/* init_comm_buffers() allocates and initializes the command, status, and error buffers used to communicate with the user space parts of emc. */ static int init_comm_buffers(void) { int joint_num, n; emcmot_joint_t *joint; int retval; rtapi_print_msg(RTAPI_MSG_INFO, "MOTION: init_comm_buffers() starting...\n"); emcmotStruct = 0; emcmotDebug = 0; emcmotStatus = 0; emcmotCommand = 0; emcmotConfig = 0; /* record the kinematics type of the machine */ kinType = kinematicsType(); /* allocate and initialize the shared memory structure */ emc_shmem_id = rtapi_shmem_new(key, mot_comp_id, sizeof(emcmot_struct_t)); if (emc_shmem_id < 0) { rtapi_print_msg(RTAPI_MSG_ERR, "MOTION: rtapi_shmem_new failed, returned %d\n", emc_shmem_id); return -1; } retval = rtapi_shmem_getptr(emc_shmem_id, (void **) &emcmotStruct); if (retval < 0) { rtapi_print_msg(RTAPI_MSG_ERR, "MOTION: rtapi_shmem_getptr failed, returned %d\n", retval); return -1; } /* zero shared memory before doing anything else. */ memset(emcmotStruct, 0, sizeof(emcmot_struct_t)); /* we'll reference emcmotStruct directly */ emcmotCommand = &emcmotStruct->command; emcmotStatus = &emcmotStruct->status; emcmotConfig = &emcmotStruct->config; emcmotDebug = &emcmotStruct->debug; emcmotInternal = &emcmotStruct->internal; emcmotError = &emcmotStruct->error; /* init error struct */ emcmotErrorInit(emcmotError); /* init command struct */ emcmotCommand->head = 0; emcmotCommand->command = 0; emcmotCommand->commandNum = 0; emcmotCommand->tail = 0; emcmotCommand->spindlesync = 0.0; /* init status struct */ emcmotStatus->head = 0; emcmotStatus->commandEcho = 0; emcmotStatus->commandNumEcho = 0; emcmotStatus->commandStatus = 0; /* init more stuff */ emcmotDebug->head = 0; emcmotConfig->head = 0; emcmotStatus->motionFlag = 0; SET_MOTION_ERROR_FLAG(0); SET_MOTION_COORD_FLAG(0); SET_MOTION_TELEOP_FLAG(0); emcmotDebug->split = 0; emcmotStatus->heartbeat = 0; emcmotStatus->computeTime = 0.0; emcmotConfig->numJoints = num_joints; ZERO_EMC_POSE(emcmotStatus->carte_pos_cmd); ZERO_EMC_POSE(emcmotStatus->carte_pos_fb); emcmotStatus->vel = VELOCITY; emcmotConfig->limitVel = VELOCITY; emcmotStatus->acc = ACCELERATION; emcmotStatus->feed_scale = 1.0; emcmotStatus->spindle_scale = 1.0; emcmotStatus->net_feed_scale = 1.0; /* adaptive feed is off by default, feed override, spindle override, and feed hold are on */ emcmotStatus->enables_new = FS_ENABLED | SS_ENABLED | FH_ENABLED; emcmotStatus->enables_queued = emcmotStatus->enables_new; emcmotStatus->id = 0; emcmotStatus->depth = 0; emcmotStatus->activeDepth = 0; emcmotStatus->paused = 0; emcmotStatus->overrideLimitMask = 0; emcmotStatus->spindle.speed = 0.0; SET_MOTION_INPOS_FLAG(1); SET_MOTION_ENABLE_FLAG(0); emcmotConfig->kinematics_type = kinType; emcmotDebug->oldPos = emcmotStatus->carte_pos_cmd; ZERO_EMC_POSE(emcmotDebug->oldVel); emcmot_config_change(); /* init pointer to joint structs */ #ifdef STRUCTS_IN_SHMEM joints = &(emcmotDebug->joints[0]); #else joints = &(joint_array[0]); #endif /* init per-joint stuff */ for (joint_num = 0; joint_num < num_joints; joint_num++) { /* point to structure for this joint */ joint = &joints[joint_num]; /* init the config fields