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/******************************************************************** |
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* Description: interp_execute.cc |
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* |
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* Derived from a work by Thomas Kramer |
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* |
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* Author: |
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* License: GPL Version 2 |
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* System: Linux |
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* |
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* Copyright (c) 2004 All rights reserved. |
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* |
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* Last change: |
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********************************************************************/ |
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#ifndef _GNU_SOURCE |
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#define _GNU_SOURCE |
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#endif |
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#include <unistd.h> |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <math.h> |
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#include <string.h> |
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#include <ctype.h> |
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#include <sys/types.h> |
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#include <sys/stat.h> |
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#include "rtapi_math.h" |
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#include "rs274ngc.hh" |
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#include "rs274ngc_return.hh" |
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#include "interp_internal.hh" |
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#include "rs274ngc_interp.hh" |
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#define RESULT_OK(x) ((x) == INTERP_OK || (x) == INTERP_EXECUTE_FINISH) |
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/****************************************************************************/ |
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|
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/*! execute binary |
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|
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Returned value: int |
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If execute_binary1 or execute_binary2 returns an error code, this |
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returns that code. |
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Otherwise, it returns INTERP_OK. |
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|
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Side effects: The value of left is set to the result of applying |
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the operation to left and right. |
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|
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Called by: read_real_expression |
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|
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This just calls either execute_binary1 or execute_binary2. |
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|
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*/ |
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|
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int Interp::execute_binary(double *left, int operation, double *right) |
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{ |
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if (operation < AND2) |
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CHP(execute_binary1(left, operation, right)); |
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else |
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CHP(execute_binary2(left, operation, right)); |
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return INTERP_OK; |
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} |
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|
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/****************************************************************************/ |
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|
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/*! execute_binary1 |
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|
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Returned Value: int |
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If any of the following errors occur, this returns the error shown. |
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Otherwise, it returns INTERP_OK. |
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1. operation is unknown: NCE_BUG_UNKNOWN_OPERATION |
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2. An attempt is made to divide by zero: NCE_ATTEMPT_TO_DIVIDE_BY_ZERO |
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3. An attempt is made to raise a negative number to a non-integer power: |
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NCE_ATTEMPT_TO_RAISE_NEGATIVE_TO_NON_INTEGER_POWER |
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|
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Side effects: |
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The result from performing the operation is put into what left points at. |
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|
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Called by: read_real_expression. |
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|
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This executes the operations: DIVIDED_BY, MODULO, POWER, TIMES. |
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|
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*/ |
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|
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int Interp::execute_binary1(double *left, //!< pointer to the left operand |
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int operation, //!< integer code for the operation |
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double *right) //!< pointer to the right operand |
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{ |
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switch (operation) { |
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case DIVIDED_BY: |
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CHKS((*right == 0.0), NCE_ATTEMPT_TO_DIVIDE_BY_ZERO); |
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*left = (*left / *right); |
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break; |
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case MODULO: /* always calculates a positive answer */ |
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*left = fmod(*left, *right); |
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if (*left < 0.0) { |
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*left = (*left + fabs(*right)); |
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} |
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break; |
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case POWER: |
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CHKS(((*left < 0.0) && (floor(*right) != *right)), |
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NCE_ATTEMPT_TO_RAISE_NEGATIVE_TO_NON_INTEGER_POWER); |
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*left = pow(*left, *right); |
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break; |
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case TIMES: |
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*left = (*left * *right); |
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break; |
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default: |
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ERS(NCE_BUG_UNKNOWN_OPERATION); |
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} |
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return INTERP_OK; |
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} |
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|
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/****************************************************************************/ |
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|
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/*! execute_binary2 |
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|
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Returned Value: int |
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If any of the following errors occur, this returns the error code shown. |
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Otherwise, it returns INTERP_OK. |
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1. operation is unknown: NCE_BUG_UNKNOWN_OPERATION |
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|
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Side effects: |
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The result from performing the operation is put into what left points at. |
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|
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Called by: read_real_expression. |
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|
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This executes the operations: AND2, EXCLUSIVE_OR, MINUS, |
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NON_EXCLUSIVE_OR, PLUS. The RS274/NGC manual [NCMS] does not say what |
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the calculated value of the three logical operations should be. This |
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function calculates either 1.0 (meaning true) or 0.0 (meaning false). |
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Any non-zero input value is taken as meaning true, and only 0.0 means |
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false. |
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|
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|
