1  /********************************************************************
  2  * Description: emcops.cc
  3  *   Initialization and other ad hoc functions for NML. This complements
  4  *   the auto-generated emc.cc, which contains all the rote update
  5  *   methods for the message classes.
  6  *
  7  *   Derived from a work by Fred Proctor & Will Shackleford
  8  *
  9  * Author:
 10  * License: GPL Version 2
 11  * System: Linux
 12  *    
 13  * Copyright (c) 2004 All rights reserved.
 14  *
 15  * Last change:
 16  ********************************************************************/
 17  
 18  #include "emc.hh"
 19  #include "emc_nml.hh"
 20  
 21  EMC_AXIS_STAT::EMC_AXIS_STAT():
 22  EMC_AXIS_STAT_MSG(EMC_AXIS_STAT_TYPE, sizeof(EMC_AXIS_STAT))
 23  {
 24  }
 25  
 26  EMC_JOINT_STAT::EMC_JOINT_STAT():
 27  EMC_JOINT_STAT_MSG(EMC_JOINT_STAT_TYPE, sizeof(EMC_JOINT_STAT))
 28  {
 29      jointType = EMC_LINEAR;
 30      units = 1.0;
 31      backlash = 0.0;
 32      minPositionLimit = -1.0;
 33      maxPositionLimit = 1.0;
 34      minFerror = 1.0;
 35      maxFerror = 1.0;
 36      ferrorCurrent = 0.0;
 37      ferrorHighMark = 0.0;
 38      output = 0.0;
 39      input = 0.0;
 40      velocity = 0.0;
 41      inpos = 1;
 42      homing = 0;
 43      homed = 0;
 44      enabled = 0;
 45      fault = 0;
 46      minSoftLimit = 0;
 47      maxSoftLimit = 0;
 48      minHardLimit = 0;
 49      maxHardLimit = 0;
 50      overrideLimits = 0;
 51  }
 52  
 53  EMC_TRAJ_STAT::EMC_TRAJ_STAT():
 54  EMC_TRAJ_STAT_MSG(EMC_TRAJ_STAT_TYPE, sizeof(EMC_TRAJ_STAT))
 55  {
 56      linearUnits = 1.0;
 57      angularUnits = 1.0;
 58      cycleTime = 0.0;
 59      joints = 1;
 60      deprecated_axes = 1;
 61      axis_mask = 1;
 62      mode = EMC_TRAJ_MODE_FREE;
 63      enabled = OFF;
 64      inpos = ON;
 65      queue = 0;
 66      activeQueue = 0;
 67      queueFull = OFF;
 68      id = 0;
 69      paused = OFF;
 70      scale = 0.0;
 71      rapid_scale = 0.0;
 72  
 73      ZERO_EMC_POSE(position);
 74      ZERO_EMC_POSE(actualPosition);
 75  
 76      velocity = 1.0;
 77      acceleration = 1.0;
 78      maxVelocity = 1.0;
 79      maxAcceleration = 1.0;
 80  
 81      ZERO_EMC_POSE(probedPosition);
 82      probe_tripped = OFF;
 83      probing = OFF;
 84      probeval = 0;
 85      
 86      ZERO_EMC_POSE(dtg);
 87      distance_to_go = 0.0;
 88      kinematics_type = 0;
 89      motion_type = 0;
 90      current_vel = 0.0;
 91      feed_override_enabled = OFF;
 92      adaptive_feed_enabled = OFF;
 93      feed_hold_enabled = OFF;
 94  }
 95  
 96  EMC_MOTION_STAT::EMC_MOTION_STAT():
 97  EMC_MOTION_STAT_MSG(EMC_MOTION_STAT_TYPE, sizeof(EMC_MOTION_STAT))
 98  {
 99      int i;
100  
101      for (i = 0; i < EMCMOT_MAX_DIO; i++) {
102  	synch_di[i] = 0;
103  	synch_do[i] = 0;
104      }
105  
106      for (i = 0; i < EMCMOT_MAX_AIO; i++) {
107  	analog_input[i] = 0.0;
108  	analog_output[i] = 0.0;
109      }
110  
111      debug = 0;
112  };
113  
114  EMC_TASK_STAT::EMC_TASK_STAT():
115  EMC_TASK_STAT_MSG(EMC_TASK_STAT_TYPE, sizeof(EMC_TASK_STAT))
116  {
117      int t;
118  
