forked from epics_driver_modules/motorBase
New test program
This commit is contained in:
MarkRivers
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/* Program to test the XPS position gathering and trigger during a trajectory scan */
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/**/
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#include <stdio.h>
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#include <time.h>
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#define epicsExportSharedSymbols
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#include <shareLib.h>
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#include "XPS_C8_drivers.h"
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#include "Socket.h"
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#include "xps_ftp.h"
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#define XPS_ADDRESS "164.54.160.124"
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#define NUM_TRAJECTORY_ELEMENTS 6
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#define NUM_GATHERING_POINTS 100
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#define NUM_GATHERING_ITEMS 2
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#define NUM_AXES 6
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#define PULSE_TIME 0.01
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#define POLL_TIMEOUT 1.0
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#define DRIVE_TIMEOUT 100.0
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#define USERNAME "Administrator"
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#define PASSWORD "Administrator"
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#define TRAJECTORY_DIRECTORY "/Admin/public/Trajectories"
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#define TRAJECTORY_FILE "TrajectoryScan.trj"
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#define BUFFER_SIZE 32767
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int main(int argc, char *argv[])
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{
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int status,poll_socket,drive_socket,end=0;
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int ftpSocket;
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char *gatheringData = "GROUP1.PHI.SetpointPosition;"
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"GROUP1.PHI.CurrentPosition;"
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"GROUP1.KAPPA.SetpointPosition;"
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"GROUP1.KAPPA.CurrentPosition;"
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"GROUP1.OMEGA.SetpointPosition;"
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"GROUP1.OMEGA.CurrentPosition;"
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"GROUP1.PSI.SetpointPosition;"
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"GROUP1.PSI.CurrentPosition;"
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"GROUP1.2THETA.SetpointPosition;"
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"GROUP1.2THETA.CurrentPosition;"
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"GROUP1.NU.SetpointPosition;"
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"GROUP1.NU.CurrentPosition";
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char *positioner[NUM_AXES] = {"GROUP1.PHI", "GROUP1.KAPPA", "GROUP1.OMEGA", "GROUP1.PSI", "GROUP1.2THETA", "GROUP1.NU"};
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char group[] = "GROUP1";
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char outputfilename[500];
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double maxp, minp, maxv, maxa;
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char buffer[BUFFER_SIZE];
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int currentSamples, maxSamples;
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int i;
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int groupStatus;
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int eventID;
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time_t start_time, end_time;
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poll_socket = TCP_ConnectToServer(XPS_ADDRESS, 5001, POLL_TIMEOUT);
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drive_socket = TCP_ConnectToServer(XPS_ADDRESS, 5001, DRIVE_TIMEOUT);
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status = GroupStatusGet(poll_socket, group, &groupStatus);
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printf("Initial group status=%d\n", groupStatus);
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/* If group not initialized, then initialize it */
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if (groupStatus >= 0 && groupStatus <= 9) {
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printf("Calling GroupInitialize ...\n");
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status = GroupInitialize(drive_socket, group);
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if (status) {
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printf("Error calling GroupInitialize error=%d\n", status);
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return status;
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}
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printf("Calling GroupHomeSearch ...\n");
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status = GroupHomeSearch(drive_socket, group);
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if (status) {
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printf("Error calling GroupHomeSearch error=%d\n", status);
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return status;
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}
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}
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printf("FTPing trajectory file to XPS ...\n");
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/* FTP the trajectory file from the local directory to the XPS */
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status = ftpConnect(XPS_ADDRESS, USERNAME, PASSWORD, &ftpSocket);
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if (status != 0) {
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printf("Error calling ftpConnect, status=%d\n", status);
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return status;
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}
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status = ftpChangeDir(ftpSocket, TRAJECTORY_DIRECTORY);
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if (status != 0) {
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printf("Error calling ftpChangeDir, status=%d\n", status);
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return status;
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}
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status = ftpStoreFile(ftpSocket, TRAJECTORY_FILE);
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if (status != 0) {
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printf("Error calling ftpStoreFile, status=%d\n", status);
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return status;
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}
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/* Define trajectory output pulses */
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printf("Defining output pulses ...\n");
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status = MultipleAxesPVTPulseOutputSet(poll_socket, group, 2,
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NUM_TRAJECTORY_ELEMENTS-1, PULSE_TIME);
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/*************************** Verify trajectory **********************/
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printf("Verifying trajectory ...\n");
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status = MultipleAxesPVTVerification(drive_socket, group, TRAJECTORY_FILE);
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if (status != 0) {
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printf("Error performing MultipleAxesPVTVerification, status=%d\n",status);
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end = 1;
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}
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printf("Reading verify results ...\n");
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printf(" MultipleAxesPVTVerificationResultGet\n");
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for (i=0; i<NUM_AXES; i++) {
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status = MultipleAxesPVTVerificationResultGet(poll_socket,positioner[i],
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outputfilename,
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&minp, &maxp, &maxv, &maxa);
