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emctask.cc

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/*
  emctask.cc

  Mode and state management for EMC_TASK class

  Modification history:

  14-Nov-2000 WPS modified emcTaskExecute so that hopefully after an abort,estop or fault the current line would still be displayed. 
  2-Jun-2000  FMP added emcLubeOn,Off() to emcTaskSetState(), to turn lube
  on when machine goes on, off otherwise
  10-Jun-1999  FMP added emcTaskPlanCommand(); took setting of task->command
  out of emcTaskUpdate() since it's in emctaskmain.cc during read-exec phase
  22-Feb-1999  FMP took calls to turn spindle, coolant off when going into
  estop since they interfered with estop command
  19-Feb-1999  FMP changed order for estopping, doing aux estop, then
  motion, then spindle, coolant, etc.
  23-Dec-1998  FMP added emcTaskPlanSet,Is,ClearWait(); took tool length
  offset update out of here and moved into emctaskmain.cc so that it won't
  be read-ahead; ditto with program origin
  3-Aug-1998  FMP added toolOffset.z = GET_TOOL_LENGTH_OFFSET()
  30-Jul-1998  FMP added active G,M codes
  2-Jul-1998  FMP added emcTaskPlanSynch()
  26-Jun-1998  FMP added calls to turn spindle and coolant off when
  going into estop
  20-May-1998  FMP added call to rs274ngc_synch() when entering MDI
  or AUTO mode
  24-Feb-1998  FMP made abort order axis, traj, io, in emcTaskAbort()
  7-Jan-1998  FMP changed call from emcIoHalt() (which deletes NML
  buffer) to emcIoAbort(), in emcTaskAbort()
  15-Dec-1997  FMP eliminated checks on state in emcTaskSetState, just
  forcing the function calls regardless
  17-Jul-1997  FMP added subsystem checks for mode and state changes
  3-Jul-1997  FMP created from original HME wmsa.cc
  */

#include <stdlib.h>
#include <string.h>             // strncpy()

#include "emc.hh"               // EMC NML
#include "emcglb.h"             // EMC_INIFILE
#include "interpl.hh"           // NML_INTERP_LIST, interp_list
#include "canon.hh"             // CANON_VECTOR, GET_PROGRAM_ORIGIN()
#include "rs274ngc.hh"          // the interpreter


#ifdef NEW_INTERPRETER
#include "rs274ngc_return.hh"   // NCE_FILE_NOT_OPEN
#endif

// ident tag
#ifndef __GNUC__
#ifndef __attribute__
#define __attribute__(x)
#endif
#endif

static char __attribute__((unused)) ident[] = "$Id: emctask.cc,v 1.15 2001/11/14 19:07:12 wshackle Exp $";

// flag for how we want to interpret traj coord mode, as mdi or auto
static int mdiOrAuto = EMC_TASK_MODE_AUTO;

// EMC_TASK interface

int emcTaskInit()
{
  return 0;
}

int emcTaskHalt()
{
  return 0;
}

int emcTaskAbort()
{
  emcMotionAbort();
  emcIoAbort();

  return 0;
}

int emcTaskSetMode(int mode)
{
  int retval = 0;

  switch (mode) {
  case EMC_TASK_MODE_MANUAL:
    // go to manual mode
    emcTrajSetMode(EMC_TRAJ_MODE_FREE);
    mdiOrAuto = EMC_TASK_MODE_AUTO; // we'll default back to here
    break;

  case EMC_TASK_MODE_MDI:
    // go to mdi mode
    emcTrajSetMode(EMC_TRAJ_MODE_COORD);
    emcTaskPlanSynch();
    mdiOrAuto = EMC_TASK_MODE_MDI;
    break;

  case EMC_TASK_MODE_AUTO:
    // go to auto mode
    emcTrajSetMode(EMC_TRAJ_MODE_COORD);
    emcTaskPlanSynch();
    mdiOrAuto = EMC_TASK_MODE_AUTO;
    break;

  default:
    retval = -1;
    break;
  }

  return retval;
}

int emcTaskSetState(int state)
{
  int t;
  int retval = 0;

