- Renamed tasdrive to ptasdrive in order to help debugging

- Added ritastorage in order to solve storage order problem for
  RITA's area detector

amorstat.c

@@ -430,6 +430,9 @@
               ScanPointCallback(SCANPOINT,pDum,pCon,SCGetContext(pCon));
            }
        }
+       /*
+        * histmem
+        */
        pDum = (pDummy)self->pHM;
        pCall = pDum->pDescriptor->GetInterface(pDum,CALLBACKINTERFACE);
        if(pCall)

ecbcounter.c

@@ -74,6 +74,26 @@ static int readScaler(pECBCounter pPriv, int scaler, int *count){
 
   return 1;
 }
+/*---------------------------------------------------------------------------*/
+static int readTime(pECBCounter pPriv,float *time){
+  int status;
+  Z80_reg in, out;
+  Ecb_pack data;
+  
+  in.c = (unsigned char)0;
+  status = ecbExecute(pPriv->ecb,STREAD,in,&out);
+  if(status != 1){
+    return COMMERROR;
+  }
+
+  data.b.byt3 = out.c;
+  data.b.byt2 = out.b;
+  data.b.byt1 = out.d;
+  data.b.byt0 = out.e;
+  *time = (float)data.result/(float)pPriv->tfreq;
+  return 1;
+}
+
 /*---------------------------------------------------------------------*/
 static int check4Beam(struct __COUNTER *pCter, int *beam){
   Z80_reg in, out;
@@ -147,6 +167,7 @@ static int ECBGetStatus(struct __COUNTER *self, float *fControl){
   int status, result, scaler;
   Z80_reg in, out;
   int count, beam;
+  float time;
   
   assert(pPriv);
 
@@ -210,16 +231,13 @@ static int ECBGetStatus(struct __COUNTER *self, float *fControl){
   */
   if(self->eMode == eTimer){
     scaler = 0;
+    readTime(pPriv,fControl); 
   }else {
     scaler = pPriv->control;
+    readScaler(pPriv,scaler,&count);
+   *fControl = (float)count;
   }
 
-  readScaler(pPriv,scaler,&count);
-  /*
-    ignore errors on this one
-  */
-  *fControl = (float)count;
-
   return result;
 }
 /*=====================================================================*/
@@ -361,12 +379,11 @@ static int ECBTransfer(struct __COUNTER *self){
   /*
     read time
   */
-  status = readScaler(pPriv,0,&count);
+  status = readTime(pPriv,&self->fTime);
   if(status <= 0){
     self->iErrorCode = COMMERROR;
     return HWFault;
   }
-  self->fTime = (float)count;
 
   /*
     read other scalers

ecbdriv.c

@@ -927,6 +927,13 @@ static int ECBGetDriverPar(void *pData,char *name,  float *value){
     *value = self->ecbIndex;
     return 1;
   }
+  /*
+   * catch the command parameters
+   */
+  if(strcmp(name,"putpos") == 0 || strcmp(name,"download") == 0){
+    *value = .0;
+    return 1;
+  }
 
   par = ObParFind(self->driverPar,name);
   if(par != NULL){
@@ -1151,7 +1158,7 @@ static void ECBListPar(void *pData, char *motorName, SConnection *pCon){
   assert(self);
 
   for(i = 0; i < MAXPAR-1; i++){
-    sprintf(pBueffel,"%s.%s = %f",
+    snprintf(pBueffel,255,"%s.%s = %f",
 	    motorName,self->driverPar[i].name,
 	    self->driverPar[i].fVal);
     SCWrite(pCon,pBueffel,eValue);

frame.c

@@ -168,6 +168,9 @@ static int readFileFrame(SConnection *pCon,
     status = NXgetdata(fileHandle,buffer+2);
   } else {
     iStart[0] = iStart[1] = 0;
+    if(nFrame > iDim[2] - 2){
+        nFrame = iDim[2] - 2;
+    }
     iStart[2] = nFrame;
     iSize[0] = iDim[0];
     iSize[1] = iDim[1];

