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- reintroducted MF/TEM

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This commit is contained in:
zolliker
2007-09-25 06:52:27 +00:00
parent e36dc843ed
commit c7c561b723
7 changed files with 147 additions and 101 deletions
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2
makefile_linux
View File

@ -12,7 +12,7 @@ include ../sllinux_def
CC = gcc
CFLAGS = -I$(HDFROOT)/include -DHDF4 -DHDF5 $(NI) -Ihardsup \
-I.. -DCYGNUS -DNONINTF -g $(DFORTIFY) \
-Wall -Werror -Wno-unused -Wno-comment -Wno-switch
-Wall -Wno-unused -Wno-comment -Wno-switch -Werror
EXTRA=nintf.o

29
ptasdrive.c
View File

@ -44,6 +44,8 @@ extern char *stptok(const char *s, char *tok, size_t toklen, char *brk);
driven. Additionally we have to check for special energy or Q variables
which require a triple axis calculation.
M.Z. June 07: storage order mode only allowed for QH,QK,QL,EN.
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
@ -77,7 +79,7 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
unsigned char motorMask[MAXMOT];
float newPositions[MAXMOT];
pMotor pMot;
int qhPars;
assert(pCon);
@ -116,6 +118,7 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
varPointer = -1;
motorPointer = -1;
rStatus = 1;
qhPars = 0;
/* parse loop */
while(pPtr != NULL)
@ -129,13 +132,9 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
if(lastToken == NUM)
{
/* handle storage order logic */
if(motorPointer > -1)
if(varPointer > -1 && qhPars > 1)
{
motorPointer++;
}
else if(varPointer > -1)
{
varPointer++;
varPointer++; qhPars--;
}
else
{
@ -175,6 +174,9 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
iTAS = 1;
motorPointer = -1;
varPointer = status;
if (EMIN + varPointer == QH) {
qhPars = 4;
}
}
else if( (status = isTASMotor(pToken)) > -1)
{
@ -190,6 +192,7 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
}
}
}/* end of parse loop */
if(rStatus != 1)
return rStatus;
@ -208,13 +211,14 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
if(pMot)
{
MotorGetSoftPosition(pMot, pCon, &oldPos);
sprintf(pBueffel,"Driving %s from %f to %f",
tasMotorOrder[i],oldPos,newPositions[i]);
}
else
{
oldPos = -9999.;
sprintf(pBueffel,"Driving %s to %f",
tasMotorOrder[i],newPositions[i]);
}
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]);
@ -232,6 +236,11 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
*/
if(iTAS > 0)
{
if (qhPars == 3) {
SCWrite(pCon, "ERROR: QH cannot have 2 values", eError);
return 0;
}
status = TASCalc(self,pCon,tasMask,tasTargets, tasTargetMask);
if(status)
{

6
tas.h
View File

@ -36,6 +36,7 @@
#define BX 22
#define BY 23
#define BZ 24
#define EI 25
#define KI 26
#define EF 27
@ -153,7 +154,10 @@
#define PFY 134
#define PFZ 135
#define MAXPAR 136
#define DMF 136
#define DTEM 137
#define MAXPAR 138
#define MAXADD 20
#define MAXEVAR 12

12
tasinit.c
View File

@ -24,6 +24,7 @@
#include <scan.h>
#include <scan.i>
#include "tas.h"
#include "tasu.h"
extern int getSRO(SConnection *pCon, float *fVal); /* tasutil.c */
@ -31,7 +32,7 @@ extern int getSRO(SConnection *pCon, float *fVal); /* tasutil.c */
As variables may be accessed in storage order, it is necessary to
know the order of the motors
*/
char *tasMotorOrder[] = { "a1",
char *tasMotorOrder[MAXMOT+1] = { "a1",
"a2",
"a3",
"a4",
@ -63,6 +64,8 @@ char *tasMotorOrder[] = { "a1",
"i6",
"i7",
"i8",
"mf",
"tem",
NULL };
/*
In order to initialise the variable array in the TAS data structure we
@ -70,7 +73,7 @@ char *tasMotorOrder[] = { "a1",
has to match the order defined in tas.h through the defines. Otherwise
quite weird things may happen at runtime.
*/
char *tasVariableOrder[] = {
char *tasVariableOrder[MAXPAR+1] = {
"wav",
"dm",
"da",
@ -207,6 +210,8 @@ char *tasVariableOrder[] = {
"pfx",
"pfy",
"pfz",
"dmf",
"dtem",
NULL};
/*-------------------------------------------------------------------
Normally SICS does not store motor hardware limits into status files as
@ -227,6 +232,9 @@ static int TasSaveStatus(void *self, char *name, FILE *fd)
{
return 0;
}
if (strcmp(name, "dr") != 0) { /* save only once (for dr, but not for sc,fs,updateqe) */
return 1;
}
while(tasMotorOrder[i] != NULL)
{
pMot = FindMotor(pServ->pSics,tasMotorOrder[i]);

