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7363a846e17571e861762f44a439d4ed1849dad3
sics/site_ansto/motor_dmc2280.c
Douglas Clowes 7363a846e1 motion is OK if motor has no absolute encoder 
r1844 | dcl | 2007-04-10 10:17:01 +1000 (Tue, 10 Apr 2007) | 2 lines
2012-11-15 13:14:15 +11:00

2107 lines
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/** \file motor_dmc2280.c
* \brief Driver for Galil DMC2280 motor controller.
*
* Implements a SICS motor object with a MotorDriver interface.
*
* Copyright: see file Copyright.txt
*
* Ferdi Franceschini November 2005
*
* TODO
* - check for motors enabled on plc
* - Check error bit, see Dan's email
*/
#include <stdlib.h>
/* ISO C Standard: 7.16 Boolean type and values <stdbool.h> */
#include <stdbool.h>
#include <math.h>
#include <float.h>
#include <assert.h>
#include <string.h>
#include <stdarg.h>
#include <sys/time.h>
#include <fortify.h>
#include <sics.h>
#include <multichan.h>
#include <nwatch.h>
#include <modriv.h>
#include <motor.h>
#include <dynstring.h>
#include <time.h>
#include "anstoutil.h"
#define UNITSLEN 256
#define TEXTPARLEN 1024
#define CMDLEN 1024
/** \brief Used to ensure that the getDMCSetting function is called
* with valid values.
* \see getDMCSetting
*/
enum dmcsetting {dmcspeed, dmcacceleration, dmcdeceleration};
/*-----------------------------------------------------------------------
The motor driver structure. Please note that the first set of fields has
be identical with the fields of AbstractModriv in ../modriv.h
------------------------------------------------------------------------*/
typedef struct __MoDriv {
/* general motor driver interface
fields. _REQUIRED!
*/
float fUpper; /**< hard upper limit */
float fLower; /**< hard lower limit */
char *name; /**< motor name */
int (*GetPosition)(void *self, float *fPos);
int (*RunTo)(void *self, float fNewVal);
int (*GetStatus)(void *self);
void (*GetError)(void *self, int *iCode, char *buffer, int iBufLen);
int (*TryAndFixIt)(void *self,int iError, float fNew);
int (*Halt)(void *self);
int (*GetDriverPar)(void *self, char *name,
float *value);
int (*SetDriverPar)(void *self,SConnection *pCon,
char *name, float newValue);
void (*ListDriverPar)(void *self, char *motorName,
SConnection *pCon);
void (*KillPrivate)(/*@only@*/void *self);
int (*GetDriverTextPar)(void *self, char *name,
char *textPar);
/* DMC-2280 specific fields */
pMultiChan mcc;
pMotor pMot; /**< Points to logical motor object */
int errorCode;
char *errorMsg; /**< Points to memory for error messages */
char units[256]; /**< physical units for axis */
char long_name[256]; /**< long name of motor */
char part[256]; /**< assembly which motor belongs to */
float speed; /**< physical units per second */
float maxSpeed; /**< physical units per second */
float accel; /**< physical units per second^2 */
float maxAccel; /**< physical units per second^2 */
float decel; /**< physical units per second^2 */
float maxDecel; /**< physical units per second^2 */
char axisLabel;
char lastCmd[CMDLEN];
char dmc2280Error[CMDLEN];
float home; /**< home position for axis, default=0 */
int motorHome; /**< motor home position in steps */
int noPowerSave; /**< Flag = 1 to leave motors on after a move */
float stepsPerX; /**< steps per physical unit */
int abs_endcoder; /**< Flag = 1 if there is an abs enc */
int absEncHome; /**< Home position in counts for abs enc */
float cntsPerX; /**< absolute encoder counts per physical unit */
int motOffDelay; /**< number of msec to wait before switching motor off, default=0 */
float lastPosition; /**< Position at last position check */
float lastSteps;
float lastCounts;
struct timeval time_lastPos_set; /**< Time when lastPosition was set */
float blockage_ckInterval; /**< Interval for checking blocked motors, seconds */
float blockage_thresh; /**< motion threshold for blockage checking */
float blockage_ratio; /**< ratio steps/counts must be between 1/this and this */
int blockage_fail; /**< flag =1 if we should fail the motor */
int has_airpads; /**< Flag = 1 if there is are airpads for this motor */
float fTarget;
int settle;
struct timeval time_settle_done;
int airpad_state;
int airpad_counter;
pNWTimer airpad_timer;
pNWTimer motor_timer;
int debug;
} DMC2280Driv, *pDMC2280Driv;
int DMC2280MotionControl = 1; /* defaults to enabled */
#define AIRPADS_DOWN 0
#define AIRPADS_RAISE 1
#define AIRPADS_UP 2
#define AIRPADS_LOWER 3
/*------------------- error codes ----------------------------------*/
#define BADADR -1 // NOT SET: Unknown host/port?
#define BADBSY -2
#define BADCMD -3
#define BADPAR -4 // NOT SET: Does SICS already check parameter types?
#define BADUNKNOWN -5
#define BADSTP -6 // NOT SET
#define BADEMERG -7 // NOT SET: ESTOP
#define RVRSLIM -8
#define FWDLIM -9
#define POSFAULT -11 // NOT SET
#define BADCUSHION -12 // NOT SET
#define ERRORLIM -13
#define IMPOSSIBLE_LIM_SW -14
#define BGFAIL -15 // NOT SET
#define BLOCKED -16
#define MOTIONCONTROLOFF -17
#define MOTIONCONTROLUNK -18
#define MOTCMDTMO -19 /* Motor Command Timeout */
/*--------------------------------------------------------------------*/
#define STATUSMOVING 128 /* Motor is moving */
#define STATUSERRORLIMIT 64 /* Number of errorss exceed limit */
#define STATUSOFF 32 /* Motor off */
#define STATUSFWDLIMIT 8 /* Forward limit switch active */
#define STATUSRVRSLIMIT 4 /* Reverse limit switch active */
#define INIT_STR_SIZE 256
#define STR_RESIZE_LENGTH 256
#define BUFFLEN 512
#define _SAVEPOWER 0
#define SETPOS "setpos"
#define HOME "home"
#define HARDLOWERLIM "hardlowerlim"
#define HARDUPPERLIM "hardupperlim"
#define UNITS "units"
#define SPEED "speed"
#define MAXSPEED "maxspeed"
#define ACCEL "accel"
#define MAXACCEL "maxaccel"
#define DECEL "decel"
#define MAXDECEL "maxdecel"
#define MOTOFFDELAY "motoffdelay"
#define AIRPADS "airpads"
#define SETTLE "settle"
#define LONG_NAME "long_name"
#define BLOCKAGE_CHECK_INTERVAL "blockage_check_interval"
static int DMC2280Halt(void *pData);
static int DMC2280SetPar(void *pData, SConnection *pCon,
char *name, float newValue);
typedef struct __command Command, *pCommand;
typedef int (*CommandCallback)(pCommand pCmd);
struct __command {
pMultiChan unit;
int cstate;
int lstate;
char* out_buf;
int out_len;
int out_idx;
char* inp_buf;
int inp_len;
int inp_idx;
CommandCallback func;
void* cntx;
};
/** \brief Convert axis speed in physical units to
* motor speed in steps/sec.
