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/********************************************************************
* Description: iniaxis.cc
* INI file initialization routines for axis NML
*
* 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 <unistd.h>
#include <stdio.h> // NULL
#include <stdlib.h> // atol(), _itoa()
#include <string.h> // strcmp()
#include <ctype.h> // isdigit()
#include <sys/types.h>
#include <sys/stat.h>
#include "emc.hh"
#include "rcs_print.hh"
#include "emcIniFile.hh"
#include "iniaxis.hh" // these decls
#include "emcglb.h" // EMC_DEBUG
#include "emccfg.h" // default values for globals
#include "inihal.hh"
extern value_inihal_data old_inihal_data;
double ext_offset_a_or_v_ratio[EMCMOT_MAX_AXIS]; // all zero
// default ratio or external offset velocity,acceleration
#define DEFAULT_A_OR_V_RATIO 0
/*
loadAxis(int axis)
Loads INI file params for axis, axis = X, Y, Z, A, B, C, U, V, W
TYPE <LINEAR ANGULAR> type of axis (hardcoded: X,Y,Z,U,V,W: LINEAR, A,B,C: ANGULAR)
MAX_VELOCITY <float> max vel for axis
MAX_ACCELERATION <float> max accel for axis
MIN_LIMIT <float> minimum soft position limit
MAX_LIMIT <float> maximum soft position limit
calls:
emcAxisSetMinPositionLimit(int axis, double limit);
emcAxisSetMaxPositionLimit(int axis, double limit);
emcAxisSetMaxVelocity(int axis, double vel, double ext_offset_vel);
emcAxisSetMaxAcceleration(int axis, double acc, double ext_offset_acc);
*/
static int loadAxis(int axis, EmcIniFile *axisIniFile)
{
char axisString[16];
double limit;
double maxVelocity;
double maxAcceleration;
int lockingjnum = -1; // -1 ==> locking joint not used
// compose string to match, axis = 0 -> AXIS_X etc.
switch (axis) {
case 0: snprintf(axisString, sizeof(axisString), "AXIS_X"); break;
case 1: snprintf(axisString, sizeof(axisString), "AXIS_Y"); break;
case 2: snprintf(axisString, sizeof(axisString), "AXIS_Z"); break;
case 3: snprintf(axisString, sizeof(axisString), "AXIS_A"); break;
case 4: snprintf(axisString, sizeof(axisString), "AXIS_B"); break;
case 5: snprintf(axisString, sizeof(axisString), "AXIS_C"); break;
case 6: snprintf(axisString, sizeof(axisString), "AXIS_U"); break;
case 7: snprintf(axisString, sizeof(axisString), "AXIS_V"); break;
case 8: snprintf(axisString, sizeof(axisString), "AXIS_W"); break;
}
axisIniFile->EnableExceptions(EmcIniFile::ERR_CONVERSION);
try {
// set min position limit
limit = -1e99; // default
axisIniFile->Find(&limit, "MIN_LIMIT", axisString);
if (0 != emcAxisSetMinPositionLimit(axis, limit)) {
if (emc_debug & EMC_DEBUG_CONFIG) {
rcs_print_error("bad return from emcAxisSetMinPositionLimit\n");
}
return -1;
}
old_inihal_data.axis_min_limit[axis] = limit;
// set max position limit
limit = 1e99; // default
axisIniFile->Find(&limit, "MAX_LIMIT", axisString);
if (0 != emcAxisSetMaxPositionLimit(axis, limit)) {
if (emc_debug & EMC_DEBUG_CONFIG) {
rcs_print_error("bad return from emcAxisSetMaxPositionLimit\n");
}
return -1;
}
old_inihal_data.axis_max_limit[axis] = limit;
ext_offset_a_or_v_ratio[axis] = DEFAULT_A_OR_V_RATIO;
axisIniFile->Find(&ext_offset_a_or_v_ratio[axis], "OFFSET_AV_RATIO", axisString);
#define REPLACE_AV_RATIO 0.1
#define MAX_AV_RATIO 0.9
if ( (ext_offset_a_or_v_ratio[axis] < 0)
|| (ext_offset_a_or_v_ratio[axis] > MAX_AV_RATIO)
) {
rcs_print_error("\n Invalid:[%s]OFFSET_AV_RATIO= %8.5f\n"
" Using: [%s]OFFSET_AV_RATIO= %8.5f\n",
axisString,ext_offset_a_or_v_ratio[axis],
axisString,REPLACE_AV_RATIO);
ext_offset_a_or_v_ratio[axis] = REPLACE_AV_RATIO;
}
// set maximum velocities for axis: vel,ext_offset_vel
maxVelocity = DEFAULT_AXIS_MAX_VELOCITY;
axisIniFile->Find(&maxVelocity, "MAX_VELOCITY", axisString);
if (0 != emcAxisSetMaxVelocity(axis,
(1 - ext_offset_a_or_v_ratio[axis]) * maxVelocity,
( ext_offset_a_or_v_ratio[axis]) * maxVelocity)) {
if (emc_debug & EMC_DEBUG_CONFIG) {
rcs_print_error("bad return from emcAxisSetMaxVelocity\n");
}
return -1;
}
old_inihal_data.axis_max_velocity[axis] = maxVelocity;
// set maximum accels for axis: acc,ext_offset_acc
maxAcceleration = DEFAULT_AXIS_MAX_ACCELERATION;
axisIniFile->Find(&maxAcceleration, "MAX_ACCELERATION", axisString);
if (0 != emcAxisSetMaxAcceleration(axis,
(1 - ext_offset_a_or_v_ratio[axis]) * maxAcceleration,
( ext_offset_a_or_v_ratio[axis]) * maxAcceleration)) {
if (emc_debug & EMC_DEBUG_CONFIG) {
rcs_print_error("bad return from emcAxisSetMaxAcceleration\n");
}
return -1;
}
old_inihal_data.axis_max_acceleration[axis] = maxAcceleration;
axisIniFile->Find(&lockingjnum, "LOCKING_INDEXER_JOINT", axisString);
if (0 != emcAxisSetLockingJoint(axis, lockingjnum)) {
if (emc_debug & EMC_DEBUG_CONFIG) {
rcs_print_error("bad return from emcAxisSetLockingJoint\n");
}
return -1;
}
}
catch(EmcIniFile::Exception &e){
e.Print();
return -1;
}
return 0;
}
/*
iniAxis(int axis, const char *filename)
Loads INI file parameters for specified axis, [0 .. AXES - 1]
*/
int iniAxis(int axis, const char *filename)
{
EmcIniFile axisIniFile(EmcIniFile::ERR_TAG_NOT_FOUND |
EmcIniFile::ERR_SECTION_NOT_FOUND |
EmcIniFile::ERR_CONVERSION);
if (axisIniFile.Open(filename) == false) {
return -1;
}
// load its values
if (0 != loadAxis(axis, &axisIniFile)) {
return -1;
}
return 0;
}
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