- Rearranged directory structure for forking out ANSTO
- Refactored site specific stuff into a site module - PSI specific stuff is now in the PSI directory. - The old version has been tagged with pre-ansto
This commit is contained in:
cvs
644
hardsup/el734tcl.c
Normal file
644
hardsup/el734tcl.c
Normal file
@ -0,0 +1,644 @@
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/*--------------------------------------------------------------------------
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Some code to make EL734 motors as used at SINQ available in TCL.
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Just a wrapper around David Maden's motor control routines.
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You are free to use and modify this software for noncommercial
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usage.
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No warranties or liabilities of any kind taken by me or my employer
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Mark Koennecke June 1996
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----------------------------------------------------------------------------*/
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#include "sinq_prototypes.h"
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/* #include <timers.h>*/
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#include <tcl.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include <string.h>
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#include "rs232c_def.h"
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#include "el734_def.h"
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#define INACTIVE 999.8
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#define MOTACURRACY 0.02
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#define False 0
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#define True 1
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typedef struct
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||||
{
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float fUpper; /* upper limit */
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float fLower; /* Lower Limit */
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int iFix; /* fixed, unfixed flag */
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float fSoftZero; /* SW-zero point */
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float fSoftUpper; /* software upper boundary*/
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float fSoftLower; /* " lower " */
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int iLowFlag, iUpFlag, iZeroFlag; /*activity flags */
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void *pData; /* EL734 open struct */
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} EL734st;
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EXTERN int EL734Action(ClientData pDat, Tcl_Interp *i, int a, char *argv[]);
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static void EL734Error2Text(char *pBuffer, int errcode);
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/*---------------------------------------------------------------------------
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Tcl has a high niceness level. It deletes a command properly when
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exiting, reinitializing etc. I use this facility to kill off the
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motor initialised in EL734.
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---------------------------------------------------------------------------*/
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EXTERN void EL734Murder(ClientData pData)
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{
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EL734st *pTa = (EL734st *)pData;
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EL734_Close(&(pTa->pData));
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free(pData);
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}
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/*----------------------------------------------------------------------------
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EL734 is the main entry point for this stuff. It connects to a motor
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and, on success, creates a new command with the name of the motor.
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Syntax:
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EL734 name host port channel index
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---------------------------------------------------------------------------*/
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int EL734(ClientData clientData, Tcl_Interp *interp,
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int argc, char *argv[])
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{
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int iRet;
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EL734st *pEL734 = NULL;
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int iPort, iChannel, iMotor;
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char *pErr = NULL;
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char pBueffel[80];
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/* check arguments */
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if(argc < 6)
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{
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Tcl_AppendResult(interp,
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" Insufficient arguments: EL734 name host port channel index"
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, (char *) NULL);
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return TCL_ERROR;
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}
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/* convert arguments */
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iRet = Tcl_GetInt(interp,argv[3],&iPort);
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if(iRet == TCL_ERROR)
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{
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Tcl_AppendResult(interp,"Need integer value for port",
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(char *)NULL);
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return iRet;
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}
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iRet = Tcl_GetInt(interp,argv[4],&iChannel);
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if(iRet == TCL_ERROR)
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{
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Tcl_AppendResult(interp,"Need integer value for channel",
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(char *)NULL);
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return iRet;
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}
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iRet = Tcl_GetInt(interp,argv[5],&iMotor);
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if(iRet == TCL_ERROR)
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{
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Tcl_AppendResult(interp,"Need integer value for motor",
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(char *)NULL);
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return iRet;
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}
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/* make a new pointer, initialise EL734st */
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pEL734 = (EL734st *)malloc(sizeof(EL734st));
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if(pEL734 ==NULL)
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{
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Tcl_AppendResult(interp,"No memory in EL734",NULL);
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return TCL_ERROR;
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}
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pEL734->iFix = False;
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pEL734->fSoftZero = INACTIVE+1;
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pEL734->fSoftUpper = INACTIVE+1.;
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pEL734->fSoftLower = -INACTIVE-1.;
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pEL734->iZeroFlag = False;
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pEL734->iLowFlag = False;
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pEL734->iUpFlag = False;
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/* open the motor, finally */
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iRet = EL734_Open(&(pEL734->pData), argv[2],iPort,iChannel,iMotor,"STPMC EL734");
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if(iRet) /* success */
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{
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/* figure out motor limits */
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EL734_GetLimits(&(pEL734->pData),&(pEL734->fLower),
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&(pEL734->fUpper));
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/* handle TCL, create new command: the motor */
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Tcl_CreateCommand(interp,strdup(argv[1]),EL734Action,
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(ClientData)pEL734,EL734Murder);
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Tcl_AppendResult(interp,strdup(argv[1]),(char *)NULL);
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return TCL_OK;
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}
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else
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{
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EL734_ErrInfo(&pErr,&iPort,&iChannel, &iMotor);
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EL734Error2Text(pBueffel,iPort);
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Tcl_AppendResult(interp,pBueffel,(char *) NULL);
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free(pEL734);
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return TCL_ERROR;
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}
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}
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/*---------------------------------------------------------------------------
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CheckPos checks a position and converts it to a real position.
