linuxcnc-hal-sys 0.1.5

/* Classic Ladder Project */
/* Copyright (C) 2001-2008 Marc Le Douarain */
/* http://membres.lycos.fr/mavati/classicladder/ */
/* http://www.sourceforge.net/projects/classicladder */
/* February 2001 */

/* This library is free software; you can redistribute it and/or */
/* modify it under the terms of the GNU Lesser General Public */
/* License as published by the Free Software Foundation; either */
/* version 2.1 of the License, or (at your option) any later version. */

/* This library is distributed in the hope that it will be useful, */
/* but WITHOUT ANY WARRANTY; without even the implied warranty of */
/* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU */
/* Lesser General Public License for more details. */

/* You should have received a copy of the GNU Lesser General Public */
/* License along with this library; if not, write to the Free Software */
/* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. */

/* if GTK not included before */
#ifndef TRUE
#define TRUE 1
#endif
#ifndef FALSE
#define FALSE 0
#endif

#define CL_PRODUCT_NAME "ClassicLadder"
#define CL_RELEASE_VER_STRING "0.7.124-EMC"
#define CL_RELEASE_DATE_STRING "2 MAR 2008"

// defaults values
#define NBR_RUNGS_DEF 100
#define NBR_BITS_DEF 20
#define NBR_WORDS_DEF 20
#define NBR_TIMERS_DEF 10
#define NBR_MONOSTABLES_DEF 10
#define NBR_COUNTERS_DEF 10
#define NBR_TIMERS_IEC_DEF 10
#define NBR_PHYS_INPUTS_DEF 15
#define NBR_PHYS_OUTPUTS_DEF 15
#define NBR_ARITHM_EXPR_DEF 100
#define NBR_SECTIONS_DEF 10
#define NBR_SYMBOLS_DEF 200
#define NBR_PHYS_WORDS_INPUTS_DEF 10
#define NBR_PHYS_WORDS_OUTPUTS_DEF 10
#define NBR_PHYS_FLOAT_INPUTS_DEF 10
#define NBR_PHYS_FLOAT_OUTPUTS_DEF 10
#define NBR_ERROR_BITS_DEF 10
#define NBR_INPUTS_CONF 5
#define NBR_OUTPUTS_CONF 5

typedef struct plc_sizeinfo_s {
	int	nbr_rungs;
	int	nbr_bits;
	int	nbr_words;
#ifdef OLD_TIMERS_MONOS_SUPPORT
	int	nbr_timers;
	int	nbr_monostables;
#endif
	int	nbr_counters;
	int	nbr_timers_iec;
	int	nbr_phys_inputs;
	int	nbr_phys_outputs;
	int	nbr_arithm_expr;
	int	nbr_sections;
	int     nbr_symbols;
        int	nbr_phys_words_inputs;
	int	nbr_phys_words_outputs;
        int     nbr_phys_float_inputs;
        int     nbr_phys_float_outputs;
        int     nbr_error_bits;
}plc_sizeinfo_s;

#define NBR_RUNGS 	       InfosGene->GeneralParams.SizesInfos.nbr_rungs
#define NBR_BITS 	       InfosGene->GeneralParams.SizesInfos.nbr_bits
#define NBR_WORDS	       InfosGene->GeneralParams.SizesInfos.nbr_words
#define NBR_TIMERS 	       InfosGene->GeneralParams.SizesInfos.nbr_timers
#define NBR_MONOSTABLES        InfosGene->GeneralParams.SizesInfos.nbr_monostables
#define NBR_COUNTERS	       InfosGene->GeneralParams.SizesInfos.nbr_counters
#define NBR_TIMERS_IEC 	       InfosGene->GeneralParams.SizesInfos.nbr_timers_iec
#define NBR_PHYS_INPUTS        InfosGene->GeneralParams.SizesInfos.nbr_phys_inputs
#define NBR_PHYS_OUTPUTS       InfosGene->GeneralParams.SizesInfos.nbr_phys_outputs
#define NBR_ARITHM_EXPR        InfosGene->GeneralParams.SizesInfos.nbr_arithm_expr
#define NBR_SECTIONS 	       InfosGene->GeneralParams.SizesInfos.nbr_sections
#define NBR_SYMBOLS	       InfosGene->GeneralParams.SizesInfos.nbr_symbols
#define NBR_PHYS_WORDS_INPUTS  InfosGene->GeneralParams.SizesInfos.nbr_phys_words_inputs
#define NBR_PHYS_WORDS_OUTPUTS InfosGene->GeneralParams.SizesInfos.nbr_phys_words_outputs
#define NBR_PHYS_FLOAT_INPUTS  InfosGene->GeneralParams.SizesInfos.nbr_phys_float_inputs
#define NBR_PHYS_FLOAT_OUTPUTS InfosGene->GeneralParams.SizesInfos.nbr_phys_float_outputs
#define NBR_ERROR_BITS 	       InfosGene->GeneralParams.SizesInfos.nbr_error_bits

