---

usrmot.c File Reference

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <ctype.h>
#include "_timer.h"
#include "emcmot.h"
#include "usrmotintf.h"
#include "posemath.h"
#include "pid.h"
#include "getinput.h"
#include "emcmotcfg.h"
#include "emcmotglb.h"

Include dependency graph for usrmot.c:

Go to the source code of this file.

Defines
#define	INPUTLEN   256
#define	MAX_NUMBERS   8
#define	SLEEP_SECS   0.100
Functions
char	__attribute__ ((unused)) ident[]="$Id
char *	skipWhite (char *s)
char *	skipNonwhite (char *s)
int	scanNumbers (char *string, double *numbers, int max)
int	emcmotGetArgs (int argc, char *argv[])
int	main (int argc, char *argv[])

---

Define Documentation

#define INPUTLEN   256

#define MAX_NUMBERS   8

#define SLEEP_SECS   0.100

---

Function Documentation

char __attribute__ (  (unused)    )  [static]

Definition at line 58 of file usrmot.c. : usrmot.c,v 1.11 2001/07/31 15:47:45 wshackle Exp $"; /* size of input buffer */ #define INPUTLEN 256 /* max numbers allowed */ #define MAX_NUMBERS 8 /* microseconds to sleep between calls to getinput() */ #define SLEEP_SECS 0.100 /* takes a string, and returns 0 if all whitespace, 1 otherwise */ static int anyprintable(const char *string) { int cnt = 0; char c; while (0 != (c = string[cnt++])) if (!isspace(c)) return 1; return 0; }

int emcmotGetArgs (  int    argc, char *    argv[] )

Definition at line 123 of file usrmot.c. Referenced by main(). { int t; /* process command line args, indexing argv[] from [1] */ for (t = 1; t < argc; t++) { if (!strcmp(argv[t], "-ini")) { if (t == argc - 1) { return -1; } else { strcpy(EMCMOT_INIFILE, argv[t+1]); t++; /* step over following arg */ } } /* else not recognized-- ignore */ } return 0; }

int main (  int    argc, char *    argv[] )

