diff --git a/motorApp/NewportSrc/XPSGathering.cc b/motorApp/NewportSrc/XPSGathering.cc deleted file mode 100644 index ce6f9b7a..00000000 --- a/motorApp/NewportSrc/XPSGathering.cc +++ /dev/null @@ -1,205 +0,0 @@ -/* Prog to test the XPS position gathering and trigger during a trajectory scan*/ -/**/ -#include -/*#include */ -#include "XPS_C8_drivers.h" -#include "Socket.h" -#include -#include -#include -#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 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; -}