~QlarityLib~
0xFFFF
Do not edit this file. Doing so will almost certainly destroy its integrity!
Galil_mc
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*2073 39218 1.52 0 sGalilCommunications
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*350715 28883 1.52 1 sGMCSimpleTerminal
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*488879 13186 1.01 0 sGMCDownload
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*0 0 ZZ
#ifnot Galil_mc_src_GalilCommunications
#option Galil_mc_src_GalilCommunications
enum GMC_DataType as GMC_Position:=100, GMC_PositionError:=101, GMC_CommandedPosition:=102, ->
GMC_LatchedPosition:=103, GMC_DualEncoderPosition:=104, GMC_Torque:=105, GMC_Switches:=106, ->
GMC_AnalogInput1:=1, GMC_AnalogInput2:=2, GMC_AnalogInput3:=3, GMC_AnalogInput4:=4, ->
GMC_AnalogInput5:=5, GMC_AnalogInput6:=6, GMC_AnalogInput7:=7, GMC_AnalogInput8:=8
enum GMC_Axis as GMC_Axis_X := 'X', GMC_Axis_Y := 'Y', GMC_Axis_Z := 'Z', GMC_Axis_W := 'W', ->
GMC_Axis_E := 'E', GMC_Axis_F := 'F', GMC_Axis_G := 'G', GMC_Axis_H := 'H'
enum GMC_BevelStyle as GMC_BevelRaised, GMC_BevelSunken, GMC_BevelNone
enum GMC_SerialFormat as GMC_19200_RTS_CTS:=0, GMC_9600_RTS_CTS:=1, GMC_1200_RTS_CTS:=2, GMC_19200_NOFLOW := 3, GMC_9600_NOFLOW := 4, GMC_1200_NOFLOW := 5
#option GMC_EXTENDEDCOMMODES
enum GMC_EnetStates as GMC_Serial := 1, GMC_Pending := 2, GMC_Enet := 3, GMC_Invalid := 4
enum GMC_CommMethod as GMC_UseSerial:=0, GMC_EthernetUDP:=1, GMC_EthernetTCP:=2, GMC_None:=3
enum GMC_DispErrors as GMC_DisplayNone, GMC_DisplayCommErrors, GMC_DisplayAllErrors
enum GMC_FailureReason as GMC_FailCommunications, GMC_FailBadCommand, GMC_FailUnexpectedData
const GMC_MaxStream := 256
const GMC_MaxPendingStreams := 256
const GMC_MaxTxLen := 80
const GMC_SpecialTerm := "MG\"~@~\"\r"
const GMC_TermStr := "~@~"
const GMC_VisTimeout := 6
const message GMC_CommSuccess
const message GMC_CommFailure
const message GMC_SuspendSuccessNotify
const message GMC_SuspendCommReceive
#hidden dim GMC_CommObjPos as integer
#hidden dim GMC_CommObjHeight as integer
dim GMC_DefaultCommObj as objref GalilCommunication
#undoc func GMC_SetCommObjPos
func GMC_SetCommObjPos (obj as objref)
dim mu, md, ml, mr, nlx, nly as integer
if GMC_CommObjHeight == 0 then
GetBDFFontMetrics (ml, mr, mu, md, nlx, nly, default, font_normal)
GMC_CommObjHeight = mu+md
endif
Relocate (obj, 0, GMC_CommObjPos * GMC_CommObjHeight)
GMC_CommObjPos := GMC_CommObjPos + 1
endfunc
#undoc func GMC_VerifyCommObj
func GMC_VerifyCommObj (commObject as reference to objref GalilCommunication)
if commObject == empty then
commObject := GMC_defaultCommObj
#if _tool tool_persist(commObject) #endif
endif
endfunc
#hidden dim GMC_CurLocalPort as integer
#undoc func GMC_GetLocalPort
func GMC_GetLocalPort() returns unibyte
if GMC_CurLocalPort == 0 then
SeedRandomNum()
GMC_CurLocalPort := 10000 + integer(40000*GetRandomNum())
else
GMC_CurLocalPort := ((GMC_CurLocalPort - 9999) mod 40000) + 10000
endif
return GMC_CurLocalPort
endfunc
#undoc func GMC_CountCommands
func GMC_CountCommands(stream[] as byte) returns integer
dim posS, posN as unibyte 'Using unibyte because -1 translates as 65535
dim oldPos as unibyte
dim count as integer
'Quoted strings don't allow semicolons or quotes in them
'Which makes our life easy
posS := find (stream, oldPos, -1, ";")
posN := find (stream, oldPos, -1, "\n")
'if both are equal we have the end of our loop
while (posS <> posN) do
if (posS < posN) then
count := count + 1
oldPos := posS+1
posS := find(stream, oldPos, -1, ";")
else
count := count + 1
oldPos := posN+1
posN := find(stream, oldPos, -1, "\n")
endif
loop
'Is stream terminated?
oldPos := len(stream) - 1
if oldPos < 32000 then
'Only count semicolon as final terminator as a semicolon is auto appended if stream
'doesn't end in one. If the final character of the stream is a newline, then
'an extra null command will be appended, but won't be harmful
if (stream[oldPos] <> ';') then
count := count + 1
endif
endif
return count
endfunc
#undoc func GMCDataTypeToCommand
func GMCDataTypeToCommand(dt as GMC_DataType, axis as GMC_Axis, useCustom as boolean, ->
custom as string) returns string
dim tmpStr[1] as byte
dim tmpInt as integer
tmpStr[0] := axis
if useCustom then
'Verify 1 command only
tmpInt = GMC_CountCommands(custom)
if tmpInt < 1 then
return "TPX;" 'Make up an arbitrary command
elseif tmpInt == 1 then
return custom
else
'Shrink down to 1 command
tmpInt = find(custom, 0, -1, ";")
custom = left(custom, tmpInt)
tmpInt = find(custom, 0, -1, "\n")
custom = left(custom, tmpInt)
return custom + ";"
endif
elseif dt <= GMC_AnalogInput8 then
return "MG@AN[" + str(dt) + "];"
elseif dt == GMC_Position then
return "TP" + tmpStr + ";"
elseif dt == GMC_PositionError then
return "TE" + tmpStr + ";"
elseif dt == GMC_CommandedPosition then
return "RP" + tmpStr + ";"
elseif dt == GMC_LatchedPosition then
return "RL" + tmpStr + ";"
elseif dt == GMC_DualEncoderPosition then
return "DE?;"
elseif dt == GMC_Torque then
return "TT" + tmpStr + ";"
elseif dt == GMC_Switches then
return "TS" + tmpStr + ";"
else
return ""
endif
endfunc
#undoc func GMC_ClearException
func GMC_ClearException()
dim errTyp, errLev as unibyte
dim errStr[] as byte
GetException(errStr, errTyp, errLev)
endfunc
Define Area Object type GalilCommunication
#ToolImage "FFFFF00FC0038FF13FFD7C7F391F9C47CFF3E007F84FFF9FFF3FFE7FFFFF"
'*******************************************************************
'Object: GalilCommunication
'Author: Jeremy Richards
'Date: 27 May 2004
'
'Description: Galil motion controller communications object
'
'Version: 1.52
'Copyright 2004 QSI Corporation
'Permission is granted to copy, distribute and modify this code,
'provided that this copyright statement is preserved
'*******************************************************************
#doc object GalilCommunication
~This object forms the core of the Galil library. This object controls
~all interaction between the motion controller and the QTERM-G70. It is
~capable of communicating with a motion controller either serially or via
~ethernet. To communicate with a motion controller, create an instance of
~this object and set up its properties as appropriate. Then create other
~GMC objects and set thier commObject property to refer to this object.
~You can communicate with multiple motion controllers by creating one
~GalilCommunication object per controller. There is a limit of one controller
~per serial port on the G70 and a limit of 8 ethernet controllers that can be
~used at once.
Library Standard Source TextSingleLineBDF
Library Standard Source IPSupport
library standard source formatfunctions
#doc prop CommMethod
~The value of this property determines how this object will attempt communication
~with the controller. You can select between Serial, TCP/IP, UDP/IP or no
~communication. If you attempt to change communication methods while this object is
~attempting to open an ethernet channel to the controller, an error is generated and
~no change in communication is made. In general, you should set this property
~when designing your workspace and not change it at runtime on the terminal.
dim CommMethod as GMC_CommMethod
init CommMethod := GMC_EthernetUDP
func CommMethod (newVal as GMC_CommMethod)
if (newVal == GMC_EthernetUDP) or (newVal == GMC_EthernetTCP) then
'Attempting to switch to ethernet
if (enetState == GMC_Pending) then
'Pending and attempting to switch between TCP & UDP?
if newVal <> CommMethod then
'Attempting a swtich
throw (str(me), "Unable to switch between UDP and TCP when an ethernet connection is pending")
else
CommMethod := newVal
return 'No change
endif
elseif (enetState == GMC_Enet) then
'Have a current ethernet connection. Switching between TCP & UDP?
if newVal <> CommMethod then
'Attempting swtich between TCP & UDP
CommMethod := newVal
CloseEthernet()
OpenEthernet()
else
CommMethod := newVal
return 'No change
endif
elseif (enetState == GMC_Serial) then
CommMethod := newVal
CloseSerial()
OpenEthernet()
else
CommMethod := newVal
OpenEthernet()
endif
elseif (newVal == GMC_UseSerial) then
'Attempting to switch to serial
if (enetState == GMC_Serial) then
CommMethod := newVal
return 'No change
elseif (enetState == GMC_Pending) then
throw (str(me), "Unable to switch to serial communications while ethernet connecting is pending")
elseif (enetState == GMC_Enet) then
CommMethod := newVal
CloseEthernet()
OpenSerial()
elseif enetState == GMC_Invalid then
CommMethod := newVal
OpenSerial()
endif
elseif (newVal == GMC_None) then
'Attempting to quit communications
if (enetState == GMC_Serial) then
CommMethod := newVal
CloseSerial()
elseif (enetState == GMC_Pending) then
throw(str(me), "Unable to switch to no communication while ethernet connecting is pending")
elseif (enetState == GMC_Enet) then
CommMethod := newVal
CloseEthernet()
elseif (enetState == GMC_Invalid) then
CommMethod := newVal
endif
endif
endfunc
#doc prop IPAddress
~This property defines the IP address of the motion controller. If communicating via ethernet
~set this property to be the IP address of the motion controller. Use the industry standard
~dotted string format (i.e. "192.168.1.1") to specify the address. This property is ignored if
~CommMethod is not set to either GMC_EthernetUDP or GMC_EthernetTCP.
dim IPAddress as string
init IPAddress := "192.168.1.1"
func IPAddress (newVal as string)
IPAddress := newVal
if (enetState == GMC_SERIAL) or (enetState == GMC_Invalid) then
return
elseif (enetState == GMC_Pending) then
throw (Str(me), "Unable to change IP address while ethernet connection is pending")
else
CloseEthernet()
OpenEthernet()
endif
endfunc
#doc prop serialPort
~This property determines which serial port on the QTERM-G70 is used for communication with
~the motion controller. Set it to the G70 serial port to which the controller is attached.
~This property is ignored if CommMethod is anything except GMC_UseSerial.
dim SerialPort as comm
init SerialPort := com1
func SerialPort (newVal as comm)
if enetState == GMC_Serial then
CloseSerial()
SerialPort := newVal
OpenSerial()
else
SerialPort := newVal
endif
endfunc
#doc prop serialFormat
~This property determines the serial format that is used for communication with the motion
~controller. Select the format that the motion controller is using to ensure proper communcation.
~This property is ignored if UseEthernet is anything except GMC_UseSerial.
dim SerialFormat as GMC_SerialFormat
init SerialFormat := GMC_19200_RTS_CTS
func SerialFormat (newVal as GMC_SerialFormat)
SerialFormat := newVAl
if enetState == GMC_Serial then
VerifyCurPortSettings()
endif
endfunc
#doc prop maxRetries
~If the motion controller fails to respond to a command, the communications object can attempt
~to retry the command. Generally the motion controller will only fail to respond if it
~is extremely busy or there is a communications problem. As many commands tell the controller
~to perform some action and can cause problems if they are resent, the default number of retries
~is zero. You may increase the number of retries if your application only uses query commands.
~
Note: This property only applies if you are using GMC_UseSerial or GMC_EthernetUDP
~as your communication method. This property is ignored for TCP communication as the
~TCP/IP protocol automatically retries.
dim MaxRetries as integer
init maxRetries := 0
#doc prop timeout
~timeout defines how long (in milliseconds) this object will wait for a response from
~the controller before it decides that there has been a communications failure. If the
~timeout elapses without receiving a response from the terminal, then the data is considered
~lost and is retried if maxRetries is non-zero.
~
Note: This property only applies if you are using GMC_UseSerial or GMC_EthernetUDP
~as you communication method. This property is ignored for TCP communication as the
~TCP/IP protocol automatically deals with timeout issues.
dim timeout as integer
init timeout := 3000
func timeout (newVal as integer)
timeout := newVal
timeoutCounts := newVal / 500 '# of half second ticks
endfunc
#doc prop displayErrors
~This property determines how, if at all, errors are displayed when they occur. Errors are
~displayed in a small yellow bar near the top of the display. The
~following options are available:
~- GMC_DisplayNone
- No errors are displayed. This object will never display an error
~message.
~
- GMC_DisplayCommErrors
- Errors in communication are displayed. This includes
~communication timeouts and unexpected TCP disconnections.
~
- GMC_DisplayAllErrors
- All errors are displayed. This includes all communication
~errors as well as errors returned by the controller in response to bad commands.
dim displayErrors as GMC_DispErrors
init displayErrors := GMC_DisplayCommErrors
#doc prop unsolicitedAware
~This property determines whether this object will watch for unsolicited messages from the
~controller. If this value is true, then all data returned from the controller is examined
~for unsolicited messages (i.e. data returned from the controller that was not requested by
~this terminal. Examples include "MG" commands in the program executing on the controller).
~When unsolicited messages are detected, the UnsolicitedMessageReceived event is
~generated. You can handle this event to examine incomming unsolicited messages.
~If this property is false, then this object does not watch for unsolicited messages. Setting
~this property to false will generally lead to improved performance on the terminal, however,
~if an unsolicited message is sent, then a communications error will occur. Set this property
~to false if you want better performance on the terminal and know that the controller will not
~send unsolicited messages.
dim unsolicitedAware as boolean
init unsolicitedAware := true
func Startup()
handles msg_init
Enable(me, true)
Attach(me, default)
CommMethod(CommMethod)
RegisterMsghandler (me, MSG_TIMETICK, 25) 'Timeout ticks every 1/2 second
GMC_SetCommObjPos(me)
timeout(timeout)
if GMC_DefaultCommObj == empty then
GMC_DefaultCommObj := me
#if _Tool Tool_Persist (GMC_DefaultCommObj) #endif
endif
endfunc
private dim enetState as GMC_EnetStates
init enetState := GMC_Invalid
private func enetState (newVal as GMC_EnetStates)
enetState := newVal
endfunc
private dim thePort as comm
private func OpenEthernet()
dim IPAddr[] as byte
dim netMethod as netprotocol
if commMethod == GMC_EthernetTCP then
netMethod := NET_TCP
else
netMethod := NET_UDP
endif
#if _tool_any
if enetState <> GMC_Invalid then
tool_Trace (str(me) + " Invalid state when opening ethernet")
endif
#endif
if _ParseIPAddressString (IPAddress, IPAddr) then
NetOpen (me, NetMethod, GMC_GetLocalPort(), 51987, IPAddr)
enetState = GMC_Pending
else
enetState = GMC_Invalid
comBuf := ""
throw (str(me), "Invalid IP Address: " + IPAddress)
endif
endfunc
private func CloseEthernet()
if enetState == GMC_Enet then 'Enet is currently open
UnregisterMsgHandler (me, MSG_COMM_RECEIVE, thePort)
NetClose (thePort)
endif
enetState = GMC_Invalid
comBuf := ""
endfunc
private func CommAccept (socket as comm)
handles MSG_COMM_ACCEPT
if enetState <> GMC_Pending then
NetClose (socket) 'This should never execute
#if _tool_any
tool_trace (str(me) + "Invalid state when NetAccept received")
#endif
endif
'Unregister whatever we might have been listening to
UnregisterMsgHandler (me, MSG_COMM_RECEIVE, thePort)
thePort := socket
RegisterMsgHandler (me, MSG_COMM_RECEIVE, thePort)
enetState = GMC_Enet
'Turn echo off. Set the unsolicited bits high
SendAsciiCommandStream ("CW1;EO0;", me, 0)
endfunc
private func CommError (errcode as integer, errmsg[] as byte)
handles MSG_COMM_ERROR
MakeVisible ("Ethernet error: " + errMsg)
if (thePort > COM10) or (thePort < COM1) then
NetClose(thePort)
endif
UnregisterMsgHandler(me, MSG_COMM_RECEIVE, thePort)
enetState = GMC_INVALID
comBuf := ""
CommMethod = GMC_NONE
endfunc
private func OpenSerial()
#if _tool_any
if enetState <> GMC_Invalid then
tool_Trace (str(me) + "Invalid state when opening port")
endif
#endif
thePort := SerialPort
RegisterMsgHandler (me, MSG_COMM_RECEIVE, SerialPort)
VerifyCurPortSettings()
enetState = GMC_Serial
'Turn echo off. Set the unsolicited bits high
SendAsciiCommandStream("TC;CW1;EO0;", me, 0) 'TC is a spurious command to deal with the bad
'char that is transmitted upon bootup
endfunc
private func CloseSerial()
UnregisterMsgHandler (me, MSG_COMM_RECEIVE, SerialPort)
enetState = GMC_Invalid
comBuf := ""
endfunc
private func VerifyCurPortSettings ()
dim baud as syscmd_baud
dim flow as syscmd_flowcontrol
if SerialFormat == GMC_19200_RTS_CTS then
baud := baud_19200
flow := flowcontrol_rts_cts
elseif SerialFormat == GMC_9600_RTS_CTS then
baud := baud_9600
flow := flowcontrol_rts_cts
elseif SerialFormat == GMC_1200_RTS_CTS then
baud := baud_1200
flow := flowcontrol_rts_cts
elseif SerialFormat == GMC_19200_NOFLOW then
baud := baud_19200
flow := flowcontrol_none
elseif SerialFormat == GMC_9600_NOFLOW then
baud := baud_9600
flow := flowcontrol_none
elseif SerialFormat == GMC_1200_NOFLOW then
baud := baud_1200
flow := flowcontrol_none
else
throw (str(me), "Invalid serial format setting")
endif
VerifyComSettings (serialPort, baud, flow)
endfunc
private func VerifyComSettings (port as comm, baud as syscmd_Baud, flow as syscmd_flowcontrol)
dim dbits as syscmd_databits
dim sbits as syscmd_stopbits
dim parity as syscmd_parity
dim baudCur as syscmd_baud
dim flowCur as syscmd_flowcontrol
dim bc, dbc, pc, sbc, fc as syscmd
if port == com1 then
bc := sys_com1baud
dbc := sys_com1databits
pc := sys_com1parity
sbc := sys_com1stopbits
fc := sys_com1flowcontrol
elseif port == com2 then
bc := sys_com2baud
dbc := sys_com2databits
pc := sys_com2parity
sbc := sys_com2stopbits
fc := sys_com2flowcontrol
endif
#ifnot _TOOL 'Don't set the settings in layout view
'Check each serial port paramater and set as appropriate
GetsystemSetting (bc, baudCur, sysread_current)
if baudCur <> baud then
SetSystemSetting (bc, baud, SYSACT_DONOW)
endif
GetSystemSetting (fc, flowCur, sysread_current)
if flowCur <> flow then
SetSystemSetting (fc, flow, SYSACT_DONOW)
endif
GetSystemSetting (dbc, dbits, sysread_current)
if dbits <> databits_8 then
SetSystemSetting (dbc, databits_8, SYSACT_DONOW)
endif
GetSystemSetting (pc, parity, sysread_current)
if parity <> parity_none then
SetSystemSetting (pc, parity_none, SYSACT_DONOW)
endif
GetSystemSetting (sbc, sbits, sysread_current)
if sbits <> stopbits_1 then
SetSystemSetting (sbc, stopbits_1, SYSACT_DONOW)
endif
'Set the timeout
if (port == com1) or (port == com2) then
SetSerialTimeout (port, 1)
endif
#endif
endfunc
private dim comBuf[] as byte
private func CommReceive (data[] as byte) returns boolean
handles MSG_COMM_RECEIVE
dim pos1, pos2 as integer
'Special handling of suspended data
if suspended then
if not awaitingsuspense then
suspendedRecv := data
userDirectMsg (suspendNotify, GMC_SuspendCommReceive, suspendNotifyParm, true)
return true
endif
endif
if unsolicitedAware then
ParseForUnsolicitedMessages (data)
else
comBuf := concat (comBuf, data)
endif
label top
pos1 := find (comBuf, 0, -1, GMC_TermStr)
if pos1 > 0 then
pos2 := find (combuf, pos1, -1, ":")
if pos2 > 0 then ' we found a complete response
Parse (left (combuf, pos1))
combuf := mid(combuf, pos2+1, -1)
'goto top
endif
endif
return true
endfunc
#doc prop curResponse
~This property contains the most recent response from the controller. It is guarenteed to be
~valid during a GMC_CommSuccess message. At any other time the value of this property
~may not be valid. It is the responsibility of the object that recieves the GMC_CommSuccess
~to parse the response appropriately
#hidden dim curResponse as string
private dim recvCmdBrks[GMC_MaxTxLen] as integer
#hidden dim curFailureReason as GMC_FailureReason
private func Parse(data[] as byte)
dim cpos, qpos, oldPos as unibyte
dim count as integer
dim i, loopTerm, brkIdx, oldBrkIdx as integer
dim errs[] as integer
dim errorExists as boolean
cpos := find (data, 0, -1, ":")
qpos := find (data, 0, -1, "?")
count = 1
recvCmdBrks[0] := -1
while (cPos < 65535) or (qPos < 65535) do
if cPos < qPos then
recvCmdBrks[count] := cPos
count := count + 1
oldPos := cPos+1
cPos := find (data, oldPos, -1, ":") 'No need to find question
else
recvCmdBrks[count] := qPos
'note that an error occured
redim (errs, len(errs)+1)
errs[len(errs)-1] := count
errorExists := true
count := count + 1
oldPos := qPos+1
qPos := find (data, oldPos, -1, "?") 'No need to find colon
endif
loop
'Note the (count - 1) is because we started the count at one. We started the
'count at one because parsing the data for curResponse out is easier when we do
if pendingCmdCount <> count - 1 then
Retransmit("Unexpected controller response")
else
loopTerm := (pendingPktTail + 1) mod GMC_MaxPendingStreams
i := tailIdx
brkIdx := 0
oldBrkIdx := 0
if not errorExists then
'slightly faster loop for the common case of no errors!
while i <> loopTerm do
brkIdx := brkIdx + cmdCount[i]
curResponse := mid(data, recvCmdBrks[oldBrkIdx]+1, recvCmdBrks[brkIdx] - recvCmdBrks[oldBrkIdx]-1)
UserDirectMsg (notify[i], GMC_CommSuccess, notifyCodes[i], true)
i := (i+1) mod GMC_MaxPendingStreams
oldBrkIdx := brkIdx
loop
else
'slower loop where we have to see what errors exist and what to do about it!
cpos := 0 'reuse cpos as an array index
redim (errs, len(errs)+1) 'give ourselves an extra padding index
while i <> loopTerm do
brkIdx := brkIdx + cmdCount[i]
curResponse := mid(data, recvCmdBrks[oldBrkIdx]+1, recvCmdBrks[brkIdx] - recvCmdBrks[oldBrkIdx]-1)
if (oldBrkIdx+1 <= errs[cPos]) and (brkIdx >= errs[cPos]) then 'this command stream contained the error
curFailureReason := GMC_FailBadCommand
UserDirectMsg (notify[i], GMC_CommFailure, notifyCodes[i], true)
cPos := cPos + 1
if displayErrors == GMC_DisplayAllErrors then
MakeVisible (str(notify[i]) + ": Bad command")
endif
else
UserDirectMsg (notify[i], GMC_CommSuccess, notifyCodes[i], true)
endif
i := (i+1) mod GMC_MaxPendingStreams
oldBrkIdx := brkIdx
loop
endif
ClearPendingPktInfo()
endif
endfunc
private func ReceiveFail()
dim i, loopTerm as integer
loopTerm := (pendingPktTail + 1) mod GMC_MaxPendingStreams
i := tailIdx
curFailureReason := GMC_FailCommunications
curResponse := ""
while i <> loopTerm do
UserDirectMsg (notify[i], GMC_CommFailure, notifyCodes[i], true)
i := (i+1) mod GMC_MaxPendingStreams
loop
ClearPendingPktInfo()
endfunc
private func ClearPendingPktInfo()
if awaitingResponse then
awaitingResponse := false
xmitbuf := mid (xmitBuf, pendingPktLen, -1)
tailIdx := (pendingPktTail + 1) mod GMC_MaxPendingStreams
endif
TransmitStream()
endfunc
private dim xmitBuf[] as byte
private dim lengths[GMC_MaxPendingStreams] as integer
private dim cmdCount[GMC_MaxPendingStreams] as integer
private dim notify[GMC_MaxPendingStreams] as objref
private dim notifyCodes[GMC_MaxPendingStreams] as integer
private dim headIdx as integer
private dim tailIdx as integer
#doc func SendAsciiCommandStream
~Use this command to send an arbitrary stream of commands to the controller. When the
~controller has responed, this object will send a GMC_CommSuccess or a GMC_CommFailure
~message to the notifyObj with the notifyCode as the paramater.
#param stream: A semicolon separated list of commands to send to a Galil motion controller
#param notifyObj:The object that will receive notification once the controller has responeded to the commands
#param notifyCode:This value will be sent to the notifyObj in the notification message. It is primarily useful for objects that may poll different values at different times so that it can differenciate to which query it is receiving a response.
func SendAsciiCommandStream(stream[] as byte, notifyObj as objref, notifyCode as integer) returns boolean
return SendAsciiCommandStreamCounted (stream, notifyObj, notifyCode, GMC_CountCommands(stream))
endfunc
#doc func SendAsciiCommandStreamCounted
~Use this command to send an arbitrary stream of commands to the controller. When the
~controller has responed, this object will send a GMC_CommSuccess or a GMC_CommFailure
~message to the notifyObj with the notifyCode as the paramater. This function is
~faster than SendAsciiCommandStream. Call this function if you know exactly
~how many commands are in stream. You generally do that by calling the global function
~GMC_CountCommands.
#param stream: A semicolon separated list of commands to send to a Galil motion controller
#param notifyObj:The object that will receive notification once the controller has responeded to the commands
#param notifyCode:This value will be sent to the notifyObj in the notification message. It is primarily useful for objects that may poll different values at different times so that it can differenciate to which query it is receiving a response.
#param count:The number of commands in the command stream. This value must correctly identify the number of commands in the stream, or a communications failure will occur. You can obtain the proper value by calling GMC_CountCommands on your stream of commands.
func SendAsciiCommandStreamCounted (stream[] as byte, notifyObj as objref, ->
notifyCode as integer, count as integer) returns boolean
dim strLen as integer
dim nextHeadIdx as integer
'Cannot transmit if using no comm method
if commMethod == GMC_None then
return false
endif
nextHeadIdx := (headIdx + 1) mod GMC_MaxPendingStreams
strlen = len(stream)
if len(stream) >= GMC_MaxTxLen then
return false
elseif (strlen <= 0) or (nextHeadIdx == tailIdx) then
return false
endif
' Add terminator if necessary
if stream[strlen-1] <> ';' then
stream := stream + ";"
strLen := strLen + 1
endif
xmitBuf := concat(xMitBuf, stream)
lengths[headIdx] := strLen
cmdCount[headIdx] := count
notify[headIdx] := notifyObj
notifyCodes[headIdx] := notifyCode
headIdx := nextHeadIdx
TransmitStream()
return true
endfunc
private dim awaitingResponse as boolean
private dim pendingPktTail as integer
private dim pendingPktLen as integer
private dim pendingPktTimeIdx as integer
private dim pendingRetries as integer
private dim pendingCmdCount as integer
private dim curTimeIdx as integer
private dim timeoutCounts as integer
private dim isVisible as boolean
init isVisible := false
private dim visMessage as string
private dim visTimeIdx as integer
private func TransmitStream ()
dim sum, prevSum as integer
dim prevTail as integer
dim curTail as integer
dim cmdSum, prevCmdSum as integer
'Reasons why we might not be able to transmit
if (enetState <> GMC_Serial) and (enetState <> GMC_Enet) then 'Not connected
return
endif
if awaitingResponse then
return 'Currently waiting for a response.
endif
if suspended then
'Are we suspended for special communications?
if awaitingSuspense then
awaitingSuspense := false
UserDirectMsg (suspendNotify, GMC_SuspendSuccessNotify, suspendNotifyParm, false)
endif
return
endif
if headIdx == tailIdx then 'Nothing to transmit
return
endif
curTail := tailIdx
sum := lengths[curTail]
cmdSum := cmdCount[curTail]
do
prevTail := curTail
prevSum := sum
prevCmdSum := cmdSum
curTail := (curTail + 1) mod GMC_MaxPendingStreams
sum := sum + lengths[curTail]
cmdSum := cmdSum + cmdCount[curTail]
loop while (curTail <> headIdx) and (sum < GMC_MaxTxLen)
'Since the loop always takes us one iteration too far, use prevTail and prevSum
awaitingResponse := true
transmit (thePort, left(xmitBuf, prevSum) + GMC_SpecialTerm, false)
pendingPktTail := prevTail
pendingPktLen := prevSum
pendingRetries := 0
pendingPktTimeIdx := curTimeIdx
pendingCmdCount := prevCmdSum
endfunc
private func Retransmit (reason as string)
if commMethod == GMC_EthernetTCP then
return 'No Retry on TCP
endif
pendingRetries := pendingRetries + 1
if pendingRetries > maxRetries then
MakeVisible(reason)
ReceiveFail()
else
transmit (thePort, left(xmitBuf, pendingPktLen) + GMC_SpecialTerm, false)
pendingPkttimeIdx := curTimeIdx
MakeVisible(reason + ": Retry " + str(pendingRetries) + " / " + str(maxRetries))
endif
endfunc
private func MakeVisible(data as string)
if displayErrors == GMC_DisplayNone then
return
endif
if not isVisible then
isVisible := true
Resize (me, GetPosInfo(default, Get_Width), GMC_CommObjHeight)
endif
visMessage := str(me) + ": " + data
visTimeIdx := curTimeIdx
SendToFront(me)
Rerender(me)
endfunc
private func MakeInvisible()
isVisible := false
Resize (me, 0,0)
endfunc
private func Timetick ()
handles MSG_TIMETICK
curTimeIdx := curTimeIdx + 1
if awaitingResponse then
if commMethod <> GMC_EthernetTCP then
if curTimeIdx >= pendingPktTimeIdx + timeoutCounts then
Retransmit("Response Timeout")
endif
endif
endif
if IsVisible then
if curTimeIdx >= visTimeIdx + GMC_VisTimeout then
MakeInvisible()
endif
endif
endfunc
private func Draw ()
handles MSG_DRAW
SetFgColor (RGB_RED)
SetBGColor (RGB_Yellow)
_TextRect (0, GetPosInfo(me, Get_Y), GetPosInfo(default, GET_Width), GMC_CommObjHeight, visMessage, default, HA_CENTER, VA_CENTER)
endfunc
private func ParseForUnsolicitedMessages(data[] as byte)
'This function will update comBuf with the solicited portion of the message.
'Unsolicited portions will be added to unsolicitedBuf. The UnsolicitedMessageReceived
'event will be called if a complete message is received
dim i, max as integer
dim oldPos as integer
dim state, oldState as boolean
max = len(data)-1
for i = 0 to max
state := ( (data[i] and byte(0x80)) <> 0)
if state <> oldState then
if oldState then
AddUnsolicited (mid (data, oldPos, i-oldPos), i-oldPos-1)
else
comBuf := comBuf+ mid(data, oldPos, i-oldPos)
endif
oldState := state
oldPos := i
endif
next
'Now add remainder
if state then
AddUnsolicited (mid (data, oldPos, i-oldPos), i-oldPos-1)
else
comBuf := comBuf+ mid(data, oldPos, i-oldPos)
endif
endfunc
private func AddUnsolicited (data[] as byte, leng as integer)
dim i as integer
dim p1, p2, oldPos as unibyte
for i = 0 to leng
data[i] := data[i] and byte(0x7F)
next
UnsolicitedMessageReceived(data)
endfunc
#doc override UnsolicitedMessageReceived
#param msg:This is the text of the unsolicited message.
