int CGCodeInterpreter::SetCSS(int mode) // set CSS mode
{
char s[64];
if (mode==CANON_SPINDLE_CSS)
{
double x_res=CoordMotion->Kinematics->m_MotionParams.CountsPerInchX;
float x_factor=0.0;
if (x_res != 0.0)
x_factor = (float)(1.0 / x_res);
float xoffset = (float)(UserUnitsToInches(_setup.axis_offset_x+_setup.origin_offset_x)*x_res);
float fspeed = (float)(p_setup->speed * CoordMotion->GetSpindleRateOverride());
// convert feet per minute or meters per minute -> inches/sec
if (p_setup->length_units == CANON_UNITS_MM)
fspeed /= 60.0f * 0.0254f;
else
fspeed *= 12.0f/60.0f;
float max_rpm=1e9;
if (p_setup->block1.d_number!=-1) max_rpm = (float)p_setup->block1.d_number;
sprintf(s, "SetPersistHex %d %x",PC_COMM_CSS_X_OFFSET, *(int *)&xoffset);
if (CoordMotion->KMotionDLL->WriteLine(s)) {CoordMotion->SetAbort(); return 1;}
sprintf(s, "SetPersistHex %d %x",PC_COMM_CSS_X_FACTOR, *(int *)&x_factor);
if (CoordMotion->KMotionDLL->WriteLine(s)) {CoordMotion->SetAbort(); return 1;}
sprintf(s, "SetPersistHex %d %x",PC_COMM_CSS_S, *(int *)&fspeed);
if (CoordMotion->KMotionDLL->WriteLine(s)) {CoordMotion->SetAbort(); return 1;}
sprintf(s, "SetPersistHex %d %x",PC_COMM_CSS_MAX_RPM, *(int *)&max_rpm);
if (CoordMotion->KMotionDLL->WriteLine(s)) {CoordMotion->SetAbort(); return 1;}
}
sprintf(s, "SetPersistHex %d %x",PC_COMM_CSS_MODE, mode);
if (CoordMotion->KMotionDLL->WriteLine(s)) {CoordMotion->SetAbort(); return 1;}
return 0;
}
int CGCodeInterpreter::DoReverseSearch(const char * InFile, int CurrentLine)
{
int GCodeReads,status;
char trash[INTERP_TEXT_SIZE];
char * read_ok;
char s[MAX_LINE];
if (CurrentLine==0) return 0; // should always be ok to set the first line
CoordMotion->m_Stopping = STOPPED_NONE;
// always read the tool file now (some users set it externally)
// if (m_restart || m_ReadToolFile)
{
if (ToolFile[0]!=0)
{
status = read_tool_file(ToolFile, &_setup);
if (status != RS274NGC_OK) return rs274ErrorExit(status);
}
m_ReadToolFile = false;
}
if (!CoordMotion->m_Simulate)
{
int result;
// find out which axis is which
// force refresh and save results
CoordMotion->m_DefineCS_valid = false;
if (CoordMotion->m_PreviouslyStopped)
result = CoordMotion->ReadCurAbsPosition(&CoordMotion->current_x,&CoordMotion->current_y,&CoordMotion->current_z,
&CoordMotion->current_a,&CoordMotion->current_b,&CoordMotion->current_c,true);
else
result = ReadAndSyncCurPositions(&_setup.current_x,&_setup.current_y,&_setup.current_z,&_setup.AA_current,&_setup.BB_current,&_setup.CC_current);
if (result == 1)
{
if (CoordMotion->m_AxisDisabled)
strcpy(ErrorOutput,"Unable to read defined coordinate system axis positions - Axis Disabled ");
else
strcpy(ErrorOutput,"Unable to read defined coordinate system axis positions ");
}
if (result != 0) return 1005;
}
status = rs274ngc_open(InFile);
if (status != RS274NGC_OK) return rs274ErrorExit(status);
if (_setup.percent_flag == ON)
GCodeReads = 1;
else
GCodeReads = 0;
// read the entire file into this array of lines
// up until the line we wish to start
#ifdef _KMOTIONX
//char *LineArray = new char[CurrentLine+1][INTERP_TEXT_SIZE+1];
