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emc.hh File Reference

#include "rcs.hh"
#include "posemath.h"
#include "canon.hh"
#include "emcglb.h"
#include "emcpos.h"

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Data Structures

class  EMC_ABORT
class  EMC_AUX_ABORT
class  EMC_AUX_AIO_WRITE
class  EMC_AUX_CMD_MSG
class  EMC_AUX_DIO_WRITE
class  EMC_AUX_ESTOP_OFF
class  EMC_AUX_ESTOP_ON
class  EMC_AUX_HALT
class  EMC_AUX_INIT
class  EMC_AUX_STAT
class  EMC_AUX_STAT_MSG
class  EMC_AXIS_ABORT
class  EMC_AXIS_ABS_JOG
class  EMC_AXIS_ACTIVATE
class  EMC_AXIS_ALTER
class  EMC_AXIS_CMD_MSG
class  EMC_AXIS_DEACTIVATE
class  EMC_AXIS_DISABLE
class  EMC_AXIS_ENABLE
class  EMC_AXIS_HALT
class  EMC_AXIS_HOME
class  EMC_AXIS_INCR_JOG
class  EMC_AXIS_INIT
class  EMC_AXIS_JOG
class  EMC_AXIS_LOAD_COMP
class  EMC_AXIS_OVERRIDE_LIMITS
class  EMC_AXIS_SET_AXIS
class  EMC_AXIS_SET_CYCLE_TIME
class  EMC_AXIS_SET_FERROR
class  EMC_AXIS_SET_GAINS
class  EMC_AXIS_SET_HOME
class  EMC_AXIS_SET_HOME_OFFSET
class  EMC_AXIS_SET_HOMING_VEL
class  EMC_AXIS_SET_INPUT_SCALE
class  EMC_AXIS_SET_MAX_OUTPUT_LIMIT
class  EMC_AXIS_SET_MAX_POSITION_LIMIT
class  EMC_AXIS_SET_MAX_VELOCITY
class  EMC_AXIS_SET_MIN_FERROR
class  EMC_AXIS_SET_MIN_OUTPUT_LIMIT
class  EMC_AXIS_SET_MIN_POSITION_LIMIT
class  EMC_AXIS_SET_OUTPUT
class  EMC_AXIS_SET_OUTPUT_SCALE
class  EMC_AXIS_SET_UNITS
class  EMC_AXIS_STAT
class  EMC_AXIS_STAT_MSG
class  EMC_CMD_MSG
class  EMC_COOLANT_ABORT
class  EMC_COOLANT_CMD_MSG
class  EMC_COOLANT_FLOOD_OFF
class  EMC_COOLANT_FLOOD_ON
class  EMC_COOLANT_HALT
class  EMC_COOLANT_INIT
class  EMC_COOLANT_MIST_OFF
class  EMC_COOLANT_MIST_ON
class  EMC_COOLANT_STAT
class  EMC_COOLANT_STAT_MSG
class  EMC_HALT
class  EMC_INIT
class  EMC_IO_ABORT
class  EMC_IO_CMD_MSG
class  EMC_IO_HALT
class  EMC_IO_INIT
class  EMC_IO_SET_CYCLE_TIME
class  EMC_IO_STAT
class  EMC_IO_STAT_MSG
class  EMC_LOG_CLOSE
class  EMC_LOG_OPEN
class  EMC_LOG_START
class  EMC_LOG_STOP
class  EMC_LUBE_ABORT
class  EMC_LUBE_CMD_MSG
class  EMC_LUBE_HALT
class  EMC_LUBE_INIT
class  EMC_LUBE_OFF
class  EMC_LUBE_ON
class  EMC_LUBE_STAT
class  EMC_LUBE_STAT_MSG
class  EMC_MOTION_ABORT
class  EMC_MOTION_CMD_MSG
class  EMC_MOTION_HALT
class  EMC_MOTION_INIT
class  EMC_MOTION_SET_AOUT
class  EMC_MOTION_SET_DOUT
class  EMC_MOTION_STAT
class  EMC_MOTION_STAT_MSG
class  EMC_NULL
class  EMC_OPERATOR_DISPLAY
class  EMC_OPERATOR_ERROR
class  EMC_OPERATOR_TEXT
class  EMC_SET_AIO_INDEX
class  EMC_SET_DEBUG
class  EMC_SET_DIO_INDEX
class  EMC_SET_POLARITY
class  EMC_SPINDLE_ABORT
class  EMC_SPINDLE_BRAKE_ENGAGE
class  EMC_SPINDLE_BRAKE_RELEASE
class  EMC_SPINDLE_CMD_MSG
class  EMC_SPINDLE_CONSTANT
class  EMC_SPINDLE_DECREASE
class  EMC_SPINDLE_DISABLE
class  EMC_SPINDLE_ENABLE
class  EMC_SPINDLE_FORWARD
class  EMC_SPINDLE_HALT
class  EMC_SPINDLE_INCREASE
class  EMC_SPINDLE_INIT
class  EMC_SPINDLE_OFF
class  EMC_SPINDLE_ON
class  EMC_SPINDLE_REVERSE
class  EMC_SPINDLE_STAT
class  EMC_SPINDLE_STAT_MSG
class  EMC_SPINDLE_STOP
class  EMC_STAT
class  EMC_STAT_MSG
class  EMC_TASK_ABORT
class  EMC_TASK_CMD_MSG
class  EMC_TASK_HALT
class  EMC_TASK_INIT
class  EMC_TASK_PLAN_CLOSE
class  EMC_TASK_PLAN_END
class  EMC_TASK_PLAN_EXECUTE
class  EMC_TASK_PLAN_INIT
class  EMC_TASK_PLAN_OPEN
class  EMC_TASK_PLAN_PAUSE
class  EMC_TASK_PLAN_READ
class  EMC_TASK_PLAN_RESUME
class  EMC_TASK_PLAN_RUN
class  EMC_TASK_PLAN_STEP
class  EMC_TASK_PLAN_SYNCH
class  EMC_TASK_SET_MODE
class  EMC_TASK_SET_STATE
class  EMC_TASK_STAT
class  EMC_TASK_STAT_MSG
class  EMC_TOOL_ABORT
class  EMC_TOOL_CMD_MSG
class  EMC_TOOL_HALT
class  EMC_TOOL_INIT
class  EMC_TOOL_LOAD
class  EMC_TOOL_LOAD_TOOL_TABLE
class  EMC_TOOL_PREPARE
class  EMC_TOOL_SET_OFFSET
class  EMC_TOOL_STAT
class  EMC_TOOL_STAT_MSG
class  EMC_TOOL_UNLOAD
class  EMC_TRAJ_ABORT
class  EMC_TRAJ_CIRCULAR_MOVE
class  EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG
class  EMC_TRAJ_CMD_MSG
class  EMC_TRAJ_DELAY
class  EMC_TRAJ_DISABLE
class  EMC_TRAJ_ENABLE
class  EMC_TRAJ_HALT
class  EMC_TRAJ_INIT
class  EMC_TRAJ_LINEAR_MOVE
class  EMC_TRAJ_PAUSE
class  EMC_TRAJ_PROBE
class  EMC_TRAJ_RESUME
class  EMC_TRAJ_SET_ACCELERATION
class  EMC_TRAJ_SET_AXES
class  EMC_TRAJ_SET_CYCLE_TIME
class  EMC_TRAJ_SET_HOME
class  EMC_TRAJ_SET_MAX_ACCELERATION
class  EMC_TRAJ_SET_MAX_VELOCITY
class  EMC_TRAJ_SET_MODE
class  EMC_TRAJ_SET_MOTION_ID
class  EMC_TRAJ_SET_OFFSET
class  EMC_TRAJ_SET_ORIGIN
class  EMC_TRAJ_SET_PROBE_INDEX
class  EMC_TRAJ_SET_PROBE_POLARITY
class  EMC_TRAJ_SET_SCALE
class  EMC_TRAJ_SET_TELEOP_ENABLE
class  EMC_TRAJ_SET_TELEOP_VECTOR
class  EMC_TRAJ_SET_TERM_COND
class  EMC_TRAJ_SET_UNITS
class  EMC_TRAJ_SET_VELOCITY
class  EMC_TRAJ_STAT
class  EMC_TRAJ_STAT_MSG
class  EMC_TRAJ_STEP

Defines

#define __attribute__(x)
#define EMC_OPERATOR_ERROR_TYPE   ((NMLTYPE) 11)
#define EMC_OPERATOR_TEXT_TYPE   ((NMLTYPE) 12)
#define EMC_OPERATOR_DISPLAY_TYPE   ((NMLTYPE) 13)
#define EMC_NULL_TYPE   ((NMLTYPE) 21)
#define EMC_SET_DEBUG_TYPE   ((NMLTYPE) 22)
#define EMC_AXIS_SET_AXIS_TYPE   ((NMLTYPE) 101)
#define EMC_AXIS_SET_UNITS_TYPE   ((NMLTYPE) 102)
#define EMC_AXIS_SET_GAINS_TYPE   ((NMLTYPE) 103)
#define EMC_AXIS_SET_CYCLE_TIME_TYPE   ((NMLTYPE) 104)
#define EMC_AXIS_SET_INPUT_SCALE_TYPE   ((NMLTYPE) 105)
#define EMC_AXIS_SET_OUTPUT_SCALE_TYPE   ((NMLTYPE) 106)
#define EMC_AXIS_SET_MIN_POSITION_LIMIT_TYPE   ((NMLTYPE) 107)
#define EMC_AXIS_SET_MAX_POSITION_LIMIT_TYPE   ((NMLTYPE) 108)
#define EMC_AXIS_SET_MIN_OUTPUT_LIMIT_TYPE   ((NMLTYPE) 109)
#define EMC_AXIS_SET_MAX_OUTPUT_LIMIT_TYPE   ((NMLTYPE) 110)
#define EMC_AXIS_SET_FERROR_TYPE   ((NMLTYPE) 111)
#define EMC_AXIS_SET_HOMING_VEL_TYPE   ((NMLTYPE) 112)
#define EMC_AXIS_SET_HOME_TYPE   ((NMLTYPE) 113)
#define EMC_AXIS_SET_HOME_OFFSET_TYPE   ((NMLTYPE) 114)
#define EMC_AXIS_SET_MIN_FERROR_TYPE   ((NMLTYPE) 115)
#define EMC_AXIS_SET_MAX_VELOCITY_TYPE   ((NMLTYPE) 116)
#define EMC_AXIS_INIT_TYPE   ((NMLTYPE) 118)
#define EMC_AXIS_HALT_TYPE   ((NMLTYPE) 119)
#define EMC_AXIS_ABORT_TYPE   ((NMLTYPE) 120)
#define EMC_AXIS_ENABLE_TYPE   ((NMLTYPE) 121)
#define EMC_AXIS_DISABLE_TYPE   ((NMLTYPE) 122)
#define EMC_AXIS_HOME_TYPE   ((NMLTYPE) 123)
#define EMC_AXIS_JOG_TYPE   ((NMLTYPE) 124)
#define EMC_AXIS_INCR_JOG_TYPE   ((NMLTYPE) 125)
#define EMC_AXIS_ABS_JOG_TYPE   ((NMLTYPE) 126)
#define EMC_AXIS_ACTIVATE_TYPE   ((NMLTYPE) 127)
#define EMC_AXIS_DEACTIVATE_TYPE   ((NMLTYPE) 128)
#define EMC_AXIS_OVERRIDE_LIMITS_TYPE   ((NMLTYPE) 129)
#define EMC_AXIS_SET_OUTPUT_TYPE   ((NMLTYPE) 130)
#define EMC_AXIS_LOAD_COMP_TYPE   ((NMLTYPE) 131)
#define EMC_AXIS_ALTER_TYPE   ((NMLTYPE) 132)
#define EMC_AXIS_STAT_TYPE   ((NMLTYPE) 199)
#define EMC_TRAJ_TERM_COND_STOP   1
#define EMC_TRAJ_TERM_COND_BLEND   2
#define EMC_TRAJ_SET_AXES_TYPE   ((NMLTYPE) 201)
#define EMC_TRAJ_SET_UNITS_TYPE   ((NMLTYPE) 202)
#define EMC_TRAJ_SET_CYCLE_TIME_TYPE   ((NMLTYPE) 203)
#define EMC_TRAJ_SET_MODE_TYPE   ((NMLTYPE) 204)
#define EMC_TRAJ_SET_VELOCITY_TYPE   ((NMLTYPE) 205)
#define EMC_TRAJ_SET_ACCELERATION_TYPE   ((NMLTYPE) 206)
#define EMC_TRAJ_SET_MAX_VELOCITY_TYPE   ((NMLTYPE) 207)
#define EMC_TRAJ_SET_MAX_ACCELERATION_TYPE   ((NMLTYPE) 208)
#define EMC_TRAJ_SET_SCALE_TYPE   ((NMLTYPE) 209)
#define EMC_TRAJ_SET_MOTION_ID_TYPE   ((NMLTYPE) 210)
#define EMC_TRAJ_INIT_TYPE   ((NMLTYPE) 211)
#define EMC_TRAJ_HALT_TYPE   ((NMLTYPE) 212)
#define EMC_TRAJ_ENABLE_TYPE   ((NMLTYPE) 213)
#define EMC_TRAJ_DISABLE_TYPE   ((NMLTYPE) 214)
#define EMC_TRAJ_ABORT_TYPE   ((NMLTYPE) 215)
#define EMC_TRAJ_PAUSE_TYPE   ((NMLTYPE) 216)
#define EMC_TRAJ_STEP_TYPE   ((NMLTYPE) 217)
#define EMC_TRAJ_RESUME_TYPE   ((NMLTYPE) 218)
#define EMC_TRAJ_DELAY_TYPE   ((NMLTYPE) 219)
#define EMC_TRAJ_LINEAR_MOVE_TYPE   ((NMLTYPE) 220)
#define EMC_TRAJ_CIRCULAR_MOVE_TYPE   ((NMLTYPE) 221)
#define EMC_TRAJ_SET_TERM_COND_TYPE   ((NMLTYPE) 222)
#define EMC_TRAJ_SET_OFFSET_TYPE   ((NMLTYPE) 223)
#define EMC_TRAJ_SET_ORIGIN_TYPE   ((NMLTYPE) 224)
#define EMC_TRAJ_SET_HOME_TYPE   ((NMLTYPE) 225)
#define EMC_TRAJ_SET_PROBE_INDEX_TYPE   ((NMLTYPE) 226)
#define EMC_TRAJ_SET_PROBE_POLARITY_TYPE   ((NMLTYPE) 227)
#define EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG_TYPE   ((NMLTYPE) 228)
#define EMC_TRAJ_PROBE_TYPE   ((NMLTYPE) 229)
#define EMC_TRAJ_SET_TELEOP_ENABLE_TYPE   ((NMLTYPE) 230)
#define EMC_TRAJ_SET_TELEOP_VECTOR_TYPE   ((NMLTYPE) 231)
#define EMC_TRAJ_STAT_TYPE   ((NMLTYPE) 299)
#define EMC_MOTION_INIT_TYPE   ((NMLTYPE) 301)
#define EMC_MOTION_HALT_TYPE   ((NMLTYPE) 302)
#define EMC_MOTION_ABORT_TYPE   ((NMLTYPE) 303)
#define EMC_MOTION_SET_AOUT_TYPE   ((NMLTYPE) 304)
#define EMC_MOTION_SET_DOUT_TYPE   ((NMLTYPE) 305)
#define EMC_MOTION_STAT_TYPE   ((NMLTYPE) 399)
#define EMC_TASK_FILENAME_LEN   256
#define EMC_TASK_COMMAND_LEN   256
#define EMC_TASK_INIT_TYPE   ((NMLTYPE) 501)
#define EMC_TASK_HALT_TYPE   ((NMLTYPE) 502)
#define EMC_TASK_ABORT_TYPE   ((NMLTYPE) 503)
#define EMC_TASK_SET_MODE_TYPE   ((NMLTYPE) 504)
#define EMC_TASK_SET_STATE_TYPE   ((NMLTYPE) 505)
#define EMC_TASK_PLAN_OPEN_TYPE   ((NMLTYPE) 506)
#define EMC_TASK_PLAN_RUN_TYPE   ((NMLTYPE) 507)
#define EMC_TASK_PLAN_READ_TYPE   ((NMLTYPE) 508)
#define EMC_TASK_PLAN_EXECUTE_TYPE   ((NMLTYPE) 509)
#define EMC_TASK_PLAN_PAUSE_TYPE   ((NMLTYPE) 510)
#define EMC_TASK_PLAN_STEP_TYPE   ((NMLTYPE) 511)
#define EMC_TASK_PLAN_RESUME_TYPE   ((NMLTYPE) 512)
#define EMC_TASK_PLAN_END_TYPE   ((NMLTYPE) 513)
#define EMC_TASK_PLAN_CLOSE_TYPE   ((NMLTYPE) 514)
#define EMC_TASK_PLAN_INIT_TYPE   ((NMLTYPE) 515)
#define EMC_TASK_PLAN_SYNCH_TYPE   ((NMLTYPE) 516)
#define EMC_TASK_STAT_TYPE   ((NMLTYPE) 599)
#define EMC_TOOL_INIT_TYPE   ((NMLTYPE) 1101)
#define EMC_TOOL_HALT_TYPE   ((NMLTYPE) 1102)
#define EMC_TOOL_ABORT_TYPE   ((NMLTYPE) 1103)
#define EMC_TOOL_PREPARE_TYPE   ((NMLTYPE) 1104)
#define EMC_TOOL_LOAD_TYPE   ((NMLTYPE) 1105)
#define EMC_TOOL_UNLOAD_TYPE   ((NMLTYPE) 1106)
#define EMC_TOOL_LOAD_TOOL_TABLE_TYPE   ((NMLTYPE) 1107)
#define EMC_TOOL_SET_OFFSET_TYPE   ((NMLTYPE) 1108)
#define EMC_TOOL_STAT_TYPE   ((NMLTYPE) 1199)
#define EMC_AUX_INIT_TYPE   ((NMLTYPE) 1201)
#define EMC_AUX_HALT_TYPE   ((NMLTYPE) 1202)
#define EMC_AUX_ABORT_TYPE   ((NMLTYPE) 1203)
#define EMC_AUX_DIO_WRITE_TYPE   ((NMLTYPE) 1204)
#define EMC_AUX_AIO_WRITE_TYPE   ((NMLTYPE) 1205)
#define EMC_AUX_ESTOP_ON_TYPE   ((NMLTYPE) 1206)
#define EMC_AUX_ESTOP_OFF_TYPE   ((NMLTYPE) 1207)
#define EMC_AUX_STAT_TYPE   ((NMLTYPE) 1299)
#define EMC_SPINDLE_INIT_TYPE   ((NMLTYPE) 1301)
#define EMC_SPINDLE_HALT_TYPE   ((NMLTYPE) 1302)
#define EMC_SPINDLE_ABORT_TYPE   ((NMLTYPE) 1303)
#define EMC_SPINDLE_ON_TYPE   ((NMLTYPE) 1304)
#define EMC_SPINDLE_OFF_TYPE   ((NMLTYPE) 1305)
#define EMC_SPINDLE_FORWARD_TYPE   ((NMLTYPE) 1306)
#define EMC_SPINDLE_REVERSE_TYPE   ((NMLTYPE) 1307)
#define EMC_SPINDLE_STOP_TYPE   ((NMLTYPE) 1308)
#define EMC_SPINDLE_INCREASE_TYPE   ((NMLTYPE) 1309)
#define EMC_SPINDLE_DECREASE_TYPE   ((NMLTYPE) 1310)
#define EMC_SPINDLE_CONSTANT_TYPE   ((NMLTYPE) 1311)
#define EMC_SPINDLE_BRAKE_RELEASE_TYPE   ((NMLTYPE) 1312)
#define EMC_SPINDLE_BRAKE_ENGAGE_TYPE   ((NMLTYPE) 1313)
#define EMC_SPINDLE_ENABLE_TYPE   ((NMLTYPE) 1314)
#define EMC_SPINDLE_DISABLE_TYPE   ((NMLTYPE) 1315)
#define EMC_SPINDLE_STAT_TYPE   ((NMLTYPE) 1399)
#define EMC_COOLANT_INIT_TYPE   ((NMLTYPE) 1401)
#define EMC_COOLANT_HALT_TYPE   ((NMLTYPE) 1402)
#define EMC_COOLANT_ABORT_TYPE   ((NMLTYPE) 1403)
#define EMC_COOLANT_MIST_ON_TYPE   ((NMLTYPE) 1404)
#define EMC_COOLANT_MIST_OFF_TYPE   ((NMLTYPE) 1405)
#define EMC_COOLANT_FLOOD_ON_TYPE   ((NMLTYPE) 1406)
#define EMC_COOLANT_FLOOD_OFF_TYPE   ((NMLTYPE) 1407)
#define EMC_COOLANT_STAT_TYPE   ((NMLTYPE) 1499)
#define EMC_LUBE_INIT_TYPE   ((NMLTYPE) 1501)
#define EMC_LUBE_HALT_TYPE   ((NMLTYPE) 1502)
#define EMC_LUBE_ABORT_TYPE   ((NMLTYPE) 1503)
#define EMC_LUBE_ON_TYPE   ((NMLTYPE) 1504)
#define EMC_LUBE_OFF_TYPE   ((NMLTYPE) 1505)
#define EMC_LUBE_STAT_TYPE   ((NMLTYPE) 1599)
#define EMC_SET_DIO_INDEX_TYPE   ((NMLTYPE) 5001)
#define EMC_SET_AIO_INDEX_TYPE   ((NMLTYPE) 5002)
#define EMC_SET_POLARITY_TYPE   ((NMLTYPE) 5003)
#define EMC_IO_INIT_TYPE   ((NMLTYPE) 1601)
#define EMC_IO_HALT_TYPE   ((NMLTYPE) 1602)
#define EMC_IO_ABORT_TYPE   ((NMLTYPE) 1603)
#define EMC_IO_SET_CYCLE_TIME_TYPE   ((NMLTYPE) 1604)
#define EMC_IO_STAT_TYPE   ((NMLTYPE) 1699)
#define EMC_LOG_FILENAME_LEN   256
#define EMC_LOG_TYPE_AXIS_POS   1
#define EMC_LOG_TYPE_AXES_INPOS   2
#define EMC_LOG_TYPE_AXES_OUTPOS   3
#define EMC_LOG_TYPE_MOTION_CMD   4
#define EMC_LOG_TYPE_AXIS_VEL   5
#define EMC_LOG_TYPE_AXES_FERROR   6
#define EMC_LOG_TYPE_TRAJ_POS   7
#define EMC_LOG_TYPE_TRAJ_VEL   8
#define EMC_LOG_TYPE_TRAJ_ACC   9
#define EMC_LOG_TYPE_POS_VOLTAGE   10
#define EMC_LOG_TYPE_IO_CMD   21
#define EMC_LOG_TYPE_TASK_CMD   51
#define EMC_INIT_TYPE   ((NMLTYPE) 1901)
#define EMC_HALT_TYPE   ((NMLTYPE) 1902)
#define EMC_ABORT_TYPE   ((NMLTYPE) 1903)
#define EMC_LOG_OPEN_TYPE   ((NMLTYPE) 1904)
#define EMC_LOG_START_TYPE   ((NMLTYPE) 1905)
#define EMC_LOG_STOP_TYPE   ((NMLTYPE) 1906)
#define EMC_LOG_CLOSE_TYPE   ((NMLTYPE) 1907)
#define EMC_STAT_TYPE   ((NMLTYPE) 1999)
#define emcSymbolLookup(a)   emc_symbol_lookup(a)
#define EMC_OPERATOR_ERROR_LEN   256
#define EMC_OPERATOR_TEXT_LEN   256
#define EMC_OPERATOR_DISPLAY_LEN   256
#define EMC_AXIS_LINEAR   1
#define EMC_AXIS_ANGULAR   2
#define EMC_TRAJ_MODE_FREE   1
#define EMC_TRAJ_MODE_COORD   2
#define EMC_TRAJ_MODE_TELEOP   3
#define EMC_AXIS_MAX   8
#define EMC_TASK_MODE_MANUAL   1
#define EMC_TASK_MODE_AUTO   2
#define EMC_TASK_MODE_MDI   3
#define EMC_TASK_STATE_ESTOP   1
#define EMC_TASK_STATE_ESTOP_RESET   2
#define EMC_TASK_STATE_OFF   3
#define EMC_TASK_STATE_ON   4
#define EMC_TASK_EXEC_ERROR   1
#define EMC_TASK_EXEC_DONE   2
#define EMC_TASK_EXEC_WAITING_FOR_MOTION   3
#define EMC_TASK_EXEC_WAITING_FOR_MOTION_QUEUE   4
#define EMC_TASK_EXEC_WAITING_FOR_IO   5
#define EMC_TASK_EXEC_WAITING_FOR_PAUSE   6
#define EMC_TASK_EXEC_WAITING_FOR_MOTION_AND_IO   7
#define EMC_TASK_EXEC_WAITING_FOR_DELAY   8
#define EMC_TASK_INTERP_IDLE   1
#define EMC_TASK_INTERP_READING   2
#define EMC_TASK_INTERP_PAUSED   3
#define EMC_TASK_INTERP_WAITING   4
#define EMC_TASK_ACTIVE_G_CODES   12
#define EMC_TASK_ACTIVE_M_CODES   7
#define EMC_TASK_ACTIVE_SETTINGS   3
#define EMC_AUX_MAX_DOUT   4
#define EMC_AUX_MAX_DIN   4
#define EMC_AUX_MAX_AOUT   32
#define EMC_AUX_MAX_AIN   32

Enumerations

enum  { EMC_SET_AIO_INDEX_SPINDLE_ON = 5201 }
enum  {
  EMC_SET_POLARITY_AXIS_ENABLE = 5301, EMC_SET_POLARITY_AXIS_MIN_LIMIT_SWITCH, EMC_SET_POLARITY_AXIS_MAX_LIMIT_SWITCH, EMC_SET_POLARITY_AXIS_HOME_SWITCH,
  EMC_SET_POLARITY_AXIS_HOMING, EMC_SET_POLARITY_AXIS_FAULT, EMC_SET_POLARITY_SPINDLE_FORWARD, EMC_SET_POLARITY_SPINDLE_REVERSE,
  EMC_SET_POLARITY_SPINDLE_DECREASE, EMC_SET_POLARITY_SPINDLE_INCREASE, EMC_SET_POLARITY_SPINDLE_BRAKE, EMC_SET_POLARITY_SPINDLE_ENABLE,
  EMC_SET_POLARITY_COOLANT_MIST, EMC_SET_POLARITY_COOLANT_FLOOD, EMC_SET_POLARITY_LUBE_SENSE, EMC_SET_POLARITY_ESTOP_SENSE,
  EMC_SET_POLARITY_ESTOP_WRITE
}

