---

emcpanel.cc File Reference

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <ctype.h>
#include "getinput.h"
#include "rcs.hh"
#include "emc.hh"
#include "canon.hh"
#include "rs274ngc.hh"
#include "nml_mod.hh"
#include "emcglb.h"

Include dependency graph for emcpanel.cc:

Go to the source code of this file.

Defines
#define	__attribute__(x)
#define	AWK_PATH   "awk"
#define	XGRAPH_PATH   "xgraph"
#define	SYSTEM_STRING_LEN   1024
#define	INPUTLEN   80
#define	SLEEP_SECS   0.100
#define	STRLEN   80
#define	EMC_COMMAND_TIMEOUT   1.0
#define	EMC_COMMAND_DELAY   0.1
Enumerations
enum	{ AXIS_X = 0, AXIS_Y, AXIS_Z }
enum	{ JOG_CONT = 1, JOG_INCR }
enum	{ DISPLAY_ABS = 1, DISPLAY_REL }
enum	{ SELECT_NONE = 1, SELECT_EMC_TASK, SELECT_EMC_IO }
Functions
char	__attribute__ ((unused)) ident[]="$Id
int	anyprintable (const char *string)
int	emcTaskNmlGet ()
int	emcErrorNmlGet ()
int	emcIoNmlGet ()
int	emcpanelQuit ()
char *	state_to_string (int state)
char *	status_to_string (int status)
int	btostr (char *s, unsigned char b)
void	showState ()
void	showMode ()
void	showPosition ()
void	showParams ()
void	showProgram ()
void	showEmcTaskExec ()
void	showEmcio ()
void	showTools ()
void	showAxis ()
void	showCodes ()
void	emcpanelShow (int toPrint)
void	printErrors ()
int	updateStatus ()
int	emcCommandWait (int serial_number)
int	iniLoad (const char *filename)
int	main (int argc, char *argv[])
Variables
int	axisSelect = AXIS_X
double	speedSelect = 1.0
double	jogIncr = 1.0
int	jogSelect = JOG_CONT
int	printPrompt
enum { ... }	displayMode
enum { ... }	which

---

Define Documentation

#define AWK_PATH   "awk"

#define EMC_COMMAND_DELAY   0.1

Definition at line 1019 of file emcpanel.cc.

#define EMC_COMMAND_TIMEOUT   1.0

Definition at line 1018 of file emcpanel.cc.

#define INPUTLEN   80

Definition at line 150 of file emcpanel.cc.

#define SLEEP_SECS   0.100

Definition at line 153 of file emcpanel.cc.

#define STRLEN   80

Definition at line 320 of file emcpanel.cc.

#define SYSTEM_STRING_LEN   1024

#define XGRAPH_PATH   "xgraph"

#define __attribute__ (  x    )

Definition at line 55 of file emcpanel.cc.

---

Enumeration Type Documentation

anonymous enum

Enumeration values: AXIS_X  AXIS_Y  AXIS_Z  Definition at line 133 of file emcpanel.cc. {AXIS_X = 0, AXIS_Y, AXIS_Z};

anonymous enum

Enumeration values: JOG_CONT  JOG_INCR  Definition at line 138 of file emcpanel.cc. {JOG_CONT = 1, JOG_INCR};

anonymous enum

Enumeration values: DISPLAY_ABS  DISPLAY_REL  Definition at line 155 of file emcpanel.cc. { DISPLAY_ABS = 1, DISPLAY_REL } displayMode = DISPLAY_ABS;

anonymous enum

Enumeration values: SELECT_NONE  SELECT_EMC_TASK  SELECT_EMC_IO  Definition at line 1042 of file emcpanel.cc. { SELECT_NONE = 1, SELECT_EMC_TASK, SELECT_EMC_IO } which = SELECT_NONE;

---

Function Documentation

char __attribute__ (  (unused)    )  [static]

Definition at line 59 of file emcpanel.cc. : emcpanel.cc,v 1.7 2001/06/29 20:27:29 wshackle Exp $"; // the NML channels to the EMC task static RCS_CMD_CHANNEL *emcCommandBuffer = 0; static RCS_STAT_CHANNEL *emcStatusBuffer = 0; EMC_STAT *emcStatus = 0; // the NML channels to the EMCIO controller static RCS_CMD_CHANNEL *emcIoCommandBuffer = 0; static RCS_STAT_CHANNEL *emcIoStatusBuffer = 0; EMC_IO_STAT *emcIoStatus = 0; // the NML channel for errors static NML *emcErrorBuffer = 0; // the current command numbers, set up updateStatus(), used in main() static int emcCommandSerialNumber = 0; static int emcIoCommandSerialNumber = 0; // internal params // the saved program name static char programFile[EMC_TASK_FILENAME_LEN] = ""; static int programOpened = 0; static FILE * programFp = 0; static int programFpLine = 0; static int programActiveLine = 0; static char programLineText[EMC_TASK_COMMAND_LEN] = ""; // saved log file params static char saveLogFile[EMC_LOG_FILENAME_LEN] = "emc.log"; static int saveLogType = EMC_LOG_TYPE_AXIS_POS; static int saveLogSize = 1000; static int saveLogSkip = 0; static int saveLogAxis = 0; // paths to awk and xgraph, using to plot logs // fill these in for your system, if these are not in user's path #define AWK_PATH "awk" #define XGRAPH_PATH "xgraph" #define SYSTEM_STRING_LEN 1024 static int plotLog(const char * logfile, int logtype, int which) { char string[SYSTEM_STRING_LEN]; int retval; if (logfile == 0) { return -1; } switch (logtype) { case EMC_LOG_TYPE_AXIS_POS: sprintf(string, "( %s '{print $1 \" \" $2}' < %s ; echo \"\" ; %s '{print $1 \" \" $3}' < %s ) 2> /dev/null | %s -m 1> /dev/null 2> /dev/null", AWK_PATH, logfile, AWK_PATH, logfile, XGRAPH_PATH); break; case EMC_LOG_TYPE_AXES_INPOS: case EMC_LOG_TYPE_AXES_OUTPOS: sprintf(string, "%s '{print $2 \" \" $3}' < %s 2> /dev/null | %s -m 1> /dev/null 2> /dev/null", AWK_PATH, logfile, XGRAPH_PATH); break; default: return -1; break; } retval = system(string); return retval; }

int anyprintable (  const char *    string )  [static]

Definition at line 161 of file emcpanel.cc. Referenced by main(). { int cnt = 0; char c; while (0 != (c = string[cnt++])) { if (!isspace(c)) { return 1; } } return 0; }

int btostr (  char *    s, unsigned char    b )  [static]

Definition at line 384 of file emcpanel.cc. Referenced by printDioOutputs(), and showEmcio(). { int t; for (t = 7; t >= 0; t--) { s[t] = b % 2 ? '1' : '0'; b >>= 1; } s[8] = 0; /* null terminate */ return 0; }

int emcCommandWait (  int    serial_number )  [static]

Definition at line 1021 of file emcpanel.cc. { double start = etime(); while (etime() - start < EMC_COMMAND_TIMEOUT) { updateStatus(); if (emcStatus->echo_serial_number == serial_number) { return 0; } esleep(EMC_COMMAND_DELAY); } rcs_print_error("timeout sending command\n"); return -1; }

int emcErrorNmlGet (    )  [static]

Definition at line 220 of file emcpanel.cc. { int retval = 0; if (emcErrorBuffer == 0) { printf("trying emcError..."); emcErrorBuffer = new NML(nmlErrorFormat, "emcError", "emcpanel", EMC_NMLFILE); if (! emcErrorBuffer->valid()) { rcs_print_error("emcError channel not available\n"); delete emcErrorBuffer; emcErrorBuffer = 0; retval = -1; printf("failed\n"); } printf("got it\n"); } return retval; }

int emcIoNmlGet (    )  [static]

