Initial revision
This commit is contained in:
cvs
439
drive.c
Normal file
439
drive.c
Normal file
@ -0,0 +1,439 @@
|
||||
/*--------------------------------------------------------------------------
|
||||
|
||||
Implementation file for the drive command
|
||||
|
||||
This version as Test for Device Executor.
|
||||
|
||||
Mark Koennecke, December 1996
|
||||
|
||||
Copyright:
|
||||
|
||||
Labor fuer Neutronenstreuung
|
||||
Paul Scherrer Institut
|
||||
CH-5423 Villigen-PSI
|
||||
|
||||
|
||||
The authors hereby grant permission to use, copy, modify, distribute,
|
||||
and license this software and its documentation for any purpose, provided
|
||||
that existing copyright notices are retained in all copies and that this
|
||||
notice is included verbatim in any distributions. No written agreement,
|
||||
license, or royalty fee is required for any of the authorized uses.
|
||||
Modifications to this software may be copyrighted by their authors
|
||||
and need not follow the licensing terms described here, provided that
|
||||
the new terms are clearly indicated on the first page of each file where
|
||||
they apply.
|
||||
|
||||
IN NO EVENT SHALL THE AUTHORS OR DISTRIBUTORS BE LIABLE TO ANY PARTY
|
||||
FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
|
||||
ARISING OUT OF THE USE OF THIS SOFTWARE, ITS DOCUMENTATION, OR ANY
|
||||
DERIVATIVES THEREOF, EVEN IF THE AUTHORS HAVE BEEN ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGE.
|
||||
|
||||
THE AUTHORS AND DISTRIBUTORS SPECIFICALLY DISCLAIM ANY WARRANTIES,
|
||||
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE, AND NON-INFRINGEMENT. THIS SOFTWARE
|
||||
IS PROVIDED ON AN "AS IS" BASIS, AND THE AUTHORS AND DISTRIBUTORS HAVE
|
||||
NO OBLIGATION TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR
|
||||
MODIFICATIONS.
|
||||
------------------------------------------------------------------------------*/
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <assert.h>
|
||||
#include <string.h>
|
||||
#include "fortify.h"
|
||||
#include "drive.h"
|
||||
#include "obdes.h"
|
||||
#include "interface.h"
|
||||
#include "SCinter.h"
|
||||
#include "conman.h"
|
||||
#include "nserver.h" /* for SicsWait */
|
||||
#include "drive.h"
|
||||
#include "splitter.h"
|
||||
#include "status.h"
|
||||
#include "devexec.h"
|
||||
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
int Drive(SConnection *pCon, SicsInterp *pInter, char *name, float fNew)
|
||||
{
|
||||
CommandList *pObject = NULL;
|
||||
pObjectDescriptor pDes = NULL;
|
||||
pIDrivable pInt = NULL;
|
||||
Dummy *pDum;
|
||||
char pBueffel[512];
|
||||
int iRet;
|
||||
float fDelta, fPos;
|
||||
long lTime;
|
||||
|
||||
assert(pCon);
|
||||
assert(pInter);
|
||||
|
||||
/* check if user is allowed to drive */
|
||||
if(!SCMatchRights(pCon,usUser))
|
||||
{
|
||||
sprintf(pBueffel,"Insuficient Privilege to drive %s",
|
||||
name);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* first try to find the thing to drive */
|
||||
pObject = FindCommand(pInter,name);
|
||||
if(!pObject)
|
||||
{
|
||||
sprintf(pBueffel,"Cannot find %s to drive ", name);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* get the Descriptor, this RELIES on the descriptor being the first
|
||||
thing in the struct
|
||||
*/
|
||||
pDum = (Dummy *)pObject->pData;
|
||||
pDes = pDum->pDescriptor;
|
||||
if(!pDes)
|
||||
{
|
||||
sprintf(pBueffel,"%s is NOT drivable!",pDes->name);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* both scanable and drivable objects can be driven, check this
|
||||
and act accordingly
|
||||
*/
|
||||
|
||||
pInt = pDes->GetInterface(pDum,DRIVEID);
|
||||
if(!pInt)
|
||||
{
|
||||
