forked from epics_driver_modules/motorBase
Renamed to XPSGathering.c
This commit is contained in:
MarkRivers
@@ -1,205 +0,0 @@
|
||||
/* Prog to test the XPS position gathering and trigger during a trajectory scan*/
|
||||
/**/
|
||||
#include <stdio.h>
|
||||
/*#include <stdbool.h>*/
|
||||
#include "XPS_C8_drivers.h"
|
||||
#include "Socket.h"
|
||||
#include <hostLib.h>
|
||||
#include <remLib.h>
|
||||
#include <netDrv.h>
|
||||
#define TIMEOUT 1
|
||||
#define pline printf("-Debug line %i\n",__LINE__);
|
||||
#define BUFFER_SIZE 500;
|
||||
|
||||
|
||||
/* require xps_c8_driver.cpp with 23rd May bug fix for the
|
||||
GatheringExternalConfigurationSet command*/
|
||||
|
||||
|
||||
/* Function to ask the XPS for a socket */
|
||||
int getsocket(void)
|
||||
{
|
||||
char ipchar[] = "164.54.160.124";
|
||||
int socket = 0;
|
||||
int port = 5001;
|
||||
|
||||
socket = TCP_ConnectToServer(ipchar,port,TIMEOUT);
|
||||
if (socket < 0)
|
||||
printf(" Error TCP_ConnectToServer\n");
|
||||
return (socket);
|
||||
}
|
||||
|
||||
void xpsgathering(int inttrajelementperiod)
|
||||
{
|
||||
int status,socket,end =0;
|
||||
char *gatheringdata= "GROUP1.PHI.ExternalLatchPosition,"
|
||||
"GROUP1.KAPPA.ExternalLatchPosition,"
|
||||
"GROUP1.OMEGA.ExternalLatchPosition,"
|
||||
"GROUP1.PSI.ExternalLatchPosition,"
|
||||
"GROUP1.2THETA.ExternalLatchPosition,"
|
||||
"GROUP1.NU.ExternalLatchPosition";
|
||||
|
||||
|
||||
char positioner[] = "GROUP1.PHI";
|
||||
char group[] = "GROUP1";
|
||||
char nullchar[] = "";
|
||||
char GPIOname[] = "GPIO4.DO"; /* DB15 Connector */
|
||||
char pulsemask[] = "63"; /* Defines which pins are pulsed, 63 in base 2 ->111111 */
|
||||
/* The trigger pin6 is connected to GPIO4.DO pin 27 (output 1) */
|
||||
/* char element[250];*/
|
||||
char inputfilename[] = "testtrajectory";
|
||||
char outputfilename[500];
|
||||
char timer1[250] = "Timer1";
|
||||
double maxp,minp,maxv,maxa;
|
||||
char trajelementperiod[250] ;
|
||||
/* int inttrajelementperiod = 20000;*/ /* Time defined in trajectory file between moves *1e4 */
|
||||
char numtrajelements[] = "10"; /* Number of elements in traj scan*/
|
||||
char eventlist[260];
|
||||
|
||||
printf("You Input %g Seconds For The Period\n",(double) inttrajelementperiod/10000);
|
||||
|
||||
sprintf(trajelementperiod,"%i",inttrajelementperiod); /* Convert to a string */
|
||||
|
||||
socket = getsocket();
|
||||
|
||||
/*************************** Verfy trajectory **********************/
|
||||
status = MultipleAxesPVTVerification(socket,group,inputfilename);
|
||||
if (status != 0){
|
||||
printf(" Error performing MultipleAxesPVTVerification%i\n Return\n",status);
|
||||
end = 1; /* Don't Verify */
|
||||
}
|
||||
|
||||
/*printf("xpsgathering, socket=%d, timer=%s, period=%d\n",
|
||||
socket, timer1, inttrajelementperiod);*/
|
||||
|
||||
status = MultipleAxesPVTVerificationResultGet(socket,positioner,outputfilename,
|
||||
&minp, &maxp, &maxv, &maxa);
|
||||
printf(" MultipleAxesPVTVerificationResultGet\n");
|
||||
printf(" status %i, ptrmaxp %g, ptrminp %g, ptrmaxv %g, ptrmaxa %g\n outputfilename=%s\n",
|
||||
status,maxp, minp, maxv, maxa,outputfilename);
|
||||
|
||||
/*printf("xpsgathering, socket=%d, timer=%s, period=%d \n",
|
||||
socket, timer1, inttrajelementperiod);*/
|
||||
if (end == 1)
|
||||
return;
|
||||
/***********************Configure Gathering and Timer******************/
|
||||
|
||||
/* The "1" signifies one type of data collected */
|
||||
|
||||
printf(" socket=%i, gathering=%s\n",socket,gatheringdata);
|
||||
|
||||
status = GatheringExternalConfigurationSet(socket,1,gatheringdata);
|
||||
|
||||
if (status != 0)
|
||||
printf(" Error performing GatheringConfigurationSet%i\n",status);
|
||||
|
||||
|
||||
status = TimerSet(socket,timer1,inttrajelementperiod);
|
||||
|
||||
if (status != 0)
|
||||
printf(" Error performing TimerSet %i\n",status);
|
||||
|
||||
/**************************Add Events *****************************/
