c086408ba45f001d1289bbda6de18a35

Vxworks环境下

/*
$Log$
*/
/*
** ---------------------------------------------------------------------
**                Copyright (c) Bosch Rexroth AG 1997 - 2007
**                        All Rights Reserved
** ---------------------------------------------------------------------
** 
**    File: dab_h_axis_if.c
** 
**    Responsible: AB
**  
**    Description of functions: 
**          This file is an example to understand how to get data from 
**          NC kernel and to display it on a Tilcon Window.
**          in this file we will:
**	     -  get the axis number of the system 
**	     -  start a mechanism to get the actual axis values so that 
**               if a value of an axes in the system was changed this 
**               application recieve an event  and will display the 
**               actuele values
** 
** ---------------------------------------------------------------------
*/
/*F*/
/*======================================================================
**           >>>>    Include all necessary headfiles     <<<<
** ==================================================================== */
#include "dab_h_allheadfiles.h"

/*F*/
/*======================================================================
**           >>>>    Local definitions               <<<<
** ==================================================================== */
#define CHAN 1
int RunFlags; //if this Flags=0 Program is stop ,else Program is running.

LOCAL int FeedAxisNmb;
LOCAL int AuxAxisNmb;
LOCAL int AxisNumberDone;      
/*static int SpindleNmb;*/
LOCAL Ncs_MCoAxisDataInt_t drivetypes;

LOCAL Ncs_Acb_ActZerOf_t ZeroOffsetdata;

typedef struct 
{
	double *AxValue;
	int size;
	int version;
	int abbruch;
} OwnActAxPosValue_t;

LOCAL OwnActAxPosValue_t OwnActAxPosValue;			/* ist position */
LOCAL OwnActAxPosValue_t OwnActAxEndPosValue;		/* end position */
LOCAL OwnActAxPosValue_t OwnActAxRestwegValue;		/* Restweg */

IMPORT char CurrentFileWantToRun[100]; //It will save the file name and it's path.

/*F*/
/*
************************************************************************
** >AUTHOR        : 
**  FUNCTION NAME : 
** 
** >DESCRIPTION:
**   After load a program activate or deactiveate a procress to active a NC program            
** 
** >NOTES: ** 
** >PARAMETER:
** 
** >RETURN VALUE:
** 
** >INCLUDES : 
** 
*/
EXPORT int Dab_h_CreateProcress(char* program)
{
	int flags;
	int loc_errncs;
	int status;

	flags = NCS_SAV_FLAG_LINK_BEFORE_READY_C;
	loc_errncs=Ncs_SavProcessCreate(1,program,"","",flags,&status);
	
	if ((status!=NCS_SAV_SERVICEOK_C) || (loc_errncs!=Ncs_ErrOk))
	{ //Error handle; 
	}
	else
	{ //service successful;  
	}
    return loc_errncs; 
} /* OF Dab_h_CreateProcress*/

EXPORT int Dab_h_DeleteProcress(char* program)
{
	int flags;
	int loc_errncs;
	int status;

	flags = NCS_SAV_FLAG_PROCESSDELETE_C;
	loc_errncs=Ncs_SavProcessCreate(1,program,"","",flags,&status);
	
	if ((status!=NCS_SAV_SERVICEOK_C) || (loc_errncs!=Ncs_ErrOk))
	{ //Error handle; 
	}
	else
	{ //service successful;  
	}
    return loc_errncs; 
}



EXPORT void Dab_h_InitAxisinterface(void)
{
	
	
	int size;
	while(!AxisNumberDone) /* wait for geting Axis Number*/
	{
		
#ifndef HWDS_WINDOWS
		(void)Pxr_Delay(500,1); /* wait*/
#endif
	} /* OF  While */
	
	size =((FeedAxisNmb+AuxAxisNmb)*(int)sizeof(double));
	
	
	OwnActAxPosValue.AxValue=(double *)Dab_h_Memalloc(size);
	OwnActAxEndPosValue.AxValue=(double *)Dab_h_Memalloc(size);
	OwnActAxRestwegValue.AxValue=(double *)Dab_h_Memalloc(size);
	
	OwnActAxPosValue.size=size;
	OwnActAxPosValue.abbruch=0;
	OwnActAxPosValue.version=0;
	
	OwnActAxEndPosValue.size=size;
	OwnActAxEndPosValue.abbruch=0;
	OwnActAxEndPosValue.version=0;
	
	OwnActAxRestwegValue.size=size;
	OwnActAxRestwegValue.abbruch=0;
	OwnActAxRestwegValue.version=0;
	
