#!/usr/bin/tclsh
#------------------------------------------------------------------------------
# Make the skeleton for a motor driver
#
# copyright: see file COPYRIGHT
#
# Mark Koennecke, July 2006
#------------------------------------------------------------------------------
if { [llength $argv] < 1} {
	puts stdout "Usage:\n\tmakemodrivskel prefix"
	exit 1
}

set prefix [lindex $argv 0]
#-----------------------------------------------------------------------------
proc stdCast {} {
	global prefix
	puts stdout "  ${prefix}MotorDriver *self = NULL;"
	puts stdout " "
	puts stdout "  self = (${prefix}MotorDriver *)data;"
}

#----------------- output datastructure
puts stdout "#include <stdlib.h>"
puts stdout "#include <sics.h>"
puts stdout "#include <modriv.h>"
puts stdout "typedef struct __${prefix}MoDriv{"
puts stdout "              /* general motor driver interface "
puts stdout "                 fields. REQUIRED!"
puts stdout "              */"
puts stdout "              float fUpper; /* upper limit */"
puts stdout "              float fLower; /* lower limit */"
puts stdout "              char *name;"
puts stdout "              int   (*GetPosition)(void *self, float *fPos);"
puts stdout "              int   (*RunTo)(void *self,float fNewVal);"
puts stdout "              int   (*GetStatus)(void *self);"
puts stdout "              void  (*GetError)(void *self, int *iCode, char *buffer, int iBufLen);"
puts stdout "              int   (*TryAndFixIt)(void *self, int iError,float fNew);"
puts stdout "              int   (*Halt)(void *self);"
puts stdout "              int   (*GetDriverPar)(void *self, char *name, "
puts stdout "                    float *value);"
puts stdout "              int    (*SetDriverPar)(void *self,SConnection *pCon,"
puts stdout "                                    char *name, float newValue);"
puts stdout "              void   (*ListDriverPar)(void *self, char *motorName,"
puts stdout "                                     SConnection *pCon);"
puts stdout "              void   (*KillPrivate)(void *self);"
puts stdout "              /* your drivers private fields follow below */"
puts stdout "             } ${prefix}MotorDriver;"
puts stdout " "


puts stdout "/*================================================================"
puts stdout "  GetPos returns OKOK on success, HWFault on failure "
puts stdout "------------------------------------------------------------------*/"
puts stdout "static int ${prefix}GetPos(void *data, float *fPos){"
stdCast
puts stdout "  return OKOK;"
puts stdout "}"

puts stdout "/*----------------------------------------------------------------"
puts stdout "  RunTo starts the motor running. Returns OKOK on success, HWfault"
puts stdout "  on Errors"
puts stdout "------------------------------------------------------------------*/"
puts stdout "static int ${prefix}RunTo(void *data, float newValue){"
stdCast
puts stdout "  return OKOK;"
puts stdout "}"

puts stdout "/*-----------------------------------------------------------------"
puts stdout " CheckStatus queries the sattus of a running motor. Possible return"
puts stdout " values can be:"
puts stdout "   HWBusy     : motor still running"
puts stdout "   HWFault    : motor error detected"
puts stdout "   HWPosFault : motor finished, but position not reached"
puts stdout "   HWIdle     : motor finished OK"
puts stdout "   HWWarn     : motor issued warning"
puts stdout "--------------------------------------------------------------------*/"
puts stdout "static int ${prefix}CheckStatus(void *data){"
stdCast
puts stdout "  return HWIdle;"
puts stdout "}"
 
puts stdout "/*------------------------------------------------------------------"
puts stdout " GetError gets more information about error which occurred"
puts stdout "  *iCode is an integer error code to be used in TryFixIt as indicator"
puts stdout "  buffer is a buffer for a text description of the problem"
puts stdout "  iBufLen is the length of buffer"
puts stdout "--------------------------------------------------------------------*/"
puts stdout "static void ${prefix}GetError(void *data, int *iCode, char *buffer,"
puts stdout "                              int iBufLen){"
stdCast
puts stdout "}"