Functions

char __attribute__ ((unused)) emc_hh[]="$Id
int emcFormat (NMLTYPE type, void *buffer, CMS *cms)
const char * emc_symbol_lookup (int type)
int emcOperatorError (int id, const char *fmt,...)
int emcOperatorText (int id, const char *fmt,...)
int emcOperatorDisplay (int id, const char *fmt,...)
int emcAxisSetAxis (int axis, unsigned char axisType)
int emcAxisSetUnits (int axis, double units)
int emcAxisSetGains (int axis, double p, double i, double d, double ff0, double ff1, double ff2, double backlash, double bias, double maxError, double deadband)
int emcAxisSetCycleTime (int axis, double cycleTime)
int emcAxisSetInterpolationRate (int axis, int rate)
int emcAxisSetInputScale (int axis, double scale, double offset)
int emcAxisSetOutputScale (int axis, double scale, double offset)
int emcAxisSetMinPositionLimit (int axis, double limit)
int emcAxisSetMaxPositionLimit (int axis, double limit)
int emcAxisSetMinOutputLimit (int axis, double limit)
int emcAxisSetMaxOutputLimit (int axis, double limit)
int emcAxisSetFerror (int axis, double ferror)
int emcAxisSetMinFerror (int axis, double ferror)
int emcAxisSetHomingVel (int axis, double homingVel)
int emcAxisSetHome (int axis, double home)
int emcAxisSetHomeOffset (int axis, double offset)
int emcAxisSetMaxVelocity (int axis, double vel)
int emcAxisSetEnablePolarity (int axis, int level)
int emcAxisSetMinLimitSwitchPolarity (int axis, int level)
int emcAxisSetMaxLimitSwitchPolarity (int axis, int level)
int emcAxisSetHomeSwitchPolarity (int axis, int level)
int emcAxisSetHomingPolarity (int axis, int level)
int emcAxisSetFaultPolarity (int axis, int level)
int emcAxisInit (int axis)
int emcAxisHalt (int axis)
int emcAxisAbort (int axis)
int emcAxisEnable (int axis)
int emcAxisDisable (int axis)
int emcAxisHome (int axis)
int emcAxisJog (int axis, double vel)
int emcAxisIncrJog (int axis, double incr, double vel)
int emcAxisAbsJog (int axis, double pos, double vel)
int emcAxisActivate (int axis)
int emcAxisDeactivate (int axis)
int emcAxisOverrideLimits (int axis)
int emcAxisSetOutput (int axis, double output)
int emcAxisLoadComp (int axis, const char *file)
int emcAxisAlter (int axis, double alter)
int emcAxisUpdate (EMC_AXIS_STAT stat[], int numAxes)
int emcTrajSetAxes (int axes)
int emcTrajSetUnits (double linearUnits, double angularUnits)
int emcTrajSetCycleTime (double cycleTime)
int emcTrajSetMode (int axes)
int emcTrajSetTeleopVector (EmcPose vel)
int emcTrajSetVelocity (double vel)
int emcTrajSetAcceleration (double acc)
int emcTrajSetMaxVelocity (double vel)
int emcTrajSetMaxAcceleration (double acc)
int emcTrajSetScale (double scale)
int emcTrajSetMotionId (int id)
int emcTrajInit ()
int emcTrajHalt ()
int emcTrajEnable ()
int emcTrajDisable ()
int emcTrajAbort ()
int emcTrajPause ()
int emcTrajStep ()
int emcTrajResume ()
int emcTrajDelay (double delay)
int emcTrajLinearMove (EmcPose end)
int emcTrajCircularMove (EmcPose end, PM_CARTESIAN center, PM_CARTESIAN normal, int turn)
int emcTrajSetTermCond (int cond)
int emcTrajSetOffset (EmcPose offset)
int emcTrajSetOrigin (EmcPose origin)
int emcTrajSetHome (EmcPose home)
int emcTrajSetProbeIndex (int index)
int emcTrajSetProbePolarity (int polarity)
int emcTrajClearProbeTrippedFlag ()
int emcTrajProbe (EmcPose pos)
int emcTrajUpdate (EMC_TRAJ_STAT *stat)
int emcMotionInit ()
int emcMotionHalt ()
int emcMotionAbort ()
int emcMotionSetDebug (int debug)
int emcMotionSetAout (unsigned char index, double start, double end)
int emcMotionSetDout (unsigned char index, unsigned char start, unsigned char end)
int emcMotionUpdate (EMC_MOTION_STAT *stat)
int emcTaskInit ()
int emcTaskHalt ()
int emcTaskAbort ()
int emcTaskSetMode (int mode)
int emcTaskSetState (int state)
int emcTaskPlanInit ()
int emcTaskPlanSetWait ()
int emcTaskPlanIsWait ()
int emcTaskPlanClearWait ()
int emcTaskPlanSynch ()
int emcTaskPlanExit ()
int emcTaskPlanOpen (const char *file)
int emcTaskPlanRead ()
int emcTaskPlanRun (int line)
int emcTaskPlanExecute (const char *command)
int emcTaskPlanPause ()
int emcTaskPlanResume ()
int emcTaskPlanClose ()
int emcTaskPlanLine ()
int emcTaskPlanCommand (char *cmd)
int emcTaskUpdate (EMC_TASK_STAT *stat)
int emcToolInit ()
int emcToolHalt ()
int emcToolAbort ()
int emcToolPrepare (int tool)
int emcToolLoad ()
int emcToolUnload ()
int emcToolLoadToolTable (const char *file)
int emcToolSetOffset (int tool, double length, double diameter)
int emcToolSetToolTableFile (const char *file)
int emcToolUpdate (EMC_TOOL_STAT *stat)
int emcAuxInit ()
int emcAuxHalt ()
int emcAuxAbort ()
int emcAuxDioWrite (int index, int value)
int emcAuxAioWrite (int index, double value)
int emcAuxEstopOn ()
int emcAuxEstopOff ()
int emcAuxEstopSetSenseIndex (int index)
int emcAuxEstopSetWriteIndex (int index)
int emcAuxEstopSetSensePolarity (int polarity)
int emcAuxEstopSetWritePolarity (int polarity)
int emcAuxUpdate (EMC_AUX_STAT *stat)
int emcSpindleInit ()
int emcSpindleHalt ()
int emcSpindleAbort ()
int emcSpindleOn (double speed)
int emcSpindleOff ()
int emcSpindleForward ()
int emcSpindleReverse ()
int emcSpindleStop ()
int emcSpindleIncrease ()
int emcSpindleDecrease ()
int emcSpindleConstant ()
int emcSpindleBrakeRelease ()
int emcSpindleBrakeEngage ()
int emcSpindleEnable ()
int emcSpindleDisable ()
int emcSpindleSetForwardIndex (int index)
int emcSpindleSetReverseIndex (int index)
int emcSpindleSetDecreaseIndex (int index)
int emcSpindleSetIncreaseIndex (int index)
int emcSpindleSetBrakeIndex (int index)
int emcSpindleSetEnableIndex (int index)
int emcSpindleSetOnIndex (int index)
int emcSpindleSetForwardPolarity (int polarity)
int emcSpindleSetReversePolarity (int polarity)
int emcSpindleSetDecreasePolarity (int polarity)
int emcSpindleSetIncreasePolarity (int polarity)
int emcSpindleSetBrakePolarity (int polarity)
int emcSpindleSetEnablePolarity (int polarity)
int emcSpindleSetOffWait (double wait)
int emcSpindleSetOnWait (double wait)
int emcSpindleUpdate (EMC_SPINDLE_STAT *stat)
int emcCoolantInit ()
int emcCoolantHalt ()
int emcCoolantAbort ()
int emcCoolantMistOn ()
int emcCoolantMistOff ()
int emcCoolantFloodOn ()
int emcCoolantFloodOff ()
int emcCoolantSetMistIndex (int index)
int emcCoolantSetFloodIndex (int index)
int emcCoolantSetMistPolarity (int polarity)
int emcCoolantSetFloodPolarity (int polarity)
int emcCoolantUpdate (EMC_COOLANT_STAT *stat)
int emcLubeInit ()
int emcLubeHalt ()
int emcLubeAbort ()
int emcLubeOn ()
int emcLubeOff ()
int emcLubeSetSenseIndex (int index)
int emcLubeSetSensePolarity (int polarity)
int emcLubeSetWriteIndex (int index)
int emcLubeSetWritePolarity (int polarity)
int emcLubeUpdate (EMC_LUBE_STAT *stat)
int emcIoInit ()
int emcIoHalt ()
int emcIoAbort ()
int emcIoSetCycleTime (double cycleTime)
int emcIoSetDebug (int debug)
int emcIoUpdate (EMC_IO_STAT *stat)
int emcInit ()
int emcHalt ()
int emcAbort ()
int emcLogOpen (char *file, int type, int size, int skip, int which, int triggerType, int triggerVar, double triggerThreshold)
int emcLogStart ()
int emcLogStop ()
int emcLogClose ()
int emcUpdate (EMC_STAT *stat)

Variables

int Argc
char ** Argv
EMC_STAT * emcStatus
EMC_IO_STAT * emcIoStatus
EMC_MOTION_STAT * emcMotionStatus

Define Documentation

#define EMC_ABORT_TYPE   ((NMLTYPE) 1903)
 

Definition at line 376 of file emc.hh.

#define EMC_AUX_ABORT_TYPE   ((NMLTYPE) 1203)
 

#define EMC_AUX_AIO_WRITE_TYPE   ((NMLTYPE) 1205)
 

#define EMC_AUX_DIO_WRITE_TYPE   ((NMLTYPE) 1204)
 

#define EMC_AUX_ESTOP_OFF_TYPE   ((NMLTYPE) 1207)
 

#define EMC_AUX_ESTOP_ON_TYPE   ((NMLTYPE) 1206)
 

#define EMC_AUX_HALT_TYPE   ((NMLTYPE) 1202)
 

#define EMC_AUX_INIT_TYPE   ((NMLTYPE) 1201)
 

#define EMC_AUX_MAX_AIN   32
 

Definition at line 2213 of file emc.hh.

#define EMC_AUX_MAX_AOUT   32
 

Definition at line 2212 of file emc.hh.

#define EMC_AUX_MAX_DIN   4
 

Definition at line 2211 of file emc.hh.

#define EMC_AUX_MAX_DOUT   4
 

Definition at line 2210 of file emc.hh.

#define EMC_AUX_STAT_TYPE   ((NMLTYPE) 1299)
 

#define EMC_AXIS_ABORT_TYPE   ((NMLTYPE) 120)
 

#define EMC_AXIS_ABS_JOG_TYPE   ((NMLTYPE) 126)
 

#define EMC_AXIS_ACTIVATE_TYPE   ((NMLTYPE) 127)
 

#define EMC_AXIS_ALTER_TYPE   ((NMLTYPE) 132)
 

#define EMC_AXIS_ANGULAR   2
 

Definition at line 790 of file emc.hh.

#define EMC_AXIS_DEACTIVATE_TYPE   ((NMLTYPE) 128)
 

#define EMC_AXIS_DISABLE_TYPE   ((NMLTYPE) 122)
 

#define EMC_AXIS_ENABLE_TYPE   ((NMLTYPE) 121)
 

#define EMC_AXIS_HALT_TYPE   ((NMLTYPE) 119)
 

#define EMC_AXIS_HOME_TYPE   ((NMLTYPE) 123)
 

#define EMC_AXIS_INCR_JOG_TYPE   ((NMLTYPE) 125)
 

#define EMC_AXIS_INIT_TYPE   ((NMLTYPE) 118)
 

#define EMC_AXIS_JOG_TYPE   ((NMLTYPE) 124)
 

#define EMC_AXIS_LINEAR   1
 

Definition at line 789 of file emc.hh.

#define EMC_AXIS_LOAD_COMP_TYPE   ((NMLTYPE) 131)
 

#define EMC_AXIS_MAX   8
 

Definition at line 1741 of file emc.hh.

#define EMC_AXIS_OVERRIDE_LIMITS_TYPE   ((NMLTYPE) 129)
 

#define EMC_AXIS_SET_AXIS_TYPE   ((NMLTYPE) 101)
 

#define EMC_AXIS_SET_CYCLE_TIME_TYPE   ((NMLTYPE) 104)
 

#define EMC_AXIS_SET_FERROR_TYPE   ((NMLTYPE) 111)
 

#define EMC_AXIS_SET_GAINS_TYPE   ((NMLTYPE) 103)
 

#define EMC_AXIS_SET_HOME_OFFSET_TYPE   ((NMLTYPE) 114)
 

#define EMC_AXIS_SET_HOME_TYPE   ((NMLTYPE) 113)
 

#define EMC_AXIS_SET_HOMING_VEL_TYPE   ((NMLTYPE) 112)
 

#define EMC_AXIS_SET_INPUT_SCALE_TYPE   ((NMLTYPE) 105)
 

#define EMC_AXIS_SET_MAX_OUTPUT_LIMIT_TYPE   ((NMLTYPE) 110)
 

#define EMC_AXIS_SET_MAX_POSITION_LIMIT_TYPE   ((NMLTYPE) 108)
 

#define EMC_AXIS_SET_MAX_VELOCITY_TYPE   ((NMLTYPE) 116)
 

#define EMC_AXIS_SET_MIN_FERROR_TYPE   ((NMLTYPE) 115)
 

#define EMC_AXIS_SET_MIN_OUTPUT_LIMIT_TYPE   ((NMLTYPE) 109)
 

#define EMC_AXIS_SET_MIN_POSITION_LIMIT_TYPE   ((NMLTYPE) 107)
 

#define EMC_AXIS_SET_OUTPUT_SCALE_TYPE   ((NMLTYPE) 106)
 

#define EMC_AXIS_SET_OUTPUT_TYPE   ((NMLTYPE) 130)
 

#define EMC_AXIS_SET_UNITS_TYPE   ((NMLTYPE) 102)
 

#define EMC_AXIS_STAT_TYPE   ((NMLTYPE) 199)
 

#define EMC_COOLANT_ABORT_TYPE   ((NMLTYPE) 1403)
 

#define EMC_COOLANT_FLOOD_OFF_TYPE   ((NMLTYPE) 1407)
 

#define EMC_COOLANT_FLOOD_ON_TYPE   ((NMLTYPE) 1406)
 

#define EMC_COOLANT_HALT_TYPE   ((NMLTYPE) 1402)
 

#define EMC_COOLANT_INIT_TYPE   ((NMLTYPE) 1401)
 

#define EMC_COOLANT_MIST_OFF_TYPE   ((NMLTYPE) 1405)
 

#define EMC_COOLANT_MIST_ON_TYPE   ((NMLTYPE) 1404)
 

#define EMC_COOLANT_STAT_TYPE   ((NMLTYPE) 1499)
 

#define EMC_HALT_TYPE   ((NMLTYPE) 1902)
 

Definition at line 375 of file emc.hh.

#define EMC_INIT_TYPE   ((NMLTYPE) 1901)
 

Definition at line 374 of file emc.hh.

#define EMC_IO_ABORT_TYPE   ((NMLTYPE) 1603)
 

Definition at line 350 of file emc.hh.

#define EMC_IO_HALT_TYPE   ((NMLTYPE) 1602)
 

Definition at line 349 of file emc.hh.

#define EMC_IO_INIT_TYPE   ((NMLTYPE) 1601)
 

Definition at line 348 of file emc.hh.

#define EMC_IO_SET_CYCLE_TIME_TYPE   ((NMLTYPE) 1604)
 

Definition at line 351 of file emc.hh.

#define EMC_IO_STAT_TYPE   ((NMLTYPE) 1699)
 

Definition at line 353 of file emc.hh.

#define EMC_LOG_CLOSE_TYPE   ((NMLTYPE) 1907)
 

Definition at line 380 of file emc.hh.

#define EMC_LOG_FILENAME_LEN   256
 

Definition at line 357 of file emc.hh.

#define EMC_LOG_OPEN_TYPE   ((NMLTYPE) 1904)
 

Definition at line 377 of file emc.hh.

#define EMC_LOG_START_TYPE   ((NMLTYPE) 1905)
 

Definition at line 378 of file emc.hh.

#define EMC_LOG_STOP_TYPE   ((NMLTYPE) 1906)
 

Definition at line 379 of file emc.hh.

#define EMC_LOG_TYPE_AXES_FERROR   6
 

Definition at line 365 of file emc.hh.

#define EMC_LOG_TYPE_AXES_INPOS   2
 

Definition at line 361 of file emc.hh.

#define EMC_LOG_TYPE_AXES_OUTPOS   3
 

Definition at line 362 of file emc.hh.

#define EMC_LOG_TYPE_AXIS_POS   1
 

Definition at line 360 of file emc.hh.

#define EMC_LOG_TYPE_AXIS_VEL   5
 

Definition at line 364 of file emc.hh.

#define EMC_LOG_TYPE_IO_CMD   21
 

Definition at line 371 of file emc.hh.

#define EMC_LOG_TYPE_MOTION_CMD   4
 

Definition at line 363 of file emc.hh.

#define EMC_LOG_TYPE_POS_VOLTAGE   10
 

Definition at line 369 of file emc.hh.

#define EMC_LOG_TYPE_TASK_CMD   51
 

Definition at line 372 of file emc.hh.

#define EMC_LOG_TYPE_TRAJ_ACC   9
 

Definition at line 368 of file emc.hh.

#define EMC_LOG_TYPE_TRAJ_POS   7
 

Definition at line 366 of file emc.hh.

#define EMC_LOG_TYPE_TRAJ_VEL   8
 

Definition at line 367 of file emc.hh.

#define EMC_LUBE_ABORT_TYPE   ((NMLTYPE) 1503)
 

#define EMC_LUBE_HALT_TYPE   ((NMLTYPE) 1502)
 

#define EMC_LUBE_INIT_TYPE   ((NMLTYPE) 1501)
 

#define EMC_LUBE_OFF_TYPE   ((NMLTYPE) 1505)
 

#define EMC_LUBE_ON_TYPE   ((NMLTYPE) 1504)
 

#define EMC_LUBE_STAT_TYPE   ((NMLTYPE) 1599)
 

#define EMC_MOTION_ABORT_TYPE   ((NMLTYPE) 303)
 

#define EMC_MOTION_HALT_TYPE   ((NMLTYPE) 302)
 

#define EMC_MOTION_INIT_TYPE   ((NMLTYPE) 301)
 

#define EMC_MOTION_SET_AOUT_TYPE   ((NMLTYPE) 304)
 

#define EMC_MOTION_SET_DOUT_TYPE   ((NMLTYPE) 305)
 

#define EMC_MOTION_STAT_TYPE   ((NMLTYPE) 399)
 

#define EMC_NULL_TYPE   ((NMLTYPE) 21)
 

#define EMC_OPERATOR_DISPLAY_LEN   256
 

Definition at line 722 of file emc.hh.

#define EMC_OPERATOR_DISPLAY_TYPE   ((NMLTYPE) 13)
 

#define EMC_OPERATOR_ERROR_LEN   256
 

Definition at line 682 of file emc.hh.

#define EMC_OPERATOR_ERROR_TYPE   ((NMLTYPE) 11)
 

#define EMC_OPERATOR_TEXT_LEN   256
 

Definition at line 702 of file emc.hh.

#define EMC_OPERATOR_TEXT_TYPE   ((NMLTYPE) 12)
 

#define EMC_SET_AIO_INDEX_TYPE   ((NMLTYPE) 5002)
 

#define EMC_SET_DEBUG_TYPE   ((NMLTYPE) 22)
 

#define EMC_SET_DIO_INDEX_TYPE   ((NMLTYPE) 5001)
 

#define EMC_SET_POLARITY_TYPE   ((NMLTYPE) 5003)
 

#define EMC_SPINDLE_ABORT_TYPE   ((NMLTYPE) 1303)
 

#define EMC_SPINDLE_BRAKE_ENGAGE_TYPE   ((NMLTYPE) 1313)
 

#define EMC_SPINDLE_BRAKE_RELEASE_TYPE   ((NMLTYPE) 1312)
 

#define EMC_SPINDLE_CONSTANT_TYPE   ((NMLTYPE) 1311)
 

#define EMC_SPINDLE_DECREASE_TYPE   ((NMLTYPE) 1310)
 

#define EMC_SPINDLE_DISABLE_TYPE   ((NMLTYPE) 1315)
 

#define EMC_SPINDLE_ENABLE_TYPE   ((NMLTYPE) 1314)
 

#define EMC_SPINDLE_FORWARD_TYPE   ((NMLTYPE) 1306)
 

#define EMC_SPINDLE_HALT_TYPE   ((NMLTYPE) 1302)
 

#define EMC_SPINDLE_INCREASE_TYPE   ((NMLTYPE) 1309)
 

#define EMC_SPINDLE_INIT_TYPE   ((NMLTYPE) 1301)
 

#define EMC_SPINDLE_OFF_TYPE   ((NMLTYPE) 1305)
 

#define EMC_SPINDLE_ON_TYPE   ((NMLTYPE) 1304)
 

#define EMC_SPINDLE_REVERSE_TYPE   ((NMLTYPE) 1307)
 

#define EMC_SPINDLE_STAT_TYPE   ((NMLTYPE) 1399)
 

#define EMC_SPINDLE_STOP_TYPE   ((NMLTYPE) 1308)
 

#define EMC_STAT_TYPE   ((NMLTYPE) 1999)
 

Definition at line 382 of file emc.hh.

#define EMC_TASK_ABORT_TYPE   ((NMLTYPE) 503)
 

#define EMC_TASK_ACTIVE_G_CODES   12
 

Definition at line 1967 of file emc.hh.

#define EMC_TASK_ACTIVE_M_CODES   7
 

Definition at line 1969 of file emc.hh.

#define EMC_TASK_ACTIVE_SETTINGS   3
 

Definition at line 1971 of file emc.hh.

#define EMC_TASK_COMMAND_LEN   256
 

#define EMC_TASK_EXEC_DONE   2
 

Definition at line 1953 of file emc.hh.

#define EMC_TASK_EXEC_ERROR   1
 

Definition at line 1952 of file emc.hh.

#define EMC_TASK_EXEC_WAITING_FOR_DELAY   8
 

Definition at line 1959 of file emc.hh.

#define EMC_TASK_EXEC_WAITING_FOR_IO   5
 

Definition at line 1956 of file emc.hh.

#define EMC_TASK_EXEC_WAITING_FOR_MOTION   3
 

Definition at line 1954 of file emc.hh.

#define EMC_TASK_EXEC_WAITING_FOR_MOTION_AND_IO   7
 

Definition at line 1958 of file emc.hh.

#define EMC_TASK_EXEC_WAITING_FOR_MOTION_QUEUE   4
 

Definition at line 1955 of file emc.hh.

#define EMC_TASK_EXEC_WAITING_FOR_PAUSE   6
 

Definition at line 1957 of file emc.hh.

#define EMC_TASK_FILENAME_LEN   256
 

#define EMC_TASK_HALT_TYPE   ((NMLTYPE) 502)
 

#define EMC_TASK_INIT_TYPE   ((NMLTYPE) 501)
 

#define EMC_TASK_INTERP_IDLE   1
 

Definition at line 1962 of file emc.hh.

#define EMC_TASK_INTERP_PAUSED   3
 

Definition at line 1964 of file emc.hh.

#define EMC_TASK_INTERP_READING   2
 

Definition at line 1963 of file emc.hh.

#define EMC_TASK_INTERP_WAITING   4
 

Definition at line 1965 of file emc.hh.

#define EMC_TASK_MODE_AUTO   2
 

Definition at line 1942 of file emc.hh.

#define EMC_TASK_MODE_MANUAL   1
 

Definition at line 1941 of file emc.hh.

#define EMC_TASK_MODE_MDI   3
 

Definition at line 1943 of file emc.hh.

#define EMC_TASK_PLAN_CLOSE_TYPE   ((NMLTYPE) 514)
 

#define EMC_TASK_PLAN_END_TYPE   ((NMLTYPE) 513)
 

#define EMC_TASK_PLAN_EXECUTE_TYPE   ((NMLTYPE) 509)
 

#define EMC_TASK_PLAN_INIT_TYPE   ((NMLTYPE) 515)
 

#define EMC_TASK_PLAN_OPEN_TYPE   ((NMLTYPE) 506)
 

#define EMC_TASK_PLAN_PAUSE_TYPE   ((NMLTYPE) 510)
 

#define EMC_TASK_PLAN_READ_TYPE   ((NMLTYPE) 508)
 

#define EMC_TASK_PLAN_RESUME_TYPE   ((NMLTYPE) 512)
 

#define EMC_TASK_PLAN_RUN_TYPE   ((NMLTYPE) 507)
 

#define EMC_TASK_PLAN_STEP_TYPE   ((NMLTYPE) 511)
 

#define EMC_TASK_PLAN_SYNCH_TYPE   ((NMLTYPE) 516)
 

#define EMC_TASK_SET_MODE_TYPE   ((NMLTYPE) 504)
 

#define EMC_TASK_SET_STATE_TYPE   ((NMLTYPE) 505)
 

#define EMC_TASK_STATE_ESTOP   1
 

Definition at line 1946 of file emc.hh.

#define EMC_TASK_STATE_ESTOP_RESET   2
 

Definition at line 1947 of file emc.hh.

#define EMC_TASK_STATE_OFF   3
 

Definition at line 1948 of file emc.hh.

#define EMC_TASK_STATE_ON   4
 

Definition at line 1949 of file emc.hh.

#define EMC_TASK_STAT_TYPE   ((NMLTYPE) 599)
 

#define EMC_TOOL_ABORT_TYPE   ((NMLTYPE) 1103)
 

#define EMC_TOOL_HALT_TYPE   ((NMLTYPE) 1102)
 

#define EMC_TOOL_INIT_TYPE   ((NMLTYPE) 1101)
 

#define EMC_TOOL_LOAD_TOOL_TABLE_TYPE   ((NMLTYPE) 1107)
 

#define EMC_TOOL_LOAD_TYPE   ((NMLTYPE) 1105)
 

#define EMC_TOOL_PREPARE_TYPE   ((NMLTYPE) 1104)
 

#define EMC_TOOL_SET_OFFSET_TYPE   ((NMLTYPE) 1108)
 

#define EMC_TOOL_STAT_TYPE   ((NMLTYPE) 1199)
 

#define EMC_TOOL_UNLOAD_TYPE   ((NMLTYPE) 1106)
 

#define EMC_TRAJ_ABORT_TYPE   ((NMLTYPE) 215)
 

#define EMC_TRAJ_CIRCULAR_MOVE_TYPE   ((NMLTYPE) 221)
 

#define EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG_TYPE   ((NMLTYPE) 228)
 

#define EMC_TRAJ_DELAY_TYPE   ((NMLTYPE) 219)
 

#define EMC_TRAJ_DISABLE_TYPE   ((NMLTYPE) 214)
 

#define EMC_TRAJ_ENABLE_TYPE   ((NMLTYPE) 213)
 

#define EMC_TRAJ_HALT_TYPE   ((NMLTYPE) 212)
 

#define EMC_TRAJ_INIT_TYPE   ((NMLTYPE) 211)
 

#define EMC_TRAJ_LINEAR_MOVE_TYPE   ((NMLTYPE) 220)
 

#define EMC_TRAJ_MODE_COORD   2
 

Definition at line 1618 of file emc.hh.