~This event is called whenever unsolicited messages are received from the controller. The
~msg paramater contains the actual message. Unsolicited messages are NOT parsed
~for content, but rather are given immediately to this funciton. This means that the user
~is responsible for parsing the message. It is possible that two unsolicited messages may
~be passed to this event at once. It is also possible that a single unsolicited message may
~be split in to two calls to this event.
func UnsolicitedMessageReceived(msg as string)
return
endfunc
private dim suspended, awaitingSuspense as boolean
private dim suspendNotify as objref
private dim suspendNotifyParm as integer
#doc prop suspendedRecv
~This property holds the most recent bit of data received by this object once it has been
~suspended.
#hidden dim suspendedRecv[] as byte
#doc func SuspendCommunications
~This function is intended for internal use by advanced GMC objects. Do not use it, unless
~you are implementing a special object that has special communication needs.
~This function breaks off normal communication with the motion controller. Communication
~requests are queued, until communications are resumed. This function returns true if
~the request has been successfully processed, however, you MUST NOT assume that the
~communications have actually been suspended until the object indicated by the notify
~paramater has received the GMC_SuspendSuccessNotify message.
~Once this object has been suspended, any incomming serial data will be stored in the property
~suspendedRecv and notify will be informed of the data reception via a
~GMC_SuspendCommReceive message.
#param notify:Indicates the object that requested the suspension. This object will receive the GMC_SuspendSuccessNotify message once the suspension has taken effect
#param parm:This value will be passed to notify as the paramater to the GMC_SuspendSuccessNotify message.
func SuspendCommunications(notify as objref, parm as integer) returns boolean
if (enetState <> GMC_Serial) and (enetState <> GMC_Enet) then 'Not connected
return false
endif
suspended := true
awaitingSuspense := true
suspendNotify := notify
suspendNotifyParm := parm
TransmitStream()
return true
endfunc
#doc func ResumeCommunications
~This function is intended for internal use by advanced GMC objects. Do not use it, unless
~you are implementing a special object that has special communication needs.
~This function resumes normal communications after the communications had been suspended
func ResumeCommunications()
suspended := false
awaitingSuspense := false
suspendNotify := empty
suspendNotifyParm := 0
TransmitStream()
endfunc
#doc func IsSuspended
~This function is intended for internal use by advanced GMC objects. Do not use it, unless
~you are implementing a special object that has special communication needs.
~This function returns true if communications are currently suspended, false otherwise.
func IsSuspended() returns boolean
return (suspended) and (not awaitingSuspense)
endfunc
#doc func SuspendTransmit
~This function is intended for internal use by advanced GMC objects. Do not use it, unless
~you are implementing a special object that has special communication needs.
~This function is used to perform a special transmission when communications are suspended with
~the motion controller. This can only be used when communication is suspended. It will return
~false if communication is not suspended. Otherwise it transmits the data and returns true.
#param data:This data will be transmitted to the controller without respect of formatting. As the communications object does not examine this data, it will not expect a response of any sort from the controller.
func SuspendTransmit (data[] as byte) returns boolean
if (not suspended) or (awaitingSuspense) then
return false
endif
if (enetState <> GMC_Serial) and (enetState <> GMC_Enet) then 'Not connected
return false
endif
transmit (thePort, data, false)
return true
endfunc
Enddef
#endif
#endfile
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dim GMC_DefaultCommObj as objref GalilCommunication
#undoc func GMC_SetCommObjPos
func GMC_SetCommObjPos (obj as objref)
endfunc
#undoc func GMC_VerifyCommObj
func GMC_VerifyCommObj (commObject as reference to objref GalilCommunication)
endfunc
#undoc func GMC_GetLocalPort
func GMC_GetLocalPort() returns unibyte
endfunc
#undoc func GMC_CountCommands
func GMC_CountCommands(stream[] as byte) returns integer
endfunc
#undoc func GMCDataTypeToCommand
func GMCDataTypeToCommand(dt as GMC_DataType, axis as GMC_Axis, useCustom as boolean, ->
custom as string) returns string
endfunc
#undoc func GMC_ClearException
func GMC_ClearException()
endfunc
Define Area Object type GalilCommunication
#doc object GalilCommunication
~This object forms the core of the Galil library. This object controls
~all interaction between the motion controller and the QTERM-G70. It is
~capable of communicating with a motion controller either serially or via
~ethernet. To communicate with a motion controller, create an instance of
~this object and set up its properties as appropriate. Then create other
~GMC objects and set thier commObject property to refer to this object.
~You can communicate with multiple motion controllers by creating one
~GalilCommunication object per controller. There is a limit of one controller
~per serial port on the G70 and a limit of 8 ethernet controllers that can be
~used at once.
#doc prop CommMethod
~The value of this property determines how this object will attempt communication
~with the controller. You can select between Serial, TCP/IP, UDP/IP or no
~communication. If you attempt to change communication methods while this object is
~attempting to open an ethernet channel to the controller, an error is generated and
~no change in communication is made. In general, you should set this property
~when designing your workspace and not change it at runtime on the terminal.
dim CommMethod as GMC_CommMethod
func CommMethod (newVal as GMC_CommMethod)
endfunc
#doc prop IPAddress
~This property defines the IP address of the motion controller. If communicating via ethernet
~set this property to be the IP address of the motion controller. Use the industry standard
~dotted string format (i.e. "192.168.1.1") to specify the address. This property is ignored if
~CommMethod is not set to either GMC_EthernetUDP or GMC_EthernetTCP.
dim IPAddress as string
func IPAddress (newVal as string)
endfunc
#doc prop serialPort
~This property determines which serial port on the QTERM-G70 is used for communication with
~the motion controller. Set it to the G70 serial port to which the controller is attached.
~This property is ignored if CommMethod is anything except GMC_UseSerial.
dim SerialPort as comm
func SerialPort (newVal as comm)
endfunc
#doc prop serialFormat
~This property determines the serial format that is used for communication with the motion
~controller. Select the format that the motion controller is using to ensure proper communcation.
~This property is ignored if UseEthernet is anything except GMC_UseSerial.
dim SerialFormat as GMC_SerialFormat
func SerialFormat (newVal as GMC_SerialFormat)
endfunc
#doc prop maxRetries
~If the motion controller fails to respond to a command, the communications object can attempt
~to retry the command. Generally the motion controller will only fail to respond if it
~is extremely busy or there is a communications problem. As many commands tell the controller
~to perform some action and can cause problems if they are resent, the default number of retries
~is zero. You may increase the number of retries if your application only uses query commands.
~
Note: This property only applies if you are using GMC_UseSerial or GMC_EthernetUDP
~as your communication method. This property is ignored for TCP communication as the
~TCP/IP protocol automatically retries.
dim MaxRetries as integer
#doc prop timeout
~timeout defines how long (in milliseconds) this object will wait for a response from
~the controller before it decides that there has been a communications failure. If the
~timeout elapses without receiving a response from the terminal, then the data is considered
~lost and is retried if maxRetries is non-zero.
~
Note: This property only applies if you are using GMC_UseSerial or GMC_EthernetUDP
~as you communication method. This property is ignored for TCP communication as the
~TCP/IP protocol automatically deals with timeout issues.
dim timeout as integer
func timeout (newVal as integer)
endfunc
#doc prop displayErrors
~This property determines how, if at all, errors are displayed when they occur. Errors are
~displayed in a small yellow bar near the top of the display. The
~following options are available:
~- GMC_DisplayNone
- No errors are displayed. This object will never display an error
~message.
~
- GMC_DisplayCommErrors
- Errors in communication are displayed. This includes
~communication timeouts and unexpected TCP disconnections.
~
- GMC_DisplayAllErrors
- All errors are displayed. This includes all communication
~errors as well as errors returned by the controller in response to bad commands.
dim displayErrors as GMC_DispErrors
#doc prop unsolicitedAware
~This property determines whether this object will watch for unsolicited messages from the
~controller. If this value is true, then all data returned from the controller is examined
~for unsolicited messages (i.e. data returned from the controller that was not requested by
~this terminal. Examples include "MG" commands in the program executing on the controller).
~When unsolicited messages are detected, the UnsolicitedMessageReceived event is
~generated. You can handle this event to examine incomming unsolicited messages.
~If this property is false, then this object does not watch for unsolicited messages. Setting
~this property to false will generally lead to improved performance on the terminal, however,
~if an unsolicited message is sent, then a communications error will occur. Set this property
~to false if you want better performance on the terminal and know that the controller will not
~send unsolicited messages.
dim unsolicitedAware as boolean
func Startup()
handles msg_init
endfunc
endfunc
endfunc
endfunc
handles MSG_COMM_ACCEPT
endfunc
handles MSG_COMM_ERROR
endfunc
endfunc
endfunc
endfunc
endfunc
handles MSG_COMM_RECEIVE
endfunc
#doc prop curResponse
~This property contains the most recent response from the controller. It is guarenteed to be
~valid during a GMC_CommSuccess message. At any other time the value of this property
~may not be valid. It is the responsibility of the object that recieves the GMC_CommSuccess
~to parse the response appropriately
endfunc
endfunc
endfunc
#doc func SendAsciiCommandStream
~Use this command to send an arbitrary stream of commands to the controller. When the
~controller has responed, this object will send a GMC_CommSuccess or a GMC_CommFailure
~message to the notifyObj with the notifyCode as the paramater.
#param stream: A semicolon separated list of commands to send to a Galil motion controller
#param notifyObj:The object that will receive notification once the controller has responeded to the commands
#param notifyCode:This value will be sent to the notifyObj in the notification message. It is primarily useful for objects that may poll different values at different times so that it can differenciate to which query it is receiving a response.
func SendAsciiCommandStream(stream[] as byte, notifyObj as objref, notifyCode as integer) returns boolean
endfunc
#doc func SendAsciiCommandStreamCounted
~Use this command to send an arbitrary stream of commands to the controller. When the
~controller has responed, this object will send a GMC_CommSuccess or a GMC_CommFailure
~message to the notifyObj with the notifyCode as the paramater. This function is
~faster than SendAsciiCommandStream. Call this function if you know exactly
~how many commands are in stream. You generally do that by calling the global function
~GMC_CountCommands.
#param stream: A semicolon separated list of commands to send to a Galil motion controller
#param notifyObj:The object that will receive notification once the controller has responeded to the commands
#param notifyCode:This value will be sent to the notifyObj in the notification message. It is primarily useful for objects that may poll different values at different times so that it can differenciate to which query it is receiving a response.
#param count:The number of commands in the command stream. This value must correctly identify the number of commands in the stream, or a communications failure will occur. You can obtain the proper value by calling GMC_CountCommands on your stream of commands.
func SendAsciiCommandStreamCounted (stream[] as byte, notifyObj as objref, ->
notifyCode as integer, count as integer) returns boolean
endfunc
endfunc
endfunc
endfunc
endfunc
handles MSG_TIMETICK
endfunc
handles MSG_DRAW
endfunc
endfunc
endfunc
#doc override UnsolicitedMessageReceived
#param msg:This is the text of the unsolicited message.
~This event is called whenever unsolicited messages are received from the controller. The
~msg paramater contains the actual message. Unsolicited messages are NOT parsed
~for content, but rather are given immediately to this funciton. This means that the user
~is responsible for parsing the message. It is possible that two unsolicited messages may
~be passed to this event at once. It is also possible that a single unsolicited message may
~be split in to two calls to this event.
func UnsolicitedMessageReceived(msg as string)
endfunc
#doc prop suspendedRecv
~This property holds the most recent bit of data received by this object once it has been
~suspended.
#doc func SuspendCommunications
~This function is intended for internal use by advanced GMC objects. Do not use it, unless
~you are implementing a special object that has special communication needs.
~This function breaks off normal communication with the motion controller. Communication
~requests are queued, until communications are resumed. This function returns true if
~the request has been successfully processed, however, you MUST NOT assume that the
~communications have actually been suspended until the object indicated by the notify
~paramater has received the GMC_SuspendSuccessNotify message.
~Once this object has been suspended, any incomming serial data will be stored in the property
~suspendedRecv and notify will be informed of the data reception via a
~GMC_SuspendCommReceive message.
#param notify:Indicates the object that requested the suspension. This object will receive the GMC_SuspendSuccessNotify message once the suspension has taken effect
#param parm:This value will be passed to notify as the paramater to the GMC_SuspendSuccessNotify message.
func SuspendCommunications(notify as objref, parm as integer) returns boolean
endfunc
#doc func ResumeCommunications
~This function is intended for internal use by advanced GMC objects. Do not use it, unless
~you are implementing a special object that has special communication needs.
~This function resumes normal communications after the communications had been suspended
func ResumeCommunications()
endfunc
#doc func IsSuspended
~This function is intended for internal use by advanced GMC objects. Do not use it, unless
~you are implementing a special object that has special communication needs.
~This function returns true if communications are currently suspended, false otherwise.
func IsSuspended() returns boolean
endfunc
#doc func SuspendTransmit
~This function is intended for internal use by advanced GMC objects. Do not use it, unless
~you are implementing a special object that has special communication needs.
~This function is used to perform a special transmission when communications are suspended with
~the motion controller. This can only be used when communication is suspended. It will return
~false if communication is not suspended. Otherwise it transmits the data and returns true.
#param data:This data will be transmitted to the controller without respect of formatting. As the communications object does not examine this data, it will not expect a response of any sort from the controller.
func SuspendTransmit (data[] as byte) returns boolean
endfunc
Enddef
#endfile
#ifnot Galil_mc_src_GMCPoll
#option Galil_mc_src_GMCPoll
Define Area Object type GMCPoll
#ToolImage "80013FFC40025FFA58FA577A577A577A587A5FBA5FDA5FFA40023FFC8001"
'*******************************************************************
'Object: GMCPoll
'Author: Jeremy Richards
'Date: 27 May 2004
'
'Description: Galil motion controller polling object
'
'Version: 1.52
'Copyright: 2004 QSI Corporation. Permission to modify and
' distribute this object is granted provided this
' copyright notice remains in tact.
'*******************************************************************
#doc object GMCPoll
~This object polls the controller with an arbitrary command at regular
~intervals. It then displays the controller's response. It is useful
~for displaying values that will change over time, such as the motor
~position. Many properties are provided which contorol the appearance
~of this object, the polling frequency and what is being polled.
~
Note: To enhance performance, this object will only
~poll the controller when it is visible (enabled).
library standard source ToolMessages
library galil_mc source GalilCommunications
library standard source draw3DRect
Library Standard Source TextSingleLineBDF
dim enabled as boolean
init enabled := true
func enabled(newval as boolean)
enabled := newval
Enable (me, enabled)
if enabled then
TimeTick()
endif
endfunc
dim parent as objref
init parent := default
func parent(newval as objref)
parent := newval
Attach(me, parent)
endfunc
dim xPos as integer
init xPos := 0
func xPos(newval as integer)
xPos := newVal
Relocate (me, xPos, yPos)
endfunc
dim yPos as integer
init yPos := 0
func yPos(newval as integer)
yPos := newval
Relocate (me, xPos, yPos)
endfunc
dim width as integer
init width := 25
func width(newval as integer)
width := newval
Resize (me, width, height)
endfunc
dim height as integer
init height := 25
func height(newval as integer)
height := newval
Resize (me, width, height)
endfunc
dim bgColor as color
init bgColor := col_183
func bgColor (newVal as color)
bgColor := newVal
Rerender(me)
endfunc
dim fgColor as color
init fgColor := rgb_black
func fgColor (newVal as color)
fgColor := newVal
Rerender(me)
endfunc
#doc prop bevelWidth
~This determines the width (in pixels) of the 3D border surrounding the object
dim bevelWidth as integer
init bevelWidth := 2
func bevelWidth (newVal as integer)
bevelWidth := newVal
Rerender(me)
endfunc
#doc prop bevelStyle
~This determines the style of the 3D bevel on this object. Possible values include:
~
- GMC_BevelRaised
- The bevel will appear to rise out of the background.
~
- GMC_BevelSunken
- The bevel will appear sunken into the background.
~
- GMC_BevelNone
- No bevel will be drawn.
dim bevelStyle as GMC_BevelStyle
init bevelStyle := GMC_BevelSunken
func bevelStyle (newVal as GMC_BevelStyle)
bevelStyle := newVal
Rerender(me)
endfunc
#doc prop inset
~This determines how close text is allowed to run to the bevel of this object (or the
~edge of the object if the bevel is turned off). This value must always be at least 1.
dim inset as integer
init inset := 1
func inset (newVal as integer)
inset := newVal
Rerender(me)
endfunc
dim font as bdffont
init font := default
func font(newVal as bdffont)
font := newVal
Rerender(me)
endfunc
#doc prop prefix
~The value defined by prefix will be displayed in front of the responses returned
~from the controller. If no prefix is desired, set this property to the empty string ("").
dim prefix as string
init prefix := ""
func prefix (newVal as string)
prefix := newVal
Rerender(me)
endfunc
#doc prop suffix
~The value defined by suffix will be displayed following the responses returned
~from the controller. If no suffix is desired, set this property to the empty string ("").
dim suffix as string
init suffix := ""
func suffix (newVal as string)
suffix := newVal
Rerender(me)
endfunc
#doc prop commObject
~commObject defines which GalilCommunication object will be used to communicate with
~the controller. You should create one GalilCommunication object for each motion controller
~you wish to communicate with. By setting the commObject property, you can control wich
~motion controller this object communicates with.
Most projects will require only
~one GalilCommunication object, and this property will automatically be set to refer to that
~communication object.
dim commObject as objref GalilCommunication
init commObject := empty
#doc prop command
~command defines the command (or series of commands) to execute on the controller
~when this button is pressed. This property can be set to any valid command, or any
~semicolon delimited series of commands. Refer to the Command Reference Manual for your
~controller for a list of valid commands.
dim command as string
init command := "TPX"
func command (newVal as string)
command := newVal
commandCount := GMC_CountCommands (command)
endfunc
private dim commandCount as integer
#doc prop pollInterval
~pollInterval defines, in milliseconds, then amount of time that will elapse between
~polls to the controller. The minimum supported value is 40 ms. It is recommended that you
~use the highest possible value for this property as excessive polling will reduce the
~responsiveness of the terminal. Also, you may want to limit the total number of polling
~objects that can be visible (enabled) at once in order to enhance performance.
~In order to maximize performance, if this object, or the screen on which it resides is
~disabled, then it will cease polling. Once the object (or parent screen) is re-enabled,
~it will immediately poll the controller once to refresh its value, then resume normal polling.
dim pollInterval as integer
init pollInterval := 1000
func pollInterval (newVal as integer)
if newVal <= 0 then
pollInterval := 0
UnregisterMsgHandler (me, msg_timetick, 0)
else
pollInterval := newVal
RegisterMsghandler (me, msg_timetick, newVal/20)
endif
endfunc
func StartUp()
handles MSG_INIT
Relocate (me, xPos, yPos)
Resize (me, width, height)
Enable (me, enabled)
Attach (me, parent)
Command(command)
pollInterval(pollInterval)
GMC_VerifyCommObj(commObject)
endfunc
private dim dispValue as string
func Draw()
handles MSG_DRAW
dim bwi as integer
if bevelStyle == GMC_BevelNone then
bwi = inset
else
bwi = bevelWidth + inset
endif
SetBgColor(bgcolor)
SetFgColor(bgcolor)
DrawBox (xPos, yPos, xPos+width-1, yPos+height-1)
SetFgColor (fgColor)
_TextRect (xPos+bwi, yPos+bwi, width-2*bwi, height-2*bwi, prefix+dispvalue+suffix, font, ha_center, va_center)
if bevelStyle == gmc_bevelraised then
_3dframe (xpos, ypos, xpos+width-1, ypos+height-1, _highlight3dcolors[bgcolor], _shadow3dColors[bgcolor], bevelwidth)
elseif bevelStyle == gmc_bevelsunken then
_3dframe (xpos, ypos, xpos+width-1, ypos+height-1, _shadow3dColors[bgcolor], _highlight3dColors[bgcolor], bevelwidth)
endif
endfunc
private func Timetick ()
handles MSG_TIMETICK
commObject.SendAsciiCommandStreamCounted(command, me, 0, commandCount)
return
endfunc
private func Zenabled (status as boolean)
handles MSG_ZENABLED
if status and enabled then
TimeTick()
endif
endfunc
private func Success(parm as integer) returns boolean
handles GMC_CommSuccess
dispValue := trim(commObject.curResponse)
ResponseReceived(dispValue)
Rerender(me)
return true
endfunc
private func Failure(parm as integer) returns boolean
handles GMC_CommFailure
dispValue := trim(commObject.curResponse)
FailureReceived(dispValue, commObject.CurFailureReason)
return true
endfunc
#doc override ResponseReceived
#param response:The data returned from the controller. You may modify this paramater for formatting reasons. Any changes to this paramater will be reflected in the final display.
~This event called whenever this object receives receives a response from the controller as a
~result of a poll. The paramater response contains the string that was returned from
~the controller. You may modify response in order to change the final string which
~will be displayed in this object.
func ResponseReceived (response as reference to string)
return
endfunc
#doc override FailureReceived
#param response:The response returned by the controller minus the final colon terminator. If you modify this paramater, the final display will reflect the results of the modifications
#param failReason:The reason why this event is generated. Either GMC_FailCommunications or GMC_FailBadCommand
~This event is triggered when a command has been sent to the controller, but the controller
~failed to respond, responded incorrectly, or returned an error response.
func FailureReceived(response as reference to string, failReason as GMC_FailureReason)
return
endfunc
'The rest of these functions add functionality to the PC development tool. The
'#if _TOOL line ensures that the code will not be compiled into a BFF that
'is loaded into the terminal
'These functions are called in response to actions taken in the PC development tool.
'If as a result of these actions you change one or more of the properties of
'this object that should be permanently recorded (for instance changing xPos in
'response to MSG_TOOL_MOVE) then you should call Tool_Persist to save the new
'value of the property in your source code of your object instance
#if _TOOL
'This function is called by the PC development tool, when you change the attachment
'of an object (i.e. in response to dragging it around the object tree).
'Note: the purpose of this function is to allow you to attach to another
'container, you should not change your parent property or call Tool_Persist
'until you receive a MSG_TOOL_ATTACHED. A MSG_TOOL_ATTACHED will be sent
'in response to an Attach API function call.
func ToolAttach (attachTo as objref)
handles MSG_TOOL_ATTACH
Attach (me, attachTo)
endfunc
'This function is called in response to calling Attach (primarily in a
'handler for MSG_TOOL_ATTACH, but possibly in other places as well_.
func ToolAttached (newParent as objref)
handles MSG_TOOL_ATTACHED
'Set our parent property to reflect who we are attached to and save
parent := newParent
Tool_Persist (parent) 'Save parent
endfunc
'This function is called when the user drags an object instance with the
'mouse in the PC development tool. dx and dy are relative offsets from the current
'location of the object
func ToolMove (dx as integer, dy as integer)
handles MSG_TOOL_MOVE
xPos := xPos + dx
yPos := yPos + dy
Relocate (me, xPos, yPos)
'Save the changes we just made
Tool_Persist (xPos)
Tool_Persist (yPos)
endfunc
'This function is called by the PC development tool to obtain the coordinates of
'the resize grips. The arrays xCoords, yCoords, and cursors all contain 0
'elements initially. This means that you should either call redim on those
'arrays and set their values, or declare local arrays, set the values of
'the local arrays, and then assign xCoords, yCoords and cursors to those
'local arrays. Closed indicates whether the Foundry should connect the
'first and last grips to make a closed object. xCoords, yCoords, and
'cursors should all contain the same number of elements when this function
'completes
func ToolGetHandles (xCoords[] as reference to integer, ->
yCoords[] as reference to integer, ->
cursors[] as reference to GuiCursors, ->
closed as reference to boolean)
handles MSG_TOOL_GETHANDLES
'Call a standard function to handle common functionality.
'You can omit this function call and implement your own custom functionality
'if desired
_ToolGetHandles (xCoords, yCoords, cursors, closed, xPos, yPos, width, height)
endfunc
'This function is called in response to a user moving a resize grip within
'the PC development tool. handleNum is the index into the arrays that were returned
'by the handler for MSG_TOOL_GETHANDLES. You should return true from this
'function
func ToolMoveHandle (handleNum as reference to integer, dx as integer, dy as integer)
handles MSG_TOOL_MOVEHANDLE
'Call a standard function to handle common functionality.
'You can omit this function call and implement your own custom functionality
'if desired
_ToolMoveHandle (handleNum, dx, dy, xPos, yPos, width, height, me)
endfunc
'This function is called when the user created an instance of this template by
'selecting it from the object palette and dragging it in the layout view.
'The handler for MSG_INIT is not called automatically, and if you want it
'called, you should call it manually.
'You should call Tool_Persist on all the properties that you set up in this
'message handler. (x1, y1) are the coordinates that the user started his
'drag and (x2, y2) are the coordinates that the mouse was released
func ToolDragCreate (parentObj as objref, x1 as integer, y1 as integer, ->
x2 as integer, y2 as integer)
handles MSG_TOOL_DRAGCREATE
'Call a standard function to handle common functionality.
'You can omit this function call and implement your own custom functionality
'if desired
_ToolDragCreate (parentObj, x1, y1, x2, y2, xPos, yPos, width, height, parent)
commObject := GMC_DefaultCommObj
tool_persist(commObject)
'Call our MSG_INIT handler
StartUp()
endfunc
#endif
Enddef
#endif
#endfile
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Define Area Object type GMCPoll
#doc object GMCPoll
~This object polls the controller with an arbitrary command at regular
~intervals. It then displays the controller's response. It is useful
~for displaying values that will change over time, such as the motor
~position. Many properties are provided which contorol the appearance
~of this object, the polling frequency and what is being polled.
~
Note: To enhance performance, this object will only
~poll the controller when it is visible (enabled).
dim enabled as boolean
func enabled(newval as boolean)
endfunc
dim parent as objref
func parent(newval as objref)
endfunc
dim xPos as integer
func xPos(newval as integer)
endfunc
dim yPos as integer
func yPos(newval as integer)
endfunc
dim width as integer
func width(newval as integer)
endfunc
dim height as integer
func height(newval as integer)
endfunc
dim bgColor as color
func bgColor (newVal as color)
endfunc
dim fgColor as color
func fgColor (newVal as color)
endfunc
#doc prop bevelWidth
~This determines the width (in pixels) of the 3D border surrounding the object
dim bevelWidth as integer
func bevelWidth (newVal as integer)
endfunc
#doc prop bevelStyle
~This determines the style of the 3D bevel on this object. Possible values include:
~
- GMC_BevelRaised
- The bevel will appear to rise out of the background.
~
- GMC_BevelSunken
- The bevel will appear sunken into the background.
~
- GMC_BevelNone
- No bevel will be drawn.
dim bevelStyle as GMC_BevelStyle
func bevelStyle (newVal as GMC_BevelStyle)
endfunc
#doc prop inset
~This determines how close text is allowed to run to the bevel of this object (or the
~edge of the object if the bevel is turned off). This value must always be at least 1.
dim inset as integer
func inset (newVal as integer)
endfunc
dim font as bdffont
func font(newVal as bdffont)
endfunc
#doc prop prefix
~The value defined by prefix will be displayed in front of the responses returned
~from the controller. If no prefix is desired, set this property to the empty string ("").
dim prefix as string
func prefix (newVal as string)
endfunc
#doc prop suffix
~The value defined by suffix will be displayed following the responses returned
~from the controller. If no suffix is desired, set this property to the empty string ("").
dim suffix as string
func suffix (newVal as string)
endfunc
#doc prop commObject
~commObject defines which GalilCommunication object will be used to communicate with
~the controller. You should create one GalilCommunication object for each motion controller
~you wish to communicate with. By setting the commObject property, you can control wich
~motion controller this object communicates with.
Most projects will require only
~one GalilCommunication object, and this property will automatically be set to refer to that
~communication object.
dim commObject as objref GalilCommunication
#doc prop command
~command defines the command (or series of commands) to execute on the controller
~when this button is pressed. This property can be set to any valid command, or any
~semicolon delimited series of commands. Refer to the Command Reference Manual for your
~controller for a list of valid commands.
dim command as string
func command (newVal as string)
endfunc
#doc prop pollInterval
~pollInterval defines, in milliseconds, then amount of time that will elapse between
~polls to the controller. The minimum supported value is 40 ms. It is recommended that you
~use the highest possible value for this property as excessive polling will reduce the
~responsiveness of the terminal. Also, you may want to limit the total number of polling
~objects that can be visible (enabled) at once in order to enhance performance.
~In order to maximize performance, if this object, or the screen on which it resides is
~disabled, then it will cease polling. Once the object (or parent screen) is re-enabled,
~it will immediately poll the controller once to refresh its value, then resume normal polling.
dim pollInterval as integer
func pollInterval (newVal as integer)
endfunc
func StartUp()
handles MSG_INIT
endfunc
func Draw()
handles MSG_DRAW
endfunc
handles MSG_TIMETICK
endfunc
handles MSG_ZENABLED
endfunc
handles GMC_CommSuccess
endfunc
handles GMC_CommFailure
endfunc
#doc override ResponseReceived
#param response:The data returned from the controller. You may modify this paramater for formatting reasons. Any changes to this paramater will be reflected in the final display.
~This event called whenever this object receives receives a response from the controller as a
~result of a poll. The paramater response contains the string that was returned from
~the controller. You may modify response in order to change the final string which
~will be displayed in this object.
func ResponseReceived (response as reference to string)
endfunc
#doc override FailureReceived
#param response:The response returned by the controller minus the final colon terminator. If you modify this paramater, the final display will reflect the results of the modifications
#param failReason:The reason why this event is generated. Either GMC_FailCommunications or GMC_FailBadCommand
~This event is triggered when a command has been sent to the controller, but the controller
~failed to respond, responded incorrectly, or returned an error response.
func FailureReceived(response as reference to string, failReason as GMC_FailureReason)
endfunc
func ToolAttach (attachTo as objref)
handles MSG_TOOL_ATTACH
endfunc
func ToolAttached (newParent as objref)
handles MSG_TOOL_ATTACHED
endfunc
func ToolMove (dx as integer, dy as integer)
handles MSG_TOOL_MOVE
endfunc
func ToolGetHandles (xCoords[] as reference to integer, ->
yCoords[] as reference to integer, ->
cursors[] as reference to GuiCursors, ->
closed as reference to boolean)
handles MSG_TOOL_GETHANDLES
endfunc
func ToolMoveHandle (handleNum as reference to integer, dx as integer, dy as integer)
handles MSG_TOOL_MOVEHANDLE
endfunc
func ToolDragCreate (parentObj as objref, x1 as integer, y1 as integer, ->
x2 as integer, y2 as integer)
handles MSG_TOOL_DRAGCREATE
endfunc
Enddef
#endfile
#ifnot Galil_mc_src_GMCCommand
#option Galil_mc_src_GMCCommand
Define Area Object type GMCCommandDisplay
#ToolImage "80013FFC40025EFA5F7A403A5F7A5E7A5EFA5C025EFA5F7A40023FFC8001"
'*******************************************************************
'Object: GMCCommandDisplay
'Author: Jeremy Richards
'Date: 27 May 2004
'
'Description: Executes a command (or series of commands)
' on the motion controller when you push this button
' When the command(s) complete execution, the results
' are optionally displayed.
'
'Version: 1.52
'Copyright 2004 QSI Corporation
'Permission is granted to copy, distribute and modify this code,
'provided that this copyright statement is preserved
'*******************************************************************
#doc object GMCCommandDisplay
~This object provides a simple interface to execute an arbitray command
~(or series of commands) on your Galil Motion Controller. This object
~appears as a push button which when pushed, executes the commands
~defined by the command property, then optionally displays the
~results in the button.
library galil_mc source galilcommunications
library standard source ToolMessages
library standard source TextMultilineBDF
library standard source notes
Library Standard Source Draw3DRect
dim enabled as boolean
init enabled := true
func enabled(newval as boolean)
enabled := newval
Enable (me, enabled)
endfunc
dim parent as objref
init parent := default
func parent(newval as objref)
parent := newval
Attach(me, parent)
endfunc
dim xPos as integer
init xPos := 0
func xPos(newval as integer)
xPos := newVal
Relocate (me, xPos, yPos)
RecalcText()
endfunc
dim yPos as integer
init yPos := 0
func yPos(newval as integer)
yPos := newval
Relocate (me, xPos, yPos)
RecalcText()
endfunc
dim width as integer
init width := 25
func width(newval as integer)
width := newval
Resize (me, width, height)
RecalcText()
endfunc
dim height as integer
init height := 25
func height(newval as integer)
height := newval
Resize (me, width, height)
RecalcText()
endfunc
dim bgColor as color
init bgColor := col_183
func bgColor (newVal as color)
bgColor := newVal
Rerender(me)
endfunc
dim fgColor as color
init fgColor := rgb_black
func fgColor (newVal as color)
fgColor := newVal
Rerender(me)
endfunc
#doc prop bevelWidth
~This determines the width (in pixels) of the 3D border surrounding the object
dim bevelWidth as integer
init bevelWidth := 2
func bevelWidth (newVal as integer)
bevelWidth := newVal
RecalcText()
endfunc
#doc prop bevelStyle
~This determines the style of the 3D bevel on this object. Possible values include:
~
- GMC_BevelRaised
- The bevel will appear to rise out of the background.
