sics/velosim.c

/*--------------------------------------------------------------------------
              		       V E L O S I M
              		       
     A software simulation for a velocity selector. For the case the
     real one is broken(most of the time) and you need to test the 
     software or for simulation purposes.
     
     Author: Mark Koennecke, June 1997
     
     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 <string.h>
#include <stdlib.h>
#include <assert.h>
#include <math.h>
#include <time.h>
#include <strlutil.h>
#include "fortify.h"
#include "conman.h"
#include "stringdict.h"
#include "event.h"
#include "logv2.h"
typedef struct __VelSelDriv *pVelSelDriv;

#include "velodriv.h"

/* VELO* MUST be the same as in velo.i!*/
#define VELOREDO  2
#define VELOFAIL  0
#define VELOOK    1
#define VSNOCON 0
#define VSOK    1
#define VSACCEL -7
#define VSFAIL -2

#define FAILURE 1               /* a flat 1% error rate for trouble detection */


/* -------- A private datastructure for velocity selector simulation */

typedef struct {
  long lTime;
  float fPos;
} Simi, *pSimi;

/*----------------------------------------------------------------------------*/
static float SimRandom(void)
{
  float fVal;

  fVal = ((float) rand() / (float) RAND_MAX) * 100.0;
  return fVal;
}

/*---------------------------------------------------------------------------*/
static int RunComplete(pVelSelDriv self)
{
  time_t tD;
  pSimi pDriv;

  pDriv = (pSimi) self->pPrivate;
  if ((int) time(&tD) > pDriv->lTime) {
    return 1;
  }
  return 0;
}

/*--------------------------------------------------------------------------*/
static int SimInit(pVelSelDriv self, SConnection * pCon)
{
  pSimi pDriv;

  assert(self);

  pDriv = (pSimi) self->pPrivate;
  pDriv->fPos = 0.0;
  return 1;
}

/*----------------------------------------------------------------------------*/

static int GetSimPos(pVelSelDriv self, float *fPos)
{

  pSimi pDriv;

  assert(self);
  if (SimRandom() < FAILURE) {
    *fPos = SimRandom();
    return VELOFAIL;
  }

  pDriv = (pSimi) self->pPrivate;
  if (RunComplete(self)) {
    *fPos = pDriv->fPos;
  } else {                      /* simulate a selector running at a strange speed */

    if (SimRandom() < FAILURE) {
      *fPos = pDriv->fPos - 10.;
    } else {
      *fPos = pDriv->fPos;
    }
    return VELOOK;
  }
  return VELOOK;
}

/*----------------------------------------------------------------------------*/
static int SimRun(pVelSelDriv self, float fVal)
{
  float fDiff;
  time_t tD;
  pSimi pDriv;

  assert(self);

  /* calculate time for completion */
  pDriv = (pSimi) self->pPrivate;
  fDiff = fVal - pDriv->fPos;
  if (fDiff < .0)
    fDiff = -fDiff;
  pDriv->lTime = (int) time(&tD) + (int) (fDiff / 10000.);

  /* in a fifth the failures, simply die, else simply do not find pos */
  if (SimRandom() < (FAILURE / 5)) {
    return HWFault;
  } else {
    pDriv->fPos = fVal;
    return OKOK;
  }
}

/*--------------------------------------------------------------------------*/
static int SimError(pVelSelDriv self, int *iCode, char *error, int iErrLen)
{
  assert(self);

  if (RunComplete(self)) {
    *iCode = 56;
    strlcpy(error,
            "ERROR: HW: Simulated selector error on simulated selector",
            iErrLen);
  } else {
    *iCode = 12;
    strlcpy(error, "Selector still creeping along", iErrLen - 1);
  }
  return 1;
}

/*---------------------------------------------------------------------------*/
static int SimFix(pVelSelDriv self, int iError)
{
  float fRand;

  /* return the three values MOTREDO, MOTFAIL, MOTOK with a third
     randomness
   */
  assert(self);
  fRand = SimRandom();

  if (iError == 12) {
    return VELOREDO;
  }

  Log(ERROR,"dev","%s","Selector dying randomly");
  if (fRand < 0.3333) {
    return VELOOK;
  } else if (fRand < 0.66666) {
    return VELOREDO;
  } else {
    return VELOFAIL;
  }
}

/*--------------------------------------------------------------------------*/
static int SimHalt(pVelSelDriv self)
{
  pSimi pDriv;

  assert(self);
  pDriv = (pSimi) self->pPrivate;

  pDriv->lTime = 0;
  return OKOK;
}

/*--------------------------------------------------------------------------*/
static int SimStat(pVelSelDriv self, int *iCode, float *fVal)
{
  pSimi pDriv;

  assert(self);
  pDriv = (pSimi) self->pPrivate;

  *iCode = ROTMOVE;
  if (RunComplete(self)) {
    *fVal = pDriv->fPos;
    return VSOK;
  } else {
    if (SimRandom() < FAILURE / 2) {
      return VSFAIL;
    } else if (SimRandom() < FAILURE) {
      return VSFAIL;
    }
    *fVal = random() / 150678;
    return VSACCEL;
  }
}

/*-------------------------------------------------------------------------*/
static int SimText(pVelSelDriv self, char *pText, int iTextLen)
{
  strlcpy(pText, "Simulated Info on a simulated velocity selector",
          iTextLen);
  return 1;
}

/*------------------------------------------------------------------------*/
static int SimLoss(pVelSelDriv self, float *fLoss)
{
  *fLoss = 20.33338;
  return 1;
}

/*-------------------------------------------------------------------------*/
static void SimKill(void *pData)
{
  free(pData);
}

/*-------------------------------------------------------------------------*/
pVelSelDriv VSCreateSim(void)
{
  pVelSelDriv pNew = NULL;

  /* business as usual: allocate memory */
  pNew = (pVelSelDriv) malloc(sizeof(VelSelDriv));
  if (!pNew) {
    return NULL;
  }
  /* zero the world */
  memset(pNew, 0, sizeof(VelSelDriv));
  pNew->pPrivate = malloc(sizeof(Simi));
  if (!pNew->pPrivate) {
    free(pNew);
    return NULL;
  }

  /* initialise function pointers */
  pNew->DeletePrivate = SimKill;
  pNew->Halt = SimHalt;
  pNew->GetError = SimError;
  pNew->TryAndFixIt = SimFix;
  pNew->GetRotation = GetSimPos;
  pNew->SetRotation = SimRun;
  pNew->GetStatus = SimStat;
  pNew->GetDriverText = SimText;
  pNew->GetLossCurrent = SimLoss;
  pNew->Init = SimInit;

  /* done it */
  return pNew;
}

/*--------------------------------------------------------------------------*/
void VSDeleteDriver(pVelSelDriv self)
{
  assert(self);

  /* try to delete the private parts */
  if (self->DeletePrivate) {
    self->DeletePrivate(self->pPrivate);
  }

  /* now we cleans ourselves */
  free(self);
}