Definition at line 147 of file usrmot.c. { EMCMOT_COMMAND emcmotCommand; EMCMOT_STATUS emcmotStatus; EMCMOT_CONFIG emcmotConfig; EMCMOT_DEBUG emcmotDebug; char input[INPUTLEN]; char cmd[INPUTLEN]; char errorString[EMCMOT_ERROR_LEN]; int valid; int done; int nchars; int printPrompt; int disablePrompt = 0; /* flag for disabling prompt printing via > */ double numbers[MAX_NUMBERS]; /* space for number input data */ int num; /* how many there are */ int numNumbers = 0; /* established number of input numbers */ char filename[INPUTLEN]; int linenum; FILE *fp; /* ini file ptr */ int lastPrint = 0; /* flag for which status subset to print */ int statconfigdebug = 0; /* 0 for stat, 1 for debug, 2 for config*/ int motionId = 0; /* motion id sent down with moves */ int axis; /* axis selected for command */ int errCode; /* returned from usrmotWrite,Read... */ char compfile[INPUTLEN]; /* name of the compensation file */ double alter; /* value for external alter */ /* print the sizes first, so that even if emcmot isn't up and running we can use usrmot to simply print the size and fail */ printf("sizeof(EMCMOT_COMMAND) = %d\n", sizeof(EMCMOT_COMMAND)); printf("sizeof(EMCMOT_STATUS) = %d\n", sizeof(EMCMOT_STATUS)); printf("sizeof(EMCMOT_CONFIG) = %d\n", sizeof(EMCMOT_CONFIG)); printf("sizeof(EMCMOT_DEBUG) = %d\n", sizeof(EMCMOT_DEBUG)); printf("sizeof(EMCMOT_ERROR) = %d\n", sizeof(EMCMOT_ERROR)); printf("sizeof(EMCMOT_LOG) = %d\n", sizeof(EMCMOT_LOG)); printf("sizeof(EMCMOT_STRUCT) = %d\n", sizeof(EMCMOT_STRUCT)); /* process command line args */ emcmotGetArgs(argc, argv); /* read comm parameters */ if (-1 == usrmotIniLoad(EMCMOT_INIFILE)) { fprintf(stderr, "can't load ini file %s\n", EMCMOT_INIFILE); exit(1); } /* init comm */ if (-1 == usrmotInit()) { fprintf(stderr, "can't initialize comm interface\n"); exit(1); } emcmotCommand.pos.a = 0.0; emcmotCommand.pos.b = 0.0; emcmotCommand.pos.c = 0.0; /* loop on input */ done = 0; printPrompt = 1; while (! feof(stdin) && ! done) { /* read errors */ while (0 == usrmotReadEmcmotError(errorString)) { printf("error: %s\n", errorString); } /* check if we need to print a prompt */ if (printPrompt) { if (! disablePrompt) { printf("motion> "); fflush(stdout); } printPrompt = 0; } /* get the next input line, if any */ nchars = getinput(input, INPUTLEN); if (nchars > 0) { printPrompt = 1; } else if (nchars == -1) { /* no new input-- cycle again */ esleep(SLEEP_SECS); continue; /* the while(!feof(stdin)) loop */ } else { /* nchars == 0, EOF */ break; } /* got input-- check for a number first */ num = scanNumbers(input, numbers, MAX_NUMBERS); if (num > 0) { if (numNumbers == 0) { numNumbers = num; } else if (numNumbers != num) { fprintf(stderr, "need %d numbers\n", numNumbers); /* ignore 'em */ continue; } /* write out command */ emcmotCommand.command = EMCMOT_SET_LINE; emcmotCommand.pos.tran.x = numbers[0]; emcmotCommand.pos.tran.y = numbers[1]; emcmotCommand.pos.tran.z = numbers[2]; emcmotCommand.id = motionId++; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else { /* read first arg in */ cmd[0] = 0; sscanf(input, "%s", cmd); /* match it in the big if loop */ if (! strcmp(cmd, "help") || ! strcmp(cmd, "?")) { printf("? or help\tprint help\n"); printf(">\ttoggle prompt on or off\n"); printf(";\tcomment follows\n"); printf("quit\tquit\n"); printf("show {pids} {flags} {limits} {scales} {times}\tshow status\n"); printf("show debug <screen>\tshow debug\n"); printf("show config <screen>\tshow config\n"); printf("free\tset mode to free\n"); printf("teleop\tset mode to teleop\n"); printf("coord\tset mode to