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Update from PSI

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r1039 | ffr | 2006-08-03 09:59:29 +1000 (Thu, 03 Aug 2006) | 2 lines
This commit is contained in:
Ferdi Franceschini
2006-08-03 09:59:29 +10:00
committed by Douglas Clowes
parent 4aa50787c2
commit 074f1cb3cd
63 changed files with 1431 additions and 286 deletions
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70
tasub.c
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@@ -241,6 +241,10 @@ int TasUBFactory(SConnection *pCon,SicsInterp *pSics, void *pData,
SCWrite(pCon,"ERROR: need name to install tasUB",eError);
return 0;
}
if(argc > 2 && argc < 14){
SCWrite(pCon,"ERROR: not enough motor names specified form MakeTasUB",eError);
return 0;
}
pNew = MakeTasUB();
if(pNew == NULL){
SCWrite(pCon,"ERROR: out of memory creating tasUB",eError);
@@ -250,19 +254,39 @@ int TasUBFactory(SConnection *pCon,SicsInterp *pSics, void *pData,
/*
assign motors
*/
pNew->motors[0] = FindMotor(pSics,"a1");
pNew->motors[1] = FindMotor(pSics,"a2");
pNew->motors[2] = FindMotor(pSics,"mcv");
pNew->motors[3] = FindMotor(pSics,"mch");
pNew->motors[4] = FindMotor(pSics,"a3");
pNew->motors[5] = FindMotor(pSics,"a4");
pNew->motors[6] = FindMotor(pSics,"sgu");
pNew->motors[7] = FindMotor(pSics,"sgl");
pNew->motors[8] = FindMotor(pSics,"a5");
pNew->motors[9] = FindMotor(pSics,"a6");
pNew->motors[10] = FindMotor(pSics,"acv");
pNew->motors[11] = FindMotor(pSics,"ach");
if(argc < 14){
/*
* default names and assignement
*/
pNew->motors[0] = FindMotor(pSics,"a1");
pNew->motors[1] = FindMotor(pSics,"a2");
pNew->motors[2] = FindMotor(pSics,"mcv");
pNew->motors[3] = FindMotor(pSics,"mch");
pNew->motors[4] = FindMotor(pSics,"a3");
pNew->motors[5] = FindMotor(pSics,"a4");
pNew->motors[6] = FindMotor(pSics,"sgu");
pNew->motors[7] = FindMotor(pSics,"sgl");
pNew->motors[8] = FindMotor(pSics,"a5");
pNew->motors[9] = FindMotor(pSics,"a6");
pNew->motors[10] = FindMotor(pSics,"acv");
pNew->motors[11] = FindMotor(pSics,"ach");
} else {
/*
* user defined names
*/
pNew->motors[0] = FindMotor(pSics,argv[2]);
pNew->motors[1] = FindMotor(pSics,argv[3]);
pNew->motors[2] = FindMotor(pSics,argv[4]);
pNew->motors[3] = FindMotor(pSics,argv[5]);
pNew->motors[4] = FindMotor(pSics,argv[6]);
pNew->motors[5] = FindMotor(pSics,argv[7]);
pNew->motors[6] = FindMotor(pSics,argv[8]);
pNew->motors[7] = FindMotor(pSics,argv[9]);
pNew->motors[8] = FindMotor(pSics,argv[10]);
pNew->motors[9] = FindMotor(pSics,argv[11]);
pNew->motors[10] = FindMotor(pSics,argv[12]);
pNew->motors[11] = FindMotor(pSics,argv[13]);
}
/*
curvature motors may be missing, anything else is a serious problem
*/
@@ -275,6 +299,7 @@ int TasUBFactory(SConnection *pCon,SicsInterp *pSics, void *pData,
status += testMotor(pNew, pCon,"a5",A5);
status += testMotor(pNew, pCon,"a6",A6);
if(status != 8){
SCWrite(pCon,"ERROR: a required motor is mssing, tasub NOT installed",eError);
return 0;
}
@@ -1489,6 +1514,25 @@ int TasUBWrapper(SConnection *pCon,SicsInterp *pSics, void *pData,
SCWrite(pCon,pBueffel,eValue);
return 1;
}
} else if(strcmp(argv[1],"silent") == 0){
if(argc > 2){
strtolower(argv[2]);
if(!SCMatchRights(pCon,usUser)){
return 0;
}
status = Tcl_GetInt(InterpGetTcl(pSics),argv[2],&newSS);
if(status != TCL_OK){
SCWrite(pCon,"ERROR: failed to convert argument to number",eError);
return 0;
}
self->silent = newSS;
SCSendOK(pCon);
return 1;
} else {
snprintf(pBueffel,131,"%s.silent = %d",argv[0],self->silent);
SCWrite(pCon,pBueffel,eValue);
return 1;
}
} else {
snprintf(pBueffel,131,"ERROR: subcommand %s to %s not defined",argv[1],
argv[0]);