Definition at line 242 of file emcpanel.cc. { int retval = 0; if (emcIoCommandBuffer == 0) { printf("trying toolCmd..."); emcIoCommandBuffer = new RCS_CMD_CHANNEL(emcFormat, "toolCmd", "emcpanel", EMC_NMLFILE); if (! emcIoCommandBuffer->valid()) { delete emcIoCommandBuffer; emcIoCommandBuffer = 0; retval = -1; printf("failed\n"); } printf("got it\n"); } if (emcIoStatusBuffer == 0) { printf("tring toolSts..."); emcIoStatusBuffer = new RCS_STAT_CHANNEL(emcFormat, "toolSts", "emcpanel", EMC_NMLFILE); if (! emcIoStatusBuffer->valid() || EMC_IO_STAT_TYPE != emcIoStatusBuffer->peek()) { delete emcIoStatusBuffer; emcIoStatusBuffer = 0; emcIoStatus = 0; retval = -1; printf("failed\n"); } else { emcIoStatus = (EMC_IO_STAT *) emcIoStatusBuffer->get_address(); printf("got it\n"); } } return retval; }

int emcTaskNmlGet (    )  [static]

Definition at line 177 of file emcpanel.cc. Referenced by main(), and tryNml(). { int retval = 0; // try to connect to NC cmd if (emcCommandBuffer == 0) { printf("trying emcCommand..."); emcCommandBuffer = new RCS_CMD_CHANNEL(emcFormat, "emcCommand", "emcpanel", EMC_NMLFILE); if (! emcCommandBuffer->valid()) { delete emcCommandBuffer; emcCommandBuffer = 0; retval = -1; printf("failed\n"); } printf("got it\n"); } // try to connect to NC status if (emcStatusBuffer == 0) { printf("trying emcStatus..."); emcStatusBuffer = new RCS_STAT_CHANNEL(emcFormat, "emcStatus", "emcpanel", EMC_NMLFILE); if (! emcStatusBuffer->valid() || EMC_STAT_TYPE != emcStatusBuffer->peek()) { delete emcStatusBuffer; emcStatusBuffer = 0; emcStatus = 0; retval = -1; printf("failed\n"); } else { emcStatus = (EMC_STAT *) emcStatusBuffer->get_address(); printf("got it\n"); } } return retval; }

int emcpanelQuit (    )  [static]

Definition at line 283 of file emcpanel.cc. Referenced by main(). { if (emcIoStatusBuffer != 0) { delete emcIoStatusBuffer; emcIoStatusBuffer = 0; emcIoStatus = 0; } if (emcIoCommandBuffer != 0) { delete emcIoCommandBuffer; emcIoCommandBuffer = 0; } if (emcErrorBuffer != 0) { delete emcErrorBuffer; emcErrorBuffer = 0; } if (emcStatusBuffer != 0) { delete emcStatusBuffer; emcStatusBuffer = 0; emcStatus = 0; } if (emcCommandBuffer != 0) { delete emcCommandBuffer; emcCommandBuffer = 0; } return 0; }

void emcpanelShow (  int    toPrint )  [static]

Definition at line 806 of file emcpanel.cc. Referenced by main(). { switch (toPrint) { case 0: // show default stuff showState(); showMode(); showPosition(); showProgram(); showEmcTaskExec(); break; case 1: // show state showState(); break; case 2: // show mode showMode(); break; case 3: // show position showPosition(); break; case 4: // show internal params showParams(); break; case 5: // show interpreter showProgram(); break; case 6: // show EMC TASK showEmcTaskExec(); break; case 8: // show EMC IO showEmcio(); break; case 9: // show tool table showTools(); break; case 10: // show axis info showAxis(); break; case 11: // show active g codes showCodes(); break; default: // huh? printf("invalid request to show: %d\n", toPrint); break; } }

int iniLoad (  const char *    filename )  [static]

Definition at line 1048 of file emcpanel.cc. { INIFILE inifile; const char *inistring; // open it if (-1 == inifile.open(filename)) { return -1; } if (NULL != (inistring = inifile.find("NML_FILE", "EMC"))) { // copy to global strcpy(EMC_NMLFILE, inistring); } else { // not found, use default } // close it inifile.close(); return 0; }

int main (  int    argc, char *    argv[] )