~
- GMC_BevelSunken
- The bevel will appear sunken into the background.
~
- GMC_BevelNone
- No bevel will be drawn.
dim bevelStyle as GMC_BevelStyle
init bevelStyle := GMC_BevelRaised
func bevelStyle (newVal as GMC_BevelStyle)
bevelStyle := newVal
RecalcText()
endfunc
#doc prop inset
~This determines how close text is allowed to run to the bevel of this object (or the
~edge of the object if the bevel is turned off). This value must always be at least 1.
dim inset as integer
init inset := 1
func inset (newVal as integer)
if newval < 1 then
newval = 1
endif
inset := newVal
RecalcText()
endfunc
dim font as bdffont
init font := default
func font(newVal as bdffont)
font := newVal
RecalcText()
endfunc
#doc prop caption
~Caption defines a string that will be displayed above the prefix, suffix,
~and the result of the most recent command execution. You may set this value to an empty
~string (""), if you do not want to display a caption.
dim caption as string
init caption := ""
func caption (newVal as string)
caption := newVal
RecalcText()
endfunc
#doc prop hideResults
~If hideResults is set to true, then any data returned from the controller in
~response to executing is not displayed in this object. Additionally, the prefix and
~suffix properties are hidden. If this property is set to false,
~then any data returned by the controller is displayed on the second line along with
~the prefix and suffix properties
dim hideResults as boolean
init hideResults := false
func hideResults(newVal as boolean)
hideResults := newVal
RecalcText()
endfunc
#doc prop prefix
~The value defined by prefix will be displayed in front of any response returned
~from the controller. If no prefix is desired, set this property to the empty string ("").
dim prefix as string
init prefix := ""
func prefix (newVal as string)
prefix := newVal
RecalcText()
endfunc
#doc prop suffix
~The value defined by suffix will be displayed following any response returned
~from the controller. If no suffix is desired, set this property to the empty string ("").
dim suffix as string
init suffix := ""
func suffix (newVal as string)
suffix := newVal
RecalcText()
endfunc
dim xJustify as HAlign
init xJustify := HA_Center
func xJustify(newVal as HAlign)
xJustify := newVal
RecalcText()
endfunc
dim yJustify as VAlign
init yJustify := VA_Center
func yJustify (newVal as VAlign)
yJustify := newVal
RecalcText()
endfunc
dim Tone as _Note
init tone := NOTE_USEDEFAULT
#doc prop commObject
~commObject defines which GalilCommunication object will be used to communicate with
~the controller. You should create one GalilCommunication object for each motion controller
~you wish to communicate with. By setting the commObject property, you can control wich
~motion controller this object communicates with.
Most projects will require only
~one GalilCommunication object, and this property will automatically be set to refer to that
~communication object.
dim commObject as objref GalilCommunication
init commObject := empty
#doc prop command
~command defines the command (or series of commands) to execute on the controller
~when this button is pressed. This property can be set to any valid command, or any
~semicolon delimited series of commands. Refer to the Command Reference Manual for your
~controller for a list of valid commands.
dim command as string
init command := "TPX"
func command (newVal as string)
command := newVal
commandCount := GMC_CountCommands (command)
endfunc
private dim commandCount as integer
func StartUp()
handles MSG_INIT
Relocate (me, xPos, yPos)
Resize (me, width, height)
Enable (me, enabled)
Attach (me, parent)
Command(command)
Inset(inset)
GMC_VerifyCommObj(commObject)
RecalcText()
endfunc
private func RecalcText()
dim bdr as integer
if bevelStyle == GMC_BevelNone then
bdr = inset
else
bdr = bevelWidth + inset
endif
if hideResults then
displayString := caption
else
displayString := caption + "\n" + prefix + lastResponse + suffix
endif
_TextRectProcess (xPos+bdr, yPos+bdr, width-2*bdr, height-2*bdr, displayString, ->
xJustify, yJustify, font, brkInfo, misc)
allowReleaseOffset := false
Rerender(me)
endfunc
private dim isPressed as boolean
private dim allowReleaseOffset as boolean
private dim lastResponse as string
private dim displayString as string
private dim brkInfo[], misc[] as integer
func Draw()
handles MSG_DRAW
SetBgColor(bgcolor)
SetFgColor(bgcolor)
DrawBox (xPos, yPos, xPos+width-1, yPos+height-1)
_TextRectRender(displayString, font, brkInfo, misc, fgColor, bgColor, true)
if isPressed then
if bevelStyle == gmc_bevelraised then
_3dframe (xpos, ypos, xpos+width-1, ypos+height-1, _shadow3dColors[bgcolor], _highlight3dColors[bgcolor], bevelwidth)
elseif bevelStyle == gmc_bevelsunken then
_3dframe (xpos, ypos, xpos+width-1, ypos+height-1, _highlight3dcolors[bgcolor], _shadow3dColors[bgcolor], bevelwidth)
endif
else
if bevelStyle == gmc_bevelraised then
_3dframe (xpos, ypos, xpos+width-1, ypos+height-1, _highlight3dcolors[bgcolor], _shadow3dColors[bgcolor], bevelwidth)
elseif bevelStyle == gmc_bevelsunken then
_3dframe (xpos, ypos, xpos+width-1, ypos+height-1, _shadow3dColors[bgcolor], _highlight3dColors[bgcolor], bevelwidth)
endif
endif
endfunc
private func SetIsPressed(newState as boolean)
if newState == isPressed then
return
endif
'Note: Changing anything which affects the object text display size while the text is
'depressed can result in slightly offset text.
if newState then
allowReleaseOffset := true
if bevelStyle == GMC_bevelSunken then
_TRPQuickOffset(-1, -1, brkInfo, misc)
else
_TRPQuickOffset(1,1,brkInfo, misc)
endif
elseif allowReleaseOffset then
if bevelStyle == GMC_BevelSunken then
_TRPQuickOffset (1,1, brkInfo, misc)
else
_TRPQuickOffset (-1, -1, brkInfo, misc)
endif
endif
IsPressed := newState
Rerender(me)
endfunc
private func ScreenPress (xdown as integer, ydown as integer) returns boolean
handles MSG_SCREEN_PRESS
SetIsPressed(true)
return true
endfunc
private func ScreenMove (xto as integer, yto as integer, xfrom as integer, yfrom as integer) returns boolean
handles MSG_SCREEN_MOVE
if isPressed then
if (xto < xPos) or (xto >= xPos+width) or (yto < yPos) or (yto >= yPos+height) then
SetIsPressed(false)
endif
endif
return true
endfunc
private func ScreenRelease (xup as integer, yup as integer) returns boolean
handles MSG_SCREEN_RELEASE
dim doAction as boolean
doAction := isPressed
SetIsPressed(false)
if doAction then
_PlayTone (tone, 100, false)
if Click() then
commObject.SendAsciiCommandStreamCounted(command, me, 0, commandCount)
endif
endif
return true
endfunc
#doc prop executeCommand
~executeCommand exists to provide a programatic interface to this object. Set
~this property to true whenever you wish to execute the command (the same as if you had
~pressed then released this object).
~Note: This property is intended to be write only. Reading this property will always
~return false. It is not necessary to set this property for commands to execute when
~you push this object. It is only available to allow you to write Qlarity program code
~to manually execute this object's command. If you intend to use this object exclusively
~programmatically via the executeCommand property rather than touching the object on the
~touch screen, then it is recommended that you use the GMCCommandExec object instead.
dim executeCommand as boolean
init executeCommand := false
func ExecuteCommand(newVal as boolean)
if newVal then
commObject.SendAsciiCommandStreamCounted(command, me, 0, commandCount)
endif
executeCommand := false
endfunc
private func Success(parm as integer) returns boolean
handles GMC_CommSuccess
lastResponse := trim(commObject.curResponse)
ResponseReceived(lastResponse)
RecalcText()
return true
endfunc
private func Failure(parm as integer) returns boolean
handles GMC_CommFailure
lastResponse := trim(commObject.curResponse)
FailureReceived(lastResponse, commObject.curFailureReason)
RecalcText()
return true
endfunc
#doc override Click
~The Click event is called whenever a user touches then releases this object.
~normally, this will cause the command(s) contained in the command property
~to be executed on the controller. If you handle this event, and return false from it,
~however, you can prevent the commands from being sent to the controller. This allows
~you to only run the commands under certain conditions. Also, if you handle this event,
~you can modify the command property to change which command(s) are about to be
~executed on the controller. By default, this event does nothing and returns true.
func Click() returns boolean
return true
endfunc
#doc override ResponseReceived
#param response:The response returned by the controller minus the final colon terminator. If you modify this paramater, the final display will reflect the results of the modifications
~This event is triggered after a command has been sent to the controller and a response
~has been received. The paramater response contains the string that the controller
~responded with. You may modify the value of the response property as desired to
~control the display of this object. The object will display whatever is contained
~in the response property after this function executes. By default this event
~does nothing.
func ResponseReceived(response as reference to string)
return
endfunc
#doc override FailureReceived
#param response:The response returned by the controller minus the final colon terminator. If you modify this paramater, the final display will reflect the results of the modifications
#param failReason:The reason why this event is generated. Either GMC_FailCommunications or GMC_FailBadCommand
~This event is triggered when a command has been sent to the controller, but the controller
~failed to respond, responded incorrectly, or returned an error response.
func FailureReceived(response as reference to string, failReason as GMC_FailureReason)
return
endfunc
'The rest of these functions add functionality to the PC development tool. The
'#if _TOOL line ensures that the code will not be compiled into a BFF that
'is loaded into the terminal
'These functions are called in response to actions taken in the PC development tool.
'If as a result of these actions you change one or more of the properties of
'this object that should be permanently recorded (for instance changing xPos in
'response to MSG_TOOL_MOVE) then you should call Tool_Persist to save the new
'value of the property in your source code of your object instance
#if _TOOL
'This function is called by the PC development tool, when you change the attachment
'of an object (i.e. in response to dragging it around the object tree).
'Note: the purpose of this function is to allow you to attach to another
'container, you should not change your parent property or call Tool_Persist
'until you receive a MSG_TOOL_ATTACHED. A MSG_TOOL_ATTACHED will be sent
'in response to an Attach API function call.
func ToolAttach (attachTo as objref)
handles MSG_TOOL_ATTACH
Attach (me, attachTo)
endfunc
'This function is called in response to calling Attach (primarily in a
'handler for MSG_TOOL_ATTACH, but possibly in other places as well_.
func ToolAttached (newParent as objref)
handles MSG_TOOL_ATTACHED
'Set our parent property to reflect who we are attached to and save
parent := newParent
Tool_Persist (parent) 'Save parent
endfunc
'This function is called when the user drags an object instance with the
'mouse in the PC development tool. dx and dy are relative offsets from the current
'location of the object
func ToolMove (dx as integer, dy as integer)
handles MSG_TOOL_MOVE
xPos := xPos + dx
yPos := yPos + dy
Relocate (me, xPos, yPos)
'Save the changes we just made
Tool_Persist (xPos)
Tool_Persist (yPos)
RecalcText()
endfunc
'This function is called by the PC development tool to obtain the coordinates of
'the resize grips. The arrays xCoords, yCoords, and cursors all contain 0
'elements initially. This means that you should either call redim on those
'arrays and set their values, or declare local arrays, set the values of
'the local arrays, and then assign xCoords, yCoords and cursors to those
'local arrays. Closed indicates whether the Foundry should connect the
'first and last grips to make a closed object. xCoords, yCoords, and
'cursors should all contain the same number of elements when this function
'completes
func ToolGetHandles (xCoords[] as reference to integer, ->
yCoords[] as reference to integer, ->
cursors[] as reference to GuiCursors, ->
closed as reference to boolean)
handles MSG_TOOL_GETHANDLES
'Call a standard function to handle common functionality.
'You can omit this function call and implement your own custom functionality
'if desired
_ToolGetHandles (xCoords, yCoords, cursors, closed, xPos, yPos, width, height)
endfunc
'This function is called in response to a user moving a resize grip within
'the PC development tool. handleNum is the index into the arrays that were returned
'by the handler for MSG_TOOL_GETHANDLES. You should return true from this
'function
func ToolMoveHandle (handleNum as reference to integer, dx as integer, dy as integer)
handles MSG_TOOL_MOVEHANDLE
'Call a standard function to handle common functionality.
'You can omit this function call and implement your own custom functionality
'if desired
_ToolMoveHandle (handleNum, dx, dy, xPos, yPos, width, height, me)
RecalcText()
endfunc
'This function is called when the user created an instance of this template by
'selecting it from the object palette and dragging it in the layout view.
'The handler for MSG_INIT is not called automatically, and if you want it
'called, you should call it manually.
'You should call Tool_Persist on all the properties that you set up in this
'message handler. (x1, y1) are the coordinates that the user started his
'drag and (x2, y2) are the coordinates that the mouse was released
func ToolDragCreate (parentObj as objref, x1 as integer, y1 as integer, ->
x2 as integer, y2 as integer)
handles MSG_TOOL_DRAGCREATE
'Call a standard function to handle common functionality.
'You can omit this function call and implement your own custom functionality
'if desired
_ToolDragCreate (parentObj, x1, y1, x2, y2, xPos, yPos, width, height, parent)
'Call our MSG_INIT handler
StartUp()
endfunc
#endif
Enddef
Define Object type GMCCommandExec
#ToolImage "FFFFFFFFFFFFFF7FFFBFE01FFFBFFE7FFDFFF807FDFFFEFFFFFFFFFFFFFF"
'*******************************************************************
'Object: GMCCommandExec
'Author: Jeremy Richards
'Date: 27 May 2004
'
'Description: Executes a command on the motion controller and
' presents notification when complete
'
'Version: 1.52
'Copyright 2004 QSI Corporation
'Permission is granted to copy, distribute and modify this code,
'provided that this copyright statement is preserved
'*******************************************************************
#doc object GMCCommandExec
~This object provides a simple interface to execute an arbitray command
~(or series of commands) on your Galil Motion Controller. Unlike the
~GMCCommandDisplay object, this object has no graphical interface. It is
~used to programmatically execute commands on the controller. The
~ResponseReceived event can be used to process any data returned by the
~controller in response to your commands.
dim enabled as boolean
init enabled := true
func enabled(newval as boolean)
enabled := newval
Enable (me, enabled)
endfunc
dim parent as objref
init parent := default
func parent(newval as objref)
parent := newval
Attach(me, parent)
endfunc
#doc prop commObject
~commObject defines which GalilCommunication object will be used to communicate with
~the controller. You should create one GalilCommunication object for each motion controller
~you wish to communicate with. By setting the commObject property, you can control wich
~motion controller this object communicates with.
Most projects will require only
~one GalilCommunication object, and this property will automatically be set to refer to that
~communication object.
dim commObject as objref GalilCommunication
init commObject := empty
#doc prop command
~command defines the command (or series of commands) to execute on the controller
~when this button is pressed. This property can be set to any valid command, or any
~semicolon delimited series of commands. Refer to the Command Reference Manual for your
~controller for a list of valid commands.
dim command as string
init command := "TPX"
func command (newVal as string)
command := newVal
commandCount := GMC_CountCommands (command)
endfunc
private dim commandCount as integer
func StartUp()
handles MSG_INIT
Enable (me, enabled)
Attach (me, parent)
Command(command)
GMC_VerifyCommObj(commObject)
endfunc
#doc prop executeCommand
~executeCommand exists to provide a programatic interface to this object. Set
~this property to true whenever you wish to execute the command (the same as if you had
~pressed then released this object).
~Note: This property is intended to be write only. Reading this property will always
~return false. As this object contains no graphical interface, setting the
~executeCommand is the only way to cause this object to execute its command.
~
Handle the ResponseReceived event if you want to process the response
~to this command.
dim executeCommand as boolean
init executeCommand := false
func ExecuteCommand(newVal as boolean)
if newVal then
commObject.SendAsciiCommandStreamCounted(command, me, 0, commandCount)
endif
endfunc
private func Success(parm as integer) returns boolean
handles GMC_CommSuccess
ResponseReceived(trim(commObject.curResponse))
return true
endfunc
private func Failure(parm as integer) returns boolean
handles GMC_CommFailure
FailureReceived(trim(commObject.curResponse), commObject.curFailureReason)
return true
endfunc
#doc override ResponseReceived
~This event is triggered after a command has been sent to the controller and a response
~has been received. The paramater response contains the string that the controller
~responded with. By default this event does nothing.
func ResponseReceived(response as string)
return
endfunc
#doc override FailureReceived
#param response:The response returned by the controller minus the final colon terminator.
#param failReason:The reason why this event is generated. Either GMC_FailCommunications or GMC_FailBadCommand
~This event is triggered when a command has been sent to the controller, but the controller
~failed to respond, responded incorrectly, or returned an error response.
func FailureReceived(response as string, failReason as GMC_FailureReason)
return
endfunc
'The rest of these functions add functionality to the PC development tool. The
'#if _TOOL line ensures that the code will not be compiled into a BFF that
'is loaded into the terminal
'These functions are called in response to actions taken in the PC development tool.
'If as a result of these actions you change one or more of the properties of
'this object that should be permanently recorded (for instance changing xPos in
'response to MSG_TOOL_MOVE) then you should call Tool_Persist to save the new
'value of the property in your source code of your object instance
#if _TOOL
'This function is called by the PC development tool, when you change the attachment
'of an object (i.e. in response to dragging it around the object tree).
'Note: the purpose of this function is to allow you to attach to another
'container, you should not change your parent property or call Tool_Persist
'until you receive a MSG_TOOL_ATTACHED. A MSG_TOOL_ATTACHED will be sent
'in response to an Attach API function call.
func ToolAttach (attachTo as objref)
handles MSG_TOOL_ATTACH
Attach (me, attachTo)
endfunc
'This function is called in response to calling Attach (primarily in a
'handler for MSG_TOOL_ATTACH, but possibly in other places as well_.
func ToolAttached (newParent as objref)
handles MSG_TOOL_ATTACHED
'Set our parent property to reflect who we are attached to and save
parent := newParent
Tool_Persist (parent) 'Save parent
endfunc
'This function is called when the user created an instance of this template by
'selecting it from the object palette and dragging it in the layout view.
'The handler for MSG_INIT is not called automatically, and if you want it
'called, you should call it manually.
'You should call Tool_Persist on all the properties that you set up in this
'message handler.
func ToolDragCreate (parentObj as objref)
handles MSG_TOOL_DRAGCREATE
parent := parentObj
Tool_Persist (parent)
'Call our MSG_INIT handler
Startup()
endfunc
#endif
Enddef
#endif
#endfile
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Define Area Object type GMCCommandDisplay
#doc object GMCCommandDisplay
~This object provides a simple interface to execute an arbitray command
~(or series of commands) on your Galil Motion Controller. This object
~appears as a push button which when pushed, executes the commands
~defined by the command property, then optionally displays the
~results in the button.
dim enabled as boolean
func enabled(newval as boolean)
endfunc
dim parent as objref
func parent(newval as objref)
endfunc
dim xPos as integer
func xPos(newval as integer)
endfunc
dim yPos as integer
func yPos(newval as integer)
endfunc
dim width as integer
func width(newval as integer)
endfunc
dim height as integer
func height(newval as integer)
endfunc
dim bgColor as color
func bgColor (newVal as color)
endfunc
dim fgColor as color
func fgColor (newVal as color)
endfunc
#doc prop bevelWidth
~This determines the width (in pixels) of the 3D border surrounding the object
dim bevelWidth as integer
func bevelWidth (newVal as integer)
endfunc
#doc prop bevelStyle
~This determines the style of the 3D bevel on this object. Possible values include:
~
- GMC_BevelRaised
- The bevel will appear to rise out of the background.
~
- GMC_BevelSunken
- The bevel will appear sunken into the background.
~
- GMC_BevelNone
- No bevel will be drawn.
dim bevelStyle as GMC_BevelStyle
func bevelStyle (newVal as GMC_BevelStyle)
endfunc
#doc prop inset
~This determines how close text is allowed to run to the bevel of this object (or the
~edge of the object if the bevel is turned off). This value must always be at least 1.
dim inset as integer
func inset (newVal as integer)
endfunc
dim font as bdffont
func font(newVal as bdffont)
endfunc
#doc prop caption
~Caption defines a string that will be displayed above the prefix, suffix,
~and the result of the most recent command execution. You may set this value to an empty
~string (""), if you do not want to display a caption.
dim caption as string
func caption (newVal as string)
endfunc
#doc prop hideResults
~If hideResults is set to true, then any data returned from the controller in
~response to executing is not displayed in this object. Additionally, the prefix and
~suffix properties are hidden. If this property is set to false,
~then any data returned by the controller is displayed on the second line along with
~the prefix and suffix properties
dim hideResults as boolean
func hideResults(newVal as boolean)
endfunc
#doc prop prefix
~The value defined by prefix will be displayed in front of any response returned
~from the controller. If no prefix is desired, set this property to the empty string ("").
dim prefix as string
func prefix (newVal as string)
endfunc
#doc prop suffix
~The value defined by suffix will be displayed following any response returned
~from the controller. If no suffix is desired, set this property to the empty string ("").
dim suffix as string
func suffix (newVal as string)
endfunc
dim xJustify as HAlign
func xJustify(newVal as HAlign)
endfunc
dim yJustify as VAlign
func yJustify (newVal as VAlign)
endfunc
dim Tone as _Note
#doc prop commObject
~commObject defines which GalilCommunication object will be used to communicate with
~the controller. You should create one GalilCommunication object for each motion controller
~you wish to communicate with. By setting the commObject property, you can control wich
~motion controller this object communicates with.
Most projects will require only
~one GalilCommunication object, and this property will automatically be set to refer to that
~communication object.
dim commObject as objref GalilCommunication
#doc prop command
~command defines the command (or series of commands) to execute on the controller
~when this button is pressed. This property can be set to any valid command, or any
~semicolon delimited series of commands. Refer to the Command Reference Manual for your
~controller for a list of valid commands.
dim command as string
func command (newVal as string)
endfunc
func StartUp()
handles MSG_INIT
endfunc
endfunc
func Draw()
handles MSG_DRAW
endfunc
endfunc
handles MSG_SCREEN_PRESS
endfunc
handles MSG_SCREEN_MOVE
endfunc
handles MSG_SCREEN_RELEASE
endfunc
#doc prop executeCommand
~executeCommand exists to provide a programatic interface to this object. Set
~this property to true whenever you wish to execute the command (the same as if you had
~pressed then released this object).
~Note: This property is intended to be write only. Reading this property will always
~return false. It is not necessary to set this property for commands to execute when
~you push this object. It is only available to allow you to write Qlarity program code
~to manually execute this object's command. If you intend to use this object exclusively
~programmatically via the executeCommand property rather than touching the object on the
~touch screen, then it is recommended that you use the GMCCommandExec object instead.
dim executeCommand as boolean
func ExecuteCommand(newVal as boolean)
endfunc
handles GMC_CommSuccess
endfunc
handles GMC_CommFailure
endfunc
#doc override Click
~The Click event is called whenever a user touches then releases this object.
~normally, this will cause the command(s) contained in the command property
~to be executed on the controller. If you handle this event, and return false from it,
~however, you can prevent the commands from being sent to the controller. This allows
~you to only run the commands under certain conditions. Also, if you handle this event,
~you can modify the command property to change which command(s) are about to be
~executed on the controller. By default, this event does nothing and returns true.
func Click() returns boolean
endfunc
#doc override ResponseReceived
#param response:The response returned by the controller minus the final colon terminator. If you modify this paramater, the final display will reflect the results of the modifications
~This event is triggered after a command has been sent to the controller and a response
~has been received. The paramater response contains the string that the controller
~responded with. You may modify the value of the response property as desired to
~control the display of this object. The object will display whatever is contained
~in the response property after this function executes. By default this event
~does nothing.
func ResponseReceived(response as reference to string)
endfunc
#doc override FailureReceived
#param response:The response returned by the controller minus the final colon terminator. If you modify this paramater, the final display will reflect the results of the modifications
#param failReason:The reason why this event is generated. Either GMC_FailCommunications or GMC_FailBadCommand
~This event is triggered when a command has been sent to the controller, but the controller
~failed to respond, responded incorrectly, or returned an error response.
func FailureReceived(response as reference to string, failReason as GMC_FailureReason)
endfunc
func ToolAttach (attachTo as objref)
handles MSG_TOOL_ATTACH
endfunc
func ToolAttached (newParent as objref)
handles MSG_TOOL_ATTACHED
endfunc
func ToolMove (dx as integer, dy as integer)
handles MSG_TOOL_MOVE
endfunc
func ToolGetHandles (xCoords[] as reference to integer, ->
yCoords[] as reference to integer, ->
cursors[] as reference to GuiCursors, ->
closed as reference to boolean)
handles MSG_TOOL_GETHANDLES
endfunc
func ToolMoveHandle (handleNum as reference to integer, dx as integer, dy as integer)
handles MSG_TOOL_MOVEHANDLE
endfunc
func ToolDragCreate (parentObj as objref, x1 as integer, y1 as integer, ->
x2 as integer, y2 as integer)
handles MSG_TOOL_DRAGCREATE
endfunc
Enddef
Define Object type GMCCommandExec
#doc object GMCCommandExec
~This object provides a simple interface to execute an arbitray command
~(or series of commands) on your Galil Motion Controller. Unlike the
~GMCCommandDisplay object, this object has no graphical interface. It is
~used to programmatically execute commands on the controller. The
~ResponseReceived event can be used to process any data returned by the
~controller in response to your commands.
dim enabled as boolean
func enabled(newval as boolean)
endfunc
dim parent as objref
func parent(newval as objref)
endfunc
#doc prop commObject
~commObject defines which GalilCommunication object will be used to communicate with
~the controller. You should create one GalilCommunication object for each motion controller
~you wish to communicate with. By setting the commObject property, you can control wich
~motion controller this object communicates with.
Most projects will require only
~one GalilCommunication object, and this property will automatically be set to refer to that
~communication object.
dim commObject as objref GalilCommunication
#doc prop command
~command defines the command (or series of commands) to execute on the controller
~when this button is pressed. This property can be set to any valid command, or any
~semicolon delimited series of commands. Refer to the Command Reference Manual for your
~controller for a list of valid commands.
dim command as string
func command (newVal as string)
endfunc
func StartUp()
handles MSG_INIT
endfunc
#doc prop executeCommand
~executeCommand exists to provide a programatic interface to this object. Set
~this property to true whenever you wish to execute the command (the same as if you had
~pressed then released this object).
~Note: This property is intended to be write only. Reading this property will always
~return false. As this object contains no graphical interface, setting the
~executeCommand is the only way to cause this object to execute its command.
~
Handle the ResponseReceived event if you want to process the response
~to this command.
dim executeCommand as boolean
func ExecuteCommand(newVal as boolean)
endfunc
handles GMC_CommSuccess
endfunc
handles GMC_CommFailure
endfunc
#doc override ResponseReceived
~This event is triggered after a command has been sent to the controller and a response
~has been received. The paramater response contains the string that the controller
~responded with. By default this event does nothing.
func ResponseReceived(response as string)
endfunc
#doc override FailureReceived
#param response:The response returned by the controller minus the final colon terminator.
#param failReason:The reason why this event is generated. Either GMC_FailCommunications or GMC_FailBadCommand
~This event is triggered when a command has been sent to the controller, but the controller
~failed to respond, responded incorrectly, or returned an error response.
func FailureReceived(response as string, failReason as GMC_FailureReason)
endfunc
func ToolAttach (attachTo as objref)
handles MSG_TOOL_ATTACH
endfunc
func ToolAttached (newParent as objref)
handles MSG_TOOL_ATTACHED
endfunc
func ToolDragCreate (parentObj as objref)
handles MSG_TOOL_DRAGCREATE
endfunc
Enddef
#endfile
#ifnot Galil_mc_src_GMCGauge
#option Galil_mc_src_GMCGauge
#ifnot gradientconstant$
constant gradient_green_mask := 28 as byte
constant gradient_blue_mask := 3 as byte
#option gradientconstant$
#endif
#ifnot gaugesliderconstant$
enumerate HVorientation as horizontal, vertical
#option gaugesliderconstant$
#endif
Define Area Object type GMCGauge
#ToolImage "FFF0FE16FFF6FF96FFF6FF96FFF6FE16FFF0FF90FFF0FF90FFF0FE10FFF0"
'***********************************************************
'Object: gaugeobj
'Author: J. Cody Stockwell / Jeremy Richards
'Date: 27 May 2004
'Description: a vertical/horizontal bar gauge for visual representation
'Version: 1.52
'
'Copyright 2004 QSI Corporation
'Permission is granted to copy, distribute and modify this code,
'provided that this copyright statement is preserved.
