From 4693ad1686f9db09ead9ca88bdb25ff097d7129e Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Wed, 18 Apr 2007 09:35:32 +1000
Subject: [PATCH] move string parameters from "list" to "slist" because
 non-numerics in "list" upset hipadaba stuff. Also implement motor "setpos"
 command with two arguments.

r1869 | dcl | 2007-04-18 09:35:32 +1000 (Wed, 18 Apr 2007) | 2 lines
---
 site_ansto/motor_dmc2280.c | 53 +++++++++++++++++++++++++++++++++-----
 1 file changed, 46 insertions(+), 7 deletions(-)

diff --git a/site_ansto/motor_dmc2280.c b/site_ansto/motor_dmc2280.c
index 7494d4a3..8eeaee02 100644
--- a/site_ansto/motor_dmc2280.c
+++ b/site_ansto/motor_dmc2280.c
@@ -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);