Sorry, i've very little time to control my mail .. these code perform the
command, need to write the right "world" inside your nml file and launch
lcnc first and only after qtDroModified ... my thread is about right using
of nml inside qt c++ interfaces program ... the post suggested from Andy is
for interfacing labview with nml ... a little different, but sometime same
basic problem ....
#ifndef QTDRO_H
#define QTDRO_H
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <signal.h>
#include <unistd.h>
#include <ctype.h>
#include <math.h>
#include <sys/types.h>
#include <inttypes.h>
#include <iostream>
#include <cstdlib>
#include <qapplication.h>
#include <qlabel.h>
#include <qpushbutton.h>
#include <qlcdnumber.h>
#include <qtimer.h>
#include <QApplication>
#include "qstring.h"
#include "qlayout.h"
#include "qfont.h"
#include <QTime>
#include <QTimer>
#include <QDebug>
#include <QThread>
#include <QTextStream>
#include <QTextStreamFunction>
#include <QTextStreamManipulator>
#include <QApplication>
#include <QtDebug>
#include <stdlib.h>
#include <unistd.h>
#include <sys/io.h>
#include <stdio.h>
#include <stdlib.h>
#include <inttypes.h>
#include <math.h>
#include <QtCore>
#include <QThread>
#include <QWidget>
#include <sys/types.h>
#include <QTimer>
#include <QDateTime>
#include <QTextStream>
#include <QFile>
#include <QProcess>
#include <iostream>
#include <sstream>
#include <QDial>
#include <QWidget>
#include <QPushButton>
#include <QDir>
#include <QComboBox>
#include <QStringList>
#include <QByteArray>
#include <QAbstractButton>
#include <QTime>
#include <QDate>
#include <QDateEdit>
#include <QTimeEdit>
#include <QGraphicsView>
#include <QGraphicsSceneHoverEvent>
#include <QGraphicsItem>
#include <QGraphicsScene>
#include <QPolygon>
#include <QPolygonF>
#include <QDoubleValidator>
#include <QIntValidator>
#include <QMessageBox>
#include <QPixmap>
#include <sqlite3.h>
//#include <QtSql/QSql>
#include <QtSql/QSqlDatabase>
#include <QtSql/QSqlDriver>
#include <QtSql/QSqlDriverPlugin>
#include <QtSql/QSqlError>
#include <QtSql/QSqlField>
#include <QtSql/QSqlIndex>
#include <QtSql/QSqlRelationalTableModel>
#include <QtSql/QSqlQuery>
#include <QtSql/QSqlQueryModel>
#include <QtSql/QSqlRecord>
#include <QtSql/QSqlRelation>
#include <QtSql/QSqlTableModel>
#include <QtSql/QtSqlDepends>
#include <QtSql/QtSqlVersion>
//#include <QtSerialBus>
#include <QtSql/QSqlRelationalDelegate>
#include <QtNetwork/QNetworkAccessManager>
#include <QIODevice>
#include <QMessageBox>
#include <QFont>
#include <QAbstractButton>
#include <QDebug>
#include "include/cmd_msg.hh"
#include "include/stat_msg.hh"
#include "include/emc_nml.hh"
#include <stat_msg.hh>
#include <cmd_msg.hh>
#include <nml.hh>
#include "rcs.hh" // etime()
#include "emc.hh" // EMC NML
#include "include/emcglb.h" // EMC_NMLFILE, TRAJ_MAX_VELOCITY,
TOOL_TABLE_FILE
#include "include/emccfg.h" // DEFAULT_TRAJ_MAX_VELOCITY
#include "inifile.hh" // INIFILE
/*extern int argc;
extern char **argv;*/
class QtDro: public QThread
{
Q_OBJECT
public:
explicit QtDro(QObject *parent = 0, bool b = false);
void run();
// if Stop = true, the thread will break
// out of the loop, and will be disposed
~QtDro();
bool Stop;
public slots:
void thEme(bool emeCmd);
void thOn(bool onCmd);
// int emcCommandSend(RCS_CMD_MSG & cmd);
/* int emcCommandSend(RCS_CMD_MSG & cmd)
{
// write command
if (emcCommandBuffer->write(&cmd)) {
return -1;
}
emcCommandSerialNumber = cmd.serial_number;
return 0;
}*/
signals:
void thXYZABCDEF (double x, double y, double z, double a, double b,
double c, double u, double v, double w);
private:
int acTh;
char avTh;
char state_msg[4096];
protected:
};
#endif // QTDRO_H
**************************************************************************************
#include "QtDro.h"
using namespace std;
// the NML channels to the EMC task
RCS_CMD_CHANNEL *emcCommandBuffer ;
RCS_STAT_CHANNEL *emcStatusBuffer ;
EMC_STAT *emcStatus;
EMC_CMD_MSG *emcCmd;
// the NML channel for errors
static NML *emcErrorBuffer = 0;
static char error_string[NML_INTERNAL_CMS_ERROR] = "";
// the current command numbers, set up updateStatus(), used in main()
static int emcCommandSerialNumber = 0;
int counter = 0;
QtDro::QtDro (QObject *parent, bool b) :
QThread(parent), Stop(b)
{
}
QtDro::~QtDro()
{
// inifile.Close();
this->Stop;
}
void QtDro::run()
{
double thX = 0;
double thY = 0;
double thZ = 0;
double thA = 0;
double thB = 0;
