Update wasm port validation state
This commit is contained in:
wangdequan
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@@ -1,207 +0,0 @@
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# Sat Jun 06 15:59:10 CST 2026
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#
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# This file: ./xyzab-tdr_cmds.hal
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# Created by: /home/cnc/桌面/cnc_wams/linuxcnc/lib/hallib/basic_sim.tcl
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# With options:
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# From inifile: /home/cnc/桌面/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini
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# Halfiles: LIB:basic_sim.tcl
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#
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# This file contains the hal commands produced by basic_sim.tcl
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# (and any hal commands executed prior to its execution).
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# ------------------------------------------------------------------
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# To use ./xyzab-tdr_cmds.hal in the original inifile (or a copy of it),
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# edit to change:
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# [HAL]
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# HALFILE = LIB:basic_sim.tcl parameters
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# to:
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# [HAL]
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# HALFILE = ./xyzab-tdr_cmds.hal
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#
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# Notes:
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# 1) Inifile Variables substitutions specified in the inifile
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# and interpreted by halcmd are automatically substituted
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# in the created halfile (./xyzab-tdr_cmds.hal).
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# 2) Input pins connected to a signal with no writer are
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# not included in the setp listings herein so must be added
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# manually
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#
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# user space components
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loadusr -W hal_manualtoolchange
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# components
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#preloaded module: loadrt tpmod
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#preloaded module: loadrt homemod
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loadrt xyzab_tdr_kins
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loadrt motmod base_period_nsec=0 servo_period_nsec=1000000 num_joints=5
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#loadrt __servo-thread (not loaded by loadrt, no args saved)
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loadrt pid names=J0_pid,J1_pid,J2_pid,J3_pid,J4_pid
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loadrt mux2 names=J0_mux,J1_mux,J2_mux,J3_mux,J4_mux
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loadrt ddt names=J0_vel,J0_accel,J1_vel,J1_accel,J2_vel,J2_accel,J3_vel,J3_accel,J4_vel,J4_accel
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loadrt sim_home_switch names=J0_switch,J1_switch,J2_switch,J3_switch,J4_switch
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loadrt sim_spindle names=sim_spindle
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loadrt limit2 names=limit_speed
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loadrt lowpass names=spindle_mass
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loadrt near names=near_speed
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loadrt scale names=rpm_rps
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# pin aliases
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# param aliases
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# signals
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# nets
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net J0:acc J0_accel.out
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net J0:enable joint.0.amp-enable-out => J0_pid.enable
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net J0:homesw J0_switch.home-sw => joint.0.home-sw-in
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net J0:on-pos J0_pid.output => J0_mux.in1
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net J0:pos-cmd joint.0.motor-pos-cmd => J0_pid.command
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net J0:pos-fb J0_mux.out => J0_mux.in0 J0_switch.cur-pos J0_vel.in joint.0.motor-pos-fb
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net J0:vel J0_vel.out => J0_accel.in
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net J1:acc J1_accel.out
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net J1:enable joint.1.amp-enable-out => J1_pid.enable
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net J1:homesw J1_switch.home-sw => joint.1.home-sw-in
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net J1:on-pos J1_pid.output => J1_mux.in1
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net J1:pos-cmd joint.1.motor-pos-cmd => J1_pid.command
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net J1:pos-fb J1_mux.out => J1_mux.in0 J1_switch.cur-pos J1_vel.in joint.1.motor-pos-fb
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net J1:vel J1_vel.out => J1_accel.in
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net J2:acc J2_accel.out
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net J2:enable joint.2.amp-enable-out => J2_pid.enable
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net J2:homesw J2_switch.home-sw => joint.2.home-sw-in
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net J2:on-pos J2_pid.output => J2_mux.in1
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net J2:pos-cmd joint.2.motor-pos-cmd => J2_pid.command
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net J2:pos-fb J2_mux.out => J2_mux.in0 J2_switch.cur-pos J2_vel.in joint.2.motor-pos-fb
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net J2:vel J2_vel.out => J2_accel.in
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net J3:acc J3_accel.out
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net J3:enable joint.3.amp-enable-out => J3_pid.enable
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net J3:homesw J3_switch.home-sw => joint.3.home-sw-in
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net J3:on-pos J3_pid.output => J3_mux.in1
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net J3:pos-cmd joint.3.motor-pos-cmd => J3_pid.command
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net J3:pos-fb J3_mux.out => J3_mux.in0 J3_switch.cur-pos J3_vel.in joint.3.motor-pos-fb
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net J3:vel J3_vel.out => J3_accel.in
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net J4:acc J4_accel.out
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net J4:enable joint.4.amp-enable-out => J4_pid.enable
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net J4:homesw J4_switch.home-sw => joint.4.home-sw-in
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net J4:on-pos J4_pid.output => J4_mux.in1
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net J4:pos-cmd joint.4.motor-pos-cmd => J4_pid.command
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net J4:pos-fb J4_mux.out => J4_mux.in0 J4_switch.cur-pos J4_vel.in joint.4.motor-pos-fb
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net J4:vel J4_vel.out => J4_accel.in
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net estop:loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
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net sample:enable motion.motion-enabled => J0_mux.sel J1_mux.sel J2_mux.sel J3_mux.sel J4_mux.sel
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net spindle-at-speed near_speed.out => spindle.0.at-speed
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net spindle-index-enable sim_spindle.index-enable <=> spindle.0.index-enable
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net spindle-orient spindle.0.orient => spindle.0.is-oriented
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net spindle-pos sim_spindle.position-fb => spindle.0.revs
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net spindle-rpm-filtered spindle_mass.out => near_speed.in2 rpm_rps.in
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net spindle-rps-filtered rpm_rps.out => spindle.0.speed-in
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net spindle-speed-cmd spindle.0.speed-out => limit_speed.in near_speed.in1
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net spindle-speed-limited limit_speed.out => sim_spindle.velocity-cmd spindle_mass.in
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net tool:change iocontrol.0.tool-change => hal_manualtoolchange.change
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net tool:changed hal_manualtoolchange.changed => iocontrol.0.tool-changed
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net tool:prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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net tool:prep-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
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# parameter values
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setp J0_accel.tmax 0
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setp J0_mux.tmax 0
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setp J0_pid.do-pid-calcs.tmax 0
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setp J0_switch.tmax 0
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setp J0_vel.tmax 0
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setp J1_accel.tmax 0
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setp J1_mux.tmax 0
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setp J1_pid.do-pid-calcs.tmax 0
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setp J1_switch.tmax 0
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setp J1_vel.tmax 0
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setp J2_accel.tmax 0
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setp J2_mux.tmax 0
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setp J2_pid.do-pid-calcs.tmax 0
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setp J2_switch.tmax 0
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setp J2_vel.tmax 0
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setp J3_accel.tmax 0
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||||
setp J3_mux.tmax 0
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setp J3_pid.do-pid-calcs.tmax 0
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||||
setp J3_switch.tmax 0
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setp J3_vel.tmax 0
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||||
setp J4_accel.tmax 0
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||||
setp J4_mux.tmax 0
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||||
setp J4_pid.do-pid-calcs.tmax 0
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||||
setp J4_switch.tmax 0
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||||
setp J4_vel.tmax 0
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||||
setp limit_speed.tmax 0
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||||
setp motion-command-handler.tmax 0
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||||
setp motion-controller.tmax 0
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||||
setp near_speed.difference 10
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setp near_speed.scale 1.1
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setp near_speed.tmax 0
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||||
setp rpm_rps.tmax 0
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||||
setp servo-thread.tmax 0
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||||
setp sim_spindle.scale 0.01666667
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||||
setp sim_spindle.tmax 0
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||||
setp spindle_mass.gain 0.07
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||||
setp spindle_mass.tmax 0
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||||
# realtime thread/function links
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||||
addf motion-command-handler servo-thread
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||||
addf motion-controller servo-thread
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||||
addf J0_pid.do-pid-calcs servo-thread
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addf J1_pid.do-pid-calcs servo-thread
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addf J2_pid.do-pid-calcs servo-thread
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||||
addf J3_pid.do-pid-calcs servo-thread
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||||
addf J4_pid.do-pid-calcs servo-thread
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||||
addf J0_mux servo-thread
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||||
addf J1_mux servo-thread
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||||
addf J2_mux servo-thread
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||||
addf J3_mux servo-thread
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||||
addf J4_mux servo-thread
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||||
addf J0_vel servo-thread
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||||
addf J0_accel servo-thread
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||||
addf J1_vel servo-thread
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||||
addf J1_accel servo-thread
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||||
addf J2_vel servo-thread
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||||
addf J2_accel servo-thread
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||||
addf J3_vel servo-thread
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||||
addf J3_accel servo-thread
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||||
addf J4_vel servo-thread
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addf J4_accel servo-thread
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||||
addf J0_switch servo-thread
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addf J1_switch servo-thread
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||||
addf J2_switch servo-thread
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||||
addf J3_switch servo-thread
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||||
addf J4_switch servo-thread
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||||
addf limit_speed servo-thread
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||||
addf spindle_mass servo-thread
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||||
addf rpm_rps servo-thread
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||||
addf near_speed servo-thread
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||||
addf sim_spindle servo-thread
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# setp commands for unconnected input pins