184
tasscan.c
View File

@ -339,40 +339,26 @@ static int TASHeader(pScanData self)
}
/*
write currents if in polarisation mode
*/
if(pTAS->iPOL >= 0){
fprintf(self->fd,"VARIA: ");
iCount = 0;
for(i = MAXMOT-8; i < MAXMOT;i++)
{
fVal = readDrivable(tasMotorOrder[i],self->pCon);
strcpy(pWork2,tasMotorOrder[i]);
strtoupper(pWork2);
fprintf(self->fd,"%-8s=%8.4f, ",pWork2,fVal);
iCount++;
}
fprintf(self->fd,"\n");
}
/*
write motors and currents
*/
fprintf(self->fd,"VARIA: ");
iCount = 0;
for(i = 0; i < MAXMOT-8;i++)
for(i = 0; i < MAXMOT;i++)
{
fVal = readDrivable(tasMotorOrder[i],self->pCon);
if(iCount == 3)
{
iCount = 0;
fprintf(self->fd,"\nVARIA: ");
if (pTAS->iPOL >= 0 || (tasMotorOrder[i][0] != 'i' && tasMotorOrder[i][0] != 'h')) {
/* do not write currents (names starting with i or h) when not in pol. mode */
fVal = readDrivable(tasMotorOrder[i],self->pCon);
if(iCount == 3)
{
iCount = 0;
fprintf(self->fd,"\nVARIA: ");
}
strcpy(pWork2,tasMotorOrder[i]);
strtoupper(pWork2);
fprintf(self->fd,"%-8s=%8.4f, ",pWork2,fVal);
iCount++;
}
strcpy(pWork2,tasMotorOrder[i]);
strtoupper(pWork2);
fprintf(self->fd,"%-8s=%8.4f, ",pWork2,fVal);
iCount++;
}
fprintf(self->fd,"\n");
@ -1002,6 +988,7 @@ static int ParseVar(pTASdata pTAS, char *pBueffel, SConnection *pCon)
char *myBuffer = NULL, pToken[20], *pPtr, pError[132];
int iPtr, lastToken, lastVar;
VarType vt;
int qhPars;
/*
set up our own buffer
@ -1019,6 +1006,7 @@ static int ParseVar(pTASdata pTAS, char *pBueffel, SConnection *pCon)
*/
lastToken = NONE;
lastVar = -1;
qhPars = 0;
pPtr = stptok(pBueffel,pToken,20," ,="); /* step over sc */
while(pPtr != NULL)
{
@ -1034,7 +1022,7 @@ static int ParseVar(pTASdata pTAS, char *pBueffel, SConnection *pCon)
"ERROR: parse error at %s, expected variable",
pToken);
SCWrite(pCon,pError,eError);
return 0;
goto error;
}
lastToken = TXT;
if( (iPtr = isTASVar(pToken)) >= 0 )
@ -1061,46 +1049,11 @@ static int ParseVar(pTASdata pTAS, char *pBueffel, SConnection *pCon)
if(tasNumeric(pToken))
{
lastToken = NUM;
if(lastVar >= 0)
{
vt = GetVarType(pTAS->tasPar[lastVar]);
if(vt == veFloat)
{
VarSetFloat(pTAS->tasPar[lastVar],atof(pToken),
usInternal);
SCparChange(pCon);
}
else if(vt == veInt)
{
VarSetInt(pTAS->tasPar[lastVar],
(int)atof(pToken), usInternal);
SCparChange(pCon);
}
else
{
pTAS->tasPar[lastVar]->text = strdup(pToken);
SCparChange(pCon);
}
lastVar++;
if (qhPars == 3) {
SCWrite(pCon, "DQH cannot have 2 values", eError);
goto error;
}
else
{
strcat(myBuffer,pToken);
strcat(myBuffer," ");
}
}
else
{
sprintf(pError,"ERROR: parse error at %s, expected number",
pToken);
SCWrite(pCon,pError,eError);
return 0;
}
break;
case NUM:
if(tasNumeric(pToken))
{
lastToken = NUM;
qhPars = 0;
if(lastVar >= 0)
{
vt = GetVarType(pTAS->tasPar[lastVar]);
@ -1130,6 +1083,53 @@ static int ParseVar(pTASdata pTAS, char *pBueffel, SConnection *pCon)
}
else
{
sprintf(pError,"ERROR: parse error at %s, expected number",
pToken);
SCWrite(pCon,pError,eError);
goto error;
}
break;
case NUM:
if(tasNumeric(pToken))
{
lastToken = NUM;
if(lastVar >= 0)
{
if (qhPars == 0) {
if (lastVar != DQK) {
SCPrintf(pCon, eError, "ERROR: %s can have only one value",
tasVariableOrder[lastVar-1]);
goto error;
}
qhPars = 3;
} else if (qhPars == 1) {
SCWrite(pCon, "ERROR: DQH can have only 4 values", eError);
goto error;
} else {
qhPars--;
}
vt = GetVarType(pTAS->tasPar[lastVar]);
