- Adapted indenation to new agreed upon system
- Added support for second generation scriptcontext based counter
This commit is contained in:
koennecke
562
sctdriveobj.c
562
sctdriveobj.c
@ -14,43 +14,67 @@
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#include <sicshipadaba.h>
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typedef struct {
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pIDrivable pDriv;
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SctController *c;
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int doNotKillNode;
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pIDrivable pDriv;
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SctController *c;
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int doNotKillNode;
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SConnection *pCon;
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} DrivObjPriv, *pDrivObjPriv;
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/*---------------------------------------------------------------*/
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static void *SCTDRIVGetInterface(void *data, int iD){
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pSICSOBJ self = NULL;
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pDrivObjPriv pPriv;
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self = (pSICSOBJ)data;
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pPriv = (pDrivObjPriv)self->pPrivate;
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if(self != NULL && pPriv != NULL && iD == DRIVEID){
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if (self->objectNode == NULL) return NULL;
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return pPriv->pDriv;
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} else {
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return NULL;
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}
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return NULL;
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/*--------------------------------------------------------------*/
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static void KillDrivePriv(void *data)
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{
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pDrivObjPriv priv = (pDrivObjPriv)data;
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if(priv == NULL){
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return;
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}
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if(priv->pDriv != NULL){
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free(priv->pDriv);
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}
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if(priv->pCon != NULL){
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SCDeleteConnection(priv->pCon);
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}
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free(priv);
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}
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/*---------------------------------------------------------------*/
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static void *SCTDRIVGetInterface(void *data, int iD)
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{
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pSICSOBJ self = NULL;
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pDrivObjPriv pPriv;
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self = (pSICSOBJ) data;
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pPriv = (pDrivObjPriv) self->pPrivate;
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if (self != NULL && pPriv != NULL && iD == DRIVEID) {
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if (self->objectNode == NULL)
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return NULL;
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return pPriv->pDriv;
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} else {
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return NULL;
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}
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return NULL;
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}
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/*----------------------------------------------------------------
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This routine can return either OKOK or HWFault when thing
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go wrong. However, the return value of Halt is usually ignored!
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------------------------------------------------------------------*/
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static int SCTDRIVHalt(void *data) {
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pSICSOBJ self = NULL;
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pDrivObjPriv pPriv;
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char dummy[16];
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self = (pSICSOBJ)data;
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pPriv = (pDrivObjPriv)self->pPrivate;
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if (GetHdbProperty(self->objectNode,"halt", dummy, sizeof dummy)) {
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SctQueueNode(pPriv->c, self->objectNode, HaltPRIO, "halt", NULL);
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} else if (GetHdbProperty(self->objectNode, "status", dummy, sizeof dummy)) {
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SetHdbProperty(self->objectNode, "status", "idle");
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}
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return OKOK;
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static int SCTDRIVHalt(void *data)
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{
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pSICSOBJ self = NULL;
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pDrivObjPriv pPriv;
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char dummy[16];
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self = (pSICSOBJ) data;
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pPriv = (pDrivObjPriv) self->pPrivate;
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if (GetHdbProperty(self->objectNode, "halt", dummy, sizeof dummy)) {
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SctQueueNode(pPriv->c, self->objectNode, HaltPRIO, "halt",
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pPriv->pCon);
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} else
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if (GetHdbProperty(self->objectNode, "status", dummy, sizeof dummy))
