---

inispin.cc

Go to the documentation of this file.

/*
  inispin.cc

  INI file initialization for spindle controller

  Modification history:

  21-Sep-1999  WPS eliminate sscanf and printf calls not supported under CE.
  30-Jun-1998 FMP added spindleOff/OnWait
  7-Apr-1998  FMP created from initraj.cc
  */

extern "C" {
#ifndef UNDER_CE
#include <stdio.h>              // NULL
#endif
#include <stdlib.h>             // atol()
}

#include "emc.hh"
#include "inifile.h"
#include "inispin.hh"           // these decls
#include "emcglb.h"             // SPINDLE_FORWARD_INDEX, etc

#ifdef UNDER_CE
#include "rcs_ce.h"
#endif

// inifile ref'ed by iniSpindle(), loadSpindle()
static INIFILE *spindleInifile = 0;

/*
  loadSpindle()

  Loads ini file params for spindle from [EMCIO] section

  SPINDLE_OFF_WAIT <float>      seconds to brake on, after spindle off
  SPINDLE_ON_WAIT <float>       seconds to spindle on, after brake off

  SPINDLE_FORWARD_INDEX <int>   dio point for spindle forward
  SPINDLE_REVERSE_INDEX <int>   dio point for spindle reverse
  SPINDLE_DECREASE_INDEX <int>  dio point for spindle speed decrease
  SPINDLE_INCREASE_INDEX <int>  dio point for spindle speed increase
  SPINDLE_BRAKE_INDEX <int>     dio point for spindle brake on/off
  SPINDLE_ENABLE_INDEX <int>    dio point for spindle enable

  SPINDLE_ON_INDEX <int>        aio point for spindle speed reference

  SPINDLE_FORWARD_POLARITY <0,1>  polarity for spindle forward
  SPINDLE_REVERSE_POLARITY <0,1>  polarity for spindle reverse
  SPINDLE_DECREASE_POLARITY <0,1> polarity for spindle speed decrease
  SPINDLE_INCREASE_POLARITY <0,1> polarity for spindle speed increase
  SPINDLE_BRAKE_POLARITY <0,1>    polarity for spindle brake on/off
  SPINDLE_ENABLE_POLARITY <0,1>   polarity for spindle enable

  calls:

  emcSpindleSetOffWait(double wait);
  emcSpindleSetOnWait(double wait);
  emcSpindleSetForwardIndex(int index);
  emcSpindleSetReverseIndex(int index);
  emcSpindleSetDecreaseIndex(int index);
  emcSpindleSetIncreaseIndex(int index);
  emcSpindleSetBrakeIndex(int index);
  emcSpindleSetEnableIndex(int index);

  emcSpindleSetOnIndex(int index);

  emcSpindleSetForwardPolarity(int polarity);
  emcSpindleSetReversePolarity(int polarity);
  emcSpindleSetDecreasePolarity(int polarity);
  emcSpindleSetIncreasePolarity(int polarity);
  emcSpindleSetBrakePolarity(int polarity);
  emcSpindleSetEnablePolarity(int polarity);
  */

static int loadSpindle()
{
  int retval = 0;
  const char *inistring;
  int i;
  double d;

  if (NULL != (inistring = spindleInifile->find("SPINDLE_OFF_WAIT", "EMCIO")))
    {
#ifndef UNDER_CE
      if (1 == sscanf(inistring, "%lf", &d))
        {
          // found, and valid
          if (0 != emcSpindleSetOffWait(d))
            {
              printf("bad return value from emcSpindleSetOffWait\n");
              retval = -1;
            }
        }
      else
        {
          // found, but invalid, so warn
          printf("invalid inifile value for SPINDLE_OFF_WAIT: %s\n",
                          inistring);
        }
#else
      d = RCS_CE_ATOF(inistring);
      if (0 != emcSpindleSetOffWait(d))
        {
          rcs_print("bad return value from emcSpindleSetOffWait\n");
          retval = -1;
        }
#endif