coordinated\n"); printf("pause\tpause motion controller\n"); printf("resume\tresume motion controller\n"); printf("a\tabort motion controller\n"); printf("scale <0..1>\tscale velocity\n"); printf("enable | disable\tenable or disable motion controller\n"); printf("jog <axis> + | -\tjog axis pos or neg\n"); printf("jog <axis> + | -\tjog axis pos or neg\n"); printf("id <num> \tset base id for subsequent moves\n"); printf("<x> <y> <z>\tput motion on queue\n"); printf("load <file>\tput motions from file on queue\n"); printf("cw <x> <y> <z> <cx> <cy> <cz> <turn>\tput CW circle on queue\n"); printf("ccw <x> <y> <z> <cx> <cy> <cz> <turn>\tput CCW circle on queue\n"); printf("set t <traj t> | s <servo t> | v <vel> | a <acc>\tset params\n"); printf("oscale <axis 0..n-1> <a> <b>\traw[n] = a(out[n]-b)\n"); printf("iscale <axis 0..n-1> <a> <b>\tin[n] = a(raw[n]-b)\n"); printf("pol <axis 0..n-1> <enable nhl phl homedir homesw fault> <0 1>\n"); printf("pid <axis 0..n-1> <ini file>\tset PID gains for motor n\n"); printf("limit <axis> <min> <max>\tset position limits\n"); printf("clamp <axis> <min> <max>\tset output limits\n"); printf("ferror <axis> <value>\tset max following error\n"); printf("live <axis 0..n-1>\tenable amp n\n"); printf("kill <axis 0..n-1>\tkill amp n\n"); printf("activate <axis 0..n-1>\tactivate axis n\n"); printf("deactivate <axis 0..n-1>\tdeactivate axis n\n"); printf("log open <type ...> | start | stop | close | dump <file>\tlog data\n"); printf("dac <axis 0..n-1> <-10.0 .. 10.0>\toutput value to DAC\n"); printf("home <axis 0..n-1>\thome axis\n"); printf("nolim \toverride hardware limits\n"); printf("wd on | off\tenable or disable watchdog toggle\n"); #ifdef ENABLE_PROBING printf("probe <x> <y> <z>\tMove toward x,y,z, if probe is tripped on the way the probe position will be updated and motion stopped.\n"); printf("probeclear\tClear the probeTripped status flag.\n"); printf("probeindex <index>\tSet which input is checked for probe status.\n"); printf("probepolarity <polarity>\tSet whether a probe is tripped on a 0 or 1.\n"); #endif } else if (! strcmp(cmd, ">")) { disablePrompt = !disablePrompt; } else if (! strcmp(cmd, ";")) { /* comment */ } else if (! strcmp(cmd, "quit")) { done = 1; } else if (! strcmp(cmd, "show")) { if (1 == sscanf(input, "%*s %s", cmd)) { statconfigdebug = 0; if (! strcmp(cmd, "pids")) { lastPrint = 1; statconfigdebug = 2; /* config */ } else if (! strcmp(cmd, "flags")) { lastPrint = 2; } else if (! strcmp(cmd, "limits")) { lastPrint = 3; statconfigdebug = 2; /* config */ } else if (! strcmp(cmd, "scales")) { lastPrint = 4; } else if (! strcmp(cmd, "times")) { lastPrint = 5; statconfigdebug = 1; /* debug */ } else if (! strcmp(cmd, "stat")) { statconfigdebug = 0; lastPrint = strtol(strstr(input,"stat")+4,0,0); } else if (! strcmp(cmd, "debug")) { statconfigdebug = 1; lastPrint = strtol(strstr(input,"debug")+5,0,0); } else if (! strcmp(cmd, "config")) { statconfigdebug = 2; lastPrint = strtol(strstr(input,"config")+6,0,0); } else { /* invalid parameter */ printf("syntax: show {pids} {flags} {limits} {scales} {times}\n"); continue; /* to while loop on stdin */ } } else { lastPrint = 0; statconfigdebug = 0; } /* print status */ switch (statconfigdebug) { case 0: if (0 == (errCode = usrmotReadEmcmotStatus(&emcmotStatus))) { usrmotPrintEmcmotStatus(emcmotStatus, lastPrint); } else { fprintf(stderr, "can't read status: %s\n", errCode == EMCMOT_COMM_ERROR_CONNECT ? "EMCMOT_COMM_ERROR_CONNECT" : errCode == EMCMOT_COMM_ERROR_TIMEOUT ? "EMCMOT_COMM_ERROR_TIMEOUT" : errCode == EMCMOT_COMM_ERROR_COMMAND ? "EMCMOT_COMM_ERROR_COMMAND" : errCode == EMCMOT_COMM_SPLIT_READ_TIMEOUT ? "EMCMOT_COMM_SPLIT_READ_TIMEOUT" : "?"); } break; case 1: if (0 == (errCode = usrmotReadEmcmotDebug(&emcmotDebug))) { usrmotPrintEmcmotDebug(emcmotDebug, lastPrint); } else { fprintf(stderr, "can't read debug: %s\n", errCode == EMCMOT_COMM_ERROR_CONNECT ? "EMCMOT_COMM_ERROR_CONNECT" : errCode == EMCMOT_COMM_ERROR_TIMEOUT ? "EMCMOT_COMM_ERROR_TIMEOUT" : errCode == EMCMOT_COMM_ERROR_COMMAND ? "EMCMOT_COMM_ERROR_COMMAND" : errCode == EMCMOT_COMM_SPLIT_READ_TIMEOUT ? "EMCMOT_COMM_SPLIT_READ_TIMEOUT" : "?"); } break; case 2: if (0 == (errCode = usrmotReadEmcmotConfig(&emcmotConfig))) { usrmotPrintEmcmotConfig(emcmotConfig, lastPrint); } else { fprintf(stderr, "can't read config: %s\n", errCode == EMCMOT_COMM_ERROR_CONNECT ? "EMCMOT_COMM_ERROR_CONNECT" : errCode == EMCMOT_COMM_ERROR_TIMEOUT ? "EMCMOT_COMM_ERROR_TIMEOUT" : errCode == EMCMOT_COMM_ERROR_COMMAND ? "EMCMOT_COMM_ERROR_COMMAND" : errCode == EMCMOT_COMM_SPLIT_READ_TIMEOUT ? "EMCMOT_COMM_SPLIT_READ_TIMEOUT" : "?"); } break; } } else if (! strcmp(cmd, "pause")) { emcmotCommand.command = EMCMOT_PAUSE; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else if (! strcmp(cmd, "resume")) { emcmotCommand.command = EMCMOT_RESUME; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else if (! strcmp(cmd, "a")) { /* set the axis field, if provided. If not provided, it will default to the last one used. In coord mode it's not used at all. */ valid = 0; if (1 == sscanf(input, "%*s %d", &axis)) { if (axis < 0 || axis >= EMCMOT_MAX_AXIS) { fprintf(stderr, "bad axis %d to abort\n", axis); } else { emcmotCommand.axis = axis; valid = 1; } } else { /* axis not provided, so leave last one in emcmotCommand.axs alone */ valid = 1; } if (valid) { emcmotCommand.command = EMCMOT_ABORT; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } } else if (! strcmp(cmd, "scale")) { if (1 == sscanf(input, "%*s %lf", &emcmotCommand.scale)) { emcmotCommand.command = EMCMOT_SCALE; if (emcmotCommand.scale < 0.0) { emcmotCommand.scale = 0.0; /* clamp it */ } if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else { /* invalid parameter */ printf("syntax: scale <0..1>\n"); } } else if (! strcmp(cmd, "enable")) { emcmotCommand.command = EMCMOT_ENABLE; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else if (! strcmp(cmd, "disable")) { emcmotCommand.command = EMCMOT_DISABLE; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else if (! strcmp(cmd, "free")) { emcmotCommand.command = EMCMOT_FREE; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else if (! strcmp(cmd, "teleop")) { emcmotCommand.command = EMCMOT_TELEOP; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else if (! strcmp(cmd, "coord")) { emcmotCommand.command = EMCMOT_COORD; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else if (! strcmp(cmd, "jog")) { if (2 == sscanf(input, "%*s %d %s", &emcmotCommand.axis, cmd)) { emcmotCommand.command = EMCMOT_JOG_CONT; if (cmd[0] == '+') { emcmotCommand.vel = emcmotStatus.vel; } else if (cmd[0] == '-') { emcmotCommand.vel = - emcmotStatus.vel; } else { fprintf(stderr, "syntax: jog <axis> + | -\n"); break; } if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else { fprintf(stderr, "syntax: jog <axis> + | -\n"); } } else if (! strcmp(cmd, "id")) { int newId; if (1 == sscanf(input, "%*s %d", &newId)) { motionId = newId; printf("setting id to %d\n", motionId); } else { fprintf(stderr, "syntax: id <num>\n"); } } else if (! strcmp(cmd, "load")) { if (1 == sscanf(input, "%*s %s", filename)) { if (NULL != (fp = fopen(filename, "r"))) { linenum = 0; while (! feof(fp)) { if (NULL != fgets(input, INPUTLEN, fp)) { linenum++; if (3 == sscanf(input, "%lf %lf %lf", &emcmotCommand.pos.tran.x, &emcmotCommand.pos.tran.y, &emcmotCommand.pos.tran.z)) { printf("sending %f %f %f\n", emcmotCommand.pos.tran.x, emcmotCommand.pos.tran.y, emcmotCommand.pos.tran.z); emcmotCommand.command = EMCMOT_SET_LINE; emcmotCommand.id = motionId++; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else { /* input error */ if (anyprintable(input)) { fprintf(stderr, "bad input on line %d of file %s\n", linenum, filename); fclose(fp); break; /* out of while (! feof(fp)) */ } } } else { /* end of input */ fclose(fp); break; /* out of while (! feof(fp)) */ } } /* end while (! feof(fp)) */ } /* end if file open success */ else { fprintf(stderr, "can't open %s\n", filename); } } /* end if correct arg to "load" */ else { fprintf(stderr, "syntax: load <filename>\n"); } } /* end match on "load" */ else if (! strcmp(cmd, "cw") || ! strcmp(cmd, "ccw")) { if (7 == sscanf(input, "%*s %lf %lf %lf %lf %lf %lf %d", &emcmotCommand.pos.tran.x, &emcmotCommand.pos.tran.y, &emcmotCommand.pos.tran.z, &emcmotCommand.center.x, &emcmotCommand.center.y, &emcmotCommand.center.z, &emcmotCommand.turn)) { emcmotCommand.command = EMCMOT_SET_CIRCLE; emcmotCommand.normal.x = 0.0; emcmotCommand.normal.y = 0.0; if (!strcmp(cmd, "cw")) { emcmotCommand.normal.z = -1.0; } else { emcmotCommand.normal.z = 1.0; } if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else { fprintf(stderr, "syntax: cw <x> <y> <z> <cx> <cy> <cz> <turn>\n"); } } else if (! strcmp(cmd, "set")) { sscanf(input, "%*s %s", cmd); if (! strcmp(cmd, "t")) { if (1 != sscanf(input, "%*s %*s %lf", &emcmotCommand.cycleTime)) { /* invalid parameter */ fprintf(stderr, "bad value for cycle time\n"); } else { emcmotCommand.command = EMCMOT_SET_TRAJ_CYCLE_TIME; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } } else if (! strcmp(cmd, "s")) { if (1 != sscanf(input, "%*s %*s %lf", &emcmotCommand.cycleTime)) { /* invalid parameter */ fprintf(stderr, "bad value for interpolation rate\n"); } else { emcmotCommand.command = EMCMOT_SET_SERVO_CYCLE_TIME; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } } else if (! strcmp(cmd, "v")) { if (1 != sscanf(input, "%*s %*s %lf", &emcmotCommand.vel)) { /* invalid parameter */ fprintf(stderr, "bad value for velocity\n"); } else { emcmotCommand.command = EMCMOT_SET_VEL; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } } else if (! strcmp(cmd, "a")) { if (1 != sscanf(input, "%*s %*s %lf", &emcmotCommand.acc)) { /* invalid parameter */ fprintf(stderr, "bad value for acceleration\n"); } else { emcmotCommand.command = EMCMOT_SET_ACC; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } } else { /* invalid parameter */ printf("syntax: set t <traj t> | s <servo t> | v <vel> | a <acc>\n"); } } else if (! strcmp(cmd, "oscale")) { if (3 != sscanf(input, "%*s %d %lf %lf", &emcmotCommand.axis, &emcmotCommand.scale, &emcmotCommand.offset)) { printf("syntax: oscale <axis 0..n-1> <a> <b>\n"); } else { emcmotCommand.command = EMCMOT_SET_OUTPUT_SCALE; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } } else if (! strcmp(cmd, "iscale")) { if (3 != sscanf(input, "%*s %d %lf %lf", &emcmotCommand.axis, &emcmotCommand.scale, &emcmotCommand.offset)) { printf("syntax: iscale <axis 0..n-1> <a> <b>\n"); } else { emcmotCommand.command = EMCMOT_SET_INPUT_SCALE; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } } else if (! strcmp(cmd, "pol")) { if (3 != sscanf(input, "%*s %d %s %d", &emcmotCommand.axis, cmd, &emcmotCommand.level)) { printf("syntax: pol <axis 0..n-1> <enable