with some "reasonable" defaults" */ joint->type = 0; joint->max_pos_limit = 1.0; joint->min_pos_limit = -1.0; joint->vel_limit = 1.0; joint->acc_limit = 1.0; joint->min_ferror = 0.01; joint->max_ferror = 1.0; joint->home_search_vel = 0.0; joint->home_latch_vel = 0.0; joint->home_final_vel = -1; joint->home_offset = 0.0; joint->home = 0.0; joint->home_flags = 0; joint->home_sequence = -1; joint->backlash = 0.0; joint->comp.entries = 0; joint->comp.entry = &(joint->comp.array[0]); /* the compensation code has -DBL_MAX at one end of the table and +DBL_MAX at the other so _all_ commanded positions are guaranteed to be covered by the table */ joint->comp.array[0].nominal = -DBL_MAX; joint->comp.array[0].fwd_trim = 0.0; joint->comp.array[0].rev_trim = 0.0; joint->comp.array[0].fwd_slope = 0.0; joint->comp.array[0].rev_slope = 0.0; for ( n = 1 ; n < EMCMOT_COMP_SIZE+2 ; n++ ) { joint->comp.array[n].nominal = DBL_MAX; joint->comp.array[n].fwd_trim = 0.0; joint->comp.array[n].rev_trim = 0.0; joint->comp.array[n].fwd_slope = 0.0; joint->comp.array[n].rev_slope = 0.0; } /* init status info */ joint->flag = 0; joint->coarse_pos = 0.0; joint->pos_cmd = 0.0; joint->vel_cmd = 0.0; joint->backlash_corr = 0.0; joint->backlash_filt = 0.0; joint->backlash_vel = 0.0; joint->motor_pos_cmd = 0.0; joint->motor_pos_fb = 0.0; joint->pos_fb = 0.0; joint->ferror = 0.0; joint->ferror_limit = joint->min_ferror; joint->ferror_high_mark = 0.0; /* init internal info */ cubicInit(&(joint->cubic)); /* init misc other stuff in joint structure */ joint->big_vel = 10.0 * joint->vel_limit; joint->home_state = 0; /* init joint flags (reduntant, since flag = 0 */ SET_JOINT_ENABLE_FLAG(joint, 0); SET_JOINT_ACTIVE_FLAG(joint, 0); SET_JOINT_NHL_FLAG(joint, 0); SET_JOINT_PHL_FLAG(joint, 0); SET_JOINT_INPOS_FLAG(joint, 1); SET_JOINT_HOMING_FLAG(joint, 0); SET_JOINT_HOMED_FLAG(joint, 0); SET_JOINT_FERROR_FLAG(joint, 0); SET_JOINT_FAULT_FLAG(joint, 0); SET_JOINT_ERROR_FLAG(joint, 0); } /*! \todo FIXME-- add emcmotError */ emcmotDebug->tMin = 0.0; emcmotDebug->tMax = 0.0; emcmotDebug->tAvg = 0.0; emcmotDebug->sMin = 0.0; emcmotDebug->sMax = 0.0; emcmotDebug->sAvg = 0.0; emcmotDebug->nMin = 0.0; emcmotDebug->nMax = 0.0; emcmotDebug->nAvg = 0.0; emcmotDebug->yMin = 0.0; emcmotDebug->yMax = 0.0; emcmotDebug->yAvg = 0.0; emcmotDebug->fyMin = 0.0; emcmotDebug->fyMax = 0.0; emcmotDebug->fyAvg = 0.0; emcmotDebug->fMin = 0.0; emcmotDebug->fMax = 0.0; emcmotDebug->fAvg = 0.0; emcmotDebug->cur_time = emcmotDebug->last_time = 0.0; emcmotDebug->start_time = etime(); emcmotDebug->running_time = 0.0; /* init motion emcmotDebug->queue */ if (-1 == tpCreate(&emcmotDebug->queue, DEFAULT_TC_QUEUE_SIZE, emcmotDebug->queueTcSpace)) { rtapi_print_msg(RTAPI_MSG_ERR, "MOTION: failed to create motion emcmotDebug->queue\n"); return -1; } // tpInit(&emcmotDebug->queue); // tpInit called from tpCreate tpSetCycleTime(&emcmotDebug->queue, emcmotConfig->trajCycleTime); tpSetPos(&emcmotDebug->queue, emcmotStatus->carte_pos_cmd); tpSetVmax(&emcmotDebug->queue, emcmotStatus->vel, emcmotStatus->vel); tpSetAmax(&emcmotDebug->queue, emcmotStatus->acc); emcmotStatus->tail = 0; rtapi_print_msg(RTAPI_MSG_INFO, "MOTION: init_comm_buffers() complete\n"); return 0; }