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{
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SetHdbProperty(self->objectNode, "status", "idle");
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}
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return OKOK;
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}
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/*----------------------------------------------------------------
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This routine can return either 1 or 0. 1 means the position can
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be reached, 0 NOT
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@ -58,32 +82,34 @@ static int SCTDRIVHalt(void *data) {
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about which limit was violated
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------------------------------------------------------------------*/
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static int SCTDRIVCheckLimits(void *data, float val,
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char *error, int errlen){
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pSICSOBJ self = NULL;
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pDrivObjPriv pPriv;
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char script[1024];
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int status;
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Tcl_Interp *pTcl = NULL;
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char *result;
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self = (pSICSOBJ)data;
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pPriv = (pDrivObjPriv)self->pPrivate;
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snprintf(script,1024,"%f", val);
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SetHdbProperty(self->objectNode,"target", script);
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if(GetHdbProperty(self->objectNode,"checklimits",script,1024)){
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status = SctCallInContext(pServ->dummyCon, script,
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self->objectNode, pPriv->c, &result);
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if(SctVerbose(pPriv->c)){
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SCPrintf(pServ->dummyCon, eWarning, "script %s called with result %s\n ",
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script, result);
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}
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if(status == 0){
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strncpy(error,result,errlen);
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return 0;
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}
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char *error, int errlen)
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{
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pSICSOBJ self = NULL;
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pDrivObjPriv pPriv;
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char script[1024];
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int status;
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Tcl_Interp *pTcl = NULL;
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char *result;
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self = (pSICSOBJ) data;
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pPriv = (pDrivObjPriv) self->pPrivate;
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snprintf(script, 1024, "%f", val);
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SetHdbProperty(self->objectNode, "target", script);
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if (GetHdbProperty(self->objectNode, "checklimits", script, 1024)) {
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status = SctCallInContext(pServ->dummyCon, script,
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self->objectNode, pPriv->c, &result);
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if (SctVerbose(pPriv->c)) {
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SCPrintf(pServ->dummyCon, eWarning,
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"script %s called with result %s\n ", script, result);
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}
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return 1;
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if (status == 0) {
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strncpy(error, result, errlen);
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return 0;
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}
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}
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return 1;
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}
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/*----------------------------------------------------------------
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This routine can return 0 when a limit problem occurred
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OKOK when the motor was successfully started
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@ -93,25 +119,31 @@ static int SCTDRIVCheckLimits(void *data, float val,
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to start the motor in question
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val is the value to drive the motor too
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------------------------------------------------------------------*/
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static long SCTDRIVSetValue(void *data, SConnection *pCon, float val){
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pSICSOBJ self = NULL;
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pDrivObjPriv pPriv;
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int status;
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hdbValue v;
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self = (pSICSOBJ)data;
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pPriv = (pDrivObjPriv)self->pPrivate;
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static long SCTDRIVSetValue(void *data, SConnection * pCon, float val)
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{
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pSICSOBJ self = NULL;
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pDrivObjPriv pPriv;
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int status;
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hdbValue v;
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v.dataType = HIPFLOAT;