* \param self (r) provides access to the motor's data structure
* \param speed in physical units, eg mm/sec degrees/sec
* \return the speed in motor steps/sec
*/
static int motSpeed(pDMC2280Driv self, float axisSpeed) {
int speed;
speed = (int) (fabs(axisSpeed * self->stepsPerX) + 0.5);
return speed;
}
/** \brief Convert axis acceleration in physical units to
* to motor speed in steps/sec^2
* \param self (r) provides access to the motor's data structure
* \param acceleration in physical units, eg mm/sec^2 degrees/sec^2
* \return the acceleration in motor steps/sec^2
*/
static int motAccel(pDMC2280Driv self, float axisAccel) {
int accel;
accel = (int) (fabs(axisAccel * self->stepsPerX) + 0.5);
return accel;
}
/** \brief Convert axis deceleration in physical units to
* motor deceleration in steps/sec^2
* \param self (r) provides access to the motor's data structure
* \param deceleration in physical units, eg mm/sec^2 degrees/sec^2
* \return the deceleration in motor steps/sec^2
*/
static int motDecel(pDMC2280Driv self, float axisDecel) {
int decel;
decel = (int) (fabs(axisDecel * self->stepsPerX) + 0.5);
return decel;
}
static int DMC_Tx(void* ctx)
{
int iRet = 1;
pCommand myCmd = (pCommand) ctx;
if (myCmd) {
iRet = MultiChanWrite(myCmd->unit, myCmd->out_buf, myCmd->out_len);
/* TODO handle errors */
if (iRet < 0) { /* TODO: EOF */
/*
iRet = MultiChanReconnect(myCmd->unit);
if (iRet == 0)
*/
return 0;
}
}
return 1;
}
static int DMC_Rx(void* ctx, int rxchar) {
int iRet = 1;
pCommand myCmd = (pCommand) ctx;
if (rxchar == MCC_TIMEOUT) {
/* handle command timeout */
myCmd->inp_idx = MCC_TIMEOUT;
if (myCmd->func)
iRet = myCmd->func(myCmd);
free(myCmd->out_buf);
free(myCmd->inp_buf);
free(myCmd);
return MCC_POP_CMD;
}
switch (myCmd->cstate) {
case 0: /* first character */
if (rxchar == ':') {
/* normal prompt */
myCmd->cstate = 99;
}
else if (rxchar == '?') {
/* error prompt, send TC1 ahead of any queued commands */
iRet = MultiChanWrite(myCmd->unit, "TC1\r\n", 5);
myCmd->cstate = 1;
}
else {
/* normal data */
myCmd->cstate = 1;
}
/* note fallthrough */
case 1: /* receiving reply */
if (myCmd->inp_idx < myCmd->inp_len)
myCmd->inp_buf[myCmd->inp_idx++] = rxchar;
if (rxchar == 0x0D)
myCmd->cstate = 2;
break;
case 2: /* received CR and looking for LF */
if (myCmd->inp_idx < myCmd->inp_len)
myCmd->inp_buf[myCmd->inp_idx++] = rxchar;
if (rxchar == 0x0A) {
/* end of line */
/*
myCmd->inp_idx -= 2;
myCmd->inp_buf[myCmd->inp_idx++] = rxchar;
*/
myCmd->cstate = 0;
}
else
myCmd->cstate = 1;
break;
}
if (myCmd->cstate == 99) {
myCmd->inp_buf[myCmd->inp_idx] = '\0';
if (strncmp(myCmd->inp_buf, myCmd->out_buf, myCmd->out_len) == 0) {
int i;
SICSLogWrite("Line echo detected", eStatus);
for (i = myCmd->out_len; i <= myCmd->inp_idx; ++i) {
myCmd->inp_buf[i - myCmd->out_len] = myCmd->inp_buf[i];
}
}
if (myCmd->func)
iRet = myCmd->func(myCmd);
else
iRet = 0;
myCmd->cstate = 0;
myCmd->inp_idx = 0;
}
if (iRet == 0) { /* end of command */
free(myCmd->out_buf);
free(myCmd->inp_buf);
free(myCmd);
return MCC_POP_CMD;
}
return iRet;
}
static int DMC_SendCmd(pMultiChan unit,
char* command, int cmd_len,
CommandCallback callback, void* context, int rsp_len)
{
pCommand myCmd = NULL;
assert(unit);
myCmd = (pCommand) malloc(sizeof(Command));
assert(myCmd);
memset(myCmd, 0, sizeof(Command));
myCmd->out_buf = (char*) malloc(cmd_len + 5);
memcpy(myCmd->out_buf, command, cmd_len);
myCmd->out_len = cmd_len;
if (myCmd->out_len < 2 ||
myCmd->out_buf[myCmd->out_len - 1] != 0x0A ||
myCmd->out_buf[myCmd->out_len - 2] != 0x0D) {
myCmd->out_buf[myCmd->out_len++] = 0x0D;
myCmd->out_buf[myCmd->out_len++] = 0x0A;
}
myCmd->out_buf[myCmd->out_len] = '\0';
myCmd->func = callback;
myCmd->cntx = context;
if (rsp_len == 0)
myCmd->inp_buf = NULL;
else {
myCmd->inp_buf = malloc(rsp_len + 1);
memset(myCmd->inp_buf, 0, rsp_len + 1);
}
myCmd->inp_len = rsp_len;
myCmd->unit = unit;
return MultiChanEnque(unit, myCmd, DMC_Tx, DMC_Rx);
}
static void DMC_Notify(void* context, int event)
{
pDMC2280Driv self = (pDMC2280Driv) context;
char line[132];
switch (event) {
case MCC_DISCONNECT:
snprintf(line, 132, "Disconnect on Motor '%s'", self->name);
SICSLogWrite(line, eStatus);
/* TODO: disconnect */
break;
case MCC_RECONNECT:
snprintf(line, 132, "Reconnect on Motor '%s'", self->name);
SICSLogWrite(line, eStatus);
/* TODO: reconnect */
break;
}
return;
}
typedef struct txn_s {
char* transReply;
int transWait;
} TXN, *pTXN;
/**
* \brief SendCallback is the callback for the general command.
*/
static int SendCallback(pCommand pCmd)
{
char* cmnd = pCmd->out_buf;
char* resp = pCmd->inp_buf;
int resp_len = pCmd->inp_idx;
pDMC2280Driv self = (pDMC2280Driv) pCmd->cntx;
if (resp_len > 0) {
switch (resp[0]) {
case ':':
case ' ':
if (self->debug) {
SICSLogWrite(cmnd, eStatus);
SICSLogWrite(resp, eStatus);
}
break;
case '?':
strncpy(self->lastCmd, pCmd->out_buf, CMDLEN);
strncpy(self->dmc2280Error, &resp[1], CMDLEN);
SICSLogWrite(cmnd, eError);
SICSLogWrite(resp, eError);
self->errorCode = BADCMD;
break;
default:
SICSLogWrite(cmnd, eError);
SICSLogWrite(resp, eError);
self->errorCode = BADUNKNOWN;
break;
}
}
else {
/* TODO: timeout */
}
return 0;
}
/**
* \brief TransCallback is the callback for the general command transaction.
*/
static int TransCallback(pCommand pCmd) {
char* resp = pCmd->inp_buf;
int resp_len = pCmd->inp_idx;
pTXN self = (pTXN) pCmd->cntx;
if (resp_len < 0) {
self->transReply[0] = '\0';
self->transWait = -1;
}
else {
memcpy(self->transReply, resp, resp_len);
self->transReply[resp_len] = '\0';
self->transWait = 0;
}
return 0;
}
/*------------------------------------------------------------------------*/
static int DMC_transact(pDMC2280Driv self, void *send, int sendLen,
void *reply, int replyLen)
{
TXN txn;
assert(self);
txn.transReply = reply;
txn.transWait = 1;
DMC_SendCmd(self->mcc,
send, sendLen,
TransCallback, &txn, replyLen);
while (txn.transWait == 1)
TaskYield(pServ->pTasker);
if (txn.transWait < 0)
return txn.transWait;
return 1;
}
static int DMC2280Queue(pDMC2280Driv self, char *cmd, CommandCallback cb) {
if (cb == NULL)
cb = SendCallback;
return DMC_SendCmd(self->mcc, cmd, strlen(cmd), cb, self, CMDLEN);
}
/** \brief Sends a DMC2280 command to the motor controller.
*
* If the command fails it displays the DMC2280 error message to the client
* and writes it to the log file, also sets errorCode field in motor's
* data structure.
*
* \param self (rw) provides access to the motor's data structure
* \param *command (r) DMC2280 command
* \return
* - SUCCESS
* - FAILURE
* \see SUCCESS FAILURE
*/
/* First character returned by controller is
'?' for an invalid command or
':' for a valid command with no response
' ' for a valid command with a response (':' follows)
*/
static int DMC2280Send(pDMC2280Driv self, char *command) {
return DMC2280Queue(self, command, SendCallback);
}
/**
* \brief Sends a command and waits for a response
*
* \param self motor data
* \param cmd command to send
* \param reply space to return response
* \return
*/
static int DMC2280SendReceive(pDMC2280Driv self, char *cmd, char* reply) {
int status;
status = DMC_transact(self, cmd, strlen(cmd), reply, CMDLEN);
if (status != 1) {
if (self->debug)
SICSLogWrite(cmd, eStatus);
if (status == -1)
self->errorCode = MOTCMDTMO;
else
self->errorCode = BADUNKNOWN;
return FAILURE;
}
switch (reply[0]) {
case ':':
if (self->debug) {
SICSLogWrite(cmd, eStatus);
SICSLogWrite(reply, eStatus);
}
return SUCCESS;
case ' ':
if (self->debug) {
SICSLogWrite(cmd, eStatus);
SICSLogWrite(reply, eStatus);
}
return SUCCESS;
case '?':
strncpy(self->lastCmd, cmd, CMDLEN);
strncpy(self->dmc2280Error, &reply[1], CMDLEN);
SICSLogWrite(cmd, eError);
SICSLogWrite(reply, eError);
self->errorCode = BADCMD;
return FAILURE;
default:
strncpy(self->lastCmd, cmd, CMDLEN);
strncpy(self->dmc2280Error, &reply[0], CMDLEN);
SICSLogWrite(cmd, eError);
SICSLogWrite(reply, eError);
self->errorCode = BADUNKNOWN;
return FAILURE;
}
return OKOK;
}
/** \brief Record the given posn and timestamp it.