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Returns TCL_ERROR on mistake, TCL_OK else
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---------------------------------------------------------------------------*/
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static int CheckPos(Tcl_Interp *interp, EL734st *pData,
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float fRequested, float *fDrive)
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{
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float fPos;
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char pBueffel[132];
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/* fixed ? */
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if(pData->iFix)
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{
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Tcl_AppendResult(interp,"Motor fixed",NULL);
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return TCL_ERROR;
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}
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/* check against SW-boundaries */
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if(pData->iUpFlag)
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{
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if(fRequested > pData->fSoftUpper)
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{
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sprintf(pBueffel,
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"Requested position: %f violates SW-boundary %f",
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fRequested, pData->fSoftUpper);
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Tcl_AppendResult(interp,pBueffel,(char *) NULL);
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return TCL_ERROR;
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}
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}
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if(pData->iLowFlag)
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{
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if(fRequested < pData->fSoftLower)
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{
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sprintf(pBueffel,
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"Requested position: %f violates SW-boundary %f",
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fRequested, pData->fSoftLower);
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Tcl_AppendResult(interp,pBueffel,(char *) NULL);
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return TCL_ERROR;
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}
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}
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||||
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||||
/* correct for zero point */
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if(pData->iZeroFlag)
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{
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fPos = fRequested - pData->fSoftZero;
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}
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else
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{
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fPos = fRequested;
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}
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/* check HW-boundaries */
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if( (fPos < pData->fLower) || (fPos > pData->fUpper) )
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{
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sprintf(pBueffel," %f outside limits %f %f",
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fPos,pData->fLower, pData->fUpper);
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Tcl_AppendResult(interp,"Requested position: ",
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||||
pBueffel,(char *)NULL);
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return TCL_ERROR;
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}
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*fDrive = fPos;
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return TCL_OK;
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}
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/* -------------------------------------------------------------------------
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fucking standard library missing functionality!!!!!!!!!!!!!!!!
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||||
---------------------------------------------------------------------------*/
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static float absf(float x)
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||||
{
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if(x < .0)
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return -x;
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else
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return x;
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}
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||||
/*--------------------------------------------------------------------------
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||||
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EL734 Action is the routine where commands send to the motor will
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end up.
