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stripemcmoti.cc

Go to the documentation of this file.

/*

 Modifications:
 19-Aug-2001 P.C. Some of the variables needed are found in EMCMOT_DEBUG
 and EMCMOT_CONFIG structs in emcmot.h
 */


extern "C" {
extern double gstrip_emcmot_get(void *);
extern void * gstrip_emcmot_open(const char *);
}

#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <math.h>

#include "emcmot.h"
#include "mbuff.h"

static int first_emcmot_variable = 1;
static int no_emcmot_stat_channel=0;
struct EMCMOT_STRUCT *emcmotStruct=NULL;

struct emcmot_data
{
  int variable_number;
  int first;
};

static double get_emcmot_variable_value(int varnum);
static int get_emcmot_variable_id(const char *str);

double gstrip_emcmot_get(void *p)
{
  return get_emcmot_variable_value(((emcmot_data *)p)->variable_number);
}


void * gstrip_emcmot_open(const char *str)
{
  struct emcmot_data *nd = NULL;
  int varnum=-1;

  if(no_emcmot_stat_channel)
    {
      return NULL;
    }

  emcmotStruct = (EMCMOT_STRUCT *) mbuff_alloc("emcmotStruct",sizeof(EMCMOT_STRUCT));
 if(emcmotStruct == NULL)
   {
     fprintf(stderr,"mbuff_alloc failed.\n");
     no_emcmot_stat_channel = 1;
     return(NULL);
   }

 varnum = get_emcmot_variable_id(str);
 if(varnum < 0)
   {
     fprintf(stderr,"Bad variable name: %s\n",str);
     return NULL;
   }
 else
   {
     nd = (struct emcmot_data *) malloc(sizeof(struct emcmot_data));
     nd->variable_number = varnum;
     nd->first = first_emcmot_variable;
      first_emcmot_variable = 0;
      return nd;
    }
  return NULL;
}


static int get_emcmot_variable_id(const char *str)
{
  if(!strcmp("heartbeat",str))
    {
      return 1;
    }
  else if(!strcmp("computeTime",str))
    {
      return 2;
    }
  else if(!strcmp("pos.tran.x",str))
    {
      return 3;
    }
  else if(!strcmp("pos.tran.y",str))
    {
      return 4;
    }
  else if(!strcmp("pos.tran.z",str))
    {
      return 5;
    }
  else if(!strcmp("axisPos[0]",str))
    {
      return 6;
    }
  else if(!strcmp("axisPos[1]",str))
    {
      return 7;
    }
  else if(!strcmp("axisPos[2]",str))
    {
      return 8;
    }
  else if(!strcmp("ferrorCurrent[0]",str))
    {
      return 9;
    }
  else if(!strcmp("ferrorCurrent[1]",str))
    {
      return 10;
    }
  else if(!strcmp("ferrorCurrent[2]",str))
    {
      return 11;
    }
  else if(!strcmp("ferrorHighMark[0]",str))
    {
      return 12;
    }
  else if(!strcmp("ferrorHighMark[1]",str))
    {
      return 13;
    }
  else if(!strcmp("ferrorHighMark[2]",str))
    {
      return 14;
    }
  else if(!strcmp("output[0]",str))
    {
      return 15;
    }
  else if(!strcmp("output[1]",str))
    {
      return 16;
    }
  else if(!strcmp("output[2]",str))
    {
      return 17;
    }
  else if(!strcmp("input[0]",str))
    {
      return 18;
    }
  else if(!strcmp("input[1]",str))
    {
      return 19;
    }
  else if(!strcmp("input[2]",str))
    {
      return 20;
    }
  else if(!strcmp("actualPos.tran.x",str))
    {
      return 21;
    }
  else if(!strcmp("actualPos.tran.y",str))
    {
      return 22;
    }
  else if(!strcmp("actualPos.tran.z",str))
    {
      return 23;
    }
  else if(!strcmp("id",str))
    {
      return 24;
    }
  else if(!strcmp("depth",str))
    {
      return 25;
    }
  else if(!strcmp("activeDepth",str))
    {
      return 26;
    }
  else if(!strcmp("queueFull",str))
    {
      return 27;
    }
  else if(!strcmp("motionFlag",str))
    {
      return 28;
    }
  else if(!strcmp("axisFlag[0]",str))
    {
      return 29;
    }
  else if(!strcmp("axisFlag[1]",str))
    {
      return 30;
    }
  else if(!strcmp("axisFlag[2]",str))
    {
      return 31;
    }
  else if(!strcmp("axisPolarity[0]",str))
    {
      return 32;
    }
  else if(!strcmp("axisPolarity[1]",str))
    {
      return 33;
    }
  else if(!strcmp("axisPolarity[2]",str))
    {
      return 34;
    }
  else if(!strcmp("paused",str))
    {
      return 36;
    }
  else if(!strcmp("overrideLimits",str))
    {
      return 38;
    }
  else if(!strcmp("tMin",str))
    {
      return 39;
    }
  else if(!strcmp("tMax",str))
    {
      return 40;
    }
  else if(!strcmp("tAvg",str))
    {
      return 41;
    }
  else if(!strcmp("sMin",str))
    {
      return 42;
    }
  else if(!strcmp("sMax",str))
    {
      return 43;
    }
  else if(!strcmp("sAvg",str))
    {
      return 44;
    }
  else if(!strcmp("nMin",str))
    {
      return 45;
    }
  else if(!strcmp("nMax",str))
    {
      return 46;
    }
  else if(!strcmp("nAvg",str))
    {
      return 47;
    }
  return -1;
}