#define EMC_TRAJ_MODE_FREE   1
 

Definition at line 1617 of file emc.hh.

#define EMC_TRAJ_MODE_TELEOP   3
 

Definition at line 1619 of file emc.hh.

#define EMC_TRAJ_PAUSE_TYPE   ((NMLTYPE) 216)
 

#define EMC_TRAJ_PROBE_TYPE   ((NMLTYPE) 229)
 

#define EMC_TRAJ_RESUME_TYPE   ((NMLTYPE) 218)
 

#define EMC_TRAJ_SET_ACCELERATION_TYPE   ((NMLTYPE) 206)
 

#define EMC_TRAJ_SET_AXES_TYPE   ((NMLTYPE) 201)
 

#define EMC_TRAJ_SET_CYCLE_TIME_TYPE   ((NMLTYPE) 203)
 

#define EMC_TRAJ_SET_HOME_TYPE   ((NMLTYPE) 225)
 

#define EMC_TRAJ_SET_MAX_ACCELERATION_TYPE   ((NMLTYPE) 208)
 

#define EMC_TRAJ_SET_MAX_VELOCITY_TYPE   ((NMLTYPE) 207)
 

#define EMC_TRAJ_SET_MODE_TYPE   ((NMLTYPE) 204)
 

#define EMC_TRAJ_SET_MOTION_ID_TYPE   ((NMLTYPE) 210)
 

#define EMC_TRAJ_SET_OFFSET_TYPE   ((NMLTYPE) 223)
 

#define EMC_TRAJ_SET_ORIGIN_TYPE   ((NMLTYPE) 224)
 

#define EMC_TRAJ_SET_PROBE_INDEX_TYPE   ((NMLTYPE) 226)
 

#define EMC_TRAJ_SET_PROBE_POLARITY_TYPE   ((NMLTYPE) 227)
 

#define EMC_TRAJ_SET_SCALE_TYPE   ((NMLTYPE) 209)
 

#define EMC_TRAJ_SET_TELEOP_ENABLE_TYPE   ((NMLTYPE) 230)
 

#define EMC_TRAJ_SET_TELEOP_VECTOR_TYPE   ((NMLTYPE) 231)
 

#define EMC_TRAJ_SET_TERM_COND_TYPE   ((NMLTYPE) 222)
 

#define EMC_TRAJ_SET_UNITS_TYPE   ((NMLTYPE) 202)
 

#define EMC_TRAJ_SET_VELOCITY_TYPE   ((NMLTYPE) 205)
 

#define EMC_TRAJ_STAT_TYPE   ((NMLTYPE) 299)
 

#define EMC_TRAJ_STEP_TYPE   ((NMLTYPE) 217)
 

#define EMC_TRAJ_TERM_COND_BLEND   2
 

#define EMC_TRAJ_TERM_COND_STOP   1
 

#define __attribute__ (  x    ) 
 

Definition at line 89 of file emc.hh.

#define emcSymbolLookup (  a    )     emc_symbol_lookup(a)
 

Definition at line 393 of file emc.hh.

Referenced by BuildList(), emcTaskIssueCommand(), and emc_io_get_command().

Enumeration Type Documentation

anonymous enum
 

Enumeration values:
EMC_SET_AIO_INDEX_SPINDLE_ON 

Definition at line 315 of file emc.hh.

00315      {
00316   // spindle
00317   EMC_SET_AIO_INDEX_SPINDLE_ON = 5201
00318 };

anonymous enum
 

Enumeration values:
EMC_SET_POLARITY_AXIS_ENABLE 
EMC_SET_POLARITY_AXIS_MIN_LIMIT_SWITCH 
EMC_SET_POLARITY_AXIS_MAX_LIMIT_SWITCH 
EMC_SET_POLARITY_AXIS_HOME_SWITCH 
EMC_SET_POLARITY_AXIS_HOMING 
EMC_SET_POLARITY_AXIS_FAULT 
EMC_SET_POLARITY_SPINDLE_FORWARD 
EMC_SET_POLARITY_SPINDLE_REVERSE 
EMC_SET_POLARITY_SPINDLE_DECREASE 
EMC_SET_POLARITY_SPINDLE_INCREASE 
EMC_SET_POLARITY_SPINDLE_BRAKE 
EMC_SET_POLARITY_SPINDLE_ENABLE 
EMC_SET_POLARITY_COOLANT_MIST 
EMC_SET_POLARITY_COOLANT_FLOOD 
EMC_SET_POLARITY_LUBE_SENSE 
EMC_SET_POLARITY_ESTOP_SENSE 
EMC_SET_POLARITY_ESTOP_WRITE 

Definition at line 321 of file emc.hh.

00321      {
00322   // axis
00323   EMC_SET_POLARITY_AXIS_ENABLE = 5301,
00324   EMC_SET_POLARITY_AXIS_MIN_LIMIT_SWITCH,
00325   EMC_SET_POLARITY_AXIS_MAX_LIMIT_SWITCH,
00326   EMC_SET_POLARITY_AXIS_HOME_SWITCH,
00327   EMC_SET_POLARITY_AXIS_HOMING,
00328   EMC_SET_POLARITY_AXIS_FAULT,
00329   // spindle
00330   EMC_SET_POLARITY_SPINDLE_FORWARD,
00331   EMC_SET_POLARITY_SPINDLE_REVERSE,
00332   EMC_SET_POLARITY_SPINDLE_DECREASE,
00333   EMC_SET_POLARITY_SPINDLE_INCREASE,
00334   EMC_SET_POLARITY_SPINDLE_BRAKE,
00335   EMC_SET_POLARITY_SPINDLE_ENABLE,
00336   // coolant
00337   EMC_SET_POLARITY_COOLANT_MIST,
00338   EMC_SET_POLARITY_COOLANT_FLOOD,
00339   // lube
00340   EMC_SET_POLARITY_LUBE_SENSE,
00341   // aux
00342   EMC_SET_POLARITY_ESTOP_SENSE,
00343   EMC_SET_POLARITY_ESTOP_WRITE
00344 };

Function Documentation

char __attribute__ (  (unused)    )  [static]
 

Definition at line 93 of file emc.hh.

00093                                                    : emc.hh,v 1.14 2001/10/04 15:11:59 wshackle Exp $";
00094 
00095 // ---------------------
00096 // EMC TYPE DECLARATIONS
00097 // ---------------------
00098 
00099 // NML for base EMC
00100 
00101 #define EMC_OPERATOR_ERROR_TYPE                      ((NMLTYPE) 11)
00102 #define EMC_OPERATOR_TEXT_TYPE                       ((NMLTYPE) 12)
00103 #define EMC_OPERATOR_DISPLAY_TYPE                    ((NMLTYPE) 13)
00104 
00105 #define EMC_NULL_TYPE                                ((NMLTYPE) 21)
00106 
00107 #define EMC_SET_DEBUG_TYPE                           ((NMLTYPE) 22)
00108 
00109 // NML for EMC_AXIS
00110 
00111 #define EMC_AXIS_SET_AXIS_TYPE                       ((NMLTYPE) 101)
00112 #define EMC_AXIS_SET_UNITS_TYPE                      ((NMLTYPE) 102)
00113 #define EMC_AXIS_SET_GAINS_TYPE                      ((NMLTYPE) 103)
00114 #define EMC_AXIS_SET_CYCLE_TIME_TYPE                 ((NMLTYPE) 104)
00115 #define EMC_AXIS_SET_INPUT_SCALE_TYPE                ((NMLTYPE) 105)
00116 #define EMC_AXIS_SET_OUTPUT_SCALE_TYPE               ((NMLTYPE) 106)
00117 #define EMC_AXIS_SET_MIN_POSITION_LIMIT_TYPE         ((NMLTYPE) 107)
00118 #define EMC_AXIS_SET_MAX_POSITION_LIMIT_TYPE         ((NMLTYPE) 108)
00119 #define EMC_AXIS_SET_MIN_OUTPUT_LIMIT_TYPE           ((NMLTYPE) 109)
00120 #define EMC_AXIS_SET_MAX_OUTPUT_LIMIT_TYPE           ((NMLTYPE) 110)
00121 #define EMC_AXIS_SET_FERROR_TYPE                     ((NMLTYPE) 111)
00122 #define EMC_AXIS_SET_HOMING_VEL_TYPE                 ((NMLTYPE) 112)
00123 #define EMC_AXIS_SET_HOME_TYPE                       ((NMLTYPE) 113)
00124 #define EMC_AXIS_SET_HOME_OFFSET_TYPE                ((NMLTYPE) 114)
00125 #define EMC_AXIS_SET_MIN_FERROR_TYPE                 ((NMLTYPE) 115)
00126 #define EMC_AXIS_SET_MAX_VELOCITY_TYPE               ((NMLTYPE) 116)
00127 
00128 #define EMC_AXIS_INIT_TYPE                           ((NMLTYPE) 118)
00129 #define EMC_AXIS_HALT_TYPE                           ((NMLTYPE) 119)
00130 #define EMC_AXIS_ABORT_TYPE                          ((NMLTYPE) 120)
00131 #define EMC_AXIS_ENABLE_TYPE                         ((NMLTYPE) 121)
00132 #define EMC_AXIS_DISABLE_TYPE                        ((NMLTYPE) 122)
00133 #define EMC_AXIS_HOME_TYPE                           ((NMLTYPE) 123)
00134 #define EMC_AXIS_JOG_TYPE                            ((NMLTYPE) 124)
00135 #define EMC_AXIS_INCR_JOG_TYPE                       ((NMLTYPE) 125)
00136 #define EMC_AXIS_ABS_JOG_TYPE                        ((NMLTYPE) 126)
00137 #define EMC_AXIS_ACTIVATE_TYPE                       ((NMLTYPE) 127)
00138 #define EMC_AXIS_DEACTIVATE_TYPE                     ((NMLTYPE) 128)
00139 #define EMC_AXIS_OVERRIDE_LIMITS_TYPE                ((NMLTYPE) 129)
00140 #define EMC_AXIS_SET_OUTPUT_TYPE                     ((NMLTYPE) 130)
00141 #define EMC_AXIS_LOAD_COMP_TYPE                      ((NMLTYPE) 131)
00142 #define EMC_AXIS_ALTER_TYPE                          ((NMLTYPE) 132)
00143 
00144 #define EMC_AXIS_STAT_TYPE                           ((NMLTYPE) 199)
00145 
00146 // NML for EMC_TRAJ
00147 
00148 // defs for termination conditions
00149 
00150 #define EMC_TRAJ_TERM_COND_STOP  1
00151 #define EMC_TRAJ_TERM_COND_BLEND 2
00152 
00153 #define EMC_TRAJ_SET_AXES_TYPE                       ((NMLTYPE) 201)
00154 #define EMC_TRAJ_SET_UNITS_TYPE                      ((NMLTYPE) 202)
00155 #define EMC_TRAJ_SET_CYCLE_TIME_TYPE                 ((NMLTYPE) 203)
00156 #define EMC_TRAJ_SET_MODE_TYPE                       ((NMLTYPE) 204)
00157 #define EMC_TRAJ_SET_VELOCITY_TYPE                   ((NMLTYPE) 205)
00158 #define EMC_TRAJ_SET_ACCELERATION_TYPE               ((NMLTYPE) 206)
00159 #define EMC_TRAJ_SET_MAX_VELOCITY_TYPE               ((NMLTYPE) 207)
00160 #define EMC_TRAJ_SET_MAX_ACCELERATION_TYPE           ((NMLTYPE) 208)
00161 #define EMC_TRAJ_SET_SCALE_TYPE                      ((NMLTYPE) 209)
00162 #define EMC_TRAJ_SET_MOTION_ID_TYPE                  ((NMLTYPE) 210)
00163 
00164 #define EMC_TRAJ_INIT_TYPE                           ((NMLTYPE) 211)
00165 #define EMC_TRAJ_HALT_TYPE                           ((NMLTYPE) 212)
00166 #define EMC_TRAJ_ENABLE_TYPE                         ((NMLTYPE) 213)
00167 #define EMC_TRAJ_DISABLE_TYPE                        ((NMLTYPE) 214)
00168 #define EMC_TRAJ_ABORT_TYPE                          ((NMLTYPE) 215)
00169 #define EMC_TRAJ_PAUSE_TYPE                          ((NMLTYPE) 216)
00170 #define EMC_TRAJ_STEP_TYPE                           ((NMLTYPE) 217)
00171 #define EMC_TRAJ_RESUME_TYPE                         ((NMLTYPE) 218)
00172 #define EMC_TRAJ_DELAY_TYPE                          ((NMLTYPE) 219)
00173 #define EMC_TRAJ_LINEAR_MOVE_TYPE                    ((NMLTYPE) 220)
00174 #define EMC_TRAJ_CIRCULAR_MOVE_TYPE                  ((NMLTYPE) 221)
00175 #define EMC_TRAJ_SET_TERM_COND_TYPE                  ((NMLTYPE) 222)
00176 #define EMC_TRAJ_SET_OFFSET_TYPE                     ((NMLTYPE) 223)
00177 #define EMC_TRAJ_SET_ORIGIN_TYPE                     ((NMLTYPE) 224)
00178 #define EMC_TRAJ_SET_HOME_TYPE                       ((NMLTYPE) 225)
00179 #define EMC_TRAJ_SET_PROBE_INDEX_TYPE                ((NMLTYPE) 226)
00180 #define EMC_TRAJ_SET_PROBE_POLARITY_TYPE             ((NMLTYPE) 227)
00181 #define EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG_TYPE       ((NMLTYPE) 228)
00182 #define EMC_TRAJ_PROBE_TYPE                          ((NMLTYPE) 229)
00183 #define EMC_TRAJ_SET_TELEOP_ENABLE_TYPE              ((NMLTYPE) 230)
00184 #define EMC_TRAJ_SET_TELEOP_VECTOR_TYPE              ((NMLTYPE) 231)
00185 
00186 #define EMC_TRAJ_STAT_TYPE                           ((NMLTYPE) 299)
00187 
00188 // EMC_MOTION aggregate class type declaration
00189 
00190 #define EMC_MOTION_INIT_TYPE                         ((NMLTYPE) 301)
00191 #define EMC_MOTION_HALT_TYPE                         ((NMLTYPE) 302)
00192 #define EMC_MOTION_ABORT_TYPE                        ((NMLTYPE) 303)
00193 #define EMC_MOTION_SET_AOUT_TYPE                     ((NMLTYPE) 304)
00194 #define EMC_MOTION_SET_DOUT_TYPE                     ((NMLTYPE) 305)
00195 
00196 #define EMC_MOTION_STAT_TYPE                         ((NMLTYPE) 399)
00197 
00198 // NML for EMC_TASK
00199 
00200 #define EMC_TASK_FILENAME_LEN 256 // how long a file name can be
00201 #define EMC_TASK_COMMAND_LEN 256 // how long a file line can be
00202 
00203 #define EMC_TASK_INIT_TYPE                           ((NMLTYPE) 501)
00204 #define EMC_TASK_HALT_TYPE                           ((NMLTYPE) 502)
00205 #define EMC_TASK_ABORT_TYPE                          ((NMLTYPE) 503)
00206 #define EMC_TASK_SET_MODE_TYPE                       ((NMLTYPE) 504)
00207 #define EMC_TASK_SET_STATE_TYPE                      ((NMLTYPE) 505)
00208 #define EMC_TASK_PLAN_OPEN_TYPE                      ((NMLTYPE) 506)
00209 #define EMC_TASK_PLAN_RUN_TYPE                       ((NMLTYPE) 507)
00210 #define EMC_TASK_PLAN_READ_TYPE                      ((NMLTYPE) 508)
00211 #define EMC_TASK_PLAN_EXECUTE_TYPE                   ((NMLTYPE) 509)
00212 #define EMC_TASK_PLAN_PAUSE_TYPE                     ((NMLTYPE) 510)
00213 #define EMC_TASK_PLAN_STEP_TYPE                      ((NMLTYPE) 511)
00214 #define EMC_TASK_PLAN_RESUME_TYPE                    ((NMLTYPE) 512)
00215 #define EMC_TASK_PLAN_END_TYPE                       ((NMLTYPE) 513)
00216 #define EMC_TASK_PLAN_CLOSE_TYPE                     ((NMLTYPE) 514)
00217 #define EMC_TASK_PLAN_INIT_TYPE                      ((NMLTYPE) 515)
00218 #define EMC_TASK_PLAN_SYNCH_TYPE                     ((NMLTYPE) 516)
00219 
00220 #define EMC_TASK_STAT_TYPE                           ((NMLTYPE) 599)
00221 
00222 // EMC_TOOL type declarations
00223 
00224 #define EMC_TOOL_INIT_TYPE                           ((NMLTYPE) 1101)
00225 #define EMC_TOOL_HALT_TYPE                           ((NMLTYPE) 1102)
00226 #define EMC_TOOL_ABORT_TYPE                          ((NMLTYPE) 1103)
00227 #define EMC_TOOL_PREPARE_TYPE                        ((NMLTYPE) 1104)
00228 #define EMC_TOOL_LOAD_TYPE                           ((NMLTYPE) 1105)
00229 #define EMC_TOOL_UNLOAD_TYPE                         ((NMLTYPE) 1106)
00230 #define EMC_TOOL_LOAD_TOOL_TABLE_TYPE                ((NMLTYPE) 1107)
00231 #define EMC_TOOL_SET_OFFSET_TYPE                     ((NMLTYPE) 1108)
00232 
00233 #define EMC_TOOL_STAT_TYPE                           ((NMLTYPE) 1199)
00234 
00235 // EMC_AUX type declarations
00236 
00237 #define EMC_AUX_INIT_TYPE                             ((NMLTYPE) 1201)
00238 #define EMC_AUX_HALT_TYPE                             ((NMLTYPE) 1202)
00239 #define EMC_AUX_ABORT_TYPE                            ((NMLTYPE) 1203)
00240 #define EMC_AUX_DIO_WRITE_TYPE                        ((NMLTYPE) 1204)
00241 #define EMC_AUX_AIO_WRITE_TYPE                        ((NMLTYPE) 1205)
00242 #define EMC_AUX_ESTOP_ON_TYPE                         ((NMLTYPE) 1206)
00243 #define EMC_AUX_ESTOP_OFF_TYPE                        ((NMLTYPE) 1207)
00244 
00245 #define EMC_AUX_STAT_TYPE                             ((NMLTYPE) 1299)
00246 
00247 // EMC_SPINDLE type declarations
00248 
00249 #define EMC_SPINDLE_INIT_TYPE                        ((NMLTYPE) 1301)
00250 #define EMC_SPINDLE_HALT_TYPE                        ((NMLTYPE) 1302)
00251 #define EMC_SPINDLE_ABORT_TYPE                       ((NMLTYPE) 1303)
00252 #define EMC_SPINDLE_ON_TYPE                          ((NMLTYPE) 1304)
00253 #define EMC_SPINDLE_OFF_TYPE                         ((NMLTYPE) 1305)
00254 #define EMC_SPINDLE_FORWARD_TYPE                     ((NMLTYPE) 1306)
00255 #define EMC_SPINDLE_REVERSE_TYPE                     ((NMLTYPE) 1307)
00256 #define EMC_SPINDLE_STOP_TYPE                        ((NMLTYPE) 1308)
00257 #define EMC_SPINDLE_INCREASE_TYPE                    ((NMLTYPE) 1309)
00258 #define EMC_SPINDLE_DECREASE_TYPE                    ((NMLTYPE) 1310)
00259 #define EMC_SPINDLE_CONSTANT_TYPE                    ((NMLTYPE) 1311)
00260 #define EMC_SPINDLE_BRAKE_RELEASE_TYPE               ((NMLTYPE) 1312)
00261 #define EMC_SPINDLE_BRAKE_ENGAGE_TYPE                ((NMLTYPE) 1313)
00262 #define EMC_SPINDLE_ENABLE_TYPE                      ((NMLTYPE) 1314)
00263 #define EMC_SPINDLE_DISABLE_TYPE                     ((NMLTYPE) 1315)
00264 
00265 #define EMC_SPINDLE_STAT_TYPE                        ((NMLTYPE) 1399)
00266 
00267 // EMC_COOLANT type declarations
00268 
00269 #define EMC_COOLANT_INIT_TYPE                        ((NMLTYPE) 1401)
00270 #define EMC_COOLANT_HALT_TYPE                        ((NMLTYPE) 1402)
00271 #define EMC_COOLANT_ABORT_TYPE                       ((NMLTYPE) 1403)
00272 #define EMC_COOLANT_MIST_ON_TYPE                     ((NMLTYPE) 1404)
00273 #define EMC_COOLANT_MIST_OFF_TYPE                    ((NMLTYPE) 1405)
00274 #define EMC_COOLANT_FLOOD_ON_TYPE                    ((NMLTYPE) 1406)
00275 #define EMC_COOLANT_FLOOD_OFF_TYPE                   ((NMLTYPE) 1407)
00276 
00277 #define EMC_COOLANT_STAT_TYPE                        ((NMLTYPE) 1499)
00278 
00279 // EMC_LUBE type declarations
00280 
00281 #define EMC_LUBE_INIT_TYPE                           ((NMLTYPE) 1501)
00282 #define EMC_LUBE_HALT_TYPE                           ((NMLTYPE) 1502)
00283 #define EMC_LUBE_ABORT_TYPE                          ((NMLTYPE) 1503)
00284 #define EMC_LUBE_ON_TYPE                             ((NMLTYPE) 1504)
00285 #define EMC_LUBE_OFF_TYPE                            ((NMLTYPE) 1505)
00286 
00287 #define EMC_LUBE_STAT_TYPE                           ((NMLTYPE) 1599)
00288 
00289 // EMC IO point configuration declarations
00290 
00291 #define EMC_SET_DIO_INDEX_TYPE                       ((NMLTYPE) 5001)
00292 #define EMC_SET_AIO_INDEX_TYPE                       ((NMLTYPE) 5002)
00293 #define EMC_SET_POLARITY_TYPE                        ((NMLTYPE) 5003)
00294 
00295 // digital IO point indices
00296 enum {
00297   // spindle
00298   EMC_SET_DIO_INDEX_SPINDLE_FORWARD = 5101,
00299   EMC_SET_DIO_INDEX_SPINDLE_REVERSE,
00300   EMC_SET_DIO_INDEX_SPINDLE_DECREASE,
00301   EMC_SET_DIO_INDEX_SPINDLE_INCREASE,
00302   EMC_SET_DIO_INDEX_SPINDLE_BRAKE,
00303   EMC_SET_DIO_INDEX_SPINDLE_ENABLE,
00304   // coolant
00305   EMC_SET_DIO_INDEX_COOLANT_MIST,
00306   EMC_SET_DIO_INDEX_COOLANT_FLOOD,
00307   // lube
00308   EMC_SET_DIO_INDEX_LUBE_SENSE,
00309   // aux
00310   EMC_SET_DIO_INDEX_ESTOP_SENSE,
00311   EMC_SET_DIO_INDEX_ESTOP_WRITE
00312 };

int emcAbort (    ) 
 

int emcAuxAbort (    ) 
 

int emcAuxAioWrite (  int    index,
double    value
) 
 

int emcAuxDioWrite (  int    index,
int    value
) 
 

int emcAuxEstopOff (    ) 
 

Definition at line 1922 of file bridgeporttaskintf.cc.

Referenced by emcTaskSetState(). 

01923 {
01924   EMC_AUX_ESTOP_OFF estopOffMsg;
01925 
01926   return sendCommand(&estopOffMsg);
01927 }

int emcAuxEstopOn (    ) 
 

Definition at line 1915 of file bridgeporttaskintf.cc.

Referenced by emcTaskSetState(). 

01916 {
01917   EMC_AUX_ESTOP_ON estopOnMsg;
01918 
01919   return forceCommand(&estopOnMsg);
01920 }

int emcAuxEstopSetSenseIndex (  int    index ) 
 

Definition at line 206 of file iniaux.cc.

00207 {
00208   ESTOP_SENSE_INDEX = index;
00209 
00210   return 0;
00211 }

int emcAuxEstopSetSensePolarity (  int    polarity ) 
 

Definition at line 220 of file iniaux.cc.

00221 {
00222   ESTOP_SENSE_POLARITY = polarity;
00223 
00224   return 0;
00225 }

int emcAuxEstopSetWriteIndex (  int    index ) 
 

Definition at line 213 of file iniaux.cc.

00214 {
00215   ESTOP_WRITE_INDEX = index;
00216 
00217   return 0;
00218 }

int emcAuxEstopSetWritePolarity (  int    polarity ) 
 

Definition at line 227 of file iniaux.cc.

00228 {
00229   ESTOP_WRITE_POLARITY = polarity;
00230 
00231   return 0;
00232 }

int emcAuxHalt (    ) 
 

int emcAuxInit (    ) 
 

int emcAuxUpdate (  EMC_AUX_STAT *    stat ) 
 

int emcAxisAbort (  int    axis ) 
 

Definition at line 678 of file bridgeporttaskintf.cc.

00679 {
00680   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00681   {
00682     return 0;
00683   }
00684 
00685   emcmotCommand.command = EMCMOT_ABORT;
00686   emcmotCommand.axis = axis;
00687 
00688   return usrmotWriteEmcmotCommand(&emcmotCommand);
00689 }

int emcAxisAbsJog (  int    axis,
double    pos,
double    vel
) 
 

Definition at line 846 of file bridgeporttaskintf.cc.

00847 {
00848   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00849   {
00850     return 0;
00851   }
00852 
00853   if (vel > AXIS_MAX_VELOCITY[axis])
00854   {
00855     vel = AXIS_MAX_VELOCITY[axis];
00856   }
00857   else if (vel < -AXIS_MAX_VELOCITY[axis])
00858   {
00859     vel = -AXIS_MAX_VELOCITY[axis];
00860   }
00861 
00862   emcmotCommand.command = EMCMOT_JOG_ABS;
00863   emcmotCommand.axis = axis;
00864   emcmotCommand.vel = vel;
00865   emcmotCommand.offset = pos;
00866 
00867   return usrmotWriteEmcmotCommand(&emcmotCommand);
00868 }

int emcAxisActivate (  int    axis ) 
 

Definition at line 691 of file bridgeporttaskintf.cc.

00692 {
00693   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00694   {
00695     return 0;
00696   }
00697 
00698   emcmotCommand.command = EMCMOT_ACTIVATE_AXIS;
00699   emcmotCommand.axis = axis;
00700 
00701   return usrmotWriteEmcmotCommand(&emcmotCommand);
00702 }

int emcAxisAlter (  int    axis,
double    alter
) 
 

Definition at line 875 of file bridgeporttaskintf.cc.

00876 {
00877   return usrmotAlter(axis, alter);
00878 }

int emcAxisDeactivate (  int    axis ) 
 

Definition at line 704 of file bridgeporttaskintf.cc.