Definition at line 1072 of file emcpanel.cc. { char input[INPUTLEN]; char cmd[INPUTLEN]; int nchars; // how many read from getinput() double delay; // secs until next read int done; int lastPrint = 0; // flag for which status subset to print int inhibitPrompt = 0; // flag for inhibiting prompt printing int valid; int t; int catchErrors = 1; // flag for reading error buffer // messages sent out EMC_AXIS_SET_FERROR emc_axis_set_ferror_msg; EMC_AXIS_SET_MIN_FERROR emc_axis_set_min_ferror_msg; EMC_AXIS_JOG emc_axis_jog_msg; EMC_AXIS_INCR_JOG emc_axis_incr_jog_msg; EMC_AXIS_ABS_JOG emc_axis_abs_jog_msg; EMC_AXIS_HOME emc_axis_home_msg; EMC_AXIS_ABORT emc_axis_abort_msg; EMC_AXIS_SET_OUTPUT emc_axis_set_output_msg; EMC_TRAJ_SET_SCALE emc_traj_set_scale_msg; EMC_TRAJ_ABORT emc_traj_abort_msg; EMC_TASK_SET_MODE mode_msg; EMC_TASK_SET_STATE state_msg; EMC_TASK_ABORT task_abort_msg; EMC_TASK_PLAN_OPEN task_plan_open_msg; EMC_TASK_PLAN_RUN task_plan_run_msg; EMC_TASK_PLAN_EXECUTE task_plan_execute_msg; EMC_TASK_PLAN_PAUSE task_plan_pause_msg; EMC_TASK_PLAN_RESUME task_plan_resume_msg; EMC_TOOL_INIT emc_tool_init_msg; EMC_TOOL_HALT emc_tool_halt_msg; EMC_TOOL_PREPARE emc_tool_prepare_msg; EMC_TOOL_LOAD emc_tool_load_msg; EMC_TOOL_UNLOAD emc_tool_unload_msg; EMC_TOOL_LOAD_TOOL_TABLE emc_tool_load_tool_table_msg; EMC_SPINDLE_ON emc_spindle_on_msg; EMC_SPINDLE_OFF emc_spindle_off_msg; EMC_SPINDLE_INCREASE emc_spindle_increase_msg; EMC_SPINDLE_DECREASE emc_spindle_decrease_msg; EMC_SPINDLE_CONSTANT emc_spindle_constant_msg; EMC_SPINDLE_BRAKE_RELEASE emc_spindle_brake_release_msg; EMC_SPINDLE_BRAKE_ENGAGE emc_spindle_brake_engage_msg; EMC_COOLANT_MIST_ON emc_coolant_mist_on_msg; EMC_COOLANT_MIST_OFF emc_coolant_mist_off_msg; EMC_COOLANT_FLOOD_ON emc_coolant_flood_on_msg; EMC_COOLANT_FLOOD_OFF emc_coolant_flood_off_msg; EMC_AUX_DIO_WRITE emc_aux_dio_write_msg; EMC_AUX_AIO_WRITE emc_aux_aio_write_msg; EMC_AUX_ESTOP_ON emc_aux_estop_on_msg; EMC_AUX_ESTOP_OFF emc_aux_estop_off_msg; EMC_LOG_OPEN emc_log_open_msg; EMC_LOG_START emc_log_start_msg; EMC_LOG_STOP emc_log_stop_msg; EMC_LOG_CLOSE emc_log_close_msg; // blank out the annoying RCS version message rcs_version_printed = 1; // process usual command line args if (0 != emcGetArgs(argc, argv)) { rcs_print_error("error in argument list\n"); exit(1); } // process our command line args for (t = 1; t < argc; t++) { // try -noerror if (!strcmp(argv[t], "-noerror")) { catchErrors = 0; continue; } } // initialize globals emcInitGlobals(); // get configuration information iniLoad(EMC_INIFILE); // init NML emcErrorNmlGet(); if (0 == emcIoNmlGet()) { which = SELECT_EMC_IO; lastPrint = 8; } if (0 == emcTaskNmlGet()) { which = SELECT_EMC_TASK; lastPrint = 0; } // loop on input done = 0; printPrompt = 1; while (! feof(stdin) && ! done) { // print errors if (catchErrors) { printErrors(); } // update status updateStatus(); // check if we need to print a prompt if (printPrompt) { if (! inhibitPrompt) { if (which == SELECT_EMC_TASK) { printf("emctask> "); } else if (which == SELECT_EMC_IO) { printf("emcio> "); } else { printf("none> "); } fflush(stdout); } printPrompt = 0; } // get the next input line nchars = getinput(input, INPUTLEN); if (nchars > 0) { // got some input-- flag that we'll need to print prompt again printPrompt = 1; } else if (nchars == -1) { // no new input-- cycle and try again esleep(SLEEP_SECS); continue; // the while(!feof(stdin)) loop } else { // nchars == 0, it's EOF done = 1; break; } // got input-- process it // read first arg in cmd[0] = 0; sscanf(input, "%s", cmd); // match it in the big if loop // first handle commands for any selected controller // then handle emctask, emcio // commands for any controller if (! strcmp(cmd, "help") || ! strcmp(cmd, "?")) { printf("? or help -- print help\n"); printf("delay <secs> -- delay reading next line\n"); printf("< or > -- turn prompt off or on\n"); printf("; -- comment follows\n"); printf("quit -- quit\n"); printf("show {params} {state} {mode} {pos} -- show status\n"); printf("emctask | emcio -- select emctask or emcio\n"); switch (which) { case SELECT_EMC_TASK: printf("estop on | off -- go into/out of estop\n"); printf("machine on | off -- enable/disable control\n"); printf("mode manual | auto | mdi -- set program mode\n"); printf("axis x | y | z -- select axis\n"); printf("speed <pos value> -- set jog speed\n"); printf("abs | rel -- set display to abs or rel\n"); printf("cont -- set continuous jog mode\n"); printf("incr {<pos value>} -- set incremental jog mode\n"); printf("jog {<abs> | + | -} -- jog absolute, or +/- in cont/incr\n"); printf("home -- home selected axis\n"); printf("a -- abort everything\n"); printf("/ -- abort selected axis\n"); printf("// -- abort traj\n"); printf("feed <0.100> -- set feed override\n"); printf("open <prog name> -- open NC program\n"); printf("run -- run opened NC program\n"); printf("mdi <NC statement> -- send manual data input\n"); printf("pause -- pause motion\n"); printf("resume -- resume motion\n"); printf("tools {<file>} -- load tool file\n"); printf("brake on | off -- turn spindle brake on or off\n"); printf("maxfe <axis> <value> -- set axis following error\n"); printf("minfe <axis> <value> -- set axis following error\n"); printf("out <axis> <value> -- set axis output\n"); break; case SELECT_EMC_IO: printf("init -- initialize emcio\n"); printf("halt -- reset emcio\n"); printf("dout <bit> 0 | 1 -- set digital out point\n"); printf("aout <bit> <volts> -- set analog out point\n"); printf("estop on | off -- go into/out of estop\n"); printf("prep <tool> -- prepare tool for loading\n"); printf("load -- load prepped tool\n"); printf("unload -- unload tool\n"); printf("spindle <rpm> | off -- set spindle speed\n"); printf("incr -- increase spindle speed\n"); printf("decr -- decrease spindle speed\n"); printf("brake on | off -- turn spindle brake on or off\n"); printf("mist on | off -- mist coolant\n"); printf("flood on | off -- flood coolant\n"); break; default: // nothing selected break; } } else if (! strcmp(cmd, "quit")) { done = 1; } else if (! strcmp(cmd, "<")) { inhibitPrompt = 1; } else if (! strcmp(cmd, ">")) { inhibitPrompt = 0; } else if (! strcmp(cmd, ";")) { // comment-- ignore } else if (! strcmp(cmd, "delay")) { if (1 == sscanf(input, "%*s %lf", &delay)) { esleep((unsigned int) (delay * 1000000.0)); } else { printf("syntax: delay <secs>\n"); } } else if (! strcmp(cmd, "show")) { if (1 == sscanf(input, "%*s %s", cmd)) { if (! strcmp(cmd, "state")) { lastPrint = 1; emcpanelShow(lastPrint); } else if (! strcmp(cmd, "mode")) { lastPrint = 2; emcpanelShow(lastPrint); } else if (! strcmp(cmd, "pos")) { lastPrint = 3; emcpanelShow(lastPrint); } else if (! strcmp(cmd, "params")) { lastPrint = 4; emcpanelShow(lastPrint); } else if (! strcmp(cmd, "program")) { lastPrint = 5; emcpanelShow(lastPrint); } else if (! strcmp(cmd, "exec")) { lastPrint = 6; emcpanelShow(lastPrint); } else if (! strcmp(cmd, "emcio")) { lastPrint = 8; emcpanelShow(lastPrint); } else if (! strcmp(cmd, "tools")) { lastPrint = 9; emcpanelShow(lastPrint); } else if (! strcmp(cmd, "axis")) { lastPrint = 10; emcpanelShow(lastPrint); } else if (! strcmp(cmd, "codes")) { lastPrint = 11; emcpanelShow(lastPrint); } else { // invalid parameter printf("syntax: show {state} {mode} {pos} {params} {program} {exec} {emcio} {tools} {axis} {codes}\n"); } } else { // blank "show" typed if (which == SELECT_EMC_TASK) { lastPrint = 0; } else if (which == SELECT_EMC_IO) { lastPrint = 8; } emcpanelShow(lastPrint); } } else if (!strcmp(cmd, "emctask")) { if (0 == emcTaskNmlGet()) { which = SELECT_EMC_TASK; lastPrint = 0; } } else if (!strcmp(cmd, "emcio")) { if (0 == emcIoNmlGet()) { which = SELECT_EMC_IO; lastPrint = 8; } } // end of general matches; now handle controller specific ones else if (which == SELECT_EMC_TASK) { if (!strcmp(cmd, "estop")) { valid = 0; if (1 == sscanf(input, "%*s %s", cmd)) { valid = 1; if (!strcmp(cmd, "off")) { // come out of estop state_msg.state = EMC_TASK_STATE_ESTOP_RESET; state_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(state_msg); } else if (!strcmp(cmd, "on")) { // go into estop state_msg.state = EMC_TASK_STATE_ESTOP; state_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(state_msg); } } if (!valid) { printf("syntax: estop off | on\n"); } } else if (!strcmp(cmd, "machine")) { valid = 0; if (1 == sscanf(input, "%*s %s", cmd)) { valid = 1; if (!strcmp(cmd, "off")) { // turn it off state_msg.state = EMC_TASK_STATE_OFF; state_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(state_msg); } else if (!strcmp(cmd, "on")) { // turn the machine on state_msg.state = EMC_TASK_STATE_ON; state_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(state_msg); } } if (!valid) { printf("syntax: machine on | off\n"); } } else if (!strcmp(cmd, "mode")) { // a request to change mode valid = 0; if (1 == sscanf(input, "%*s %s", cmd)) { if (!strcmp(cmd, "auto")) { mode_msg.mode = EMC_TASK_MODE_AUTO; mode_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(mode_msg); valid = 1; } else if (!strcmp(cmd, "mdi")) { mode_msg.mode = EMC_TASK_MODE_MDI; mode_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(mode_msg); valid = 1; } else if (!strcmp(cmd, "manual")) { mode_msg.mode = EMC_TASK_MODE_MANUAL; mode_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(mode_msg); valid = 1; } else { valid = 0; } } if (!valid) { printf("syntax: mode auto | mdi | manual\n"); } } else if (!strcmp(cmd, "axis")) { valid = 0; if (1 == sscanf(input, "%*s %s", cmd)) { if (!strcmp(cmd, "x")) { valid = 1; axisSelect = AXIS_X; } else if (!strcmp(cmd, "y")) { valid = 1; axisSelect = AXIS_Y; } else if (!strcmp(cmd, "z")) { valid = 1; axisSelect = AXIS_Z; } } if (!valid) { printf("syntax: axis x | y | z\n"); } } else if (!strcmp(cmd, "speed")) { double speed; valid = 0; if (1 == sscanf(input, "%*s %lf", &speed) && speed > 0.0) { speedSelect = speed; valid = 1; } if (!valid) { printf("syntax: speed <pos value>\n"); } } else if (!strcmp(cmd, "abs")) { displayMode = DISPLAY_ABS; } else if (!strcmp(cmd, "rel")) { displayMode = DISPLAY_REL; } else if (!strcmp(cmd, "cont")) { jogSelect = JOG_CONT; } else if (!strcmp(cmd, "incr")) { double incr; valid = 0; // check for optional incr arg if (1 == sscanf(input, "%*s %s", cmd)) { if (1 == sscanf(cmd, "%lf", &incr) && incr > 0.0) { jogIncr = incr; jogSelect = JOG_INCR; valid = 1; } else { // arg there, but invalid valid = 0; } } else { // no arg jogSelect = JOG_INCR; valid = 1; } if (!valid) { printf("syntax: axis x | y | z\n"); } } else if (!strcmp(cmd, "jog")) { valid = 0; // we can have "jog <abs> | + | -" // check for arg there first if (1 == sscanf(input, "%*s %s", cmd)) { // there's an arg there // check for abs value if (1 == sscanf(cmd, "%lf", &emc_axis_abs_jog_msg.pos)) { // got an abs jog value emc_axis_abs_jog_msg.serial_number = ++emcCommandSerialNumber; emc_axis_abs_jog_msg.axis = axisSelect; emc_axis_abs_jog_msg.vel = speedSelect; emcCommandBuffer->write(emc_axis_abs_jog_msg); valid = 1; } // else check for + else if (cmd[0] == '+') { // check for cont or incr jog if (JOG_CONT == jogSelect) { emc_axis_jog_msg.serial_number = ++emcCommandSerialNumber; emc_axis_jog_msg.axis = axisSelect; emc_axis_jog_msg.vel = speedSelect; emcCommandBuffer->write(emc_axis_jog_msg); valid = 1; } else if (JOG_INCR == jogSelect) { emc_axis_incr_jog_msg.serial_number = ++emcCommandSerialNumber; emc_axis_incr_jog_msg.axis = axisSelect; emc_axis_incr_jog_msg.vel = speedSelect; emc_axis_incr_jog_msg.incr = jogIncr; emcCommandBuffer->write(emc_axis_incr_jog_msg); valid = 1; } else { // coding error printf("bad value for jog select: %d\n", jogSelect); valid = 1; // suppress syntax error, since it's not } } // else