#include <stdio.h>#include <stdlib.h>#include <string.h>#include "emc.hh"#include "emcmot.h"#include "usrmotintf.h"#include "initraj.hh"#include "iniaxis.hh"#include "emcglb.h"#include "emcmotglb.h"#include "emcmotcfg.h"Include dependency graph for inimot.cc:
Go to the source code of this file.
Defines | |
| #define | DEFAULT_NUM_AXES 3 |
Functions | |
| int | emcOperatorError (int id, const char *fmt,...) |
| int | iniLoad (const char *filename) |
| int | main (int argc, char *argv[]) |
Variables | |
| EMC_STAT | emcStatusStruct |
| EMC_STAT * | emcStatus = 0 |
| int | numAxes = 0 |
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Definition at line 38 of file inimot.cc. Referenced by checkInterpList(), emcMotionUpdate(), emcTaskIssueCommand(), emcTaskPlan(), main(), and waitFlag().
00039 {
00040 char errorString[EMC_OPERATOR_ERROR_LEN];
00041 va_list ap;
00042
00043 // prepend error code
00044 sprintf(errorString, "[%d] ", id);
00045
00046 // append error string
00047 va_start(ap, fmt);
00048 vsprintf(&errorString[strlen(errorString)], fmt, ap);
00049 va_end(ap);
00050
00051 // force a NULL at the end for safety
00052 errorString[EMC_OPERATOR_ERROR_LEN-1] = 0;
00053
00054 // print it
00055 printf("%s\n", errorString);
00056
00057 return 0;
00058 }
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Definition at line 63 of file inimot.cc. 00064 {
00065 INIFILE inifile;
00066 const char *inistring;
00067
00068 // open it
00069 if (-1 == inifile.open(filename)) {
00070 return -1;
00071 }
00072
00073 if (NULL != (inistring = inifile.find("AXES", "TRAJ"))) {
00074 if (1 != sscanf(inistring, "%d", &numAxes)) {
00075 numAxes = DEFAULT_NUM_AXES;
00076 }
00077 }
00078 else {
00079 // not found, use default
00080 numAxes = DEFAULT_NUM_AXES;
00081 }
00082
00083 // close it
00084 inifile.close();
00085
00086 return 0;
00087 }
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Definition at line 89 of file inimot.cc. 00090 {
00091 int retval = 0;
00092 int axis;
00093
00094 emcStatus = &emcStatusStruct;
00095
00096 // process command line args
00097 if (0 != emcGetArgs(argc, argv))
00098 {
00099 printf("error in argument list\n");
00100 exit(1);
00101 }
00102
00103 // get some ini file params for us
00104 if (0 != iniLoad(EMC_INIFILE)) {
00105 printf("can't read INI file\n");
00106 exit(1);
00107 }
00108
00109 // check ini file for emcmot params
00110 if (0 != usrmotIniLoad(EMC_INIFILE)) {
00111 printf("can't read motion control INI file\n");
00112 exit(1);
00113 }
00114
00115 if (0 != usrmotInit()) {
00116 printf("can't initialize motion control interface\n");
00117 exit(1);
00118 }
00119
00120 for (axis = 0; axis < numAxes; axis++) {
00121 printf("initing axis %d...", axis);
00122 fflush(stdout);
00123 if (0 == iniAxis(axis, EMC_INIFILE)) {
00124 printf("done\n");
00125 }
00126 else {
00127 printf("error\n");
00128 retval = 1;
00129 }
00130 }
00131
00132 // initialize parameters from ini file
00133 printf("initing traj...");
00134 fflush(stdout);
00135 if (0 == iniTraj(EMC_INIFILE)) {
00136 printf("done\n");
00137 }
00138 else {
00139 printf("error\n");
00140 retval = 1;
00141 }
00142
00143 usrmotExit();
00144
00145 exit(retval);
00146 }
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Definition at line 60 of file inimot.cc. Referenced by init_module().
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1.2.11.1 written by Dimitri van Heesch,
© 1997-2001