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||||
setp J0_pid.FF0 1.0
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||||
setp J0_pid.Pgain 0
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||||
setp J0_pid.Dgain 0
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||||
setp J0_pid.Igain 0
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||||
setp J0_pid.FF1 0
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||||
setp J0_pid.FF2 0
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||||
setp J1_pid.FF0 1.0
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||||
setp J1_pid.Pgain 0
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||||
setp J1_pid.Dgain 0
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||||
setp J1_pid.Igain 0
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||||
setp J1_pid.FF1 0
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||||
setp J1_pid.FF2 0
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||||
setp J2_pid.FF0 1.0
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||||
setp J2_pid.Pgain 0
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||||
setp J2_pid.Dgain 0
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||||
setp J2_pid.Igain 0
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||||
setp J2_pid.FF1 0
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||||
setp J2_pid.FF2 0
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||||
setp J3_pid.FF0 1.0
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||||
setp J3_pid.Pgain 0
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||||
setp J3_pid.Dgain 0
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||||
setp J3_pid.Igain 0
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||||
setp J3_pid.FF1 0
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||||
setp J3_pid.FF2 0
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||||
setp J4_pid.FF0 1.0
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||||
setp J4_pid.Pgain 0
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||||
setp J4_pid.Dgain 0
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||||
setp J4_pid.Igain 0
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||||
setp J4_pid.FF1 0
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||||
setp J4_pid.FF2 0
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||||
setp sim_spindle.scale 0.01666667
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||||
setp limit_speed.maxv 5000.0
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||||
setp spindle_mass.gain .07
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||||
setp near_speed.scale 1.1
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||||
setp near_speed.difference 10
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@@ -1,207 +0,0 @@
|
||||
# Sat Jun 06 15:43:11 CST 2026
|
||||
#
|
||||
# This file: ./xyzac-trt_cmds.hal
|
||||
# Created by: /home/cnc/桌面/cnc_wams/linuxcnc/lib/hallib/basic_sim.tcl
|
||||
# With options:
|
||||
# From inifile: /home/cnc/桌面/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini
|
||||
# Halfiles: LIB:basic_sim.tcl
|
||||
#
|
||||
# This file contains the hal commands produced by basic_sim.tcl
|
||||
# (and any hal commands executed prior to its execution).
|
||||
# ------------------------------------------------------------------
|
||||
# To use ./xyzac-trt_cmds.hal in the original inifile (or a copy of it),
|
||||
# edit to change:
|
||||
# [HAL]
|
||||
# HALFILE = LIB:basic_sim.tcl parameters
|
||||
# to:
|
||||
# [HAL]
|
||||
# HALFILE = ./xyzac-trt_cmds.hal
|
||||
#
|
||||
# Notes:
|
||||
# 1) Inifile Variables substitutions specified in the inifile
|
||||
# and interpreted by halcmd are automatically substituted
|
||||
# in the created halfile (./xyzac-trt_cmds.hal).
|
||||
# 2) Input pins connected to a signal with no writer are
|
||||
# not included in the setp listings herein so must be added
|
||||
# manually
|
||||
#
|
||||
|
||||
# user space components
|
||||
loadusr -W hal_manualtoolchange
|
||||
|
||||
# components
|
||||
#preloaded module: loadrt tpmod
|
||||
#preloaded module: loadrt homemod
|
||||
loadrt xyzac-trt-kins sparm=identityfirst
|
||||
loadrt motmod base_period_nsec=0 servo_period_nsec=1000000 num_joints=5
|
||||
#loadrt __servo-thread (not loaded by loadrt, no args saved)
|
||||
loadrt pid names=J0_pid,J1_pid,J2_pid,J3_pid,J4_pid
|
||||
loadrt mux2 names=J0_mux,J1_mux,J2_mux,J3_mux,J4_mux
|
||||
loadrt ddt names=J0_vel,J0_accel,J1_vel,J1_accel,J2_vel,J2_accel,J3_vel,J3_accel,J4_vel,J4_accel
|
||||
loadrt sim_home_switch names=J0_switch,J1_switch,J2_switch,J3_switch,J4_switch
|
||||
loadrt sim_spindle names=sim_spindle
|
||||
loadrt limit2 names=limit_speed
|
||||
loadrt lowpass names=spindle_mass
|
||||
loadrt near names=near_speed
|
||||
loadrt scale names=rpm_rps
|
||||
# pin aliases
|
||||
# param aliases
|
||||
# signals
|
||||
# nets
|
||||
net J0:acc J0_accel.out
|
||||
net J0:enable joint.0.amp-enable-out => J0_pid.enable
|
||||
net J0:homesw J0_switch.home-sw => joint.0.home-sw-in
|
||||
net J0:on-pos J0_pid.output => J0_mux.in1
|
||||
net J0:pos-cmd joint.0.motor-pos-cmd => J0_pid.command
|
||||
net J0:pos-fb J0_mux.out => J0_mux.in0 J0_switch.cur-pos J0_vel.in joint.0.motor-pos-fb
|
||||
net J0:vel J0_vel.out => J0_accel.in
|
||||
net J1:acc J1_accel.out
|
||||
net J1:enable joint.1.amp-enable-out => J1_pid.enable
|
||||
net J1:homesw J1_switch.home-sw => joint.1.home-sw-in
|
||||
net J1:on-pos J1_pid.output => J1_mux.in1
|
||||
net J1:pos-cmd joint.1.motor-pos-cmd => J1_pid.command
|
||||
net J1:pos-fb J1_mux.out => J1_mux.in0 J1_switch.cur-pos J1_vel.in joint.1.motor-pos-fb
|
||||
net J1:vel J1_vel.out => J1_accel.in
|
||||
net J2:acc J2_accel.out
|
||||
net J2:enable joint.2.amp-enable-out => J2_pid.enable
|
||||
net J2:homesw J2_switch.home-sw => joint.2.home-sw-in
|
||||
net J2:on-pos J2_pid.output => J2_mux.in1
|
||||
net J2:pos-cmd joint.2.motor-pos-cmd => J2_pid.command
|
||||
net J2:pos-fb J2_mux.out => J2_mux.in0 J2_switch.cur-pos J2_vel.in joint.2.motor-pos-fb
|
||||
net J2:vel J2_vel.out => J2_accel.in
|
||||
net J3:acc J3_accel.out
|
||||
net J3:enable joint.3.amp-enable-out => J3_pid.enable
|
||||
net J3:homesw J3_switch.home-sw => joint.3.home-sw-in
|
||||
net J3:on-pos J3_pid.output => J3_mux.in1
|
||||
net J3:pos-cmd joint.3.motor-pos-cmd => J3_pid.command
|
||||
net J3:pos-fb J3_mux.out => J3_mux.in0 J3_switch.cur-pos J3_vel.in joint.3.motor-pos-fb
|
||||
net J3:vel J3_vel.out => J3_accel.in
|
||||
net J4:acc J4_accel.out
|
||||
net J4:enable joint.4.amp-enable-out => J4_pid.enable
|
||||
net J4:homesw J4_switch.home-sw => joint.4.home-sw-in
|
||||
net J4:on-pos J4_pid.output => J4_mux.in1
|
||||
net J4:pos-cmd joint.4.motor-pos-cmd => J4_pid.command
|
||||
net J4:pos-fb J4_mux.out => J4_mux.in0 J4_switch.cur-pos J4_vel.in joint.4.motor-pos-fb
|
||||
net J4:vel J4_vel.out => J4_accel.in
|
||||
net estop:loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
|
||||
net sample:enable motion.motion-enabled => J0_mux.sel J1_mux.sel J2_mux.sel J3_mux.sel J4_mux.sel
|
||||
net spindle-at-speed near_speed.out => spindle.0.at-speed
|
||||
net spindle-index-enable sim_spindle.index-enable <=> spindle.0.index-enable
|
||||
net spindle-orient spindle.0.orient => spindle.0.is-oriented
|
||||
net spindle-pos sim_spindle.position-fb => spindle.0.revs
|
||||
net spindle-rpm-filtered spindle_mass.out => near_speed.in2 rpm_rps.in
|
||||
net spindle-rps-filtered rpm_rps.out => spindle.0.speed-in
|
||||
net spindle-speed-cmd spindle.0.speed-out => limit_speed.in near_speed.in1
|
||||
net spindle-speed-limited limit_speed.out => sim_spindle.velocity-cmd spindle_mass.in