00705 {
00706   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00707   {
00708     return 0;
00709   }
00710 
00711   emcmotCommand.command = EMCMOT_DEACTIVATE_AXIS;
00712   emcmotCommand.axis = axis;
00713 
00714   return usrmotWriteEmcmotCommand(&emcmotCommand);
00715 }

int emcAxisDisable (  int    axis ) 
 

Definition at line 759 of file bridgeporttaskintf.cc.

00760 {
00761   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00762   {
00763     return 0;
00764   }
00765 
00766   emcmotCommand.command = EMCMOT_DISABLE_AMPLIFIER;
00767   emcmotCommand.axis = axis;
00768 
00769   return usrmotWriteEmcmotCommand(&emcmotCommand);
00770 }

int emcAxisEnable (  int    axis ) 
 

Definition at line 746 of file bridgeporttaskintf.cc.

00747 {
00748   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00749   {
00750     return 0;
00751   }
00752 
00753   emcmotCommand.command = EMCMOT_ENABLE_AMPLIFIER;
00754   emcmotCommand.axis = axis;
00755 
00756   return usrmotWriteEmcmotCommand(&emcmotCommand);
00757 }

int emcAxisHalt (  int    axis ) 
 

Definition at line 656 of file bridgeporttaskintf.cc.

00657 {
00658   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00659   {
00660     return 0;
00661   }
00662 
00663   // FIXME-- refs global emcStatus; should make EMC_AXIS_STAT an arg here
00664   if(NULL != emcStatus && emcmotion_initialized && emcmotAxisInited)
00665   {
00666     dumpAxis(axis, EMC_INIFILE, &emcStatus->motion.axis[axis]);
00667   }
00668 
00669   if (! emcmotTrajInited)       // traj clears its inited flag on exit
00670   {
00671     usrmotExit();               // ours is final exit
00672   }
00673   emcmotAxisInited = 0;
00674 
00675   return 0;
00676 }

int emcAxisHome (  int    axis ) 
 

Definition at line 772 of file bridgeporttaskintf.cc.

00773 {
00774   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00775   {
00776     return 0;
00777   }
00778 
00779   emcmotCommand.command = EMCMOT_HOME;
00780   emcmotCommand.axis = axis;
00781 
00782   return usrmotWriteEmcmotCommand(&emcmotCommand);
00783 }

int emcAxisIncrJog (  int    axis,
double    incr,
double    vel
) 
 

Definition at line 822 of file bridgeporttaskintf.cc.

00823 {
00824   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00825   {
00826     return 0;
00827   }
00828 
00829   if (vel > AXIS_MAX_VELOCITY[axis])
00830   {
00831     vel = AXIS_MAX_VELOCITY[axis];
00832   }
00833   else if (vel < -AXIS_MAX_VELOCITY[axis])
00834   {
00835     vel = -AXIS_MAX_VELOCITY[axis];
00836   }
00837 
00838   emcmotCommand.command = EMCMOT_JOG_INCR;
00839   emcmotCommand.axis = axis;
00840   emcmotCommand.vel = vel;
00841   emcmotCommand.offset = incr;
00842 
00843   return usrmotWriteEmcmotCommand(&emcmotCommand);
00844 }

int emcAxisInit (  int    axis ) 
 

Definition at line 626 of file bridgeporttaskintf.cc.

00627 {
00628   int retval = 0;
00629 
00630   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00631   {
00632     return 0;
00633   }
00634 
00635   // init emcmot interface
00636   if (! emcmotAxisInited &&
00637       ! emcmotTrajInited)
00638   {
00639     usrmotIniLoad(EMC_INIFILE);
00640 
00641     if (0 != usrmotInit())
00642     {
00643       return -1;
00644     }
00645   }
00646   emcmotAxisInited = 1;
00647 
00648   if (0 != iniAxis(axis, EMC_INIFILE))
00649   {
00650     retval = -1;
00651   }
00652 
00653   return retval;
00654 }

int emcAxisJog (  int    axis,
double    vel
) 
 

Definition at line 799 of file bridgeporttaskintf.cc.

00800 {
00801   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00802   {
00803     return 0;
00804   }
00805 
00806   if (vel > AXIS_MAX_VELOCITY[axis])
00807   {
00808     vel = AXIS_MAX_VELOCITY[axis];
00809   }
00810   else if (vel < -AXIS_MAX_VELOCITY[axis])
00811   {
00812     vel = -AXIS_MAX_VELOCITY[axis];
00813   }
00814 
00815   emcmotCommand.command = EMCMOT_JOG_CONT;
00816   emcmotCommand.axis = axis;
00817   emcmotCommand.vel = vel;
00818 
00819   return usrmotWriteEmcmotCommand(&emcmotCommand);
00820 }

int emcAxisLoadComp (  int    axis,
const char *    file
) 
 

Definition at line 870 of file bridgeporttaskintf.cc.

00871 {
00872   return usrmotLoadComp(axis, file);
00873 }

int emcAxisOverrideLimits (  int    axis ) 
 

Definition at line 717 of file bridgeporttaskintf.cc.

00718 {
00719   // can have axis < 0, for resuming normal limit checking
00720   if (axis >= EMCMOT_MAX_AXIS)
00721   {
00722     return 0;
00723   }
00724 
00725   emcmotCommand.command = EMCMOT_OVERRIDE_LIMITS;
00726   emcmotCommand.axis = axis;
00727 
00728   return usrmotWriteEmcmotCommand(&emcmotCommand);
00729 
00730 }

int emcAxisSetAxis (  int    axis,
unsigned char    axisType
) 
 

Referenced by loadAxis().

int emcAxisSetCycleTime (  int    axis,
double    cycleTime
) 
 

Definition at line 247 of file bridgeporttaskintf.cc.

00248 {
00249   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00250   {
00251     return 0;
00252   }
00253 
00254   if (cycleTime <= 0.0)
00255   {
00256     return -1;
00257   }
00258 
00259   emcmotCommand.command = EMCMOT_SET_SERVO_CYCLE_TIME;
00260   emcmotCommand.cycleTime = cycleTime;
00261 
00262   return usrmotWriteEmcmotCommand(&emcmotCommand);
00263 }

int emcAxisSetEnablePolarity (  int    axis,
int    level
) 
 

Definition at line 532 of file bridgeporttaskintf.cc.

00533 {
00534   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00535   {
00536     return 0;
00537   }
00538 
00539   emcmotCommand.command = EMCMOT_SET_POLARITY;
00540   emcmotCommand.axis = axis;
00541   emcmotCommand.level = level;
00542   emcmotCommand.axisFlag = EMCMOT_AXIS_ENABLE_BIT;
00543 
00544   return usrmotWriteEmcmotCommand(&emcmotCommand);
00545 }

int emcAxisSetFaultPolarity (  int    axis,
int    level
) 
 

Definition at line 611 of file bridgeporttaskintf.cc.

00612 {
00613   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00614   {
00615     return 0;
00616   }
00617 
00618   emcmotCommand.command = EMCMOT_SET_POLARITY;
00619   emcmotCommand.axis = axis;
00620   emcmotCommand.level = level;
00621   emcmotCommand.axisFlag = EMCMOT_AXIS_FAULT_BIT;
00622 
00623   return usrmotWriteEmcmotCommand(&emcmotCommand);
00624 }

int emcAxisSetFerror (  int    axis,
double    ferror
) 
 

Definition at line 423 of file bridgeporttaskintf.cc.

00424 {
00425   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00426   {
00427     return 0;
00428   }
00429 
00430   emcmotCommand.command = EMCMOT_SET_MAX_FERROR;
00431   emcmotCommand.axis = axis;
00432   emcmotCommand.maxFerror = ferror;
00433 
00434 #ifdef ISNAN_TRAP
00435   if (isnan(emcmotCommand.maxFerror))
00436   {
00437     printf("isnan error in emcAxisSetFerror\n");
00438     return -1;
00439   }
00440 #endif
00441 
00442   return usrmotWriteEmcmotCommand(&emcmotCommand);
00443 }

int emcAxisSetGains (  int    axis,
double    p,
double    i,
double    d,
double    ff0,
double    ff1,
double    ff2,
double    backlash,
double    bias,
double    maxError,
double    deadband
) 
 

Definition at line 203 of file bridgeporttaskintf.cc.

00207 {
00208   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00209   {
00210     return 0;
00211   }
00212 
00213   emcmotCommand.command = EMCMOT_SET_PID;
00214   emcmotCommand.axis = axis;
00215 
00216   emcmotCommand.pid.p = p;
00217   emcmotCommand.pid.i = i;
00218   emcmotCommand.pid.d = d;
00219   emcmotCommand.pid.ff0 = ff0;
00220   emcmotCommand.pid.ff1 = ff1;
00221   emcmotCommand.pid.ff2 = ff2;
00222   emcmotCommand.pid.backlash = backlash;
00223   emcmotCommand.pid.bias = bias;
00224   emcmotCommand.pid.maxError = maxError;
00225   emcmotCommand.pid.deadband = deadband;
00226 
00227 #ifdef ISNAN_TRAP
00228   if (isnan(emcmotCommand.pid.p) ||
00229       isnan(emcmotCommand.pid.i) ||
00230       isnan(emcmotCommand.pid.d) ||
00231       isnan(emcmotCommand.pid.ff0) ||
00232       isnan(emcmotCommand.pid.ff1) ||
00233       isnan(emcmotCommand.pid.ff2) ||
00234       isnan(emcmotCommand.pid.backlash) ||
00235       isnan(emcmotCommand.pid.bias) ||
00236       isnan(emcmotCommand.pid.maxError) ||
00237       isnan(emcmotCommand.pid.deadband))
00238   {
00239     printf("isnan error in emcAxisSetGains\n");
00240     return -1;
00241   }
00242 #endif
00243 
00244   return usrmotWriteEmcmotCommand(&emcmotCommand);
00245 }

int emcAxisSetHome (  int    axis,
double    home
) 
 

Definition at line 785 of file bridgeporttaskintf.cc.

00786 {
00787   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00788   {
00789     return 0;
00790   }
00791 
00792   emcmotCommand.command = EMCMOT_SET_JOINT_HOME;
00793   emcmotCommand.axis = axis;
00794   emcmotCommand.offset = home;
00795 
00796   return usrmotWriteEmcmotCommand(&emcmotCommand);
00797 }

int emcAxisSetHomeOffset (  int    axis,
double    offset
) 
 

Definition at line 510 of file bridgeporttaskintf.cc.

00511 {
00512   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00513   {
00514     return 0;
00515   }
00516 
00517   emcmotCommand.command = EMCMOT_SET_HOME_OFFSET;
00518   emcmotCommand.axis = axis;
00519   emcmotCommand.offset = offset;
00520 
00521 #ifdef ISNAN_TRAP
00522   if (isnan(emcmotCommand.offset))
00523   {
00524     printf("isnan error in emcAxisSetHomeOffset\n");
00525     return -1;
00526   }
00527 #endif
00528 
00529   return usrmotWriteEmcmotCommand(&emcmotCommand);
00530 }

int emcAxisSetHomeSwitchPolarity (  int    axis,
int    level
) 
 

Definition at line 581 of file bridgeporttaskintf.cc.

00582 {
00583   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00584   {
00585     return 0;
00586   }
00587 
00588   emcmotCommand.command = EMCMOT_SET_POLARITY;
00589   emcmotCommand.axis = axis;
00590   emcmotCommand.level = level;
00591   emcmotCommand.axisFlag = EMCMOT_AXIS_HOME_SWITCH_BIT;
00592 
00593   return usrmotWriteEmcmotCommand(&emcmotCommand);
00594 }

int emcAxisSetHomingPolarity (  int    axis,
int    level
) 
 

Definition at line 596 of file bridgeporttaskintf.cc.

00597 {
00598   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00599   {
00600     return 0;
00601   }
00602 
00603   emcmotCommand.command = EMCMOT_SET_POLARITY;
00604   emcmotCommand.axis = axis;
00605   emcmotCommand.level = level;
00606   emcmotCommand.axisFlag = EMCMOT_AXIS_HOMING_BIT;
00607 
00608   return usrmotWriteEmcmotCommand(&emcmotCommand);
00609 }

int emcAxisSetHomingVel (  int    axis,
double    homingVel
) 
 

Definition at line 467 of file bridgeporttaskintf.cc.

00468 {
00469   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00470   {
00471     return 0;
00472   }
00473 
00474   emcmotCommand.command = EMCMOT_SET_HOMING_VEL;
00475   emcmotCommand.axis = axis;
00476   emcmotCommand.vel = homingVel;
00477 
00478 #ifdef ISNAN_TRAP
00479   if (isnan(emcmotCommand.vel))
00480   {
00481     printf("isnan error in emcAxisSetHomingVel\n");
00482     return -1;
00483   }
00484 #endif
00485 
00486   return usrmotWriteEmcmotCommand(&emcmotCommand);
00487 }

int emcAxisSetInputScale (  int    axis,
double    scale,
double    offset
) 
 

Definition at line 265 of file bridgeporttaskintf.cc.

00266 {
00267   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00268   {
00269     return 0;
00270   }
00271 
00272   emcmotCommand.command = EMCMOT_SET_INPUT_SCALE;
00273   emcmotCommand.axis = axis;
00274   emcmotCommand.scale = scale;
00275   emcmotCommand.offset = offset;
00276 
00277 #ifdef ISNAN_TRAP
00278   if (isnan(emcmotCommand.scale) ||
00279       isnan(emcmotCommand.offset))
00280   {
00281     printf("isnan eror in emcAxisSetInputScale\n");
00282     return -1;
00283   }
00284 #endif
00285 
00286   return usrmotWriteEmcmotCommand(&emcmotCommand);
00287 }

int emcAxisSetInterpolationRate (  int    axis,
int    rate
) 
 

int emcAxisSetMaxLimitSwitchPolarity (  int    axis,
int    level
) 
 

Definition at line 562 of file bridgeporttaskintf.cc.

00563 {
00564   if (axis < 0)
00565   {
00566     axis = 0;
00567   }
00568   else if (axis >= EMCMOT_MAX_AXIS)
00569   {
00570     axis = EMCMOT_MAX_AXIS - 1;
00571   }
00572 
00573   emcmotCommand.command = EMCMOT_SET_POLARITY;
00574   emcmotCommand.axis = axis;
00575   emcmotCommand.level = level;
00576   emcmotCommand.axisFlag = EMCMOT_AXIS_MAX_HARD_LIMIT_BIT;
00577 
00578   return usrmotWriteEmcmotCommand(&emcmotCommand);
00579 }

int emcAxisSetMaxOutputLimit (  int    axis,
double    limit
) 
 

Definition at line 398 of file bridgeporttaskintf.cc.

00399 {
00400   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00401   {
00402     return 0;
00403   }
00404 
00405   emcmotCommand.command = EMCMOT_SET_OUTPUT_LIMITS;
00406   emcmotCommand.axis = axis;
00407   emcmotCommand.minLimit = saveMinOutput[axis];
00408   emcmotCommand.maxLimit = limit;
00409   saveMaxOutput[axis] = limit;
00410 
00411 #ifdef ISNAN_TRAP
00412   if (isnan(emcmotCommand.maxLimit) ||
00413       isnan(emcmotCommand.minLimit))
00414   {
00415     printf("isnan error in emcAxisSetMaxOutputLimit\n");
00416     return -1;
00417   }
00418 #endif
00419 
00420   return usrmotWriteEmcmotCommand(&emcmotCommand);
00421 }

int emcAxisSetMaxPositionLimit (  int    axis,
double    limit
) 
 

Definition at line 343 of file bridgeporttaskintf.cc.

00344 {
00345   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00346   {
00347     return 0;
00348   }
00349 
00350   emcmotCommand.command = EMCMOT_SET_POSITION_LIMITS;
00351   emcmotCommand.axis = axis;
00352   emcmotCommand.minLimit = saveMinLimit[axis];
00353   emcmotCommand.maxLimit = limit;
00354   saveMaxLimit[axis] = limit;
00355 
00356 #ifdef ISNAN_TRAP
00357   if (isnan(emcmotCommand.maxLimit) ||
00358       isnan(emcmotCommand.minLimit))
00359   {
00360     printf("isnan error in emcAxisSetMaxPosition\n");
00361     return -1;
00362   }
00363 #endif
00364 
00365   return usrmotWriteEmcmotCommand(&emcmotCommand);
00366 }

int emcAxisSetMaxVelocity (  int    axis,
double    vel
) 
 

Definition at line 489 of file bridgeporttaskintf.cc.

00490 {
00491   if (axis < 0 || axis >= EMC_AXIS_MAX)
00492   {
00493     return 0;
00494   }
00495 
00496   if (vel < 0.0)
00497   {
00498     vel = 0.0;
00499   }
00500 
00501   AXIS_MAX_VELOCITY[axis] = vel;
00502 
00503   emcmotCommand.command = EMCMOT_SET_AXIS_VEL_LIMIT;
00504   emcmotCommand.axis = axis;
00505   emcmotCommand.vel = vel;
00506 
00507   return usrmotWriteEmcmotCommand(&emcmotCommand);
00508 }

int emcAxisSetMinFerror (  int    axis,
double    ferror
) 
 

Definition at line 445 of file bridgeporttaskintf.cc.

00446 {
00447   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00448   {
00449     return 0;
00450   }
00451 
00452   emcmotCommand.command = EMCMOT_SET_MIN_FERROR;
00453   emcmotCommand.axis = axis;
00454   emcmotCommand.minFerror = ferror;
00455 
00456 #ifdef ISNAN_TRAP
00457   if (isnan(emcmotCommand.minFerror))
00458   {
00459     printf("isnan error in emcAxisSetMinFerror\n");
00460     return -1;
00461   }
00462 #endif
00463 
00464   return usrmotWriteEmcmotCommand(&emcmotCommand);
00465 }

int emcAxisSetMinLimitSwitchPolarity (  int    axis,
int    level
) 
 

Definition at line 547 of file bridgeporttaskintf.cc.

00548 {
00549   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00550   {
00551     return 0;
00552   }
00553 
00554   emcmotCommand.command = EMCMOT_SET_POLARITY;
00555   emcmotCommand.axis = axis;
00556   emcmotCommand.level = level;
00557   emcmotCommand.axisFlag = EMCMOT_AXIS_MIN_HARD_LIMIT_BIT;
00558 
00559   return usrmotWriteEmcmotCommand(&emcmotCommand);
00560 }

int emcAxisSetMinOutputLimit (  int    axis,
double    limit
) 
 

Definition at line 373 of file bridgeporttaskintf.cc.

00374 {
00375   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00376   {
00377     return 0;
00378   }
00379 
00380   emcmotCommand.command = EMCMOT_SET_OUTPUT_LIMITS;
00381   emcmotCommand.axis = axis;
00382   emcmotCommand.maxLimit = saveMaxOutput[axis];
00383   emcmotCommand.minLimit = limit;
00384   saveMinOutput[axis] = limit;
00385 
00386 #ifdef ISNAN_TRAP
00387   if (isnan(emcmotCommand.maxLimit) ||
00388       isnan(emcmotCommand.minLimit))
00389   {
00390     printf("isnan error in emcAxisSetMinOutputLimit\n");
00391     return -1;
00392   }
00393 #endif
00394 
00395   return usrmotWriteEmcmotCommand(&emcmotCommand);
00396 }

int emcAxisSetMinPositionLimit (  int    axis,
double    limit
) 
 

Definition at line 318 of file bridgeporttaskintf.cc.

00319 {
00320   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00321   {
00322     return 0;
00323   }
00324 
00325   emcmotCommand.command = EMCMOT_SET_POSITION_LIMITS;
00326   emcmotCommand.axis = axis;
00327   emcmotCommand.maxLimit = saveMaxLimit[axis];
00328   emcmotCommand.minLimit = limit;
00329   saveMinLimit[axis] = limit;
00330 
00331 #ifdef ISNAN_TRAP
00332   if (isnan(emcmotCommand.maxLimit) ||
00333       isnan(emcmotCommand.minLimit))
00334   {
00335     printf("isnan error in emcAxisSetMinPosition\n");
00336     return -1;
00337   }
00338 #endif
00339 
00340   return usrmotWriteEmcmotCommand(&emcmotCommand);
00341 }

int emcAxisSetOutput (  int    axis,
double    output
) 
 

Definition at line 732 of file bridgeporttaskintf.cc.

00733 {
00734   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00735   {
00736     return 0;
00737   }
00738 
00739   emcmotCommand.command = EMCMOT_DAC_OUT;
00740   emcmotCommand.axis = axis;
00741   emcmotCommand.dacOut = output;
00742 
00743   return usrmotWriteEmcmotCommand(&emcmotCommand);
00744 }

int emcAxisSetOutputScale (  int    axis,
double    scale,
double    offset
) 
 

Definition at line 289 of file bridgeporttaskintf.cc.

00290 {
00291   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00292   {
00293     return 0;
00294   }
00295 
00296   emcmotCommand.command = EMCMOT_SET_OUTPUT_SCALE;
00297   emcmotCommand.axis = axis;
00298   emcmotCommand.scale = scale;
00299   emcmotCommand.offset = offset;
00300 
00301 #ifdef ISNAN_TRAP
00302   if (isnan(emcmotCommand.scale) ||
00303       isnan(emcmotCommand.offset))
00304   {
00305     printf("isnan eror in emcAxisSetOutputScale\n");
00306     return -1;
00307   }
00308 #endif
00309 
00310   return usrmotWriteEmcmotCommand(&emcmotCommand);
00311 }

int emcAxisSetUnits (  int    axis,
double    units
) 
 

Definition at line 191 of file bridgeporttaskintf.cc.

00192 {
00193   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
00194   {
00195     return 0;
00196   }
00197 
00198   localEmcAxisUnits[axis] = units;
00199 
00200   return 0;
00201 }

int emcAxisUpdate (  EMC_AXIS_STAT    stat[],
int    numAxes
) 
 

Definition at line 892 of file bridgeporttaskintf.cc.

00893 {
00894   int axis;
00895 
00896   // check for valid range
00897   if (numAxes <= 0 || numAxes > EMCMOT_MAX_AXIS) {
00898     return -1;
00899   }
00900 
00901   for (axis = 0; axis < numAxes; axis++) {
00902     stat[axis].axisType = localEmcAxisAxisType[axis];
00903     stat[axis].units = localEmcAxisUnits[axis];
00904 
00905     stat[axis].inputScale = emcmotStatus.inputScale[axis];
00906     stat[axis].inputOffset = emcmotStatus.inputOffset[axis];
00907     stat[axis].outputScale = emcmotStatus.outputScale[axis];
00908     stat[axis].outputOffset = emcmotStatus.outputOffset[axis];
00909 
00910     if (new_config) {
00911       stat[axis].p = emcmotConfig.pid[axis].p;
00912       stat[axis].i = emcmotConfig.pid[axis].i;
00913       stat[axis].d = emcmotConfig.pid[axis].d;
00914       stat[axis].ff0 = emcmotConfig.pid[axis].ff0;
00915       stat[axis].ff1 = emcmotConfig.pid[axis].ff1;
00916       stat[axis].ff2 = emcmotConfig.pid[axis].ff2;
00917       stat[axis].backlash = emcmotConfig.pid[axis].backlash;
00918       stat[axis].bias = emcmotConfig.pid[axis].bias;
00919       stat[axis].maxError = emcmotConfig.pid[axis].maxError;
00920       stat[axis].deadband = emcmotConfig.pid[axis].deadband;
00921       stat[axis].cycleTime = emcmotConfig.servoCycleTime;
00922       stat[axis].minPositionLimit = emcmotConfig.minLimit[axis];
00923       stat[axis].maxPositionLimit = emcmotConfig.maxLimit[axis];
00924       stat[axis].minOutputLimit = emcmotConfig.minOutput[axis];
00925       stat[axis].maxOutputLimit = emcmotConfig.maxOutput[axis];
00926       stat[axis].minFerror = emcmotConfig.minFerror[axis];
00927       stat[axis].maxFerror = emcmotConfig.maxFerror[axis];
00928       stat[axis].homeOffset = emcmotConfig.homeOffset[axis];
00929       stat[axis].enablePolarity = (emcmotConfig.axisPolarity[axis] &
00930                                    EMCMOT_AXIS_ENABLE_BIT) ? 1 : 0;
00931       stat[axis].minLimitSwitchPolarity = (emcmotConfig.axisPolarity[axis] &
00932                                            EMCMOT_AXIS_MIN_HARD_LIMIT_BIT) ? 1 : 0;
00933       stat[axis].maxLimitSwitchPolarity = (emcmotConfig.axisPolarity[axis] &
00934                                            EMCMOT_AXIS_MAX_HARD_LIMIT_BIT) ? 1 : 0;
00935       stat[axis].homeSwitchPolarity = (emcmotConfig.axisPolarity[axis] &
00936                                        EMCMOT_AXIS_HOME_SWITCH_BIT) ? 1 : 0;
00937       stat[axis].homingPolarity = (emcmotConfig.axisPolarity[axis] &
00938                                    EMCMOT_AXIS_HOMING_BIT) ? 1 : 0;
00939       stat[axis].faultPolarity = (emcmotConfig.axisPolarity[axis] &
00940                                   EMCMOT_AXIS_FAULT_BIT) ? 1 : 0;
00941     }
00942 
00943     stat[axis].setpoint = emcmotStatus.axisPos[axis];
00944      
00945     if (get_emcmot_debug_info) {
00946       stat[axis].ferrorCurrent = emcmotDebug.ferrorCurrent[axis];
00947       stat[axis].ferrorHighMark = emcmotDebug.ferrorHighMark[axis];
00948     }
00949       
00950     stat[axis].output = emcmotStatus.output[axis];
00951     stat[axis].input = emcmotStatus.input[axis];
00952     stat[axis].homing = (emcmotStatus.axisFlag[axis] & EMCMOT_AXIS_HOMING_BIT ? 1 : 0);
00953     stat[axis].homed = (emcmotStatus.axisFlag[axis] & EMCMOT_AXIS_HOMED_BIT ? 1 : 0);
00954     stat[axis].fault = (emcmotStatus.axisFlag[axis] & EMCMOT_AXIS_FAULT_BIT ? 1 : 0);
00955     stat[axis].enabled = (emcmotStatus.axisFlag[axis] & EMCMOT_AXIS_ENABLE_BIT ? 1 : 0);
00956 
00957     stat[axis].minSoftLimit = (emcmotStatus.axisFlag[axis] & EMCMOT_AXIS_MIN_SOFT_LIMIT_BIT ? 1 : 0);
00958     stat[axis].maxSoftLimit = (emcmotStatus.axisFlag[axis] & EMCMOT_AXIS_MAX_SOFT_LIMIT_BIT ? 1 : 0);
00959     stat[axis].minHardLimit = (emcmotStatus.axisFlag[axis] & EMCMOT_AXIS_MIN_HARD_LIMIT_BIT ? 1 : 0);
00960     stat[axis].maxHardLimit = (emcmotStatus.axisFlag[axis] & EMCMOT_AXIS_MAX_HARD_LIMIT_BIT ? 1 : 0);
00961     stat[axis].overrideLimits = (emcmotStatus.overrideLimits); // one for all
00962 
00963     stat[axis].scale = emcmotStatus.axVscale[axis];
00964     usrmotQueryAlter(axis, &stat[axis].alter);
00965 
00966     if (emcmotStatus.axisFlag[axis] & EMCMOT_AXIS_ERROR_BIT) {
00967       if (stat[axis].status != RCS_ERROR) {
00968         rcs_print_error("Error on axis %d.\n",axis);
00969         stat[axis].status = RCS_ERROR;
00970       }
00971     }
00972     else if (emcmotStatus.axisFlag[axis] & EMCMOT_AXIS_INPOS_BIT) {
00973       stat[axis].status = RCS_DONE;
00974     }
00975     else {
00976       stat[axis].status = RCS_EXEC;
00977     }
00978   }
00979 
00980   return 0;
00981 }

int emcCoolantAbort (    ) 
 

int emcCoolantFloodOff (    ) 
 

Definition at line 2049 of file bridgeporttaskintf.cc.

