?? trace.c
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#include "cnc.h"
#define USER_macro_process(num) SendMessage(hwndUSER,WM_USER,num,0L)
static CNCpolar_t CNC_polar; /* polar parameter */
static CNCpolar_t CNC_rotate; /* rotate parameter */
static CNCaxis_t CNC_scale0; /* scaling center */
static CNCaxis_t CNC_scalef; /* scaling factor */
static CNCaxis_t CNC_unit0; /* unit zero */
static CNCaxis_t CNC_unitf; /* unit factor */
static int nDot; /* decimal index */
static int CNC_hfile; /* handle of file */
static long CNC_pfile; /* pointer of file */
static char CNC_code=4; /* last command */
static char CNC_stop=1; /* stop index */
static char CNC_lead=0; /* leading area */
static CNCaxis_t aGoal,aGoalX;
static CNCaxis_t aCenter,aCenterX;
void CNC_initial_process(void);
void CNC_end_process(void);
void CNC_reset_process(void);
void CNC_control_process(void);
static void AUTO_mode_control(void);
static BOOL open_CNC_file(int);
static void close_CNC_file(void);
static void clear_CNC_file(void);
static void absolute_to_local(LPAXIS,LPAXIS);
static void local_to_absolute(LPAXIS,LPAXIS);
static void local_to_machine(LPAXIS,LPAXIS);
static void machine_to_local(LPAXIS,LPAXIS);
static void absolute_to_machine(LPAXIS,LPAXIS);
static void machine_to_absolute(LPAXIS,LPAXIS);
static void get_axis_absolute(LPAXIS);
static void get_center_absolute(LPAXIS);
static void get_axis_input(LPAXIS);
static void get_center_input(LPAXIS);
static double get_value_input(char,int);
static int get_axis_number(char);
static BOOL is_axis_exist(int);
static BOOL is_any_axis_exist(void);
static BOOL is_all_axis_exist(void);
static BOOL is_center_exist(int);
static BOOL is_any_center_exist(void);
static BOOL is_all_center_exist(void);
static BOOL is_input_exist(char);
static void CNC_command_decoding(void);
static BOOL collect_CNC_command(void);
static BOOL calling_command(void);
static BOOL MST_command(void);
static BOOL special_command(void);
static BOOL motion_command(void);
static BOOL plane_command(void);
static BOOL absolute_command(void);
static BOOL limit_command(void);
static BOOL feed_command(void);
static BOOL unit_command(void);
static BOOL cutter_command(void);
static BOOL tool_command(void);
static BOOL cycle_command(void);
static BOOL return_command(void);
static BOOL scaling_command(void);
static BOOL macro_command(void);
static BOOL speed_command(void);
static BOOL working_command(void);
static BOOL stop_command(void);
static BOOL rotate_command(void);
static BOOL polar_command(void);
static BOOL offset_command(void);
static BOOL data_command(void);
static BOOL skip_command(void);
static void PATH_calculation(int);
static void preset_calculation(void);
static void scale_calculation(void);
static void offset_calculation(void);
static void stop_calculation(void);
/*=========================================================
entry points of CNC program
CNC_program_initial() : initial CNC program
CNC_program_end() : end of CNC program
CNC_program_process() : timer process CNC program loop
=========================================================*/
/***** initial CNC program *****/
void CNC_initial_process()
{ int i;
for (i=0; i<=6; i++) CNC_working[i]=aNull;
for (i=0; i<6; i++) CNC_unitf.v[i]=INCH;
CNC_unit0=aNull;
PATH_initial_process();
CNC_reset_process();
}
/***** end of process *****/
void CNC_end_process()
{ PATH_end_process();
clear_define_table();
clear_stack();
close_G10_table();
