these pieces of code seems to run quite good ... every time "stat" break
while loop (sometime EMC_TASK_SET_STATE show issuing messages ... in that
moment "stat" break while loop ... at the end example of ISSUING messages
from terminal)
#include "QtDro.h"
using namespace std;
// the NML channels to the EMC task
RCS_CMD_CHANNEL *emcCommandBuffer ;
RCS_STAT_CHANNEL *emcStatusBuffer ;
EMC_STAT *emcStatus;
EMC_CMD_MSG *emcCmd;
// the NML channel for errors
static NML *emcErrorBuffer = 0;
static char error_string[NML_INTERNAL_CMS_ERROR] = "";
// the current command numbers, set up updateStatus(), used in main()
static int emcCommandSerialNumber = 0;
int counter = 0;
QtDro::~QtDro()
{
// inifile.Close();
this->Stop;
}
void QtDro::run()
{
double thX = 0;
double thY = 0;
double thZ = 0;
double thA = 0;
double thB = 0;
double thC = 0;
double thU = 0;
double thV = 0;
double thW = 0;
QTextStream(stdout) << "First run function" << endl;
const char *nmlfile = "/home/bkt/linuxcnc-dev/configs/sim/axis/emc.nml";
RCS_STAT_CHANNEL *stat = new RCS_STAT_CHANNEL(emcFormat, "emcStatus",
"xemc", nmlfile);
RCS_CMD_CHANNEL *cmd = new RCS_CMD_CHANNEL(emcFormat, "emcCommand",
"xemc", nmlfile);
NML *error = new NML(emcFormat, "emcError", "xemc", nmlfile);
//************ try to connect to EMC cmd
/* if (emcCommandBuffer == 0) {
emcCommandBuffer = new RCS_CMD_CHANNEL(emcFormat, "emcCommand",
"xemc", nmlfile, 0);
QTextStream(stdout) << "cmd buffer is valid " << endl;
if (!emcCommandBuffer->valid()) {
delete emcCommandBuffer;
emcCommandBuffer = 0;
QTextStream(stdout) << "cmd buffer is NOT valid " << endl;
return;
}
}*/
while(1)
{
if((stat->peek() != EMC_STAT_TYPE) || (!stat->valid()))
{
QTextStream(stdout) << "while these program NOT run " <<
endl;
break;
}
else
{
EMC_STAT *emcStatus =
static_cast<EMC_STAT*>(stat->get_address());
//EMC_CMD_MSG *emcCmd =
static_cast<EMC_CMD_MSG*>(cmd->get_address());
if ((thX != emcStatus->motion.traj.position.tran.x) || (thY !=
emcStatus->motion.traj.position.tran.y) || (thZ !=
emcStatus->motion.traj.position.tran.z))
{
thX = emcStatus->motion.traj.position.tran.x;
thY = emcStatus->motion.traj.position.tran.y;
thZ = emcStatus->motion.traj.position.tran.z;
thA = 0;
thB = 0;
thC = 0;
thU = 0;
thV = 0;
thW = 0;
emit thXYZABCDEF(thX, thY, thZ, thA, thB, thC, thU, thV,
thW);
}
if(counter>=80 && counter<81)
{
QTextStream(stdout) << "state_msg try zone" << endl;
EMC_TASK_SET_STATE state_msg;
// EMC_TASK_PLAN_PAUSE emc_task_plan_pause_msg;
QTextStream(stdout) << "spy 1" << endl;
state_msg.state = EMC_TASK_STATE_OFF;
QTextStream(stdout) << "spy 2" << endl;
state_msg.serial_number = ++emcCommandSerialNumber;
QTextStream(stdout) << "actual value of state_msg: " <<
state_msg.state << endl;
QTextStream(stdout) << "these steps seems right .. now
try to write" << endl;
// cmd->write(&emc_task_plan_pause_msg);
cmd->write(&state_msg); /* these NOT work because not
declare 'emcCommandBuffer' with automatic memory allocation with macro
"new" */
QTextStream(stdout) << "just write on emcCommandBuffer"
<< endl;
counter = 0;
}
counter++;
}
this->msleep(100);
}
}
*ISSUING mESSAGES FROm TERMINAL*
*Issuing EMC_TRAJ_LINEAR_MOVE -- ( +220,+128,
+0,4.656469,0.324366,0.118110,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,
+1,4.000000,4.000000,100.000000, +0, -1,)Issuing
EMC_TASK_SET_STATE -- ( +505,+24, +140, +3,)Issuing
EMC_TASK_PLAN_SYNCH -- ( +516,+24, +0,)*
*in these moment "stat" break while loop .... if someone have an ideas ...
welcome*
*bkt*
Il giorno gio 2 gen 2020 alle ore 15:17 theman whosoldtheworld <
[email protected]> ha scritto:
> @bkt ... nothings appens because (after start linuxcnc from terminal ...)