119      mode = EMC_TASK_MODE_MANUAL;
120      state = EMC_TASK_STATE_ESTOP;
121      execState = EMC_TASK_EXEC_DONE;
122      interpState = EMC_TASK_INTERP_IDLE;
123      callLevel = 0;
124      motionLine = 0;
125      currentLine = 0;
126      readLine = 0;
127      optional_stop_state = OFF;
128      block_delete_state = OFF;
129      input_timeout = OFF;
130      file[0] = 0;
131      command[0] = 0;
132  
133      ZERO_EMC_POSE(g5x_offset);
134      g5x_index = 0;
135      ZERO_EMC_POSE(g92_offset);
136      ZERO_EMC_POSE(toolOffset);
137  
138      rotation_xy = 0.0;
139  
140      for (t = 0; t < ACTIVE_G_CODES; t++)
141  	activeGCodes[t] = -1;
142      for (t = 0; t < ACTIVE_M_CODES; t++)
143  	activeMCodes[t] = -1;
144      for (t = 0; t < ACTIVE_SETTINGS; t++)
145  	activeSettings[t] = 0.0;
146  
147      programUnits = CANON_UNITS_MM;
148      interpreter_errcode = 0;
149      task_paused = 0;
150      delayLeft = 0.0;
151      queuedMDIcommands = 0;
152  }
153  
154  EMC_TOOL_STAT::EMC_TOOL_STAT():
155  EMC_TOOL_STAT_MSG(EMC_TOOL_STAT_TYPE, sizeof(EMC_TOOL_STAT))
156  {
157      int t;
158  
159      pocketPrepped = 0;
160      toolInSpindle = 0;
161  
162      for (t = 0; t < CANON_POCKETS_MAX; t++) {
163  	toolTable[t].toolno = 0;
164      toolTable[t].pocketno = 0;
165          ZERO_EMC_POSE(toolTable[t].offset);
166  	toolTable[t].diameter = 0.0;
167  	toolTable[t].orientation = 0;
168  	toolTable[t].frontangle = 0.0;
169  	toolTable[t].backangle = 0.0;
170      }
171  }
172  
173  EMC_AUX_STAT::EMC_AUX_STAT():
174  EMC_AUX_STAT_MSG(EMC_AUX_STAT_TYPE, sizeof(EMC_AUX_STAT))
175  {
176      estop = 1;
177  }
178  
179  EMC_SPINDLE_STAT::EMC_SPINDLE_STAT():
180  EMC_SPINDLE_STAT_MSG(EMC_SPINDLE_STAT_TYPE, sizeof(EMC_SPINDLE_STAT))
181  {
182      speed = 0.0;
183      direction = 0;
184      brake = 1;
185      increasing = 0;
186      enabled = 0;
187      spindle_scale = 1.0;
188      spindle_override_enabled = 0;
189  
190  }
191  
192  EMC_COOLANT_STAT::EMC_COOLANT_STAT():EMC_COOLANT_STAT_MSG(EMC_COOLANT_STAT_TYPE,
193  		     sizeof
194  		     (EMC_COOLANT_STAT))
195  {
196      mist = 0;
197      flood = 0;
198  }
199  
200  EMC_LUBE_STAT::EMC_LUBE_STAT():
201  EMC_LUBE_STAT_MSG(EMC_LUBE_STAT_TYPE, sizeof(EMC_LUBE_STAT))
202  {
203      on = 0;
204      level = 1;
205  }
206  
207  // overload = , since class has array elements
208  EMC_TOOL_STAT EMC_TOOL_STAT::operator =(EMC_TOOL_STAT s)
209  {
210      int t;
211  
212      pocketPrepped = s.pocketPrepped;
213      toolInSpindle = s.toolInSpindle;
214  
215      for (t = 0; t < CANON_POCKETS_MAX; t++) {
216  	toolTable[t].toolno = s.toolTable[t].toolno;
217      toolTable[t].pocketno = s.toolTable[t].pocketno;
218  	toolTable[t].offset = s.toolTable[t].offset;
219  	toolTable[t].diameter = s.toolTable[t].diameter;
220  	toolTable[t].frontangle = s.toolTable[t].frontangle;
221  	toolTable[t].backangle = s.toolTable[t].backangle;
222  	toolTable[t].orientation = s.toolTable[t].orientation;
223      }
224  
225      return s;
226  }
227  
228  EMC_STAT::EMC_STAT():EMC_STAT_MSG(EMC_STAT_TYPE, sizeof(EMC_STAT))
229  {
230  }