cngt: tool change utility for MDX15/20 (in progress)
- Makefile: basic Makefile - cngt.c: argument processing and main loop - serial.h, serial.c: serial port output for MDX-15/20, from cncmap/millp/ - getkey.h, getkey.c: single-key (raw) TTY input
This commit is contained in:
Werner Almesberger
parent
99592248d9
commit
154be2bada
|
|
@ -0,0 +1,77 @@
|
|||
#
|
||||
# Makefile - Makefile of drl2gp
|
||||
#
|
||||
# Written 2010 by Werner Almesberger
|
||||
# Copyright 2010 by Werner Almesberger
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation; either version 2 of the License, or
|
||||
# (at your option) any later version.
|
||||
#
|
||||
|
||||
PREFIX ?= /usr/local
|
||||
|
||||
SHELL=/bin/bash
|
||||
|
||||
MAIN=cngt
|
||||
OBJS=cngt.o getkey.o serial.o
|
||||
|
||||
CFLAGS_WARN=-Wall -Wshadow -Wmissing-prototypes \
|
||||
-Wmissing-declarations -Wno-format-zero-length
|
||||
CFLAGS=$(CFLAGS_WARN) -g
|
||||
LDFLAGS=-lm
|
||||
|
||||
# ----- Verbosity control -----------------------------------------------------
|
||||
|
||||
CC_normal := $(CC)
|
||||
DEPEND_normal := $(CPP) $(CFLAGS) -MM -MG
|
||||
|
||||
CC_quiet = @echo " CC " $@ && $(CC_normal)
|
||||
DEPEND_quiet = @$(DEPEND_normal)
|
||||
|
||||
ifeq ($(V),1)
|
||||
CC = $(CC_normal)
|
||||
DEPEND = $(DEPEND_normal)
|
||||
else
|
||||
CC = $(CC_quiet)
|
||||
DEPEND = $(DEPEND_quiet)
|
||||
endif
|
||||
|
||||
# ----- Rules -----------------------------------------------------------------
|
||||
|
||||
.PHONY: all clean spotless
|
||||
|
||||
all: $(MAIN)
|
||||
|
||||
$(MAIN): $(OBJS)
|
||||
|
||||
clean:
|
||||
rm -f $(OBJS) $(OBJS:.o=.d)
|
||||
|
||||
spotless: clean
|
||||
rm -f $(MAIN)
|
||||
|
||||
# ----- Install / uninstall ---------------------------------------------------
|
||||
|
||||
install: all
|
||||
mkdir -p $(DESTDIR)/$(PREFIX)/bin/
|
||||
install -m 755 $(MAIN) $(DESTDIR)/$(PREFIX)/bin/
|
||||
|
||||
uninstall:
|
||||
rm -f $(DESTDIR)/$(PREFIX)/bin/$(MAIN)
|
||||
|
||||
# ----- Dependencies ----------------------------------------------------------
|
||||
|
||||
# compile and generate dependencies, from fped, based on
|
||||
# http://scottmcpeak.com/autodepend/autodepend.html
|
||||
|
||||
%.o: %.c
|
||||
$(CC) -c $(CFLAGS) $*.c -o $*.o
|
||||
$(DEPEND) $*.c | \
|
||||
sed -e \
|
||||
'/^\(.*:\)\? */{p;s///;s/ *\\\?$$/ /;s/ */:\n/g;H;}' \
|
||||
-e '$${g;p;}' -e d >$*.d; \
|
||||
[ "$${PIPESTATUS[*]}" = "0 0" ] || { rm -f $*.d; exit 1; }
|
||||
|
||||
-include $(OBJS:.o=.d)
|
||||
|
|
@ -0,0 +1,134 @@
|
|||
/*
|
||||
* cngt.c - Tool change utility for MDX-15/20
|
||||
*
|
||||
* Written 2010 by Werner Almesberger
|
||||
* Copyright 2010 Werner Almesberger
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2 of the License, or
|
||||
* (at your option) any later version.
