[Emc-commit] emc/src/emcmot emcsegmot.c,1.5,1.6

[<pr...@us...>]

Update of /cvsroot/emc/emc/src/emcmot
In directory sc8-pr-cvs1:/tmp/cvs-serv26737

Modified Files:
	emcsegmot.c 
Log Message:
Oops, checked in the wrong version which has some compile errors. This
is the correct one.


Index: emcsegmot.c
===================================================================
RCS file: /cvsroot/emc/emc/src/emcmot/emcsegmot.c,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** emcsegmot.c	15 Aug 2003 20:00:58 -0000	1.5
--- emcsegmot.c	15 Aug 2003 20:01:54 -0000	1.6
***************
*** 1088,1091 ****
--- 1088,1093 ----
  */
  
+ static int use_tc = 1;
+ 
  static int coord_set_cycle_time(double secs)
  {
***************
*** 1120,1124 ****
  }
  
! static int coord_add_line(PmPose pos, int id)
  {
    int retval;
--- 1122,1126 ----
  }
  
! static int coord_add_line(EmcPose pos, int id)
  {
    int retval;
***************
*** 1134,1138 ****
  }
  
! static int coord_add_circle(PmPose pos, PmCartesian center, PmCartesian normal, int turn, int id)
  {
    int retval;
--- 1136,1140 ----
  }
  
! static int coord_add_circle(EmcPose pos, PmCartesian center, PmCartesian normal, int turn, int id)
  {
    int retval;
***************
*** 1142,1146 ****
      retval = tpAddCircle(&emcmotDebug->queue, pos, center, normal, turn);
    } else {
!     retval = sqAddLine(&queue, pos, center, normal, turn, id);
    }
  
--- 1144,1148 ----
      retval = tpAddCircle(&emcmotDebug->queue, pos, center, normal, turn);
    } else {
!     retval = sqAddCircle(&queue, pos, center, normal, turn, id);
    }
  
***************
*** 1205,1210 ****
  static int coord_step(void)
  {
-   int retval;
- 
    if (use_tc) {
      tpResume(&emcmotDebug->queue);
--- 1207,1210 ----
***************
*** 1258,1262 ****
  }
  
! static int coord_set_pos(PmPose pos)
  {
    if (use_tc) {
--- 1258,1262 ----
  }
  
! static int coord_set_pos(EmcPose pos)
  {
    if (use_tc) {
***************
*** 1280,1284 ****
  }
  
! static int coord_get_pos(PmPose * pos)
  {
    if (use_tc) {
--- 1280,1284 ----
  }
  
! static int coord_get_pos(EmcPose * pos)
  {
    if (use_tc) {
***************
*** 1363,1367 ****
    /* nothing need be done for segment queue */
  
!   return;
  }
  
--- 1363,1367 ----
    /* nothing need be done for segment queue */
  
!   return 0;
  }
  
***************
*** 1383,1387 ****
  
    /* set traj planner */
!   coordSetCycleTime(secs);
  
    /* set the free planners, cubic interpolation rate and segment time */
--- 1383,1387 ----
  
    /* set traj planner */
!   coord_set_cycle_time(secs);
  
    /* set the free planners, cubic interpolation rate and segment time */
***************
*** 2078,2082 ****
  	tpResume(&emcmotDebug->freeAxis[axis]);
        }
!       coord_resume(&emcmotDebug->queue);
        emcmotStatus->paused = 0;
        break;
--- 2078,2082 ----
  	tpResume(&emcmotDebug->freeAxis[axis]);
        }
!       coord_resume();
        emcmotStatus->paused = 0;
        break;
***************
*** 3440,3444 ****
          if (! emcmotDebug->wasOnLimit) {
            /* abort everything, regardless of coord or free mode */
! 	  coord_abort()
            for (axis = 0; axis < EMCMOT_MAX_AXIS; axis++) {
              tpAbort(&emcmotDebug->freeAxis[axis]);
--- 3440,3444 ----
          if (! emcmotDebug->wasOnLimit) {
            /* abort everything, regardless of coord or free mode */
! 	  coord_abort();
            for (axis = 0; axis < EMCMOT_MAX_AXIS; axis++) {
              tpAbort(&emcmotDebug->freeAxis[axis]);