- Adapted indenation to new agreed upon system
- Fixed bad status in poldi zug driver
This commit is contained in:
koennecke
668
sanswave.c
668
sanswave.c
@ -20,366 +20,344 @@
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#define NOTILT 801
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/*-----------------------------------------------------------------------*/
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typedef struct __SANSwave {
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pObjectDescriptor pDes;
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pIDrivable pDrivInt;
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pVelSel pSelector;
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}SANSWave;
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typedef struct __SANSwave {
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pObjectDescriptor pDes;
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pIDrivable pDrivInt;
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pVelSel pSelector;
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} SANSWave;
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/*-----------------------------------------------------------------------*/
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static void CalculateCoefficients(float fTilt, float *fA, float *fB)
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{
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float fSQ, fTer, fQuat;
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fSQ = fTilt * fTilt;
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fTer = fSQ * fTilt;
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fQuat = fTer * fTilt;
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*fA = 0.01223 + (0.000360495 * fTilt) + (0.000313819 * fSQ) +
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(0.0000304937 * fTer) + (0.000000931533 * fQuat);
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*fB = 12721.11905 - (611.74127 * fTilt) - (12.44417 * fSQ) -
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(0.12411 * fTer) + (0.00583 * fQuat);
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}
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static void CalculateCoefficients(float fTilt, float *fA, float *fB)
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{
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float fSQ, fTer, fQuat;
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fSQ = fTilt * fTilt;
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fTer = fSQ * fTilt;
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fQuat = fTer * fTilt;
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*fA = 0.01223 + (0.000360495 * fTilt) + (0.000313819 * fSQ) +
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(0.0000304937 * fTer) + (0.000000931533 * fQuat);
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*fB = 12721.11905 - (611.74127 * fTilt) - (12.44417 * fSQ) -
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(0.12411 * fTer) + (0.00583 * fQuat);
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}
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/*-----------------------------------------------------------------------*/
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int CalculateLambda(float fRot, float fTilt, float *fLambda)
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{
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float fA, fB;
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if(fRot < 10.0)
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{
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*fLambda = 0.0;
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return 1;
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}
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CalculateCoefficients(fTilt,&fA, &fB);
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*fLambda = fA + fB/fRot;
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return 1;
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}
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/*-------------------------------------------------------------------------*/
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static int SWHalt(void *pData)
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{
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pSANSWave self = NULL;
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pIDrivable pDriv = NULL;
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self = (pSANSWave)pData;
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assert(self);
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pDriv = GetDrivableInterface(self->pSelector);
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assert(pDriv);
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return pDriv->Halt(self->pSelector);
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int CalculateLambda(float fRot, float fTilt, float *fLambda)
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{
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float fA, fB;
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if (fRot < 10.0) {
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*fLambda = 0.0;
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return 1;
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}
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CalculateCoefficients(fTilt, &fA, &fB);
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*fLambda = fA + fB / fRot;
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return 1;
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}
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/*-------------------------------------------------------------------------*/
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static int SWHalt(void *pData)
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{
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pSANSWave self = NULL;
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pIDrivable pDriv = NULL;
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self = (pSANSWave) pData;
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assert(self);
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pDriv = GetDrivableInterface(self->pSelector);
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assert(pDriv);
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return pDriv->Halt(self->pSelector);
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}
