#define XMEMC #include "XmEmc.hh" #undef XMEMC int main (int argc, char *argv[]) { Widget mainwindow = NULL; Widget menubar = NULL; Widget pane = NULL; Widget menu = NULL; Widget widget = NULL; XtAppContext app; XmString str; int i; toplevel = XtVaAppInitialize (&app, "XmEmc", NULL, 0, &argc, argv, fallbackResources, NULL); mainwindow = XtVaCreateManagedWidget ("mainwindow", xmMainWindowWidgetClass, toplevel, XmNdeleteResponse, XmDESTROY, XmNtraversalOn, True, NULL); XtAddCallback (mainwindow, XmNdestroyCallback, closeMainWindow, (XtPointer) NULL); menubar = XmCreateMenuBar (mainwindow, "menubar", NULL, 0); /*********************************/ /* Create the File pulldown menu */ /*********************************/ menu = XmCreatePulldownMenu (menubar, "pulldown", NULL, 0); for (i = 0; fileMenu[i].label != NULL; i++) { widget = XtVaCreateManagedWidget (fileMenu[i].label, *(fileMenu[i].wClass), menu, XmNmarginWidth, 8, XmNmarginHeight, 8, NULL); if (fileMenu[i].mnemonic) XtVaSetValues (widget, XmNmnemonic, fileMenu[i].mnemonic, NULL); if (fileMenu[i].accelerator) { str = XmStringCreateLocalized (fileMenu[i].accel_text); XtVaSetValues (widget, XmNaccelerator, fileMenu[i].accelerator, XmNacceleratorText, str, NULL); XmStringFree (str); } if (fileMenu[i].callback) { XtAddCallback (widget, XmNactivateCallback, fileMenu[i].callback, fileMenu[i].callback_data); } } str = XmStringCreateLocalized ((char *) FILE_STR); filemenu = XtVaCreateManagedWidget (FILE_STR, xmCascadeButtonWidgetClass, menubar, XmNsubMenuId, menu, XmNlabelString, str, XmNmnemonic, FILE_MNEMONIC, NULL); XmStringFree (str); /*********************************/ /* Create the Edit pulldown menu */ /*********************************/ menu = XmCreatePulldownMenu (menubar, "_pulldown", NULL, 0); for (i = 0; editMenu[i].label != NULL; i++) { widget = XtVaCreateManagedWidget (editMenu[i].label, *(editMenu[i].wClass), menu, XmNmarginWidth, 8, XmNmarginHeight, 8, NULL); if (editMenu[i].mnemonic) XtVaSetValues (widget, XmNmnemonic, editMenu[i].mnemonic, NULL); if (editMenu[i].accelerator) { str = XmStringCreateLocalized (editMenu[i].accel_text); XtVaSetValues (widget, XmNaccelerator, editMenu[i].accelerator, XmNacceleratorText, str, NULL); XmStringFree (str); } if (editMenu[i].callback) { XtAddCallback (widget, XmNactivateCallback, editMenu[i].callback, editMenu[i].callback_data); } } str = XmStringCreateLocalized ((char *) EDIT_STR); editmenu = XtVaCreateManagedWidget (EDIT_STR, xmCascadeButtonWidgetClass, menubar, XmNsubMenuId, menu, XmNlabelString, str, XmNmnemonic, EDIT_MNEMONIC, NULL); XmStringFree (str); /*********************************/ /* Create the View pulldown menu */ /*********************************/ menu = XmCreatePulldownMenu (menubar, "_pulldown", NULL, 0); for (i = 0; viewMenu[i].label != NULL; i++) { widget = XtVaCreateManagedWidget (viewMenu[i].label, *(viewMenu[i].wClass), menu, XmNmarginWidth, 8, XmNmarginHeight, 8, NULL); if (viewMenu[i].mnemonic) XtVaSetValues (widget, XmNmnemonic, viewMenu[i].mnemonic, NULL); if (viewMenu[i].accelerator) { str = XmStringCreateLocalized (viewMenu[i].accel_text); XtVaSetValues (widget, XmNaccelerator, viewMenu[i].accelerator, XmNacceleratorText, str, NULL); XmStringFree (str); } if (viewMenu[i].callback) { XtAddCallback (widget, XmNactivateCallback, viewMenu[i].callback, viewMenu[i].callback_data); } } str = XmStringCreateLocalized ((char *) VIEW_STR); viewmenu = XtVaCreateManagedWidget (VIEW_STR, xmCascadeButtonWidgetClass, menubar, XmNsubMenuId, menu, XmNlabelString, str, XmNmnemonic, VIEW_MNEMONIC, NULL); XmStringFree (str); /*********************************/ /* Create the Help pulldown menu */ /*********************************/ menu = XmCreatePulldownMenu (menubar, "_pulldown", NULL, 0); for (i = 0; helpMenu[i].label != NULL; i++) { widget = XtVaCreateManagedWidget (helpMenu[i].label, *(helpMenu[i].wClass), menu, XmNmarginWidth, 8, XmNmarginHeight, 8, NULL); if (helpMenu[i].mnemonic) XtVaSetValues (widget, XmNmnemonic, helpMenu[i].mnemonic, NULL); if (helpMenu[i].accelerator) { str = XmStringCreateLocalized (helpMenu[i].accel_text); XtVaSetValues (widget, XmNaccelerator, helpMenu[i].accelerator, XmNacceleratorText, str, NULL); XmStringFree (str); } if (helpMenu[i].callback) { XtAddCallback (widget, XmNactivateCallback, helpMenu[i].callback, helpMenu[i].callback_data); } } str = XmStringCreateLocalized ((char *) HELP_STR); helpmenu = XtVaCreateManagedWidget (HELP_STR, xmCascadeButtonWidgetClass, menubar, XmNsubMenuId, menu, XmNlabelString, str, XmNmnemonic, HELP_MNEMONIC, NULL); XmStringFree (str); XtVaSetValues (menubar, XmNmenuHelpWidget, helpmenu, NULL); XtManageChild (menubar); workArea = XtVaCreateManagedWidget ("workArea", xmFormWidgetClass, mainwindow, XmNfractionBase, 40, NULL); pane = XtVaCreateWidget ("pane", xmPanedWindowWidgetClass, workArea, XmNsashWidth, 10, XmNtopAttachment, XmATTACH_FORM, XmNbottomAttachment, XmATTACH_NONE, XmNleftAttachment, XmATTACH_NONE, XmNrightAttachment, XmATTACH_FORM, XmNsashHeight, 10, XmNtraversalOn, False, NULL); buttonform = XtVaCreateWidget ("form", xmFormWidgetClass, pane, XmNfractionBase, 220, XmNtraversalOn, False, NULL); int rc = XpmCreatePixmapFromData (XtDisplay (toplevel), DefaultRootWindow (XtDisplay (toplevel)), estop, &pixmap, 0, 0); rc += XpmCreatePixmapFromData (XtDisplay (toplevel), DefaultRootWindow (XtDisplay (toplevel)), estop_off, &pixmap_off, 0, 0); Dimension width, height; if (rc == XpmSuccess) { /* The "estop" button */ estopbutton = XtVaCreateManagedWidget (ESTOP_STR, xmPushButtonWidgetClass, buttonform, XmNtopAttachment, XmATTACH_FORM, XmNbottomAttachment, XmATTACH_NONE, XmNleftAttachment, XmATTACH_NONE, XmNrightAttachment, XmATTACH_FORM, XmNlabelPixmap, pixmap, XmNlabelType, XmPIXMAP, XmNshadowThickness, 4, NULL); XtVaGetValues (estopbutton, XmNwidth, &width, XmNheight, &height, NULL); } else { width = 78; height = 81; estopbutton = XtVaCreateManagedWidget (ESTOP_STR, xmPushButtonWidgetClass, buttonform, XmNtopAttachment, XmATTACH_FORM, XmNbottomAttachment, XmATTACH_NONE, XmNleftAttachment, XmATTACH_NONE, XmNrightAttachment, XmATTACH_FORM, XmNshadowThickness, 4, XmNwidth, width, XmNheight, height, NULL); } XtAddCallback (estopbutton, XmNarmCallback, buttonsCB, (XtPointer) BT_ESTOP); // The "Machine" button machinebutton = XtVaCreateManagedWidget (MACHINE_STR, xmPushButtonWidgetClass, buttonform, XmNtopAttachment, XmATTACH_WIDGET, XmNbottomAttachment, XmATTACH_NONE, XmNleftAttachment, XmATTACH_NONE, XmNrightAttachment, XmATTACH_FORM, XmNtopWidget, estopbutton, XmNshadowThickness, 4, XmNwidth, width, XmNheight, height, NULL); XtAddCallback (machinebutton, XmNarmCallback, buttonsCB, (XtPointer) BT_MACHINE); // Save the original colors so we can go back to this state. Only need one set for all buttons. XtVaGetValues (machinebutton, XmNtopShadowColor, &original_tsc, XmNbottomShadowColor, &original_bsc, XmNarmColor, &original_ac, XmNbackground, &original_bg, NULL); // The "Abort" button abortbutton = XtVaCreateManagedWidget (ABORT_STR, xmPushButtonWidgetClass, buttonform, XmNtopAttachment, XmATTACH_WIDGET, XmNbottomAttachment, XmATTACH_NONE, XmNleftAttachment, XmATTACH_NONE, XmNrightAttachment, XmATTACH_FORM, XmNtopWidget, machinebutton, XmNshadowThickness, 4, XmNwidth, width, XmNheight, height, XmNmappedWhenManaged, False, NULL); XtAddCallback (abortbutton, XmNarmCallback, buttonsCB, (XtPointer) BT_ABORT); // The "Mist" button mistbutton = XtVaCreateManagedWidget (MIST_STR, xmPushButtonWidgetClass, buttonform, XmNtopAttachment, XmATTACH_WIDGET, XmNbottomAttachment, XmATTACH_NONE, XmNleftAttachment, XmATTACH_NONE, XmNrightAttachment, XmATTACH_FORM, XmNtopWidget, machinebutton, XmNsensitive, False, XmNshadowThickness, 4, XmNwidth, width, XmNheight, height, #ifndef XMEMC_MIST XmNmappedWhenManaged, False, #endif // XMEMC_MIST NULL); XtAddCallback (mistbutton, XmNarmCallback, buttonsCB, (XtPointer) BT_MIST); // The "Flood" button floodbutton = XtVaCreateManagedWidget (FLOOD_STR, xmPushButtonWidgetClass, buttonform, XmNtopAttachment, XmATTACH_WIDGET, XmNbottomAttachment, XmATTACH_NONE, XmNleftAttachment, XmATTACH_NONE, XmNrightAttachment, XmATTACH_FORM, XmNtopWidget, mistbutton, XmNsensitive, False, XmNshadowThickness, 4, XmNwidth, width, XmNheight, height, #ifndef XMEMC_FLOOD XmNmappedWhenManaged, False, #endif // XMEMC_FLOOD NULL); XtAddCallback (floodbutton, XmNarmCallback, buttonsCB, (XtPointer) BT_FLOOD); // The "brake" button brakebutton = XtVaCreateManagedWidget (BRAKE_STR, xmPushButtonWidgetClass, buttonform, XmNtopAttachment, XmATTACH_WIDGET, XmNbottomAttachment, XmATTACH_NONE, XmNleftAttachment, XmATTACH_NONE, XmNrightAttachment, XmATTACH_FORM, XmNtopWidget, floodbutton, XmNsensitive, False, XmNshadowThickness, 4, XmNwidth, width, XmNheight, height, #ifndef XMEMC_BRAKE XmNmappedWhenManaged, False, #endif // XMEMC_BRAKE NULL); XtAddCallback (brakebutton, XmNarmCallback, buttonsCB, (XtPointer) BT_BRAKE); // The "reset" button resetbutton = XtVaCreateManagedWidget (RESET_STR, xmPushButtonWidgetClass, buttonform, XmNtopAttachment, XmATTACH_WIDGET, XmNbottomAttachment, XmATTACH_NONE, XmNleftAttachment, XmATTACH_NONE, XmNrightAttachment, XmATTACH_FORM, XmNtopWidget, floodbutton, XmNmappedWhenManaged, False, XmNshadowThickness, 4, XmNwidth, width, XmNheight, height, NULL); pb = (XmPushButtonWidget) resetbutton; pb->pushbutton.armed = false; XtAddCallback (resetbutton, XmNarmCallback, buttonsCB, (XtPointer) BT_RESET); /* ---------------------------------------------------------------- */ XtVaSetValues (buttonform, XmNpaneMaximum, 800, XmNpaneMinimum, 