path: root/src/emc/rs274ngc/rs274ngc_interp.hh

//    Copyright 2009-2011, various authors
//
//    This program is free software; you can redistribute it and/or modify
//    it under the terms of the GNU General Public License as published by
//    the Free Software Foundation; either version 2 of the License, or
//    (at your option) any later version.
//
//    This program is distributed in the hope that it will be useful,
//    but WITHOUT ANY WARRANTY; without even the implied warranty of
//    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
//    GNU General Public License for more details.
//
//    You should have received a copy of the GNU General Public License
//    along with this program; if not, write to the Free Software
//    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

#ifndef RS274NGC_INTERP_H
#define RS274NGC_INTERP_H
#include "rs274ngc.hh"
#include "interp_internal.hh"

class Interp : public InterpBase {

public:
 Interp();
 ~Interp();

/* 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
 int execute(const char *command);
 int execute();

 int execute(const char *command, int line_no); //used for MDI calls to specify the pseudo MDI line number

// 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);
 int read();

// 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]..[15]
 void active_g_codes(int *codes);

// copy active M codes into array [0]..[9]
 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.
 char *error_text(int error_code, char *error_text,
                                size_t max_size);

 void setError(const char *fmt, ...) __attribute__((format(printf,2,3)));

// copy the name of the currently open file into the file_name array,
// but stop at max_size if the name is longer
 char *file_name(char *file_name, size_t max_size);

// return the length of the most recently read line
 size_t 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
 char *line_text(char *line_text, size_t 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
 char *stack_name(int stack_index, char *function_name,
                                size_t max_size);

// Get the parameter file name from the ini file.
 int ini_load(const char *filename);

 int line() { return sequence_number(); }
 int call_level();

 char *command(char *buf, size_t len) { line_text(buf, len); return buf; }

 char *file(char *buf, size_t len) { file_name(buf, len); return buf; }

 int init_tool_parameters();
 int default_tool_parameters();
 int set_tool_parameters();
 int on_abort(int reason, const char *message);

    void set_loglevel(int level);

    // for now, public - for boost.python access
 int find_named_param(const char *nameBuf, int *status, double *value);
 int store_named_param(setup_pointer settings,const char *nameBuf, double value, int override_readonly = 0);
 int add_named_param(const char *nameBuf, int attr = 0);
 int fetch_ini_param( const char *nameBuf, int *status, double *value);
 int fetch_hal_param( const char *nameBuf, int *status, double *value);

    // common combination of add_named_param and store_named_param
    // int assign_named_param(const char *nameBuf, int attr = 0, double value = 0.0);
    remap_pointer remapping(const char *code);
    remap_pointer remapping(const char letter, int number = -1);
 int find_tool_pocket(setup_pointer settings, int toolno, int *pocket);

    // private:
    //protected:  // for boost wrapper access

/* 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,
                          int p_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, int p_number, 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,
                     int p_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, int p_number,
                      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_nurbs(int move, block_pointer block, setup_pointer settings);
 int convert_spline(int move, block_pointer block, setup_pointer settings);
 int comp_get_current(setup_pointer settings, double *x, double *y, double *z);
 int comp_set_current(setup_pointer settings, double x, double y, double z);
 int comp_get_programmed(setup_pointer settings, double *x, double *y, double *z);
 int comp_set_programmed(setup_pointer settings, double x, double y, double z);
 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 offset_x, double offset_y,
                       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 offset_x, double offset_y,
                       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, bool enqueue = true);
 int convert_control_mode(int g_code, double tolerance, double naivecam_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 r, 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_lathe_diameter_mode(int g_code, block_pointer block, 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(const char *command = 0);
 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_current_in_system(setup_pointer s, int system, double *x, double *y, double *z,
                            double *a, double *b, double *c,
                            double *u, double *v, double *w);
 int find_current_in_system_without_tlo(setup_pointer s, int system, double *x, double *y, double *z,
                            double *a, double *b, double *c,
                            double *u, double *v, double *w);
 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_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 move_endpoint_and_flush(setup_pointer, double, double);
 int parse_line(char *line, block_pointer block,
                      setup_pointer settings);
 int precedence(int an_operator);
 int _read(const char *command);
 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_atsign(char *line, int *counter, block_pointer block,
                  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_carat(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 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 lookup_named_param(const char *nameBuf, double index, double *value);
    int init_readonly_param(const char *nameBuf, double value, int attr);
    int free_named_parameters(context_pointer frame);
 int save_settings(setup_pointer settings);
 int restore_settings(setup_pointer settings, int from_level);
 int gen_settings(double *current, double *saved, char *cmd);
 int gen_g_codes(int *current, int *saved, char *cmd);
 int gen_m_codes(int *current, int *saved, char *cmd);
 int read_name(char *line, int *counter, char *nameBuf);
 int read_named_parameter(char *line, int *counter, double *double_ptr,
                          double *parameters, bool check_exists);
 int read_parameter(char *line, int *counter, double *double_ptr,
                          double *parameters, bool check_exists);
 int read_parameter_setting(char *line, int *counter,
                                  block_pointer block, double *parameters);
 int read_bracketed_parameter(char *line, int *counter, double *double_ptr,
                          double *parameters, bool check_exists);
 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);
 void rotate(double *x, double *y, double t);
 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);
 int unwrap_rotary(double *, double, double, double, char);
 bool isreadonly(int index);