|
||||
*/
|
||||
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
|
||||
#include "serial.h"
|
||||
#include "getkey.h"
|
||||
|
||||
|
||||
#define MAX_POS 10
|
||||
#define STEP 5 /* xy movement step, 5 mm */
|
||||
|
||||
|
||||
static double pos_x[MAX_POS];
|
||||
static double pos_y[MAX_POS];
|
||||
static double z0, height;
|
||||
static double x, y, z;
|
||||
|
||||
|
||||
#define UNITS(mm) ((mm)*40.0)
|
||||
|
||||
|
||||
static void move(void)
|
||||
{
|
||||
serial_printf("!PZ%.1f,0;PD%.1f,%.1f\n", UNITS(z), UNITS(x), UNITS(y));
|
||||
}
|
||||
|
||||
|
||||
static void up(void)
|
||||
{
|
||||
z = z0+height;
|
||||
move();
|
||||
}
|
||||
|
||||
|
||||
static void down(void)
|
||||
{
|
||||
z = z0;
|
||||
move();
|
||||
}
|
||||
|
||||
|
||||
static int do_key(char c)
|
||||
{
|
||||
switch (c) {
|
||||
case 'u':
|
||||
up();
|
||||
break;
|
||||
case 'd':
|
||||
down();
|
||||
break;
|
||||
case 'h':
|
||||
up();
|
||||
x -= STEP;
|
||||
move();
|
||||
break;
|
||||
case 'j':
|
||||
up();
|
||||
y -= STEP;
|
||||
move();
|
||||
break;
|
||||
case 'k':
|
||||
up();
|
||||
y += STEP;
|
||||
move();
|
||||
break;
|
||||
case 'l':
|
||||
up();
|
||||
x -= STEP;
|
||||
move();
|
||||
break;
|
||||
case 'q':
|
||||
return 1;
|
||||
default:
|
||||
if (c < '0' || c > '9')
|
||||
break;
|
||||
up();
|
||||
x = pos_x[c-'0'];
|
||||
y = pos_y[c-'0'];
|
||||
move();
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
static void usage(const char *name)
|
||||
{
|
||||
fprintf(stderr, "usage: %s z0 height (file | x y ...)\n", name);
|
||||
exit(1);
|
||||
}
|
||||
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
int i;
|
||||
char c;
|
||||
|
||||
if (argc < 4)
|
||||
usage(*argv);
|
||||
if (!(argc & 1))
|
||||
usage(*argv);
|
||||
|
||||
z0 = atof(argv[1]);
|
||||
height = atof(argv[2]);
|
||||
for (i = 3; i != argc; i += 2) {
|
||||
pos_x[(i-3)/2] = atof(argv[i]);
|
||||
pos_y[(i-3)/2] = atof(argv[i+1]);
|
||||
}
|
||||
|
||||
serial_open("/dev/ttyUSB0");
|
||||
serial_printf("\nIN;!MC0\n");
|
||||
|
||||
x = pos_x[0];
|
||||
y = pos_y[0];
|
||||
z = z0+height;
|
||||
|
||||
while ((c = getkey()))
|
||||
if (do_key(c))
|
||||
break;
|
||||
up();
|
||||
serial_close();
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -0,0 +1,78 @@
|
|||
/*
|
||||
* getkey.c - Single-key TTY input
|
||||
*
|
||||
* Written 2010 by Werner Almesberger
|
||||
* Copyright 2010 Werner Almesberger
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2 of the License, or
|
||||
* (at your option) any later version.
|
||||
*/
|
||||
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <termios.h>
|
||||
#include <sys/types.h>
|
||||
|
||||
#include "getkey.h"
|
||||
|
||||
|
||||
#define TTY_NAME "/dev/tty"
|
||||
|
||||
|
||||
static int tty = -1;
|
||||
static struct termios old;
|
||||
|
||||
|
||||
static void reset_tty(void)
|
||||
{
|
||||
if (tty >= 0)
|
||||
if (tcsetattr(tty, TCSADRAIN, &old) < 0)
|
||||
perror("tcsetattr");
|
||||
}
|
||||
|
||||
|
||||
static void tty_open(void)
|
||||
{
|
||||
struct termios new;
|
||||
|
||||
tty = open(TTY_NAME, O_WRONLY | O_NOCTTY);
|
||||
if (tty < 0) {
|
||||
perror(TTY_NAME);
|
||||
exit(1);
|
||||
}
|
||||
|
||||
if (tcgetattr(tty, &old) < 0) {
|
||||
perror("tcgetattr");
|
||||
exit(1);
|
||||
}
|
||||
atexit(reset_tty);
|
||||
|
||||
new = old;
|
||||
cfmakeraw(&new);
|
||||
if (tcsetattr(tty, TCSANOW, &new) < 0) {
|
||||
perror("tcsetattr");
|
||||
exit(1);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
char getkey(void)
|
||||
{
|
||||
char buf;
|
||||
ssize_t got;
|
||||
|
||||
if (tty == -1)
|
||||
tty_open();
|
||||
got = read(tty, &buf, 1);
|
||||
if (got < 0) {
|
||||
perror("read");
|
||||
reset_tty();
|
||||
exit(1);
|
||||
}
|
||||
return got ? buf : 0;
|
||||
}
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
/*
|
||||
* getkey.h - Raw TTY input
|
||||
*
|
||||
* Written 2010 by Werner Almesberger
|
||||
* Copyright 2010 Werner Almesberger
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2 of the License, or
|
||||
* (at your option) any later version.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef GETKEY_H
|
||||
#define GETKEY_H
|
||||
|
||||
|
||||
char getkey(void);
|
||||
|
||||
#endif /* !GETKEY_H */
|
||||
|
|
@ -0,0 +1,100 @@
|
|||
/*
|
||||
* serial.c - Send data to a Modela MDX-15/20
|
||||
*
|
||||
* Written 2009 by Werner Almesberger
|
||||
* Copyright 2009 Werner Almesberger
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2 of the License, or
|
||||
* (at your option) any later version.