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v.v.doubleValue = (double)val;
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SetHdbProperty(self->objectNode,"writestatus", "start");
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status = SetHipadabaPar(self->objectNode, v, pCon);
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if(status == 1){
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return OKOK;
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} else {
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return HWFault;
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}
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self = (pSICSOBJ) data;
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pPriv = (pDrivObjPriv) self->pPrivate;
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if(pPriv->pCon != NULL){
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SCDeleteConnection(pPriv->pCon);
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}
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pPriv->pCon = SCCopyConnection(pCon);
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v.dataType = HIPFLOAT;
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v.v.doubleValue = (double) val;
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SetHdbProperty(self->objectNode, "writestatus", "start");
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status = SetHipadabaPar(self->objectNode, v, pCon);
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if (status == 1) {
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return OKOK;
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} else {
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return HWFault;
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}
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}
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/*----------------------------------------------------------------
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Checks the status of a running motor. Possible return values
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HWBusy The motor is still running
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@ -122,216 +154,226 @@ static long SCTDRIVSetValue(void *data, SConnection *pCon, float val){
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For real motors CheckStatus again shall try hard to fix any
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issues with the motor
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------------------------------------------------------------------*/
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static int SCTDRIVCheckStatus(void *data, SConnection *pCon){
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pSICSOBJ self = NULL;
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pDrivObjPriv pPriv;
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char script[1024];
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int status;
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Tcl_Interp *pTcl = NULL;
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char *result;
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SConnection *con;
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self = (pSICSOBJ)data;
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pPriv = (pDrivObjPriv)self->pPrivate;
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/*
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* check if the write command has gone through
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*/
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if(GetHdbProperty(self->objectNode,"writestatus", script,1024)){
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if(strcmp(script,"start") == 0){
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return HWBusy;
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}
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}
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/*
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* run the checkstatus script
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*/
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if(!GetHdbProperty(self->objectNode,"checkstatus",script,1024)){
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if (!GetHdbProperty(self->objectNode,"status",script,1024)){
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SCWrite(pCon,
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"ERROR: configuration problem: no checkstatus script!", eError);
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return HWFault;
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}
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result = script;
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} else {
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status = SctCallInContext(pCon,script, self->objectNode,
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pPriv->c, &result);
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if (status == 0) {
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SCPrintf(pCon,eError," script %s returned %s",
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script, result);
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return HWFault;
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}
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if(SctVerbose(pPriv->c)){
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SCPrintf(pCon,eError," script %s returned %s",
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script, result);
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}
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}
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if(strstr(result,"busy") != NULL){
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static int SCTDRIVCheckStatus(void *data, SConnection * pCon)
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{
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pSICSOBJ self = NULL;
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pDrivObjPriv pPriv;
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char script[1024];
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int status;
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Tcl_Interp *pTcl = NULL;
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char *result;
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SConnection *con;
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self = (pSICSOBJ) data;
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pPriv = (pDrivObjPriv) self->pPrivate;
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/*