  // 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 */
  offset_pointer *ppo);
//  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 */

 // establish a new subroutine context
 int enter_context(setup_pointer settings, block_pointer block);
 // leave current subroutine context
 int leave_context(setup_pointer settings, bool restore = true);

    //int call_fsm(setup_pointer settings, int event);
    //int execute_pycall(setup_pointer settings, const char *name, int call_phase);
 int execute_call(setup_pointer settings, context_pointer current_frame, int call_type);  
 int execute_return(setup_pointer settings,  context_pointer current_frame, int call_type);  
    //int execute_remap(setup_pointer settings, int call_phase);   // remap call state machine
    int handler_returned( setup_pointer settings, 
			  context_pointer active_frame, const char *name, bool osub);
int read_inputs(setup_pointer settings);

 int convert_control_functions( /* ARGUMENTS           */
  block_pointer block,       /* pointer to a block of RS274/NGC instructions */
  setup_pointer settings);   /* pointer to machine settings */


 // parse a REMAP= descriptor from the ini file
 int parse_remap(const char *inistring, int lineno);

 // step through parsed block and collect remapped items in
 // block.remappings set
    int find_remappings(block_pointer block, setup_pointer settings);

 // establish a new remapping context
 int enter_remap(void);
 // leave current remapping context
 int leave_remap(void);

 // callback when remapping handler done
 int remap_finished( int status);

 int report_error(setup_pointer settings,int status,const char *text);

 //  add named params/param dict if argspec given
 // present optional words to the subroutine's local variables and Py dict
    int add_parameters(setup_pointer settings, block_pointer cblock,
		       char *posarglist);

 int init_named_parameters();
    int init_python_predef_parameter(const char *name);

    bool has_user_mcode(setup_pointer settings,block_pointer block);

#define M_BUILTIN(m) (_ems[m] != -1)
#define G_BUILTIN(g) (_gees[g] != -1)

    // range for user-remapped M-codes
    // and M6,M61
    // this is overdue for a bitset
#define M_REMAPPABLE(m)					\
    (((m > 199) && (m < 1000)) ||			\
     ((m > 0) && (m < 100) &&				\
      !M_BUILTIN(m)) ||					\
     (m == 6) ||					\
     (m == 61) ||					\
     (m == 0) ||					\
     (m == 1) ||					\
     (m == 60))



    // range for user-remapped G-codes
#define G_REMAPPABLE(g)	 \
    ((g > 0) && \
     (g < 1000) && \
     !G_BUILTIN(g))

#define IS_USER_GCODE(x) (G_REMAPPABLE(x) && _setup.g_remapped[x])

#define IS_USER_MCODE(bp,sp,mgroup) \
    ((M_REMAPPABLE((bp)->m_modes[mgroup])) && \
    (((bp)->m_modes[mgroup]) > -1) &&		\
     ((sp)->m_remapped[(bp)->m_modes[mgroup]]))
    
    bool remap_in_progress(const char *code);
    int convert_remapped_code(block_pointer block,
			       setup_pointer settings,
			      int phase,
			      char letter,
			      int number = -1);

    bool is_pycallable(setup_pointer settings, const char *module, const char *funcname);

#define OWORD_MODULE "oword"
#define REMAP_MODULE "remap"
#define NAMEDPARAMS_MODULE "namedparams"
    // describes intented use, and hence parameter and return value
    // interpretation
    enum py_calltype { PY_OWORDCALL,
		       PY_FINISH_OWORDCALL,
		       PY_PROLOG,
		       PY_FINISH_PROLOG,
		       PY_BODY,
		       PY_FINISH_BODY,
		       PY_EPILOG,
		       PY_FINISH_EPILOG,
		       PY_INTERNAL,
		       PY_EXECUTE,
		       PY_PLUGIN_CALL
    };
    int pycall(setup_pointer settings,
	       context_pointer frame,
	       const char *module,
	       const char *funcname,
	       int calltype);
    int py_execute(const char *cmd, bool as_file = false); // for (py, ....) comments
    int py_reload();
    FILE *find_ngc_file(setup_pointer settings,const char *basename, char *foundhere = NULL);

    const char *getSavedError();
    // set error message text without going through printf format interpretation
    int setSavedError(const char *msg); 

    int unwind_call(int status, const char *file, int line, const char *function);


 int convert_straight_indexer(int, block*, setup*);
 int issue_straight_index(int, double, int, setup*);

 void doLog(unsigned int flags, const char *file, int line,
	    const char *fmt, ...) __attribute__((format(printf,5,6)));

 const char *interp_status(int status);

    //technically this violates encapsulation rules but is needed for
    // the Python introspection module

 FILE *log_file;

/* Internal arrays */
 static const int _gees[];
 static const int _ems[];
 static const int _required_parameters[];
 static const int _readonly_parameters[];
 static const int _n_readonly_parameters;
 read_function_pointer _readers[256];
 static const read_function_pointer default_readers[256];

 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