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Test program for trajectories and gathering

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This commit is contained in:
MarkRivers
2006-12-19 17:41:42 +00:00
parent 2072c2c02d
commit fecb9dea7d
3 changed files with 303 additions and 0 deletions
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motorApp/NewportSrc/XPSGathering.c
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/* Prog to test the XPS position gathering and trigger during a trajectory scan */
/**/
#include <stdio.h>
#include <time.h>
#include "XPS_C8_drivers.h"
#include "Socket.h"
#include "xps_ftp.h"
#define XPS_ADDRESS "164.54.160.34"
#define NUM_ELEMENTS 10
#define NUM_AXES 2
#define PULSE_TIME 1.0
#define POLL_TIMEOUT 1.0
#define DRIVE_TIMEOUT 100.0
#define USERNAME "Administrator"
#define PASSWORD "Administrator"
#define TRAJECTORY_DIRECTORY "/Admin/public/Trajectories"
#define TRAJECTORY_FILE "test_trajectory"
#define GATHERING_DIRECTORY "/Admin/public/"
#define GATHERING_FILE "Gathering.dat"
void xps_gathering()
{
int status,poll_socket,drive_socket,end=0;
int ftpSocket;
char *gatheringData = "GROUP2.POSITIONER1.CurrentPosition;GROUP2.POSITIONER2.CurrentPosition";
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;
int i,j;
int groupStatus;
double posTheory[NUM_AXES];
FILE *gatheringFile, *trajFile;
int eventID;
time_t start_time, end_time;
poll_socket = TCP_ConnectToServer(XPS_ADDRESS, 5001, POLL_TIMEOUT);
drive_socket = TCP_ConnectToServer(XPS_ADDRESS, 5001, DRIVE_TIMEOUT);
status = GroupStatusGet(poll_socket, group, &groupStatus);
printf("Initial group status=%d\n", groupStatus);
/* If group not initialized, then initialize it */
if (groupStatus >= 0 && groupStatus <= 9) {
printf("Calling GroupInitialize ...\n");
status = GroupInitialize(drive_socket, group);
if (status) {
printf("Error calling GroupInitialize error=%d\n", status);
return;
}
printf("Calling GroupHomeSearch ...\n");
status = GroupHomeSearch(drive_socket, group);
if (status) {
printf("Error calling GroupHomeSearch error=%d\n", status);
return;
}
}
printf("FTPing trajectory file to XPS ...\n");
/* FTP the trajectory file from the local directory to the XPS */
status = ftpConnect(XPS_ADDRESS, USERNAME, PASSWORD, &ftpSocket);
if (status != 0) {
printf("Error calling ftpConnect, status=%d\n", status);
return;
}
status = ftpChangeDir(ftpSocket, TRAJECTORY_DIRECTORY);
if (status != 0) {
printf("Error calling ftpChangeDir, status=%d\n", status);
return;
}
status = ftpStoreFile(ftpSocket, TRAJECTORY_FILE);
if (status != 0) {
printf("Error calling ftpStoreFile, status=%d\n", status);
return;
}
/* Define trajectory output pulses */
printf("Defining output pulses ...\n");
status = MultipleAxesPVTPulseOutputSet(poll_socket, group, 1, NUM_ELEMENTS-1, 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);
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);
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);
}
if (end == 1) return;
/***********************Configure Gathering and Timer******************/
printf("Reseting gathering ...\n");
status = GatheringReset(poll_socket);
if (status != 0) {
printf(" Error performing GatheringReset, status=%d\n",status);
return;
}
printf("Defining gathering ...\n");
status = GatheringConfigurationSet(poll_socket, 2, gatheringData);
if (status != 0) {
printf(" Error performing GatheringConfigurationSet, status=%d\n",status);
return;
}
/*
printf("Gathering one data set manually ...\n");
status = GatheringDataAcquire(poll_socket);
if (status != 0) {
printf(" Error performing GatheringDataAcquire, status=%d\n",status);
return;
}
*/
printf("Defining trigger ...\n");
status = EventExtendedConfigurationTriggerSet(poll_socket, 2,
"Always;GROUP2.PVT.TrajectoryPulse",
"","","","");
if (status != 0) {
printf(" Error performing EventExtendedConfigurationTriggerSet, status=%d\n",status);
return;
}
printf("Defining action ...\n");
status = EventExtendedConfigurationActionSet(poll_socket, 1, "GatheringOneData","","","","");
if (status != 0) {
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);
return;
}
/********************* Run traj ****************************/
status = GroupStatusGet(poll_socket, group, &groupStatus);
if (status != 0) {
printf(" Error performing GroupStatusGet, status=%d\n",status);
return;
}
printf("Group status before executing trajectory=%d\n", groupStatus);
printf("Executing trajectory ...\n");
start_time = time(NULL);
status = MultipleAxesPVTExecution(drive_socket, group, TRAJECTORY_FILE, 1);
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);
return;
}
status = GroupStatusGet(poll_socket, group, &groupStatus);
if (status != 0) {
printf(" Error performing GroupStatusGet, status=%d\n",status);
return;
}
printf("Group status after executing trajectory=%d\n", groupStatus);
/* Remove the event */
printf("Removing event ...\n");
status = EventExtendedRemove(poll_socket, eventID);
if (status != 0) {
printf(" Error performing ExtendedEventRemove, status=%d\n",status);
return;
}
/***********************Save the gathered data ***************/
printf("Stopping gathering ...\n");
start_time = time(NULL);
status = GatheringStopAndSave(drive_socket);
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);
return;
}
status = GroupStatusGet(poll_socket, group, &groupStatus);
if (status != 0) {
printf(" Error performing GroupStatusGet, status=%d\n",status);
return;
}
printf("Group status after stopping gathering=%d\n", groupStatus);
/* FTP the gathering file from the XPS to the local directory */
printf("FTPing gathering file from XPS ...\n");
status = ftpChangeDir(ftpSocket, GATHERING_DIRECTORY);
if (status != 0) {
printf("Error calling ftpChangeDir, status=%d\n", status);
return;
}
status = ftpRetrieveFile(ftpSocket, GATHERING_FILE);
if (status != 0) {
printf("Error calling ftpRetrieveFile, status=%d\n", status);
return;
}
status = ftpDisconnect(ftpSocket);
if (status != 0) {
printf("Error calling ftpDisconnect, status=%d\n", status);
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;
}
}
/* Read 1st 2 lines */
for (i=0; i<2; i++) {
fgets (buffer, 1000, gatheringFile);
printf("Line %d of GatheringEx = %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);
}
}
fclose (trajFile);
fclose (gatheringFile);
return;
}
motorApp/NewportSrc/XPSGatheringMain.c
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void xps_gathering();
int main(int arvgc, char **argv) {
xps_gathering();
return(0);
}
motorApp/NewportSrc/XPSGatheringRegister.c
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#include <iocsh.h>
#include <epicsExport.h>
void xps_gathering();
static const iocshArg XPSGatheringArg0 = {"Interelement period", iocshArgInt};
static const iocshArg * const XPSGatheringArgs[1] = {&XPSGatheringArg0};
static const iocshFuncDef XPSGathering = {"XPSGathering", 1, XPSGatheringArgs};
static void XPSGatheringCallFunc(const iocshArgBuf *args)
{
xps_gathering(args[0].ival);
}
static void XPSGatheringRegister(void)
{
iocshRegister(&XPSGathering, XPSGatheringCallFunc);
}
epicsExportRegistrar(XPSGatheringRegister);