/* 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;
}
int main(int argc, char* argv[]) {
if (argc == 1) {
logfile = stdout;
logfile_name = NULL;
} else if (argc == 2) {
logfile = NULL;
logfile_name = argv[1];
} else {
fprintf(stderr, "usage: motion-logger [LOGFILE]\n");
exit(1);
}
mot_comp_id = hal_init("motion-logger");
motion_logger_data = hal_malloc(sizeof(*motion_logger_data));
int r = hal_pin_bit_new("motion-logger.reopen-log", HAL_IO, &motion_logger_data->reopen,
mot_comp_id);
if(r < 0) { errno = -r; perror("hal_pin_bit_new"); exit(1); }
*motion_logger_data->reopen = 0;
r = hal_ready(mot_comp_id);
if(r < 0) { errno = -r; perror("hal_ready"); exit(1); }
init_comm_buffers();
while (1) {
if (c->commandNum != c->tail) {
// "split read"
continue;
}
if (c->commandNum == emcmotStatus->commandNumEcho) {
// nothing new
maybe_reopen_logfile();
usleep(10 * 1000);
continue;
}
//
// new incoming command!
//
emcmotStatus->head++;
switch (c->command) {
case EMCMOT_ABORT:
log_print("ABORT\n");
break;
case EMCMOT_AXIS_ABORT:
log_print("AXIS_ABORT joint=%d\n", c->axis);
break;
case EMCMOT_ENABLE:
log_print("ENABLE\n");
SET_MOTION_ENABLE_FLAG(1);
update_motion_state();
break;
case EMCMOT_DISABLE:
log_print("DISABLE\n");
SET_MOTION_ENABLE_FLAG(0);
update_motion_state();
break;
case EMCMOT_ENABLE_AMPLIFIER:
log_print("ENABLE_AMPLIFIER\n");
break;
case EMCMOT_DISABLE_AMPLIFIER:
log_print("DISABLE_AMPLIFIER\n");
break;
case EMCMOT_ENABLE_WATCHDOG:
log_print("ENABLE_WATCHDOG\n");
break;
case EMCMOT_DISABLE_WATCHDOG:
log_print("DISABLE_WATCHDOG\n");
break;
case EMCMOT_ACTIVATE_JOINT:
log_print("ACTIVATE_JOINT joint=%d\n", c->axis);
break;
case EMCMOT_DEACTIVATE_JOINT:
log_print("DEACTIVATE_JOINT joint=%d\n", c->axis);
break;
case EMCMOT_PAUSE:
log_print("PAUSE\n");
break;
case EMCMOT_RESUME:
log_print("RESUME\n");
break;
case EMCMOT_STEP:
log_print("STEP\n");
break;
case EMCMOT_FREE:
log_print("FREE\n");
SET_MOTION_COORD_FLAG(0);
SET_MOTION_TELEOP_FLAG(0);
update_motion_state();
break;
case EMCMOT_COORD:
log_print("COORD\n");
SET_MOTION_COORD_FLAG(1);
SET_MOTION_TELEOP_FLAG(0);
SET_MOTION_ERROR_FLAG(0);
update_motion_state();
break;
case EMCMOT_TELEOP:
log_print("TELEOP\n");
SET_MOTION_TELEOP_FLAG(1);
SET_MOTION_ERROR_FLAG(0);
update_motion_state();
break;
case EMCMOT_SPINDLE_SCALE:
log_print("SPINDLE_SCALE\n");
break;
case EMCMOT_SS_ENABLE:
log_print("SS_ENABLE\n");
break;
case EMCMOT_FEED_SCALE:
log_print("FEED_SCALE\n");
break;
case EMCMOT_RAPID_SCALE:
log_print("RAPID_SCALE\n");
break;
case EMCMOT_FS_ENABLE:
log_print("FS_ENABLE\n");
break;
case EMCMOT_FH_ENABLE:
log_print("FH_ENABLE\n");