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/*----------------------------------------------------------------------*/
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static int SWLimits(void *pData, float fVal, char *error, int iErrLen)
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{
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pSANSWave self = NULL;
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pIDrivable pDriv = NULL;
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int iRet;
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float fTilt, fA, fB, fRot;
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self = (pSANSWave)pData;
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assert(self);
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pDriv = GetDrivableInterface(self->pSelector);
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assert(pDriv);
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/* get tilt */
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iRet = VSGetTilt(self->pSelector,&fTilt);
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if(!iRet)
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{
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strncpy(error,"Failed to obtain tilt angle",iErrLen);
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return 0;
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}
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static int SWLimits(void *pData, float fVal, char *error, int iErrLen)
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{
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pSANSWave self = NULL;
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pIDrivable pDriv = NULL;
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int iRet;
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float fTilt, fA, fB, fRot;
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/* Calculate rotation speed */
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CalculateCoefficients(fTilt,&fA, &fB);
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fRot = fB/(fVal - fA);
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return pDriv->CheckLimits(self->pSelector,fRot,error, iErrLen);
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self = (pSANSWave) pData;
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assert(self);
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pDriv = GetDrivableInterface(self->pSelector);
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assert(pDriv);
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/* get tilt */
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iRet = VSGetTilt(self->pSelector, &fTilt);
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if (!iRet) {
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strncpy(error, "Failed to obtain tilt angle", iErrLen);
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return 0;
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}
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/* Calculate rotation speed */
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CalculateCoefficients(fTilt, &fA, &fB);
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fRot = fB / (fVal - fA);
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return pDriv->CheckLimits(self->pSelector, fRot, error, iErrLen);
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}
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/*-------------------------------------------------------------------------*/
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static long SWSet(void *pData, SConnection *pCon, float fVal)
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{
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pSANSWave self = NULL;
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pIDrivable pDriv = NULL;
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int iRet, i;
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float fTilt, fA, fB, fRot;
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pDummy pDum = NULL;
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self = (pSANSWave)pData;
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assert(self);
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pDriv = GetDrivableInterface(self->pSelector);
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assert(pDriv);
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/* get tilt */
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fTilt = -910;
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for(i = 0; i < 3; i++)
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{
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iRet = VSGetTilt(self->pSelector,&fTilt);
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if(iRet)
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{
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break;
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}
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else
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{
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SCWrite(pCon,"WARNING: trouble reading tilt angle",eWarning);
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}
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}
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if(fTilt < -900) /* failed to get tilt */
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{
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SCWrite(pCon,"ERROR: failed to read tilt angle 3 times",eError);
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return 0;
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}
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/* Calculate rotation speed */
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CalculateCoefficients(fTilt,&fA, &fB);
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fRot = fB/(fVal - fA);
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return pDriv->SetValue(self->pSelector,pCon,fRot);
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static long SWSet(void *pData, SConnection * pCon, float fVal)
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{
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pSANSWave self = NULL;
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pIDrivable pDriv = NULL;
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int iRet, i;
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float fTilt, fA, fB, fRot;
