halui.cc

来自「CNC 的开放码,EMC2 V2.2.8版」· CC 代码 · 共 1,793 行 · 第 1/5 页

    EMC_LUBE_OFF emc_lube_off_msg;

    emc_lube_off_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_lube_off_msg);
    return emcCommandWaitReceived(emcCommandSerialNumber);
}

// programStartLine is the saved valued of the line that
// sendProgramRun(int line) sent
static int programStartLine = 0;

static int sendProgramRun(int line)
{
    EMC_TASK_PLAN_RUN emc_task_plan_run_msg;

    updateStatus();

    if (0 == emcStatus->task.file[0]) {
	return -1; // no program open
    }
    // save the start line, to compare against active line later
    programStartLine = line;

    emc_task_plan_run_msg.serial_number = ++emcCommandSerialNumber;
    emc_task_plan_run_msg.line = line;
    emcCommandBuffer->write(emc_task_plan_run_msg);
    return emcCommandWaitReceived(emcCommandSerialNumber);
}

static int sendProgramPause()
{
    EMC_TASK_PLAN_PAUSE emc_task_plan_pause_msg;

    emc_task_plan_pause_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_task_plan_pause_msg);
    return emcCommandWaitReceived(emcCommandSerialNumber);
}

static int sendSetOptionalStop(bool state)
{
    EMC_TASK_PLAN_SET_OPTIONAL_STOP emc_task_plan_set_optional_stop_msg;

    emc_task_plan_set_optional_stop_msg.state = state;
    emc_task_plan_set_optional_stop_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_task_plan_set_optional_stop_msg);
    return emcCommandWaitReceived(emcCommandSerialNumber);
}

static int sendSetBlockDelete(bool state)
{
    EMC_TASK_PLAN_SET_BLOCK_DELETE emc_task_plan_set_block_delete_msg;

    emc_task_plan_set_block_delete_msg.state = state;
    emc_task_plan_set_block_delete_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_task_plan_set_block_delete_msg);
    return emcCommandWaitReceived(emcCommandSerialNumber);
}


static int sendProgramResume()
{
    EMC_TASK_PLAN_RESUME emc_task_plan_resume_msg;

    emc_task_plan_resume_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_task_plan_resume_msg);
    return emcCommandWaitReceived(emcCommandSerialNumber);
}

static int sendProgramStep()
{
    EMC_TASK_PLAN_STEP emc_task_plan_step_msg;

    emc_task_plan_step_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_task_plan_step_msg);
    return emcCommandWaitReceived(emcCommandSerialNumber);
}

static 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);
    return emcCommandWaitReceived(emcCommandSerialNumber);
}

static 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);
    return emcCommandWaitReceived(emcCommandSerialNumber);
}

static int sendSpindleOff()
{
    EMC_SPINDLE_OFF emc_spindle_off_msg;

    emc_spindle_off_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_spindle_off_msg);
    return emcCommandWaitReceived(emcCommandSerialNumber);
}

static int sendSpindleIncrease()
{
    EMC_SPINDLE_INCREASE emc_spindle_increase_msg;

    emc_spindle_increase_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_spindle_increase_msg);
    return emcCommandWaitReceived(emcCommandSerialNumber);
}

static int sendSpindleDecrease()
{
    EMC_SPINDLE_DECREASE emc_spindle_decrease_msg;

    emc_spindle_decrease_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_spindle_decrease_msg);
    return emcCommandWaitReceived(emcCommandSerialNumber);
}

static int sendSpindleConstant()
{
    EMC_SPINDLE_CONSTANT emc_spindle_constant_msg;

    emc_spindle_constant_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_spindle_constant_msg);
    return emcCommandWaitReceived(emcCommandSerialNumber);
}

static 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);
    return emcCommandWaitReceived(emcCommandSerialNumber);
}

static int sendBrakeRelease()
{
    EMC_SPINDLE_BRAKE_RELEASE emc_spindle_brake_release_msg;

    emc_spindle_brake_release_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(emc_spindle_brake_release_msg);
    return emcCommandWaitReceived(emcCommandSerialNumber);
}

static int sendHome(int axis)
{
    EMC_AXIS_HOME emc_axis_home_msg;