}
/***** reset process *****/
void CNC_reset_process()
{ int i;
/* USER interface */
*(USER_path->command)=0;
USER_path->level=0; USER_path->pfile=0L;
/* real-time area */
PLC_path->code=99;
lstrcpy(PLC_path->string, "N0000");
lstrcpy(PLC_path->command,"Main Program");
/* CNC decoding */
nOther=nMove=nPlane=nInc=nLimit=0;
nFeed=nUnit=nCut=nTool=nCycle=0;
nReturn=nScale=nMacro=nSpeed=0;
nStop=nRotate=nPolar=nOffset=nData=0;
CNC_last=aNull; CNC_lastX=aNull; CNC_local=aNull;
nDot=3; nWork=1;
CNC_code=4; CNC_stop=1;
CNC_nx=0; CNC_ny=1; CNC_nz=2;
CNC_level=-1; CNC_error=0; CNC_lead=0;
for (i=0; i<25; i++) CNC_calling->v[i]=0.;
CNC_Dcode=CNC_Hcode=CNC_Tcode=CNC_Mcode=0;
CNC_Ocode=CNC_Ncode=0;
CNC_Fcode=CNC_G01max;
CNC_Scode=CNC_RPMmax;
clear_stack();
/* PATH process */
PATH_reset_process();
}
/*=========================================================
CNC_control_process()
execute CNC program every timer interrupt
=========================================================*/
void CNC_control_process()
{ int hfile,i,k,n; LPSTR s,d; char buf[81];
/* AUTO-mode ?? */
if (PLC_mode!=1) return;
for (k=0; k<100; k++)
{ lpCmd=&lpPath[nIn];
/* check interface */
AUTO_mode_control();
if (PLC_flag>2) break;
/* path control process */
PATH_control_process();
/* buffer full ?? */
lpCmd=&lpPath[nIn];
if (PLC_count>1) break;
if (!(PLC_status&bPlotOnly))
{ if (CNC_stop || PLC_path->stop || PLC_path->start)
{ if (PLC_count) break;
if ((!nCut) && (nIn!=nOut)) break;
}
}
/* single block ?? */
if (PLC_status&bSingleBlock)
{ if (!(PLC_status&bCycleStart)) break;
PLC_status&=(~bCycleStart); CNC_stop=1;
}
/***** get next block !! *****/
if (*(USER_path->command)) /* MDI mode ?? */
{ lpCmd->level=CNC_level;
lpCmd->pfile=CNC_Ncode;
lstrncpy((LPSTR)buf,USER_path->command,79);
set_fact_from_string(buf);
lstrncpy(lpCmd->string,(LPSTR)buf,50);
*(USER_path->command)=0;
} else if (PLC_flag==2) /* USER mode ?? */
{ USER_path->level=CNC_Ocode;
USER_path->pfile=CNC_Ncode;
if (!USER_macro_process(10000)) break;
*lpCmd=*USER_path; CNC_Ncode++;
lstrcpy(lpCmd->command,CNC_stack[CNC_level].string);
n=USER_path->pfile; sprintf(buf,"N%04u ",(unsigned)n);
lstrncat((LPSTR)buf,USER_path->string,50);
lstrncpy(lpCmd->string,(LPSTR)buf,50);
CNC_command_decoding();
continue;
} else /* FILE mode !! */
{ if (PLC_flag==0 || CNC_level<0) break;
hfile = CNC_stack[CNC_level].hfile;
lpCmd->level = CNC_level;
lpCmd->pfile = get_next_line_from_file(hfile);
if (lpCmd->pfile<0L) { close_CNC_file(); continue; }
CNC_stack[CNC_level].pfile = _llseek(hfile,0,SEEK_CUR);
}
/***** string-command decoding !! *****/
CNC_Ncode++;
if (DEFINE_command()) continue;
if (PUSH_command()) continue;
if (DIRECT_command()) continue;
if (TABLE_command()) continue;
if (CALLC_command()) continue;
if (open_G10_table()) continue;
/* collect CNC command */
if (!collect_CNC_command()) { CNC_error=eDecode; break; }
/* preset message */
if (fN) CNC_Ncode=vN;
else vN=CNC_Ncode;
if (CNC_level<0) lstrcpy(lpCmd->command,(LPSTR)"MDI Input");
else lstrcpy(lpCmd->command,CNC_stack[CNC_level].string);
n=CNC_Ncode; sprintf(buf,"N%04u ",(unsigned)n);
lstrncat((LPSTR)buf,lpCmd->string,50);
lstrncpy(lpCmd->string,(LPSTR)buf,50);
/* decoding */
CNC_command_decoding();
}
}
/*=========================================================
AUTO_mode_control()
AUTO-mode control process
PLC_mode : CNC control mode
=1:AUTO
PLC_work : CNC working condition
=0: off-process, can be switch to another mode
