imporved simulation driver M.Z.

simdriv.c

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

simev.c

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