- Adding first working version of new AMOR settings module

- Improved sls magnet driver

amordrive.c

@@ -0,0 +1,170 @@
+ /*--------------------------------------------------------------------
+  Part of the AMOR position calculation module.
+
+  copyright: see file COPYRIGHT
+
+  Mark Koennecke, October 2005
+----------------------------------------------------------------------*/
+#include "amorset.h"
+#include "amordrive.h"
+
+/*---------------------------------------------------------------*/
+static void *AMODRIVGetInterface(void *data, int iD){
+    pamorDrive self = NULL;
+
+    self = (pamorDrive)data;
+     
+	if(iD == DRIVEID && self != NULL){
+		return self->pDriv;
+	} else {
+		return NULL;
+	}
+	return NULL;	
+}
+/*----------------------------------------------------------------
+ This routine can return either OKOK or HWFault when thing
+ go wrong. However, the return value of Halt is usually ignored!
+------------------------------------------------------------------*/
+static int AMODRIVHalt(void *data) {
+    pamorDrive self = NULL; 
+ 
+    self = (pamorDrive)data;
+
+	return self->mama->pDriv->Halt(self->mama);
+}
+/*----------------------------------------------------------------
+ This routine can return either 1 or 0. 1 means the position can 
+ be reached, 0 NOT
+ If 0, error shall contain up to errlen characters of information
+ about which limit was violated
+ Due to the complex nauture of the calculation: no check here
+------------------------------------------------------------------*/
+static int AMODRIVCheckLimits(void *data, float val,
+                         char *error, int errlen){
+    pamorDrive self = NULL; 
+ 
+    self = (pamorDrive)data;
+
+    return 1; 
+}
+/*----------------------------------------------------------------
+ This routine can return 0 when a limit problem occurred 
+ OKOK when the motor was successfully started 
+ HWFault when a problem occured starting the device
+ Possible errors shall be printed to pCon
+ For real motors, this is supposed to try at least three times
+ to start the motor in question
+ val is the value to drive the motor too
+------------------------------------------------------------------*/
+static long AMODRIVSetValue(void *data, SConnection *pCon, float val){
+    pamorDrive self = NULL; 
+ 
+    self = (pamorDrive)data;
+
+	amorSetMotor(self->mama, self->type, val);
+
+    return 1; 
+}
+/*----------------------------------------------------------------
+ Checks the status of a running motor. Possible return values
+   HWBusy The motor is still running
+   OKOK or HWIdle when the motor finished driving
+   HWFault when a hardware problem ocurred
+   HWPosFault when the hardware cannot reach a position
+ Errors are duly to be printed to pCon
+ For real motors CheckStatus again shall try hard to fix any 
+ issues with the motor 
+------------------------------------------------------------------*/
+static int AMODRIVCheckStatus(void *data, SConnection *pCon){
+    pamorDrive self = NULL; 
+ 
+    self = (pamorDrive)data;
+
+    return self->mama->pDriv->CheckStatus(self->mama, pCon);
+}
+/*----------------------------------------------------------------
+ GetValue is supposed to read a motor position
+ On errors, -99999999.99 is returned and messages printed to pCon
+------------------------------------------------------------------*/
+static float AMODRIVGetValue(void *data, SConnection *pCon){
+    pamorDrive self = NULL; 
+    float val = -99999999.99;
+ 
+    self = (pamorDrive)data;
+    return amorGetMotor(self->mama,pCon,self->type);
+}
+/*----------------------------------------------------------------
+ returns NULL on failure, a new datastrcuture else
+------------------------------------------------------------------*/
+static pamorDrive AMODRIVMakeObject(){
+    pamorDrive self = NULL; 
+
+	self = (pamorDrive)malloc(sizeof(amorDrive));
+	if(self == NULL){
+		return NULL;
+	}
+	memset(self,0,sizeof(amorDrive));
+	self->pDes = CreateDescriptor("AmorDrive");
+	self->pDriv = CreateDrivableInterface();
+	if(self->pDes == NULL || self->pDriv == NULL){
+		free(self);
+		return NULL;
+	}
+
+    self->pDes->GetInterface = AMODRIVGetInterface;
+    self->pDriv->Halt = AMODRIVHalt;
+    self->pDriv->CheckLimits = AMODRIVCheckLimits;
+    self->pDriv->SetValue = AMODRIVSetValue;
+    self->pDriv->CheckStatus = AMODRIVCheckStatus;
+    self->pDriv->GetValue = AMODRIVGetValue;
+
+    return self;
+}
+/*-----------------------------------------------------------------*/
+void killAmorDrive(void *data){
+	pamorDrive self = NULL;
+	
+	self = (pamorDrive)data;
+	if(self == NULL){
+		return;
+	}
+	if(self->pDes != NULL){
+		DeleteDescriptor(self->pDes);
+	}
+	if(self->pDriv != NULL){
+		free(self->pDriv);
+	}
+	free(self);
+}
+/*-----------------------------------------------------------------*/
+pamorDrive makeAmorDrive(pamorSet papa, int type){
+	pamorDrive self = NULL;
+	
+	self = AMODRIVMakeObject();
+	if(self == NULL){
+		return self;
+	}
+	self->mama = papa;
+	self->type = type;
+	return self;
+}
+/*----------------------------------------------------------------*/
+int AmorDriveAction(SConnection *pCon, SicsInterp *pSics, void *pData,
+                                        int argc, char *argv[]){
+    pamorDrive self = NULL; 
+    float val;
+    char pBueffel[132];
+ 
+    self = (pamorDrive)pData;
+    assert(self);
+    val = amorGetMotor(self->mama, pCon,self->type);
+    if(val > -999999) {
+    	snprintf(pBueffel,131, " %s = %f", argv[0], val);
+    	SCWrite(pCon,pBueffel,eValue);
+    	return 1;
+    } else {
+    	return 0;
+    }
+    return 0;
+}
+