}  /* OF Dab_h_InitAxisInterface*/
/*F*/
/*
************************************************************************
** >AUTHOR        : AB
**  FUNCTION NAME : GetAxisNmb_Rec
** 
** >DESCRIPTION:recieve function when we Request axis number from System.
**           this function will be called automaticlly when a response
**           for the function Dab_h_GetAxisNmb_Req  is arrived from NCS.
**           the response will bes extracted  whith NCS extract function
**               
** 
** >NOTES: this funktion has been assigned to the request in 
**          Dab_h_GetAxisNmb_Req 
** 
** >PARAMETER: ncsmsg: Pointer of received Message
** 
** >RETURN VALUE: 1 if an error was occurred else 0
** 
** >INCLUDES : none
** 
*/
LOCAL int GetAxisNmb_Rec (Ncs_Msg_t *ncsmsg,Ncs_RecPara_t para)
{
	/* Ncs_MCoAxisDataInt_t *ldrivetypes = (Ncs_MCoAxisDataInt_t *)para;*/
	Ncs_Error_t loc_errncs;/* Error status of the NCS*/
	int status;
	char Output[3];
	loc_errncs=Ncs_MCoRqDriveTypes_X(ncsmsg ,/*NCS message*/
		
		/*Pointer to a buffer for data*/ 
		/*Structur(integer field)*/
		(int*)para,         
		/*buffer size*/              
		sizeof(Ncs_MCoAxisDataInt_t),
		&status);/*returns the error status*/
	if ((status!=NCS_SAV_SERVICEOK_C) || (loc_errncs!=Ncs_ErrOk))
	{ /*Treatment of Errors*/
		return 1;
	}
	else
	{ /* OK */
		/*Return the number of primary axes from the data structur*/ 
        /*determined with Ncs_MCoRqDriveTypes*/
		FeedAxisNmb=Ncs_MCoGetFeedAxisNmb_X((int*)para,0);
		/*Return the number of Auxiliary  axes from the data structur */
		/*determined with Ncs_MCoRqDriveTypes*/
		AuxAxisNmb=Ncs_MCoGetAuxAxisNmb_X((int*)para,0);
		/* SpindleNmb=Ncs_MCoGetSpindleAxisNmb_X((int*)ldrivetypes,0);*/
		AxisNumberDone=1;
		/* Output in Tilcon interface, before that will the dataformat */
		/* changed according to Tilcon */
		
		/* display the axis number directly on tilcon windows */
		sprintf(Output, "%d", FeedAxisNmb); /* int to char */
		TRT_SetValues(TRT_cid2,"Table1#1#0",
			TRT_ATT_TEXT, Output,NULL);
		
	}
	
	return 0;
}  /* OF GetAxisNmb_Rec */
/*F*/
/*
************************************************************************
** >AUTHOR        : AB
**  FUNCTION NAME : Dab_h_GetAxisNmb_Req
** 
** >DESCRIPTION:  Asyncron Request of the Axis number
**
**
** >NOTES: none
** 
** >PARAMETER: none
** 
** >RETURN VALUE: none
** 
** >INCLUDES:"dab_h_sxis_if.h"
** 
*/
EXPORT void  Dab_h_GetAxisNmb_Req (void)
{
	Ncs_Error_t loc_errncs;/* Error status of the NCS*/
	
	AxisNumberDone=0;
	
	/* General asynchronous variable service(see the ncs Help)*/
	loc_errncs=Ncs_MCoGetService_A(GetAxisNmb_Rec,/*Receive function*/
		/*Parameter of Receive function*/
		(Ncs_RecPara_t)drivetypes,
		Ncs_MCoNoChannel_C,
		/*Service ID*/
		Ncs_MCoRqDriveTypes_Id);
	if (loc_errncs!=Ncs_ErrOk)
	{ 
		/* Treatment of Errors */	
		
	}
}  /* OF Dab_h_GetAxisNmb_Req */

/*F*/
/*
************************************************************************
** >AUTHOR        : AB
**  FUNCTION NAME : GetAxisValues_Rec
** 
** >DESCRIPTION: recieve function when we Request axis Values 
**           from System.
**           this function will be called automaticlly when a response
**           for  the function Dab_h_GetAxisValues_Req is received 
**           from NCS.
**           the response will bes extracted  whith NCS extract function
**               
** 
** >NOTES: none
** 
** >PARAMETER: ncsmsg Pointer of received Message
**             para : User Parameter
** 
** >RETURN VALUE: none
** 
** >INCLUDES: none
** 
*/
LOCAL int GetAxisValues_Rec (Ncs_Msg_t *ncsmsg,Ncs_RecPara_t para)
{
	double * ptrvalue;
	int Draw_X=0,Draw_Y=0; /* for drawing */
	
