implement tclmot

r3799 | jgn | 2012-11-13 16:39:44 +1100 (Tue, 13 Nov 2012) | 1 line

ansto_tclmotdriv.h

@@ -0,0 +1,61 @@
+/*---------------------------------------------------------------------------
+ This is a motor driver which is implemented in Tcl. This means
+ this code is only a wrapper which calls Tcl functions to do the 
+ actual work.
+
+ copyright: see file COPYRIGHT
+
+ Mark Koennecke, December 2005
+ --------------------------------------------------------------------------*/
+#ifndef ANSTO_TCLMOTDRIV
+#define ANSTO_TCLMOTDRIV 
+#include "stringdict.h"
+
+  typedef struct ___TclDriv {
+                           /* general motor driver interface 
+                              fields. REQUIRED!
+                           */
+                           float fUpper; /* upper limit */
+                           float fLower; /* lower limit */
+                           char *name;
+                           int   (*GetPosition)(void *self,float *fPos);
+                           int   (*RunTo)(void *self, float fNewVal);
+                           int   (*GetStatus)(void *self);
+                           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, 
+                                  float *value);
+                           int    (*SetDriverPar)(void *self,SConnection *pCon,
+                                   char *name, float newValue);
+                           void   (*ListDriverPar)(void *self, char *motorName,
+                                  SConnection *pCon);
+                           void   (*KillPrivate)(void *self);
+                           
+                           /* Tcl specific fields */
+                           pStringDict mappings;
+                           int errorCode;
+                           char tclError[1024];
+                           char motName[132];
+                           float speed; /**<  physical units per second */
+                           float accel; /**<  physical units per second^2 */
+                           float decel; /**<  physical units per second^2 */
+                           char long_name[256]; /**<  long name of motor */
+                           char units[256]; /**<  physical units for axis */
+                           
+                          } TCLDriv;
+                          
+MotorDriver *CreateTclMotDriv(SConnection *pCon, int argc, char *argv[]);
+
+
+const char *ParaText[] = {"accel",
+                          "maxAccel",
+			  "decel",
+                          "maxDecel",
+			  "setpoint",
+			  "speed",
+                          "nmaxSpeed",
+			  NULL};
+
+
+#endif