/******************************************************************** * Description: rs274ngc.hh * * Derived from a work by Thomas Kramer * * Author: * License: GPL Version 2 * System: Linux * * Copyright (c) 2004 All rights reserved. * ********************************************************************/ #ifndef RS274NGC_HH #define RS274NGC_HH /* Size of certain arrays */ #define ACTIVE_G_CODES 15 #define ACTIVE_M_CODES 10 #define ACTIVE_SETTINGS 3 /**********************/ /* INCLUDE DIRECTIVES */ /**********************/ #include #include "canon.hh" typedef struct setup_struct setup; #ifndef JAVA_DIAG_APPLET typedef setup *setup_pointer; #endif typedef struct block_struct block; #ifndef JAVA_DIAG_APPLET typedef block *block_pointer; #endif typedef bool ON_OFF; // Declare class so that we can use it in the typedef. class Interp; typedef int (Interp::*read_function_pointer) (char *, int *, block_pointer, double *); #undef DEBUG_EMC #define _logDebug(level, fmt, args...) \ do { \ if (level < _setup.loggingLevel) { \ doLog( \ "%02d(%d):%s:%d -- " fmt "\n", \ level, \ getpid(), \ __FILE__, \ __LINE__ , \ ## args \ ); \ } \ } while(0) #define logDebug(fmt, args...) _logDebug(0, fmt, ## args) class Interp { public: /* Interface functions to call to tell the interpreter what to do. Return values indicate status of execution. These functions may change the state of the interpreter. */ // close the currently open NC code file int close(); // execute a line of NC code #ifndef NOT_OLD_EMC_INTERP_COMPATIBLE int execute(const char *command = 0); #else int execute(); #endif // stop running int exit(); // get ready to run int init(); // load a tool table int load_tool_table(); // open a file of NC code int open(const char *filename); // read the mdi or the next line of the open NC code file int read(const char *mdi = 0); // reset yourself int reset(); // restore interpreter variables from a file int restore_parameters(const char *filename); // save interpreter variables to file int save_parameters(const char *filename, const double parameters[]); // synchronize your internal model with the external world int synch(); /* Interface functions to call to get information from the interpreter. If a function has a return value, the return value contains the information. If a function returns nothing, information is copied into one of the arguments to the function. These functions do not change the state of the interpreter. */ // copy active G codes into array [0]..[11] void active_g_codes(int *codes); // copy active M codes into array [0]..[6] void active_m_codes(int *codes); // copy active F, S settings into array [0]..[2] void active_settings(double *settings); // copy the text of the error message whose number is error_code into the // error_text array, but stop at max_size if the text is longer. void error_text(int error_code, char *error_text, int max_size); void setError(const char *fmt, ...); // copy the name of the currently open file into the file_name array, // but stop at max_size if the name is longer void file_name(char *file_name, int max_size); // return the length of the most recently read line int line_length(); // copy the text of the most recently read line into the line_text array, // but stop at max_size if the text is longer void line_text(char *line_text, int max_size); // return the current sequence number (how many lines read) int sequence_number(); // copy the function name from the stack_index'th position of the // function call stack at the time of the most recent error into // the function name string, but stop at max_size if the name is longer void stack_name(int stack_index, char *function_name, int max_size); // Get the parameter file name from the ini file. int ini_load(const char *filename); int line() { return sequence_number(); } char *command(char *buf, int len) { line_text(buf, len); return buf; } char *file(char *buf, int len) { file_name(buf, len); return buf; } private: /* Function prototypes for all functions */ int arc_data_comp_ijk(int move, int plane, int side, double tool_radius, double current_x, double current_y, double end_x, double end_y, int ij_absolute, double i_number, double j_number, double *center_x, double *center_y, int *turn, double tolerance); int arc_data_comp_r(int move, int plane, int side, double tool_radius, double current_x, double current_y, double end_x, double end_y, double big_radius, double *center_x, double *center_y, int *turn, double tolerance); int arc_data_ijk(int move, int plane, double current_x, double current_y, double end_x, double end_y, int ij_absolute, double i_number, double j_number, double *center_x, double *center_y, int *turn, double tolerance); int arc_data_r(int move, int plane, double current_x, double current_y, double end_x, double end_y, double radius, double *center_x, double *center_y, int *turn, double tolerance); int check_g_codes(block_pointer block, setup_pointer settings); int check_items(block_pointer block, setup_pointer settings); int check_m_codes(block_pointer block); int check_other_codes(block_pointer block); int close_and_downcase(char *line); int convert_arc(int move, block_pointer block, setup_pointer settings); int convert_arc2(int move, block_pointer block, setup_pointer settings, double *current1, double *current2, double *current3, double end1, double end2, double end3, double AA_end, double BB_end, double CC_end, double u_end, double v_end, double w_end, double offset1, double offset2); int convert_arc_comp1(int move, block_pointer block, setup_pointer settings, double end_x, double end_y, double end_z, double AA_end, double BB_end, double CC_end, double u_end, double v_end, double w_end); int convert_arc_comp2(int move, block_pointer block, setup_pointer settings, double end_x, double end_y, double end_z, double AA_end, double BB_end, double CC_end, double u_end, double v_end, double w_end); char arc_axis1(int plane); char arc_axis2(int plane); int convert_axis_offsets(int g_code, block_pointer block, setup_pointer settings); int convert_param_comment(char *comment, char *expanded, int len); int convert_comment(char *comment); int convert_control_mode(int g_code, double tolerance, setup_pointer settings); int convert_adaptive_mode(int g_code, setup_pointer settings); int convert_coordinate_system(int g_code, setup_pointer settings); int convert_cutter_compensation(int g_code, block_pointer block, setup_pointer settings); int convert_cutter_compensation_off(setup_pointer settings); int convert_cutter_compensation_on(int side, block_pointer block, setup_pointer settings); int convert_cycle(int motion, block_pointer block, setup_pointer settings); int convert_cycle_g81(block_pointer block, CANON_PLANE plane, double x, double y, double clear_z, double bottom_z); int convert_cycle_g82(block_pointer block, CANON_PLANE plane, double x, double y, double clear_z, double bottom_z, double dwell); int convert_cycle_g73(block_pointer block, CANON_PLANE plane, double x, double y, double r, double clear_z, double bottom_z, double delta); int convert_cycle_g83(block_pointer block, CANON_PLANE plane, double x, double y, double r, double clear_z, double bottom_z, double delta); int convert_cycle_g84(block_pointer block, CANON_PLANE plane, double x, double y, double clear_z, double bottom_z, CANON_DIRECTION direction, CANON_SPEED_FEED_MODE mode); int convert_cycle_g85(block_pointer block, CANON_PLANE plane, double x, double y, double clear_z, double bottom_z); int convert_cycle_g86(block_pointer block, CANON_PLANE plane, double x, double y, double clear_z, double bottom_z, double dwell, CANON_DIRECTION direction); int convert_cycle_g87(block_pointer block, CANON_PLANE plane, double x, double offset_x, double y, double offset_y, double r, double clear_z, double middle_z, double bottom_z, CANON_DIRECTION direction); int convert_cycle_g88(block_pointer block, CANON_PLANE plane, double x, double y, double bottom_z, double dwell, CANON_DIRECTION direction); int convert_cycle_g89(block_pointer block, CANON_PLANE plane, double x, double y, double clear_z, double bottom_z, double dwell); int convert_cycle_xy(int motion, block_pointer block, setup_pointer settings); int convert_cycle_yz(int motion, block_pointer block, setup_pointer settings); int convert_cycle_zx(int motion, block_pointer block, setup_pointer settings); int convert_cycle_uv(int motion, block_pointer block, setup_pointer settings); int convert_cycle_vw(int motion, block_pointer block, setup_pointer settings); int convert_cycle_wu(int motion, block_pointer block, setup_pointer settings); int convert_distance_mode(int g_code, setup_pointer settings); int convert_ijk_distance_mode(int g_code, setup_pointer settings); int convert_dwell(setup_pointer settings, double time); int convert_feed_mode(int g_code, setup_pointer settings); int convert_feed_rate(block_pointer block, setup_pointer settings); int convert_g(block_pointer block, setup_pointer settings); int convert_home(int move, block_pointer block, setup_pointer settings); int convert_savehome(int move, block_pointer block, setup_pointer settings); int convert_length_units(int g_code, setup_pointer settings); int convert_m(block_pointer block, setup_pointer settings); int convert_modal_0(int code, block_pointer block, setup_pointer settings); int convert_motion(int