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Syntax:
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motor lim shows motor limits
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motor dr val drives the motor to val
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motor run val set the motor in motion, without waiting
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for completion
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motor pos shows motor position
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motor fix fixes a motor at a position
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motor unfix unfixes a fixed motor
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motor zero val set a software zero point
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motor upper val sets a software upper limit
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motor lower val sets a software lower limit
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----------------------------------------------------------------------------*/
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EXTERN int EL734Action(ClientData clientData, Tcl_Interp *interp,
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int argc, char *argv[])
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{
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EL734st *pData = (EL734st *)clientData;
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char pBueffel[80];
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char *pErr = NULL;
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int iRet, iMSR, iOMSR, iFPC, iFRC, iSS;
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float fPos, fNpos;
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double dPos;
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int i;
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struct RS__RplyStruct *pReply = NULL;
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||||
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||||
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/* check parameters */
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if(argc < 2)
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||||
{
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Tcl_AppendResult(interp,
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"Usage: motor and either dr, pos, hlim slim run zero up lo",(char *)NULL);
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||||
return TCL_ERROR;
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||||
}
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if(pData == NULL)
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{
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Tcl_AppendResult(interp,
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"Motor data lost!!!!!!!!",(char *)NULL);
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return TCL_ERROR;
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}
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||||
/* check for HW-lim */
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if(strcmp(argv[1],"hlim") == 0)
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{
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sprintf(pBueffel," %f %f",pData->fLower,pData->fUpper);
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Tcl_AppendResult(interp,pBueffel,(char *)NULL);
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return TCL_OK;
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}