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pDummy pDum = NULL;
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self = (pSANSWave) pData;
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assert(self);
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pDriv = GetDrivableInterface(self->pSelector);
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assert(pDriv);
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/* get tilt */
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fTilt = -910;
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for (i = 0; i < 3; i++) {
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iRet = VSGetTilt(self->pSelector, &fTilt);
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if (iRet) {
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break;
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} else {
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SCWrite(pCon, "WARNING: trouble reading tilt angle", eWarning);
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}
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}
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if (fTilt < -900) { /* failed to get tilt */
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SCWrite(pCon, "ERROR: failed to read tilt angle 3 times", eError);
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return 0;
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}
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/* Calculate rotation speed */
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CalculateCoefficients(fTilt, &fA, &fB);
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fRot = fB / (fVal - fA);
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return pDriv->SetValue(self->pSelector, pCon, fRot);
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}
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/*------------------------------------------------------------------------*/
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static int SWStatus(void *pData,SConnection *pCon )
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{
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pSANSWave self = NULL;
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pIDrivable pDriv = NULL;
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self = (pSANSWave)pData;
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assert(self);
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pDriv = GetDrivableInterface(self->pSelector);
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assert(pDriv);
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return pDriv->CheckStatus(self->pSelector, pCon);
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}
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/*-------------------------------------------------------------------------*/
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static float SWGetValue(void *pData,SConnection *pCon )
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{
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pSANSWave self = NULL;
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pIDrivable pDriv = NULL;
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float fRot, fTilt, fA, fB, fLambda;
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int i, iRet;
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self = (pSANSWave)pData;
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assert(self);
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pDriv = GetDrivableInterface(self->pSelector);
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assert(pDriv);
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/* get tilt */
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fTilt = -910;
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for(i = 0; i < 3; i++)
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{
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iRet = VSGetTilt(self->pSelector,&fTilt);
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if(iRet)
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{
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break;
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}
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else
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{
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SCWrite(pCon,"WARNING: trouble reading tilt angle",eWarning);
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}
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}
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if(fTilt < -900) /* failed to get tilt */
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{
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SCWrite(pCon,"ERROR: failed to read tilt angle 3 times",eError);
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return -99999.99;
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}
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/* get rotation speed */
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iRet = VSGetRotation(self->pSelector,&fRot);
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if(!iRet)
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{
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SCWrite(pCon,"ERROR: cannot reading rotation speed",eError);
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return -99999.99;
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}
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CalculateLambda(fRot,fTilt,&fLambda);
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return fLambda;
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}
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/*--------------------------------------------------------------------------*/
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static void *SWGetInterface(void *pData, int iID)
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{
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pSANSWave self = NULL;
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self = (pSANSWave)pData;
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assert(self);
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static int SWStatus(void *pData, SConnection * pCon)
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{
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pSANSWave self = NULL;
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pIDrivable pDriv = NULL;