static int init_comm_buffers(void) { int joint_num, n; emcmot_joint_t *joint; int retval; int shmem_id; rtapi_print_msg(RTAPI_MSG_INFO, "MOTION: init_comm_buffers() starting...\n"); emcmotStruct = 0; emcmotDebug = 0; emcmotStatus = 0; c = 0; emcmotConfig = 0; /* allocate and initialize the shared memory structure */ shmem_id = rtapi_shmem_new(DEFAULT_SHMEM_KEY, mot_comp_id, sizeof(emcmot_struct_t)); if (shmem_id < 0) { rtapi_print_msg(RTAPI_MSG_ERR, "MOTION: rtapi_shmem_new failed, returned %d\n", shmem_id); return -1; } retval = rtapi_shmem_getptr(shmem_id, (void **) &emcmotStruct); if (retval < 0) { rtapi_print_msg(RTAPI_MSG_ERR, "MOTION: rtapi_shmem_getptr failed, returned %d\n", retval); return -1; } /* zero shared memory before doing anything else. */ memset(emcmotStruct, 0, sizeof(emcmot_struct_t)); /* we'll reference emcmotStruct directly */ c = &emcmotStruct->command; emcmotStatus = &emcmotStruct->status; emcmotConfig = &emcmotStruct->config; emcmotDebug = &emcmotStruct->debug; emcmotInternal = &emcmotStruct->internal; emcmotError = &emcmotStruct->error; emcmotConfig->numJoints = num_joints; emcmotStatus->vel = DEFAULT_VELOCITY; emcmotConfig->limitVel = DEFAULT_VELOCITY; emcmotStatus->acc = DEFAULT_ACCELERATION; emcmotStatus->feed_scale = 1.0; emcmotStatus->rapid_scale = 1.0; emcmotStatus->spindle_scale = 1.0; emcmotStatus->net_feed_scale = 1.0; /* adaptive feed is off by default, feed override, spindle override, and feed hold are on */ emcmotStatus->enables_new = FS_ENABLED | SS_ENABLED | FH_ENABLED; emcmotStatus->enables_queued = emcmotStatus->enables_new; SET_MOTION_INPOS_FLAG(1); emcmotConfig->kinematics_type = KINEMATICS_IDENTITY; emcmot_config_change(); /* init pointer to joint structs */ joints = joint_array; /* init per-joint stuff */ for (joint_num = 0; joint_num < num_joints; joint_num++) { /* point to structure for this joint */ joint = &joints[joint_num]; /* init the config fields with some "reasonable" defaults" */ joint->max_pos_limit = 1.0; joint->min_pos_limit = -1.0; joint->vel_limit = 1.0; joint->acc_limit = 1.0; joint->min_ferror = 0.01; joint->max_ferror = 1.0; joint->home_final_vel = -1; joint->home_sequence = -1; joint->comp.entry = &(joint->comp.array[0]); /* the compensation code has -DBL_MAX at one end of the table and +DBL_MAX at the other so _all_ commanded positions are guaranteed to be covered by the table */ joint->comp.array[0].nominal = -DBL_MAX; joint->comp.array[0].fwd_trim = 0.0; joint->comp.array[0].rev_trim = 0.0; joint->comp.array[0].fwd_slope = 0.0; joint->comp.array[0].rev_slope = 0.0; for ( n = 1 ; n < EMCMOT_COMP_SIZE+2 ; n++ ) { joint->comp.array[n].nominal = DBL_MAX; joint->comp.array[n].fwd_trim = 0.0; joint->comp.array[n].rev_trim = 0.0; joint->comp.array[n].fwd_slope = 0.0; joint->comp.array[n].rev_slope = 0.0; } /* init status info */ joint->ferror_limit = joint->min_ferror; /* init misc other stuff in joint structure */ joint->big_vel = 10.0 * joint->vel_limit; SET_JOINT_INPOS_FLAG(joint, 1); } emcmotDebug->start_time = time(NULL); rtapi_print_msg(RTAPI_MSG_INFO, "MOTION: init_comm_buffers() complete\n"); return 0; }