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- Reworked mesure for four circle to new specifications

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* reworked table
  * added psd mode
- exe now allows absolute paths
- added getRS232Timeout to rs232controller
- Fixed a couple of "guessed" return values
This commit is contained in:
koennecke
2005-03-16 07:58:52 +00:00
parent 5cd7d30d62
commit b8fea0bc38
16 changed files with 331 additions and 2633 deletions
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63
motor.c
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@ -62,20 +62,18 @@
#define INTBATCH 2.
#define INTHALT 3.
#define HLOW 0
#define HUPP 1
#define SLOW 2
#define SUPP 3
#define SZERO 4
#define FIX 5
#define INT 6
#define PREC 7
#define USRIGHTS 8
#define SIGN 9
#define ECOUNT 10
#define POSCOUNT 11
#define IGNOREFAULT 12
#define MOVECOUNT 13
#define SLOW 0
#define SUPP 1
#define SZERO 2
#define FIX 3
#define INT 4
#define PREC 5
#define USRIGHTS 6
#define SIGN 7
#define ECOUNT 8
#define POSCOUNT 9
#define IGNOREFAULT 10
#define MOVECOUNT 11
/*------------------------------------------------------------------------
a tiny structure used in CallBack work
@ -327,6 +325,10 @@ static int evaluateStatus(pMotor self, SConnection *pCon)
{
newStatus = HWPosFault;
}
if(newStatus == HWIdle || newStatus == OKOK)
{
finishDriving(self,pCon);
}
break;
case HWBusy:
newStatus = HWBusy;
@ -398,14 +400,12 @@ static void handleMoveCallback(pMotor self, SConnection *pCon)
/* create and initialize parameters */
pM->ParArray = ObParCreate(14);
pM->ParArray = ObParCreate(12);
if(!pM->ParArray)
{
free(pM);
return NULL;
}
ObParInit(pM->ParArray,HLOW,"hardlowerlim",pDriv->fLower,usMugger);
ObParInit(pM->ParArray,HUPP,"hardupperlim",pDriv->fUpper,usMugger);
ObParInit(pM->ParArray,SLOW,"softlowerlim",pDriv->fLower,usUser);
ObParInit(pM->ParArray,SUPP,"softupperlim",pDriv->fUpper,usUser);
ObParInit(pM->ParArray,SZERO,"softzero",ZEROINACTIVE,usUser);
@ -521,7 +521,18 @@ extern void KillPiPiezo(void *pData);
{
ObPar *pPar = NULL;
assert(self);
if(strcmp(name,"hardupperlim") == 0)
{
*fVal = self->pDriver->fUpper;
return 1;
}
if(strcmp(name,"hardlowerlim") == 0)
{
*fVal = self->pDriver->fLower;
return 1;
}
pPar = ObParFind(self->ParArray,name);
if(pPar)
{
@ -674,17 +685,17 @@ extern void KillPiPiezo(void *pData);
fHard = fHard*ObVal(self->ParArray,SIGN);
/* check for hardware limits */
if(fHard > ObVal(self->ParArray,HUPP))
if(fHard > self->pDriver->fUpper)
{
sprintf(pBueffel,"%f violates upper hardware limit %f on %s",
fVal,ObVal(self->ParArray,HUPP),self->name);
fVal,self->pDriver->fUpper,self->name);
strncpy(pError,pBueffel,iErrLen);
return 0;
}
if(fHard < ObVal(self->ParArray,HLOW))
if(fHard < self->pDriver->fLower)
{
sprintf(pBueffel,"%f violates lower hardware limit %f on %s",
fVal,ObVal(self->ParArray,HLOW),self->name);
fVal,self->pDriver->fLower,self->name);
strncpy(pError,pBueffel,iErrLen);
return 0;
}
@ -980,8 +991,6 @@ extern MotorDriver *MakePiPiezo(Tcl_Interp *pTcl, char *pArray);
SCWrite(pCon,pBueffel,eError);
return 0;
}
pNew->ParArray[HLOW].iCode = usUser;
pNew->ParArray[HUPP].iCode = usUser;
}
else
{
@ -1018,6 +1027,12 @@ extern MotorDriver *MakePiPiezo(Tcl_Interp *pTcl, char *pArray);
iLen = ObParLength(self->ParArray);
sprintf(pBueffel,"Parameter Listing for motor %s\n",self->name);
SCWrite(pCon,pBueffel,eStatus);
snprintf(pBueffel,511,"%s.hardupperlim = %f",self->name,
self->pDriver->fUpper);
SCWrite(pCon,pBueffel,eValue);
snprintf(pBueffel,511,"%s.hardlowerlim = %f",self->name,
self->pDriver->fLower);
SCWrite(pCon,pBueffel,eValue);
for(i = 0; i < iLen; i++)
{
sprintf(pBueffel,"%s.%s = %f\n",self->name,