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* check if the write command has gone through
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*/
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if (GetHdbProperty(self->objectNode, "writestatus", script, 1024)) {
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if (strcmp(script, "start") == 0) {
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return HWBusy;
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} else if(strstr(result,"posfault") != NULL){
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return HWPosFault;
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} else if(strstr(result,"fault") != NULL){
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return HWFault;
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} else if(strstr(result,"idle") != NULL){
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return HWIdle;
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} else {
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SCPrintf(pCon,eError,
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"ERROR: invalid status code %s returned from checkstatus script",
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result);
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}
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}
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/*
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* run the checkstatus script
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*/
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if (!GetHdbProperty(self->objectNode, "checkstatus", script, 1024)) {
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if (!GetHdbProperty(self->objectNode, "status", script, 1024)) {
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SCWrite(pCon,
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"ERROR: configuration problem: no checkstatus script!",
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eError);
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return HWFault;
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}
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result = script;
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} else {
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status = SctCallInContext(pCon, script, self->objectNode,
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pPriv->c, &result);
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if (status == 0) {
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SCPrintf(pCon, eError, " script %s returned %s", script, result);
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return HWFault;
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}
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if (SctVerbose(pPriv->c)) {
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SCPrintf(pCon, eError, " script %s returned %s", script, result);
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}
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}
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if (strstr(result, "busy") != NULL) {
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return HWBusy;
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} else if (strstr(result, "posfault") != NULL) {
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return HWPosFault;
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} else if (strstr(result, "fault") != NULL) {
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return HWFault;
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} else if (strstr(result, "idle") != NULL) {
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return HWIdle;
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} else {
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SCPrintf(pCon, eError,
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"ERROR: invalid status code %s returned from checkstatus script",
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result);
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return HWFault;
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}
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return HWFault;
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}
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/*----------------------------------------------------------------
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GetValue is supposed to read a motor position
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On errors, -99999999.99 is returned and messages printed to pCon
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------------------------------------------------------------------*/
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static float SCTDRIVGetValue(void *data, SConnection *pCon){
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pSICSOBJ self = NULL;
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pDrivObjPriv pPriv;
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float val = -99999999.99;
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int status;
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char error[256];
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hdbValue v;
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self = (pSICSOBJ)data;
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pPriv = (pDrivObjPriv)self->pPrivate;
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if(GetHdbProperty(self->objectNode,"geterror", error, 256)){
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SCWrite(pCon,error, eError);
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return val;
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}
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return (float)self->objectNode->value.v.doubleValue;
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static float SCTDRIVGetValue(void *data, SConnection * pCon)
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{
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pSICSOBJ self = NULL;
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pDrivObjPriv pPriv;
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float val = -99999999.99;
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int status;
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char error[256];
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hdbValue v;
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self = (pSICSOBJ) data;
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pPriv = (pDrivObjPriv) self->pPrivate;
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if (GetHdbProperty(self->objectNode, "geterror", error, 256)) {
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SCWrite(pCon, error, eError);
