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- Adapted indenation to new agreed upon system

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- Added support for second generation scriptcontext based counter
This commit is contained in:
koennecke
2009-02-13 09:00:03 +00:00
parent a3dcad2bfa
commit 91d4af0541
405 changed files with 88101 additions and 88173 deletions
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299
moregress.c
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@ -7,7 +7,7 @@
* copyright: see file COPYRIGHT
*
* Mark Koennecke, July 2007
*/
*/
#include <stdlib.h>
#include <sics.h>
#include <modriv.h>
@ -15,70 +15,72 @@
/*===================== supported errors ======================*/
#define NONE 0
#define STARTFAIL 1
#define BADPOS 2 /* positioning problem */
#define FAIL 3 /* failure */
#define OFFPOS 4 /* off pos by .2 */
#define READFAIL 5
#define RUN 6 /* keep running; for interrupt testing */
#define BADPOS 2 /* positioning problem */
#define FAIL 3 /* failure */
#define OFFPOS 4 /* off pos by .2 */
#define READFAIL 5
#define RUN 6 /* keep running; for interrupt testing */
/*=============================================================*/
typedef struct __RGMoDriv{
/* 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);
/* your drivers private fields follow below */
float target;
int errorType;
int recover;
int counter;
} RGMotorDriver;
typedef struct __RGMoDriv {
/* 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);
/* your drivers private fields follow below */
float target;
int errorType;
int recover;
int counter;
} RGMotorDriver;
/*================================================================
GetPos returns OKOK on success, HWFault on failure
------------------------------------------------------------------*/
static int RGGetPos(void *data, float *fPos){
static int RGGetPos(void *data, float *fPos)
{
RGMotorDriver *self = NULL;
self = (RGMotorDriver *)data;
if(self->errorType == READFAIL){
self = (RGMotorDriver *) data;
if (self->errorType == READFAIL) {
return HWFault;
}
if(self->errorType > 1 && self->errorType < 6){
if (self->errorType > 1 && self->errorType < 6) {
*fPos = self->target - .2;
} else {
*fPos = self->target;
*fPos = self->target;
}
return OKOK;
}
/*----------------------------------------------------------------
RunTo starts the motor running. Returns OKOK on success, HWfault
on Errors
------------------------------------------------------------------*/
static int RGRunTo(void *data, float newValue){
static int RGRunTo(void *data, float newValue)
{
RGMotorDriver *self = NULL;
self = (RGMotorDriver *)data;
self = (RGMotorDriver *) data;
self->target = newValue;
if(self->errorType == STARTFAIL){
if (self->errorType == STARTFAIL) {
return HWFault;
}
return OKOK;
}
/*-----------------------------------------------------------------
CheckStatus queries the sattus of a running motor. Possible return
values can be:
@ -88,54 +90,57 @@ static int RGRunTo(void *data, float newValue){
HWIdle : motor finished OK
HWWarn : motor issued warning
--------------------------------------------------------------------*/
static int RGCheckStatus(void *data){
static int RGCheckStatus(void *data)
{
RGMotorDriver *self = NULL;
self = (RGMotorDriver *)data;
switch(self->errorType){
case BADPOS:
return HWPosFault;
break;
case FAIL:
return HWFault;
break;
case RUN:
return HWBusy;
break;
self = (RGMotorDriver *) data;
switch (self->errorType) {
case BADPOS:
return HWPosFault;
break;
case FAIL:
return HWFault;
break;
case RUN:
return HWBusy;
break;
}
return HWIdle;
}
/*------------------------------------------------------------------
GetError gets more information about error which occurred
*iCode is an integer error code to be used in TryFixIt as indicator
buffer is a buffer for a text description of the problem
iBufLen is the length of buffer
--------------------------------------------------------------------*/
static void RGGetError(void *data, int *iCode, char *buffer,
int iBufLen){
static void RGGetError(void *data, int *iCode, char *buffer, int iBufLen)
{
RGMotorDriver *self = NULL;
self = (RGMotorDriver *)data;
*iCode = self->errorType;
switch(self->errorType){
case NONE:
strncpy(buffer,"No error found",iBufLen);
break;
case BADPOS:
strncpy(buffer,"Position not reached",iBufLen);
break;
case FAIL:
strncpy(buffer,"Hardware is mad",iBufLen);
break;
case STARTFAIL:
strncpy(buffer,"Failed to start motor",iBufLen);
break;
case READFAIL:
strncpy(buffer,"Failed to read motor",iBufLen);
break;
self = (RGMotorDriver *) data;
*iCode = self->errorType;
switch (self->errorType) {
case NONE:
strncpy(buffer, "No error found", iBufLen);
break;
case BADPOS:
strncpy(buffer, "Position not reached", iBufLen);
break;
case FAIL:
strncpy(buffer, "Hardware is mad", iBufLen);
break;
case STARTFAIL:
strncpy(buffer, "Failed to start motor", iBufLen);
break;
case READFAIL:
strncpy(buffer, "Failed to read motor", iBufLen);
break;
}
}
/*------------------------------------------------------------------
TryAndFixIt tries everything which is possible in software to fix
a problem. iError is the error code from GetError, newValue is
@ -145,120 +150,130 @@ static void RGGetError(void *data, int *iCode, char *buffer,
MOTREDO : try again
MOTFAIL : cannot fix this
--------------------------------------------------------------------*/
static int RGFixIt(void *data, int iError, float newValue){
static int RGFixIt(void *data, int iError, float newValue)
{
RGMotorDriver *self = NULL;
self = (RGMotorDriver *)data;
if(self->recover == 1){
self = (RGMotorDriver *) data;
if (self->recover == 1) {
self->errorType = NONE;
return MOTREDO;
}
return MOTFAIL;
}
/*-------------------------------------------------------------------
Halt tries to stop the motor. Halt errors are ignored
---------------------------------------------------------------------*/
static int RGHalt(void *data){
static int RGHalt(void *data)
{
RGMotorDriver *self = NULL;
self = (RGMotorDriver *)data;
self = (RGMotorDriver *) data;
self->errorType = NONE;
return 1;
}
/*--------------------------------------------------------------------
GetDriverPar retrieves the value of a driver parameter.
