fanuc_adapter.cpp

/*
* Copyright (c) 2008, AMT – The Association For Manufacturing Technology (“AMT”)
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*     * Redistributions of source code must retain the above copyright
*       notice, this list of conditions and the following disclaimer.
*     * Redistributions in binary form must reproduce the above copyright
*       notice, this list of conditions and the following disclaimer in the
*       documentation and/or other materials provided with the distribution.
*     * Neither the name of the AMT nor the
*       names of its contributors may be used to endorse or promote products
*       derived from this software without specific prior written permission.
*
* DISCLAIMER OF WARRANTY. ALL MTCONNECT MATERIALS AND SPECIFICATIONS PROVIDED
* BY AMT, MTCONNECT OR ANY PARTICIPANT TO YOU OR ANY PARTY ARE PROVIDED "AS IS"
* AND WITHOUT ANY WARRANTY OF ANY KIND. AMT, MTCONNECT, AND EACH OF THEIR
* RESPECTIVE MEMBERS, OFFICERS, DIRECTORS, AFFILIATES, SPONSORS, AND AGENTS
* (COLLECTIVELY, THE "AMT PARTIES") AND PARTICIPANTS MAKE NO REPRESENTATION OR
* WARRANTY OF ANY KIND WHATSOEVER RELATING TO THESE MATERIALS, INCLUDING, WITHOUT
* LIMITATION, ANY EXPRESS OR IMPLIED WARRANTY OF NONINFRINGEMENT,
* MERCHANTABILITY, OR FITNESS FOR A PARTICULAR PURPOSE. 

* LIMITATION OF LIABILITY. IN NO EVENT SHALL AMT, MTCONNECT, ANY OTHER AMT
* PARTY, OR ANY PARTICIPANT BE LIABLE FOR THE COST OF PROCURING SUBSTITUTE GOODS
* OR SERVICES, LOST PROFITS, LOSS OF USE, LOSS OF DATA OR ANY INCIDENTAL,
* CONSEQUENTIAL, INDIRECT, SPECIAL OR PUNITIVE DAMAGES OR OTHER DIRECT DAMAGES,
* WHETHER UNDER CONTRACT, TORT, WARRANTY OR OTHERWISE, ARISING IN ANY WAY OUT OF
* THIS AGREEMENT, USE OR INABILITY TO USE MTCONNECT MATERIALS, WHETHER OR NOT
* SUCH PARTY HAD ADVANCE NOTICE OF THE POSSIBILITY OF SUCH DAMAGES.
*/


#include "stdafx.h"
#include <math.h>

#include "internal.hpp"
#include "fanuc_adapter.h"
#include <sstream> 

// Michaloski
#include "Logger.h"
#include "EnumProc.h"
#include "Globals.h"
#include "StdStringFcn.h"



#ifdef F15i
#include "FS15D.h"
#endif
#ifdef iSERIES
#include "iSeries.h"
#endif
#ifdef F15M	
#include "F15B.h"
#endif

#define LOADS

static void trans_func( unsigned int u, EXCEPTION_POINTERS* pExp )
{
	std::string errmsg = StdStringFormat("Fanuc Shdr trans_func - Code = 0x%x\n",  
		pExp->ExceptionRecord->ExceptionCode) ;

	Logger.LogMessage(std::string("FanucMTConnectAdapter::gatherDeviceData Exception Raised\n" + errmsg).c_str(), Logger.LERROR);
	throw std::exception(errmsg.c_str());
}


FanucMTConnectAdapter::FanucMTConnectAdapter( int aPort, const char *aDeviceIP, int aDevicePort, int delay) : 
Adapter(aPort, delay), 

mMode("controllermode"),
mPathFeedrate("path_feedratefrt"), 
mPathFeedrateOvr("path_feedrateovr"),

mPower("power"), 
mExecution("execution"), 
mProgram("program"), 
mLine("line"),

mXact("Xabs"), 
mYact("Yabs"),
mZact("Zabs"), 
mAact("Adeg"), 
mBact("Bdeg"),
mCact("Cdeg"), 

mXload("Xlod_percent"), 
mYload("Ylod_percent"), 
mZload("Zlod_percent"), 
mAload("Alod_percent"), 
mBload("Blod_percent"), 
mCload("Clod_percent"), 


mSpindleSpeed("Srpm"), 
mSpindleSpeedLoad("Slod_percent"), 
mSpindleSpeedOvr("Sovr")
//mAlarm("alarm"), // removed in version 1.2

{
	Logger.LogMessage("FanucMTConnectAdapter::FanucMTConnectAdapter\n", Logger.LDEBUG);
	mConnected=false;
	//addDatum(mAlarm);
	addDatum(mPower);
	addDatum(mExecution);
	addDatum(mLine);
	addDatum(mProgram);

	addDatum(mXact);
	addDatum(mYact);
	addDatum(mZact);
	addDatum(mAact);
	addDatum(mBact);
	addDatum(mCact);

	addDatum(mXload);
	addDatum(mYload);
	addDatum(mZload);
	addDatum(mAload);
	addDatum(mBload);
	addDatum(mCload);


	addDatum(mSpindleSpeed);
	addDatum(mPathFeedrate);
	addDatum(mMode);
	addDatum(mSpindleSpeedLoad);

	addDatum(mPathFeedrateOvr);
	addDatum(mSpindleSpeedOvr);

	mDevicePort = aDevicePort;
	mDeviceIP = aDeviceIP;

	_nAxes=3;