*
* \param *pData provides access to a motor's data
* \param posn, the axis position which you want to remember.
* */
static void set_lastMotion(pDMC2280Driv self, float steps, float counts) {
assert(self != NULL);
self->lastSteps = steps;
self->lastCounts = counts;
gettimeofday(&(self->time_lastPos_set), NULL);
}
/** \brief Reads motion.
*
* \param *steps motor steps
* \param *counts encoder counts
* \return
* SUCCESS
* FAILURE
*/
static int readMotion(pDMC2280Driv self, float *steps, float *counts) {
char reply[CMDLEN];
char cmd[CMDLEN];
snprintf(cmd, CMDLEN, "MG _TD%c,_TP%c", self->axisLabel, self->axisLabel);
if (FAILURE == DMC2280SendReceive(self, cmd, reply))
return FAILURE;
if (2 != sscanf(reply, "%f %f", steps, counts))
return FAILURE;
return SUCCESS;
}
/** \brief Reads absolute encoder.
*
* \param *pos is the absolute encoder reading on SUCCESS.
* \return
* SUCCESS
* FAILURE
*/
static int readAbsEnc(pDMC2280Driv self, float *pos) {
char reply[CMDLEN];
char cmd[CMDLEN];
snprintf(cmd, CMDLEN, "TP%c", self->axisLabel);
if (FAILURE == DMC2280SendReceive(self, cmd, reply))
return FAILURE;
*pos = (float) atoi(reply);
return SUCCESS;
}
/** \brief Reads Thread variable
*
* \param *pos is the thread variable value on SUCCESS.
* \return
* SUCCESS
* FAILURE
*/
static int ReadThread(pDMC2280Driv self, int thread, float *pos) {
char reply[CMDLEN];
char cmd[CMDLEN];
snprintf(cmd, CMDLEN, "MG _XQ%d", thread);
if (FAILURE == DMC2280SendReceive(self, cmd, reply))
return 0;
*pos = (float) atoi(reply);
return 1;
}
/** \brief Reads HOMERUN variable
*
* \param *pos is the homerun variable value on SUCCESS.
* \return
* SUCCESS
* FAILURE
*/
static int readHomeRun(pDMC2280Driv self, float *pos) {
char reply[CMDLEN];
char cmd[CMDLEN];
snprintf(cmd, CMDLEN, "MG HOMERUN");
if (FAILURE == DMC2280SendReceive(self, cmd, reply))
return FAILURE;
*pos = (float) atoi(reply);
return SUCCESS;
}
/** \brief Runs the HOMERUN routine on the MC
*
* \return
* SUCCESS
* FAILURE
*/
static int RunHomeRoutine(pDMC2280Driv self, float newValue) {
float fValue;
char cmd[CMDLEN];
/* Read HOMERUN should get error if it does not have one */
if (FAILURE == readHomeRun(self, &fValue))
return FAILURE;
/* 0 => reset homerun */
if (newValue < 0.5) {
snprintf(cmd, CMDLEN, "HOMERUN=0");
if (FAILURE == DMC2280Send(self, cmd))
return FAILURE;
return SUCCESS;
}
snprintf(cmd, CMDLEN, "XQ #HOME,1");
if (FAILURE == DMC2280Send(self, cmd))
return FAILURE;
return SUCCESS;
}
/** \brief Reads motor position, implements the GetPosition
* method in the MotorDriver interface.
*
* \param *pData provides access to a motor's data
* \param *fPos contains the motor position in physical units after a call.
* \return
* - OKOK request succeeded
* - HWFault request failed
* */
static int DMC2280GetPos(void *pData, float *fPos){
pDMC2280Driv self = NULL;
char reply[CMDLEN];
char cmd[CMDLEN];
float absEncPos, motorPos;
reply[0]='\0';
self = (pDMC2280Driv)pData;
assert(self != NULL);
if (1 == self->abs_endcoder) {
if (readAbsEnc(self, &absEncPos) == FAILURE)
return HWFault;
*fPos = (absEncPos - self->absEncHome)/self->cntsPerX + self->home;
} else {
snprintf(cmd, ERRLEN, "TD%c", self->axisLabel);
if (FAILURE == DMC2280SendReceive(self, cmd, reply))
return HWFault;
motorPos =(float)atof(reply);
*fPos = (motorPos - self->motorHome)/self->stepsPerX + self->home;
}
return OKOK;
}
/**
* \brief calculate and issue the motion commands
*
* \param self provides access to a motor's data
* \param fValue target position in physical units, software zeros
* have already been applied.
* \return
* - OKOK request succeeded
* - HWFault request failed
*/
static int DMC2280RunCommon(pDMC2280Driv self,float fValue){
char axis;
char SHx[CMDLEN], BGx[CMDLEN], absPosCmd[CMDLEN];
int absEncHome, motorHome, newAbsPosn;
float stepsPerX, cntsPerX;
float target;
axis=self->axisLabel;
motorHome = self->motorHome;
stepsPerX=self->stepsPerX;
snprintf(SHx, CMDLEN, "SH%c", axis);
snprintf(BGx, CMDLEN, "BG%c", axis);
target = fValue - self->home;
if (1 == self->abs_endcoder) {
absEncHome = self->absEncHome;
cntsPerX = self->cntsPerX;
#if 0
/* PAF=-((absEncHome-_TPF)/-cntsPerX + target)*stepsPerX + _TDF */
snprintf(absPosCmd, CMDLEN,
"PA%c=(((%d-_TP%c)/%f)+%f)*%f + _TD%c",
axis,
absEncHome,
axis,
cntsPerX,
target,
stepsPerX,
axis);
#else
/* PAZ=((absEncHome-_TPZ) + (cntsPerX * target)) * stepsPerX / cntsPerX + _TDZ */
char s_cnts[20];
char s_trgt[20];
char s_stps[20];
int i;
snprintf(s_cnts, sizeof(s_cnts), "%.4f", cntsPerX);
for (i = strlen(s_cnts); i > 0; --i)
if (s_cnts[i-1] == '.') {
s_cnts[i-1] = '\0';
break;
}
else if (s_cnts[i-1] == '0')
s_cnts[i-1] = '\0';
else
break;
snprintf(s_trgt, sizeof(s_trgt), "%.4f", target);
for (i = strlen(s_trgt); i > 0; --i)
if (s_trgt[i-1] == '.') {
s_trgt[i-1] = '\0';
break;
}
else if (s_trgt[i-1] == '0')
s_trgt[i-1] = '\0';
else
break;
snprintf(s_stps, sizeof(s_stps), "%.4f", stepsPerX);
for (i = strlen(s_stps); i > 0; --i)
if (s_stps[i-1] == '.') {
s_stps[i-1] = '\0';
break;
}
else if (s_stps[i-1] == '0')
s_stps[i-1] = '\0';
else
break;
snprintf(absPosCmd, CMDLEN,
"PA%c=(((%d-_TP%c)+(%s*%s))*%s/%s+_TD%c",
axis,
absEncHome,
axis,
s_cnts,
s_trgt,
s_stps,
s_cnts,
axis);
#endif
#ifdef BACKLASHFIX
do {
char cmd[CMDLEN];
snprintf(cmd, CMDLEN, "%cQTARGET=%d", axis,
(int) (target * cntsPerX + absEncHome + 0.5));
if (FAILURE == DMC2280Send(self, cmd))
return HWFault;
} while (0);
#endif
} else {
newAbsPosn = (int)(target * stepsPerX + motorHome + 0.5);
snprintf(absPosCmd, CMDLEN, "PA%c=%d",axis, newAbsPosn);
}
if (FAILURE == DMC2280Send(self, SHx))
return HWFault;
if (FAILURE == DMC2280Send(self, absPosCmd))
return HWFault;
if (FAILURE == DMC2280Send(self, BGx))
return HWFault;
return OKOK;
}
/**
* \brief process the airpad status response
*/
static int airpad_callback(pCommand pCmd) {
char* resp = pCmd->inp_buf;
int resp_len = pCmd->inp_idx;
pDMC2280Driv self = (pDMC2280Driv) pCmd->cntx;
if (resp_len > 0) {
float fReply;
if (self->debug)
SICSLogWrite(resp, eStatus);
fReply = (float) atof(resp);
if (self->airpad_state == AIRPADS_RAISE && fReply > 0) {
int iRet;
self->airpad_state = AIRPADS_UP;
iRet = DMC2280RunCommon(self, self->fTarget);
if (iRet != OKOK)
self->errorCode = BADCUSHION;
return 0;
}
if (self->airpad_state == AIRPADS_LOWER && fReply == 0) {
