Add ActionRoutine hook to motor object

r1728 | dcl | 2007-03-27 13:16:08 +1000 (Tue, 27 Mar 2007) | 2 lines

motor.c

@@ -407,7 +407,8 @@ static void handleMoveCallback(pMotor self, SConnection *pCon)
     {
       return NULL;
     }
-    
+    memset(pM, 0, sizeof(Motor)); /* DFC init all to zero */
+    pM->pActionRoutine = NULL;    /* DFC belt and braces */
     
     /* create and initialize parameters */
     pM->ParArray = ObParCreate(MOTOBPARLENGTH);
@@ -1056,6 +1057,9 @@ extern MotorDriver *MakePiPiezo(Tcl_Interp *pTcl, char *pArray);
       }
       
       /* create the interpreter command */
+      if (pNew->pActionRoutine)
+        iRet = AddCommand(pSics,argv[1],pNew->pActionRoutine,MotorKill,pNew);
+      else
         iRet = AddCommand(pSics,argv[1],MotorAction,MotorKill,pNew);
       if(!iRet)
       {

motor.h

@@ -20,6 +20,7 @@
                           ObPar *ParArray;
                           pIDrivable pDrivInt;
                           pICallBack pCall;
+                          ObjectFunc pActionRoutine;
                           char *drivername;
                           char *name;
                           MotorDriver *pDriver;

site_ansto/motor_dmc2280.c

@@ -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);
+}

site_ansto/motor_dmc2280.h

@@ -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

site_ansto/site_ansto.c

@@ -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]);