double thC = 0;
double thU = 0;
double thV = 0;
double thW = 0;
QTextStream(stdout) << "First run function" << endl;
const char *nmlfile = "/home/bkt/linuxcnc-dev/configs/sim/axis/emc.nml";
RCS_STAT_CHANNEL *stat = new RCS_STAT_CHANNEL(emcFormat, "emcStatus",
"xemc", nmlfile);
RCS_CMD_CHANNEL *cmd = new RCS_CMD_CHANNEL(emcFormat, "emcCommand",
"xemc", nmlfile);
NML *error = new NML(emcFormat, "emcError", "xemc", nmlfile);
//************ try to connect to EMC cmd
/* if (emcCommandBuffer == 0) {
emcCommandBuffer = new RCS_CMD_CHANNEL(emcFormat, "emcCommand",
"xemc", nmlfile, 0);
QTextStream(stdout) << "cmd buffer is valid " << endl;
if (!emcCommandBuffer->valid()) {
delete emcCommandBuffer;
emcCommandBuffer = 0;
QTextStream(stdout) << "cmd buffer is NOT valid " << endl;
return;
}
}*/
while(1)
{
if((stat->peek() != EMC_STAT_TYPE) || (!stat->valid()))
{
QTextStream(stdout) << "while these program NOT run " <<
endl;
break;
}
else
{
EMC_STAT *emcStatus =
static_cast<EMC_STAT*>(stat->get_address());
//EMC_CMD_MSG *emcCmd =
static_cast<EMC_CMD_MSG*>(cmd->get_address());
if ((thX != emcStatus->motion.traj.position.tran.x) || (thY !=
emcStatus->motion.traj.position.tran.y) || (thZ !=
emcStatus->motion.traj.position.tran.z))
{
thX = emcStatus->motion.traj.position.tran.x;
thY = emcStatus->motion.traj.position.tran.y;
thZ = emcStatus->motion.traj.position.tran.z;
thA = 0;
thB = 0;
thC = 0;
thU = 0;
thV = 0;
thW = 0;
emit thXYZABCDEF(thX, thY, thZ, thA, thB, thC, thU, thV,
thW);
}
if(counter>=80 && counter<81)
{
QTextStream(stdout) << "state_msg try zone" << endl;
EMC_TASK_SET_STATE state_msg;
// EMC_TASK_PLAN_PAUSE emc_task_plan_pause_msg;
QTextStream(stdout) << "spy 1" << endl;
state_msg.state = EMC_TASK_STATE_OFF;
QTextStream(stdout) << "spy 2" << endl;
state_msg.serial_number = ++emcCommandSerialNumber;
QTextStream(stdout) << "actual value of state_msg: " <<
state_msg.state << endl;
QTextStream(stdout) << "these steps seems right .. now
try to write" << endl;
// cmd->write(&emc_task_plan_pause_msg);
cmd->write(&state_msg); /* these NOT work because not
declare 'emcCommandBuffer' with automatic memory allocation with macro
"new" */
QTextStream(stdout) << "just write on emcCommandBuffer"
<< endl;
counter = 0;
}
counter++;
}
this->msleep(100);
}
}
Regards
Il giorno dom 23 feb 2020 alle ore 18:44 John Dammeyer <
jo...@autoartisans.com> ha scritto:
> Sorry,
> Still confused. I'm not even sure which code you are talking about.
> John
>
>
> > -----Original Message-----
> > From: N [mailto:nicklas.karlsso...@gmail.com]
> > Sent: February-23-20 4:00 AM
> > To: Enhanced Machine Controller (EMC)
> > Subject: Re: [Emc-users] about NML - RCS_CMD_CHANNEL/EMC_CMD_MSG
> > - EMC_AUX_ESTOP_ON
> >
> > If you figure out what code do and comment is missing you could add it.
> Or
> > you made agreement not to comment his code?
> >
> > > Not sure I understand what you meant here.
> > >
> > > > -----Original Message-----
> > > > From: N [mailto:nicklas.karlsso...@gmail.com]
> > > > Sent: February-23-20 1:12 AM
> > > > To: Enhanced Machine Controller (EMC)
> > > > Subject: Re: [Emc-users] about NML -
> > RCS_CMD_CHANNEL/EMC_CMD_MSG
> > > > - EMC_AUX_ESTOP_ON
> > > >
> > > > > @ John Dammeyer
> > > > >
> > > > > I'm quite sure that labview project at least work great .... the
> difficult
> > > > > is study lcnc code (write in a good way but not rich of comment
> ... on
> > the
> > > > > other hand, I agree not to comment too much on his code)
> > > >
> > > > Something adding some comments to code then you read it?
> > > >
> > > >
> > > > _______________________________________________
> > > > Emc-users mailing list
> > > > Emc-users@lists.sourceforge.net
> > > > https://lists.sourceforge.net/lists/listinfo/emc-users
> > >
> > >
> > >
> > > _______________________________________________
> > > Emc-users mailing list
> > > Emc-users@lists.sourceforge.net
> > > https://lists.sourceforge.net/lists/listinfo/emc-users
> >
> >
> > _______________________________________________
> > Emc-users mailing list
> > Emc-users@lists.sourceforge.net
> > https://lists.sourceforge.net/lists/listinfo/emc-users
>
>
>
> _______________________________________________
> Emc-users mailing list
> Emc-users@lists.sourceforge.net
> https://lists.sourceforge.net/lists/listinfo/emc-users
>
_______________________________________________
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users
