- Added Sycamore protocol and command context to SICS
- 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
207
velo.c
207
velo.c
@@ -1,4 +1,4 @@
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/*---------------------------------------------------------------------------
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/*---------------------------------------------------------------------------
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V E L O C I T Y S E L E C T O R
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The velocity selector module for SICS. For documentation see velo.w
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@@ -116,6 +116,37 @@
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/* Success ! */
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return 1;
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}
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/*-----------------------------------------------------------------------*/
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static void VSListForbidden(pVelSel self, SConnection *pCon){
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Tcl_DString message;
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int status;
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Verbot Alcatraz;
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char pBueffel[256];
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Tcl_DStringInit(&message);
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/*
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The first entry in the forbidden region thing is meant to
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contain the overall range: skip it!
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*/
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status = LLDnodePtr2First(self->iForbidden);
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LLDnodeDataTo(self->iForbidden,&Alcatraz);
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if(status == 1){
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snprintf(pBueffel,255,"%s.forbidden = {%f -inf", self->pName, Alcatraz.fMax);
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Tcl_DStringAppend(&message,pBueffel,strlen(pBueffel));
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}
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/* now search the forbidden regions */
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status = LLDnodePtr2Next(self->iForbidden);
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while(status != 0){
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LLDnodeDataTo(self->iForbidden,&Alcatraz);
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snprintf(pBueffel,255,", %f - %f", Alcatraz.fMin, Alcatraz.fMax);
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Tcl_DStringAppend(&message,pBueffel,strlen(pBueffel));
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status = LLDnodePtr2Next(self->iForbidden);
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}
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Tcl_DStringAppend(&message,"}",1);
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SCWrite(pCon,Tcl_DStringValue(&message),eValue);
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Tcl_DStringFree(&message);
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}
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/*-------------------------------------------------------------------------*/
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static long VSSetValue(void *pData,SConnection *pCon, float fVal)
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{
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@@ -701,7 +732,7 @@
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return 1;
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}
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/*-------------------------------------------------------------------------*/
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static pEVDriver MakeDummyVel(pVelSel pVel)
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pEVDriver MakeDummyVel(pVelSel pVel)
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{
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pEVDriver pNew = NULL;
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pVelPrivate ich = NULL;
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@@ -869,51 +900,6 @@
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EVRegisterController(FindEMON(pSics),pBueffel,pNew->pMonitor,pCon);
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return iRet;
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}
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/*------------------------------------------------------------------------*/
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static int TTFindNumber(Tcl_Interp *pTcl,char *pPtr, float *fVal)
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{
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int iRet;
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char *pEnd;
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char *pMark;
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double dVal;
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pEnd = pPtr + strlen(pPtr);
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/* advance to first non blank or non = character */
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while( (isspace(*pPtr)) || (*pPtr == '=') )
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{
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pPtr++;
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if(pPtr >= pEnd)
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{
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return 0;
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}
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}
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/* find end of string */
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pMark = pPtr;
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while( (!isspace(*pMark)))
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{
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pMark++;
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if(pMark >= pEnd)
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{
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return 0;
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}
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}
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/* replace pMark temporarily by \0 */
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*pMark = '\0';
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/* now read number from pPtr */
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iRet = Tcl_GetDouble(pTcl,pPtr,&dVal);
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if(iRet != TCL_OK)
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{
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return 0;
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}
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/* fix back and return */
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*pMark = ' ';
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*fVal = (float)dVal;
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return 1;
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}
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/*------------------------------------------------------------------------*/
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typedef struct {
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SConnection *pCon;
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@@ -935,7 +921,8 @@
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}
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}
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/*------------------------------------------------------------------------*/
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static int RotationInterest(int iEvent, void *pData, void *pUser)
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static int RotationInterest(int iEvent, void *pData, void *pUser,
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commandContext cc)
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{
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CBData *pDat = NULL;
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float *fVal = NULL;
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@@ -949,12 +936,12 @@
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if(iEvent == ROTSTART)
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{
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sprintf(pBueffel,"%s Starting",pDat->pName);
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SCWrite(pDat->pCon,pBueffel,eWarning);
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SCWriteInContext(pDat->pCon,pBueffel,eWarning,cc);
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}
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else if(iEvent == ROTMOVE)
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{
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sprintf(pBueffel,"%s.rpm = %f",pDat->pName, *fVal);
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SCWrite(pDat->pCon,pBueffel,eWarning);
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SCWriteInContext(pDat->pCon,pBueffel,eWarning,cc);
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}
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return 1;
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}
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@@ -980,10 +967,6 @@
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assert(pCon);
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assert(pSics);
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/* convert to text for parsing */
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Arg2Text(argc,argv,pCommand, 511);
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strtolower(pCommand);
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if(argc < 2)
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{
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sprintf(pBueffel,"ERROR: %s expects at least one parameter",argv[0]);
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@@ -1026,10 +1009,10 @@
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}
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pCB->pCon = pCon;
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pCB->pName = strdup(argv[0]);