Referenced by emcTaskIssueCommand(), and main(). 

02050 {
02051   EMC_COOLANT_FLOOD_OFF floodOffMsg;
02052 
02053   sendCommand(&floodOffMsg);
02054 
02055   return 0;
02056 }

int emcCoolantFloodOn (    ) 
 

Definition at line 2040 of file bridgeporttaskintf.cc.

Referenced by emcTaskIssueCommand(). 

02041 {
02042   EMC_COOLANT_FLOOD_ON floodOnMsg;
02043 
02044   sendCommand(&floodOnMsg);
02045 
02046   return 0;
02047 }

int emcCoolantHalt (    ) 
 

int emcCoolantInit (    ) 
 

int emcCoolantMistOff (    ) 
 

Definition at line 2031 of file bridgeporttaskintf.cc.

Referenced by emcTaskIssueCommand(), and main(). 

02032 {
02033   EMC_COOLANT_MIST_OFF mistOffMsg;
02034 
02035   sendCommand(&mistOffMsg);
02036 
02037   return 0;
02038 }

int emcCoolantMistOn (    ) 
 

Definition at line 2022 of file bridgeporttaskintf.cc.

Referenced by emcTaskIssueCommand(). 

02023 {
02024   EMC_COOLANT_MIST_ON mistOnMsg;
02025 
02026   sendCommand(&mistOnMsg);
02027 
02028   return 0;
02029 }

int emcCoolantSetFloodIndex (  int    index ) 
 

Definition at line 211 of file inicool.cc.

00212 {
00213   FLOOD_COOLANT_INDEX = index;
00214 
00215   return 0;
00216 }

int emcCoolantSetFloodPolarity (  int    polarity ) 
 

Definition at line 225 of file inicool.cc.

00226 {
00227   FLOOD_COOLANT_POLARITY = polarity;
00228 
00229   return 0;
00230 }

int emcCoolantSetMistIndex (  int    index ) 
 

Definition at line 204 of file inicool.cc.

00205 {
00206   MIST_COOLANT_INDEX = index;
00207 
00208   return 0;
00209 }

int emcCoolantSetMistPolarity (  int    polarity ) 
 

Definition at line 218 of file inicool.cc.

00219 {
00220   MIST_COOLANT_POLARITY = polarity;
00221 
00222   return 0;
00223 }

int emcCoolantUpdate (  EMC_COOLANT_STAT *    stat ) 
 

int emcFormat (  NMLTYPE    type,
void *    buffer,
CMS *    cms
) 
 

Definition at line 27 of file emc.cc.

00028 {
00029         switch(type)
00030         {
00031         case EMC_ABORT_TYPE:
00032                 ((EMC_ABORT *) buffer)->update(cms);
00033                 break;
00034         case EMC_AUX_ABORT_TYPE:
00035                 ((EMC_AUX_ABORT *) buffer)->update(cms);
00036                 break;
00037         case EMC_AUX_AIO_WRITE_TYPE:
00038                 ((EMC_AUX_AIO_WRITE *) buffer)->update(cms);
00039                 break;
00040         case EMC_AUX_DIO_WRITE_TYPE:
00041                 ((EMC_AUX_DIO_WRITE *) buffer)->update(cms);
00042                 break;
00043         case EMC_AUX_ESTOP_OFF_TYPE:
00044                 ((EMC_AUX_ESTOP_OFF *) buffer)->update(cms);
00045                 break;
00046         case EMC_AUX_ESTOP_ON_TYPE:
00047                 ((EMC_AUX_ESTOP_ON *) buffer)->update(cms);
00048                 break;
00049         case EMC_AUX_HALT_TYPE:
00050                 ((EMC_AUX_HALT *) buffer)->update(cms);
00051                 break;
00052         case EMC_AUX_INIT_TYPE:
00053                 ((EMC_AUX_INIT *) buffer)->update(cms);
00054                 break;
00055         case EMC_AUX_STAT_TYPE:
00056                 ((EMC_AUX_STAT *) buffer)->update(cms);
00057                 break;
00058         case EMC_AXIS_ABORT_TYPE:
00059                 ((EMC_AXIS_ABORT *) buffer)->update(cms);
00060                 break;
00061         case EMC_AXIS_ABS_JOG_TYPE:
00062                 ((EMC_AXIS_ABS_JOG *) buffer)->update(cms);
00063                 break;
00064         case EMC_AXIS_ACTIVATE_TYPE:
00065                 ((EMC_AXIS_ACTIVATE *) buffer)->update(cms);
00066                 break;
00067         case EMC_AXIS_ALTER_TYPE:
00068                 ((EMC_AXIS_ALTER *) buffer)->update(cms);
00069                 break;
00070         case EMC_AXIS_DEACTIVATE_TYPE:
00071                 ((EMC_AXIS_DEACTIVATE *) buffer)->update(cms);
00072                 break;
00073         case EMC_AXIS_DISABLE_TYPE:
00074                 ((EMC_AXIS_DISABLE *) buffer)->update(cms);
00075                 break;
00076         case EMC_AXIS_ENABLE_TYPE:
00077                 ((EMC_AXIS_ENABLE *) buffer)->update(cms);
00078                 break;
00079         case EMC_AXIS_HALT_TYPE:
00080                 ((EMC_AXIS_HALT *) buffer)->update(cms);
00081                 break;
00082         case EMC_AXIS_HOME_TYPE:
00083                 ((EMC_AXIS_HOME *) buffer)->update(cms);
00084                 break;
00085         case EMC_AXIS_INCR_JOG_TYPE:
00086                 ((EMC_AXIS_INCR_JOG *) buffer)->update(cms);
00087                 break;
00088         case EMC_AXIS_INIT_TYPE:
00089                 ((EMC_AXIS_INIT *) buffer)->update(cms);
00090                 break;
00091         case EMC_AXIS_JOG_TYPE:
00092                 ((EMC_AXIS_JOG *) buffer)->update(cms);
00093                 break;
00094         case EMC_AXIS_LOAD_COMP_TYPE:
00095                 ((EMC_AXIS_LOAD_COMP *) buffer)->update(cms);
00096                 break;
00097         case EMC_AXIS_OVERRIDE_LIMITS_TYPE:
00098                 ((EMC_AXIS_OVERRIDE_LIMITS *) buffer)->update(cms);
00099                 break;
00100         case EMC_AXIS_SET_AXIS_TYPE:
00101                 ((EMC_AXIS_SET_AXIS *) buffer)->update(cms);
00102                 break;
00103         case EMC_AXIS_SET_CYCLE_TIME_TYPE:
00104                 ((EMC_AXIS_SET_CYCLE_TIME *) buffer)->update(cms);
00105                 break;
00106         case EMC_AXIS_SET_FERROR_TYPE:
00107                 ((EMC_AXIS_SET_FERROR *) buffer)->update(cms);
00108                 break;
00109         case EMC_AXIS_SET_GAINS_TYPE:
00110                 ((EMC_AXIS_SET_GAINS *) buffer)->update(cms);
00111                 break;
00112         case EMC_AXIS_SET_HOME_TYPE:
00113                 ((EMC_AXIS_SET_HOME *) buffer)->update(cms);
00114                 break;
00115         case EMC_AXIS_SET_HOME_OFFSET_TYPE:
00116                 ((EMC_AXIS_SET_HOME_OFFSET *) buffer)->update(cms);
00117                 break;
00118         case EMC_AXIS_SET_HOMING_VEL_TYPE:
00119                 ((EMC_AXIS_SET_HOMING_VEL *) buffer)->update(cms);
00120                 break;
00121         case EMC_AXIS_SET_INPUT_SCALE_TYPE:
00122                 ((EMC_AXIS_SET_INPUT_SCALE *) buffer)->update(cms);
00123                 break;
00124         case EMC_AXIS_SET_MAX_OUTPUT_LIMIT_TYPE:
00125                 ((EMC_AXIS_SET_MAX_OUTPUT_LIMIT *) buffer)->update(cms);
00126                 break;
00127         case EMC_AXIS_SET_MAX_POSITION_LIMIT_TYPE:
00128                 ((EMC_AXIS_SET_MAX_POSITION_LIMIT *) buffer)->update(cms);
00129                 break;
00130         case EMC_AXIS_SET_MAX_VELOCITY_TYPE:
00131                 ((EMC_AXIS_SET_MAX_VELOCITY *) buffer)->update(cms);
00132                 break;
00133         case EMC_AXIS_SET_MIN_FERROR_TYPE:
00134                 ((EMC_AXIS_SET_MIN_FERROR *) buffer)->update(cms);
00135                 break;
00136         case EMC_AXIS_SET_MIN_OUTPUT_LIMIT_TYPE:
00137                 ((EMC_AXIS_SET_MIN_OUTPUT_LIMIT *) buffer)->update(cms);
00138                 break;
00139         case EMC_AXIS_SET_MIN_POSITION_LIMIT_TYPE:
00140                 ((EMC_AXIS_SET_MIN_POSITION_LIMIT *) buffer)->update(cms);
00141                 break;
00142         case EMC_AXIS_SET_OUTPUT_TYPE:
00143                 ((EMC_AXIS_SET_OUTPUT *) buffer)->update(cms);
00144                 break;
00145         case EMC_AXIS_SET_OUTPUT_SCALE_TYPE:
00146                 ((EMC_AXIS_SET_OUTPUT_SCALE *) buffer)->update(cms);
00147                 break;
00148         case EMC_AXIS_SET_UNITS_TYPE:
00149                 ((EMC_AXIS_SET_UNITS *) buffer)->update(cms);
00150                 break;
00151         case EMC_AXIS_STAT_TYPE:
00152                 ((EMC_AXIS_STAT *) buffer)->update(cms);
00153                 break;
00154         case EMC_COOLANT_ABORT_TYPE:
00155                 ((EMC_COOLANT_ABORT *) buffer)->update(cms);
00156                 break;
00157         case EMC_COOLANT_FLOOD_OFF_TYPE:
00158                 ((EMC_COOLANT_FLOOD_OFF *) buffer)->update(cms);
00159                 break;
00160         case EMC_COOLANT_FLOOD_ON_TYPE:
00161                 ((EMC_COOLANT_FLOOD_ON *) buffer)->update(cms);
00162                 break;
00163         case EMC_COOLANT_HALT_TYPE:
00164                 ((EMC_COOLANT_HALT *) buffer)->update(cms);
00165                 break;
00166         case EMC_COOLANT_INIT_TYPE:
00167                 ((EMC_COOLANT_INIT *) buffer)->update(cms);
00168                 break;
00169         case EMC_COOLANT_MIST_OFF_TYPE:
00170                 ((EMC_COOLANT_MIST_OFF *) buffer)->update(cms);
00171                 break;
00172         case EMC_COOLANT_MIST_ON_TYPE:
00173                 ((EMC_COOLANT_MIST_ON *) buffer)->update(cms);
00174                 break;
00175         case EMC_COOLANT_STAT_TYPE:
00176                 ((EMC_COOLANT_STAT *) buffer)->update(cms);
00177                 break;
00178         case EMC_HALT_TYPE:
00179                 ((EMC_HALT *) buffer)->update(cms);
00180                 break;
00181         case EMC_INIT_TYPE:
00182                 ((EMC_INIT *) buffer)->update(cms);
00183                 break;
00184         case EMC_IO_ABORT_TYPE:
00185                 ((EMC_IO_ABORT *) buffer)->update(cms);
00186                 break;
00187         case EMC_IO_HALT_TYPE:
00188                 ((EMC_IO_HALT *) buffer)->update(cms);
00189                 break;
00190         case EMC_IO_INIT_TYPE:
00191                 ((EMC_IO_INIT *) buffer)->update(cms);
00192                 break;
00193         case EMC_IO_SET_CYCLE_TIME_TYPE:
00194                 ((EMC_IO_SET_CYCLE_TIME *) buffer)->update(cms);
00195                 break;
00196         case EMC_IO_STAT_TYPE:
00197                 ((EMC_IO_STAT *) buffer)->update(cms);
00198                 break;
00199         case EMC_LOG_CLOSE_TYPE:
00200                 ((EMC_LOG_CLOSE *) buffer)->update(cms);
00201                 break;
00202         case EMC_LOG_OPEN_TYPE:
00203                 ((EMC_LOG_OPEN *) buffer)->update(cms);
00204                 break;
00205         case EMC_LOG_START_TYPE:
00206                 ((EMC_LOG_START *) buffer)->update(cms);
00207                 break;
00208         case EMC_LOG_STOP_TYPE:
00209                 ((EMC_LOG_STOP *) buffer)->update(cms);
00210                 break;
00211         case EMC_LUBE_ABORT_TYPE:
00212                 ((EMC_LUBE_ABORT *) buffer)->update(cms);
00213                 break;
00214         case EMC_LUBE_HALT_TYPE:
00215                 ((EMC_LUBE_HALT *) buffer)->update(cms);
00216                 break;
00217         case EMC_LUBE_INIT_TYPE:
00218                 ((EMC_LUBE_INIT *) buffer)->update(cms);
00219                 break;
00220         case EMC_LUBE_OFF_TYPE:
00221                 ((EMC_LUBE_OFF *) buffer)->update(cms);
00222                 break;
00223         case EMC_LUBE_ON_TYPE:
00224                 ((EMC_LUBE_ON *) buffer)->update(cms);
00225                 break;
00226         case EMC_LUBE_STAT_TYPE:
00227                 ((EMC_LUBE_STAT *) buffer)->update(cms);
00228                 break;
00229         case EMC_MOTION_ABORT_TYPE:
00230                 ((EMC_MOTION_ABORT *) buffer)->update(cms);
00231                 break;
00232         case EMC_MOTION_HALT_TYPE:
00233                 ((EMC_MOTION_HALT *) buffer)->update(cms);
00234                 break;
00235         case EMC_MOTION_INIT_TYPE:
00236                 ((EMC_MOTION_INIT *) buffer)->update(cms);
00237                 break;
00238         case EMC_MOTION_SET_AOUT_TYPE:
00239                 ((EMC_MOTION_SET_AOUT *) buffer)->update(cms);
00240                 break;
00241         case EMC_MOTION_SET_DOUT_TYPE:
00242                 ((EMC_MOTION_SET_DOUT *) buffer)->update(cms);
00243                 break;
00244         case EMC_MOTION_STAT_TYPE:
00245                 ((EMC_MOTION_STAT *) buffer)->update(cms);
00246                 break;
00247         case EMC_NULL_TYPE:
00248                 ((EMC_NULL *) buffer)->update(cms);
00249                 break;
00250         case EMC_OPERATOR_DISPLAY_TYPE:
00251                 ((EMC_OPERATOR_DISPLAY *) buffer)->update(cms);
00252                 break;
00253         case EMC_OPERATOR_ERROR_TYPE:
00254                 ((EMC_OPERATOR_ERROR *) buffer)->update(cms);
00255                 break;
00256         case EMC_OPERATOR_TEXT_TYPE:
00257                 ((EMC_OPERATOR_TEXT *) buffer)->update(cms);
00258                 break;
00259         case EMC_SET_AIO_INDEX_TYPE:
00260                 ((EMC_SET_AIO_INDEX *) buffer)->update(cms);
00261                 break;
00262         case EMC_SET_DEBUG_TYPE:
00263                 ((EMC_SET_DEBUG *) buffer)->update(cms);
00264                 break;
00265         case EMC_SET_DIO_INDEX_TYPE:
00266                 ((EMC_SET_DIO_INDEX *) buffer)->update(cms);
00267                 break;
00268         case EMC_SET_POLARITY_TYPE:
00269                 ((EMC_SET_POLARITY *) buffer)->update(cms);
00270                 break;
00271         case EMC_SPINDLE_ABORT_TYPE:
00272                 ((EMC_SPINDLE_ABORT *) buffer)->update(cms);
00273                 break;
00274         case EMC_SPINDLE_BRAKE_ENGAGE_TYPE:
00275                 ((EMC_SPINDLE_BRAKE_ENGAGE *) buffer)->update(cms);
00276                 break;
00277         case EMC_SPINDLE_BRAKE_RELEASE_TYPE:
00278                 ((EMC_SPINDLE_BRAKE_RELEASE *) buffer)->update(cms);
00279                 break;
00280         case EMC_SPINDLE_CONSTANT_TYPE:
00281                 ((EMC_SPINDLE_CONSTANT *) buffer)->update(cms);
00282                 break;
00283         case EMC_SPINDLE_DECREASE_TYPE:
00284                 ((EMC_SPINDLE_DECREASE *) buffer)->update(cms);
00285                 break;
00286         case EMC_SPINDLE_DISABLE_TYPE:
00287                 ((EMC_SPINDLE_DISABLE *) buffer)->update(cms);
00288                 break;
00289         case EMC_SPINDLE_ENABLE_TYPE:
00290                 ((EMC_SPINDLE_ENABLE *) buffer)->update(cms);
00291                 break;
00292         case EMC_SPINDLE_FORWARD_TYPE:
00293                 ((EMC_SPINDLE_FORWARD *) buffer)->update(cms);
00294                 break;
00295         case EMC_SPINDLE_HALT_TYPE:
00296                 ((EMC_SPINDLE_HALT *) buffer)->update(cms);
00297                 break;
00298         case EMC_SPINDLE_INCREASE_TYPE:
00299                 ((EMC_SPINDLE_INCREASE *) buffer)->update(cms);
00300                 break;
00301         case EMC_SPINDLE_INIT_TYPE:
00302                 ((EMC_SPINDLE_INIT *) buffer)->update(cms);
00303                 break;
00304         case EMC_SPINDLE_OFF_TYPE:
00305                 ((EMC_SPINDLE_OFF *) buffer)->update(cms);
00306                 break;
00307         case EMC_SPINDLE_ON_TYPE:
00308                 ((EMC_SPINDLE_ON *) buffer)->update(cms);
00309                 break;
00310         case EMC_SPINDLE_REVERSE_TYPE:
00311                 ((EMC_SPINDLE_REVERSE *) buffer)->update(cms);
00312                 break;
00313         case EMC_SPINDLE_STAT_TYPE:
00314                 ((EMC_SPINDLE_STAT *) buffer)->update(cms);
00315                 break;
00316         case EMC_SPINDLE_STOP_TYPE:
00317                 ((EMC_SPINDLE_STOP *) buffer)->update(cms);
00318                 break;
00319         case EMC_STAT_TYPE:
00320                 ((EMC_STAT *) buffer)->update(cms);
00321                 break;
00322         case EMC_TASK_ABORT_TYPE:
00323                 ((EMC_TASK_ABORT *) buffer)->update(cms);
00324                 break;
00325         case EMC_TASK_HALT_TYPE:
00326                 ((EMC_TASK_HALT *) buffer)->update(cms);
00327                 break;
00328         case EMC_TASK_INIT_TYPE:
00329                 ((EMC_TASK_INIT *) buffer)->update(cms);
00330                 break;
00331         case EMC_TASK_PLAN_CLOSE_TYPE:
00332                 ((EMC_TASK_PLAN_CLOSE *) buffer)->update(cms);
00333                 break;
00334         case EMC_TASK_PLAN_END_TYPE:
00335                 ((EMC_TASK_PLAN_END *) buffer)->update(cms);
00336                 break;
00337         case EMC_TASK_PLAN_EXECUTE_TYPE:
00338                 ((EMC_TASK_PLAN_EXECUTE *) buffer)->update(cms);
00339                 break;
00340         case EMC_TASK_PLAN_INIT_TYPE:
00341                 ((EMC_TASK_PLAN_INIT *) buffer)->update(cms);
00342                 break;
00343         case EMC_TASK_PLAN_OPEN_TYPE:
00344                 ((EMC_TASK_PLAN_OPEN *) buffer)->update(cms);
00345                 break;
00346         case EMC_TASK_PLAN_PAUSE_TYPE:
00347                 ((EMC_TASK_PLAN_PAUSE *) buffer)->update(cms);
00348                 break;
00349         case EMC_TASK_PLAN_READ_TYPE:
00350                 ((EMC_TASK_PLAN_READ *) buffer)->update(cms);
00351                 break;
00352         case EMC_TASK_PLAN_RESUME_TYPE:
00353                 ((EMC_TASK_PLAN_RESUME *) buffer)->update(cms);
00354                 break;
00355         case EMC_TASK_PLAN_RUN_TYPE:
00356                 ((EMC_TASK_PLAN_RUN *) buffer)->update(cms);
00357                 break;
00358         case EMC_TASK_PLAN_STEP_TYPE:
00359                 ((EMC_TASK_PLAN_STEP *) buffer)->update(cms);
00360                 break;
00361         case EMC_TASK_PLAN_SYNCH_TYPE:
00362                 ((EMC_TASK_PLAN_SYNCH *) buffer)->update(cms);
00363                 break;
00364         case EMC_TASK_SET_MODE_TYPE:
00365                 ((EMC_TASK_SET_MODE *) buffer)->update(cms);
00366                 break;
00367         case EMC_TASK_SET_STATE_TYPE:
00368                 ((EMC_TASK_SET_STATE *) buffer)->update(cms);
00369                 break;
00370         case EMC_TASK_STAT_TYPE:
00371                 ((EMC_TASK_STAT *) buffer)->update(cms);
00372                 break;
00373         case EMC_TOOL_ABORT_TYPE:
00374                 ((EMC_TOOL_ABORT *) buffer)->update(cms);
00375                 break;
00376         case EMC_TOOL_HALT_TYPE:
00377                 ((EMC_TOOL_HALT *) buffer)->update(cms);
00378                 break;
00379         case EMC_TOOL_INIT_TYPE:
00380                 ((EMC_TOOL_INIT *) buffer)->update(cms);
00381                 break;
00382         case EMC_TOOL_LOAD_TYPE:
00383                 ((EMC_TOOL_LOAD *) buffer)->update(cms);
00384                 break;
00385         case EMC_TOOL_LOAD_TOOL_TABLE_TYPE:
00386                 ((EMC_TOOL_LOAD_TOOL_TABLE *) buffer)->update(cms);
00387                 break;
00388         case EMC_TOOL_PREPARE_TYPE:
00389                 ((EMC_TOOL_PREPARE *) buffer)->update(cms);
00390                 break;
00391         case EMC_TOOL_SET_OFFSET_TYPE:
00392                 ((EMC_TOOL_SET_OFFSET *) buffer)->update(cms);
00393                 break;
00394         case EMC_TOOL_STAT_TYPE:
00395                 ((EMC_TOOL_STAT *) buffer)->update(cms);
00396                 break;
00397         case EMC_TOOL_UNLOAD_TYPE:
00398                 ((EMC_TOOL_UNLOAD *) buffer)->update(cms);
00399                 break;
00400         case EMC_TRAJ_ABORT_TYPE:
00401                 ((EMC_TRAJ_ABORT *) buffer)->update(cms);
00402                 break;
00403         case EMC_TRAJ_CIRCULAR_MOVE_TYPE:
00404                 ((EMC_TRAJ_CIRCULAR_MOVE *) buffer)->update(cms);
00405                 break;
00406         case EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG_TYPE:
00407                 ((EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG *) buffer)->update(cms);
00408                 break;
00409         case EMC_TRAJ_DELAY_TYPE:
00410                 ((EMC_TRAJ_DELAY *) buffer)->update(cms);
00411                 break;
00412         case EMC_TRAJ_DISABLE_TYPE:
00413                 ((EMC_TRAJ_DISABLE *) buffer)->update(cms);
00414                 break;
00415         case EMC_TRAJ_ENABLE_TYPE:
00416                 ((EMC_TRAJ_ENABLE *) buffer)->update(cms);
00417                 break;
00418         case EMC_TRAJ_HALT_TYPE:
00419                 ((EMC_TRAJ_HALT *) buffer)->update(cms);
00420                 break;
00421         case EMC_TRAJ_INIT_TYPE:
00422                 ((EMC_TRAJ_INIT *) buffer)->update(cms);
00423                 break;
00424         case EMC_TRAJ_LINEAR_MOVE_TYPE:
00425                 ((EMC_TRAJ_LINEAR_MOVE *) buffer)->update(cms);
00426                 break;
00427         case EMC_TRAJ_PAUSE_TYPE:
00428                 ((EMC_TRAJ_PAUSE *) buffer)->update(cms);
00429                 break;
00430         case EMC_TRAJ_PROBE_TYPE:
00431                 ((EMC_TRAJ_PROBE *) buffer)->update(cms);
00432                 break;
00433         case EMC_TRAJ_RESUME_TYPE:
00434                 ((EMC_TRAJ_RESUME *) buffer)->update(cms);
00435                 break;
00436         case EMC_TRAJ_SET_ACCELERATION_TYPE:
00437                 ((EMC_TRAJ_SET_ACCELERATION *) buffer)->update(cms);
00438                 break;
00439         case EMC_TRAJ_SET_AXES_TYPE:
00440                 ((EMC_TRAJ_SET_AXES *) buffer)->update(cms);
00441                 break;
00442         case EMC_TRAJ_SET_CYCLE_TIME_TYPE:
00443                 ((EMC_TRAJ_SET_CYCLE_TIME *) buffer)->update(cms);
00444                 break;
00445         case EMC_TRAJ_SET_HOME_TYPE:
00446                 ((EMC_TRAJ_SET_HOME *) buffer)->update(cms);
00447                 break;
00448         case EMC_TRAJ_SET_MAX_ACCELERATION_TYPE:
00449                 ((EMC_TRAJ_SET_MAX_ACCELERATION *) buffer)->update(cms);
00450                 break;
00451         case EMC_TRAJ_SET_MAX_VELOCITY_TYPE:
00452                 ((EMC_TRAJ_SET_MAX_VELOCITY *) buffer)->update(cms);
00453                 break;
00454         case EMC_TRAJ_SET_MODE_TYPE:
00455                 ((EMC_TRAJ_SET_MODE *) buffer)->update(cms);
00456                 break;
00457         case EMC_TRAJ_SET_MOTION_ID_TYPE:
00458                 ((EMC_TRAJ_SET_MOTION_ID *) buffer)->update(cms);
00459                 break;
00460         case EMC_TRAJ_SET_OFFSET_TYPE:
00461                 ((EMC_TRAJ_SET_OFFSET *) buffer)->update(cms);
00462                 break;
00463         case EMC_TRAJ_SET_ORIGIN_TYPE:
00464                 ((EMC_TRAJ_SET_ORIGIN *) buffer)->update(cms);
00465                 break;
00466         case EMC_TRAJ_SET_PROBE_INDEX_TYPE:
00467                 ((EMC_TRAJ_SET_PROBE_INDEX *) buffer)->update(cms);
00468                 break;
00469         case EMC_TRAJ_SET_PROBE_POLARITY_TYPE:
00470                 ((EMC_TRAJ_SET_PROBE_POLARITY *) buffer)->update(cms);
00471                 break;
00472         case EMC_TRAJ_SET_SCALE_TYPE:
00473                 ((EMC_TRAJ_SET_SCALE *) buffer)->update(cms);
00474                 break;
00475         case EMC_TRAJ_SET_TELEOP_ENABLE_TYPE:
00476                 ((EMC_TRAJ_SET_TELEOP_ENABLE *) buffer)->update(cms);
00477                 break;
00478         case EMC_TRAJ_SET_TELEOP_VECTOR_TYPE:
00479                 ((EMC_TRAJ_SET_TELEOP_VECTOR *) buffer)->update(cms);
00480                 break;
00481         case EMC_TRAJ_SET_TERM_COND_TYPE:
00482                 ((EMC_TRAJ_SET_TERM_COND *) buffer)->update(cms);
00483                 break;
00484         case EMC_TRAJ_SET_UNITS_TYPE:
00485                 ((EMC_TRAJ_SET_UNITS *) buffer)->update(cms);
00486                 break;
00487         case EMC_TRAJ_SET_VELOCITY_TYPE:
00488                 ((EMC_TRAJ_SET_VELOCITY *) buffer)->update(cms);
00489                 break;
00490         case EMC_TRAJ_STAT_TYPE:
00491                 ((EMC_TRAJ_STAT *) buffer)->update(cms);
00492                 break;
00493         case EMC_TRAJ_STEP_TYPE:
00494                 ((EMC_TRAJ_STEP *) buffer)->update(cms);
00495                 break;
00496 
00497         default:
00498                 return(0);
00499         }
00500         return 1;
00501 }

int emcHalt (    ) 
 

int emcInit (    ) 
 

int emcIoAbort (    ) 
 

Definition at line 1896 of file bridgeporttaskintf.cc.

