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imporved simulation driver M.Z.

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This commit is contained in:
cvs
2004-11-17 11:26:26 +00:00
parent 4e06a17518
commit f2a10df78b
2 changed files with 25 additions and 21 deletions
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44
simdriv.c
View File

@ -61,9 +61,23 @@
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/
static int RunComplete(SIMDriv *self) static int RunComplete(SIMDriv *self)
{ {
time_t tD; int sign;
if(time(&tD) > self->iTime) time_t now;
{
if (self->iTime == 0) {
return 1;
}
now=time(NULL);
/* move */
if (self->fTarget > self->fPos) {
sign=1;
} else {
sign=-1;
}
self->fPos += sign * self->fSpeed * (now - self->iTime);
self->iTime = now;
if (sign*(self->fPos - self->fTarget) > 0) {
self->fPos = self->fTarget;
return 1; return 1;
} }
return 0; return 0;
@ -91,23 +105,13 @@
return HWFault; return HWFault;
} }
if(RunComplete(pDriv)) *fPos = pDriv->fPos;
{
*fPos = pDriv->fPos;
}
else /* simulate a mispositioned motor */
{
*fPos = pDriv->fPos - 1.;
return OKOK;
}
return OKOK; return OKOK;
} }
/*----------------------------------------------------------------------------*/ /*----------------------------------------------------------------------------*/
static int SimRun(void *self, float fVal) static int SimRun(void *self, float fVal)
{ {
SIMDriv *pDriv; SIMDriv *pDriv;
float fDiff;
time_t tD;
assert(self); assert(self);
pDriv = (SIMDriv *)self; pDriv = (SIMDriv *)self;
@ -122,10 +126,9 @@
} }
/* calculate time for completion */ /* set start time */
fDiff = fVal - pDriv->fPos; pDriv->fTarget = fVal;
if(fDiff < .0) fDiff = -fDiff; pDriv->iTime = time(NULL);
pDriv->iTime = time(&tD) + (long)(fDiff/pDriv->fSpeed);
/* in a fifth the failures, simply die, else simply do not find pos */ /* in a fifth the failures, simply die, else simply do not find pos */
if(SimRandom() < (pDriv->fFailure/5)) if(SimRandom() < (pDriv->fFailure/5))
@ -139,7 +142,7 @@
} }
else else
{ {
pDriv->fPos = fVal; /* pDriv->fPos = fVal; */
return OKOK; return OKOK;
} }
} }
@ -350,7 +353,8 @@ static int SimSetPar(void *self, SConnection *pCon, char *name, float newValue)
/* calculate current position, initialise func pters */ /* calculate current position, initialise func pters */
pDriv->fPos = (pDriv->fUpper - pDriv->fLower)/2.; pDriv->fPos = (pDriv->fUpper + pDriv->fLower)/2.;
pDriv->fTarget = pDriv->fPos;
pDriv->name = strdup("Simulant"); pDriv->name = strdup("Simulant");
pDriv->GetPosition = GetSimPos; pDriv->GetPosition = GetSimPos;
pDriv->RunTo = SimRun; pDriv->RunTo = SimRun;

2
simev.c
View File

@ -108,7 +108,7 @@
if(pMe->fFailure < .0){ if(pMe->fFailure < .0){
*fPos = pMe->fTarget; *fPos = pMe->fTarget;
} else { } else {
*fPos = pMe->fTarget + SimRandom(); *fPos = pMe->fTarget + SimRandom()/50-1.0;
} }
} }
else /* simulate a mispositioned motor */ else /* simulate a mispositioned motor */