vector.cpp

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#include "examples.h"
#include <iostream> //std::cout
#include <string> //to_string, string, etc.
#include <fstream>
using namespace std;
 
bool load_buffer(GCon g, ifstream& fs, int capacity);
 
GReturn vector(GCon g, char* file)
{
  if (g == 0) //Bad connection
  {
    cerr << "There was an error with the connection." << endl;
    return G_CONNECTION_NOT_ESTABLISHED;
  }
 
  e(GCmd(g, "ST"));     // stop all motors
  e(GCmd(g, "SH AB"));  // Set servo here
  e(GCmd(g, "DP 0,0")); // Start position at absolute zero
 
  e(GCmd(g, "CAS"));      //Defines S as active coordinate system
  e(GCmd(g, "VS 20000"));  //Defines vector speed 
  e(GCmd(g, "VA 200000")); //Defines vector acceleration
  e(GCmd(g, "VD 200000")); //Defines vector deceleration
  e(GCmd(g, "VM AB")); //Begin Vector Segment
 
  ifstream fs;
  fs.open(file);  //Open user defined text file
  if (!fs) //If file could not be opened
  {
    cout << "Unable to open file\n";
    return G_BAD_FILE;
  }
 
  int capacity;
  //Stores the available space of the vector buffer in the capacity variable
  e(GCmdI(g, "MG _LMS", &capacity)); 
  load_buffer(g, fs, capacity);
 
  e(GCmd(g, "BG S")); //Begin Motion
  
  do //Load buffer with more commands
  {
    GSleep(100); //Sleep a bit while buffer is emptying
    
    //Stores the available space of the vector buffer in the capacity variable
    e(GCmdI(g, "MG _LMS", &capacity)); 
  } while (load_buffer(g, fs, capacity)); 
    
  fs.close(); //Close the file
 
  e(GCmd(g, "VE")); //Segment End
  e(GMotionComplete(g, "S"));
 
  return  GALIL_EXAMPLE_OK;
}
 
bool load_buffer(GCon g, ifstream& fs, int capacity)
{
  string s_cmd;
  // Fully load the vector buffer leaving room for one VE command
  for (capacity; capacity > 1; capacity--) 
  {
    if (getline(fs, s_cmd)) //if there is another line of the text file
    {
      //Run the command on each line of the text file
      e(GCmd(g, s_cmd.c_str())); 
    }
    else
      return false;
  }
 
  return true;
}