0915491925
- Added a drivable adapter to scriptcontext nodes - Added subsampling to simulated histograms (and as a general option) in order to support Gumtree testing.
267 lines
8.4 KiB
C
267 lines
8.4 KiB
C
/**
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* This is an adapter to a node under the control of the new
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* scriptcontext generic device model. This is a wrapper around
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* such a node which implements the drivable interface.
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*
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* Soem cooperation from the node is required: It has to provide
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* certain properties the value of which define scripts which
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* have to be called at various stages. These are:
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*
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* checklimits, for limits checking
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* checkstatus, for evaluating progress
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* halt , for halting things
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*
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* copyright: see file COPYRIGHT
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*
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* Mark Koennecke, June 2008
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* --------------------------------------------------------------*/
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#include <sics.h>
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#include <sicshipadaba.h>
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#include <devser.h>
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#include <tcl.h>
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#include <macro.h>
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#include <sicsobj.h>
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/*------------- Some things from scriptcontext.c ----------------*/
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typedef struct SctController SctController;
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typedef struct SctData SctData;
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SctData *SctQueueNode(SctController *controller, pHdb node,
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DevPrio prio, char *action);
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int SctCallInContext(SConnection *con, char *script, Hdb *node,
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SctController *controller, char **resPtr);
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/*---------------------------------------------------------------*/
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typedef struct {
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pObjectDescriptor pDes;
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pIDrivable pDriv;
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pHdb node;
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SctController *c;
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}SctDrive, *pSctDrive;
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/*---------------------------------------------------------------*/
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static void *SCTDRIVGetInterface(void *data, int iD){
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pSctDrive self = NULL;
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self = (pSctDrive)data;
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if(self != NULL && iD == DRIVEID){
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return self->pDriv;
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} else {
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return NULL;
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}
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return NULL;
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}
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/*----------------------------------------------------------------
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This routine can return either OKOK or HWFault when thing
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go wrong. However, the return value of Halt is usually ignored!
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------------------------------------------------------------------*/
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static int SCTDRIVHalt(void *data) {
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pSctDrive self = NULL;
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self = (pSctDrive)data;
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SctQueueNode(self->c, self->node, HaltPRIO, "halt");
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/*
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* SctQueueNode returns a dynamically allocated SctData
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* structure. I am not sure if this is not really a memory
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* leak
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*/
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return OKOK;
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}
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/*----------------------------------------------------------------
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This routine can return either 1 or 0. 1 means the position can
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be reached, 0 NOT
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If 0, error shall contain up to errlen characters of information
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about which limit was violated
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------------------------------------------------------------------*/
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static int SCTDRIVCheckLimits(void *data, float val,
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char *error, int errlen){
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pSctDrive self = NULL;
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char script[1024];
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int status;
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Tcl_Interp *pTcl = NULL;
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char *result;
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self = (pSctDrive)data;
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snprintf(script,1024,"%f", val);
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SetHdbProperty(self->node,"target", script);
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if(GetHdbProperty(self->node,"checklimits",script,1024)){
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status = SctCallInContext(pServ->dummyCon, script,
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self->node, self->c, &result);
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if(status == 0){
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strncpy(error,result,errlen);
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}
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}
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return 1;
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}
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/*----------------------------------------------------------------
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This routine can return 0 when a limit problem occurred
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OKOK when the motor was successfully started
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HWFault when a problem occured starting the device
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Possible errors shall be printed to pCon
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For real motors, this is supposed to try at least three times
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to start the motor in question
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val is the value to drive the motor too
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------------------------------------------------------------------*/
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static long SCTDRIVSetValue(void *data, SConnection *pCon, float val){
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pSctDrive self = NULL;
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int status;
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hdbValue v;
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self = (pSctDrive)data;
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v.dataType = HIPFLOAT;
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v.v.doubleValue = (double)val;
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status = SetHipadabaPar(self->node, v, pCon);
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if(status == 1){
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return OKOK;
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} else {
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return HWFault;
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}
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}
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/*----------------------------------------------------------------
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Checks the status of a running motor. Possible return values
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HWBusy The motor is still running
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OKOK or HWIdle when the motor finished driving
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HWFault when a hardware problem ocurred
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HWPosFault when the hardware cannot reach a position
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Errors are duly to be printed to pCon
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For real motors CheckStatus again shall try hard to fix any
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issues with the motor
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------------------------------------------------------------------*/
