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emcops.cc

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/*
  emcops.cc

  Initialization and other ad hoc functions for NML. This complements the
  auto-generated emc.cc, which contains all the rote update methods for
  the message classes.

  Modification history:

  31-Jan-1999  FMP added backlash, bias, maxError to EMC_AXIS_STAT
  7-Oct-1998 FMP added init of homingVel to EMC_AXIS_STAT ctor
  2-Sep-1998  FMP added min/maxSoft/HardLimit inits to EMC_AXIS_STAT ctor
  3-Aug-1998  FMP added toolOffset, G/M codes init to 0
  8-Jul-1998  FMP added logPoints to status
  15-Jun-1998  FMP added this comment, since it was left out. Also added
  scale initialization to EMC_AXIS_STAT ctor; EMC_STAT ctor with logging
  init
  */

#include "emc.hh"

EMC_AXIS_STAT::EMC_AXIS_STAT() :
  EMC_AXIS_STAT_MSG(EMC_AXIS_STAT_TYPE, sizeof(EMC_AXIS_STAT))
{
  axisType = EMC_AXIS_LINEAR;
  units = 1.0;
  p = 0.0;
  i = 0.0;
  d = 0.0;
  ff0 = 0.0;
  ff1 = 0.0;
  ff2 = 0.0;
  backlash = 0.0;
  bias = 0.0;
  maxError = 0.0;
  cycleTime = 1.0;
  inputScale = 1.0;
  inputOffset = 0.0;
  outputScale = 1.0;
  outputOffset = 0.0;
  minPositionLimit = -1.0;
  maxPositionLimit = 1.0;
  minOutputLimit = -1.0;
  maxOutputLimit = 1.0;
  maxFerror = 1.0;
  homingVel = 1.0;
  enablePolarity = 1;
  minLimitSwitchPolarity = 1;
  maxLimitSwitchPolarity = 1;
  homeSwitchPolarity = 1;
  homingPolarity = 1;
  faultPolarity = 1;
  ferrorCurrent = 0.0;
  ferrorHighMark = 0.0;
  output = 0.0;
  input = 0.0;
  inpos = 1;
  homing = 0;
  homed = 0;
  enabled = 0;
  minSoftLimit = 0;
  maxSoftLimit = 0;
  minHardLimit = 0;
  maxHardLimit = 0;
  scale = 0.0;
}

EMC_TRAJ_STAT::EMC_TRAJ_STAT() :
  EMC_TRAJ_STAT_MSG(EMC_TRAJ_STAT_TYPE, sizeof(EMC_TRAJ_STAT))
{
  linearUnits = 1.0;
  angularUnits = 1.0;
  axes = 1;
  mode = EMC_TRAJ_MODE_FREE;
  enabled = 0;
  inpos = 1;
  queue = 0;
  activeQueue = 0;
  queueFull = 0;
  id = 0;
  paused = 0;

  position.tran.x = 0.0;
  position.tran.y = 0.0;
  position.tran.z = 0.0;
  position.a = 0.0;
  position.b = 0.0;
  position.c = 0.0;

  actualPosition.tran.x = 0.0;
  actualPosition.tran.y = 0.0;
  actualPosition.tran.z = 0.0;
  actualPosition.a = 0.0;
  actualPosition.b = 0.0;
  actualPosition.c = 0.0;

  velocity = 1.0;
  acceleration = 1.0;
  maxVelocity = 1.0;
  maxAcceleration = 1.0;
}

EMC_TASK_STAT::EMC_TASK_STAT() :
  EMC_TASK_STAT_MSG(EMC_TASK_STAT_TYPE, sizeof(EMC_TASK_STAT))
{
  int t;

  mode = EMC_TASK_MODE_MANUAL;
  state = EMC_TASK_STATE_ESTOP;
  execState = EMC_TASK_EXEC_DONE;
  interpState = EMC_TASK_INTERP_IDLE;
  motionLine = 0;
  currentLine = 0;
  readLine = 0;
  file[0] = 0;
  command[0] = 0;

  origin.tran.x = 0.0;
  origin.tran.y = 0.0;
  origin.tran.z = 0.0;
  origin.a = 0.0;
  origin.b = 0.0;
  origin.c = 0.0;

  toolOffset.tran.x = 0.0;
  toolOffset.tran.y = 0.0;
  toolOffset.tran.z = 0.0;
  toolOffset.a = 0.0;
  toolOffset.b = 0.0;
  toolOffset.c = 0.0;

  for (t = 0; t < EMC_TASK_ACTIVE_G_CODES; t++)
    activeGCodes[t] = -1;
  for (t = 0; t < EMC_TASK_ACTIVE_M_CODES; t++)
    activeMCodes[t] = -1;
  for (t = 0; t < EMC_TASK_ACTIVE_SETTINGS; t++)
    activeSettings[t] = 0.0;
}

