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- Adapted indenation to new agreed upon system

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- Fixed bad status in poldi zug driver
This commit is contained in:
koennecke
2009-02-13 09:01:03 +00:00
parent 6c7bb14fad
commit eb72d5c486
151 changed files with 38234 additions and 38208 deletions
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224
amordrive.c
View File

@ -9,29 +9,33 @@
#include "amordrive.h"
/*---------------------------------------------------------------*/
static void *AMODRIVGetInterface(void *data, int iD){
pamorDrive self = NULL;
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;
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;
static int AMODRIVHalt(void *data)
{
pamorDrive self = NULL;
return self->mama->pDriv->Halt(self->mama);
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
@ -40,13 +44,15 @@ static int AMODRIVHalt(void *data) {
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;
char *error, int errlen)
{
pamorDrive self = NULL;
return 1;
self = (pamorDrive) data;
return 1;
}
/*----------------------------------------------------------------
This routine can return 0 when a limit problem occurred
OKOK when the motor was successfully started
@ -56,15 +62,17 @@ static int AMODRIVCheckLimits(void *data, float val,
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;
static long AMODRIVSetValue(void *data, SConnection * pCon, float val)
{
pamorDrive self = NULL;
amorSetMotor(self->mama, self->type, val);
self = (pamorDrive) data;
return 1;
amorSetMotor(self->mama, self->type, val);
return 1;
}
/*----------------------------------------------------------------
Checks the status of a running motor. Possible return values
HWBusy The motor is still running
@ -75,96 +83,106 @@ static long AMODRIVSetValue(void *data, SConnection *pCon, float val){
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;
static int AMODRIVCheckStatus(void *data, SConnection * pCon)
{
pamorDrive self = NULL;
return self->mama->pDriv->CheckStatus(self->mama, pCon);
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);
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;
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 = (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;
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;
}
/*-----------------------------------------------------------------*/
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;
}
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;
}