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static int SCTDRIVCheckStatus(void *data, SConnection *pCon){
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pSctDrive self = NULL;
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char script[1024];
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int status;
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Tcl_Interp *pTcl = NULL;
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char *result;
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self = (pSctDrive)data;
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if(GetHdbProperty(self->node,"checkstatus",script,1024)){
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status = SctCallInContext(pCon,script, self->node,
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self->c, &result);
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if(status == 1){
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if(strstr(result,"busy") != NULL){
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return HWBusy;
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} else if(strstr(result,"posfault") != NULL){
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return HWPosFault;
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} else if(strstr(result,"fault") != NULL){
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return HWFault;
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} else if(strstr(result,"idle") != NULL){
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return HWIdle;
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} else {
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SCPrintf(pCon,eError,"ERROR: invalid status code %s returned from checkstatus script",
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result);
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return HWFault;
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}
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} else {
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SCWrite(pCon,result, eError);
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return HWFault;
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}
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} else {
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SCWrite(pCon,
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"ERROR: configuration problem: no checkstatus script!", eError);
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return HWFault;
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}
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return HWFault;
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}
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/*----------------------------------------------------------------
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GetValue is supposed to read a motor position
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On errors, -99999999.99 is returned and messages printed to pCon
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------------------------------------------------------------------*/
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static float SCTDRIVGetValue(void *data, SConnection *pCon){
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pSctDrive self = NULL;
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float val = -99999999.99;
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int status;
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char error[256];
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hdbValue v;
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self = (pSctDrive)data;
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if(GetHdbProperty(self->node,"geterror", error, 256)){
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SCWrite(pCon,error, eError);
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return val;
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}
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return (float)self->node->value.v.doubleValue;
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}
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/*----------------------------------------------------------------
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returns NULL on failure, a new datastructure else
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------------------------------------------------------------------*/
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static pSctDrive SCTDRIVMakeObject(){
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pSctDrive self = NULL;
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self = calloc(sizeof(SctDrive),1);
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if(self == NULL){
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return NULL;
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}
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self->pDes = CreateDescriptor("SctDriveAdapter");
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self->pDriv = CreateDrivableInterface();
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if(self->pDes == NULL || self->pDriv == NULL){
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free(self);
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return NULL;
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}
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self->pDes->GetInterface = SCTDRIVGetInterface;
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self->pDriv->Halt = SCTDRIVHalt;
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self->pDriv->CheckLimits = SCTDRIVCheckLimits;
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self->pDriv->SetValue = SCTDRIVSetValue;
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self->pDriv->CheckStatus = SCTDRIVCheckStatus;
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self->pDriv->GetValue = SCTDRIVGetValue;
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return self;
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}
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/*-----------------------------------------------------------------*/
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static int SctDriveCommand(SConnection *pCon, SicsInterp *sics, void *object,
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int argc, char *argv[]) {
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pSctDrive self = (pSctDrive)object;
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float val;
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assert(self != NULL);
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/*
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* only action: print value
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*/
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val = self->pDriv->GetValue(self,pCon);
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SCPrintf(pCon,eValue,"%s = %f", argv[0], val);
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return 1;
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}
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/*----------------------------------------------------------------*/
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static void SctDriveKill(void *data){
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pSctDrive self = (pSctDrive)data;
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if(self == NULL){
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return;
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}
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if(self->pDriv != NULL){
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free(self->pDriv);
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}
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if(self->pDes != NULL){
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DeleteDescriptor(self->pDes);
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}
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free(self);
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}
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/*---------------------------------------------------------------*/
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int SctMakeDriveAdapter(SConnection *pCon, SicsInterp *pSics, void *object,
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int argc, char *argv[]) {
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pSctDrive pNew = NULL;
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pSICSOBJ obj = NULL;
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pNew = SCTDRIVMakeObject();
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if(pNew == NULL){
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SCWrite(pCon,"ERROR: out of memory in SctmakeDriveAdapter",
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eError);
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return 0;
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}
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if(argc < 4){
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SCWrite(pCon,"ERROR: not enough arguments for SctMakeDriveAdapter", eError);
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return 0;
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}
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pNew->node = FindHdbNode(NULL,argv[2], pCon);
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obj = FindCommandData(pSics,argv[3], "SctController");
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if(pNew->node == NULL || obj == NULL){
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SCWrite(pCon,"ERROR: node or controller not found", eError);
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SctDriveKill(pNew);
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return 0;
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}
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pNew->c =(SctController *)obj->pPrivate;
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AddCommand(pSics, argv[1], SctDriveCommand, SctDriveKill, pNew);
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SetHdbProperty(pNew->node,"sicsdev",argv[1]);
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return 1;
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}
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