- Adapted indenation to new agreed upon system
- Added support for second generation scriptcontext based counter
This commit is contained in:
koennecke
624
tclmotdriv.c
624
tclmotdriv.c
@ -35,360 +35,374 @@
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#define TCLERROR -11001
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#define NOTCLRESULT -11002
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/*----------------------------------------------------------------------------*/
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static int buildStandardCommandPart(TCLDriv *pDriv, char *command,
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char *tclCommand, int commandLen){
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char tclFunc[132];
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int status;
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status = StringDictGet(pDriv->mappings,command,tclFunc,131);
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if(status != 1) {
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return 0;
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}
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snprintf(tclCommand,commandLen,"%s %s ", tclFunc, pDriv->motName);
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return 1;
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}
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/*----------------------------------------------------------------------------*/
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static int GetTclPos(void *self, float *fPos){
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TCLDriv *pDriv;
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char tclCommand[1024];
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int status;
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const char *result = NULL;
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assert(self);
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pDriv = (TCLDriv *)self;
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static int buildStandardCommandPart(TCLDriv * pDriv, char *command,
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char *tclCommand, int commandLen)
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{
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char tclFunc[132];
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int status;
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pDriv->errorCode = 0;
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if(!buildStandardCommandPart(pDriv,"getpos",tclCommand,1023)){
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pDriv->errorCode = FUNCNOTFOUND;
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return HWFault;
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}
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status = Tcl_Eval(pServ->pSics->pTcl,tclCommand);
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result = Tcl_GetStringResult(pServ->pSics->pTcl);
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if(result == NULL){
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pDriv->errorCode = NOTCLRESULT;
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return HWFault;
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}
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if(status != TCL_OK){
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pDriv->errorCode = TCLERROR;
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strncpy(pDriv->tclError,result,1023);
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return HWFault;
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}
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sscanf(result,"%f",fPos);
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return OKOK;
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}
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/*----------------------------------------------------------------------------*/
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static int TclRun(void *self, float fVal) {
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TCLDriv *pDriv;
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char tclCommand[1024];
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char num[80];
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int status;
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const char *result = NULL;
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assert(self);
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pDriv = (TCLDriv *)self;
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pDriv->errorCode = 0;
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if(!buildStandardCommandPart(pDriv,"run",tclCommand,1023)){
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pDriv->errorCode = FUNCNOTFOUND;
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return HWFault;
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}
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snprintf(num,79,"%f",fVal);
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strncat(tclCommand,num,1023-strlen(tclCommand));
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status = Tcl_Eval(pServ->pSics->pTcl,tclCommand);
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result = Tcl_GetStringResult(pServ->pSics->pTcl);
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if(result == NULL) {
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pDriv->errorCode = NOTCLRESULT;
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return HWFault;
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}
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if(status != TCL_OK){
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pDriv->errorCode = TCLERROR;
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strncpy(pDriv->tclError,result,1023);
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return HWFault;
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}
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sscanf(result,"%d",&status);
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return status;
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}
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/*-------------------------------------------------------------------------*/
