From 56cdbec451637c3e07ca3fbf7c2d3f93a2bcdcfe Mon Sep 17 00:00:00 2001 From: Douglas Clowes Date: Fri, 20 Apr 2007 11:56:22 +1000 Subject: [PATCH] remove trailing spaces on numerous lines r1898 | dcl | 2007-04-20 11:56:22 +1000 (Fri, 20 Apr 2007) | 2 lines --- site_ansto/motor_dmc2280.c | 100 ++++++++++++++++++------------------- 1 file changed, 50 insertions(+), 50 deletions(-) diff --git a/site_ansto/motor_dmc2280.c b/site_ansto/motor_dmc2280.c index 45646a72..2e8ef56c 100644 --- a/site_ansto/motor_dmc2280.c +++ b/site_ansto/motor_dmc2280.c @@ -2,7 +2,7 @@ * \brief Driver for Galil DMC2280 motor controller. * * Implements a SICS motor object with a MotorDriver interface. - * + * * Copyright: see file Copyright.txt * * Ferdi Franceschini November 2005 @@ -33,7 +33,7 @@ #define UNITSLEN 256 #define TEXTPARLEN 1024 #define CMDLEN 1024 -/** \brief Used to ensure that the getDMCSetting function is called +/** \brief Used to ensure that the getDMCSetting function is called * with valid values. * \see getDMCSetting */ @@ -44,11 +44,11 @@ typedef int (*CommandCallback)(pCommand pCmd); enum dmcsetting {dmcspeed, dmcacceleration, dmcdeceleration}; /*----------------------------------------------------------------------- - The motor driver structure. Please note that the first set of fields has - be identical with the fields of AbstractModriv in ../modriv.h + The motor driver structure. Please note that the first set of fields has + be identical with the fields of AbstractModriv in ../modriv.h ------------------------------------------------------------------------*/ struct __MoDriv { - /* general motor driver interface + /* general motor driver interface fields. _REQUIRED! */ float fUpper; /**< hard upper limit */ @@ -60,14 +60,14 @@ struct __MoDriv { void (*GetError)(void *self, int *iCode, char *buffer, int iBufLen); int (*TryAndFixIt)(void *self,int iError, float fNew); int (*Halt)(void *self); - int (*GetDriverPar)(void *self, char *name, + int (*GetDriverPar)(void *self, char *name, float *value); int (*SetDriverPar)(void *self,SConnection *pCon, char *name, float newValue); void (*ListDriverPar)(void *self, char *motorName, SConnection *pCon); void (*KillPrivate)(/*@only@*/void *self); - int (*GetDriverTextPar)(void *self, char *name, + int (*GetDriverTextPar)(void *self, char *name, char *textPar); @@ -75,7 +75,7 @@ struct __MoDriv { pMultiChan mcc; pMotor pMot; /**< Points to logical motor object */ int errorCode; - char *errorMsg; /**< Points to memory for error messages */ + char *errorMsg; /**< Points to memory for error messages */ char units[256]; /**< physical units for axis */ char long_name[256]; /**< long name of motor */ char part[256]; /**< assembly which motor belongs to */ @@ -85,7 +85,7 @@ struct __MoDriv { float maxAccel; /**< physical units per second^2 */ float decel; /**< physical units per second^2 */ float maxDecel; /**< physical units per second^2 */ - char axisLabel; + char axisLabel; char lastCmd[CMDLEN]; char dmc2280Error[CMDLEN]; float home; /**< home position for axis, default=0 */ @@ -112,7 +112,7 @@ struct __MoDriv { int airpad_state; /**< state of the airpads finite state machine */ int airpad_counter; /**< airpad timer retry counter */ pNWTimer airpad_timer; /**< timer waiting for airpad action to complete */ - pNWTimer motor_timer; /**< motor off timer */ + pNWTimer motoff_timer; /**< motor off timer */ int debug; int preseek; /**< Flag = 1 if current move is a backlash preseek */ }; @@ -132,7 +132,7 @@ int DMC2280MotionControl = 1; /* defaults to enabled */ #define BADSTP -6 // NOT SET #define BADEMERG -7 // NOT SET: ESTOP #define RVRSLIM -8 -#define FWDLIM -9 +#define FWDLIM -9 #define POSFAULT -11 // NOT SET #define BADCUSHION -12 // NOT SET #define ERRORLIM -13 @@ -192,11 +192,11 @@ struct __command { /** \brief Convert axis speed in physical units to * motor speed in steps/sec. * \param self (r) provides access to the motor's data structure - * \param speed in physical units, eg mm/sec degrees/sec + * \param speed in physical units, eg mm/sec degrees/sec * \return the speed in motor steps/sec */ static int motSpeed(pDMC2280Driv self, float axisSpeed) { - int speed; + int speed; speed = (int) (fabs(axisSpeed * self->stepsPerX) + 0.5); return speed; } @@ -204,7 +204,7 @@ static int motSpeed(pDMC2280Driv self, float axisSpeed) { /** \brief Convert axis acceleration in physical units to * to motor speed in steps/sec^2 * \param self (r) provides access to the motor's data structure - * \param acceleration in physical units, eg mm/sec^2 degrees/sec^2 + * \param acceleration in physical units, eg mm/sec^2 degrees/sec^2 * \return the acceleration in motor steps/sec^2 */ static int motAccel(pDMC2280Driv self, float axisAccel) { @@ -216,7 +216,7 @@ static int motAccel(pDMC2280Driv self, float axisAccel) { /** \brief Convert axis deceleration in physical units to * motor deceleration in steps/sec^2 * \param self (r) provides access to the motor's data structure - * \param deceleration in physical units, eg mm/sec^2 degrees/sec^2 + * \param deceleration in physical units, eg mm/sec^2 degrees/sec^2 * \return the deceleration in motor steps/sec^2 */ static int motDecel(pDMC2280Driv self, float axisDecel) { @@ -286,7 +286,7 @@ static int DMC_Rx(void* ctx, int rxchar) { myCmd->inp_buf[myCmd->inp_idx++] = rxchar; if (rxchar == 0x0A) { /* end of line */ -/* +/* myCmd->inp_idx -= 2; myCmd->inp_buf[myCmd->inp_idx++] = rxchar; */ @@ -565,7 +565,7 @@ static int readMotion(pDMC2280Driv self, float *steps, float *counts) { char cmd[CMDLEN]; snprintf(cmd, CMDLEN, "MG _TD%c,_TP%c", self->axisLabel, self->axisLabel); - if (FAILURE == DMC2280SendReceive(self, cmd, reply)) + if (FAILURE == DMC2280SendReceive(self, cmd, reply)) return FAILURE; if (2 != sscanf(reply, "%f %f", steps, counts)) @@ -585,7 +585,7 @@ static int readAbsEnc(pDMC2280Driv self, float *pos) { char cmd[CMDLEN]; snprintf(cmd, CMDLEN, "TP%c", self->axisLabel); - if (FAILURE == DMC2280SendReceive(self, cmd, reply)) + if (FAILURE == DMC2280SendReceive(self, cmd, reply)) return FAILURE; *pos = (float) atoi(reply); @@ -604,7 +604,7 @@ static int ReadThread(pDMC2280Driv self, int thread, float *pos) { char cmd[CMDLEN]; snprintf(cmd, CMDLEN, "MG _XQ%d", thread); - if (FAILURE == DMC2280SendReceive(self, cmd, reply)) + if (FAILURE == DMC2280SendReceive(self, cmd, reply)) return 0; *pos = (float) atoi(reply); @@ -623,7 +623,7 @@ static int readHomeRun(pDMC2280Driv self, float *pos) { char cmd[CMDLEN]; snprintf(cmd, CMDLEN, "MG HOMERUN"); - if (FAILURE == DMC2280SendReceive(self, cmd, reply)) + if (FAILURE == DMC2280SendReceive(self, cmd, reply)) return FAILURE; *pos = (float) atoi(reply); @@ -647,13 +647,13 @@ static int RunHomeRoutine(pDMC2280Driv self, float newValue) { /* 0 => reset homerun */ if (newValue < 0.5) { snprintf(cmd, CMDLEN, "HOMERUN=0"); - if (FAILURE == DMC2280Send(self, cmd)) - return FAILURE; + if (FAILURE == DMC2280Send(self, cmd)) + return FAILURE; return SUCCESS; } snprintf(cmd, CMDLEN, "XQ #HOME,1"); - if (FAILURE == DMC2280Send(self, cmd)) - return FAILURE; + if (FAILURE == DMC2280Send(self, cmd)) + return FAILURE; return SUCCESS; } @@ -887,11 +887,11 @@ static int DMC_AirPads(pDMC2280Driv self, int flag) { * \param context motor data * \param mode */ -static int motor_timeout(void* context, int mode) { +static int motoff_timeout(void* context, int mode) { pDMC2280Driv self = (pDMC2280Driv) context; char cmd[CMDLEN]; - self->motor_timer = NULL; + self->motoff_timer = NULL; if (self->has_airpads) { DMC_AirPads(self, 0); return 0; @@ -905,12 +905,12 @@ static int motor_timeout(void* context, int mode) { * the last check. * * The motion is checked against the expected at intervals of - * pDMC2280Driv->blockage_ckInterval. + * pDMC2280Driv->blockage_ckInterval. * * \param *pData provides access to a motor's data * \return * - 1 MOTOR OK, position has changed significantly during move - * - 0 MOTOR BLOCKED, no significant change in position detected. + * - 0 MOTOR BLOCKED, no significant change in position detected. */ static int checkMotion(void *pData) { float precision, steps, counts, ratio_obs, ratio_exp, ratio_cmp; @@ -1052,9 +1052,9 @@ static int DMC2280Run(void *pData,float fValue){ return HWFault; } - if (self->motor_timer) - NetWatchRemoveTimer(self->motor_timer); - self->motor_timer = NULL; + if (self->motoff_timer) + NetWatchRemoveTimer(self->motoff_timer); + self->motoff_timer = NULL; if (self->settle) self->time_settle_done.tv_sec = 0; @@ -1114,7 +1114,7 @@ static int DMC2280Status(void *pData){ * If we are waiting for the motor or airpads then we * are busy */ - if (self->motor_timer || self->airpad_timer) + if (self->motoff_timer || self->airpad_timer) return HWBusy; /* Make sure that speed, accel and decel are set correctly */ @@ -1144,7 +1144,7 @@ static int DMC2280Status(void *pData){ self->errorCode = MOTIONCONTROLUNK; return HWFault; } - /* If pos hasn't changed since last + /* If pos hasn't changed since last * check then stop and scream */ #if 0 iRet = checkPosition(pData); @@ -1231,9 +1231,9 @@ static int DMC2280Status(void *pData){ if (self->airpad_state == AIRPADS_LOWER) return HWBusy; if (self->motOffDelay > 0 ) { - NetWatchRegisterTimer(&self->motor_timer, + NetWatchRegisterTimer(&self->motoff_timer, self->motOffDelay, - motor_timeout, self); + motoff_timeout, self); return HWIdle; } if (!DMC_AirPads(self, 0)) @@ -1245,9 +1245,9 @@ static int DMC2280Status(void *pData){ #if 0 snprintf(cmd, CMDLEN, "AT %d; MO%c", self->motOffDelay, self->axisLabel); #else - NetWatchRegisterTimer(&self->motor_timer, + NetWatchRegisterTimer(&self->motoff_timer, self->motOffDelay, - motor_timeout, self); + motoff_timeout, self); return HWIdle; #endif } else { @@ -1276,7 +1276,7 @@ static void DMC2280Error(void *pData, int *iCode, char *error, int errLen){ self->errorMsg = (char *) malloc(errLen); if (self->errorMsg == NULL) { *iCode = 0; - return; + return; } } *iCode = self->errorCode; @@ -1380,7 +1380,7 @@ static int DMC2280Fix(void *pData, int iCode,/*@unused@*/ float fValue){ return MOTFAIL; case POSFAULT: #if HAS_RS232 - case BADSEND: + case BADSEND: case TIMEOUT: case BADMEMORY: /* Won't happen if MonConnect sets the send terminator */ case INCOMPLETE: @@ -1413,11 +1413,11 @@ static int DMC2280Halt(void *pData){ /* Stop motor */ snprintf(cmd, CMDLEN, "ST%c", self->axisLabel); if (FAILURE == DMC2280Send(self, cmd)) - return HWFault; + return HWFault; /* TODO: FIXME cannot do this until motor stops */ snprintf(cmd, CMDLEN, "MO%c", self->axisLabel); if (FAILURE == DMC2280Send(self, cmd)) - return HWFault; + return HWFault; else return 1; } @@ -1428,13 +1428,13 @@ static int DMC2280Halt(void *pData){ * Note: The GetDriverPar method in the MotorDriver interface only * allows float values to be returned. * - * If the speed, acceleration or deceleration is requested then + * If the speed, acceleration or deceleration is requested then * this compares the setting on the controller to the required setting, * if they don't match then the controller is set to the required value. * * Note: Doesn't warn if the speed, acceleration, or deceleration set on * the controller differ from the required settings. - * + * * \param *pData (r) provides access to a motor's data * \param *name (r) the name of the parameter to fetch. * \param *fValue (w) the parameter's value. @@ -1452,7 +1452,7 @@ static int DMC2280GetPar(void *pData, char *name, if(strcasecmp(name,HOME) == 0) { *fValue = self->home; return 1; - } + } if(strcasecmp(name,HARDLOWERLIM) == 0) { *fValue = self->fLower; return 1; @@ -1883,7 +1883,7 @@ static void KillDMC2280(/*@only@*/void *pData){ * Motor stth DMC2280 paramArray\n * - stth is the motor name * - DMC2280 is the motor type that will lead to calling this function. - * - paramArray is a Tcl array of the motor parameters. + * - paramArray is a Tcl array of the motor parameters. * * \param *pCon (r) connection object. * \param *motor (r) motor name @@ -1894,7 +1894,7 @@ static void KillDMC2280(/*@only@*/void *pData){ * -Adding parameters * - Add a field for the parameter to the DMC2280Driv struct * - Get the parameter from the parameter array, see PARAMETERS: below - * - If the parameter requires an abs enc then add it after ABSENC: + * - If the parameter requires an abs enc then add it after ABSENC: */ MotorDriver *CreateDMC2280(SConnection *pCon, char *motor, char *params) { pDMC2280Driv pNew = NULL; @@ -1925,7 +1925,7 @@ MotorDriver *CreateDMC2280(SConnection *pCon, char *motor, char *params) { if (!MultiChanCreate(pPtr, &pNew->mcc)) { snprintf(pError, ERRLEN, "Cannot find MultiChan '%s' when creating DMC2280 motor '%s'", pPtr, motor); - SCWrite(pCon,pError,eError); + SCWrite(pCon,pError,eError); KillDMC2280(pNew); return NULL; } @@ -1935,7 +1935,7 @@ MotorDriver *CreateDMC2280(SConnection *pCon, char *motor, char *params) { char* host = pPtr; if ((pPtr=getParam(pCon, interp, params,"port",_REQUIRED)) == NULL) { snprintf(pError, ERRLEN, "\tError occurred when creating DMC2280 motor '%s'", motor); - SCWrite(pCon,pError,eError); + SCWrite(pCon,pError,eError); KillDMC2280(pNew); return NULL; } @@ -1944,7 +1944,7 @@ MotorDriver *CreateDMC2280(SConnection *pCon, char *motor, char *params) { snprintf(pError, ERRLEN, "Cannot create MultiChan '%s:%s' for DMC2280 motor '%s'", host, pPtr, motor); - SCWrite(pCon,pError,eError); + SCWrite(pCon,pError,eError); KillDMC2280(pNew); return NULL; } @@ -1952,7 +1952,7 @@ MotorDriver *CreateDMC2280(SConnection *pCon, char *motor, char *params) { } else { snprintf(pError, ERRLEN, "\tError occurred when creating DMC2280 motor '%s'", motor); - SCWrite(pCon,pError,eError); + SCWrite(pCon,pError,eError); KillDMC2280(pNew); return NULL; }