puts stdout "/*------------------------------------------------------------------"
puts stdout " TryAndFixIt tries everything which is possible in software to fix "
puts stdout " a problem. iError is the error code from GetError, newValue is "
puts stdout " the target value for the motor"
puts stdout " Possible retrun values are:"
puts stdout "    MOTOK   : everything fixed"
puts stdout "    MOTREDO : try again "
puts stdout "    MOTFAIL : cannot fix this"
puts stdout "--------------------------------------------------------------------*/"
puts stdout "static int ${prefix}FixIt(void *data, int iError, float newValue){"
stdCast
puts stdout "  return MOTFAIL;"
puts stdout "}"

puts stdout "/*-------------------------------------------------------------------"
puts stdout " Halt tries to stop the motor. Halt errors are ignored"
puts stdout "---------------------------------------------------------------------*/"
puts stdout "static int ${prefix}Halt(void *data){"
stdCast
puts stdout "  return 1;"
puts stdout "}"
   
puts stdout "/*--------------------------------------------------------------------"
puts stdout " GetDriverPar retrieves the value of a driver parameter."   
puts stdout " Name is the name of the parameter, fValue the value when found."
puts stdout " Returns 0 on success, 0 else"
puts stdout "-----------------------------------------------------------------------*/"
puts stdout "static int ${prefix}GetDriverPar(void *data, char *name, float *value){"
stdCast
puts stdout "  return 0;"
puts stdout "}"

puts stdout "/*----------------------------------------------------------------------"
puts stdout " SetDriverPar sets a driver parameter. Returns 0 on failure, 1 on "
puts stdout "  success. Name is the parameter name, pCon the connection to report"
puts stdout "  errors too, value the new value"
puts stdout "------------------------------------------------------------------------*/"
puts stdout "static int ${prefix}SetDriverPar(void *data, SConnection *pCon,"
puts stdout "                                 char *name, float value){"
stdCast
puts stdout "   return 0;"
puts stdout "}"

puts stdout "/*-----------------------------------------------------------------------"
puts stdout "   ListDriverPar lists the names and values of driver parameters to "
puts stdout "   pCon. Motorname is the name of the motor ro prefix to the listing."
puts stdout "-------------------------------------------------------------------------*/"
puts stdout "static void ${prefix}ListDriverPar(void *data, char *motorname, "
puts stdout "                                   SConnection *pCon){"
stdCast
puts stdout "}"

puts stdout "/*-----------------------------------------------------------------------"
puts stdout " KillPrivate has the task to delete possibly dynamically allocated "
puts stdout " memory in the private part of the driver structure"
puts stdout "------------------------------------------------------------------------*/"
puts stdout "static void ${prefix}KillPrivate(void *data){"
stdCast
puts stdout "}"

puts stdout "/*=======================================================================*/"
puts stdout "MotorDriver *${prefix}MakeMotorDriver(void) {"
puts stdout "   ${prefix}MotorDriver *pNew = NULL;"
puts stdout ""
puts stdout "   pNew = malloc(sizeof(${prefix}MotorDriver));"
puts stdout "   if(pNew == NULL){"
puts stdout "     return NULL;"
puts stdout "   }"
puts stdout "   memset(pNew,0,sizeof(${prefix}MotorDriver));"
puts stdout " "
puts stdout "   pNew->GetPosition    = ${prefix}GetPos;"
puts stdout "   pNew->RunTo          = ${prefix}RunTo;"
puts stdout "   pNew->Halt           = ${prefix}Halt;"
puts stdout "   pNew->GetStatus      = ${prefix}CheckStatus;"
puts stdout "   pNew->GetError       = ${prefix}GetError;"
puts stdout "   pNew->TryAndFixIt    = ${prefix}FixIt;"
puts stdout "   pNew->GetDriverPar   = ${prefix}GetDriverPar;"
puts stdout "   pNew->SetDriverPar   = ${prefix}SetDriverPar;"
puts stdout "   pNew->ListDriverPar  = ${prefix}ListDriverPar;"
puts stdout "   pNew->KillPrivate    = ${prefix}KillPrivate;"
puts stdout " "
puts stdout "   return (MotorDriver *)pNew;"
puts stdout "}"
puts stdout ""