PSI sics-cvs-psi-2008-10-02

motor.c

@@ -76,13 +76,6 @@
 #define IGNOREFAULT 10
 #define MOVECOUNT 11
 
-/*------------------------------------------------------------------------
-   a tiny structure used in CallBack work
-*/
-  typedef struct {
-                 float fVal;
-                 char *pName;
-                } MotCallback; 
 
 /*-------------------------------------------------------------------------*/
   static void *MotorGetInterface(void *pData, int iID)
@@ -142,7 +135,7 @@
         float fVal = 0.;
         
         assert(pData);
-        iRet = MotorGetHardPosition((pMotor)pData,pCon,&fVal);
+        iRet = MotorGetSoftPosition((pMotor)pData,pCon,&fVal);
         if(iRet != OKOK)
         {
            fVal = -9999999.99;
@@ -178,8 +171,10 @@
      fputs(pBueffel,fd);
      sprintf(pBueffel,"%s AccessCode %f\n",name,ObVal(self->ParArray,USRIGHTS));
      fputs(pBueffel,fd);
-     sprintf(pBueffel,"%s poscount %f\n",name,
-	     ObVal(self->ParArray,POSCOUNT));
+     sprintf(pBueffel,"%s failafter %f\n",name,ObVal(self->ParArray,ECOUNT));
+     fputs(pBueffel,fd);
+     sprintf(pBueffel,"%s maxretry %f\n",name,ObVal(self->ParArray,POSCOUNT));
+     fputs(pBueffel,fd);
      sprintf(pBueffel,"%s movecount %f\n",name,
 	     ObVal(self->ParArray,MOVECOUNT));
      fputs(pBueffel,fd);
@@ -262,6 +257,8 @@ static 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;
   InvokeCallBack(self->pCall, MOTDRIVE, &sCall); /* send also very last position */
   InvokeCallBack(self->pCall, MOTEND, &sCall);
 }
@@ -336,7 +333,7 @@ static int evaluateStatus(pMotor self, SConnection *pCon)
       newStatus = checkPosition(self,pCon);
       if(newStatus != HWBusy)
       {
-	finishDriving(self,pCon);
+    finishDriving(self,pCon);
       }
     }
     break;
@@ -357,6 +354,7 @@ static int evaluateStatus(pMotor self, SConnection *pCon)
   }
   if(newStatus == HWFault)
   {
+    finishDriving(self,pCon);
     MotorInterrupt(pCon,ObVal(self->ParArray,INT));
     self->retryCount = 0;
   }
@@ -416,7 +414,7 @@ static void handleMoveCallback(pMotor self, SConnection *pCon)
     
     
     /* create and initialize parameters */
-    pM->ParArray = ObParCreate(12);
+    pM->ParArray = ObParCreate(MOTOBPARLENGTH);
     if(!pM->ParArray)
     {
        free(pM);
@@ -492,6 +490,8 @@ extern void KillPiPiezo(void *pData);
      
      pM = (pMotor)self;
      
+    /* MotorHalt(pM); */
+     
      if(pM->name)
        free(pM->name);
      
@@ -604,6 +604,7 @@ extern void KillPiPiezo(void *pData);
        if(iRet == 1)
        {
 	 SCparChange(pCon);
+     InvokeCallBack(self->pCall,HDBVAL,self);
 	 return iRet;
        }
      }
@@ -629,6 +630,7 @@ extern void KillPiPiezo(void *pData);
         fLimit -= fChange;
         ObParSet(self->ParArray,self->name,"softlowerlim",fLimit,pCon);
 	SCparChange(pCon);
+     InvokeCallBack(self->pCall,HDBVAL,self);
 
         return 1;
      }
@@ -650,6 +652,7 @@ extern void KillPiPiezo(void *pData);
           ObParInit(self->ParArray,SZERO,"softzero",ZEROINACTIVE,usUser);
         }
      }
+     InvokeCallBack(self->pCall,HDBVAL,self);
      SCparChange(pCon);
 
      return iRet;
@@ -745,10 +748,11 @@ extern void KillPiPiezo(void *pData);
     }
     
     /* check boundaries first */
-    iRet = MotorCheckBoundary(self,fNew,&fHard,pBueffel,511);
+    iRet = MotorCheckBoundary(self,fNew,&fHard,pError,131);
     if(!iRet)
     {
-      SCWrite(pCon,pBueffel,eStatus);
+      snprintf(pBueffel,511,"ERROR: %s",pError);
+      SCWrite(pCon,pBueffel,eError);
       SCSetInterrupt(pCon,eAbortOperation);
       return 0;  
     }
@@ -782,6 +786,7 @@ extern void KillPiPiezo(void *pData);
     self->retryCount = 0;
     self->stopped = 0;
     self->fTarget = fHard;
+    InvokeCallBack(self->pCall,HDBVAL,self);
     self->posCount = 0;
     iRet = self->pDriver->RunTo(self->pDriver,fHard);
     if(iRet != OKOK)
@@ -1022,7 +1027,22 @@ extern MotorDriver *MakePiPiezo(Tcl_Interp *pTcl, char *pArray);
            SCWrite(pCon,pBueffel,eError);
            return 0; 
          }
-      }
+       } else if(strcmp(argv[2],"regress") == 0)
+       {
+         pDriver = RGMakeMotorDriver();
+         if(!pDriver)
+         {
+          return 0;
+         }
+         /* create the motor */
+         pNew  = MotorInit("regress",argv[1],pDriver);
+         if(!pNew)
+         {
+           sprintf(pBueffel,"Failure to create motor %s",argv[1]);
+           SCWrite(pCon,pBueffel,eError);
+           return 0; 
+         }
+      }  
       else 
       {
 	 site = getSite();