xemc.cc is a C++ program that uses the relevant APIs. It is far from
being tutorial documentation, but at present we don't *have* any
tutorial documentation about using these APIs.
(such documentation would be a great contribution to LinuxCNC. You
could start with a new page on the wiki and later work with someone like
John Thornton to get it integrated into the offical documentation. if
you are so inclined)
Anyway, here's a complete program that uses the C++ interface to log the
position at about 10Hz:
#include "emc.hh"
#include "emc_nml.hh"
#include <unistd.h>
#include <iostream>
#include <cstdlib>
int main(int argc, char **argv) {
if(argc < 2) { std::cerr << "Usage: " << argv[0] << " NMLFILE\n"; abort(); }
const char *nmlfile = argv[1];
RCS_STAT_CHANNEL *stat = new RCS_STAT_CHANNEL(emcFormat, "emcStatus",
"xemc", nmlfile);
while(1) {
usleep(100*1000);
if(!stat->valid()) continue;
if(stat->peek() != EMC_STAT_TYPE) continue;
EMC_STAT *emcStatus = static_cast<EMC_STAT*>(stat->get_address());
std::cout << emcStatus->motion.traj.position.tran.x << " "
<< emcStatus->motion.traj.position.tran.y << " "
<< emcStatus->motion.traj.position.tran.z << "\n";
}
return 0;
}
In a run-in-place version of v2.5_branch it builds with this commandline:
g++ -o nml-position-logger nml-position-logger.cc -Iinclude -Llib -lnml
-llinuxcnc
(and probably it will build from the package version if you have the -dev
package installed, but I didn't test this)
in master branch it looks like we have a regression so the commandline required
is:
g++ -o nml-position-logger nml-position-logger.cc -Iinclude
-Isrc/emc/rs274ngc -Llib -lnml -llinuxcnc
and a -dev package will not include at least one of the required headers.
To use this program you would start linuxcnc with a traditional UI and
then execute the program with the path to linuxcnc.nml. For example
if you're at the top dirctory of a run-in-place linuxcnc:
./nml-position-logger configs/common/linuxcnc.nml
.. press ctrl-c to exit.
To send commands you will use an RCS_CMD_CHANNEL:
// command channel
RCS_CMD_CHANNEL *cmd =
new RCS_CMD_CHANNEL(emcFormat, "emcCommand", "xemc", file);
int emcCommandSerialNumber = 0;
and sending a command consists of something like
EMC_TASK_ABORT m;
m.serial_number = ++emcCommandSerialNumber;
// most commands have other fields that must be initialized
// such as EMC_TASK_SET_MODE::mode
cmd->write(m);
// at this point, many UIs have logic to "wait for task to receive
// the command", though xemc does not
To recieve error notices create an error connection
// error channel
NML *error = new NML(emcFormat, "emcError", "xemc", file);
and poll it like yo usee in xemc.cc:updateError(). Note that when
multiple UIs exist which poll for errors, only one of them will receive
the error.
The string "xemc" which occurs in several places is a magic string; you
will just want to leave it unchanged.
Jeff
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