Referenced by emcTaskAbort(). 

01897 {
01898   EMC_TOOL_ABORT ioAbortMsg;
01899 
01900   // send abort command to emcio
01901   forceCommand(&ioAbortMsg);
01902 
01903   return 0;
01904 }

int emcIoHalt (    ) 
 

Definition at line 1868 of file bridgeporttaskintf.cc.

Referenced by emctask_shutdown(). 

01869 {
01870   EMC_TOOL_HALT ioHaltMsg;
01871 
01872   // send halt command to emcio
01873   if (emcIoCommandBuffer != 0)
01874   {
01875     forceCommand(&ioHaltMsg);
01876   }
01877 
01878   // clear out the buffers
01879 
01880   if (emcIoStatusBuffer != 0)
01881   {
01882     delete emcIoStatusBuffer;
01883     emcIoStatusBuffer = 0;
01884     emcIoStatus = 0;
01885   }
01886 
01887   if (emcIoCommandBuffer != 0)
01888   {
01889     delete emcIoCommandBuffer;
01890     emcIoCommandBuffer = 0;
01891   }
01892 
01893   return 0;
01894 }

int emcIoInit (    ) 
 

Definition at line 1853 of file bridgeporttaskintf.cc.

Referenced by emctask_startup(). 

01854 {
01855   EMC_TOOL_INIT ioInitMsg;
01856   int retval;
01857 
01858   // get NML buffer to emcio
01859   if (0 != (retval = emcioNmlGet()))
01860   {
01861     return -1;
01862   }
01863 
01864   // send init command to emcio
01865   return forceCommand(&ioInitMsg);
01866 }

int emcIoSetCycleTime (  double    cycleTime ) 
 

int emcIoSetDebug (  int    debug ) 
 

Definition at line 1906 of file bridgeporttaskintf.cc.

01907 {
01908   EMC_SET_DEBUG ioDebugMsg;
01909 
01910   ioDebugMsg.debug = debug;
01911 
01912   return sendCommand(&ioDebugMsg);
01913 }

int emcIoUpdate (  EMC_IO_STAT *    stat ) 
 

Definition at line 2267 of file bridgeporttaskintf.cc.

02268 {
02269   if (0 == emcIoStatusBuffer ||
02270       ! emcIoStatusBuffer->valid())
02271   {
02272     return -1;
02273   }
02274 
02275   switch (emcIoStatusBuffer->peek())
02276   {
02277     case -1:
02278       // error on CMS channel
02279       return -1;
02280       break;
02281 
02282     case 0:                     // nothing new
02283     case EMC_IO_STAT_TYPE:      // something new
02284       // drop out to copy
02285       break;
02286 
02287     default:
02288       // something else is in there
02289       return -1;
02290       break;
02291   }
02292 
02293   // copy status
02294   *stat = *emcIoStatus;
02295 
02296   /*
02297     We need to check that the RCS_DONE isn't left over from the previous
02298     command, by comparing the command number we sent with the command
02299     number that emcio echoes. If they're different, then the command hasn't
02300     been acknowledged yet and the state should be forced to be RCS_EXEC.
02301   */
02302   if (stat->echo_serial_number != emcIoCommandSerialNumber)
02303   {
02304     stat->status = RCS_EXEC;
02305   }
02306 
02307   return 0;
02308 }

int emcLogClose (    ) 
 

Definition at line 2238 of file bridgeporttaskintf.cc.

Referenced by emcTaskIssueCommand(). 

02239 {
02240   int r1;
02241   int r2;
02242 
02243   // first check for active log, return nicely if not
02244   if (emcStatus->logFile[0] == 0 ||
02245       emcStatus->logSize == 0)
02246   {
02247     return 0;
02248   }
02249 
02250   emcmotCommand.command = EMCMOT_CLOSE_LOG;
02251 
02252   r1 = usrmotWriteEmcmotCommand(&emcmotCommand);
02253   r2 = usrmotDumpLog(emcStatus->logFile, EMCLOG_INCLUDE_HEADER);
02254 
02255   emcStatus->logFile[0] = 0;
02256   emcStatus->logType = 0;
02257   emcStatus->logSize = 0;
02258   emcStatus->logSkip = 0;
02259   emcStatus->logOpen = 0;
02260   emcStatus->logStarted = 0;
02261 
02262   return (r1 || r2 ? -1 : 0);
02263 }

int emcLogOpen (  char *    file,
int    type,
int    size,
int    skip,
int    which,
int    triggerType,
int    triggerVar,
double    triggerThreshold
) 
 

Definition at line 2157 of file bridgeporttaskintf.cc.

02158 {
02159   int r1;
02160 
02161   emcmotCommand.command = EMCMOT_OPEN_LOG;
02162   emcmotCommand.logSize = size;
02163   emcmotCommand.logSkip = skip;
02164   emcmotCommand.axis = which;
02165 
02166   // Note that EMC NML and emcmot will be different, in general--
02167   // need to map types
02168   switch (type)
02169   {
02170     case EMC_LOG_TYPE_AXIS_POS:
02171       emcmotCommand.logType = EMCMOT_LOG_TYPE_AXIS_POS;
02172       break;
02173 
02174     case EMC_LOG_TYPE_AXES_INPOS:
02175       emcmotCommand.logType = EMCMOT_LOG_TYPE_ALL_INPOS;
02176       break;
02177 
02178     case EMC_LOG_TYPE_AXES_OUTPOS:
02179       emcmotCommand.logType = EMCMOT_LOG_TYPE_ALL_OUTPOS;
02180       break;
02181 
02182     case EMC_LOG_TYPE_AXIS_VEL:
02183       emcmotCommand.logType = EMCMOT_LOG_TYPE_AXIS_VEL;
02184       break;
02185 
02186     case EMC_LOG_TYPE_AXES_FERROR:
02187       emcmotCommand.logType = EMCMOT_LOG_TYPE_ALL_FERROR;
02188       break;
02189 
02190     case EMC_LOG_TYPE_TRAJ_POS:
02191       emcmotCommand.logType = EMCMOT_LOG_TYPE_TRAJ_POS;
02192       break;
02193 
02194     case EMC_LOG_TYPE_TRAJ_VEL:
02195       emcmotCommand.logType = EMCMOT_LOG_TYPE_TRAJ_VEL;
02196       break;
02197 
02198     case EMC_LOG_TYPE_TRAJ_ACC:
02199       emcmotCommand.logType = EMCMOT_LOG_TYPE_TRAJ_ACC;
02200       break;
02201 
02202     case EMC_LOG_TYPE_POS_VOLTAGE:
02203       emcmotCommand.logType = EMCMOT_LOG_TYPE_POS_VOLTAGE;
02204       break;
02205 
02206     default:
02207       return -1;
02208   }
02209   emcmotCommand.logTriggerType = triggerType;
02210   emcmotCommand.logTriggerVariable = triggerVar;
02211   emcmotCommand.logTriggerThreshold = triggerThreshold;
02212 
02213   r1 = usrmotWriteEmcmotCommand(&emcmotCommand);
02214 
02215   if (r1 == 0)
02216   {
02217     strncpy(emcStatus->logFile, file, EMC_LOG_FILENAME_LEN - 1);
02218     emcStatus->logFile[EMC_LOG_FILENAME_LEN - 1] = 0;
02219   }
02220   // type, size, skip, open, and started will be gotten out of
02221   // subsystem status, e.g., emcTrajUpdate()
02222 
02223   return r1;
02224 }

int emcLogStart (    ) 
 

Definition at line 2226 of file bridgeporttaskintf.cc.

Referenced by emcTaskIssueCommand(). 

02227 {
02228   emcmotCommand.command = EMCMOT_START_LOG;
02229   return(usrmotWriteEmcmotCommand(&emcmotCommand));
02230 }

int emcLogStop (    ) 
 

Definition at line 2232 of file bridgeporttaskintf.cc.

Referenced by emcTaskIssueCommand(). 

02233 {
02234   emcmotCommand.command = EMCMOT_STOP_LOG;
02235   return(usrmotWriteEmcmotCommand(&emcmotCommand));
02236 }

int emcLubeAbort (    ) 
 

Definition at line 2078 of file bridgeporttaskintf.cc.

02079 {
02080   EMC_LUBE_ABORT lubeAbortMsg;
02081 
02082   sendCommand(&lubeAbortMsg);
02083 
02084   return 0;
02085 }

int emcLubeHalt (    ) 
 

Definition at line 2069 of file bridgeporttaskintf.cc.

02070 {
02071   EMC_LUBE_HALT lubeHaltMsg;
02072 
02073   sendCommand(&lubeHaltMsg);
02074 
02075   return 0;
02076 }

int emcLubeInit (    ) 
 

Definition at line 2060 of file bridgeporttaskintf.cc.

02061 {
02062   EMC_LUBE_INIT lubeInitMsg;
02063 
02064   sendCommand(&lubeInitMsg);
02065 
02066   return 0;
02067 }

int emcLubeOff (    ) 
 

Definition at line 2096 of file bridgeporttaskintf.cc.

Referenced by emcTaskIssueCommand(), emcTaskSetState(), and main(). 

02097 {
02098   EMC_LUBE_OFF lubeOffMsg;
02099 
02100   sendCommand(&lubeOffMsg);
02101 
02102   return 0;
02103 }

int emcLubeOn (    ) 
 

Definition at line 2087 of file bridgeporttaskintf.cc.

Referenced by emcTaskIssueCommand(), and emcTaskSetState(). 

02088 {
02089   EMC_LUBE_ON lubeOnMsg;
02090 
02091   sendCommand(&lubeOnMsg);
02092 
02093   return 0;
02094 }

int emcLubeSetSenseIndex (  int    index ) 
 

Definition at line 201 of file inilube.cc.

00202 {
00203   LUBE_SENSE_INDEX = index;
00204 
00205   return 0;
00206 }

int emcLubeSetSensePolarity (  int    polarity ) 
 

Definition at line 208 of file inilube.cc.

00209 {
00210   LUBE_SENSE_POLARITY = polarity;
00211 
00212   return 0;
00213 }

int emcLubeSetWriteIndex (  int    index ) 
 

Definition at line 215 of file inilube.cc.

00216 {
00217   LUBE_WRITE_INDEX = index;
00218 
00219   return 0;
00220 }

int emcLubeSetWritePolarity (  int    polarity ) 
 

Definition at line 222 of file inilube.cc.

00223 {
00224   LUBE_WRITE_POLARITY = polarity;
00225 
00226   return 0;
00227 }

int emcLubeUpdate (  EMC_LUBE_STAT *    stat ) 
 

int emcMotionAbort (    ) 
 

Definition at line 1535 of file bridgeporttaskintf.cc.

Referenced by emcTaskAbort(). 

01536 {
01537   int r1;
01538   int r2;
01539   int t;
01540 
01541   r1 = -1;
01542   for (t = 0; t < EMCMOT_MAX_AXIS; t++)
01543   {
01544     if (0 == emcAxisAbort(t))
01545     {
01546       r1 = 0;               // at least one is okay
01547     }
01548   }
01549 
01550   r2 = emcTrajAbort();
01551 
01552   // reset optimization flag which suppresses duplicate speed requests
01553   lastVel = -1.0;
01554 
01555   return (r1 == 0 &&
01556           r2 == 0) ? 0 : -1;
01557 }

int emcMotionHalt (    ) 
 

Definition at line 1513 of file bridgeporttaskintf.cc.

Referenced by emctask_shutdown(). 

01514 {
01515   int r1;
01516   int r2;
01517   int t;
01518 
01519   r1 = -1;
01520   for (t = 0; t < EMCMOT_MAX_AXIS; t++)
01521   {
01522     if (0 == emcAxisHalt(t))
01523     {
01524       r1 = 0;               // at least one is okay
01525     }
01526   }
01527 
01528   r2 = emcTrajHalt();
01529 
01530   emcmotion_initialized=0;
01531   return (r1 == 0 &&
01532           r2 == 0) ? 0 : -1;
01533 }

int emcMotionInit (    ) 
 

Definition at line 1487 of file bridgeporttaskintf.cc.

Referenced by emctask_startup(). 

01488 {
01489   int r1;
01490   int r2;
01491   int axis;
01492 
01493   r1 = -1;
01494   for (axis = 0; axis < EMCMOT_MAX_AXIS; axis++)
01495   {
01496     if (0 == emcAxisInit(axis))
01497     {
01498       r1 = 0;               // at least one is okay
01499     }
01500   }
01501 
01502   r2 = emcTrajInit();
01503 
01504   if(r1 == 0 && r2 == 0)
01505   {
01506     emcmotion_initialized=1;
01507   }
01508 
01509   return (r1 == 0 &&
01510           r2 == 0) ? 0 : -1;
01511 }

int emcMotionSetAout (  unsigned char    index,
double    start,
double    end
) 
 

Definition at line 1566 of file bridgeporttaskintf.cc.

01567 {
01568   emcmotCommand.command = EMCMOT_SET_AOUT;
01569   /* FIXME-- if this works, set up some dedicated cmd fields instead of
01570      borrowing these */
01571   emcmotCommand.out = index;
01572   emcmotCommand.minLimit = start;
01573   emcmotCommand.maxLimit = end;
01574 
01575   return usrmotWriteEmcmotCommand(&emcmotCommand);
01576 }

int emcMotionSetDebug (  int    debug ) 
 

Definition at line 1559 of file bridgeporttaskintf.cc.

01560 {
01561   emcmotCommand.command = EMCMOT_ABORT;
01562 
01563   return usrmotWriteEmcmotCommand(&emcmotCommand);
01564 }

int emcMotionSetDout (  unsigned char    index,
unsigned char    start,
unsigned char    end
) 
 

Definition at line 1578 of file bridgeporttaskintf.cc.

01579 {
01580   emcmotCommand.command = EMCMOT_SET_DOUT;
01581   emcmotCommand.out = index;
01582   emcmotCommand.start = start;
01583   emcmotCommand.end = end;
01584 
01585   return usrmotWriteEmcmotCommand(&emcmotCommand);
01586 }

int emcMotionUpdate (  EMC_MOTION_STAT *    stat ) 
 

Definition at line 1588 of file bridgeporttaskintf.cc.

01589 {
01590   int r1;
01591   int r2;
01592   int axis;
01593   int error;
01594   int exec;
01595 
01596   // read the emcmot status
01597   if (0 != usrmotReadEmcmotStatus(&emcmotStatus)) {
01598     return -1;
01599   }
01600 
01601   new_config = 0;
01602   if (emcmotStatus.config_num != emcmotConfig.config_num) {
01603     if (0 != usrmotReadEmcmotConfig(&emcmotConfig)) {
01604       return -1;
01605     }
01606     new_config = 1;
01607   }
01608 
01609   if (get_emcmot_debug_info) {
01610     if (0 != usrmotReadEmcmotDebug(&emcmotDebug)) {
01611       return -1;
01612     }
01613   }
01614 
01615   // read the emcmot error
01616   if (0 != usrmotReadEmcmotError(errorString)) {
01617     // no error, so ignore
01618   }
01619   else {
01620     // an error to report
01621     emcOperatorError(0, errorString);
01622   }
01623 
01624   // save the heartbeat and command number locally,
01625   // for use with emcMotionUpdate
01626   localMotionHeartbeat = emcmotStatus.heartbeat;
01627   localMotionCommandType = emcmotStatus.commandEcho; // FIXME-- not NML one!
01628   localMotionEchoSerialNumber = emcmotStatus.commandNumEcho;
01629 
01630   r1 = emcAxisUpdate(&stat->axis[0], EMCMOT_MAX_AXIS);
01631   r2 = emcTrajUpdate(&stat->traj);
01632   stat->heartbeat = localMotionHeartbeat;
01633   stat->command_type = localMotionCommandType;
01634   stat->echo_serial_number = localMotionEchoSerialNumber;
01635   stat->debug = emcmotConfig.debug;
01636 
01637   // set the status flag
01638   error = 0;
01639   exec = 0;
01640 
01641   for (axis = 0; axis < stat->traj.axes; axis++) {
01642     if (stat->axis[axis].status == RCS_ERROR) {
01643       error = 1;
01644       break;
01645     }
01646     if (stat->axis[axis].status == RCS_EXEC) {
01647       exec = 1;
01648       break;
01649     }
01650   }
01651 
01652   if (stat->traj.status == RCS_ERROR) {
01653     error = 1;
01654   }
01655   else if (stat->traj.status == RCS_EXEC) {
01656     exec = 1;
01657   }
01658 
01659   if (error) {
01660     stat->status = RCS_ERROR;
01661   }
01662   else if (exec) {
01663     stat->status = RCS_EXEC;
01664   }
01665   else {
01666     stat->status = RCS_DONE;
01667   }
01668 
01669   return (r1 == 0 &&
01670           r2 == 0) ? 0 : -1;
01671 }

int emcOperatorDisplay (  int    id,
const char *    fmt,
...   
) 
 

Definition at line 360 of file emctaskmain.cc.

00361 {
00362   EMC_OPERATOR_DISPLAY display_msg;
00363   va_list ap;
00364 
00365   // check channel for validity
00366   if (emcErrorBuffer == NULL)
00367     return -1;
00368   if (! emcErrorBuffer->valid())
00369     return -1;
00370 
00371   // write args to NML message (ignore int display code)
00372   va_start(ap, fmt);
00373   vsprintf(display_msg.display, fmt, ap);
00374   va_end(ap);
00375 
00376   // force a NULL at the end for safety
00377   display_msg.display[EMC_OPERATOR_DISPLAY_LEN-1] = 0;
00378 
00379   // write it
00380   return emcErrorBuffer->write(display_msg);
00381 }

int emcOperatorError (  int    id,
const char *    fmt,
...   
) 
 

Definition at line 296 of file emctaskmain.cc.

00297 {
00298   EMC_OPERATOR_ERROR error_msg;
00299   va_list ap;
00300 
00301   // check channel for validity
00302   if (emcErrorBuffer == NULL)
00303     return -1;
00304   if (! emcErrorBuffer->valid())
00305     return -1;
00306 
00307 
00308   if(NULL == fmt)
00309     {
00310       return -1;
00311     }
00312   if(0 == *fmt)
00313     {
00314       return -1;
00315     }
00316 
00317   // prepend error code, leave off 0 ad-hoc code
00318   error_msg.error[0] = 0;
00319   if (0 != id)
00320     {
00321       sprintf(error_msg.error, "[%d] ", id);
00322     }
00323 
00324   // append error string
00325   va_start(ap, fmt);
00326   vsprintf(&error_msg.error[strlen(error_msg.error)], fmt, ap);
00327   va_end(ap);
00328 
00329   // force a NULL at the end for safety
00330   error_msg.error[EMC_OPERATOR_ERROR_LEN-1] = 0;
00331 
00332   // write it
00333   rcs_print("%s\n",error_msg.error);
00334   return emcErrorBuffer->write(error_msg);
00335 }

int emcOperatorText (  int    id,
const char *    fmt,
...   
) 
 

Definition at line 337 of file emctaskmain.cc.

00338 {
00339   EMC_OPERATOR_TEXT text_msg;
00340   va_list ap;
00341 
00342   // check channel for validity
00343   if (emcErrorBuffer == NULL)
00344     return -1;
00345   if (! emcErrorBuffer->valid())
00346     return -1;
00347 
00348   // write args to NML message (ignore int text code)
00349   va_start(ap, fmt);
00350   vsprintf(text_msg.text, fmt, ap);
00351   va_end(ap);
00352 
00353   // force a NULL at the end for safety
00354   text_msg.text[EMC_OPERATOR_TEXT_LEN-1] = 0;
00355 
00356   // write it
00357   return emcErrorBuffer->write(text_msg);
00358 }

int emcSpindleAbort (    ) 
 

Definition at line 1929 of file bridgeporttaskintf.cc.

01930 {
01931   return emcSpindleOff();
01932 }

int emcSpindleBrakeEngage (    ) 
 

Definition at line 1962 of file bridgeporttaskintf.cc.

Referenced by emcTaskIssueCommand(). 

01963 {
01964   EMC_SPINDLE_BRAKE_ENGAGE spindleBrakeEngageMsg;
01965 
01966   sendCommand(&spindleBrakeEngageMsg);
01967 
01968   return 0;
01969 }

int emcSpindleBrakeRelease (    ) 
 

Definition at line 1953 of file bridgeporttaskintf.cc.

Referenced by emcTaskIssueCommand(). 

01954 {
01955   EMC_SPINDLE_BRAKE_RELEASE spindleBrakeReleaseMsg;
01956 
01957   sendCommand(&spindleBrakeReleaseMsg);
01958 
01959   return 0;
01960 }

int emcSpindleConstant (    ) 
 

Definition at line 1989 of file bridgeporttaskintf.cc.

Referenced by emcTaskIssueCommand(). 

01990 {
01991   EMC_SPINDLE_CONSTANT spindleConstantMsg;
01992 
01993   sendCommand(&spindleConstantMsg);
01994 
01995   return 0;
01996 }

int emcSpindleDecrease (    ) 
 

Definition at line 1980 of file bridgeporttaskintf.cc.

Referenced by emcTaskIssueCommand(). 

01981 {
01982   EMC_SPINDLE_DECREASE spindleDecreaseMsg;
01983 
01984   sendCommand(&spindleDecreaseMsg);
01985 
01986   return 0;
01987 }

int emcSpindleDisable (    ) 
 

Definition at line 2041 of file minimilltaskintf.cc.

Referenced by emcSpindleOff(). 

02042 {
02043   int r1;
02044 
02045   emcmotCommand.command = EMCMOT_DISABLE_AMPLIFIER;
02046   emcmotCommand.axis = SPINDLE_ENABLE_INDEX;
02047 
02048   r1 = usrmotWriteEmcmotCommand(&emcmotCommand);
02049 
02050   if (0 == r1)
02051     {
02052       simSpindleEnabled = 0;
02053       return 0;
02054     }
02055 
02056   return -1;
02057 }

int emcSpindleEnable (    ) 
 

Definition at line 2021 of file minimilltaskintf.cc.

Referenced by emcSpindleOn(). 

02022 {
02023   int r1;
02024 
02025   emcmotCommand.command = EMCMOT_ENABLE_AMPLIFIER;
02026   emcmotCommand.axis = SPINDLE_ENABLE_INDEX;
02027   emcmotCommand.dacOut = 0.0;
02028 
02029   r1 = usrmotWriteEmcmotCommand(&emcmotCommand);
02030 
02031   if (0 == r1)
02032     {
02033       simSpindleEnabled = 1;
02034       return 0;
02035     }
02036 
02037   return -1;
02038 }

int emcSpindleForward (    ) 
 

int emcSpindleHalt (    ) 
 

int emcSpindleIncrease (    ) 
 

Definition at line 1971 of file bridgeporttaskintf.cc.

Referenced by emcTaskIssueCommand(). 

01972 {
01973   EMC_SPINDLE_INCREASE spindleIncreaseMsg;
01974 
01975   sendCommand(&spindleIncreaseMsg);
01976 
01977   return 0;
01978 }

int emcSpindleInit (    ) 
 

int emcSpindleOff (    ) 
 

Definition at line 1944 of file bridgeporttaskintf.cc.

Referenced by emcSpindleAbort(), emcTaskIssueCommand(), and main(). 

01945 {
01946   EMC_SPINDLE_OFF spindleOffMsg;
01947 
01948   sendCommand(&spindleOffMsg);
01949 
01950   return 0;
01951 }

int emcSpindleOn (  double    speed ) 
 

Definition at line 1934 of file bridgeporttaskintf.cc.

01935 {
01936   EMC_SPINDLE_ON spindleOnMsg;
01937 
01938   spindleOnMsg.speed = speed;
01939   sendCommand(&spindleOnMsg);
01940 
01941   return 0;
01942 }

int emcSpindleReverse (    ) 
 

int emcSpindleSetBrakeIndex (  int    index ) 
 

Definition at line 582 of file inispin.cc.

00583 {
00584   SPINDLE_BRAKE_INDEX = index;
00585 
00586   return 0;
00587 }

int emcSpindleSetBrakePolarity (  int    polarity ) 
 

Definition at line 631 of file inispin.cc.

00632 {
00633   SPINDLE_BRAKE_POLARITY = polarity;
00634 
00635   return 0;
00636 }

int emcSpindleSetDecreaseIndex (  int    index ) 
 

Definition at line 568 of file inispin.cc.

