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Ron Sluiter
2006-02-23 19:51:50 +00:00
parent 70063c0ab3
commit d8771ddd04
2 changed files with 439 additions and 0 deletions
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motorApp/MotorSrc/motorUtil.cc
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/*
FILENAME... motorUtil.cc
USAGE... Motor Record Utility Support.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2006-02-23 19:51:50 $
*/
/*
* motorUtil_A.c -- version 1.0
*
* Original Author: Kevin Peterson (kmpeters@anl.gov)
* Date: December 11, 2002
*
* UNICAT
* Advanced Photon Source
* Argonne National Laboratory
*
* Current Author: Ron Sluiter
*/
#include <stdio.h>
#include <string.h>
#include <cadef.h>
#include <epicsString.h>
#include <epicsRingPointer.h>
#include <cantProceed.h>
#include <iocsh.h>
#include <epicsExport.h>
#include <errlog.h>
#include <motor.h>
#define TIMEOUT 60 /* seconds */
/* ----- External Declarations ----- */
extern char **getMotorList();
/* ----- --------------------- ----- */
/* ----- Function Declarations ----- */
RTN_STATUS motorUtilInit(char *);
static int motorUtil_task(void *);
static chid getChID(char *);
static long pvMonitor(int, chid, int);
static void dmov_handler(struct event_handler_args);
static void allstop_handler(struct event_handler_args);
static void stopAll(chid, char *);
static int motorMovingCount();
static void moving(int, chid, short);
/* ----- --------------------- ----- */
typedef struct motor_pv_info
{
char name[29]; /* pv names limited to 28 chars + term. in dbDefs.h */
chid chid_dmov; /* Channel id for <motor name>.DMOV */
chid chid_stop; /* Channel id for <motor name>.STOP */
int in_motion;
int index; /* Call to ca_add_event() must have ptr to argument. */
} Motor_pv_info;
/* ----- Global Variables ----- */
int motorUtil_debug = 0;
int numMotors = 0;
/* ----- ---------------- ----- */
/* ----- Local Variables ----- */
static Motor_pv_info *motorArray;
static char **motorlist = 0;
static char *vme;
static int old_numMotorsMoving = -1;
static short old_alldone_value = -1;
static chid chid_allstop, chid_moving, chid_alldone;
/* ----- ---------------- ----- */
RTN_STATUS motorUtilInit(char *vme_name)
{
RTN_STATUS status = OK;
vme = epicsStrDup(vme_name);
epicsThreadCreate((char *) "motorUtil", epicsThreadPriorityMedium,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motorUtil_task, (void *) NULL);
return(status);
}
static int motorUtil_task(void *arg)
{
char temp[34];
int itera, status;
SEVCHK(ca_context_create(ca_enable_preemptive_callback),
"motorUtil: ca_context_create() error");
motorlist = getMotorList();
if (motorUtil_debug)
errlogPrintf("There are %i motors\n", numMotors);
if (numMotors > 0)
{
motorArray = (Motor_pv_info *) callocMustSucceed(numMotors,
sizeof(Motor_pv_info), "motorUtil:init()");
/* setup $(P)moving */
strcpy(temp, vme);
strcat(temp, "moving.VAL");
chid_moving = getChID(temp);
/* setup $(P)alldone */
strcpy(temp, vme);
strcat(temp, "alldone.VAL");
chid_alldone = getChID(temp);
/* loop over motors in motorlist and fill in motorArray */
for (itera=0; itera < numMotors; itera++)
{
motorArray[itera].index = itera;
/* Setup .DMOVs */
strcpy(motorArray[itera].name, motorlist[itera]);
strcpy(temp, motorlist[itera]);
strcat(temp, ".DMOV");
motorArray[itera].chid_dmov = getChID(temp);
status = pvMonitor(1, motorArray[itera].chid_dmov, itera);
/* Setup .STOPs */
strcpy(temp, motorlist[itera]);
