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chadapter.c
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322
chadapter.c
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/*-------------------------------------------------------------------------
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C h o c o A d a p t e r
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This is a drivable adapter for the ChopperController object (or also generic
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controller object). It allows to modify one of the variables supported by
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the controller through the normal SICS drive command. For more information
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see file choco.w or choco.tex.
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Mark Koennecke, January 1998
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---------------------------------------------------------------------------*/
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#include <stdlib.h>
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#include <assert.h>
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#include <tcl.h>
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#include "fortify.h"
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#include "sics.h"
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#include "choco.h"
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#define CHADAINTERNAL
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#include "chadapter.h"
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/*-------------------------------------------------------------------------*/
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static void *AdapterGetInterface(void *pData, int iID)
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{
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pCHAdapter self = NULL;
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self = (pCHAdapter)pData;
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assert(self);
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if(iID == DRIVEID)
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{
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return self->pInt;
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}
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return NULL;
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}
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/*-------------------------------------------------------------------------*/
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static int CHHalt(void *pData)
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{
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pCHAdapter self = NULL;
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self = (pCHAdapter)pData;
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assert(self);
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self->pDriv->Halt(self->pDriv);
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return 1;
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}
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/*-------------------------------------------------------------------------*/
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static int CHLimits(void *pData, float fVal, char *error, int iErrlen)
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{
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pCHAdapter self = NULL;
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self = (pCHAdapter)pData;
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assert(self);
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if(fVal < self->fLower)
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{
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strncpy(error,"Lower limit violated",iErrlen);
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return 0;
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}
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if(fVal > self->fUpper)
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{
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strncpy(error,"Upper limit violated",iErrlen);
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return 0;
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}
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return 1;
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}
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/*------------------------------------------------------------------------*/
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static float CHGetValue(void *pData, SConnection *pCon)
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{
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pCHAdapter self = NULL;
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float fVal;
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int iRet;
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char pBueffel[80];
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self = (pCHAdapter)pData;
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assert(self);
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iRet = self->pDriv->GetPar(self->pDriv,self->pParName,pBueffel,79);
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if(!iRet)
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{
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fVal = -9999999.99;
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self->pDriv->GetError(self->pDriv,&iRet,pBueffel,79);
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SCWrite(pCon,pBueffel,eError);
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return fVal;
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}
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sscanf(pBueffel,"%f",&fVal);
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return fVal;
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}
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/*-----------------------------------------------------------------------*/
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static int CHStatus(void *pData, SConnection *pCon)
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{
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pCHAdapter self = NULL;
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int iRet, iCode;
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static int iRetry = 0;
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char pBueffel[80], pError[132];
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self = (pCHAdapter)pData;
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assert(self);
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iRet = self->pDriv->CheckPar(self->pDriv,self->pParName);
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switch(iRet)
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{
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case OKOK:
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case HWIdle:
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iRetry = 0;
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return HWIdle;
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case HWFault:
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self->pDriv->GetError(self->pDriv,&iCode,pBueffel,79);
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iRet = self->pDriv->TryFixIt(self->pDriv,iCode);
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sprintf(pError,"ERROR: %s",pBueffel);
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SCWrite(pCon,pError,eError);
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if(iRet == CHFAIL || iRetry >= 3)
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{
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iRetry = 0;
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return HWFault;
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}
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else
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{
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iRetry++;
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self->pDriv->SetPar(self->pDriv,self->pParName,
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self->fTarget);
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return HWBusy;
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}
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break;
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case HWBusy:
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return HWBusy;
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}
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return HWFault;
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}
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/*-------------------------------------------------------------------------*/
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static long CHSetValue(void *pData, SConnection *pCon, float fValue)
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{
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pCHAdapter self = NULL;
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char pBueffel[80], pError[132];
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int iRet, iCode, i;
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self = (pCHAdapter)pData;
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assert(self);
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/* check privilege */
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if(!SCMatchRights(pCon,usUser))
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{
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SCWrite(pCon,"ERROR: Insufficient privilege for driving",eError);
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return 0;
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}
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for(i = 0; i < 3; i++)
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{
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iRet = self->pDriv->SetPar(self->pDriv,self->pParName,fValue);
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if(iRet)
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{
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self->fTarget = fValue;
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return 1;
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}
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self->pDriv->GetError(self->pDriv,&iCode,pBueffel,79);
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sprintf(pError,"ERROR: %s",pBueffel);
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SCWrite(pCon,pError,eError);