#define ARITHM_EXPR_SIZE 50

#ifdef MAT_CONNECTION
#define TYPE_FOR_BOOL_VAR plc_pt_t
#else
#define TYPE_FOR_BOOL_VAR char
#endif

// default period rung/sequential refresh
#define PERIODIC_REFRESH_MS_DEF 50

#define TIME_BASE_MINS 60000
#define TIME_BASE_SECS 1000
#define TIME_BASE_100MS 100

// IEC Timers available modes
#define TIMER_IEC_MODE_ON 0
#define TIMER_IEC_MODE_OFF 1
#define TIMER_IEC_MODE_PULSE 2

/* numbers of blocks in a rung */
#define RUNG_WIDTH 10
#define RUNG_HEIGHT 6

/* size in pixels of rungs blocks (default) */
//#define BLOCK_WIDTH_DEF 32
#define BLOCK_WIDTH_DEF 48
#define BLOCK_HEIGHT_DEF 32

/* offsets in pixels */
#define OFFSET_X 4
#define OFFSET_Y 6
/* size of lines activated (comment to not use) */
#define THICK_LINE_ELE_ACTIVATED 3

/* elements in the rungs */
#define ELE_FREE 0
#define ELE_INPUT 1
#define ELE_INPUT_NOT 2
#define ELE_RISING_INPUT 3
#define ELE_FALLING_INPUT 4
#define ELE_CONNECTION 9
#define ELE_TIMER 10
#define ELE_MONOSTABLE 11
#define ELE_COUNTER 12
#define ELE_TIMER_IEC 13
#define ELE_COMPAR 20
#define ELE_OUTPUT 50
#define ELE_OUTPUT_NOT 51
#define ELE_OUTPUT_SET 52
#define ELE_OUTPUT_RESET 53
#define ELE_OUTPUT_JUMP 54
#define ELE_OUTPUT_CALL 55
#define ELE_OUTPUT_OPERATE 60
/* for complex elements using many blocks : only one block
   is "alive", others are marked as UNUSABLE */
#define ELE_UNUSABLE 99
#define ELE_NO_DEFAULT_NAME 255

/* used only for edit */
#define EDIT_CNX_WITH_TOP 100
#define EDIT_POINTER 101
#define EDIT_LONG_CONNECTION 102
#define EDIT_ERASER 103


/* Type of vars */
/* booleans */
#define VAR_MEM_BIT 00
#define VAR_TIMER_DONE 10
#define VAR_TIMER_RUNNING 11
#define VAR_TIMER_IEC_DONE 15
#define VAR_MONOSTABLE_RUNNING 20
#define VAR_COUNTER_DONE 25
#define VAR_COUNTER_EMPTY 26
#define VAR_COUNTER_FULL 27
#define VAR_STEP_ACTIVITY 30
#define VAR_PHYS_INPUT 50
#define VAR_PHYS_OUTPUT 60
#define VAR_ERROR_BIT 70
#define VAR_ARE_WORD 199    /* after it, all vars are no more booleans */
/* integers */
#define VAR_MEM_WORD 200
#define VAR_STEP_TIME 220
#define VAR_TIMER_PRESET 230
#define VAR_TIMER_VALUE 231
#define VAR_MONOSTABLE_PRESET 240
#define VAR_MONOSTABLE_VALUE 241
#define VAR_COUNTER_PRESET 250
#define VAR_COUNTER_VALUE 251
#define VAR_TIMER_IEC_PRESET 260
#define VAR_TIMER_IEC_VALUE 261
#define VAR_PHYS_WORD_INPUT 270
#define VAR_PHYS_WORD_OUTPUT 280
#define VAR_PHYS_FLOAT_INPUT 300
#define VAR_PHYS_FLOAT_OUTPUT 310