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static int evaluateInternalErrors(TCLDriv *pDriv, int *iCode,
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char *error, int iErrLen){
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switch(pDriv->errorCode){
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case FUNCNOTFOUND:
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strncpy(error,"Config Error: Tcl function for driver not found",iErrLen);
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*iCode = pDriv->errorCode;
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return 1;
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break;
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case TCLERROR:
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strncpy(error,pDriv->tclError,iErrLen);
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*iCode = pDriv->errorCode;
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return 1;
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break;
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case NOTCLRESULT:
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strncpy(error,"Tcl function did not return result",iErrLen);
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*iCode = pDriv->errorCode;
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return 1;
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break;
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default:
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return 0;
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break;
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}
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status = StringDictGet(pDriv->mappings, command, tclFunc, 131);
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if (status != 1) {
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return 0;
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}
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/*--------------------------------------------------------------------------*/
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static void TclError(void *self, int *iCode, char *error, int iErrLen){
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TCLDriv *pDriv;
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char tclCommand[1024];
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int status = 1;
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const char *result = NULL;
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assert(self);
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pDriv = (TCLDriv *)self;
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if(evaluateInternalErrors(pDriv,iCode,error,iErrLen) == 1) {
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return;
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}
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if(!buildStandardCommandPart(pDriv,"geterror",tclCommand,1023)){
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pDriv->errorCode = FUNCNOTFOUND;
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status = 0;
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}
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if(status != 0){
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status = Tcl_Eval(pServ->pSics->pTcl,tclCommand);
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result = Tcl_GetStringResult(pServ->pSics->pTcl);
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if(result == NULL) {
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pDriv->errorCode = NOTCLRESULT;
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}
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if(status != TCL_OK && result != NULL){
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pDriv->errorCode = TCLERROR;
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strncpy(pDriv->tclError,result,1023);
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}
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}
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if(evaluateInternalErrors(pDriv,iCode,error,iErrLen) == 1) {
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return;
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}
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strncpy(error,result,iErrLen);
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}
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snprintf(tclCommand, commandLen, "%s %s ", tclFunc, pDriv->motName);
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return 1;
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}
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/*----------------------------------------------------------------------------*/
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static int GetTclPos(void *self, float *fPos)
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{
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TCLDriv *pDriv;
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char tclCommand[1024];
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int status;
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const char *result = NULL;
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assert(self);
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pDriv = (TCLDriv *) self;
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pDriv->errorCode = 0;
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if (!buildStandardCommandPart(pDriv, "getpos", tclCommand, 1023)) {
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pDriv->errorCode = FUNCNOTFOUND;
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return HWFault;
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}
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status = Tcl_Eval(pServ->pSics->pTcl, tclCommand);
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result = Tcl_GetStringResult(pServ->pSics->pTcl);
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if (result == NULL) {
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pDriv->errorCode = NOTCLRESULT;
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return HWFault;
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}
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if (status != TCL_OK) {
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pDriv->errorCode = TCLERROR;