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self = (pSANSWave) pData;
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assert(self);
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pDriv = GetDrivableInterface(self->pSelector);
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assert(pDriv);
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return pDriv->CheckStatus(self->pSelector, pCon);
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}
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/*-------------------------------------------------------------------------*/
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static float SWGetValue(void *pData, SConnection * pCon)
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{
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pSANSWave self = NULL;
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pIDrivable pDriv = NULL;
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float fRot, fTilt, fA, fB, fLambda;
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int i, iRet;
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self = (pSANSWave) pData;
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assert(self);
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pDriv = GetDrivableInterface(self->pSelector);
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assert(pDriv);
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/* get tilt */
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fTilt = -910;
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for (i = 0; i < 3; i++) {
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iRet = VSGetTilt(self->pSelector, &fTilt);
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if (iRet) {
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break;
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} else {
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SCWrite(pCon, "WARNING: trouble reading tilt angle", eWarning);
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}
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}
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if (fTilt < -900) { /* failed to get tilt */
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SCWrite(pCon, "ERROR: failed to read tilt angle 3 times", eError);
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return -99999.99;
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}
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/* get rotation speed */
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iRet = VSGetRotation(self->pSelector, &fRot);
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if (!iRet) {
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SCWrite(pCon, "ERROR: cannot reading rotation speed", eError);
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return -99999.99;
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}
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CalculateLambda(fRot, fTilt, &fLambda);
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return fLambda;
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}
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if(iID == DRIVEID)
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{
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return self->pDrivInt;
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}
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return NULL;
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}
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/*--------------------------------------------------------------------------*/
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static void KillSANSWave(void *pData)
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{
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pSANSWave self = NULL;
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self = (pSANSWave)pData;
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if(!self)
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return;
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if(self->pDes)
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DeleteDescriptor(self->pDes);
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if(self->pDrivInt)
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free(self->pDrivInt);
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free(self);
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}
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static void *SWGetInterface(void *pData, int iID)
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{
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pSANSWave self = NULL;
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self = (pSANSWave) pData;
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assert(self);
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if (iID == DRIVEID) {
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return self->pDrivInt;
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}
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return NULL;
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}
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/*--------------------------------------------------------------------------*/
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static void KillSANSWave(void *pData)
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{
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pSANSWave self = NULL;
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self = (pSANSWave) pData;
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if (!self)
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return;
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if (self->pDes)
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DeleteDescriptor(self->pDes);
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if (self->pDrivInt)
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free(self->pDrivInt);
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free(self);
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}
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/*--------------------------------------------------------------------------
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arguments: name, name of velocity selctor
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*/
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int MakeSANSWave(SConnection *pCon, SicsInterp *pSics, void *pData,