|
||||
|
||||
status = EventAdd(socket,positioner,timer1,nullchar,
|
||||
"DOPulse",GPIOname,pulsemask,nullchar);
|
||||
if (status != 0)
|
||||
printf(" Error performing EventAdd(socket,positioner,Timer1=%i\n",status);
|
||||
|
||||
status = EventAdd(socket,positioner,"PVT.TrajectoryStart",nullchar,
|
||||
"ExternalGatheringRun",numtrajelements,"1",nullchar);
|
||||
if (status != 0)
|
||||
printf(" Error performing EventAdd(socket,positioner,PVT.TrajectoryStart %i\n",status);
|
||||
|
||||
status = EventGet(socket,positioner,eventlist);
|
||||
printf(" EventGet: status=%i list=%s\n",status,eventlist);
|
||||
|
||||
/********************* Run traj ****************************/
|
||||
printf("socket=%i group=%s file=%s\n",socket,group,inputfilename);
|
||||
|
||||
status = MultipleAxesPVTExecution(socket,group,inputfilename,1);
|
||||
if (status != 0)
|
||||
printf(" Error performing MultipleAxesPVTExecution\%i\n",status);
|
||||
|
||||
/***********************Save the gathered data ***************/
|
||||
status = GatheringExternalStopAndSave(socket);
|
||||
if (status != 0)
|
||||
printf(" Error performing GatheringExternalStopAndSave\%i\n",status);
|
||||
|
||||
/*******************Tidy-up the Event List and stop timer1 **************/
|
||||
status = EventRemove(socket,positioner,timer1,"0");
|
||||
if (status != 0)
|
||||
printf(" Error performing EventRemove(socket,positioner,Timer1)=%i\n",status);
|
||||
|
||||
status = EventRemove(socket,positioner,"PVT.TrajectoryStart",nullchar);
|
||||
if (status != 0)
|
||||
printf(" Error performing EventRemove(socket,positioner,PVT.TrajectoryStart)=%i\n",status);
|
||||
|
||||
|
||||
/********************************************************************/
|
||||
|
||||
FILE *trajFile;
|
||||
FILE *gatheringFile;
|
||||
char buffer[100];
|
||||
double motorReadbacks[6][20];
|
||||
double motorError[6][20];
|
||||
double trajTime = 0,trajStep = 0;
|
||||
int numAxes = 6;
|
||||
int i,j,npoints = 10;
|
||||
double posTheory[8];
|
||||
hostAdd ("XPS1","164.54.160.124");
|
||||
netDevCreate ("XPS1:", "XPS1", 1);
|
||||
remCurIdSet("Administrator", "Administrator");
|
||||
trajFile = fopen ("XPS1:/Admin/Public/Trajectories/testtrajectory", "r");
|
||||
gatheringFile = fopen ("XPS1:/Admin/Public/GatheringExternal.dat", "r");
|
||||
|
||||
for (i=0; i<npoints; ++i){
|
||||
for (j=0; j<numAxes; ++j){
|
||||
motorReadbacks[j][i] = 0;
|
||||
motorError[j][i] = 0;
|
||||
}
|
||||
posTheory[j] = 0;
|
||||
}
|
||||
|
||||
/* Read 1st 2 lines */
|
||||
for(i=0; i<2; ++i){
|
||||
fgets (buffer, 1000, gatheringFile);
|
||||
printf("Line %i of GatheringEx = %s\n",i,buffer);
|
||||
}
|
||||
for (i=0; i<npoints; ++i){
|
||||
for (j=0; j<numAxes; ++j){
|
||||
if(j == (numAxes-1)) {
|
||||
fscanf(gatheringFile,"%lf",&motorReadbacks[j][i]);}
|
||||
else{
|
||||
fscanf(gatheringFile,"%lf",&motorReadbacks[j][i]);}
|
||||
|
||||
|
||||
if(j == (numAxes-1)) {
|
||||
if(fscanf(trajFile," %lf,%*f",&trajStep) != 1) printf("trajerror\n");}
|
||||
|
||||
if (j == 0){
|
||||
if(fscanf(trajFile,"%lf, %lf,%*f,",&trajTime,&trajStep) != 2) printf("trajerror\n");}
|
||||
|
||||
if (j > 0 && j < (numAxes-1)){
|
||||
if(fscanf(trajFile," %lf,%*f,",&trajStep) != 1) printf("trajerror\n");}
|
||||
|
||||
if(i == 0) {
|
||||
posTheory[j] = motorReadbacks[j][i];
|
||||
printf("posTheory = %f ",posTheory[j]);}
|
||||
else{
|
||||
posTheory[j]+= trajStep;}
|
||||
|
||||
motorError[j][i] = posTheory[j] - motorReadbacks[j][i];
|
||||
printf("i=%i J=%i ReadBack=%f motorError=%f trajStep%f\n",
|
||||
i,j,motorReadbacks[j][i],motorError[j][i],trajStep);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
fclose (trajFile); /* This is where the ftp actualy takes place */
|
||||
fclose (gatheringFile); /* This is where the ftp actualy takes place */
|
||||
/**********************************************************************/
|
||||
|
||||
return;
|
||||
}
|
||||
Reference in New Issue
Block a user