|
||||
net tool:change iocontrol.0.tool-change => hal_manualtoolchange.change
|
||||
net tool:changed hal_manualtoolchange.changed => iocontrol.0.tool-changed
|
||||
net tool:prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
|
||||
net tool:prep-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
|
||||
# parameter values
|
||||
setp J0_accel.tmax 0
|
||||
setp J0_mux.tmax 0
|
||||
setp J0_pid.do-pid-calcs.tmax 0
|
||||
setp J0_switch.tmax 0
|
||||
setp J0_vel.tmax 0
|
||||
setp J1_accel.tmax 0
|
||||
setp J1_mux.tmax 0
|
||||
setp J1_pid.do-pid-calcs.tmax 0
|
||||
setp J1_switch.tmax 0
|
||||
setp J1_vel.tmax 0
|
||||
setp J2_accel.tmax 0
|
||||
setp J2_mux.tmax 0
|
||||
setp J2_pid.do-pid-calcs.tmax 0
|
||||
setp J2_switch.tmax 0
|
||||
setp J2_vel.tmax 0
|
||||
setp J3_accel.tmax 0
|
||||
setp J3_mux.tmax 0
|
||||
setp J3_pid.do-pid-calcs.tmax 0
|
||||
setp J3_switch.tmax 0
|
||||
setp J3_vel.tmax 0
|
||||
setp J4_accel.tmax 0
|
||||
setp J4_mux.tmax 0
|
||||
setp J4_pid.do-pid-calcs.tmax 0
|
||||
setp J4_switch.tmax 0
|
||||
setp J4_vel.tmax 0
|
||||
setp limit_speed.tmax 0
|
||||
setp motion-command-handler.tmax 0
|
||||
setp motion-controller.tmax 0
|
||||
setp near_speed.difference 10
|
||||
setp near_speed.scale 1.1
|
||||
setp near_speed.tmax 0
|
||||
setp rpm_rps.tmax 0
|
||||
setp servo-thread.tmax 0
|
||||
setp sim_spindle.scale 0.01666667
|
||||
setp sim_spindle.tmax 0
|
||||
setp spindle_mass.gain 0.07
|
||||
setp spindle_mass.tmax 0
|
||||
# realtime thread/function links
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller servo-thread
|
||||
addf J0_pid.do-pid-calcs servo-thread
|
||||
addf J1_pid.do-pid-calcs servo-thread
|
||||
addf J2_pid.do-pid-calcs servo-thread
|
||||
addf J3_pid.do-pid-calcs servo-thread
|
||||
addf J4_pid.do-pid-calcs servo-thread
|
||||
addf J0_mux servo-thread
|
||||
addf J1_mux servo-thread
|
||||
addf J2_mux servo-thread
|
||||
addf J3_mux servo-thread
|
||||
addf J4_mux servo-thread
|
||||
addf J0_vel servo-thread
|
||||
addf J0_accel servo-thread
|
||||
addf J1_vel servo-thread
|
||||
addf J1_accel servo-thread
|
||||
addf J2_vel servo-thread
|
||||
addf J2_accel servo-thread
|
||||
addf J3_vel servo-thread
|
||||
addf J3_accel servo-thread
|
||||
addf J4_vel servo-thread
|
||||
addf J4_accel servo-thread
|
||||
addf J0_switch servo-thread
|
||||
addf J1_switch servo-thread
|
||||
addf J2_switch servo-thread
|
||||
addf J3_switch servo-thread
|
||||
addf J4_switch servo-thread
|
||||
addf limit_speed servo-thread
|
||||
addf spindle_mass servo-thread
|
||||
addf rpm_rps servo-thread
|
||||
addf near_speed servo-thread
|
||||
addf sim_spindle servo-thread
|
||||
|
||||
# setp commands for unconnected input pins
|
||||
setp J0_pid.FF0 1.0
|
||||
setp J0_pid.Pgain 0
|
||||
setp J0_pid.Dgain 0
|
||||
setp J0_pid.Igain 0
|
||||
setp J0_pid.FF1 0
|
||||
setp J0_pid.FF2 0
|
||||
setp J1_pid.FF0 1.0
|
||||
setp J1_pid.Pgain 0
|
||||
setp J1_pid.Dgain 0
|
||||
setp J1_pid.Igain 0
|
||||
setp J1_pid.FF1 0
|
||||
setp J1_pid.FF2 0
|
||||
setp J2_pid.FF0 1.0
|
||||
setp J2_pid.Pgain 0
|
||||
setp J2_pid.Dgain 0
|
||||
setp J2_pid.Igain 0
|
||||
setp J2_pid.FF1 0
|
||||
setp J2_pid.FF2 0
|
||||
setp J3_pid.FF0 1.0
|
||||
setp J3_pid.Pgain 0
|
||||
setp J3_pid.Dgain 0
|
||||
setp J3_pid.Igain 0
|
||||
setp J3_pid.FF1 0
|
||||
setp J3_pid.FF2 0
|
||||
setp J4_pid.FF0 1.0
|
||||
setp J4_pid.Pgain 0
|
||||
setp J4_pid.Dgain 0
|
||||
setp J4_pid.Igain 0
|
||||
setp J4_pid.FF1 0
|
||||
setp J4_pid.FF2 0
|
||||
setp sim_spindle.scale 0.01666667
|
||||
setp limit_speed.maxv 5000.0
|
||||
setp spindle_mass.gain .07
|
||||
setp near_speed.scale 1.1
|
||||
setp near_speed.difference 10
|
||||
@@ -20,7 +20,7 @@ grid_size = 1.0
|
||||
view = p
|
||||
mouse_btn_mode = 4
|
||||
hide_cursor = False
|
||||
system_name_tool = Working Offset
|
||||
system_name_tool = Tool
|
||||
system_name_g5x = G5x
|
||||
system_name_rot = Rot
|
||||
system_name_g92 = G92
|
||||
@@ -36,7 +36,7 @@ system_name_g59.3 = G59.3
|
||||
jump_to_dir = /home/gmoccapy
|
||||
show_keyboard_on_offset = False
|
||||
show_keyboard_on_tooledit = False
|
||||
show_keyboard_on_edit = False
|
||||
show_keyboard_on_edit = True
|
||||
show_keyboard_on_mdi = False
|
||||
show_keyboard_on_file_selection = False
|
||||
spindle_bar_min = 0.0
|
||||
@@ -73,25 +73,4 @@ reload_tool = True
|
||||
tool_in_spindle = 0
|
||||
blockheight = 0.0
|
||||
use_toolmeasurement = False
|
||||
kbd_height = 250
|
||||
kbd_width = 880
|
||||
kbd_set_height = False
|
||||
kbd_set_width = False
|
||||
info_tab_page = 0
|
||||
jog_btn_size = 48
|
||||
jog_box_width = 360
|
||||
toolpage_use_calc = True
|
||||
offsetpage_use_calc = True
|
||||
gcodeview_font = monospace 10
|
||||
hide_titlebar = False
|
||||
icon_theme = classic
|
||||
gcode_theme = classic
|
||||
audio_enabled = True
|
||||
hide_tooltips = False
|
||||
system_name_g28 = G28
|
||||
system_name_g30 = G30
|
||||
iconview_sortorder = 0
|
||||
iconview_sortbydate = 1
|
||||
iconview_folderfirst = 0
|
||||
sort_by_date = False
|
||||
|
||||
|
||||
@@ -1,202 +0,0 @@
|
||||
# Fri Jun 26 05:57:43 EDT 2026
|
||||
#
|
||||
# This file: ./xyzac-trt_cmds.hal
|
||||
# Created by: /home/meswork/cnc_wams/linuxcnc/lib/hallib/basic_sim.tcl
|
||||
# With options: -no_use_hal_manualtoolchange
|
||||
# From inifile: /home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini
|
||||
# Halfiles: {LIB:basic_sim.tcl -no_use_hal_manualtoolchange}
|
||||
#
|
||||
# This file contains the hal commands produced by basic_sim.tcl
|
||||
# (and any hal commands executed prior to its execution).
|
||||
# ------------------------------------------------------------------
|
||||
# To use ./xyzac-trt_cmds.hal in the original inifile (or a copy of it),
|
||||
# edit to change:
|
||||
# [HAL]
|
||||
# HALFILE = LIB:basic_sim.tcl parameters
|
||||
# to:
|
||||
# [HAL]
|
||||
# HALFILE = ./xyzac-trt_cmds.hal
|
||||
#
|
||||
# Notes:
|
||||
# 1) Inifile Variables substitutions specified in the inifile
|
||||
# and interpreted by halcmd are automatically substituted
|
||||
# in the created halfile (./xyzac-trt_cmds.hal).
|
||||
# 2) Input pins connected to a signal with no writer are
|
||||
# not included in the setp listings herein so must be added
|
||||
# manually
|
||||
#
|
||||
|
||||
# components
|
||||
#preloaded module: loadrt tpmod
|
||||
#preloaded module: loadrt homemod
|
||||
loadrt xyzac-trt-kins
|
||||
loadrt motmod base_period_nsec=0 servo_period_nsec=1000000 num_joints=5
|
||||
#loadrt __servo-thread (not loaded by loadrt, no args saved)
|
||||
loadrt pid names=J0_pid,J1_pid,J2_pid,J3_pid,J4_pid
|
||||
loadrt mux2 names=J0_mux,J1_mux,J2_mux,J3_mux,J4_mux
|
||||
loadrt ddt names=J0_vel,J0_accel,J1_vel,J1_accel,J2_vel,J2_accel,J3_vel,J3_accel,J4_vel,J4_accel
|
||||
loadrt sim_home_switch names=J0_switch,J1_switch,J2_switch,J3_switch,J4_switch
|
||||
loadrt sim_spindle names=sim_spindle
|
||||
loadrt limit2 names=limit_speed
|
||||
loadrt lowpass names=spindle_mass
|
||||
loadrt near names=near_speed
|
||||
loadrt scale names=rpm_rps
|
||||
# pin aliases
|
||||
# param aliases
|
||||
# signals
|
||||
# nets
|
||||
net J0:acc J0_accel.out
|
||||
net J0:enable joint.0.amp-enable-out => J0_pid.enable
|
||||
net J0:homesw J0_switch.home-sw => joint.0.home-sw-in
|
||||
net J0:on-pos J0_pid.output => J0_mux.in1
|
||||
net J0:pos-cmd joint.0.motor-pos-cmd => J0_pid.command
|
||||
net J0:pos-fb J0_mux.out => J0_mux.in0 J0_switch.cur-pos J0_vel.in joint.0.motor-pos-fb
|
||||
net J0:vel J0_vel.out => J0_accel.in
|
||||
net J1:acc J1_accel.out
|
||||
net J1:enable joint.1.amp-enable-out => J1_pid.enable
|
||||
net J1:homesw J1_switch.home-sw => joint.1.home-sw-in
|
||||
net J1:on-pos J1_pid.output => J1_mux.in1
|
||||
net J1:pos-cmd joint.1.motor-pos-cmd => J1_pid.command
|
||||
net J1:pos-fb J1_mux.out => J1_mux.in0 J1_switch.cur-pos J1_vel.in joint.1.motor-pos-fb
|
||||
net J1:vel J1_vel.out => J1_accel.in
|
||||
net J2:acc J2_accel.out
|
||||
net J2:enable joint.2.amp-enable-out => J2_pid.enable
|
||||
net J2:homesw J2_switch.home-sw => joint.2.home-sw-in
|
||||
net J2:on-pos J2_pid.output => J2_mux.in1
|
||||
net J2:pos-cmd joint.2.motor-pos-cmd => J2_pid.command
|
||||
net J2:pos-fb J2_mux.out => J2_mux.in0 J2_switch.cur-pos J2_vel.in joint.2.motor-pos-fb
|
||||
net J2:vel J2_vel.out => J2_accel.in
|
||||
net J3:acc J3_accel.out
|
||||
net J3:enable joint.3.amp-enable-out => J3_pid.enable
|
||||
net J3:homesw J3_switch.home-sw => joint.3.home-sw-in
|
||||
net J3:on-pos J3_pid.output => J3_mux.in1
|
||||
net J3:pos-cmd joint.3.motor-pos-cmd => J3_pid.command
|
||||
net J3:pos-fb J3_mux.out => J3_mux.in0 J3_switch.cur-pos J3_vel.in joint.3.motor-pos-fb
|
||||
net J3:vel J3_vel.out => J3_accel.in
|
||||
net J4:acc J4_accel.out
|
||||
net J4:enable joint.4.amp-enable-out => J4_pid.enable
|
||||
net J4:homesw J4_switch.home-sw => joint.4.home-sw-in
|
||||
net J4:on-pos J4_pid.output => J4_mux.in1
|
||||
net J4:pos-cmd joint.4.motor-pos-cmd => J4_pid.command
|
||||
net J4:pos-fb J4_mux.out => J4_mux.in0 J4_switch.cur-pos J4_vel.in joint.4.motor-pos-fb
|
||||
net J4:vel J4_vel.out => J4_accel.in
|
||||
net estop:loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
|
||||
net sample:enable motion.motion-enabled => J0_mux.sel J1_mux.sel J2_mux.sel J3_mux.sel J4_mux.sel
|
||||
net spindle-at-speed near_speed.out => spindle.0.at-speed
|
||||
net spindle-index-enable sim_spindle.index-enable <=> spindle.0.index-enable
|
||||
net spindle-orient spindle.0.orient => spindle.0.is-oriented
|
||||
net spindle-pos sim_spindle.position-fb => spindle.0.revs
|
||||
net spindle-rpm-filtered spindle_mass.out => near_speed.in2 rpm_rps.in
|
||||
net spindle-rps-filtered rpm_rps.out => spindle.0.speed-in
|
||||
net spindle-speed-cmd spindle.0.speed-out => limit_speed.in near_speed.in1
|
||||
net spindle-speed-limited limit_speed.out => sim_spindle.velocity-cmd spindle_mass.in
|
||||
net tool:change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
|
||||
net tool:prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
|
||||
# parameter values
|
||||
setp J0_accel.tmax 0
|
||||
setp J0_mux.tmax 0
|
||||
setp J0_pid.do-pid-calcs.tmax 0
|
||||
setp J0_switch.tmax 0
|
||||
setp J0_vel.tmax 0
|
||||
setp J1_accel.tmax 0
|
||||
setp J1_mux.tmax 0
|
||||
setp J1_pid.do-pid-calcs.tmax 0
|
||||
setp J1_switch.tmax 0
|
||||
setp J1_vel.tmax 0
|
||||
setp J2_accel.tmax 0
|
||||
setp J2_mux.tmax 0
|
||||
setp J2_pid.do-pid-calcs.tmax 0
|
||||
setp J2_switch.tmax 0
|
||||
setp J2_vel.tmax 0
|
||||
setp J3_accel.tmax 0
|
||||
setp J3_mux.tmax 0
|
||||
setp J3_pid.do-pid-calcs.tmax 0
|
||||
setp J3_switch.tmax 0
|
||||
setp J3_vel.tmax 0
|
||||
setp J4_accel.tmax 0
|
||||
setp J4_mux.tmax 0
|
||||
setp J4_pid.do-pid-calcs.tmax 0
|
||||
setp J4_switch.tmax 0
|
||||
setp J4_vel.tmax 0
|
||||
setp limit_speed.tmax 0
|
||||
setp motion-command-handler.tmax 0
|
||||
setp motion-controller.tmax 0
|
||||
setp near_speed.difference 10
|
||||
setp near_speed.scale 1.1
|
||||
setp near_speed.tmax 0
|
||||
setp rpm_rps.tmax 0
|
||||
setp servo-thread.tmax 0
|
||||
setp sim_spindle.scale 0.01666667
|
||||
setp sim_spindle.tmax 0
|
||||
setp spindle_mass.gain 0.07
|
||||
setp spindle_mass.tmax 0
|
||||
# realtime thread/function links
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller servo-thread