//this works on linux due to a C++ extension
char LineArray[CurrentLine+1][INTERP_TEXT_SIZE+1];
#define CLEAN_ARRAY do{ } while( false )
#else
CString *LineArray = new CString[CurrentLine+1];
if (!LineArray) return 1;
#define CLEAN_ARRAY do{ delete [] LineArray; } while( false )
#endif
for( ; GCodeReads<=CurrentLine ; GCodeReads++)
{
read_ok = fgets(trash, INTERP_TEXT_SIZE,_setup.file_pointer);
if (!read_ok)
{
rs274ngc_close();
CLEAN_ARRAY;
AfxMessageBox("Error while reading GCode file ");
return 1;
}
#ifdef _KMOTIONX
strcpy(LineArray[GCodeReads],trash);
#else
LineArray[GCodeReads] = trash;
#endif
}
rs274ngc_close();
bool Done=false;
bool FoundG=false;
bool FoundF=false;
bool FoundUnits=false;
bool FoundX=CoordMotion->x_axis < 0;
bool FoundY=CoordMotion->y_axis < 0;
bool FoundZ=CoordMotion->z_axis < 0;
bool FoundA=CoordMotion->a_axis < 0;
bool FoundB=CoordMotion->b_axis < 0;
bool FoundC=CoordMotion->c_axis < 0;
bool FoundX0,FoundY0,FoundZ0,FoundA0,FoundB0,FoundC0,FoundG0,FoundF0,FoundUnits0;
int G=-1;
int Units=-1;
double x=0,y=0,z=0,a=0,b=0,c=0,f=0;
block *BL=&p_setup->block1;
block block0;
bool FirstLoop=true;
if (--GCodeReads<0) {CLEAN_ARRAY; return 1;}
status = rs274ngc_read(LineArray[GCodeReads]);
if (status == RS274NGC_ENDFILE)
{
rs274ngc_close();
CLEAN_ARRAY;
return RS274NGC_ENDFILE;
}
// save what is on the line the User wants to switch to
block0=p_setup->block1;
// we need to determine what everthing would be
// after the previous line was executed
while (!FoundG || (!FoundF && (G==-1 || G==G_1 || G==G_2 || G==G_3))
|| !FoundX || !FoundY || !FoundZ || !FoundA || !FoundB || !FoundC
|| !FoundUnits)
{
if (--GCodeReads<0) break;
status = rs274ngc_read(LineArray[GCodeReads]);
if (status == RS274NGC_ENDFILE)
{
rs274ngc_close();
CLEAN_ARRAY;
return RS274NGC_ENDFILE;
}
if (!FoundG)
{
if (BL->motion_to_be == G_0 ||
BL->motion_to_be == G_1 ||
BL->motion_to_be == G_2 ||
BL->motion_to_be == G_3 ||
BL->motion_to_be == G_4) FoundG=true;
if (FoundG) G=BL->motion_to_be;
}
if (!FoundUnits)
{
if (BL->g_modes[6] == G_20 ||
BL->g_modes[6] == G_21) FoundUnits=true;
if (FoundUnits) Units=BL->g_modes[6];
}
if (!FoundF && BL->f_number >= 0.0) {FoundF=true; f=BL->f_number;}
if (!FoundX && BL->x_flag) {FoundX=true; x=BL->x_number;}
if (!FoundY && BL->y_flag) {FoundY=true; y=BL->y_number;}
if (!FoundZ && BL->z_flag) {FoundZ=true; z=BL->z_number;}
if (!FoundA && BL->a_flag) {FoundA=true; a=BL->a_number;}
if (!FoundB && BL->b_flag) {FoundB=true; b=BL->b_number;}
if (!FoundC && BL->c_flag) {FoundC=true; c=BL->c_number;}
if (FirstLoop)
{
FirstLoop=false;
FoundX0=FoundX;
FoundY0=FoundY;
FoundZ0=FoundZ;
FoundA0=FoundA;
FoundB0=FoundB;
FoundC0=FoundC;
FoundG0=FoundG;
FoundF0=FoundF;
FoundUnits0=FoundUnits;
}
}
CLEAN_ARRAY;
if ((block0.g_modes[6]!=G_20 || block0.g_modes[6]!=G_21) && FoundUnits) // if units not specified on current line and different
{
if (Units==G_20 && p_setup->length_units!=CANON_UNITS_INCHES)
{
if (AfxMessageBox("Backward scan found G20 Inches Mode. Switch to Inches?" ,MB_YESNO)==IDYES)
{
p_setup->length_units=CANON_UNITS_INCHES;
}
}