check for - else if (cmd[0] == '-') { // check for cont or incr jog if (JOG_CONT == jogSelect) { emc_axis_jog_msg.serial_number = ++emcCommandSerialNumber; emc_axis_jog_msg.axis = axisSelect; emc_axis_jog_msg.vel = - speedSelect; emcCommandBuffer->write(emc_axis_jog_msg); valid = 1; } else if (JOG_INCR == jogSelect) { emc_axis_incr_jog_msg.serial_number = ++emcCommandSerialNumber; emc_axis_incr_jog_msg.axis = axisSelect; emc_axis_incr_jog_msg.vel = - speedSelect; emc_axis_incr_jog_msg.incr = jogIncr; emcCommandBuffer->write(emc_axis_incr_jog_msg); valid = 1; } else { // coding error printf("bad value for jog select: %d\n", jogSelect); valid = 1; // suppress syntax error, since it's not } } else { // bad arg valid = 0; } } else { // no arg there at all valid = 0; } if (!valid) { printf("syntax: jog <abs> | + | -\n"); } } else if (!strcmp(cmd, "home")) { emc_axis_home_msg.serial_number = ++emcCommandSerialNumber; emc_axis_home_msg.axis = axisSelect; emcCommandBuffer->write(emc_axis_home_msg); } else if (!strcmp(cmd, "a")) { // do a task abort (abort everything) task_abort_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(task_abort_msg); } else if (!strcmp(cmd, "/")) { // do an axis abort emc_axis_abort_msg.serial_number = ++emcCommandSerialNumber; emc_axis_abort_msg.axis = axisSelect; emcCommandBuffer->write(emc_axis_abort_msg); } else if (!strcmp(cmd, "//")) { // do a traj abort emc_traj_abort_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(emc_traj_abort_msg); } else if (!strcmp(cmd, "feed")) { int valid = 0; if (1 == sscanf(input, "%*s %lf", &emc_traj_set_scale_msg.scale)) { valid = 1; emc_traj_set_scale_msg.scale = emc_traj_set_scale_msg.scale / 100.0; // turn percent into a fraction emc_traj_set_scale_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(emc_traj_set_scale_msg); } if (! valid) { printf("syntax: feed <0..100>\n"); } } else if (!strcmp(cmd, "open")) { int valid = 0; if (1 == sscanf(input, "%*s %s", task_plan_open_msg.file)) { valid = 1; task_plan_open_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(task_plan_open_msg); strcpy(programFile, task_plan_open_msg.file); programOpened = 1; if (programFp != 0) { fclose(programFp); } programFp = fopen(programFile, "r"); programLineText[0] = 0; programFpLine = 0; } if (! valid) { printf("syntax: open <part program>\n"); } } else if (!strcmp(cmd, "run")) { if (! programOpened) { // send a request to open the last one strcpy(task_plan_open_msg.file, programFile); task_plan_open_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(task_plan_open_msg); emcCommandWait(task_plan_open_msg.serial_number); } task_plan_run_msg.serial_number = ++emcCommandSerialNumber; task_plan_run_msg.line = 0; emcCommandBuffer->write(task_plan_run_msg); programOpened = 0; } else if (!strcmp(cmd, "mdi")) { int valid = 0; // check for at least one thing on the line if (1 == sscanf(input, "%*s %s", cmd)) { valid = 1; // copy rest of line after "mdi " strcpy(task_plan_execute_msg.command, &input[4]); task_plan_execute_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(task_plan_execute_msg); } if (! valid) { printf("syntax: mdi <NC statement>\n"); } } else if (!strcmp(cmd, "pause")) { task_plan_pause_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(task_plan_pause_msg); } else if (!strcmp(cmd, "resume")) { task_plan_resume_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(task_plan_resume_msg); } else if (!strcmp(cmd, "tools")) { // get tool file, if provided if (1 != sscanf(input, "%*s %s", emc_tool_load_tool_table_msg.file)) { emc_tool_load_tool_table_msg.file[0] = 0; } emc_tool_load_tool_table_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(emc_tool_load_tool_table_msg); } else if (!strcmp(cmd, "brake")) { valid = 0; if (1 == sscanf(input, "%*s %s", cmd)) { valid = 1; if (!strcmp(cmd, "off")) { // take brake off emc_spindle_brake_release_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(emc_spindle_brake_release_msg); } else if (!strcmp(cmd, "on")) { // go into estop emc_spindle_brake_engage_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(emc_spindle_brake_engage_msg); } } if (!valid) { printf("syntax: brake off | on\n"); } } else if (!strcmp(cmd, "maxfe")) { int valid = 0; if (2 == sscanf(input, "%*s %d %lf", &emc_axis_set_ferror_msg.axis, &emc_axis_set_ferror_msg.ferror)) { valid = 1; emc_axis_set_ferror_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(emc_axis_set_ferror_msg); } if (! valid) { printf("syntax: maxfe <axis> <ferror>\n"); } } else if (!strcmp(cmd, "minfe")) { int valid = 0; if (2 == sscanf(input, "%*s %d %lf", &emc_axis_set_min_ferror_msg.axis, &emc_axis_set_min_ferror_msg.ferror)) { valid = 1; emc_axis_set_min_ferror_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(emc_axis_set_min_ferror_msg); } if (! valid) { printf("syntax: minfe <axis> <ferror>\n"); } } else if (!strcmp(cmd, "out")) { int valid = 0; if (2 == sscanf(input, "%*s %d %lf", &emc_axis_set_output_msg.axis, &emc_axis_set_output_msg.output)) { valid = 1; emc_axis_set_output_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(emc_axis_set_output_msg); } if (! valid) { printf("syntax: minfe <axis> <ferror>\n"); } } else if (!strcmp(cmd, "log")) { valid = 0; if (1 == sscanf(input, "%*s %s", cmd)) { if (!strcmp(cmd, "open")) { valid = 1; if (1 == sscanf(input, "%*s %*s %s", saveLogFile)) { strcpy(emc_log_open_msg.file, saveLogFile); emc_log_open_msg.type = saveLogType; emc_log_open_msg.size = saveLogSize; emc_log_open_msg.skip = saveLogSkip; emc_log_open_msg.which = saveLogAxis; emc_log_open_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(emc_log_open_msg); emcCommandWait(emcCommandSerialNumber); } } else if (!strcmp(cmd, "start")) { valid = 1; // check for open log file first; if not, and old one saved, // open old one if (! emcStatus->logOpen) { if (saveLogFile[0] != 0) { strcpy(emc_log_open_msg.file, saveLogFile); emc_log_open_msg.type = saveLogType; emc_log_open_msg.size = saveLogSize; emc_log_open_msg.skip = saveLogSkip; emc_log_open_msg.which = saveLogAxis; emc_log_open_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(emc_log_open_msg); emcCommandWait(emcCommandSerialNumber); } else { // log is not opened, and no name saved, so ignore break; } } emc_log_start_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(emc_log_start_msg); emcCommandWait(emcCommandSerialNumber); } else if (!strcmp(cmd, "stop")) { valid = 1; emc_log_stop_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(emc_log_stop_msg); emcCommandWait(emcCommandSerialNumber); } else if (!strcmp(cmd, "save")) { valid = 1; emc_log_close_msg.serial_number = ++emcCommandSerialNumber; emcCommandBuffer->write(emc_log_close_msg); emcCommandWait(emcCommandSerialNumber); } else if (!strcmp(cmd, "plot")) { valid = 1; if (0 != plotLog(saveLogFile, saveLogType, saveLogAxis)) { printf("can't print log-- check log file manually"); } } } if (!valid) { printf("syntax: log open <file> | start | stop | save | plot\n"); } } else if (anyprintable(input)) { printf("?\n"); } else { // blank line was typed emcpanelShow(lastPrint); } } // if (which == SELECT_EMC_TASK) else // default matches SELECT_EMC_IO { if (!strcmp(cmd, "init")) { emc_tool_init_msg.serial_number = ++emcIoCommandSerialNumber; emcIoCommandBuffer->write(emc_tool_init_msg); } else if (!strcmp(cmd, "halt")) { emc_tool_halt_msg.serial_number = ++emcIoCommandSerialNumber; emcIoCommandBuffer->write(emc_tool_halt_msg); } else if (!strcmp(cmd, "dout")) { valid = 0; if (2 == sscanf(input, "%*s %d %d", &emc_aux_dio_write_msg.index, &emc_aux_dio_write_msg.value)) { valid = 1; emc_aux_dio_write_msg.serial_number = ++emcIoCommandSerialNumber; emcIoCommandBuffer->write(emc_aux_dio_write_msg); } if (!valid) { printf("syntax: set <bit> 0 | 1\n"); } } else if (!strcmp(cmd, "aout")) { valid = 0; if (2 == sscanf(input, "%*s %d %lf", &emc_aux_aio_write_msg.index, &emc_aux_aio_write_msg.value)) { valid = 1; emc_aux_aio_write_msg.serial_number = ++emcIoCommandSerialNumber; emcIoCommandBuffer->write(emc_aux_aio_write_msg); } if (!valid) { printf("syntax: set <bit> 0 | 1\n"); } } else if (!strcmp(cmd, "prep")) { valid = 0; if (1 == sscanf(input, "%*s %d", &emc_tool_prepare_msg.tool)) { valid = 1; emc_tool_prepare_msg.serial_number = ++emcIoCommandSerialNumber; emcIoCommandBuffer->write(emc_tool_prepare_msg); } if (!valid) { printf("syntax: prep <tool>\n"); } } else if (!strcmp(cmd, "load")) { emc_tool_load_msg.serial_number = ++emcIoCommandSerialNumber; emcIoCommandBuffer->write(emc_tool_load_msg); } else if (!strcmp(cmd, "unload")) { emc_tool_unload_msg.serial_number = ++emcIoCommandSerialNumber; emcIoCommandBuffer->write(emc_tool_unload_msg); } else if (!strcmp(cmd, "spindle")) { valid = 0; if (1 == sscanf(input, "%*s %s", cmd)) { if (!strcmp(cmd, "off")) { valid = 1; emc_spindle_off_msg.serial_number = ++emcIoCommandSerialNumber; emcIoCommandBuffer->write(emc_spindle_off_msg); } else if (1 == sscanf(cmd, "%lf", &emc_spindle_on_msg.speed)) { valid = 1; emc_spindle_on_msg.serial_number = ++emcIoCommandSerialNumber; emcIoCommandBuffer->write(emc_spindle_on_msg); } } if (!valid) { printf("syntax: spindle <rpm> | off\n"); } } else if (!strcmp(cmd, "incr")) { emc_spindle_increase_msg.serial_number = ++emcIoCommandSerialNumber; emcIoCommandBuffer->write(emc_spindle_increase_msg); } else if (!strcmp(cmd, "decr")) { emc_spindle_decrease_msg.serial_number = ++emcIoCommandSerialNumber; emcIoCommandBuffer->write(emc_spindle_decrease_msg); } else if (!strcmp(cmd, "c")) { // make spindle constant emc_spindle_constant_msg.serial_number = ++emcIoCommandSerialNumber; emcIoCommandBuffer->write(emc_spindle_constant_msg); } else if (!strcmp(cmd, "brake")) { valid = 0; if (1 == sscanf(input, "%*s %s", cmd)) { if (!strcmp(cmd, "off")) { valid = 1; emc_spindle_brake_release_msg.serial_number = ++emcIoCommandSerialNumber; emcIoCommandBuffer->write(emc_spindle_brake_release_msg); } else if (!strcmp(cmd, "on")) { valid = 1; emc_spindle_brake_engage_msg.serial_number = ++emcIoCommandSerialNumber; emcIoCommandBuffer->write(emc_spindle_brake_engage_msg); } } if (!valid) { printf("syntax: brake on | off\n"); } } else if (!strcmp(cmd, "estop")) { valid = 0; if (1 == sscanf(input, "%*s %s", cmd)) { if (!strcmp(cmd, "off")) { valid = 1; emc_aux_estop_off_msg.serial_number = ++emcIoCommandSerialNumber; emcIoCommandBuffer->write(emc_aux_estop_off_msg); } else if (!strcmp(cmd, "on")) { valid = 1; emc_aux_estop_on_msg.serial_number = ++emcIoCommandSerialNumber; emcIoCommandBuffer->write(emc_aux_estop_on_msg); } } if (!valid) { printf("syntax: estop off | on\n"); } } else if (!strcmp(cmd, "mist")) { valid = 0; if (1 == sscanf(input, "%*s %s", cmd)) { if (!strcmp(cmd, "off")) { valid = 1; emc_coolant_mist_off_msg.serial_number = ++emcIoCommandSerialNumber; emcIoCommandBuffer->write(emc_coolant_mist_off_msg); } else if (!strcmp(cmd, "on")) { valid = 1; emc_coolant_mist_on_msg.serial_number = ++emcIoCommandSerialNumber; emcIoCommandBuffer->write(emc_coolant_mist_on_msg); } } if (!valid) { printf("syntax: mist on | off"); } } else if (!strcmp(cmd, "flood")) { valid = 0; if (1 == sscanf(input, "%*s %s", cmd)) { if (!strcmp(cmd, "off")) { valid = 1; emc_coolant_flood_off_msg.serial_number = ++emcIoCommandSerialNumber; emcIoCommandBuffer->write(emc_coolant_flood_off_msg); } else if (!strcmp(cmd, "on")) { valid = 1; emc_coolant_flood_on_msg.serial_number = ++emcIoCommandSerialNumber; emcIoCommandBuffer->write(emc_coolant_flood_on_msg); } } if (!valid) { printf("syntax: flood on | off\n"); } } else if (anyprintable(input)) { printf("?\n"); } else { // blank line was typed emcpanelShow(lastPrint); } } // end else which == SELECT_EMC_IO } // end of while stdin emcpanelQuit(); exit(0); }

