merge work in progress

motor.c

@@ -81,6 +81,7 @@
 #define IGNOREFAULT 10
 #define MOVECOUNT 11
 
+extern double DoubleTime(void);
 
 /*-------------------------------------------------------------------------*/
 static void *MotorGetInterface(void *pData, int iID)
@@ -344,8 +345,9 @@ static int checkPosition(pMotor self, SConnection * pCon)
       SCWrite(pCon, pBueffel, eWarning);
       return HWFault;
     }
-    snprintf(pBueffel, 131, "WARNING: %s off position by %f",
-             self->name, absf(fHard - self->fTarget));
+    snprintf(pBueffel, 131, "WARNING: %s off position by %f%s",
+             self->name, absf(fHard - self->fTarget),
+             self->fTarget > fHard ? "-" : "");
     SCWrite(pCon, pBueffel, eLog);
     status = statusRunTo(self, pCon);
     return status;
@@ -354,16 +356,19 @@ static int checkPosition(pMotor self, SConnection * pCon)
 }
 
 /*--------------------------------------------------------------------*/
-static void finishDriving(pMotor self, SConnection * pCon)
+void finishDriving(pMotor self, SConnection * pCon)
 {
   MotCallback sCall;
   MotorGetSoftPosition(self, pCon, &sCall.fVal);
   sCall.pName = self->name;
   self->fPosition = sCall.fVal;
   self->fPosition = sCall.fVal;
+  if (self->moving) {
     InvokeCallBack(self->pCall, MOTDRIVE, &sCall);        /* send also very last position */
     InvokeCallBack(self->pCall, MOTEND, &sCall);
     tracePar(self->name,"%f",sCall.fVal);
+  }
+  self->moving = 0;
   self->running = 0;
 }
 
@@ -466,13 +471,15 @@ static void handleMoveCallback(pMotor self, SConnection * pCon)
 {
   MotCallback sCall;
 
-  self->posCount++;
-  if (self->posCount >= ObVal(self->ParArray, MOVECOUNT)) {
+  double current_time, skip_time;
+  current_time = DoubleTime();
+  skip_time = 0.001 * ObVal(self->ParArray,MOVECOUNT);
+  if(self->last_report_time + skip_time <= current_time) {
     MotorGetSoftPosition(self, pCon, &sCall.fVal);
     sCall.pName = self->name;
     InvokeCallBack(self->pCall, MOTDRIVE, &sCall);
     tracePar(self->name,"%f",sCall.fVal);
-    self->posCount = 0;
+    self->last_report_time = current_time;
   }
 }
 
@@ -738,8 +745,10 @@ static long MotorRunImpl(void *sulf, SConnection * pCon, float fNew)
   self->posFaultCount = 0;
   self->retryCount = 0;
   self->stopped = 0;
+  self->moving = 1;
   self->fTarget = fHard;
   InvokeCallBack(self->pCall, HDBVAL, self);
+  self->last_report_time = 0.0;
   self->posCount = 0;
   iRet = self->pDriver->RunTo(self->pDriver, fHard);
   if (iRet != OKOK) {           /* try three times to fix it */
@@ -1066,6 +1075,9 @@ int MotorCreate(SConnection * pCon, SicsInterp * pSics, void *pData,
   }
 
   /* 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) {
     snprintf(pBueffel,sizeof(pBueffel)-1, "ERROR: duplicate command %s not created", argv[1]);
@@ -1287,6 +1299,7 @@ int MotorAction(SConnection * pCon, SicsInterp * pSics, void *pData,
     }
     pMoti->lastValue = fValue;
 
+    RemoveCallbackCon(self->pCall, pCon);
     lID = RegisterCallback(self->pCall, MOTDRIVE, InterestCallback,
                            pMoti, KillInfo);
     DeleteTokenList(pList);

motor.h

@@ -40,6 +40,9 @@ typedef struct __Motor {
   int stopReported;
   int errorCount;
   int running;
+  int moving;
+  double last_report_time;
+  ObjectFunc pActionRoutine;
   ObPar *ParArray;
   void *pPrivate;
   void (*KillPrivate) (void *);
@@ -78,4 +81,6 @@ int MotorAction(SConnection * pCon, SicsInterp * pSics, void *pData,
                 int argc, char *argv[]);
 pMotor FindMotor(SicsInterp * pSics, char *name);
 