sprintf(pBueffel,"%s is NOT drivable!",pDes->name);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
return 0;
|
||||
}
|
||||
if(pInt)
|
||||
{
|
||||
iRet = pInt->CheckLimits(pDum,fNew,pBueffel,511);
|
||||
if(!iRet)
|
||||
{
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
SCSetInterrupt(pCon,eAbortOperation);
|
||||
return 0;
|
||||
}
|
||||
iRet = StartDevice(GetExecutor(),name,pDes,pDum,pCon,fNew);
|
||||
if(!iRet)
|
||||
{
|
||||
sprintf(pBueffel,"ERROR: cannot start device %s",name);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* wait for finish */
|
||||
iRet = Wait4Success(GetExecutor());
|
||||
fPos = pInt->GetValue(pDum,pCon);
|
||||
if(iRet == DEVINT)
|
||||
{
|
||||
if(SCGetInterrupt(pCon) == eAbortOperation)
|
||||
{
|
||||
SCSetInterrupt(pCon,eContinue);
|
||||
SCSetError(pCon,OKOK);
|
||||
sprintf(pBueffel,"Driving %s aborted at %9.3f",name, fPos);
|
||||
SCWrite(pCon,pBueffel,eStatus);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
else if(iRet == DEVDONE)
|
||||
{
|
||||
sprintf(pBueffel,"Driving %s to %9.3f done", name, fPos);
|
||||
SCWrite(pCon,pBueffel,eStatus);
|
||||
return 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
sprintf(pBueffel,
|
||||
"Driving %s finished with problems, position: %9.3f",name,fPos);
|
||||
SCWrite(pCon,pBueffel,eStatus);
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
sprintf(pBueffel,"%s is NOT drivable",pDes->name);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
return 0;
|
||||
}
|
||||
/*---------------------------------------------------------------------------*/
|
||||
int Start2Run(SConnection *pCon, SicsInterp *pInter, char *name, float fNew)
|
||||
{
|
||||
CommandList *pObject = NULL;
|
||||
pObjectDescriptor pDes = NULL;
|
||||
pIDrivable pInt = NULL;
|
||||
Dummy *pDum;
|
||||
char pBueffel[512];
|
||||
int iRet;
|
||||
float fDelta;
|
||||
long lTime;
|
||||
|
||||
assert(pCon);
|
||||
assert(pInter);
|
||||
|
||||
/* check if user is allowed to drive */
|
||||
if(!SCMatchRights(pCon,usUser))
|
||||
{
|
||||
sprintf(pBueffel,"Insuficient Privilege to drive %s",
|
||||
name);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* first try to find the thing to drive */
|
||||
pObject = FindCommand(pInter,name);
|
||||
if(!pObject)
|
||||
{
|
||||
sprintf(pBueffel,"Cannot find %s to drive ", name);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* get the Descriptor, this RELIES on the descriptor being the first
|
||||
thing in the struct
|
||||
*/
|
||||
pDum = (Dummy *)pObject->pData;
|
||||
pDes = pDum->pDescriptor;
|
||||
if(!pDes)
|
||||
{
|
||||
sprintf(pBueffel,"%s is NOT drivable!",pDes->name);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* Only drivable objects can be driven, check this
|
||||
and act accordingly
|
||||
*/
|
||||
pInt = pDes->GetInterface(pDum,DRIVEID);
|
||||
if(!pInt)
|
||||
{
|
||||
sprintf(pBueffel,"%s is NOT drivable!",pDes->name);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
return 0;
|
||||
}
|
||||
if(pInt)
|
||||
{
|
||||
iRet = pInt->CheckLimits(pDum,fNew,pBueffel,511);
|
||||
if(!iRet)
|
||||
{
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
SCSetInterrupt(pCon,eAbortOperation);
|
||||
return 0;
|
||||
}
|
||||
iRet = StartDevice(GetExecutor(),name,pDes,pDum,pCon,fNew);
|
||||
if(!iRet)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
sprintf(pBueffel,"%s is NOT drivable",pDes->name);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
/*-------------------------------------------------------------------------
|
||||
This is meant to be called specially from DriveWrapper at at stage when
|
||||
we already know, that name is a drivable motor. Thus no error checking
|
||||
is performed. Do not use this in any other context!!!!
