1  /********************************************************************
  2  * Description: tp_types.h
  3  *   Trajectory planner types and constants
  4  *
  5  *   Derived from a work by Fred Proctor & Will Shackleford
  6  *
  7  * Author:
  8  * License: GPL Version 2
  9  * System: Linux
 10  *    
 11  * Copyright (c) 2004 All rights reserved.
 12  *
 13  ********************************************************************/
 14  #ifndef TP_TYPES_H
 15  #define TP_TYPES_H
 16  
 17  #include "posemath.h"
 18  #include "tc_types.h"
 19  #include "tcq.h"
 20  
 21  #include <rtapi_bool.h>
 22  
 23  #define TP_DEFAULT_QUEUE_SIZE 32
 24  /* Minimum length of a segment in cycles (must be greater than 1 to ensure each
 25   * segment is hit at least once.) */
 26  #define TP_MIN_SEGMENT_CYCLES 1.02
 27  /* Values chosen for accel ratio to match parabolic blend acceleration
 28   * limits. */
 29  #define TP_OPTIMIZATION_CUTOFF 4
 30  /* If the queue is shorter than the threshold, assume that we're approaching
 31   * the end of the program */
 32  #define TP_QUEUE_THRESHOLD 3
 33  
 34  /* closeness to zero, for determining if a move is pure rotation */
 35  #define TP_PURE_ROTATION_EPSILON 1e-6
 36  
 37  /* "neighborhood" size (if two values differ by less than the epsilon,
 38   * then they are effectively equal.)*/
 39  #define TP_ACCEL_EPSILON 1e-4
 40  #define TP_VEL_EPSILON   1e-8
 41  #define TP_POS_EPSILON   1e-12
 42  #define TP_TIME_EPSILON  1e-12
 43  #define TP_ANGLE_EPSILON 1e-6
 44  #define TP_ANGLE_EPSILON_SQ (TP_ANGLE_EPSILON * TP_ANGLE_EPSILON)
 45  #define TP_MIN_ARC_ANGLE 1e-3
 46  #define TP_MIN_ARC_LENGTH 1e-6
 47  #define TP_BIG_NUM 1e10
 48  
 49  /**
 50   * TP return codes.
 51   * This enum is a catch-all for useful return statuses from TP
 52   * internal functions. This may be replaced with a better system in
 53   * the future.
 54   */
 55  typedef enum {
 56      TP_ERR_INVALID = -9,
 57      TP_ERR_INPUT_TYPE = -8,
 58      TP_ERR_TOLERANCE = -7,
 59      TP_ERR_RADIUS_TOO_SMALL = -6,
 60      TP_ERR_GEOM = -5,
 61      TP_ERR_RANGE = -4,
 62      TP_ERR_MISSING_OUTPUT = -3,
 63      TP_ERR_MISSING_INPUT = -2,
 64      TP_ERR_FAIL = -1,
 65      TP_ERR_OK = 0,
 66      TP_ERR_NO_ACTION,
 67      TP_ERR_SLOWING,
 68      TP_ERR_STOPPED,
 69      TP_ERR_WAITING,
 70      TP_ERR_ZERO_LENGTH,
 71      TP_ERR_REVERSE_EMPTY,
 72      TP_ERR_LAST
 73  } tp_err_t;
 74  
 75  /**
 76   * Persistant data for spindle status within tpRunCycle.
 77   * This structure encapsulates some static variables to simplify refactoring of
 78   * synchronized motion code.
 79   */
 80  typedef struct {
 81  	 int spindle_num;
 82       double offset;
 83       double revs;
 84       int waiting_for_index;
 85       int waiting_for_atspeed;
 86  } tp_spindle_t;
 87  
 88  /**
 89   * Trajectory planner state structure.
 90   * Stores persistant data for the trajectory planner that should be accessible
 91   * by outside functions.
 92   */
 93  typedef struct {
 94      TC_QUEUE_STRUCT queue;
 95      tp_spindle_t spindle; //Spindle data
 96  
 97      EmcPose currentPos;
 98      EmcPose goalPos;
 99  
100      int queueSize;
101      double cycleTime;
102  
103      double vMax;		/* vel for subsequent moves */
104      double ini_maxvel;          /* max velocity allowed by machine
105                                     constraints (ini file) for
106                                     subsequent moves */
107      double vLimit;		/* absolute upper limit on all vels */
108  
109      double aMax;        /* max accel (unused) */
110      //FIXME this shouldn't be a separate limit,
111      double aMaxCartesian; /* max cartesian acceleration by machine bounds */
112      double aLimit;        /* max accel (unused) */
113  
114      double wMax;		/* rotational velocity max */
115      double wDotMax;		/* rotational accelleration max */
116      int nextId;
117      int execId;
118      int termCond;
119      int done;
120      int depth;			/* number of total queued motions */
121      int activeDepth;		/* number of motions blending */
122      int aborting;
123      int pausing;
124      int reverse_run;      /* Indicates that TP is running in reverse */
125      int motionType;
126      double tolerance;           /* for subsequent motions, stay within this
127                                     distance of the programmed path during
128                                     blends */
129      int synchronized;       // spindle sync required for this move
130      int velocity_mode; 	        /* TRUE if spindle sync is in velocity mode,
131  				   FALSE if in position mode */
132      double uu_per_rev;          /* user units per spindle revolution */
133  
134  
135      syncdio_t syncdio; //record tpSetDout's here
136  
137  } TP_STRUCT;
138  
139  
140  /**
141   * Describes blend modes used in the trajectory planner.
142   * @note these values are used as array indices, so make sure valid options
143   * start at 0 and increase by one.
144   */
145  typedef enum {
146      NO_BLEND = -1,
147      PARABOLIC_BLEND,
148      TANGENT_SEGMENTS_BLEND,
149      ARC_BLEND
150  } tc_blend_type_t;
151  
152  #endif				/* TP_TYPES_H */