#include "emc.hh"Include dependency graph for iniaxis.hh:
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Functions | |
| int | iniAxis (int axis, const char *filename) |
| int | dumpAxis (int axis, const char *filename, EMC_AXIS_STAT *stat) |
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End of UNDER_CE ifdefing out.
Definition at line 1417 of file iniaxis.cc. Referenced by emcAxisHalt().
01418 {
01419 #ifdef UNDER_CE
01420 return -1;
01421 #else
01422 char ourAxisSection[256];
01423 int ourAxis = 0;
01424 FILE *infp = NULL;
01425 FILE *outfp = NULL;
01426 char line[256];
01427 char section[256];
01428 char var[256], val[256];
01429 char fmt[256];
01430
01431 // rename with backup suffix
01432 strcpy(line, filename);
01433 strcat(line, INIFILE_BACKUP_SUFFIX);
01434 if (0 != rename(filename, line)) {
01435 fprintf(stderr, "can't make backup copy of INI file %s\n", filename);
01436 return -1;
01437 }
01438
01439 // open backup for reading
01440 if (NULL == (infp = fopen(line, "r"))) {
01441 fprintf(stderr, "can't open backup copy of INI file %s\n", line);
01442 return -1;
01443 }
01444
01445 // open original for writing
01446 if (NULL == (outfp = fopen(filename, "w"))) {
01447 fprintf(stderr, "can't open original copy of INI file %s\n", line);
01448 return -1;
01449 }
01450
01451 // set our axis string and flag that we're in that section
01452 sprintf(ourAxisSection, "AXIS_%d", axis);
01453 ourAxis = 0;
01454
01455 while (!feof(infp)) {
01456 if (NULL == fgets(line, 256, infp)) {
01457 break;
01458 }
01459
01460 if (iniIsSection(line, section)) {
01461 // if this is "AXIS_0,1,...", it's what we want
01462 if (!strcmp(section, ourAxisSection)) {
01463 ourAxis = 1;
01464 }
01465 else {
01466 ourAxis = 0;
01467 }
01468 }
01469
01470 if (ourAxis) {
01471 if (iniIsEntry(line, var, val)) {
01472 if (!strcmp(var, "P")) {
01473 iniFormatFloat(fmt, var, val);
01474 fprintf(outfp, fmt, stat->p);
01475 continue; // avoid fputs() below, since we wrote it
01476 }
01477 else if (!strcmp(var, "I")) {
01478 iniFormatFloat(fmt, var, val);
01479 fprintf(outfp, fmt, stat->i);
01480 continue;
01481 }
01482 else if (!strcmp(var, "D")) {
01483 iniFormatFloat(fmt, var, val);
01484 fprintf(outfp, fmt, stat->d);
01485 continue;
01486 }
01487 else if (!strcmp(var, "FF0")) {
01488 iniFormatFloat(fmt, var, val);
01489 fprintf(outfp, fmt, stat->ff0);
01490 continue;
01491 }
01492 else if (!strcmp(var, "FF1")) {
01493 iniFormatFloat(fmt, var, val);
01494 fprintf(outfp, fmt, stat->ff1);
01495 continue;
01496 }
01497 else if (!strcmp(var, "FF2")) {
01498 iniFormatFloat(fmt, var, val);
01499 fprintf(outfp, fmt, stat->ff2);
01500 continue;
01501 }
01502 else if (!strcmp(var, "BACKLASH")) {
01503 iniFormatFloat(fmt, var, val);
01504 fprintf(outfp, fmt, stat->backlash);
01505 continue;
01506 }
01507 else if (!strcmp(var, "BIAS")) {
01508 iniFormatFloat(fmt, var, val);
01509 fprintf(outfp, fmt, stat->bias);
01510 continue;
01511 }
01512 else if (!strcmp(var, "MAX_ERROR")) {
01513 iniFormatFloat(fmt, var, val);
01514 fprintf(outfp, fmt, stat->maxError);
01515 continue;
01516 }
01517 else if (!strcmp(var, "DEADBAND")) {
01518 iniFormatFloat(fmt, var, val);
01519 fprintf(outfp, fmt, stat->deadband);
01520 continue;
01521 }
01522 else if (!strcmp(var, "OUTPUT_SCALE")) {
01523 // val will be a string with two floats, e.g., "1.0 0.0",
01524 // and iniFormatFloat2() will set fmt to convert 2 floats
01525 // at the precision of the first in the string
01526 iniFormatFloat2(fmt, var, val);
01527 fprintf(outfp, fmt, stat->outputScale, stat->outputOffset);
01528 continue;
01529 }
01530 else if (!strcmp(var, "FERROR")) {
01531 iniFormatFloat(fmt, var, val);
01532 fprintf(outfp, fmt, stat->maxFerror);
01533 continue;
01534 }
01535 else if (!strcmp(var, "MIN_FERROR")) {
01536 iniFormatFloat(fmt, var, val);
01537 fprintf(outfp, fmt, stat->minFerror);
01538 continue;
01539 }
01540 }
01541 }
01542
01543 // write it out
01544 fputs(line, outfp);
01545 }
01546
01547 fclose(infp);
01548 fclose(outfp);
01549
01550 return 0;
01551 #endif
01552 }
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Definition at line 1095 of file iniaxis.cc. Referenced by emcAxisInit(), and main().
01096 {
01097 int retval = 0;
01098 const char *inistring;
01099 int axes;
01100
01101 axisInifile = new INIFILE;
01102 if (-1 == axisInifile->open(filename)) {
01103 return -1;
01104 }
01105
01106 if (NULL != (inistring = axisInifile->find("AXES", "TRAJ"))) {
01107 #ifndef UNDER_CE
01108 if (1 == sscanf(inistring, "%d", &axes)) {
01109 // found, and valid
01110 }
01111 else {
01112 // found, but invalid
01113 if (EMC_DEBUG & EMC_DEBUG_INVALID) {
01114 rcs_print_error("invalid inifile value for [TRAJ] AXES: %s\n", inistring);
01115 }
01116 axes = 0;
01117 }
01118 #else
01119 axes = atol(inistring);
01120 #endif
01121 }
01122 else {
01123 // not found at all
01124 axes = 1;
01125 if (EMC_DEBUG & EMC_DEBUG_DEFAULTS) {
01126 rcs_print_error("can't find [TRAJ] AXES, using default %d\n", axes);
01127 }
01128 }
01129
01130 if (axis < 0 ||
01131 axis >= axes) {
01132 // requested axis exceeds machine axes
01133 axisInifile->close();
01134 delete axisInifile;
01135 return -1;
01136 }
01137
01138 // load its values
01139 if (0 != loadAxis(axis)) {
01140 retval = -1;
01141 }
01142
01143 // close the inifile
01144 axisInifile->close();
01145 delete axisInifile;
01146
01147 return retval;
01148 }
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1.2.11.1 written by Dimitri van Heesch,
© 1997-2001