- Some work to MARS

tcl/makedriveskel

@@ -0,0 +1,128 @@
+#!/usr/bin/tclsh
+#---------------------------------------------------------------
+# Create the skeleton of a drivable object with the correct 
+# interface functions and some more. 
+#
+# Mark Koennecke, September 2005
+#---------------------------------------------------------------
+
+if { [llength $argv] < 2} {
+	puts stdout "usage:\n\tmakedriveskel prefix datastuctname"
+	exit 1
+}
+
+set prefix [lindex $argv 0]
+set structname [lindex $argv 1]
+
+#------------- GetInterface function
+puts stdout "/*---------------------------------------------------------------*/"
+puts stdout "static void *${prefix}GetInterface(void *data, int iD){"
+puts stdout "    $structname self = NULL; "
+puts stdout " "
+puts stdout "    self = ($structname)data;"
+puts stdout "    if(self != NULL && iD == DRIVEID){"
+puts stdout "         return self->pDriv;"
+puts stdout "     } else  {"
+puts stdout "         return NULL;"
+puts stdout "     }"
+puts stdout "     return NULL;"
+puts stdout "}"
+
+#------------------- Halt 
+puts stdout "/*----------------------------------------------------------------"
+puts stdout " This routine can return either OKOK or HWFault when thing"
+puts stdout " go wrong. However, the return value of Halt is usually ignored!"
+puts stdout "------------------------------------------------------------------*/"
+puts stdout "static int ${prefix}Halt(void *data) {"
+puts stdout "    $structname self = NULL; "
+puts stdout " "
+puts stdout "    self = ($structname)data;"
+puts stdout ""
+puts stdout "    return OKOK; "
+puts stdout "}"
+
+#------------------ CheckLimits
+puts stdout "/*----------------------------------------------------------------"
+puts stdout " This routine can return either 1 or 0. 1 means the position can "
+puts stdout " be reached, 0 NOT"
+puts stdout " If 0, error shall contain up to errlen characters of information"
+puts stdout " about which limit was violated"
+puts stdout "------------------------------------------------------------------*/"
+puts stdout "static int ${prefix}CheckLimits(void *data, float val,"
+puts stdout "                         char *error, int errlen){"
+puts stdout "    $structname self = NULL; "
+puts stdout " "
+puts stdout "    self = ($structname)data;"
+puts stdout ""
+puts stdout "    return 1; "
+puts stdout "}"
+
+#----------------- SetValue
+puts stdout "/*----------------------------------------------------------------"
+puts stdout " This routine can return 0 when a limit problem occurred "
+puts stdout " OKOK when the motor was successfully started "
+puts stdout " HWFault when a problem occured starting the device"
+puts stdout " Possible errors shall be printed to pCon"
+puts stdout " For real motors, this is supposed to try at least three times"
+puts stdout " to start the motor in question"
+puts stdout " val is the value to drive the motor too"
+puts stdout "------------------------------------------------------------------*/"
+puts stdout "static long ${prefix}SetValue(void *data, SConnection *pCon, float val){"
+puts stdout "    $structname self = NULL; "
+puts stdout " "
+puts stdout "    self = ($structname)data;"
+puts stdout ""
+puts stdout "    return 1; "
+puts stdout "}"
+
+#-------------- CheckStatus
+puts stdout "/*----------------------------------------------------------------"
+puts stdout " Checks the status of a running motor. Possible return values"
+puts stdout "   HWBusy The motor is still running"
+puts stdout "   OKOK or HWIdle when the motor finished driving"
+puts stdout "   HWFault when a hardware problem ocurred"
+puts stdout "   HWPosFault when the hardware cannot reach a position"
+puts stdout " Errors are duly to be printed to pCon"
+puts stdout " For real motors CheckStatus again shall try hard to fix any "
+puts stdout " issues with the motor "
+puts stdout "------------------------------------------------------------------*/"
+puts stdout "static int ${prefix}CheckStatus(void *data, SConnection *pCon){"
+puts stdout "    $structname self = NULL; "
+puts stdout " "
+puts stdout "    self = ($structname)data;"
+puts stdout ""
+puts stdout "    return 1; "
+puts stdout "}"
+
+#----------------- GetValue
+puts stdout "/*----------------------------------------------------------------"
+puts stdout " GetValue is supposed to read a motor position"
+puts stdout " On errors, -99999999.99 is returned and messages printed to pCon"
+puts stdout "------------------------------------------------------------------*/"
+puts stdout "static float ${prefix}GetValue(void *data, SConnection *pCon){"
+puts stdout "    $structname self = NULL; "
+puts stdout "    float val = -99999999.99;"
+puts stdout " "
+puts stdout "    self = ($structname)data;"
+puts stdout ""
+puts stdout "    return val; "
+puts stdout "}"
+
+#---------------MakeObject
+puts stdout "/*----------------------------------------------------------------"
+puts stdout " returns NULL on failure, a new datastructure else"
+puts stdout "------------------------------------------------------------------*/"
+puts stdout "static $structname ${prefix}MakeObject(){"
+puts stdout "    $structname self = NULL; "
+puts stdout ""
+puts stdout "    self->pDes->GetInterface = ${prefix}GetInterface;"
+puts stdout "    self->pDriv->Halt = ${prefix}Halt;"
+puts stdout "    self->pDriv->CheckLimits = ${prefix}CheckLimits;"
+puts stdout "    self->pDriv->SetValue = ${prefix}SetValue;"
+puts stdout "    self->pDriv->CheckStatus = ${prefix}CheckStatus;"
+puts stdout "    self->pDriv->GetValue = ${prefix}GetValue;"
+puts stdout ""
+puts stdout "    return self;"
+puts stdout "}"
+puts stdout ""
+