDGET2, fname, programName));
      totalSteps = stepCount(emcStatus->task.file);
      }
    }

  feedOverride = (int)floor(emcStatus->motion.traj.scale * 100.0 + 0.5);
  if (feedOverride != oldFeedOverride) {
    menuSetInt("Run", "feed_slider", feedOverride);
    oldFeedOverride = feedOverride;
    sprintf(buf, "%5d", feedOverride);
    widgetSetStr(FEED_OVERRIDE_WIDGET, buf, "");
    }

  switch (emcStatus->task.interpState) {
      case EMC_TASK_INTERP_READING:
      case EMC_TASK_INTERP_WAITING: 
        strcpy(status, widgetSetStr(STATUSWIDGET, "  Run", status));
        if (runStatus != rsRun)
          widgetSetStr(JOG_WIDGET, "Step", "");
        runStatus = rsRun;
        break;
      case EMC_TASK_INTERP_PAUSED: 
        strcpy(status, widgetSetStr(STATUSWIDGET, "Pause", status));
        runStatus = rsPause;
        break;
      default: 
        strcpy(status, widgetSetStr(STATUSWIDGET, " Idle", status));
        if (runStatus != rsIdle) {
          widgetSetStr(JOG_WIDGET, "Jog ", "");
          displayJogMode(jogMode);
          }
        runStatus = rsIdle;
        break;
    }
}

#define XPOSWIDGET 7
#define YPOSWIDGET 8
#define ZPOSWIDGET 9
#define LINENOWIDGET 14
#define PROGRESSWIDGET 15

static void updatePositions()
{
  static char oldXStr[12] = "";
  static char oldYStr[12] = "";
  static char oldZStr[12] = "";
  char numStr[12];
  int lineNo;
  static int oldLineNo;
  int stepPct;
  static int oldPct = 0;

  if (units == unmm)
    sprintf(numStr, "%7.2f", emcStatus->motion.traj.actualPosition.tran.x * conversion);
  else
    sprintf(numStr, "%7.3f", emcStatus->motion.traj.actualPosition.tran.x * conversion);
  widgetSetStr(XPOSWIDGET, numStr, oldXStr);   
  if (units == unmm)
    sprintf(numStr, "%7.2f", emcStatus->motion.traj.actualPosition.tran.y * conversion);
  else
    sprintf(numStr, "%7.3f", emcStatus->motion.traj.actualPosition.tran.y * conversion);
  widgetSetStr(YPOSWIDGET, numStr, oldYStr);
  if (units == unmm)
    sprintf(numStr, "%6.2f", emcStatus->motion.traj.actualPosition.tran.z * conversion);
  else
    sprintf(numStr, "%6.2f", emcStatus->motion.traj.actualPosition.tran.z * conversion);
  widgetSetStr(ZPOSWIDGET, numStr, oldZStr);   

  if ((programStartLine< 0) || (emcStatus->task.readLine < programStartLine))
    lineNo = emcStatus->task.readLine;
  else
    if (emcStatus->task.currentLine > 0)
      if ((emcStatus->task.motionLine > 0) && 
        (emcStatus->task.motionLine < emcStatus->task.currentLine))
	  lineNo = emcStatus->task.motionLine;
      else lineNo = emcStatus->task.currentLine;
    else lineNo = 0;
  if (runStatus == rsIdle)
    oldPct = widgetSetHbar(PROGRESSWIDGET, 0, oldPct);
  else
    if (lineNo != oldLineNo) {
      sprintf(numStr, "%d", lineNo);
      widgetSetStr(LINENOWIDGET, numStr, "");
      oldLineNo = lineNo;

      stepPct = (int)(((double)lineNo / (double)totalSteps) * 50.0);
      oldPct = widgetSetHbar(PROGRESSWIDGET, stepPct, oldPct);
      }
}

static void fastLoop()
{
  if (emcUpdateType == EMC_UPDATE_AUTO) updateStatus();
  updatePositions();
}

static void update()
{
  static int tics = 0;

  // Wait for screens to initialize before updating
  if (screensInitialized == -1) return; 

  if ((tics % 25) == 0) fastLoop();
  if (tics == 105) {
    slowLoop();
    tics = 0;
    }
  tics++;
}

static int sockMain()
{

  sockfd = startup();
  if (sockfd == -1) {
    printf("Unable to open socket\n");
    return -1;
    }
  else { 
    sendEstopReset();
    sendMachineOn();
    sockSendString(sockfd, "hello\n");
    while ((len = sockRecvString(sockfd, buffer, sizeof(buffer) - 1)) >= 0) {
      if (len == 0) {
        preciseSleep(0.01);
        update();
        }
      else {
        parseLine();
        memset(buffer, 0, sizeof(buffer));
        if (screensInitialized == -1) 
          screensInitialized = initScreens();
        }
      } 
    }
  return 0;
}

static void initMain()
{
    emcWaitType = EMC_WAIT_RECEIVED;
    emcCommandSerialNumber = 0;
    saveEmcCommandSerialNumber = 0;
    emcTimeout = 0.0;
    emcUpdateType = EMC_UPDATE_AUTO;
    linearUnitConversion = LINEAR_UNITS_MM; 
    angularUnitConversion = ANGULAR_UNITS_AUTO;
    emcCommandBuffer = 0;
    emcStatusBuffer = 0;
    emcStatus = 0;

    emcErrorBuffer = 0;
    error_string[LINELEN] = 0;
    operator_text_string[LINELEN] = 0;
    operator_display_string[LINELEN] = 0;
    programStartLine = 0;
}

int main(int argc, char *argv[])
{
    initMain();
    // process command line args
    if (emcGetArgs(argc, argv) != 0) {
	rcs_print_error("error in argument list\n");
	exit(1);
    }
    // get configuration information
    iniLoad(EMC_INIFILE);
    // init NML
    if (tryNml() != 0) {
	rcs_print_error("can't connect to emc\n");
	thisQuit();
	exit(1);
    }
    // get current serial number, and save it for restoring when we quit
    // so as not to interfere with real operator interface
    updateStatus();
    emcCommandSerialNumber = emcStatus->echo_serial_number;
    saveEmcCommandSerialNumber = emcStatus->echo_serial_number;

    // attach our quit function to exit
//    Tcl_CreateExitHandler(thisQuit, (ClientData) 0);

    // attach our quit function to SIGINT
    signal(SIGINT, sigQuit);
    sockMain();

    // TclX_Main(argc, argv, Tcl_AppInit);

    return 0;
}