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Jog.cc

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#define JOG
#include "Jog.hh"
#undef JOG

Widget
JogControl (Dimension x0, Dimension x1, Dimension y1, Dimension y2,
            Dimension boxMarginWidth, Dimension boxMarginHeight,
            Widget parent, int numAxes)
{
  arrowFrame =
    XtVaCreateManagedWidget ("arrowFrame", xmFrameWidgetClass, parent,
                             XmNfractionBase, 22,
                             XmNleftPosition, x0,
                             XmNrightPosition, x1,
                             XmNtopPosition, y1,
                             XmNbottomPosition, y2,
                             XmNmarginWidth, boxMarginWidth,
                             XmNmarginHeight, boxMarginHeight,
                             XmNtopAttachment, XmATTACH_POSITION,
                             XmNbottomAttachment, XmATTACH_POSITION,
                             XmNleftAttachment, XmATTACH_POSITION,
                             XmNrightAttachment, XmATTACH_POSITION,
                             XmNmarginWidth, 5,
                             XmNmarginHeight, 5,
                             XmNmappedWhenManaged, False,
                             XmNtraversalOn, False, NULL);

  arrowForm =
    XtVaCreateManagedWidget ("arrowForm", xmFormWidgetClass, arrowFrame,
                             XmNmarginWidth, 5, XmNmarginHeight, 5, NULL);

  CREATE_PIXMAP (r_arrow, r_pixmap);
  CREATE_PIXMAP (r_arrow_in, r_pixmap_in);
  CREATE_PIXMAP (l_arrow, l_pixmap);
  CREATE_PIXMAP (l_arrow_in, l_pixmap_in);
  CREATE_PIXMAP (right_arrows, rr_pixmap);
  CREATE_PIXMAP (right_arrows_in, rr_pixmap_in);
  CREATE_PIXMAP (left_arrows, ll_pixmap);
  CREATE_PIXMAP (left_arrows_in, ll_pixmap_in);

  int i = 0;

  JOG_AXIS (arrowB1[i], XmATTACH_FORM, XmATTACH_FORM, NULL, ll_pixmap,
            ARROW_LEFT_FAST);
  JOG_AXIS (arrowB2[i], XmATTACH_FORM, XmATTACH_WIDGET, arrowB1[i], l_pixmap,
            ARROW_LEFT);

  LABEL_AXIS (i, XmATTACH_FORM);

  JOG_AXIS (arrowB3[i], XmATTACH_FORM, XmATTACH_WIDGET, label[i], r_pixmap,
            ARROW_RIGHT);
  JOG_AXIS (arrowB4[i], XmATTACH_FORM, XmATTACH_WIDGET, arrowB3[i], rr_pixmap,
            ARROW_RIGHT_FAST);


  for (i = 1; i < numAxes; i++)
    {
      SEPARATOR ();

      JOG_AXIS (arrowB1[i], XmATTACH_WIDGET, XmATTACH_FORM, NULL, ll_pixmap,
                ARROW_LEFT_FAST);
      JOG_AXIS (arrowB2[i], XmATTACH_WIDGET, XmATTACH_WIDGET, arrowB1[i],
                l_pixmap, ARROW_LEFT);

      LABEL_AXIS (i, XmATTACH_WIDGET);

      JOG_AXIS (arrowB3[i], XmATTACH_WIDGET, XmATTACH_WIDGET, label[i],
                r_pixmap, ARROW_RIGHT);
      JOG_AXIS (arrowB4[i], XmATTACH_WIDGET, XmATTACH_WIDGET, arrowB3[i],
                rr_pixmap, ARROW_RIGHT_FAST);

    }

  SEPARATOR ();

  XmString JogLabel =
    XmStringCreateLtoR ((char *) JOG_LABEL_STR, XmSTRING_DEFAULT_CHARSET);

  jogLabel =
    XtVaCreateManagedWidget ("label", xmLabelWidgetClass, arrowForm,
                             XmNtopAttachment, XmATTACH_WIDGET,
                             XmNtopWidget, separator,
                             XmNtopOffset, 5,
                             XmNbottomAttachment, XmATTACH_FORM,
                             XmNbottomOffset, 10,
                             XmNleftAttachment, XmATTACH_FORM,
                             XmNleftOffset, 5,
                             XmNrightAttachment, XmATTACH_NONE,
                             XmNlabelString, JogLabel, NULL);

