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/********************************************************************
* Description: inijoint.cc
* INI file initialization routines for joint/axis NML
*
* Derived from a work by Fred Proctor & Will Shackleford
*
* Author:
* License: GPL Version 2
* System: Linux
*
* Copyright (c) 2004-2009 All rights reserved.
********************************************************************/
#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 "inijoint.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;
/*
loadJoint(int joint)
Loads INI file params for joint, joint = 0, ...
TYPE <LINEAR ANGULAR> type of joint
MAX_VELOCITY <float> max vel for joint
MAX_ACCELERATION <float> max accel for joint
BACKLASH <float> backlash
MIN_LIMIT <float> minimum soft position limit
MAX_LIMIT <float> maximum soft position limit
FERROR <float> maximum following error, scaled to max vel
MIN_FERROR <float> minimum following error
HOME <float> home position (where to go after home)
HOME_FINAL_VEL <float> speed to move from HOME_OFFSET to HOME location (at the end of homing)
HOME_OFFSET <float> home switch/index pulse location
HOME_SEARCH_VEL <float> homing speed, search phase
HOME_LATCH_VEL <float> homing speed, latch phase
HOME_USE_INDEX <bool> use index pulse when homing
HOME_IGNORE_LIMITS <bool> ignore limit switches when homing
COMP_FILE <filename> file of joint compensation points
calls:
emcJointSetType(int joint, unsigned char jointType);
emcJointSetUnits(int joint, double units);
emcJointSetBacklash(int joint, double backlash);
emcJointSetMinPositionLimit(int joint, double limit);
emcJointSetMaxPositionLimit(int joint, double limit);
emcJointSetFerror(int joint, double ferror);
emcJointSetMinFerror(int joint, double ferror);
emcJointSetHomingParams(int joint, double home, double offset, double home_vel,
double search_vel, double latch_vel,
int use_index, int encoder_does_not_reset,
int ignore_limits, int is_shared, int sequence, int volatile_home));
emcJointActivate(int joint);
emcJointSetMaxVelocity(int joint, double vel);
emcJointSetMaxAcceleration(int joint, double acc);
emcJointLoadComp(int joint, const char * file, int comp_file_type);
*/
static int loadJoint(int joint, EmcIniFile *jointIniFile)
{
char jointString[16];
const char *inistring;
EmcJointType jointType;
double units;
double backlash;
double offset;
double limit;
double home;
double search_vel;
double latch_vel;
double final_vel; // moving from OFFSET to HOME
bool use_index;
bool encoder_does_not_reset;
bool ignore_limits;
bool is_shared;
int sequence;
int volatile_home;
int locking_indexer;
int absolute_encoder;
int comp_file_type; //type for the compensation file. type==0 means nom, forw, rev.
double maxVelocity;
double maxAcceleration;
double ferror;
// compose string to match, joint = 0 -> JOINT_0, etc.
snprintf(jointString, sizeof(jointString), "JOINT_%d", joint);
jointIniFile->EnableExceptions(EmcIniFile::ERR_CONVERSION);
try {
// set joint type
jointType = EMC_LINEAR; // default
jointIniFile->Find(&jointType, "TYPE", jointString);
if (0 != emcJointSetType(joint, jointType)) {
return -1;
}
// set units
if(jointType == EMC_LINEAR){
units = emcTrajGetLinearUnits();
}else{
units = emcTrajGetAngularUnits();
}
if (0 != emcJointSetUnits(joint, units)) {
return -1;
}
// set backlash
backlash = 0; // default
jointIniFile->Find(&backlash, "BACKLASH", jointString);
if (0 != emcJointSetBacklash(joint, backlash)) {
return -1;
}
old_inihal_data.joint_backlash[joint] = backlash;
// set min position limit
limit = -1e99; // default
jointIniFile->Find(&limit, "MIN_LIMIT", jointString);
if (0 != emcJointSetMinPositionLimit(joint, limit)) {
return -1;
}
old_inihal_data.joint_min_limit[joint] = limit;
// set max position limit
limit = 1e99; // default
jointIniFile->Find(&limit, "MAX_LIMIT", jointString);
if (0 != emcJointSetMaxPositionLimit(joint, limit)) {