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printf(" positioner %d, status %d, Max. pos. %g, Min. pos. %g, Max. vel. %g, Max. accel. %g\n",
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i, status, maxp, minp, maxv, maxa);
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}
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if (end == 1) return -1;
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/***********************Configure Gathering and Timer******************/
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printf("Reseting gathering ...\n");
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status = GatheringReset(poll_socket);
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if (status != 0) {
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printf("Error performing GatheringReset, status=%d\n",status);
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return status;
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}
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printf("Defining gathering ...\n");
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status = GatheringConfigurationSet(poll_socket, NUM_AXES*NUM_GATHERING_ITEMS, gatheringData);
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if (status != 0) {
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printf("Error performing GatheringConfigurationSet, status=%d\n",status);
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return status;
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}
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printf("Defining trigger ...\n");
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status = EventExtendedConfigurationTriggerSet(poll_socket, 2,
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"Always;GROUP1.PVT.TrajectoryPulse",
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"","","","");
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if (status != 0) {
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printf("Error performing EventExtendedConfigurationTriggerSet, status=%d\n",
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status);
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return status;
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}
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printf("Defining action ...\n");
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status = EventExtendedConfigurationActionSet(poll_socket, 1, "GatheringOneData",
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"", "", "", "");
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if (status != 0) {
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printf("Error performing EventExtendedConfigurationActionSet, status=%d\n",
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status);
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return status;
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}
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printf("Starting gathering ...\n");
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status= EventExtendedStart(poll_socket, &eventID);
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if (status != 0) {
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printf("Error performing EventExtendedStart, status=%d\n", status);
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return status;
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}
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/********************* Run trajectory ****************************/
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status = GroupStatusGet(poll_socket, group, &groupStatus);
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if (status != 0) {
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printf("Error performing GroupStatusGet, status=%d\n", status);
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return status;
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}
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printf("Group status before executing trajectory=%d\n", groupStatus);
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printf("Executing trajectory ...\n");
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start_time = time(NULL);
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status = MultipleAxesPVTExecution(drive_socket, group, TRAJECTORY_FILE, 1);
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end_time = time(NULL);
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printf("Time to execute trajectory=%f\n", difftime(end_time, start_time));
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if (status != 0) {
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printf("Error performing MultipleAxesPVTExecution, status=%d\n", status);
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return status;
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}
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status = GroupStatusGet(poll_socket, group, &groupStatus);
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if (status != 0) {
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printf("Error performing GroupStatusGet, status=%d\n", status);
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return status;
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}
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printf("Group status after executing trajectory=%d\n", groupStatus);
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/* Remove the event */
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printf("Removing event ...\n");
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status = EventExtendedRemove(poll_socket, eventID);
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if (status != 0) {
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printf("Error performing ExtendedEventRemove, status=%d\n", status);
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return status;
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}
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/***********************Save the gathered data ***************/
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printf("Stopping gathering ...\n");
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start_time = time(NULL);
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status = GatheringStop(drive_socket);
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end_time = time(NULL);
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printf("Time to stop gathering=%f\n", difftime(end_time, start_time));
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if (status != 0) {
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printf("Error performing GatheringExternalStop, status=%d\n", status);
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return status;
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}
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status = GroupStatusGet(poll_socket, group, &groupStatus);
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if (status != 0) {
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printf("Error performing GroupStatusGet, status=%d\n", status);
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return status;
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}
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printf("Group status after stopping gathering=%d\n", groupStatus);
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/* Read the number of lines of gathering */
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status = GatheringCurrentNumberGet(drive_socket, ¤tSamples, &maxSamples);
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if (status != 0) {
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printf("Error calling GatherCurrentNumberGet, status=%d\n", status);
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return status;
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}
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if (currentSamples != NUM_GATHERING_POINTS) {
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printf("readGathering: warning, NUM_GATHERING_POINTS=%d, currentSamples=%d\n",
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NUM_GATHERING_POINTS, currentSamples);
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}
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status = GatheringDataMultipleLinesGet(drive_socket, 0, currentSamples, buffer);
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printf("GatheringDataMultipleLinesGet, status=%d, currentSamples=%d\n", status, currentSamples);
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printf("Buffer length=%d, buffer=\n%s\n", strlen(buffer), buffer);
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return 0;
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}
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