  XmStringFree (JogLabel);

  doneB =
    XtVaCreateManagedWidget (DONE_STR, xmPushButtonWidgetClass, arrowForm,
                             XmNtopAttachment, XmATTACH_WIDGET,
                             XmNtopWidget, separator,
                             XmNtopOffset, 5,
                             XmNbottomAttachment, XmATTACH_NONE,
                             XmNleftAttachment, XmATTACH_NONE,
                             XmNrightAttachment, XmATTACH_FORM,
                             XmNmarginWidth, 15,
                             XmNmarginHeight, 15,
                             XmNshadowThickness, 4, NULL);

  XtAddCallback (doneB, XmNarmCallback, buttonCB, (XtPointer) DONE);

  return arrowFrame;
}

// This is an external that lets us popdown our Jogging control from anywhere.
void
jogDone (void)
{
  if (doneB)
    buttonCB (doneB, (XtPointer) DONE, (XtPointer) NULL);
}

static void
buttonCB (Widget mw, XtPointer cd, XtPointer cb)
{
  int theAxis = -1;
  switch ((int) cd)
    {
    case DONE:
      XtVaSetValues (arrowFrame, XmNmappedWhenManaged, False, NULL);
      XmPushButtonWidget pb;
      pb = (XmPushButtonWidget) mw;
      pb->pushbutton.armed = false;
      showRunMode ();
      return;
    case ARROW_LEFT_FAST:
      XtVaSetValues (mw, XmNarmPixmap, ll_pixmap_in, NULL);
      theAxis = whichAxis (mw, (int) cd);
      break;
    case ARROW_LEFT:
      XtVaSetValues (mw, XmNarmPixmap, l_pixmap_in, NULL);
      theAxis = whichAxis (mw, (int) cd);
      break;
    case ARROW_RIGHT:
      XtVaSetValues (mw, XmNarmPixmap, r_pixmap_in, NULL);
      theAxis = whichAxis (mw, (int) cd);
      break;
    case ARROW_RIGHT_FAST:
      XtVaSetValues (mw, XmNarmPixmap, rr_pixmap_in, NULL);
      theAxis = whichAxis (mw, (int) cd);
      break;
    default:
      return;
    }

  do_jog (theAxis, (int) cd);

}

static void
unbuttonCB (Widget mw, XtPointer cd, XtPointer cb)
{
  int theAxis = -1;
  switch ((int) cd)
    {
    case DONE:
      return;
    case ARROW_LEFT_FAST:
    case ARROW_LEFT:
    case ARROW_RIGHT:
    case ARROW_RIGHT_FAST:
      theAxis = whichAxis (mw, (int) cd);
      break;
    default:
      return;
    }

  stop_jog (theAxis, (int) cd);

}

static int
whichAxis (Widget w, int type)
{
  switch (type)
    {
    case ARROW_LEFT_FAST:
      if (w == arrowB1[0])
        return 0;
      if (w == arrowB1[1])
        return 1;
      if (w == arrowB1[2])
        return 2;
      if (w == arrowB1[3])
        return 3;
      if (w == arrowB1[4])
        return 4;
      if (w == arrowB1[5])
        return 5;
      break;

    case ARROW_LEFT:
      if (w == arrowB2[0])
        return 0;
      if (w == arrowB2[1])
        return 1;
      if (w == arrowB2[2])
        return 2;
      if (w == arrowB2[3])
        return 3;
      if (w == arrowB2[4])
        return 4;
      if (w == arrowB2[5])
        return 5;
      break;

    case ARROW_RIGHT:
      if (w == arrowB3[0])
        return 0;
      if (w == arrowB3[1])
        return 1;
      if (w == arrowB3[2])
        return 2;
      if (w == arrowB3[3])
        return 3;
      if (w == arrowB3[4])
        return 4;
      if (w == arrowB3[5])
        return 5;
      break;

    case ARROW_RIGHT_FAST:
      if (w == arrowB4[0])
        return 0;
      if (w == arrowB4[1])
        return 1;
      if (w == arrowB4[2])
        return 2;
      if (w == arrowB4[3])
        return 3;
      if (w == arrowB4[4])
        return 4;
      if (w == arrowB4[5])
        return 5;
      break;

    default:
      return -1;
    }
  return -1;
}

static void
do_jog (int theAxis, int type)
{

// TODO: call the emc jog interface code here

#ifdef DEBUG
  char *whichWay[4] = { "Left fast", "Left", "Right", "Right fast" };
  cout << "Start " << whichWay[type] << " for axis: " << theAxis << endl;
#endif
}

static void
stop_jog (int theAxis, int type)
{

// TODO: call the emc jog interface code here

#ifdef DEBUG
  char *whichWay[4] = { "Left fast", "Left", "Right", "Right fast" };
  cout << "Stop " << whichWay[type] << " for axis: " << theAxis << endl;
#endif
}

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