00569 {
00570   SPINDLE_DECREASE_INDEX = index;
00571 
00572   return 0;
00573 }

int emcSpindleSetDecreasePolarity (  int    polarity ) 
 

Definition at line 617 of file inispin.cc.

00618 {
00619   SPINDLE_DECREASE_POLARITY = polarity;
00620 
00621   return 0;
00622 }

int emcSpindleSetEnableIndex (  int    index ) 
 

Definition at line 589 of file inispin.cc.

00590 {
00591   SPINDLE_ENABLE_INDEX = index;
00592 
00593   return 0;
00594 }

int emcSpindleSetEnablePolarity (  int    polarity ) 
 

Definition at line 638 of file inispin.cc.

00639 {
00640   SPINDLE_ENABLE_POLARITY = polarity;
00641 
00642   return 0;
00643 }

int emcSpindleSetForwardIndex (  int    index ) 
 

Definition at line 554 of file inispin.cc.

00555 {
00556   SPINDLE_FORWARD_INDEX = index;
00557 
00558   return 0;
00559 }

int emcSpindleSetForwardPolarity (  int    polarity ) 
 

Definition at line 603 of file inispin.cc.

00604 {
00605   SPINDLE_FORWARD_POLARITY = polarity;
00606 
00607   return 0;
00608 }

int emcSpindleSetIncreaseIndex (  int    index ) 
 

Definition at line 575 of file inispin.cc.

00576 {
00577   SPINDLE_INCREASE_INDEX = index;
00578 
00579   return 0;
00580 }

int emcSpindleSetIncreasePolarity (  int    polarity ) 
 

Definition at line 624 of file inispin.cc.

00625 {
00626   SPINDLE_INCREASE_POLARITY = polarity;
00627 
00628   return 0;
00629 }

int emcSpindleSetOffWait (  double    wait ) 
 

Definition at line 645 of file inispin.cc.

00646 {
00647   SPINDLE_OFF_WAIT = wait;
00648 
00649   return 0;
00650 }

int emcSpindleSetOnIndex (  int    index ) 
 

Definition at line 596 of file inispin.cc.

00597 {
00598   SPINDLE_ON_INDEX = index;
00599 
00600   return 0;
00601 }

int emcSpindleSetOnWait (  double    wait ) 
 

Definition at line 652 of file inispin.cc.

00653 {
00654   SPINDLE_ON_WAIT = wait;
00655 
00656   return 0;
00657 }

int emcSpindleSetReverseIndex (  int    index ) 
 

Definition at line 561 of file inispin.cc.

00562 {
00563   SPINDLE_REVERSE_INDEX = index;
00564 
00565   return 0;
00566 }

int emcSpindleSetReversePolarity (  int    polarity ) 
 

Definition at line 610 of file inispin.cc.

00611 {
00612   SPINDLE_REVERSE_POLARITY = polarity;
00613 
00614   return 0;
00615 }

int emcSpindleStop (    ) 
 

int emcSpindleUpdate (  EMC_SPINDLE_STAT *    stat ) 
 

int emcTaskAbort (    ) 
 

Definition at line 74 of file emctask.cc.

Referenced by emcTaskExecute(), emcTaskIssueCommand(), and main(). 

00075 {
00076   emcMotionAbort();
00077   emcIoAbort();
00078 
00079   return 0;
00080 }

int emcTaskHalt (    ) 
 

Definition at line 69 of file emctask.cc.

Referenced by emctask_shutdown(). 

00070 {
00071   return 0;
00072 }

int emcTaskInit (    ) 
 

Referenced by emcTaskIssueCommand(), and emctask_startup().

int emcTaskPlanClearWait (    ) 
 

Definition at line 313 of file emctask.cc.

Referenced by emcTaskPlan(). 

00314 {
00315   waitFlag = 0;
00316 
00317   return 0;
00318 }

int emcTaskPlanClose (    ) 
 

Definition at line 395 of file emctask.cc.

Referenced by emcTaskExecute(), emcTaskIssueCommand(), emcTaskPlan(), and main(). 

00396 {
00397   int retval = rs274ngc_close();
00398 #ifdef NEW_INTERPRETER
00399   if(retval > RS274NGC_MIN_ERROR)
00400     {
00401       print_rs274ngc_error(retval);
00402     }
00403 #endif
00404 
00405   taskplanopen=0; 
00406   return retval;
00407 }

int emcTaskPlanCommand (  char *    cmd ) 
 

Definition at line 414 of file emctask.cc.

00415 {
00416   strcpy(cmd, rs274ngc_command());
00417   return 0;
00418 }

int emcTaskPlanExecute (  const char *    command ) 
 

Definition at line 376 of file emctask.cc.

00377 {
00378   if(command != 0)
00379     {
00380       if(*command != 0)
00381         {
00382           rs274ngc_synch();
00383         }
00384     }
00385   int retval = rs274ngc_execute(command);
00386 #ifdef NEW_INTERPRETER
00387   if(retval > RS274NGC_MIN_ERROR)
00388     {
00389       print_rs274ngc_error(retval);
00390     }
00391 #endif
00392   return retval;
00393 }

int emcTaskPlanExit (    ) 
 

Definition at line 325 of file emctask.cc.

Referenced by emctask_shutdown(). 

00326 {
00327   return rs274ngc_exit();
00328 }

int emcTaskPlanInit (    ) 
 

Definition at line 270 of file emctask.cc.

Referenced by emcTaskIssueCommand(), and emctask_startup(). 

00271 {
00272   rs274ngc_ini_load(EMC_INIFILE);
00273   waitFlag = 0;
00274 
00275   int retval = rs274ngc_init();
00276 #ifdef NEW_INTERPRETER
00277   if(retval > RS274NGC_MIN_ERROR)
00278     {
00279       print_rs274ngc_error(retval);
00280     }
00281   else 
00282     {
00283       if( 0 != RS274NGC_STARTUP_CODE[0])
00284         {
00285           retval = rs274ngc_execute(RS274NGC_STARTUP_CODE);
00286           if(retval > RS274NGC_MIN_ERROR)
00287             {
00288               print_rs274ngc_error(retval);
00289             }
00290         }
00291     }
00292 #else
00293   if( 0 != RS274NGC_STARTUP_CODE[0])
00294     {
00295       rs274ngc_execute(RS274NGC_STARTUP_CODE);
00296     }
00297 #endif
00298   return retval;
00299 }

int emcTaskPlanIsWait (    ) 
 

Definition at line 308 of file emctask.cc.

Referenced by emcTaskPlan(). 

00309 {
00310   return waitFlag;
00311 }

int emcTaskPlanLine (    ) 
 

Definition at line 409 of file emctask.cc.

Referenced by emcTaskPlan(). 

00410 {
00411   return rs274ngc_line();
00412 }

int emcTaskPlanOpen (  const char *    file ) 
 

Definition at line 330 of file emctask.cc.

00331 {
00332   if(emcStatus != 0)
00333     {
00334       emcStatus->task.motionLine = 0;
00335       emcStatus->task.currentLine = 0;
00336       emcStatus->task.readLine = 0;
00337     }
00338 
00339   int retval = rs274ngc_open(file);
00340 #ifdef NEW_INTERPRETER
00341   if(retval > RS274NGC_MIN_ERROR)
00342     {
00343       print_rs274ngc_error(retval);
00344       return retval;
00345     }
00346 #endif
00347   taskplanopen=1; 
00348   return retval;
00349 }

int emcTaskPlanPause (    ) 
 

int emcTaskPlanRead (    ) 
 

Definition at line 352 of file emctask.cc.

Referenced by emcTaskPlan(). 

00353 {
00354   int retval = rs274ngc_read();
00355 #ifdef NEW_INTERPRETER
00356   if(retval == NCE_FILE_NOT_OPEN)
00357     {
00358       if(emcStatus->task.file[0] != 0)
00359         {
00360           retval = rs274ngc_open(emcStatus->task.file);
00361           if(retval > RS274NGC_MIN_ERROR)
00362             {
00363           print_rs274ngc_error(retval);
00364             }
00365           retval = rs274ngc_read();
00366         }
00367     }
00368   if(retval > RS274NGC_MIN_ERROR)
00369     {
00370       print_rs274ngc_error(retval);
00371     }
00372 #endif
00373   return retval;
00374 }

int emcTaskPlanResume (    ) 
 

int emcTaskPlanRun (  int    line ) 
 

int emcTaskPlanSetWait (    ) 
 

Definition at line 301 of file emctask.cc.

Referenced by emcTaskIssueCommand(), and emcTaskPlan(). 

00302 {
00303   waitFlag = 1;
00304 
00305   return 0;
00306 }

int emcTaskPlanSynch (    ) 
 

Definition at line 320 of file emctask.cc.

Referenced by emcTaskIssueCommand(), and emcTaskSetMode(). 

00321 {
00322   return rs274ngc_synch();
00323 }

int emcTaskSetMode (  int    mode ) 
 

Definition at line 82 of file emctask.cc.

00083 {
00084   int retval = 0;
00085 
00086   switch (mode) {
00087   case EMC_TASK_MODE_MANUAL:
00088     // go to manual mode
00089     emcTrajSetMode(EMC_TRAJ_MODE_FREE);
00090     mdiOrAuto = EMC_TASK_MODE_AUTO; // we'll default back to here
00091     break;
00092 
00093   case EMC_TASK_MODE_MDI:
00094     // go to mdi mode
00095     emcTrajSetMode(EMC_TRAJ_MODE_COORD);
00096     emcTaskPlanSynch();
00097     mdiOrAuto = EMC_TASK_MODE_MDI;
00098     break;
00099 
00100   case EMC_TASK_MODE_AUTO:
00101     // go to auto mode
00102     emcTrajSetMode(EMC_TRAJ_MODE_COORD);
00103     emcTaskPlanSynch();
00104     mdiOrAuto = EMC_TASK_MODE_AUTO;
00105     break;
00106 
00107   default:
00108     retval = -1;
00109     break;
00110   }
00111 
00112   return retval;
00113 }

int emcTaskSetState (  int    state ) 
 

Definition at line 115 of file emctask.cc.

00116 {
00117   int t;
00118   int retval = 0;
00119 
00120   switch (state) {
00121   case EMC_TASK_STATE_OFF:
00122     // turn the machine servos off-- go into ESTOP_RESET state
00123     for (t = 0; t < emcStatus->motion.traj.axes; t++) {
00124       emcAxisDisable(t);
00125     }
00126     emcTrajDisable();
00127     emcLubeOff();
00128     break;
00129 
00130   case EMC_TASK_STATE_ON:
00131     // turn the machine servos on
00132     emcTrajEnable();
00133     for (t = 0; t < emcStatus->motion.traj.axes; t++) {
00134       emcAxisEnable(t);
00135     }
00136     emcLubeOn();
00137     break;
00138 
00139   case EMC_TASK_STATE_ESTOP_RESET:
00140     // reset the estop
00141     if(emcStatus->io.aux.estopIn)
00142       {
00143         rcs_print("Can't come out of estop while the estop button is in.");
00144       }
00145     emcAuxEstopOff();
00146     emcLubeOff();
00147     break;
00148 
00149   case EMC_TASK_STATE_ESTOP:
00150     // go into estop-- do both IO estop and machine servos off
00151     emcAuxEstopOn();
00152     for (t = 0; t < emcStatus->motion.traj.axes; t++) {
00153       emcAxisDisable(t);
00154     }
00155     emcTrajDisable();
00156     emcLubeOff();
00157     break;
00158 
00159   default:
00160     retval = -1;
00161     break;
00162   }
00163 
00164   return retval;
00165 }

int emcTaskUpdate (  EMC_TASK_STAT *    stat ) 
 

Definition at line 420 of file emctask.cc.

00421 {
00422   stat->mode = determineMode();
00423   stat->state = determineState();
00424 
00425   // execState set in main
00426   // interpState set in main
00427   if(emcStatus->motion.traj.id > 0)
00428     {
00429       stat->motionLine = emcStatus->motion.traj.id;
00430     }
00431   // currentLine set in main
00432   // readLine set in main
00433 
00434   strcpy(stat->file, rs274ngc_file());
00435   // command set in main
00436 
00437   // update active G and M codes
00438   rs274ngc_active_g_codes(&stat->activeGCodes[0]);
00439   rs274ngc_active_m_codes(&stat->activeMCodes[0]);
00440   rs274ngc_active_settings(&stat->activeSettings[0]);
00441 
00442   stat->heartbeat++;
00443 
00444   return 0;
00445 }

int emcToolAbort (    ) 
 

int emcToolHalt (    ) 
 

int emcToolInit (    ) 
 

int emcToolLoad (    ) 
 

Definition at line 2115 of file bridgeporttaskintf.cc.

Referenced by emcTaskIssueCommand(). 

02116 {
02117   EMC_TOOL_LOAD toolLoadMsg;
02118 
02119   sendCommand(&toolLoadMsg);
02120 
02121   return 0;
02122 }

int emcToolLoadToolTable (  const char *    file ) 
 

Definition at line 2133 of file bridgeporttaskintf.cc.

02134 {
02135   EMC_TOOL_LOAD_TOOL_TABLE toolLoadToolTableMsg;
02136 
02137   strcpy(toolLoadToolTableMsg.file, file);
02138 
02139   sendCommand(&toolLoadToolTableMsg);
02140 
02141   return 0;
02142 }

int emcToolPrepare (  int    tool ) 
 

Definition at line 2105 of file bridgeporttaskintf.cc.

02106 {
02107   EMC_TOOL_PREPARE toolPrepareMsg;
02108 
02109   toolPrepareMsg.tool = tool;
02110   sendCommand(&toolPrepareMsg);
02111 
02112   return 0;
02113 }

int emcToolSetOffset (  int    tool,
double    length,
double    diameter
) 
 

Definition at line 2144 of file bridgeporttaskintf.cc.

02145 {
02146   EMC_TOOL_SET_OFFSET toolSetOffsetMsg;
02147 
02148   toolSetOffsetMsg.tool = tool;
02149   toolSetOffsetMsg.length = length;
02150   toolSetOffsetMsg.diameter = diameter;
02151 
02152   sendCommand(&toolSetOffsetMsg);
02153 
02154   return 0;
02155 }

int emcToolSetToolTableFile (  const char *    filename ) 
 

Definition at line 89 of file initool.cc.

00090 {
00091   strcpy(TOOL_TABLE_FILE, filename);
00092 
00093   return 0;
00094 }

int emcToolUnload (    ) 
 

Definition at line 2124 of file bridgeporttaskintf.cc.

Referenced by emcTaskIssueCommand(). 

02125 {
02126   EMC_TOOL_UNLOAD toolUnloadMsg;
02127 
02128   sendCommand(&toolUnloadMsg);
02129 
02130   return 0;
02131 }

int emcToolUpdate (  EMC_TOOL_STAT *    stat ) 
 

int emcTrajAbort (    ) 
 

Definition at line 1242 of file bridgeporttaskintf.cc.

Referenced by emcMotionAbort(), and emcTaskIssueCommand(). 

01243 {
01244   emcmotCommand.command = EMCMOT_ABORT;
01245 
01246   return usrmotWriteEmcmotCommand(&emcmotCommand);
01247 }

int emcTrajCircularMove (  EmcPose    end,
PM_CARTESIAN    center,
PM_CARTESIAN    normal,
int    turn
) 
 

Definition at line 1306 of file bridgeporttaskintf.cc.

01308 {
01309   emcmotCommand.command = EMCMOT_SET_CIRCLE;
01310 
01311   emcmotCommand.pos  = end;
01312 
01313   emcmotCommand.center.x = center.x;
01314   emcmotCommand.center.y = center.y;
01315   emcmotCommand.center.z = center.z;
01316 
01317   emcmotCommand.normal.x = normal.x;
01318   emcmotCommand.normal.y = normal.y;
01319   emcmotCommand.normal.z = normal.z;
01320 
01321   emcmotCommand.turn = turn;
01322   emcmotCommand.id = localEmcTrajMotionId;
01323 
01324 #ifdef ISNAN_TRAP
01325   if (isnan(emcmotCommand.pos.tran.x) ||
01326       isnan(emcmotCommand.pos.tran.y) ||
01327       isnan(emcmotCommand.pos.tran.z) ||
01328       isnan(emcmotCommand.pos.a) ||
01329       isnan(emcmotCommand.pos.b) ||
01330       isnan(emcmotCommand.pos.c) ||
01331       isnan(emcmotCommand.center.x) ||
01332       isnan(emcmotCommand.center.y) ||
01333       isnan(emcmotCommand.center.z) ||
01334       isnan(emcmotCommand.normal.x) ||
01335       isnan(emcmotCommand.normal.y) ||
01336       isnan(emcmotCommand.normal.z))
01337   {
01338     printf("isnan error in emcTrajCircularMove\n");
01339     return 0;                 // ignore it for now, just don't send it
01340   }
01341 #endif
01342 
01343   return usrmotWriteEmcmotCommand(&emcmotCommand);
01344 }

int emcTrajClearProbeTrippedFlag (    ) 
 

Definition at line 1362 of file bridgeporttaskintf.cc.

Referenced by emcTaskIssueCommand(). 

01363 {
01364   emcmotCommand.command = EMCMOT_CLEAR_PROBE_FLAGS;
01365 
01366   return usrmotWriteEmcmotCommand(&emcmotCommand);
01367 }

int emcTrajDelay (  double    delay ) 
 

Definition at line 1270 of file bridgeporttaskintf.cc.

01271 {
01272   // nothing need be done here-- it's done in task controller
01273 
01274   return 0;
01275 }

int emcTrajDisable (    ) 
 

Definition at line 1235 of file bridgeporttaskintf.cc.

Referenced by emcTaskSetState(), and main(). 

01236 {
01237   emcmotCommand.command = EMCMOT_DISABLE;
01238 
01239   return usrmotWriteEmcmotCommand(&emcmotCommand);
01240 }

int emcTrajEnable (    ) 
 

Definition at line 1228 of file bridgeporttaskintf.cc.

Referenced by emcTaskSetState(). 

01229 {
01230   emcmotCommand.command = EMCMOT_ENABLE;
01231 
01232   return usrmotWriteEmcmotCommand(&emcmotCommand);
01233 }

int emcTrajHalt (    ) 
 

Definition at line 1217 of file bridgeporttaskintf.cc.

Referenced by emcMotionHalt(). 

01218 {
01219   if (! emcmotAxisInited)       // axis clears its inited flag on exit
01220   {
01221     usrmotExit();             // ours is final exit
01222   }
01223   emcmotTrajInited = 0;
01224 
01225   return 0;
01226 }

int emcTrajInit (    ) 
 

Definition at line 1191 of file bridgeporttaskintf.cc.

Referenced by emcMotionInit(). 

01192 {
01193   int retval = 0;
01194 
01195   // init emcmot interface
01196   if (! emcmotAxisInited &&
01197       ! emcmotTrajInited)
01198   {
01199     usrmotIniLoad(EMC_INIFILE);
01200 
01201     if (0 != usrmotInit())
01202     {
01203       return -1;
01204     }
01205   }
01206   emcmotTrajInited = 1;
01207 
01208   // initialize parameters from ini file
01209   if (0 != iniTraj(EMC_INIFILE))
01210   {
01211     retval = -1;
01212   }
01213 
01214   return retval;
01215 }

int emcTrajLinearMove (  EmcPose    end ) 
 

Definition at line 1285 of file bridgeporttaskintf.cc.

01286 {
01287   emcmotCommand.command = EMCMOT_SET_LINE;
01288 
01289   emcmotCommand.pos = end;
01290 
01291   emcmotCommand.id = localEmcTrajMotionId;
01292 
01293 #ifdef ISNAN_TRAP
01294   if (isnan(emcmotCommand.pos.tran.x) ||
01295       isnan(emcmotCommand.pos.tran.y) ||
01296       isnan(emcmotCommand.pos.tran.z))
01297   {
01298     printf("isnan error in emcTrajLinearMove\n");
01299     return 0;                 // ignore it for now, just don't send it
01300   }
01301 #endif
01302 
01303   return usrmotWriteEmcmotCommand(&emcmotCommand);
01304 }

int emcTrajPause (    ) 
 

Definition at line 1249 of file bridgeporttaskintf.cc.

Referenced by emcTaskIssueCommand(). 

01250 {
01251   emcmotCommand.command = EMCMOT_PAUSE;
01252 
01253   return usrmotWriteEmcmotCommand(&emcmotCommand);
01254 }

int emcTrajProbe (  EmcPose    pos ) 
 

Definition at line 1369 of file bridgeporttaskintf.cc.

01370 {
01371   emcmotCommand.command = EMCMOT_PROBE;
01372   emcmotCommand.pos.tran.x = pos.tran.x;
01373   emcmotCommand.pos.tran.y = pos.tran.y;
01374   emcmotCommand.pos.tran.z = pos.tran.z;
01375   emcmotCommand.id = localEmcTrajMotionId;
01376   return usrmotWriteEmcmotCommand(&emcmotCommand);
01377 }

int emcTrajResume (    ) 
 

Definition at line 1263 of file bridgeporttaskintf.cc.

Referenced by emcTaskIssueCommand(), and emcTaskPlan(). 

01264 {
01265   emcmotCommand.command = EMCMOT_RESUME;
01266 
01267   return usrmotWriteEmcmotCommand(&emcmotCommand);
01268 }

int emcTrajSetAcceleration (  double    acc ) 
 

Definition at line 1095 of file bridgeporttaskintf.cc.

01096 {
01097   if (acc < 0.0)
01098   {
01099     acc = 0.0;
01100   }
01101   else if (acc > localEmcMaxAcceleration)
01102   {
01103     acc = localEmcMaxAcceleration;
01104   }
01105 
01106   emcmotCommand.command = EMCMOT_SET_ACC;
01107   emcmotCommand.acc = acc;
01108 
01109   return usrmotWriteEmcmotCommand(&emcmotCommand);
01110 }

int emcTrajSetAxes (  int    axes ) 
 

Definition at line 991 of file bridgeporttaskintf.cc.

00992 {
00993   if (axes <= 0 || axes > EMCMOT_MAX_AXIS)
00994   {
00995     return -1;
00996   }
00997 
00998   localEmcTrajAxes = axes;
00999 
01000   return 0;
01001 }

int emcTrajSetCycleTime (  double    cycleTime ) 
 

Definition at line 1017 of file bridgeporttaskintf.cc.

01018 {
01019   if (cycleTime <= 0.0)
01020   {
01021     return -1;
01022   }
01023 
01024   emcmotCommand.command = EMCMOT_SET_TRAJ_CYCLE_TIME;
01025   emcmotCommand.cycleTime = cycleTime;
01026 
01027   return usrmotWriteEmcmotCommand(&emcmotCommand);
01028 }

int emcTrajSetHome (  EmcPose    home ) 
 

Definition at line 1143 of file bridgeporttaskintf.cc.

01144 {
01145   emcmotCommand.command = EMCMOT_SET_WORLD_HOME;
01146 
01147   emcmotCommand.pos = home;
01148 
01149 
01150 #ifdef ISNAN_TRAP
01151   if (isnan(emcmotCommand.pos.tran.x) ||
01152       isnan(emcmotCommand.pos.tran.y) ||
01153       isnan(emcmotCommand.pos.tran.z))
01154   {
01155     printf("isnan error in emcTrajSetHome\n");
01156     return 0;                 // ignore it for now, just don't send it
01157   }
01158 #endif
01159 
01160   return usrmotWriteEmcmotCommand(&emcmotCommand);
01161 }

int emcTrajSetMaxAcceleration (  double    acc ) 
 

Definition at line 1131 of file bridgeporttaskintf.cc.

01132 {
01133   if (acc < 0.0)
01134   {
01135     acc = 0.0;
01136   }
01137 
01138   localEmcMaxAcceleration = acc;
01139 
01140   return 0;
01141 }

int emcTrajSetMaxVelocity (  double    vel ) 
 

Definition at line 1116 of file bridgeporttaskintf.cc.

01117 {
01118   if (vel < 0.0)
01119   {
01120     vel = 0.0;
01121   }
01122 
01123   TRAJ_MAX_VELOCITY = vel;
01124 
01125   emcmotCommand.command = EMCMOT_SET_VEL_LIMIT;
01126   emcmotCommand.vel = vel;
01127 
01128   return usrmotWriteEmcmotCommand(&emcmotCommand);
01129 }

int emcTrajSetMode (  int    mode ) 
 

Definition at line 1030 of file bridgeporttaskintf.cc.

01031 {
01032   switch (mode)
01033   {
01034     case EMC_TRAJ_MODE_FREE:
01035       emcmotCommand.command = EMCMOT_FREE;
01036       return usrmotWriteEmcmotCommand(&emcmotCommand);
01037 
01038     case EMC_TRAJ_MODE_COORD:
01039       emcmotCommand.command = EMCMOT_COORD;
01040       return usrmotWriteEmcmotCommand(&emcmotCommand);
01041 
01042     case EMC_TRAJ_MODE_TELEOP:
01043       emcmotCommand.command = EMCMOT_TELEOP;
01044       return usrmotWriteEmcmotCommand(&emcmotCommand);
01045 
01046     default:
01047       return -1;
01048   }
01049 }

int emcTrajSetMotionId (  int    id ) 
 

Definition at line 1176 of file bridgeporttaskintf.cc.

01177 {
01178 
01179   if(EMC_DEBUG_MOTION_TIME & EMC_DEBUG)
01180     {
01181       if(id != localEmcTrajMotionId)
01182         {
01183           rcs_print("Outgoing motion id is %d.\n",id);
01184         }
01185     }
01186   localEmcTrajMotionId = id;
01187 
01188   return 0;
01189 }

int emcTrajSetOffset (  EmcPose    offset ) 
 

int emcTrajSetOrigin (  EmcPose    origin ) 
 

int emcTrajSetProbeIndex (  int    index ) 
 

Definition at line 1346 of file bridgeporttaskintf.cc.

01347 {
01348   emcmotCommand.command = EMCMOT_SET_PROBE_INDEX;
01349   emcmotCommand.probeIndex = index;
01350 
01351   return usrmotWriteEmcmotCommand(&emcmotCommand);
01352 }

int emcTrajSetProbePolarity (  int    polarity ) 
 

Definition at line 1354 of file bridgeporttaskintf.cc.

01355 {
01356   emcmotCommand.command = EMCMOT_SET_PROBE_POLARITY;
01357   emcmotCommand.level = polarity;
01358 
01359   return usrmotWriteEmcmotCommand(&emcmotCommand);
01360 }

int emcTrajSetScale (  double    scale ) 
 

Definition at line 1163 of file bridgeporttaskintf.cc.

01164 {
01165   if (scale < 0.0)
01166   {
01167     scale = 0.0;
01168   }
01169 
01170   emcmotCommand.command = EMCMOT_SCALE;
01171   emcmotCommand.scale = scale;
01172 
01173   return usrmotWriteEmcmotCommand(&emcmotCommand);
01174 }

int emcTrajSetTeleopVector (  EmcPose    vel ) 
 

Definition at line 1053 of file bridgeporttaskintf.cc.

