cae-tools/cngt/cngt.c

/*
 * 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 cx, cy, cz;


#define UNITS(mm)	((mm)*40.0)


static void move(void)
{
	serial_printf("!PZ%.1f,0;PD%.1f,%.1f\n",
	    UNITS(cz), UNITS(cx), UNITS(cy));
}


static void up(void)
{
	cz = z0+height;
	move();
}


static void down(void)
{
	cz = z0;
	move();
}


static int do_key(char c)
{
	switch (c) {
	case 'u':
		up();
		break;
	case 'd':
		down();
		break;
	case 'h':
		up();
		cx -= STEP;
		move();
		break;
	case 'j':
		up();
		cy -= STEP;
		move();
		break;
	case 'k':
		up();
		cy += STEP;
		move();
		break;
	case 'l':
		up();
		cx += STEP;
		move();
		break;
	case 'q':
		return 1;
	default:
		if (c < '0' || c > '9')
			break;
		up();
		cx = pos_x[c-'0'];
		cy = pos_y[c-'0'];
		move();
	}
	return 0;
}


static void gp_minmax(const char *name,
    double *xa, double *ya, double *xb, double *yb)
{
	FILE *file;
	char buf[1024];
	double x, y, z;
	int n;
	int first = 1;

	file = fopen(name, "r");
	if (!file) {
		perror(name);
		exit(1);
	}
	while (fgets(buf, sizeof(buf), file)) {
		if (*buf == '#')
			continue;
		n = sscanf(buf, "%lf %lf %lf\n", &x, &y, &z);
		switch (n) {
		case 3:
			/* fall through */
		case 2:
			if (first || x < *xa)
				*xa = x;
			if (first || x > *xb)
				*xb = x;
			if (first || y < *ya)
				*ya = y;
			if (first || y > *yb)
				*yb = y;
			first = 0;
			break;
		default:
			break;
		}
	}
	fclose(file);
}


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)
{
	double xa = 0, ya = 0, xb = 0, yb = 0;
	int i;
	char c;

	if (argc < 4)
		usage(*argv);

	z0 = atof(argv[1]);
	height = atof(argv[2]);

	if (argc & 1) {
		for (i = 3; i != argc; i += 2) {
			pos_x[(i-3)/2] = atof(argv[i]);
			pos_y[(i-3)/2] = atof(argv[i+1]);
		}
	} else {
		if (argc != 4)
			usage(*argv);
		gp_minmax(argv[3], &xa, &ya, &xb, &yb);
		pos_x[1] = pos_x[4] = pos_x[7] = xa;
		pos_x[2] = pos_x[5] = pos_x[8] = (xa+xb)/2;
		pos_x[3] = pos_x[6] = pos_x[9] = xb;
		pos_y[1] = pos_y[2] = pos_y[3] = ya;
		pos_y[4] = pos_y[5] = pos_y[6] = (ya+yb)/2;
		pos_y[7] = pos_y[8] = pos_y[9] = yb;
	}

	serial_open("/dev/ttyUSB0");
	serial_printf("\nIN;!MC0\n");

	cx = pos_x[0];
	cy = pos_y[0];
	cz = z0+height;
	move();

	while ((c = getkey()))
		if (do_key(c))
			break;
	up();
	serial_close();
	return 0;
}