linse/sics
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

move string parameters from "list" to "slist" because non-numerics in "list" upset hipadaba stuff. Also implement motor "setpos" command with two arguments.

Browse Source 
r1869 | dcl | 2007-04-18 09:35:32 +1000 (Wed, 18 Apr 2007) | 2 lines
This commit is contained in:
Douglas Clowes
2007-04-18 09:35:32 +10:00
parent 98a2081f99
commit 4693ad1686
1 changed files with 46 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

53
site_ansto/motor_dmc2280.c
View File

@@ -1579,7 +1579,6 @@ static int DMC2280SetPar(void *pData, SConnection *pCon,
pDMC2280Driv self = NULL;
char pError[ERRLEN];
char cmd[CMDLEN];
float oldZero, newZero;
self = (pDMC2280Driv)pData;
@@ -1605,6 +1604,7 @@ static int DMC2280SetPar(void *pData, SConnection *pCon,
}
if(strcasecmp(name,SETPOS) == 0) {
float oldZero, newZero;
if (self->pMot == NULL)
self->pMot = FindMotor(pServ->pSics, self->name);
MotorGetPar(self->pMot,"softzero",&oldZero);
@@ -1787,19 +1787,29 @@ static int DMC2280SetPar(void *pData, SConnection *pCon,
* \param *name (r) name of motor.
* \param *pCon (r) connection object.
*/
static void DMC2280List(void *self, char *name, SConnection *pCon){
static void DMC2280StrList(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.units = %s\n", name, ((pDMC2280Driv)self)->units);
SCWrite(pCon, buffer, eStatus);
return;
}
/** \brief List the motor parameters to the client.
* \param self (r) provides access to the motor's data structure
* \param *name (r) name of motor.
* \param *pCon (r) connection object.
*/
static void DMC2280List(void *self, char *name, SConnection *pCon){
char buffer[BUFFLEN];
snprintf(buffer, BUFFLEN, "%s.stepsPerX = %f\n", name, ((pDMC2280Driv)self)->stepsPerX);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.home = %f\n", name, ((pDMC2280Driv)self)->home);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.units = %s\n", name, ((pDMC2280Driv)self)->units);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.speed = %f\n", name, ((pDMC2280Driv)self)->speed);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.maxSpeed = %f\n", name, ((pDMC2280Driv)self)->maxSpeed);
@@ -2096,6 +2106,7 @@ 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[])
{
@@ -2115,7 +2126,7 @@ int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
}
return 1;
}
if (strcasecmp("long_name", argv[1]) == 0) {
else 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';
@@ -2127,7 +2138,7 @@ int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
}
return 1;
}
if (strcasecmp("part", argv[1]) == 0) {
else if (strcasecmp("part", argv[1]) == 0) {
if (argc > 2) {
strncpy(self->part, argv[2], sizeof(self->part));
self->part[sizeof(self->part) - 1] = '\0';
@@ -2139,7 +2150,35 @@ int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
}
return 1;
}
if (strcasecmp("list", argv[1]) == 0) {
else if (strcasecmp("list", argv[1]) == 0) {
}
else if (strcasecmp("slist", argv[1]) == 0) {
DMC2280StrList(self, argv[0], pCon);
return 1;
}
else if(strcasecmp(SETPOS, argv[1]) == 0) {
float oldZero, newZero, currPos, newValue;
if (self->pMot == NULL)
self->pMot = FindMotor(pServ->pSics, self->name);
MotorGetPar(self->pMot, "softzero", &oldZero);
if (argc > 3) {
sscanf(argv[2], "%f", &currPos);
currPos += oldZero;
sscanf(argv[3], "%f", &newValue);
}
else if (argc > 2 ){
sscanf(argv[2], "%f", &newValue);
currPos = self->pMot->fPosition;
}
else {
char buffer[BUFFLEN];
snprintf(buffer, BUFFLEN, "%s.setPos = %f\n", self->name, oldZero);
SCWrite(pCon, buffer, eStatus);
return 1;
}
newZero = (currPos - newValue);
MotorSetPar(self->pMot, pCon, "softzero", newZero);
return 1;
}
}
return MotorAction(pCon, pSics, pData, argc, argv);