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- Reworked the connection object and the IO system

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- Reworked the support for TRICS
- Added a second generation motor
This commit is contained in:
koennecke
2009-02-03 08:05:39 +00:00
parent f6d595665e
commit 361ee9ebea
119 changed files with 16455 additions and 3674 deletions
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14
motor.h
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@ -13,13 +13,17 @@
#include "modriv.h"
#include "obdes.h"
#include "interface.h"
#include "hipadaba.h"
#define MOTOBPARLENGTH 12
typedef struct __Motor {
pObjectDescriptor pDescriptor;
ObPar *ParArray;
pObjectDescriptor pDescriptor;
pHdb objectNode;
pIDrivable pDrivInt;
pICallBack pCall;
int (*MotorSetPar)(struct __Motor *self, SConnection *pCon, char *name, float fVal);
int (*MotorGetPar)(struct __Motor *self, char *name, float *fVal);
int (*MotorGetHardPosition)(struct __Motor *self, SConnection *pCon, float *fVal);
char *drivername;
char *name;
MotorDriver *pDriver;
@ -31,6 +35,10 @@
int retryCount; /* for retries in status */
int posFaultCount;
int stopped;
int errorCount;
ObPar *ParArray;
void *pPrivate;
void (*KillPrivate)(void *);
} Motor;
typedef Motor *pMotor;
/*------------------------------------------------------------------------
@ -50,12 +58,10 @@ typedef struct {
long MotorRun(void *self, SConnection *pCon, float fNew);
int MotorCheckBoundary(pMotor self, float fVal, float *fHard,
char *error, int iErrLen);
int MotorCheckPosition(void *self, SConnection *pCon);
/* Where are we ? */
int MotorGetSoftPosition(pMotor self,SConnection *pCon, float *fVal);
int MotorGetHardPosition(pMotor self,SConnection *pCon, float *fVal);
float MotorHardToSoftPosition(pMotor self, float fHard);
/* creation */
int MotorCreate(SConnection *pCon, SicsInterp *pSics, void *pData,