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c-morleyc-morley
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halui -use angular jograte pin/messages for angular axis
now checks for axis type and uses the apropriate jograte
1 parent 4b511aa commit fad3a55

2 files changed

Lines changed: 89 additions & 19 deletions

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‎lib/python/bridgeui/bridge.py‎

Lines changed: 9 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -227,6 +227,15 @@ def isAxisSelected(self, index):
227227
letter = 'XYZABCUVW'[index]
228228
return int(self.axesSelected[letter])
229229

230+
def getAxisIndexType(self, axis):
231+
try:
232+
num = self.INFO.GET_JOINT_NUM_FROM_AXIS_INDEX[axis]
233+
flag = self.INFO.JOINT_TYPE_INT[num]
234+
return flag
235+
except:
236+
return 1
237+
238+
230239
def __getitem__(self, item):
231240
return getattr(self, item)
232241
def __setitem__(self, item, value):

‎src/emc/usr_intf/halui.cc‎

Lines changed: 80 additions & 19 deletions
Original file line numberDiff line numberDiff line change
@@ -253,6 +253,7 @@ static double lastjogspeed = 0;
253253
static double internaljogspeed = 0;
254254
static double lastangularjogspeed = 0;
255255
static double internalangularjogspeed = 0;
256+
static double tempjogspeed = 0;
256257
static int lastaxis = -1;
257258

258259
static char *mdi_commands[MDI_MAX];
@@ -652,7 +653,7 @@ static int py_call_get_mdi_count() {
652653
return value;
653654
}
654655

655-
// turns a undex number into a macro name
656+
// turns a index number into a macro name
656657
static char* py_call_get_mdi_name( int num) {
657658
pFuncWrite = PyObject_GetAttrString(pInstance, "getMdiName");
658659

@@ -1733,7 +1734,6 @@ static int iniLoad(const char *filename)
17331734
gui_mdi_commands[num_gui_mdi_commands++] = py_call_get_mdi_name(n);
17341735
}
17351736

1736-
17371737
// close it
17381738
inifile.Close();
17391739

@@ -2009,6 +2009,35 @@ static void py_call_request_MDI( int index)
20092009
Py_DECREF(pFuncWrite);
20102010
}
20112011

2012+
static int py_call_get_axis_type( int index) {
2013+
int value = 0;
2014+
// check socket messages for selected axis
2015+
pFuncRead = PyObject_GetAttrString(pInstance, "getAxisIndexType");
2016+
if (pFuncRead && PyCallable_Check(pFuncRead)) {
2017+
pValue = PyObject_CallFunction(pFuncRead, "i", index);
2018+
if (pValue == NULL){
2019+
if (PyErr_Occurred()) PyErr_Print();
2020+
fprintf(stderr, "Halui Bridge: getSelectAxis function failed: returned NULL\n");
2021+
value = -1;
2022+
}else{
2023+
if (PyLong_Check(pValue)) {
2024+
value = (int) PyLong_AsLong(pValue);
2025+
//fprintf(stderr, "axis value %d\n",value);
2026+
if (PyErr_Occurred()) {
2027+
value = -1;
2028+
// Handle conversion error
2029+
PyErr_Print();
2030+
// Clear the error state if needed
2031+
PyErr_Clear();
2032+
}
2033+
}
2034+
}
2035+
Py_DECREF(pValue);
2036+
}
2037+
Py_DECREF(pFuncRead);
2038+
return value;
2039+
}
2040+
20122041
// this function looks if any of the hal pins has changed
20132042
// and sends appropriate messages if so
20142043
static void check_hal_changes()
@@ -2023,7 +2052,6 @@ static void check_hal_changes()
20232052
double angularjogspeed;
20242053
int jjog_speed_changed;
20252054
int ajog_speed_changed;
2026-
int ajog_speed_angular_changed;
20272055
int is_any_axis_selected, deselected;
20282056

20292057
// get python to process socket messages
@@ -2319,16 +2347,16 @@ static void check_hal_changes()
23192347
if (fabs(old_halui_data.ajog_speed_angular - new_halui_data.ajog_speed_angular) > 0.00001) {
23202348
old_halui_data.ajog_speed_angular = new_halui_data.ajog_speed_angular;
23212349
internalangularjogspeed = new_halui_data.ajog_speed_angular;
2322-
ajog_speed_angular_changed = 1;
2350+
ajog_speed_changed = 1;
23232351
py_call_axis_angular_jogspeed(internalangularjogspeed);
23242352
} else {
2325-
ajog_speed_angular_changed = 0;
2353+
ajog_speed_changed = 0;
23262354
}
23272355