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*/ |
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int Interp::execute_binary2(double *left, //!< pointer to the left operand |
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int operation, //!< integer code for the operation |
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double *right) //!< pointer to the right operand |
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{ |
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double diff; |
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switch (operation) { |
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case AND2: |
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*left = ((*left == 0.0) || (*right == 0.0)) ? 0.0 : 1.0; |
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break; |
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case EXCLUSIVE_OR: |
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*left = (((*left == 0.0) && (*right != 0.0)) |
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|| ((*left != 0.0) && (*right == 0.0))) ? 1.0 : 0.0; |
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break; |
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case MINUS: |
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*left = (*left - *right); |
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break; |
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case NON_EXCLUSIVE_OR: |
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*left = ((*left != 0.0) || (*right != 0.0)) ? 1.0 : 0.0; |
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break; |
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case PLUS: |
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*left = (*left + *right); |
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break; |
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case LT: |
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*left = (*left < *right) ? 1.0 : 0.0; |
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break; |
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case EQ: |
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diff = *left - *right; |
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diff = (diff < 0) ? -diff : diff; |
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*left = (diff < TOLERANCE_EQUAL) ? 1.0 : 0.0; |
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break; |
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case NE: |
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diff = *left - *right; |
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diff = (diff < 0) ? -diff : diff; |
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*left = (diff >= TOLERANCE_EQUAL) ? 1.0 : 0.0; |
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break; |
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case LE: |
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*left = (*left <= *right) ? 1.0 : 0.0; |
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break; |
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case GE: |
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*left = (*left >= *right) ? 1.0 : 0.0; |
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break; |
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case GT: |
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*left = (*left > *right) ? 1.0 : 0.0; |
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break; |
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default: |
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ERS(NCE_BUG_UNKNOWN_OPERATION); |
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} |
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return INTERP_OK; |
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} |
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/****************************************************************************/ |
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|
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/*! execute_block |
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|
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Returned Value: int |
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If convert_stop returns INTERP_EXIT, this returns INTERP_EXIT. |
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If any of the following functions is called and returns an error code, |
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this returns that code. |
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convert_comment |
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convert_feed_mode |
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convert_feed_rate |
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convert_g |
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convert_m |
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convert_speed |
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convert_stop |
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convert_tool_select |
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Otherwise, if the probe_flag in the settings is true, |
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or the input_flag is set to true this returns |
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INTERP_EXECUTE_FINISH. |
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Otherwise, it returns INTERP_OK. |
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|
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Side effects: |
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One block of RS274/NGC instructions is executed. |
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Called by: |
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Interp::execute |
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This converts a block to zero to many actions. The order of execution |
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of items in a block is critical to safe and effective machine operation, |
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but is not specified clearly in the RS274/NGC documentation. |
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Actions are executed in the following order: |
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1. any comment. |
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2. a feed mode setting (g93, g94, g95) |
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3. a feed rate (f) setting if in units_per_minute feed mode. |
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4. a spindle speed (s) setting. |
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5. a tool selection (t). |
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6. "m" commands as described in convert_m (includes tool change). |
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7. any g_codes (except g93, g94) as described in convert_g. |
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8. stopping commands (m0, m1, m2, m30, or m60). |
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|
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In inverse time feed mode, the explicit and implicit g code executions |
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include feed rate setting with g1, g2, and g3. Also in inverse time |
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feed mode, attempting a canned cycle cycle (g81 to g89) or setting a |
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feed rate with g0 is illegal and will be detected and result in an |
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error message. |
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*/ |
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int Interp::execute_block(block_pointer block, //!< pointer to a block of RS274/NGC instructions |
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setup_pointer settings) //!< pointer to machine settings |
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{ |
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int status; |
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block->line_number = settings->sequence_number; |
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if ((block->comment[0] != 0) && ONCE(STEP_COMMENT)) { |
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status = convert_comment(block->comment); |
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CHP(status); |
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} |
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if ((block->g_modes[GM_SPINDLE_MODE] != -1) && ONCE(STEP_SPINDLE_MODE)) { |
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status = convert_spindle_mode(block, settings); |
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CHP(status); |
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} |
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if ((block->g_modes[GM_FEED_MODE] != -1) && ONCE(STEP_FEED_MODE)) { |
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status = convert_feed_mode(block->g_modes[GM_FEED_MODE], settings); |
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CHP(status); |
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} |
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if (block->f_flag){ |
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if ((settings->feed_mode != INVERSE_TIME) && ONCE(STEP_SET_FEED_RATE)) { |
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if (STEP_REMAPPED_IN_BLOCK(block, STEP_SET_FEED_RATE)) { |
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return (convert_remapped_code(block, settings, STEP_SET_FEED_RATE, 'F')); |
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} else { |
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status = convert_feed_rate(block, settings); |
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CHP(status); |
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} |
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} |
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/* INVERSE_TIME is handled elsewhere */ |
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} |
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if ((block->s_flag) && ONCE(STEP_SET_SPINDLE_SPEED)){ |