if (Units==G_21 && p_setup->length_units!=CANON_UNITS_MM)
{
if (AfxMessageBox("Backward scan found G21 MM Mode. Switch to MM?" ,MB_YESNO)==IDYES)
{
p_setup->length_units=CANON_UNITS_MM;
}
}
}
// if jumping to a G0 assume User knows what is intended and it is ok to rapid to that location
if (block0.motion_to_be==G_0) return 1;
if (GCodeReads<0)
{
strcpy(s,"Unable to determine starting conditions for this line.\r\r");
if (!FoundX) strcat(s,"X? ");
if (!FoundY) strcat(s,"Y? ");
if (!FoundZ) strcat(s,"Z? ");
if (!FoundA) strcat(s,"A? ");
if (!FoundB) strcat(s,"B? ");
if (!FoundC) strcat(s,"C? ");
if (!FoundF && (G==-1 || G==G_1 || G==G_2 || G==G_3))strcat(s,"F? ");
if (!FoundUnits) strcat(s,"G20/21? ");
AfxMessageBox(s);
return 1;
}
if (block0.motion_to_be==-1)
{
sprintf(s, "New Line does not contain a G mode. Backward scan found:\r\rG%d\r\rUse this mode?",G/10);
if (AfxMessageBox(s,MB_YESNO)==IDNO)
{
return 1;
}
}
if (block0.f_number==-1)
{
if (FoundF)
{
sprintf(s, "New Line does not contain a Feedrate F command. Backward scan found:\r\rF%g\r\rUse this feedrate?",f);
if (AfxMessageBox(s,MB_YESNO)==IDYES)
{
p_setup->feed_rate=m_StoppedInterpState.feed_rate=f;
}
else
{
m_StoppedInterpState.feed_rate=p_setup->feed_rate;
}
}
else
{
AfxMessageBox("New Line does not contain a Feedrate F command. Unable to determine previous feedrate");
}
}
else
{
p_setup->feed_rate=m_StoppedInterpState.feed_rate=block0.f_number;
}
if (!FoundX0 || !FoundY0 ||!FoundZ0 ||!FoundA0 ||!FoundB0 ||!FoundC0)
{
char v[32];
strcpy(s,"Backward scan found previous position as:\r\r");
if (CoordMotion->x_axis >= 0){ sprintf(v," X%g",x); strcat(s,v);}
if (CoordMotion->y_axis >= 0){ sprintf(v," Y%g",y); strcat(s,v);}
if (CoordMotion->z_axis >= 0){ sprintf(v," Z%g",z); strcat(s,v);}
if (CoordMotion->a_axis >= 0){ sprintf(v," A%g",a); strcat(s,v);}
if (CoordMotion->b_axis >= 0){ sprintf(v," B%g",b); strcat(s,v);}
if (CoordMotion->c_axis >= 0){ sprintf(v," C%g",c); strcat(s,v);}
strcat(s,"\rShould a Safe Z move be made using these coordinates?");
if (AfxMessageBox(s,MB_YESNO)==IDNO)
{
return 1;
}
}
if (!FoundG0)
{
int group = _gees[G*10];
if (group==0) // G4 = group0
p_setup->active_g_codes[1]=-1;
else // G0,G1,G2,G3
p_setup->active_g_codes[0]=-1;
p_setup->motion_mode=G;
}
if (FoundX) {CoordMotion->m_Stoppedx=x; p_setup->current_x=x;}
if (FoundY) {CoordMotion->m_Stoppedy=y; p_setup->current_y=y;}
if (FoundZ) {CoordMotion->m_Stoppedz=z; p_setup->current_z=z;}
if (FoundA) {CoordMotion->m_Stoppeda=a; p_setup->AA_current=a;}
if (FoundB) {CoordMotion->m_Stoppedb=b; p_setup->BB_current=b;}
if (FoundC) {CoordMotion->m_Stoppedc=c; p_setup->CC_current=c;}
CoordMotion->m_StoppedMachinex = UserUnitsToInchesX(CoordMotion->m_Stoppedx+_setup.axis_offset_x+_setup.origin_offset_x+_setup.tool_xoffset);
CoordMotion->m_StoppedMachiney = UserUnitsToInches(CoordMotion->m_Stoppedy+_setup.axis_offset_y+_setup.origin_offset_y+_setup.tool_yoffset);
CoordMotion->m_StoppedMachinez = UserUnitsToInches(CoordMotion->m_Stoppedz+_setup.axis_offset_z+_setup.origin_offset_z+_setup.tool_length_offset);
