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- Various little fixes to the TAS software

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- Added a sync command for synchronizing a simulation server with the
  master server.
This commit is contained in:
cvs
2001-03-16 16:09:33 +00:00
parent 5be8359212
commit bae18e8686
24 changed files with 494 additions and 78 deletions
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38
tasdrive.c
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@ -65,13 +65,14 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
{
pTASdata self = NULL;
int iTAS = 0;
float tasTargets[20];
unsigned char tasTargetMask[20], tasMask[10];
float tasTargets[20], oldPos, oldEnergy[MAXEVAR];
unsigned char tasTargetMask[20], tasMask[MAXEVAR];
char *pPtr, pToken[20], pLine[256];
int varPointer, i, motorPointer, status, rStatus, lastToken;
char pBueffel[256];
unsigned char motorMask[MAXMOT];
float newPositions[MAXMOT];
pMotor pMot;
@ -99,6 +100,7 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
motorMask[10+i] = 0;
tasTargets[i] = .0;
tasTargets[i+10] = .0;
oldEnergy[i] = .0;
}
for(i = 0; i < MAXMOT; i++)
{
@ -144,6 +146,7 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
else if(varPointer >= 0 )
{
tasMask[varPointer] = 1;
oldEnergy[varPointer] = self->tasPar[EMIN+varPointer]->fVal;
self->tasPar[EMIN + varPointer]->fVal = atof(pToken);
}
else
@ -186,8 +189,17 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
{
if(motorMask[i] > 0)
{
sprintf(pBueffel,"Driving %s to %f",
tasMotorOrder[i],newPositions[i]);
pMot = FindMotor(pSics, tasMotorOrder[i]);
if(pMot)
{
MotorGetSoftPosition(pMot, pCon, &oldPos);
}
else
{
oldPos = -9999.;
}
sprintf(pBueffel,"Driving %s from %f to %f",
tasMotorOrder[i],oldPos,newPositions[i]);
SCWrite(pCon,pBueffel,eWarning);
status = StartMotor(pServ->pExecutor,pSics,pCon,
tasMotorOrder[i],newPositions[i]);
@ -215,8 +227,9 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
{
if(tasMask[i])
{
sprintf(pBueffel,"Driving %s to %f", tasVariableOrder[EI+i],
self->tasPar[EI+i]->fVal);
sprintf(pBueffel,"Driving %s from %f to %f", tasVariableOrder[EI+i],
oldEnergy[i],
self->tasPar[EI+i]->fVal);
SCWrite(pCon,pBueffel,eWarning);
}
}
@ -227,8 +240,17 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
{
if(tasTargetMask[i])
{
sprintf(pBueffel,"Driving %s to %f",tasMotorOrder[i],
tasTargets[i]);
pMot = FindMotor(pSics, tasMotorOrder[i]);
if(pMot)
{
MotorGetSoftPosition(pMot, pCon, &oldPos);
}
else
{
oldPos = -9999.;
}
sprintf(pBueffel,"Driving %s from %f to %f",tasMotorOrder[i],
oldPos, tasTargets[i]);
SCWrite(pCon,pBueffel,eWarning);
}
}