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lID = RegisterCallback(self->pCall, ROTSTART, RotationInterest,
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lID = RegisterCallback(self->pCall, SCGetContext(pCon), ROTSTART, RotationInterest,
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pCB, KillCB);
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SCRegister(pCon,pSics, self->pCall,lID);
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lID = RegisterCallback(self->pCall, ROTMOVE, RotationInterest,
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lID = RegisterCallback(self->pCall, SCGetContext(pCon), ROTMOVE, RotationInterest,
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pCB, NULL);
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SCRegister(pCon,pSics, self->pCall,lID);
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SCSendOK(pCon);
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@@ -1081,6 +1064,13 @@
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SCSendOK(pCon);
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return 1;
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}
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/* list forbidden regions */
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if(strcmp(argv[1],"forbidden") == 0)
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{
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VSListForbidden(self,pCon);
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return 1;
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}
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/* status, prints a status message */
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if(strcmp(argv[1],"status") == 0)
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@@ -1132,6 +1122,30 @@
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return 0;
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}
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}
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if(strcmp(argv[1],"rottolerance") == 0){
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if(argc > 2){
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/* set case */
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iRet = Tcl_GetDouble(pSics->pTcl,argv[2],&dVal);
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if(iRet != TCL_OK){
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sprintf(pBueffel,"ERROR: %s not recognized as numeric value for fMax",
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argv[2]);
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SCWrite(pCon,pBueffel,eError);
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return 0;
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}
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if(!SCMatchRights(pCon,usUser)){
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return 0;
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}
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self->pDriv->fTolerance = dVal;
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SCSendOK(pCon);
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return 1;
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} else {
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sprintf(pBueffel,"%s.rottolerance = %f",
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argv[0],self->pDriv->fTolerance);
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SCWrite(pCon,pBueffel,eError);
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return 1;
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}
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}
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/* initialise the tilt and rot to current values */
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iRet = VSGetRotation(self,&fRot);
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@@ -1143,61 +1157,50 @@
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iRet = MotorGetSoftPosition(self->pTilt,pCon,&fTilt);
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if(!iRet)
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{
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SCWrite(pCon,"ERROR: velocity selector operation aborted",eError);
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SCWrite(pCon,"ERROR: failed to read tilt angle",eError);
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return 0;
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}
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/* search for Tilt */
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pPtr = strstr(pCommand,"tilt");
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if(pPtr) /* analyse tilt */
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{
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iDrive = 1;
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iRet = TTFindNumber(pSics->pTcl,pPtr+strlen("tilt"),&fTilt);
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if(!iRet)
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{
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/* no new value, just print the current one */
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MotorGetSoftPosition(self->pTilt,pCon,&fTilt);
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sprintf(pBueffel,"%s tilt = %f",argv[0],fTilt);
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SCWrite(pCon,pBueffel,eError);
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return 0;
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}
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if(strcmp(argv[1],"tilt") == 0){
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if(argc > 2){
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/* set case */
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iRet = Tcl_GetDouble(pSics->pTcl,argv[2],&dVal);
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if(iRet != TCL_OK){
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sprintf(pBueffel,"ERROR: %s not recognized as numeric value for fMax",
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argv[2]);
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SCWrite(pCon,pBueffel,eError);
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return 0;
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}
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fTilt = dVal;
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iDrive = 1;
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} else {
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sprintf(pBueffel,"%s tilt = %f",argv[0],fTilt);
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SCWrite(pCon,pBueffel,eError);
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return 1;
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}
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}
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/* serch for rottolerance */
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pPtr = strstr(pCommand,"rottolerance");
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if(pPtr) /* analyse rottolerance */
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{
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iDrive = 1;
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iRet = TTFindNumber(pSics->pTcl,pPtr+strlen("rottolerance"),&fTol);
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if(!iRet)
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{
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sprintf(pBueffel,"%s.rottolerance = %f",
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argv[0],self->pDriv->fTolerance);
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SCWrite(pCon,pBueffel,eError);
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return 1;
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}
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else
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{
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self->pDriv->fTolerance = fTol;
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SCSendOK(pCon);
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return 1;
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}
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}
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/* same for rot */
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pPtr = strstr(pCommand,"rot");
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if(pPtr) /* analyse tilt */
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{
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iDrive = 1;
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iRet = TTFindNumber(pSics->pTcl,pPtr+strlen("rot"),&fVal);
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if(!iRet)
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{
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sprintf(pBueffel,"%s rot = %f",argv[0],fRot);
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SCWrite(pCon,pBueffel,eError);
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return 0;
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}
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fRot = fVal;
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if(strcmp(argv[1],"rot") == 0){
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if(argc > 2){
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/* set case */
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iRet = Tcl_GetDouble(pSics->pTcl,argv[2],&dVal);
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if(iRet != TCL_OK){
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sprintf(pBueffel,"ERROR: %s not recognized as numeric value for fMax",
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argv[2]);
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SCWrite(pCon,pBueffel,eError);
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return 0;
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}
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fRot = dVal;
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iDrive = 1;
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} else {
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sprintf(pBueffel,"%s rot = %f",argv[0],fRot);
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SCWrite(pCon,pBueffel,eError);
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return 1;
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}
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}
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/* do drive if we really need to */
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