1  /********************************************************************
  2  * Description: interp_inverse.cc
  3  *
  4  *   Derived from a work by Thomas Kramer
  5  *
  6  * Author:
  7  * License: GPL Version 2
  8  * System: Linux
  9  *    
 10  * Copyright (c) 2004 All rights reserved.
 11  *
 12  * Last change:
 13  ********************************************************************/
 14  #include <unistd.h>
 15  #include <stdio.h>
 16  #include <stdlib.h>
 17  #include <math.h>
 18  #include <string.h>
 19  #include <ctype.h>
 20  #include <sys/types.h>
 21  #include <sys/stat.h>
 22  #include "rs274ngc.hh"
 23  #include "interp_return.hh"
 24  #include "interp_internal.hh"
 25  #include "interp_queue.hh"
 26  #include "rs274ngc_interp.hh"
 27  
 28  /****************************************************************************/
 29  
 30  /*! inverse_time_rate_arc
 31  
 32  Returned Value: int (INTERP_OK)
 33  
 34  Side effects: a call is made to SET_FEED_RATE and _setup.feed_rate is set.
 35  
 36  Called by:
 37    convert_arc2
 38    convert_arc_comp1
 39    convert_arc_comp2
 40  
 41  This finds the feed rate needed by an inverse time move. The move
 42  consists of an a single arc. Most of the work here is in finding the
 43  length of the arc.
 44  
 45  */
 46  
 47  int Interp::inverse_time_rate_arc(double x1,     //!< x coord of start point of arc           
 48                                   double y1,     //!< y coord of start point of arc           
 49                                   double z1,     //!< z coord of start point of arc           
 50                                   double cx,     //!< x coord of center of arc                
 51                                   double cy,     //!< y coord of center of arc                
 52                                   int turn,      //!< turn of arc                             
 53                                   double x2,     //!< x coord of end point of arc             
 54                                   double y2,     //!< y coord of end point of arc             
 55                                   double z2,     //!< z coord of end point of arc             
 56                                   block_pointer block,   //!< pointer to a block of RS274 instructions
 57                                   setup_pointer settings)        //!< pointer to machine settings             
 58  {
 59    double length;
 60    double rate;
 61  
 62    if (settings->feed_mode != INVERSE_TIME) return -1;
 63  
 64    length = find_arc_length(x1, y1, z1, cx, cy, turn, x2, y2, z2);
 65    rate = std::max(0.1, (length * block->f_number));
 66    enqueue_SET_FEED_RATE(rate);
 67    settings->feed_rate = rate;
 68  
 69    return INTERP_OK;
 70  }
 71  
 72  /****************************************************************************/
 73  
 74  /*! inverse_time_rate_straight
 75  
 76  Returned Value: int (INTERP_OK)
 77  
 78  Side effects: a call is made to SET_FEED_RATE and _setup.feed_rate is set.
 79  
 80  Called by:
 81    convert_straight
 82    convert_straight_comp1
 83    convert_straight_comp2
 84  
 85  This finds the feed rate needed by an inverse time straight move. Most
 86  of the work here is in finding the length of the line.
 87  
 88  */
 89  
 90  int Interp::inverse_time_rate_straight(double end_x,     //!< x coordinate of end point of straight line
 91                                         double end_y,     //!< y coordinate of end point of straight line
 92                                         double end_z,     //!< z coordinate of end point of straight line
 93                                         double AA_end,    //!< A coordinate of end point of straight line/*AA*/
 94                                         double BB_end,    //!< B coordinate of end point of straight line/*BB*/
 95                                         double CC_end,    //!< C coordinate of end point of straight line/*CC*/
 96                                         double u_end, double v_end, double w_end,
 97                                         block_pointer block,      //!< pointer to a block of RS274 instructions  
 98                                         setup_pointer settings)   //!< pointer to machine settings               
 99  {
100    double length;
101    double rate;
102    double cx, cy, cz;
103  
104    if (settings->feed_mode != INVERSE_TIME) return -1;
105  
106    if (settings->cutter_comp_side && settings->cutter_comp_radius > 0.0 &&
107        !settings->cutter_comp_firstmove) {
108        cx = settings->program_x;
109        cy = settings->program_y;
110        cz = settings->program_z;
111    } else {
112        cx = settings->current_x;
113        cy = settings->current_y;
114        cz = settings->current_z;
115    }
116  
117    length = find_straight_length(end_x, end_y, end_z,
118                                  AA_end, BB_end, CC_end,
119                                  u_end, v_end, w_end,
120                                  cx, cy, cz,
121                                  settings->AA_current, settings->BB_current, settings->CC_current,
122                                  settings->u_current, settings->v_current, settings->w_current);
123  
124    rate = std::max(0.1, (length * block->f_number));
125    enqueue_SET_FEED_RATE(rate);
126    settings->feed_rate = rate;
127  
128    return INTERP_OK;
129  }