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if (STEP_REMAPPED_IN_BLOCK(block, STEP_SET_SPINDLE_SPEED)) { |
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return (convert_remapped_code(block,settings,STEP_SET_SPINDLE_SPEED,'S')); |
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} else { |
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status = convert_speed(block, settings); |
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CHP(status); |
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} |
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} |
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if ((block->t_flag) && ONCE(STEP_PREPARE)) { |
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if (STEP_REMAPPED_IN_BLOCK(block, STEP_PREPARE)) { |
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return (convert_remapped_code(block,settings,STEP_PREPARE,'T')); |
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} else { |
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CHP(convert_tool_select(block, settings)); |
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} |
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} |
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CHP(convert_m(block, settings)); |
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CHP(convert_g(block, settings)); |
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if ((block->m_modes[4] != -1) && ONCE(STEP_MGROUP4)) { /* converts m0, m1, m2, m30, or m60 */ |
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if (STEP_REMAPPED_IN_BLOCK(block, STEP_MGROUP4)) { |
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status = convert_remapped_code(block,settings,STEP_MGROUP4,'M',block->m_modes[4]); |
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} else { |
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status = convert_stop(block, settings); |
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} |
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if (status == INTERP_EXIT) { |
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return(INTERP_EXIT); |
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} |
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else if (status != INTERP_OK) { |
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ERP(status); |
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} |
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} |
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if (settings->probe_flag) |
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return (INTERP_EXECUTE_FINISH); |
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|
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if (settings->input_flag) |
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return (INTERP_EXECUTE_FINISH); |
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|
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if (settings->toolchange_flag) |
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return (INTERP_EXECUTE_FINISH); |
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|
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return INTERP_OK; |
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} |
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/****************************************************************************/ |
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|
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/*! execute_unary |
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|
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Returned Value: int |
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If any of the following errors occur, this returns the error code shown. |
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Otherwise, it returns INTERP_OK. |
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1. the operation is unknown: NCE_BUG_UNKNOWN_OPERATION |
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2. the argument to acos is not between minus and plus one: |
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NCE_ARGUMENT_TO_ACOS_OUT_RANGE |
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3. the argument to asin is not between minus and plus one: |
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NCE_ARGUMENT_TO_ASIN_OUT_RANGE |
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4. the argument to the natural logarithm is not positive: |
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NCE_ZERO_OR_NEGATIVE_ARGUMENT_TO_LN |
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5. the argument to square root is negative: |
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NCE_NEGATIVE_ARGUMENT_TO_SQRT |
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|
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Side effects: |
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The result from performing the operation on the value in double_ptr |
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is put into what double_ptr points at. |
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|
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Called by: read_unary. |
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|
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This executes the operations: ABS, ACOS, ASIN, COS, EXP, FIX, FUP, LN |
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ROUND, SIN, SQRT, TAN |
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All angle measures in the input or output are in degrees. |
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|
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*/ |
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int Interp::execute_unary(double *double_ptr, //!< pointer to the operand |
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int operation) //!< integer code for the operation |
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{ |
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switch (operation) { |
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case ABS: |
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if (*double_ptr < 0.0) |
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*double_ptr = (-1.0 * *double_ptr); |
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break; |
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case ACOS: |
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CHKS(((*double_ptr < -1.0) || (*double_ptr > 1.0)), |
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NCE_ARGUMENT_TO_ACOS_OUT_OF_RANGE); |
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*double_ptr = acos(*double_ptr); |
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*double_ptr = ((*double_ptr * 180.0) / M_PIl); |
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break; |
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case ASIN: |
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CHKS(((*double_ptr < -1.0) || (*double_ptr > 1.0)), |
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NCE_ARGUMENT_TO_ASIN_OUT_OF_RANGE); |
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*double_ptr = asin(*double_ptr); |
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*double_ptr = ((*double_ptr * 180.0) / M_PIl); |
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break; |
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case COS: |
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*double_ptr = cos((*double_ptr * M_PIl) / 180.0); |
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break; |
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case EXISTS: |
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// do nothing here |
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// result for the EXISTS function is set by Interp:read_unary() |
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break; |
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case EXP: |
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*double_ptr = exp(*double_ptr); |
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break; |
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case FIX: |
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*double_ptr = floor(*double_ptr); |
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break; |
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case FUP: |
372 |
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*double_ptr = ceil(*double_ptr); |
373 |
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break; |
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case LN: |
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CHKS((*double_ptr <= 0.0), NCE_ZERO_OR_NEGATIVE_ARGUMENT_TO_LN); |
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*double_ptr = log(*double_ptr); |
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break; |
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case ROUND: |
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*double_ptr = (double) |
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((int) (*double_ptr + ((*double_ptr < 0.0) ? -0.5 : 0.5))); |
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break; |
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case SIN: |
383 |
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*double_ptr = sin((*double_ptr * M_PIl) / 180.0); |
384 |
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break; |
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case SQRT: |
386 |
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CHKS((*double_ptr < 0.0), NCE_NEGATIVE_ARGUMENT_TO_SQRT); |
387 |
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*double_ptr = sqrt(*double_ptr); |
388 |
135 |
break; |
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case TAN: |
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*double_ptr = tan((*double_ptr * M_PIl) / 180.0); |
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break; |
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default: |
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ERS(NCE_BUG_UNKNOWN_OPERATION); |
394 |
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} |
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return INTERP_OK; |
396 |
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} |
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