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strncpy(pDriv->tclError, result, 1023);
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return HWFault;
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}
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sscanf(result, "%f", fPos);
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return OKOK;
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}
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/*----------------------------------------------------------------------------*/
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static int TclRun(void *self, float fVal)
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{
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TCLDriv *pDriv;
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char tclCommand[1024];
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char num[80];
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int status;
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const char *result = NULL;
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assert(self);
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pDriv = (TCLDriv *) self;
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pDriv->errorCode = 0;
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if (!buildStandardCommandPart(pDriv, "run", tclCommand, 1023)) {
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pDriv->errorCode = FUNCNOTFOUND;
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return HWFault;
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}
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snprintf(num, 79, "%f", fVal);
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strncat(tclCommand, num, 1023 - strlen(tclCommand));
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status = Tcl_Eval(pServ->pSics->pTcl, tclCommand);
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result = Tcl_GetStringResult(pServ->pSics->pTcl);
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if (result == NULL) {
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pDriv->errorCode = NOTCLRESULT;
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return HWFault;
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}
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if (status != TCL_OK) {
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pDriv->errorCode = TCLERROR;
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strncpy(pDriv->tclError, result, 1023);
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return HWFault;
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}
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sscanf(result, "%d", &status);
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return status;
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}
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/*-------------------------------------------------------------------------*/
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static int evaluateInternalErrors(TCLDriv * pDriv, int *iCode,
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char *error, int iErrLen)
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{
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switch (pDriv->errorCode) {
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case FUNCNOTFOUND:
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strncpy(error, "Config Error: Tcl function for driver not found",
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iErrLen);
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*iCode = pDriv->errorCode;
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return 1;
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break;
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case TCLERROR:
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strncpy(error, pDriv->tclError, iErrLen);
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*iCode = pDriv->errorCode;
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return 1;
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break;
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case NOTCLRESULT:
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strncpy(error, "Tcl function did not return result", iErrLen);
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*iCode = pDriv->errorCode;
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return 1;
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break;
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default:
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return 0;
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break;
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}
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return 0;
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}
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/*--------------------------------------------------------------------------*/
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static void TclError(void *self, int *iCode, char *error, int iErrLen)
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{
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TCLDriv *pDriv;
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char tclCommand[1024];
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int status = 1;
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const char *result = NULL;
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assert(self);
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pDriv = (TCLDriv *) self;
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if (evaluateInternalErrors(pDriv, iCode, error, iErrLen) == 1) {
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return;
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}
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if (!buildStandardCommandPart(pDriv, "geterror", tclCommand, 1023)) {
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pDriv->errorCode = FUNCNOTFOUND;
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status = 0;
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}
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if (status != 0) {
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status = Tcl_Eval(pServ->pSics->pTcl, tclCommand);
