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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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391
simev.c
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@ -50,220 +50,213 @@
#include "evdriver.h"
#include "simev.h"
/*-----------------------------------------------------------------------*/
typedef struct {
float fFailure;
float fTarget;
float fSpeed;
time_t tFinish;
} SimST, *pSimST;
typedef struct {
float fFailure;
float fTarget;
float fSpeed;
time_t tFinish;
} SimST, *pSimST;
/*-----------------------------------------------------------------------*/
static float SimRandom(void)
{
float fVal;
fVal = ( (float) rand() / (float)RAND_MAX) * 100.0;
return fVal;
}
/*---------------------------------------------------------------------------*/
static int RunComplete(pEVDriver self)
{
pSimST pMe = NULL;
time_t tD;
assert(self);
pMe = (pSimST)self->pPrivate;
assert(pMe);
if(pMe->fFailure < .0){
return 1;
}
static float SimRandom(void)
{
float fVal;
if((int)time(&tD) > pMe->tFinish)
{
return 1;
}
return 0;
fVal = ((float) rand() / (float) RAND_MAX) * 100.0;
return fVal;
}
/*---------------------------------------------------------------------------*/
static int RunComplete(pEVDriver self)
{
pSimST pMe = NULL;
time_t tD;
assert(self);
pMe = (pSimST) self->pPrivate;
assert(pMe);
if (pMe->fFailure < .0) {
return 1;
}
if ((int) time(&tD) > pMe->tFinish) {
return 1;
}
return 0;
}
/*----------------------------------------------------------------------------*/
static int GetSimPos(pEVDriver self, float *fPos)
{
pSimST pMe = NULL;
assert(self);
pMe = (pSimST)self->pPrivate;
assert(pMe);
static int GetSimPos(pEVDriver self, float *fPos)
{
pSimST pMe = NULL;
assert(self);
pMe = (pSimST) self->pPrivate;
assert(pMe);
if (SimRandom() < pMe->fFailure) {
*fPos = SimRandom();
return 0;
}
if (RunComplete(self)) {
if (pMe->fFailure < .0) {
*fPos = pMe->fTarget;
} else {
*fPos = pMe->fTarget + SimRandom() / 50 - 1.0;
}
} else { /* simulate a mispositioned motor */
*fPos = pMe->fTarget - 10.;
return 1;
}
return 1;
}
if(SimRandom() < pMe->fFailure)
{
*fPos = SimRandom();
return 0;
}
if(RunComplete(self))
{
if(pMe->fFailure < .0){
*fPos = pMe->fTarget;
} else {
*fPos = pMe->fTarget + SimRandom()/50-1.0;
}
}
else /* simulate a mispositioned motor */
{
*fPos = pMe->fTarget - 10.;
return 1;
}
return 1;
}
/*----------------------------------------------------------------------------*/
static int SimRun(pEVDriver self, float fVal)
{
pSimST pMe = NULL;
float fDiff;
time_t tD;
assert(self);
pMe = (pSimST)self->pPrivate;
assert(pMe);
static int SimRun(pEVDriver self, float fVal)
{
pSimST pMe = NULL;
float fDiff;
time_t tD;
/* calculate time for completion */
fDiff = fVal - pMe->fTarget;
if(fDiff < .0) fDiff = -fDiff;
pMe->tFinish = (int)time(&tD) + (int)(fDiff/pMe->fSpeed);
assert(self);
pMe = (pSimST) self->pPrivate;
assert(pMe);
pMe->fTarget = fVal;
/* calculate time for completion */
fDiff = fVal - pMe->fTarget;
if (fDiff < .0)
fDiff = -fDiff;
pMe->tFinish = (int) time(&tD) + (int) (fDiff / pMe->fSpeed);
/* in a fifth the failures, simply die, else simply do not find pos */
if(SimRandom() < (pMe->fFailure/5))
{
return 0;
}
return 1;
}
/*--------------------------------------------------------------------------*/
static int SimError(pEVDriver self, int *iCode, char *error, int iErrLen)
{
assert(self);
if(RunComplete(self))
{
*iCode = 56;
strncpy(error,"ERROR: (-: Simulated environment device error :-) ",iErrLen);
}
else
{
*iCode = 12;
strncpy(error,"Environment still creeping along",iErrLen-1);
}
return 1;
pMe->fTarget = fVal;
/* in a fifth the failures, simply die, else simply do not find pos */
if (SimRandom() < (pMe->fFailure / 5)) {
return 0;
}
return 1;
}
/*--------------------------------------------------------------------------*/
static int SimSend(pEVDriver self, char *pCommand, char *pReply, int iLen)
{
pSimST pMe = NULL;