|
||||
addf J0_pid.do-pid-calcs servo-thread
|
||||
addf J1_pid.do-pid-calcs servo-thread
|
||||
addf J2_pid.do-pid-calcs servo-thread
|
||||
addf J3_pid.do-pid-calcs servo-thread
|
||||
addf J4_pid.do-pid-calcs servo-thread
|
||||
addf J0_mux servo-thread
|
||||
addf J1_mux servo-thread
|
||||
addf J2_mux servo-thread
|
||||
addf J3_mux servo-thread
|
||||
addf J4_mux servo-thread
|
||||
addf J0_vel servo-thread
|
||||
addf J0_accel servo-thread
|
||||
addf J1_vel servo-thread
|
||||
addf J1_accel servo-thread
|
||||
addf J2_vel servo-thread
|
||||
addf J2_accel servo-thread
|
||||
addf J3_vel servo-thread
|
||||
addf J3_accel servo-thread
|
||||
addf J4_vel servo-thread
|
||||
addf J4_accel servo-thread
|
||||
addf J0_switch servo-thread
|
||||
addf J1_switch servo-thread
|
||||
addf J2_switch servo-thread
|
||||
addf J3_switch servo-thread
|
||||
addf J4_switch servo-thread
|
||||
addf limit_speed servo-thread
|
||||
addf spindle_mass servo-thread
|
||||
addf rpm_rps servo-thread
|
||||
addf near_speed servo-thread
|
||||
addf sim_spindle servo-thread
|
||||
|
||||
# setp commands for unconnected input pins
|
||||
setp J0_pid.FF0 1.0
|
||||
setp J0_pid.Pgain 0
|
||||
setp J0_pid.Dgain 0
|
||||
setp J0_pid.Igain 0
|
||||
setp J0_pid.FF1 0
|
||||
setp J0_pid.FF2 0
|
||||
setp J1_pid.FF0 1.0
|
||||
setp J1_pid.Pgain 0
|
||||
setp J1_pid.Dgain 0
|
||||
setp J1_pid.Igain 0
|
||||
setp J1_pid.FF1 0
|
||||
setp J1_pid.FF2 0
|
||||
setp J2_pid.FF0 1.0
|
||||
setp J2_pid.Pgain 0
|
||||
setp J2_pid.Dgain 0
|
||||
setp J2_pid.Igain 0
|
||||
setp J2_pid.FF1 0
|
||||
setp J2_pid.FF2 0
|
||||
setp J3_pid.FF0 1.0
|
||||
setp J3_pid.Pgain 0
|
||||
setp J3_pid.Dgain 0
|
||||
setp J3_pid.Igain 0
|
||||
setp J3_pid.FF1 0
|
||||
setp J3_pid.FF2 0
|
||||
setp J4_pid.FF0 1.0
|
||||
setp J4_pid.Pgain 0
|
||||
setp J4_pid.Dgain 0
|
||||
setp J4_pid.Igain 0
|
||||
setp J4_pid.FF1 0
|
||||
setp J4_pid.FF2 0
|
||||
setp sim_spindle.scale 0.01666667
|
||||
setp limit_speed.maxv 5000.0
|
||||
setp spindle_mass.gain .07
|
||||
setp near_speed.scale 1.1
|
||||
setp near_speed.difference 10
|
||||
@@ -1,119 +0,0 @@
|
||||
5161 0.000000
|
||||
5162 0.000000
|
||||
5163 0.000000
|
||||
5164 0.000000
|
||||
5165 0.000000
|
||||
5166 0.000000
|
||||
5167 0.000000
|
||||
5168 0.000000
|
||||
5169 0.000000
|
||||
5181 0.000000
|
||||
5182 0.000000
|
||||
5183 0.000000
|
||||
5184 0.000000
|
||||
5185 0.000000
|
||||
5186 0.000000
|
||||
5187 0.000000
|
||||
5188 0.000000
|
||||
5189 0.000000
|
||||
5210 0.000000
|
||||
5211 0.000000
|
||||
5212 0.000000
|
||||
5213 0.000000
|
||||
5214 0.000000
|
||||
5215 0.000000
|
||||
5216 0.000000
|
||||
5217 0.000000
|
||||
5218 0.000000
|
||||
5219 0.000000
|
||||
5220 1.000000
|
||||
5221 0.000000
|
||||
5222 0.000000
|
||||
5223 0.000000
|
||||
5224 0.000000
|
||||
5225 0.000000
|
||||
5226 0.000000
|
||||
5227 0.000000
|
||||
5228 0.000000
|
||||
5229 0.000000
|
||||
5230 0.000000
|
||||
5241 0.000000
|
||||
5242 0.000000
|
||||
5243 0.000000
|
||||
5244 0.000000
|
||||
5245 0.000000
|
||||
5246 0.000000
|
||||
5247 0.000000
|
||||
5248 0.000000
|
||||
5249 0.000000
|
||||
5250 0.000000
|
||||
5261 0.000000
|
||||
5262 0.000000
|
||||
5263 0.000000
|
||||
5264 0.000000
|
||||
5265 0.000000
|
||||
5266 0.000000
|
||||
5267 0.000000
|
||||
5268 0.000000
|
||||
5269 0.000000
|
||||
5270 0.000000
|
||||
5281 0.000000
|
||||
5282 0.000000
|
||||
5283 0.000000
|
||||
5284 0.000000
|
||||
5285 0.000000
|
||||
5286 0.000000
|
||||
5287 0.000000
|
||||
5288 0.000000
|
||||
5289 0.000000
|
||||
5290 0.000000
|
||||
5301 0.000000
|
||||
5302 0.000000
|
||||
5303 0.000000
|
||||
5304 0.000000
|
||||
5305 0.000000
|
||||
5306 0.000000
|
||||
5307 0.000000
|
||||
5308 0.000000
|
||||
5309 0.000000
|
||||
5310 0.000000
|
||||
5321 0.000000
|
||||
5322 0.000000
|
||||
5323 0.000000
|
||||
5324 0.000000
|
||||
5325 0.000000
|
||||
5326 0.000000
|
||||
5327 0.000000
|
||||
5328 0.000000
|
||||
5329 0.000000
|
||||
5330 0.000000
|
||||
5341 0.000000
|
||||
5342 0.000000
|
||||
5343 0.000000
|
||||
5344 0.000000
|
||||
5345 0.000000
|
||||
5346 0.000000
|
||||
5347 0.000000
|
||||
5348 0.000000
|
||||
5349 0.000000
|
||||
5350 0.000000
|
||||
5361 0.000000
|
||||
5362 0.000000
|
||||
5363 0.000000
|
||||
5364 0.000000
|
||||
5365 0.000000
|
||||
5366 0.000000
|
||||
5367 0.000000
|
||||
5368 0.000000
|
||||
5369 0.000000
|
||||
5370 0.000000
|
||||
5381 0.000000
|
||||
5382 0.000000
|
||||
5383 0.000000
|
||||
5384 0.000000
|
||||
5385 0.000000
|
||||
5386 0.000000
|
||||
5387 0.000000
|
||||
5388 0.000000
|
||||
5389 0.000000
|
||||
5390 0.000000
|
||||
@@ -1,119 +0,0 @@
|
||||
5161 0.000000
|
||||
5162 0.000000
|
||||
5163 0.000000
|
||||
5164 0.000000
|
||||
5165 0.000000
|
||||
5166 0.000000
|
||||
5167 0.000000
|
||||
5168 0.000000
|
||||
5169 0.000000
|
||||
5181 0.000000
|
||||
5182 0.000000
|
||||
5183 0.000000
|
||||
5184 0.000000
|
||||
5185 0.000000
|
||||
5186 0.000000
|
||||
5187 0.000000
|
||||
5188 0.000000
|
||||
5189 0.000000
|
||||
5210 0.000000
|
||||
5211 0.000000
|
||||
5212 0.000000
|
||||
5213 0.000000
|
||||
5214 0.000000
|
||||
5215 0.000000
|
||||
5216 0.000000
|
||||
5217 0.000000
|
||||
5218 0.000000
|
||||
5219 0.000000
|
||||
5220 1.000000
|
||||
5221 0.000000
|
||||
5222 0.000000
|
||||
5223 0.000000
|
||||
5224 0.000000
|
||||
5225 0.000000
|
||||
5226 0.000000
|
||||
5227 0.000000
|
||||
5228 0.000000
|
||||
5229 0.000000
|
||||
5230 0.000000
|
||||
5241 0.000000
|
||||
5242 0.000000
|
||||
5243 0.000000
|
||||
5244 0.000000
|
||||
5245 0.000000
|
||||
5246 0.000000
|
||||
5247 0.000000
|
||||
5248 0.000000
|
||||
5249 0.000000
|
||||
5250 0.000000
|
||||
5261 0.000000
|
||||
5262 0.000000
|
||||
5263 0.000000
|
||||
5264 0.000000
|
||||
5265 0.000000
|
||||
5266 0.000000
|
||||
5267 0.000000
|
||||
5268 0.000000
|
||||
5269 0.000000
|
||||
5270 0.000000
|
||||
5281 0.000000
|
||||
5282 0.000000
|
||||
5283 0.000000
|
||||
5284 0.000000
|
||||
5285 0.000000
|
||||
5286 0.000000
|
||||
5287 0.000000
|
||||
5288 0.000000
|
||||
5289 0.000000
|
||||
5290 0.000000
|
||||
5301 0.000000
|
||||
5302 0.000000
|
||||
5303 0.000000
|
||||
5304 0.000000
|
||||
5305 0.000000
|
||||
5306 0.000000
|
||||
5307 0.000000
|
||||
5308 0.000000
|
||||
5309 0.000000
|
||||
5310 0.000000
|
||||
5321 0.000000
|
||||
5322 0.000000
|
||||
5323 0.000000
|
||||
5324 0.000000
|
||||
5325 0.000000
|
||||
5326 0.000000
|
||||
5327 0.000000
|
||||
5328 0.000000
|
||||
5329 0.000000
|
||||
5330 0.000000
|
||||
5341 0.000000
|
||||
5342 0.000000
|
||||
5343 0.000000
|
||||
5344 0.000000
|
||||
5345 0.000000
|
||||
5346 0.000000
|
||||
5347 0.000000
|
||||
5348 0.000000
|
||||
5349 0.000000
|
||||
5350 0.000000
|
||||
5361 0.000000
|
||||
5362 0.000000
|
||||
5363 0.000000
|
||||
5364 0.000000
|
||||
5365 0.000000
|
||||
5366 0.000000
|
||||
5367 0.000000
|
||||
5368 0.000000
|
||||
5369 0.000000
|
||||
5370 0.000000
|
||||
5381 0.000000
|
||||
5382 0.000000
|
||||
5383 0.000000
|
||||
5384 0.000000
|
||||
5385 0.000000
|
||||
5386 0.000000
|
||||
5387 0.000000
|
||||
5388 0.000000
|
||||
5389 0.000000
|
||||
5390 0.000000
|
||||
@@ -1,437 +0,0 @@
|
||||
#include "emccanon_wasm_subset.hh"
|
||||
|
||||
/*
|
||||
* WASM canonical linear-motion subset derived from
|
||||
* LinuxCNC src/emc/task/emccanon.cc.
|
||||
*
|
||||
* Upstream anchors:
|
||||
* - INIT_CANON(): initializes CanonConfig_t, offsets, endpoint, feed state, and units.
|
||||
* - ON_RESET(): drops pending canonical segments.
|
||||
* - FINISH(): flushes pending canonical segments.
|
||||
* - USE_LENGTH_UNITS(): sets canon.lengthUnits.
|
||||
* - GET_EXTERNAL_LENGTH_UNITS()/GET_EXTERNAL_ANGLE_UNITS(): read EMC_STAT motion units.
|
||||
* - GET_EXTERNAL_POSITION()/GET_EXTERNAL_POSITION_X/Y/Z/A/B/C(): expose the current canonical endpoint.
|
||||
* - generate_fast_move(): emits EMC_TRAJ_LINEAR_MOVE for traverse-like moves.
|
||||
* - generate_move(): emits EMC_TRAJ_LINEAR_MOVE for feed moves.
|
||||
* - STRAIGHT_TRAVERSE(): canonical traverse entry point.
|
||||
* - STRAIGHT_FEED(): canonical feed entry point.
|
||||
* - DWELL(): emits EMC_TRAJ_DELAY to interp_list.
|
||||
* - SET_MOTION_CONTROL_MODE(): emits EMC_TRAJ_SET_TERM_COND to interp_list.
|
||||
* - SET_SPINDLE_SPEED(): emits EMC_SPINDLE_SPEED to interp_list.
|
||||
* - START_SPINDLE_CLOCKWISE()/START_SPINDLE_COUNTERCLOCKWISE(): emit EMC_SPINDLE_ON to interp_list.
|
||||
* - STOP_SPINDLE_TURNING(): emits EMC_SPINDLE_OFF to interp_list.
|
||||
* - SELECT_TOOL(): emits EMC_TOOL_PREPARE to interp_list.
|
||||
* - CHANGE_TOOL(): emits EMC_TOOL_LOAD to interp_list.
|
||||
* - CHANGE_TOOL_NUMBER(): emits EMC_TOOL_SET_NUMBER to interp_list.
|
||||
* - RELOAD_TOOLDATA(): emits EMC_TOOL_LOAD_TOOL_TABLE to interp_list.
|
||||
* - SET_MOTION_OUTPUT_BIT()/CLEAR_MOTION_OUTPUT_BIT()/SET_AUX_OUTPUT_BIT()/CLEAR_AUX_OUTPUT_BIT():
|
||||
* emit EMC_MOTION_SET_DOUT to interp_list.
|
||||
* - SET_MOTION_OUTPUT_VALUE()/SET_AUX_OUTPUT_VALUE(): emit EMC_MOTION_SET_AOUT to interp_list.
|
||||
* - WAIT(): emits EMC_AUX_INPUT_WAIT to interp_list.
|
||||
*
|
||||
* Full emccanon.cc owns CanonConfig_t, offsets, unit conversion, interp_list,
|
||||
* tags, NURBS, spindle/tool/coolant, and many other canonical callbacks. This
|
||||
* subset stops at a canonical linear-move envelope so task-HAL can keep using
|
||||
* the existing standalone runtime edge while moving motion generation toward
|
||||
* upstream canonical function families.
|
||||
*/
|
||||
|
||||
namespace {
|
||||
|
||||
int units_from_external(double external_length_units)
|
||||
{
|
||||
if (external_length_units > 0.038 && external_length_units < 0.041) {
|
||||
return LC_EMCCANON_SUBSET_UNITS_INCHES;
|
||||
}
|
||||
return LC_EMCCANON_SUBSET_UNITS_MM;
|
||||
}
|
||||
|
||||
void set_linear_move(int line, const LcEmcCanonSubsetPose *end, double velocity,
|
||||
int motion_type, LcEmcCanonSubsetLinearMove *out)
|
||||
{
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
*out = LcEmcCanonSubsetLinearMove{};
|
||||
out->line = line;
|
||||
out->motion_type = motion_type;
|
||||
out->velocity = velocity;
|
||||
if (end) {
|
||||
out->end = *end;
|
||||
}
|
||||
}
|
||||
|
||||
void set_spindle_command(int command, int spindle, double speed, int wait_for_at_speed,
|
||||
LcEmcCanonSubsetSpindleCommand *out)
|
||||
{
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
*out = LcEmcCanonSubsetSpindleCommand{};
|
||||
out->command = command;
|
||||
out->spindle = spindle;
|
||||
out->speed = speed;
|
||||
out->wait_for_at_speed = wait_for_at_speed;
|
||||
}
|
||||
|
||||
void set_tool_command(int command, int tool, LcEmcCanonSubsetToolCommand *out)
|
||||
{
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
*out = LcEmcCanonSubsetToolCommand{};
|
||||
out->command = command;
|
||||
out->tool = tool;
|
||||
}
|
||||
|
||||
void set_output_command(int command, int index, int start, int end, int now,
|
||||
double value, LcEmcCanonSubsetOutputCommand *out)
|
||||
{
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
*out = LcEmcCanonSubsetOutputCommand{};
|
||||
out->command = command;
|
||||
out->index = index;
|
||||
out->start = start;
|
||||
out->end = end;
|
||||
out->now = now;
|
||||
out->value = value;
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
extern "C" {
|
||||