void printErrors (    )  [static]

Definition at line 876 of file emcpanel.cc. Referenced by main(). { NMLTYPE type; if (0 == emcErrorBuffer || ! emcErrorBuffer->valid()) { return; } switch (type = emcErrorBuffer->read()) { case 0: // nothing new break; case -1: // error reading channel break; case EMC_OPERATOR_ERROR_TYPE: printf("\nerror: [%d] %s\n", ((EMC_OPERATOR_ERROR *) (emcErrorBuffer->get_address()))->id, ((EMC_OPERATOR_ERROR *) (emcErrorBuffer->get_address()))->error); printPrompt = 1; break; case EMC_OPERATOR_TEXT_TYPE: printf("\ntext: [%d] %s\n", ((EMC_OPERATOR_TEXT *) (emcErrorBuffer->get_address()))->id, ((EMC_OPERATOR_TEXT *) (emcErrorBuffer->get_address()))->text); printPrompt = 1; break; case EMC_OPERATOR_DISPLAY_TYPE: printf("\ndisplay: [%d] %s\n", ((EMC_OPERATOR_DISPLAY *) (emcErrorBuffer->get_address()))->id, ((EMC_OPERATOR_DISPLAY *) (emcErrorBuffer->get_address()))->display); printPrompt = 1; break; case NML_ERROR_TYPE: printf("\nerror: %s\n", ((NML_ERROR *) (emcErrorBuffer->get_address()))->error); printPrompt = 1; break; case NML_TEXT_TYPE: printf("\ntext: %s\n", ((NML_TEXT *) (emcErrorBuffer->get_address()))->text); printPrompt = 1; break; case NML_DISPLAY_TYPE: printf("\ndisplay: %s\n", ((NML_DISPLAY *) (emcErrorBuffer->get_address()))->display); printPrompt = 1; break; default: // unrecognized message printf("\nunrecognized message in error channel: %ld\n", type); printPrompt = 1; break; } }