julcho.c

@@ -574,17 +574,7 @@ static int JulChoGetCallback(void *userData, void *callData,
 }
 /*--------------------------------------------------------------------------*/
 static int AppendJulChoROPar(pHdb parent, char *name, int type){
-    pHdb res = NULL;
+    return AddSICSHdbROPar(parent,name,makeHdbValue(type,1));
-    hdbValue v;
-    
-    memset(&v,0,sizeof(hdbValue));
-    v.dataType = type;
-    res = MakeSICSROPar(name,v);
-    if(res == NULL){
-        return 0;
-    }
-    AddHipadabaChild(parent,res);
-    return 1;
 }
 /*---------------------------------------------------------------------------*/
 static int ConfigureSingleJulCho(pHdb parent, pJulCho driv, 

make_gen

@@ -8,7 +8,7 @@
 
 OBJ=psi.o buffer.o ruli.o dmc.o nxsans.o nextrics.o sps.o pimotor.o \
 	pipiezo.o sanswave.o faverage.o fowrite.o amor2t.o nxamor.o \
-	amorstat.o tasinit.o tasdrive.o tasutil.o tasscan.o swmotor.o \
+	amorstat.o tasinit.o ptasdrive.o tasutil.o tasscan.o swmotor.o \
 	polterwrite.o ecb.o frame.o el734driv.o el734dc.o ecbdriv.o \
 	ecbcounter.o el737driv.o sinqhmdriv.o tdchm.o velodorn.o \
 	velodornier.o docho.o sanscook.o tecsdriv.o itc4driv.o itc4.o\
@@ -17,7 +17,8 @@ OBJ=psi.o buffer.o ruli.o dmc.o nxsans.o nextrics.o sps.o pimotor.o \
 	t_rlp.o t_conv.o el737hpdriv.o dornier2.o el734hp.o \
 	el737hpv2driv.o swmotor2.o tricssupport.o amorcomp.o \
 	$(MZOBJ) amordrive.o amorset.o tcpdornier.o sinqhttp.o\
-	dgrambroadcast.o sinq.o tabledrive.o tcpdocho.o julcho.o
+	dgrambroadcast.o sinq.o tabledrive.o tcpdocho.o julcho.o \
+	ritastorage.o
 
 MZOBJ=fsm.o logger.o sugar.o pardef.o ease.o strobj.o oxinst.o logreader.o \
 	ipsdriv.o ilmdriv.o itcdriv.o ighdriv.o euro2kdriv.o modbus.o arrobj.o \

psi.c

@@ -65,6 +65,9 @@ extern int VelSelTcpFactory(SConnection *pCon, SicsInterp *pSics, void *pData,
  */
 extern int JulChoFactory(SConnection *pCon, SicsInterp *pSics, void *pData,
                      int argc, char *argv[]);
+/* from ritastorage.c */                     
+extern int MakeRitaFix(SConnection *pCon, SicsInterp *pSics, void *pData,
+                     int argc, char *argv[]);
 /*--------------------------------------------------------------------------*/
 void SiteInit(void) {
 
@@ -116,6 +119,7 @@ static void AddPsiCommands(SicsInterp *pInter){
     AddCommand(pInter,"MakeAmorSet",AmorSetFactory,NULL,NULL);
     AddCommand(pInter,"MakeTCPSelector",VelSelTcpFactory,NULL,NULL);
     AddCommand(pInter,"MakeJulCho",JulChoFactory,NULL,NULL);
+    AddCommand(pInter,"MakeRitaFix",MakeRitaFix,NULL,NULL);
 /*
     AddCommand(pInter,"MakeDifrac",MakeDifrac,NULL,NULL);
 */
@@ -137,6 +141,7 @@ static void RemovePsiCommands(SicsInterp *pSics){
     RemoveCommand(pSics,"MakeAmorStatus");
     RemoveCommand(pSics,"MakeTCPSelector");
     RemoveCommand(pSics,"MakeJulCho");
+    RemoveCommand(pSics,"MakeRitaFix");
 /*
     RemoveCommand(pSics,"MakeDifrac");
 */