'***********************************************************
#doc object Gauge
~This object implements a flexible bar graph to graphically
~indicate the value of a paramater on the motion controller
~The object supports user-defined start and endpoints and an
~optional color gradient across the length of the bar.
library standard source toolmessages
library galil_mc source GalilCommunications
library galil_mc source GMCAutoScale
dim enabled as boolean
init enabled := true
func enabled(newval as boolean)
enable(me, newval)
enabled := newval
Zenabled(enabled)
if scaleObj <> empty then
scaleObj.enabled = enabled
endif
endfunc
dim parent as objref
init parent := default
func parent(newval as objref)
attach(me, newval)
parent := newval
endfunc
dim xpos as integer
func xpos(newval as integer)
xpos := newval
precalc()
relocate(me, xpos, ypos)
endfunc
dim ypos as integer
func ypos(newval as integer)
ypos := newval
DoBuddyAttach()
precalc()
relocate(me, xpos, ypos)
endfunc
dim width as integer
func width(newval as integer)
if newval < 0 then
width := 0
else
width := newval
endif
precalc()
resize(me, width, height)
endfunc
dim height as integer
func height(newval as integer)
if newval < 0 then
height := 0
else
height := newval
endif
precalc()
resize(me, width, height)
endfunc
dim bgcolor as color
init bgcolor := rgb_white
func bgcolor(newval as color)
bgcolor := newval
rerender(me)
endfunc
dim bordercolor as color
init bordercolor := rgb_gray
func bordercolor(newval as color)
bordercolor := newval
rerender(me)
endfunc
dim transparent as boolean
func transparent(newval as boolean)
transparent := newval
rerender(me)
endfunc
#doc property StartRange
~On horizontal gauges, this sets the value at the far left of
~gauge. On vertical gauges, this sets the value at the bottom.
dim startrange as float
init startrange := 0
func startrange(newval as float)
startrange := newval
if startrange < endrange then
if value < startrange then
value := startrange
elseif value > endrange then
value := endrange
endif
elseif startrange == endrange then
endrange := endrange+1
if value < startrange then
value := startrange
elseif value > endrange then
value := endrange
endif
else
if value > startrange then
value := startrange
elseif value < endrange then
value := endrange
endif
endif
precalc()
rerender(me)
endfunc
#doc prop EndRange
~On horizontal gauges, this sets the value at the far right of
~the gauge. On vertical gauges, this sets the value at the top
~of the gauge.
dim endrange as float
init endrange := 100
func endrange(newval as float)
endrange := newval
if startrange < endrange then
if value < startrange then
value := startrange
elseif value > endrange then
value := endrange
endif
elseif startrange == endrange then
endrange := endrange+1
#if _TOOL tool_persist(endRange) #endif
if value < startrange then
value := startrange
elseif value > endrange then
value := endrange
endif
else
if value > startrange then
value := startrange
elseif value < endrange then
value := endrange
endif
endif
precalc()
rerender(me)
endfunc
private dim value as float
init value := 100
private func value(newval as float)
return 'In this scheme, value is non-settable
endfunc
private func SetValue(newVal as float)
if startrange <= endrange then
if newval < startrange then
value := startrange
elseif newval > endrange then
value := endrange
else
value := newval
endif
else
if newval > startrange then
value := startrange
elseif newval < endrange then
value := endrange
else
value := newval
endif
endif
calcvaluesandrerender()
endfunc
private func calcvaluesandrerender()
dim i as integer
dim j,k as float
range=abs(endrange-startrange)
if range == 0 then
range = 1
endif
if direction == horizontal then
if mirror == false then
filllimit = xpos+(width-2)*abs(value-startrange)/range
j=xpos+1
k=xpos+lowsteplength
highbands = 0
for i=0 to lowsteps
if k >= filllimit then
lowbarx0[i] = j
lowbarx1[i] = filllimit
if filllimit < j then
lowbands = i-1
else
lowbands = i
endif
j = j+lowsteplength
k = k+highsteplength
highbands = -1
break
else
lowbarx0[i] = j
lowbarx1[i] = k
j = j+lowsteplength
k = k+lowsteplength
lowbands = i
endif
next
if highbands == -1 then
rerender(me)
return
endif
k=j-1+highsteplength
for i=0 to highsteps
if k >= filllimit then
highbarx0[i] = j
highbarx1[i] = filllimit
highbands = i
break
else
highbarx0[i] = j
highbarx1[i] = k
j = j+highsteplength
k = k+highsteplength
highbands = i
endif
next
else 'mirror == true
filllimit = xpos+(width-1)-(width-2)*abs(value-startrange)/range
j=xpos+width-2
k=xpos+width-1-lowsteplength
highbands = 0
for i=0 to lowsteps
if k <= filllimit then
lowbarx0[i] = j
lowbarx1[i] = filllimit
if filllimit > j then
lowbands = i-1
else
lowbands = i
endif
j = j-lowsteplength
k = k-highsteplength
highbands = -1
break
else
lowbarx0[i] = j
lowbarx1[i] = k
j = j-lowsteplength
k = k-lowsteplength
lowbands = i
endif
next
if highbands == -1 then
rerender(me)
return
endif
k=j+1-highsteplength
for i=0 to highsteps
if k <= filllimit then
highbarx0[i] = j
highbarx1[i] = filllimit
highbands = i
break
else
highbarx0[i] = j
highbarx1[i] = k
j = j-highsteplength
k = k-highsteplength
highbands = i
endif
next
endif
else 'direction == vertical
if mirror == false then
filllimit = ypos+(height-1)-(height-2)*abs(value-startrange)/range
j=ypos+height-2
k=ypos+height-1-lowsteplength
highbands = 0
for i=0 to lowsteps
if k <= filllimit then
lowbary0[i] = j
lowbary1[i] = filllimit
if filllimit > j then
lowbands = i-1
else
lowbands = i
endif
j = j-lowsteplength
k = k-highsteplength
highbands = -1
break
else
lowbary0[i] = j
lowbary1[i] = k
j = j-lowsteplength
k = k-lowsteplength
lowbands = i
endif
next
if highbands == -1 then
rerender(me)
return
endif
k=j+1-highsteplength
for i=0 to highsteps
if k <= filllimit then
highbary0[i] = j
highbary1[i] = filllimit
highbands = i
break
else
highbary0[i] = j
highbary1[i] = k
j = j-highsteplength
k = k-highsteplength
highbands = i
endif
next
else 'mirror == true
filllimit = ypos+(height-2)*abs(value-startrange)/range
j=ypos+1
k=ypos+lowsteplength
highbands = 0
for i=0 to lowsteps
if k >= filllimit then
lowbary0[i] = j
lowbary1[i] = filllimit
if filllimit < j then
lowbands = i-1
else
lowbands = i
endif
j = j+lowsteplength
k = k+highsteplength
highbands = -1
break
else
lowbary0[i] = j
lowbary1[i] = k
j = j+lowsteplength
k = k+lowsteplength
lowbands = i
endif
next
if highbands == -1 then
rerender(me)
return
endif
k=j-1+highsteplength
for i=0 to highsteps
if k >= filllimit then
highbary0[i] = j
highbary1[i] = filllimit
highbands = i
break
else
highbary0[i] = j
highbary1[i] = k
j = j+highsteplength
k = k+highsteplength
highbands = i
endif
next
endif
endif
rerender(me)
endfunc
#doc prop Color1
~The color displayed near the low end of the gauge (for values
~near startrange).
dim color1 as color
init color1 := rgb_green
func color1(newval as color)
color1 := newval
colorprecalc()
precalc()
rerender(me)
endfunc
#doc prop Color2
~The color displayed near the middle of the gauge.
dim color2 as color
init color2 := rgb_yellow
func color2(newval as color)
color2 := newval
colorprecalc()
precalc()
rerender(me)
endfunc
#doc prop Color3
~The color displayed near the high end of the gauge (for values
~near endrange).
dim color3 as color
init color3 := rgb_red
func color3(newval as color)
color3 := newval
colorprecalc()
precalc()
rerender(me)
endfunc
#doc prop Direction
~The direction (HORIZONTAL or VERTICAL) in which the
~gauge grows and shrinks as the value is changed.
dim direction as HVorientation
func direction(newval as hvorientation)
dim i as integer
dim j,k as float
direction := newval
if direction == horizontal then
j=ypos+1
k=ypos+height-2
for i=0 to 7
lowbary0[i] = j
lowbary1[i] = k
next
for i=0 to 7
highbary0[i] = j
highbary1[i] = k
next
else
j=xpos+1
k=xpos+width-2
for i=0 to 7
lowbarx0[i] = j
lowbarx1[i] = k
next
for i=0 to 7
highbarx0[i] = j
highbarx1[i] = k
next
endif
rerender(me)
endfunc
#doc prop Mirror
~By default, the gauge grows from left to right or bottom to
~top. Setting this property to true will flip the grow directions
~to right, to left and top to bottom as well as reversing the
~startrange/endrange positions.
dim mirror as boolean
func mirror(newval as boolean)
mirror := newval
precalc()
rerender(me)
endfunc
#doc prop commObject
~commObject defines which GalilCommunication object will be used to communicate with
~the controller. You should create one GalilCommunication object for each motion controller
~you wish to communicate with. By setting the commObject property, you can control wich
~motion controller this object communicates with.
Most projects will require only
~one GalilCommunication object, and this property will automatically be set to refer to that
~communication object.
dim commObject as objref GalilCommunication
init commObject := empty
#doc prop inputType
~InputType determines which property of the motion controller will be reflected in the
~gauge. Select an appropriate type from the drop down list. If you need to poll data
~that is not in the dropdown list, then set the customCommand property to query the
~information and useCustomCommand property to true.
dim inputType as GMC_DataType
init inputType := GMC_Position
func inputType(newVal as GMC_DataType)
inputType := newVal
command := GMCDataTypeToCommand(inputType, inputSource, useCustomCommand, customCommand)
endfunc
#doc prop inputSource
~If the inputType property queries information related to an axis on the controller (i.e.
~GMC_Position), then use the inputSource property to select which axis to query.
dim inputSource as GMC_Axis
init inputSource := GMC_Axis_X
func inputSource (newVal as GMC_Axis)
inputSource := newVal
command := GMCDataTypeToCommand(inputType, inputSource, useCustomCommand, customCommand)
endfunc
private dim command as string
#doc prop useCustomCommand
~Set this value to true if you will be using a custom command to poll the controller.
If this
~value is true, then this object will poll the controller using the information in the
~customCommand property rather than the values of the inputType and
~inputSource properties.
If this value is false, then the customCommand
~property is ingored and the inputType and inputSource properties are used instead.
dim useCustomCommand as boolean
init useCustomCommand := false
func useCustomCommand (newVal as boolean)
useCustomCommand := newVal
command := GMCDataTypeToCommand(inputType, inputSource, useCustomCommand, customCommand)
endfunc
#doc prop customCommand
~Use this property to send a custom polling command to the controller. You should use this
~property only if you cannot obtain the information you need by using the inputType and
~inputSource properties. The controller should return a single numeric value in decimal
~format in response to the custom command that you define.
Note: The customCommand
~property is ignored unless the useCustomCommand property is set to true.
dim customCommand as string
init customCommand := ""
func CustomCommand (newval as string)
customCommand := newVal
command := GMCDataTypeToCommand(inputType, inputSource, useCustomCommand, customCommand)
endfunc
#doc prop pollInterval
~pollInterval defines, in milliseconds, then amount of time that will elapse between
~polls to the controller. The minimum supported value is 40 ms. It is recommended that you
~use the highest possible value for this property as excessive polling will reduce the
~responsiveness of the terminal. Also, you may want to limit the total number of polling
~objects that can be visible (enabled) at once in order to enhance performance.
~In order to maximize performance, if this object, or the screen on which it resides is
~disabled, then it will cease polling. Once the object (or parent screen) is re-enabled,
~it will immediately poll the controller once to refresh its value, then resume normal polling.
dim pollInterval as integer
init pollInterval := 1000
func pollInterval (newVal as integer)
if newVal <= 0 then
pollInterval := 0
UnregisterMsgHandler (me, msg_timetick, 0)
else
pollInterval := newVal
RegisterMsghandler (me, msg_timetick, newVal/20)
endif
endfunc
#doc prop scaleObj
~If you want a scale displayed next to this object, create a GMCAutoScale object, set its
~properties, then set the scaleObj to reference the GMCAutoScale that you created.
~The scale will automatically be placed next to this object and sized appropriately.
dim scaleObj as objref GMCAutoScale
init scaleObj := empty
func scaleObj(newVal as GMCAutoScale)
if scaleObj <> empty then
scaleObj.enabled = false
endif
scaleObj := newVal
DoBuddyAttach()
endfunc
private dim lowbarx0[8] as integer
private dim lowbarx1[8] as integer
private dim lowbary0[8] as integer
private dim lowbary1[8] as integer
private dim highbarx0[8] as integer
private dim highbarx1[8] as integer
private dim highbary0[8] as integer
private dim highbary1[8] as integer
private dim objx1 as integer
private dim objy1 as integer
private dim lowbands as integer
private dim highbands as integer
private dim lowsteps as integer
private dim highsteps as integer
private dim lowcolors[] as byte
private dim highcolors[] as byte
private dim lowlength, highlength as integer
private dim lowsteplength, highsteplength as float
private dim filllimit as integer
private dim range as float
func StartUp()
handles MSG_INIT
endrange(endrange)
range=abs(endrange-startrange)
calcvaluesandrerender()
colorprecalc()
precalc()
resize(me, width, height)
relocate(me, xpos, ypos)
enable(me, enabled)
attach(me, parent)
PollInterval(pollInterval)
GMC_VerifyCommObj(commObject)
InputType(inputType)
endfunc
fixed func Draw()
handles MSG_DRAW
dim i as integer
setfgcolor(bordercolor)
setbgcolor(bgcolor)
settransparent(bgcolor)
usetransparent(transparent)
drawbox( xpos, ypos, objx1, objy1)
for i=0 to lowbands
setfgcolor(lowcolors[i])
setbgcolor(lowcolors[i])
drawbox( lowbarx0[i], lowbary0[i], lowbarx1[i], lowbary1[i] )
next
for i=0 to highbands
setfgcolor(highcolors[i])
setbgcolor(highcolors[i])
drawbox( highbarx0[i], highbary0[i], highbarx1[i], highbary1[i] )
next
endfunc
#undoc func ColorPrecalc
fixed func colorprecalc()
calcgradient(color1, color2, lowsteps, lowcolors)
calcgradient(color2, color3, highsteps, highcolors)
endfunc
#undoc func Precalc
fixed func precalc()
dim i as integer
dim j,k as float
'Make sure that our scale is inline with everything else
DoBuddyAttach()
objx1 = xpos + width-1
objy1 = ypos + height-1
range = abs(endrange-startrange)
if range == 0 then
range = 1
endif
if direction == horizontal then
j=ypos+1
k=ypos+height-2
for i=0 to lowsteps
lowbary0[i] = j
lowbary1[i] = k
next
for i=0 to highsteps
highbary0[i] = j
highbary1[i] = k
next
highlength = (width-2)/2
if (width-2) mod 2 == 1 then
lowlength = highlength+1
else
lowlength = highlength
endif
lowsteplength = (lowlength-0.0) / (lowsteps+1)
highsteplength = (highlength-0.0) / (highsteps+1)
if mirror == false then
filllimit = xpos+(width-2)*abs(value-startrange)/range
j=xpos+1
k=xpos+lowsteplength
highbands = 0
for i=0 to lowsteps
if k >= filllimit then
lowbarx0[i] = j
lowbarx1[i] = filllimit
if filllimit < j then
lowbands = i-1
else
lowbands = i
endif
j = j+lowsteplength
k = k+highsteplength
highbands = -1
break
else
lowbarx0[i] = j
lowbarx1[i] = k
j = j+lowsteplength
k = k+lowsteplength
lowbands = i
endif
next
if highbands == -1 then
return
endif
k=j-1+highsteplength
for i=0 to highsteps
if k >= filllimit then
highbarx0[i] = j
highbarx1[i] = filllimit
highbands = i
break
else
highbarx0[i] = j
highbarx1[i] = k
j = j+highsteplength
k = k+highsteplength
highbands = i
endif
next
else 'mirror == true
filllimit = xpos+(width-1)-(width-2)*abs(value-startrange)/range
j=xpos+width-2
k=xpos+width-1-lowsteplength
highbands = 0
for i=0 to lowsteps
if k <= filllimit then
lowbarx0[i] = j
lowbarx1[i] = filllimit
if filllimit > j then
lowbands = i-1
else
lowbands = i
endif
j = j-lowsteplength
k = k-highsteplength
highbands = -1
break
else
lowbarx0[i] = j
lowbarx1[i] = k
j = j-lowsteplength
k = k-lowsteplength
lowbands = i
endif
next
if highbands == -1 then
return
endif
k=j+1-highsteplength
for i=0 to highsteps
if k <= filllimit then
highbarx0[i] = j
highbarx1[i] = filllimit
highbands = i
break
else
highbarx0[i] = j
highbarx1[i] = k
j = j-highsteplength
k = k-highsteplength
highbands = i
endif
next
endif
else 'direction == vertical
j=xpos+1
k=xpos+width-2
for i=0 to lowsteps
lowbarx0[i] = j
lowbarx1[i] = k
next
for i=0 to highsteps
highbarx0[i] = j
highbarx1[i] = k
next
highlength = (height-2)/2
if (height-2) mod 2 == 1 then
lowlength = highlength+1
else
lowlength = highlength
endif
lowsteplength = (lowlength-0.0) / (lowsteps+1)
highsteplength = (highlength-0.0) / (highsteps+1)
if mirror == false then
filllimit = ypos+(height-1)-(height-2)*abs(value-startrange)/range
j=ypos+height-2
k=ypos+height-1-lowsteplength
highbands = 0
for i=0 to lowsteps
if k <= filllimit then
lowbary0[i] = j
lowbary1[i] = filllimit
if filllimit > j then
lowbands = i-1
else
lowbands = i
endif
j = j-lowsteplength
k = k-highsteplength
highbands = -1
break
else
lowbary0[i] = j
lowbary1[i] = k
j = j-lowsteplength
k = k-lowsteplength
lowbands = i
endif
next
if highbands == -1 then
return
endif
k=j+1-highsteplength
for i=0 to highsteps
if k <= filllimit then
highbary0[i] = j
highbary1[i] = filllimit
highbands = i
break
else
highbary0[i] = j
highbary1[i] = k
j = j-highsteplength
k = k-highsteplength
highbands = i
endif
next
else 'mirror == true
filllimit = ypos+(height-2)*abs(value-startrange)/range
j=ypos+1
k=ypos+lowsteplength
highbands = 0
for i=0 to lowsteps
if k >= filllimit then
lowbary0[i] = j
lowbary1[i] = filllimit
if filllimit < j then
lowbands = i-1
else
lowbands = i
endif
j = j+lowsteplength
k = k+highsteplength
highbands = -1
break
else
lowbary0[i] = j
lowbary1[i] = k
j = j+lowsteplength
k = k+lowsteplength
lowbands = i
endif
next
if highbands == -1 then
return
endif
k=j-1+highsteplength
for i=0 to highsteps
if k >= filllimit then
highbary0[i] = j
highbary1[i] = filllimit
highbands = i
break
else
highbary0[i] = j
highbary1[i] = k
j = j+highsteplength
k = k+highsteplength
highbands = i
endif
next
endif
endif
endfunc
#undoc func abs
fixed func abs( newval as float ) returns float
if newval < 0 then
return -newval
else
return newval
endif
endfunc
#undoc func calcgradient
fixed func calcgradient( color0 as color, color1 as color, steps as reference to integer, bandcolors[] as reference to byte )
dim i as integer
dim rsteps as integer
dim gsteps as integer
dim bsteps as integer
dim rstep as integer
dim gstep as integer
dim bstep as integer
' / 1 converts a byte to an integer
' the following lines determine significant steps between the two colors in each of the color channels
rsteps= (color1 / 32) / 1 - (color0 / 32) / 1
gsteps= (color1 & gradient_green_mask) / 4 - (color0 & gradient_green_mask) / 4
bsteps= (color1 & gradient_blue_mask) / 1 - (color0 & gradient_blue_mask) / 1
'we determine the number of gradient steps by the maximum color channel
steps = abs(rsteps)
if steps < abs(gsteps) then
steps = abs(gsteps)
endif
if steps < abs(bsteps) then
steps = abs(bsteps)
endif
redim(bandcolors, steps+1)
' dividing/multiplying by 1.0 or adding/subtracting 0.0 converts to a float
' here we determine based on the number of steps how much we add or subtract to each channel on each pass
for i = 0 to steps
if rsteps < 0 then
rstep = i*rsteps*1.0/steps - 0.5
rstep = rstep * 32
elseif rsteps > 0 then
rstep = i*rsteps*1.0/steps + 0.5
rstep = rstep * 32
else
rstep = 0
endif
if gsteps < 0 then
gstep = i*gsteps*1.0/steps - 0.5
gstep = gstep * 4
elseif gsteps > 0 then
gstep = i*gsteps*1.0/steps + 0.5
gstep = gstep * 4
else
gstep = 0
endif
if bsteps < 0 then
bstep = i*bsteps*1.0/steps - 0.5
elseif bsteps > 0 then
bstep = i*bsteps*1.0/steps + 0.5
else
bstep = 0
endif
bandcolors[i] = color0 + rstep + gstep + bstep
next
endfunc
'-----------------------------------------------------------------------------------------
'The actual communications stuff
private func Timetick ()
handles MSG_TIMETICK
commObject.SendAsciiCommandStreamCounted(command, me, 0, 1)
return
endfunc
private func Zenabled (status as boolean)
handles MSG_ZENABLED
if status and enabled then
TimeTick()
endif
endfunc
private func Success(parm as integer) returns boolean
handles GMC_CommSuccess
dim tmpValue as float
check error
val(tmpValue, trim(commObject.curResponse))
on error
tmpValue := startrange
GMC_ClearException()
enderr
ResponseReceived(tmpValue)
if tmpValue <> value then
SetValue(tmpValue)
endif
Rerender(me)
return true
endfunc
private func Failure(parm as integer) returns boolean
handles GMC_CommFailure
ResponseFailure(trim(commObject.curResponse), commObject.curFailureReason)
return true
endfunc
#doc override ResponseReceived
#param response:The response received from the controller as a floating point value. Change response, if necessary, to translate the final value shown in the gauge
~This event called whenever this object receives receives a response from the controller as a
~result of a poll. The paramater response contains the value that was returned from
~the controller. You may modify response in order to change the final value which
~will be displayed in this object.
func ResponseReceived (response as reference to float)
return
endfunc
#doc override ResponseFailure
#param responseText:The response returned by the controller minus the final colon terminator.
#param failReason:The reason why this event is generated. Either GMC_FailCommunications or GMC_FailBadCommand
~This event is triggered whenever the controller fails to respond to a command or responds in
~an incorrect manner. Add any necessary error handling code in this event.
func ResponseFailure(responseText as string, failReason as GMC_FailureReason)
return
endfunc
'The rest of these functions add functionality to Qlarity Foundry. The
'#if _TOOL line ensures that the code will not be compiled into a BFF that
'is loaded into the terminal
'These functions are called in response to actions taken in Qlarity Foundry.
'If as a result of these actions you change one or more of the properties of
'this object that should be permanently recorded (for instance changing xPos in
'response to MSG_TOOL_MOVE) then you should call Tool_Persist to save the new
'value of the property in your source code of your object instance
#if _TOOL
'This function is called by Qlarity Foundry, when you change the attachment
'of an object (i.e. in response to dragging it around the object tree).
'Note: the purpose of this function is to allow you to attach to another
'container, you should not change your parent property or call Tool_Persist
'until you receive a MSG_TOOL_ATTACHED. A MSG_TOOL_ATTACHED will be sent
'in response to an Attach API function call.
func ToolAttach (attachTo as objref)
handles MSG_TOOL_ATTACH
Attach (me, attachTo)
endfunc
'This function is called in response to calling Attach (primarily in a
'handler for MSG_TOOL_ATTACH, but possibly in other places as well_.
func ToolAttached (newParent as objref)
handles MSG_TOOL_ATTACHED
'Set our parent property to reflect who we are attached to and save
parent := newParent
Tool_Persist (parent) 'Save parent
DoBuddyAttach()
endfunc
'This function is called when the user drags an object instance with the
'mouse in QlarityFoundry. dx and dy are relative offsets from the current
'location of the object
func ToolMove (dx as integer, dy as integer)
handles MSG_TOOL_MOVE
xPos := xPos + dx
yPos := yPos + dy
Relocate (me, xPos, yPos)
'Save the changes we just made
Tool_Persist (xPos)
Tool_Persist (yPos)
precalc()
rerender(me)
endfunc
'This function is called by Qlarity Foundry to obtain the coordinates of
'the resize grips. The arrays xCoords, yCoords, and cursors all contain 0
'elements initially. This means that you should either call redim on those
'arrays and set their values, or declare local arrays, set the values of
'the local arrays, and then assign xCoords, yCoords and cursors to those
'local arrays. Closed indicates whether the Foundry should connect the
'first and last grips to make a closed object. xCoords, yCoords, and
'cursors should all contain the same number of elements when this function
'completes
func ToolGetHandles (xCoords[] as reference to integer, ->
yCoords[] as reference to integer, ->
cursors[] as reference to GuiCursors, ->
closed as reference to boolean)
handles MSG_TOOL_GETHANDLES
'Call a standard function to handle common functionality.
'You can omit this function call and implement your own custom functionality
'if desired
_ToolGetHandles (xCoords, yCoords, cursors, closed, xPos, yPos, width, height)
endfunc
'This function is called in response to a user moving a resize grip within
'Qlarity Foundry. handleNum is the index into the arrays that were returned
'by the handler for MSG_TOOL_GETHANDLES. You should return true from this
'function
func ToolMoveHandle (handleNum as reference to integer, dx as integer, dy as integer)
handles MSG_TOOL_MOVEHANDLE
'Call a standard function to handle common functionality.
'You can omit this function call and implement your own custom functionality
'if desired
_ToolMoveHandle (handleNum, dx, dy, xPos, yPos, width, height, me)
precalc()
endfunc
'This function is called when the user created an instance of this template by
'selecting it from the object palette and dragging it in the layout view.
'The handler for MSG_INIT is not called automatically, and if you want it
'called, you should call it manually.
'You should call Tool_Persist on all the properties that you set up in this
'message handler. (x1, y1) are the coordinates that the user started his
'drag and (x2, y2) are the coordinates that the mouse was released
func ToolDragCreate (parentObj as objref, x1 as integer, y1 as integer, ->
x2 as integer, y2 as integer)
handles MSG_TOOL_DRAGCREATE
'Call a standard function to handle common functionality.
'You can omit this function call and implement your own custom functionality
'if desired
_ToolDragCreate (parentObj, x1, y1, x2, y2, xPos, yPos, width, height, parent)
if width < height then
direction := vertical
endif
tool_persist(direction)
'Call our MSG_INIT handler
StartUp()
endfunc
#endif
private func ScaleResize(newLeng as integer) returns boolean
handles AutoScale_ResizeRequest
if (GMC_BuddyRequest == scaleObj) then
newLeng = newLeng + 2
if direction ==horizontal then
if newLeng <> width then
width = newLeng
#if _tool tool_persist(width) #endif
endif
else
if newLeng <> height then
height = newLeng
#if _tool tool_persist(height) #endif
endif
endif
endif
return true
endfunc
private func BuddyReinit(parm as integer) returns boolean
handles AutoScale_BuddyReinit
if (scaleObj == GMC_BuddyRequest) and initialAttachRequest then
DoBuddyAttach()
return true
endif
return false
endfunc
private dim initialAttachRequest as boolean
private func DoBuddyAttach()
if scaleObj <> empty then
initialAttachRequest := true
if not mirror then
if direction == horizontal then
scaleObj.AttachTo (xPos+1, yPos, xPos+width-2, yPos+height-1, startRange, ->
endRange, direction==horizontal, me, parent, enabled)
else
scaleObj.AttachTo (xPos, yPos+1, xPos+width-1, yPos+height-2, endRange, ->
startRange, direction==horizontal, me, parent, enabled)
endif
else
if direction == horizontal then
scaleObj.AttachTo (xPos+1, yPos, xPos+width-2, yPos+height-1, endRange, ->
startRange, direction==horizontal, me, parent, enabled)
else
scaleObj.AttachTo (xPos, yPos+1, xPos+width-1, yPos+height-2, startRange, ->
endRange, direction==horizontal, me, parent, enabled)
endif
endif
endif
endfunc
Enddef
#endif
#endfile
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Define Area Object type GMCGauge
#doc object Gauge
~This object implements a flexible bar graph to graphically
~indicate the value of a paramater on the motion controller
~The object supports user-defined start and endpoints and an
~optional color gradient across the length of the bar.
dim enabled as boolean
func enabled(newval as boolean)
endfunc
dim parent as objref
func parent(newval as objref)
endfunc
dim xpos as integer
func xpos(newval as integer)
endfunc
dim ypos as integer
func ypos(newval as integer)
endfunc
dim width as integer
func width(newval as integer)
endfunc
dim height as integer
func height(newval as integer)
endfunc
dim bgcolor as color
func bgcolor(newval as color)
endfunc
dim bordercolor as color
func bordercolor(newval as color)
endfunc
dim transparent as boolean
func transparent(newval as boolean)
endfunc
#doc property StartRange
~On horizontal gauges, this sets the value at the far left of
~gauge. On vertical gauges, this sets the value at the bottom.
dim startrange as float
func startrange(newval as float)
endfunc
#doc prop EndRange
~On horizontal gauges, this sets the value at the far right of
~the gauge. On vertical gauges, this sets the value at the top
~of the gauge.
dim endrange as float
func endrange(newval as float)
endfunc
endfunc
endfunc
endfunc
#doc prop Color1
~The color displayed near the low end of the gauge (for values
~near startrange).
dim color1 as color
func color1(newval as color)
endfunc
#doc prop Color2
~The color displayed near the middle of the gauge.
dim color2 as color
func color2(newval as color)
endfunc
#doc prop Color3
~The color displayed near the high end of the gauge (for values
~near endrange).
dim color3 as color
func color3(newval as color)
endfunc
#doc prop Direction
~The direction (HORIZONTAL or VERTICAL) in which the
~gauge grows and shrinks as the value is changed.
dim direction as HVorientation
func direction(newval as hvorientation)
endfunc
#doc prop Mirror
~By default, the gauge grows from left to right or bottom to
~top. Setting this property to true will flip the grow directions
~to right, to left and top to bottom as well as reversing the
~startrange/endrange positions.
dim mirror as boolean
func mirror(newval as boolean)
endfunc
#doc prop commObject
~commObject defines which GalilCommunication object will be used to communicate with
~the controller. You should create one GalilCommunication object for each motion controller
~you wish to communicate with. By setting the commObject property, you can control wich
~motion controller this object communicates with.
Most projects will require only
~one GalilCommunication object, and this property will automatically be set to refer to that
~communication object.
dim commObject as objref GalilCommunication
#doc prop inputType
~InputType determines which property of the motion controller will be reflected in the
~gauge. Select an appropriate type from the drop down list. If you need to poll data
~that is not in the dropdown list, then set the customCommand property to query the
~information and useCustomCommand property to true.
dim inputType as GMC_DataType
func inputType(newVal as GMC_DataType)
endfunc
#doc prop inputSource
~If the inputType property queries information related to an axis on the controller (i.e.
~GMC_Position), then use the inputSource property to select which axis to query.
dim inputSource as GMC_Axis
func inputSource (newVal as GMC_Axis)
endfunc
#doc prop useCustomCommand
~Set this value to true if you will be using a custom command to poll the controller.
If this
~value is true, then this object will poll the controller using the information in the
~customCommand property rather than the values of the inputType and
~inputSource properties.
If this value is false, then the customCommand
~property is ingored and the inputType and inputSource properties are used instead.
dim useCustomCommand as boolean
func useCustomCommand (newVal as boolean)
endfunc
#doc prop customCommand
~Use this property to send a custom polling command to the controller. You should use this
~property only if you cannot obtain the information you need by using the inputType and
~inputSource properties. The controller should return a single numeric value in decimal
~format in response to the custom command that you define.
Note: The customCommand
~property is ignored unless the useCustomCommand property is set to true.
dim customCommand as string
func CustomCommand (newval as string)
endfunc
#doc prop pollInterval
~pollInterval defines, in milliseconds, then amount of time that will elapse between
~polls to the controller. The minimum supported value is 40 ms. It is recommended that you
~use the highest possible value for this property as excessive polling will reduce the
~responsiveness of the terminal. Also, you may want to limit the total number of polling
~objects that can be visible (enabled) at once in order to enhance performance.
~In order to maximize performance, if this object, or the screen on which it resides is
~disabled, then it will cease polling. Once the object (or parent screen) is re-enabled,
~it will immediately poll the controller once to refresh its value, then resume normal polling.
dim pollInterval as integer
func pollInterval (newVal as integer)
endfunc
#doc prop scaleObj
~If you want a scale displayed next to this object, create a GMCAutoScale object, set its
~properties, then set the scaleObj to reference the GMCAutoScale that you created.
~The scale will automatically be placed next to this object and sized appropriately.
dim scaleObj as objref GMCAutoScale
func scaleObj(newVal as GMCAutoScale)
endfunc
func StartUp()
handles MSG_INIT
endfunc
fixed func Draw()
handles MSG_DRAW
endfunc
#undoc func ColorPrecalc
fixed func colorprecalc()
endfunc
#undoc func Precalc
fixed func precalc()
endfunc
#undoc func abs
fixed func abs( newval as float ) returns float
endfunc
#undoc func calcgradient
fixed func calcgradient( color0 as color, color1 as color, steps as reference to integer, bandcolors[] as reference to byte )
endfunc
handles MSG_TIMETICK
endfunc
handles MSG_ZENABLED
endfunc
handles GMC_CommSuccess
endfunc
handles GMC_CommFailure
endfunc
#doc override ResponseReceived
#param response:The response received from the controller as a floating point value. Change response, if necessary, to translate the final value shown in the gauge
~This event called whenever this object receives receives a response from the controller as a
~result of a poll. The paramater response contains the value that was returned from
~the controller. You may modify response in order to change the final value which
~will be displayed in this object.
func ResponseReceived (response as reference to float)
endfunc
#doc override ResponseFailure
#param responseText:The response returned by the controller minus the final colon terminator.
#param failReason:The reason why this event is generated. Either GMC_FailCommunications or GMC_FailBadCommand
~This event is triggered whenever the controller fails to respond to a command or responds in
~an incorrect manner. Add any necessary error handling code in this event.
func ResponseFailure(responseText as string, failReason as GMC_FailureReason)
endfunc
func ToolAttach (attachTo as objref)
handles MSG_TOOL_ATTACH
endfunc
func ToolAttached (newParent as objref)
handles MSG_TOOL_ATTACHED
endfunc
func ToolMove (dx as integer, dy as integer)
handles MSG_TOOL_MOVE
endfunc
func ToolGetHandles (xCoords[] as reference to integer, ->
yCoords[] as reference to integer, ->
cursors[] as reference to GuiCursors, ->
closed as reference to boolean)
handles MSG_TOOL_GETHANDLES
endfunc
func ToolMoveHandle (handleNum as reference to integer, dx as integer, dy as integer)
handles MSG_TOOL_MOVEHANDLE
endfunc
func ToolDragCreate (parentObj as objref, x1 as integer, y1 as integer, ->
x2 as integer, y2 as integer)
handles MSG_TOOL_DRAGCREATE
endfunc
handles AutoScale_ResizeRequest
endfunc
handles AutoScale_BuddyReinit
endfunc
endfunc
Enddef
#endfile
#ifnot Galil_mc_src_GMCPathTrace
#option Galil_mc_src_GMCPathTrace
library galil_mc source galilcommunications
Define Area Object type GMCPathTrace
#ToolImage "3FFF73E76DDB6C1B31C77BEF77F777F737F77BEF7DDF7E3F3FFF6EEE0000"
'*******************************************************************
'Object: GMCPathTrace
'Author: Jeremy Richards
'Date: 27 May 2004
'
'Description: Galil motion controller Path tracing object
'
'Version: 1.52
'Copyright: 2004 QSI Corporation. Permission to modify and
' distribute this object is granted provided this
' copyright notice remains in tact.
'*******************************************************************
#doc object GMCPathTrace
~This object implements a type of 2D graph that can be used to
~plot the recent positions of the motor. To use this object, simply
~set up its properties, especially the startRangeHorz, endRangeHorz,
~startRangeVert, endRangeVert, commObject, inputTypeHorz,
~inputSourceHorz, inputTypeVert, inputSourceVert, and
~pollInterval properties.
~Generally you would be interested in polling the motor position along two of the
~motor axis (such as the X and the Y axis). This object is robust object
~and can consume a lot of the processing power available on the QTERM-G70.