void showAxis (    )  [static]

Definition at line 720 of file emcpanel.cc. Referenced by emcpanelShow(). { int axis; axis = axisSelect; printf("axis:\t\t\t%d\n", emcStatus->motion.axis[axis].axis); printf("type:\t\t\t%s\n", emcStatus->motion.axis[axis].axisType == EMC_AXIS_LINEAR ? "LINEAR" : emcStatus->motion.axis[axis].axisType == EMC_AXIS_ANGULAR ? "ANGULAR" : "?"); printf("units:\t\t\t%f\n", emcStatus->motion.axis[axis].units); printf("P I D FF0 FF1 FF2:\t%.3f %.3f %.3f %.3f %.3f %.3f\n", emcStatus->motion.axis[axis].p, emcStatus->motion.axis[axis].i, emcStatus->motion.axis[axis].d, emcStatus->motion.axis[axis].ff0, emcStatus->motion.axis[axis].ff1, emcStatus->motion.axis[axis].ff2); printf("cycle time:\t\t%f\n", emcStatus->motion.axis[axis].cycleTime); printf("input scale:\t\t%f %f\n", emcStatus->motion.axis[axis].inputScale, emcStatus->motion.axis[axis].inputOffset); printf("output scale:\t\t%f %f\n", emcStatus->motion.axis[axis].outputScale, emcStatus->motion.axis[axis].outputOffset); printf("pos limits:\t\t%f %f\n", emcStatus->motion.axis[axis].minPositionLimit, emcStatus->motion.axis[axis].maxPositionLimit); printf("output limits:\t\t%f %f\n", emcStatus->motion.axis[axis].minOutputLimit, emcStatus->motion.axis[axis].maxOutputLimit); printf("max ferror:\t\t%f\n", emcStatus->motion.axis[axis].maxFerror); printf("polarity:\t\tEN\tLS-\tLS+\tHS\tH\tF\n"); printf("\t\t\t%d\t %d\t %d\t%d\t%d\t%d\n", (int) emcStatus->motion.axis[axis].enablePolarity, (int) emcStatus->motion.axis[axis].minLimitSwitchPolarity, (int) emcStatus->motion.axis[axis].maxLimitSwitchPolarity, (int) emcStatus->motion.axis[axis].homeSwitchPolarity, (int) emcStatus->motion.axis[axis].homingPolarity, (int) emcStatus->motion.axis[axis].faultPolarity); printf("setpoint: \t\t%f\n", emcStatus->motion.axis[axis].setpoint); printf("ferror: \t\t%f\n", emcStatus->motion.axis[axis].ferrorCurrent); printf("ferrorHighMark: \t\t%f\n", emcStatus->motion.axis[axis].ferrorHighMark); printf("output: \t\t%f\n", emcStatus->motion.axis[axis].output); printf("input: \t\t%f\n", emcStatus->motion.axis[axis].input); printf("homing: \t\t%s\n", emcStatus->motion.axis[axis].homing == 1 ? "homing" : "done"); printf("homed: \t\t%s\n", emcStatus->motion.axis[axis].homed == 1 ? "home" : "not yet"); printf("enabled: \t\t%s\n", emcStatus->motion.axis[axis].enabled == 1 ? "ON" : "OFF"); }

void showCodes (    )  [static]