CoordMotion->m_StoppedMachinea = InchesOrDegToUserUnitsA(CoordMotion->m_Stoppeda) - _setup.AA_axis_offset - _setup.AA_origin_offset;
CoordMotion->m_StoppedMachineb = InchesOrDegToUserUnitsB(CoordMotion->m_Stoppedb) - _setup.BB_axis_offset - _setup.BB_origin_offset;
CoordMotion->m_StoppedMachinec = InchesOrDegToUserUnitsC(CoordMotion->m_Stoppedc) - _setup.CC_axis_offset - _setup.CC_origin_offset;
CoordMotion->m_PreviouslyStopped = CoordMotion->m_Stopping = STOPPED_INDEP;
return 0;
}
int CGCodeInterpreter::DoResumeSafe()
{
double SafeZ,SafeZMachine,Machinex,Machiney,Machinez,Machinea,Machineb,Machinec;
if (!m_Resume) return 0;
m_Resume=false;
// read the current positions
if (CoordMotion->ReadCurAbsPosition(&CoordMotion->current_x,&CoordMotion->current_y,&CoordMotion->current_z,
&CoordMotion->current_a,&CoordMotion->current_b,&CoordMotion->current_c,true)) return 1;
if (CoordMotion->ReadCurAbsPosition(&Machinex,&Machiney,&Machinez,&Machinea,&Machineb,&Machinec,true)) return 1;
SafeZ = UserUnitsToInches(m_ResumeSafeZ);
// compute the safe z height as an absolute position
// in user units
if (m_ResumeSafeRelAbs)
{
// absolute height, convert value to Inches
SafeZMachine = UserUnitsToInches(m_ResumeSafeZ+_setup.axis_offset_z+_setup.origin_offset_z+_setup.tool_length_offset);
}
else
{
// relative move, convert value to inches
SafeZMachine = Machinez + UserUnitsToInches(m_ResumeSafeZ);
}
SetupTracker.ClearHistory();
SetupTracker.InsertState(&_setup); // save the interpreter state (including current sequence number)
if (m_ResumeMoveToSafeZ)
{
// keep everything where it is, except move z
Machinez = SafeZMachine;
if (CoordMotion->StraightTraverse(Machinex,Machiney,Machinez,Machinea,Machineb,Machinec,false,_setup.sequence_number+1)) return 2;
}
if (m_ResumeTraverseXY)
{
// keep everything where it is, except move xy (and abc)
Machinex = UserUnitsToInchesX(m_ResumeTraverseSafeX+_setup.axis_offset_x+_setup.origin_offset_x+_setup.tool_xoffset);
Machiney = UserUnitsToInches(m_ResumeTraverseSafeY+_setup.axis_offset_y+_setup.origin_offset_y+_setup.tool_yoffset);
Machinea = CoordMotion->m_StoppedMachinea;
Machineb = CoordMotion->m_StoppedMachineb;
Machinec = CoordMotion->m_StoppedMachinec;
if (CoordMotion->StraightTraverse(Machinex,Machiney,Machinez,Machinea,Machineb,Machinec,false,_setup.sequence_number+1)) return 2;
}
if (m_ResumeSafeStartSpindle)
{
if (m_ResumeSafeSpindleCWCCW==0)
{
InvokeAction(3); // do the defined action for M Code
}
else
{
InvokeAction(4); // do the defined action for M Code
}
}
if (m_ResumeDoSafeFeedZ)
{
Machinez = GC->UserUnitsToInches(m_ResumeFeedSafeZ+_setup.axis_offset_z+_setup.origin_offset_z+_setup.tool_length_offset);
if (CoordMotion->StraightFeed(UserUnitsToInches(m_ResumeZFeedRate)/60.0,Machinex,Machiney,Machinez,Machinea,Machineb,Machinec,_setup.sequence_number+1,0)) return 2;
}
if (m_ResumeRestoreFeedRate)
{
p_setup->feed_rate = m_ResumeResumeFeedRate;
SetFeedRate(m_ResumeResumeFeedRate);
}
if (CoordMotion->FlushSegments()) {CoordMotion->SetAbort(); return 1;}
if (CoordMotion->WaitForSegmentsFinished(TRUE)) {CoordMotion->SetAbort(); return 1;}
return 0;
}