~As such, you should minimize the use of other polling type objects on the
~same screen as you place this GMCPathTrace object. You can also improve
~performance, if necessary, by increasing pollInterval, and decreasing
~numTracePoints.
library standard source ToolMessages
library galil_mc source GMCAutoScale
dim enabled as boolean
init enabled := true
func enabled(newval as boolean)
enabled := newval
Enable (me, enabled)
Zenabled(enabled)
if scaleObjHorz <> empty then
scaleObjHorz.enabled = enabled
endif
if scaleObjVert <> empty then
scaleObjVert.enabled = enabled
endif
endfunc
dim parent as objref
init parent := default
func parent(newval as objref)
parent := newval
Attach(me, parent)
endfunc
dim xPos as integer
init xPos := 0
func xPos(newval as integer)
xPos := newVal
Relocate (me, xPos, yPos)
Clear()
DoBuddyAttachHorz()
DoBuddyAttachVert()
endfunc
dim yPos as integer
init yPos := 0
func yPos(newval as integer)
yPos := newval
Relocate (me, xPos, yPos)
Clear()
DoBuddyAttachHorz()
DoBuddyAttachVert()
endfunc
dim width as integer
init width := 25
func width(newval as integer)
width := newval
Resize (me, width, height)
Clear()
DoBuddyAttachHorz()
DoBuddyAttachVert()
endfunc
dim height as integer
init height := 25
func height(newval as integer)
height := newval
Resize (me, width, height)
Clear()
DoBuddyAttachHorz()
DoBuddyAttachVert()
endfunc
dim borderColor as color
init borderColor := RGB_WHITE
func bordercolor (newVal as color)
borderColor := newVal
Rerender(me)
endfunc
#doc prop TraceColor1
~This color is used to draw the the most recent positions that have been plotted. If
~fastDraw is set to true, then this color is used for the entire plot.
dim TraceColor1 as color
init traceColor1 := rgb_green
func traceColor1 (newVal as color)
traceColor1 := newVal
RecalcColors()
endfunc
#doc prop TraceColor2
~As positions that have been logged age, the fade in to this color. This color
~is used to represent trace positions that are in the middle of the log. This color
~is not used if fastDraw is set to true.
dim TraceColor2 as color
init traceColor2 := rgb_yellow
func traceColor2 (newVal as color)
traceColor2 := newVal
RecalcColors()
endfunc
#doc prop TraceColor3
~The oldest positions in the trace log are drawn in this color. This color in not
~used if fastDraw is set to true.
dim traceColor3 as color
init traceColor3 := rgb_navy
func traceColor3 (newVal as color)
tracecolor3 := newVal
RecalcColors()
endfunc
#doc prop curPosColor
~If showCurPos is true, then the current position of on the plot will be drawn in this color
dim curPosColor as color
init curPosColor := RGB_Red
func curPosColor (newVal as color)
curPosColor := newVal
Rerender(me)
endfunc
#doc prop showCurPos
~If true, the current position will be shown as a small box on the plot
dim showCurPos as boolean
init showCurPos := false
func showCurPos (newVal as boolean)
showCurPos := newVal
Rerender(me)
endfunc
dim bgColor as color
init bgColor := RGB_Black
func bgColor (newVal as color)
bgColor := newVal
Rerender(me)
endfunc
dim transparent as boolean
init transparent := false
func transparent (newVal as boolean)
transparent := newVal
Rerender(me)
endfunc
#doc prop fastDraw
~When fastDraw is set to true, this object displays itself much, much faster. As a
~result it can log many more trace points than it otherwise could. When this property is
~set to true, the trace line is drawn in a single solid color (TraceColor1). On
~older versions of firmware, the beginning and end of the trace line will be connected.
~When fastDraw is false, the trace line is drawn in a gradient that fades between
~the various trace colors. As the gradient takes time to draw, you should limit the
~numTracePoints property to values of 100 or less when this property is true.
dim fastDraw as boolean
init fastDraw := false
func fastDraw (newVal as boolean)
fastDraw := newVal
Rerender(me)
endfunc
#doc prop NumTracePoints
~This is the number of points that the this object will log. Increasing this this number
~will allow for a longer log, but decreased performance of the terminal. If you increase
~this value above 100, you should generally also set fastDraw to true.
dim NumTracePoints as integer
init numTracePoints := 100
func numTracePoints (newVal as integer)
Clear()
endfunc
#doc prop startRangeHorz
~This defines the lower limit to be displayed on this object. The value of this property
~corresponts to a point along the left of this object. This object will display
~values between startRangeHorz and endRangeHorz within its extents. If
~startRangeHorz is greater than endRangeHorz then the graph is flipped
~horizontally.
dim startRangeHorz as float
init startRangeHorz := 0
func startRangeHorz (newVal as float)
startRangeHorz := newVal
VerifyLimits()
Clear()
endfunc
#doc prop endRangeHorz
~This defines the upper limit to be displayed on this object. The value of this property
~corresponts to a point along the right of this object. This object will display
~values between startRangeHorz and endRangeHorz within its extents. If
~startRangeHorz is greater than endRangeHorz then the graph is flipped
~horizontally.
dim endRangeHorz as float
init endRangeHorz := 100
func endRangeHorz (newVal as float)
endRangeHorz := newVal
VerifyLimits()
Clear()
endfunc
#doc prop startRangeVert
~This defines the lower limit to be displayed on this object. The value of this property
~corresponts to a point along the bottom of this object. This object will display
~values between startRangeVert and endRangeVert within its extents. If
~startRangeVert is greater than endRangeVert then the graph is flipped
~vertically.
dim startRangeVert as float
init startRangeVert := 0
func startRangeVert (newVal as float)
startRangeVert := newVal
VerifyLimits()
Clear()
endfunc
#doc prop endRangeVert
~This defines the upper limit to be displayed on this object. The value of this property
~corresponts to a point along the top of this object. This object will display
~values between startRangeVert and endRangeVert within its extents. If
~startRangeVert is greater than endRangeVert then the graph is flipped
~vertically.
dim endRangeVert as float
init endRangeVert := 100
func endRangeVert (newVal as float)
endRangeVert := newVal
VerifyLimits()
Clear()
endfunc
#doc prop commObject
~commObject defines which GalilCommunication object will be used to communicate with
~the controller. You should create one GalilCommunication object for each motion controller
~you wish to communicate with. By setting the commObject property, you can control wich
~motion controller this object communicates with.
Most projects will require only
~one GalilCommunication object, and this property will automatically be set to refer to that
~communication object.
dim commObject as objref GalilCommunication
init commObject := empty
#doc prop inputTypeHorz
~InputType determines which property of the motion controller will be used to plot the
~horizontal axis of this control. Select an appropriate type from the drop down list.
dim inputTypeHorz as GMC_DataType
init inputTypeHorz := GMC_Position
func inputTypeHorz(newVal as GMC_DataType)
inputTypeHorz := newVal
commandHorz := GMCDataTypeToCommand(inputTypeHorz, inputSourceHorz, false, "")
endfunc
#doc prop inputSourceHorz
~If the inputTypeHorz property queries information related to an axis on the controller (i.e.
~GMC_Position), then use the inputSourceHorz property to select which axis to query.
dim inputSourceHorz as GMC_Axis
init inputSourceHorz := GMC_Axis_X
func inputSourceHorz (newVal as GMC_Axis)
inputSourceHorz := newVal
commandHorz := GMCDataTypeToCommand(inputTypeHorz, inputSourceHorz, false, "")
endfunc
private dim commandHorz as string
#doc prop inputTypeVert
~InputType determines which property of the motion controller will be used to plot the
~horizontal axis of this control. Select an appropriate type from the drop down list.
dim inputTypeVert as GMC_DataType
init inputTypeVert := GMC_Position
func inputTypeVert(newVal as GMC_DataType)
inputTypeVert := newVal
commandVert := GMCDataTypeToCommand(inputTypeVert, inputSourceVert, false, "")
endfunc
#doc prop inputSourceVert
~If the inputTypeVert property queries information related to an axis on the controller (i.e.
~GMC_Position), then use the inputSourceVert property to select which axis to query.
dim inputSourceVert as GMC_Axis
init inputSourceVert := GMC_Axis_Y
func inputSourceVert (newVal as GMC_Axis)
inputSourceVert := newVal
commandVert := GMCDataTypeToCommand(inputTypeVert, inputSourceVert, false, "")
endfunc
private dim commandVert as string
#doc prop pollInterval
~pollInterval defines, in milliseconds, then amount of time that will elapse between
~polls to the controller. The minimum supported value is 40 ms. It is recommended that you
~use the highest possible value for this property as excessive polling will reduce the
~responsiveness of the terminal. Also, you may want to limit the total number of polling
~objects that can be visible (enabled) at once in order to enhance performance.
~In order to maximize performance, if this object, or the screen on which it resides is
~disabled, then it will cease polling. Once the object (or parent screen) is re-enabled,
~it will immediately poll the controller once to refresh its value, then resume normal polling.
dim pollInterval as integer
init pollInterval := 1000
func pollInterval (newVal as integer)
if newVal <= 0 then
pollInterval := 0
UnregisterMsgHandler (me, msg_timetick, 0)
else
pollInterval := newVal
RegisterMsghandler (me, msg_timetick, newVal/20)
endif
endfunc
#doc prop scaleObjHorz
~If you want a scale displayed along the horizontal axis, create a GMCAutoScale object, set its
~properties, then set the scaleObjHorz to reference the GMCAutoScale that you created.
~The scale will automatically be placed next to this object and sized appropriately.
dim scaleObjHorz as objref GMCAutoScale
init scaleObjHorz := empty
func scaleObjHorz(newVal as GMCAutoScale)
if scaleObjHorz <> empty then
scaleObjHorz.enabled = false
endif
scaleObjHorz := newVal
DoBuddyAttachHorz()
endfunc
#doc prop scaleObjVert
~If you want a scale displayed along the horizontal axis, create a GMCAutoScale object, set its
~properties, then set the scaleObjHorz to reference the GMCAutoScale that you created.
~The scale will automatically be placed next to this object and sized appropriately.
dim scaleObjVert as objref GMCAutoScale
init scaleObjVert := empty
func scaleObjVert(newVal as GMCAutoScale)
if scaleObjVert <> empty then
scaleObjVert.enabled = false
endif
scaleObjVert := newVal
DoBuddyAttachVert()
endfunc
func StartUp()
handles MSG_INIT
Relocate (me, xPos, yPos)
Resize (me, width, height)
Enable (me, enabled)
Attach (me, parent)
GMC_VerifyCommObj(commObject)
VerifyLimits()
DimArrays()
PollInterval(pollInterval)
InputTypeHorz(inputTypeHorz)
InputTypeVert(inputTypeVert)
DoBuddyAttachHorz()
DoBuddyAttachVert()
endfunc
func Draw()
handles MSG_DRAW
dim i, i2, max as integer
setfgcolor(bordercolor)
setbgcolor (bgcolor)
settransparent(bgcolor)
usetransparent (transparent)
drawbox (xpos, ypos, xpos+width-1, ypos+height-1)
if fastDraw then
Setfgcolor(Tracecolor1)
DrawPolygon (left(xpts, insertIdx), left(ypts, insertIdx), POLY_NOCONNECT)
else
max = insertIdx-1
for i = 1 to max
i2 := i-1
SetFgColor (clrs[max-i2])
DrawLine (xpts[i], ypts[i], xpts[i2], ypts[i2])
next
endif
if showCurPos then
SetFgColor (curPosColor)
if insertIdx > 0 then
i := insertIdx-1
DrawBox (xPts[i]-1, yPts[i]-1, xPts[i]+1, yPts[i]+1)
endif
endif
endfunc
private dim xPts[], yPts[] as integer
private dim clrs[] as color
private dim insertIdx as integer
private func Clear()
redim(xPts, 0)
redim(yPts, 0)
redim(clrs, 0)
insertIdx := 0
DimArrays()
endfunc
private func VerifyLimits()
if startRangeHorz == endRangeHorz then
endRangeHorz := startRangeHorz+1
endif
if startRangeVert == endRangeVert then
endRangeVert := startRangeVert+1
endif
endfunc
private func DimArrays()
redim(xPts, numTracePoints)
redim(yPts, numTracePoints)
redim(clrs, numTracePoints)
if insertIdx > numTracePoints then
insertIdx := numTracePoints
endif
#if _tool
PopulateForLayoutView()
#endif
RecalcColors()
endfunc
#if _tool
private func PopulateForLayoutView()
dim t as float
dim i as integer
dim stp, stp2 as float
dim radius as float
dim cx, cy as float
if numTracePoints > 0 then
stp = (6*pi)/(numTracePoints)
insertIdx := 0
cx = xPos+width/2
cy = yPos+height/2
if width< height then
radius = (width-2)/2
else
radius = (height-2)/2
endif
stp2 = radius*(1.0/numTracePoints)
radius := 0
for t = 0 to 6*pi step stp
xpts[insertIdx] = cx + (radius*cos(t))
ypts[insertIdx] = cy + (radius*sin(t))
insertIdx := insertIdx + 1
if (insertIdx >= numTracePoints) then
break
endif
radius := radius + stp2
next
endif
endfunc
#endif
private func RecalcColors()
dim r1, g1, b1 as integer
dim r2, g2, b2 as integer
dim r3, g3, b3 as integer
dim dr, dg, db as float
dim i, max as integer
dim tmpFlt as float
dim sr, sg, sb as float
r1 = TraceColor1/32
r2 = TraceColor2/32
r3 = TraceColor3/32
g1 = (traceColor1 and unibyte(0x1C))/4
g2 = (traceColor2 and unibyte(0x1C))/4
g3 = (traceColor3 and unibyte(0x1C))/4
b1 = traceColor1 and unibyte(0x03)
b2 = traceColor2 and unibyte(0x03)
b3 = traceColor3 and unibyte(0x03)
max = (numTracePoints-1)/2
if max > 0 then
tmpFlt = 1.0/max
dr = (r2-r1)*tmpFlt
dg = (g2-g1)*tmpFlt
db = (b2-b1)*tmpFlt
sr = r1+.5
sg = g1+.5
sb = b1+.5
for i = 0 to max
clrs[i] = 32*integer(sr) + 4*integer(sg) + integer(sb)
sr = sr + dr
sg = sg + dg
sb = sb + db
next
endif
max = numTracePoints - max
if max > 0 then
tmpFlt = 1.0/max
dr = (r3-r2)*tmpFlt
dg = (g3-g2)*tmpFlt
db = (b3-b2)*tmpFlt
sr = r2+.5
sg = g2+.5
sb = b2+.5
max = numTracePoints-1
for i = i to max
clrs[i] = 32*integer(sr) + 4*integer(sg) + integer(sb)
sr = sr + dr
sg = sg + dg
sb = sb + db
next
endif
Rerender(me)
endfunc
private func AddPoint(x as float, y as float)
dim scrX, scrY as integer
#if _tool
return
#endif
scrX = xPos+1+ ((width-2) * (x-startRangeHorz)/(endRangeHorz-startRangeHorz))
'scrY = yPos+height-2- ((height-2)* (y-startRangeVert)/(endRangeVert-startRangeVert))
'scrY = yPos+1+ ((height-2) * (y-startRangeHorz)/(endRangeHorz-startRangeHorz))
scrY = yPos+height-1 - ((height-2) * (y-startRangeHorz)/(endRangeHorz-startRangeHorz))
if insertIdx == numTracePoints then
SetArrayData (xPts, 0, xPts, 1, -1)
SetArrayData (yPts, 0, yPts, 1, -1)
xPts[numTracePoints-1] = scrX
yPts[numTracePoints-1] = scrY
else
xPts[insertIdx] = scrX
yPts[insertIdx] = scrY
insertIdx := insertIdx + 1
endif
Rerender(me)
endfunc
'-----------------------------------------------------------------------------------------
'The actual communications stuff
private func Timetick ()
handles MSG_TIMETICK
commObject.SendAsciiCommandStreamCounted(commandHorz+commandVert, me, 0, 2)
return
endfunc
private func Zenabled (status as boolean)
handles MSG_ZENABLED
if status and enabled then
TimeTick()
else
Clear()
endif
endfunc
private func Success(parm as integer) returns boolean
handles GMC_CommSuccess
dim tmpValueHorz, tmpValueVert as float
dim pos as integer
pos = find(commObject.curResponse, 0, -1, ":")
if pos > 0 then
check error
val(tmpValueHorz, trim(left(commObject.curResponse, pos)))
val(tmpValueVert, trim(mid(commObject.curResponse, pos+1, -1)))
on error
tmpValueHorz := startRangeHorz
tmpValueVert := startRangeVert
GMC_ClearException()
enderr
AddPoint (tmpValueHorz, tmpValueVert)
else
FailureReceived(trim(commObject.curResponse), GMC_FailUnexpectedData)
endif
return true
endfunc
private func Failure(parm as integer) returns boolean
handles GMC_CommFailure
FailureReceived(trim(commObject.curResponse), commObject.curFailureReason)
return true
endfunc
#doc override FailureReceived
#param response:The response returned by the controller minus the final colon terminator. If you modify this paramater, the final display will reflect the results of the modifications
#param failReason:The reason why this event is generated. Either GMC_FailCommunications, GMC_FailBadCommand or GMC_FailUnexpectedData
~This event is triggered when a command has been sent to the controller, but the controller
~failed to respond, responded incorrectly, or returned an error response.
func FailureReceived(response as string, failReason as GMC_FailureReason)
return
endfunc
'The rest of these functions add functionality to the PC development tool. The
'#if _TOOL line ensures that the code will not be compiled into a BFF that
'is loaded into the terminal
'These functions are called in response to actions taken in the PC development tool.
'If as a result of these actions you change one or more of the properties of
'this object that should be permanently recorded (for instance changing xPos in
'response to MSG_TOOL_MOVE) then you should call Tool_Persist to save the new
'value of the property in your source code of your object instance
#if _TOOL
'This function is called by the PC development tool, when you change the attachment
'of an object (i.e. in response to dragging it around the object tree).
'Note: the purpose of this function is to allow you to attach to another
'container, you should not change your parent property or call Tool_Persist
'until you receive a MSG_TOOL_ATTACHED. A MSG_TOOL_ATTACHED will be sent
'in response to an Attach API function call.
func ToolAttach (attachTo as objref)
handles MSG_TOOL_ATTACH
Attach (me, attachTo)
endfunc
'This function is called in response to calling Attach (primarily in a
'handler for MSG_TOOL_ATTACH, but possibly in other places as well_.
func ToolAttached (newParent as objref)
handles MSG_TOOL_ATTACHED
'Set our parent property to reflect who we are attached to and save
parent := newParent
Tool_Persist (parent) 'Save parent
DoBuddyAttachHorz()
DoBuddyAttachVert()
endfunc
'This function is called when the user drags an object instance with the
'mouse in the PC development tool. dx and dy are relative offsets from the current
'location of the object
func ToolMove (dx as integer, dy as integer)
handles MSG_TOOL_MOVE
xPos := xPos + dx
yPos := yPos + dy
Relocate (me, xPos, yPos)
'Save the changes we just made
Tool_Persist (xPos)
Tool_Persist (yPos)
Clear()
DoBuddyAttachHorz()
DoBuddyAttachVert()
endfunc
'This function is called by the PC development tool to obtain the coordinates of
'the resize grips. The arrays xCoords, yCoords, and cursors all contain 0
'elements initially. This means that you should either call redim on those
'arrays and set their values, or declare local arrays, set the values of
'the local arrays, and then assign xCoords, yCoords and cursors to those
'local arrays. Closed indicates whether the Foundry should connect the
'first and last grips to make a closed object. xCoords, yCoords, and
'cursors should all contain the same number of elements when this function
'completes
func ToolGetHandles (xCoords[] as reference to integer, ->
yCoords[] as reference to integer, ->
cursors[] as reference to GuiCursors, ->
closed as reference to boolean)
handles MSG_TOOL_GETHANDLES
'Call a standard function to handle common functionality.
'You can omit this function call and implement your own custom functionality
'if desired
_ToolGetHandles (xCoords, yCoords, cursors, closed, xPos, yPos, width, height)
endfunc
'This function is called in response to a user moving a resize grip within
'the PC development tool. handleNum is the index into the arrays that were returned
'by the handler for MSG_TOOL_GETHANDLES. You should return true from this
'function
func ToolMoveHandle (handleNum as reference to integer, dx as integer, dy as integer)
handles MSG_TOOL_MOVEHANDLE
'Call a standard function to handle common functionality.
'You can omit this function call and implement your own custom functionality
'if desired
_ToolMoveHandle (handleNum, dx, dy, xPos, yPos, width, height, me)
Clear()
DoBuddyAttachHorz()
DoBuddyAttachVert()
endfunc
'This function is called when the user created an instance of this template by
'selecting it from the object palette and dragging it in the layout view.
'The handler for MSG_INIT is not called automatically, and if you want it
'called, you should call it manually.
'You should call Tool_Persist on all the properties that you set up in this
'message handler. (x1, y1) are the coordinates that the user started his
'drag and (x2, y2) are the coordinates that the mouse was released
func ToolDragCreate (parentObj as objref, x1 as integer, y1 as integer, ->
x2 as integer, y2 as integer)
handles MSG_TOOL_DRAGCREATE
'Call a standard function to handle common functionality.
'You can omit this function call and implement your own custom functionality
'if desired
_ToolDragCreate (parentObj, x1, y1, x2, y2, xPos, yPos, width, height, parent)
'Call our MSG_INIT handler
StartUp()
endfunc
#endif
private func ScaleResize(newLeng as integer) returns boolean
handles AutoScale_ResizeRequest
newLeng := newLeng + 2
if (scaleObjHorz == GMC_BuddyRequest) then
if newLeng <> width then
width := newLeng
#if _tool tool_persist(width) #endif
Resize (me, width, height)
Clear()
DoBuddyAttachVert()
endif
elseif (scaleObjVert == GMC_BuddyRequest) then
if newLeng <> height then
height := newLeng
#if _tool tool_persist(height) #endif
Resize (me, width, height)
Clear()
DoBuddyAttachHorz()
endif
endif
return true
endfunc
private func BuddyReinit(parm as integer) returns boolean
handles AutoScale_BuddyReinit
if (scaleObjHorz == GMC_BuddyRequest) and initialAttachRequestHorz then
DoBuddyAttachHorz()
return true
endif
if (scaleObjVert == GMC_BuddyRequest) and initialAttachRequestVert then
DoBuddyAttachVert()
return true
endif
return false
endfunc
private dim initialAttachRequestHorz, initialAttachRequestVert as boolean
private func DoBuddyAttachHorz()
if scaleObjHorz <> empty then
initialAttachRequestHorz := true
scaleObjHorz.AttachTo (xPos+1, yPos, xPos+width-2, yPos+height-1, startRangeHorz, ->
endRangeHorz, true, me, parent, enabled)
endif
endfunc
private func DoBuddyAttachVert()
if scaleObjVert <> empty then
initialAttachRequestVert := true
scaleObjVert.AttachTo (xPos, yPos+1, xPos+width-1, yPos+height-2, endRangeVert, ->
startRangeVert, false, me, parent, enabled)
endif
endfunc
Enddef
#endif
#endfile
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Define Area Object type GMCPathTrace
#doc object GMCPathTrace
~This object implements a type of 2D graph that can be used to
~plot the recent positions of the motor. To use this object, simply
~set up its properties, especially the startRangeHorz, endRangeHorz,
~startRangeVert, endRangeVert, commObject, inputTypeHorz,
~inputSourceHorz, inputTypeVert, inputSourceVert, and
~pollInterval properties.
~Generally you would be interested in polling the motor position along two of the
~motor axis (such as the X and the Y axis). This object is robust object
~and can consume a lot of the processing power available on the QTERM-G70.
~As such, you should minimize the use of other polling type objects on the
~same screen as you place this GMCPathTrace object. You can also improve
~performance, if necessary, by increasing pollInterval, and decreasing
~numTracePoints.
dim enabled as boolean
func enabled(newval as boolean)
endfunc
dim parent as objref
func parent(newval as objref)
endfunc
dim xPos as integer
func xPos(newval as integer)
endfunc
dim yPos as integer
func yPos(newval as integer)
endfunc
dim width as integer
func width(newval as integer)
endfunc
dim height as integer
func height(newval as integer)
endfunc
dim borderColor as color
func bordercolor (newVal as color)
endfunc
#doc prop TraceColor1
~This color is used to draw the the most recent positions that have been plotted. If
~fastDraw is set to true, then this color is used for the entire plot.
dim TraceColor1 as color
func traceColor1 (newVal as color)
endfunc
#doc prop TraceColor2
~As positions that have been logged age, the fade in to this color. This color
~is used to represent trace positions that are in the middle of the log. This color
~is not used if fastDraw is set to true.
dim TraceColor2 as color
func traceColor2 (newVal as color)
endfunc
#doc prop TraceColor3
~The oldest positions in the trace log are drawn in this color. This color in not
~used if fastDraw is set to true.
dim traceColor3 as color
func traceColor3 (newVal as color)
endfunc
#doc prop curPosColor
~If showCurPos is true, then the current position of on the plot will be drawn in this color
dim curPosColor as color
func curPosColor (newVal as color)
endfunc
#doc prop showCurPos
~If true, the current position will be shown as a small box on the plot
dim showCurPos as boolean
func showCurPos (newVal as boolean)
endfunc
dim bgColor as color
func bgColor (newVal as color)
endfunc
dim transparent as boolean
func transparent (newVal as boolean)
endfunc
#doc prop fastDraw
~When fastDraw is set to true, this object displays itself much, much faster. As a
~result it can log many more trace points than it otherwise could. When this property is
~set to true, the trace line is drawn in a single solid color (TraceColor1). On
~older versions of firmware, the beginning and end of the trace line will be connected.
~When fastDraw is false, the trace line is drawn in a gradient that fades between
~the various trace colors. As the gradient takes time to draw, you should limit the
~numTracePoints property to values of 100 or less when this property is true.
dim fastDraw as boolean
func fastDraw (newVal as boolean)
endfunc
#doc prop NumTracePoints
~This is the number of points that the this object will log. Increasing this this number
~will allow for a longer log, but decreased performance of the terminal. If you increase
~this value above 100, you should generally also set fastDraw to true.
dim NumTracePoints as integer
func numTracePoints (newVal as integer)
endfunc
#doc prop startRangeHorz
~This defines the lower limit to be displayed on this object. The value of this property
~corresponts to a point along the left of this object. This object will display
~values between startRangeHorz and endRangeHorz within its extents. If
~startRangeHorz is greater than endRangeHorz then the graph is flipped
~horizontally.
dim startRangeHorz as float
func startRangeHorz (newVal as float)
endfunc
#doc prop endRangeHorz
~This defines the upper limit to be displayed on this object. The value of this property
~corresponts to a point along the right of this object. This object will display
~values between startRangeHorz and endRangeHorz within its extents. If
~startRangeHorz is greater than endRangeHorz then the graph is flipped
~horizontally.
dim endRangeHorz as float
func endRangeHorz (newVal as float)
endfunc
#doc prop startRangeVert
~This defines the lower limit to be displayed on this object. The value of this property
~corresponts to a point along the bottom of this object. This object will display
~values between startRangeVert and endRangeVert within its extents. If
~startRangeVert is greater than endRangeVert then the graph is flipped
~vertically.
dim startRangeVert as float
func startRangeVert (newVal as float)
endfunc
#doc prop endRangeVert
~This defines the upper limit to be displayed on this object. The value of this property
~corresponts to a point along the top of this object. This object will display
~values between startRangeVert and endRangeVert within its extents. If
~startRangeVert is greater than endRangeVert then the graph is flipped
~vertically.
dim endRangeVert as float
func endRangeVert (newVal as float)
endfunc
#doc prop commObject
~commObject defines which GalilCommunication object will be used to communicate with
~the controller. You should create one GalilCommunication object for each motion controller
~you wish to communicate with. By setting the commObject property, you can control wich
~motion controller this object communicates with.
Most projects will require only
~one GalilCommunication object, and this property will automatically be set to refer to that
~communication object.
dim commObject as objref GalilCommunication
#doc prop inputTypeHorz
~InputType determines which property of the motion controller will be used to plot the
~horizontal axis of this control. Select an appropriate type from the drop down list.
dim inputTypeHorz as GMC_DataType
func inputTypeHorz(newVal as GMC_DataType)
endfunc
#doc prop inputSourceHorz
~If the inputTypeHorz property queries information related to an axis on the controller (i.e.
~GMC_Position), then use the inputSourceHorz property to select which axis to query.
dim inputSourceHorz as GMC_Axis
func inputSourceHorz (newVal as GMC_Axis)
endfunc
#doc prop inputTypeVert
~InputType determines which property of the motion controller will be used to plot the
~horizontal axis of this control. Select an appropriate type from the drop down list.
dim inputTypeVert as GMC_DataType
func inputTypeVert(newVal as GMC_DataType)
endfunc
#doc prop inputSourceVert
~If the inputTypeVert property queries information related to an axis on the controller (i.e.
~GMC_Position), then use the inputSourceVert property to select which axis to query.
dim inputSourceVert as GMC_Axis
func inputSourceVert (newVal as GMC_Axis)
endfunc
#doc prop pollInterval
~pollInterval defines, in milliseconds, then amount of time that will elapse between
~polls to the controller. The minimum supported value is 40 ms. It is recommended that you
~use the highest possible value for this property as excessive polling will reduce the
~responsiveness of the terminal. Also, you may want to limit the total number of polling
~objects that can be visible (enabled) at once in order to enhance performance.
~In order to maximize performance, if this object, or the screen on which it resides is
~disabled, then it will cease polling. Once the object (or parent screen) is re-enabled,
~it will immediately poll the controller once to refresh its value, then resume normal polling.
dim pollInterval as integer
func pollInterval (newVal as integer)
endfunc
#doc prop scaleObjHorz
~If you want a scale displayed along the horizontal axis, create a GMCAutoScale object, set its
~properties, then set the scaleObjHorz to reference the GMCAutoScale that you created.
~The scale will automatically be placed next to this object and sized appropriately.
dim scaleObjHorz as objref GMCAutoScale
func scaleObjHorz(newVal as GMCAutoScale)
endfunc
#doc prop scaleObjVert
~If you want a scale displayed along the horizontal axis, create a GMCAutoScale object, set its
~properties, then set the scaleObjHorz to reference the GMCAutoScale that you created.
~The scale will automatically be placed next to this object and sized appropriately.
dim scaleObjVert as objref GMCAutoScale
func scaleObjVert(newVal as GMCAutoScale)
endfunc
func StartUp()
handles MSG_INIT
endfunc
func Draw()
handles MSG_DRAW
endfunc
endfunc
endfunc
endfunc
endfunc
endfunc
endfunc
handles MSG_TIMETICK
endfunc
handles MSG_ZENABLED
endfunc
handles GMC_CommSuccess
endfunc
handles GMC_CommFailure
endfunc
#doc override FailureReceived
#param response:The response returned by the controller minus the final colon terminator. If you modify this paramater, the final display will reflect the results of the modifications
#param failReason:The reason why this event is generated. Either GMC_FailCommunications, GMC_FailBadCommand or GMC_FailUnexpectedData
~This event is triggered when a command has been sent to the controller, but the controller
~failed to respond, responded incorrectly, or returned an error response.
func FailureReceived(response as string, failReason as GMC_FailureReason)
endfunc
func ToolAttach (attachTo as objref)
handles MSG_TOOL_ATTACH
endfunc
func ToolAttached (newParent as objref)
handles MSG_TOOL_ATTACHED
endfunc
func ToolMove (dx as integer, dy as integer)
handles MSG_TOOL_MOVE
endfunc
func ToolGetHandles (xCoords[] as reference to integer, ->
yCoords[] as reference to integer, ->
cursors[] as reference to GuiCursors, ->
closed as reference to boolean)
handles MSG_TOOL_GETHANDLES
endfunc
func ToolMoveHandle (handleNum as reference to integer, dx as integer, dy as integer)
handles MSG_TOOL_MOVEHANDLE
endfunc
func ToolDragCreate (parentObj as objref, x1 as integer, y1 as integer, ->
x2 as integer, y2 as integer)
handles MSG_TOOL_DRAGCREATE
endfunc
handles AutoScale_ResizeRequest
endfunc
handles AutoScale_BuddyReinit
endfunc
endfunc
endfunc
Enddef
#endfile
#ifnot Galil_mc_src_GMCAutoScale
#option Galil_mc_src_GMCAutoScale
#ifnot AutoScaleConstants
#option AutoScaleConstants
const message AutoScale_ResizeRequest
const message AutoScale_BuddyReinit
const message AutoScale_SelfWarn
const majorTickWidth := 4
const minorTickWidth := 2
const tickPadding := 2
#hidden dim GMC_BuddyRequest as objref GMCAutoScale
#endif
#ifnot GMCAutoScaleDefined
#option GMCAutoScaleDefined
Define Area Object type GMCAutoScale
#ToolImage "F3BF1D5F7B5F71BF3FFF7FFF7FFF1FFF7FFF7FFF3FFF7DBF795F1D5FFDBF"
'*******************************************************************
'Object: GMCScaleObject
'Author: Jeremy Richards
'Date: 27 May 2004
'
'Description: Assistant scale display for GMC objects
'
'Version: 1.52
'Copyright: 2004 QSI Corporation. Permission to modify and
' distribute this object is granted provided this
' copyright notice remains in tact.