#define TEST_VAR_IS_A_BOOL( type, offset ) (type<VAR_ARE_WORD)
#define VAR_DEFAULT_TYPE VAR_MEM_BIT
#define BASE_MINS 0
#define BASE_SECS 1
#define BASE_100MS 2

#define TIME_UPDATE_GTK_DISPLAY_MS 100

// attribute separator for variable names.
//#define VAR_ATTRIBUTE_SEP ','
#define VAR_ATTRIBUTE_SEP '.'

typedef struct StrElement
{
	short int Type;
	char ConnectedWithTop;
	int VarType;
	int VarNum;     /* or NumRung (for jump), NumTimer, NumMonostable,... */
	
	char DynamicInput;
	char DynamicState;
	char DynamicVarBak; /* used for rising/falling edges */
	char DynamicOutput;
}StrElement;

#define LGT_LABEL 10
#define LGT_COMMENT 30
typedef struct StrRung
{
	int Used;
	int PrevRung;
	int NextRung;
	char Label[LGT_LABEL];
	char Comment[LGT_COMMENT];
	StrElement Element[RUNG_WIDTH][RUNG_HEIGHT];
}StrRung;

#ifdef OLD_TIMERS_MONOS_SUPPORT
typedef struct StrTimer
{
	int Preset;
	int Value;
	int Base;
	char DisplayFormat[10];
	char InputEnable;
	char InputControl;
	char OutputDone;
	char OutputRunning;
}StrTimer;
typedef struct StrMonostable
{
	int Preset;
	int Value;
	int Base;
	char DisplayFormat[10];
	char Input;
	char InputBak;
	char OutputRunning;
}StrMonostable;
#endif

typedef struct StrCounter
{
	int Preset;
	int Value;
	int ValueBak;
	char InputReset;
	char InputPreset;
	char InputCountUp;
	char InputCountUpBak;
	char InputCountDown;
	char InputCountDownBak;
	char OutputDone;
	char OutputEmpty;
	char OutputFull;
}StrCounter;

typedef struct StrTimerIEC
{
	int Preset; /* value in number of base units */
	int Value; /* value in number of base units */
	int Base;
	char TimerMode;
	char DisplayFormat[10];
	char Input;
	char InputBak;
	char Output;
	char TimerStarted;
	int ValueToReachOneBaseUnit;
}StrTimerIEC;

typedef struct StrArithmExpr
{
	char Expr[ARITHM_EXPR_SIZE];
}StrArithmExpr;

#define DEVICE_TYPE_DIRECT_ACCESS 0	/* used inb( ) and outb( ) calls */
#define DEVICE_TYPE_COMEDI 100	/* /dev/comedi0 and following */

typedef struct StrIOConf
{
	int FirstClassicLadderIO;	/* -1 : not used */
	int DeviceType;		/* a comedi device or type direct I/O access */
	int SubDevOrAdr;	/* comedi sub-device or I/O port address */
	int FirstChannel;
	int NbrConsecutivesChannels;
	int FlagInverted;
}StrIOConf;

typedef struct StrGeneralParams
{
	plc_sizeinfo_s SizesInfos;
	int PeriodicRefreshMilliSecs;
}StrGeneralParams;

typedef struct StrInfosGene
{
	int FirstRung;
	int CurrentRung;
	int LastRung;
	int LadderState;
	int HideGuiState;
	int UnderCalculationPleaseWait;
	int LadderStoppedToRunBack;
	char CmdRefreshVarsBits;
	
	int BlockWidth;
	int BlockHeight;
	int PageWidth;
	int PageHeight;
	int TopRungDisplayed;
	int OffsetHiddenTopRungDisplayed;
	int OffsetCurrentRungDisplayed;
	int HScrollValue;
	int VScrollValue;
	
	/* how time for the last scan of the rungs in ns (if calc on RTLinux side) */
	int DurationOfLastScan;
	
	int CurrentSection;