self->airpad_state = AIRPADS_DOWN;
return 0;
}
}
else {
/* TODO: timeout */
}
return 0;
}
/**
* \brief request the airpad status periodically
*/
static int airpad_timeout(void* ctx, int mode) {
pDMC2280Driv self = (pDMC2280Driv) ctx;
self->airpad_timer = NULL;
if (self->airpad_state == AIRPADS_UP ||
self->airpad_state == AIRPADS_DOWN)
return 0;
if (self->airpad_counter <= 0) {
self->errorCode = BADCUSHION;
self->airpad_state = AIRPADS_DOWN;
return 0;
}
--self->airpad_counter;
NetWatchRegisterTimer(&self->airpad_timer, 1000,
airpad_timeout, self);
if (FAILURE == DMC2280Queue(self, "MG APDONE", airpad_callback)) {
self->errorCode = BADCUSHION;
self->airpad_state = AIRPADS_DOWN;
return 0;
}
return 0;
}
/**
* \brief initiate the raising or lowering of the airpads
*
* \param self motor data
* \param flag 1 for raise and 0 for lower
* \return 1 for SUCCESS or 0 for FAILURE
*/
static int DMC_AirPads(pDMC2280Driv self, int flag) {
char *cmd = NULL;
if (self->airpad_timer)
NetWatchRemoveTimer(self->airpad_timer);
self->airpad_timer = NULL;
if (flag) {
cmd = "FTUBE=1";
self->airpad_state = AIRPADS_RAISE;
}
else {
cmd = "FTUBE=0";
self->airpad_state = AIRPADS_LOWER;
}
if (FAILURE == DMC2280Send(self, cmd)) {
self->airpad_state = AIRPADS_DOWN;
self->errorCode = BADCUSHION;
return 0;
}
self->airpad_counter = 10;
NetWatchRegisterTimer(&self->airpad_timer, 1000,
airpad_timeout, self);
return 1;
}
/**
* \brief turn the motor off after a delay
*
* \param context motor data
* \param mode
*/
static int motor_timeout(void* context, int mode) {
pDMC2280Driv self = (pDMC2280Driv) context;
char cmd[CMDLEN];
self->motor_timer = NULL;
if (self->has_airpads) {
DMC_AirPads(self, 0);
return 0;
}
snprintf(cmd, CMDLEN, "MO%c", self->axisLabel);
DMC2280Send(self, cmd);
return 0;
}
/**
* \brief handle the run command for a motor with airpads
*
* \param self motor data
* \param fValue new motor position
*/
static int DMC2280RunAir(pDMC2280Driv self, float fValue) {
self->fTarget = fValue;
if (!DMC_AirPads(self, 1))
return HWFault;
return OKOK;
}
/** \brief DMC2280 implementation of the RunTo
* method in the MotorDriver interface.
*
* \param *pData provides access to a motor's data
* \param fValue target position in physical units, software zeros
* have already been applied.
* \return
* - OKOK request succeeded
* - HWFault request failed
* */
static int DMC2280Run(void *pData,float fValue){
pDMC2280Driv self = NULL;
self = (pDMC2280Driv)pData;
assert(self != NULL);
/* If Motion Control is off, report HWFault */
if (DMC2280MotionControl != 1) {
if (DMC2280MotionControl == 0)
self->errorCode = MOTIONCONTROLOFF;
else
self->errorCode = MOTIONCONTROLUNK;
return HWFault;
}
if (self->motor_timer)
NetWatchRemoveTimer(self->motor_timer);
self->motor_timer = NULL;
if (self->settle)
self->time_settle_done.tv_sec = 0;
/*
* Note: this will read the current position which will block
*/
do {
#if 1
self->time_lastPos_set.tv_sec = 0;
#else
float currPos;
DMC2280GetPos(pData, &currPos);
set_lastPos(pData, currPos);
#endif
} while (0);
/*
* Note: this passes control to a timer routine
*/
if (self->has_airpads)
if (self->airpad_state != AIRPADS_UP)
return DMC2280RunAir(self, fValue);
return DMC2280RunCommon(self, fValue);
}
/** \brief Check if the axis has moved significantly since
* the last check.
*
* The motion is checked against the expected at intervals of
* pDMC2280Driv->blockage_ckInterval.
*
* \param *pData provides access to a motor's data
* \return
* - 1 MOTOR OK, position has changed significantly during move
* - 0 MOTOR BLOCKED, no significant change in position detected.
*/
static int checkMotion(void *pData) {
float precision, steps, counts, ratio_obs, ratio_exp, ratio_cmp;
long int usec_TimeDiff;
struct timeval now;
pDMC2280Driv self;
self = (pDMC2280Driv)pData;
assert(self != NULL);
/* we can only test if there is an absolute encoder */
if (!self->abs_endcoder)
return 1;
if (self->time_lastPos_set.tv_sec == 0) {
/* first time - initialise the data */
if (FAILURE == readMotion(self, &steps, &counts))
return 0;
set_lastMotion(pData, steps, counts);
return 1;
}
gettimeofday(&now, NULL);
usec_TimeDiff = now.tv_sec - self->time_lastPos_set.tv_sec;
usec_TimeDiff *= 1000000;
usec_TimeDiff += now.tv_usec;
usec_TimeDiff -= self->time_lastPos_set.tv_usec;
if (usec_TimeDiff < (long int)(1e6*self->blockage_ckInterval))
return 1;
if (self->pMot == NULL)
self->pMot = FindMotor(pServ->pSics, self->name);
MotorGetPar(self->pMot,"precision",&precision);
if (FAILURE == readMotion(self, &steps, &counts))
return 0;
/* If not stepping, then not blocked */
if (fabs(steps - self->lastSteps) < fabs(self->blockage_thresh * self->stepsPerX)) {
/* just update the timestamp */
set_lastMotion(pData, self->lastSteps, self->lastCounts);
return 1;
}
/* calculate observed and expected steps per count ratios */
if (counts == self->lastCounts) /* prevent divide by zero */
ratio_obs = (steps - self->lastSteps);
else
ratio_obs = (steps - self->lastSteps) / (counts - self->lastCounts);
ratio_exp = (float) self->stepsPerX / (float) self->cntsPerX;
ratio_cmp = ratio_obs / ratio_exp;
/* wrong signs, less than half, or more than double is trouble */
if (ratio_cmp < 0.0 ||
ratio_cmp > self->blockage_ratio ||
(1.0 / ratio_cmp) > self->blockage_ratio) {
char msg[132];
snprintf(msg, sizeof(msg), "Motion check fail: obs=%f, exp=%f",
ratio_obs, ratio_exp);
SICSLogWrite(msg, eError);
snprintf(msg, sizeof(msg), "steps=%f-%f, counts=%f-%f, exp=%f/%f",
steps, self->lastSteps, counts, self->lastCounts,
self->stepsPerX, self->cntsPerX);
SICSLogWrite(msg, eError);
if (self->blockage_fail)
return 0;
set_lastMotion(pData, steps, counts);
return 1;
} else {
if (self->debug) {
char msg[132];
snprintf(msg, sizeof(msg), "Motion check pass: obs=%f, exp=%f",
ratio_obs, ratio_exp);
SICSLogWrite(msg, eError);
}
set_lastMotion(pData, steps, counts);
return 1;
}
return 1;
}
/** \brief Returns the motor status while it's moving,
* implements the GetStatus method in the MotorDriver interface.
*
* \param *pData provides access to a motor's data
* \return
* - HWFault hardware fault or status cannot be read.
* - HWPosFault controller was unable to position the motor.
* - HWBusy The motor is still driving.
* - HWWarn There is a warning from the controller.
* - HWIdle The motor has finished driving and is idle.