	OwnActAxPosValue_t *ldata = (OwnActAxPosValue_t*)para;
	Ncs_Error_t loc_errncs; /* Error status of the NCS*/
	int status;
	long TilconError=0;
	char Output[30];
	
	
	/* Evaluat th asynchronous NCS response that contain Axis values*/
	/* see the ncs Help*/
	loc_errncs=Ncs_MCoDoubleValue_X(ncsmsg,
		&(ldata->version),
		ldata->AxValue,
		(int)ldata->size,
		&status);
	if ((status!=NCS_SAV_SERVICEOK_C) || (loc_errncs!=Ncs_ErrOk))
	{ /*Fehlerbehandlung*/
		
		return 1;
	}
	else
	{ /*ok*/ /*to do whith data ldata->AxValue*/ 
		{ 
			/* as example we display the neue axis Values on the display*/       
			/* 1. Axis */
			ptrvalue=ldata->AxValue;
			sprintf(Output, "% .3f", *ptrvalue);
			TilconError=TRT_SetValues(TRT_cid2,IST_X_DISPL_ID,
				TRT_ATT_TEXT,Output,NULL);
			TilconError=TRT_SetValues(TRT_cid2,"Table0#0#1",
				TRT_ATT_TEXT,Output,NULL);
			Draw_X=(int)((*ptrvalue));
			/* 2.Axis */
			ptrvalue++;
			sprintf(Output, "% .3f", *ptrvalue);
			TilconError+=TRT_SetValues(TRT_cid2,IST_Y_DISPL_ID,
				TRT_ATT_TEXT,Output,NULL);
			TilconError+=TRT_SetValues(TRT_cid2,"Table0#1#1",
				TRT_ATT_TEXT,Output,NULL);
			Draw_Y=(int)((*ptrvalue));
			/* 3. Axis */
			ptrvalue++;
			sprintf(Output, "% .3f", *ptrvalue);
			TilconError+=TRT_SetValues(TRT_cid2,IST_Z_DISPL_ID,
				TRT_ATT_TEXT,Output,NULL);
			TilconError+=TRT_SetValues(TRT_cid2,"Table0#2#1",
				TRT_ATT_TEXT,Output,NULL);
			
			/* Oscilloscop Test */
			/* as Example we draw the machine move on a Spectograph */
			/* for mor infos a bout this funktion see Tilcon Help */
			TilconError+=TRT_SpectrographUpdateCell (TRT_cid2,/* chanal id */ 
				"Oscilloscop",/* Name */ 
				Draw_X+20, 
				Draw_Y+20, /*Draw position*/
				'c', 
				0, 44);/*Color*/
			if(TilconError)
			{
				/*Treatment of Errors if an objekt not defined*/
			}
			
			
		}
		
		
	}
	if (!ldata->abbruch)
	{
		
		/* if the Pannel of coordinates  is not displayed stop the loop*/
		
		/* send a new asynchronous request */
		/* this Service returns the Axis values whose ID later than*/
		/* the ID that has been preset by the input parameter"version"*/
		loc_errncs=Ncs_MCoGetServiceEvent_A(GetAxisValues_Rec,
			(Ncs_RecPara_t)&OwnActAxPosValue,
			Ncs_MCoNoChannel_C,
			(int)ldata->version,
			Ncs_MCoActAxPosValue_Id);
	}
	if (loc_errncs!=Ncs_ErrOk)
	{ /*Treatment of Error */ 
		
		return 2;
	}
	return 0;  
}  /* OF GetAxisValues_Rec */


/*F*/
/*
************************************************************************
** >AUTHOR        : AB
**  FUNCTION NAME : Dab_h_GetAxisValues_Req
** 
** >DESCRIPTION: Asyncron Request of the Axis number
**               if we call this funktion we start the mechanism to 
**               receive an event from NCS when the axis Values has been
**               changed in the system.
** 
** >NOTES: none
** 
** >PARAMETER:none
** 
** >RETURN VALUE:none
** 
** >INCLUDES:"dab_h_axis_if.h"
** 
*/
EXPORT void Dab_h_GetAxisValues_Req (void)
{
	
	Ncs_Error_t loc_errncs;
	