break;
case EMCMOT_AF_ENABLE:
log_print("AF_ENABLE\n");
break;
case EMCMOT_OVERRIDE_LIMITS:
log_print("OVERRIDE_LIMITS\n");
break;
case EMCMOT_HOME:
log_print("HOME joint=%d\n", c->axis);
if (c->axis < 0) {
for (int j = 0; j < num_joints; j ++) {
mark_joint_homed(j);
}
} else {
mark_joint_homed(c->axis);
}
break;
case EMCMOT_UNHOME:
log_print("UNHOME joint=%d\n", c->axis);
break;
case EMCMOT_JOG_CONT:
log_print("JOG_CONT\n");
break;
case EMCMOT_JOG_INCR:
log_print("JOG_INCR\n");
break;
case EMCMOT_JOG_ABS:
log_print("JOG_ABS\n");
break;
case EMCMOT_SET_LINE:
log_print(
"SET_LINE x=%.6f, y=%.6f, z=%.6f, a=%.6f, b=%.6f, c=%.6f, u=%.6f, v=%.6f, w=%.6f, id=%d, motion_type=%d, vel=%.6f, ini_maxvel=%.6f, acc=%.6f, turn=%d\n",
c->pos.tran.x, c->pos.tran.y, c->pos.tran.z,
c->pos.a, c->pos.b, c->pos.c,
c->pos.u, c->pos.v, c->pos.w,
c->id, c->motion_type,
c->vel, c->ini_maxvel,
c->acc, c->turn
);
break;
case EMCMOT_SET_CIRCLE:
log_print("SET_CIRCLE:\n");
log_print(
" pos: x=%.6f, y=%.6f, z=%.6f, a=%.6f, b=%.6f, c=%.6f, u=%.6f, v=%.6f, w=%.6f\n",
c->pos.tran.x, c->pos.tran.y, c->pos.tran.z,
c->pos.a, c->pos.b, c->pos.c,
c->pos.u, c->pos.v, c->pos.w
);
log_print(" center: x=%.6f, y=%.6f, z=%.6f\n", c->center.x, c->center.y, c->center.z);
log_print(" normal: x=%.6f, y=%.6f, z=%.6f\n", c->normal.x, c->normal.y, c->normal.z);
log_print(" id=%d, motion_type=%d, vel=%.6f, ini_maxvel=%.6f, acc=%.6f, turn=%d\n",
c->id, c->motion_type,
c->vel, c->ini_maxvel,
c->acc, c->turn
);
break;
case EMCMOT_SET_TELEOP_VECTOR:
log_print("SET_TELEOP_VECTOR\n");
break;
case EMCMOT_CLEAR_PROBE_FLAGS:
log_print("CLEAR_PROBE_FLAGS\n");
break;
case EMCMOT_PROBE:
log_print("PROBE\n");
break;
case EMCMOT_RIGID_TAP:
log_print("RIGID_TAP\n");
break;
case EMCMOT_SET_POSITION_LIMITS:
log_print(
"SET_POSITION_LIMITS joint=%d, min=%.6f, max=%.6f\n",
c->axis, c->minLimit, c->maxLimit
);
joints[c->axis].max_pos_limit = c->maxLimit;
joints[c->axis].min_pos_limit = c->minLimit;
break;
case EMCMOT_SET_BACKLASH:
log_print("SET_BACKLASH joint=%d, backlash=%.6f\n", c->axis, c->backlash);
break;
case EMCMOT_SET_MIN_FERROR:
log_print("SET_MIN_FERROR joint=%d, minFerror=%.6f\n", c->axis, c->minFerror);
break;
case EMCMOT_SET_MAX_FERROR:
log_print("SET_MAX_FERROR joint=%d, maxFerror=%.6f\n", c->axis, c->maxFerror);
break;
case EMCMOT_SET_VEL:
log_print("SET_VEL vel=%.6f, ini_maxvel=%.6f\n", c->vel, c->ini_maxvel);
break;
case EMCMOT_SET_VEL_LIMIT:
log_print("SET_VEL_LIMIT vel=%.6f\n", c->vel);
break;
case EMCMOT_SET_JOINT_VEL_LIMIT:
log_print("SET_JOINT_VEL_LIMIT joint=%d, vel=%.6f\n", c->axis, c->vel);
break;