*/
static int DMC2280Status(void *pData){
pDMC2280Driv self = NULL;
char cmd[CMDLEN];
int switches;
char switchesAscii[CMDLEN];
#ifdef BACKLASHFIX
char reply[CMDLEN];
int SERVO_LOOP_NOT_RUNNING = -1, servoLoopStatus;
int SHOULD_FIXPOS=1, should_fixpos;
#endif
bool moving, fwd_limit_active, rvrs_limit_active, errorlimit;
self = (pDMC2280Driv)pData;
assert(self != NULL);
/*
* If we are waiting for the motor or airpads then we
* are busy
*/
if (self->motor_timer || self->airpad_timer)
return HWBusy;
/* Make sure that speed, accel and decel are set correctly */
/* ckSpeedAccelDecel(self); */
/* Get status of switches
* see TS (Tell Switches) in Galil manc2xx.pdf */
snprintf(cmd, CMDLEN, "TS%c", self->axisLabel);
if (FAILURE == DMC2280SendReceive(self, cmd, switchesAscii))
return HWFault;
sscanf(switchesAscii, "%d", &switches);
moving = (switches & STATUSMOVING)>0;
fwd_limit_active = !((switches & STATUSFWDLIMIT)>0);
rvrs_limit_active = !((switches & STATUSRVRSLIMIT)>0);
errorlimit = (switches & STATUSERRORLIMIT)>0;
if (fwd_limit_active && rvrs_limit_active) {
self->errorCode = IMPOSSIBLE_LIM_SW;
return HWFault;
}
if (moving) {
int iRet;
/* If Motion Control is off, report HWFault */
if (DMC2280MotionControl != 1) {
if (DMC2280MotionControl == 0)
self->errorCode = MOTIONCONTROLOFF;
else
self->errorCode = MOTIONCONTROLUNK;
return HWFault;
}
/* If pos hasn't changed since last
* check then stop and scream */
#if 0
iRet = checkPosition(pData);
#else
iRet = checkMotion(pData);
#endif
if (iRet == 0) {
DMC2280Halt(pData);
self->errorCode = BLOCKED;
return HWFault;
} else {
self->errorCode = BADBSY;
return HWBusy;
}
} else {
/* If motor stopped check limits and error status */
if (fwd_limit_active) {
self->errorCode = FWDLIM;
return HWFault;
} else if (rvrs_limit_active) {
self->errorCode = RVRSLIM;
return HWFault;
} else if (errorlimit) {
self->errorCode = ERRORLIM;
return HWFault;
}
#ifdef BACKLASHFIX
if (self->abs_endcoder == 1) {
/* Make sure that the servo loop is closed by checking if
* the CLSLOOP thread is running on the controller.*/
if (FAILURE == DMC2280SendReceive(self, "MG _XQ1", reply))
return HWFault;
sscanf(reply, "%d", &servoLoopStatus);
if (servoLoopStatus == SERVO_LOOP_NOT_RUNNING) {
/* Start subroutine on controller to close the servo loop */
if (FAILURE == DMC2280Send(self, "XQ#CLSLOOP"))
return HWFault;
}
snprintf(cmd, CMDLEN, "MG %cSHLDFIX", self->axisLabel);
if (FAILURE == DMC2280SendReceive(self, cmd, reply))
return HWFault;
sscanf(reply, "%d", &should_fixpos);
if (should_fixpos == SHOULD_FIXPOS) {
snprintf(cmd, CMDLEN, "%cFIXPOS=1", self->axisLabel);
if (FAILURE == DMC2280Send(self, cmd))
return HWFault;
self->errorCode=BADBSY;
return HWBusy;
}
}
#endif
/*
* When we get here, the motion has completed and we
* must determine when and how to shut off the motor
*/
if (self->settle) {
struct timeval *then = &self->time_settle_done;
struct timeval now;
gettimeofday(&now, NULL);
if (then->tv_sec == 0 ||
(then->tv_sec - now.tv_sec) > self->settle) {
gettimeofday(then, NULL);
then->tv_sec += self->settle;
return HWBusy;
} else {
if ((now.tv_sec > then->tv_sec) ||
((now.tv_sec == then->tv_sec) &&
(now.tv_usec >= then->tv_usec))) {
/* it's finished, fall through */
} else {
return HWBusy;
}
}
}
if (self->has_airpads) {
if (self->airpad_state == AIRPADS_DOWN)
return HWIdle;
if (self->airpad_state == AIRPADS_LOWER)
return HWBusy;
if (self->motOffDelay > 0 ) {
NetWatchRegisterTimer(&self->motor_timer,
self->motOffDelay,
motor_timeout, self);
return HWIdle;
}
if (!DMC_AirPads(self, 0))
return HWFault;
return HWIdle;
}
if (self->noPowerSave == _SAVEPOWER) {
if (self->motOffDelay > 0 ) {
#if 0
snprintf(cmd, CMDLEN, "AT %d; MO%c", self->motOffDelay, self->axisLabel);
#else
NetWatchRegisterTimer(&self->motor_timer,
self->motOffDelay,
motor_timeout, self);
return HWIdle;
#endif
} else {
snprintf(cmd, CMDLEN, "MO%c", self->axisLabel);
}
DMC2280Send(self, cmd);
}
return HWIdle;
}
}
/** \brief DMC2280 implementation of the GetError
* method in the MotorDriver interface.
*
* \param *pData provides access to a motor's data
* \param *iCode error code returned to abstract motor
* \param *error error message
* \param errLen maximum error message length allowed by abstract motor
*/
static void DMC2280Error(void *pData, int *iCode, char *error, int errLen){
pDMC2280Driv self = NULL;
self = (pDMC2280Driv)pData;
assert(self != NULL);
/* Allocate errLen bytes for error messages */
if (self->errorMsg == NULL) {
self->errorMsg = (char *) malloc(errLen);
if (self->errorMsg == NULL) {
*iCode = 0;
return;
}
}
*iCode = self->errorCode;
switch(*iCode){
#ifdef HAS_RS232
case NOTCONNECTED:
case BADSEND:
case BADMEMORY:
case INCOMPLETE:
strncpy(error, "General Error(TODO)", (size_t)errLen); /* TODO */
break;
#endif
case MOTCMDTMO:
strncpy(error, "Command Timeout", (size_t)errLen);
break;
case BADADR:
strncpy(error, "Bad address", (size_t)errLen);
break;
case BADBSY:
strncpy(error, "Motor still busy", (size_t)errLen);
break;
case BADCMD:
snprintf(error, (size_t)errLen, "Bad command: '%s'\ndmcError: ", self->lastCmd);
strncat(error, self->dmc2280Error, (size_t)errLen);
break;
case BADPAR:
strncpy(error, "Bad parameter", (size_t)errLen);
break;
case BADUNKNOWN:
strncpy(error, "Unknown error condition", (size_t)errLen);
break;
case BADSTP:
strncpy(error, "Motor is stopped", (size_t)errLen);
break;
case BADEMERG:
strncpy(error, "Emergency stop is engaged", (size_t)errLen);
break;
case BGFAIL:
strncpy(error, "Begin not possible due to limit switch", (size_t)errLen);
break;
case RVRSLIM:
strncpy(error, "Crashed into limit switch", (size_t)errLen);
break;
case FWDLIM:
strncpy(error, "Crashed into limit switch", (size_t)errLen);
break;
case POSFAULT:
strncpy(error, "Positioning fault detected", (size_t)errLen);
break;
case BADCUSHION:
strncpy(error, "Air cushion problem", (size_t)errLen);
break;
case ERRORLIM:
strncpy(error, "Axis error exceeds error limit", (size_t)errLen);
break;
case IMPOSSIBLE_LIM_SW:
strncpy(error, "Both limit switches seem active, maybe the polarity is set 'active low'. You should configure the controller with CN 1,-1,-1,0", (size_t)errLen);
break;
case BLOCKED:
strncpy(error, "STOPPING MOTOR, MOTION SEEMS TO BE BLOCKED", (size_t)errLen);
break;
case MOTIONCONTROLOFF:
strncpy(error, "MOTION CONTROL SEEMS TO BE DISABLED", (size_t)errLen);
break;
case MOTIONCONTROLUNK:
strncpy(error, "MOTION CONTROL SEEMS TO BE UNKNOWN", (size_t)errLen);
break;
default:
/* FIXME What's the default */
snprintf(error, (size_t)errLen, "Unknown Motor Error: %d", self->errorCode);
break;
}
strncpy(self->errorMsg, error, (size_t)errLen);
}
/** \brief Attempts to recover from an error. Implements the TryAndFixIt
* method in the MotorDriver interface.
*
* \param *pData provides access to a motor's data
* \param iCode error code returned by DMC2280Error
* \param fValue unused, target position
* \return A return code which informs the abstract motors next action.
* - MOTREDO try to redo the last move.
* - MOTFAIL move failed, give up.
*/
static int DMC2280Fix(void *pData, int iCode,/*@unused@*/ float fValue){
pDMC2280Driv self = NULL;
self = (pDMC2280Driv)pData;
assert(self != NULL);
switch(iCode){
case BADADR:
return MOTFAIL;
case BADCMD:
case BADPAR:
case BLOCKED:
case MOTIONCONTROLOFF:
case MOTIONCONTROLUNK:
case MOTCMDTMO:
return MOTFAIL;
case POSFAULT:
#if HAS_RS232
case BADSEND:
case TIMEOUT:
case BADMEMORY: /* Won't happen if MonConnect sets the send terminator */
case INCOMPLETE:
return MOTREDO;
case NOTCONNECTED:
#endif
return MOTREDO;
break;
default:
return MOTFAIL;
break;
}
}
/** \brief Emergency halt. Implements the Halt
* method in the MotorDriver interface.