|
||||
void lc_emccanon_subset_init(double external_length_units,
|
||||
double external_angle_units,
|
||||
LcEmcCanonSubsetState *state)
|
||||
{
|
||||
if (!state) {
|
||||
return;
|
||||
}
|
||||
*state = LcEmcCanonSubsetState{};
|
||||
state->initialized = 1;
|
||||
state->external_length_units = external_length_units == 0.0 ? 1.0 : external_length_units;
|
||||
state->external_angle_units = external_angle_units == 0.0 ? 1.0 : external_angle_units;
|
||||
state->length_units = units_from_external(state->external_length_units);
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_on_reset(LcEmcCanonSubsetState *state)
|
||||
{
|
||||
if (!state) {
|
||||
return;
|
||||
}
|
||||
state->reset_count += 1;
|
||||
state->endpoint = LcEmcCanonSubsetPose{};
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_finish(LcEmcCanonSubsetState *state)
|
||||
{
|
||||
if (!state) {
|
||||
return;
|
||||
}
|
||||
state->finish_count += 1;
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_use_length_units(int units,
|
||||
LcEmcCanonSubsetState *state)
|
||||
{
|
||||
if (!state) {
|
||||
return;
|
||||
}
|
||||
state->length_units = units;
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_update_endpoint(const LcEmcCanonSubsetPose *position,
|
||||
LcEmcCanonSubsetState *state)
|
||||
{
|
||||
if (!state || !position) {
|
||||
return;
|
||||
}
|
||||
state->endpoint = *position;
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_get_external_position(const LcEmcCanonSubsetState *state,
|
||||
LcEmcCanonSubsetPose *out)
|
||||
{
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
*out = LcEmcCanonSubsetPose{};
|
||||
if (state) {
|
||||
*out = state->endpoint;
|
||||
}
|
||||
}
|
||||
|
||||
double lc_emccanon_subset_get_external_length_units(const LcEmcCanonSubsetState *state)
|
||||
{
|
||||
if (!state || state->external_length_units == 0.0) {
|
||||
return 1.0;
|
||||
}
|
||||
return state->external_length_units;
|
||||
}
|
||||
|
||||
double lc_emccanon_subset_get_external_angle_units(const LcEmcCanonSubsetState *state)
|
||||
{
|
||||
if (!state || state->external_angle_units == 0.0) {
|
||||
return 1.0;
|
||||
}
|
||||
return state->external_angle_units;
|
||||
}
|
||||
|
||||
int lc_emccanon_subset_get_external_length_unit_type(const LcEmcCanonSubsetState *state)
|
||||
{
|
||||
return state ? state->length_units : LC_EMCCANON_SUBSET_UNITS_MM;
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_straight_traverse(int line, const LcEmcCanonSubsetPose *end,
|
||||
double velocity,
|
||||
LcEmcCanonSubsetLinearMove *out)
|
||||
{
|
||||
set_linear_move(line, end, velocity, LC_EMCCANON_SUBSET_MOTION_TRAVERSE, out);
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_straight_feed(int line, const LcEmcCanonSubsetPose *end,
|
||||
double velocity,
|
||||
LcEmcCanonSubsetLinearMove *out)
|
||||
{
|
||||
set_linear_move(line, end, velocity, LC_EMCCANON_SUBSET_MOTION_FEED, out);
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_dwell(double seconds, LcEmcCanonSubsetDelay *out)
|
||||
{
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
*out = LcEmcCanonSubsetDelay{};
|
||||
out->seconds = seconds < 0.0 ? 0.0 : seconds;
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_set_motion_control_mode(int mode,
|
||||
double tolerance,
|
||||
LcEmcCanonSubsetTermCond *out)
|
||||
{
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
*out = LcEmcCanonSubsetTermCond{};
|
||||
out->mode = mode;
|
||||
out->tolerance = tolerance < 0.0 ? 0.0 : tolerance;
|
||||
switch (mode) {
|
||||
case LC_EMCCANON_SUBSET_PATH_CONTINUOUS:
|
||||
out->condition = LC_EMCCANON_SUBSET_TERM_BLEND;
|
||||
break;
|
||||
case LC_EMCCANON_SUBSET_PATH_EXACT_PATH:
|
||||
out->condition = LC_EMCCANON_SUBSET_TERM_EXACT;
|
||||
break;
|
||||
case LC_EMCCANON_SUBSET_PATH_EXACT_STOP:
|
||||
default:
|
||||
out->condition = LC_EMCCANON_SUBSET_TERM_STOP;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_set_spindle_speed(int spindle,
|
||||
double speed,
|
||||
LcEmcCanonSubsetSpindleCommand *out)
|
||||
{
|
||||
set_spindle_command(
|
||||
LC_EMCCANON_SUBSET_SPINDLE_SET_SPEED,
|
||||
spindle,
|
||||
speed < 0.0 ? 0.0 : speed,
|
||||
0,
|
||||
out);
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_start_spindle_clockwise(int spindle,
|
||||
int wait_for_at_speed,
|
||||
LcEmcCanonSubsetSpindleCommand *out)
|
||||
{
|
||||
set_spindle_command(
|
||||
LC_EMCCANON_SUBSET_SPINDLE_START_CW,
|
||||
spindle,
|
||||
0.0,
|
||||
wait_for_at_speed ? 1 : 0,
|
||||
out);
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_start_spindle_counterclockwise(int spindle,
|
||||
int wait_for_at_speed,
|
||||
LcEmcCanonSubsetSpindleCommand *out)
|
||||
{
|
||||
set_spindle_command(
|
||||
LC_EMCCANON_SUBSET_SPINDLE_START_CCW,
|
||||
spindle,
|
||||
0.0,
|
||||
wait_for_at_speed ? 1 : 0,
|
||||
out);
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_stop_spindle_turning(int spindle,
|
||||
int wait_for_at_speed,
|
||||
LcEmcCanonSubsetSpindleCommand *out)
|
||||
{
|
||||
set_spindle_command(
|
||||
LC_EMCCANON_SUBSET_SPINDLE_STOP,
|
||||
spindle,
|
||||
0.0,
|
||||
wait_for_at_speed ? 1 : 0,
|
||||
out);
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_select_tool(int tool,
|
||||
LcEmcCanonSubsetToolCommand *out)
|
||||
{
|
||||
set_tool_command(LC_EMCCANON_SUBSET_TOOL_PREPARE, tool, out);
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_change_tool(LcEmcCanonSubsetToolCommand *out)
|
||||
{
|
||||
set_tool_command(LC_EMCCANON_SUBSET_TOOL_LOAD, 0, out);
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_change_tool_number(int tool,
|
||||
LcEmcCanonSubsetToolCommand *out)
|
||||
{
|
||||
set_tool_command(LC_EMCCANON_SUBSET_TOOL_SET_NUMBER, tool, out);
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_reload_tooldata(LcEmcCanonSubsetToolCommand *out)
|
||||
{
|
||||
set_tool_command(LC_EMCCANON_SUBSET_TOOL_LOAD_TABLE, 0, out);
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_set_motion_output_bit(int index,
|
||||
LcEmcCanonSubsetOutputCommand *out)
|
||||
{
|
||||
set_output_command(
|
||||
LC_EMCCANON_SUBSET_OUTPUT_SET_MOTION_BIT,
|
||||
index,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
1.0,
|
||||
out);
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_clear_motion_output_bit(int index,
|
||||
LcEmcCanonSubsetOutputCommand *out)
|
||||
{
|
||||
set_output_command(
|
||||
LC_EMCCANON_SUBSET_OUTPUT_CLEAR_MOTION_BIT,
|
||||
index,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0.0,
|
||||
out);
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_set_aux_output_bit(int index,
|
||||
LcEmcCanonSubsetOutputCommand *out)
|
||||
{
|
||||
set_output_command(
|
||||
LC_EMCCANON_SUBSET_OUTPUT_SET_AUX_BIT,
|
||||
index,
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1.0,
|
||||
out);
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_clear_aux_output_bit(int index,
|
||||
LcEmcCanonSubsetOutputCommand *out)
|
||||
{
|
||||
set_output_command(
|
||||
LC_EMCCANON_SUBSET_OUTPUT_CLEAR_AUX_BIT,
|
||||
index,
|
||||
0,
|
||||
0,
|
||||
1,
|
||||
0.0,
|
||||
out);
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_set_motion_output_value(int index,
|
||||
double value,
|
||||
LcEmcCanonSubsetOutputCommand *out)
|
||||
{
|
||||
set_output_command(
|
||||
LC_EMCCANON_SUBSET_OUTPUT_SET_MOTION_VALUE,
|
||||
index,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
value,
|
||||
out);
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_set_aux_output_value(int index,
|
||||
double value,
|
||||
LcEmcCanonSubsetOutputCommand *out)
|
||||
{
|
||||
set_output_command(
|
||||
LC_EMCCANON_SUBSET_OUTPUT_SET_AUX_VALUE,
|
||||
index,
|
||||
0,
|
||||
0,
|
||||
1,
|
||||
value,
|
||||
out);
|
||||
}
|
||||
|
||||
void lc_emccanon_subset_wait_input(int index,
|
||||
int input_type,
|
||||
int wait_type,
|
||||
double timeout,
|
||||
LcEmcCanonSubsetOutputCommand *out)
|
||||
{
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
*out = LcEmcCanonSubsetOutputCommand{};
|
||||
out->command = LC_EMCCANON_SUBSET_OUTPUT_WAIT;
|
||||
out->index = index;
|
||||
out->input_type = input_type;
|
||||
out->wait_type = wait_type;
|
||||
out->timeout = timeout < 0.0 ? 0.0 : timeout;
|
||||
}
|
||||
|
||||
const char *lc_emccanon_subset_source_path(void)
|
||||
{
|
||||
return "src/emc/task/emccanon.cc";
|
||||
}
|
||||
|
||||
const char *lc_emccanon_subset_anchor_list(void)
|
||||
{
|
||||
return "INIT_CANON,ON_RESET,FINISH,USE_LENGTH_UNITS,GET_EXTERNAL_LENGTH_UNITS,GET_EXTERNAL_ANGLE_UNITS,GET_EXTERNAL_POSITION,GET_EXTERNAL_POSITION_X,GET_EXTERNAL_POSITION_Y,GET_EXTERNAL_POSITION_Z,GET_EXTERNAL_POSITION_A,GET_EXTERNAL_POSITION_B,GET_EXTERNAL_POSITION_C,generate_fast_move,generate_move,STRAIGHT_TRAVERSE,STRAIGHT_FEED,DWELL,SET_MOTION_CONTROL_MODE,SET_SPINDLE_SPEED,START_SPINDLE_CLOCKWISE,START_SPINDLE_COUNTERCLOCKWISE,STOP_SPINDLE_TURNING,SELECT_TOOL,CHANGE_TOOL,CHANGE_TOOL_NUMBER,RELOAD_TOOLDATA,SET_MOTION_OUTPUT_BIT,CLEAR_MOTION_OUTPUT_BIT,SET_AUX_OUTPUT_BIT,CLEAR_AUX_OUTPUT_BIT,SET_MOTION_OUTPUT_VALUE,SET_AUX_OUTPUT_VALUE,WAIT";
|
||||
}
|
||||
|
||||
const char *lc_emccanon_subset_init_finish_unit_anchor_list(void)
|
||||
{
|
||||
return "INIT_CANON,ON_RESET,FINISH,USE_LENGTH_UNITS,GET_EXTERNAL_LENGTH_UNITS,GET_EXTERNAL_ANGLE_UNITS,GET_EXTERNAL_POSITION,GET_EXTERNAL_POSITION_X,GET_EXTERNAL_POSITION_Y,GET_EXTERNAL_POSITION_Z,GET_EXTERNAL_POSITION_A,GET_EXTERNAL_POSITION_B,GET_EXTERNAL_POSITION_C";
|
||||
}
|
||||
|
||||
const char *lc_emccanon_subset_straight_motion_anchor_list(void)
|
||||
{
|
||||
return "generate_fast_move,generate_move,STRAIGHT_TRAVERSE,STRAIGHT_FEED,EMC_TRAJ_LINEAR_MOVE,interp_list";
|
||||
}
|
||||
|
||||
const char *lc_emccanon_subset_dwell_path_control_anchor_list(void)
|
||||
{
|
||||
return "DWELL,EMC_TRAJ_DELAY,SET_MOTION_CONTROL_MODE,EMC_TRAJ_SET_TERM_COND,interp_list";
|
||||
}
|
||||
|
||||
const char *lc_emccanon_subset_spindle_tool_anchor_list(void)
|
||||
{
|
||||
return "SET_SPINDLE_SPEED,START_SPINDLE_CLOCKWISE,START_SPINDLE_COUNTERCLOCKWISE,STOP_SPINDLE_TURNING,EMC_SPINDLE_SPEED,EMC_SPINDLE_ON,EMC_SPINDLE_OFF,SELECT_TOOL,CHANGE_TOOL,CHANGE_TOOL_NUMBER,RELOAD_TOOLDATA,EMC_TOOL_PREPARE,EMC_TOOL_LOAD,EMC_TOOL_SET_NUMBER,EMC_TOOL_LOAD_TOOL_TABLE,interp_list";
|
||||
}
|
||||
|
||||
const char *lc_emccanon_subset_motion_output_anchor_list(void)
|
||||
{
|
||||
return "SET_MOTION_OUTPUT_BIT,CLEAR_MOTION_OUTPUT_BIT,SET_AUX_OUTPUT_BIT,CLEAR_AUX_OUTPUT_BIT,SET_MOTION_OUTPUT_VALUE,SET_AUX_OUTPUT_VALUE,WAIT,EMC_MOTION_SET_DOUT,EMC_MOTION_SET_AOUT,EMC_AUX_INPUT_WAIT,interp_list";
|
||||
}
|
||||
|
||||
} // extern "C"
|
||||
@@ -1,193 +0,0 @@
|
||||
#ifndef LINUXCNC_EMCCANON_WASM_SUBSET_HH
|
||||
#define LINUXCNC_EMCCANON_WASM_SUBSET_HH
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
enum LcEmcCanonSubsetMotionType {
|
||||
LC_EMCCANON_SUBSET_MOTION_TRAVERSE = 1,
|
||||
LC_EMCCANON_SUBSET_MOTION_FEED = 2,
|
||||
};
|
||||
|
||||
enum LcEmcCanonSubsetUnits {
|
||||
LC_EMCCANON_SUBSET_UNITS_MM = 1,
|
||||
LC_EMCCANON_SUBSET_UNITS_INCHES = 2,
|
||||
LC_EMCCANON_SUBSET_UNITS_CM = 3,
|
||||
};
|
||||
|
||||
enum LcEmcCanonSubsetPathMode {
|
||||
LC_EMCCANON_SUBSET_PATH_CONTINUOUS = 1,
|
||||
LC_EMCCANON_SUBSET_PATH_EXACT_PATH = 2,
|
||||
LC_EMCCANON_SUBSET_PATH_EXACT_STOP = 3,
|
||||
};
|
||||
|
||||
enum LcEmcCanonSubsetTermCondition {
