- New batch file management module
- New oscillator module - Bug fixes SKIPPED: psi/buffer.c psi/el734hp.c psi/el737hpdriv.c psi/make_gen psi/nextrics.c psi/nxamor.c psi/pimotor.c psi/polterwrite.c psi/psi.c psi/swmotor2.c psi/tasscan.c psi/tricssupport.c psi/tricssupport.h psi/tecs/make_gen psi/utils/ecb_load_new/ecb_load.c psi/utils/ecb_load_new/ecb_load.h psi/utils/ecb_load_new/ecbdriv_els.c psi/utils/ecb_load_new/gpib_els.c psi/utils/ecb_load_new/makefile psi/utils/ecb_load_new/makefile_EGPIB psi/utils/ecb_load_new/makefile_GPIB
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231
oscillate.c
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231
oscillate.c
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/*-----------------------------------------------------------------------
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Oscillator runs a motor back and forth between its software limits.
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copyright: see file COPYRIGHT
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Mark Koennecke, November 2004
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------------------------------------------------------------------------*/
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#include <stdio.h>
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#include <assert.h>
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#include <tcl.h>
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#include "fortify.h"
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#include "sics.h"
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#include "task.h"
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#include "oscillate.h"
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/*================== real work =========================================*/
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static void StopOscillation(pOscillator self){
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assert(self != NULL);
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if(self->taskID > 0){
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self->pMot->pDriver->Halt(self->pMot->pDriver);
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self->stopFlag = 1;
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MotorSetPar(self->pMot,self->pCon,"accesscode",(float)self->oldRights);
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self->taskID = -1;
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}
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}
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/*---------------------------------------------------------------------*/
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static int OscillationTask(void *data){
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pOscillator self = (pOscillator)data;
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int status, code, errStatus;
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char error[256];
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float pos;
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assert(self);
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if(self->stopFlag == 1){
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return 0;
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}
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status = self->pMot->pDriver->GetStatus(self->pMot->pDriver);
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switch(status){
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case HWFault:
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case HWPosFault:
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self->pMot->pDriver->GetError(self->pMot->pDriver,&code,error,255);
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SCWrite(self->pCon,error,eError);
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if(self->nextTargetFlag == 1){
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pos = self->lowerLimit;
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} else {
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pos = self->upperLimit;
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}
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errStatus = self->pMot->pDriver->TryAndFixIt(self->pMot->pDriver,code,pos);
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self->errorCount++;
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if(errStatus == MOTFAIL){
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MotorRun(self->pMot,self->pCon,pos);
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}
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break;
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case HWBusy:
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break;
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case HWIdle:
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if(self->nextTargetFlag == 1){
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pos = self->upperLimit;
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self->nextTargetFlag = 0;
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} else {
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pos = self->lowerLimit;
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self->nextTargetFlag = 1;
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}
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MotorRun(self->pMot,self->pCon,pos);
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}
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return 1;
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}
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/*--------------------------------------------------------------------*/
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static int StartOscillation(pOscillator self, SConnection *pCon){
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float fval;
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int status;
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char error[80], pBueffel[255];
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assert(self);
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if(self->taskID > 0){
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SCWrite(pCon,"ERROR: oscillation already running",eError);
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return 1;
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}
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MotorGetPar(self->pMot,"softlowerlim",&self->lowerLimit);
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self->lowerLimit += .5;
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MotorGetPar(self->pMot,"softupperlim",&self->upperLimit);
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self->upperLimit -= .5;
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MotorGetPar(self->pMot,"accesscode",&fval);
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self->oldRights = (int)fval;
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MotorSetPar(self->pMot,self->pCon,"accesscode",(float)usInternal);
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self->nextTargetFlag = 0;
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self->errorCount = 0;
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self->stopFlag = 0;
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/*
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check reachability of limits
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*/
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status = MotorCheckBoundary(self->pMot,self->lowerLimit,&fval,error,79);
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if(!status){
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snprintf(pBueffel,255,"ERROR: cannot reach %f: %s reported",
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self->lowerLimit,error);
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SCWrite(pCon,pBueffel,eError);
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return 0;
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}
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status = MotorCheckBoundary(self->pMot,self->upperLimit,&fval,error,79);
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if(!status){
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snprintf(pBueffel,255,"ERROR: cannot reach %f: %s reported",
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self->upperLimit,error);
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SCWrite(pCon,pBueffel,eError);
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return 0;
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}