200, NULL); XtManageChild (buttonform); XtManageChild (pane); Dimension x0 = 3; Dimension x1 = 30; Dimension y1 = 20; // JRM was 5 Dimension y2 = y1 + 5 * EMC_NUM_AXES + 4; Dimension boxMarginWidth = 5; Dimension boxMarginHeight = 5; jog_widget = JogControl (x0, x1, y1, y2, boxMarginWidth, boxMarginHeight, workArea, EMC_NUM_AXES); x0 = 1; x1 = 22; y1 = 30; y2 = 40; spindle_widget = SpindleControl (x0, x1, y1, y2, boxMarginWidth, boxMarginHeight, workArea); createAxes (); createPosition (); createRunModes (); createScrolledText (); // Set up in Manual mode buttonsCB (manualMode, (XtPointer) MANUAL_MODE, (XtPointer) NULL); // Start off in the ESTOP condition. buttonsCB (estopbutton, (XtPointer) BT_ESTOP, (XtPointer) NULL); XtRealizeWidget (toplevel); XtAppMainLoop (app); } static void closeMainWindow (Widget mw, XtPointer cd, XtPointer cb) { (void) XtDestroyWidget ((Widget) toplevel); exit (0); } static void fileMenuCB (Widget mw, XtPointer cd, XtPointer cb) { int which = (int) cd; switch (which) { case FM_QUIT: // Avoid multiple popup syndrome if (!quitmenu) quitPopup (mw, (void *)QUIT_TITLE, cd); else RAISE_WIDGET (quitmenu); break; case FM_OPEN: // Avoid multiple popup syndrome if (!openfile) fileOpenPopup (mw, (void *)FILE_OPEN_TITLE, cd); else RAISE_WIDGET (openfile); break; case FM_NEW: break; case FM_SAVE_AS: // Avoid multiple popup syndrome if (!savefile) fileOpenPopup (mw, (void *)FILE_SAVE_TITLE, cd); else RAISE_WIDGET (savefile); break; case FM_SAVE: break; case FM_LOGGING: break; default: break; } } static void editMenuCB (Widget mw, XtPointer cd, XtPointer cb) { int which = (int) cd; switch (which) { case ED_EDIT: if (!editedit) fileOpenPopup (mw, (void *)EDIT_EDIT_TITLE, (XtPointer) cd); else RAISE_WIDGET (editedit); break; case ED_TOOLS: break; case ED_VARIABLES: break; case ED_CALIBRATION_0: break; case ED_CALIBRATION_1: break; case ED_CALIBRATION_2: break; default: break; } } static void viewMenuCB (Widget mw, XtPointer cd, XtPointer cb) { int which = (int) cd; switch (which) { case VW_DIAGS_0: break; case VW_DIAGS_1: break; case VW_DIAGS_2: break; default: break; } } static void helpMenuCB (Widget mw, XtPointer cd, XtPointer cb) { int which = (int) cd; switch (which) { case HM_HELP: break; case HM_ABOUT: // Avoid multiple popup syndrome if (!abouthelp) aboutPopup (mw, (void *)ABOUT_TEXT, cd); else RAISE_WIDGET (abouthelp); break; default: break; } } // These buttons can be called from anywhere (and hence not // static (e.g., if the emc receives a hardware e-stop, it // can call this routine to let the GUI reflect the condition. // For instance: // // buttonsCB (estopbutton, (XtPointer) BT_ESTOP, (XtPointer) NULL); // // would call the estop function. // void buttonsCB (Widget mw, XtPointer cd, XtPointer cb) { XmString valueLabel = NULL; switch ((int) cd) { case BT_MACHINE: TOGGLE (mw); if (isMachineOn) turnMachineOff (); else turnMachineOn (); // If the machine was off and now its on, do the following: if (isMachineOn) { UNLOCK (brakebutton); PRESS (brakebutton); UNLOCK (mistbutton); UNLOCK (floodbutton); HIDE_MANUAL (); HIDE_AUTO (); HIDE_MDI (); do_home (); } // If the machine was on and now its off, do the following: else { turnMistOff (); turnFloodOff (); turnBrakeOn (); hideSpindle (); stopSpindle (); jogDone (); switch (runMode) { case MANUAL_MODE: LOCK (brakebutton); PRESS (brakebutton); LOCK (mistbutton); UNPRESS (mistbutton); LOCK (floodbutton); UNPRESS (floodbutton); SHOW_MANUAL (); break; case AUTO_MODE: SHOW_AUTO (); HIDE (scrolledText); break; case MDI_MODE: SHOW_MDI (); HIDE (scrolledText); break; } } break; case BT_ABORT: wasAborted = True; isRunning = False; turnMachineOff (); HIDE (abortbutton); UNLOCK (machinebutton); UNPRESS (machinebutton); // Turn off all other that the AUTO might have turned on turnMistOff (); turnFloodOff (); turnBrakeOn (); stopSpindle (); hideSpindle (); LOCK (runModes); // We want to see where it stopped, but not allow to continue LOCK (scrolledText); LOCK (pauseButton); LOCK (stepButton); valueLabel = XmStringCreateLtoR ((char *) ABORTED_STR, XmSTRING_DEFAULT_CHARSET); XtVaSetValues (runButton, XmNlabelString, valueLabel, NULL); XmStringFree (valueLabel); processAbort (); break; case BT_MIST: TOGGLE (mw); if (isMistOn) turnMistOff (); else turnMistOn (); break; case BT_FLOOD: TOGGLE (mw); if (isFloodOn) turnFloodOff (); else turnFloodOn (); break; case BT_BRAKE: TOGGLE (mw); if (isBrakeOn) { turnBrakeOff (); showSpindle (); } else { turnBrakeOn (); stopSpindle (); hideSpindle (); } break; case BT_ESTOP: do_estop (); turnBrakeOn (); stopSpindle (); hideSpindle (); turnMachineOff (); turnMistOff (); turnFloodOff (); TOGGLE (mw); XtVaSetValues (mw, XmNlabelInsensitivePixmap, pixmap_off, NULL); LOCK (mw); PRESS (brakebutton); LOCK (brakebutton); UNPRESS (mistbutton); LOCK (mistbutton); UNPRESS (machinebutton); LOCK (machinebutton); UNPRESS (floodbutton); LOCK (floodbutton); jogDone (); setSpindleSpeed (INITIAL_SPINDLE_SPEED); run_finished (); call_resume (); unsetLimitOverride (); HIDE_MANUAL (); HIDE_AUTO (); HIDE_MDI (); SHOW (resetbutton); break; case BT_RESET: HIDE (resetbutton); TOGGLE (estopbutton); UNLOCK (estopbutton); // Act as if one pressed the Machine button if it's turned on SHOW (machinebutton); UNLOCK (machinebutton); if (isMachineOn) { buttonsCB (machinebutton, (XtPointer) BT_MACHINE, (XtPointer) NULL); } break; case COORD_RELATIVE: if (!isCoordRelative) setCoordRelative (); break; case COORD_MACHINE: if (isCoordRelative) setCoordMachine (); break; case POSITION_ACTUAL: if (!isPosActual) setPosActual (); break; case POSITION_COMMANDED: if (isPosActual) setPosCommanded (); break; case DO_RUN: call_run (); break; case PAUSE_RESUME: if (!isPaused) call_pause (); else call_resume (); break; case STEP: call_step (); break; case LIMIT_OVERRIDE: setLimitOverride (); break; case JOG_BUTTON: showJogPopup (); break; case AUTO_MODE: if (runMode != AUTO_MODE) setModeAuto (); break; case MDI_MODE: if (runMode != MDI_MODE) setModeMDI (); break; case MANUAL_MODE: if (runMode != MANUAL_MODE) setModeManual (); break; } } static void quitPopup (Widget push_button, XtPointer text, XtPointer cbs) { XmString xm_string; XmString quit_string; XmString dont_quit_string; Arg args[5]; xm_string = XmStringCreateLtoR ((char *) QUIT_QUESTION, XmFONTLIST_DEFAULT_TAG); XtSetArg (args[0], XmNmessageString, xm_string); quit_string = XmStringCreateLtoR (QUIT_STR, XmFONTLIST_DEFAULT_TAG); XtSetArg (args[1], XmNokLabelString, quit_string); dont_quit_string = XmStringCreateLtoR (DONT_QUIT_STR, XmFONTLIST_DEFAULT_TAG); XtSetArg (args[2], XmNcancelLabelString, dont_quit_string); // Note that Lesstif has overriding default button broken, but Motif works ok. XtSetArg (args[3], XmNdefaultButtonType, XmDIALOG_CANCEL_BUTTON); XtSetArg (args[4], XmNtitle, text); quitmenu = XmCreateQuestionDialog (push_button, "areYouSure", args, 5); XmStringFree (xm_string); XmStringFree (quit_string); XmStringFree (dont_quit_string); XtUnmanageChild (XmMessageBoxGetChild (quitmenu, XmDIALOG_HELP_BUTTON)); XtVaSetValues (XmMessageBoxGetChild (quitmenu, XmDIALOG_OK_BUTTON), XmNshadowThickness, 4, XmNmarginWidth, 12, XmNmarginHeight, 12, NULL); XtVaSetValues (XmMessageBoxGetChild (quitmenu, XmDIALOG_CANCEL_BUTTON), XmNshadowThickness, 4, XmNmarginWidth, 12, XmNmarginHeight, 12, NULL); XtAddCallback (quitmenu, (String) XmNokCallback, (XtCallbackProc) reallyQuit, (XtPointer) cbs); XtAddCallback (quitmenu, (String) XmNcancelCallback, (XtCallbackProc) canc, (XtPointer) cbs); XtManageChild (quitmenu); XtPopup (XtParent (quitmenu), XtGrabExclusive); } static void fileOpenPopup (Widget push_button, XtPointer text, XtPointer cbs) { XmString xm_string = NULL; XmString open_string = NULL; XmString dont_open_string = NULL; XmString filter_string = NULL; XmString filter_title = NULL; Arg args[6]; int i; xm_string = XmStringCreateSimple ((char *) text); i = 0; XtSetArg (args[i], XmNmessageString, xm_string); i++; XtSetArg (args[i], XmNtitle, text); i++; // The following controls the width of the File Selection Box filter_title = XmStringCreateLtoR (FILTER_TITLE_STR, XmFONTLIST_DEFAULT_TAG); XtSetArg (args[i], XmNfilterLabelString, filter_title); i++; // The following is to make all the buttons taller. filter_string = XmStringCreateLtoR (FILTER_STR, XmFONTLIST_DEFAULT_TAG); XtSetArg (args[i], XmNapplyLabelString, filter_string); i++; switch ((int) cbs) { case FM_OPEN: open_string = XmStringCreateSimple (OPEN_STR); dont_open_string = XmStringCreateLtoR (DONT_OPEN_STR, XmFONTLIST_DEFAULT_TAG); XtSetArg (args[i], XmNokLabelString, open_string); i++; XtSetArg (args[i], XmNcancelLabelString, dont_open_string); i++; openfile = XmCreateFileSelectionDialog (push_button, "fileOpen", args, i); XmStringFree (open_string); XmStringFree (dont_open_string); THICKEN_FS_BUTTONS (openfile); POPUP_FILE_SELECTION_WIDGET (openfile, cbs); break; case FM_SAVE_AS: savefile = XmCreateFileSelectionDialog (push_button, "fileOpen", args, i); THICKEN_FS_BUTTONS (savefile); POPUP_FILE_SELECTION_WIDGET (savefile, cbs); break; case ED_EDIT: editedit = XmCreateFileSelectionDialog (push_button, "fileOpen", args, i); THICKEN_FS_BUTTONS (editedit); POPUP_FILE_SELECTION_WIDGET (editedit, cbs); break; } XmStringFree (filter_string); XmStringFree (xm_string); } static void reallyQuit (Widget dialog, XtPointer x, XtPointer y) { closeMainWindow (dialog, x, y); } static void canc (Widget dialog, XtPointer cd, XtPointer cb) { switch ((int) cd) { case FM_QUIT: (void) XtDestroyWidget (quitmenu); quitmenu = NULL; break; case FM_OPEN: (void) XtDestroyWidget (openfile); openfile = NULL; break; case FM_SAVE_AS: (void) XtDestroyWidget (savefile); savefile = NULL; break; case ED_EDIT: (void) XtDestroyWidget (editedit); editedit = NULL; break; case HM_ABOUT: (void) XtDestroyWidget (abouthelp); abouthelp = NULL; break; } } static void fileOk (Widget dialog, XtPointer cd, XtPointer cb) { char *mySelection = NULL; // DO work here. switch ((int) cd) { case FM_OPEN: mySelection = XmTextGetString (XmFileSelectionBoxGetChild (openfile, XmDIALOG_TEXT)); #ifdef DEBUG cout << "Openning " << mySelection << endl; #endif (void) XtDestroyWidget (openfile); openfile = NULL; break; case FM_SAVE_AS: mySelection = XmTextGetString (XmFileSelectionBoxGetChild (savefile, XmDIALOG_TEXT)); #ifdef DEBUG cout << "Saving as" << mySelection << endl; #endif (void) XtDestroyWidget (savefile); savefile = NULL; break; case ED_EDIT: mySelection = XmTextGetString (XmFileSelectionBoxGetChild (editedit, XmDIALOG_TEXT)); #ifdef DEBUG cout << "Editing" << mySelection << endl; #endif (void) XtDestroyWidget (editedit); editedit = NULL; break; default: break; } if (mySelection) XtFree (mySelection); } static void aboutPopup (Widget push_button, XtPointer text, XtPointer cbs) { XmString xm_string; XmString about_string; Arg args[3]; xm_string = XmStringCreateLtoR ((char *) text, XmFONTLIST_DEFAULT_TAG); XtSetArg (args[0], XmNmessageString, xm_string); about_string = XmStringCreateLtoR ((char *) ABOUT_OK, XmFONTLIST_DEFAULT_TAG); XtSetArg (args[1], XmNokLabelString, about_string); XtSetArg (args[2], XmNtitle, ABOUT_TITLE); abouthelp = XmCreateInformationDialog (push_button, "about", args, 3); XmStringFree (xm_string); XmStringFree (about_string); XtUnmanageChild (XmMessageBoxGetChild (abouthelp, XmDIALOG_CANCEL_BUTTON)); XtUnmanageChild (XmMessageBoxGetChild (abouthelp, XmDIALOG_HELP_BUTTON)); XtVaSetValues (XmMessageBoxGetChild (abouthelp, XmDIALOG_OK_BUTTON), XmNshadowThickness, 4, NULL); XtAddCallback (abouthelp, (String) XmNokCallback, (XtCallbackProc) canc, (XtPointer) cbs); XtManageChild (abouthelp); XtPopup (XtParent (abouthelp), XtGrabExclusive); } void updateAxes (void) { int i = 0; for (i = 1; i < EMC_NUM_AXES; i++) { axisPos[i] = getAxisValue (i); if (axisWidget[i]) // Just being cautious LABEL_AXIS_UPDATE (axisWidget[i], axisStr[i], axisPos[i]); } } void showRunMode (void) { if (isMachineOn && runModeForm) { XtVaSetValues (runModeForm, XmNmappedWhenManaged, True, NULL); switch (runMode) { case MANUAL_MODE: SHOW_MANUAL (); break; case AUTO_MODE: SHOW_AUTO (); break; case MDI_MODE: SHOW_MDI (); break; } } else hideRunMode (); // Just to be sure } void hideRunMode (void) { if (axisForm) { XtVaSetValues (runModeForm, XmNmappedWhenManaged, False, NULL); XtVaSetValues (scrolledText, XmNmappedWhenManaged, False, NULL); } } static void createAxes (void) { if (axisForm != NULL) // only build one set return; axisForm = XtVaCreateManagedWidget ("axisForm", xmFormWidgetClass, workArea, XmNtopAttachment, XmATTACH_FORM, XmNtopOffset, 5, XmNbottomAttachment, XmATTACH_NONE, XmNleftAttachment, XmATTACH_FORM, XmNleftOffset, 5, XmNrightAttachment, XmATTACH_NONE, XmNmarginWidth, 5, XmNmarginWidth, 5, XmNmarginHeight, 5, NULL); int i = 0; LABEL_AXIS (axisWidget[i], axisStr[i], axisPos[i], XmATTACH_FORM, NULL); for (i = 1; i < EMC_NUM_AXES; i++) { AXIS_SEPARATOR (); LABEL_AXIS (axisWidget[i], axisStr[i], axisPos[i], XmATTACH_WIDGET, axisWidget[i - 1]); } AXIS_SEPARATOR (); } static void createPosition (void) { posForm = XtVaCreateManagedWidget ("form", xmFormWidgetClass, workArea, XmNtopAttachment, XmATTACH_FORM, XmNleftAttachment, XmATTACH_WIDGET, XmNleftWidget, axisForm, XmNtopOffset, 5, XmNbottomAttachment, XmATTACH_NONE, XmNrightAttachment, XmATTACH_NONE, XmNleftOffset, 5, XmNtraversalOn, False, NULL); XmString valueLabel = XmStringCreateLtoR ((char *) POSITION_STR, XmSTRING_DEFAULT_CHARSET); posLabel = XtVaCreateManagedWidget ("label", xmLabelWidgetClass, posForm, XmNtopAttachment, XmATTACH_FORM, XmNtopOffset, 25, XmNbottomAttachment, XmATTACH_NONE, XmNrightAttachment, XmATTACH_NONE, XmNleftAttachment, XmATTACH_FORM, XmNleftOffset, 50, XmNlabelString, valueLabel, NULL); XmStringFree (valueLabel); Arg args[12]; // Caution: increment to maximum value of "i" expected int i; i = 0; XtSetArg (args[i], XmNshadowThickness, 4); i++; pulldown = XmCreatePulldownMenu (posForm, "pulldown", args, i); actual = XtVaCreateManagedWidget (ACTUAL_STR, xmPushButtonWidgetClass, pulldown, XmNmarginWidth, 12, XmNmarginHeight, 12, XmNshadowThickness, 4, NULL); commanded = XtVaCreateManagedWidget (COMMANDED_STR, xmPushButtonWidgetClass, pulldown, XmNmarginWidth, 12, XmNmarginHeight, 12, XmNshadowThickness, 4, NULL); i = 0; XtSetArg (args[i], XmNleftAttachment, XmATTACH_FORM); i++; XtSetArg (args[i], XmNleftOffset, 25); i++; XtSetArg (args[i], XmNtopAttachment, XmATTACH_WIDGET); i++; XtSetArg (args[i], XmNtopWidget, posLabel); i++; XtSetArg (args[i], XmNtopOffset, 5); i++; XtSetArg (args[i], XmNorientation, XmVERTICAL); i++; XtSetArg (args[i], XmNsubMenuId, pulldown); i++; XtSetArg (args[i], XmNshadowThickness, 4); i++; position = XmCreateOptionMenu (posForm, POSITION_STR, args, i); XtManageChild (position); XtAddCallback (actual, XmNactivateCallback, buttonsCB, (XtPointer) POSITION_ACTUAL); XtAddCallback (commanded, XmNactivateCallback, buttonsCB, (XtPointer) POSITION_COMMANDED); i = 0; XtSetArg (args[i], XmNshadowThickness, 4); i++; pulldown = XmCreatePulldownMenu (posForm, "pulldown", args, i); relative = XtVaCreateManagedWidget (RELATIVE_COORD_STR, xmPushButtonWidgetClass, pulldown, XmNmarginWidth, 12, XmNmarginHeight, 12, XmNshadowThickness, 4, NULL); machine = XtVaCreateManagedWidget (MACHINE_COORD_STR, xmPushButtonWidgetClass, pulldown, XmNmarginWidth, 12, XmNmarginHeight, 12, XmNshadowThickness, 4, NULL); i = 0; XtSetArg (args[i], XmNleftAttachment, XmATTACH_FORM); i++; XtSetArg (args[i], XmNleftOffset, 25); i++; XtSetArg (args[i], XmNtopAttachment, XmATTACH_WIDGET); i++; XtSetArg (args[i], XmNtopWidget, position); i++; XtSetArg (args[i], XmNtopOffset, 5); i++; XtSetArg (args[i], XmNorientation, XmVERTICAL); i++; XtSetArg (args[i], XmNsubMenuId, pulldown); i++; XtSetArg (args[i], XmNshadowThickness, 4); i++; coordinates = XmCreateOptionMenu (posForm, "pulldown", args, i); XtManageChild (coordinates); XtAddCallback (relative, XmNactivateCallback, buttonsCB, (XtPointer) COORD_RELATIVE); XtAddCallback (machine, XmNactivateCallback, buttonsCB, (XtPointer) COORD_MACHINE); } static void createRunModes (void) { runModeForm = XtVaCreateManagedWidget ("form", xmFormWidgetClass, workArea, XmNtopAttachment, XmATTACH_WIDGET, XmNtopWidget, posForm, XmNtopOffset, 40, XmNbottomAttachment, XmATTACH_NONE, XmNrightAttachment, XmATTACH_NONE, XmNleftAttachment, XmATTACH_FORM, XmNleftOffset, 5, XmNtraversalOn, False, XmNmappedWhenManaged, False, NULL); XmString valueLabel = XmStringCreateLtoR ((char *) RUN_MODE_STR, XmSTRING_DEFAULT_CHARSET); Widget runLabel = XtVaCreateManagedWidget ("label", xmLabelWidgetClass, runModeForm, XmNtopAttachment, XmATTACH_FORM, XmNtopOffset, 25, XmNbottomAttachment, XmATTACH_NONE, XmNrightAttachment, XmATTACH_NONE, XmNleftAttachment, XmATTACH_FORM, XmNleftOffset, 5, XmNlabelString, valueLabel, NULL); XmStringFree (valueLabel); Arg args[12]; // Caution: increment to maximum value of "i" expected int i; i = 0; XtSetArg (args[i], XmNshadowThickness, 4); i++; pulldown = XmCreatePulldownMenu (runModeForm, "pulldown", args, i); autoMode = XtVaCreateManagedWidget (AUTO_STR, xmPushButtonWidgetClass, pulldown, XmNmarginWidth, 12, XmNmarginHeight, 12, XmNshadowThickness, 4, NULL); mdiMode = XtVaCreateManagedWidget (MDI_STR, xmPushButtonWidgetClass, pulldown, XmNmarginWidth, 12, XmNmarginHeight, 12, XmNshadowThickness, 4, NULL); manualMode = XtVaCreateManagedWidget (MANUAL_STR, xmPushButtonWidgetClass, pulldown, XmNmarginWidth, 12, XmNmarginHeight, 12, XmNshadowThickness, 4, NULL); i = 0; XtSetArg (args[i], XmNtopAttachment, XmATTACH_FORM); i++; XtSetArg (args[i], XmNleftAttachment, XmATTACH_WIDGET); i++; XtSetArg (args[i], XmNleftWidget, runLabel); i++; XtSetArg (args[i], XmNleftOffset, 5); i++; XtSetArg (args[i], XmNorientation, XmVERTICAL); i++; XtSetArg (args[i], XmNsubMenuId, pulldown); i++; XtSetArg (args[i], XmNshadowThickness, 4); i++; XtSetArg (args[i], XmNbuttonSet, 2); i++; runModes = XmCreateOptionMenu (runModeForm, "optionMenu", args, i); XtManageChild (runModes); XtAddCallback (autoMode, XmNactivateCallback, buttonsCB, (XtPointer) AUTO_MODE); XtAddCallback (mdiMode, XmNactivateCallback, buttonsCB, (XtPointer) MDI_MODE); XtAddCallback (manualMode, XmNactivateCallback, buttonsCB, (XtPointer) MANUAL_MODE); valueLabel = XmStringCreateLtoR ((char *) RUN_STR, XmSTRING_DEFAULT_CHARSET); runButton = XtVaCreateManagedWidget ("button", xmPushButtonWidgetClass, runModeForm, XmNtopAttachment, XmATTACH_FORM, XmNtopOffset, 10, XmNbottomAttachment, XmATTACH_NONE, XmNrightAttachment, XmATTACH_NONE, XmNleftAttachment, XmATTACH_WIDGET, XmNleftWidget, runModes, XmNleftOffset, 15, XmNmarginWidth, 15, XmNmarginHeight, 15, XmNshadowThickness, 4, XmNlabelString, valueLabel, NULL); XmStringFree (valueLabel); XtAddCallback (runButton, XmNarmCallback, buttonsCB, (XtPointer) DO_RUN); XmPushButtonWidget pb; pb = (XmPushButtonWidget) runButton; pb->pushbutton.armed = false; valueLabel = XmStringCreateLtoR ((char *) PAUSE_STR, XmSTRING_DEFAULT_CHARSET); pauseButton = XtVaCreateManagedWidget ("button", xmPushButtonWidgetClass, runModeForm, XmNtopAttachment, XmATTACH_FORM, XmNtopOffset, 10, XmNbottomAttachment, XmATTACH_NONE, XmNrightAttachment, XmATTACH_NONE, XmNleftAttachment, XmATTACH_WIDGET, XmNleftWidget, runButton, XmNleftOffset, 