10d29d597c
This is our new RELEASE-4_0 branch which was taken from ansto/93d9a7c Conflicts: .gitignore SICSmain.c asynnet.c confvirtualmot.c counter.c devexec.c drive.c event.h exebuf.c exeman.c histmem.c interface.h motor.c motorlist.c motorsec.c multicounter.c napi.c napi.h napi4.c network.c nwatch.c nxscript.c nxxml.c nxxml.h ofac.c reflist.c scan.c sicshipadaba.c sicsobj.c site_ansto/docs/Copyright.txt site_ansto/instrument/lyrebird/config/tasmad/sicscommon/nxsupport.tcl site_ansto/instrument/lyrebird/config/tasmad/taspub_sics/tasscript.tcl statusfile.c tasdrive.c tasub.c tasub.h tasublib.c tasublib.h
86 lines
2.7 KiB
C
86 lines
2.7 KiB
C
/*--------------------------------------------------------------------------
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SICS needs to run motors. This is where this happens.
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Mark Koennecke, November 1996
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copyright: see implementation file
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----------------------------------------------------------------------------*/
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#ifndef SICSMOTOR
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#define SICSMOTOR
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#include "Scommon.h"
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#include "obpar.h"
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#include "modriv.h"
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#include "obdes.h"
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#include "interface.h"
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#include "hipadaba.h"
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#define MOTOBPARLENGTH 12
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typedef struct __Motor {
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pObjectDescriptor pDescriptor;
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pHdb objectNode;
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pIDrivable pDrivInt;
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pICallBack pCall;
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int (*MotorSetPar) (struct __Motor * self, SConnection * pCon,
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char *name, float fVal);
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int (*MotorGetPar) (struct __Motor * self, char *name, float *fVal);
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int (*MotorGetHardPosition) (struct __Motor * self, SConnection * pCon,
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float *fVal);
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char *drivername;
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char *name;
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char *error;
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MotorDriver *pDriver;
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float fTarget;
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float fPosition;
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long endScriptID;
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int posCount; /* counter for calling the
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motor callback */
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int retryCount; /* for retries in status */
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int posFaultCount;
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int stopped;
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int stopReported;
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int errorCount;
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int running;
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int moving;
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double last_report_time;
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ObjectFunc pActionRoutine;
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ObPar *ParArray;
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void *pPrivate;
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void (*KillPrivate) (void *);
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} Motor;
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typedef Motor *pMotor;
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/*------------------------------------------------------------------------
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a tiny structure used in CallBack work
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--------------------------------------------------------------------------*/
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typedef struct {
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float fVal;
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char *pName;
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} MotCallback;
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/*-------------------------------------------------------------------------*/
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/* parameter management */
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int MotorGetPar(pMotor self, char *name, float *fVal);
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int MotorSetPar(pMotor self, SConnection * pCon, char *name, float fVal);
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/* driving */
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long MotorRun(void *self, SConnection * pCon, float fNew);
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int MotorCheckBoundary(pMotor self, float fVal, float *fHard,
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char *error, int iErrLen);
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/* Where are we ? */
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int MotorGetSoftPosition(pMotor self, SConnection * pCon, float *fVal);
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int MotorGetHardPosition(pMotor self, SConnection * pCon, float *fVal);
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/* creation */
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int MotorCreate(SConnection * pCon, SicsInterp * pSics, void *pData,
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int argc, char *argv[]);
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pMotor MotorInit(char *drivername, char *name, MotorDriver * pDriv);
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void MotorKill(void *self);
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/* interface to interpreter */
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int MotorAction(SConnection * pCon, SicsInterp * pSics, void *pData,
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int argc, char *argv[]);
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pMotor FindMotor(SicsInterp * pSics, char *name);
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#endif
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