strcat(temp, ".STOP");
motorArray[itera].chid_stop = getChID(temp);
}
/* setup $(P)allstop */
strcpy(temp, vme);
strcat(temp, "allstop.VAL");
chid_allstop = getChID(temp);
status = pvMonitor(0, chid_allstop, -1);
}
epicsThreadSuspendSelf(); /* Wait Forever */
return(ERROR);
}
static chid getChID(char *PVname)
{
chid channelID = 0;
int status;
/* In R3.14 ca_create_channel() will replace ca_search_and_connect() */
status = ca_search_and_connect(PVname, &channelID, 0, 0);
status = ca_pend_io(TIMEOUT);
if (status != ECA_NORMAL)
{
SEVCHK(status, "ca_search_and_connect");
ca_task_exit(); /* this is serious */
errlogPrintf("(motorUtil_A.c) getChID error: %i\n", status);
}
return channelID;
}
static long pvMonitor(int eventType, chid channelID, int motor_index)
{
int status;
/* Create monitor */
if (eventType) /* moving() */
status = ca_add_event(DBR_SHORT, channelID, &dmov_handler,
&(motorArray[motor_index].index), 0);
else /* stopAll() */
status = ca_add_event(DBR_STRING, channelID, &allstop_handler, 0, 0);
status = ca_pend_io(TIMEOUT);
if (status != ECA_NORMAL)
{
SEVCHK(status, "ca_add_event");
ca_task_exit(); /* this is serious */
return status;
}
return ECA_NORMAL;
}
static void allstop_handler(struct event_handler_args args)
{
stopAll(args.chid, (char *) args.dbr);
}
static void stopAll(chid callback_chid, char *callback_value)
{
int itera, status = 0;
short val = 1, release_val = 0;
if (callback_chid != chid_allstop)
errlogPrintf("callback_chid = %08x, chid_allstop = %08x\n",
(unsigned int) callback_chid, (unsigned int) chid_allstop);
if (strcmp(callback_value, "release") != 0)
{
/* if at least one motor is moving, then continue with stop all */
if (motorMovingCount())
{
for(itera=0; itera < numMotors; itera++)
ca_put(DBR_SHORT, motorArray[itera].chid_stop, &val);
status = ca_flush_io();
}
/* reset allstop so that it may be called again */
ca_put(DBR_SHORT, chid_allstop, &release_val);
status = ca_flush_io();
if (motorUtil_debug)
errlogPrintf("reset allstop to \"release\"\n");
}
else if (motorUtil_debug)
errlogPrintf("didn't need to reset allstop\n");
}
static void dmov_handler(struct event_handler_args args)
{
moving(*((int *) args.usr), args.chid, *((short *) args.dbr));
}
static void moving(int callback_motor_index, chid callback_chid,
short callback_dmov)
{
short new_alldone_value, done = 1, not_done = 0;
int numMotorsMoving, status;
if (motorUtil_debug)
errlogPrintf("%s is %s\n", motorArray[callback_motor_index].name,
(callback_dmov) ? "STOPPED" : "MOVING");
if (callback_dmov)
motorArray[callback_motor_index].in_motion = 0;
else
motorArray[callback_motor_index].in_motion = 1;
numMotorsMoving = motorMovingCount();
new_alldone_value = (numMotorsMoving) ? 0 : 1;
/* check to see if $(P)alldone needs to be updated */
if (new_alldone_value != old_alldone_value)
{
/* give $(P)alldone the appropriate value */
if (numMotorsMoving == 0)
{
if (motorUtil_debug)
errlogPrintf("sending alldone = TRUE\n");
ca_put(DBR_SHORT, chid_alldone, &done);
old_alldone_value = new_alldone_value;
}
else
{
if (motorUtil_debug)
errlogPrintf("sending alldone = FALSE\n");
ca_put(DBR_SHORT, chid_alldone, &not_done);
old_alldone_value = new_alldone_value;
}
}
else if (motorUtil_debug)
errlogPrintf("the alldone value remains the same.\n");
/* check to see if $(P)moving needs to be updated */
if (numMotorsMoving != old_numMotorsMoving)
{
if (motorUtil_debug)
errlogPrintf("updating number of motors moving\n");