motion, block_pointer block, setup_pointer settings); int convert_probe(block_pointer block, int g_code, setup_pointer settings); int convert_retract_mode(int g_code, setup_pointer settings); int convert_setup(block_pointer block, setup_pointer settings); int convert_setup_tool(block_pointer block, setup_pointer settings); int convert_set_plane(int g_code, setup_pointer settings); int convert_speed(block_pointer block, setup_pointer settings); int convert_spindle_mode(block_pointer block, setup_pointer settings); int convert_stop(block_pointer block, setup_pointer settings); int convert_straight(int move, block_pointer block, setup_pointer settings); int convert_straight_comp1(int move, block_pointer block, setup_pointer settings, double px, double py, double end_z, double AA_end, double BB_end, double CC_end, double u_end, double v_end, double w_end); int convert_straight_comp2(int move, block_pointer block, setup_pointer settings, double px, double py, double end_z, double AA_end, double BB_end, double CC_end, double u_end, double v_end, double w_end); int convert_threading_cycle(block_pointer block, setup_pointer settings, double end_x, double end_y, double end_z); int convert_tool_change(setup_pointer settings); int convert_tool_length_offset(int g_code, block_pointer block, setup_pointer settings); int convert_tool_select(block_pointer block, setup_pointer settings); int cycle_feed(block_pointer block, CANON_PLANE plane, double end1, double end2, double end3); int cycle_traverse(block_pointer block, CANON_PLANE plane, double end1, double end2, double end3); int enhance_block(block_pointer block, setup_pointer settings); int execute_binary(double *left, int operation, double *right); int execute_binary1(double *left, int operation, double *right); int execute_binary2(double *left, int operation, double *right); int execute_block(block_pointer block, setup_pointer settings); int execute_unary(double *double_ptr, int operation); double find_arc_length(double x1, double y1, double z1, double center_x, double center_y, int turn, double x2, double y2, double z2); int find_ends(block_pointer block, setup_pointer settings, double *px, double *py, double *pz, double *AA_p, double *BB_p, double *CC_p, double *u_p, double *v_p, double *w_p); int find_relative(double x1, double y1, double z1, double AA_1, double BB_1, double CC_1, double u_1, double v_1, double w_1, double *x2, double *y2, double *z2, double *AA_2, double *BB_2, double *CC_2, double *u_2, double *v_2, double *w_2, setup_pointer settings); double find_straight_length(double x2, double y2, double z2, double AA_2, double BB_2, double CC_2, double u_w, double v_2, double w_2, double x1, double y1, double z1, double AA_1, double BB_1, double CC_1, double u_1, double v_1, double w_1); double find_turn(double x1, double y1, double center_x, double center_y, int turn, double x2, double y2); int init_block(block_pointer block); int inverse_time_rate_arc(double x1, double y1, double z1, double cx, double cy, int turn, double x2, double y2, double z2, block_pointer block, setup_pointer settings); int inverse_time_rate_arc2(double start_x, double start_y, int turn1, double mid_x, double mid_y, double cx, double cy, int turn2, double end_x, double end_y, double end_z, block_pointer block, setup_pointer settings); int inverse_time_rate_as(double start_x, double start_y, int turn, double mid_x, double mid_y, double end_x, double end_y, double end_z, double AA_end, double BB_end, double CC_end, double u_end, double v_end, double w_end, block_pointer block, setup_pointer settings); int inverse_time_rate_straight(double end_x, double end_y, double end_z, double AA_end, double BB_end, double CC_end, double u_end, double v_end, double w_end, block_pointer block, setup_pointer settings); int parse_line(char *line, block_pointer block, setup_pointer settings); int precedence(int an_operator); int read_a(char *line, int *counter, block_pointer block, double *parameters); int read_atan(char *line, int *counter, double *double_ptr, double *parameters); int read_b(char *line, int *counter, block_pointer block, double *parameters); int read_c(char *line, int *counter, block_pointer block, double *parameters); int read_comment(char *line, int *counter, block_pointer block, double *parameters); int read_semicolon(char *line, int *counter, block_pointer block, double *parameters); int read_d(char *line, int *counter, block_pointer block, double *parameters); int read_e(char *line, int *counter, block_pointer block, double *parameters); int read_f(char *line, int *counter, block_pointer block, double *parameters); int read_g(char *line, int *counter, block_pointer