=1: in-process
PLC_flag : AUTO-mode internal status
=0: MDI-mode process
=1: FILE-mode process
=2: USER-mode process
=9: error exist
>9: emergency stop
CNC_error: AUTO-mode error indication
=0: no error
>0: error exists
=========================================================*/
static void AUTO_mode_control()
{ switch (PLC_flag)
{
case 0 : /* check I/O interface */
if (PLC_status&bEmergency) { PLC_flag+=10; break; }
if (PLC_status&bFeedHold) { PLC_work=0; PLC_enable=0; break; }
if (CNC_error) { PLC_flag=9; break; }
PLC_enable=(PLC_status&bPlotOnly)?0:1;
PLC_work = PLC_count||(nIn!=nOut);
if (PLC_work) { PLC_status&=(~bCycleStart); break; }
/* wait for cycle-start */
if (!(PLC_status&bCycleStart)) break;
PLC_status&=(~bCycleStart);
/* re-start */
CNC_reset_process();
lstrcpy(lpCmd->string,"Main Program");
open_CNC_file(PLC_mainfile);
DSP_initial=1; CNC_lead=1;
break;
case 1 : case 2 : /* normal process !! */
if (PLC_status&bEmergency) { PLC_flag+=10; break; }
if (PLC_status&bFeedHold) { PLC_work=0; PLC_enable=0; break; }
if (CNC_error) { PLC_flag=9; break; }
PLC_enable=(PLC_status&bPlotOnly)?0:1;
PLC_work =1;
break;
case 8 : /* error release */
if (PLC_status&bEmergency) break;
PLC_status&=(~bCycleStart);
clear_CNC_file(); CNC_reset_process();
PLC_flag=0;
break;
case 9 : /* error exist !! */
PLC_work=0; PLC_enable=0; PLC_status|=bEmergency;
PLC_flag=8;
lstrcpy(PLC_message,(LPSTR)"=>");
lstrncpy(PLC_message+2,lpCmd->string,40);
PostMessage(hwndFPLC,WM_USER,0,0L);
break;
case 10 : case 11 : case 12 : /* emergency ON !! */
PLC_work=0; PLC_enable=0;
PLC_status&=(~bCycleStart);
if (CNC_error) { PLC_flag=9; break; }
if (PLC_status&bEmergency) break;
PLC_flag+=10;
break;
case 20 : case 21 : case 22 : /* emergency OFF !! */
PLC_work=0; PLC_enable=0;
if (PLC_status&bEmergency) { PLC_flag-=10; break; }
/* if (!(PLC_status&bCycleStart)) break;
*/
PLC_status&=(~bCycleStart);
PLC_flag-=20;
break;
}
}
/*=========================================================
interface functions about CNC file operation
open_CNC_file() : open new CNC file
close_CNC_file() : close old CNC file, and open next file
clear_CNC_file() : close all CNC file
=========================================================*/
static BOOL open_CNC_file(n)
int n; /* program no. */
{ static OFSTRUCT of; char buf1[81],buf2[21]; int hfile;
int i; LPSTR s,d;
/* buffer full ?? */
if ((++CNC_level)>19) { CNC_level--; CNC_error=eFile; return(FALSE); }
/* preset calling condition */
CNC_stack[CNC_level].name =CNC_Ocode;
CNC_stack[CNC_level].hfile =0;
CNC_stack[CNC_level].pfile =0L;
CNC_stack[CNC_level].nloop =1;
CNC_stack[CNC_level].nflag =PLC_flag;
CNC_stack[CNC_level].ncode =CNC_Ncode;
CNC_stack[CNC_level].ncycle=nCycle;
CNC_stack[CNC_level].nmacro=nMacro;
CNC_stack[CNC_level].ndata =nData;
lstrncpy(CNC_stack[CNC_level].string,lpCmd->string,80);
nCycle=nMacro=nData=0; CNC_Ocode=n; CNC_Ncode=0;
push_stack(40400,150);
for (i=0,s=(LPSTR)lpCmd,d=(LPSTR)CNC_calling; i<150; i++)
*d++ = *s++;
/* open USER process */
if (n>=9000 && hwndUSER)
{ if (USER_macro_process(n)) { PLC_flag=2; return(TRUE); }
}
/* open CNC file */
lstrncpy(buf1,PLC_directory,80);
sprintf(buf2, "O%04d.CNC", n);
lstrncat(buf1,buf2,80);
hfile = OpenFile((LPSTR)buf1, &of, OF_READ);
if (hfile<=0) { CNC_level--; CNC_error=eFile; return(FALSE); }
CNC_stack[CNC_level].hfile=hfile;
PLC_flag=1;
return(TRUE);
}
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