ptasdrive.c

@@ -0,0 +1,336 @@
+/*--------------------------------------------------------------------------
+  This is one implementation file for the TASMAD simulation module for
+  SICS. The requirement is to make SICS look as much as TASMAD as 
+  possible. This includes:
+  - TASMAD is variable driven
+  - Sometimes variables are accessed in storage order.
+  - A complicated calculation has to be done for getting the instruments
+    settings right. The appropriate F77 routine from TASMAD will be 
+    reused.
+  - The scan logic is different.
+  - Output of ILL-formatted data files is required. 
+
+  This file implements the MAD dr command for driving.
+
+  Mark Koennecke, November 2000
+
+  Polarisation support added.
+
+  Mark Koennecke, April 2002
+---------------------------------------------------------------------------*/
+#include <stdlib.h>
+#include <assert.h>
+#include <fortify.h>
+#include <sics.h>
+#include <sicsvar.h>
+#include <counter.h>
+#include <motor.h>
+#include <scan.h>
+#include <splitter.h>
+#include "tas.h"
+#include "tasu.h"
+
+
+/* a token break function, implemented in stptok.c */
+extern char *stptok(const char *s, char *tok, size_t toklen, char *brk);
+
+#define VAR 1
+#define VALUE 2
+
+/*----------------------------------------------------------------------
+  TASDrive has to do an interesting parsing job: The normal syntax is
+  par=val. However, it is possible that the we get par = val, val, val 
+  which means that the motors following par in storage order are
+  driven. Additionally we have to check for special energy or Q variables
+  which require a triple axis calculation. 
+
+  It helps if one understands some fundamental things used in the code 
+  below:
+  - motorMask holds a value for each motor in the motor list. The
+    value can be either 0 for not to drive or 1 for drive. After
+    successfull parsing these motors will be started. The mask will be built 
+    during parsing. 
+  - newPositions holds the new positions for the normal motors.
+  - tasMask is a mask which indicates which triple axis special variable
+    (Energy or Q) is driven.
+  - tasTargetMask will be set by the TAS calculation and will indicate
+    which motors of the range A1-A6, curvature and currents need to be
+    driven. 
+  - tasTargets holds after the TAS calculation the target values for the
+    A1-A6, curvature and currents  motors.
+
+
+-------------------------------------------------------------------------*/  
+#define NUM 1
+#define TXT 2
+
+int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
+                 int argc, char *argv[])
+{
+   pTASdata self = NULL;
+   int iTAS = 0;
+   float tasTargets[20], oldPos, oldEnergy[MAXEVAR];
+   unsigned char tasTargetMask[20], tasMask[MAXEVAR];
+   char *pPtr, pToken[20], pLine[256];
+   int varPointer, i, motorPointer, status, rStatus, lastToken;
+   char pBueffel[256];
+   unsigned char motorMask[MAXMOT]; 
+   float newPositions[MAXMOT];
+   pMotor pMot;
+
+
+
+   assert(pCon);
+   assert(pSics);
+   self = (pTASdata)pData;
+   assert(self);
+
+   /* 
+     check authorization
+   */
+   if(!SCMatchRights(pCon,usUser))
+     return 0;
+
+
+   /* Initialize */
+   Arg2Text(argc, argv,pLine,255);
+   strtolower(pLine);
+   lastToken = NUM;
+   pPtr = pLine + strlen(argv[0]); /* step over command */
+   for(i = 0; i < 10; i++)
+   {
+     tasMask[i] = 0;
+     motorMask[i] = 0;
+     motorMask[10+i] = 0;
+     tasTargets[i] = .0;
+     tasTargets[i+10] = .0;
+     oldEnergy[i] = .0;
+   }
+   tasMask[10] = 0;
+   tasMask[11] = 0;
+
+   for(i = 0; i < MAXMOT; i++)
+   {
+     motorMask[i] = 0;
+   }
+   varPointer = -1; 
+   motorPointer = -1;
+   rStatus = 1;
+
+   /* parse loop */
+   while(pPtr != NULL)
+   {
+     pPtr = stptok(pPtr,pToken,20," ,=");
+     if(strlen(pToken) < 1 || pPtr == NULL )
+       continue;
+
+     if(tasNumeric(pToken)) /* numbers */
+     {
+        if(lastToken == NUM)
+	{
+          /* handle storage order logic */
+	  if(motorPointer > -1)
+	  {
+	    motorPointer++;
+          }
+          else if(varPointer > -1)
+	  {
+	    varPointer++;
+          }
+          else
+	  {
+	    sprintf(pBueffel,"ERROR: parse error at %s, %s",
+                pToken,"need parameter to drive");
+            SCWrite(pCon,pBueffel,eError);
+            return 0;
+          }
+        }
+        /* enter the parameter to drive into the appropriate mask */
+        if(motorPointer >= 0)
+	{