if(vt != veFloat)
{
SCPrintf(pCon, eError, "ERROR: %s must be float (internal error)",
tasVariableOrder[lastVar]);
goto error;
}
VarSetFloat(pTAS->tasPar[lastVar],atof(pToken),
usInternal);
SCparChange(pCon);
lastVar++;
}
else
{
strcat(myBuffer,pToken);
strcat(myBuffer," ");
}
}
else
{
lastToken = TXT;
lastVar = -1;
if( (iPtr = isTASVar(pToken)) >= 0 )
{
@ -1154,9 +1154,16 @@ static int ParseVar(pTASdata pTAS, char *pBueffel, SConnection *pCon)
break;
}
}
if (qhPars == 3) {
SCWrite(pCon, "DQH cannot have 2 values", eError);
goto error;
}
strcpy(pBueffel, myBuffer);
free(myBuffer);
return 1;
error:
free(myBuffer);
return 0;
}
/*-------------------------------------------------------------------
EnterScanVar adds the scan variable given to the scan. Thereby it
@ -1223,6 +1230,7 @@ static int ParseScanVar(pTASdata pTAS, char *pBueffel, SConnection *pCon,
char pToken[20], *pPtr, pError[132];
int iPtr, lastToken, lastVar, lastMotor, status;
VarType vt;
int qhPars;
/*
parse loop
@ -1230,6 +1238,7 @@ static int ParseScanVar(pTASdata pTAS, char *pBueffel, SConnection *pCon,
lastToken = NONE;
lastVar = lastMotor = -1;
pPtr = pBueffel;
qhPars = 0;
while(pPtr != NULL)
{
pPtr = stptok(pPtr,pToken,20," ,=");
@ -1269,6 +1278,11 @@ static int ParseScanVar(pTASdata pTAS, char *pBueffel, SConnection *pCon,
if(tasNumeric(pToken))
{
lastToken = NUM;
if (qhPars == 3) {
SCWrite(pCon, "QH cannot have 2 values", eError);
return 0;
}
qhPars = 0;
if(lastVar >= 0)
{
/*
@ -1312,6 +1326,20 @@ static int ParseScanVar(pTASdata pTAS, char *pBueffel, SConnection *pCon,
lastToken = NUM;
if(lastVar >= 0)
{
if (qhPars == 0) {
if (EMIN + lastVar != QK) {
SCPrintf(pCon, eError, "ERROR: %s can have only one value",
tasVariableOrder[EMIN+lastVar-1]);
return 0;
}
qhPars = 3;
} else if (qhPars == 1) {
SCWrite(pCon, "ERROR: QH can have only 4 values", eError);
return 0;
} else {
qhPars--;
}
/*
add energy variable
*/
@ -1322,25 +1350,17 @@ static int ParseScanVar(pTASdata pTAS, char *pBueffel, SConnection *pCon,
return status;
lastVar++;
}
else if(lastMotor >= 0)
{
/*
add motor
*/
status = EnterScanVar(pTAS,tasMotorOrder[lastMotor],
atof(pToken),pCon);
if(!status)
return status;
lastMotor++;
}
else
{
/* internal error */
assert(0);
assert(lastMotor >= 0);
SCPrintf(pCon, eError, "ERROR: %s can have only one value",
tasMotorOrder[lastMotor-1]);
return 0;
}
}
else
{
lastToken = TXT;
lastVar = lastMotor = -1;
if( (iPtr = isTASEnergy(pToken)) >= 0)
{
@ -1363,6 +1383,10 @@ static int ParseScanVar(pTASdata pTAS, char *pBueffel, SConnection *pCon,
break;
}
}
if (qhPars == 3) {
SCWrite(pCon, "QH cannot have 2 values", eError);
return 0;
}
return 1;
}
/*-----------------------------------------------------------------------

4
tasu.h
View File

@ -15,9 +15,9 @@ extern char *tasMotorOrder[];
extern char *tasVariableOrder[];
/* maximum number of motors in the list */
#define MAXMOT 32
#define MAXMOT 34
/* offset to the currents, if available */
#define CURMOT (MAXMOT - 11)
#define CURMOT 21
/*

1
tasutil.c
View File

@ -56,6 +56,7 @@ int isTASMotor(char *val)
}
/*------------------------------------------------------------------------
return number if val is a current variable, else -1
never used - and wrong (the number 18) M.Z. june 07
-----------------------------------------------------------------------*/
int isTASCurrent(char *val){
int test;