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return val;
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}
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return (float) self->objectNode->value.v.doubleValue;
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}
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/*-----------------------------------------------------------------*/
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void AssignSctDrive(pIDrivable pDriv){
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pDriv->Halt = SCTDRIVHalt;
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pDriv->CheckLimits = SCTDRIVCheckLimits;
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pDriv->SetValue = SCTDRIVSetValue;
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pDriv->CheckStatus = SCTDRIVCheckStatus;
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pDriv->GetValue = SCTDRIVGetValue;
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void AssignSctDrive(pIDrivable pDriv)
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{
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pDriv->Halt = SCTDRIVHalt;
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pDriv->CheckLimits = SCTDRIVCheckLimits;
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pDriv->SetValue = SCTDRIVSetValue;
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pDriv->CheckStatus = SCTDRIVCheckStatus;
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pDriv->GetValue = SCTDRIVGetValue;
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}
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/*---------------------------------------------------------------------------*/
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static void KillDriveOBJ(void *data){
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pSICSOBJ self = (pSICSOBJ)data;
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pDrivObjPriv pPriv;
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static void KillDriveOBJ(void *data)
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{
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pSICSOBJ self = (pSICSOBJ) data;
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pDrivObjPriv pPriv;
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if(self == NULL){
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return;
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}
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if (self == NULL) {
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return;
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}
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pPriv = (pDrivObjPriv)self->pPrivate;
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if(pPriv->doNotKillNode && self->pDes != NULL){
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if(self->pDes->name) free(self->pDes->name);
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if(self->pDes->pKeys) IFDeleteOptions(self->pDes->pKeys);
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free(self->pDes);
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} else {
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DeleteDescriptor(self->pDes); /* kill descriptor including node */
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}
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if(self->KillPrivate != NULL && self->pPrivate != NULL){
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self->KillPrivate(self->pPrivate);
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}
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RemoveHdbNodeFromParent(self->objectNode, pServ->dummyCon);
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free(self);
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pPriv = (pDrivObjPriv) self->pPrivate;
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if (pPriv->doNotKillNode && self->pDes != NULL) {
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if (self->pDes->name)
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free(self->pDes->name);
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if (self->pDes->pKeys)
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IFDeleteOptions(self->pDes->pKeys);
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free(self->pDes);
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} else {
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DeleteDescriptor(self->pDes); /* kill descriptor including node */
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}
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if (self->KillPrivate != NULL && self->pPrivate != NULL) {
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self->KillPrivate(self->pPrivate);
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}
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RemoveHdbNodeFromParent(self->objectNode, pServ->dummyCon);
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free(self);
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}
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/*-----------------------------------------------------------------------------*/
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pSICSOBJ MakeSctDriveObj(pHdb node, char *class, SctController *c){
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pSICSOBJ pNew = NULL;
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pDrivObjPriv pPriv = NULL;
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hdbValue val;
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pNew = (pSICSOBJ)malloc(sizeof(SICSOBJ));
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pPriv = (pDrivObjPriv)malloc(sizeof(DrivObjPriv));
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if(pNew == NULL || pPriv == NULL){
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return NULL;
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}
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memset(pNew,0,sizeof(SICSOBJ));
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memset(pPriv,0,sizeof(DrivObjPriv));
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pNew->pDes = CreateDescriptor(class);
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pPriv->pDriv = CreateDrivableInterface();
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if(pNew->pDes == NULL || pPriv->pDriv == NULL){
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free(pNew);
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free(pPriv);
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return(NULL);
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}
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pNew->objectNode = node;