  switch (state) {
  case EMC_TASK_STATE_OFF:
    // turn the machine servos off-- go into ESTOP_RESET state
    for (t = 0; t < emcStatus->motion.traj.axes; t++) {
      emcAxisDisable(t);
    }
    emcTrajDisable();
    emcLubeOff();
    break;

  case EMC_TASK_STATE_ON:
    // turn the machine servos on
    emcTrajEnable();
    for (t = 0; t < emcStatus->motion.traj.axes; t++) {
      emcAxisEnable(t);
    }
    emcLubeOn();
    break;

  case EMC_TASK_STATE_ESTOP_RESET:
    // reset the estop
    if(emcStatus->io.aux.estopIn)
      {
        rcs_print("Can't come out of estop while the estop button is in.");
      }
    emcAuxEstopOff();
    emcLubeOff();
    break;

  case EMC_TASK_STATE_ESTOP:
    // go into estop-- do both IO estop and machine servos off
    emcAuxEstopOn();
    for (t = 0; t < emcStatus->motion.traj.axes; t++) {
      emcAxisDisable(t);
    }
    emcTrajDisable();
    emcLubeOff();
    break;

  default:
    retval = -1;
    break;
  }

  return retval;
}

// WM access functions

/*
  determineMode()

  Looks at mode of subsystems, and returns associated mode

  Depends on traj mode, and mdiOrAuto flag

  traj mode   mdiOrAuto     mode
  ---------   ---------     ----
  FREE        XXX           MANUAL
  COORD       MDI           MDI
  COORD       AUTO          AUTO
  */
static int determineMode()
{
  // if traj is in free mode, then we're in manual mode
  if (emcStatus->motion.traj.mode == EMC_TRAJ_MODE_FREE ||
      emcStatus->motion.traj.mode == EMC_TRAJ_MODE_TELEOP ) {
    return EMC_TASK_MODE_MANUAL;
  }

  // else traj is in coord mode-- we can be in either mdi or auto
  return mdiOrAuto;
}

/*
  determineState()

  Looks at state of subsystems, and returns associated state

  Depends on traj enabled, io estop, and desired task state

  traj enabled   io estop      state
  ------------   --------      -----
  DISABLED       ESTOP         ESTOP
  ENABLED        ESTOP         ESTOP
  DISABLED       OUT OF ESTOP  ESTOP_RESET
  ENABLED        OUT OF ESTOP  ON
  */
static int determineState()
{
  if (emcStatus->io.aux.estop) {
    return EMC_TASK_STATE_ESTOP;
  }

  if (! emcStatus->motion.traj.enabled) {
    return EMC_TASK_STATE_ESTOP_RESET;
  }

  return EMC_TASK_STATE_ON;
}

static int waitFlag = 0;


#ifdef NEW_INTERPRETER
static char rs274ngc_error_text_buf[256];
static char rs274ngc_stack_buf[256];

static void print_rs274ngc_error(int retval)
{
  int index = 0;
  if(retval == 0)
    {
      return;
    }

  if( 0 != emcStatus)
    {
      emcStatus->task.interpreter_errcode = retval;
    }

  rs274ngc_error_text_buf[0]=0;
  rs274ngc_error_text(retval, rs274ngc_error_text_buf,256);
  if(0 != rs274ngc_error_text_buf[0])
    {
      rcs_print_error("rs274ngc_error: %s\n",rs274ngc_error_text_buf);
    }
  emcOperatorError(0,rs274ngc_error_text_buf);
  index=0;
  if (EMC_DEBUG & EMC_DEBUG_INTERP)
    {
      rcs_print("rs274ngc_stack: \t");
      while(index < 5)
        {
          rs274ngc_stack_buf[0]=0;
          rs274ngc_stack_name(index,rs274ngc_stack_buf,256);
          if(0 == rs274ngc_stack_buf[0])
            {
              break;
            }
          rcs_print(" - %s ",rs274ngc_stack_buf);
          index++;
        }
      rcs_print("\n");
    }
}