23282356
// check socket messages for ANGULAR jogspeed
23292357
angularjogspeed = py_call_axis_get_angular_jogspeed();
23302358
if (fabs(angularjogspeed - lastangularjogspeed) > 0.00001) {
2331-
ajog_speed_angular_changed = 1;
2359+
ajog_speed_changed = 1;
23322360
lastangularjogspeed = angularjogspeed;
23332361
internalangularjogspeed = angularjogspeed;
23342362
fprintf(stderr, "angular JogRate value = %f\n", angularjogspeed );
@@ -2422,11 +2450,18 @@ static void check_hal_changes()
24222450

24232451
if ( !(axis_mask & (1 << axis_num)) ) { continue; }
24242452

2453+
// check for axis type: linear/rotary
2454+
if (py_call_get_axis_type(axis_num) == 1){
2455+
tempjogspeed = internaljogspeed;
2456+
}else{
2457+
tempjogspeed = internalangularjogspeed;
2458+
}
2459+
24252460
// axis jog -
24262461
bit = new_halui_data.ajog_minus[axis_num];
24272462
if ((bit != old_halui_data.ajog_minus[axis_num]) || (bit && ajog_speed_changed)) {
24282463
if (bit != 0)
2429-
sendJogCont(axis_num,-internaljogspeed,JOGTELEOP);
2464+
sendJogCont(axis_num,-tempjogspeed,JOGTELEOP);
24302465
else
24312466
sendJogStop(axis_num,JOGTELEOP);
24322467
old_halui_data.ajog_minus[axis_num] = bit;
@@ -2436,7 +2471,7 @@ static void check_hal_changes()
24362471
bit = new_halui_data.ajog_plus[axis_num];
24372472
if ((bit != old_halui_data.ajog_plus[axis_num]) || (bit && ajog_speed_changed)) {
24382473
if (bit != 0)
2439-
sendJogCont(axis_num,internaljogspeed,JOGTELEOP);
2474+
sendJogCont(axis_num,tempjogspeed,JOGTELEOP);
24402475
else
24412476
sendJogStop(axis_num,JOGTELEOP);
24422477
old_halui_data.ajog_plus[axis_num] = bit;
@@ -2447,7 +2482,7 @@ static void check_hal_changes()
24472482
bit = (fabs(floatt) > new_halui_data.ajog_deadband);
24482483
if ((floatt != old_halui_data.ajog_analog[axis_num]) || (bit && ajog_speed_changed)) {
24492484
if (bit)
2450-
sendJogCont(axis_num,(internaljogspeed) * (new_halui_data.ajog_analog[axis_num]),JOGTELEOP);
2485+
sendJogCont(axis_num,(tempjogspeed) * (new_halui_data.ajog_analog[axis_num]),JOGTELEOP);
24512486
else
24522487
sendJogStop(axis_num,JOGTELEOP);
24532488
old_halui_data.ajog_analog[axis_num] = floatt;
@@ -2457,15 +2492,15 @@ static void check_hal_changes()
24572492
bit = new_halui_data.ajog_increment_plus[axis_num];
24582493
if (bit != old_halui_data.ajog_increment_plus[axis_num]) {
24592494
if (bit)
2460-
sendJogIncr(axis_num, internaljogspeed, new_halui_data.ajog_increment[axis_num],JOGTELEOP);
2495+
sendJogIncr(axis_num, tempjogspeed, new_halui_data.ajog_increment[axis_num],JOGTELEOP);
24612496
old_halui_data.ajog_increment_plus[axis_num] = bit;
24622497
}
24632498

24642499
// jog a- increment
24652500
bit = new_halui_data.ajog_increment_minus[axis_num];
24662501
if (bit != old_halui_data.ajog_increment_minus[axis_num]) {
24672502
if (bit)
2468-
sendJogIncr(axis_num, internaljogspeed, -(new_halui_data.ajog_increment[axis_num]),JOGTELEOP);
2503+
sendJogIncr(axis_num, tempjogspeed, -(new_halui_data.ajog_increment[axis_num]),JOGTELEOP);
24692504
old_halui_data.ajog_increment_minus[axis_num] = bit;
24702505
}
24712506