'*******************************************************************
#doc object GMCAutoScale
~This object displays a simple scale in conjunction with the GMCGauge, GMCPathTrace,
~and GMCTrendChart objects. To use this object, create an instance of this object and
~set its properties. Then select an instance of a GMCGauge, GMCPathTrace or
~GMCTrendChart and set its scaleObj, scaleObjHorz, or scaleObjVert
~property to refer to the GMCAutoScale you just created. This will attach the
~GMCAutoScale to the other object. Once that occurs, this scale will move and size
~along with the other object.
library standard source ToolMessages
library standard source AbsoluteValues
dim enabled as boolean
init enabled := true
func enabled(newval as boolean)
enabled := newval
Enable (me, enabled)
endfunc
#if _tool
func StartUp()
handles MSG_INIT
GMC_BuddyRequest := me
UserBroadcastMsg (default, AutoScale_BuddyReinit, 0, true)
if buddyObj == empty then
UserDirectMsg (me, AutoScale_SelfWarn, 0, false)
endif
endfunc
private func SelfWarn(parm as integer) returns boolean
handles AutoScale_SelfWarn
Tool_Trace ("Autoscale Warning: " + str(me) + " is not attached to any object. If this scale is not needed, please delete it.")
return true
endfunc
#endif
func Draw()
handles MSG_DRAW
'dim width, height as integer
dim bgColor as color
dim i, max, j, max2 as integer
dim txt, tick1, tick2, tick3 as integer
dim curTickValue as float
dim w, h, xo, yo as integer
dim renderStr, formatStr as string
dim pos1, pos2, inc, inc2 as float
'width = GetPosInfo(me, Get_Width)
'height = GetPosInfo (me, Get_Height)
'Draw the tick marks
SetFgColor(fgColor)
bgColor := fgColor+1
SetBgColor(bgColor)
SetTransparent(bgColor)
UseTransparent(true)
formatStr := "%0" + str(minLabelWidth) + "." + str(digitsAfterDecimal) + "f"
max = majorTicks-2
max2 = minorTicks-1
inc = float(length-1) / ((majorTicks-1)*(minorTicks+1))
inc2 = float(length-1) / (majorTicks-1)
if not horz then
if not attachalternateside then
txt = xPos
tick1 = xPos+lineWidth+tickPadding
tick2 = xPos+lineWidth+tickPadding+majorTickWidth-1
tick3 = tick2 - (minorTickWidth-1)
else
txt = xPos+tickPadding+majorTickWidth
tick1 = xPos+majorTickWidth
tick2 = xPos
tick3 = tick2 + (minorTickWidth-1)
endif
curTickValue = sr
pos1 = yPos + lineHeight/2
pos2 = yPos
for i = 0 to max
renderStr = cprintf(formatStr, curTickValue)
GetTTFTextSize (w, h, xo, yo, font, 0, ptSize, renderStr, font_normal)
DrawTTFText (txt, pos2, lineWidth, lineHeight, xo + (lineWidth-w), yo, font, 0, ptSize, renderStr, font_normal)
DrawLine (tick1, pos1, tick2, pos1)
for j = 0 to max2
pos1 := pos1 + inc
DrawLine(tick2, pos1, tick3, pos1)
next
pos1 := pos1 + inc
pos2 := pos2 + inc2
curTickValue := curTickValue + factor
next
renderStr = cprintf(formatStr, er)
GetTTFTextSize (w, h, xo, yo, font, 0, ptSize, renderStr, font_normal)
DrawTTFText (txt, pos2, lineWidth, lineHeight, xo + (lineWidth-w), yo, font, 0, ptSize, renderStr, font_normal)
DrawLine (tick1, pos1, tick2, pos1)
else
'Scale is oriented horizontally
if attachalternateside then
txt = yPos
tick1 = yPos+lineWidth+tickPadding
tick2 = yPos+lineWidth+tickPadding+majorTickWidth-1
tick3 = tick2 - (minorTickWidth-1)
SetTTFAngle (3*PI/2)
else
txt = yPos+tickPadding+majorTickWidth
tick1 = yPos+majorTickWidth
tick2 = yPos
tick3 = tick2 + (minorTickWidth-1)
SetTTFAngle(3*PI/2)
endif
curTickValue = sr
pos1 = xPos + lineHeight/2
pos2 = xPos
for i = 0 to max
renderStr = cprintf(formatStr, curTickValue)
GetTTFTextSize (w, h, xo, yo, font, 0, ptSize, renderStr, font_normal)
DrawTTFText (pos2, txt, lineHeight, lineWidth, xo, yo + (lineWidth-h), font, 0, ptSize, renderStr, font_normal)
DrawLine (pos1, tick1, pos1, tick2)
for j = 0 to max2
pos1 := pos1 + inc
DrawLine(pos1, tick2, pos1, tick3)
next
pos1 := pos1 + inc
pos2 := pos2 + inc2
curTickValue := curTickValue + factor
next
renderStr = cprintf(formatStr, er)
GetTTFTextSize (w, h, xo, yo, font, 0, ptSize, renderStr, font_normal)
DrawTTFText (pos2, txt, lineHeight, lineWidth, xo, yo + (lineWidth-h), font, 0, ptSize, renderStr, font_normal)
DrawLine (pos1, tick1, pos1, tick2)
endif
endfunc
'The rest of these functions add functionality to the PC development tool. The
'#if _TOOL line ensures that the code will not be compiled into a BFF that
'is loaded into the terminal
'These functions are called in response to actions taken in the PC development tool.
'If as a result of these actions you change one or more of the properties of
'this object that should be permanently recorded (for instance changing xPos in
'response to MSG_TOOL_MOVE) then you should call Tool_Persist to save the new
'value of the property in your source code of your object instance
#if _TOOL
'This function is called by the PC development tool to obtain the coordinates of
'the resize grips. The arrays xCoords, yCoords, and cursors all contain 0
'elements initially. This means that you should either call redim on those
'arrays and set their values, or declare local arrays, set the values of
'the local arrays, and then assign xCoords, yCoords and cursors to those
'local arrays. Closed indicates whether the Foundry should connect the
'first and last grips to make a closed object. xCoords, yCoords, and
'cursors should all contain the same number of elements when this function
'completes
func ToolGetHandles (xCoords[] as reference to integer, ->
yCoords[] as reference to integer, ->
cursors[] as reference to GuiCursors, ->
closed as reference to boolean)
handles MSG_TOOL_GETHANDLES
redim (xCoords, 4)
redim (yCoords, 4)
redim (cursors, 4)
xCoords[0] = GetPosInfo(me, Get_X)
xCoords[1] = xCoords[0] + GetPosInfo(me, Get_Width) - 1
xCoords[2] = xCoords[1]
xCoords[3] = xCoords[0]
yCoords[0] = GetPosInfo(me, Get_Y)
yCoords[1] = yCoords[0]
yCoords[2] = yCoords[0] + GetPosInfo(me, Get_Height)-1
yCoords[3] = yCoords[2]
cursors[0] = CSR_ObjectFixed or CSR_None
cursors[1] = CSR_None
cursors[2] = CSR_None
cursors[3] = CSR_none
endfunc
'This function is called when the user created an instance of this template by
'selecting it from the object palette and dragging it in the layout view.
'The handler for MSG_INIT is not called automatically, and if you want it
'called, you should call it manually.
'You should call Tool_Persist on all the properties that you set up in this
'message handler. (x1, y1) are the coordinates that the user started his
'drag and (x2, y2) are the coordinates that the mouse was released
func ToolDragCreate (parentObj as objref, x1 as integer, y1 as integer, ->
x2 as integer, y2 as integer)
handles MSG_TOOL_DRAGCREATE
'Call our MSG_INIT handler
StartUp()
endfunc
#endif
dim minLabelWidth as integer
init minLabelWidth := 0
func minLabelWidth(newVal as integer)
minLabelWidth := newVal
ReInitBuddy()
endfunc
dim digitsAfterDecimal as integer
init digitsAfterDecimal := 0
func digitsAfterDecimal(newVal as integer)
digitsAfterDecimal := newVal
ReInitBuddy()
endfunc
dim majorTicks as integer
init majorTicks := 3
func majorTicks(newVal as integer)
majorTicks := newVal
ReinitBuddy()
endfunc
dim minorTicks as integer
init minorTicks := 3
func minorTicks(newVal as integer)
minorTicks := newVal
ReinitBuddy()
endfunc
dim forceEvenSpacing as boolean
init forceEvenSpacing := true
func forceEvenSpacing (newVal as boolean)
forceEvenSpacing := newVal
ReinitBuddy()
endfunc
dim font as TTFont
init font := default
func font (newVal as TTFont)
font := newVal
ReinitBuddy()
endfunc
dim fgColor as color
init fgColor := RGB_White
func fgColor (newVal as color)
fgColor := newVal
ReRender(me)
endfunc
dim ptSize as integer
init ptSize := 11
func ptSize (newVal as integer)
ptSize := newVal
ReinitBuddy()
endfunc
dim offset as float
init offset := 0
func offset(newVal as float)
offset := newVal
ReinitBuddy()
endfunc
dim scale as float
init scale := 1
func scale (newVal as float)
scale := newVal
ReinitBuddy()
endfunc
dim attachAlternateSide as boolean
init attachAlternateSide := false
func attachAlternateSide(newVal as boolean)
attachAlternateSide := newVal
ReinitBuddy()
endfunc
dim rotateText as boolean
init rotateText := false
func rotateText (newVal as boolean)
rotateText := newVal
ReinitBuddy()
endfunc
private dim ypos, xpos as integer
private dim length as integer
private dim lineWidth, lineHeight as integer
private dim buddyObj as objref
private dim horz as boolean
private dim factor as float
private dim sr, er as float
library standard native miscfunctions
func AttachTo (leftPos as integer, topPos as integer, rightPos as integer, bottomPos as integer, ->
startRange as float, endRange as float, horizontal as boolean, buddy as objref, ->
parent as objref, enable as boolean)
dim tmpLen as integer
dim textHeight as integer
dim maxWidth, maxHeight as integer
dim w, h, xo, yo as integer
dim tmpStr as string
startRange := startRange * scale + offset
endRange := endRange * scale + offset
if horizontal then
tmpLen = rightPos-leftPos+1
else
tmpLen = bottomPos-topPos+1
endif
if forceEvenSpacing then
tmpLen := CalcBestLeng(tmpLen)
endif
'calculate the height of a line of text
GetTTFtextSize(w, maxHeight, xo, yo, font, 0, ptSize, "-0123456789.E", font_normal)
'calculate the max width of a line
tmpStr = cprintf("%0" + str(minLabelWidth) + "." + str(digitsAfterDecimal) + "f", startRange)
GetTTFTextSize(w, h, xo, yo, font, 0, ptSize, tmpStr, font_normal)
tmpStr = cprintf("%0" + str(minLabelWidth) + "." + str(digitsAfterDecimal) + "f", endRange)
GetTTFTextSize(maxWidth, h, xo, yo, font, 0, ptSize, tmpStr, font_normal)
if w > maxWidth then
maxWidth := w
endif
if not horizontal then
yPos := topPos-maxHeight/2
if not attachAlternateSide then
xpos := leftPos - (majorTickWidth+tickPadding+maxWidth)
else
xpos := rightPos+1
endif
relocate (me, xPos, yPos)
resize (me, majorTickWidth+tickPadding+maxWidth, tmpLen+maxHeight)
else
xPos := leftPos - maxHeight/2
if not attachAlternateSide then
yPos := bottomPos+1
else
yPos := topPos-(majorTickWidth+tickPadding+maxWidth)
endif
relocate (me, xPos, yPos)
resize (me, tmpLen+maxHeight, majorTickWidth+tickPadding+maxWidth)
endif
sr := startRange
er := endRange
factor := (endRange-startRange) / (majorTicks-1)
lineHeight := maxHeight
lineWidth := maxWidth
horz := horizontal
buddyObj := buddy
length := tmpLen
if forceEvenSpacing then
if horizontal and (tmpLen <> rightPos-leftPos+1) then
GMC_BuddyRequest := me
UserDirectMsg (buddyObj, AutoScale_ResizeRequest, tmpLen, true)
elseif (tmpLen <> (bottomPos-topPos+1)) then
GMC_BuddyRequest := me
UserDirectMsg (buddyObj, AutoScale_ResizeRequest, tmpLen, true)
endif
endif
#if _tool tool_persist(enabled) #endif 'Get Foundry to re-request my resize grips
attach(me, parent)
enabled(enable)
Rerender(me)
endfunc
private func CalcBestLeng (curLen as integer) returns integer
dim gaps as integer
gaps = (majorTicks-1) * (minorTicks+1)
return ((curLen-1+gaps/2)/gaps)*gaps + 1
endfunc
private func ReinitBuddy()
GMC_BuddyRequest := me
if buddyObj <> empty then
UserDirectMsg (buddyObj, AutoScale_BuddyReinit, 0, true)
else
UserBroadcastMsg (default, AutoScale_BuddyReinit, 0, true)
endif
endfunc
Enddef
#endif 'GMCAutoScale
#endif
#endfile
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Define Area Object type GMCAutoScale
#doc object GMCAutoScale
~This object displays a simple scale in conjunction with the GMCGauge, GMCPathTrace,
~and GMCTrendChart objects. To use this object, create an instance of this object and
~set its properties. Then select an instance of a GMCGauge, GMCPathTrace or
~GMCTrendChart and set its scaleObj, scaleObjHorz, or scaleObjVert
~property to refer to the GMCAutoScale you just created. This will attach the
~GMCAutoScale to the other object. Once that occurs, this scale will move and size
~along with the other object.
dim enabled as boolean
func enabled(newval as boolean)
endfunc
func StartUp()
handles MSG_INIT
endfunc
handles AutoScale_SelfWarn
endfunc
func Draw()
handles MSG_DRAW
endfunc
func ToolGetHandles (xCoords[] as reference to integer, ->
yCoords[] as reference to integer, ->
cursors[] as reference to GuiCursors, ->
closed as reference to boolean)
handles MSG_TOOL_GETHANDLES
endfunc
func ToolDragCreate (parentObj as objref, x1 as integer, y1 as integer, ->
x2 as integer, y2 as integer)
handles MSG_TOOL_DRAGCREATE
endfunc
dim minLabelWidth as integer
func minLabelWidth(newVal as integer)
endfunc
dim digitsAfterDecimal as integer
func digitsAfterDecimal(newVal as integer)
endfunc
dim majorTicks as integer
func majorTicks(newVal as integer)
endfunc
dim minorTicks as integer
func minorTicks(newVal as integer)
endfunc
dim forceEvenSpacing as boolean
func forceEvenSpacing (newVal as boolean)
endfunc
dim font as TTFont
func font (newVal as TTFont)
endfunc
dim fgColor as color
func fgColor (newVal as color)
endfunc
dim ptSize as integer
func ptSize (newVal as integer)
endfunc
dim offset as float
func offset(newVal as float)
endfunc
dim scale as float
func scale (newVal as float)
endfunc
dim attachAlternateSide as boolean
func attachAlternateSide(newVal as boolean)
endfunc
dim rotateText as boolean
func rotateText (newVal as boolean)
endfunc
func AttachTo (leftPos as integer, topPos as integer, rightPos as integer, bottomPos as integer, ->
startRange as float, endRange as float, horizontal as boolean, buddy as objref, ->
parent as objref, enable as boolean)
endfunc
endfunc
endfunc
Enddef
#endfile
#ifnot Galil_mc_src_GMCSimpleTerminal
#option Galil_mc_src_GMCSimpleTerminal
#ifnot _GMCST_Constants
#option _GMCST_Constants
const GMCST_btnMinW := 30
const GMCST_btnPctW := .25
const GMCST_btnMinH := 20
const GMCST_btnPctH := .15
const GMCST_bdrMin := 3
const GMCST_bdrPct := .03
const GMCST_recentListLen := 20
const GMCST_responseListLen := 20
#endif
#ifnot _GMCST_Globals
#option _GMCST_Globals
#hidden dim _GMCST_CurTerm as objref GMCSimpleTerminal
#hidden dim _GMCST_CurDropListTarget as objref GMCSimpleTerminal
#endif
library progobjs source QwertyKeypad
library progObjs source ListBoxBDF
Define Area Object type GMCSimpleTerminal
#ToolImage "00007FEE7FEE7FEE00007FFE7FFE7FFE7FFE7FFE7FFE7FFE7FFE7FFE0000"
'*******************************************************************
'Object: GMCSimpleTerminal
'Author: Jeremy Richards
'Date: 27 May 2004
'
'Description: A simple terminal for entering interactive commands
' to the controller.
'
'Version: 1.52
'Copyright: 2004 QSI Corporation. Permission to modify and
' distribute this object is granted provided this
' copyright notice remains in tact.
'*******************************************************************
#doc object GMCSimpleTerminal
~This object is a simple terminal window used to send arbitray commands to the
~controller. You can use this object to compose commands to send to the
~motion controller using a simple on-screen keypad. Recent commands are saved
~so that they may be resent. The results of the commands are displayed in
~the terminal window at the bottom of the object.
library standard source ToolMessages
library standard source Draw3DRect
library standard source TextSingleLineBDF
library galil_mc source GMCStringAlloc
library galil_mc source GalilCommunications
library standard source notes
dim enabled as boolean
init enabled := true
func enabled(newval as boolean)
enabled := newval
Enable (me, enabled)
endfunc
dim parent as objref
init parent := default
func parent(newval as objref)
parent := newval
Attach(me, parent)
endfunc
dim xPos as integer
init xPos := 0
func xPos(newval as integer)
xPos := newVal
Relocate (me, xPos, yPos)
dirty = true
endfunc
dim yPos as integer
init yPos := 0
func yPos(newval as integer)
yPos := newval
Relocate (me, xPos, yPos)
dirty = true
endfunc
dim width as integer
init width := 25
func width(newval as integer)
width := newval
Resize (me, width, height)
dirty = true
endfunc
dim height as integer
init height := 25
func height(newval as integer)
height := newval
Resize (me, width, height)
dirty = true
endfunc
dim font as bdffont
init font := default
func font (newVal as bdffont)
dim mu, md, mr, ml, nlx, nly as integer
GetBdfFontMetrics (ml, mr, mu, md, nlx, nly, newval, font_normal)
lineHeight := nly
font := newVal
dirty = true
endfunc
#doc prop bgColorBase
~This property determines the color of the background field of this object. It is also used on the keypad
~object that is used to input new commands.
dim bgColorBase as color
init bgColorBase := rgb_navy
func bgColorBase (newVal as color)
bgColorBase := newVal
dirty = true
endfunc
#doc prop bgColor
~This property determines the background color of the buttons and text fields in this object
dim bgColor as color
init bgColor := col_183
func bgColor (newVal as color)
bgColor := newVal
dirty = true
endfunc
#doc prop fgColor
~This property determines the color of text in the buttons and text fields.
dim fgColor as color
init fgColor := rgb_black
func fgColor (newVal as color)
fgColor := newVal
dirty = true
endfunc
#doc prop baseBorderWidth
~This determines the width of the border around the object. It also determines the height
~of the buttons on the object and the keypad.
dim baseBorderWidth as integer
init baseBorderWidth := 2
#doc prop borderWidth
~This determines how deep the recessed text fields are on this object.
dim borderWidth as integer
init borderWidth := 1
#doc prop customCommandKeySize
~This determines the size of the keys, in pixels, on the Qwerty keypad that is used for text
~entry. The default value of 26 is ideal for most terminals. You may adjust this value if the
~keypad does not fit on the screen of your terminal, or appears smaller than you wish.
dim customCommandKeySize as integer
init customCommandKeySize := 26
dim tone as _Note
init tone := Note_UseDefault
#doc prop preSetCommands
~This property determines which commands appear in the drop down list when the terminal is
~started up. Commands must be separated with a semicolon (;).
~NOTE: This property is only used when the terminal starts up. Setting it at
~run-time has no effect. Also, it is not modified as the contenets of the drop down list.
dim preSetCommands as string
init preSetCommands := "TP;RP;TE;TI;XQ #A;HX"
#doc prop commObject
~commObject defines which GalilCommunication object will be used to communicate with
~the controller. You should create one GalilCommunication object for each motion controller
~you wish to communicate with. By setting the commObject property, you can control wich
~motion controller this object communicates with.
Most projects will require only
~one GalilCommunication object, and this property will automatically be set to refer to that
~communication object.
dim commObject as objref GalilCommunication
init commObject := empty
private dim curSendText as string
private dim recentSentText[gmcst_recentListLen] as integer
private dim recentInsertIdx as integer
private dim responses[GMCST_responseListLen] as integer
private dim responseInsertIdx as integer
private dim sendBox[4] as integer
private dim customBox[4] as integer
private dim dropBox[4] as integer
private dim textWidth, textWidth2 as integer
private dim terminalTextStartY as integer
private dim pixmap[] as color
private dim pw, ph as integer
private dim dirty as boolean
private dim sendPressed as boolean
private dim dropBoxPressed as boolean
private dim customPressed as boolean
private dim lineHeight as integer
private dim numVisLines as integer
init dirty := true
private func dirty (newVal as boolean)
dirty := newVal
Rerender(me)
endfunc
func StartUp()
handles MSG_INIT
Relocate (me, xPos, yPos)
Resize (me, width, height)
Enable (me, enabled)
Attach (me, parent)
GMC_VerifyCommObj(commObject)
font(font)
ParsePresetCommands()
endfunc
func Draw()
handles MSG_DRAW
dim i, cx, cy, min as integer
if dirty then
DrawBaseImage()
else
DrawPixmap (xPos, yPos, pixmap, pw, ph)
endif
if sendPressed then
DrawBtnFrame (sendBox, false)
elseif customPressed then
DrawBtnFrame (customBox, false)
elseif dropBoxPressed then
_3DFrame (dropBox[2] - (dropBox[3]-dropBox[1]+1) + BorderWidth, dropBox[1]+borderWidth, ->
dropBox[2]-borderWidth, dropBox[3]-borderWidth, ->
_Shadow3DColors[bgColor], _Highlight3DColors[bgColor], borderWidth)
endif
cx := dropBox[0] + borderWidth+1
if textWidth > 0 then
'Draw the combo box text
SetFgColor (fgColor)
SetBgColor (bgColor)
_textRect (cx, dropBox[1] + borderWidth+1, ->
textWidth, dropBox[3] - dropBox[1] - 1 - 2*borderWidth, ->
curSendText, font, HA_Center, VA_Center)
endif
if textWidth2 > 0 then
'Draw the terminal text
if responseInsertIdx > numVisLines then
min := responseInsertIdx-1-numVisLines
cy := terminalTextStartY + lineHeight*numVisLines
else
min := 0
cy := terminalTextStartY + lineHeight*(responseInsertIdx-1)
endif
SetTransparent(bgColor)
UseTransparent(True)
for i = responseInsertIdx-1 to min step -1
_textrect (cx, cy, textWidth2, lineHeight, _GMCST_StringAlloc.GetString(responses[i]), ->
font, ha_left, va_baseline)
cy := cy - lineHeight
next
endif
endfunc
private func DrawBtnFrame(rect[] as integer, raised as boolean)
dim c1, c2 as byte
if raised then
c1 := _highlight3dColors[bgColor]
c2 := _shadow3dcolors[bgColor]
else
c2 := _highlight3dColors[bgColor]
c1 := _shadow3dcolors[bgColor]
endif
_3DFrame (rect[0], rect[1], rect[2], rect[3], c1, c2, baseborderWidth)
endfunc
private func DrawBaseImage()
dim bw, bh as integer
dim bdrW, bdrH as integer
dim w, h, xo, yo as integer
bw := Calcdimension (width, gmcst_btnPctW, gmcst_btnMinW)
bh := Calcdimension (height, gmcst_btnPctH, gmcst_btnMinH)
bdrW := Calcdimension (width, gmcst_bdrPct, gmcst_bdrMin)
bdrH := Calcdimension (height, gmcst_bdrPct, gmcst_bdrMin)
sendBox[0] := xPos+width - baseBorderWidth - bdrW - bw
SendBox[1] := yPos+baseBorderWidth + bdrH
SendBox[2] := sendBox[0] + bw - 1
SendBox[3] := sendBox[1] + bh - 1
customBox[0] := sendBox[0]
customBox[1] := yPos+height-baseBorderWidth-bdrH-bh
custombox[2] := sendbox[2]
customBox[3] := customBox[1] + bh-1
DropBox[0] := xPos+baseBorderWidth+bdrW
DropBox[1] := sendBox[1]
DropBox[2] := sendbox[0] - bdrW - 1
DropBox[3] := sendBox[3]
_Draw3DColorRect (xPos, yPos, xPos+width-1, yPos+height-1, bgColorBase, baseBorderWidth, true)
DrawButtonRegion (sendBox, "Send", true, baseBorderWidth)
GetBdfTextSize (w, h, xo, yo, font, "Custom", font_normal)
if w > customBox[2]-customBox[0]+1-2*baseBorderWidth-1 then
DrawButtonRegion (customBox, "Cust", true, baseBorderWidth)
else
DrawButtonRegion (customBox, "Custom", true, baseBorderWidth)
endif
DrawButtonRegion (DropBox, "", false, borderWidth)
'Draw the arrow box
textWidth := (dropBox[2] - bh + BorderWidth - 2) - (dropBox[0]+borderWidth)
_Draw3DColorRect (dropBox[2] - bh + BorderWidth, dropBox[1]+borderWidth, ->
dropBox[2]-borderWidth, dropBox[3]-borderWidth, bgColor, ->
borderWidth, true)
xo = dropBox[2] - bh/2
yo = dropBox[3] - bh/4
SetFgColor(fgColor)
DrawLine (xo, yo, xo, dropBox[1]+bh/4)
DrawLine (xo, yo, xo-3, yo-3)
DrawLine (xo, yo, xo+3, yo-3)
_Draw3DColorRect (dropBox[0], DropBox[3] + bdrH+1, dropBox[2], customBox[3], bgColor, borderWidth, false)
'Do font calculations
textWidth2 := (dropBox[2] - 1 - dropBox[0]) - 2*borderWidth
terminalTextStartY := (DropBox[3]+bdrH+borderWidth)
numVisLines = (((customBox[3]-borderWidth-1) - terminalTextStartY + 1)/lineHeight) - 1
endfunc
private func DrawButtonRegion(rgn[] as integer, text[] as byte, raised as boolean, bdr as integer)
_Draw3DColorRect (rgn[0], rgn[1], rgn[2], rgn[3], bgColor, bdr, raised)
SetFgColor(fgColor)
SetBgColor(bgColor)
_TextRect (rgn[0]+bdr, rgn[1]+bdr, rgn[2]-rgn[0]+1-2*bdr, ->
rgn[3]-rgn[1]+1-2*bdr, text, font, ha_center, va_center)
endfunc
private func CalcDimension (totalSize as integer, pct as float, min as integer) returns integer
dim retVal as integer
retVal := pct*totalSize
if retVal < min then
retVal := min
endif
return retVal
endfunc
private func ShowCustomKeypad ()
_gmcst_curTerm = me
_gmcst_customCommand.text = ""
_gmcst_customcommand.fillcolor = bgcolorbase
_gmcst_customCommand.keybgcolor = bgColor
_gmcst_customcommand.keyfgcolor= fgcolor
_gmcst_customCommand.marqueebgcolor = bgColor
_gmcst_customcommand.marqueefgcolor= fgcolor
_gmcst_customcommand.shifted = true
_gmcst_customcommand.font = font
_gmcst_customcommand.keyfont = font
_gmcst_customcommand.keydepth = baseborderwidth
_gmcst_customcommand.keywidth = customCommandKeySize
_gmcst_customcommand.keyheight = customCommandKeySize
_gmcst_customcommand.xpos = (GetPosInfo(default, get_width) - GetPosInfo(_gmcst_customcommand, get_width))/2
_gmcst_customcommand.ypos = (GetPosInfo(default, get_height) - GetPosInfo(_gmcst_customcommand, get_height))/2
_gmcst_customcommand.parent = default
SendToFront(_gmcst_customcommand)
_gmcst_customcommand.autohide = true
_gmcst_customcommand.enabled = true
endfunc
#undoc func SetCurCommand
func SetCurCommand (text as string)
curSendText = text
AppendToList (recentSentText, recentInsertIdx, gmcst_RecentListLen, text)
Rerender(me)
endfunc
#undoc func ExecuteCurCommand
func ExecuteCurCommand()
if (commObject <> empty) and (curSendText <> "") then
commObject.SendAsciiCommandStream(curSendText, me, 0)
endif
endfunc
private func AppendToList (list[] as reference to integer, curIdx as reference to integer, ->
maxLen as integer, data[] as byte)
if curIdx < maxLen then
list[curIdx] := _GMCST_StringAlloc.AllocString(data)
curIdx := curIdx + 1
else
AppendToListAndShift(list, data)
endif
endfunc
private func AppendToListAndShift (list[] as reference to integer, data[] as byte)
dim leng as integer
leng = len(list)
if leng > 0 then
_GMCST_StringAlloc.FreeString(list[0])
SetArrayData (list, 0, list, 1, -1)
list[leng-1] = _GMCST_StringAlloc.AllocString(data)
endif
endfunc
#if _DEBUG
private func PrintList(list[] as integer)
dim toPrint as string
dim i as integer
for i = 0 to len(list) - 1
toPrint = toPrint + "(" + str(list[i]) + " - \"" + _GMCST_StringAlloc.GetString(list[i]) + "\") "
next
#if _tool_any
tool_trace (toPrint)
#endif
endfunc
#endif
private func ShowDropList()
dim offX, offY as integer
dim i, max as integer
offX = GetPosInfo(me, Get_X) - GetPosInfo(me, Get_XGlobal)
offY = GetPosInfo(me, Get_Y) - GetPosInfo(me, Get_YGlobal)
_GMCST_DropList.font = font
_GMCST_DropList.bgcolor = bgcolor
_GMCST_DropList.fgcolor = fgcolor
_GMCST_DropList.parent = default
_GMCST_DropList.xPos = dropBox[0] - offX
_GMCST_DropList.yPos = dropBox[3] - offY + 1
_GMCST_DropList.width = dropBox[2] - dropBox[0] + 1
_GMCST_DropList.height = ypos+height-1-dropBox[3]
_GMCST_DropList.borderWidth = borderWidth
_GMCST_DropList.scrollBoxSize = dropBox[3] - dropBox[1] + 1 - 2*borderWidth
_GMCST_DropList.Clear()
max = recentInsertIdx - 1
for i = max to 0 step -1
_GMCST_DropList.AddString (_GMCST_StringAlloc.GetString(recentSentText[i]))
next
SendToFront(_GMCST_DropList)
_GMCST_DropList.enabled = true
_GMCST_CurDropListTarget = me
SetCapture(_GMCST_DropList)
endfunc
#undoc func SelectedFromDropList
func SelectedFromDropList()
dim sel as integer
sel = recentInsertIdx - _GMCST_DropList.selected - 1
curSendText = _GMCST_DropList.curSelText
'Swap positions
RecentSentText := left(RecentSentText, sel) + ->
mid(RecentSentText, sel+1, recentInsertIdx-sel-1) + ->
mid(RecentSenttext, sel, 1) + mid(RecentSentText, recentInsertIdx, -1)
CancelDropList()
Rerender(me)
endfunc
#undoc func CancelDropList
func CancelDropList()
_GMCST_CurDropListTarget = empty
RemoveCapture(_GMCST_DropList)
_GMCST_DropList.enabled = false
endfunc
private func Success(parm as integer) returns boolean
handles GMC_CommSuccess
dim response as string
response := trim(commObject.curResponse)
if response == "" then
response := ":"
endif
ResponseReceived(response)
ProcessResponse(response)
return true
endfunc
private func Failure(parm as integer) returns boolean
handles GMC_CommFailure
dim response as string
response := trim(commObject.curResponse)
FailureReceived(response, commObject.curFailureReason)
if response == "" then
response := "?"
elseif find(response, 0, -1, "?") < 0 then
response := response + "?"
endif
ProcessResponse(response)
return true
endfunc
private func ProcessResponse (response as string)
dim pos, oldPos as integer
dim curLine as string
oldPos := 0
pos := find (response, 0, -1, "\r\n")
while pos > 0 do
curLine := mid (response, oldPos, pos-oldPos)
oldPos := pos+2
pos := find (response, oldPos, -1, "\r\n")
AppendToList(responses, responseInsertIdx, GMCST_responseListLen, curLIne)
loop
if oldPos < len(response) then
curLine := mid(response, oldPos, -1)
AppendToList(responses, responseInsertIdx, GMCST_responseListLen, curLIne)
endif
Rerender(me)
endfunc
#doc override ResponseReceived
#param response:The text of the response from the controller. You may modify the value of this paramater and the results will be reflected in the final display
~This event is triggered after a command has been sent to the controller and a response
~has been received. The paramater response contains the string that the controller
~responded with. You may modify the value of the response property as desired to
~control the display of this object. The object will display whatever is contained
~in the response property after this function executes. By default this event
~does nothing.
func ResponseReceived(response as reference to string)
return
endfunc
#doc override FailureReceived
#param response:The response returned by the controller minus the final colon terminator. If you modify this paramater, the final display will reflect the results of the modifications
#param failReason:The reason why this event is generated. Either GMC_FailCommunications or GMC_FailBadCommand
~This event is triggered when a command has been sent to the controller, but the controller
~failed to respond, responded incorrectly, or returned an error response.
func FailureReceived(response as reference to string, failReason as GMC_FailureReason)
return
endfunc
private func ParsePresetCommands()
dim pos as integer
dim oldPos as integer
dim size as integer
init size := 10
dim breaks[10], lens[10] as integer
dim idx as integer
pos = find (preSetCommands, 0, -1, ";")
while pos > 0 do
breaks[idx] := oldPos
lens[idx] := pos - oldPos
idx := idx + 1
'resize array if necessary
if idx >= size then
size := 2*size
redim(breaks, size)
redim(lens, size)
endif
oldPos := pos+1
pos := find (preSetCommands, oldPos, -1, ";")
loop
for idx = idx-1 to 0 step -1
SetCurCommand(mid(preSetCommands, breaks[idx], lens[idx]))
next
endfunc
'The rest of these functions add functionality to the PC development tool. The
'#if _TOOL line ensures that the code will not be compiled into a BFF that
'is loaded into the terminal
'These functions are called in response to actions taken in the PC development tool.