01054 {
01055   emcmotCommand.command = EMCMOT_SET_TELEOP_VECTOR;
01056   emcmotCommand.pos = vel;
01057   return usrmotWriteEmcmotCommand(&emcmotCommand);
01058 }

int emcTrajSetTermCond (  int    cond ) 
 

Definition at line 1277 of file bridgeporttaskintf.cc.

01278 {
01279   emcmotCommand.command = EMCMOT_SET_TERM_COND;
01280   emcmotCommand.termCond = (cond == EMC_TRAJ_TERM_COND_STOP ? EMCMOT_TERM_COND_STOP : EMCMOT_TERM_COND_BLEND);
01281 
01282   return usrmotWriteEmcmotCommand(&emcmotCommand);
01283 }

int emcTrajSetUnits (  double    linearUnits,
double    angularUnits
) 
 

Definition at line 1003 of file bridgeporttaskintf.cc.

01004 {
01005   if (linearUnits <= 0.0 ||
01006       angularUnits <= 0.0)
01007   {
01008     return -1;
01009   }
01010 
01011   localEmcTrajLinearUnits = linearUnits;
01012   localEmcTrajAngularUnits = angularUnits;
01013 
01014   return 0;
01015 }

int emcTrajSetVelocity (  double    vel ) 
 

Definition at line 1060 of file bridgeporttaskintf.cc.

01061 {
01062   int retval;
01063 
01064   if (vel < 0.0)
01065   {
01066     vel = 0.0;
01067   }
01068   else if (vel > TRAJ_MAX_VELOCITY)
01069   {
01070     vel = TRAJ_MAX_VELOCITY;
01071   }
01072 
01073 #if 0
01074   // FIXME-- this fixes rapid rate reset problem
01075   if (vel == lastVel)
01076   {
01077     // suppress it
01078     return 0;
01079   }
01080 #endif
01081 
01082   emcmotCommand.command = EMCMOT_SET_VEL;
01083   emcmotCommand.vel = vel;
01084 
01085   retval = usrmotWriteEmcmotCommand(&emcmotCommand);
01086 
01087   if (0 == retval)
01088   {
01089     lastVel = vel;
01090   }
01091 
01092   return retval;
01093 }

int emcTrajStep (    ) 
 

Definition at line 1256 of file bridgeporttaskintf.cc.

Referenced by emcTaskPlan(). 

01257 {
01258   emcmotCommand.command = EMCMOT_STEP;
01259 
01260   return usrmotWriteEmcmotCommand(&emcmotCommand);
01261 }

int emcTrajUpdate (  EMC_TRAJ_STAT *    stat ) 
 

Definition at line 1384 of file bridgeporttaskintf.cc.

01385 {
01386   int axis;
01387 
01388   stat->axes = localEmcTrajAxes;
01389   stat->linearUnits = localEmcTrajLinearUnits;
01390   stat->angularUnits = localEmcTrajAngularUnits;
01391 
01392   stat->mode = 
01393     emcmotStatus.motionFlag & EMCMOT_MOTION_TELEOP_BIT ? EMC_TRAJ_MODE_TELEOP :
01394     ( emcmotStatus.motionFlag & EMCMOT_MOTION_COORD_BIT ? EMC_TRAJ_MODE_COORD : 
01395       EMC_TRAJ_MODE_FREE ) ;
01396 
01397   // enabled iff motion enabled and all axes enabled
01398   stat->enabled = 0;            // start at disabled
01399   if (emcmotStatus.motionFlag & EMCMOT_MOTION_ENABLE_BIT) {
01400     for (axis = 0; axis < localEmcTrajAxes; axis++) {
01401       if (! emcmotStatus.axisFlag[axis] & EMCMOT_AXIS_ENABLE_BIT) {
01402         break;
01403       }
01404 
01405       // got here, then all are enabled
01406       stat->enabled = 1;
01407     }
01408   }
01409 
01410   stat->inpos = emcmotStatus.motionFlag & EMCMOT_MOTION_INPOS_BIT ? 1 : 0;
01411   stat->queue = emcmotStatus.depth;
01412   stat->activeQueue = emcmotStatus.activeDepth;
01413   stat->queueFull = emcmotStatus.queueFull;
01414   stat->id = emcmotStatus.id;
01415   if (EMC_DEBUG_MOTION_TIME & EMC_DEBUG) {
01416     if (stat->id != last_id) {
01417       if (last_id != last_id_printed) {
01418         rcs_print("Motion id %d took %f seconds.\n",last_id, etime()-last_id_time);
01419         last_id_printed = last_id;
01420       }
01421       last_id = stat->id;
01422       last_id_time = etime();
01423     }
01424   }
01425 
01426   stat->paused = emcmotStatus.paused;
01427   stat->scale = emcmotStatus.qVscale;
01428 
01429   stat->position = emcmotStatus.pos;
01430 
01431   stat->actualPosition = emcmotStatus.actualPos;
01432 
01433   stat->velocity = emcmotStatus.vel;
01434   stat->acceleration = emcmotStatus.acc;
01435   stat->maxAcceleration = localEmcMaxAcceleration;
01436 
01437   if (emcmotStatus.motionFlag & EMCMOT_MOTION_ERROR_BIT) {
01438     stat->status = RCS_ERROR;
01439   }
01440   else if (stat->inpos &&
01441            (stat->queue == 0)) {
01442     stat->status = RCS_DONE;
01443   }
01444   else {
01445     stat->status = RCS_EXEC;
01446   }
01447 
01448   if (EMC_DEBUG_MOTION_TIME & EMC_DEBUG) {
01449     if(stat->status == RCS_DONE && last_status != RCS_DONE && stat->id != last_id_printed) {
01450       rcs_print("Motion id %d took %f seconds.\n",last_id, etime()-last_id_time);
01451       last_id_printed = last_id = stat->id;
01452       last_id_time = etime();
01453     }
01454   }
01455 
01456   // update logging
01457   if (emcmotStatus.logOpen) {
01458     // we're logging motion
01459     emcStatus->logType = emcmotStatus.logType;
01460     emcStatus->logSize = emcmotStatus.logSize;
01461     emcStatus->logSkip = emcmotStatus.logSkip;
01462     emcStatus->logOpen = emcmotStatus.logOpen;
01463     emcStatus->logStarted = emcmotStatus.logStarted;
01464     emcStatus->logPoints = emcmotStatus.logPoints;
01465   }
01466   // else if it's not open, don't update emcStatus-- someone else may
01467   // be logging
01468 
01469   stat->probedPosition.tran.x = emcmotStatus.probedPos.tran.x;
01470   stat->probedPosition.tran.y = emcmotStatus.probedPos.tran.y;
01471   stat->probedPosition.tran.z = emcmotStatus.probedPos.tran.z;
01472   stat->probeval = emcmotStatus.probeval;
01473   stat->probe_tripped = emcmotStatus.probeTripped;
01474 
01475   if (new_config) {
01476     stat->cycleTime = emcmotConfig.trajCycleTime;
01477     stat->probe_index = emcmotConfig.probeIndex;
01478     stat->probe_polarity = emcmotConfig.probePolarity;
01479     stat->kinematics_type = emcmotConfig.kinematics_type;
01480     stat->maxVelocity = emcmotConfig.limitVel;
01481   }
01482 
01483   return 0;
01484 }

int emcUpdate (  EMC_STAT *    stat ) 
 

const char* emc_symbol_lookup (  int    type ) 
 

Definition at line 505 of file emc.cc.

Referenced by emcTaskPlan(). 

00506 {
00507         switch(type)
00508         {
00509         case EMC_ABORT_TYPE:
00510                 return "EMC_ABORT";
00511         case EMC_AUX_ABORT_TYPE:
00512                 return "EMC_AUX_ABORT";
00513         case EMC_AUX_AIO_WRITE_TYPE:
00514                 return "EMC_AUX_AIO_WRITE";
00515         case EMC_AUX_DIO_WRITE_TYPE:
00516                 return "EMC_AUX_DIO_WRITE";
00517         case EMC_AUX_ESTOP_OFF_TYPE:
00518                 return "EMC_AUX_ESTOP_OFF";
00519         case EMC_AUX_ESTOP_ON_TYPE:
00520                 return "EMC_AUX_ESTOP_ON";
00521         case EMC_AUX_HALT_TYPE:
00522                 return "EMC_AUX_HALT";
00523         case EMC_AUX_INIT_TYPE:
00524                 return "EMC_AUX_INIT";
00525         case EMC_AUX_STAT_TYPE:
00526                 return "EMC_AUX_STAT";
00527         case EMC_AXIS_ABORT_TYPE:
00528                 return "EMC_AXIS_ABORT";
00529         case EMC_AXIS_ABS_JOG_TYPE:
00530                 return "EMC_AXIS_ABS_JOG";
00531         case EMC_AXIS_ACTIVATE_TYPE:
00532                 return "EMC_AXIS_ACTIVATE";
00533         case EMC_AXIS_ALTER_TYPE:
00534                 return "EMC_AXIS_ALTER";
00535         case EMC_AXIS_DEACTIVATE_TYPE:
00536                 return "EMC_AXIS_DEACTIVATE";
00537         case EMC_AXIS_DISABLE_TYPE:
00538                 return "EMC_AXIS_DISABLE";
00539         case EMC_AXIS_ENABLE_TYPE:
00540                 return "EMC_AXIS_ENABLE";
00541         case EMC_AXIS_HALT_TYPE:
00542                 return "EMC_AXIS_HALT";
00543         case EMC_AXIS_HOME_TYPE:
00544                 return "EMC_AXIS_HOME";
00545         case EMC_AXIS_INCR_JOG_TYPE:
00546                 return "EMC_AXIS_INCR_JOG";
00547         case EMC_AXIS_INIT_TYPE:
00548                 return "EMC_AXIS_INIT";
00549         case EMC_AXIS_JOG_TYPE:
00550                 return "EMC_AXIS_JOG";
00551         case EMC_AXIS_LOAD_COMP_TYPE:
00552                 return "EMC_AXIS_LOAD_COMP";
00553         case EMC_AXIS_OVERRIDE_LIMITS_TYPE:
00554                 return "EMC_AXIS_OVERRIDE_LIMITS";
00555         case EMC_AXIS_SET_AXIS_TYPE:
00556                 return "EMC_AXIS_SET_AXIS";
00557         case EMC_AXIS_SET_CYCLE_TIME_TYPE:
00558                 return "EMC_AXIS_SET_CYCLE_TIME";
00559         case EMC_AXIS_SET_FERROR_TYPE:
00560                 return "EMC_AXIS_SET_FERROR";
00561         case EMC_AXIS_SET_GAINS_TYPE:
00562                 return "EMC_AXIS_SET_GAINS";
00563         case EMC_AXIS_SET_HOME_TYPE:
00564                 return "EMC_AXIS_SET_HOME";
00565         case EMC_AXIS_SET_HOME_OFFSET_TYPE:
00566                 return "EMC_AXIS_SET_HOME_OFFSET";
00567         case EMC_AXIS_SET_HOMING_VEL_TYPE:
00568                 return "EMC_AXIS_SET_HOMING_VEL";
00569         case EMC_AXIS_SET_INPUT_SCALE_TYPE:
00570                 return "EMC_AXIS_SET_INPUT_SCALE";
00571         case EMC_AXIS_SET_MAX_OUTPUT_LIMIT_TYPE:
00572                 return "EMC_AXIS_SET_MAX_OUTPUT_LIMIT";
00573         case EMC_AXIS_SET_MAX_POSITION_LIMIT_TYPE:
00574                 return "EMC_AXIS_SET_MAX_POSITION_LIMIT";
00575         case EMC_AXIS_SET_MAX_VELOCITY_TYPE:
00576                 return "EMC_AXIS_SET_MAX_VELOCITY";
00577         case EMC_AXIS_SET_MIN_FERROR_TYPE:
00578                 return "EMC_AXIS_SET_MIN_FERROR";
00579         case EMC_AXIS_SET_MIN_OUTPUT_LIMIT_TYPE:
00580                 return "EMC_AXIS_SET_MIN_OUTPUT_LIMIT";
00581         case EMC_AXIS_SET_MIN_POSITION_LIMIT_TYPE:
00582                 return "EMC_AXIS_SET_MIN_POSITION_LIMIT";
00583         case EMC_AXIS_SET_OUTPUT_TYPE:
00584                 return "EMC_AXIS_SET_OUTPUT";
00585         case EMC_AXIS_SET_OUTPUT_SCALE_TYPE:
00586                 return "EMC_AXIS_SET_OUTPUT_SCALE";
00587         case EMC_AXIS_SET_UNITS_TYPE:
00588                 return "EMC_AXIS_SET_UNITS";
00589         case EMC_AXIS_STAT_TYPE:
00590                 return "EMC_AXIS_STAT";
00591         case EMC_COOLANT_ABORT_TYPE:
00592                 return "EMC_COOLANT_ABORT";
00593         case EMC_COOLANT_FLOOD_OFF_TYPE:
00594                 return "EMC_COOLANT_FLOOD_OFF";
00595         case EMC_COOLANT_FLOOD_ON_TYPE:
00596                 return "EMC_COOLANT_FLOOD_ON";
00597         case EMC_COOLANT_HALT_TYPE:
00598                 return "EMC_COOLANT_HALT";
00599         case EMC_COOLANT_INIT_TYPE:
00600                 return "EMC_COOLANT_INIT";
00601         case EMC_COOLANT_MIST_OFF_TYPE:
00602                 return "EMC_COOLANT_MIST_OFF";
00603         case EMC_COOLANT_MIST_ON_TYPE:
00604                 return "EMC_COOLANT_MIST_ON";
00605         case EMC_COOLANT_STAT_TYPE:
00606                 return "EMC_COOLANT_STAT";
00607         case EMC_HALT_TYPE:
00608                 return "EMC_HALT";
00609         case EMC_INIT_TYPE:
00610                 return "EMC_INIT";
00611         case EMC_IO_ABORT_TYPE:
00612                 return "EMC_IO_ABORT";
00613         case EMC_IO_HALT_TYPE:
00614                 return "EMC_IO_HALT";
00615         case EMC_IO_INIT_TYPE:
00616                 return "EMC_IO_INIT";
00617         case EMC_IO_SET_CYCLE_TIME_TYPE:
00618                 return "EMC_IO_SET_CYCLE_TIME";
00619         case EMC_IO_STAT_TYPE:
00620                 return "EMC_IO_STAT";
00621         case EMC_LOG_CLOSE_TYPE:
00622                 return "EMC_LOG_CLOSE";
00623         case EMC_LOG_OPEN_TYPE:
00624                 return "EMC_LOG_OPEN";
00625         case EMC_LOG_START_TYPE:
00626                 return "EMC_LOG_START";
00627         case EMC_LOG_STOP_TYPE:
00628                 return "EMC_LOG_STOP";
00629         case EMC_LUBE_ABORT_TYPE:
00630                 return "EMC_LUBE_ABORT";
00631         case EMC_LUBE_HALT_TYPE:
00632                 return "EMC_LUBE_HALT";
00633         case EMC_LUBE_INIT_TYPE:
00634                 return "EMC_LUBE_INIT";
00635         case EMC_LUBE_OFF_TYPE:
00636                 return "EMC_LUBE_OFF";
00637         case EMC_LUBE_ON_TYPE:
00638                 return "EMC_LUBE_ON";
00639         case EMC_LUBE_STAT_TYPE:
00640                 return "EMC_LUBE_STAT";
00641         case EMC_MOTION_ABORT_TYPE:
00642                 return "EMC_MOTION_ABORT";
00643         case EMC_MOTION_HALT_TYPE:
00644                 return "EMC_MOTION_HALT";
00645         case EMC_MOTION_INIT_TYPE:
00646                 return "EMC_MOTION_INIT";
00647         case EMC_MOTION_SET_AOUT_TYPE:
00648                 return "EMC_MOTION_SET_AOUT";
00649         case EMC_MOTION_SET_DOUT_TYPE:
00650                 return "EMC_MOTION_SET_DOUT";
00651         case EMC_MOTION_STAT_TYPE:
00652                 return "EMC_MOTION_STAT";
00653         case EMC_NULL_TYPE:
00654                 return "EMC_NULL";
00655         case EMC_OPERATOR_DISPLAY_TYPE:
00656                 return "EMC_OPERATOR_DISPLAY";
00657         case EMC_OPERATOR_ERROR_TYPE:
00658                 return "EMC_OPERATOR_ERROR";
00659         case EMC_OPERATOR_TEXT_TYPE:
00660                 return "EMC_OPERATOR_TEXT";
00661         case EMC_SET_AIO_INDEX_TYPE:
00662                 return "EMC_SET_AIO_INDEX";
00663         case EMC_SET_DEBUG_TYPE:
00664                 return "EMC_SET_DEBUG";
00665         case EMC_SET_DIO_INDEX_TYPE:
00666                 return "EMC_SET_DIO_INDEX";
00667         case EMC_SET_POLARITY_TYPE:
00668                 return "EMC_SET_POLARITY";
00669         case EMC_SPINDLE_ABORT_TYPE:
00670                 return "EMC_SPINDLE_ABORT";
00671         case EMC_SPINDLE_BRAKE_ENGAGE_TYPE:
00672                 return "EMC_SPINDLE_BRAKE_ENGAGE";
00673         case EMC_SPINDLE_BRAKE_RELEASE_TYPE:
00674                 return "EMC_SPINDLE_BRAKE_RELEASE";
00675         case EMC_SPINDLE_CONSTANT_TYPE:
00676                 return "EMC_SPINDLE_CONSTANT";
00677         case EMC_SPINDLE_DECREASE_TYPE:
00678                 return "EMC_SPINDLE_DECREASE";
00679         case EMC_SPINDLE_DISABLE_TYPE:
00680                 return "EMC_SPINDLE_DISABLE";
00681         case EMC_SPINDLE_ENABLE_TYPE:
00682                 return "EMC_SPINDLE_ENABLE";
00683         case EMC_SPINDLE_FORWARD_TYPE:
00684                 return "EMC_SPINDLE_FORWARD";
00685         case EMC_SPINDLE_HALT_TYPE:
00686                 return "EMC_SPINDLE_HALT";
00687         case EMC_SPINDLE_INCREASE_TYPE:
00688                 return "EMC_SPINDLE_INCREASE";
00689         case EMC_SPINDLE_INIT_TYPE:
00690                 return "EMC_SPINDLE_INIT";
00691         case EMC_SPINDLE_OFF_TYPE:
00692                 return "EMC_SPINDLE_OFF";
00693         case EMC_SPINDLE_ON_TYPE:
00694                 return "EMC_SPINDLE_ON";
00695         case EMC_SPINDLE_REVERSE_TYPE:
00696                 return "EMC_SPINDLE_REVERSE";
00697         case EMC_SPINDLE_STAT_TYPE:
00698                 return "EMC_SPINDLE_STAT";
00699         case EMC_SPINDLE_STOP_TYPE:
00700                 return "EMC_SPINDLE_STOP";
00701         case EMC_STAT_TYPE:
00702                 return "EMC_STAT";
00703         case EMC_TASK_ABORT_TYPE:
00704                 return "EMC_TASK_ABORT";
00705         case EMC_TASK_HALT_TYPE:
00706                 return "EMC_TASK_HALT";
00707         case EMC_TASK_INIT_TYPE:
00708                 return "EMC_TASK_INIT";
00709         case EMC_TASK_PLAN_CLOSE_TYPE:
00710                 return "EMC_TASK_PLAN_CLOSE";
00711         case EMC_TASK_PLAN_END_TYPE:
00712                 return "EMC_TASK_PLAN_END";
00713         case EMC_TASK_PLAN_EXECUTE_TYPE:
00714                 return "EMC_TASK_PLAN_EXECUTE";
00715         case EMC_TASK_PLAN_INIT_TYPE:
00716                 return "EMC_TASK_PLAN_INIT";
00717         case EMC_TASK_PLAN_OPEN_TYPE:
00718                 return "EMC_TASK_PLAN_OPEN";
00719         case EMC_TASK_PLAN_PAUSE_TYPE:
00720                 return "EMC_TASK_PLAN_PAUSE";
00721         case EMC_TASK_PLAN_READ_TYPE:
00722                 return "EMC_TASK_PLAN_READ";
00723         case EMC_TASK_PLAN_RESUME_TYPE:
00724                 return "EMC_TASK_PLAN_RESUME";
00725         case EMC_TASK_PLAN_RUN_TYPE:
00726                 return "EMC_TASK_PLAN_RUN";
00727         case EMC_TASK_PLAN_STEP_TYPE:
00728                 return "EMC_TASK_PLAN_STEP";
00729         case EMC_TASK_PLAN_SYNCH_TYPE:
00730                 return "EMC_TASK_PLAN_SYNCH";
00731         case EMC_TASK_SET_MODE_TYPE:
00732                 return "EMC_TASK_SET_MODE";
00733         case EMC_TASK_SET_STATE_TYPE:
00734                 return "EMC_TASK_SET_STATE";
00735         case EMC_TASK_STAT_TYPE:
00736                 return "EMC_TASK_STAT";
00737         case EMC_TOOL_ABORT_TYPE:
00738                 return "EMC_TOOL_ABORT";
00739         case EMC_TOOL_HALT_TYPE:
00740                 return "EMC_TOOL_HALT";
00741         case EMC_TOOL_INIT_TYPE:
00742                 return "EMC_TOOL_INIT";
00743         case EMC_TOOL_LOAD_TYPE:
00744                 return "EMC_TOOL_LOAD";
00745         case EMC_TOOL_LOAD_TOOL_TABLE_TYPE:
00746                 return "EMC_TOOL_LOAD_TOOL_TABLE";
00747         case EMC_TOOL_PREPARE_TYPE:
00748                 return "EMC_TOOL_PREPARE";
00749         case EMC_TOOL_SET_OFFSET_TYPE:
00750                 return "EMC_TOOL_SET_OFFSET";
00751         case EMC_TOOL_STAT_TYPE:
00752                 return "EMC_TOOL_STAT";
00753         case EMC_TOOL_UNLOAD_TYPE:
00754                 return "EMC_TOOL_UNLOAD";
00755         case EMC_TRAJ_ABORT_TYPE:
00756                 return "EMC_TRAJ_ABORT";
00757         case EMC_TRAJ_CIRCULAR_MOVE_TYPE:
00758                 return "EMC_TRAJ_CIRCULAR_MOVE";
00759         case EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG_TYPE:
00760                 return "EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG";
00761         case EMC_TRAJ_DELAY_TYPE:
00762                 return "EMC_TRAJ_DELAY";
00763         case EMC_TRAJ_DISABLE_TYPE:
00764                 return "EMC_TRAJ_DISABLE";
00765         case EMC_TRAJ_ENABLE_TYPE:
00766                 return "EMC_TRAJ_ENABLE";
00767         case EMC_TRAJ_HALT_TYPE:
00768                 return "EMC_TRAJ_HALT";
00769         case EMC_TRAJ_INIT_TYPE:
00770                 return "EMC_TRAJ_INIT";
00771         case EMC_TRAJ_LINEAR_MOVE_TYPE:
00772                 return "EMC_TRAJ_LINEAR_MOVE";
00773         case EMC_TRAJ_PAUSE_TYPE:
00774                 return "EMC_TRAJ_PAUSE";
00775         case EMC_TRAJ_PROBE_TYPE:
00776                 return "EMC_TRAJ_PROBE";
00777         case EMC_TRAJ_RESUME_TYPE:
00778                 return "EMC_TRAJ_RESUME";
00779         case EMC_TRAJ_SET_ACCELERATION_TYPE:
00780                 return "EMC_TRAJ_SET_ACCELERATION";
00781         case EMC_TRAJ_SET_AXES_TYPE:
00782                 return "EMC_TRAJ_SET_AXES";
00783         case EMC_TRAJ_SET_CYCLE_TIME_TYPE:
00784                 return "EMC_TRAJ_SET_CYCLE_TIME";
00785         case EMC_TRAJ_SET_HOME_TYPE:
00786                 return "EMC_TRAJ_SET_HOME";
00787         case EMC_TRAJ_SET_MAX_ACCELERATION_TYPE:
00788                 return "EMC_TRAJ_SET_MAX_ACCELERATION";
00789         case EMC_TRAJ_SET_MAX_VELOCITY_TYPE:
00790                 return "EMC_TRAJ_SET_MAX_VELOCITY";
00791         case EMC_TRAJ_SET_MODE_TYPE:
00792                 return "EMC_TRAJ_SET_MODE";
00793         case EMC_TRAJ_SET_MOTION_ID_TYPE:
00794                 return "EMC_TRAJ_SET_MOTION_ID";
00795         case EMC_TRAJ_SET_OFFSET_TYPE:
00796                 return "EMC_TRAJ_SET_OFFSET";
00797         case EMC_TRAJ_SET_ORIGIN_TYPE:
00798                 return "EMC_TRAJ_SET_ORIGIN";
00799         case EMC_TRAJ_SET_PROBE_INDEX_TYPE:
00800                 return "EMC_TRAJ_SET_PROBE_INDEX";
00801         case EMC_TRAJ_SET_PROBE_POLARITY_TYPE:
00802                 return "EMC_TRAJ_SET_PROBE_POLARITY";
00803         case EMC_TRAJ_SET_SCALE_TYPE:
00804                 return "EMC_TRAJ_SET_SCALE";
00805         case EMC_TRAJ_SET_TELEOP_ENABLE_TYPE:
00806                 return "EMC_TRAJ_SET_TELEOP_ENABLE";
00807         case EMC_TRAJ_SET_TELEOP_VECTOR_TYPE:
00808                 return "EMC_TRAJ_SET_TELEOP_VECTOR";
00809         case EMC_TRAJ_SET_TERM_COND_TYPE:
00810                 return "EMC_TRAJ_SET_TERM_COND";
00811         case EMC_TRAJ_SET_UNITS_TYPE:
00812                 return "EMC_TRAJ_SET_UNITS";
00813         case EMC_TRAJ_SET_VELOCITY_TYPE:
00814                 return "EMC_TRAJ_SET_VELOCITY";
00815         case EMC_TRAJ_STAT_TYPE:
00816                 return "EMC_TRAJ_STAT";
00817         case EMC_TRAJ_STEP_TYPE:
00818                 return "EMC_TRAJ_STEP";
00819         default:
00820                 return"UNKNOWN";
00821                 break;
00822         }
00823         return(NULL);
00824 }

Variable Documentation

int Argc
 

Definition at line 397 of file emc.hh.

char** Argv
 

Definition at line 398 of file emc.hh.

EMC_IO_STAT* emcIoStatus
 

Definition at line 2840 of file emc.hh.

EMC_MOTION_STAT* emcMotionStatus
 

Definition at line 2843 of file emc.hh.

EMC_STAT* emcStatus
 

Definition at line 2837 of file emc.hh.

Generated on Sun Dec 2 15:27:52 2001 for EMC by doxygen1.2.11.1 written by Dimitri van Heesch, © 1997-2001