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