	StrGeneralParams GeneralParams;
	StrIOConf InputsConf[ NBR_INPUTS_CONF ];
	StrIOConf OutputsConf[ NBR_OUTPUTS_CONF ];

	char AskConfirmationToQuit;
	char HardwareErrMsgToDisplay[ 100 ];
	char DisplaySymbols;
        char CurrentProjectFileName[ 400 ];
	char AskToConfHard;
}StrInfosGene;

/* Differents states of Ladder */
#define STATE_LOADING 0
#define STATE_STOP 1
#define STATE_RUN 2

typedef struct StrEditRung
{
	StrRung Rung;
	char ModeEdit;
	int NumRung;
	char DoBeforeFinalCopy;
	short int NumElementSelectedInToolBar;
	StrElement * ElementUnderEdit;
	int CurrentElementPosiX;
	int CurrentElementPosiY;
	int CurrentElementSizeX;
	int CurrentElementSizeY;
}StrEditRung;

#define NBR_PARAMS_PER_OBJ 4

#define NBR_TIMEBASES 3
typedef struct StrDatasForBases
{
	int Id;
	int ValueInMS;
	char * DisplayFormat;
	char * ParamSelect;
}StrDatasForBase;

#define NBR_TIMERSMODES 3

#define SECTION_IN_LADDER 0
#define SECTION_IN_SEQUENTIAL 1

#define LGT_SECTION_NAME 20
typedef struct StrSection
{
	char Used;
	char Name[ LGT_SECTION_NAME ];
	int Language; /* SECTION_IN_ */
	/* -1 if not a sub-routine, else sub-routine number used for the calls */
	int SubRoutineNumber;
	/* if section is in Ladder */
	int FirstRung;
	int LastRung;
	/* if section is in Sequential */
	int SequentialPage;
}StrSection;

#define LGT_VAR_NAME 10
#define LGT_SYMBOL_STRING 10
#define LGT_SYMBOL_COMMENT 50
typedef struct StrSymbol
{
	char VarName[ LGT_VAR_NAME ];
	char Symbol[ LGT_SYMBOL_STRING ];
	char Comment[ LGT_SYMBOL_COMMENT ];
}StrSymbol;

#ifdef SEQUENTIAL_SUPPORT
#include "sequential.h"
#define SIZE_VAR_ARRAY (NBR_BITS+NBR_PHYS_INPUTS+NBR_PHYS_OUTPUTS+NBR_STEPS+NBR_ERROR_BITS)
#define SIZE_VAR_WORD_ARRAY (NBR_WORDS+NBR_STEPS)
#define SIZE_VAR_FLOAT_ARRAY (NBR_PHYS_FLOAT_INPUTS+NBR_PHYS_FLOAT_OUTPUTS)
#else
#define SIZE_VAR_ARRAY (NBR_BITS+NBR_PHYS_INPUTS+NBR_PHYS_OUTPUTS+NBR_ERROR_BITS)
#define SIZE_VAR_WORD_ARRAY (NBR_WORDS+NBR_PHYS_WORDS_INPUTS+NBR_PHYS_WORDS_OUTPUTS)
#define SIZE_VAR_FLOAT_ARRAY (NBR_PHYS_FLOAT_INPUTS+NBR_PHYS_FLOAT_OUTPUTS)
#endif

void ClassicLadderEndOfAppli( void );
void DoPauseMilliSecs( int Time );
void StopRunIfRunning( void );
void RunBackIfStopped( void );

void ClassicLadder_InitAllDatas( void );
int ClassicLadder_AllocAll( void );
void ClassicLadder_FreeAll( char CleanAndRemoveTmpDir );

void UpdateSizesOfConvVarNameTable( void );

#ifdef __RTL__
#include <rtl_printf.h>
#define debug_printf rtl_printf
#endif

#if defined( RTAPI )
#define debug_printf rtapi_print
#elif !defined (MODULE)
#define debug_printf printf
#endif

//for emc
#ifdef HAL_SUPPORT
#include "rtapi.h"
#include "hal.h"
extern int compId;
#endif
extern int nogui;
extern int modmaster;
extern int modslave;