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

cngt/Makefile

@@ -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)

cngt/cngt.c

@@ -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;
+}

cngt/getkey.c

@@ -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;
+}

cngt/getkey.h

@@ -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 */

cngt/serial.c

@@ -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);
+	}
+}

cngt/serial.h

@@ -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 */