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/********************************************************************
* Description: initool.cc
* INI file initialization for tool controller
*
* Derived from a work by Fred Proctor & Will Shackleford
*
* Author:
* License: GPL Version 2
* System: Linux
*
* Copyright (c) 2004 All rights reserved.
*
* Last change:
********************************************************************/
#include <stdio.h> // NULL
#include <stdlib.h> // atol()
#include <string.h> // strcpy()
#include "emc.hh"
#include "emcpos.h" // EmcPose
#include "rcs_print.hh"
#include "inifile.hh"
#include "initool.hh" // these decls
#include "emcglb.h" // TOOL_TABLE_FILE
/*
loadTool()
Loads ini file params for spindle from [EMCIO] section
TOOL_TABLE <file name> name of tool table file
calls:
emcToolSetToolTableFile(const char filename);
*/
static int loadTool(IniFile *toolInifile)
{
int retval = 0;
const char *inistring;
if (NULL != (inistring = toolInifile->Find("TOOL_TABLE", "EMCIO"))) {
if (0 != emcToolSetToolTableFile(inistring)) {
rcs_print("bad return value from emcToolSetToolTableFile\n");
retval = -1;
}
}
// else ignore omission
return retval;
}
/*
readToolChange() reads the values of [EMCIO] TOOL_CHANGE_POSITION and
TOOL_HOLDER_CLEAR, and loads them into their associated globals
*/
static int readToolChange(IniFile *toolInifile)
{
int retval = 0;
const char *inistring;
if (NULL !=
(inistring = toolInifile->Find("TOOL_CHANGE_POSITION", "EMCIO"))) {
/* found an entry */
if (9 == sscanf(inistring, "%lf %lf %lf %lf %lf %lf %lf %lf %lf",
&tool_change_position.tran.x,
&tool_change_position.tran.y,
&tool_change_position.tran.z,
&tool_change_position.a,
&tool_change_position.b,
&tool_change_position.c,
&tool_change_position.u,
&tool_change_position.v,
&tool_change_position.w)) {
have_tool_change_position=9;
retval=0;
} else if (6 == sscanf(inistring, "%lf %lf %lf %lf %lf %lf",
&tool_change_position.tran.x,
&tool_change_position.tran.y,
&tool_change_position.tran.z,
&tool_change_position.a,
&tool_change_position.b,
&tool_change_position.c)) {
tool_change_position.u = 0.0;
tool_change_position.v = 0.0;
tool_change_position.w = 0.0;
have_tool_change_position = 6;
retval = 0;
} else if (3 == sscanf(inistring, "%lf %lf %lf",
&tool_change_position.tran.x,
&tool_change_position.tran.y,
&tool_change_position.tran.z)) {
/* read them OK */
tool_change_position.a = 0.0;
tool_change_position.b = 0.0;
tool_change_position.c = 0.0;
tool_change_position.u = 0.0;
tool_change_position.v = 0.0;
tool_change_position.w = 0.0;
have_tool_change_position = 3;
retval = 0;
} else {
/* bad format */
rcs_print("bad format for TOOL_CHANGE_POSITION\n");
have_tool_change_position = 0;
retval = -1;
}
} else {
/* didn't find an entry */
have_tool_change_position = 0;
}
return retval;
}
/*
iniTool(const char *filename)
Loads ini file parameters for tool controller, from [EMCIO] section
*/
int iniTool(const char *filename)
{
int retval = 0;
IniFile toolInifile;
if (toolInifile.Open(filename) == false) {
return -1;
}
// load tool values
if (0 != loadTool(&toolInifile)) {
retval = -1;
}
// read the tool change positions
if (0 != readToolChange(&toolInifile)) {
retval = -1;
}
// close the inifile
toolInifile.Close();
return retval;
}
// functions to set global variables
int emcToolSetToolTableFile(const char *filename)
{
strncpy(tool_table_file, filename, sizeof(tool_table_file));
if (tool_table_file[sizeof(tool_table_file)-1] != '\0') {
rcs_print("Tool Table File name too long, max %zu characters.\n", sizeof(tool_table_file)-1);
rcs_print("Requested Tool Table File name was: %s\n", filename);
return -1;
}
return 0;
}
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