'If as a result of these actions you change one or more of the properties of
'this object that should be permanently recorded (for instance changing xPos in
'response to MSG_TOOL_MOVE) then you should call Tool_Persist to save the new
'value of the property in your source code of your object instance
#if _TOOL
'This function is called by the PC development tool, when you change the attachment
'of an object (i.e. in response to dragging it around the object tree).
'Note: the purpose of this function is to allow you to attach to another
'container, you should not change your parent property or call Tool_Persist
'until you receive a MSG_TOOL_ATTACHED. A MSG_TOOL_ATTACHED will be sent
'in response to an Attach API function call.
func ToolAttach (attachTo as objref)
handles MSG_TOOL_ATTACH
Attach (me, attachTo)
endfunc
'This function is called in response to calling Attach (primarily in a
'handler for MSG_TOOL_ATTACH, but possibly in other places as well_.
func ToolAttached (newParent as objref)
handles MSG_TOOL_ATTACHED
'Set our parent property to reflect who we are attached to and save
parent := newParent
Tool_Persist (parent) 'Save parent
endfunc
'This function is called when the user drags an object instance with the
'mouse in the PC development tool. dx and dy are relative offsets from the current
'location of the object
func ToolMove (dx as integer, dy as integer)
handles MSG_TOOL_MOVE
xPos := xPos + dx
yPos := yPos + dy
Relocate (me, xPos, yPos)
'Save the changes we just made
Tool_Persist (xPos)
Tool_Persist (yPos)
dirty = true
endfunc
'This function is called by the PC development tool to obtain the coordinates of
'the resize grips. The arrays xCoords, yCoords, and cursors all contain 0
'elements initially. This means that you should either call redim on those
'arrays and set their values, or declare local arrays, set the values of
'the local arrays, and then assign xCoords, yCoords and cursors to those
'local arrays. Closed indicates whether the Foundry should connect the
'first and last grips to make a closed object. xCoords, yCoords, and
'cursors should all contain the same number of elements when this function
'completes
func ToolGetHandles (xCoords[] as reference to integer, ->
yCoords[] as reference to integer, ->
cursors[] as reference to GuiCursors, ->
closed as reference to boolean)
handles MSG_TOOL_GETHANDLES
'Call a standard function to handle common functionality.
'You can omit this function call and implement your own custom functionality
'if desired
_ToolGetHandles (xCoords, yCoords, cursors, closed, xPos, yPos, width, height)
endfunc
'This function is called in response to a user moving a resize grip within
'the PC development tool. handleNum is the index into the arrays that were returned
'by the handler for MSG_TOOL_GETHANDLES. You should return true from this
'function
func ToolMoveHandle (handleNum as reference to integer, dx as integer, dy as integer)
handles MSG_TOOL_MOVEHANDLE
'Call a standard function to handle common functionality.
'You can omit this function call and implement your own custom functionality
'if desired
_ToolMoveHandle (handleNum, dx, dy, xPos, yPos, width, height, me)
dirty = true
endfunc
'This function is called when the user created an instance of this template by
'selecting it from the object palette and dragging it in the layout view.
'The handler for MSG_INIT is not called automatically, and if you want it
'called, you should call it manually.
'You should call Tool_Persist on all the properties that you set up in this
'message handler. (x1, y1) are the coordinates that the user started his
'drag and (x2, y2) are the coordinates that the mouse was released
func ToolDragCreate (parentObj as objref, x1 as integer, y1 as integer, ->
x2 as integer, y2 as integer)
handles MSG_TOOL_DRAGCREATE
'Call a standard function to handle common functionality.
'You can omit this function call and implement your own custom functionality
'if desired
_ToolDragCreate (parentObj, x1, y1, x2, y2, xPos, yPos, width, height, parent)
'Call our MSG_INIT handler
StartUp()
endfunc
#endif
private func ScreenPress (xdown as integer, ydown as integer) returns boolean
handles MSG_SCREEN_PRESS
if (xdown >= custombox[0]) and (ydown >= customBox[1]) and ->
(xdown < customBox[2]) and (ydown < customBox[3]) then
customPressed := true
Rerender(me)
elseif (xdown >= sendBox[0]) and (ydown >= sendBox[1]) and ->
(xdown < sendBox[2]) and (ydown < sendBox[3]) then
sendPressed := true
Rerender(me)
elseif (xdown >= dropBox[0]) and (ydown >= dropBox[1]) and ->
(xdown < dropBox[2]) and (ydown < dropBox[3]) then
Rerender(me)
dropBoxPressed = true
endif
return true
endfunc
private func ScreenRelease (xdown as integer, ydown as integer) returns boolean
handles MSG_SCREEN_RELEASE
if (xdown >= custombox[0]) and (ydown >= customBox[1]) and ->
(xdown < customBox[2]) and (ydown < customBox[3]) then
if customPressed then
ShowCustomKeypad()
_PlayTone (tone, 100, false)
endif
elseif (xdown >= sendBox[0]) and (ydown >= sendBox[1]) and ->
(xdown < sendBox[2]) and (ydown < sendBox[3]) then
if sendPressed then
ExecuteCurCommand()
_PlayTone (tone, 100, false)
endif
elseif (xdown >= dropBox[0]) and (ydown >= dropBox[1]) and ->
(xdown < dropBox[2]) and (ydown < dropBox[3]) then
if dropBoxPressed then
ShowDropList()
_PlayTone (tone, 100, false)
endif
endif
if sendPressed or customPressed or dropBoxPressed then
Rerender(me)
endif
sendPressed := false
customPressed := false
dropBoxPressed := false
return true
endfunc
private func ScreenMove (xto as integer, yto as integer, xfrom as integer, yfrom as integer) returns boolean
handles MSG_SCREEN_MOVE
if (xto < xPos) or (yto < yPos) or (xto >= xPos + width) or (yTo >= yPos+ height) then
return ScreenRelease(xto, yto)
endif
return true
endfunc
Enddef
Declare _GMCST_CustomCommand as QwertyKeypad
Level 249996
#Visible True
#Lock False
init keywidth := 26
init xpos := -10000
init ypos := -10000
init keybgcolor := col_253
init parent := default
init shiftstyle := _qpk_capslock_shift
init fillbackground := True
init shifted := true
init enabled := false
init marqueepos := _qkp_topattached
init keyfgcolor := col_47
init marqueefgcolor := col_84
init marqueebgcolor := rgb_forestgreen
init text := "asdfasdf"
init separators := false
init popupstyle := _qkp_standardpopup
init autohide := true
func EnterPressed()
if _GMCST_CurTerm <> empty then
_GMCST_CurTerm.SetCurCommand(text)
_GMCST_CurTerm.ExecuteCurCommand()
endif
endfunc
Enddec
'------------------------------------------------------------------------------------
Declare _GMCST_DropList as ListBoxBDF
Level 249997
#Visible False
#Lock False
init lastsel := -1
init parent := default
init xpos := -10000
init ypos := -10000
init width := 124
init height := 101
init bgcolor := col_183
init fgcolor := rgb_white
init enabled := false
protected func ScreenPress(x as integer, y as integer) returns boolean
handles MSG_SCREEN_PRESS
if (x < xPos) or (y < yPos) or (x >= xPos + width) or (y > yPos+height) then
if _GMCST_CurDropListTarget <> empty then
_GMCST_CurDropListTarget.CancelDropList()
endif
return true
endif
return Default(x, y)
endfunc
protected func ScreenRelease (x as integer, y as integer) returns boolean
handles MSG_SCREEN_RELEASE
if (x < xPos) or (y < yPos) or (x >= xPos + width) or (y > yPos+height) then
if _GMCST_CurDropListTarget <> empty then
_GMCST_CurDropListTarget.CancelDropList()
endif
return true
endif
return default(x, y)
endfunc
protected func ScreenMove (xto as integer, yto as integer, xfrom as integer, yfrom as integer) returns boolean
handles MSG_SCREEN_MOVE
if (xto < xPos) or (yto < yPos) or (xto >= xPos + width) or (yto > yPos+height) then
if _GMCST_CurDropListTarget <> empty then
_GMCST_CurDropListTarget.CancelDropList()
endif
return true
endif
return default (xto, yto, xfrom, yfrom)
endfunc
func SelChanged()
if _GMCST_CurDropListTarget <> empty then
_GMCST_CurDropListTarget.SelectedFromDropList()
endif
endfunc
Enddec
'----------------------------------------------------------------------------------------
declare _GMCST_StringAlloc as StringAlloc
enddec
#endif
#endfile
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Define Area Object type GMCSimpleTerminal
#doc object GMCSimpleTerminal
~This object is a simple terminal window used to send arbitray commands to the
~controller. You can use this object to compose commands to send to the
~motion controller using a simple on-screen keypad. Recent commands are saved
~so that they may be resent. The results of the commands are displayed in
~the terminal window at the bottom of the object.
dim enabled as boolean
func enabled(newval as boolean)
endfunc
dim parent as objref
func parent(newval as objref)
endfunc
dim xPos as integer
func xPos(newval as integer)
endfunc
dim yPos as integer
func yPos(newval as integer)
endfunc
dim width as integer
func width(newval as integer)
endfunc
dim height as integer
func height(newval as integer)
endfunc
dim font as bdffont
func font (newVal as bdffont)
endfunc
#doc prop bgColorBase
~This property determines the color of the background field of this object. It is also used on the keypad
~object that is used to input new commands.
dim bgColorBase as color
func bgColorBase (newVal as color)
endfunc
#doc prop bgColor
~This property determines the background color of the buttons and text fields in this object
dim bgColor as color
func bgColor (newVal as color)
endfunc
#doc prop fgColor
~This property determines the color of text in the buttons and text fields.
dim fgColor as color
func fgColor (newVal as color)
endfunc
#doc prop baseBorderWidth
~This determines the width of the border around the object. It also determines the height
~of the buttons on the object and the keypad.
dim baseBorderWidth as integer
#doc prop borderWidth
~This determines how deep the recessed text fields are on this object.
dim borderWidth as integer
#doc prop customCommandKeySize
~This determines the size of the keys, in pixels, on the Qwerty keypad that is used for text
~entry. The default value of 26 is ideal for most terminals. You may adjust this value if the
~keypad does not fit on the screen of your terminal, or appears smaller than you wish.
dim customCommandKeySize as integer
dim tone as _Note
#doc prop preSetCommands
~This property determines which commands appear in the drop down list when the terminal is
~started up. Commands must be separated with a semicolon (;).
~NOTE: This property is only used when the terminal starts up. Setting it at
~run-time has no effect. Also, it is not modified as the contenets of the drop down list.
dim preSetCommands as string
#doc prop commObject
~commObject defines which GalilCommunication object will be used to communicate with
~the controller. You should create one GalilCommunication object for each motion controller
~you wish to communicate with. By setting the commObject property, you can control wich
~motion controller this object communicates with.
Most projects will require only
~one GalilCommunication object, and this property will automatically be set to refer to that
~communication object.
dim commObject as objref GalilCommunication
endfunc
func StartUp()
handles MSG_INIT
endfunc
func Draw()
handles MSG_DRAW
endfunc
endfunc
endfunc
endfunc
endfunc
endfunc
#undoc func SetCurCommand
func SetCurCommand (text as string)
endfunc
#undoc func ExecuteCurCommand
func ExecuteCurCommand()
endfunc
endfunc
endfunc
endfunc
endfunc
#undoc func SelectedFromDropList
func SelectedFromDropList()
endfunc
#undoc func CancelDropList
func CancelDropList()
endfunc
handles GMC_CommSuccess
endfunc
handles GMC_CommFailure
endfunc
endfunc
#doc override ResponseReceived
#param response:The text of the response from the controller. You may modify the value of this paramater and the results will be reflected in the final display
~This event is triggered after a command has been sent to the controller and a response
~has been received. The paramater response contains the string that the controller
~responded with. You may modify the value of the response property as desired to
~control the display of this object. The object will display whatever is contained
~in the response property after this function executes. By default this event
~does nothing.
func ResponseReceived(response as reference to string)
endfunc
#doc override FailureReceived
#param response:The response returned by the controller minus the final colon terminator. If you modify this paramater, the final display will reflect the results of the modifications
#param failReason:The reason why this event is generated. Either GMC_FailCommunications or GMC_FailBadCommand
~This event is triggered when a command has been sent to the controller, but the controller
~failed to respond, responded incorrectly, or returned an error response.
func FailureReceived(response as reference to string, failReason as GMC_FailureReason)
endfunc
endfunc
func ToolAttach (attachTo as objref)
handles MSG_TOOL_ATTACH
endfunc
func ToolAttached (newParent as objref)
handles MSG_TOOL_ATTACHED
endfunc
func ToolMove (dx as integer, dy as integer)
handles MSG_TOOL_MOVE
endfunc
func ToolGetHandles (xCoords[] as reference to integer, ->
yCoords[] as reference to integer, ->
cursors[] as reference to GuiCursors, ->
closed as reference to boolean)
handles MSG_TOOL_GETHANDLES
endfunc
func ToolMoveHandle (handleNum as reference to integer, dx as integer, dy as integer)
handles MSG_TOOL_MOVEHANDLE
endfunc
func ToolDragCreate (parentObj as objref, x1 as integer, y1 as integer, ->
x2 as integer, y2 as integer)
handles MSG_TOOL_DRAGCREATE
endfunc
handles MSG_SCREEN_PRESS
endfunc
handles MSG_SCREEN_RELEASE
endfunc
handles MSG_SCREEN_MOVE
endfunc
Enddef
func EnterPressed()
endfunc
protected func ScreenPress(x as integer, y as integer) returns boolean
handles MSG_SCREEN_PRESS
endfunc
protected func ScreenRelease (x as integer, y as integer) returns boolean
handles MSG_SCREEN_RELEASE
endfunc
protected func ScreenMove (xto as integer, yto as integer, xfrom as integer, yfrom as integer) returns boolean
handles MSG_SCREEN_MOVE
endfunc
func SelChanged()
endfunc
#endfile
#ifnot Galil_mc_src_GMCTrendChart
#option Galil_mc_src_GMCTrendChart
Define Area Object type GMCTrendChart
#ToolImage "00007FFE71FE6EFE5F7E5F7E3FBE2AAA7FBE7FDE7FDE7FEC7FF27FFE0000"
'**********************************************************************************************
'Object: TrendChart
'Author: Randy Flint and Cody Stockwell
'Date: 27 May 2004
'Description: This object draws a graph of data received
'Version: 1.52
'
'Copyright 2004 QSI Corporation
'Permission is granted to copy, distribute and modify this code,
'provided that this copyright statement is preserved.
'***********************************************************************************************
library galil_mc source GalilCommunications
library galil_mc source GMCAutoScale
dim enabled as boolean
init enabled := true
func enabled(newval as boolean)
enable(me, newval)
enabled := newval
Zenabled(enabled)
if scaleObj <> empty then
scaleObj.enabled = enabled
endif
endfunc
dim parent as objref
func parent(newval as objref)
attach(me, newval)
parent := newval
endfunc
dim xpos as integer
init xpos := 0
func xpos(newval as integer)
dim i, xoffset, arraysize as integer
xoffset := newval - xpos
arraysize := numdatapoints+3
xpos := newval
if startuphasrun then
for i=0 to arraysize
xqueue[i] := xqueue[i] + xoffset
next
endif
xpos1 := xpos + width-1
relocate(me, xpos, ypos)
DoBuddyAttach()
endfunc
dim ypos as integer
init ypos := 0
func ypos(newval as integer)
dim i, yoffset, arraysize as integer
yoffset := newval - ypos
arraysize := numdatapoints-1
ypos := newval
for i=0 to arraysize
yqueue[i] := yqueue[i] + yoffset
next
charty0 := ypos + height-2
ywrap[1] := ypos + height
ywrap[2] := ypos + height
ypos1 := ypos + height-1
relocate(me, xpos, ypos)
DoBuddyAttach()
endfunc
dim width as integer
init width := 200
func width(newval as integer)
if newval > 0 then
width := newval
precalc()
endif
endfunc
dim height as integer
init height := 103
func height(newval as integer)
if newval > 0 then
height := newval
precalc()
endif
DoBuddyAttach()
endfunc
dim fgcolor as color
init fgcolor := rgb_white
func fgcolor(newval as color)
fgcolor := newval
rerender(me)
endfunc
dim bgcolor as color
init bgcolor := rgb_black
func bgcolor(newval as color)
bgcolor := newval
rerender(me)
endfunc
dim bordercolor as color
init bordercolor := rgb_white
func bordercolor(newval as color)
bordercolor := newval
rerender(me)
endfunc
dim transparent as boolean
func transparent(newval as boolean)
transparent := newval
rerender(me)
endfunc
#doc prop connectPoints
~Set connectPoints to true to draw a line between all points on the trend chart. Set this
~property to false to show the points simply as dots.
dim connectpoints as boolean
init connectpoints := true
func connectpoints(newval as boolean)
connectpoints := newval
rerender(me)
endfunc
private dim qindex as integer
#doc prop pointSeparation
~This property determines how far apart data points are displayed. Larger values of
~pointSeparation result in a trendChart that shows fewer data points at any given time.
dim pointseparation as integer
init pointseparation := 5
func pointseparation(newval as integer)
if newval > 0 then
pointseparation := newval
else
pointseparation := 1
endif
rerender(me)
endfunc
#doc prop highLimit
~This property helps determine the scale of the trend chart. HighLimit represents the
~topmost location in the trend chart. Data points that are logged that have the value of
~highLimit or larger are displayed in the top line of the trendChart. Normally you should
~choose a highLimit that is as large or larger than the largest possible data point.
dim highlimit as float
init highlimit := 100
func highlimit(newval as float)
highlimit := newval
precalc()
rerender(me)
endfunc
#doc prop lowLimit
~This property helps determine the scale of the trend chart. LowLimit represents the
~bottommost location in the trend chart. Data points that are logged that have the value of
~lowLimit or smaller are displayed in the bottom line of the trendChart. Normally you should
~choose a lowLimit that is as small or smaller than the smallest possible data point.
dim lowlimit as float
init lowlimit := 0
func lowlimit(newval as float)
lowlimit := newval
precalc()
rerender(me)
endfunc
#doc prop commObject
~commObject defines which GalilCommunication object will be used to communicate with
~the controller. You should create one GalilCommunication object for each motion controller
~you wish to communicate with. By setting the commObject property, you can control wich
~motion controller this object communicates with.
Most projects will require only
~one GalilCommunication object, and this property will automatically be set to refer to that
~communication object.
dim commObject as objref GalilCommunication
init commObject := empty
#doc prop inputType
~InputType determines which property of the motion controller will be reflected in the
~gauge. Select an appropriate type from the drop down list. If you need to poll data
~that is not in the dropdown list, then set the customCommand property to query the
~information and useCustomCommand property to true.
dim inputType as GMC_DataType
init inputType := GMC_Position
func inputType(newVal as GMC_DataType)
inputType := newVal
command := GMCDataTypeToCommand(inputType, inputSource, useCustomCommand, customCommand)
endfunc
#doc prop inputSource
~If the inputType property queries information related to an axis on the controller (i.e.
~GMC_Position), then use the inputSource property to select which axis to query.
dim inputSource as GMC_Axis
init inputSource := GMC_Axis_X
func inputSource (newVal as GMC_Axis)
inputSource := newVal
command := GMCDataTypeToCommand(inputType, inputSource, useCustomCommand, customCommand)
endfunc
private dim command as string
#doc prop useCustomCommand
~Set this value to true if you will be using a custom command to poll the controller.
If this
~value is true, then this object will poll the controller using the information in the
~customCommand property rather than the values of the inputType and
~inputSource properties.
If this value is false, then the customCommand
~property is ingored and the inputType and inputSource properties are used instead.
dim useCustomCommand as boolean
init useCustomCommand := false
func useCustomCommand (newVal as boolean)
useCustomCommand := newVal
command := GMCDataTypeToCommand(inputType, inputSource, useCustomCommand, customCommand)
endfunc
#doc prop customCommand
~Use this property to send a custom polling command to the controller. You should use this
~property only if you cannot obtain the information you need by using the inputType and
~inputSource properties. The controller should return a single numeric value in decimal
~format in response to the custom command that you define.
Note: The customCommand
~property is ignored unless the useCustomCommand property is set to true.
dim customCommand as string
init customCommand := ""
func CustomCommand (newval as string)
customCommand := newVal
command := GMCDataTypeToCommand(inputType, inputSource, useCustomCommand, customCommand)
endfunc
#doc prop pollInterval
~pollInterval defines, in milliseconds, then amount of time that will elapse between
~polls to the controller. The minimum supported value is 40 ms. It is recommended that you
~use the highest possible value for this property as excessive polling will reduce the
~responsiveness of the terminal. Also, you may want to limit the total number of polling
~objects that can be visible (enabled) at once in order to enhance performance.
~In order to maximize performance, if this object, or the screen on which it resides is
~disabled, then it will cease polling. Once the object (or parent screen) is re-enabled,
~it will immediately poll the controller once to refresh its value, then resume normal polling.
dim pollInterval as integer
init pollInterval := 1000
func pollInterval (newVal as integer)
if newVal <= 0 then
pollInterval := 0
UnregisterMsgHandler (me, msg_timetick, 0)
else
pollInterval := newVal
RegisterMsghandler (me, msg_timetick, newVal/20)
endif
endfunc
#doc prop scaleObj
~If you want a scale displayed next to this object, create a GMCAutoScale object, set its
~properties, then set the scaleObj to reference the GMCAutoScale that you created.
~The scale will automatically be placed next to this object and sized appropriately.
dim scaleObj as objref GMCAutoScale
init scaleObj := empty
func scaleObj(newVal as GMCAutoScale)
if scaleObj <> empty then
scaleObj.enabled = false
endif
scaleObj := newVal
DoBuddyAttach()
endfunc
private dim xpos1 as integer
private dim ypos1 as integer
private dim xqueue[] as integer
private dim yqueue[] as integer
private dim ywrap[4] as integer
private dim ypointscaler as float
private dim charty0 as integer
private dim numdatapoints as integer
func numdatapoints(newval as integer)
if newval > 0 then
numdatapoints := newval
else
numdatapoints := 1
endif
endfunc
private dim startuphasrun as boolean
func StartUp()
handles MSG_INIT
#if _TOOL
dim i as integer
dim point as integer
dim h1 as integer
dim h2 as float
dim hash as string
dim shift as float
#endif
if pointseparation <= 0 then
pointseparation := 1
#if _tool tool_persist(pointseparation) #endif
endif
precalc()
ypointscaler := (height-3.0)/(highlimit-lowlimit)
'For foundry, initialize the points to look like a sin curve
#if _TOOL
hash = str(me)
shift = ((hash[len(hash) - 1]+3) mod 4) * PI / 2
point = numdatapoints - 1
h1 = height - 3
h2 = h1/2
if point <> 0 then
for i = 0 to point
yqueue[i] = ypos + ((h1) * sin((2*PI*i)/point+shift)/2) + h2 + 1
next
endif
#endif
' resize(me, width, height) 'included in precalc()
relocate(me, xpos, ypos)
attach(me, parent)
enable(me, enabled)
startuphasrun := true
DoBuddyAttach()
PollInterval(pollInterval)
GMC_VerifyCommObj(commObject)
InputType(inputType)
endfunc
fixed func Draw()
handles MSG_DRAW
dim i,j as integer
setbgcolor(bgcolor)
settransparent(bgcolor)
usetransparent(transparent)
drawbox(xpos, ypos, xpos1, ypos1)
setfgcolor(fgcolor)
if connectpoints == true then
if qindex > 0 then 'check to see if qindex-1 is legal address
ywrap[0] = yqueue[qindex-1]
else 'if not, we want to point to the end of the array
ywrap[0] = yqueue[numdatapoints-1]
endif
ywrap[3] = yqueue[qindex]
drawpolygon(xqueue, Right(yqueue, numdatapoints-1-(qindex-1)) + Left(yqueue, qindex) + ywrap, POLY_NORMAL)
else 'connectpoints == false
for i=qindex to numdatapoints-1
setpixel(xqueue[j], yqueue[i])
j=j+1
next
for i=0 to qindex-1
setpixel(xqueue[j], yqueue[i])
j=j+1
next
endif
setfgcolor(bordercolor)
usetransparent(true)
drawbox(xpos, ypos, xpos1, ypos1)
endfunc
#undoc func precalc
fixed func precalc()
dim i, accum, num as integer
numdatapoints = (width-3)/pointseparation + 1
width := (numdatapoints-1)*pointseparation + 3
resize(me, width, height)
num := numdatapoints-1
charty0 := ypos + height-2
ypointscaler := (height-3.0)/(highlimit-lowlimit)
ywrap[1] := ypos + height
ywrap[2] := ypos + height
xpos1 := xpos + width-1
ypos1 := ypos + height-1
redim(xqueue,numdatapoints+4)
accum := xpos + 1
for i=0 to numdatapoints
xqueue[i] := accum
accum := accum + pointseparation
next
xqueue[numdatapoints] := xpos + width
xqueue[numdatapoints+1] := xpos + width
xqueue[numdatapoints+2] := xpos - 1
xqueue[numdatapoints+3] := xpos - 1
redim(yqueue,numdatapoints)
for i=0 to num
yqueue[i] := charty0
next
endfunc
'Communication Stuff-----------------------------------------------------------------------------------------------------
private func Timetick ()
handles MSG_TIMETICK
commObject.SendAsciiCommandStreamCounted(command, me, 0, 1)
return
endfunc
private func Zenabled (status as boolean)
handles MSG_ZENABLED
dim i as integer
if status and enabled then
i = len(yqueue)
#if _TOOL
startup()
#else
precalc()
#endif
Rerender(me)
TimeTick()
endif
endfunc
private func Success(parm as integer) returns boolean
handles GMC_CommSuccess
dim tmpValue as float
check error
val(tmpValue, trim(commObject.curResponse))
ResponseReceived(tmpValue)
NewDataPoint(tmpValue)
Rerender(me)
on error
tmpValue := lowLimit
GMC_ClearException()
FailureReceived(trim(commObject.curResponse), GMC_FailUnexpectedData)
NewDataPoint(lowLimit)
enderr
return true
endfunc
private func Failure(parm as integer) returns boolean
handles GMC_CommFailure
FailureReceived(trim(commObject.curResponse), commObject.curFailureReason)
NewDataPoint(lowLimit)
return true
endfunc
#doc override ResponseReceived
#param response: This contains the number polled from the controller. You may modify this value if you wish and the results will be displayed on the graph.
~This event called whenever this object receives receives a response from the controller as a
~result of a poll. The paramater response contains the value that was returned from
~the controller. You may modify response in order to change the final value which
~will be displayed in this object.
func ResponseReceived (response as reference to float)
return
endfunc
#doc override FailureReceived
#param response:The response returned by the controller minus the final colon terminator. If you modify this paramater, the final display will reflect the results of the modifications
#param failReason:The reason why this event is generated. Either GMC_FailCommunications, GMC_FailBadCommand or GMC_FailUnexpectedData
~This event is triggered when a command has been sent to the controller, but the controller
~failed to respond, responded incorrectly, or returned an error response.
func FailureReceived(response as string, failReason as GMC_FailureReason)
return
endfunc
#undoc func newDataPoint
private func newdatapoint(newval as float)
dim toint as integer
if newval < lowlimit then
newVal := lowlimit
elseif newval > highlimit then
newVal:= highlimit
endif
toint := charty0 - (newVal-lowlimit)*ypointscaler
yqueue[qindex] = toint
qindex := (qindex + 1) mod numdatapoints
rerender(me)
endfunc
'Scale Stuff------------------------------------------------------------------------------------------------------------
private func ScaleResize(newLeng as integer) returns boolean
handles AutoScale_ResizeRequest
if (GMC_BuddyRequest == scaleObj) then
newLeng = newLeng + 2
if newLeng <> height then
height = newLeng
#if _tool tool_persist(height) #endif
endif
endif
return true
endfunc
private func BuddyReinit(parm as integer) returns boolean
handles AutoScale_BuddyReinit
if (scaleObj == GMC_BuddyRequest) and initialAttachRequest then
DoBuddyAttach()
return true
endif
return false
endfunc
private dim initialAttachRequest as boolean
private func DoBuddyAttach()
if scaleObj <> empty then
initialAttachRequest := true
scaleObj.AttachTo (xPos, yPos+1, xPos+width-1, yPos+height-2, highLimit, ->
lowLimit, false, me, parent, enabled)
endif
endfunc
#if _TOOL
fixed func ToolGetHandles(xcoords[] as reference to integer, ycoords[] as reference to integer, ->
cursors[] as reference to GuiCursors, closed as reference to boolean)
handles MSG_TOOL_GETHANDLES
dim xhandle[8] as integer
dim yhandle[8] as integer
dim cursortype[8] as guicursors
init cursortype := [csr_upleft, csr_updown, csr_upright, csr_leftright, ->
csr_downright, csr_updown, csr_downleft, csr_leftright]
xhandle[0] = xpos
yhandle[0] = ypos
xhandle[1] = xpos + (width-1)/2
yhandle[1] = ypos
xhandle[2] = xpos + width-1
yhandle[2] = ypos
xhandle[3] = xpos + width-1
yhandle[3] = ypos + (height-1)/2
xhandle[4] = xpos + width-1
yhandle[4] = ypos + height-1
xhandle[5] = xpos + (width-1)/2
yhandle[5] = ypos + height-1
xhandle[6] = xpos
yhandle[6] = ypos + height-1
xhandle[7] = xpos
yhandle[7] = ypos + (height-1)/2
xcoords = xhandle
ycoords = yhandle
cursors = cursortype
closed := true
endfunc
fixed func ToolMoveHandle(handle as reference to integer, dx as integer, dy as integer)
handles MSG_TOOL_MOVEHANDLE
dim numpoints as integer
if dx > 0 then
numpoints := dx/pointseparation+1
else
numpoints := dx/pointseparation-1
endif
if handle == 0 then
if width - numpoints*pointseparation > 0 then
width := width - numpoints*pointseparation
xpos := xpos + numpoints*pointseparation
endif
if height - dy > 0 then
height := height - dy
ypos := ypos + dy
endif
elseif handle == 1 then
if height - dy > 0 then
height := height - dy
ypos := ypos + dy
endif
elseif handle == 2 then
if width + numpoints*pointseparation > 0 then
width := width + numpoints*pointseparation
endif
if height - dy > 0 then
height := height - dy
ypos := ypos + dy
endif
elseif handle == 3 then
if width + numpoints*pointseparation > 0 then
width := width + numpoints*pointseparation
endif
elseif handle == 4 then
if width + numpoints*pointseparation > 0 then
width := width + numpoints*pointseparation
endif
if height + dy > 0 then
height := height + dy
endif
elseif handle == 5 then
if height + dy > 0 then
height := height + dy
endif
elseif handle == 6 then
if width - numpoints*pointseparation > 0 then
width := width - numpoints*pointseparation
xpos := xpos + numpoints*pointseparation
endif
if height + dy > 0 then
height := height + dy
endif
elseif handle == 7 then
if width - numpoints*pointseparation > 0 then
width := width - numpoints*pointseparation
xpos := xpos + numpoints*pointseparation
endif
endif
tool_persist(xpos)
tool_persist(ypos)
tool_persist(width)
tool_persist(height)
startup()
endfunc
fixed func ToolMove(dx as integer, dy as integer)
handles MSG_TOOL_MOVE
xpos = xpos + dx
ypos = ypos + dy
tool_persist(xpos)
tool_persist(ypos)
DoBuddyAttach()
endfunc
fixed func ToolAttach(AttachTo as objref)
handles MSG_TOOL_ATTACH
attach(me, AttachTo)
endfunc
fixed func ToolAttached(newparent as objref)
handles MSG_TOOL_ATTACHED
parent = newparent
tool_persist(parent)
DoBuddyAttach()
endfunc
fixed func ToolDragCreate (parentobj as objref, x0 as integer, y0 as integer, ->
x1 as integer, y1 as integer)
handles MSG_TOOL_DRAGCREATE
if (x1 < x0) then
xpos := x1
width := x0 - x1
else
xpos := x0
width := x1 - x0
endif
if (y1 < y0) then
ypos := y1
height := y0 - y1
else
ypos := y0
height := y1 - y0
endif
parent := parentobj
tool_persist(parent)
tool_persist (xpos)
tool_persist (ypos)
tool_persist (width)
tool_persist (height)
startup()
endfunc
#endif
Enddef
#endif
#endfile
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Define Area Object type GMCTrendChart
dim enabled as boolean
func enabled(newval as boolean)
endfunc
dim parent as objref
func parent(newval as objref)
endfunc
dim xpos as integer
func xpos(newval as integer)
endfunc
dim ypos as integer
func ypos(newval as integer)
endfunc
dim width as integer
func width(newval as integer)
endfunc
dim height as integer
func height(newval as integer)
endfunc
dim fgcolor as color
func fgcolor(newval as color)
endfunc
dim bgcolor as color
func bgcolor(newval as color)
endfunc
dim bordercolor as color
func bordercolor(newval as color)
endfunc
dim transparent as boolean
func transparent(newval as boolean)
endfunc
#doc prop connectPoints
~Set connectPoints to true to draw a line between all points on the trend chart. Set this
~property to false to show the points simply as dots.
dim connectpoints as boolean
func connectpoints(newval as boolean)
endfunc
#doc prop pointSeparation
~This property determines how far apart data points are displayed. Larger values of
~pointSeparation result in a trendChart that shows fewer data points at any given time.
dim pointseparation as integer
func pointseparation(newval as integer)
endfunc
#doc prop highLimit
~This property helps determine the scale of the trend chart. HighLimit represents the
~topmost location in the trend chart. Data points that are logged that have the value of
~highLimit or larger are displayed in the top line of the trendChart. Normally you should
~choose a highLimit that is as large or larger than the largest possible data point.
dim highlimit as float
func highlimit(newval as float)
endfunc
#doc prop lowLimit
~This property helps determine the scale of the trend chart. LowLimit represents the
~bottommost location in the trend chart. Data points that are logged that have the value of
~lowLimit or smaller are displayed in the bottom line of the trendChart. Normally you should
~choose a lowLimit that is as small or smaller than the smallest possible data point.
dim lowlimit as float
func lowlimit(newval as float)
endfunc
#doc prop commObject
~commObject defines which GalilCommunication object will be used to communicate with
~the controller. You should create one GalilCommunication object for each motion controller
~you wish to communicate with. By setting the commObject property, you can control wich
~motion controller this object communicates with.
