129 lines
5.4 KiB
Tcl
Executable File
129 lines
5.4 KiB
Tcl
Executable File
#!/usr/bin/tclsh
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#---------------------------------------------------------------
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# Create the skeleton of a drivable object with the correct
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# interface functions and some more.
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#
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# Mark Koennecke, September 2005
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#---------------------------------------------------------------
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if { [llength $argv] < 2} {
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puts stdout "usage:\n\tmakedriveskel prefix datastuctname"
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exit 1
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}
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set prefix [lindex $argv 0]
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set structname [lindex $argv 1]
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#------------- GetInterface function
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puts stdout "/*---------------------------------------------------------------*/"
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puts stdout "static void *${prefix}GetInterface(void *data, int iD){"
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puts stdout " $structname self = NULL; "
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puts stdout " "
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puts stdout " self = ($structname)data;"
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puts stdout " if(self != NULL && iD == DRIVEID){"
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puts stdout " return self->pDriv;"
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puts stdout " } else {"
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puts stdout " return NULL;"
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puts stdout " }"
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puts stdout " return NULL;"
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puts stdout "}"
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#------------------- Halt
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puts stdout "/*----------------------------------------------------------------"
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puts stdout " This routine can return either OKOK or HWFault when thing"
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puts stdout " go wrong. However, the return value of Halt is usually ignored!"
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puts stdout "------------------------------------------------------------------*/"
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puts stdout "static int ${prefix}Halt(void *data) {"
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puts stdout " $structname self = NULL; "
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puts stdout " "
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puts stdout " self = ($structname)data;"
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puts stdout ""
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puts stdout " return OKOK; "
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puts stdout "}"
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#------------------ CheckLimits
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puts stdout "/*----------------------------------------------------------------"
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puts stdout " This routine can return either 1 or 0. 1 means the position can "
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puts stdout " be reached, 0 NOT"
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puts stdout " If 0, error shall contain up to errlen characters of information"
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puts stdout " about which limit was violated"
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puts stdout "------------------------------------------------------------------*/"
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puts stdout "static int ${prefix}CheckLimits(void *data, float val,"
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puts stdout " char *error, int errlen){"
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puts stdout " $structname self = NULL; "
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puts stdout " "
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puts stdout " self = ($structname)data;"
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puts stdout ""
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puts stdout " return 1; "
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puts stdout "}"
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#----------------- SetValue
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puts stdout "/*----------------------------------------------------------------"
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puts stdout " This routine can return 0 when a limit problem occurred "
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puts stdout " OKOK when the motor was successfully started "
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puts stdout " HWFault when a problem occured starting the device"
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puts stdout " Possible errors shall be printed to pCon"
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puts stdout " For real motors, this is supposed to try at least three times"
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puts stdout " to start the motor in question"
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puts stdout " val is the value to drive the motor too"
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puts stdout "------------------------------------------------------------------*/"
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puts stdout "static long ${prefix}SetValue(void *data, SConnection *pCon, float val){"
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puts stdout " $structname self = NULL; "
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puts stdout " "
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puts stdout " self = ($structname)data;"
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puts stdout ""
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puts stdout " return 1; "
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puts stdout "}"
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#-------------- CheckStatus
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puts stdout "/*----------------------------------------------------------------"
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puts stdout " Checks the status of a running motor. Possible return values"
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puts stdout " HWBusy The motor is still running"
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puts stdout " OKOK or HWIdle when the motor finished driving"
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puts stdout " HWFault when a hardware problem ocurred"
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puts stdout " HWPosFault when the hardware cannot reach a position"
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puts stdout " Errors are duly to be printed to pCon"
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puts stdout " For real motors CheckStatus again shall try hard to fix any "
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puts stdout " issues with the motor "
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puts stdout "------------------------------------------------------------------*/"
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puts stdout "static int ${prefix}CheckStatus(void *data, SConnection *pCon){"
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puts stdout " $structname self = NULL; "
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puts stdout " "
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puts stdout " self = ($structname)data;"
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puts stdout ""
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puts stdout " return 1; "
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puts stdout "}"
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#----------------- GetValue
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puts stdout "/*----------------------------------------------------------------"
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puts stdout " GetValue is supposed to read a motor position"
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puts stdout " On errors, -99999999.99 is returned and messages printed to pCon"
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puts stdout "------------------------------------------------------------------*/"
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puts stdout "static float ${prefix}GetValue(void *data, SConnection *pCon){"
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puts stdout " $structname self = NULL; "
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puts stdout " float val = -99999999.99;"
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puts stdout " "
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puts stdout " self = ($structname)data;"
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puts stdout ""
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puts stdout " return val; "
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puts stdout "}"
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#---------------MakeObject
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puts stdout "/*----------------------------------------------------------------"
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puts stdout " returns NULL on failure, a new datastructure else"
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puts stdout "------------------------------------------------------------------*/"
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puts stdout "static $structname ${prefix}MakeObject(){"
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puts stdout " $structname self = NULL; "
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puts stdout ""
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puts stdout " self->pDes->GetInterface = ${prefix}GetInterface;"
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puts stdout " self->pDriv->Halt = ${prefix}Halt;"
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puts stdout " self->pDriv->CheckLimits = ${prefix}CheckLimits;"
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puts stdout " self->pDriv->SetValue = ${prefix}SetValue;"
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puts stdout " self->pDriv->CheckStatus = ${prefix}CheckStatus;"
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puts stdout " self->pDriv->GetValue = ${prefix}GetValue;"
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puts stdout ""
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puts stdout " return self;"
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puts stdout "}"
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puts stdout ""
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