/********************************************************************* Description: tc.h*   Discriminate-based trajectory planning**   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: 1.25 $* $Author: cradek $* $Date: 2007/07/14 21:43:22 $********************************************************************/#ifndef TC_H#define TC_H#include "posemath.h"#include "emcpos.h"/* values for endFlag */#define TC_TERM_COND_STOP 1#define TC_TERM_COND_BLEND 2#define TC_LINEAR 1#define TC_CIRCULAR 2#define TC_RIGIDTAP 3/* structure for individual trajectory elements */typedef struct {    PmLine xyz;    PmLine abc;    PmLine uvw;} PmLine9;typedef struct {    PmCircle xyz;    PmLine abc;    PmLine uvw;} PmCircle9;typedef enum {    TAPPING, REVERSING, RETRACTION, FINAL_REVERSAL, FINAL_PLACEMENT} RIGIDTAP_STATE;typedef struct {    PmLine xyz;             // original, but elongated, move down    PmLine aux_xyz;         // this will be generated on the fly, for the other                            // two moves: retraction, final placement    PmCartesian abc;    PmCartesian uvw;    double reversal_target;    double spindlerevs_at_reversal;    RIGIDTAP_STATE state;} PmRigidTap;typedef struct {    double cycle_time;    double progress;        // where are we in the segment?  0..target    double target;          // segment length    double reqvel;          // vel requested by F word, calc'd by task    double maxaccel;        // accel calc'd by task    double feed_override;   // feed override requested by user    double maxvel;          // max possible vel (feed override stops here)    double currentvel;      // keep track of current step (vel * cycle_time)        int id;                 // segment's serial number    union {                 // describes the segment's start and end positions        PmLine9 line;        PmCircle9 circle;        PmRigidTap rigidtap;    } coords;    char motion_type;       // TC_LINEAR (coords.line) or                             // TC_CIRCULAR (coords.circle) or                            // TC_RIGIDTAP (coords.rigidtap)    char active;            // this motion is being executed    int canon_motion_type;  // this motion is due to which canon function?    int blend_with_next;    // gcode requests continuous feed at the end of                             // this segment (g64 mode)    int blending;           // segment is being blended into following segment    double blend_vel;       // velocity below which we should start blending    double tolerance;       // during the blend at the end of this move,                             // stay within this distance from the path.    int synchronized;       // spindle sync required for this move    int velocity_mode;	    // TRUE if spindle sync is in velocity mode, FALSE if in position mode    double uu_per_rev;      // for sync, user units per rev (e.g. 0.0625 for 16tpi)    double vel_at_blend_start;    unsigned char enables;  // Feed scale, etc, enable bits for this move} TC_STRUCT;/* TC_STRUCT functions */extern EmcPose tcGetPos(TC_STRUCT * tc);PmCartesian tcGetEndingUnitVector(TC_STRUCT *tc);PmCartesian tcGetStartingUnitVector(TC_STRUCT *tc);/* queue of TC_STRUCT elements*/typedef struct {    TC_STRUCT *queue;		/* ptr to the tcs */    int size;			/* size of queue */    int _len;			/* number of tcs now in queue */    int start, end;		/* indices to next to get, next to put */    int allFull;		/* flag meaning it's actually full */} TC_QUEUE_STRUCT;/* TC_QUEUE_STRUCT functions *//* create queue of _size */extern int tcqCreate(TC_QUEUE_STRUCT * tcq, int _size,		     TC_STRUCT * tcSpace);/* free up queue */extern int tcqDelete(TC_QUEUE_STRUCT * tcq);/* reset queue to empty */extern int tcqInit(TC_QUEUE_STRUCT * tcq);/* put tc on end */extern int tcqPut(TC_QUEUE_STRUCT * tcq, TC_STRUCT tc);/* remove n tcs from front */extern int tcqRemove(TC_QUEUE_STRUCT * tcq, int n);/* how many tcs on queue */extern int tcqLen(TC_QUEUE_STRUCT * tcq);/* look at nth item, first is 0 */extern TC_STRUCT *tcqItem(TC_QUEUE_STRUCT * tcq, int n, long period);/* get full status */extern int tcqFull(TC_QUEUE_STRUCT * tcq);#endif				/* TC_H */