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progressive patching

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This commit is contained in:
Douglas Clowes
2012-11-28 13:13:20 +11:00
parent e91fdd1808
commit 2f391302b1
9 changed files with 52 additions and 27 deletions
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29
confvirtualmot.c
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@ -35,6 +35,9 @@
#include "confvirtmot.h"
#include "confvirtmot.i"
#define BAD_VALUE (-9999.99)
extern double DoubleTime(void);
extern char *stptok(char *s, char *t, int len, char *brk);
/*---------------------------------------------------------------------------
@ -213,6 +216,7 @@ static long ConfSetValue(void *pData, SConnection * pCon, float newValue)
self->targetValue = newValue;
self->targetReached = 0;
self->posCount = 0;
self->last_report_time = 0.0;
status = startMotorList(self, pCon);
if (status != OKOK) {
@ -384,12 +388,14 @@ static int ConfCheckStatus(void *pData, SConnection * pCon)
InvokeCallBack(self->pCall, MOTDRIVE, &event);
}
} else if (result == HWBusy) {
self->posCount++;
if (self->posCount >= 10 /*ObVal(self->ParArray,MOVECOUNT) */ ) {
double current_time, skip_time;
current_time = DoubleTime();
skip_time = 0.500;
if (self->last_report_time + skip_time <= current_time) {
event.pName = self->name;
event.fVal = self->pDriv->GetValue(self, pCon);
InvokeCallBack(self->pCall, MOTDRIVE, &event);
self->posCount = 0;
self->last_report_time = current_time;
}
}
return result;
@ -445,7 +451,7 @@ static void checkMotorValues(pConfigurableVirtualMotor self,
static float ConfGetValue(void *pData, SConnection * pCon)
{
pConfigurableVirtualMotor self = (pConfigurableVirtualMotor) pData;
float currentValue = -9999.99;
float currentValue = BAD_VALUE;
assert(self != NULL);
@ -507,6 +513,14 @@ static void KillConfigurableVirtualMotor(void *data)
free(self->state);
self->state = NULL;
}
if (self->pCall != NULL) {
DeleteCallBackInterface(self->pCall);
self->pCall = NULL;
}
if (self->pDriv != NULL) {
free(self->pDriv);
self->pDriv = NULL;
}
free(self);
self = NULL;
}
@ -535,6 +549,7 @@ int MakeConfigurableVirtualMotor(SConnection * pCon, SicsInterp * pSics,
pNew->name = strdup(argv[1]);
pNew->posCount = 0;
pNew->last_report_time = 0.0;
pNew->pDes = CreateDescriptor("ConfigurableVirtualMotor");
pNew->pDriv = CreateDrivableInterface();
pNew->motorList = LLDcreate(sizeof(RealMotor));
@ -584,7 +599,6 @@ int ConfigurableVirtualMotorAction(SConnection * pCon, SicsInterp * pSics,
pConfigurableVirtualMotor self = NULL;
char pBueffel[512];
float value;
int iRet;
long lID;
pRegisteredInfo pRegInfo = NULL;
@ -699,10 +713,15 @@ int ConfigurableVirtualMotorAction(SConnection * pCon, SicsInterp * pSics,
}
pRegInfo->lastValue = value;
RemoveCallbackCon(self->pCall, pCon);
lID = RegisterCallback(self->pCall, MOTDRIVE,
InterestCallback, pRegInfo, KillInfo);
SCSendOK(pCon);
return 1;
} else if(strcmp(argv[1],"uninterest") == 0) {
RemoveCallbackCon(self->pCall, pCon);
SCSendOK(pCon);
return 1;
} else {
snprintf(pBueffel, 5120, "ERROR: subcommand %s to %s unknown",
argv[1], argv[0]);