EMC_TOOL_STAT::EMC_TOOL_STAT() :
  EMC_TOOL_STAT_MSG(EMC_TOOL_STAT_TYPE, sizeof(EMC_TOOL_STAT))
{
  int t;

  toolPrepped = 0;
  toolInSpindle = 0;

  for (t = 0; t <= CANON_TOOL_MAX; t++)
    {
      toolTable[t].id = 0;
      toolTable[t].length = 0.0;
      toolTable[t].diameter = 0.0;
    }
}

EMC_AUX_STAT::EMC_AUX_STAT() :
  EMC_AUX_STAT_MSG(EMC_AUX_STAT_TYPE, sizeof(EMC_AUX_STAT))
{
  int t;

  estop = 1;

  for (t = 0; t < EMC_AUX_MAX_DOUT; t++)
    {
      dout[t] = 0;
    }

  for (t = 0; t < EMC_AUX_MAX_DIN; t++)
    {
      din[t] = 0;
    }

  for (t = 0; t < EMC_AUX_MAX_AOUT; t++)
    {
      aout[t] = 0;
    }

  for (t = 0; t < EMC_AUX_MAX_AIN; t++)
    {
      ain[t] = 0;
    }
}

EMC_SPINDLE_STAT::EMC_SPINDLE_STAT() :
  EMC_SPINDLE_STAT_MSG(EMC_SPINDLE_STAT_TYPE, sizeof(EMC_SPINDLE_STAT))
{
  speed = 0.0;
  direction = 0;
  brake = 1;
  increasing = 0;
  enabled = 0;
}

EMC_COOLANT_STAT::EMC_COOLANT_STAT() : EMC_COOLANT_STAT_MSG(EMC_COOLANT_STAT_TYPE, sizeof(EMC_COOLANT_STAT))
{
  mist = 0;
  flood = 0;
}

EMC_LUBE_STAT::EMC_LUBE_STAT() :
  EMC_LUBE_STAT_MSG(EMC_LUBE_STAT_TYPE, sizeof(EMC_LUBE_STAT))
{
  on = 0;
  level = 1;
}

// overload = , since class has array elements
EMC_TOOL_STAT EMC_TOOL_STAT::operator = (EMC_TOOL_STAT s)
{
  int t;

  toolPrepped = s.toolPrepped;
  toolInSpindle = s.toolInSpindle;

  for (t = 0; t <= CANON_TOOL_MAX; t++)
    {
      toolTable[t].id = s.toolTable[t].id;
      toolTable[t].length = s.toolTable[t].length;
      toolTable[t].diameter = s.toolTable[t].diameter;
    }

  return s;
}

// overload = , since class has array elements
EMC_AUX_STAT EMC_AUX_STAT::operator = (EMC_AUX_STAT s)
{
  int t;

  estop = s.estop;

  for (t = 0; t < EMC_AUX_MAX_DOUT; t++)
    {
      dout[t] = s.dout[t];
    }

  for (t = 0; t < EMC_AUX_MAX_DIN; t++)
    {
      din[t] = s.din[t];
    }

  for (t = 0; t < EMC_AUX_MAX_AOUT; t++)
    {
      aout[t] = s.aout[t];
    }

  for (t = 0; t < EMC_AUX_MAX_AIN; t++)
    {
      ain[t] = s.ain[t];
    }

  return s;
}

EMC_STAT::EMC_STAT() : EMC_STAT_MSG(EMC_STAT_TYPE, sizeof(EMC_STAT))
{
  logFile[0] = 0;
  logType = 0;
  logSize = 0;
  logSkip = 0;
  logOpen = 0;
  logStarted = 0;
  logPoints = 0;
}

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