From f97cd976bad813834baaa338430553982bb6aaa3 Mon Sep 17 00:00:00 2001 From: Filipe Tomaz Date: Sun, 29 Dec 2013 03:37:21 -0800 Subject: [PATCH 1/2] Added functionality to swap the tool tip direction when reading the tool table. The intention is to be able to have a tooltable similar to the "Fanuc type". This changes do not change how linuxcnc deals with the orientation, they only change how linuxcnc reads the tooltable. --- src/emc/rs274ngc/tool_parse.cc | 24 ++++++++++++++++++++++-- 1 files changed, 22 insertions(+), 2 deletions(-) diff --git a/src/emc/rs274ngc/tool_parse.cc b/src/emc/rs274ngc/tool_parse.cc index cad4b13..cfad0c9 100644 --- a/src/emc/rs274ngc/tool_parse.cc +++ b/src/emc/rs274ngc/tool_parse.cc @@ -92,11 +92,20 @@ static bool scan_old_style( return false; } + +// Loads the tooltable from file +// +// If fanuc_tooltip_orientation is true, and since linuxcnc implements it diferently than the +// FANUC style, when reading the tooltable, the orientation is mapped to the linuxcnc style. +// This way, the user can use the FANUC style, and internally linuxcnc will carry using the +// implemented style + int loadToolTable(const char *filename, CANON_TOOL_TABLE toolTable[], int fms[], char *ttcomments[], - int random_toolchanger) + int random_toolchanger, + int fanuc_tooltip_orientation) { int fakepocket = 0; int t; @@ -253,7 +262,18 @@ int loadToolTable(const char *filename, toolTable[pocket].diameter = diameter; toolTable[pocket].frontangle = frontangle; toolTable[pocket].backangle = backangle; - toolTable[pocket].orientation = orientation; + if (fanuc_tooltip_orientation) + { + if (orientation == 2) toolTable[pocket].orientation = 3; + else if (orientation == 3) toolTable[pocket].orientation = 2; + else if (orientation == 6) toolTable[pocket].orientation = 8; + else if (orientation == 8) toolTable[pocket].orientation = 6; + else if (orientation == 1) toolTable[pocket].orientation = 4; + else if (orientation == 4) toolTable[pocket].orientation = 1; + else toolTable[pocket].orientation = orientation; + if (toolTable[pocket].orientation != orientation) + printf ("\nSwapping tool orientation for Fanuc style on tool %d, from orientation %d to orientation %d.", toolno, orientation, toolTable[pocket].orientation); + } else toolTable[pocket].orientation = orientation; if (ttcomments && comment) strcpy(ttcomments[pocket], comment); -- 1.7.0.4 From 3a02547ec50fab960a0a2ab9f5d39abf425397cb Mon Sep 17 00:00:00 2001 From: Filipe Tomaz Date: Sun, 29 Dec 2013 04:00:23 -0800 Subject: [PATCH 2/2] Added functionality to swap the tool tip direction when reading the tool table. The intention is to be able to have a tooltable similar to the "Fanuc type". This changes do not change how linuxcnc deals with the orientation, they only change how linuxcnc reads the tooltable. --- configs/sim/axis/lathe.ini | 4 +++- src/emc/iotask/ioControl.cc | 9 +++++---- src/emc/iotask/ioControl_v2.cc | 9 ++++++--- src/emc/rs274ngc/tool_parse.h | 3 ++- src/emc/sai/driver.cc | 2 +- 5 files changed, 17 insertions(+), 10 deletions(-) diff --git a/configs/sim/axis/lathe.ini b/configs/sim/axis/lathe.ini index b951964..5816823 100644 --- a/configs/sim/axis/lathe.ini +++ b/configs/sim/axis/lathe.ini @@ -178,6 +178,8 @@ EMCIO = io CYCLE_TIME = 0.100 # tool table file -TOOL_TABLE = lathe.tbl +TOOL_TABLE = dlathe.tbl TOOL_CHANGE_POSITION = 2 0 1 TOOL_CHANGE_WITH_SPINDLE_ON = 1 +FANUC_TOOLTIP_ORIENTATION = 1 + diff --git a/src/emc/iotask/ioControl.cc b/src/emc/iotask/ioControl.cc index 133c320..26c1dd4 100644 --- a/src/emc/iotask/ioControl.cc +++ b/src/emc/iotask/ioControl.cc @@ -79,7 +79,7 @@ static NML *emcErrorBuffer = 0; static char *ttcomments[CANON_POCKETS_MAX]; static int fms[CANON_POCKETS_MAX]; static int random_toolchanger = 0; - +static int fanuc_tooltip_orientation = 0; struct iocontrol_str { hal_bit_t *user_enable_out; /* output, TRUE when EMC wants stop */ @@ -242,6 +242,7 @@ static int iniLoad(const char *filename) } inifile.Find(&random_toolchanger, "RANDOM_TOOLCHANGER", "EMCIO"); + inifile.Find(&fanuc_tooltip_orientation, "FANUC_TOOLTIP_ORIENTATION", "EMCIO"); // close it inifile.Close(); @@ -748,7 +749,7 @@ int main(int argc, char *argv[]) } if (0 != loadToolTable(tool_table_file, emcioStatus.tool.toolTable, - fms, ttcomments, random_toolchanger)) { + fms, ttcomments, random_toolchanger, fanuc_tooltip_orientation)) { rcs_print_error("can't load tool table.