Name is the name of the parameter, fValue the value when found.
Returns 0 on success, 0 else
-----------------------------------------------------------------------*/
static int RGGetDriverPar(void *data, char *name, float *value){
static int RGGetDriverPar(void *data, char *name, float *value)
{
RGMotorDriver *self = NULL;
self = (RGMotorDriver *)data;
if(strcmp(name,"errortype") == 0){
*value = (float)self->errorType;
self = (RGMotorDriver *) data;
if (strcmp(name, "errortype") == 0) {
*value = (float) self->errorType;
return 1;
} else if (strcmp(name,"recover") == 0){
} else if (strcmp(name, "recover") == 0) {
*value = self->recover;
return 1;
}
return 0;
}
/*----------------------------------------------------------------------
SetDriverPar sets a driver parameter. Returns 0 on failure, 1 on
success. Name is the parameter name, pCon the connection to report
errors too, value the new value
------------------------------------------------------------------------*/
static int RGSetDriverPar(void *data, SConnection *pCon,
char *name, float value){
static int RGSetDriverPar(void *data, SConnection * pCon,
char *name, float value)
{
RGMotorDriver *self = NULL;
self = (RGMotorDriver *)data;
if(strcmp(name,"errortype") == 0){
self->errorType = (int)value;
self = (RGMotorDriver *) data;
if (strcmp(name, "errortype") == 0) {
self->errorType = (int) value;
return 1;
} else if (strcmp(name,"recover") == 0){
self->recover = (int)value;
} else if (strcmp(name, "recover") == 0) {
self->recover = (int) value;
return 1;
} else if (strcmp(name, "hardupperlim") == 0) {
self->fUpper = value;
return 1;
} else if (strcmp(name, "hardlowerlim") == 0) {
self->fLower = value;
return 1;
} else if(strcmp(name,"hardupperlim") == 0) {
self->fUpper = value;
return 1;
} else if(strcmp(name,"hardlowerlim") == 0){
self->fLower = value;
return 1;
}
return 0;
return 0;
}
/*-----------------------------------------------------------------------
ListDriverPar lists the names and values of driver parameters to
pCon. Motorname is the name of the motor ro prefix to the listing.
-------------------------------------------------------------------------*/
static void RGListDriverPar(void *data, char *motorname,
SConnection *pCon){
static void RGListDriverPar(void *data, char *motorname,
SConnection * pCon)
{
RGMotorDriver *self = NULL;
char buffer[256];
self = (RGMotorDriver *)data;
snprintf(buffer,255,"%s errortype = %d", motorname,
self->errorType);
SCWrite(pCon,buffer,eValue);
self = (RGMotorDriver *) data;
snprintf(buffer, 255, "%s errortype = %d", motorname, self->errorType);
SCWrite(pCon, buffer, eValue);
snprintf(buffer,255,"%s recover = %d", motorname,
self->recover);
SCWrite(pCon,buffer,eValue);
snprintf(buffer, 255, "%s recover = %d", motorname, self->recover);
SCWrite(pCon, buffer, eValue);
}
/*-----------------------------------------------------------------------
KillPrivate has the task to delete possibly dynamically allocated
memory in the private part of the driver structure
------------------------------------------------------------------------*/
static void RGKillPrivate(void *data){
static void RGKillPrivate(void *data)
{
RGMotorDriver *self = NULL;
self = (RGMotorDriver *)data;
self = (RGMotorDriver *) data;
}
/*=======================================================================*/
MotorDriver *RGMakeMotorDriver(void) {
RGMotorDriver *pNew = NULL;
MotorDriver *RGMakeMotorDriver(void)
{
RGMotorDriver *pNew = NULL;
pNew = malloc(sizeof(RGMotorDriver));
if(pNew == NULL){
return NULL;
}
memset(pNew,0,sizeof(RGMotorDriver));
pNew->GetPosition = RGGetPos;
pNew->RunTo = RGRunTo;
pNew->GetStatus = RGCheckStatus;
pNew->GetError = RGGetError;
pNew->TryAndFixIt = RGFixIt;
pNew->Halt = RGHalt;
pNew->GetDriverPar = RGGetDriverPar;
pNew->SetDriverPar = RGSetDriverPar;
pNew->ListDriverPar = RGListDriverPar;
pNew->KillPrivate = RGKillPrivate;
pNew->fLower = -180.;
pNew->fUpper = 180.;
return (MotorDriver *)pNew;
pNew = malloc(sizeof(RGMotorDriver));
if (pNew == NULL) {
return NULL;
}
memset(pNew, 0, sizeof(RGMotorDriver));
pNew->GetPosition = RGGetPos;
pNew->RunTo = RGRunTo;
pNew->GetStatus = RGCheckStatus;
pNew->GetError = RGGetError;
pNew->TryAndFixIt = RGFixIt;
pNew->Halt = RGHalt;
pNew->GetDriverPar = RGGetDriverPar;
pNew->SetDriverPar = RGSetDriverPar;
pNew->ListDriverPar = RGListDriverPar;
pNew->KillPrivate = RGKillPrivate;
pNew->fLower = -180.;
pNew->fUpper = 180.;
return (MotorDriver *) pNew;
}