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Parse Gathering.dat file; collect additional gathering information

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This commit is contained in:
MarkRivers
2007-01-19 23:05:12 +00:00
parent 264eaa07be
commit 47ff511cbe
1 changed files with 42 additions and 68 deletions
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motorApp/NewportSrc/XPSGathering.c
+42 -68
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@@ -23,21 +23,22 @@ void xps_gathering()
{
int status,poll_socket,drive_socket,end=0;
int ftpSocket;
char *gatheringData = "GROUP2.POSITIONER1.CurrentPosition;GROUP2.POSITIONER2.CurrentPosition";
char *gatheringData = "GROUP2.POSITIONER1.SetpointPosition;"
"GROUP2.POSITIONER1.CurrentPosition;"
"GROUP2.POSITIONER1.CurrentVelocity;"
"GROUP2.POSITIONER2.SetpointPosition;"
"GROUP2.POSITIONER2.CurrentPosition;"
"GROUP2.POSITIONER2.CurrentVelocity";
char *positioner[NUM_AXES] = {"GROUP2.POSITIONER1", "GROUP2.POSITIONER2"};
char group[] = "GROUP2";
char outputfilename[500];
double maxp,minp,maxv,maxa;
char buffer[100];
double motorReadbacks[NUM_AXES][NUM_ELEMENTS+1];
double motorError[NUM_AXES][NUM_ELEMENTS+1];
double trajTime = 0,trajStep = 0;
double maxp, minp, maxv, maxa;
char buffer[1000];
int nitems;
double setpoint, actual, velocity;
int i,j;
int groupStatus;
double posTheory[NUM_AXES];
FILE *gatheringFile, *trajFile;
FILE *gatheringFile;
int eventID;
time_t start_time, end_time;
@@ -82,21 +83,23 @@ void xps_gathering()
/* Define trajectory output pulses */
printf("Defining output pulses ...\n");
status = MultipleAxesPVTPulseOutputSet(poll_socket, group, 1, NUM_ELEMENTS, PULSE_TIME);
status = MultipleAxesPVTPulseOutputSet(poll_socket, group, 1,
NUM_ELEMENTS, PULSE_TIME);
/*************************** Verify trajectory **********************/
printf("Verifying trajectory ...\n");
status = MultipleAxesPVTVerification(drive_socket, group, TRAJECTORY_FILE);
if (status != 0) {
printf(" Error performing MultipleAxesPVTVerification, status=%d\n",status);
printf("Error performing MultipleAxesPVTVerification, status=%d\n",status);
end = 1;
}
printf("Reading verify results ...\n");
printf(" MultipleAxesPVTVerificationResultGet\n");
for (i=0; i<NUM_AXES; i++) {
status = MultipleAxesPVTVerificationResultGet(poll_socket,positioner[i], outputfilename,
&minp, &maxp, &maxv, &maxa);
status = MultipleAxesPVTVerificationResultGet(poll_socket,positioner[i],
outputfilename,
&minp, &maxp, &maxv, &maxa);
printf(" positioner 1%d, status %d, Max. pos. %g, Min. pos. %g, Max. vel. %g, Max. accel. %g\n",
i, status, maxp, minp, maxv, maxa);
}
@@ -107,14 +110,14 @@ void xps_gathering()
printf("Reseting gathering ...\n");
status = GatheringReset(poll_socket);
if (status != 0) {
printf(" Error performing GatheringReset, status=%d\n",status);
printf("Error performing GatheringReset, status=%d\n",status);
return;
}
printf("Defining gathering ...\n");
status = GatheringConfigurationSet(poll_socket, 2, gatheringData);
status = GatheringConfigurationSet(poll_socket, NUM_AXES*3, gatheringData);
if (status != 0) {
printf(" Error performing GatheringConfigurationSet, status=%d\n",status);
printf("Error performing GatheringConfigurationSet, status=%d\n",status);
return;
}
@@ -123,21 +126,24 @@ void xps_gathering()
"Always;GROUP2.PVT.TrajectoryPulse",
"","","","");
if (status != 0) {
printf(" Error performing EventExtendedConfigurationTriggerSet, status=%d\n",status);
printf("Error performing EventExtendedConfigurationTriggerSet, status=%d\n",
status);
return;
}
printf("Defining action ...\n");
status = EventExtendedConfigurationActionSet(poll_socket, 1, "GatheringOneData","","","","");
status = EventExtendedConfigurationActionSet(poll_socket, 1, "GatheringOneData",