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iRet = self->pDriv->TryFixIt(self->pDriv,iCode);
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if(iRet == CHFAIL)
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return 0;
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}
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return 0;
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}
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/*------------------------------------------------------------------------*/
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static void KillAdapter(void *pData)
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{
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pCHAdapter self = NULL;
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self = (pCHAdapter)pData;
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if(!self)
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return;
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if(self->pDes)
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DeleteDescriptor(self->pDes);
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if(self->pInt)
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free(self->pInt);
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if(self->pParName);
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free(self->pParName);
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free(self);
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}
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/*-----------------------------------------------------------------------
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Syntax: ChopperAdapter name choppercontroller parname upper lower
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*/
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int CHAdapterFactory(SConnection *pCon, SicsInterp *pSics, void *pData,
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int argc, char *argv[])
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{
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char pBueffel[256];
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pCHAdapter pNew = NULL;
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pChoco pChopper = NULL;
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CommandList *pCom = NULL;
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pDummy pDum = NULL;
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double dUpper, dLower;
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int iRet;
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/* do we have enough arguments? */
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if(argc < 6)
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{
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SCWrite(pCon,
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"ERROR: Insufficient number of arguments to ChopperAdapter",
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eError);
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return 0;
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}
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/* find the chopper first */
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pCom = FindCommand(pSics,argv[2]);
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if(pCom)
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{
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pDum = (pDummy)pCom->pData;
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if(pDum)
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{
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if(strcmp(pDum->pDescriptor->name,"Chopper") == 0)
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{
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pChopper = (pChoco)pCom->pData;
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}
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}
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}
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if(!pChopper)
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{
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sprintf(pBueffel,"ERROR: %s is NO chopper controller",
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argv[3]);
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SCWrite(pCon,pBueffel,eError);
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return 0;
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}
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/* interpret limits */
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iRet = Tcl_GetDouble(pSics->pTcl,argv[5],&dUpper);
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if(iRet != TCL_OK)
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{
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sprintf(pBueffel,
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"ERROR: expected numeric argument for upper limit, got %s",
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argv[4]);
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SCWrite(pCon,pBueffel,eError);
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return 0;
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}
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iRet = Tcl_GetDouble(pSics->pTcl,argv[4],&dLower);
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if(iRet != TCL_OK)
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{
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sprintf(pBueffel,
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"ERROR: expected numeric argument for lower limit, got %s",
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argv[5]);
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SCWrite(pCon,pBueffel,eError);
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return 0;
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}
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/* allocate new adapter data structure */
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pNew = (pCHAdapter)malloc(sizeof(CHAdapter));
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if(!pNew)
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{
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SCWrite(pCon,"ERROR: out of memory in ChopperAdapter",eError);
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return 0;
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}
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memset(pNew,0,sizeof(CHAdapter));
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pNew->pDes = CreateDescriptor("ChopperAdapter");
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pNew->pDriv = CHGetDriver(pChopper);
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pNew->pInt = CreateDrivableInterface();
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pNew->pParName = strdup(argv[3]);
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if( !pNew->pDes || !pNew->pDriv || !pNew->pInt || !pNew->pParName)
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{
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SCWrite(pCon,"ERROR: out of memory in ChopperAdapter",eError);
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return 0;
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}
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/* initialize other fields */
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pNew->fTarget = 0.;
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pNew->fLower = (float)dLower;
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pNew->fUpper = (float)dUpper;
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pNew->pDes->GetInterface = AdapterGetInterface;
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pNew->pInt->Halt = CHHalt;
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pNew->pInt->CheckLimits = CHLimits;
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pNew->pInt->SetValue = CHSetValue;
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pNew->pInt->CheckStatus = CHStatus;
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pNew->pInt->GetValue = CHGetValue;
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/* install command */
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iRet = AddCommand(pSics, argv[1],CHAdapterAction,KillAdapter,pNew);
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if(!iRet)
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{
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sprintf(pBueffel,
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"ERROR: duplicate ChopperAdapter command %s NOT created",
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argv[1]);
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SCWrite(pCon,pBueffel,eError);
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KillAdapter(pNew);
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return 0;
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}
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return 1;
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}
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/*------------------------------------------------------------------------*/
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int CHAdapterAction(SConnection *pCon, SicsInterp *pSics, void *pData,
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int argc, char *argv[])
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{
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pCHAdapter self = NULL;
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int iRet;
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char pBueffel[132];
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float fValue;
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self = (pCHAdapter)pData;
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assert(self);
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/* only action: get value */
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fValue = CHGetValue(self,pCon);
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if(fValue < -99000)
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{
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return 0;
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}
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else
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{
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sprintf(pBueffel,"%s = %f",argv[0],fValue);
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SCWrite(pCon,pBueffel,eValue);
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}
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return 1;
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}
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