float fDiff;
time_t tD;
assert(self);
pMe = (pSimST)self->pPrivate;
assert(pMe);
if(SimRandom() < pMe->fFailure)
{
return 0;
}
strncpy(pReply,"Device gracefully accepted command",iLen);
return 1;
}
static int SimError(pEVDriver self, int *iCode, char *error, int iErrLen)
{
assert(self);
if (RunComplete(self)) {
*iCode = 56;
strncpy(error, "ERROR: (-: Simulated environment device error :-) ",
iErrLen);
} else {
*iCode = 12;
strncpy(error, "Environment still creeping along", iErrLen - 1);
}
return 1;
}
/*--------------------------------------------------------------------------*/
static int SimSim(pEVDriver self)
{
return 1;
}
static int SimSend(pEVDriver self, char *pCommand, char *pReply, int iLen)
{
pSimST pMe = NULL;
float fDiff;
time_t tD;
assert(self);
pMe = (pSimST) self->pPrivate;
assert(pMe);
if (SimRandom() < pMe->fFailure) {
return 0;
}
strncpy(pReply, "Device gracefully accepted command", iLen);
return 1;
}
/*--------------------------------------------------------------------------*/
static int SimSim(pEVDriver self)
{
return 1;
}
/*---------------------------------------------------------------------------*/
static int SimFix(pEVDriver self, int iError)
{
float fRand;
/* return the three values MOTREDO, MOTFAIL, MOTOK with a third
randomness
*/
assert(self);
fRand = SimRandom();
if(iError == 12)
{
return DEVREDO;
}
SICSLogWrite("Simulated Environment device dying randomly",eHWError);
if(fRand < 0.3333)
{
return DEVOK;
}
else if(fRand < 0.66666)
{
return DEVREDO;
}
else
{
return DEVFAULT;
}
static int SimFix(pEVDriver self, int iError)
{
float fRand;
/* return the three values MOTREDO, MOTFAIL, MOTOK with a third
randomness
*/
assert(self);
fRand = SimRandom();
if (iError == 12) {
return DEVREDO;
}
SICSLogWrite("Simulated Environment device dying randomly", eHWError);
if (fRand < 0.3333) {
return DEVOK;
} else if (fRand < 0.66666) {
return DEVREDO;
} else {
return DEVFAULT;
}
}
/*--------------------------------------------------------------------------*/
static int SimHalt(pEVDriver *self)
{
assert(self);
return 1;
}
static int SimHalt(pEVDriver * self)
{
assert(self);
return 1;
}
/*------------------------------------------------------------------------*/
pEVDriver CreateSIMEVDriver(int argc, char *argv[])
{
pEVDriver pNew = NULL;
pSimST pSim = NULL;
pNew = CreateEVDriver(argc,argv);
pSim = (pSimST)malloc(sizeof(SimST));
if(!pNew || !pSim)
{
return NULL;
}
pNew->pPrivate = pSim;
/* This causes problems with fortify. Apparently the free does not
get replaced properly with the proper debug malloc function.
pEVDriver CreateSIMEVDriver(int argc, char *argv[])
{
pEVDriver pNew = NULL;
pSimST pSim = NULL;
pNew = CreateEVDriver(argc, argv);
pSim = (pSimST) malloc(sizeof(SimST));
if (!pNew || !pSim) {
return NULL;
}
pNew->pPrivate = pSim;
/* This causes problems with fortify. Apparently the free does not
get replaced properly with the proper debug malloc function.
pNew->KillPrivate = free;
*/
pNew->KillPrivate = NULL;
/* initalise SimST */
pSim->fFailure = .1;
pSim->fSpeed = 1.;
pSim->fTarget = 0.0;
pSim->tFinish = 0;
/* are there parameters which give values for SIM ? */
if(argc > 0)
{
pSim->fFailure = atof(argv[0]);
}
if(argc > 1)
{
pSim->fSpeed = atof(argv[1]);
}
/* initialise function pointers */
pNew->SetValue = SimRun;
pNew->GetValue = GetSimPos;
pNew->Send = SimSend;
pNew->GetError = SimError;
pNew->TryFixIt = SimFix;
pNew->Init = SimSim;
pNew->Close = SimSim;
return pNew;
}
*/
pNew->KillPrivate = NULL;
/* initalise SimST */
pSim->fFailure = .1;
pSim->fSpeed = 1.;
pSim->fTarget = 0.0;
pSim->tFinish = 0;
/* are there parameters which give values for SIM ? */
if (argc > 0) {
pSim->fFailure = atof(argv[0]);
}
if (argc > 1) {
pSim->fSpeed = atof(argv[1]);
}
/* initialise function pointers */
pNew->SetValue = SimRun;
pNew->GetValue = GetSimPos;
pNew->Send = SimSend;
pNew->GetError = SimError;
pNew->TryFixIt = SimFix;
pNew->Init = SimSim;
pNew->Close = SimSim;
return pNew;
}