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||||
|
||||
/* check for SW-lim */
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if(strcmp(argv[1],"slim") == 0)
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{
|
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sprintf(pBueffel," %f %f",pData->fSoftLower,pData->fSoftUpper);
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||||
Tcl_AppendResult(interp,pBueffel,(char *)NULL);
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return TCL_OK;
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||||
}
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||||
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||||
/* fix & unfix */
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||||
if(strcmp(argv[1],"fix") == 0)
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{
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||||
pData->iFix = True;
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return TCL_OK;
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||||
}
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||||
if(strcmp(argv[1],"unfix") == 0)
|
||||
{
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||||
pData->iFix = False;
|
||||
return TCL_OK;
|
||||
}
|
||||
|
||||
/* reset */
|
||||
if(strcmp(argv[1],"reset")== 0)
|
||||
{
|
||||
pData->iFix = False;
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||||
pData->iLowFlag = False;
|
||||
pData->iUpFlag = False;
|
||||
pData->iZeroFlag = False;
|
||||
return TCL_OK;
|
||||
}
|
||||
|
||||
/* check for pos */
|
||||
if(strcmp(argv[1],"pos") == 0)
|
||||
{
|
||||
iRet = EL734_GetStatus(&(pData->pData),
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||||
&iMSR,
|
||||
&iOMSR,
|
||||
&iFPC,
|
||||
&iFRC,
|
||||
&iSS,
|
||||
&fPos);
|
||||
if(!iRet)
|
||||
{
|
||||
EL734_ErrInfo(&pErr,&iMSR,&iOMSR, &iSS);
|
||||
EL734Error2Text(pBueffel,iMSR);
|
||||
Tcl_AppendResult(interp,pBueffel,(char *) NULL);
|
||||
return TCL_ERROR;
|
||||
}
|
||||
else
|
||||
{
|
||||
if(pData->iZeroFlag)
|
||||
{
|
||||
fPos += pData->fSoftZero;
|
||||
}
|
||||
sprintf(pBueffel," %f",fPos);
|
||||
Tcl_AppendResult(interp,pBueffel,NULL);
|
||||
return TCL_OK;
|
||||
}
|
||||
}
|
||||
|
||||
/* zero point */
|
||||
if(strcmp(argv[1],"zero") == 0)
|
||||
{
|
||||
/* check for zero already been defined */
|
||||
if(pData->iZeroFlag)
|
||||
{
|
||||
Tcl_AppendResult(interp,
|
||||
"Request to set new zero point rejected.",
|
||||
" Use reset before new definition. ",
|
||||
" I'll get confused otherwise ",
|
||||
NULL);
|
||||
return TCL_ERROR;
|
||||
}
|
||||
|
||||
/* get the new position */
|
||||
if(argc < 3)
|
||||
{
|
||||
Tcl_AppendResult(interp,
|
||||
"Usage: motor zero val",NULL);
|
||||
return TCL_ERROR;
|
||||
}
|
||||
|
||||
iRet = Tcl_GetDouble(interp,argv[2],&dPos);
|
||||
fNpos = dPos;
|
||||
if(iRet == TCL_ERROR)
|
||||
{
|
||||
Tcl_AppendResult(interp,"Need float value for new zeropint",
|
||||
(char *)NULL);
|
||||
return iRet;
|
||||
}
|
||||
pData->fSoftZero = -fNpos;
|
||||
pData->iZeroFlag = True;
|
||||
return TCL_OK;
|
||||
}
|
||||
|
||||
/* upper SW-limit */
|
||||
if(strcmp(argv[1],"up") == 0)
|
||||
{
|
||||
/* get the new position */
|
||||
if(argc < 3)
|
||||
{
|
||||
Tcl_AppendResult(interp,
|
||||
"Usage: motor up val",NULL);
|
||||
return TCL_ERROR;
|
||||
}
|
||||
|
||||
iRet = Tcl_GetDouble(interp,argv[2],&dPos);
|
||||
fNpos = dPos;
|
||||
if(iRet == TCL_ERROR)
|
||||
{
|
||||
Tcl_AppendResult(interp,"Need float value for new upper limit",
|
||||
(char *)NULL);
|
||||
return iRet;
|
||||
}
|
||||