#endif // NEW_INTERPRETER


int emcTaskPlanInit()
{
  rs274ngc_ini_load(EMC_INIFILE);
  waitFlag = 0;

  int retval = rs274ngc_init();
#ifdef NEW_INTERPRETER
  if(retval > RS274NGC_MIN_ERROR)
    {
      print_rs274ngc_error(retval);
    }
  else 
    {
      if( 0 != RS274NGC_STARTUP_CODE[0])
        {
          retval = rs274ngc_execute(RS274NGC_STARTUP_CODE);
          if(retval > RS274NGC_MIN_ERROR)
            {
              print_rs274ngc_error(retval);
            }
        }
    }
#else
  if( 0 != RS274NGC_STARTUP_CODE[0])
    {
      rs274ngc_execute(RS274NGC_STARTUP_CODE);
    }
#endif
  return retval;
}

int emcTaskPlanSetWait()
{
  waitFlag = 1;

  return 0;
}

int emcTaskPlanIsWait()
{
  return waitFlag;
}

int emcTaskPlanClearWait()
{
  waitFlag = 0;

  return 0;
}

int emcTaskPlanSynch()
{
  return rs274ngc_synch();
}

int emcTaskPlanExit()
{
  return rs274ngc_exit();
}

int emcTaskPlanOpen(const char *file)
{
  if(emcStatus != 0)
    {
      emcStatus->task.motionLine = 0;
      emcStatus->task.currentLine = 0;
      emcStatus->task.readLine = 0;
    }

  int retval = rs274ngc_open(file);
#ifdef NEW_INTERPRETER
  if(retval > RS274NGC_MIN_ERROR)
    {
      print_rs274ngc_error(retval);
      return retval;
    }
#endif
  taskplanopen=1; 
  return retval;
}


int emcTaskPlanRead()
{
  int retval = rs274ngc_read();
#ifdef NEW_INTERPRETER
  if(retval == NCE_FILE_NOT_OPEN)
    {
      if(emcStatus->task.file[0] != 0)
        {
          retval = rs274ngc_open(emcStatus->task.file);
          if(retval > RS274NGC_MIN_ERROR)
            {
          print_rs274ngc_error(retval);
            }
          retval = rs274ngc_read();
        }
    }
  if(retval > RS274NGC_MIN_ERROR)
    {
      print_rs274ngc_error(retval);
    }
#endif
  return retval;
}

int emcTaskPlanExecute(const char *command)
{
  if(command != 0)
    {
      if(*command != 0)
        {
          rs274ngc_synch();
        }
    }
  int retval = rs274ngc_execute(command);
#ifdef NEW_INTERPRETER
  if(retval > RS274NGC_MIN_ERROR)
    {
      print_rs274ngc_error(retval);
    }
#endif
  return retval;
}

int emcTaskPlanClose()
{
  int retval = rs274ngc_close();
#ifdef NEW_INTERPRETER
  if(retval > RS274NGC_MIN_ERROR)
    {
      print_rs274ngc_error(retval);
    }
#endif

  taskplanopen=0; 
  return retval;
}

int emcTaskPlanLine()
{
  return rs274ngc_line();
}

int emcTaskPlanCommand(char *cmd)
{
  strcpy(cmd, rs274ngc_command());
  return 0;
}

int emcTaskUpdate(EMC_TASK_STAT *stat)
{
  stat->mode = determineMode();
  stat->state = determineState();

  // execState set in main
  // interpState set in main
  if(emcStatus->motion.traj.id > 0)
    {
      stat->motionLine = emcStatus->motion.traj.id;
    }
  // currentLine set in main
  // readLine set in main

  strcpy(stat->file, rs274ngc_file());
  // command set in main

  // update active G and M codes
  rs274ngc_active_g_codes(&stat->activeGCodes[0]);
  rs274ngc_active_m_codes(&stat->activeMCodes[0]);
  rs274ngc_active_settings(&stat->activeSettings[0]);

  stat->heartbeat++;

  return 0;
}

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