|
||||
*/
|
||||
|
||||
|
||||
#include <stdarg.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <unistd.h>
|
||||
#include <string.h>
|
||||
#include <fcntl.h>
|
||||
#include <termios.h>
|
||||
#include <sys/types.h>
|
||||
|
||||
#include "serial.h"
|
||||
|
||||
|
||||
static int tty;
|
||||
static struct termios old;
|
||||
|
||||
|
||||
static void reset_tty(void)
|
||||
{
|
||||
if (tty >= 0)
|
||||
if (tcsetattr(tty, TCSADRAIN, &old) < 0)
|
||||
perror("tcsetattr");
|
||||
}
|
||||
|
||||
|
||||
void serial_open(const char *name)
|
||||
{
|
||||
struct termios new;
|
||||
|
||||
|
||||
tty = open(name, O_WRONLY | O_NOCTTY);
|
||||
if (tty < 0) {
|
||||
perror(name);
|
||||
exit(1);
|
||||
}
|
||||
|
||||
if (tcgetattr(tty, &old) < 0) {
|
||||
perror("tcgetattr");
|
||||
exit(1);
|
||||
}
|
||||
atexit(reset_tty);
|
||||
|
||||
new = old;
|
||||
cfmakeraw(&new);
|
||||
cfsetospeed(&new, B9600);
|
||||
new.c_iflag |= IXON;
|
||||
new.c_cflag |= CLOCAL | CRTSCTS;
|
||||
new.c_lflag &= ~ECHO;
|
||||
if (tcsetattr(tty, TCSAFLUSH, &new) < 0) {
|
||||
perror("tcsetattr");
|
||||
exit(1);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void serial_close(void)
|
||||
{
|
||||
reset_tty();
|
||||
(void) close(tty);
|
||||
tty = -1;
|
||||
}
|
||||
|
||||
|
||||
void serial_printf(const char *fmt, ...)
|
||||
{
|
||||
char buf[10000]; /* more than enough :) */
|
||||
va_list ap;
|
||||
int len;
|
||||
ssize_t wrote;
|
||||
|
||||
va_start(ap, fmt);
|
||||
len = vsnprintf(buf, sizeof(buf), fmt, ap);
|
||||
va_end(ap);
|
||||
if (len >= sizeof(buf)-1) {
|
||||
fprintf(stderr, "buffer too small\n");
|
||||
exit(1);
|
||||
}
|
||||
wrote = write(tty, buf, strlen(buf));
|
||||
if (wrote < 0) {
|
||||
perror("write");
|
||||
exit(1);
|
||||
}
|
||||
if (wrote != len) {
|
||||
fprintf(stderr, "short write: %d < %d\n",
|
||||
(int) wrote, (int) len);
|
||||
exit(1);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,21 @@
|
|||
/*
|
||||
* serial.h - Send data to a Modela MDX-15/20
|
||||
*
|
||||
* Written 2009 by Werner Almesberger
|
||||
* Copyright 2009 Werner Almesberger
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2 of the License, or
|
||||
* (at your option) any later version.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef SERIAL_H
|
||||
#define SERIAL_H
|
||||
|
||||
void serial_open(const char *name);
|
||||
void serial_close(void);
|
||||
void serial_printf(const char *fmt, ...);
|
||||
|
||||
#endif /* !SERIAL_H */
|
||||
Loading…
Reference in New Issue