>
> **********************************************************
> * Current Directory = /home/bkt/linuxcnc-dev/configs/sim/axis
> *
> **********************************************************
> * BufferName = emcCommand
> * BufferType = 0
> * ProcessName = emc
> * Configuration File =
> /home/bkt/linuxcnc-dev/configs/sim/axis/emc.nml /*
> write emc.nml or linuxcnc.nml seems the same things but file is different
> ... not know why */
> * CMS Status = -3 (CMS_INTERNAL_ACCESS_ERROR: An error occured during an
> internal access function. )
> * Recent errors repeated:
>
> CMS:(emcCommand) Message size of 9288674231451648 exceeds maximum of 8120
>
>
>
> * BufferLine: B emcCommand SHMEM localhost 8192 0
> 0 1 16 1001 TCP=5005 xdr
> * ProcessLine: P emc emcCommand LOCAL localhost RW
> 0 1.0 0 0
> * error_type = 5 (NML_INTERNAL_CMS_ERROR)
> ************************************************************
>
> libnml/cms/cms_in.cc 708:* CMS:(emcCommand) Message size of
> 9288674231451649 exceeds maximum of 8120*
>
>
> or in QtDro terminal:
>
> libnml/cms/cms_xup.cc 303: CMS_XDR_UPDATER: Can't rewind because
> current_stream is NULL.
> libnml/cms/cms_xup.cc 279: CMS_XDR_UPDATER: Required pointer is NULL.
> libnml/cms/cms_xup.cc 279: CMS_XDR_UPDATER: Required pointer is NULL.
>
>
>
> *Seems stream is null so it impossible "write" sometings .... but *
>
> emcStatus->motion.traj.position.tran.x;
> emcStatus->motion.traj.position.tran.y;
> emcStatus->motion.traj.position.tran.z;
>
> Work great in any case ....
>
> bkt
>
> Il giorno mar 31 dic 2019 alle ore 09:10 theman whosoldtheworld <
> [email protected]> ha scritto:
>
>> @N thanks Nicklas .... with your suggest I understand a little better the
>> code ... these is myne renewed (and more complete than the last one ...
>> I have not entered the tedious and useless functions to understand the
>> problem here ... but if I can finish the job for January (when my holidays
>> are over) I will post the complete project on the forum:
>>
>> using namespace std;
>>
>> static RCS_CMD_CHANNEL *emcCommandBuffer = 0; /* I've declared
>> 'emcCommandBuffer' as "static" ... seems these is not right */
>> static RCS_STAT_CHANNEL *emcStatusBuffer = 0;
>> EMC_STAT *emcStatus = 0;
>> static NML *emcErrorBuffer = 0;
>> static char error_string[NML_INTERNAL_CMS_ERROR] = "";
>> static int emcCommandSerialNumber = 0;
>>
>> int counter = 0;
>>
>> void QtDro::run()
>> {
>> double thX = 0;
>> double thY = 0;
>> double thZ = 0;
>> double thA = 0;
>> double thB = 0;
>> double thC = 0;
>> double thU = 0;
>> double thV = 0;
>> double thW = 0;
>>
>> QTextStream(stdout) << "First run function" << endl;
>>
>>
>> const char *nmlfile =
>> "/home/bkt/linuxcnc-dev/configs/common/linuxcnc.nml";
>> RCS_STAT_CHANNEL *stat = new RCS_STAT_CHANNEL(emcFormat, "emcStatus",
>> "xemc", nmlfile);
>> RCS_CMD_CHANNEL *cmd = new RCS_CMD_CHANNEL(emcFormat, "emcCommand",
>> "xemc", nmlfile, 0);
>> NML *error = new NML(emcFormat, "emcError", "xemc", nmlfile);
>>
>> while(1)
>> {
>> if((stat->peek() != EMC_STAT_TYPE) || (!stat->valid()))
>> {
>> QTextStream(stdout) << "while these program NOT run " <<
>> endl;
>> break;
>> }
>> else
>> {
>> EMC_STAT *emcStatus =
>> static_cast<EMC_STAT*>(stat->get_address());
>>
>> if ((thX != emcStatus->motion.traj.position.tran.x) || (thY
>> != emcStatus->motion.traj.position.tran.y) || (thZ !=
>> emcStatus->motion.traj.position.tran.z))
>> {
>> thX = emcStatus->motion.traj.position.tran.x;
>> thY = emcStatus->motion.traj.position.tran.y;
>> thZ = emcStatus->motion.traj.position.tran.z;
>> thA = 0;
>> thB = 0;
>> thC = 0;
>> thU = 0;
>> thV = 0;
>> thW = 0;
>> emit thXYZABCDEF(thX, thY, thZ, thA, thB, thC, thU, thV,
>> thW);
>> }
>>
>> if(counter>=50 && counter<51)
>> {
>>
>> QTextStream(stdout) << "state_msg try zone" << endl;
>> EMC_TASK_SET_STATE state_msg;
>> QTextStream(stdout) << "spy 1" << endl;
>> state_msg.state = EMC_TASK_STATE_OFF;
>> QTextStream(stdout) << "spy 2" << endl;
>> state_msg.serial_number = ++emcCommandSerialNumber;
>> QTextStream(stdout) << "actual value of state_msg: " <<
>> state_msg.state << endl;
>> QTextStream(stdout) << "these steps seems right .. now
>> try to write" << endl;
>> cmd->write(&state_msg);
>> // emcCommandBuffer->write(&state_msg); /* these NOT
>> work because not declare 'emcCommandBuffer' with automatic memory
>> allocation with macro "new" */
>> QTextStream(stdout) << "just write on emcCommandBuffer"
>> << endl;
>>
>> }
>>
>> counter++;
>> }
>>
>>
>> this->msleep(100);
>> }
>> }
>>
>>
>> At these point terminal reply to my good news:
>>
>> bkt@bkt:~/linuxcnc-dev$ QtDro
>> argc: 1 argv: 0x7ffd462f8b98 nmlfile:
>> First Application Start ok
>> First run function
>> state_msg try zone
>> spy 1
>> spy 2
>> spy 3
>> actual value of state_msg: 3
>> these steps seems right .. now try to write
>> just write on emcCommandBuffer
>>
>> But on Axis Gui SIM that I use as test gui, nothing change ....