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result = Tcl_GetStringResult(pServ->pSics->pTcl);
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if (result == NULL) {
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pDriv->errorCode = NOTCLRESULT;
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}
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if (status != TCL_OK && result != NULL) {
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pDriv->errorCode = TCLERROR;
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strncpy(pDriv->tclError, result, 1023);
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}
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}
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if (evaluateInternalErrors(pDriv, iCode, error, iErrLen) == 1) {
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return;
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}
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strncpy(error, result, iErrLen);
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}
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/*---------------------------------------------------------------------------*/
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static int TclFix(void *self, int iError, float fNew){
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TCLDriv *pDriv;
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char tclCommand[1024];
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char num[80];
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int status;
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const char *result = NULL;
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assert(self);
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pDriv = (TCLDriv *)self;
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static int TclFix(void *self, int iError, float fNew)
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{
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TCLDriv *pDriv;
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char tclCommand[1024];
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char num[80];
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int status;
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const char *result = NULL;
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if(!buildStandardCommandPart(pDriv,"fixit",tclCommand,1023)){
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pDriv->errorCode = FUNCNOTFOUND;
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return HWFault;
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}
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snprintf(num,79,"%d %f",pDriv->errorCode, fNew);
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strncat(tclCommand,num,1023-strlen(tclCommand));
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assert(self);
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pDriv = (TCLDriv *) self;
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status = Tcl_Eval(pServ->pSics->pTcl,tclCommand);
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result = Tcl_GetStringResult(pServ->pSics->pTcl);
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if(result == NULL) {
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pDriv->errorCode = NOTCLRESULT;
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return HWFault;
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}
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if(status != TCL_OK){
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pDriv->errorCode = TCLERROR;
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strncpy(pDriv->tclError,result,1023);
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return HWFault;
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}
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sscanf(result,"%d",&status);
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return status;
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if (!buildStandardCommandPart(pDriv, "fixit", tclCommand, 1023)) {
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pDriv->errorCode = FUNCNOTFOUND;
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return HWFault;
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}
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snprintf(num, 79, "%d %f", pDriv->errorCode, fNew);
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strncat(tclCommand, num, 1023 - strlen(tclCommand));
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status = Tcl_Eval(pServ->pSics->pTcl, tclCommand);
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result = Tcl_GetStringResult(pServ->pSics->pTcl);
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if (result == NULL) {
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pDriv->errorCode = NOTCLRESULT;
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return HWFault;
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}
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if (status != TCL_OK) {
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pDriv->errorCode = TCLERROR;
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strncpy(pDriv->tclError, result, 1023);
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return HWFault;
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}
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sscanf(result, "%d", &status);
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return status;
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}
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/*--------------------------------------------------------------------------*/
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static int TclHalt(void *self)
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{
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TCLDriv *pDriv;
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char tclCommand[1024];
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int status;
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const char *result = NULL;
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assert(self);
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pDriv = (TCLDriv *)self;
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static int TclHalt(void *self)