|
||||
LC_EMCCANON_SUBSET_TERM_BLEND = 1,
|
||||
LC_EMCCANON_SUBSET_TERM_EXACT = 2,
|
||||
LC_EMCCANON_SUBSET_TERM_STOP = 3,
|
||||
};
|
||||
|
||||
enum LcEmcCanonSubsetSpindleCommandType {
|
||||
LC_EMCCANON_SUBSET_SPINDLE_SET_SPEED = 1,
|
||||
LC_EMCCANON_SUBSET_SPINDLE_START_CW = 2,
|
||||
LC_EMCCANON_SUBSET_SPINDLE_START_CCW = 3,
|
||||
LC_EMCCANON_SUBSET_SPINDLE_STOP = 4,
|
||||
};
|
||||
|
||||
enum LcEmcCanonSubsetToolCommandType {
|
||||
LC_EMCCANON_SUBSET_TOOL_PREPARE = 1,
|
||||
LC_EMCCANON_SUBSET_TOOL_LOAD = 2,
|
||||
LC_EMCCANON_SUBSET_TOOL_SET_NUMBER = 3,
|
||||
LC_EMCCANON_SUBSET_TOOL_LOAD_TABLE = 4,
|
||||
};
|
||||
|
||||
enum LcEmcCanonSubsetOutputCommandType {
|
||||
LC_EMCCANON_SUBSET_OUTPUT_SET_MOTION_BIT = 1,
|
||||
LC_EMCCANON_SUBSET_OUTPUT_CLEAR_MOTION_BIT = 2,
|
||||
LC_EMCCANON_SUBSET_OUTPUT_SET_AUX_BIT = 3,
|
||||
LC_EMCCANON_SUBSET_OUTPUT_CLEAR_AUX_BIT = 4,
|
||||
LC_EMCCANON_SUBSET_OUTPUT_SET_MOTION_VALUE = 5,
|
||||
LC_EMCCANON_SUBSET_OUTPUT_SET_AUX_VALUE = 6,
|
||||
LC_EMCCANON_SUBSET_OUTPUT_WAIT = 7,
|
||||
};
|
||||
|
||||
enum LcEmcCanonSubsetInputType {
|
||||
LC_EMCCANON_SUBSET_INPUT_DIGITAL = 1,
|
||||
LC_EMCCANON_SUBSET_INPUT_ANALOG = 2,
|
||||
};
|
||||
|
||||
struct LcEmcCanonSubsetPose {
|
||||
double x;
|
||||
double y;
|
||||
double z;
|
||||
double a;
|
||||
double b;
|
||||
double c;
|
||||
};
|
||||
|
||||
struct LcEmcCanonSubsetState {
|
||||
int initialized;
|
||||
int finish_count;
|
||||
int reset_count;
|
||||
int length_units;
|
||||
double external_length_units;
|
||||
double external_angle_units;
|
||||
LcEmcCanonSubsetPose endpoint;
|
||||
};
|
||||
|
||||
struct LcEmcCanonSubsetLinearMove {
|
||||
int line;
|
||||
int motion_type;
|
||||
double velocity;
|
||||
LcEmcCanonSubsetPose end;
|
||||
};
|
||||
|
||||
struct LcEmcCanonSubsetDelay {
|
||||
double seconds;
|
||||
};
|
||||
|
||||
struct LcEmcCanonSubsetTermCond {
|
||||
int mode;
|
||||
int condition;
|
||||
double tolerance;
|
||||
};
|
||||
|
||||
struct LcEmcCanonSubsetSpindleCommand {
|
||||
int command;
|
||||
int spindle;
|
||||
double speed;
|
||||
int wait_for_at_speed;
|
||||
};
|
||||
|
||||
struct LcEmcCanonSubsetToolCommand {
|
||||
int command;
|
||||
int tool;
|
||||
};
|
||||
|
||||
struct LcEmcCanonSubsetOutputCommand {
|
||||
int command;
|
||||
int index;
|
||||
int start;
|
||||
int end;
|
||||
int now;
|
||||
double value;
|
||||
int input_type;
|
||||
int wait_type;
|
||||
double timeout;
|
||||
};
|
||||
|
||||
void lc_emccanon_subset_init(double external_length_units,
|
||||
double external_angle_units,
|
||||
LcEmcCanonSubsetState *state);
|
||||
void lc_emccanon_subset_on_reset(LcEmcCanonSubsetState *state);
|
||||
void lc_emccanon_subset_finish(LcEmcCanonSubsetState *state);
|
||||
void lc_emccanon_subset_use_length_units(int units,
|
||||
LcEmcCanonSubsetState *state);
|
||||
void lc_emccanon_subset_update_endpoint(const LcEmcCanonSubsetPose *position,
|
||||
LcEmcCanonSubsetState *state);
|
||||
void lc_emccanon_subset_get_external_position(const LcEmcCanonSubsetState *state,
|
||||
LcEmcCanonSubsetPose *out);
|
||||
double lc_emccanon_subset_get_external_length_units(const LcEmcCanonSubsetState *state);
|
||||
double lc_emccanon_subset_get_external_angle_units(const LcEmcCanonSubsetState *state);
|
||||
int lc_emccanon_subset_get_external_length_unit_type(const LcEmcCanonSubsetState *state);
|
||||
void lc_emccanon_subset_straight_traverse(int line, const LcEmcCanonSubsetPose *end,
|
||||
double velocity,
|
||||
LcEmcCanonSubsetLinearMove *out);
|
||||
void lc_emccanon_subset_straight_feed(int line, const LcEmcCanonSubsetPose *end,
|
||||
double velocity,
|
||||
LcEmcCanonSubsetLinearMove *out);
|
||||
void lc_emccanon_subset_dwell(double seconds, LcEmcCanonSubsetDelay *out);
|
||||
void lc_emccanon_subset_set_motion_control_mode(int mode,
|
||||
double tolerance,
|
||||
LcEmcCanonSubsetTermCond *out);
|
||||
void lc_emccanon_subset_set_spindle_speed(int spindle,
|
||||
double speed,
|
||||
LcEmcCanonSubsetSpindleCommand *out);
|
||||
void lc_emccanon_subset_start_spindle_clockwise(int spindle,
|
||||
int wait_for_at_speed,
|
||||
LcEmcCanonSubsetSpindleCommand *out);
|
||||
void lc_emccanon_subset_start_spindle_counterclockwise(int spindle,
|
||||
int wait_for_at_speed,
|
||||
LcEmcCanonSubsetSpindleCommand *out);
|
||||
void lc_emccanon_subset_stop_spindle_turning(int spindle,
|
||||
int wait_for_at_speed,
|
||||
LcEmcCanonSubsetSpindleCommand *out);
|
||||
void lc_emccanon_subset_select_tool(int tool,
|
||||
LcEmcCanonSubsetToolCommand *out);
|
||||
void lc_emccanon_subset_change_tool(LcEmcCanonSubsetToolCommand *out);
|
||||
void lc_emccanon_subset_change_tool_number(int tool,
|
||||
LcEmcCanonSubsetToolCommand *out);
|
||||
void lc_emccanon_subset_reload_tooldata(LcEmcCanonSubsetToolCommand *out);
|
||||
void lc_emccanon_subset_set_motion_output_bit(int index,
|
||||
LcEmcCanonSubsetOutputCommand *out);
|
||||
void lc_emccanon_subset_clear_motion_output_bit(int index,
|
||||
LcEmcCanonSubsetOutputCommand *out);
|
||||
void lc_emccanon_subset_set_aux_output_bit(int index,
|
||||
LcEmcCanonSubsetOutputCommand *out);
|
||||
void lc_emccanon_subset_clear_aux_output_bit(int index,
|
||||
LcEmcCanonSubsetOutputCommand *out);
|
||||
void lc_emccanon_subset_set_motion_output_value(int index,
|
||||
double value,
|
||||
LcEmcCanonSubsetOutputCommand *out);
|
||||
void lc_emccanon_subset_set_aux_output_value(int index,
|
||||
double value,
|
||||
LcEmcCanonSubsetOutputCommand *out);
|
||||
void lc_emccanon_subset_wait_input(int index,
|
||||
int input_type,
|
||||
int wait_type,
|
||||
double timeout,
|
||||
LcEmcCanonSubsetOutputCommand *out);
|
||||
const char *lc_emccanon_subset_source_path(void);
|
||||
const char *lc_emccanon_subset_anchor_list(void);
|
||||
const char *lc_emccanon_subset_init_finish_unit_anchor_list(void);
|
||||
const char *lc_emccanon_subset_straight_motion_anchor_list(void);
|
||||
const char *lc_emccanon_subset_dwell_path_control_anchor_list(void);
|
||||
const char *lc_emccanon_subset_spindle_tool_anchor_list(void);
|
||||
const char *lc_emccanon_subset_motion_output_anchor_list(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
@@ -1,377 +0,0 @@
|
||||
#include "emctask_wasm_subset.hh"
|
||||
|
||||
#include <cstring>
|
||||
|
||||
/*
|
||||
* WASM task subset derived from LinuxCNC src/emc/task/emctask.cc.
|
||||
*
|
||||
* Upstream anchors:
|
||||
* - emcTaskAbort(): clears interpreter/task execution state and resynchronizes the plan.
|
||||
* - emcTaskSetMode(): switches manual/mdi/auto task mode and synchronizes trajectory mode.
|
||||
* - emcTaskSetState(): switches estop/off/on state and issues motion enable/disable/abort edges.
|
||||
* - determineMode(): traj mode + mdiOrAuto -> task mode.
|
||||
* - determineState(): traj enabled + io estop -> task state.
|
||||
* - emcTaskUpdate(): writes task mode/state and motionLine from motion id.
|
||||
* - emcTaskPlanSetWait()/IsWait()/ClearWait(): own the interpreter wait flag.
|
||||
* - emcTaskPlanSynch()/Open()/Close()/Reset(): synchronize, open, close, and reset the interpreter plan.
|
||||
* - emcTaskPlanRead()/Execute()/Line()/Level()/Command(): read interpreter lines,
|
||||
* expose line/command metadata, and append executed work to interp_list.
|
||||
*
|
||||
* This file is intentionally narrow. Full emctask.cc also owns interpreter,
|
||||
* NML, dynamic loading, IO, and native process edges that are not part of this
|
||||
* standalone WASM subset yet.
|
||||
*/
|
||||
|
||||
namespace {
|
||||
|
||||
int determine_mode(int traj_mode, int mdi_or_auto)
|
||||
{
|
||||
if (traj_mode == LC_EMC_TASK_SUBSET_TRAJ_FREE) {
|
||||
return LC_EMC_TASK_SUBSET_MODE_MANUAL;
|
||||
}
|
||||
if (traj_mode == LC_EMC_TASK_SUBSET_TRAJ_TELEOP) {
|
||||
return LC_EMC_TASK_SUBSET_MODE_MANUAL;
|
||||
}
|
||||
return mdi_or_auto;
|
||||
}
|
||||
|
||||
int determine_state(int traj_enabled, int io_estop)
|
||||
{
|
||||
if (io_estop) {
|
||||
return LC_EMC_TASK_SUBSET_STATE_ESTOP;
|
||||
}
|
||||
if (!traj_enabled) {
|
||||
return LC_EMC_TASK_SUBSET_STATE_ESTOP_RESET;
|
||||
}
|
||||
return LC_EMC_TASK_SUBSET_STATE_ON;
|
||||
}
|
||||
|
||||
void clear_command_result(LcEmcTaskSubsetCommandResult *result)
|
||||
{
|
||||
if (!result) {
|
||||
return;
|
||||
}
|
||||
*result = LcEmcTaskSubsetCommandResult{};
|
||||
}
|
||||
|
||||
void clear_plan_result(LcEmcTaskSubsetPlanResult *result)
|
||||
{
|
||||
if (!result) {
|
||||
return;
|
||||
}
|
||||
*result = LcEmcTaskSubsetPlanResult{};
|
||||
}
|
||||
|
||||
void clear_plan_io_result(LcEmcTaskSubsetPlanIoResult *result)
|
||||
{
|
||||
if (!result) {
|
||||
return;
|
||||
}
|
||||
*result = LcEmcTaskSubsetPlanIoResult{};
|
||||
}
|
||||
|
||||
void copy_plan_state(const LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result)
|
||||
{
|
||||
if (!state || !result) {
|
||||
return;
|
||||
}
|
||||
result->wait_flag = state->wait_flag;
|
||||
result->taskplanopen = state->taskplanopen;
|
||||
result->line = state->read_line;
|
||||
result->level = state->level;
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
extern "C" {
|
||||
|
||||
void lc_emctask_subset_update(const LcEmcTaskSubsetUpdateInput *input,
|
||||
LcEmcTaskSubsetUpdateResult *result)
|
||||
{
|
||||
if (!input || !result) {
|
||||
return;
|
||||
}
|
||||
result->mode = determine_mode(input->traj_mode, input->mdi_or_auto);
|
||||
result->state = determine_state(input->traj_enabled, input->io_estop);
|
||||
result->should_abort_on_state_drop =
|
||||
input->old_task_state == LC_EMC_TASK_SUBSET_STATE_ON &&
|
||||
result->state != LC_EMC_TASK_SUBSET_STATE_ON;
|
||||
result->motion_line = input->motion_id > 0 ? input->motion_id : 0;
|
||||
}
|
||||
|
||||
void lc_emctask_subset_abort(LcEmcTaskSubsetCommandResult *result)
|
||||
{
|
||||
clear_command_result(result);
|
||||
if (!result) {
|
||||
return;
|
||||
}
|
||||
result->should_clear_interpreter = 1;
|
||||
result->should_abort_motion = 1;
|
||||
result->should_plan_synch = 1;
|
||||
}
|
||||
|
||||
void lc_emctask_subset_set_mode(int mode,
|
||||
int all_homed,
|
||||
int jogging_active,
|
||||
LcEmcTaskSubsetCommandResult *result)
|
||||
{
|
||||
clear_command_result(result);
|
||||
if (!result) {
|
||||
return;
|
||||
}
|
||||
if (jogging_active) {
|
||||
result->mode = mode;
|
||||
return;
|
||||
}
|
||||
switch (mode) {
|
||||
case LC_EMC_TASK_SUBSET_MODE_MANUAL:
|
||||
result->mode = LC_EMC_TASK_SUBSET_MODE_MANUAL;
|
||||
result->traj_mode = all_homed ? LC_EMC_TASK_SUBSET_TRAJ_TELEOP : LC_EMC_TASK_SUBSET_TRAJ_FREE;
|
||||
result->should_clear_interpreter = 1;
|
||||
break;
|
||||
case LC_EMC_TASK_SUBSET_MODE_MDI:
|
||||
result->mode = LC_EMC_TASK_SUBSET_MODE_MDI;
|
||||
result->traj_mode = LC_EMC_TASK_SUBSET_TRAJ_COORD;
|
||||
result->should_clear_interpreter = 1;
|
||||
result->should_plan_synch = 1;
|
||||
break;
|
||||
case LC_EMC_TASK_SUBSET_MODE_AUTO:
|
||||
result->mode = LC_EMC_TASK_SUBSET_MODE_AUTO;
|
||||
result->traj_mode = LC_EMC_TASK_SUBSET_TRAJ_COORD;
|
||||
result->should_clear_interpreter = 1;
|
||||
result->should_plan_synch = 1;
|
||||
break;
|
||||
default:
|
||||
result->retval = -1;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void lc_emctask_subset_set_state(int state,
|
||||
int old_state,
|
||||
LcEmcTaskSubsetCommandResult *result)