Definition at line 783 of file emcpanel.cc. Referenced by emcpanelShow(). { int t; int code; if (0 == emcStatus) { return; } for (t = 1; t < EMC_TASK_ACTIVE_G_CODES; t++) { code = emcStatus->task.activeGCodes[t]; if (code == -1) continue; if (code % 10) printf("G%.1f ", (double) code / 10.0); else printf("G%d ", code / 10); } printf("\n"); }

void showEmcTaskExec (    )  [static]

Definition at line 583 of file emcpanel.cc. Referenced by emcpanelShow(). { if (0 == emcStatus) { return; } printf("NML: \tcmd\tser #\tstatus\n"); printf(" \t%ld\t%d\t%s\n", emcStatus->command_type, emcStatus->echo_serial_number, emcStatus->status == RCS_DONE ? "DONE" : emcStatus->status == RCS_EXEC ? "EXEC" : emcStatus->status == RCS_ERROR ? "ERROR" : "(?)"); printf("Exec: \t%s\n", emcStatus->task.execState == EMC_TASK_EXEC_ERROR ? "ERROR" : emcStatus->task.execState == EMC_TASK_EXEC_DONE ? "DONE" : emcStatus->task.execState == EMC_TASK_EXEC_WAITING_FOR_MOTION ? "MOTION WAIT" : emcStatus->task.execState == EMC_TASK_EXEC_WAITING_FOR_IO ? "IO WAIT" : emcStatus->task.execState == EMC_TASK_EXEC_WAITING_FOR_MOTION_QUEUE ? "QUEUE WAIT" : emcStatus->task.execState == EMC_TASK_EXEC_WAITING_FOR_PAUSE ? "PAUSE WAIT" : emcStatus->task.execState == EMC_TASK_EXEC_WAITING_FOR_MOTION_AND_IO ? "MOTION AND IO WAIT" : "?"); printf("Interp: \t%s\n", emcStatus->task.interpState == EMC_TASK_INTERP_IDLE ? "IDLE" : emcStatus->task.interpState == EMC_TASK_INTERP_READING ? "READING" : emcStatus->task.interpState == EMC_TASK_INTERP_PAUSED ? "PAUSED" : emcStatus->task.interpState == EMC_TASK_INTERP_WAITING ? "WAITING" : "?"); printf("Motion line: \t%d\n", emcStatus->task.motionLine); printf("Current line: \t%d\n", emcStatus->task.currentLine); printf("Read line: \t%d\n", emcStatus->task.readLine); }

void showEmcio (    )  [static]

Definition at line 619 of file emcpanel.cc. Referenced by emcpanelShow(). { int t; char bits[9]; // for "11011001\0" bits string if (0 == emcIoStatus) { return; } printf("emcio status: %ld %d %s %s %d %d %s\n", emcIoStatus->command_type, emcIoStatus->echo_serial_number, status_to_string(emcIoStatus->status), state_to_string(emcIoStatus->state), emcIoStatus->line, emcIoStatus->source_line, emcIoStatus->source_file); printf("heartbeat: %lu\n", emcIoStatus->heartbeat); printf("debug level: %d\n", emcIoStatus->debug); printf("tools: pocket\ttool\tlength\t\tdiameter\n"); printf(" ------\t----\t------\t\t--------\n"); for (t = 0; t < CANON_TOOL_MAX; t++) { if (emcIoStatus->tool.toolTable[t].id != 0) { printf(" %d\t%d\t%10.4f\t%10.4f\n", t, emcIoStatus->tool.toolTable[t].id, emcIoStatus->tool.toolTable[t].length, emcIoStatus->tool.toolTable[t].diameter); } } printf("tool prepped: %d\n", emcIoStatus->tool.toolPrepped); printf("tool in spindle: %d\n", emcIoStatus->tool.toolInSpindle); printf("spindle: %.0f RPM, %s\n", emcIoStatus->spindle.speed, emcIoStatus->spindle.brake == 0 ? "free" : "braked"); printf("mist: %s\n", emcIoStatus->coolant.mist == 0 ? "OFF" : "ON"); printf("flood: %s\n", emcIoStatus->coolant.flood == 0 ? "OFF" : "ON"); printf("estop: %s\n", emcIoStatus->aux.estop == 0 ? "OFF" : "ESTOPPED"); printf("lube: %s\n", emcIoStatus->lube.on == 0 ? "OFF" : "ON"); printf("lube level: %s\n", emcIoStatus->lube.level == 0 ? "LOW" : "OK"); printf("digital ins: "); for (t = EMC_AUX_MAX_DIN - 1; t >= 0; t--) { btostr(bits, emcIoStatus->aux.din[t]); printf("%s ", bits); } printf("\n"); printf("digital outs: "); for (t = EMC_AUX_MAX_DOUT - 1; t >= 0; t--) { btostr(bits, emcIoStatus->aux.dout[t]); printf("%s ", bits); } printf("\n"); }

void showMode (    )  [static]

Definition at line 428 of file emcpanel.cc. Referenced by emcpanelShow(). { if (0 == emcStatus) { return; } printf("Mode:\t\t"); switch (emcStatus->task.mode) { case EMC_TASK_MODE_AUTO: printf("AUTO\n"); break; case EMC_TASK_MODE_MDI: printf("MDI\n"); break; case EMC_TASK_MODE_MANUAL: printf("MANUAL\n"); break; default: printf("%d (?)\n", emcStatus->task.mode); break; } }

void showParams (    )  [static]

Definition at line 510 of file emcpanel.cc. Referenced by emcpanelShow(). { printf("Axis: \t%s\n", axisSelect == AXIS_X ? "X" : axisSelect == AXIS_Y ? "Y" : axisSelect == AXIS_Z ? "Z" : "?"); printf("Speed: \t%f\n", speedSelect); printf("Jog Type:\t%s\n", jogSelect == JOG_CONT ? "CONT" : jogSelect == JOG_INCR ? "INCR" : "?"); printf("Jog Incr:\t%f\n", jogIncr); }

void showPosition (    )  [static]

Definition at line 453 of file emcpanel.cc. Referenced by emcpanelShow(). { int axis; if (0 == emcStatus) { return; } if (displayMode == DISPLAY_ABS) { printf("Cmd Pos: \t%f\t%f\t%f\n", emcStatus->motion.traj.position.tran.x, emcStatus->motion.traj.position.tran.y, emcStatus->motion.traj.position.tran.z); printf("Act Pos: \t%f\t%f\t%f\n", emcStatus->motion.traj.actualPosition.tran.x, emcStatus->motion.traj.actualPosition.tran.y, emcStatus->motion.traj.actualPosition.tran.z); } else if (displayMode == DISPLAY_REL) { printf("Cmd Pos: \t%f\t%f\t%f\n", emcStatus->motion.traj.position.tran.x - emcStatus->task.origin.tran.x, emcStatus->motion.traj.position.tran.y - emcStatus->task.origin.tran.y, emcStatus->motion.traj.position.tran.z - emcStatus->task.origin.tran.z); printf("Act Pos: \t%f\t%f\t%f\n", emcStatus->motion.traj.actualPosition.tran.x - emcStatus->task.origin.tran.x, emcStatus->motion.traj.actualPosition.tran.y - emcStatus->task.origin.tran.y, emcStatus->motion.traj.actualPosition.tran.z - emcStatus->task.origin.tran.z); } else { printf("Position:\t(display mode not abs or rel: %d)\n", displayMode); } printf("Axes: "); for (axis = 0; axis < EMC_AXIS_MAX; axis++) { printf("\t%f", emcStatus->motion.axis[axis].setpoint); } printf("\n"); printf("Queue: \t%d\n", emcStatus->motion.traj.queue); printf("Inpos: \t%d\n", emcStatus->motion.traj.inpos); printf("V Scale: \t%.2f\n", emcStatus->motion.traj.scale); }

void showProgram (    )  [static]