#ifdef F15M	
	_F15M = new CF15B(this);
#endif
#ifdef F15i	
	_FS15D = new CFS15D(this);
#endif
#ifdef iSERIES	
	_iSeries = new CiSeries(this);
#endif
}

void FanucMTConnectAdapter::initialize(int aArgc, const char *aArgv[])
{
	OutputDebugString("FanucMTConnectAdapter::initialize()\n");
	MTConnectService::initialize(aArgc, aArgv);
	if (aArgc > 1) {
	}
}

void FanucMTConnectAdapter::start()
{
	OutputDebugString("FanucMTConnectAdapter::start()\n");
	startServer();
}

void FanucMTConnectAdapter::stop()
{
	OutputDebugString("FanucMTConnectAdapter::stop()\n");
	disconnect();
	stopServer();
}
void FanucMTConnectAdapter::disconnect()
{

#ifdef F15i
	_FS15D->disconnect();
#endif
#ifdef F15M
	_F15M->disconnect();
#endif
#ifdef iSeries
	_iSeries->disconnect();
#endif

}

FanucMTConnectAdapter::~FanucMTConnectAdapter()
{
	disconnect();
}
#pragma comment(lib,"psapi") 
bool FanucMTConnectAdapter::IsCNCRunning()
{
	// Check for local machine cnc pid running.
	if(Globals.szFanucExe.size() >0)
	{
		if(!CProcessIterator::FindProcess((LPCSTR) Globals.szFanucExe.c_str()))
			return 0;
	}
	// Check for remote machine cnc pid running - ouch!
	return 1;
}

void FanucMTConnectAdapter::gatherDeviceData()
{
	Logger.LogMessage("FanucMTConnectAdapter::gatherDeviceData\n", Logger.HEAVYDEBUG);
	_set_se_translator( trans_func );  // correct thread?
	try {
#if 0
		if(!this->IsCNCRunning())
		{
			::Sleep(2000);
			return;

		}
#endif
		::Sleep(1000);

#ifdef F15i
		if (!mConnected)
			_FS15D->connect();
		if (mConnected)
		{		
			//if(Globals.FanucVersion == "15i")
			{
				_FS15D->getVersion();
				_FS15D->getInfo();
				_FS15D->getLine();
				_FS15D->getPositions();
				_FS15D->getStatus();
				_FS15D->getSpeeds();

			}
		}
#else
#ifdef F15M
		if (!mConnected)
			_F15M->connect();
		if (mConnected)
		{	
			//if(Globals.FanucVersion == "15M")
			{
				_F15M->saveStateInfo();
				_F15M->getVersion();
				_F15M->getInfo();
				_F15M->getLine();
				_F15M->getPositions();
				_F15M->getStatus();
				// hack in getSpeeds
				_F15M->getSpeeds();
				
			}
		}
#else
		if (!mConnected)
			_iSeries->connect();
		if (mConnected)
		{	
			//else
			{
				_iSeries->getVersion();
				_iSeries->getInfo();
				_iSeries->getLine();
				_iSeries->getPositions();
				_iSeries->getStatus();
				_iSeries->getSpeeds();
			}
		}
#endif
#endif
	}
	catch(...)
	{
		Logger.LogMessage("FanucMTConnectAdapter::gatherDeviceData Exception Raised\n", Logger.WARNING);
		disconnect();

	}
}


//static std::string DumpODBPOS(ODBPOS & pos)
//{
//	std::string tmp;
//	tmp+= StrFormat("Abs  Data=%d Dec=%d Unit=%d Display=%d Axis=%c Suff=%c\n", 
//		pos.abs.data, pos.abs.dec, pos.abs.unit, pos.abs.disp, pos.abs.name, pos.abs.suff);
//	tmp+= StrFormat("Mach Data=%d Dec=%d Unit=%d Display=%d Axis=%c Suff=%c\n", 
//		pos.abs.data, pos.mach.dec, pos.mach.unit, pos.mach.disp, pos.mach.name, pos.mach.suff);
//	tmp+= StrFormat("Rel  Data=%d Dec=%d Unit=%d Display=%d Axis=%c Suff=%c\n", 
//		pos.rel.data, pos.rel.dec, pos.rel.unit, pos.rel.disp, pos.rel.name, pos.rel.suff);
//	tmp+= StrFormat("Dist Data=%d Dec=%d Unit=%d Display=%d Axis=%c Suff=%c\n", 
//		pos.dist.data, pos.dist.dec, pos.dist.unit, pos.dist.disp, pos.dist.name, pos.dist.suff);
//	return tmp;
//}




std::string FanucMTConnectAdapter::getProgramName(char * buf) 
{
	Logger.LogMessage("FanucMTConnectAdapter::getProgramName Enter\n", 3);

	int prognum;
	std::string progname;
	std::stringstream ss(buf); 
	std::string sLine; 
	while(std::getline(ss, sLine, '\n'))
	{ 
		//  look for O # which must be there
		if(1 != sscanf(sLine.c_str(), "O%d", &prognum))
			continue;

		progname=StdStringFormat("O%d", prognum);
#if 0
		// if find comment inside (...) return as program name
		int n = sLine.find("(");
		int m= sLine.find(")");
		if(std::string::npos !=n && std::string::npos !=m)
			return sLine.substr(n+1,m-n-1);

		// else could be standalone  on next line
		if(std::getline(ss, sLine, '\n'))
		{
			n = sLine.find("(");
			m= sLine.find(")");
			if(std::string::npos !=n && std::string::npos !=m)
				return sLine.substr(n+1,m-n-1);

		}
#endif
		return progname;
	}
	Logger.LogMessage("FanucMTConnectAdapter::getProgramName Leave\n", 3);

	return "";
}