nhl phl homedir homesw fault> <0 1>\n"); } else { valid = 1; if (! strcmp(cmd, "enable")) { emcmotCommand.axisFlag = EMCMOT_AXIS_ENABLE_BIT; } else if (! strcmp(cmd, "nhl")) { emcmotCommand.axisFlag = EMCMOT_AXIS_MIN_HARD_LIMIT_BIT; } else if (! strcmp(cmd, "phl")) { emcmotCommand.axisFlag = EMCMOT_AXIS_MAX_HARD_LIMIT_BIT; } else if (! strcmp(cmd, "homedir")) { emcmotCommand.axisFlag = EMCMOT_AXIS_HOMING_BIT; } else if (! strcmp(cmd, "homesw")) { emcmotCommand.axisFlag = EMCMOT_AXIS_HOME_SWITCH_BIT; } else if (! strcmp(cmd, "fault")) { emcmotCommand.axisFlag = EMCMOT_AXIS_FAULT_BIT; } else { valid = 0; } if (valid) { emcmotCommand.command = EMCMOT_SET_POLARITY; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else { printf("syntax: pol <axis 0..n-1> <enable nhl phl homedir homesw fault> <0 1>\n"); } } } else if (! strcmp(cmd, "pid")) { if (1 != sscanf(input, "%*s %d", &emcmotCommand.axis) || emcmotCommand.axis < 0 || emcmotCommand.axis >= EMCMOT_MAX_AXIS || 1 != sscanf(input, "%*s %*s %s", filename)) { printf("syntax: pid <n> <ini file>\n"); } else { /* load params into pid struct from inifile */ if (0 != pidIniLoad(&emcmotCommand.pid, filename)) { fprintf(stderr, "error loading pid params from %s\n", filename); } else { emcmotCommand.command = EMCMOT_SET_PID; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } } } else if (! strcmp(cmd, "limit")) { if (3 != sscanf(input, "%*s %d %lf %lf", &emcmotCommand.axis, &emcmotCommand.minLimit, &emcmotCommand.maxLimit)) { printf("syntax: limit <axis> <min> <max>\n"); } else { emcmotCommand.command = EMCMOT_SET_POSITION_LIMITS; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } } else if (! strcmp(cmd, "clamp")) { if (3 != sscanf(input, "%*s %d %lf %lf", &emcmotCommand.axis, &emcmotCommand.minLimit, &emcmotCommand.maxLimit)) { printf("syntax: clamp <axis> <min> <max>\n"); } else { emcmotCommand.command = EMCMOT_SET_OUTPUT_LIMITS; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } } else if (! strcmp(cmd, "ferror")) { if (2 != sscanf(input, "%*s %d %lf", &emcmotCommand.axis, &emcmotCommand.maxFerror)) { printf("syntax: ferror <axis> <ferror>\n"); } else { emcmotCommand.command = EMCMOT_SET_MAX_FERROR; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } } else if (! strcmp(cmd, "live")) { if (1 != sscanf(input, "%*s %d", &emcmotCommand.axis) || emcmotCommand.axis < 0 || emcmotCommand.axis >= EMCMOT_MAX_AXIS) { printf("syntax: live <n>\n"); } else { emcmotCommand.command = EMCMOT_ENABLE_AMPLIFIER; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } } else if (! strcmp(cmd, "kill")) { if (1 != sscanf(input, "%*s %d", &emcmotCommand.axis) || emcmotCommand.axis < 0 || emcmotCommand.axis >= EMCMOT_MAX_AXIS) { printf("syntax: kill <n>\n"); } else { emcmotCommand.command = EMCMOT_DISABLE_AMPLIFIER; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } } else if (! strcmp(cmd, "activate")) { if (1 != sscanf(input, "%*s %d", &emcmotCommand.axis) || emcmotCommand.axis < 0 || emcmotCommand.axis >= EMCMOT_MAX_AXIS) { printf("syntax: activate <n>\n"); } else { emcmotCommand.command = EMCMOT_ACTIVATE_AXIS; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } } else if (! strcmp(cmd, "deactivate")) { if (1 != sscanf(input, "%*s %d", &emcmotCommand.axis) || emcmotCommand.axis < 0 || emcmotCommand.axis >= EMCMOT_MAX_AXIS) { printf("syntax: deactivate <n>\n"); } else { emcmotCommand.command = EMCMOT_DEACTIVATE_AXIS; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } } else if (! strcmp(cmd, "log")) { sscanf(input, "%*s %s", cmd); if (! strcmp(cmd, "open")) { /* syntax is "log open <size> <skip> <type> <type args> */ valid = 0; if (3 != sscanf(input, "%*s %*s %d %d %d", &emcmotCommand.logSize, &emcmotCommand.logSkip, &emcmotCommand.logType) || emcmotCommand.logSize <= 0) { printf("syntax: log open <size> <skip> <type> <...