+/* Made available to oscillate.c to generate MOTEND event. Ferdi */
+void finishDriving(pMotor self, SConnection *pCon);
 #endif

site_ansto/Makefile

@@ -150,7 +150,6 @@ OBJ= site_ansto.o anstoutil.o\
         fsm.o \
         counterdriv.o \
         safetyplc.o \
-        ../psi/tcpdornier.o \
         anstohttp.o \
         hmcontrol_ansto.o\
         lssmonitor.o \

site_ansto/hardsup/modbustcp.c

@@ -21,7 +21,9 @@ Paul Barron, January 2008
 #include <string.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <rs232controller.h>
+#include "obdes.h"
+#include "conman.h"
+#include "rs232controller.h"
 #include "modbustcp.h"
 
 /*-------------------------------------------------------------------------*/

site_ansto/make_gen_variables

@@ -1,17 +1,17 @@
-# vim: ft=make ts=4 sw=4 noet ciident
+# vim: ft=make ts=4 sw=4 noet cindent
 COBJ = Sclient.o network.o ifile.o   intcli.o $(FORTIFYOBJ)  
 SOBJ = access.o alias.o anticollider.o ascon.o asyncprotocol.o asyncqueue.o callback.o \
        cell.o chadapter.o choco.o circular.o commandlog.o cone.o confvirtualmot.o \
        conman.o costa.o danu.o definealias.o devexec.o devser.o diffscan.o d_mod.o \
        drive.o d_sign.o dynstring.o emon.o errormsg.o evcontroller.o evdriver.o \
        event.o exebuf.o exeman.o fitcenter.o fomerge.o $(FORTIFYOBJ) fourlib.o \
-       fourtable.o fupa.o genericcontroller.o gpibcontroller.o help.o hipadaba.o \
-       histdriv.o histmem.o histregress.o histsim.o hklmot.o hkl.o hklscan.o \
+       fourtable.o fupa.o gpibcontroller.o help.o hipadaba.o \
+       histdriv.o histmem.o histregress.o histsim.o hklmot.o hkl.o \
        hmcontrol.o hmdata.o hmslave.o ifile.o initializer.o integrate.o interface.o \
        intserv.o lin2ang.o lld_blob.o lld.o logger.o logreader.o logsetup.o lomax.o \
-       macro.o maximize.o mccontrol.o mcreader.o mcstascounter.o mcstashm.o mesure.o \
+       macro.o maximize.o mccontrol.o mcreader.o mcstascounter.o mcstashm.o \
        moregress.o motorlist.o motreglist.o motreg.o multicounter.o mumoconf.o mumo.o \
-       napi5.o napi.o network.o $(NIOBJ) nread.o nserver.o nwatch.o nxcopy.o nxdata.o \
+       napi5.o napi.o network.o $(NIOBJ) nread.o nserver.o nwatch.o nxcopy.o \
        nxdataset.o nxdict.o nxinterhelper.o nxinter_wrap.o nxio.o nxscript.o nxstack.o \
        nxupdate.o nxutil.o nxxml.o o2t.o obdes.o obpar.o ofac.o optimise.o oscillate.o \
        passwd.o perfmon.o polldriv.o protocol.o proxy.o regresscter.o remob.o \

site_ansto/site_ansto.c

@@ -50,11 +50,6 @@
 
 /*@observer@*//*@null@*/ pCounterDriver CreateMonCounter(/*@observer@*/SConnection *pCon, /*@observer@*/char *name, char *params);
 
-/* 
-  from tcpdornier.c
-*/
-extern int VelSelTcpFactory(SConnection *pCon, SicsInterp *pSics, void *pData, int argc, char *argv[]);
-extern pCodri MakeTcpDoChoDriver(char *tclArray, SConnection *pCon);
 extern void AddGalilProtocoll();
 extern void AddModbusProtocoll();
 extern void AddOxfordProtocoll();
@@ -139,7 +134,6 @@ static void AddCommands(SicsInterp *pInter)
   ORHVPSInitProtocol(pInter);
   LS340InitProtocol(pInter);
   AddCommand(pInter,"InstallProtocolHandler", InstallProtocol,NULL,NULL);
-  AddCommand(pInter,"MakeTCPSelector",VelSelTcpFactory,NULL,NULL);
   AddCommand(pInter,"hostnam",hostNamCmd,NULL,NULL);
   AddCommand(pInter,"portnum",portNumCmd,NULL,NULL);
   AddCommand(pInter,"abortbatch",AbortBatch,NULL,NULL);
@@ -237,7 +231,7 @@ static pCodri CreateController(SConnection *pCon,int argc, char *argv[]){
           eError);
       return NULL;
     }
-    return MakeTcpDoChoDriver(argv[1], pCon);
+    return NULL;
   }
   return pNew;
 }