From a7b4b4069d5d52286023f5158a5fd345fed15696 Mon Sep 17 00:00:00 2001
From: koennecke <koennecke>
Date: Wed, 16 Aug 2006 14:16:58 +0000
Subject: [PATCH] - Added motor driver skeleton creator

---
 tcl/makemodrivskel | 177 +++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 177 insertions(+)
 create mode 100755 tcl/makemodrivskel

diff --git a/tcl/makemodrivskel b/tcl/makemodrivskel
new file mode 100755
index 00000000..b5c14321
--- /dev/null
+++ b/tcl/makemodrivskel
@@ -0,0 +1,177 @@
+#!/usr/bin/tclsh
+#------------------------------------------------------------------------------
+# Make the skeleton for a motor driver
+#
+# copyright: see file COPYRIGHT
+#
+# Mark Koennecke, July 2006
+#------------------------------------------------------------------------------
+if { [llength $argv] < 1} {
+	puts stdout "Usage:\n\tmakemodrivskel prefix"
+	exit 1
+}
+
+set prefix [lindex $argv 0]
+#-----------------------------------------------------------------------------
+proc stdCast {} {
+	global prefix
+	puts stdout "  ${prefix}MotorDriver *self = NULL;"
+	puts stdout " "
+	puts stdout "  self = (${prefix}MotorDriver *)data;"
+}
+
+#----------------- output datastructure
+puts stdout "#include <stdlib.h>"
+puts stdout "#include <sics.h>"
+puts stdout "#include <modriv.h>"
+puts stdout "typedef struct __${prefix}MoDriv{"
+puts stdout "              /* general motor driver interface "
+puts stdout "                 fields. REQUIRED!"
+puts stdout "              */"
+puts stdout "              float fUpper; /* upper limit */"
+puts stdout "              float fLower; /* lower limit */"
+puts stdout "              char *name;"
+puts stdout "              int   (*GetPosition)(void *self, float *fPos);"
+puts stdout "              int   (*RunTo)(void *self,float fNewVal);"
+puts stdout "              int   (*GetStatus)(void *self);"
+puts stdout "              void  (*GetError)(void *self, int *iCode, char *buffer, int iBufLen);"
+puts stdout "              int   (*TryAndFixIt)(void *self, int iError,float fNew);"
+puts stdout "              int   (*Halt)(void *self);"
+puts stdout "              int   (*GetDriverPar)(void *self, char *name, "
+puts stdout "                    float *value);"
+puts stdout "              int    (*SetDriverPar)(void *self,SConnection *pCon,"
+puts stdout "                                    char *name, float newValue);"
+puts stdout "              void   (*ListDriverPar)(void *self, char *motorName,"
+puts stdout "                                     SConnection *pCon);"
+puts stdout "              void   (*KillPrivate)(void *self);"
+puts stdout "              /* your drivers private fields follow below */"
+puts stdout "             } ${prefix}MotorDriver;"
+puts stdout " "
+
+
+puts stdout "/*================================================================"
+puts stdout "  GetPos returns OKOK on success, HWFault on failure "
+puts stdout "------------------------------------------------------------------*/"
+puts stdout "static int ${prefix}GetPos(void *data, float *fPos){"
+stdCast
+puts stdout "  return OKOK;"
+puts stdout "}"
+
+puts stdout "/*----------------------------------------------------------------"
+puts stdout "  RunTo starts the motor running. Returns OKOK on success, HWfault"
+puts stdout "  on Errors"
+puts stdout "------------------------------------------------------------------*/"
+puts stdout "static int ${prefix}RunTo(void *data, float newValue){"
+stdCast
+puts stdout "  return OKOK;"
+puts stdout "}"
+
+puts stdout "/*-----------------------------------------------------------------"
+puts stdout " CheckStatus queries the sattus of a running motor. Possible return"
+puts stdout " values can be:"
+puts stdout "   HWBusy     : motor still running"
+puts stdout "   HWFault    : motor error detected"
+puts stdout "   HWPosFault : motor finished, but position not reached"
+puts stdout "   HWIdle     : motor finished OK"
+puts stdout "   HWWarn     : motor issued warning"
+puts stdout "--------------------------------------------------------------------*/"
+puts stdout "static int ${prefix}CheckStatus(void *data){"
+stdCast
+puts stdout "  return HWIdle;"
+puts stdout "}"
+ 
+puts stdout "/*------------------------------------------------------------------"
+puts stdout " GetError gets more information about error which occurred"
+puts stdout "  *iCode is an integer error code to be used in TryFixIt as indicator"
+puts stdout "  buffer is a buffer for a text description of the problem"
+puts stdout "  iBufLen is the length of buffer"