@@ -2514,12 +2549,20 @@ static void check_hal_changes()
25142549
sendJogStop(axis_num,JOGTELEOP);
25152550
}
25162551
} else {
2552+
2553+
// check for axis type: linear/rotary
2554+
if (py_call_get_axis_type(axis_num) == 1){
2555+
tempjogspeed = internaljogspeed;
2556+
}else{
2557+
tempjogspeed = internalangularjogspeed;
2558+
}
2559+
25172560
*(halui_data->axis_is_selected[axis_num]) = 1;
25182561
if (*halui_data->ajog_plus[num_axes]) {
25192562
fprintf(stderr, "halui: jog plus: %d\n",num_axes);
2520-
sendJogCont(axis_num, internaljogspeed,JOGTELEOP);
2563+
sendJogCont(axis_num, tempjogspeed,JOGTELEOP);
25212564
} else if (*halui_data->ajog_minus[num_axes]) {
2522-
sendJogCont(axis_num, -internaljogspeed,JOGTELEOP);
2565+
sendJogCont(axis_num, -tempjogspeed,JOGTELEOP);
25232566
}
25242567
}
25252568
}
@@ -2570,8 +2613,17 @@ static void check_hal_changes()
25702613
bit = new_halui_data.ajog_minus[EMCMOT_MAX_AXIS];
25712614
js = new_halui_data.axis_selected;
25722615
if ((bit != old_halui_data.ajog_minus[EMCMOT_MAX_AXIS]) || (bit && ajog_speed_changed)) {
2573-
if (bit != 0)
2574-
sendJogCont(js, -internaljogspeed,JOGTELEOP);
2616+
if (bit != 0){
2617+
2618+
// check for axis type: linear/rotary
2619+
if (py_call_get_axis_type(js) == 1){
2620+
tempjogspeed = internaljogspeed;
2621+
}else{
2622+
tempjogspeed = internalangularjogspeed;
2623+
}
2624+
2625+
sendJogCont(js, -tempjogspeed,JOGTELEOP);
2626+
}
25752627
else
25762628
sendJogStop(js,JOGTELEOP);
25772629
old_halui_data.ajog_minus[EMCMOT_MAX_AXIS] = bit;
@@ -2580,8 +2632,17 @@ static void check_hal_changes()
25802632
bit = new_halui_data.ajog_plus[EMCMOT_MAX_AXIS];
25812633
js = new_halui_data.axis_selected;
25822634
if ((bit != old_halui_data.ajog_plus[EMCMOT_MAX_AXIS]) || (bit && ajog_speed_changed)) {
2583-
if (bit != 0)
2584-
sendJogCont(js,internaljogspeed,JOGTELEOP);
2635+
if (bit != 0){
2636+
2637+
// check for axis type: linear/rotary
2638+
if (py_call_get_axis_type(js) == 1){
2639+
tempjogspeed = internaljogspeed;
2640+
}else{
2641+
tempjogspeed = internalangularjogspeed;
2642+
}
2643+
2644+
sendJogCont(js,tempjogspeed,JOGTELEOP);
2645+
}
25852646
else
25862647
sendJogStop(js,JOGTELEOP);
25872648
old_halui_data.ajog_plus[EMCMOT_MAX_AXIS] = bit;
@@ -2591,15 +2652,15 @@ static void check_hal_changes()
25912652
js = new_halui_data.axis_selected;
25922653
if (bit != old_halui_data.ajog_increment_plus[EMCMOT_MAX_AXIS]) {
25932654
if (bit)
2594-
sendJogIncr(js, internaljogspeed, new_halui_data.ajog_increment[EMCMOT_MAX_AXIS],JOGTELEOP);
2655+
sendJogIncr(js, tempjogspeed, new_halui_data.ajog_increment[EMCMOT_MAX_AXIS],JOGTELEOP);
25952656
old_halui_data.ajog_increment_plus[EMCMOT_MAX_AXIS] = bit;
25962657
}
25972658

25982659
bit = new_halui_data.ajog_increment_minus[EMCMOT_MAX_AXIS];
25992660
js = new_halui_data.axis_selected;
26002661
if (bit != old_halui_data.ajog_increment_minus[EMCMOT_MAX_AXIS]) {
26012662
if (bit)
2602-
sendJogIncr(js, internaljogspeed, -(new_halui_data.ajog_increment[EMCMOT_MAX_AXIS]),JOGTELEOP);
2663+
sendJogIncr(js, tempjogspeed, -(new_halui_data.ajog_increment[EMCMOT_MAX_AXIS]),JOGTELEOP);
26032664
old_halui_data.ajog_increment_minus[EMCMOT_MAX_AXIS] = bit;
26042665
}
26052666

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