*
* Cannot set maximum deceleration because the DC command
* is not valid for absolute (ie PA) moves. See DC description
* in DMC-2xxx command ref (ie manc2xxx.pdf)
* \param *pData provides access to a motor's data
*
* XXX Does abstract motor use the return values?
*/
static int DMC2280Halt(void *pData){
pDMC2280Driv self = NULL;
char cmd[CMDLEN];
self = (pDMC2280Driv)pData;
assert(self != NULL);
/* Stop motor */
snprintf(cmd, CMDLEN, "ST%c", self->axisLabel);
if (FAILURE == DMC2280Send(self, cmd))
return HWFault;
/* TODO: FIXME cannot do this until motor stops */
snprintf(cmd, CMDLEN, "MO%c", self->axisLabel);
if (FAILURE == DMC2280Send(self, cmd))
return HWFault;
else
return 1;
}
/** \brief Allow motor drivers to return text values like units.
*
* Refactoring: Should replace this with a function that will
* return hdb values.
* This is the first step in the refactoring process. */
int DMC2280GetTextPar(void *pData, char *name, char *textPar) {
pDMC2280Driv self = NULL;
self = (pDMC2280Driv)pData;
if(strcasecmp(name,UNITS) == 0) {
snprintf(textPar, UNITSLEN, self->units);
return 1;
}
return 0;
}
/** \brief Fetches the value of the named parameter,
* implements the GetDriverPar method in the MotorDriver interface.
*
* Note: The GetDriverPar method in the MotorDriver interface only
* allows float values to be returned.
*
* If the speed, acceleration or deceleration is requested then
* this compares the setting on the controller to the required setting,
* if they don't match then the controller is set to the required value.
*
* Note: Doesn't warn if the speed, acceleration, or deceleration set on
* the controller differ from the required settings.
*
* \param *pData (r) provides access to a motor's data
* \param *name (r) the name of the parameter to fetch.
* \param *fValue (w) the parameter's value.
* \return
* - 1 request succeeded
* - 0 request failed
* */
static int DMC2280GetPar(void *pData, char *name,
float *fValue){
pDMC2280Driv self = NULL;
self = (pDMC2280Driv)pData;
/* XXX Maybe move this to a configuration parameter.*/
if(strcasecmp(name,HOME) == 0) {
*fValue = self->home;
return 1;
}
if(strcasecmp(name,HARDLOWERLIM) == 0) {
*fValue = self->fLower;
return 1;
}
if(strcasecmp(name,HARDUPPERLIM) == 0) {
*fValue = self->fUpper;
return 1;
}
if(strcasecmp(name,SPEED) == 0) {
*fValue = self->speed;
return 1;
}
if(strcasecmp(name,MAXSPEED) == 0) {
*fValue = self->maxSpeed;
return 1;
}
if(strcasecmp(name,ACCEL) == 0) {
*fValue = self->accel;
return 1;
}
if(strcasecmp(name,MAXACCEL) == 0) {
*fValue = self->maxAccel;
return 1;
}
if(strcasecmp(name,DECEL) == 0) {
*fValue = self->decel;
return 1;
}
if(strcasecmp(name,MAXDECEL) == 0) {
*fValue = self->maxDecel;
return 1;
}
if(strcasecmp(name,MOTOFFDELAY) == 0) {
*fValue = self->motOffDelay;
return 1;
}
if(strcasecmp(name,"debug") == 0) {
*fValue = self->debug;
return 1;
}
if(strcasecmp(name,SETTLE) == 0) {
*fValue = self->settle;
return 1;
}
if(strcasecmp(name,AIRPADS) == 0) {
*fValue = self->has_airpads;
return 1;
}
if(strcasecmp(name,BLOCKAGE_CHECK_INTERVAL) == 0) {
*fValue = self->blockage_ckInterval;
return 1;
}
if(strcasecmp(name,"blockage_thresh") == 0) {
*fValue = self->blockage_thresh;
return 1;
}
if(strcasecmp(name,"blockage_ratio") == 0) {
*fValue = self->blockage_ratio;
return 1;
}
if(strcasecmp(name,"blockage_fail") == 0) {
*fValue = self->blockage_fail;
return 1;
}
if (self->abs_endcoder != 0) {
if (strcasecmp(name,"absenc") == 0) {
if (readAbsEnc(self, fValue) == SUCCESS)
return 1;
else
return 0;
}
if (strcasecmp(name,"absenchome") == 0) {
*fValue = self->absEncHome;
return 1;
}
}
else {
if (strcasecmp(name,"homerun") == 0) {
if (readHomeRun(self, fValue) == SUCCESS)
return 1;
else
return 0;
}
}
if(strcasecmp(name,"thread0") == 0)
return ReadThread(self, 0, fValue);
if(strcasecmp(name,"thread1") == 0)
return ReadThread(self, 1, fValue);
if(strcasecmp(name,"thread2") == 0)
return ReadThread(self, 2, fValue);
if(strcasecmp(name,"thread3") == 0)
return ReadThread(self, 3, fValue);
if(strcasecmp(name,"thread4") == 0)
return ReadThread(self, 4, fValue);
if(strcasecmp(name,"thread5") == 0)
return ReadThread(self, 5, fValue);
if(strcasecmp(name,"thread6") == 0)
return ReadThread(self, 6, fValue);
if(strcasecmp(name,"thread7") == 0)
return ReadThread(self, 7, fValue);
return 0;
}
/** \brief Sets the named parameter, implements the SetDriverPar
* method in the MotorDriver interface.
*
* Note: The SetDriverPar method in the MotorDriver interface only
* allows float values to be set.
* \param *pData (rw) provides access to a motor's data
* \param *pCon (r) connection object.
* \param *name (r) of the parameter to set.
* \param *newValue (r) new value.
* \return
* - 1 request succeeded
* - 0 request failed
* */
static int DMC2280SetPar(void *pData, SConnection *pCon,
char *name, float newValue){
pDMC2280Driv self = NULL;
char pError[ERRLEN];
char cmd[CMDLEN];
float oldZero, newZero;
self = (pDMC2280Driv)pData;
/* XXX Maybe move this to a configuration parameter.*/
/* Set home, managers only. Users should set softposition */
if(strcasecmp(name,HOME) == 0) {
if(!SCMatchRights(pCon,usMugger))
return 1;
else {
if ( (self->fLower - newValue) > FLT_EPSILON) {
snprintf(pError, ERRLEN,"ERROR:'%s %s' must be greater than or equal to %f", self->name, HOME, self->fLower);
SCWrite(pCon, pError, eError);
return 1;
}
if ( (newValue - self->fUpper) > FLT_EPSILON) {
snprintf(pError, ERRLEN,"ERROR:'%s %s' must be less than or equal to %f", self->name, HOME, self->fUpper);
SCWrite(pCon, pError, eError);
return 1;
}
self->home = newValue;
return 1;
}
}
if(strcasecmp(name,SETPOS) == 0) {
if (self->pMot == NULL)
self->pMot = FindMotor(pServ->pSics, self->name);
MotorGetPar(self->pMot,"softzero",&oldZero);
newZero = (self->pMot->fPosition - newValue) + oldZero;
MotorSetPar(self->pMot,pCon,"softzero",newZero);
return 1;
}
/* Set motor off delay, managers only */
if(strcasecmp(name,MOTOFFDELAY) == 0) {
if(!SCMatchRights(pCon,usMugger))
return 1;
else {
self->motOffDelay = newValue;
return 1;
}
}
/* Debug, managers only */
if(strcasecmp(name,"debug") == 0) {
if(!SCMatchRights(pCon,usMugger))
return 1;
else {
self->debug = newValue;
return 1;
}
}
/* Setttle, managers only */
if(strcasecmp(name,SETTLE) == 0) {
if(!SCMatchRights(pCon,usMugger))
return 1;
else {
self->settle = newValue;
return 1;
}
}
/* Set airpads, managers only */
if(strcasecmp(name,AIRPADS) == 0) {
if(!SCMatchRights(pCon,usMugger))
return 1;
else {
self->has_airpads = newValue;
return 1;
}
}
/* Set interval between blocked motor checks,
* managers only */
if(strcasecmp(name,BLOCKAGE_CHECK_INTERVAL) == 0) {
if(!SCMatchRights(pCon,usMugger))
return 1;
else {
self->blockage_ckInterval = newValue;
return 1;
}
}
