- Fixed bugs in sinqhttp.c, most notatbly the unknown error on hm init
- Added first slit to amorset - Added untested code for the POLDI strees machine
This commit is contained in:
koennecke
358
poldizug.c
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358
poldizug.c
Normal file
@ -0,0 +1,358 @@
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/**
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* This is the implementation of a SICS access module for the POLDI
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* pull machine for testing mechanical samples. This thing is a one
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* of a kind; therefore its implementation does not follow the usual
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* SICS distinction between hardware object and driver. The thing can
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* operate in two modes: either a force is driven or a position.
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*
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* copyright: see file COPYRIGHT
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*
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* Mark Koennecke, October 2006
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*/
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#include <sics.h>
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#include <rs232controller.h>
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#include <bit.h>
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/*===============================================================*/
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#define FORCE 0
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#define ZUGPOS 1
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/*---------------------------------------------------------------*/
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typedef struct {
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pObjectDescriptor pDes;
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pIDrivable pDriv;
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prs232 controller;
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int iMode;
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float maxForce, minForce;
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float maxPos, minPos;
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}PZR, *pPZR;
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/*--------------------------------------------------------------*/
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static int PZRCommand(prs232 controller, SConnection *pCon,
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char *command,
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char *reply, int replyLen){
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int status, i;
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char buffer[512], error[132];
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/*
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* try three times to get our message through...
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*/
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for(i = 0; i < 3; i++){
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status = transactRS232(controller,command, strlen(command),
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reply, replyLen);
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if(status == 1){
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return 1;
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}
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/*
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* error processing
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*/
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memset(error,0,132);
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getRS232Error(status,error,131);
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status = fixRS232Error(controller,status);
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if(pCon != NULL){
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if(status == 1){
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snprintf(buffer,511,"WARNING: trying to fix: %s",
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error);
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SCWrite(pCon,buffer,eWarning);
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} else {
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snprintf(buffer,511,"ERROR: %s",
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error);
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SCWrite(pCon,buffer,eError);
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}
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}
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if(status == 0){
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return HWFault;
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}
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}
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return HWFault;
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}
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/*===============================================================*/
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static void *PZRGetInterface(void *data, int iD){
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pPZR self = NULL;
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self = (pPZR)data;
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if(self != NULL && iD == DRIVEID){
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return self->pDriv;
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} else {
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return NULL;
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}
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return NULL;
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}
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/*----------------------------------------------------------------
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This routine can return either OKOK or HWFault when thing
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go wrong. However, the return value of Halt is usually ignored!
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------------------------------------------------------------------*/
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static int PZRHalt(void *data) {
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pPZR self = NULL;
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char buffer[80];
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self = (pPZR)data;
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PZRCommand(self->controller,NULL,"stop\n",buffer,79);
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return OKOK;
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}
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/*----------------------------------------------------------------
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This routine can return either 1 or 0. 1 means the position can
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be reached, 0 NOT
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If 0, error shall contain up to errlen characters of information
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about which limit was violated
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------------------------------------------------------------------*/
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static int PZRCheckLimits(void *data, float val,
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char *error, int errlen){
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pPZR self = NULL;
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self = (pPZR)data;
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if(self->iMode == FORCE){
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if(val < self->minForce || val > self->maxForce){
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snprintf(error,errlen,"%f is not within limits %f to %f",
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val,self->minForce, self->maxForce);
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return 0;
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}
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} else {
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if(val < self->minPos || val > self->maxPos){
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snprintf(error,errlen,"%f is not within limits %f to %f",
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val,self->minPos, self->maxPos);
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return 0;
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}
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}
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return 1;
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}
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/*----------------------------------------------------------------
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This routine can return 0 when a limit problem occurred
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OKOK when the motor was successfully started
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HWFault when a problem occured starting the device
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Possible errors shall be printed to pCon
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For real motors, this is supposed to try at least three times
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to start the motor in question
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val is the value to drive the motor too
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------------------------------------------------------------------*/
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static long PZRSetValue(void *data, SConnection *pCon, float val){
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pPZR self = NULL;
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char command[80], reply[80];
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int status;
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self = (pPZR)data;
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if(self->iMode == FORCE){
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snprintf(command,79,"wr force %f\n", val);
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} else {
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snprintf(command,79,"wr vel %f\n", val);
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}
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status = PZRCommand(self->controller, pCon, command, reply, 79);
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if(status == 1){
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return OKOK;
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} else {
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return HWFault;
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}
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return HWFault;
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}
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/*----------------------------------------------------------------
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Checks the status of a running motor. Possible return values
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HWBusy The motor is still running
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OKOK or HWIdle when the motor finished driving
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HWFault when a hardware problem ocurred
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HWPosFault when the hardware cannot reach a position
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Errors are duly to be printed to pCon
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For real motors CheckStatus again shall try hard to fix any
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issues with the motor
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------------------------------------------------------------------*/
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static int PZRCheckStatus(void *data, SConnection *pCon){
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pPZR self = NULL;
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int status, code;
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char command[80], reply[80], bits[1];
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self = (pPZR)data;
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snprintf(command,79,"rd stat\n");
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status = PZRCommand(self->controller, pCon, command, reply, 79);
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if(status != 1){
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return HWFault;
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}
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sscanf(reply,"%x", &code);
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bits[0] = (char)code;
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/*
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* check for errors
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*/
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if(BITSET(bits,3)){