	
	
	loc_errncs=Ncs_MCoGetService_A(GetAxisValues_Rec,
		(Ncs_RecPara_t)&OwnActAxPosValue,
		Ncs_MCoNoChannel_C,
		Ncs_MCoActAxPosValue_Id);
	if (loc_errncs!=Ncs_ErrOk)
	{
		/* Treatment of error because of act. axis position*/ 
		
	}
	
	
}  /* OF Dab_h_GetAxisValues_Req */

/*F*/
/*
************************************************************************
** >AUTHOR        : AB
**  FUNCTION NAME : GetAxisEndPosValues_Rec
** 
** >DESCRIPTION: recieve function when we Request axis Values 
**           from System.
**           this function will be called automaticlly when a response
**           for  the function Dab_h_GetAxisValues_Req is received 
**           from NCS.
**           the response will bes extracted  whith NCS extract function
**               
** 
** >NOTES: none
** 
** >PARAMETER: ncsmsg Pointer of received Message
**             para : User Parameter
** 
** >RETURN VALUE: none
** 
** >INCLUDES: none
** 
*/
LOCAL int GetAxisEndPosValues_Rec (Ncs_Msg_t *ncsmsg,Ncs_RecPara_t para)
{
	double * ptrvalue;
	
	OwnActAxPosValue_t *ldata = (OwnActAxPosValue_t*)para;
	
	Ncs_Error_t loc_errncs; /* Error status of the NCS*/
	int status;
	long TilconError=0;
	char Output[30];
	
	
	/* Evaluat th asynchronous NCS response that contain Axis values*/
	/* see the ncs Help*/
	loc_errncs=Ncs_MCoDoubleValue_X(ncsmsg,
		&(ldata->version),
		ldata->AxValue,
		(int)ldata->size,
		&status);
	if ((status!=NCS_SAV_SERVICEOK_C) || (loc_errncs!=Ncs_ErrOk))
	{ /*Fehlerbehandlung*/
		
		return 1;
	}
	else
	{ /*ok*/ /*to do whith data ldata->AxValue*/ 
		{ 
			/* as example we display the neue axis Values on the display*/       
			/* 1. Axis */
			ptrvalue=ldata->AxValue;
			
			
			sprintf(Output, "% .3f", *ptrvalue);
			TilconError=TRT_SetValues(TRT_cid2,"Table0#0#2",
				TRT_ATT_TEXT,Output,NULL);
			
			TilconError=TRT_SetValues(TRT_cid2,"Table0#0#4",
				TRT_ATT_TEXT,Output,NULL);
			
			/* 2.Axis */
			ptrvalue++;
			sprintf(Output, "% .3f", *ptrvalue);
			TilconError+=TRT_SetValues(TRT_cid2,"Table0#1#2",
				TRT_ATT_TEXT,Output,NULL);
			
			sprintf(Output, "% .3f", *ptrvalue);
			TilconError+=TRT_SetValues(TRT_cid2,"Table0#1#4",
				TRT_ATT_TEXT,Output,NULL);
			
			
			/* 3. Axis */
			ptrvalue++;
			sprintf(Output, "% .3f", *ptrvalue);
			TilconError+=TRT_SetValues(TRT_cid2,"Table0#2#2",
				TRT_ATT_TEXT,Output,NULL);
			
			sprintf(Output, "% .3f", *ptrvalue);
			TilconError+=TRT_SetValues(TRT_cid2,"Table0#2#4",
				TRT_ATT_TEXT,Output,NULL);
			
			
			if(TilconError)
			{
				/*Treatment of Errors if an objekt not defined*/
			}
		}
		
		
	}
	if (!ldata->abbruch)
	{
		
		/* if the Pannel of coordinates  is not displayed stop the loop*/
		
		/* send a new asynchronous request */
		/* this Service returns the Axis values whose ID later than*/
		/* the ID that has been preset by the input parameter"version"*/
		loc_errncs=Ncs_MCoGetServiceEvent_A(GetAxisEndPosValues_Rec,
			(Ncs_RecPara_t)&OwnActAxEndPosValue,
			0,
			(int)ldata->version,
			Ncs_MCoBlkBlockEndPoint_Id);
	}
	if (loc_errncs!=Ncs_ErrOk)
	{ /*Treatment of Error */ 
		
		return 2;
	}
	return 0;  
}  /* OF GetAxisValues_Rec */


/*F*/
/*
************************************************************************
** >AUTHOR        : AB
**  FUNCTION NAME : Dab_h_GetAxisEndPosValues_Req
** 
** >DESCRIPTION: Asyncron Request of the Axis end position.