block, double *parameters); int read_h(char *line, int *counter, block_pointer block, double *parameters); int read_i(char *line, int *counter, block_pointer block, double *parameters); int read_integer_unsigned(char *line, int *counter, int *integer_ptr); int read_integer_value(char *line, int *counter, int *integer_ptr, double *parameters); int read_items(block_pointer block, char *line, double *parameters); int read_j(char *line, int *counter, block_pointer block, double *parameters); int read_k(char *line, int *counter, block_pointer block, double *parameters); int read_l(char *line, int *counter, block_pointer block, double *parameters); int read_n_number(char *line, int *counter, block_pointer block); int read_m(char *line, int *counter, block_pointer block, double *parameters); int read_o(char *line, int *counter, block_pointer block, double *parameters); int free_named_parameters(int level, setup_pointer settings); int read_one_item(char *line, int *counter, block_pointer block, double *parameters); int read_operation(char *line, int *counter, int *operation); int read_operation_unary(char *line, int *counter, int *operation); int read_p(char *line, int *counter, block_pointer block, double *parameters); int store_named_param(char *nameBuf, double value); int add_named_param(char *nameBuf); int find_named_param(char *nameBuf, int *status, double *value); int read_name(char *line, int *counter, char *nameBuf); int read_named_parameter(char *line, int *counter, double *double_ptr, double *parameters); int read_parameter(char *line, int *counter, double *double_ptr, double *parameters); int read_parameter_setting(char *line, int *counter, block_pointer block, double *parameters); int read_named_parameter_setting(char *line, int *counter, char **param, double *parameters); int read_q(char *line, int *counter, block_pointer block, double *parameters); int read_r(char *line, int *counter, block_pointer block, double *parameters); int read_real_expression(char *line, int *counter, double *hold2, double *parameters); int read_real_number(char *line, int *counter, double *double_ptr); int read_real_value(char *line, int *counter, double *double_ptr, double *parameters); int read_s(char *line, int *counter, block_pointer block, double *parameters); int read_t(char *line, int *counter, block_pointer block, double *parameters); int read_text(const char *command, FILE * inport, char *raw_line, char *line, int *length); int read_unary(char *line, int *counter, double *double_ptr, double *parameters); int read_u(char *line, int *counter, block_pointer block, double *parameters); int read_v(char *line, int *counter, block_pointer block, double *parameters); int read_w(char *line, int *counter, block_pointer block, double *parameters); int read_x(char *line, int *counter, block_pointer block, double *parameters); int read_y(char *line, int *counter, block_pointer block, double *parameters); int read_z(char *line, int *counter, block_pointer block, double *parameters); int refresh_actual_position(setup_pointer settings); int set_probe_data(setup_pointer settings); int write_g_codes(block_pointer block, setup_pointer settings); int write_m_codes(block_pointer block, setup_pointer settings); int write_settings(setup_pointer settings); // O_word stuff int findFile( // ARGUMENTS char *direct, // the directory to start looking in char *target, // the name of the file to find char *foundFileDirect); // where to store the result int control_save_offset( /* ARGUMENTS */ int line, /* (o-word) line number */ block_pointer block, /* pointer to a block of RS274/NGC instructions */ setup_pointer settings); /* pointer to machine settings */ int control_find_oword( /* ARGUMENTS */ block_pointer block, /* block pointer to get (o-word) name */ setup_pointer settings, /* pointer to machine settings */ int *o_index); /* the index of o-word (returned) */ int control_back_to( /* ARGUMENTS */ block_pointer block, // pointer to block setup_pointer settings); /* pointer to machine settings */ int convert_control_functions( /* ARGUMENTS */ block_pointer block, /* pointer to a block of RS274/NGC instructions */ setup_pointer settings); /* pointer to machine settings */ void doLog(char *fmt, ...); FILE *log_file; /* Internal arrays */ static const int _gees[]; static const int _ems[]; static const int _required_parameters[]; read_function_pointer _readers[256]; static const read_function_pointer default_readers[256]; static setup _setup; enum { AXIS_MASK_X = 1, AXIS_MASK_Y = 2, AXIS_MASK_Z = 4, AXIS_MASK_A = 8, AXIS_MASK_B = 16, AXIS_MASK_C = 32, AXIS_MASK_U = 64, AXIS_MASK_V = 128, AXIS_MASK_W = 256, }; }; #endif