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SCWrite(pCon,"ERROR: BANG! Sample broken!",eError);
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return HWFault;
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}
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if(BITSET(bits,4)){
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SCWrite(pCon,"ERROR: hit positive limit switch",eError);
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return HWFault;
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}
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if(BITSET(bits,5)){
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SCWrite(pCon,"ERROR: hit negative limit switch",eError);
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return HWFault;
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}
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if(BITSET(bits,7)){
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SCWrite(pCon,"ERROR: general and overall error",eError);
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return HWFault;
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}
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if(BITSET(bits,2)){
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return HWBusy;
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} else {
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return HWIdle;
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}
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return HWFault;
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}
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/*----------------------------------------------------------------
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GetValue is supposed to read a motor position
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On errors, -99999999.99 is returned and messages printed to pCon
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------------------------------------------------------------------*/
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static float PZRGetValue(void *data, SConnection *pCon){
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pPZR self = NULL;
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float val = -99999999.99;
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int status;
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char command[80], reply[80];
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self = (pPZR)data;
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if(self->iMode == FORCE){
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snprintf(command,79,"rd force\n");
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} else {
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snprintf(command,79,"rd vel\n");
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}
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status = PZRCommand(self->controller, pCon, command, reply, 79);
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if(status != 1){
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return HWFault;
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}
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sscanf(reply,"%f",&val);
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return val;
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}
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/*----------------------------------------------------------------
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returns NULL on failure, a new datastructure else
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------------------------------------------------------------------*/
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static pPZR PZRMakeObject(char *host, int port){
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pPZR self = NULL;
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self = malloc(sizeof(PZR));
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if(self == NULL){
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return NULL;
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}
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self->pDes = CreateDescriptor("PoldiReiss");
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self->pDriv = CreateDrivableInterface();
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self->controller = createRS232(host,port);
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if(self->pDes == NULL || self->pDriv == NULL || self->controller == NULL){
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free(self);
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return NULL;
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}
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initRS232(self->controller);
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setRS232SendTerminator(self->controller,"\n");
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setRS232ReplyTerminator(self->controller,"\n");
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setRS232Timeout(self->controller,1000);
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setRS232Debug(self->controller,1);
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self->pDes->GetInterface = PZRGetInterface;
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self->pDriv->Halt = PZRHalt;
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self->pDriv->CheckLimits = PZRCheckLimits;
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self->pDriv->SetValue = PZRSetValue;
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self->pDriv->CheckStatus = PZRCheckStatus;
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self->pDriv->GetValue = PZRGetValue;
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return self;
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}
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/*--------------------------------------------------------------------------*/
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static void killPoldiZug(void *data){
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pPZR self = (pPZR)data;
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if(self == NULL){
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return;
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}
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if(self->pDes != NULL){
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DeleteDescriptor(self->pDes);
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}
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if(self->controller != NULL){
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closeRS232(self->controller);
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KillRS232(self->controller);
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}
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free(self);
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}
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/*============================================================================*/
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static int PoldiReissAction(SConnection *pCon, SicsInterp *pSics,
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void *pData, int argc, char *argv[]){
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pPZR self = NULL;
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char command[80], reply[80];
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float val;
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int status;
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self = (pPZR)pData;
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assert(self != NULL);
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if(argc > 1) {
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strtolower(argv[1]);
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if(strcmp(argv[1],"mode") == 0) {
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if(argc > 2){
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if(!SCMatchRights(pCon,usUser)){
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return 0;
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}
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strtolower(argv[2]);
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if(strcmp(argv[2],"force") == 0) {
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status = PZRCommand(self->controller, pCon,
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"wr mode 1\n", reply,79);
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if(status == 1){
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self->iMode == FORCE;
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SCSendOK(pCon);
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return 1;
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} else {
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return 0;
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}
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} else if(strcmp(argv[2],"pos") == 0) {
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status = PZRCommand(self->controller, pCon,
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"wr mode 0\n", reply,79);
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if(status == 1){
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self->iMode == ZUGPOS;
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SCSendOK(pCon);
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return 1;
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} else {
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return 0;
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}
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} else {
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SCWrite(pCon,"ERROR: zug mode unknown, allowed force, pos",
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eError);
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return 0;
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}
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}
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} else {
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if(self->iMode == FORCE){
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snprintf(command,79,"%s.mode = force",argv[0]);
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} else {
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snprintf(command,79,"%s.mode = pos",argv[0]);
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}
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SCWrite(pCon,command,eValue);
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return 1;
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}
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}
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val = self->pDriv->GetValue(self,pCon);
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snprintf(command,79,"%s = %f", argv[0], val);
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SCWrite(pCon,command,eValue);
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return 1;
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}
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/*----------------------------------------------------------------------------
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* MakePoldiReiss name host port minForce maxForce minPos maxPos
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* ---------------------------------------------------------------------------*/
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int MakePoldiReiss(SConnection *pCon, SicsInterp *pSics,
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void *pData, int argc, char *argv[]){
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pPZR self = NULL;
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char reply[80];
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if(argc < 8) {
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SCWrite(pCon,"ERROR: not enough arguments to MakePoldiReiss",eError);
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return 0;
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}
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self = PZRMakeObject(argv[2],atoi(argv[3]));
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if(self == NULL){
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SCWrite(pCon,"ERROR: out of memory making PoldiReiss",eError);
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return 0;
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}
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self->minForce = atof(argv[4]);
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self->maxForce = atof(argv[5]);
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self->minPos = atof(argv[6]);
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self->maxPos = atof(argv[7]);
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PZRCommand(self->controller, pCon,
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"wr mode 1\n", reply,79);
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AddCommand(pSics,argv[1],
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PoldiReissAction,
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killPoldiZug,
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self);
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return 1;
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}
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