pData->fSoftUpper = fNpos;
|
||||
pData->iUpFlag = True;
|
||||
return TCL_OK;
|
||||
}
|
||||
|
||||
/* lower SW-limit */
|
||||
if(strcmp(argv[1],"lo") == 0)
|
||||
{
|
||||
/* get the new position */
|
||||
if(argc < 3)
|
||||
{
|
||||
Tcl_AppendResult(interp,
|
||||
"Usage: motor lo val",NULL);
|
||||
return TCL_ERROR;
|
||||
}
|
||||
|
||||
iRet = Tcl_GetDouble(interp,argv[2],&dPos);
|
||||
fNpos = dPos;
|
||||
if(iRet == TCL_ERROR)
|
||||
{
|
||||
Tcl_AppendResult(interp,"Need float value for new lower limit",
|
||||
(char *)NULL);
|
||||
return iRet;
|
||||
}
|
||||
pData->fSoftLower = fNpos;
|
||||
pData->iLowFlag = True;
|
||||
return TCL_OK;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* this is most important: dr for Drive */
|
||||
if(strcmp(argv[1],"dr") == 0)
|
||||
{
|
||||
/* get the new position */
|
||||
if(argc < 3)
|
||||
{
|
||||
Tcl_AppendResult(interp,
|
||||
"Usage: motor dr val",NULL);
|
||||
return TCL_ERROR;
|
||||
}
|
||||
|
||||
iRet = Tcl_GetDouble(interp,argv[2],&dPos);
|
||||
fNpos = dPos;
|
||||
if(iRet == TCL_ERROR)
|
||||
{
|
||||
Tcl_AppendResult(interp,"Need value to drive to",
|
||||
(char *)NULL);
|
||||
return iRet;
|
||||
}
|
||||
|
||||
/* check if compatible with limits */
|
||||
if(CheckPos(interp,pData,fNpos,&fPos) == TCL_ERROR)
|
||||
return TCL_ERROR;
|
||||
|
||||
/* finally move */
|
||||
iRet = EL734_MoveWait(&(pData->pData), fPos, &iOMSR,
|
||||
&iFPC, &iFRC,&fNpos);
|
||||
/* 99.99999999999% of all code is error checking */
|
||||
if(!iRet)
|
||||
{
|
||||
EL734_ErrInfo(&pErr,&iMSR,&iOMSR, &iSS);
|
||||
EL734Error2Text(pBueffel,iMSR);
|
||||
Tcl_AppendResult(interp,pBueffel,(char *) NULL);
|
||||
return TCL_ERROR;
|
||||
}
|
||||
|
||||
/* check if driving has been done */
|
||||
if(absf(fPos-fNpos) > MOTACURRACY)
|
||||
{
|
||||
Tcl_AppendResult(interp,
|
||||
" Motor error: inacurate driving!",
|
||||
" Probably something serious is wrong ",
|
||||
" Check the fucking hardware ",
|
||||
NULL);
|
||||
return TCL_ERROR;
|
||||
}
|
||||
return TCL_OK;
|
||||
}
|
||||
|
||||
/* this is most important: run for Driving without waiting */
|
||||
if(strcmp(argv[1],"run") == 0)
|
||||
{
|
||||
/* get the new position */
|
||||
if(argc < 3)
|
||||
{
|
||||
Tcl_AppendResult(interp,
|
||||
"Usage: motor run val",NULL);
|
||||
return TCL_ERROR;
|
||||
}
|
||||
|
||||
iRet = Tcl_GetDouble(interp,argv[2],&dPos);
|
||||
fNpos = dPos;
|
||||
if(iRet == TCL_ERROR)
|
||||
{
|
||||
Tcl_AppendResult(interp,"Need value to run for",
|
||||
(char *)NULL);
|
||||
return iRet;
|
||||
}
|
||||
|
||||
/* check if compatible with limits */
|
||||
if(CheckPos(interp,pData,fNpos,&fPos) == TCL_ERROR)
|
||||
return TCL_ERROR;
|
||||
|
||||
/* finally move */
|
||||
iRet = EL734_MoveNoWait (&(pData->pData), fPos);
|
||||
|
||||
/* 99.99999999999% of all code is error checking */
|
||||
if(!iRet)
|
||||
{
|
||||
EL734_ErrInfo(&pErr,&iMSR,&iOMSR, &iSS);
|
||||
EL734Error2Text(pBueffel,iMSR);
|
||||
Tcl_AppendResult(interp,pBueffel,(char *) NULL);
|
||||
return TCL_ERROR;
|
||||
}
|
||||
return TCL_OK;
|
||||
}
|
||||
|
||||
/* the dangerous, undocumented expert command: com:
|
||||
sends something directly to the motor. All args following
|
||||
com will be concatenated in one string, closed with \r
|
||||
and send to the motor . A GetReply will be invoked in order
|
||||
to yield a return value. Usage by normal motor users strictly
|
||||
discouraged.
|
||||
*/
|
||||
if(strcmp(argv[1],"com") == 0)
|
||||
{
|
||||
strcpy(pBueffel,argv[2]);
|
||||
for(i = 3; i < argc; i++)
|
||||
{
|
||||
strcat(pBueffel," ");
|
||||