>\n"); } else { /* look at type and read any remaining args */ switch (emcmotCommand.logType) { case EMCMOT_LOG_TYPE_AXIS_POS: case EMCMOT_LOG_TYPE_AXIS_VEL: case EMCMOT_LOG_TYPE_POS_VOLTAGE: if (1 != sscanf(input, "%*s %*s %*s %*s %*s %d", &emcmotCommand.axis)) { printf("syntax: log open <size> <skip> <type> <axis>\n"); } else { valid = 1; } break; case EMCMOT_LOG_TYPE_CMD: /* force logSkip negative to avoid per-cycle logs */ emcmotCommand.logSkip = -1; valid = 1; break; default: valid = 1; break; } } /* now send it */ if (valid) { emcmotCommand.command = EMCMOT_OPEN_LOG; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } } else if (! strcmp(cmd, "start")) { emcmotCommand.command = EMCMOT_START_LOG; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else if (! strcmp(cmd, "stop")) { emcmotCommand.command = EMCMOT_STOP_LOG; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else if (! strcmp(cmd, "close")) { emcmotCommand.command = EMCMOT_CLOSE_LOG; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else if (! strcmp(cmd, "dump")) { int include_header=1; sscanf(input, "%*s %*s %s %d", filename, include_header); if (-1 == usrmotDumpLog(filename,include_header)) { fprintf(stderr, "Can't dump log to %s\n", filename); } } else { /* invalid parameter */ printf("syntax: log open | start | stop | close | dump <file>\n"); } } else if (! strcmp(cmd, "dac")) { if (2 == sscanf(input, "%*s %d %lf", &emcmotCommand.axis, &emcmotCommand.dacOut)) { emcmotCommand.command = EMCMOT_DAC_OUT; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else { printf("syntax: dac <num> <-10.0 .. 10.0>\n"); } } else if (! strcmp(cmd, "home")) { if (1 == sscanf(input, "%*s %d", &emcmotCommand.axis)) { emcmotCommand.command = EMCMOT_HOME; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else { printf("syntax: home <axis>\n"); } } else if (! strcmp(cmd, "nolim")) { emcmotCommand.command = EMCMOT_OVERRIDE_LIMITS; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } #ifdef ENABLE_PROBING else if (! strcmp(cmd, "probeclear")) { emcmotCommand.command = EMCMOT_CLEAR_PROBE_FLAGS; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else if (! strcmp(cmd, "probeindex")) { if (1 == sscanf(input, "%*s %d", &emcmotCommand.probeIndex)) { emcmotCommand.command = EMCMOT_SET_PROBE_INDEX; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else { printf("syntax: probeindex <index>\n"); } } else if (! strcmp(cmd, "probepolarity")) { if (1 == sscanf(input, "%*s %d", &emcmotCommand.level)) { emcmotCommand.command = EMCMOT_SET_PROBE_POLARITY; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else { printf("syntax: probepolarity <polarity>\n"); } } else if (! strcmp(cmd, "probe")) { if (3 == sscanf(input, "%*s %lf %lf %lf", &emcmotCommand.pos.tran.x, &emcmotCommand.pos.tran.y, &emcmotCommand.pos.tran.z)) { emcmotCommand.command = EMCMOT_PROBE; emcmotCommand.id = motionId++; if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else { printf("syntax: probe <x> <y> <z>\n"); } } #endif /* ENABLE_PROBING */ else if (!strcmp(cmd, "wd")) { valid = 0; if (1 == sscanf(input, "%*s %s", cmd)) { if (!strcmp(cmd, "on")) { if (1 != sscanf(input, "%*s %*s %d", &emcmotCommand.wdWait) || emcmotCommand.wdWait < 0) { /* no or bad submultiple arg-- use 1 */ emcmotCommand.wdWait = 0; } emcmotCommand.command = EMCMOT_ENABLE_WATCHDOG; valid = 1; } else if (!strcmp(cmd, "off")) { emcmotCommand.command = EMCMOT_DISABLE_WATCHDOG; valid = 1; } } if (valid) { if (usrmotWriteEmcmotCommand(&emcmotCommand) == -1) { fprintf(stderr, "Can't send a command to RT-task\n"); } } else { printf("syntax: wd on {<waits>} | off\n"); } } else if (! strcmp(cmd, "comp")) { if (1 != sscanf(input, "%*s %d", &axis)) { fprintf(stderr, "syntax: comp <axis> {<file>}\n"); } else { /* try a string for the compfile, else it's blank which means print */ if (1 == sscanf(input, "%*s %*d %s", compfile)) { if (0 != usrmotLoadComp(axis, compfile)) { fprintf(stderr, "Can't load comp file %s\n", compfile); } } else { if (0 != usrmotPrintComp(axis)) { fprintf(stderr, "Can't print comp table\n"); } } } } else if (! strcmp(cmd, "alter")) { if (1 != sscanf(input, "%*s %d", &axis)) { fprintf(stderr, "syntax: alter <axis> {<value>}\n"); } else { /* try a double for the alter val, else it's blank which means print */ if (1 == sscanf(input, "%*s %*d %lf", &alter)) { if (0 != usrmotAlter(axis, alter)) { fprintf(stderr, "Can't set alter value %f\n", alter); } } else { if (0 != usrmotQueryAlter(axis, &alter)) { fprintf(stderr, "Can't print alter value\n"); } else { printf("axis %d alter: %f\n", axis, alter); } } } } else { if (anyprintable(input)) { printf("huh? : %s", input); /* input will have newline */ } else { /* blank line was typed */ /* print status */ switch(statconfigdebug) { case 0: if (0 == (errCode = usrmotReadEmcmotStatus(&emcmotStatus))) { usrmotPrintEmcmotStatus(emcmotStatus, lastPrint); } else { fprintf(stderr, "can't read status: %s\n", errCode == EMCMOT_COMM_ERROR_CONNECT ? "EMCMOT_COMM_ERROR_CONNECT" : errCode == EMCMOT_COMM_ERROR_TIMEOUT ? "EMCMOT_COMM_ERROR_TIMEOUT" : errCode == EMCMOT_COMM_ERROR_COMMAND ? "EMCMOT_COMM_ERROR_COMMAND" : errCode == EMCMOT_COMM_SPLIT_READ_TIMEOUT ? "EMCMOT_COMM_SPLIT_READ_TIMEOUT" : "?"); } break; case 1: if (0 == (errCode = usrmotReadEmcmotDebug(&emcmotDebug))) { usrmotPrintEmcmotDebug(emcmotDebug, lastPrint); } else { fprintf(stderr, "can't read debug: %s\n", errCode == EMCMOT_COMM_ERROR_CONNECT ? "EMCMOT_COMM_ERROR_CONNECT" : errCode == EMCMOT_COMM_ERROR_TIMEOUT ? "EMCMOT_COMM_ERROR_TIMEOUT" : errCode == EMCMOT_COMM_ERROR_COMMAND ? "EMCMOT_COMM_ERROR_COMMAND" : errCode == EMCMOT_COMM_SPLIT_READ_TIMEOUT ? "EMCMOT_COMM_SPLIT_READ_TIMEOUT" : "?"); } break; case 2: if (0 == (errCode = usrmotReadEmcmotConfig(&emcmotConfig))) { usrmotPrintEmcmotConfig(emcmotConfig, lastPrint); } else { fprintf(stderr, "can't read config: %s\n", errCode == EMCMOT_COMM_ERROR_CONNECT ? "EMCMOT_COMM_ERROR_CONNECT" : errCode == EMCMOT_COMM_ERROR_TIMEOUT ? "EMCMOT_COMM_ERROR_TIMEOUT" : errCode == EMCMOT_COMM_ERROR_COMMAND ? "EMCMOT_COMM_ERROR_COMMAND" : errCode == EMCMOT_COMM_SPLIT_READ_TIMEOUT ? "EMCMOT_COMM_SPLIT_READ_TIMEOUT" : "?"); } break; } } } /* end of big-if input matching */ } /* end of non-number input processing */ } /* end of while stdin */ usrmotExit(); exit(0); }

int scanNumbers (  char *    string, double *    numbers, int    max )  [static]

Definition at line 99 of file usrmot.c. Referenced by main(). { char *ptr = string; int count = 0; while (count < max) { if (1 != sscanf(ptr, "%lf", &numbers[count])) { return count; } count++; ptr = skipNonwhite(ptr); ptr = skipWhite(ptr); } return count; }

char* skipNonwhite (  char *    s )  [static]

Definition at line 90 of file usrmot.c. Referenced by scanNumbers(). { while (! isspace(*s)) { s++; } return s; }

char* skipWhite (  char *    s )  [static]

Definition at line 81 of file usrmot.c. Referenced by scanNumbers(). { while (isspace(*s)) { s++; } return s; }

---