case EMCMOT_SET_JOINT_ACC_LIMIT:
log_print("SET_JOINT_ACC_LIMIT joint=%d, acc=%.6f\n", c->axis, c->acc);
break;
case EMCMOT_SET_ACC:
log_print("SET_ACC acc=%.6f\n", c->acc);
break;
case EMCMOT_SET_TERM_COND:
log_print("SET_TERM_COND termCond=%d, tolerance=%.6f\n", c->termCond, c->tolerance);
break;
case EMCMOT_SET_NUM_AXES:
log_print("SET_NUM_AXES %d\n", c->axis);
num_joints = c->axis;
break;
case EMCMOT_SET_WORLD_HOME:
log_print(
"SET_WORLD_HOME x=%.6f, y=%.6f, z=%.6f, a=%.6f, b=%.6f, c=%.6f, u=%.6f, v=%.6f, w=%.6f\n",
c->pos.tran.x, c->pos.tran.y, c->pos.tran.z,
c->pos.a, c->pos.b, c->pos.c,
c->pos.u, c->pos.v, c->pos.w
);
break;
case EMCMOT_SET_HOMING_PARAMS:
log_print(
"SET_HOMING_PARAMS joint=%d, offset=%.6f home=%.6f, final_vel=%.6f, search_vel=%.6f, latch_vel=%.6f, flags=0x%08x, sequence=%d, volatile=%d\n",
c->axis, c->offset, c->home, c->home_final_vel,
c->search_vel, c->latch_vel, c->flags,
c->home_sequence, c->volatile_home
);
break;
case EMCMOT_SET_DEBUG:
log_print("SET_DEBUG\n");
break;
case EMCMOT_SET_DOUT:
log_print("SET_DOUT\n");
break;
case EMCMOT_SET_AOUT:
log_print("SET_AOUT\n");
break;
case EMCMOT_SET_SPINDLESYNC:
log_print("SET_SPINDLESYNC sync=%06f, flags=0x%08x\n", c->spindlesync, c->flags);
break;
case EMCMOT_SPINDLE_ON:
log_print("SPINDLE_ON\n");
break;
case EMCMOT_SPINDLE_OFF:
log_print("SPINDLE_OFF\n");
break;
case EMCMOT_SPINDLE_INCREASE:
log_print("SPINDLE_INCREASE\n");
break;
case EMCMOT_SPINDLE_DECREASE:
log_print("SPINDLE_DECREASE\n");
break;
case EMCMOT_SPINDLE_BRAKE_ENGAGE:
log_print("SPINDLE_BRAKE_ENGAGE\n");
break;
case EMCMOT_SPINDLE_BRAKE_RELEASE:
log_print("SPINDLE_BRAKE_RELEASE\n");
break;
case EMCMOT_SPINDLE_ORIENT:
log_print("SPINDLE_ORIENT\n");
break;
case EMCMOT_SET_MOTOR_OFFSET:
log_print("SET_MOTOR_OFFSET\n");
break;
case EMCMOT_SET_JOINT_COMP:
log_print("SET_JOINT_COMP\n");
break;
case EMCMOT_SET_OFFSET:
log_print(
"SET_OFFSET x=%.6f, y=%.6f, z=%.6f, a=%.6f, b=%.6f, c=%.6f u=%.6f, v=%.6f, w=%.6f\n",
c->tool_offset.tran.x, c->tool_offset.tran.y, c->tool_offset.tran.z,
c->tool_offset.a, c->tool_offset.b, c->tool_offset.c,
c->tool_offset.u, c->tool_offset.v, c->tool_offset.w
);
break;
case EMCMOT_SET_MAX_FEED_OVERRIDE:
log_print("SET_MAX_FEED_OVERRIDE %.6f\n", c->maxFeedScale);
break;
case EMCMOT_SETUP_ARC_BLENDS:
log_print("SETUP_ARC_BLENDS\n");
break;
default:
log_print("ERROR: unknown command %d\n", c->command);
break;
}
update_joint_status();
emcmotStatus->commandEcho = c->command;
emcmotStatus->commandNumEcho = c->commandNum;
emcmotStatus->commandStatus = EMCMOT_COMMAND_OK;
emcmotStatus->tail = emcmotStatus->head;
}
return 0;
}