+puts stdout "--------------------------------------------------------------------*/"
+puts stdout "static void ${prefix}GetError(void *data, int *iCode, char *buffer,"
+puts stdout "                              int iBufLen){"
+stdCast
+puts stdout "}"
+
+puts stdout "/*------------------------------------------------------------------"
+puts stdout " TryAndFixIt tries everything which is possible in software to fix "
+puts stdout " a problem. iError is the error code from GetError, newValue is "
+puts stdout " the target value for the motor"
+puts stdout " Possible retrun values are:"
+puts stdout "    MOTOK   : everything fixed"
+puts stdout "    MOTREDO : try again "
+puts stdout "    MOTFAIL : cannot fix this"
+puts stdout "--------------------------------------------------------------------*/"
+puts stdout "static int ${prefix}FixIt(void *data, int iError, float newValue){"
+stdCast
+puts stdout "  return MOTFAIL;"
+puts stdout "}"
+
+puts stdout "/*-------------------------------------------------------------------"
+puts stdout " Halt tries to stop the motor. Halt errors are ignored"
+puts stdout "---------------------------------------------------------------------*/"
+puts stdout "static int ${prefix}Halt(void *data){"
+stdCast
+puts stdout "  return 1;"
+puts stdout "}"
+   
+puts stdout "/*--------------------------------------------------------------------"
+puts stdout " GetDriverPar retrieves the value of a driver parameter."   
+puts stdout " Name is the name of the parameter, fValue the value when found."
+puts stdout " Returns 0 on success, 0 else"
+puts stdout "-----------------------------------------------------------------------*/"
+puts stdout "static int ${prefix}GetDriverPar(void *data, char *name, float *value){"
+stdCast
+puts stdout "  return 0;"
+puts stdout "}"
+
+puts stdout "/*----------------------------------------------------------------------"
+puts stdout " SetDriverPar sets a driver parameter. Returns 0 on failure, 1 on "
+puts stdout "  success. Name is the parameter name, pCon the connection to report"
+puts stdout "  errors too, value the new value"
+puts stdout "------------------------------------------------------------------------*/"
+puts stdout "static int ${prefix}SetDriverPar(void *data, SConnection *pCon,"
+puts stdout "                                 char *name, float value){"
+stdCast
+puts stdout "   return 0;"
+puts stdout "}"
+
+puts stdout "/*-----------------------------------------------------------------------"
+puts stdout "   ListDriverPar lists the names and values of driver parameters to "
+puts stdout "   pCon. Motorname is the name of the motor ro prefix to the listing."
+puts stdout "-------------------------------------------------------------------------*/"
+puts stdout "static void ${prefix}ListDriverPar(void *data, char *motorname, "
+puts stdout "                                   SConnection *pCon){"
+stdCast
+puts stdout "}"
+
+puts stdout "/*-----------------------------------------------------------------------"
+puts stdout " KillPrivate has the task to delete possibly dynamically allocated "
+puts stdout " memory in the private part of the driver structure"
+puts stdout "------------------------------------------------------------------------*/"
+puts stdout "static void ${prefix}KillPrivate(void *data){"
+stdCast
+puts stdout "}"
+
+puts stdout "/*=======================================================================*/"
+puts stdout "MotorDriver *${prefix}MakeMotorDriver(void) {"
+puts stdout "   ${prefix}MotorDriver *pNew = NULL;"
+puts stdout ""
+puts stdout "   pNew = malloc(sizeof(${prefix}MotorDriver));"
+puts stdout "   if(pNew == NULL){"
+puts stdout "     return NULL;"
+puts stdout "   }"
+puts stdout "   memset(pNew,0,sizeof(${prefix}MotorDriver));"
+puts stdout " "
+puts stdout "   pNew->GetPosition    = ${prefix}GetPos;"
+puts stdout "   pNew->RunTo          = ${prefix}RunTo;"
+puts stdout "   pNew->Halt           = ${prefix}Halt;"
+puts stdout "   pNew->GetStatus      = ${prefix}CheckStatus;"
+puts stdout "   pNew->GetError       = ${prefix}GetError;"
+puts stdout "   pNew->TryAndFixIt    = ${prefix}FixIt;"
+puts stdout "   pNew->GetDriverPar   = ${prefix}GetDriverPar;"
+puts stdout "   pNew->SetDriverPar   = ${prefix}SetDriverPar;"
+puts stdout "   pNew->ListDriverPar  = ${prefix}ListDriverPar;"
+puts stdout "   pNew->KillPrivate    = ${prefix}KillPrivate;"
+puts stdout " "
+puts stdout "   return (MotorDriver *)pNew;"
+puts stdout "}"
+puts stdout ""