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{
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TCLDriv *pDriv;
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char tclCommand[1024];
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int status;
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const char *result = NULL;
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pDriv->errorCode = 0;
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if(!buildStandardCommandPart(pDriv,"halt",tclCommand,1023)){
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pDriv->errorCode = FUNCNOTFOUND;
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return HWFault;
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}
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assert(self);
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pDriv = (TCLDriv *) self;
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status = Tcl_Eval(pServ->pSics->pTcl,tclCommand);
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result = Tcl_GetStringResult(pServ->pSics->pTcl);
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if(result == NULL){
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pDriv->errorCode = NOTCLRESULT;
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return HWFault;
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}
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if(status != TCL_OK){
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pDriv->errorCode = TCLERROR;
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strncpy(pDriv->tclError,result,1023);
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return HWFault;
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}
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return OKOK;
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pDriv->errorCode = 0;
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if (!buildStandardCommandPart(pDriv, "halt", tclCommand, 1023)) {
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pDriv->errorCode = FUNCNOTFOUND;
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return HWFault;
|
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}
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status = Tcl_Eval(pServ->pSics->pTcl, tclCommand);
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result = Tcl_GetStringResult(pServ->pSics->pTcl);
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if (result == NULL) {
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pDriv->errorCode = NOTCLRESULT;
|
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return HWFault;
|
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}
|
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if (status != TCL_OK) {
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pDriv->errorCode = TCLERROR;
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strncpy(pDriv->tclError, result, 1023);
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return HWFault;
|
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}
|
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return OKOK;
|
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}
|
||||
|
||||
/*--------------------------------------------------------------------------*/
|
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static int TclStat(void *self)
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{
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||||
TCLDriv *pDriv;
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char tclCommand[1024];
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int status;
|
||||
const char *result = NULL;
|
||||
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||||
assert(self);
|
||||
pDriv = (TCLDriv *)self;
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||||
static int TclStat(void *self)
|
||||
{
|
||||
TCLDriv *pDriv;
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char tclCommand[1024];
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||||
int status;
|
||||
const char *result = NULL;
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||||
|
||||
pDriv->errorCode = 0;
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if(!buildStandardCommandPart(pDriv,"status",tclCommand,1023)){
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pDriv->errorCode = FUNCNOTFOUND;
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||||
return HWFault;
|
||||
}
|
||||
assert(self);
|
||||
pDriv = (TCLDriv *) self;
|
||||
|
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status = Tcl_Eval(pServ->pSics->pTcl,tclCommand);
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result = Tcl_GetStringResult(pServ->pSics->pTcl);
|
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if(result == NULL){
|
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pDriv->errorCode = NOTCLRESULT;
|
||||
return HWFault;
|
||||
}
|
||||
if(status != TCL_OK){
|
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pDriv->errorCode = TCLERROR;
|
||||
strncpy(pDriv->tclError,result,1023);
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return HWFault;
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}
|
||||
sscanf(result,"%d",&status);
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return status;
|
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pDriv->errorCode = 0;
|
||||
if (!buildStandardCommandPart(pDriv, "status", tclCommand, 1023)) {
|
||||
pDriv->errorCode = FUNCNOTFOUND;
|
||||
return HWFault;
|
||||
}
|
||||
|
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status = Tcl_Eval(pServ->pSics->pTcl, tclCommand);
|
||||
result = Tcl_GetStringResult(pServ->pSics->pTcl);
|
||||
if (result == NULL) {
|
||||
pDriv->errorCode = NOTCLRESULT;
|
||||
return HWFault;
|
||||
}
|
||||
if (status != TCL_OK) {
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||||
pDriv->errorCode = TCLERROR;
|
||||
strncpy(pDriv->tclError, result, 1023);
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||||
return HWFault;
|
||||
}
|
||||
sscanf(result, "%d", &status);
|
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return status;
|
||||
}
|
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|
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/*-----------------------------------------------------------------------*/