strcat(pBueffel,argv[i]);
|
||||
}
|
||||
sprintf(pBueffel,"%s\r",pBueffel);
|
||||
iRet = EL734_SendCmnds(&(pData->pData),pBueffel,NULL);
|
||||
if(!iRet)
|
||||
{
|
||||
EL734_ErrInfo(&pErr,&iMSR,&iOMSR, &iSS);
|
||||
EL734Error2Text(pBueffel,iMSR);
|
||||
Tcl_AppendResult(interp,pBueffel,(char *) NULL);
|
||||
return TCL_ERROR;
|
||||
}
|
||||
/* fetch reply */
|
||||
pReply = (struct RS__RplyStruct *)EL734_GetReply(
|
||||
&(pData->pData),NULL);
|
||||
while(pReply != NULL)
|
||||
{
|
||||
Tcl_AppendElement(interp,pReply->rply);
|
||||
pReply = (struct RS__RplyStruct *)EL734_GetReply(
|
||||
&(pData->pData),pReply);
|
||||
}
|
||||
return TCL_OK;
|
||||
}
|
||||
|
||||
/* if we end here an unknown command has been sent */
|
||||
Tcl_AppendResult(interp,
|
||||
"Usage: motor and either dr, run,zero, pos, hlim"
|
||||
"slim up low reset fix unfix",(char *)NULL);
|
||||
return TCL_ERROR;
|
||||
}
|
||||
/*---------------------------------------------------------------------------
|
||||
|
||||
EL734Error2Text converts between an EL734 error code to text
|
||||
-----------------------------------------------------------------------------*/
|
||||
void EL734Error2Text(char *pBuffer, int iErr)
|
||||
{
|
||||
switch(iErr)
|
||||
{
|
||||
case -28:
|
||||
strcpy(pBuffer,"EL734__BAD_ADR");
|
||||
break;
|
||||
case -8:
|
||||
strcpy(pBuffer,"EL734__BAD_BIND");
|
||||
break;
|
||||
case -30:
|
||||
strcpy(pBuffer,"EL734__BAD_BSY");
|
||||
break;
|
||||
case -3:
|
||||
strcpy(pBuffer,"EL734__BAD_CMD");
|
||||
break;
|
||||
case -9:
|
||||
strcpy(pBuffer,"EL734__BAD_CONNECT");
|
||||
break;
|
||||
case -23:
|
||||
strcpy(pBuffer,"EL734__BAD_FLUSH");
|
||||
break;
|
||||
case -6:
|
||||
strcpy(pBuffer,"EL734__BAD_HOST");
|
||||
break;
|
||||
case -10:
|
||||
strcpy(pBuffer,"EL734__BAD_ID");
|
||||
break;
|
||||
case -5:
|
||||
strcpy(pBuffer,"EL734__BAD_ILLG");
|
||||
break;
|
||||
case -2:
|
||||
strcpy(pBuffer,"EL734__BAD_LOC");
|
||||
break;
|
||||
case -11:
|
||||
strcpy(pBuffer,"EL734__BAD_MALLOC");
|
||||
break;
|
||||
case -21:
|
||||
strcpy(pBuffer,"EL734__BAD_NOT_BCD");
|
||||
break;
|
||||
case -4:
|
||||
strcpy(pBuffer,"EL734__BAD_OFL");
|
||||
break;
|
||||
case -29:
|
||||
strcpy(pBuffer,"EL734__BAD_PAR");
|
||||
break;
|
||||
|
||||
case -17:
|
||||
strcpy(pBuffer,"EL734__BAD_RECV");
|
||||
break;
|
||||
case -19:
|
||||
strcpy(pBuffer,"EL734__BAD_RECV_NET");
|
||||
break;
|
||||
case -18:
|
||||
strcpy(pBuffer,"EL734__BAD_RECV_PIPE");
|
||||
break;
|
||||
case -20:
|
||||
strcpy(pBuffer,"EL734__BAD_RECV_UNKN");
|
||||
break;
|
||||
case -22:
|
||||
strcpy(pBuffer,"EL734__BAD_RECVLEN");
|
||||
break;
|
||||
case -24:
|
||||
strcpy(pBuffer,"EL734__BAD_RECV1");
|
||||
break;
|
||||
case -26:
|
||||
strcpy(pBuffer,"EL734__BAD_RECV1_NET");
|
||||
break;
|
||||
case -25:
|
||||
strcpy(pBuffer,"EL734__BAD_RECV1_PIPE");
|
||||
break;
|
||||
case -27:
|
||||
strcpy(pBuffer,"EL734__BAD_RNG");
|
||||
break;
|
||||
case -13:
|
||||
strcpy(pBuffer,"EL734__BAD_SEND");
|
||||
break;
|
||||
case -14:
|
||||
strcpy(pBuffer,"EL734__BAD_SEND_PIPE");
|
||||
break;
|
||||
case -15:
|
||||
strcpy(pBuffer,"EL734__BAD_SEND_NET");
|
||||
break;
|
||||
case -16:
|
||||
strcpy(pBuffer,"EL734__BAD_SEND_UNKN");
|
||||
break;
|
||||
case -12:
|
||||
strcpy(pBuffer,"EL734__BAD_SENDLEN");
|
||||
break;
|
||||
case -7:
|
||||
strcpy(pBuffer,"EL734__BAD_SOCKET");
|
||||
break;
|
||||
case -1:
|
||||
strcpy(pBuffer,"EL734__BAD_TMO");
|
||||
break;
|
||||
default:
|
||||
strcpy(pBuffer,"Unknown EL734 error");
|
||||
break;
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user