    }
  // else ignore omission

  if (NULL != (inistring = spindleInifile->find("SPINDLE_ON_WAIT", "EMCIO")))
    {
#ifndef UNDER_CE
      if (1 == sscanf(inistring, "%lf", &d))
        {
          // found, and valid
          if (0 != emcSpindleSetOnWait(d))
            {
              printf("bad return value from emcSpindleSetOnWait\n");
              retval = -1;
            }
        }
      else
        {
          // found, but invalid, so warn
          printf("invalid inifile value for SPINDLE_ON_WAIT: %s\n",
                          inistring);
        }
#else
      d = RCS_CE_ATOF(inistring);
      if (0 != emcSpindleSetOnWait(d))
        {
          rcs_print("bad return value from emcSpindleSetOnWait\n");
          retval = -1;
        }
#endif
    }
  // else ignore omission

  if (NULL != (inistring = spindleInifile->find("SPINDLE_FORWARD_INDEX", "EMCIO")))
    {
#ifndef UNDER_CE
      if (1 == sscanf(inistring, "%d", &i))
        {
          // found, and valid
          if (0 != emcSpindleSetForwardIndex(i))
            {
              printf("bad return value from emcSpindleSetForwardIndex\n");
              retval = -1;
            }
        }
      else
        {
          // found, but invalid, so warn
          printf("invalid inifile value for SPINDLE_FORWARD_INDEX: %s\n",
                          inistring);
        }
#else
      i = atol(inistring);
      if (0 != emcSpindleSetForwardIndex(i))
        {
          rcs_print("bad return value from emcSpindleSetForwardIndex\n");
          retval = -1;
        }
#endif
    }
  // else ignore omission

  if (NULL != (inistring = spindleInifile->find("SPINDLE_REVERSE_INDEX", "EMCIO")))
    {
#ifndef UNDER_CE
      if (1 == sscanf(inistring, "%d", &i))
        {
          // found, and valid
          if (0 != emcSpindleSetReverseIndex(i))
            {
              printf("bad return value from emcSpindleSetReverseIndex\n");
              retval = -1;
            }
        }
      else
        {
          // found, but invalid, so warn
          printf("invalid inifile value for SPINDLE_REVERSE_INDEX: %s\n",
                          inistring);
        }
#else
      i = atol(inistring);
      if (0 != emcSpindleSetReverseIndex(i))
        {
          rcs_print("bad return value from emcSpindleSetReverseIndex\n");
          retval = -1;
        }
#endif
    }
  // else ignore omission

  if (NULL != (inistring = spindleInifile->find("SPINDLE_DECREASE_INDEX", "EMCIO")))
    {
#ifndef UNDER_CE
      if (1 == sscanf(inistring, "%d", &i))
        {
          // found, and valid
          if (0 != emcSpindleSetDecreaseIndex(i))
            {
              printf("bad return value from emcSpindleSetDecreaseIndex\n");
              retval = -1;
            }
        }
      else
        {
          // found, but invalid, so warn
          printf("invalid inifile value for SPINDLE_DECREASE_INDEX: %s\n",
                          inistring);
        }
#else
      i = atol(inistring);
      if (0 != emcSpindleSetDecreaseIndex(i))
        {
          rcs_print("bad return value from emcSpindleSetDecreaseIndex\n");
          retval = -1;
        }
#endif
    }
  // else ignore omission

  if (NULL != (inistring = spindleInifile->find("SPINDLE_INCREASE_INDEX", "EMCIO")))
    {
#ifndef UNDER_CE
      if (1 == sscanf(inistring, "%d", &i))
        {
          // found, and valid
          if (0 != emcSpindleSetIncreaseIndex(i))
            {
              printf("bad return value from emcSpindleSetIncreaseIndex\n");
              retval = -1;
            }
        }
      else
        {
          // found, but invalid, so warn
          printf("invalid inifile value for SPINDLE_INCREASE_INDEX: %s\n",
                          inistring);
        }
#else
      i = atol(inistring);
      if (0 != emcSpindleSetIncreaseIndex(i))
        {
          rcs_print("bad return value from emcSpindleSetIncreaseIndex\n");
          retval = -1;
        }
#endif
    }
  // else ignore omission

  if (NULL != (inistring = spindleInifile->find("SPINDLE_BRAKE_INDEX", "EMCIO")))
    {
#ifndef UNDER_CE
      if (1 == sscanf(inistring, "%d", &i))
        {
          // found, and valid
          if (0 != emcSpindleSetBrakeIndex(i))
            {
              printf("bad return value from emcSpindleSetBrakeIndex\n");
              retval = -1;
            }
        }
      else
        {
          // found, but invalid, so warn
          printf("invalid inifile value for SPINDLE_BRAKE_INDEX: %s\n",
                          inistring);
        }
#else
      i = atol(inistring);
      if (0 != emcSpindleSetBrakeIndex(i))
        {
          rcs_print("bad return value from emcSpindleSetBrakeIndex\n");
          retval = -1;
        }
#endif
    }
  // else ignore omission

