Main Page   Class Hierarchy   Alphabetical List   Data Structures   File List   Data Fields   Globals  

emctask.cc File Reference

#include <stdlib.h>
#include <string.h>
#include "emc.hh"
#include "emcglb.h"
#include "interpl.hh"
#include "canon.hh"
#include "rs274ngc.hh"

Include dependency graph for emctask.cc:

Include dependency graph

Go to the source code of this file.

Defines

#define __attribute__(x)

Functions

char __attribute__ ((unused)) ident[]="$Id
int emcTaskHalt ()
int emcTaskAbort ()
int emcTaskSetMode (int mode)
int emcTaskSetState (int state)
int determineMode ()
int determineState ()
int emcTaskPlanInit ()
int emcTaskPlanSetWait ()
int emcTaskPlanIsWait ()
int emcTaskPlanClearWait ()
int emcTaskPlanSynch ()
int emcTaskPlanExit ()
int emcTaskPlanOpen (const char *file)
int emcTaskPlanRead ()
int emcTaskPlanExecute (const char *command)
int emcTaskPlanClose ()
int emcTaskPlanLine ()
int emcTaskPlanCommand (char *cmd)
int emcTaskUpdate (EMC_TASK_STAT *stat)

Variables

int waitFlag = 0

Define Documentation

#define __attribute__ (  x    ) 
 

Definition at line 53 of file emctask.cc.

Function Documentation

char __attribute__ (  (unused)    )  [static]
 

Definition at line 57 of file emctask.cc.

00057                                                   : emctask.cc,v 1.15 2001/11/14 19:07:12 wshackle Exp $";
00058 
00059 // flag for how we want to interpret traj coord mode, as mdi or auto
00060 static int mdiOrAuto = EMC_TASK_MODE_AUTO;
00061 
00062 // EMC_TASK interface
00063 
00064 int emcTaskInit()
00065 {
00066   return 0;
00067 }

int determineMode (    )  [static]
 

Definition at line 182 of file emctask.cc.

Referenced by emcTaskUpdate(). 

00183 {
00184   // if traj is in free mode, then we're in manual mode
00185   if (emcStatus->motion.traj.mode == EMC_TRAJ_MODE_FREE ||
00186       emcStatus->motion.traj.mode == EMC_TRAJ_MODE_TELEOP ) {
00187     return EMC_TASK_MODE_MANUAL;
00188   }
00189 
00190   // else traj is in coord mode-- we can be in either mdi or auto
00191   return mdiOrAuto;
00192 }

int determineState (    )  [static]
 

Definition at line 208 of file emctask.cc.

Referenced by emcTaskUpdate(). 

00209 {
00210   if (emcStatus->io.aux.estop) {
00211     return EMC_TASK_STATE_ESTOP;
00212   }
00213 
00214   if (! emcStatus->motion.traj.enabled) {
00215     return EMC_TASK_STATE_ESTOP_RESET;
00216   }
00217 
00218   return EMC_TASK_STATE_ON;
00219 }

int emcTaskAbort (    ) 
 

Definition at line 74 of file emctask.cc.

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

int emcTaskHalt (    ) 
 

Definition at line 69 of file emctask.cc.

00070 {
00071   return 0;
00072 }

int emcTaskPlanClearWait (    ) 
 

Definition at line 313 of file emctask.cc.

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

int emcTaskPlanClose (    ) 
 

Definition at line 395 of file emctask.cc.

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.

Referenced by emcTaskPlan(). 

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

int emcTaskPlanExecute (  const char *    command ) 
 

Definition at line 376 of file emctask.cc.

Referenced by emcTaskIssueCommand(), and emcTaskPlan(). 

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.

00326 {
00327   return rs274ngc_exit();
00328 }

int emcTaskPlanInit (    ) 
 

Definition at line 270 of file emctask.cc.

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.

00309 {
00310   return waitFlag;
00311 }

int emcTaskPlanLine (    ) 
 

Definition at line 409 of file emctask.cc.

00410 {
00411   return rs274ngc_line();
00412 }

int emcTaskPlanOpen (  const char *    file ) 
 

Definition at line 330 of file emctask.cc.

Referenced by emcTaskIssueCommand(). 

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 emcTaskPlanRead (    ) 
 

Definition at line 352 of file emctask.cc.

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 emcTaskPlanSetWait (    ) 
 

Definition at line 301 of file emctask.cc.

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

int emcTaskPlanSynch (    ) 
 

Definition at line 320 of file emctask.cc.

00321 {
00322   return rs274ngc_synch();
00323 }

int emcTaskSetMode (  int    mode ) 
 

Definition at line 82 of file emctask.cc.

Referenced by emcTaskIssueCommand(), and main(). 

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.

Referenced by emcTaskIssueCommand(), and main(). 

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.

Referenced by emctask_startup(), and main(). 

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 }

Variable Documentation

int waitFlag = 0 [static]
 

Definition at line 221 of file emctask.cc.

Generated on Sun Dec 2 15:28:02 2001 for EMC by doxygen1.2.11.1 written by Dimitri van Heesch, © 1997-2001