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/********************************************************************
* Description: inispindle.cc
* INI file initialization routines for spindle NML
*
* Derived from a work by Fred Proctor & Will Shackleford
*
* Author: Andy Pugh
* License: GPL Version 2+
* System: Linux
*
* Copyright (c) 2021 All rights reserved.
*
* Last change: created 30/12/21
********************************************************************/
#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 "inispindle.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;
/*
loadSpindls(int spindle)
Loads INI file params for the specified spindle
spindle max and min velocities
*/
static int loadSpindle(int spindle, EmcIniFile *spindleIniFile)
{
int num_spindles = 1;
char spindleString[11];
double max_pos = 1e99;
double max_neg = 0;
double min_pos = 0;
double min_neg = -1e99;
int home_sequence = 0;
double search_vel = 0;
double home_angle = 0;
double increment = 100;
double limit;
spindleIniFile->EnableExceptions(EmcIniFile::ERR_CONVERSION);
if (spindleIniFile->Find(&num_spindles, "SPINDLES", "TRAJ") < 0){
num_spindles = 1; }
if (spindle > num_spindles) return -1;
snprintf(spindleString, sizeof(spindleString), "SPINDLE_%i", spindle);
// set max positive speed limit
if (spindleIniFile->Find(&limit, "MAX_VELOCITY", spindleString) == 0){
max_pos = limit;
min_neg = limit;
}
// set min positive speed limit
if (spindleIniFile->Find(&limit, "MIN_VELOCITY", spindleString) == 0){
min_pos = limit;
max_neg = limit;
}
// set min negative speed limit
if (spindleIniFile->Find(&limit, "MIN_REVERSE_VELOCITY", spindleString) == 0){
max_neg = -1.0 * fabs(limit);
}
// set max negative speed limit
if (spindleIniFile->Find(&limit, "MAX_REVERSE_VELOCITY", spindleString) == 0){
min_neg = -1.0 * fabs(limit);
}
// set home sequence
if (spindleIniFile->Find(&limit, "HOME_SEQUENCE", spindleString) == 0){
home_sequence = (int)limit;
}
// set home velocity
if (spindleIniFile->Find(&limit, "HOME_SEARCH_VELOCITY", spindleString) == 0){
search_vel = (int)limit;
}
/* set home angle - I believe this is a bad idea - andypugh 30/12/21
if (spindleIniFile->Find(&limit, "HOME", spindleString) >= 0){
home_angle = (int)limit;
}*/
home_angle = 0;
// set spindle increment
if (spindleIniFile->Find(&limit, "INCREMENT", spindleString) == 0){
increment = limit;
}
if (0 != emcSpindleSetParams(spindle, max_pos, min_pos, max_neg,
min_neg, search_vel, home_angle, home_sequence, increment)) {
return -1;
}
return 0;
}
/*
iniAxis(int axis, const char *filename)
Loads INI file parameters for specified axis, [0 .. AXES - 1]
*/
int iniSpindle(int spindle, const char *filename)
{
EmcIniFile spindleIniFile(EmcIniFile::ERR_TAG_NOT_FOUND |
EmcIniFile::ERR_SECTION_NOT_FOUND |
EmcIniFile::ERR_CONVERSION);
if (spindleIniFile.Open(filename) == false) {
return -1;
}
// load its values
if (0 != loadSpindle(spindle, &spindleIniFile)) {
return -1;
}
return 0;
}
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