PSI sics-cvs-psi-2006

motorlist.tex

@@ -0,0 +1,101 @@
+\subsection{The Motorlist Module}
+The motorlist is e helper module for implementing complex movements of 
+multiple motors. A good example is the coordination of the reflectometer AMOR.
+The general idea is to have a list (using the lld implementation used in
+SICS) which contains one of the  following data structure for each motor
+to run:
+
+\begin{flushleft} \small
+\begin{minipage}{\linewidth} \label{scrap1}
+$\langle$motlistmot {\footnotesize ?}$\rangle\equiv$
+\vspace{-1ex}
+\begin{list}{}{} \item
+\mbox{}\verb@@\\
+\mbox{}\verb@typedef struct{@\\
+\mbox{}\verb@        char name[80];@\\
+\mbox{}\verb@        float target;@\\
+\mbox{}\verb@        float position;@\\
+\mbox{}\verb@        pIDrivable pDriv;@\\
+\mbox{}\verb@        void *data;@\\
+\mbox{}\verb@        int running;@\\
+\mbox{}\verb@}MotControl, *pMotControl;@\\
+\mbox{}\verb@@$\diamond$
+\end{list}
+\vspace{-1ex}
+\footnotesize\addtolength{\baselineskip}{-1ex}
+\begin{list}{}{\setlength{\itemsep}{-\parsep}\setlength{\itemindent}{-\leftmargin}}
+\item Macro referenced in scrap ?.
+\end{list}
+\end{minipage}\\[4ex]
+\end{flushleft}
+The motorlist module then takes care of starting all these motors,
+ checking their status etc. A client module then only needs to calculate 
+ targets for its motors and populate a list with them. All other 
+ drivable tasks will then be performed by motorlist.
+ 
+The interface provided by this module looks like this:
+\begin{flushleft} \small
+\begin{minipage}{\linewidth} \label{scrap2}
+$\langle$motlistint {\footnotesize ?}$\rangle\equiv$
+\vspace{-1ex}
+\begin{list}{}{} \item
+\mbox{}\verb@@\\
+\mbox{}\verb@pIDrivable makeMotListInterface();@\\
+\mbox{}\verb@int addMotorToList(int listHandle, char *name, float targetValue);@\\
+\mbox{}\verb@int setNewMotorTarget(int listHandle, char *name, float value);@\\
+\mbox{}\verb@int getMotorFromList(int listHandle, char *name, pMotControl tuk);@\\
+\mbox{}\verb@float      getListMotorPosition(int listHandle, char *name);@\\
+\mbox{}\verb@void printMotorList(int listHandle, SConnection *pCon); @\\
+\mbox{}\verb@@$\diamond$
+\end{list}
+\vspace{-1ex}
+\footnotesize\addtolength{\baselineskip}{-1ex}
+\begin{list}{}{\setlength{\itemsep}{-\parsep}\setlength{\itemindent}{-\leftmargin}}
+\item Macro referenced in scrap ?.
+\end{list}
+\end{minipage}\\[4ex]
+\end{flushleft}
+\begin{description}
+\item[makeMotListInterface] creates a drivable interface which is initialized
+ with the motlist implementations. Each of the drivabel functions expects 
+ as pData pointer a pointer to the listHandle describing the list of motors
+ to run
+ \item[addMotorToList] adds motor name with target value targetValue to
+  the list identified by listHandle. Retruns 1 on success, 0 on failure (The 
+  motor could not be found)
+\item[setNewMotorTarget] does what it says. 
+\item[getMotorFromList] rets a motor entry for name from listHandle. Used in 
+order to retrieve positions.
+\item[getListMotorPosition] retrieves the current position of motor name.
+\end{description}
+All the rest of the interface is invoked through the drivable interface 
+functions which thus can be used in implementing own drivable interfaces.
+
+\begin{flushleft} \small
+\begin{minipage}{\linewidth} \label{scrap3}
+\verb@"motorlist.h"@ {\footnotesize ? }$\equiv$
+\vspace{-1ex}
+\begin{list}{}{} \item
+\mbox{}\verb@@\\
+\mbox{}\verb@/*----------------------------------------------------------------------@\\
+\mbox{}\verb@  Support module which manages a list of motors and their target values@\\
+\mbox{}\verb@  when running complex movements. See accompanying tex file for@\\
+\mbox{}\verb@  more info.@\\
+\mbox{}\verb@@\\
+\mbox{}\verb@  copyright: see file COPYRIGHT@\\
+\mbox{}\verb@@\\
+\mbox{}\verb@  Mark Koennecke, September 2005@\\
+\mbox{}\verb@-----------------------------------------------------------------------*/@\\
+\mbox{}\verb@#ifndef SICSMOTLIST@\\
+\mbox{}\verb@#define SICSMOTLIST@\\
+\mbox{}\verb@#include "sics.h"@\\
+\mbox{}\verb@@$\langle$motlistmot {\footnotesize ?}$\rangle$\verb@@\\
+\mbox{}\verb@/*======================================================================*/@\\
+\mbox{}\verb@@$\langle$motlistint {\footnotesize ?}$\rangle$\verb@@\\
+\mbox{}\verb@#endif@\\
+\mbox{}\verb@@\\
+\mbox{}\verb@@$\diamond$
+\end{list}
+\vspace{-2ex}
+\end{minipage}\\[4ex]
+\end{flushleft}