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Add ActionRoutine hook to motor object

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r1728 | dcl | 2007-03-27 13:16:08 +1000 (Tue, 27 Mar 2007) | 2 lines
This commit is contained in:
Douglas Clowes
2007-03-27 13:16:08 +10:00
parent 86c6d626d0
commit 3a5e8ed7e1
5 changed files with 56 additions and 3 deletions
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44
site_ansto/motor_dmc2280.c
View File

@@ -72,6 +72,7 @@ typedef struct __MoDriv {
int errorCode;
char *errorMsg; /**< Points to memory for error messages */
char units[256]; /**< physical units for axis */
char long_name[256]; /**< long name of motor */
float speed; /**< physical units per second */
float maxSpeed; /**< physical units per second */
float accel; /**< physical units per second^2 */
@@ -159,6 +160,7 @@ int DMC2280MotionControl = 1; /* defaults to enabled */
#define MOTOFFDELAY "motoffdelay"
#define AIRPADS "airpads"
#define SETTLE "settle"
#define LONG_NAME "long_name"
#define BLOCKAGE_CHECK_INTERVAL "blockage_check_interval"
static int DMC2280Halt(void *pData);
@@ -1701,6 +1703,8 @@ static int DMC2280SetPar(void *pData, SConnection *pCon,
static void DMC2280List(void *self, char *name, SConnection *pCon){
char buffer[BUFFLEN];
snprintf(buffer, BUFFLEN, "%s.long_name = %s\n", name, ((pDMC2280Driv)self)->long_name);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.axis = %c\n", name, ((pDMC2280Driv)self)->axisLabel);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.home = %f\n", name, ((pDMC2280Driv)self)->home);
@@ -1882,6 +1886,10 @@ MotorDriver *CreateDMC2280(SConnection *pCon, char *motor, char *params) {
pNew->blockage_fail = 0;
/* PARAMETERS: Fetch parameter values */
if ((pPtr=getParam(pCon, interp, params, LONG_NAME, _OPTIONAL)) != NULL) {
strncpy(pNew->long_name, pPtr, sizeof(pNew->long_name));
pNew->long_name[sizeof(pNew->long_name) - 1] = '\0';
}
if ((pPtr=getParam(pCon, interp, params,HARDLOWERLIM,_REQUIRED)) == NULL) {
KillDMC2280(pNew);
return NULL;
@@ -1989,3 +1997,39 @@ MotorDriver *CreateDMC2280(SConnection *pCon, char *motor, char *params) {
/* TODO Initialise current position and target to get a sensible initial list output */
return (MotorDriver *)pNew;
}
int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
int argc, char *argv[])
{
pMotor pm = (pMotor) pData;
pDMC2280Driv self = (pDMC2280Driv) pm->pDriver;
if (argc > 1) {
if (strcasecmp("units", argv[1]) == 0) {
if (argc > 2) {
strncpy(self->units, argv[2], sizeof(self->units));
self->units[sizeof(self->units) - 1] = '\0';
}
else {
char line[132];
snprintf(line, 132, "%s.units = %s", self->name, self->units);
SCWrite(pCon, line, eValue);
}
return 1;
}
if (strcasecmp("long_name", argv[1]) == 0) {
if (argc > 2) {
strncpy(self->long_name, argv[2], sizeof(self->long_name));
self->long_name[sizeof(self->long_name) - 1] = '\0';
}
else {
char line[132];
snprintf(line, 132, "%s.long_name = %s", self->name, self->long_name);
SCWrite(pCon, line, eValue);
}
return 1;
}
if (strcasecmp("list", argv[1]) == 0) {
}
}
return MotorAction(pCon, pSics, pData, argc, argv);
}

4
site_ansto/motor_dmc2280.h
View File

@@ -11,7 +11,9 @@
#ifdef __cplusplus
extern "C" {
#endif
MotorDriver *CreateDMC2280(SConnection *pCon, int argc, char *argv[]);
MotorDriver *CreateDMC2280(SConnection *pCon, char* motor, char *params);
int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
int argc, char *argv[]);
#ifdef __cplusplus
}
#endif

2
site_ansto/site_ansto.c
View File

@@ -20,6 +20,7 @@
#include <SCinter.h>
/* site-specific driver header files */
#include "motor_dmc2280.h"
#include "motor_asim.h"
#include "itc4.h"
/* Added code for new LH45 and Lakeshore 340 drivers */
@@ -90,6 +91,7 @@ static void RemoveCommands(SicsInterp *pSics){
SCWrite(pCon,pBueffel,eError);
return NULL;
}
pNew->pActionRoutine = DMC2280Action;
}
if(strcmp(argv[1],"asim") == 0) {
pDriver = (MotorDriver *)CreateASIM(pCon,argc-2,&argv[2]);