/* give $(P)moving the appropriate value */
ca_put(DBR_LONG, chid_moving, &numMotorsMoving);
old_numMotorsMoving = numMotorsMoving;
}
else if (motorUtil_debug)
errlogPrintf("the number of motors moving remains the same.\n");
/* send the ca_puts */
status = ca_flush_io();
}
static int motorMovingCount()
{
int itera, in_motion_count=0;
for (itera=0; itera < numMotors; itera++)
in_motion_count += motorArray[itera].in_motion;
return in_motion_count;
}
void listMovingMotors()
{
int itera;
errlogPrintf("\nThe following motors are moving:\n");
for (itera=0; itera < numMotors; itera++)
if (motorArray[itera].in_motion == 1)
errlogPrintf("%s, index = %i\n", motorArray[itera].name,
motorArray[itera].index);
}
void printChIDlist()
{
int itera;
for (itera=0; itera < numMotors; itera++)
{
errlogPrintf("i = %i,\tname = %s\tchid_dmov = %08x\tchid_stop = \
%08x\tin_motion = %i\tindex = %i\n", itera,
motorArray[itera].name,
(unsigned int) motorArray[itera].chid_dmov,
(unsigned int) motorArray[itera].chid_stop,
motorArray[itera].in_motion, motorArray[itera].index);
}
errlogPrintf("chid_allstop = %08x\n", (unsigned int) chid_allstop);
errlogPrintf("chid_alldone = %08x\n", (unsigned int) chid_alldone);
errlogPrintf("chid_moving = %08x\n", (unsigned int) chid_moving);
}
extern "C"
{
static const iocshArg Arg = {"IOC name", iocshArgString};
static const iocshArg * const motorUtilArg[1] = {&Arg};
static const iocshFuncDef motorUtilDef = {"motorUtilInit", 1, motorUtilArg};
static void motorUtilCallFunc(const iocshArgBuf *args)
{
motorUtilInit(args[0].sval);
}
static void motorUtilRegister(void)
{
iocshRegister(&motorUtilDef, motorUtilCallFunc);
}
epicsExportRegistrar(motorUtilRegister);
} // extern "C"
motorApp/MotorSrc/motorUtilAux.cc
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/*
FILENAME... motorUtilAux.cc
USAGE... Motor Record Utility Support.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2006-02-23 19:51:50 $
*/
/*
*
* Original Author: Kevin Peterson (kmpeters@anl.gov)
* Date: December 11, 2002
*
* UNICAT
* Advanced Photon Source
* Argonne National Laboratory
*
* Current Author: Ron Sluiter
*
*/
/*
Notes:
- A Channel Access (CA) oriented file had to be created separate from the
primary motorUtil.cc file because CA and record access code cannot both reside
in the same file; each defines (redefines) the DBR's.
*/
#include <string.h>
#include <cantProceed.h>
#include <dbStaticLib.h>
#include <errlog.h>
/* ----- Function Declarations ----- */
char **getMotorList();
/* ----- --------------------- ----- */
/* ----- External Declarations ----- */
extern struct dbBase *pdbbase;
extern int numMotors;
/* ----- --------------------- ----- */
char ** getMotorList()
{
DBENTRY dbentry, *pdbentry = &dbentry;
long status;
char **paprecords = 0, temp[29];
int num_entries = 0, length = 0, index = 0;
dbInitEntry(pdbbase,pdbentry);
status = dbFindRecordType(pdbentry,"motor");
if (status)
errlogPrintf("getMotorList(): No record description\n");
while (!status)
{
num_entries = dbGetNRecordTypes(pdbentry);
paprecords = (char **) callocMustSucceed(num_entries, sizeof(char *),
"getMotorList(1st)");
status = dbFirstRecord(pdbentry);
while (!status)
{
length = sprintf(temp, "%s", dbGetRecordName(pdbentry));
paprecords[index] = (char *) callocMustSucceed(length,
sizeof(char), "getMotorList(2nd)");
strcpy(paprecords[index], temp);
status = dbNextRecord(pdbentry);
index++;
}
numMotors = index;
}
dbFinishEntry(pdbentry);
return(paprecords);
}