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AssignSctDrive(pPriv->pDriv);
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pPriv->c = c;
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pNew->pDes->parNode = pNew->objectNode;
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pNew->pDes->GetInterface = SCTDRIVGetInterface;
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pNew->pPrivate = pPriv;
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pNew->KillPrivate = DefaultKill;
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return pNew;
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pSICSOBJ MakeSctDriveObj(pHdb node, char *class, SctController * c)
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{
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pSICSOBJ pNew = NULL;
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pDrivObjPriv pPriv = NULL;
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hdbValue val;
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pNew = (pSICSOBJ) malloc(sizeof(SICSOBJ));
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pPriv = (pDrivObjPriv) malloc(sizeof(DrivObjPriv));
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if (pNew == NULL || pPriv == NULL) {
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return NULL;
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}
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memset(pNew, 0, sizeof(SICSOBJ));
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memset(pPriv, 0, sizeof(DrivObjPriv));
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pNew->pDes = CreateDescriptor(class);
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pPriv->pDriv = CreateDrivableInterface();
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if (pNew->pDes == NULL || pPriv->pDriv == NULL) {
|
||||
free(pNew);
|
||||
free(pPriv);
|
||||
return (NULL);
|
||||
}
|
||||
pNew->objectNode = node;
|
||||
AssignSctDrive(pPriv->pDriv);
|
||||
pPriv->c = c;
|
||||
pNew->pDes->parNode = pNew->objectNode;
|
||||
pNew->pDes->GetInterface = SCTDRIVGetInterface;
|
||||
pNew->pPrivate = pPriv;
|
||||
pNew->KillPrivate = KillDrivePriv;
|
||||
return pNew;
|
||||
}
|
||||
|
||||
/*--------------------------------------------------------------------------
|
||||
* This actually has two syntaxes:
|
||||
* makesctdrive name path-to-existing-node class SctController
|
||||
* makesctdrive name type priv class SctController
|
||||
*--------------------------------------------------------------------------*/
|
||||
int SctMakeDriveObject(SConnection *pCon, SicsInterp *pSics, void *object,
|
||||
int argc, char *argv[]) {
|
||||
pHdb node = NULL;
|
||||
pDrivObjPriv pPriv = NULL;
|
||||
pSICSOBJ pNew = NULL;
|
||||
pSICSOBJ pSct = NULL;
|
||||
SctController *c = NULL;
|
||||
int priv, type, status;
|
||||
hdbValue val;
|
||||
|
||||
if(argc < 5){
|
||||
SCWrite(pCon,"ERROR: not enough arguments to SctMakeDriveObject", eError);
|
||||
return 0;
|
||||
}
|
||||
|
||||
node = FindHdbNode(NULL,argv[2], pCon);
|
||||
if(node != NULL){
|
||||
pSct = FindCommandData(pSics,argv[4], "SctController");
|
||||
if(pSct == NULL){
|
||||
SCPrintf(pCon,eError, "ERROR: SctController %s not found", argv[4]);
|
||||
return 0;
|
||||
}
|
||||
c = (SctController *)pSct->pPrivate;
|
||||
pNew = MakeSctDriveObj(node,argv[3],c);
|
||||
pPriv = (pDrivObjPriv)pNew->pPrivate;
|
||||
pPriv->doNotKillNode = 1; /* the node is owned by someone else*/
|
||||
} else {
|
||||
/* convert privilege */
|
||||
priv = decodeSICSPriv(argv[3]);
|
||||
/* convert datatype */
|
||||
strtolower(argv[4]);
|
||||
type = convertHdbType(argv[2]);
|
||||
if (type == HIPNONE) {
|
||||
node = MakeHipadabaNode(argv[1], HIPNONE, 1);
|
||||
} else {
|
||||
val = makeHdbValue(type,0);
|
||||
node = MakeSICSHdbPar(argv[1], priv, val);
|
||||
ReleaseHdbValue(&val);
|
||||
}
|
||||
if(node == NULL){
|
||||
SCWrite(pCon,"ERROR: node creation failed", eError);
|
||||
return 0;
|
||||
}
|
||||
c = FindCommandData(pSics,argv[5], "SctController");
|
||||
if(c == NULL){
|
||||
SCPrintf(pCon,eError, "ERROR: SctController %s not found", argv[4]);
|
||||
return 0;
|
||||
}
|
||||
pNew = MakeSctDriveObj(node,argv[3],c);
|
||||
}
|
||||
if(pNew == NULL){
|
||||
SCWrite(pCon,"ERROR: failed to create drive object", eError);
|
||||
return 0;
|
||||
}
|
||||
status = AddCommand(pSics,
|
||||
argv[1],
|
||||
InterInvokeSICSOBJ,
|
||||
KillDriveOBJ,
|
||||
pNew);
|
||||
if(status != 1){
|
||||
KillSICSOBJ(pNew);
|
||||
SCPrintf(pCon,eError,"ERROR: failed create duplicate command %s", argv[1]);
|
||||
return 0;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
int SctMakeDriveObject(SConnection * pCon, SicsInterp * pSics,
|
||||
void *object, int argc, char *argv[])
|
||||
{
|
||||
pHdb node = NULL;
|
||||
pDrivObjPriv pPriv = NULL;
|
||||
pSICSOBJ pNew = NULL;
|
||||
pSICSOBJ pSct = NULL;
|
||||
SctController *c = NULL;
|
||||
int priv, type, status;
|
||||
hdbValue val;
|
||||
|
||||
if (argc < 5) {
|
||||
SCWrite(pCon, "ERROR: not enough arguments to SctMakeDriveObject",
|
||||
eError);
|
||||
return 0;
|
||||
}
|
||||
|
||||
node = FindHdbNode(NULL, argv[2], pCon);
|
||||
if (node != NULL) {
|
||||
pSct = FindCommandData(pSics, argv[4], "SctController");
|
||||
if (pSct == NULL) {
|
||||
SCPrintf(pCon, eError, "ERROR: SctController %s not found", argv[4]);
|
||||
return 0;
|
||||
}
|
||||
c = (SctController *) pSct->pPrivate;
|
||||
pNew = MakeSctDriveObj(node, argv[3], c);
|
||||
pPriv = (pDrivObjPriv) pNew->pPrivate;
|
||||
pPriv->doNotKillNode = 1; /* the node is owned by someone else */
|
||||
} else {
|
||||
/* convert privilege */
|
||||
priv = decodeSICSPriv(argv[3]);
|
||||
/* convert datatype */
|
||||
strtolower(argv[4]);
|
||||
type = convertHdbType(argv[2]);
|
||||
if (type == HIPNONE) {
|
||||
node = MakeHipadabaNode(argv[1], HIPNONE, 1);
|
||||
} else {
|
||||
val = makeHdbValue(type, 0);
|
||||
node = MakeSICSHdbPar(argv[1], priv, val);
|
||||
ReleaseHdbValue(&val);
|
||||
}
|
||||
if (node == NULL) {
|
||||
SCWrite(pCon, "ERROR: node creation failed", eError);
|
||||
return 0;
|
||||
}
|
||||
c = FindCommandData(pSics, argv[5], "SctController");
|
||||
if (c == NULL) {
|
||||
SCPrintf(pCon, eError, "ERROR: SctController %s not found", argv[4]);
|
||||
return 0;
|
||||
}
|
||||
pNew = MakeSctDriveObj(node, argv[3], c);
|
||||
}
|
||||
if (pNew == NULL) {
|
||||
SCWrite(pCon, "ERROR: failed to create drive object", eError);
|
||||
return 0;
|
||||
}
|
||||
status = AddCommand(pSics,
|
||||
argv[1], InterInvokeSICSOBJ, KillDriveOBJ, pNew);
|
||||
if (status != 1) {
|
||||
KillSICSOBJ(pNew);
|
||||
SCPrintf(pCon, eError, "ERROR: failed create duplicate command %s",
|
||||
argv[1]);
|
||||
return 0;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user