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- Added Sycamore protocol and command context to SICS

Browse Source 
- Added sinfo to SICS
- Added driver for TCP/IP Astrium velocity selector
- Added driver for TCP/IP Astrium chopper controller


SKIPPED:
	psi/amor2t.c
	psi/amorstat.c
	psi/dornier2.c
	psi/ecb.c
	psi/el734hp.c
	psi/fowrite.c
	psi/libpsi.a
	psi/make_gen
	psi/nextrics.c
	psi/pardef.c
	psi/pimotor.c
	psi/pipiezo.c
	psi/polterwrite.c
	psi/psi.c
	psi/scontroller.c
	psi/serial.c
	psi/tasinit.c
	psi/tasscan.c
	psi/tcpdocho.c
	psi/tcpdornier.c
	psi/tricssupport.c
	psi/velodornier.c
This commit is contained in:
koennecke
2005-12-22 22:16:10 +00:00
parent 603a4fc14b
commit b3138f1197
67 changed files with 4650 additions and 682 deletions
Download Patch File Download Diff File Expand all files Collapse all files

61
motor.c
View File

@@ -52,6 +52,7 @@
#include "splitter.h"
#include "status.h"
#include "servlog.h"
#include "tclmotdriv.h"
#include "site.h"
/*-------------------------------------------------------------------------
some lokal defines
@@ -385,6 +386,12 @@ static void handleMoveCallback(pMotor self, SConnection *pCon)
self = (pMotor)sulf;
status = evaluateStatus(self,pCon);
if (self->pDrivInt->drivableStatus!=status) {
((SConnection *)pCon)->conEventType=STATUS;
((SConnection *)pCon)->conStatus=status;
SCWrite(pCon, "", eEvent);
self->pDrivInt->drivableStatus=status;
}
if(status == HWBusy)
{
handleMoveCallback(self,pCon);
@@ -741,7 +748,7 @@ extern void KillPiPiezo(void *pData);
iRet = MotorCheckBoundary(self,fNew,&fHard,pBueffel,511);
if(!iRet)
{
SCWrite(pCon,pBueffel,eWarning);
SCWrite(pCon,pBueffel,eStatus);
SCSetInterrupt(pCon,eAbortOperation);
return 0;
}
@@ -1000,6 +1007,21 @@ extern MotorDriver *MakePiPiezo(Tcl_Interp *pTcl, char *pArray);
SCWrite(pCon,pBueffel,eError);
return 0;
}
}else if (strcmp(argv[2],"tclmot") == 0)
{
pDriver = CreateTclMotDriv(pCon,argc,argv);
if(!pDriver)
{
return 0;
}
/* create the motor */
pNew = MotorInit("TCLMOT",argv[1],pDriver);
if(!pNew)
{
sprintf(pBueffel,"Failure to create motor %s",argv[1]);
SCWrite(pCon,pBueffel,eError);
return 0;
}
}
else
{
@@ -1034,8 +1056,8 @@ extern MotorDriver *MakePiPiezo(Tcl_Interp *pTcl, char *pArray);
int i, iLen;
iLen = ObParLength(self->ParArray);
sprintf(pBueffel,"Parameter Listing for motor %s\n",self->name);
SCWrite(pCon,pBueffel,eStatus);
sprintf(pBueffel,"Parameter Listing for motor %s",self->name);
SCWrite(pCon,pBueffel,eValue);
snprintf(pBueffel,511,"%s.hardupperlim = %f",self->name,
self->pDriver->fUpper);
SCWrite(pCon,pBueffel,eValue);
@@ -1073,6 +1095,7 @@ extern MotorDriver *MakePiPiezo(Tcl_Interp *pTcl, char *pArray);
typedef struct {
char *pName;
SConnection *pCon;
float lastValue;
} MotInfo, *pMotInfo;
/*-----------------------------------------------------------------------*/
static void KillInfo(void *pData)
@@ -1088,7 +1111,8 @@ extern MotorDriver *MakePiPiezo(Tcl_Interp *pTcl, char *pArray);
free(self);
}
/*------------------- The CallBack function for interest ------------------*/
static int InterestCallback(int iEvent, void *pEvent, void *pUser)
static int InterestCallback(int iEvent, void *pEvent, void *pUser,
commandContext cc)
{
pMotInfo pInfo = NULL;
char pBueffel[80];
@@ -1099,9 +1123,13 @@ extern MotorDriver *MakePiPiezo(Tcl_Interp *pTcl, char *pArray);
psCall = (MotCallback *)pEvent;
pInfo = (MotInfo *)pUser;
sprintf(pBueffel,"%s.position = %f ", pInfo->pName, psCall->fVal);
SCWrite(pInfo->pCon,pBueffel,eValue);
if (pInfo->lastValue != psCall->fVal) {
pInfo->lastValue = psCall->fVal;
(pInfo->pCon)->conEventType=POSITION;
sprintf(pBueffel,"%s.position = %f ", pInfo->pName, pInfo->lastValue);
SCWriteInContext(pInfo->pCon,pBueffel,eEvent,cc);
}
return 1;
}
/*------------------------------------------------------------------------*/
@@ -1113,7 +1141,8 @@ extern MotorDriver *MakePiPiezo(Tcl_Interp *pTcl, char *pArray);
}
}
/*------------------------ The endscript callback function ----------------*/
static int EndScriptCallback(int iEvent, void *pEvent, void *pUser)
static int EndScriptCallback(int iEvent, void *pEvent, void *pUser,
commandContext cc)
{
char *pScript = NULL;
MotCallback *psCall;
@@ -1178,7 +1207,7 @@ extern MotorDriver *MakePiPiezo(Tcl_Interp *pTcl, char *pArray);
if(!iRet)
{
sprintf(pBueffel,"Error obtaining position for %s",argv[0]);
SCWrite(pCon,pBueffel,eValue);
SCWrite(pCon,pBueffel,eError);
DeleteTokenList(pList);
return 0;
}
@@ -1220,7 +1249,17 @@ extern MotorDriver *MakePiPiezo(Tcl_Interp *pTcl, char *pArray);
}
pMoti->pName = strdup(argv[0]);
pMoti->pCon = pCon;
lID = RegisterCallback(self->pCall, MOTDRIVE, InterestCallback,
iRet = MotorGetSoftPosition(self,pCon,&fValue);
if(!iRet)
{
sprintf(pBueffel,"Failed to register interest, Reason:Error obtaining current position for %s",argv[0]);
SCWrite(pCon,pBueffel,eError);
DeleteTokenList(pList);
return 0;
}
pMoti->lastValue = fValue;
lID = RegisterCallback(self->pCall, SCGetContext(pCon),MOTDRIVE, InterestCallback,
pMoti, KillInfo);
SCRegister(pCon,pSics, self->pCall,lID);
DeleteTokenList(pList);
@@ -1252,7 +1291,7 @@ extern MotorDriver *MakePiPiezo(Tcl_Interp *pTcl, char *pArray);
return 0;
}
self->endScriptID =
RegisterCallback(self->pCall, MOTEND, EndScriptCallback,
RegisterCallback(self->pCall, SCGetContext(pCon),MOTEND, EndScriptCallback,
strdup(pCurrent->text), KillScript);
SCRegister(pCon,pSics, self->pCall,self->endScriptID);
DeleteTokenList(pList);