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int argc, char *argv[])
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{
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pSANSWave pNew = NULL;
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CommandList *pCom = NULL;
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char pBueffel[512];
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int iRet;
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pDummy pDum = NULL;
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assert(pCon);
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assert(pSics);
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/* enough arguments ? */
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if(argc < 3)
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{
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SCWrite(pCon,"ERROR: not enough arguments to MakeSANSWave",eError);
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return 0;
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}
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/* allocate space */
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pNew = (pSANSWave)malloc(sizeof(SANSWave));
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if(!pNew)
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{
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SCWrite(pCon,"ERROR: out of memory in MakeSANSWave",eError);
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return 0;
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}
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memset(pNew,0,sizeof(SANSWave));
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/* the last arument must denote a velocity selector */
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pCom = FindCommand(pSics, argv[2]);
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if(!pCom)
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{
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sprintf(pBueffel,"ERROR: velocity selector %s NOT found",argv[2]);
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SCWrite(pCon,pBueffel,eError);
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KillSANSWave(pNew);
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return 0;
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}
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pNew->pSelector = (pVelSel)pCom->pData;
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if(!pNew->pSelector)
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{
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sprintf(pBueffel,"ERROR: velocity selector %s is invalid",argv[2]);
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SCWrite(pCon,pBueffel,eError);
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KillSANSWave(pNew);
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return 0;
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}
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pDum = (pDummy)pNew->pSelector;
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if(strcmp(pDum->pDescriptor->name,"VelocitySelector") != 0)
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{
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sprintf(pBueffel,"ERROR: velocity selector %s is invalid",argv[2]);
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SCWrite(pCon,pBueffel,eError);
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KillSANSWave(pNew);
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return 0;
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}
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*/
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int MakeSANSWave(SConnection * pCon, SicsInterp * pSics, void *pData,
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int argc, char *argv[])
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{
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pSANSWave pNew = NULL;
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CommandList *pCom = NULL;
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char pBueffel[512];
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int iRet;
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pDummy pDum = NULL;
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assert(pCon);
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assert(pSics);
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/* enough arguments ? */
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if (argc < 3) {
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SCWrite(pCon, "ERROR: not enough arguments to MakeSANSWave", eError);
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return 0;
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}
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/* allocate space */
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pNew = (pSANSWave) malloc(sizeof(SANSWave));
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if (!pNew) {
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SCWrite(pCon, "ERROR: out of memory in MakeSANSWave", eError);
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return 0;
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}
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memset(pNew, 0, sizeof(SANSWave));
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/* the last arument must denote a velocity selector */
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pCom = FindCommand(pSics, argv[2]);
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if (!pCom) {
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sprintf(pBueffel, "ERROR: velocity selector %s NOT found", argv[2]);
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SCWrite(pCon, pBueffel, eError);
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KillSANSWave(pNew);
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return 0;
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}
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pNew->pSelector = (pVelSel) pCom->pData;
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if (!pNew->pSelector) {
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sprintf(pBueffel, "ERROR: velocity selector %s is invalid", argv[2]);
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SCWrite(pCon, pBueffel, eError);
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KillSANSWave(pNew);
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return 0;
