1  //    Copyright 2007 Jeff Epler <jepler@unpythonic.net>
 2  //
 3  //    This program is free software; you can redistribute it and/or modify
 4  //    it under the terms of the GNU General Public License as published by
 5  //    the Free Software Foundation; either version 2 of the License, or
 6  //    (at your option) any later version.
 7  //
 8  //    This program is distributed in the hope that it will be useful,
 9  //    but WITHOUT ANY WARRANTY; without even the implied warranty of
10  //    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
11  //    GNU General Public License for more details.
12  //
13  //    You should have received a copy of the GNU General Public License
14  //    along with this program; if not, write to the Free Software
15  //    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
16  #ifndef EMC_TASK_HH
17  #define EMC_TASK_HH
18  #include "taskclass.hh"
19  extern NMLmsg *emcTaskCommand;
20  extern int stepping;
21  extern int steppingWait;
22  extern int emcTaskQueueCommand(NMLmsg *cmd);
23  extern int emcPluginCall(EMC_EXEC_PLUGIN_CALL *call_msg);
24  extern int emcIoPluginCall(EMC_IO_PLUGIN_CALL *call_msg);
25  extern int emcTaskOnce(const char *inifile);
26  extern int emcRunHalFiles(const char *filename);
27  
28  // Returns 0 if all joints are homed, 1 if any joints are un-homed.
29  int all_homed(void);
30  
31  int emcTaskInit();
32  int emcTaskHalt();
33  int emcTaskAbort();
34  int emcTaskSetMode(int mode);
35  int emcTaskSetState(int state);
36  int emcTaskPlanInit();
37  int emcTaskPlanSetWait();
38  int emcTaskPlanIsWait();
39  int emcTaskPlanClearWait();
40  int emcTaskPlanSynch();
41  int emcTaskPlanSetOptionalStop(bool state);
42  int emcTaskPlanSetBlockDelete(bool state);
43  void emcTaskPlanExit();
44  int emcTaskPlanOpen(const char *file);
45  int emcTaskPlanRead();
46  int emcTaskPlanExecute(const char *command);
47  int emcTaskPlanExecute(const char *command, int line_number); //used in case of MDI to pass the pseudo line number to interp
48  int emcTaskPlanPause();
49  int emcTaskPlanResume();
50  int emcTaskPlanClose();
51  int emcTaskPlanReset();
52  
53  int emcTaskPlanLine();
54  int emcTaskPlanLevel();
55  int emcTaskPlanCommand(char *cmd);
56  
57  int emcTaskUpdate(EMC_TASK_STAT * stat);
58  
59  #endif
60