static double get_emcmot_variable_value(int varnum)
{
  switch(varnum)
    {
    case 1:
      return emcmotStruct->status.heartbeat;

    case 2:
      return emcmotStruct->status.computeTime;

    case 3:
      return emcmotStruct->status.pos.tran.x;

    case 4:
      return emcmotStruct->status.pos.tran.y;

    case 5:
      return emcmotStruct->status.pos.tran.z;

    case 6:
      return emcmotStruct->status.axisPos[0];

    case 7:
      return emcmotStruct->status.axisPos[1];

    case 8:
      return emcmotStruct->status.axisPos[2];

    case 9:
      return emcmotStruct->debug.ferrorCurrent[0];

    case 10:
      return emcmotStruct->debug.ferrorCurrent[1];

    case 11:
      return emcmotStruct->debug.ferrorCurrent[2];

    case 12:
      return emcmotStruct->debug.ferrorHighMark[0];

    case 13:
      return emcmotStruct->debug.ferrorHighMark[1];

    case 14:
      return emcmotStruct->debug.ferrorHighMark[2];

    case 15:
      return emcmotStruct->status.output[0];

    case 16:
      return emcmotStruct->status.output[1];

    case 17:
      return emcmotStruct->status.output[2];

    case 18:
      return emcmotStruct->status.input[0];

    case 19:
      return emcmotStruct->status.input[1];

    case 20:
      return emcmotStruct->status.input[2];

    case 21:
      return emcmotStruct->status.actualPos.tran.x;

    case 22:
      return emcmotStruct->status.actualPos.tran.y;

    case 23:
      return emcmotStruct->status.actualPos.tran.z;

    case 24:
      return emcmotStruct->status.id;

    case 25:
      return emcmotStruct->status.depth;

    case 26:
      return emcmotStruct->status.activeDepth;

    case 27:
      return emcmotStruct->status.queueFull;

    case 28:
      return emcmotStruct->status.motionFlag;

    case 29:
      return emcmotStruct->status.axisFlag[0];

    case 30:
      return emcmotStruct->status.axisFlag[1];

    case 31:
      return emcmotStruct->status.axisFlag[2];

    case 32:
      return emcmotStruct->config.axisPolarity[0];

    case 33:
      return emcmotStruct->config.axisPolarity[1];

    case 34:
      return emcmotStruct->config.axisPolarity[2];

    case 36:
      return emcmotStruct->status.paused;

    case 37:
      return emcmotStruct->status.overrideLimits;

    case 39:
      return emcmotStruct->debug.tMin;

    case 40:
      return emcmotStruct->debug.tMax;

    case 41:
      return emcmotStruct->debug.tAvg;

    case 42:
      return emcmotStruct->debug.sMin;

    case 43:
      return emcmotStruct->debug.sMax;

    case 44:
      return emcmotStruct->debug.sAvg;

    case 45:
      return emcmotStruct->debug.nMin;

    case 46:
      return emcmotStruct->debug.nMax;

    case 47:
      return emcmotStruct->debug.nAvg;

    default:
      return 0.0;
    }
}

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