/* Set movement threshold for blocked motor checks,
* managers only */
if(strcasecmp(name,"blockage_thresh") == 0) {
if(!SCMatchRights(pCon,usMugger))
return 1;
else {
self->blockage_thresh = newValue;
return 1;
}
}
/* Set ratio for blocked motor checks,
* managers only */
if(strcasecmp(name,"blockage_ratio") == 0) {
if(!SCMatchRights(pCon,usMugger))
return 1;
else {
self->blockage_ratio = newValue;
return 1;
}
}
/* Set blocked motor checks failure mode,
* managers only */
if(strcasecmp(name,"blockage_fail") == 0) {
if(!SCMatchRights(pCon,usMugger))
return 1;
else {
self->blockage_fail = newValue;
return 1;
}
}
/* Invoke Home Run routine in controller,
* managers only */
if(self->abs_endcoder == 0 && strcasecmp(name,"homerun") == 0) {
if(!SCMatchRights(pCon,usMugger))
return 1;
else {
if (DMC2280MotionControl != 1 && newValue > 0.5) {
snprintf(pError, ERRLEN,"ERROR: Motion Control must be on");
SCWrite(pCon, pError, eError);
}
RunHomeRoutine(self, newValue);
return 1;
}
}
/* Set speed */
if(strcasecmp(name,SPEED) == 0) {
if ((0.0 - newValue) > FLT_EPSILON) {
snprintf(pError, ERRLEN,"ERROR:'%s %s' must be greater than or equal to %f", self->name, SPEED, 0.0);
SCWrite(pCon, pError, eError);
return 1;
}
if ((newValue - self->maxSpeed ) > FLT_EPSILON) {
snprintf(pError, ERRLEN,"ERROR:'%s %s' must be less than or equal to %f", self->name, SPEED, self->maxSpeed);
SCWrite(pCon, pError, eError);
return 1;
}
self->speed = newValue;
snprintf(cmd,CMDLEN,"SP%c=%d", self->axisLabel, motSpeed(self, self->speed));
if (FAILURE == DMC2280Send(self, cmd))
return 0; /* FIXME should signal a HWFault */
return 1;
}
/* Set Acceleration */
if(strcasecmp(name,ACCEL) == 0) {
if ((0.0 - newValue) > FLT_EPSILON) {
snprintf(pError, ERRLEN,"ERROR:'%s %s' must be greater than or equal to %f", self->name, ACCEL, 0.0);
SCWrite(pCon, pError, eError);
return 1;
}
if ((newValue - self->maxAccel ) > FLT_EPSILON) {
snprintf(pError, ERRLEN,"ERROR:'%s %s' must be less than or equal to %f", self->name, ACCEL, self->maxAccel);
SCWrite(pCon, pError, eError);
return 1;
}
self->accel = newValue;
snprintf(cmd,CMDLEN,"AC%c=%d", self->axisLabel, motAccel(self, self->accel));
if (FAILURE == DMC2280Send(self, cmd))
return 0; /* FIXME should signal a HWFault */
return 1;
}
/* Set Deceleration */
if(strcasecmp(name,DECEL) == 0) {
if ((0.0 - newValue) > FLT_EPSILON) {
snprintf(pError, ERRLEN,"ERROR:'%s %s' must be greater than or equal to %f", self->name, DECEL, 0.0);
SCWrite(pCon, pError, eError);
return 1;
}
if ((newValue - self->maxDecel ) > FLT_EPSILON) {
snprintf(pError, ERRLEN,"ERROR:'%s %s' must be less than or equal to %f", self->name, DECEL, self->maxDecel);
SCWrite(pCon, pError, eError);
return 1;
}
self->decel = newValue;
snprintf(cmd,CMDLEN,"DC%c=%d", self->axisLabel, motDecel(self, self->decel));
if (FAILURE == DMC2280Send(self, cmd))
return 0; /* FIXME should signal a HWFault */
return 1;
}
return 0;
}
/** \brief List the motor parameters to the client.
* \param self (r) provides access to the motor's data structure
* \param *name (r) name of motor.
* \param *pCon (r) connection object.
*/
static void DMC2280List(void *self, char *name, SConnection *pCon){
char buffer[BUFFLEN];
snprintf(buffer, BUFFLEN, "%s.long_name = %s\n", name, ((pDMC2280Driv)self)->long_name);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.axis = %c\n", name, ((pDMC2280Driv)self)->axisLabel);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.stepsPerX = %f\n", name, ((pDMC2280Driv)self)->stepsPerX);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.home = %f\n", name, ((pDMC2280Driv)self)->home);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.units = %s\n", name, ((pDMC2280Driv)self)->units);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.speed = %f\n", name, ((pDMC2280Driv)self)->speed);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.maxSpeed = %f\n", name, ((pDMC2280Driv)self)->maxSpeed);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.accel = %f\n", name, ((pDMC2280Driv)self)->accel);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.maxAccel = %f\n", name, ((pDMC2280Driv)self)->maxAccel);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.decel = %f\n", name, ((pDMC2280Driv)self)->decel);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.maxDecel = %f\n", name, ((pDMC2280Driv)self)->maxDecel);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.motOffDelay = %d\n", name, ((pDMC2280Driv)self)->motOffDelay);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.Debug = %d\n", name, ((pDMC2280Driv)self)->debug);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.Settle = %d\n", name, ((pDMC2280Driv)self)->settle);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.Blockage_Check_Interval = %f\n", name, ((pDMC2280Driv)self)->blockage_ckInterval);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.Blockage_Thresh = %f\n", name, ((pDMC2280Driv)self)->blockage_thresh);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.Blockage_Ratio = %f\n", name, ((pDMC2280Driv)self)->blockage_ratio);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.Blockage_Fail = %d\n", name, ((pDMC2280Driv)self)->blockage_fail);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.AirPads = %d\n", name, ((pDMC2280Driv)self)->has_airpads);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.absEnc = %d\n", name, ((pDMC2280Driv)self)->abs_endcoder);
SCWrite(pCon, buffer, eStatus);
if (((pDMC2280Driv)self)->abs_endcoder) {
snprintf(buffer, BUFFLEN, "%s.absEncHome = %d\n", name, ((pDMC2280Driv)self)->absEncHome);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.cntsPerX = %f\n", name, ((pDMC2280Driv)self)->cntsPerX);
SCWrite(pCon, buffer, eStatus);
}
return;
}
/** \brief Free memory if motor is removed
* \param *pData (rw) provides access to the motor's data structure
*/
static void KillDMC2280(/*@only@*/void *pData){
pDMC2280Driv self = NULL;
self = (pDMC2280Driv)pData;
assert(self != NULL);
if (self->name) {
free(self->name);
self->name = NULL;
}
if (self->errorMsg) {
free(self->errorMsg);
self->errorMsg = NULL;
}
if (self->mcc) {
MultiChanDestroy(self->mcc);
self->mcc = NULL;
}
/* Not required as performed in caller
* free(self);
*/
return;
}
/** \brief Create a driver for the DMC2280 Galil controller.
*
* This is called by the Motor configuration command in the
* SICS configuration file when you create a DMC2280 motor.
*
* Usage:\n
* Motor stth DMC2280 paramArray\n
* - stth is the motor name
* - DMC2280 is the motor type that will lead to calling this function.
* - paramArray is a Tcl array of the motor parameters.
*
* \param *pCon (r) connection object.
* \param *motor (r) motor name
* \param *params (r) configuration parameter array.