Most projects will require only
~one GalilCommunication object, and this property will automatically be set to refer to that
~communication object.
dim commObject as objref GalilCommunication
#doc prop inputType
~InputType determines which property of the motion controller will be reflected in the
~gauge. Select an appropriate type from the drop down list. If you need to poll data
~that is not in the dropdown list, then set the customCommand property to query the
~information and useCustomCommand property to true.
dim inputType as GMC_DataType
func inputType(newVal as GMC_DataType)
endfunc
#doc prop inputSource
~If the inputType property queries information related to an axis on the controller (i.e.
~GMC_Position), then use the inputSource property to select which axis to query.
dim inputSource as GMC_Axis
func inputSource (newVal as GMC_Axis)
endfunc
#doc prop useCustomCommand
~Set this value to true if you will be using a custom command to poll the controller.
If this
~value is true, then this object will poll the controller using the information in the
~customCommand property rather than the values of the inputType and
~inputSource properties.
If this value is false, then the customCommand
~property is ingored and the inputType and inputSource properties are used instead.
dim useCustomCommand as boolean
func useCustomCommand (newVal as boolean)
endfunc
#doc prop customCommand
~Use this property to send a custom polling command to the controller. You should use this
~property only if you cannot obtain the information you need by using the inputType and
~inputSource properties. The controller should return a single numeric value in decimal
~format in response to the custom command that you define.
Note: The customCommand
~property is ignored unless the useCustomCommand property is set to true.
dim customCommand as string
func CustomCommand (newval as string)
endfunc
#doc prop pollInterval
~pollInterval defines, in milliseconds, then amount of time that will elapse between
~polls to the controller. The minimum supported value is 40 ms. It is recommended that you
~use the highest possible value for this property as excessive polling will reduce the
~responsiveness of the terminal. Also, you may want to limit the total number of polling
~objects that can be visible (enabled) at once in order to enhance performance.
~In order to maximize performance, if this object, or the screen on which it resides is
~disabled, then it will cease polling. Once the object (or parent screen) is re-enabled,
~it will immediately poll the controller once to refresh its value, then resume normal polling.
dim pollInterval as integer
func pollInterval (newVal as integer)
endfunc
#doc prop scaleObj
~If you want a scale displayed next to this object, create a GMCAutoScale object, set its
~properties, then set the scaleObj to reference the GMCAutoScale that you created.
~The scale will automatically be placed next to this object and sized appropriately.
dim scaleObj as objref GMCAutoScale
func scaleObj(newVal as GMCAutoScale)
endfunc
func numdatapoints(newval as integer)
endfunc
func StartUp()
handles MSG_INIT
endfunc
fixed func Draw()
handles MSG_DRAW
endfunc
#undoc func precalc
fixed func precalc()
endfunc
handles MSG_TIMETICK
endfunc
handles MSG_ZENABLED
endfunc
handles GMC_CommSuccess
endfunc
handles GMC_CommFailure
endfunc
#doc override ResponseReceived
#param response: This contains the number polled from the controller. You may modify this value if you wish and the results will be displayed on the graph.
~This event called whenever this object receives receives a response from the controller as a
~result of a poll. The paramater response contains the value that was returned from
~the controller. You may modify response in order to change the final value which
~will be displayed in this object.
func ResponseReceived (response as reference to float)
endfunc
#doc override FailureReceived
#param response:The response returned by the controller minus the final colon terminator. If you modify this paramater, the final display will reflect the results of the modifications
#param failReason:The reason why this event is generated. Either GMC_FailCommunications, GMC_FailBadCommand or GMC_FailUnexpectedData
~This event is triggered when a command has been sent to the controller, but the controller
~failed to respond, responded incorrectly, or returned an error response.
func FailureReceived(response as string, failReason as GMC_FailureReason)
endfunc
#undoc func newDataPoint
endfunc
handles AutoScale_ResizeRequest
endfunc
handles AutoScale_BuddyReinit
endfunc
endfunc
fixed func ToolGetHandles(xcoords[] as reference to integer, ycoords[] as reference to integer, ->
cursors[] as reference to GuiCursors, closed as reference to boolean)
handles MSG_TOOL_GETHANDLES
endfunc
fixed func ToolMoveHandle(handle as reference to integer, dx as integer, dy as integer)
handles MSG_TOOL_MOVEHANDLE
endfunc
fixed func ToolMove(dx as integer, dy as integer)
handles MSG_TOOL_MOVE
endfunc
fixed func ToolAttach(AttachTo as objref)
handles MSG_TOOL_ATTACH
endfunc
fixed func ToolAttached(newparent as objref)
handles MSG_TOOL_ATTACHED
endfunc
fixed func ToolDragCreate (parentobj as objref, x0 as integer, y0 as integer, ->
x1 as integer, y1 as integer)
handles MSG_TOOL_DRAGCREATE
endfunc
Enddef
#endfile
#ifnot Galil_mc_src_GMCStringAlloc
#option Galil_mc_src_GMCStringAlloc
'test
#ifnot stringAllocDefined
#option stringAllocDefined
Define Object type stringAlloc
#doc object stringAlloc
~This object is used to assocate an integer handle with a string. The integer handle
~can easily be stored in an array, unlike standard strings. Initially, you call
~Allocstring to allocate a string and get a handle to it. You can access the string
~by calling Getstring and passing in the handle returned by Allocstring. When you
~are done with the string, call Freestring. After calling Freestring, the handle is
~no longer valid. You must call Freestring when you are done with a string, to avoid
~exhausting the terminal's memory.
~The stringAlloc object was designed with speed in mind, and is significantly faster than
~calling the various string Array functions when manipulating large sets of strings. The
~major limitation it suffers versus the string Array functions is that stringAlloc is
~limited to 256 byte strings only.
#doc func Allocstring
#param data:The string to copy. This parameter is limited to arrays (strings) of length 256 or less
~Allocates the string given by the data parameter. This function returns a handle to the
~allocated string. The allocated string can be retreived by a call to Getstring.
func Allocstring (data[] as byte) returns integer
dim handle as integer
dim tmpLen as integer
tmpLen = len(freeHandlelist)
if tmpLen== 0 then
'Are there free slots in the pool? If not create some
while poolLookupTop >= poolLookupSize do
poolLookupSize := poolLookupSize * 2
redim (poolLookup, poolLookupSize)
loop
'Take the topmost slot in the pool
handle = poolLookupTop
poolLookupTop := poolLookupTop + 1
else
handle = freeHandleList[tmpLen-1]
redim (freeHandleList, tmpLen-1)
endif
#if _DEBUG
if poolLookup[handle] <> 0 then
throw (str(me), "Big time error")
endif
#endif
Setstring (handle, data)
return handle
endfunc
#doc func Freestring
#param handle:A string handle that was previously allocated with Allocstring
~Frees a string that was previously allocated with Allocstring. This releases the
~handle and reclaims the memory that was occupied by the string for reuse.
func Freestring (handle as reference to integer)
dim tmpLen as integer
if handle == 0 then
return
endif
'Release the handle and point the poolLookup to the empty string
'All this is OK if handle is 0
ReleaseHandle (handle)
poolLookup[handle] = 0
'Add the handle to the free handle list
tmpLen = len(freeHandleList)
redim (freeHandleList, tmpLen+1)
freeHandleList[tmpLen] = handle
handle = 0
endfunc
#doc func Getstring
#param handle: A handle to a string that was previously allocated with Allocstring
~Retreives a string that was allocated with Allocstring.
func Getstring (handle as integer) returns string
return mid (pool, poolLookup[handle]+4, pool[poolLookup[handle]])
endfunc
#if _MEMSTATS
library standard source formatfunctions
#undoc func GetStates
func GetStats() returns string
dim retVal as string
retVal := "Pool Size: " + str(poolSize) + "\n"
retVal := retVal + "Pool Top: " + str(poolTop) + "\n"
retVal := retVal + "Wasted space: " + str(wasted) + "\n"
retVal := retVal + "Free List: " + str(len(freehandlelist)) + " " + str(freehandlelist) + "\n"
retVal := retVal +"Pool Lookup stats: size: " + str(poolLookupSize) + " top: " + str(poolLookupTop) + "\n"
retVal := retVal + "Free16 pool: " +str(len(free16)) + " " + str(free16) + "\n"
retVal := retVal + "Free64 pool: " +str(len(free64)) + " " + str(free64) + "\n"
retVal := retVal + "Free256 pool: " +str(len(free256)) + " " + str(free256) + "\n"
return retVal
endfunc
func PrintHandleInfo (handle as integer)
_print ("Handle #" + str(handle) + " at " +str(poolLookup[handle]) + " leng: " + str(pool[poolLookup[handle]]) + " alloc: " + str(pool[poolLookup[handle]+1]) + " is: " + str(getstring(handle)))
endfunc
#endif '_MEMSTATS
'--------------------------------------------------
private func ReleaseHandle (handle as integer)
dim poolIdx as integer
dim tmp as integer
dim tmpLen as integer
'Free existing handle! -- this does not add the handle to the free handle list
'But it does reclaim the memory in the pool that was associated with the handle
poolIdx = poolLookup[handle]
if poolIdx > 2 then
tmp = pool[poolIdx+1]
#if _MEMSTATS
if tmp == 0 then
wasted := wasted - (256-pool[poolIdx])
else
wasted = wasted - (tmp-pool[poolIdx])
endif
#endif
if tmp == 16 then
tmpLen = len(free16)
redim(free16, tmpLen+1)
free16[tmpLen] = poolIdx
elseif tmp == 64 then
tmpLen = len(free64)
redim(free64, tmplen+1)
free64[tmpLen] = poolIdx
else 'should be zero
tmpLen = len(free256)
redim (free256, tmpLen+1)
free256[tmpLen] = poolIdx
endif
endif
endfunc
#doc func Setstring
#param handle: A handle previously returned from Allocstring
#param data: The new string to assign to the handle.
~Reassigns the string associated with a string handle. You should pass in a handle
~received from the Allocstring function.
func Setstring (handle as integer, data[] as byte)
dim leng as integer
leng = len(data)
ReleaseHandle (handle)
if leng == 0 then
poolLookup[handle] = 0
return
elseif leng <= 16 then
if len(free16) == 0 then
poolLookup[handle] = GetMemory (16)
else
poolLookup[handle] = GetMemFromPool (free16, 16)
endif
#if _MEMSTATS wasted=wasted+(16-leng) #endif
elseif leng <= 64 then
if len(free64) == 0 then
poolLookup[handle] = GetMemory (64)
else
poolLookup[handle] = GetMemFromPool (free64, 64)
endif
#if _MEMSTATS wasted=wasted+(64-leng) #endif
elseif leng < 256 then
label twofivesix
if len(free256) == 0 then
poolLookup[handle] = GetMemory (256)
else
poolLookup[handle] = GetMemFromPool (free256, 256)
endif
#if _MEMSTATS wasted=wasted+(256-leng) #endif
else
data = left(data,255)
leng = 255
goto twofivesix
endif
pool[poolLookup[handle]] = leng
SetArrayData (pool, poolLookup[handle]+4, data, 0, -1)
endfunc
private func startup()
handles msg_init
redim (freeHandleList, 64)
redim (freeHandleList, 0)
endfunc
private dim pool[1024] as byte
private dim poolSize as integer
init poolSize := 1024
private dim PoolTop as integer
init poolTop := 4
private dim poolLookup[64] as integer
private dim poolLookupSize as integer
init poolLookupSize := 64
private dim poolLookupTop as integer
init poolLookupTop := 1 '(handle #0 will always be an empty string)
private dim freeHandleList[] as integer
private dim free16[] as integer
private dim free64[] as integer
private dim free256[] as integer
#if _MEMSTATS private dim wasted as integer #endif
#undoc func GetMemory
private func GetMemory (alloc as integer) returns integer
dim retVal as integer
retVal = poolTop
poolTop = poolTop + alloc + 4
while poolTop >= poolSize do
poolSize = poolSize * 2
Redim (pool, poolSize)
loop
pool[retVal+1] = alloc
return retVal
endfunc
private func GetMemFromPool(freeBlock[] as reference to integer, alloc as integer) returns integer
dim leng as integer
dim retVal as integer
leng = len(freeBlock) - 1
retVal = freeBlock[leng]
redim (freeBlock, leng)
pool[retVal+1] = alloc
return retVal
endfunc
Enddef
#endif 'stringAllocDefined
#endif
#endfile
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Define Object type stringAlloc
#doc object stringAlloc
~This object is used to assocate an integer handle with a string. The integer handle
~can easily be stored in an array, unlike standard strings. Initially, you call
~Allocstring to allocate a string and get a handle to it. You can access the string
~by calling Getstring and passing in the handle returned by Allocstring. When you
~are done with the string, call Freestring. After calling Freestring, the handle is
~no longer valid. You must call Freestring when you are done with a string, to avoid
~exhausting the terminal's memory.
~The stringAlloc object was designed with speed in mind, and is significantly faster than
~calling the various string Array functions when manipulating large sets of strings. The
~major limitation it suffers versus the string Array functions is that stringAlloc is
~limited to 256 byte strings only.
#doc func Allocstring
#param data:The string to copy. This parameter is limited to arrays (strings) of length 256 or less
~Allocates the string given by the data parameter. This function returns a handle to the
~allocated string. The allocated string can be retreived by a call to Getstring.
func Allocstring (data[] as byte) returns integer
endfunc
#doc func Freestring
#param handle:A string handle that was previously allocated with Allocstring
~Frees a string that was previously allocated with Allocstring. This releases the
~handle and reclaims the memory that was occupied by the string for reuse.
func Freestring (handle as reference to integer)
endfunc
#doc func Getstring
#param handle: A handle to a string that was previously allocated with Allocstring
~Retreives a string that was allocated with Allocstring.
func Getstring (handle as integer) returns string
endfunc
#undoc func GetStates
func GetStats() returns string
endfunc
func PrintHandleInfo (handle as integer)
endfunc
endfunc
#doc func Setstring
#param handle: A handle previously returned from Allocstring
#param data: The new string to assign to the handle.
~Reassigns the string associated with a string handle. You should pass in a handle
~received from the Allocstring function.
func Setstring (handle as integer, data[] as byte)
endfunc
handles msg_init
endfunc
#undoc func GetMemory
endfunc
endfunc
Enddef
#endfile
#ifnot Galil_mc_src_GMCDownload
#option Galil_mc_src_GMCDownload
library Galil_MC source GalilCommunications
enum _GMC_StopParms as _GMCDL_Stop, _GMCDL_SuspendedDL, _GMCDL_SuspendedUL
Define Object type GMCDownload
#ToolImage "00007FFE46FE5AFE5AFE5AFE5AFE463E7FFE7FDE6FEE54066FEE7FDE0000"
'*******************************************************************
'Object: GMCDownload
'Author: Jeremy Richards
'Date: 27 May 2004
'
'Description:
'
'Version: 1.52
'Copyright: 2004 QSI Corporation. Permission to modify and
' distribute this object is granted provided this
' copyright notice remains in tact.
'*******************************************************************
#doc object GMCDownload
~This is a simple object which can either download a program to a Galil Motion Controller
~or upload an existing program from the controller. To download a program, set the
~DLProgram property (either in Layout View, or at runtime) then call the Download
~method at runtime.
~The easiest way to add a motion controller program to your workspace, is to include the program as a Binary Resouce
~in Qlarity Foundry. You then use the LoadFromResource method to load the specified binary
~resource into the DLProgram property. You can then call Download() to send the program to the controller.
~You can also set the DLProgram property by calling the
~LoadFromFile method at runtime to load a program that has been saved to the terminal's
~flash file system.
~
To upload a file, simply call the Upload method at runtime. This
~will set the ULProgram property. You can then either examine the value of this property,
~or call the SaveToFile method to save the uploaded program to a file.
#doc prop DLProgram
~DLProgram contains the text of the program to be downloaded to the motion controller
~If you wish to download multiple programs, you may either create multiple GMCDownload objects,
~or you may simply change this property prior to calling the Download() method of
~this object
dim DLProgram as string
#doc prop ULProgram
~This property contains the most recently uploaded program from the motion controller. While you
~can explicitly set this property to a value, doing so has no meaning for the object. (i.e. this
~object does not use this property, except to set it after performing an upload)
dim ULProgram as string
#doc prop commObject
~commObject defines which GalilCommunication object will be used to communicate with
~the controller. You should create one GalilCommunication object for each motion controller
~you wish to communicate with. By setting the commObject property, you can control wich
~motion controller this object communicates with.
Most projects will require only
~one GalilCommunication object, and this property will automatically be set to refer to that
~communication object.
dim commObject as objref GalilCommunication
init commObject := empty
func Startup()
handles MSG_INIT
GMC_VerifyCommObj(commObject)
Attach(me, default)
Enable(me, true)
endfunc
#doc func LoadFromFile
#param filename:The name of the file to read. It can be either an absolute path (beginning with a slash '/') or a relative path from the current directory.
~This function opens a file in the terminal flash file system and loads its contents into the
~DLProgram property of this object. The file should be saved in a binary format (files
~transferred using the FTP object meet these criteria).
~This function returns true if it is able to successfully load the file. It returns false
~if it is unable to open the file, or encounters another problem.
func LoadFromFile(filename as string) returns boolean
dim flags as fileinfo_flags
dim size, ufs as integer
dim desc as filedesc
dim data[] as byte
check error
GetFileInfo(filename, size, ufs, flags)
on error
GMC_ClearException()
return false
enderr
check error
desc = OpenFile (filename, file_Read and file_no_Create and file_binary)
on error
GMC_ClearException()
return false
enderr
check error
redim(data, size)
ReadFile (desc, data)
on error
CloseFile(Desc)
return false
enderr
CloseFile(desc)
DLProgram := data
return true
endfunc
#doc func LoadFromResource
#param resource:The identifier of the binary resource to load.
~This method sets the DLProgram property at runtime, but loading a binary resource that
~was included with the application. To include a motion controller program as a binary resource,
~open the Edit Resources window and select the Binary resource tab. Then press
~"New Binary Resource" and select your motion controller program file.
func LoadFromResource(resource as _binary)
DLProgram := GetBinaryResource(resource)
endfunc
#doc func SaveToFile
#param filename:The name of the file to read. It can be either an absolute path (beginning with a slash '/') or a relative path from the current directory.
~This method writes the contents of ULProgram to the specified file. It is generally
~used after the Upload method is called and has completed to write the contents read
~from the controller to a file.
~If the contents are successfully saved, this function returns true. Otherwise it returns
~false.
func SaveToFile (filename as string) returns boolean
dim desc as filedesc
dim data[] as byte
check error
desc = OpenFile (filename, file_Write and file_binary)
on error
GMC_ClearException()
return false
enderr
check error
WriteFile (desc, ULProgram)
on error
CloseFile(Desc)
return false
enderr
CloseFile(desc)
return true
endfunc
#doc func Download
#param DLMethod:This specifies how the motion controller deals with the program. To replace the existing program in the controller, pass in an empty string (""). To append to the end of the existing program pass in "#". For more details on this paramater, see the motion control documentation on the DL command.
~This function stops the execution of any program currently running on the controller and
~downloads the program contained in the DLProgram property (which can be loaded from a file
~which was transferred to the terminal via FTP). What is done with the program that is
~currently in the motion controller is controlled by the DLMethod paramater to this function.
~
Once the download has completed, the DownloadComplete event is fired. Override that
~event to perform some action once the download is complete, such as starting the new program.
~
If this object is already downloading a program, then this method returns false.
~otherwise it returns true.
private dim downloading as boolean
private dim awaitingColon as boolean
private dim DownloadMethod as string
func Download(DLMethod as string) returns boolean
if downloading or uploading then
return false
endif
downloading := true
awaitingColon := false
foundColonCount := 0
downloadMethod := DLMethod
if not commObject.SendAsciiCommandStream("ST;EO0", me, _GMCDL_Stop) then
FinishDownload(false)
return true
endif
return true
endfunc
private func Success(parm as integer) returns boolean
handles GMC_CommSuccess
handles GMC_SuspendSuccessNotify
if parm == _GMCDL_STOP then
'Stopped execution on the controller, now to suspend communications for the download
commObject.SuspendCommunications(me, _GMCDL_SuspendedDL)
elseif parm == _GMCDL_SuspendedDL then
'Communications are now suspended, so commence the download
commObject.SuspendTransmit("DL" + downloadMethod + "\r\n")
TxProgramAsChunks()
commObject.suspendTransmit("\x1A\r\n")
awaitingColon := true
RegisterMsgHandler(me, msg_timetick, commObject.timeout/20)
elseif parm == _GMCDL_SuspendedUL then
commObject.SuspendTransmit ("UL;")
RegisterMsgHandler (me, msg_timetick, commObject.timeout/20)
endif
return true
endfunc
'enum GMC_EnetStates as GMC_Serial := 1, GMC_Pending := 2, GMC_Enet := 3, GMC_Invalid := 4
'if (enetState <> GMC_Serial) and (enetState <> GMC_Enet) then 'Not connected
private func TxProgramAsChunks()
'We need to break the program into managable chunks for download
dim i as integer
dim max as integer
dim holder as string
dim pos as integer
max = len(dlProgram)-1
for i = 0 to max step 256
'Strip out blank lines (seems to cause problems)
holder = mid(dlprogram, i, 256)
pos := find(holder, 0, -1, "\r\n\r\n")
while pos >= 0 do
holder := left(holder, pos) + mid(holder, pos+2, -1)
pos := find(holder, pos, -1, "\r\n\r\n")
loop
pos := find(holder, 0, -1, "\n\n")
while pos >= 0 do
holder := left(holder, pos) + mid(holder, pos+1, -1)
pos := find(holder, pos, -1, "\n\n")
loop
commObject.suspendTransmit(holder)
next
endfunc
private func Failure(parm as integer) returns boolean
handles GMC_CommFailure
FinishDownload(false)
return true
endfunc
private dim foundColonCount as integer
private func ReceiveFromController(parm as integer) returns boolean
handles GMC_SuspendCommReceive
dim pos as integer
if parm == _GMCDL_SuspendedDL then
if awaitingColon then
label nextColon
pos := find(commObject.suspendedRecv, 0, -1, ":")
if pos >= 0 then
foundColonCount := foundColonCount+1
if foundColonCount >= 2 then
FinishDownload(True)
else
commObject.suspendedRecv = mid(commObject.suspendedRecv, pos+1, -1)
goto nextColon
endif
elseif find(commObject.suspendedRecv, 0, -1, "?") >= 0 then
FinishDownload(False)
endif
endif
elseif parm == _GMCDL_SuspendedUL then
pos := find (commObject.suspendedRecv, 0, -1, "\x1A")
if pos >= 0 then
ULProgram := ULProgram + left(commObject.suspendedRecv, pos)
FinishUpload(true)
else
ULProgram := ULProgram + commObject.suspendedRecv
RegisterMsgHandler(me, msg_timetick, commObject.timeout/20)
endif
endif
return true
endfunc
private func Timeout()
handles MSG_TIMETICK
if (downloading) then
FinishDownload(false)
elseif (uploading) then
FinishUpload(false)
endif
endfunc
private func FinishDownload (success as boolean)
ULDLFinish()
DownloadComplete(success)
endfunc
private func FinishUpload (success as boolean)
ULDLFinish()
UploadComplete (success)
endfunc
private func ULDLFinish()
UnRegisterMsgHandler(me, MSG_TIMETICK, 0)
downloading := false
uploading := false
awaitingColon := false
commObject.ResumeCommunications()
endfunc
#doc override DownloadComplete
#param success:This paramater is true if the download completed successfully. If there was an error in downloading, this paramater will be false.
~This event is fired whenever a download to the motion controller has completed. You can
~handle this event to perform some action when the download has completed, such as using a
~GMCCommand object to begin executing the new program.
func DownloadComplete(success as boolean)
return
endfunc
#doc override UploadComplete
#param success:This paramater is true if the upload completed successfully. If there was an error in uploading, this paramater will be false.
~This event is fired whenever an upload from the motion controller has completed. You can
~handle this event to perform some action when the upload has completed.
func UploadComplete(success as boolean)
return
endfunc
#doc func Upload
~This method is used to retrieve the current program that is resident in the controller.
~Once the upload has completed, the UploadComplete event will fire and the ULProgram
~property will contain the uploaded program, which can then optionally be saved to the flash
~file system using the SaveToFile method.
private dim Uploading as boolean
func Upload() returns boolean
if uploading or downloading then
return false
endif
if commObject.SuspendCommunications(me, _GMCDL_SuspendedUL) then
uploading := true
ULProgram := ""
endif
return true
endfunc
private func ToolDragcreate (parent as objref)
handles MSG_TOOL_DRAGCREATE
Startup()
return
endfunc
Enddef
#endif
#endfile
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Define Object type GMCDownload
#doc object GMCDownload
~This is a simple object which can either download a program to a Galil Motion Controller
~or upload an existing program from the controller. To download a program, set the
~DLProgram property (either in Layout View, or at runtime) then call the Download
~method at runtime.
~The easiest way to add a motion controller program to your workspace, is to include the program as a Binary Resouce
~in Qlarity Foundry. You then use the LoadFromResource method to load the specified binary
~resource into the DLProgram property. You can then call Download() to send the program to the controller.
~You can also set the DLProgram property by calling the
~LoadFromFile method at runtime to load a program that has been saved to the terminal's
~flash file system.
~
To upload a file, simply call the Upload method at runtime. This
~will set the ULProgram property. You can then either examine the value of this property,
~or call the SaveToFile method to save the uploaded program to a file.
#doc prop DLProgram
~DLProgram contains the text of the program to be downloaded to the motion controller
~If you wish to download multiple programs, you may either create multiple GMCDownload objects,
~or you may simply change this property prior to calling the Download() method of
~this object
dim DLProgram as string
#doc prop ULProgram
~This property contains the most recently uploaded program from the motion controller. While you
~can explicitly set this property to a value, doing so has no meaning for the object. (i.e. this
~object does not use this property, except to set it after performing an upload)
dim ULProgram as string
#doc prop commObject
~commObject defines which GalilCommunication object will be used to communicate with
~the controller. You should create one GalilCommunication object for each motion controller
~you wish to communicate with. By setting the commObject property, you can control wich
~motion controller this object communicates with.
Most projects will require only
~one GalilCommunication object, and this property will automatically be set to refer to that
~communication object.
dim commObject as objref GalilCommunication
func Startup()
handles MSG_INIT
endfunc
#doc func LoadFromFile
#param filename:The name of the file to read. It can be either an absolute path (beginning with a slash '/') or a relative path from the current directory.
~This function opens a file in the terminal flash file system and loads its contents into the
~DLProgram property of this object. The file should be saved in a binary format (files
~transferred using the FTP object meet these criteria).
~This function returns true if it is able to successfully load the file. It returns false
~if it is unable to open the file, or encounters another problem.
func LoadFromFile(filename as string) returns boolean
endfunc
#doc func LoadFromResource
#param resource:The identifier of the binary resource to load.
~This method sets the DLProgram property at runtime, but loading a binary resource that
~was included with the application. To include a motion controller program as a binary resource,
~open the Edit Resources window and select the Binary resource tab. Then press
~"New Binary Resource" and select your motion controller program file.
func LoadFromResource(resource as _binary)
endfunc
#doc func SaveToFile
#param filename:The name of the file to read. It can be either an absolute path (beginning with a slash '/') or a relative path from the current directory.
~This method writes the contents of ULProgram to the specified file. It is generally
~used after the Upload method is called and has completed to write the contents read
~from the controller to a file.
~If the contents are successfully saved, this function returns true. Otherwise it returns
~false.
func SaveToFile (filename as string) returns boolean
endfunc
#doc func Download
#param DLMethod:This specifies how the motion controller deals with the program. To replace the existing program in the controller, pass in an empty string (""). To append to the end of the existing program pass in "#". For more details on this paramater, see the motion control documentation on the DL command.
~This function stops the execution of any program currently running on the controller and
~downloads the program contained in the DLProgram property (which can be loaded from a file
~which was transferred to the terminal via FTP). What is done with the program that is
~currently in the motion controller is controlled by the DLMethod paramater to this function.
~
Once the download has completed, the DownloadComplete event is fired. Override that
~event to perform some action once the download is complete, such as starting the new program.
~
If this object is already downloading a program, then this method returns false.
~otherwise it returns true.
func Download(DLMethod as string) returns boolean
endfunc
handles GMC_CommSuccess
handles GMC_SuspendSuccessNotify
endfunc
endfunc
handles GMC_CommFailure
endfunc
handles GMC_SuspendCommReceive
endfunc
handles MSG_TIMETICK
endfunc
endfunc
endfunc
endfunc
#doc override DownloadComplete
#param success:This paramater is true if the download completed successfully. If there was an error in downloading, this paramater will be false.
~This event is fired whenever a download to the motion controller has completed. You can
~handle this event to perform some action when the download has completed, such as using a
~GMCCommand object to begin executing the new program.
func DownloadComplete(success as boolean)
endfunc
#doc override UploadComplete
#param success:This paramater is true if the upload completed successfully. If there was an error in uploading, this paramater will be false.
~This event is fired whenever an upload from the motion controller has completed. You can
~handle this event to perform some action when the upload has completed.
func UploadComplete(success as boolean)
endfunc
#doc func Upload
~This method is used to retrieve the current program that is resident in the controller.
~Once the upload has completed, the UploadComplete event will fire and the ULProgram
~property will contain the uploaded program, which can then optionally be saved to the flash
~file system using the SaveToFile method.
func Upload() returns boolean
endfunc
handles MSG_TOOL_DRAGCREATE
endfunc
Enddef
#endfile