Definition at line 523 of file emcpanel.cc. Referenced by emcpanelShow(). { if (0 == emcStatus) { return; } if (! programOpened) { // print the last one opened, since we'll send this by default printf("Program: \t%s\n", programFile); } else { // print the one the controller knows about printf("Program: \t%s\n", emcStatus->task.file); } if (emcStatus->task.currentLine > 0) { if (emcStatus->task.motionLine > 0 && emcStatus->task.motionLine < emcStatus->task.currentLine) { programActiveLine = emcStatus->task.motionLine; } else { programActiveLine = emcStatus->task.currentLine; } if (programFp != 0) { if (programFpLine > programActiveLine) { rewind(programFp); programFpLine = 0; programLineText[0] = 0; } else { while (programFpLine < programActiveLine) { fgets(programLineText, EMC_TASK_COMMAND_LEN, programFp); programFpLine++; } } } else { programLineText[0] = 0; } } else { programActiveLine = 0; programLineText[0] = 0; } printf("Units: \t%s\n", emcStatus->task.programUnits == CANON_UNITS_INCHES ? "inches" : emcStatus->task.programUnits == CANON_UNITS_MM ? "mm" : emcStatus->task.programUnits == CANON_UNITS_CM ? "cm" : "?"); printf("Line: \t%d\n", programActiveLine); printf("Command: \t%s\n", programLineText); printf("Origin: \t%f\t%f\t%f\n", emcStatus->task.origin.tran.x, emcStatus->task.origin.tran.y, emcStatus->task.origin.tran.z); }

void showState (    )  [static]

Definition at line 398 of file emcpanel.cc. Referenced by emcpanelShow(). { if (0 == emcStatus) { return; } printf("Heartbeat: \t%lu\n", emcStatus->task.heartbeat); printf("Debug: \t%d\n", emcStatus->debug); printf("State: \t"); switch (emcStatus->task.state) { case EMC_TASK_STATE_OFF: printf("OFF\n"); break; case EMC_TASK_STATE_ON: printf("ON\n"); break; case EMC_TASK_STATE_ESTOP: printf("ESTOP\n"); break; case EMC_TASK_STATE_ESTOP_RESET: printf("ESTOP RESET\n"); break; default: printf("%d (?)\n", emcStatus->task.state); break; } }

void showTools (    )  [static]

Definition at line 696 of file emcpanel.cc. Referenced by emcpanelShow(). { int t; if (0 == emcStatus) { return; } printf("pocket\ttool\tlength\tdiameter\n"); printf("------\t----\t------\t--------\n"); for (t = 0; t < CANON_TOOL_MAX; t++) { if (emcStatus->io.tool.toolTable[t].id != 0) { printf("%d\t%d\t%f\t%f\n", t, emcStatus->io.tool.toolTable[t].id, emcStatus->io.tool.toolTable[t].length, emcStatus->io.tool.toolTable[t].diameter); } } }

char* state_to_string (  int    state )  [static]

Definition at line 321 of file emcpanel.cc. { static char scratch[STRLEN]; switch (state) { case NEW_COMMAND: return "NEW_COMMAND"; case S0: return "S0"; case S1: return "S1"; case S2: return "S2"; case S3: return "S3"; case S4: return "S4"; case S5: return "S5"; case S6: return "S6"; case S7: return "S7"; case S8: return "S8"; case S9: return "S9"; case S10: return "S10"; case S11: return "S11"; case S12: return "S12"; default: sprintf(scratch, "%d", state); return scratch; } }

char* status_to_string (  int    status )  [static]

Definition at line 361 of file emcpanel.cc. { static char scratch[STRLEN]; switch (status) { case RCS_DONE: return "DONE"; case RCS_EXEC: return "EXEC"; case RCS_ERROR: return "ERROR"; default: sprintf(scratch, "%d", status); return scratch; } }

int updateStatus (    )  [static]

Definition at line 944 of file emcpanel.cc. Referenced by alarmHandler(), emcCommandWait(), emcCommandWaitDone(), emcCommandWaitReceived(), emc_abs_act_pos(), emc_abs_cmd_pos(), emc_axis_alter(), emc_axis_enable(), emc_axis_gains(), emc_brake(), emc_debug(), emc_display_angular_units(), emc_display_linear_units(), emc_estop(), emc_estop_in(), emc_feed_override(), emc_flood(), emc_io_command(), emc_io_command_number(), emc_io_command_status(), emc_io_heartbeat(), emc_joint_fault(), emc_joint_homed(), emc_joint_limit(), emc_joint_pos(), emc_joint_type(), emc_joint_units(), emc_kinematics_type(), emc_log_islogging(), emc_log_isopen(), emc_log_numpoints(), emc_lube(), emc_lube_level(), emc_machine(), emc_mist(), emc_mode(), emc_motion_command(), emc_motion_command_number(), emc_motion_command_status(), emc_motion_heartbeat(), emc_override_limit(), emc_pos_offset(), emc_probe_clear(), emc_probe_index(), emc_probe_polarity(), emc_probe_tripped(), emc_probe_value(), emc_probed_pos(), emc_program(), emc_program_angular_units(), emc_program_codes(), emc_program_line(), emc_program_linear_units(), emc_program_status(), emc_rel_act_pos(), emc_rel_cmd_pos(), emc_spindle(), emc_task_command(), emc_task_command_number(), emc_task_command_status(), emc_task_heartbeat(), emc_teleop_enable(), emc_tool(), emc_tool_offset(), emc_update(), emc_user_angular_units(), emc_user_linear_units(), main(), sendProgramRun(), and timeoutCB(). { int r1 = 0, r2 = 0; NMLTYPE type; // update EMC TASK if (0 == emcStatus) { // not connected r1 = -1; } else { switch (type = emcStatusBuffer->peek()) { case -1: // error on CMS channel printf("error reading emcStatus channel\n"); r1 = -1; break; case 0: // no new data case EMC_STAT_TYPE: // new data // new data // get command serial number emcCommandSerialNumber = emcStatus->echo_serial_number; break; default: printf("bad id in emcStatusBuffer: %ld\n", type); r1 = -1; break; } } // update EMCIO if (0 == emcIoStatus) { // not connected r2 = -1; } else { switch (type = emcIoStatusBuffer->peek()) { case -1: // error on CMS channel printf("error reading emcioStatus channel\n"); r2 = -1; break; case 0: // no new data case EMC_IO_STAT_TYPE: // new data // new data // get command serial number emcIoCommandSerialNumber = emcIoStatus->echo_serial_number; break; default: printf("bad id in emcIoStatusBuffer: %ld\n", type); r2 = -1; break; } } return (r1 != 0 || r2 != 0) ? -1 : 0; }

---

Variable Documentation

int axisSelect = AXIS_X [static]

Definition at line 141 of file emcpanel.cc.

enum { ... } displayMode [static]

double jogIncr = 1.0 [static]

Definition at line 143 of file emcpanel.cc.

int jogSelect = JOG_CONT [static]

Definition at line 144 of file emcpanel.cc.

int printPrompt [static]

Definition at line 147 of file emcpanel.cc.

double speedSelect = 1.0 [static]

Definition at line 142 of file emcpanel.cc.

enum { ... } which [static]

---