+          motorMask[motorPointer] = 1;
+          newPositions[motorPointer] = atof(pToken);       	  
+        }
+        else if(varPointer >= 0 )
+	{
+           tasMask[varPointer] = 1;
+           oldEnergy[varPointer] = self->tasPar[EMIN+varPointer]->fVal;
+           self->tasPar[EMIN + varPointer]->fVal = atof(pToken); 
+           self->tasPar[ETARGET + varPointer]->fVal = atof(pToken); 
+        }
+        else
+	{
+	   sprintf(pBueffel,"ERROR: parse error at %s, %s",
+                pToken,"need parameter to drive");
+           SCWrite(pCon,pBueffel,eError);
+           return 0;
+        }
+        lastToken = NUM;
+     }
+     else /* text tokens */
+     {
+       lastToken = TXT;
+       if( (status = isTASEnergy(pToken)) > -1) /* Ei, KI, EF, KF, Q.... */
+       {
+	 iTAS = 1;
+         motorPointer = -1;
+         varPointer = status;
+       }
+       else if( (status = isTASMotor(pToken)) > -1)
+       {
+	 motorPointer = status;
+         varPointer = -1;
+       }
+       else
+       {
+          sprintf(pBueffel,"ERROR: cannot drive %s", pToken);
+          SCWrite(pCon,pBueffel,eError);
+          rStatus = 0;
+          break;
+       }
+     }
+   }/* end of parse loop */
+   if(rStatus != 1)
+     return rStatus;
+
+  /*
+    store SRO motor value
+  */
+  getSRO(pCon,&self->oldSRO);
+
+
+   /* having done this, we can start the motors */
+   for(i = 0; i < MAXMOT; i++)
+   {
+     if(motorMask[i] > 0)
+     {
+       pMot = FindMotor(pSics, tasMotorOrder[i]);
+       if(pMot)
+       {
+	 MotorGetSoftPosition(pMot, pCon, &oldPos);
+       }
+       else
+       {
+	 oldPos = -9999.;
+       }
+       sprintf(pBueffel,"Driving %s from %f to %f", 
+            tasMotorOrder[i],oldPos,newPositions[i]);
+       SCWrite(pCon,pBueffel,eWarning);
+       status = StartMotor(pServ->pExecutor,pSics,pCon,
+                           tasMotorOrder[i],newPositions[i]);
+       if(status == 0)
+       {
+         /* error should already have been reported by StartMotor*/
+	 rStatus = 0;
+       }
+     }
+   } 
+
+   /* 
+     if in TAS mode do the TAS calculation and start the appropriate   
+     motors.
+   */
+   if(iTAS > 0)
+   {
+     status = TASCalc(self,pCon,tasMask,tasTargets, tasTargetMask);
+     if(status)
+     {
+       /*
+        do output, first Q-E variables
+       */
+       for(i = 0; i < 12; i++)
+       {
+	 if(tasMask[i])
+	 {
+	   sprintf(pBueffel,"Driving %s from %f to %f", tasVariableOrder[EI+i],
+		   oldEnergy[i],
+                   self->tasPar[EI+i]->fVal);
+           SCWrite(pCon,pBueffel,eWarning);
+         }
+       }
+       /* 
+        more output: the motor positions
+       */
+       for(i = 0; i < 9; i++)
+       {
+	 if(tasTargetMask[i])
+	 {
+           pMot = FindMotor(pSics, tasMotorOrder[i]);
+           if(pMot)
+           {
+	      MotorGetSoftPosition(pMot, pCon, &oldPos);
+           }
+           else
+           {
+	      oldPos = -9999.;
+           }
+	   sprintf(pBueffel,"Driving %s from %f to %f",tasMotorOrder[i],
+                   oldPos, tasTargets[i]);
+           SCWrite(pCon,pBueffel,eWarning);
+         }
+       }
+       /*
+         output for magnet currents 
+       */
+       for(i = 0; i < 8; i++)
+       {
+	 if(tasTargetMask[9+i])
+	 {
+	   oldPos = readDrivable(tasMotorOrder[CURMOT+i], pCon);
+	   sprintf(pBueffel,"Driving %s from %f to %f",tasMotorOrder[CURMOT+i],
+                   oldPos, tasTargets[9+i]);
+           SCWrite(pCon,pBueffel,eWarning);
+         }
+       }
+       
+       status = TASStart(self,pCon,pSics,tasTargets,tasTargetMask);
+       if(status == 0)
+       {
+	 rStatus = 0;
+       }
+     }
+     else
+     {
+        rStatus = 0;
+     }
+   }
+
+
+   /*
+     wait till we are finished
+   */
+   status = Wait4Success(GetExecutor());
+   TASUpdate(self,pCon);
+
+   /*
+     handle interrupts
+   */
+   if(status == DEVINT)
+   {
+      if(SCGetInterrupt(pCon) == eAbortOperation)
+      {
+          SCSetInterrupt(pCon,eContinue);
+          sprintf(pBueffel,"Driving aborted");
+          SCWrite(pCon,pBueffel,eStatus);
+       }
+       return 0;
+    }
+    else if(status == DEVDONE)
+    {
+          sprintf(pBueffel,"Driving done");
+          SCWrite(pCon,pBueffel,eStatus);
+    }
+    else
+    {
+          sprintf(pBueffel,
+           "Driving finished");
+          SCWrite(pCon,pBueffel,eStatus);
+    }            
+    return rStatus; 
+}
+
+
+
+
+
+