|
||||
{
|
||||
(void)old_state;
|
||||
clear_command_result(result);
|
||||
if (!result) {
|
||||
return;
|
||||
}
|
||||
result->state = state;
|
||||
switch (state) {
|
||||
case LC_EMC_TASK_SUBSET_STATE_OFF:
|
||||
result->should_clear_interpreter = 1;
|
||||
result->should_abort_motion = 1;
|
||||
result->should_traj_disable = 1;
|
||||
result->should_reset_homing = 1;
|
||||
result->should_unhome = 1;
|
||||
result->should_plan_synch = 1;
|
||||
break;
|
||||
case LC_EMC_TASK_SUBSET_STATE_ON:
|
||||
result->should_traj_enable = 1;
|
||||
break;
|
||||
case LC_EMC_TASK_SUBSET_STATE_ESTOP_RESET:
|
||||
result->should_clear_interpreter = 1;
|
||||
result->should_plan_synch = 1;
|
||||
break;
|
||||
case LC_EMC_TASK_SUBSET_STATE_ESTOP:
|
||||
result->should_clear_interpreter = 1;
|
||||
result->should_abort_motion = 1;
|
||||
result->should_traj_disable = 1;
|
||||
result->should_reset_homing = 1;
|
||||
result->should_unhome = 1;
|
||||
result->should_plan_synch = 1;
|
||||
break;
|
||||
default:
|
||||
result->retval = -1;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void lc_emctask_subset_plan_set_wait(LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result)
|
||||
{
|
||||
clear_plan_result(result);
|
||||
if (!state || !result) {
|
||||
return;
|
||||
}
|
||||
state->wait_flag = 1;
|
||||
copy_plan_state(state, result);
|
||||
}
|
||||
|
||||
int lc_emctask_subset_plan_is_wait(const LcEmcTaskSubsetPlanState *state)
|
||||
{
|
||||
return state ? state->wait_flag : 0;
|
||||
}
|
||||
|
||||
void lc_emctask_subset_plan_clear_wait(LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result)
|
||||
{
|
||||
clear_plan_result(result);
|
||||
if (!state || !result) {
|
||||
return;
|
||||
}
|
||||
state->wait_flag = 0;
|
||||
copy_plan_state(state, result);
|
||||
}
|
||||
|
||||
void lc_emctask_subset_plan_synch(const LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result)
|
||||
{
|
||||
clear_plan_result(result);
|
||||
if (!state || !result) {
|
||||
return;
|
||||
}
|
||||
result->should_synch = 1;
|
||||
copy_plan_state(state, result);
|
||||
}
|
||||
|
||||
void lc_emctask_subset_plan_open(const char *file,
|
||||
int staged_file_available,
|
||||
LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result)
|
||||
{
|
||||
clear_plan_result(result);
|
||||
if (!state || !result || !file || !staged_file_available) {
|
||||
if (result) {
|
||||
result->retval = -1;
|
||||
}
|
||||
return;
|
||||
}
|
||||
state->motion_line = 0;
|
||||
state->current_line = 0;
|
||||
state->read_line = 0;
|
||||
state->taskplanopen = 1;
|
||||
result->should_reset_lines = 1;
|
||||
copy_plan_state(state, result);
|
||||
}
|
||||
|
||||
void lc_emctask_subset_plan_close(LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result)
|
||||
{
|
||||
clear_plan_result(result);
|
||||
if (!state || !result) {
|
||||
return;
|
||||
}
|
||||
state->taskplanopen = 0;
|
||||
result->should_close = 1;
|
||||
copy_plan_state(state, result);
|
||||
}
|
||||
|
||||
void lc_emctask_subset_plan_reset(LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result)
|
||||
{
|
||||
clear_plan_result(result);
|
||||
if (!state || !result) {
|
||||
return;
|
||||
}
|
||||
state->wait_flag = 0;
|
||||
state->read_line = 0;
|
||||
state->current_line = 0;
|
||||
state->motion_line = 0;
|
||||
result->should_reset = 1;
|
||||
result->should_reset_lines = 1;
|
||||
copy_plan_state(state, result);
|
||||
}
|
||||
|
||||
void lc_emctask_subset_plan_read(const LcEmcTaskSubsetPlanState *state,
|
||||
int next_line,
|
||||
int line_count,
|
||||
LcEmcTaskSubsetPlanIoResult *result)
|
||||
{
|
||||
clear_plan_io_result(result);
|
||||
if (!state || !result || !state->taskplanopen) {
|
||||
if (result) {
|
||||
result->retval = -1;
|
||||
}
|
||||
return;
|
||||
}
|
||||
if (state->wait_flag) {
|
||||
result->retval = 2;
|
||||
result->should_set_wait = 1;
|
||||
result->line = state->read_line;
|
||||
result->level = state->level;
|
||||
return;
|
||||
}
|
||||
if (next_line < 0 || next_line >= line_count) {
|
||||
result->retval = 1;
|
||||
result->should_set_wait = 1;
|
||||
result->line = 0;
|
||||
result->level = state->level;
|
||||
return;
|
||||
}
|
||||
result->retval = 0;
|
||||
result->line = next_line + 1;
|
||||
result->level = state->level;
|
||||
result->should_execute = 1;
|
||||
}
|
||||
|
||||
void lc_emctask_subset_plan_execute(const char *command,
|
||||
int mdi,
|
||||
int inpos,
|
||||
int line_number,
|
||||
LcEmcTaskSubsetPlanIoResult *result)
|
||||
{
|
||||
clear_plan_io_result(result);
|
||||
if (!result || !command) {
|
||||
if (result) {
|
||||
result->retval = -1;
|
||||
}
|
||||
return;
|
||||
}
|
||||
if (mdi && command[0] != '\0' && inpos) {
|
||||
result->should_synch_before_execute = 1;
|
||||
}
|
||||
result->retval = 0;
|
||||
result->line = line_number > 0 ? line_number : 0;
|
||||
result->level = 0;
|
||||
result->should_append_to_interp_list = command[0] != '\0';
|
||||
result->should_finish = mdi ? 1 : 0;
|
||||
}
|
||||
|
||||
int lc_emctask_subset_plan_line(const LcEmcTaskSubsetPlanState *state)
|
||||
{
|
||||
return state ? state->read_line : 0;
|
||||
}
|
||||
|
||||
int lc_emctask_subset_plan_level(const LcEmcTaskSubsetPlanState *state)
|
||||
{
|
||||
return state ? state->level : 0;
|
||||
}
|
||||
|
||||
int lc_emctask_subset_plan_command(const char *command, char *out, int out_len)
|
||||
{
|
||||
if (!command || !out || out_len <= 0) {
|
||||
return -1;
|
||||
}
|
||||
std::strncpy(out, command, static_cast<std::size_t>(out_len - 1));
|
||||
out[out_len - 1] = '\0';
|
||||
return 0;
|
||||
}
|
||||
|
||||
const char *lc_emctask_subset_source_path(void)
|
||||
{
|
||||
return "src/emc/task/emctask.cc";
|
||||
}
|
||||
|
||||
const char *lc_emctask_subset_anchor_list(void)
|
||||
{
|
||||
return "emcTaskAbort,emcTaskSetMode,emcTaskSetState,determineMode,determineState,emcTaskUpdate,emcTaskPlanSetWait,emcTaskPlanIsWait,emcTaskPlanClearWait,emcTaskPlanSynch,emcTaskPlanOpen,emcTaskPlanClose,emcTaskPlanReset,emcTaskPlanRead,emcTaskPlanExecute,emcTaskPlanLine,emcTaskPlanLevel,emcTaskPlanCommand";
|
||||
}
|
||||
|
||||
const char *lc_emctask_subset_state_mode_anchor_list(void)
|
||||
{
|
||||
return "emcTaskAbort,emcTaskSetMode,emcTaskSetState,emcTaskPlanSynch,emcTaskPlanClose,emcTaskPlanReset";
|
||||
}
|
||||
|
||||
const char *lc_emctask_subset_plan_anchor_list(void)
|
||||
{
|
||||
return "emcTaskPlanSetWait,emcTaskPlanIsWait,emcTaskPlanClearWait,emcTaskPlanSynch,emcTaskPlanOpen,emcTaskPlanClose,emcTaskPlanReset";
|
||||
}
|
||||
|
||||
const char *lc_emctask_subset_plan_read_execute_anchor_list(void)
|
||||
{
|
||||
return "emcTaskPlanRead,emcTaskPlanExecute,emcTaskPlanLine,emcTaskPlanLevel,emcTaskPlanCommand,interp_list";
|
||||
}
|
||||
|
||||
} // extern "C"
|
||||
@@ -1,136 +0,0 @@
|
||||
#ifndef LINUXCNC_EMCTASK_WASM_SUBSET_HH
|
||||
#define LINUXCNC_EMCTASK_WASM_SUBSET_HH
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
enum LcEmcTaskSubsetMode {
|
||||
LC_EMC_TASK_SUBSET_MODE_MANUAL = 1,
|
||||
LC_EMC_TASK_SUBSET_MODE_AUTO = 2,
|
||||
LC_EMC_TASK_SUBSET_MODE_MDI = 3,
|
||||
};
|
||||
|
||||
enum LcEmcTaskSubsetState {
|
||||
LC_EMC_TASK_SUBSET_STATE_ESTOP = 1,
|
||||
LC_EMC_TASK_SUBSET_STATE_ESTOP_RESET = 2,
|
||||
LC_EMC_TASK_SUBSET_STATE_ON = 3,
|
||||
LC_EMC_TASK_SUBSET_STATE_OFF = 4,
|
||||
};
|
||||
|
||||
enum LcEmcTaskSubsetTrajMode {
|
||||
LC_EMC_TASK_SUBSET_TRAJ_FREE = 1,
|
||||
LC_EMC_TASK_SUBSET_TRAJ_TELEOP = 2,
|
||||
LC_EMC_TASK_SUBSET_TRAJ_COORD = 3,
|
||||
};
|
||||
|
||||
struct LcEmcTaskSubsetUpdateInput {
|
||||
int traj_mode;
|
||||
int mdi_or_auto;
|
||||
int traj_enabled;
|
||||
int io_estop;
|
||||
int old_task_state;
|
||||
int motion_id;
|
||||
};
|
||||
|
||||
struct LcEmcTaskSubsetUpdateResult {
|
||||
int mode;
|
||||
int state;
|
||||
int should_abort_on_state_drop;
|
||||
int motion_line;
|
||||
};
|
||||
|
||||
struct LcEmcTaskSubsetCommandResult {
|
||||
int retval;
|
||||
int mode;
|
||||
int state;
|
||||
int traj_mode;
|
||||
int should_clear_interpreter;
|
||||
int should_abort_motion;
|
||||
int should_traj_enable;
|
||||
int should_traj_disable;
|
||||
int should_reset_homing;
|
||||
int should_unhome;
|
||||
int should_plan_synch;
|
||||
};
|
||||
|
||||
struct LcEmcTaskSubsetPlanState {
|
||||
int wait_flag;
|
||||
int taskplanopen;
|
||||
int motion_line;
|
||||
int current_line;
|
||||
int read_line;
|
||||
int level;
|
||||
};
|
||||
|
||||
struct LcEmcTaskSubsetPlanResult {
|
||||
int retval;
|
||||
int wait_flag;
|
||||
int taskplanopen;
|
||||
int should_reset_lines;
|
||||
int should_synch;
|
||||
int should_close;
|
||||
int should_reset;
|
||||
int line;
|
||||
int level;
|
||||
};
|
||||
|
||||
struct LcEmcTaskSubsetPlanIoResult {
|
||||
int retval;
|
||||
int line;
|
||||
int level;
|
||||
int should_execute;
|
||||
int should_set_wait;
|
||||
int should_synch_before_execute;
|
||||
int should_finish;
|
||||
int should_append_to_interp_list;
|
||||
};
|
||||
|
||||
void lc_emctask_subset_update(const LcEmcTaskSubsetUpdateInput *input,
|
||||
LcEmcTaskSubsetUpdateResult *result);
|
||||
void lc_emctask_subset_abort(LcEmcTaskSubsetCommandResult *result);
|
||||
void lc_emctask_subset_set_mode(int mode,
|
||||
int all_homed,
|
||||
int jogging_active,
|
||||
LcEmcTaskSubsetCommandResult *result);
|
||||
void lc_emctask_subset_set_state(int state,
|
||||
int old_state,
|
||||
LcEmcTaskSubsetCommandResult *result);
|
||||
void lc_emctask_subset_plan_set_wait(LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result);
|
||||
int lc_emctask_subset_plan_is_wait(const LcEmcTaskSubsetPlanState *state);
|
||||
void lc_emctask_subset_plan_clear_wait(LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result);
|
||||
void lc_emctask_subset_plan_synch(const LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result);
|
||||
void lc_emctask_subset_plan_open(const char *file,
|
||||
int staged_file_available,
|
||||
LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result);
|
||||
void lc_emctask_subset_plan_close(LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result);
|
||||
void lc_emctask_subset_plan_reset(LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result);
|
||||
void lc_emctask_subset_plan_read(const LcEmcTaskSubsetPlanState *state,
|
||||
int next_line,
|
||||
int line_count,
|
||||
LcEmcTaskSubsetPlanIoResult *result);
|
||||
void lc_emctask_subset_plan_execute(const char *command,
|
||||
int mdi,
|
||||
int inpos,
|
||||
int line_number,
|
||||
LcEmcTaskSubsetPlanIoResult *result);
|
||||
int lc_emctask_subset_plan_line(const LcEmcTaskSubsetPlanState *state);
|
||||
int lc_emctask_subset_plan_level(const LcEmcTaskSubsetPlanState *state);
|
||||
int lc_emctask_subset_plan_command(const char *command, char *out, int out_len);
|
||||
const char *lc_emctask_subset_source_path(void);
|
||||
const char *lc_emctask_subset_anchor_list(void);
|
||||
const char *lc_emctask_subset_state_mode_anchor_list(void);
|
||||
const char *lc_emctask_subset_plan_anchor_list(void);
|
||||
const char *lc_emctask_subset_plan_read_execute_anchor_list(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
@@ -1,241 +0,0 @@
|
||||
#include "taskintf_wasm_subset.hh"
|
||||
|
||||
/*
|
||||
* WASM task-to-motion subset derived from LinuxCNC src/emc/task/taskintf.cc.
