void FanucAdapter::getStatus()
{
if (!mConnected)
return;
int ret;
ODBST status;
memset(&status, 0, sizeof(status));
ret = cnc_statinfo(mFlibhndl, &status);
if (ret == EW_OK)
{
// This will take care of JOG
if (status.aut == 5 || status.aut == 6)
mMode.setValue(ControllerMode::eMANUAL);
else if (status.aut == 0 ||status.aut == 3) // MDI and EDIT
mMode.setValue(ControllerMode::eMANUAL_DATA_INPUT);
else // Otherwise AUTOMATIC
mMode.setValue(ControllerMode::eAUTOMATIC);
if (status.run == 3 || status.run == 4) // STaRT
mExecution.setValue(Execution::eACTIVE);
else
{
if (status.run == 2 || status.motion == 2 || status.mstb != 0) // HOLD or motion is Wait
mExecution.setValue(Execution::eINTERRUPTED);
else if (status.run == 0) // STOP
mExecution.setValue(Execution::eSTOPPED);
else
mExecution.setValue(Execution::eREADY);
}
if (status.emergency == 1)
mEstop.setValue(EmergencyStop::eTRIGGERED);
else
mEstop.setValue(EmergencyStop::eARMED);
char buf[1024];
unsigned short len = sizeof(buf);
short num;
ret = cnc_rdexecprog(mFlibhndl, (unsigned short*) &len, &num, buf);
if (ret == EW_OK)
{
buf[len] = '\0';
for (int i = 0; i < len; i++)
{
if (buf[i] == '\n')
{
buf[i] = '\0';
break;
}
}
mBlock.setValue(buf);
}
}
else
{
disconnect();
}
}
int CiSeries::getStatus()
{
GLogger.LogMessage("iSeries::getStatus Enter\n", 3);
if (!_adapter->mConnected)
return -1;
short ret;
IODBSGNL sgnl;
/// Difference 15i versus 16/18/.. i series
if (EW_OK == (ret=cnc_rdopnlsgnl(_adapter->mFlibhndl, 0xFFFF, &sgnl)))
{
std::string sFovr = StdStringFormat("%d", (int) sgnl.feed_ovrd );
// Broken?
//_adapter->SetMTCTagValue("path_feedrateovr", sFovr);
_adapter->SetMTCTagValue("path_feedrateovr", "100");
_adapter->SetMTCTagValue("Sovr", "100");
}
else
{
_adapter->SetMTCTagValue("Sovr", "100");
_adapter->SetMTCTagValue("path_feedrateovr", "100");
GLogger.Warning(StdStringFormat("Error: iSeries::cnc_rdopnlsgnl=%d\n", ret));
LogErrorMessage("Error: iSeries::cnc_rdopnlsgnl", ret);
}
//this one may fail
// bit 6 : Spindle override signal (only Series 15)
//if(EW_OK == cnc_rdopnlsgnl(_adapter->mFlibhndl, 0x40, &sgnl))
// _adapter->SetMTCTagValue("Sovr", StdStringFormat("%8.4f", sgnl.spdl_ovrd * 10.0));
ODBST status;
ret = cnc_statinfo(_adapter->mFlibhndl, &status);
if (ret == EW_OK)
{
GLogger.Info(StdStringFormat("Controller mode iSeries::cnc_statinfo=%d\n", status.aut));
// Series 16/18/21/0/Power Mate
if (status.aut == 0) // MDI for aut
_adapter->SetMTCTagValue("controllermode", "MANUAL");
else if (status.aut != 2) // Other than no selection or MDI
_adapter->SetMTCTagValue("controllermode", "AUTOMATIC");
else
_adapter->SetMTCTagValue("controllermode", "MANUAL");
/** run
Status of automatic operation 0 : ****(reset)
1 : STOP
2 : HOLD
3 : STaRT
4 : MSTR(during retraction and re-positioning of tool retraction and recovery, and operation of JOG MDI)
*/
GLogger.Info(StdStringFormat("Execution mode iSeries::cnc_statinfo=%d\n", status.run));
if(status.run == 0 )
_adapter->SetMTCTagValue("execution", "IDLE");
else if (status.run == 1 || status.run == 2) // STOP or HOLD is ePAUSED
_adapter->SetMTCTagValue("execution", "PAUSED");
else if (status.run >2) // STaRT
_adapter->SetMTCTagValue("execution", "EXECUTING");
//else if (status.run ==4)
// _adapter->SetMTCTagValue("execution", "PAUSED");
//else
// _adapter->SetMTCTagValue("execution", "PAUSED");
}
else
{
_adapter->disconnect();
}
GLogger.LogMessage("iSeries::getStatus Leave\n", 3);
return EW_OK;
}