* \return a reference to Motordriver structure
*
* NOTES:\n
* -Adding parameters
* - Add a field for the parameter to the DMC2280Driv struct
* - Get the parameter from the parameter array, see PARAMETERS: below
* - If the parameter requires an abs enc then add it after ABSENC:
*/
MotorDriver *CreateDMC2280(SConnection *pCon, char *motor, char *params) {
pDMC2280Driv pNew = NULL;
char *pPtr = NULL;
char buffer[132];
char pError[ERRLEN];
char cmd[CMDLEN];
Tcl_Interp *interp;
buffer[0]='\0';
interp = InterpGetTcl(pServ->pSics);
/*
allocate and initialize data structure
*/
pNew = (pDMC2280Driv)malloc(sizeof(DMC2280Driv));
if(NULL == pNew){
snprintf(pError, ERRLEN, "ERROR: no memory when creating DMC2280 motor '%s'", motor);
SCWrite(pCon, pError, eError);
return NULL;
}
memset(pNew, 0, sizeof(DMC2280Driv));
/* Get multichan from the list of named parameters */
if ((pPtr=getParam(pCon, interp, params, "multichan", _OPTIONAL)) != NULL) {
/* MultiChan */
if (!MultiChanCreate(pPtr, &pNew->mcc)) {
snprintf(pError, ERRLEN, "Cannot find MultiChan '%s' when creating DMC2280 motor '%s'",
pPtr, motor);
SCWrite(pCon,pError,eError);
KillDMC2280(pNew);
return NULL;
}
MultiChanSetNotify(pNew->mcc, pNew, DMC_Notify);
}
else if ((pPtr=getParam(pCon, interp, params, "host", _OPTIONAL)) != NULL) {
char* host = pPtr;
if ((pPtr=getParam(pCon, interp, params,"port",_REQUIRED)) == NULL) {
snprintf(pError, ERRLEN, "\tError occurred when creating DMC2280 motor '%s'", motor);
SCWrite(pCon,pError,eError);
KillDMC2280(pNew);
return NULL;
}
/* MultiChan */
if (!MultiChanCreateHost(host, pPtr, &pNew->mcc)) {
snprintf(pError, ERRLEN,
"Cannot create MultiChan '%s:%s' for DMC2280 motor '%s'",
host, pPtr, motor);
SCWrite(pCon,pError,eError);
KillDMC2280(pNew);
return NULL;
}
MultiChanSetNotify(pNew->mcc, pNew, DMC_Notify);
}
else {
snprintf(pError, ERRLEN, "\tError occurred when creating DMC2280 motor '%s'", motor);
SCWrite(pCon,pError,eError);
KillDMC2280(pNew);
return NULL;
}
pNew->name = (char *)malloc(sizeof(char)*(strlen(motor)+1));
if (pNew->name == NULL) {
(void) SCWrite(pCon,"ERROR: no memory to allocate motor driver",
eError);
KillDMC2280(pNew);
return NULL;
}
pNew->pMot = NULL;
strcpy(pNew->name, motor);
pNew->home = 0.0;
pNew->fLower = 0.0;//(float)atof(argv[2]);
pNew->fUpper = 0.0;//(float)atof(argv[3]);
pNew->GetPosition = DMC2280GetPos;
pNew->RunTo = DMC2280Run;
pNew->GetStatus = DMC2280Status;
pNew->GetError = DMC2280Error;
pNew->TryAndFixIt = DMC2280Fix;
pNew->Halt = DMC2280Halt;
pNew->GetDriverPar = DMC2280GetPar;
pNew->SetDriverPar = DMC2280SetPar;
pNew->ListDriverPar = DMC2280List;
pNew->KillPrivate = KillDMC2280;
pNew->GetDriverTextPar = NULL;
pNew->blockage_ckInterval = 0.5;
pNew->blockage_thresh = 0.5;
pNew->blockage_ratio = 2.0;
pNew->blockage_fail = 0;
/* PARAMETERS: Fetch parameter values */
if ((pPtr=getParam(pCon, interp, params, LONG_NAME, _OPTIONAL)) != NULL) {
strncpy(pNew->long_name, pPtr, sizeof(pNew->long_name));
pNew->long_name[sizeof(pNew->long_name) - 1] = '\0';
}
if ((pPtr=getParam(pCon, interp, params,HARDLOWERLIM,_REQUIRED)) == NULL) {
KillDMC2280(pNew);
return NULL;
}
sscanf(pPtr,"%f",&(pNew->fLower));
if ((pPtr=getParam(pCon, interp, params,HARDUPPERLIM,_REQUIRED)) == NULL) {
KillDMC2280(pNew);
return NULL;
}
sscanf(pPtr,"%f",&(pNew->fUpper));
if ((pPtr=getParam(pCon, interp, params,UNITS,_REQUIRED)) == NULL) {
KillDMC2280(pNew);
return NULL;
}
sscanf(pPtr,"%s",pNew->units);
if ((pPtr=getParam(pCon, interp, params,MAXSPEED,_REQUIRED)) == NULL) {
KillDMC2280(pNew);
return NULL;
}
sscanf(pPtr,"%f",&(pNew->speed));
pNew->maxSpeed = pNew->speed;
if ((pPtr=getParam(pCon, interp, params,MAXACCEL,_REQUIRED)) == NULL) {
KillDMC2280(pNew);
return NULL;
}
sscanf(pPtr,"%f",&(pNew->accel));
pNew->maxAccel = pNew->accel;
if ((pPtr=getParam(pCon, interp, params,MAXDECEL,_REQUIRED)) == NULL) {
KillDMC2280(pNew);
return NULL;
}
sscanf(pPtr,"%f",&(pNew->decel));
pNew->maxDecel = pNew->decel;
if ((pPtr=getParam(pCon, interp, params,"axis",_REQUIRED)) == NULL) {
KillDMC2280(pNew);
return NULL;
}
sscanf(pPtr,"%c",&(pNew->axisLabel));
if ((pPtr=getParam(pCon, interp, params,"stepsperx",_REQUIRED)) == NULL) {
KillDMC2280(pNew);
return NULL;
}
sscanf(pPtr,"%f",&(pNew->stepsPerX));
if ((pPtr=getParam(pCon, interp, params,"motorhome",_OPTIONAL)) == NULL)
pNew->motorHome=0;
else
sscanf(pPtr,"%d",&(pNew->motorHome));
if ((pPtr=getParam(pCon, interp, params,"nopowersave",_OPTIONAL)) == NULL)
pNew->noPowerSave=_SAVEPOWER;
else
sscanf(pPtr,"%d",&(pNew->noPowerSave));
if ((pPtr=getParam(pCon, interp, params,"motoffdelay",_OPTIONAL)) == NULL)
pNew->motOffDelay=0;
else
sscanf(pPtr,"%d",&(pNew->motOffDelay));
/* Debug: this motor driver logs exchanges */
if ((pPtr=getParam(pCon, interp, params,"debug",_OPTIONAL)) == NULL)
pNew->debug=0;
else {
sscanf(pPtr,"%d",&(pNew->debug));
}
/* SETTLE: this motor need time to settle */
if ((pPtr=getParam(pCon, interp, params,"settle",_OPTIONAL)) == NULL)
pNew->settle=0;
else {
sscanf(pPtr,"%d",&(pNew->settle));
}
/* AIRPADS: this motor need airpads */
if ((pPtr=getParam(pCon, interp, params,"airpads",_OPTIONAL)) == NULL)
pNew->has_airpads=0;
else {
sscanf(pPtr,"%d",&(pNew->has_airpads));
}
/* ABSENC: If the parameter requires an abs enc add it to the else block */
if ((pPtr=getParam(pCon, interp, params,"absenc",_OPTIONAL)) == NULL)
pNew->abs_endcoder=0;
else {
sscanf(pPtr,"%d",&(pNew->abs_endcoder));
if ((pPtr=getParam(pCon, interp, params,"absenchome",_REQUIRED)) == NULL)
pNew->absEncHome=0;
else
sscanf(pPtr,"%d",&(pNew->absEncHome));
if ((pPtr=getParam(pCon, interp, params,"cntsperx",_REQUIRED)) == NULL)
pNew->cntsPerX=1;
else
sscanf(pPtr,"%f",&(pNew->cntsPerX));
}
/* Set speed */
snprintf(cmd,CMDLEN,"SP%c=%d", pNew->axisLabel, motSpeed(pNew, pNew->speed));
if (FAILURE == DMC2280Send(pNew, cmd))
return NULL;
/* Set acceleration */
snprintf(cmd,CMDLEN,"AC%c=%d", pNew->axisLabel, motAccel(pNew, pNew->accel));
if (FAILURE == DMC2280Send(pNew, cmd))
return NULL;
/* Set deceleration */
snprintf(cmd,CMDLEN,"DC%c=%d", pNew->axisLabel, motDecel(pNew, pNew->decel));
if (FAILURE == DMC2280Send(pNew, cmd))
return NULL;
/* TODO Initialise current position and target to get a sensible initial list output */
return (MotorDriver *)pNew;
}
int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
int argc, char *argv[])
{
pMotor pm = (pMotor) pData;
pDMC2280Driv self = (pDMC2280Driv) pm->pDriver;
if (argc > 1) {
if (strcasecmp("units", argv[1]) == 0) {
if (argc > 2) {
strncpy(self->units, argv[2], sizeof(self->units));
self->units[sizeof(self->units) - 1] = '\0';
}
else {
char line[132];
snprintf(line, 132, "%s.units = %s", self->name, self->units);
SCWrite(pCon, line, eValue);
}
return 1;
}
if (strcasecmp("long_name", argv[1]) == 0) {
if (argc > 2) {
strncpy(self->long_name, argv[2], sizeof(self->long_name));
self->long_name[sizeof(self->long_name) - 1] = '\0';
}
else {
char line[132];
snprintf(line, 132, "%s.long_name = %s", self->name, self->long_name);
SCWrite(pCon, line, eValue);
}
return 1;
}
if (strcasecmp("part", argv[1]) == 0) {
if (argc > 2) {
strncpy(self->part, argv[2], sizeof(self->part));
self->part[sizeof(self->part) - 1] = '\0';
}
else {
char line[132];
snprintf(line, 132, "%s.part = %s", self->name, self->part);
SCWrite(pCon, line, eValue);
}
return 1;
}
if (strcasecmp("list", argv[1]) == 0) {
}
}
return MotorAction(pCon, pSics, pData, argc, argv);
}
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