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/*
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start task
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*/
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self->taskID = TaskRegister(pServ->pTasker,
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OscillationTask,
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NULL,
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NULL,
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self,
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10);
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if(self->taskID < 0){
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SCWrite(pCon,"ERROR: failed to start oscillation task",eError);
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return 0;
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}
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return 1;
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}
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/*===================== life and death =================================*/
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static void KillOscillator(void *data){
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pOscillator self = (pOscillator)data;
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if(self != NULL){
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StopOscillation(self);
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if(self->pDes != NULL){
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DeleteDescriptor(self->pDes);
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}
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if(self->pCon != NULL){
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SCDeleteConnection(self->pCon);
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}
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free(self);
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}
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}
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/*========================================================================*/
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int MakeOscillator(SConnection *pCon, SicsInterp *pSics, void *pData,
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int argc, char *argv[]){
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pOscillator pNew = NULL;
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pMotor pMot = NULL;
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char pBueffel[132];
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int status;
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if(argc < 3){
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SCWrite(pCon,"ERROR: insufficient number of arguments to MakeOscilator",
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eError);
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return 0;
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}
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pMot = FindMotor(pSics,argv[2]);
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if(pMot == NULL){
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snprintf(pBueffel,131,"ERROR: %s is no motor",argv[2]);
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SCWrite(pCon,pBueffel,eError);
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return 0;
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}
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pNew = (pOscillator)malloc(sizeof(Oscillator));
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if(pNew == NULL){
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SCWrite(pCon,"ERROR: out of memory creating oscillator",eError);
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return 0;
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}
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memset(pNew,0,sizeof(Oscillator));
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pNew->pDes = CreateDescriptor("Oscillator");
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pNew->pMot = pMot;
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pNew->pCon = SCCreateDummyConnection(pSics);
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if(!pNew->pDes || !pNew->pCon){
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SCWrite(pCon,"ERROR: out of memory creating oscillator",eError);
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return 0;
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}
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SCSetWriteFunc(pNew->pCon,SCFileWrite);
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SCSetRights(pNew->pCon,usInternal);
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status = AddCommand(pSics,argv[1],
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OscillatorWrapper,
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KillOscillator,
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pNew);
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if(!status){
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snprintf(pBueffel,131,"ERROR: duplicate command %s not created",argv[1]);
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SCWrite(pCon,pBueffel,eError);
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return 0;
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}
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return 1;
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}
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/*========================================================================*/
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int OscillatorWrapper(SConnection *pCon, SicsInterp *pSics, void *pData,
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int argc, char *argv[]){
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pOscillator self = (pOscillator)pData;
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char pBueffel[256];
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assert(self);
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if(argc < 2){
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SCWrite(pCon,"ERROR: need start/stop argument for oscillator",eError);
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return 0;
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}
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if(!SCMatchRights(pCon,usUser)){
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return 0;
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}
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strtolower(argv[1]);
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if(strcmp(argv[1],"start") == 0){
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return StartOscillation(self,pCon);
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} else if(strcmp(argv[1],"stop") == 0) {
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StopOscillation(self);
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snprintf(pBueffel,255,"Oscillation stopped with %d errors, %s",
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self->errorCount,
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"see commandlog for details");
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SCWrite(pCon,pBueffel,eValue);
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return 1;
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} else if(strcmp(argv[1],"status") == 0) {
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if(self->taskID > 0){
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snprintf(pBueffel,255,"Oscillation running, %d errors so far, %s",
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self->errorCount,
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" error details in commandlog");
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} else {
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snprintf(pBueffel,255,"Oscillation stopped");
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}
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SCWrite(pCon,pBueffel,eValue);
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return 1;
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} else {
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SCWrite(pCon,"ERROR: invalid sub command for oscillator requested",
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eError);
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return 0;
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}
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return 1;
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}
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