>>
>> how can I understand if Lcnc actually had my command? (Axis is active and on
>> on .... after the EMC_TASK_STATE_OFF command I expected the button toggle to
>> go OFF ... maybe launch the wrong command?)
>>
>> regards
>>
>>
>> Il giorno lun 30 dic 2019 alle ore 19:08 N <[email protected]>
>> ha scritto:
>>
>>> > @ N *for sure problem is related to gcc version and qt *....
>>> because if
>>> > run other ubuntu 18.04 with gcc 5.x all work like my develop pc that
>>> > contains gcc 5.5.
>>>
>>> It could also be a coincidence, at least my myself quite often make
>>> wrong conclusion then similar errors happen so I use to double checkt.
>>>
>>> > Any how now I have other problem related previous post .....
>>> >
>>> > if(counter>=50 && counter<51)
>>> > {
>>> > QTextStream(stdout) << "state_msg try zone" << endl;
>>> > EMC_TASK_SET_STATE *state_msg = (EMC_TASK_SET_STATE
>>> > *)malloc(sizeof (EMC_TASK_SET_STATE));
>>> > QTextStream(stdout) << "spy 1" << endl;
>>> > // state_msg->clear(); /* these not work because try
>>> to
>>> > clear empty array? */
>>> > QTextStream(stdout) << "spy 2" << endl;
>>> > state_msg->state = EMC_TASK_STATE_OFF;
>>> > QTextStream(stdout) << "spy 3" << endl;
>>> > state_msg->serial_number = ++emcCommandSerialNumber;
>>> > QTextStream(stdout) << "actual value of state_msg: "
>>> <<
>>> > state_msg->state << endl;
>>> > QTextStream(stdout) << "these steps seems right ..
>>> now
>>> > try to write" << endl;
>>> > emcCommandBuffer->write(state_msg);
>>> > QTextStream(stdout) << "just write on
>>> emcCommandBuffer"
>>> > << endl;
>>> > free(state_msg);
>>> >
>>> > }
>>> >
>>> > counter++;
>>>
>>> Most often use C and more seldom C++ so I might make misstake without
>>> compiling it for myself first. Would suggest this code to get rid of
>>> malloc(...) function and initialize variable then declared and as a const
>>> if not supposed to change.
>>>
>>> if(counter>=50 && counter<51)
>>> {
>>> QTextStream(stdout) << "state_msg try zone" << endl;
>>> EMC_TASK_SET_STATE state_msg();
>>>
>>> QTextStream(stdout) << "spy 1" << endl;
>>> state_msg->clear(); /* these not work because try to clear empty
>>> array? */
>>> QTextStream(stdout) << "spy 2" << endl;
>>> state_msg->state = EMC_TASK_STATE_OFF;
>>> QTextStream(stdout) << "spy 3" << endl;
>>> state_msg->serial_number = ++emcCommandSerialNumber;
>>> QTextStream(stdout) << "actual value of state_msg: " <<
>>> state_msg->state << endl;
>>> QTextStream(stdout) << "these steps seems right .. now try to write"
>>> << endl;
>>> emcCommandBuffer->write(state_msg);
>>> QTextStream(stdout) << "just write on emcCommandBuffer" << endl;
>>> }
>>> counter++;
>>>
>>> If I get it correct your code does not work because you allocate memory
>>> but does not create object, C++ have a constructor for this which I
>>> conclude from Linuxcnc code have no parameters.
>>> EMC_TASK_SET_STATE *state_msg = new EMC_TASK_SET_STATE();
>>> ...
>>> free(state_msg)
>>>
>>> As you free memory at bottom I would suggest to use local variable as in
>>> first example above, then you will not forget to free memory, it also make
>>> possible stack like memory allocation.
>>> EMC_TASK_SET_STATE state_msg();
>>>
>>>
>>> I use Eclipse then finding declarations is easier even though it does
>>> not work well for C++ or if Linuxcnc code is the problem. Codeblocks might
>>> be another good option if it works.
>>>
>>>
>>> Nicklas Karlsson
>>>
>>>
>>> _______________________________________________
>>> Emc-developers mailing list
>>> [email protected]
>>> https://lists.sourceforge.net/lists/listinfo/emc-developers
>>>
>>
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