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static int TclSetPar(void *self, SConnection *pCon, char *name, float newValue){
|
||||
static int TclSetPar(void *self, SConnection * pCon, char *name,
|
||||
float newValue)
|
||||
{
|
||||
TCLDriv *pDriv = (TCLDriv *) self;
|
||||
|
||||
assert(self);
|
||||
assert(pCon);
|
||||
|
||||
if(strcmp(name,"hardupperlim") == 0)
|
||||
{
|
||||
if (strcmp(name, "hardupperlim") == 0) {
|
||||
pDriv->fUpper = newValue;
|
||||
return 1;
|
||||
}
|
||||
if(strcmp(name,"hardlowerlim") == 0)
|
||||
{
|
||||
if (strcmp(name, "hardlowerlim") == 0) {
|
||||
pDriv->fLower = newValue;
|
||||
return 1;
|
||||
}
|
||||
if(strcmp(name,"errorcode") == 0)
|
||||
{
|
||||
pDriv->errorCode = (int)newValue;
|
||||
if (strcmp(name, "errorcode") == 0) {
|
||||
pDriv->errorCode = (int) newValue;
|
||||
return 1;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------------------*/
|
||||
static int TclGetPar(void *self, char *name, float *value){
|
||||
static int TclGetPar(void *self, char *name, float *value)
|
||||
{
|
||||
TCLDriv *pDriv = (TCLDriv *) self;
|
||||
|
||||
assert(self);
|
||||
|
||||
if(strcmp(name,"errorcode") == 0)
|
||||
{
|
||||
*value = (float)pDriv->errorCode;
|
||||
if (strcmp(name, "errorcode") == 0) {
|
||||
*value = (float) pDriv->errorCode;
|
||||
return 1;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
void KillTCL(void *pData)
|
||||
{
|
||||
TCLDriv *pDriv = (TCLDriv *) pData;
|
||||
void KillTCL(void *pData)
|
||||
{
|
||||
TCLDriv *pDriv = (TCLDriv *) pData;
|
||||
|
||||
if(pDriv != NULL){
|
||||
DeleteStringDict(pDriv->mappings);
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
/*-------------------------------------------------------------------------*/
|
||||
static int assignMappings(TCLDriv *pDriv, SConnection *pCon, char *arrayName){
|
||||
const char *funcName = NULL;
|
||||
char *funcText[] = {"getpos",
|
||||
"run",
|
||||
"status",
|
||||
"halt",
|
||||
"geterror",
|
||||
"fixit",
|
||||
NULL};
|
||||
char error[256];
|
||||
int count = 0;
|
||||
|
||||
while(funcText[count] != NULL) {
|
||||
funcName = Tcl_GetVar2(pServ->pSics->pTcl,arrayName,funcText[count],TCL_GLOBAL_ONLY);
|
||||
if(funcName == NULL) {
|
||||
snprintf(error,255,"ERROR: entry for %s not found in tcl-array %s",
|
||||
funcText[count], arrayName);
|
||||
SCWrite(pCon,error,eError);
|
||||
return 0;
|
||||
}
|
||||
StringDictAddPair(pDriv->mappings,funcText[count],(char *)funcName);
|
||||
count++;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
/*--------------------------------------------------------------------------*/
|
||||
MotorDriver *CreateTclMotDriv(SConnection *pCon, int argc, char *argv[])
|
||||
{
|
||||
TCLDriv *pDriv = NULL;
|
||||
|
||||
assert(pCon);
|
||||
|
||||
if(argc < 4) {
|
||||
SCWrite(pCon,"ERROR: not enough arguments to initilaize Tcl-driver",eError);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
pDriv = (TCLDriv *)malloc(sizeof(TCLDriv));
|
||||
if(!pDriv){
|
||||
SCWrite(pCon,"Error allocating memory in TclMotor",eError);
|
||||
return NULL;
|
||||
}
|
||||
memset(pDriv,0,sizeof(TCLDriv));
|
||||
pDriv->mappings = CreateStringDict();
|
||||
if(pDriv->mappings == NULL){
|
||||
SCWrite(pCon,"Error allocating memory in TclMotor",eError);
|
||||
free(pDriv);
|
||||
return NULL;
|
||||
}
|
||||
if(assignMappings(pDriv,pCon,argv[3]) != 1){
|
||||
DeleteStringDict(pDriv->mappings);
|
||||
free(pDriv);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
pDriv->name = strdup("Tcl-Driver");
|
||||
strncpy(pDriv->motName, argv[1], 131);
|
||||
pDriv->GetPosition = GetTclPos;
|
||||
pDriv->RunTo = TclRun;
|
||||
pDriv->GetStatus = TclStat;
|
||||
pDriv->GetError = TclError;
|
||||
pDriv->TryAndFixIt = TclFix;
|
||||
pDriv->SetDriverPar = TclSetPar;
|
||||
pDriv->GetDriverPar = TclGetPar;
|
||||
pDriv->Halt = TclHalt;
|
||||
pDriv->KillPrivate = KillTCL;
|
||||
|
||||
return (MotorDriver *)pDriv;
|
||||
if (pDriv != NULL) {
|
||||
DeleteStringDict(pDriv->mappings);
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
/*-------------------------------------------------------------------------*/
|
||||
static int assignMappings(TCLDriv * pDriv, SConnection * pCon,
|
||||
char *arrayName)
|
||||
{
|
||||
const char *funcName = NULL;
|
||||
char *funcText[] = { "getpos",
|
||||
"run",
|
||||
"status",
|
||||
"halt",
|
||||
"geterror",
|
||||
"fixit",
|
||||
NULL
|
||||
};
|
||||
char error[256];
|
||||
int count = 0;
|
||||
|
||||
while (funcText[count] != NULL) {
|
||||
funcName =
|
||||
Tcl_GetVar2(pServ->pSics->pTcl, arrayName, funcText[count],
|
||||
TCL_GLOBAL_ONLY);
|
||||
if (funcName == NULL) {
|
||||
snprintf(error, 255, "ERROR: entry for %s not found in tcl-array %s",
|
||||
funcText[count], arrayName);
|
||||
SCWrite(pCon, error, eError);
|
||||
return 0;
|
||||
}
|
||||
StringDictAddPair(pDriv->mappings, funcText[count], (char *) funcName);
|
||||
count++;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
|
||||
/*--------------------------------------------------------------------------*/
|
||||
MotorDriver *CreateTclMotDriv(SConnection * pCon, int argc, char *argv[])
|
||||
{
|
||||
TCLDriv *pDriv = NULL;
|
||||
|
||||
assert(pCon);
|
||||
|
||||
if (argc < 4) {
|
||||
SCWrite(pCon, "ERROR: not enough arguments to initilaize Tcl-driver",
|
||||
eError);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
pDriv = (TCLDriv *) malloc(sizeof(TCLDriv));
|
||||
if (!pDriv) {
|
||||
SCWrite(pCon, "Error allocating memory in TclMotor", eError);
|
||||
return NULL;
|
||||
}
|
||||
memset(pDriv, 0, sizeof(TCLDriv));
|
||||
pDriv->mappings = CreateStringDict();
|
||||
if (pDriv->mappings == NULL) {
|
||||
SCWrite(pCon, "Error allocating memory in TclMotor", eError);
|
||||
free(pDriv);
|
||||
return NULL;
|
||||
}
|
||||
if (assignMappings(pDriv, pCon, argv[3]) != 1) {
|
||||
DeleteStringDict(pDriv->mappings);
|
||||
free(pDriv);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
pDriv->name = strdup("Tcl-Driver");
|
||||
strncpy(pDriv->motName, argv[1], 131);
|
||||
pDriv->GetPosition = GetTclPos;
|
||||
pDriv->RunTo = TclRun;
|
||||
pDriv->GetStatus = TclStat;
|
||||
pDriv->GetError = TclError;
|
||||
pDriv->TryAndFixIt = TclFix;
|
||||
pDriv->SetDriverPar = TclSetPar;
|
||||
pDriv->GetDriverPar = TclGetPar;
|
||||
pDriv->Halt = TclHalt;
|
||||
pDriv->KillPrivate = KillTCL;
|
||||
|
||||
|
||||
return (MotorDriver *) pDriv;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user