Kludge soft trigger

motorApp/OmsSrc/MAX_trajectoryScan.st

@@ -176,6 +176,7 @@ double dbuf[MAX_PULSES];
 /* variables for constructing trajectory commands */
 int movingMask;
 int waitingForTrigger;
+int softTrigger;
 
 /* temporary variables to hold mav speed and acceleration for a motor */
 double vmax;
@@ -471,7 +472,16 @@ ss maxTrajectoryScan {
 			pvPut(execState);
 			lastPollTime = -POLL_INTERVAL;
 			lastRealTimePoint = 0;
-			waitingForTrigger = ((inBitNum >= 0) && (inBitNum <= 15));
+
+			/* waitingForTrigger = ((inBitNum >= 0) && (inBitNum <= 15)); */
+/* temporary kludge */
+/* There are only 16 bits, but allow an imaginary 17th to implement a soft trigger when I/O is not connected
+ * to anything.  To use, set inBitNum==16, "Execute" the trajectory, and trigger it by setting intBitNum to
+ * anything in [0..15].  MAXv inputs default to high, so all bits will trigger.
+ */
+waitingForTrigger = ((inBitNum >= 0) && (inBitNum <= 16));
+softTrigger = inBitNum == 16;
+
 			for (j=0, movingMask = 0; j<numAxes; j++) {
 				if (moveAxis[j]) movingMask |= (1<<j);
 			}
@@ -816,7 +826,7 @@ static int getMotorMoving(SS_ID ssId, struct UserVar *pVar, int movingMask)
 	return(0);
 }
 
-
+/* Read input bits to see vif it's time to start the trajectory. */
 static int getStarted(SS_ID ssId, struct UserVar *pVar) {
 	int i, bits, mask;
 	char c;
@@ -840,6 +850,10 @@ static int getStarted(SS_ID ssId, struct UserVar *pVar) {
 	mask = 1 << (pVar->inBitNum);
 	if (pVar->debugLevel >= 5)
 		printf("\ngetStarted: reply='%s', bits=0x%x, mask=0x%x",  pVar->stringIn, bits, mask);
+
+/* If we got called because intBitNum was set to 16, and got triggered by user's change to 0..15, reset intBitNum. */
+if (pVar->softTrigger) pVar->inBitNum = 16;
+
 	return (bits & mask);
 }