|
||||
*/
|
||||
static float findPosition(SicsInterp *pSics, SConnection *pCon, char *name)
|
||||
{
|
||||
CommandList *pObject = NULL;
|
||||
pObjectDescriptor pDes = NULL;
|
||||
pIDrivable pInt = NULL;
|
||||
Dummy *pDum = NULL;
|
||||
|
||||
pObject = FindCommand(pSics,name);
|
||||
if(pObject)
|
||||
{
|
||||
pDum = (Dummy *)pObject->pData;
|
||||
if(pDum)
|
||||
{
|
||||
pDes = pDum->pDescriptor;
|
||||
if(pDes)
|
||||
{
|
||||
pInt = pDes->GetInterface(pDum,DRIVEID);
|
||||
return pInt->GetValue(pDum,pCon);
|
||||
}
|
||||
}
|
||||
}
|
||||
return -999.99;
|
||||
}
|
||||
/*--------------------------------------------------------------------------*/
|
||||
int DriveWrapper(SConnection *pCon, SicsInterp *pSics, void *pData,
|
||||
int argc, char *argv[])
|
||||
{
|
||||
int iRet,i;
|
||||
char pBueffel[512];
|
||||
Status eOld;
|
||||
|
||||
assert(pCon);
|
||||
assert(pSics);
|
||||
|
||||
/* check Status */
|
||||
eOld = GetStatus();
|
||||
|
||||
|
||||
argtolower(argc,argv);
|
||||
/* check no of args */
|
||||
if(argc < 3)
|
||||
{
|
||||
sprintf(pBueffel,"Insufficient number of args. Usage %s name val",
|
||||
argv[0]);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* check authorisation */
|
||||
if(!SCMatchRights(pCon,usUser))
|
||||
{
|
||||
SCWrite(pCon,
|
||||
"ERROR: You are not authorized to use the drive command",eError);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* interprete arguments as pairs name value and try to start */
|
||||
SetStatus(eDriving);
|
||||
for(i = 1; i < argc; i+=2)
|
||||
{
|
||||
if(argv[i+1] == NULL)
|
||||
{
|
||||
sprintf(pBueffel,"ERROR: no value found for driving %s",
|
||||
argv[i]);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
SetStatus(eOld);
|
||||
return 0;
|
||||
}
|
||||
iRet = Start2Run(pCon,pSics,argv[i],atof(argv[i+1]));
|
||||
if(!iRet)
|
||||
{
|
||||
sprintf(pBueffel,"ERROR: cannot run %s to %s",argv[i],argv[i+1]);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
StopExe(GetExecutor(),"ALL");
|
||||
SetStatus(eOld);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
/* wait for completion */
|
||||
iRet = Wait4Success(GetExecutor());
|
||||
|
||||
/* print positions */
|
||||
for(i = 1; i < argc; i += 2)
|
||||
{
|
||||
sprintf(pBueffel,"New %s position: %9.3f",argv[i],
|
||||
findPosition(pSics,pCon,argv[i]));
|
||||
SCWrite(pCon,pBueffel,eValue);
|
||||
}
|
||||
|
||||
/* check the completion status */
|
||||
if(iRet == DEVERROR)
|
||||
{
|
||||
sprintf(pBueffel,"Driving finished with problem",argv[0]);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
ClearExecutor(GetExecutor());
|
||||
SetStatus(eOld);
|
||||
return 1;
|
||||
}
|
||||
else if(iRet == DEVINT)
|
||||
{
|
||||
SCWrite(pCon,"Driving Interrupted",eError);
|
||||
ClearExecutor(GetExecutor());
|
||||
SetStatus(eOld);
|
||||
return 0;
|
||||
}
|
||||
SCWrite(pCon,"Driving finished sucessfully",eStatus);
|
||||
SetStatus(eOld);
|
||||
return 1;
|
||||
}
|
||||
/*---------------------------------------------------------------------------*/
|
||||
int RunWrapper(SConnection *pCon, SicsInterp *pSics, void *pData,
|
||||
int argc, char *argv[])
|
||||
{
|
||||
int iRet, i;
|
||||
char pBueffel[512];
|
||||
Status eOld;
|
||||
|
||||
assert(pCon);
|
||||
assert(pSics);
|
||||
|
||||
/* check Status */
|
||||
eOld = GetStatus();
|
||||
|
||||
|
||||
/* check no of args */
|
||||
if(argc < 3)
|
||||
{
|
||||
sprintf(pBueffel,"Insufficient number of args. Usage %s name val",
|
||||
argv[0]);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* check authorisation */
|
||||
if(!SCMatchRights(pCon, usUser))
|
||||
{
|
||||
SCWrite(pCon,
|
||||
"ERROR: You are not authorized to use the drive command",eError);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* interprete arguments as pairs name value and try to start */
|
||||
SetStatus(eDriving);
|
||||
for(i = 1; i < argc; i+=2)
|
||||
{
|
||||
if(argv[i+1] == NULL)
|
||||
{
|
||||
sprintf(pBueffel,"ERROR: no value found for driving %s",
|
||||
argv[i]);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
SetStatus(eOld);
|
||||
return 0;
|
||||
}
|
||||
iRet = Start2Run(pCon,pSics,argv[i],atof(argv[i+1]));
|
||||
if(!iRet)
|
||||
{
|
||||
sprintf(pBueffel,"ERROR: cannot run %s to %s",argv[i],argv[i+1]);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
StopExe(GetExecutor(),"ALL");
|
||||
SetStatus(eOld);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
/*---------------------------------------------------------------------------*/
|
||||
int MakeDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
|
||||
int argc, char *argv[])
|
||||
{
|
||||
int iRet;
|
||||
char pBueffel[512];
|
||||
|
||||
assert(pCon);
|
||||
assert(pSics);
|
||||
|
||||
iRet = AddCommand(pSics,"drive", DriveWrapper,NULL,NULL);
|
||||
if(!iRet)
|
||||
{
|
||||
sprintf(pBueffel,"ERROR: duplicate command drive not created",argv[2]);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
return 0;
|
||||
}
|
||||
iRet = AddCommand(pSics,"run", RunWrapper,NULL,NULL);
|
||||
if(!iRet)
|
||||
{
|
||||
sprintf(pBueffel,"ERROR: duplicate command run not created",argv[2]);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
return 0;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user