return -1;
}
old_inihal_data.joint_max_limit[joint] = limit;
// set following error limit (at max speed)
ferror = 1; // default
jointIniFile->Find(&ferror, "FERROR", jointString);
if (0 != emcJointSetFerror(joint, ferror)) {
return -1;
}
old_inihal_data.joint_ferror[joint] = ferror;
// do MIN_FERROR, if it's there. If not, use value of maxFerror above
jointIniFile->Find(&ferror, "MIN_FERROR", jointString);
if (0 != emcJointSetMinFerror(joint, ferror)) {
return -1;
}
old_inihal_data.joint_min_ferror[joint] = ferror;
// set homing paramsters
home = 0; // default
jointIniFile->Find(&home, "HOME", jointString);
old_inihal_data.joint_home[joint] = home;
offset = 0; // default
jointIniFile->Find(&offset, "HOME_OFFSET", jointString);
old_inihal_data.joint_home_offset[joint] = offset;
search_vel = 0; // default
jointIniFile->Find(&search_vel, "HOME_SEARCH_VEL", jointString);
latch_vel = 0; // default
jointIniFile->Find(&latch_vel, "HOME_LATCH_VEL", jointString);
final_vel = -1; // default (rapid)
jointIniFile->Find(&final_vel, "HOME_FINAL_VEL", jointString);
is_shared = false; // default
jointIniFile->Find(&is_shared, "HOME_IS_SHARED", jointString);
use_index = false; // default
jointIniFile->Find(&use_index, "HOME_USE_INDEX", jointString);
encoder_does_not_reset = false; // default
jointIniFile->Find(&encoder_does_not_reset, "HOME_INDEX_NO_ENCODER_RESET", jointString);
ignore_limits = false; // default
jointIniFile->Find(&ignore_limits, "HOME_IGNORE_LIMITS", jointString);
sequence = 999;// default: use unrealizable and positive sequence no.
// so that joints with unspecified HOME_SEQUENCE=
// will not be homed in home-all
jointIniFile->Find(&sequence, "HOME_SEQUENCE", jointString);
old_inihal_data.joint_home_sequence[joint] = sequence;
volatile_home = 0; // default
jointIniFile->Find(&volatile_home, "VOLATILE_HOME", jointString);
locking_indexer = false;
jointIniFile->Find(&locking_indexer, "LOCKING_INDEXER", jointString);
absolute_encoder = false;
jointIniFile->Find(&absolute_encoder, "HOME_ABSOLUTE_ENCODER", jointString);
// issue NML message to set all params
if (0 != emcJointSetHomingParams(joint, home, offset
,final_vel, search_vel, latch_vel
,(int)use_index
,(int)encoder_does_not_reset
,(int)ignore_limits
,(int)is_shared
,sequence
,volatile_home
,locking_indexer
,absolute_encoder
)) {
return -1;
}
// set maximum velocity
maxVelocity = DEFAULT_JOINT_MAX_VELOCITY;
jointIniFile->Find(&maxVelocity, "MAX_VELOCITY", jointString);
if (0 != emcJointSetMaxVelocity(joint, maxVelocity)) {
return -1;
}
old_inihal_data.joint_max_velocity[joint] = maxVelocity;
maxAcceleration = DEFAULT_JOINT_MAX_ACCELERATION;
jointIniFile->Find(&maxAcceleration, "MAX_ACCELERATION", jointString);
if (0 != emcJointSetMaxAcceleration(joint, maxAcceleration)) {
return -1;
}
old_inihal_data.joint_max_acceleration[joint] = maxAcceleration;
comp_file_type = 0; // default
jointIniFile->Find(&comp_file_type, "COMP_FILE_TYPE", jointString);
if (NULL != (inistring = jointIniFile->Find("COMP_FILE", jointString))) {
if (0 != emcJointLoadComp(joint, inistring, comp_file_type)) {
return -1;
}
}
}
catch (EmcIniFile::Exception &e) {
e.Print();
return -1;
}
// lastly, activate joint. Do this last so that the motion controller
// won't flag errors midway during configuration
if (0 != emcJointActivate(joint)) {
return -1;
}
return 0;
}
/*
iniJoint(int joint, const char *filename)
Loads INI file parameters for specified joint
Looks for [KINS]JOINTS for how many to do, up to EMC_JOINT_MAX.
*/
int iniJoint(int joint, const char *filename)
{
EmcIniFile jointIniFile(EmcIniFile::ERR_TAG_NOT_FOUND |
EmcIniFile::ERR_SECTION_NOT_FOUND |
EmcIniFile::ERR_CONVERSION);
if (jointIniFile.Open(filename) == false) {
return -1;
}
// load its values
if (0 != loadJoint(joint, &jointIniFile)) {
return -1;
}
return 0;
}
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