"", "", "", "");
if (status != 0) {
printf(" Error performing EventExtendedConfigurationActionSet, status=%d\n",status);
printf("Error performing EventExtendedConfigurationActionSet, status=%d\n",
status);
return;
}
printf("Starting gathering ...\n");
status= EventExtendedStart(poll_socket, &eventID);
if (status != 0) {
printf(" Error performing EventExtendedStart, status=%d\n",status);
printf("Error performing EventExtendedStart, status=%d\n", status);
return;
}
@@ -145,7 +151,7 @@ void xps_gathering()
/********************* Run trajectory ****************************/
status = GroupStatusGet(poll_socket, group, &groupStatus);
if (status != 0) {
printf(" Error performing GroupStatusGet, status=%d\n",status);
printf("Error performing GroupStatusGet, status=%d\n", status);
return;
}
printf("Group status before executing trajectory=%d\n", groupStatus);
@@ -155,12 +161,12 @@ void xps_gathering()
end_time = time(NULL);
printf("Time to execute trajectory=%f\n", difftime(end_time, start_time));
if (status != 0) {
printf(" Error performing MultipleAxesPVTExecution, status=%d\n",status);
printf("Error performing MultipleAxesPVTExecution, status=%d\n", status);
return;
}
status = GroupStatusGet(poll_socket, group, &groupStatus);
if (status != 0) {
printf(" Error performing GroupStatusGet, status=%d\n",status);
printf("Error performing GroupStatusGet, status=%d\n", status);
return;
}
printf("Group status after executing trajectory=%d\n", groupStatus);
@@ -169,7 +175,7 @@ void xps_gathering()
printf("Removing event ...\n");
status = EventExtendedRemove(poll_socket, eventID);
if (status != 0) {
printf(" Error performing ExtendedEventRemove, status=%d\n",status);
printf("Error performing ExtendedEventRemove, status=%d\n", status);
return;
}
@@ -180,12 +186,12 @@ void xps_gathering()
end_time = time(NULL);
printf("Time to save gathering data=%f\n", difftime(end_time, start_time));
if (status != 0) {
printf(" Error performing GatheringExternalStopAndSave, status=%d\n",status);
printf("Error performing GatheringExternalStopAndSave, status=%d\n", status);
return;
}
status = GroupStatusGet(poll_socket, group, &groupStatus);
if (status != 0) {
printf(" Error performing GroupStatusGet, status=%d\n",status);
printf("Error performing GroupStatusGet, status=%d\n", status);
return;
}
printf("Group status after stopping gathering=%d\n", groupStatus);
@@ -208,59 +214,27 @@ void xps_gathering()
return;
}
printf("Returning before processing gathering file for now\n");
return;
printf("Opening gathering file ...\n");
gatheringFile = fopen("GATHERING_FILE", "r");
printf("Opening trajectory file ...\n");
trajFile = fopen("TRAJECTORY_FILE", "r");
for (i=0; i<NUM_ELEMENTS; ++i) {
for (j=0; j<NUM_AXES; ++j) {
motorReadbacks[j][i] = 0;
motorError[j][i] = 0;
}
gatheringFile = fopen(GATHERING_FILE, "r");
if (gatheringFile == NULL) {
perror("Errror opening gathering file");
return;
}
/* Read 1st 2 lines */
for (i=0; i<2; i++) {
fgets (buffer, 1000, gatheringFile);
printf("Line %d of GatheringEx = %s\n",i,buffer);
printf("Line %d of gathering file = %s\n", i, buffer);
}
for (i=0; i<NUM_ELEMENTS; i++) {
for (j=0; j<NUM_AXES; j++) {
fscanf(gatheringFile,"%lf",&motorReadbacks[j][i]);
if( j == (NUM_AXES-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 < (NUM_AXES-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=%d J=%d ReadBack=%f motorError=%f trajStep%f\n",
i,j,motorReadbacks[j][i],motorError[j][i],trajStep);
nitems = fscanf(gatheringFile,"%lf %lf %lf ", &setpoint, &actual, &velocity);
if (nitems != 3) printf("nitems=%d, should be 3\n", nitems);
printf("Point=%d, axis=%d, setpoint=%f, actual=%f, error=%f, velocity=%f\n",
i+1, j+1, setpoint, actual, actual-setpoint, velocity);
}
}
fclose (trajFile);
fclose (gatheringFile);
return;
}