\n"); } @@ -817,7 +818,7 @@ int main(int argc, char *argv[]) case EMC_TOOL_INIT_TYPE: rtapi_print_msg(RTAPI_MSG_DBG, "EMC_TOOL_INIT\n"); loadToolTable(tool_table_file, emcioStatus.tool.toolTable, - fms, ttcomments, random_toolchanger); + fms, ttcomments, random_toolchanger, fanuc_tooltip_orientation); reload_tool_number(emcioStatus.tool.toolInSpindle); break; @@ -903,7 +904,7 @@ int main(int argc, char *argv[]) if(!strlen(filename)) filename = tool_table_file; rtapi_print_msg(RTAPI_MSG_DBG, "EMC_TOOL_LOAD_TOOL_TABLE\n"); if (0 != loadToolTable(filename, emcioStatus.tool.toolTable, - fms, ttcomments, random_toolchanger)) + fms, ttcomments, random_toolchanger, fanuc_tooltip_orientation)) emcioStatus.status = RCS_ERROR; else reload_tool_number(emcioStatus.tool.toolInSpindle); diff --git a/src/emc/iotask/ioControl_v2.cc b/src/emc/iotask/ioControl_v2.cc index 85d9a10..161d531 100644 --- a/src/emc/iotask/ioControl_v2.cc +++ b/src/emc/iotask/ioControl_v2.cc @@ -82,6 +82,7 @@ static int fms[CANON_POCKETS_MAX]; static int random_toolchanger = 0; static int support_start_change = 0; static const char *progname; +static int fanuc_tooltip_orientation = 0; typedef enum { V1 = 1, @@ -337,6 +338,8 @@ static int iniLoad(const char *filename) rtapi_print_msg(RTAPI_MSG_DBG,"%s: [EMCIO] using v%d protocol\n",progname,proto); inifile.Find(&random_toolchanger, "RANDOM_TOOLCHANGER", "EMCIO"); + inifile.Find(&fanuc_tooltip_orientation, "FANUC_TOOLTIP_ORIENTATION", "EMCIO"); +printf ("Fetching FANUC_TOOLTIP_ORIENTATION = %d", fanuc_tooltip_orientation); // close it inifile.Close(); @@ -866,7 +869,7 @@ int main(int argc, char *argv[]) } if (0 != loadToolTable(tool_table_file, emcioStatus.tool.toolTable, - fms, ttcomments, random_toolchanger)) { + fms, ttcomments, random_toolchanger, fanuc_tooltip_orientation)) { rcs_print_error("%s: can't load tool table.\n",progname); } @@ -969,7 +972,7 @@ int main(int argc, char *argv[]) case EMC_TOOL_INIT_TYPE: rtapi_print_msg(RTAPI_MSG_DBG, "EMC_TOOL_INIT\n"); loadToolTable(tool_table_file, emcioStatus.tool.toolTable, - fms, ttcomments, random_toolchanger); + fms, ttcomments, random_toolchanger, fanuc_tooltip_orientation); reload_tool_number(emcioStatus.tool.toolInSpindle); break; @@ -1091,7 +1094,7 @@ int main(int argc, char *argv[]) if (!strlen(filename)) filename = tool_table_file; rtapi_print_msg(RTAPI_MSG_DBG, "EMC_TOOL_LOAD_TOOL_TABLE\n"); if (0 != loadToolTable(filename, emcioStatus.tool.toolTable, - fms, ttcomments, random_toolchanger)) + fms, ttcomments, random_toolchanger, fanuc_tooltip_orientation)) emcioStatus.status = RCS_ERROR; else reload_tool_number(emcioStatus.tool.toolInSpindle); diff --git a/src/emc/rs274ngc/tool_parse.h b/src/emc/rs274ngc/tool_parse.h index 684407b..f80e9e4 100644 --- a/src/emc/rs274ngc/tool_parse.h +++ b/src/emc/rs274ngc/tool_parse.h @@ -25,7 +25,8 @@ int loadToolTable(const char *filename, struct CANON_TOOL_TABLE toolTable[CANON_POCKETS_MAX], int fms[CANON_POCKETS_MAX], char *ttcomments[CANON_POCKETS_MAX], - int random_toolchanger + int random_toolchanger, + int fanuc_tooltip_orientation // If true will use the Fanuc tool tip directions ); #ifdef CPLUSPLUS diff --git a/src/emc/sai/driver.cc b/src/emc/sai/driver.cc index 3102ef6..fb15a91 100644 --- a/src/emc/sai/driver.cc +++ b/src/emc/sai/driver.cc @@ -334,7 +334,7 @@ int read_tool_file( /* ARGUMENTS */ tool_file_name = buffer; } - return loadToolTable(tool_file_name, _tools, 0, 0, 0); + return loadToolTable(tool_file_name, _tools, 0, 0, 0, 0); } /************************************************************************/ -- 1.7.0.4