x_ginterrupt.cpp

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#include "x_examples.h"
 
int x_ginterrupt(GCon g)
{
  cout << "\n************************************************************************\n";
  cout << "Example GInterrupt() usage\n";
  cout << "************************************************************************\n";
 
  char buf[1024]; //traffic buffer
  GSize bytes_read;
 
  //-------------------------------------------------------------------------
  //simple check for a interrupt support
  bool ei_support = true;
  if (GCommand(g, "WH", buf, 1024, &bytes_read) == G_NO_ERROR)
  {
    ei_support = (strstr(buf, "IH") != 0); //for this example, assume Ethernet connections supports interrupts.
  }//else assume PCI supports
 
  if (!ei_support)
  {
    cout << "No support on this bus\n";
    return G_NO_ERROR;
  }
    
 
 
  //-------------------------------------------------------------------------
  //Flush interrupts
  x_e(GCmd(g, "EI0,0")); //turn off interrupts
  GStatus status;
  x_e(GTimeout(g, 0)); //zero timeout
  while ((GInterrupt(g, &status) == G_NO_ERROR) && status); //flush interrupts, status will be zero when queue is empty
  x_e(GTimeout(g, -1)); //restore timeout
  
  //-------------------------------------------------------------------------
  // User Interrupts, UI
  GTimeout(g, 1000); //set timeout to 1 sec
  x_e(GProgramDownload(g, "WT500\rUI8\rEN", 0));
  
  x_e(GCmd(g, "XQ")); //execute program
  
  x_e(GInterrupt(g, &status));
  GTimeout(g, -1); //restore timeout
    
  if ((status & 0xF0) == 0xF0) //UI are F0 - FF
  {
    cout << "\"UI " << (int)(status & 0x0F) << "\" executed.\n";
  }
  else
  {
    cout << "Unexpected interrupt, " << hex << (int)status << dec << '\n';
    return GALIL_EXAMPLE_ERROR;
  }
 
 
#if 0
  //-------------------------------------------------------------------------
  // Independent motion
  x_e(GCmd(g, "DP 0,0")); //define position zero on A and B
  x_e(GCmdT(g, "RP", buf, sizeof(buf), &trimmed));
  cout << "\nPosition: " << trimmed << '\n';
  x_e(GCmd(g, "SP 4000,4000")); //set up speed
  x_e(GCmd(g, "AC 1280000,1280000")); //acceleration
  x_e(GCmd(g, "DC 1280000,1280000")); //deceleration
  x_e(GCmd(g, "PR 8000,10000")); //Postion Relative. B will take longer to make its move.
  x_e(GCmd(g, "SH AB")); //Servo Here
  cout << "Beginning independent motion... ";
  x_e(GCmd(g, "BG AB")); //Begin motion
  x_e(x_ei_motioncomplete(g, "AB")); //Block until motion is complete on axes A and B
  cout << "Motion Complete on A and B\n";
  x_e(GCmdT(g, "RP", buf, sizeof(buf), &trimmed));
  cout << "Position: " << trimmed << '\n';;
#endif 
 
  return GALIL_EXAMPLE_OK;
}
 
int x_ei_motioncomplete(GCon g, GCStringIn axes) //Motion Complete with interrupts.
{
  char buf[1024]; //traffic buffer
  GReturn rc;
  GStatus status;
  unsigned char axis_mask = 0xFF; //bit mask of running axes, axes arg is trusted to provide running axes. Low bit indicates running.
 
  int len = strlen(axes);
  for (int i = 0; i < len; i++) //iterate through all chars in axes to make the axis mask
  {
    //support just A-H
    switch (axes[i])
    {
    case 'A':
      axis_mask &= 0xFE;
      break;
    case 'B':
      axis_mask &= 0xFD;
      break;
    case 'C':
      axis_mask &= 0xFB;
      break;
    case 'D':
      axis_mask &= 0xF7;
      break;
    case 'E':
      axis_mask &= 0xEF;
      break;
    case 'F':
      axis_mask &= 0xDF;
      break;
    case 'G':
      axis_mask &= 0xBF;
      break;
    case 'H':
      axis_mask &= 0x7F;
      break;
    }
  }
  sprintf(buf, "EI %u", (unsigned char) ~axis_mask); 
  x_e(GCmd(g, buf)); //send EI axis mask to set up interrupt events.
 
  while (axis_mask != 0xFF) //wait for all interrupts to come in
  {
    if ((rc = GInterrupt(g, &status)) == G_NO_ERROR)
    {
      switch (status)
      {
      case 0xD0: //Axis A complete
        axis_mask |= 0x01;
        break;
      case 0xD1: //Axis B complete
        axis_mask |= 0x02;
        break;
      case 0xD2: //Axis C complete
        axis_mask |= 0x04;
        break;
      case 0xD3: //Axis D complete
        axis_mask |= 0x08;
        break;
      case 0xD4: //Axis E complete
        axis_mask |= 0x10;
        break;
      case 0xD5: //Axis F complete
        axis_mask |= 0x20;
        break;
      case 0xD6: //Axis G complete
        axis_mask |= 0x40;
        break;
      case 0xD7: //Axis H complete
        axis_mask |= 0x80;
        break;
      }
    }
  }
 
  return rc;
}