/********************************************************************* Description: emcops.cc*   Initialization and other ad hoc functions for NML. This complements*   the auto-generated emc.cc, which contains all the rote update*   methods for the message classes.**   Derived from a work by Fred Proctor & Will Shackleford** Author:* License: GPL Version 2* System: Linux*    * Copyright (c) 2004 All rights reserved.** Last change:* $Revision: 1.7 $* $Author: jmkasunich $* $Date: 2005/11/24 03:41:39 $********************************************************************/#include "emc.hh"EMC_AXIS_STAT::EMC_AXIS_STAT():EMC_AXIS_STAT_MSG(EMC_AXIS_STAT_TYPE, sizeof(EMC_AXIS_STAT)){    axisType = EMC_AXIS_LINEAR;    units = 1.0;    p = 0.0;    i = 0.0;    d = 0.0;    ff0 = 0.0;    ff1 = 0.0;    ff2 = 0.0;    backlash = 0.0;    bias = 0.0;    maxError = 0.0;    cycleTime = 1.0;    inputScale = 1.0;    inputOffset = 0.0;    outputScale = 1.0;    outputOffset = 0.0;    minPositionLimit = -1.0;    maxPositionLimit = 1.0;    minOutputLimit = -1.0;    maxOutputLimit = 1.0;    maxFerror = 1.0;    homingVel = 1.0;    setup_time = 1;    hold_time = 2;    enablePolarity = 1;    minLimitSwitchPolarity = 1;    maxLimitSwitchPolarity = 1;    homeSwitchPolarity = 1;    homingPolarity = 1;    faultPolarity = 1;    ferrorCurrent = 0.0;    ferrorHighMark = 0.0;    output = 0.0;    input = 0.0;    inpos = 1;    homing = 0;    homed = 0;    enabled = 0;    minSoftLimit = 0;    maxSoftLimit = 0;    minHardLimit = 0;    maxHardLimit = 0;    scale = 0.0;}EMC_TRAJ_STAT::EMC_TRAJ_STAT():EMC_TRAJ_STAT_MSG(EMC_TRAJ_STAT_TYPE, sizeof(EMC_TRAJ_STAT)){    linearUnits = 1.0;    angularUnits = 1.0;    axes = 1;    mode = EMC_TRAJ_MODE_FREE;    enabled = 0;    inpos = 1;    queue = 0;    activeQueue = 0;    queueFull = 0;    id = 0;    paused = 0;    position.tran.x = 0.0;    position.tran.y = 0.0;    position.tran.z = 0.0;    position.a = 0.0;    position.b = 0.0;    position.c = 0.0;    actualPosition.tran.x = 0.0;    actualPosition.tran.y = 0.0;    actualPosition.tran.z = 0.0;    actualPosition.a = 0.0;    actualPosition.b = 0.0;    actualPosition.c = 0.0;    velocity = 1.0;    acceleration = 1.0;    maxVelocity = 1.0;    maxAcceleration = 1.0;}EMC_TASK_STAT::EMC_TASK_STAT():EMC_TASK_STAT_MSG(EMC_TASK_STAT_TYPE, sizeof(EMC_TASK_STAT)){    int t;    mode = EMC_TASK_MODE_MANUAL;    state = EMC_TASK_STATE_ESTOP;    execState = EMC_TASK_EXEC_DONE;    interpState = EMC_TASK_INTERP_IDLE;    motionLine = 0;    currentLine = 0;    readLine = 0;    file[0] = 0;    command[0] = 0;    origin.tran.x = 0.0;    origin.tran.y = 0.0;    origin.tran.z = 0.0;    origin.a = 0.0;    origin.b = 0.0;    origin.c = 0.0;    toolOffset.tran.x = 0.0;    toolOffset.tran.y = 0.0;    toolOffset.tran.z = 0.0;    toolOffset.a = 0.0;    toolOffset.b = 0.0;    toolOffset.c = 0.0;    for (t = 0; t < ACTIVE_G_CODES; t++)	activeGCodes[t] = -1;    for (t = 0; t < ACTIVE_M_CODES; t++)	activeMCodes[t] = -1;    for (t = 0; t < ACTIVE_SETTINGS; t++)	activeSettings[t] = 0.0;}EMC_TOOL_STAT::EMC_TOOL_STAT():EMC_TOOL_STAT_MSG(EMC_TOOL_STAT_TYPE, sizeof(EMC_TOOL_STAT)){    int t;    toolPrepped = 0;    toolInSpindle = 0;    for (t = 0; t <= CANON_TOOL_MAX; t++) {	toolTable[t].id = 0;	toolTable[t].length = 0.0;	toolTable[t].diameter = 0.0;    }}EMC_AUX_STAT::EMC_AUX_STAT():EMC_AUX_STAT_MSG(EMC_AUX_STAT_TYPE, sizeof(EMC_AUX_STAT)){    int t;    estop = 1;    for (t = 0; t < EMC_AUX_MAX_DOUT; t++) {	dout[t] = 0;    }    for (t = 0; t < EMC_AUX_MAX_DIN; t++) {	din[t] = 0;    }    for (t = 0; t < EMC_AUX_MAX_AOUT; t++) {	aout[t] = 0;    }    for (t = 0; t < EMC_AUX_MAX_AIN; t++) {	ain[t] = 0;    }}EMC_SPINDLE_STAT::EMC_SPINDLE_STAT():EMC_SPINDLE_STAT_MSG(EMC_SPINDLE_STAT_TYPE, sizeof(EMC_SPINDLE_STAT)){    speed = 0.0;    direction = 0;    brake = 1;    increasing = 0;    enabled = 0;}EMC_COOLANT_STAT::EMC_COOLANT_STAT():EMC_COOLANT_STAT_MSG(EMC_COOLANT_STAT_TYPE,		     sizeof		     (EMC_COOLANT_STAT)){    mist = 0;    flood = 0;}EMC_LUBE_STAT::EMC_LUBE_STAT():EMC_LUBE_STAT_MSG(EMC_LUBE_STAT_TYPE, sizeof(EMC_LUBE_STAT)){    on = 0;    level = 1;}// overload = , since class has array elementsEMC_TOOL_STAT EMC_TOOL_STAT::operator =(EMC_TOOL_STAT s){    int t;    toolPrepped = s.toolPrepped;    toolInSpindle = s.toolInSpindle;    for (t = 0; t <= CANON_TOOL_MAX; t++) {	toolTable[t].id = s.toolTable[t].id;	toolTable[t].length = s.toolTable[t].length;	toolTable[t].diameter = s.toolTable[t].diameter;    }    return s;}// overload = , since class has array elementsEMC_AUX_STAT EMC_AUX_STAT::operator =(EMC_AUX_STAT s){    int t;    estop = s.estop;    for (t = 0; t < EMC_AUX_MAX_DOUT; t++) {	dout[t] = s.dout[t];    }    for (t = 0; t < EMC_AUX_MAX_DIN; t++) {	din[t] = s.din[t];    }    for (t = 0; t < EMC_AUX_MAX_AOUT; t++) {	aout[t] = s.aout[t];    }    for (t = 0; t < EMC_AUX_MAX_AIN; t++) {	ain[t] = s.ain[t];    }    return s;}EMC_STAT::EMC_STAT():EMC_STAT_MSG(EMC_STAT_TYPE, sizeof(EMC_STAT)){}