    emc_axis_home_msg.serial_number = ++emcCommandSerialNumber;
    emc_axis_home_msg.axis = axis;
    emcCommandBuffer->write(emc_axis_home_msg);
    return emcCommandWaitReceived(emcCommandSerialNumber);
}

static int sendAbort()
{
    EMC_TASK_ABORT task_abort_msg;

    task_abort_msg.serial_number = ++emcCommandSerialNumber;
    emcCommandBuffer->write(task_abort_msg);
    return emcCommandWaitReceived(emcCommandSerialNumber);
}


static 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 ((emcStatus->task.state != EMC_TASK_STATE_ON) || (emcStatus->task.mode != EMC_TASK_MODE_MANUAL))
	return -1;

    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);

        return emcCommandWaitReceived(emcCommandSerialNumber);
    } 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);

        return emcCommandWaitReceived(emcCommandSerialNumber);
    }
}

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

    if ((emcStatus->task.state != EMC_TASK_STATE_ON) || (emcStatus->task.mode != EMC_TASK_MODE_MANUAL))
	return -1;

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

    if (emcStatus->motion.traj.mode != EMC_TRAJ_MODE_TELEOP) {
	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);
    }

    return emcCommandWaitReceived(emcCommandSerialNumber);
}


static int sendFeedOverride(double override)
{
    EMC_TRAJ_SET_SCALE emc_traj_set_scale_msg;

    if (override < 0.0) {
	override = 0.0;
    }

    if (override > maxFeedOverride) {
	override = maxFeedOverride;
    }
    
    emc_traj_set_scale_msg.serial_number = ++emcCommandSerialNumber;
    emc_traj_set_scale_msg.scale = override;
    emcCommandBuffer->write(emc_traj_set_scale_msg);
    return emcCommandWaitReceived(emcCommandSerialNumber);
}

static int sendSpindleOverride(double override)
{
    EMC_TRAJ_SET_SPINDLE_SCALE emc_traj_set_spindle_scale_msg;

    if (override < minSpindleOverride) {
	override = minSpindleOverride;
    }

    if (override > maxSpindleOverride) {
	override = maxSpindleOverride;
    }
    
    emc_traj_set_spindle_scale_msg.serial_number = ++emcCommandSerialNumber;
    emc_traj_set_spindle_scale_msg.scale = override;
    emcCommandBuffer->write(emc_traj_set_spindle_scale_msg);
    return emcCommandWaitReceived(emcCommandSerialNumber);
}

static int iniLoad(const char *filename)
{
    IniFile inifile;
    const char *inistring;
    double d;
    int i;

    // open it
    if (inifile.Open(filename) == false) {
	return -1;
    }

    if (NULL != (inistring = inifile.Find("DEBUG", "EMC"))) {
	// copy to global
	if (1 != sscanf(inistring, "%i", &EMC_DEBUG)) {
	    EMC_DEBUG = 0;
	}
    } else {
	// not found, use default
	EMC_DEBUG = 0;
    }

    if (NULL != (inistring = inifile.Find("NML_FILE", "EMC"))) {
	// copy to global
	strcpy(EMC_NMLFILE, inistring);
    } else {
	// not found, use default
    }

    if (NULL != (inistring = inifile.Find("MAX_FEED_OVERRIDE", "DISPLAY"))) {
	if (1 == sscanf(inistring, "%lf", &d) && d > 0.0) {
	    maxFeedOverride =  d;
	}
	else {
    	    // error-- no value provided, use 100% as max
	    maxFeedOverride =  1.0;
	}
    }
    else {
	// no line at all
        maxFeedOverride =  1.0;
    }

    if (NULL != (inistring = inifile.Find("MIN_SPINDLE_OVERRIDE", "DISPLAY"))) {
	if (1 == sscanf(inistring, "%lf", &d) && d > 0.0) {
	    minSpindleOverride =  d;
	}
	else {
    	    // error-- no value provided, use 100% as max
	    minSpindleOverride =  1.0;
	}
    }
    else {
	// no line at all
        minSpindleOverride =  1.0;
    }
    
    if (NULL != (inistring = inifile.Find("MAX_SPINDLE_OVERRIDE", "DISPLAY"))) {
	if (1 == sscanf(inistring, "%lf", &d) && d > 0.0) {