ritastorage.c

@@ -0,0 +1,81 @@
+/**
+* This is module which fixes the storgae of the 2D detector at RITA. 
+* I wish to store a 3D array, 2 detector coordinates against NP, the number
+* of scan points. However, intermediate storage can only be as snapshots
+* of 2D arrays against scan points. This has to be formatted to a proper 
+* 3D data set in C storage order. This is to slow in tcl, therefore this
+* has to be done in in C.
+* 
+* copyright: see file COPYRIGHT
+* 
+* Mark Koennecke, August 2006
+*/
+#include <sics.h>
+#include <sicsdata.h>
+
+/*---------------------------------------------------------------------------*/
+static int RitaFix(SConnection *pCon, SicsInterp *pSics, void *pData,
+                  int argc, char *argv[]){
+    int x, y, np, scanDim, wrongpos, goodpos, val, *iData = NULL;
+    int wrongmult, wrongconst;
+    pSICSData intermediate = NULL, result = NULL;
+    char buffer[256];
+    
+    if(argc < 4){
+        SCWrite(pCon,"ERROR: not enough arguments to RitaFix",eError);
+        return 0;
+    }
+    
+    intermediate = FindCommandData(pSics,argv[1],"SICSData");
+    if(intermediate == NULL){
+        snprintf(buffer,255,"ERROR: %s is no SICSdata",argv[1]);
+        SCWrite(pCon,buffer,eError);
+        return 0;
+    } 
+    result  = FindCommandData(pSics,argv[2],"SICSData");
+    if(result == NULL){
+        snprintf(buffer,255,"ERROR: %s is no SICSdata",argv[2]);
+        SCWrite(pCon,buffer,eError);
+        return 0;
+    } 
+     
+    scanDim = atoi(argv[3]);
+    scanDim ++;
+    clearSICSData(result);
+    /*
+     * ensure enough memory in order to avoid memory allocation in the
+     * loop
+     */
+    iData = getSICSDataPointer(result,0,(128*128*scanDim) +1);
+    wrongpos = 128*128*scanDim;
+    if(intermediate->dataUsed < wrongpos || iData == NULL){
+        SCWrite(pCon,"ERROR: source data buffer to short or out of mem",
+            eError);
+        return 0;
+    }
+    wrongmult = 128*128;
+    for(x = 0; x < 128; x++){
+        for(y = 0; y < 128; y++){
+            goodpos = x*128*scanDim + y*scanDim;
+            wrongconst = y*128 + x;
+            for(np = 0; np < scanDim; np++, goodpos++){
+                /*
+                wrongpos = 128*128*np + y*128 + x;
+                goodpos = x*128*scanDim + y*scanDim + np;
+                */
+                wrongpos = wrongmult*np + wrongconst; 
+                result->data[goodpos] = intermediate->data[wrongpos];
+            }
+        }
+    } 
+    SCSendOK(pCon);
+    return 1;
+}
+/*---------------------------------------------------------------------------*/
+int MakeRitaFix(SConnection *pCon, SicsInterp *pSics, void *pData,
+                  int argc, char *argv[]){
+    AddCommand(pSics,"ritafixstorage",RitaFix,NULL,NULL);
+    return 1;
+}
+
+