15, XmNmarginWidth, 15, XmNmarginHeight, 15, XmNshadowThickness, 4, XmNmappedWhenManaged, False, XmNlabelString, valueLabel, NULL); XmStringFree (valueLabel); XtAddCallback (pauseButton, XmNactivateCallback, buttonsCB, (XtPointer) PAUSE_RESUME); valueLabel = XmStringCreateLtoR ((char *) STEP_STR, XmSTRING_DEFAULT_CHARSET); stepButton = XtVaCreateManagedWidget ("button", xmPushButtonWidgetClass, runModeForm, XmNtopAttachment, XmATTACH_WIDGET, XmNtopWidget, runButton, XmNtopOffset, 10, XmNbottomAttachment, XmATTACH_NONE, XmNrightAttachment, XmATTACH_NONE, XmNleftAttachment, XmATTACH_WIDGET, XmNleftWidget, runModes, XmNleftOffset, 15, XmNmarginWidth, 15, XmNmarginHeight, 15, XmNshadowThickness, 4, XmNmappedWhenManaged, False, XmNlabelString, valueLabel, NULL); XmStringFree (valueLabel); XtAddCallback (stepButton, XmNactivateCallback, buttonsCB, (XtPointer) STEP); valueLabel = XmStringCreateLtoR ((char *) LIMIT_OVERRIDE_STR, XmSTRING_DEFAULT_CHARSET); limitOverride = XtVaCreateManagedWidget ("button", xmPushButtonWidgetClass, runModeForm, XmNtopAttachment, XmATTACH_FORM, XmNtopOffset, 10, XmNbottomAttachment, XmATTACH_NONE, XmNrightAttachment, XmATTACH_NONE, XmNleftAttachment, XmATTACH_WIDGET, XmNleftWidget, runModes, XmNleftOffset, 15, XmNmarginWidth, 15, XmNmarginHeight, 15, XmNshadowThickness, 4, XmNmappedWhenManaged, False, XmNlabelString, valueLabel, NULL); XmStringFree (valueLabel); XtAddCallback (limitOverride, XmNactivateCallback, buttonsCB, (XtPointer) LIMIT_OVERRIDE); valueLabel = XmStringCreateLtoR ((char *) JOG_STR, XmSTRING_DEFAULT_CHARSET); jogButton = XtVaCreateManagedWidget ("button", xmPushButtonWidgetClass, runModeForm, XmNtopAttachment, XmATTACH_FORM, XmNtopOffset, 10, XmNbottomAttachment, XmATTACH_NONE, XmNrightAttachment, XmATTACH_NONE, XmNleftAttachment, XmATTACH_WIDGET, XmNleftWidget, limitOverride, XmNleftOffset, 15, XmNmarginWidth, 15, XmNmarginHeight, 15, XmNshadowThickness, 4, XmNmappedWhenManaged, False, XmNlabelString, valueLabel, NULL); XmStringFree (valueLabel); XtAddCallback (jogButton, XmNactivateCallback, buttonsCB, (XtPointer) JOG_BUTTON); } static void createScrolledText (void) { Arg args[16]; // Caution, make sure i doesn't exceed this size int i = 0; XtSetArg (args[i], XmNtopAttachment, XmATTACH_WIDGET); i++; XtSetArg (args[i], XmNtopWidget, runModes); i++; XtSetArg (args[i], XmNtopOffset, 10); i++; XtSetArg (args[i], XmNleftAttachment, XmATTACH_FORM); i++; XtSetArg (args[i], XmNleftOffset, 5); i++; XtSetArg (args[i], XmNrightAttachment, XmATTACH_WIDGET); i++; XtSetArg (args[i], XmNrightWidget, buttonform); i++; XtSetArg (args[i], XmNrightOffset, 5); i++; XtSetArg (args[i], XmNbottomAttachment, XmATTACH_FORM); i++; XtSetArg (args[i], XmNbottomOffset, 5); i++; XtSetArg (args[i], XmNchildType, XmFRAME_WORKAREA_CHILD); i++; XtSetArg (args[i], XmNvisibleItemCount, 6); i++; scrolledText = XmCreateScrolledList (workArea, "scrolled_text", args, i); XtManageChild (scrolledText); XtVaSetValues (scrolledText, XmNmappedWhenManaged, False, NULL); } static void restartList () { XmListDeleteAllItems (scrolledText); // FIXME: Demo purposes only, clean out // FIXME: Instead, select the first line again, ready to start. HIDE (scrolledText); } /************************************************************* * The following are functions so we can insert appropriate * * actions to keep the gui in sync with the real world. Only * * use these to modify these state-information globals. * *************************************************************/ static void turnMachineOn (void) { isMachineOn = true; #ifdef DEBUG cout << "Machine On" << endl; #endif } static void turnMachineOff (void) { isMachineOn = false; #ifdef DEBUG cout << "Machine Off" << endl; #endif } static void do_estop (void) { #ifdef DEBUG cout << endl << "ESTOP PRESSED" << endl << endl; #endif } static void turnBrakeOn (void) { isBrakeOn = true; #ifdef DEBUG cout << "Brake On" << endl; #endif } static void turnBrakeOff (void) { isBrakeOn = false; #ifdef DEBUG cout << "Brake Off" << endl; #endif } static void turnFloodOn (void) { isFloodOn = true; #ifdef DEBUG cout << "Flood On" << endl; #endif } static void turnFloodOff (void) { isFloodOn = false; #ifdef DEBUG cout << "Flood Off" << endl; #endif } static void turnMistOn (void) { isMistOn = true; #ifdef DEBUG cout << "Mist On" << endl; #endif } static void turnMistOff (void) { isMistOn = false; #ifdef DEBUG cout << "Mist Off" << endl; #endif } static void setCoordRelative (void) { isCoordRelative = True; #ifdef DEBUG cout << "Coordinates Relative" << endl; #endif } static void setCoordMachine (void) { isCoordRelative = False; #ifdef DEBUG cout << "Coordinates Machine" << endl; #endif } static void setPosActual (void) { isPosActual = True; #ifdef DEBUG cout << "Position Actual" << endl; #endif } static void setPosCommanded (void) { isPosActual = False; #ifdef DEBUG cout << "Position Commanded" << endl; #endif } static void call_run (void) { isRunning = True; PRESS (runButton); LOCK (runButton); LOCK (runModes); HIDE (brakebutton); HIDE (mistbutton); HIDE (floodbutton); UNLOCK (pauseButton); SHOW (pauseButton); SHOW (abortbutton); LOCK (machinebutton); if (!isBrakeOn) { turnBrakeOn (); stopSpindle (); hideSpindle (); } XmString valueLabel = XmStringCreateLtoR ((char *) RUNNING_STR, XmSTRING_DEFAULT_CHARSET); XtVaSetValues (runButton, XmNlabelString, valueLabel, NULL); XmStringFree (valueLabel); #ifdef DEBUG cout << "Called Run" << endl; #endif } // The following would be called externally to make the run button available again. void run_finished (void) { if (!isRunning) return; isRunning = False; XmString valueLabel = NULL; if (runButton) { TOGGLE (runButton); UNLOCK (runButton); } if (runModes) UNLOCK (runModes); if (pauseButton) HIDE (pauseButton); if (stepButton) HIDE (stepButton); if (scrolledText) restartList (); valueLabel = XmStringCreateLtoR ((char *) RUN_STR, XmSTRING_DEFAULT_CHARSET); XtVaSetValues (runButton, XmNlabelString, valueLabel, NULL); XmStringFree (valueLabel); SHOW_AUTO (); } static void call_pause (void) { XmString valueLabel = XmStringCreateLtoR ((char *) RESUME_STR, XmSTRING_DEFAULT_CHARSET); XtVaSetValues (pauseButton, XmNlabelString, valueLabel, NULL); XmStringFree (valueLabel); valueLabel = XmStringCreateLtoR ((char *) PAUSED_STR, XmSTRING_DEFAULT_CHARSET); XtVaSetValues (runButton, XmNlabelString, valueLabel, NULL); XmStringFree (valueLabel); isPaused = True; UNLOCK (stepButton); SHOW (stepButton); #ifdef DEBUG cout << "We are paused" << endl; #endif } static void call_resume (void) { if ((!isPaused) || (!pauseButton)) return; XmString valueLabel = XmStringCreateLtoR ((char *) PAUSE_STR, XmSTRING_DEFAULT_CHARSET); XtVaSetValues (pauseButton, XmNlabelString, valueLabel, NULL); XmStringFree (valueLabel); if (isRunning) valueLabel = XmStringCreateLtoR ((char *) RUNNING_STR, XmSTRING_DEFAULT_CHARSET); else valueLabel = XmStringCreateLtoR ((char *) RUN_STR, XmSTRING_DEFAULT_CHARSET); XtVaSetValues (runButton, XmNlabelString, valueLabel, NULL); XmStringFree (valueLabel); isPaused = False; HIDE (stepButton); #ifdef DEBUG cout << "We are resumed" << endl; #endif } static void call_step (void) { #ifdef DEBUG cout << "Step" << endl; #endif // For fun put stuff into msg area: XmString valueLabel = XmStringCreateLtoR ("G100 -- Move", XmSTRING_DEFAULT_CHARSET); XmListAddItemUnselected (scrolledText, valueLabel, 0); XmListSetBottomItem (scrolledText, valueLabel); XmStringFree (valueLabel); } static void setLimitOverride (void) { PRESS (limitOverride); LOCK (limitOverride); isLimitOverriden = True; #ifdef DEBUG cout << "Set limit override" << endl; #endif } static void unsetLimitOverride (void) { if (!isLimitOverriden) return; UNPRESS (limitOverride); UNLOCK (limitOverride); isLimitOverriden = False; #ifdef DEBUG cout << "Unset limit override" << endl; #endif } static void showJogPopup (void) { #ifdef DEBUG cout << "Will popup Jog dialog or push to front if already up" << endl; #endif } static void setModeAuto (void) { runMode = AUTO_MODE; HIDE_MANUAL (); HIDE_MDI (); SHOW_AUTO (); #ifdef DEBUG cout << "Mode is Auto" << endl; #endif } static void setModeMDI (void) { runMode = MDI_MODE; HIDE_MANUAL (); XtVaSetValues (scrolledText, XmNmappedWhenManaged, True, NULL); XtVaSetValues (runModes, XmNmenuHistory, mdiMode, NULL); #ifdef DEBUG cout << "Mode is MDI" << endl; #endif } static void setModeManual (void) { runMode = MANUAL_MODE; SHOW_MANUAL (); #ifdef DEBUG cout << "Mode is Manual" << endl; #endif } static void do_home (void) { XtVaSetValues (jog_widget, XmNmappedWhenManaged, True, NULL); #ifdef DEBUG cout << "Do Home" << endl; #endif } static void processAbort (void) { // TODO: put whatever is needed to be done on emc side to clean up #ifdef DEBUG cout << "Process aborted" << endl; #endif } double getAxisValue (int i) { int value = 0; // TODO: Call emc interface to obtain current value for i-th axis return value; } #ifdef NEED_GET_XM_TEXT /* Utility to get text from an XmString. May not be needed, but handy */ static char * getXmText (XmString aXmString) { char *text; /* Caller must Free ! */ XmStringContext context; XmStringCharSet charset; XmStringDirection direction; Boolean separator; if (!XmStringInitContext (&context, aXmString)) { if (context) XmStringFreeContext (context); return NULL; } while (XmStringGetNextSegment (context, &text, &charset, &direction, &separator)) { if (text != NULL) break; /* Find first non-nil string */ } if (context) XmStringFreeContext (context); if (charset) XtFree (charset); return text; } #endif