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}
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pDum = (pDummy) pNew->pSelector;
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if (strcmp(pDum->pDescriptor->name, "VelocitySelector") != 0) {
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sprintf(pBueffel, "ERROR: velocity selector %s is invalid", argv[2]);
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SCWrite(pCon, pBueffel, eError);
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KillSANSWave(pNew);
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return 0;
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}
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|
||||
/* initialise the rest of the data structure */
|
||||
pNew->pDes = CreateDescriptor("SANSWave");
|
||||
pNew->pDrivInt = CreateDrivableInterface();
|
||||
if ((!pNew->pDes) || (!pNew->pDrivInt)) {
|
||||
SCWrite(pCon, "ERROR: out of memory in MakeSANSWave", eError);
|
||||
KillSANSWave(pNew);
|
||||
return 0;
|
||||
}
|
||||
pNew->pDes->GetInterface = SWGetInterface;
|
||||
|
||||
pNew->pDrivInt->Halt = SWHalt;
|
||||
pNew->pDrivInt->CheckLimits = SWLimits;
|
||||
pNew->pDrivInt->SetValue = SWSet;
|
||||
pNew->pDrivInt->CheckStatus = SWStatus;
|
||||
pNew->pDrivInt->GetValue = SWGetValue;
|
||||
|
||||
/* install command */
|
||||
iRet = AddCommand(pSics, argv[1], SANSWaveAction, KillSANSWave, pNew);
|
||||
if (!iRet) {
|
||||
sprintf(pBueffel, "ERROR: duplicate command %s NOT created", argv[1]);
|
||||
SCWrite(pCon, pBueffel, eError);
|
||||
KillSANSWave(pNew);
|
||||
return 0;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
|
||||
/* initialise the rest of the data structure */
|
||||
pNew->pDes = CreateDescriptor("SANSWave");
|
||||
pNew->pDrivInt = CreateDrivableInterface();
|
||||
if( (!pNew->pDes) || (!pNew->pDrivInt) )
|
||||
{
|
||||
SCWrite(pCon,"ERROR: out of memory in MakeSANSWave",eError);
|
||||
KillSANSWave(pNew);
|
||||
return 0;
|
||||
}
|
||||
pNew->pDes->GetInterface = SWGetInterface;
|
||||
|
||||
pNew->pDrivInt->Halt = SWHalt;
|
||||
pNew->pDrivInt->CheckLimits = SWLimits;
|
||||
pNew->pDrivInt->SetValue = SWSet;
|
||||
pNew->pDrivInt->CheckStatus = SWStatus;
|
||||
pNew->pDrivInt->GetValue = SWGetValue;
|
||||
|
||||
/* install command */
|
||||
iRet = AddCommand(pSics,argv[1],SANSWaveAction,KillSANSWave,pNew);
|
||||
if(!iRet)
|
||||
{
|
||||
sprintf(pBueffel,"ERROR: duplicate command %s NOT created",
|
||||
argv[1]);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
KillSANSWave(pNew);
|
||||
return 0;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
/*---------------------------------------------------------------------------*/
|
||||
int SANSWaveAction(SConnection *pCon, SicsInterp *pSics, void *pData,
|
||||
int argc, char *argv[])
|
||||
{
|
||||
pSANSWave self = NULL;
|
||||
float fLambda, fTilt, fRot, fA, fB;
|
||||
double dNum;
|
||||
int iRet;
|
||||
char pBueffel[256];
|
||||
|
||||
self = (pSANSWave)pData;
|
||||
assert(self);
|
||||
assert(pCon);
|
||||
assert(pSics);
|
||||
|
||||
if(argc > 2)
|
||||
{
|
||||
strtolower(argv[1]);
|
||||
/* whatever we are asked to do, we need the current tilt angle */
|
||||
iRet = VSGetTilt(self->pSelector, &fTilt);
|
||||
if(!iRet)
|
||||
{
|
||||
SCWrite(pCon,"ERROR: failed to read tilt angle",eError);
|
||||
return 0;
|
||||
}
|
||||
/* the second argument must be a number */
|
||||
iRet = Tcl_GetDouble(pSics->pTcl,argv[2],&dNum);
|
||||
if(iRet != TCL_OK)
|
||||
{
|
||||
sprintf(pBueffel,"ERROR: cannot convert %s to number",argv[2]);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
return 0;
|
||||
}
|
||||
if(strcmp(argv[1],"rot") == 0) /* calculate rotation for wl */
|
||||
{
|
||||
CalculateCoefficients(fTilt,&fA, &fB);
|
||||
fRot = fB/(dNum-fA);
|
||||
sprintf(pBueffel,"%f nm = %f RPM", (float)dNum, fRot);
|
||||
SCWrite(pCon,pBueffel,eValue);
|
||||
return 1;
|
||||
}
|
||||
else if(strcmp(argv[1],"wl") == 0) /* calculate wl from rot */
|
||||
{
|
||||
CalculateLambda((float)dNum,fTilt,&fLambda);
|
||||
sprintf(pBueffel,"%f RPM = %f nm",(float)dNum,fLambda);
|
||||
SCWrite(pCon,pBueffel,eValue);
|
||||
return 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
sprintf(pBueffel,"ERROR: subcommand %s NOT understood",argv[1]);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
return 0;
|
||||
}
|
||||
int SANSWaveAction(SConnection * pCon, SicsInterp * pSics, void *pData,
|
||||
int argc, char *argv[])
|
||||
{
|
||||
pSANSWave self = NULL;
|
||||
float fLambda, fTilt, fRot, fA, fB;
|
||||
double dNum;
|
||||
int iRet;
|
||||
char pBueffel[256];
|
||||
|
||||
self = (pSANSWave) pData;
|
||||
assert(self);
|
||||
assert(pCon);
|
||||
assert(pSics);
|
||||
|
||||
if (argc > 2) {
|
||||
strtolower(argv[1]);
|
||||
/* whatever we are asked to do, we need the current tilt angle */
|
||||
iRet = VSGetTilt(self->pSelector, &fTilt);
|
||||
if (!iRet) {
|
||||
SCWrite(pCon, "ERROR: failed to read tilt angle", eError);
|
||||
return 0;
|
||||
}
|
||||
|
||||
fLambda = self->pDrivInt->GetValue(self,pCon);
|
||||
if(fLambda < -90000)
|
||||
{
|
||||
return 0;
|
||||
/* the second argument must be a number */
|
||||
iRet = Tcl_GetDouble(pSics->pTcl, argv[2], &dNum);
|
||||
if (iRet != TCL_OK) {
|
||||
sprintf(pBueffel, "ERROR: cannot convert %s to number", argv[2]);
|
||||
SCWrite(pCon, pBueffel, eError);
|
||||
return 0;
|
||||
}
|
||||
|
||||
sprintf(pBueffel,"%s = %f", argv[0],fLambda);
|
||||
SCWrite(pCon,pBueffel,eValue);
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (strcmp(argv[1], "rot") == 0) { /* calculate rotation for wl */
|
||||
CalculateCoefficients(fTilt, &fA, &fB);
|
||||
fRot = fB / (dNum - fA);
|
||||
sprintf(pBueffel, "%f nm = %f RPM", (float) dNum, fRot);
|
||||
SCWrite(pCon, pBueffel, eValue);
|
||||
return 1;
|
||||
} else if (strcmp(argv[1], "wl") == 0) { /* calculate wl from rot */
|
||||
CalculateLambda((float) dNum, fTilt, &fLambda);
|
||||
sprintf(pBueffel, "%f RPM = %f nm", (float) dNum, fLambda);
|
||||
SCWrite(pCon, pBueffel, eValue);
|
||||
return 1;
|
||||
} else {
|
||||
sprintf(pBueffel, "ERROR: subcommand %s NOT understood", argv[1]);
|
||||
SCWrite(pCon, pBueffel, eError);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
fLambda = self->pDrivInt->GetValue(self, pCon);
|
||||
if (fLambda < -90000) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
sprintf(pBueffel, "%s = %f", argv[0], fLambda);
|
||||
SCWrite(pCon, pBueffel, eValue);
|
||||
return 1;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user