  if (NULL != (inistring = spindleInifile->find("SPINDLE_ENABLE_INDEX", "EMCIO")))
    {
#ifndef UNDER_CE
      if (1 == sscanf(inistring, "%d", &i))
        {
          // found, and valid
          if (0 != emcSpindleSetEnableIndex(i))
            {
              printf("bad return value from emcSpindleSetEnableIndex\n");
              retval = -1;
            }
        }
      else
        {
          // found, but invalid, so warn
          printf("invalid inifile value for SPINDLE_ENABLE_INDEX: %s\n",
                          inistring);
        }
#else
      i = atol(inistring);
      if (0 != emcSpindleSetEnableIndex(i))
        {
          rcs_print("bad return value from emcSpindleSetEnableIndex\n");
          retval = -1;
        }
#endif
    }
  // else ignore omission

  if (NULL != (inistring = spindleInifile->find("SPINDLE_ON_INDEX", "EMCIO")))
    {
#ifndef UNDER_CE
      if (1 == sscanf(inistring, "%d", &i))
        {
          // found, and valid
          if (0 != emcSpindleSetOnIndex(i))
            {
              printf("bad return value from emcSpindleSetOnIndex\n");
              retval = -1;
            }
        }
      else
        {
          // found, but invalid, so warn
          printf("invalid inifile value for SPINDLE_ON_INDEX: %s\n",
                          inistring);
        }
#else
      i = atol(inistring);
      if (0 != emcSpindleSetOnIndex(i))
        {
          rcs_print("bad return value from emcSpindleSetOnIndex\n");
          retval = -1;
        }
#endif
    }
  // else ignore omission

  if (NULL != (inistring = spindleInifile->find("SPINDLE_FORWARD_POLARITY", "EMCIO")))
    {
#ifndef UNDER_CE
      if (1 == sscanf(inistring, "%d", &i))
        {
          // found, and valid
          if (0 != emcSpindleSetForwardPolarity(i))
            {
              printf("bad return value from emcSpindleSetSpindleForwardPolarity\n");
              retval = -1;
            }
        }
      else
        {
          // found, but invalid, so warn
          printf("invalid inifile value for SPINDLE_FORWARD_POLARITY: %s\n",
                          inistring);
        }
#else
      i = atol(inistring);
      if (0 != emcSpindleSetForwardPolarity(i))
        {
          rcs_print("bad return value from emcSpindleSetForwardPolarity\n");
          retval = -1;
        }
#endif
    }
  // else ignore omission

  if (NULL != (inistring = spindleInifile->find("SPINDLE_REVERSE_POLARITY", "EMCIO")))
    {
#ifndef UNDER_CE
      if (1 == sscanf(inistring, "%d", &i))
        {
          // found, and valid
          if (0 != emcSpindleSetReversePolarity(i))
            {
              printf("bad return value from emcSpindleSetReversePolarity\n");
              retval = -1;
            }
        }
      else
        {
          // found, but invalid, so warn
          printf("invalid inifile value for SPINDLE_REVERSE_POLARITY: %s\n",
                          inistring);
        }
#else
      i = atol(inistring);
      if (0 != emcSpindleSetReversePolarity(i))
        {
          rcs_print("bad return value from emcSpindleSetReversePolarity\n");
          retval = -1;
        }
#endif
    }
  // else ignore omission

  if (NULL != (inistring = spindleInifile->find("SPINDLE_DECREASE_POLARITY", "EMCIO")))
    {
#ifndef UNDER_CE
      if (1 == sscanf(inistring, "%d", &i))
        {
          // found, and valid
          if (0 != emcSpindleSetDecreasePolarity(i))
            {
              printf("bad return value from emcSpindleSetDecreasePolarity\n");
              retval = -1;
            }
        }
      else
        {
          // found, but invalid, so warn
          printf("invalid inifile value for SPINDLE_DECREASE_POLARITY: %s\n",
                          inistring);
        }
#else
      i = atol(inistring);
      if (0 != emcSpindleSetDecreasePolarity(i))
        {
          rcs_print("bad return value from emcSpindleSetDecreasePolarity\n");
          retval = -1;
        }
#endif
    }
  // else ignore omission

  if (NULL != (inistring = spindleInifile->find("SPINDLE_INCREASE_POLARITY", "EMCIO")))
    {
#ifndef UNDER_CE
      if (1 == sscanf(inistring, "%d", &i))
        {
          // found, and valid
          if (0 != emcSpindleSetIncreasePolarity(i))
            {
              printf("bad return value from emcSpindleSetIncreasePolarity\n");
              retval = -1;
            }
        }
      else
        {
          // found, but invalid, so warn
          printf("invalid inifile value for SPINDLE_INCREASE_POLARITY: %s\n",
                          inistring);
        }
#else
      i = atol(inistring);
      if (0 != emcSpindleSetForwardPolarity(i))
        {
          rcs_print("bad return value from emcSpindleSetForwardPolarity\n");
          retval = -1;
        }
#endif
    }
  // else ignore omission