|
||||
*
|
||||
* Upstream anchors:
|
||||
* - emcMotionInit(): initialize traj/joint/axis/spindle motion edge.
|
||||
* - emcMotionUpdate(): read usrmot status/config/internal/error into EMC_MOTION_STAT.
|
||||
* - emcMotionAbort(): jog abort + traj abort through the motion interface.
|
||||
* - emcTrajSetMotionId/Enable/Disable/Abort/Pause/Step/Resume(): set EMCMOT_* command and write it.
|
||||
* - emcTrajLinearMove(): populate line motion command fields.
|
||||
* - emcJogIncr(): populate jog increment command fields.
|
||||
* - emcJointHome()/emcJointUnhome(): populate joint home command fields.
|
||||
* - emcMotionSetAout(): populate analog-output motion command fields.
|
||||
*
|
||||
* The full upstream file owns usrmot, NML, INI config, and native motion
|
||||
* process edges. This subset stops at the command envelope boundary so the
|
||||
* standalone WASM runtime can forward through lcmot_* without owning LinuxCNC
|
||||
* motion semantics in the task layer.
|
||||
*/
|
||||
|
||||
namespace {
|
||||
|
||||
void clear_command(LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
*out = LcTaskIntfSubsetMotionCommand{};
|
||||
}
|
||||
|
||||
void set_simple(int command, LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
clear_command(out);
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
out->command = command;
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
extern "C" {
|
||||
|
||||
void lc_taskintf_subset_traj_abort(LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
set_simple(LC_TASKINTF_SUBSET_COMMAND_TRAJ_ABORT, out);
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_traj_enable(LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
set_simple(LC_TASKINTF_SUBSET_COMMAND_TRAJ_ENABLE, out);
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_traj_disable(LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
set_simple(LC_TASKINTF_SUBSET_COMMAND_TRAJ_DISABLE, out);
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_traj_set_motion_id(int id, LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
clear_command(out);
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
out->command = LC_TASKINTF_SUBSET_COMMAND_TRAJ_SET_MOTION_ID;
|
||||
out->motion_id = id;
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_traj_pause(LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
set_simple(LC_TASKINTF_SUBSET_COMMAND_TRAJ_PAUSE, out);
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_traj_step(LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
set_simple(LC_TASKINTF_SUBSET_COMMAND_TRAJ_STEP, out);
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_traj_resume(LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
set_simple(LC_TASKINTF_SUBSET_COMMAND_TRAJ_RESUME, out);
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_joint_home(int joint, LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
clear_command(out);
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
out->command = LC_TASKINTF_SUBSET_COMMAND_JOINT_HOME;
|
||||
out->joint = joint;
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_joint_unhome(int joint, LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
clear_command(out);
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
out->command = LC_TASKINTF_SUBSET_COMMAND_JOINT_UNHOME;
|
||||
out->joint = joint;
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_jog_incr(int axis, double distance, double velocity,
|
||||
LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
lc_taskintf_subset_jog_incr_ex(axis, distance, velocity, 0, 0, out);
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_jog_incr_ex(int nr, double distance, double velocity,
|
||||
int joint_jog_mode, int motion_id,
|
||||
LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
clear_command(out);
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
out->command = LC_TASKINTF_SUBSET_COMMAND_JOG_INCR;
|
||||
out->axis = joint_jog_mode ? -1 : nr;
|
||||
out->joint = joint_jog_mode ? nr : -1;
|
||||
out->distance = distance;
|
||||
out->velocity = velocity;
|
||||
out->motion_id = motion_id;
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_set_aout(int index, double start, double end, int now,
|
||||
LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
clear_command(out);
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
out->command = LC_TASKINTF_SUBSET_COMMAND_SET_AOUT;
|
||||
out->aout_index = index;
|
||||
out->aout_now = now;
|
||||
out->aout_start = start;
|
||||
out->aout_end = end;
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_linear_move(int line, const LcTaskIntfSubsetPose *pose,
|
||||
double velocity, int motion_type,
|
||||
LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
lc_taskintf_subset_linear_move_ex(
|
||||
line,
|
||||
pose,
|
||||
velocity,
|
||||
motion_type,
|
||||
velocity,
|
||||
0.0,
|
||||
0.0,
|
||||
line,
|
||||
out);
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_linear_move_ex(int line, const LcTaskIntfSubsetPose *pose,
|
||||
double velocity, int motion_type,
|
||||
double ini_maxvel, double acceleration,
|
||||
double ini_maxjerk, int motion_id,
|
||||
LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
clear_command(out);
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
out->command = LC_TASKINTF_SUBSET_COMMAND_TRAJ_LINEAR_MOVE;
|
||||
out->line = line;
|
||||
out->motion_type = motion_type;
|
||||
out->motion_id = motion_id;
|
||||
out->velocity = velocity;
|
||||
out->ini_maxvel = ini_maxvel;
|
||||
out->acceleration = acceleration;
|
||||
out->ini_maxjerk = ini_maxjerk;
|
||||
if (pose) {
|
||||
out->pose = *pose;
|
||||
}
|
||||
}
|
||||
|
||||
int lc_taskintf_subset_motion_init(const char *ini_path, const char *ini_text)
|
||||
{
|
||||
return lcmot_init_from_ini(ini_path, ini_text);
|
||||
}
|
||||
|
||||
int lc_taskintf_subset_motion_update(LcmotStatusSnapshot *status,
|
||||
LcmotConfigSnapshot *config,
|
||||
char *error_text,
|
||||
int error_text_len)
|
||||
{
|
||||
if (!status || !config) {
|
||||
return -1;
|
||||
}
|
||||
if (lcmot_read_status_snapshot(status) != 0) {
|
||||
return -1;
|
||||
}
|
||||
if (lcmot_read_config_snapshot(config) != 0) {
|
||||
return -1;
|
||||
}
|
||||
if (error_text && error_text_len > 0) {
|
||||
error_text[0] = '\0';
|
||||
(void)lcmot_read_error_message(error_text, error_text_len);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_motion_abort(LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
lc_taskintf_subset_traj_abort(out);
|
||||
}
|
||||
|
||||
const char *lc_taskintf_subset_source_path(void)
|
||||
{
|
||||
return "src/emc/task/taskintf.cc";
|
||||
}
|
||||
|
||||
const char *lc_taskintf_subset_anchor_list(void)
|
||||
{
|
||||
return "emcTrajSetMotionId,emcTrajEnable,emcTrajDisable,emcTrajAbort,emcTrajPause,emcTrajStep,emcTrajResume,emcTrajLinearMove,emcJogIncr,emcJointHome,emcJointUnhome,emcMotionSetAout";
|
||||
}
|
||||
|
||||
const char *lc_taskintf_subset_motion_bridge_anchor_list(void)
|
||||
{
|
||||
return "emcMotionInit,emcMotionUpdate,emcMotionAbort,usrmotReadEmcmotStatus,usrmotReadEmcmotConfig,usrmotReadEmcmotError";
|
||||
}
|
||||
|
||||
const char *lc_taskintf_subset_traj_control_anchor_list(void)
|
||||
{
|
||||
return "emcTrajSetMotionId,emcTrajEnable,emcTrajDisable,emcTrajAbort,emcTrajPause,emcTrajStep,emcTrajResume";
|
||||
}
|
||||
|
||||
const char *lc_taskintf_subset_linear_move_anchor_list(void)
|
||||
{
|
||||
return "emcTrajLinearMove,EMCMOT_SET_LINE,usrmotWriteEmcmotCommand";
|
||||
}
|
||||
|
||||
const char *lc_taskintf_subset_jog_home_switchkins_anchor_list(void)
|
||||
{
|
||||
return "emcJogIncr,emcJointHome,emcJointUnhome,emcMotionSetAout,EMCMOT_JOG_INCR,EMCMOT_JOINT_HOME,EMCMOT_JOINT_UNHOME,EMCMOT_SET_AOUT,usrmotWriteEmcmotCommand";
|
||||
}
|
||||
|
||||
} // extern "C"
|
||||
@@ -1,95 +0,0 @@
|
||||
#ifndef LINUXCNC_TASKINTF_WASM_SUBSET_HH
|
||||
#define LINUXCNC_TASKINTF_WASM_SUBSET_HH
|
||||
|
||||
#include "linuxcnc_motion_runtime.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
enum LcTaskIntfSubsetCommand {
|
||||
LC_TASKINTF_SUBSET_COMMAND_NONE = 0,
|
||||
LC_TASKINTF_SUBSET_COMMAND_TRAJ_ABORT = 1,
|
||||
LC_TASKINTF_SUBSET_COMMAND_TRAJ_PAUSE = 2,
|
||||
LC_TASKINTF_SUBSET_COMMAND_TRAJ_STEP = 3,
|
||||
LC_TASKINTF_SUBSET_COMMAND_TRAJ_RESUME = 4,
|
||||
LC_TASKINTF_SUBSET_COMMAND_TRAJ_LINEAR_MOVE = 5,
|
||||
LC_TASKINTF_SUBSET_COMMAND_JOG_INCR = 6,
|
||||
LC_TASKINTF_SUBSET_COMMAND_JOINT_HOME = 7,
|
||||
LC_TASKINTF_SUBSET_COMMAND_SET_AOUT = 8,
|
||||
LC_TASKINTF_SUBSET_COMMAND_TRAJ_ENABLE = 9,
|
||||
LC_TASKINTF_SUBSET_COMMAND_TRAJ_DISABLE = 10,
|
||||
LC_TASKINTF_SUBSET_COMMAND_TRAJ_SET_MOTION_ID = 11,
|
||||
LC_TASKINTF_SUBSET_COMMAND_JOINT_UNHOME = 12,
|
||||
};
|
||||
|
||||
struct LcTaskIntfSubsetPose {
|
||||
double x;
|
||||
double y;
|
||||
double z;
|
||||
double a;
|
||||
double b;
|
||||
double c;
|
||||
};
|
||||
|
||||
struct LcTaskIntfSubsetMotionCommand {
|
||||
int command;
|
||||
int line;
|
||||
int axis;
|
||||
int joint;
|
||||
int motion_type;
|
||||
int aout_index;
|
||||
int aout_now;
|
||||
int motion_id;
|
||||
double velocity;
|
||||
double ini_maxvel;
|
||||
double acceleration;
|
||||
double ini_maxjerk;
|
||||
double distance;
|
||||
double aout_start;
|
||||
double aout_end;
|
||||
LcTaskIntfSubsetPose pose;
|
||||
};
|
||||
|
||||
void lc_taskintf_subset_traj_abort(LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_traj_enable(LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_traj_disable(LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_traj_set_motion_id(int id, LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_traj_pause(LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_traj_step(LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_traj_resume(LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_joint_home(int joint, LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_joint_unhome(int joint, LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_jog_incr(int axis, double distance, double velocity,
|
||||
LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_jog_incr_ex(int nr, double distance, double velocity,
|
||||
int joint_jog_mode, int motion_id,
|
||||
LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_set_aout(int index, double start, double end, int now,
|
||||
LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_linear_move(int line, const LcTaskIntfSubsetPose *pose,
|
||||
double velocity, int motion_type,
|
||||
LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_linear_move_ex(int line, const LcTaskIntfSubsetPose *pose,
|
||||
double velocity, int motion_type,
|
||||
double ini_maxvel, double acceleration,
|
||||
double ini_maxjerk, int motion_id,
|
||||
LcTaskIntfSubsetMotionCommand *out);
|
||||
int lc_taskintf_subset_motion_init(const char *ini_path, const char *ini_text);
|
||||
int lc_taskintf_subset_motion_update(LcmotStatusSnapshot *status,
|
||||
LcmotConfigSnapshot *config,
|
||||
char *error_text,
|
||||
int error_text_len);
|
||||
void lc_taskintf_subset_motion_abort(LcTaskIntfSubsetMotionCommand *out);
|
||||
const char *lc_taskintf_subset_source_path(void);
|
||||
const char *lc_taskintf_subset_anchor_list(void);
|
||||
const char *lc_taskintf_subset_motion_bridge_anchor_list(void);
|
||||
const char *lc_taskintf_subset_traj_control_anchor_list(void);
|
||||
const char *lc_taskintf_subset_linear_move_anchor_list(void);
|
||||
const char *lc_taskintf_subset_jog_home_switchkins_anchor_list(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user