  if (NULL != (inistring = spindleInifile->find("SPINDLE_BRAKE_POLARITY", "EMCIO")))
    {
#ifndef UNDER_CE
      if (1 == sscanf(inistring, "%d", &i))
        {
          // found, and valid
          if (0 != emcSpindleSetBrakePolarity(i))
            {
              printf("bad return value from emcSpindleSetBrakePolarity\n");
              retval = -1;
            }
        }
      else
        {
          // found, but invalid, so warn
          printf("invalid inifile value for SPINDLE_BRAKE_POLARITY: %s\n",
                          inistring);
        }
#else
      i = atol(inistring);
      if (0 != emcSpindleSetBrakePolarity(i))
        {
          rcs_print("bad return value from emcSpindleSetBrakePolarity\n");
          retval = -1;
        }
#endif
    }
  // else ignore omission

  if (NULL != (inistring = spindleInifile->find("SPINDLE_ENABLE_POLARITY", "EMCIO")))
    {
#ifndef UNDER_CE
      if (1 == sscanf(inistring, "%d", &i))
        {
          // found, and valid
          if (0 != emcSpindleSetEnablePolarity(i))
            {
              printf("bad return value from emcSpindleSetEnablePolarity\n");
              retval = -1;
            }
        }
      else
        {
          // found, but invalid, so warn
          printf("invalid inifile value for SPINDLE_ENABLE_POLARITY: %s\n",
                          inistring);
        }
#else
      i = atol(inistring);
      if (0 != emcSpindleSetEnablePolarity(i))
        {
          rcs_print("bad return value from emcSpindleSetEnablePolarity\n");
          retval = -1;
        }
#endif
    }
  // else ignore omission

  return retval;
}

/*
  iniSpindle(const char *filename)

  Loads ini file parameters for spindle, from [EMCIO] section
 */
int iniSpindle(const char *filename)
{
  int retval = 0;

  spindleInifile = new INIFILE;

  if (-1 == spindleInifile->open(filename))
    {
      return -1;
    }

  // load spindle values
  if (0 != loadSpindle())
    {
      retval = -1;
    }

  // close the inifile
  spindleInifile->close();
  delete spindleInifile;

  return retval;
}

// functions to set global variables

int emcSpindleSetForwardIndex(int index)
{
  SPINDLE_FORWARD_INDEX = index;

  return 0;
}

int emcSpindleSetReverseIndex(int index)
{
  SPINDLE_REVERSE_INDEX = index;

  return 0;
}

int emcSpindleSetDecreaseIndex(int index)
{
  SPINDLE_DECREASE_INDEX = index;

  return 0;
}

int emcSpindleSetIncreaseIndex(int index)
{
  SPINDLE_INCREASE_INDEX = index;

  return 0;
}

int emcSpindleSetBrakeIndex(int index)
{
  SPINDLE_BRAKE_INDEX = index;

  return 0;
}

int emcSpindleSetEnableIndex(int index)
{
  SPINDLE_ENABLE_INDEX = index;

  return 0;
}

int emcSpindleSetOnIndex(int index)
{
  SPINDLE_ON_INDEX = index;

  return 0;
}

int emcSpindleSetForwardPolarity(int polarity)
{
  SPINDLE_FORWARD_POLARITY = polarity;

  return 0;
}

int emcSpindleSetReversePolarity(int polarity)
{
  SPINDLE_REVERSE_POLARITY = polarity;

  return 0;
}

int emcSpindleSetDecreasePolarity(int polarity)
{
  SPINDLE_DECREASE_POLARITY = polarity;

  return 0;
}

int emcSpindleSetIncreasePolarity(int polarity)
{
  SPINDLE_INCREASE_POLARITY = polarity;

  return 0;
}

int emcSpindleSetBrakePolarity(int polarity)
{
  SPINDLE_BRAKE_POLARITY = polarity;

  return 0;
}

int emcSpindleSetEnablePolarity(int polarity)
{
  SPINDLE_ENABLE_POLARITY = polarity;

  return 0;
}

int emcSpindleSetOffWait(double wait)
{
  SPINDLE_OFF_WAIT = wait;

  return 0;
}

int emcSpindleSetOnWait(double wait)
{
  SPINDLE_ON_WAIT = wait;

  return 0;
}

---