caf59ef8eb
- poldizug now sends all codes all the time - polterwrite writes the filename again - sanswave has been modifed to support the new second generation velocity selector - sinqhttprot has been mdified to copy data to nodes, this for the second generation HM object - tasscan suppressed some output
514 lines
14 KiB
C
514 lines
14 KiB
C
/**
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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(started)
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* - May 2007(The device was actually available)
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*/
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#include <sics.h>
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#include <rs232controller.h>
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/*===============================================================*/
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#define FORCE 0
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#define ZUGPOS 1
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#define REGEL 10
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#define OFF 20
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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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int velocity;
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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, char *reply, int replyLen)
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{
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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 > 0) {
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if (strstr(reply, "ERR") != NULL) {
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if (pCon != NULL) {
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snprintf(buffer, 511, "ERROR: device reported %s", reply);
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SCWrite(pCon, buffer, eError);
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return HWFault;
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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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* 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", error);
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SCWrite(pCon, buffer, eWarning);
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} else {
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snprintf(buffer, 511, "ERROR: %s", 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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{
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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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{
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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\r\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, char *error, int errlen)
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{
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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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{
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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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switch (self->iMode) {
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case FORCE:
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snprintf(command, 79, "wr vel %d\r\n", self->velocity);
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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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snprintf(command, 79, "wr force %f\r\n", val);
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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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status =
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PZRCommand(self->controller, pCon, "wr mode 1\r\n", reply, 79);
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if (status != 1) {
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return HWFault;
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}
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return OKOK;
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break;
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case ZUGPOS:
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snprintf(command, 79, "wr vel %d\r\n", self->velocity);
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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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snprintf(command, 79, "wr pos %f\r\n", val);
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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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status =
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PZRCommand(self->controller, pCon, "wr mode 2\r\n", reply, 79);
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if (status != 1) {
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return HWFault;
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}
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return OKOK;
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break;
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}
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return OKOK;
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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 BitSet(char d, int n)
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{
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unsigned char e;
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e = d & (1 << n);
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if (e == 0) {
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return 0;
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} else {
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return 1;
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}
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}
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/*---------------------------------------------------------------*/
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static int PZRCheckStatus(void *data, SConnection * pCon)
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{
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pPZR self = NULL;
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int status, code, i;
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char command[80], reply[80], bits;
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self = (pPZR) data;
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snprintf(command, 79, "rd stat\r\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 = (char) code;
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/*
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memset(command,0,80);
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for(i = 0; i < 8; i++){
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if(BitSet(bits,i)){
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command[i] = '1';
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} else {
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command[i] = '0';
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}
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}
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snprintf(reply,79,"code = %d",code);
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strcat(command,reply);
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SCWrite(pCon,command,eValue);
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*/
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/*
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* check for errors
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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, 6)) {
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SCWrite(pCon, "ERROR: max force exceed, manual reset REQUIRED!",
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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: bit 7 error, ask Marcel what this means",
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eError);
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return HWFault;
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}
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switch (self->iMode) {
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case FORCE:
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if (BitSet(bits, 2)) {
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return HWIdle;
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} else {
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return HWBusy;
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}
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break;
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case ZUGPOS:
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if (BitSet(bits, 3)) {
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return HWIdle;
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} else {
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return HWBusy;
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}
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break;
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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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{
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pPZR self = NULL;
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float val = -9999.99;
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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\r\n");
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} else {
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snprintf(command, 79, "rd pos\r\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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static int PZRConnect(pPZR self, SConnection * pCon)
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{
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char error[132], buffer[356];
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int status;
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closeRS232(self->controller);
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status = initRS232(self->controller);
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if (status < 0) {
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getRS232Error(status, error, 131);
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snprintf(buffer, 255, "ERROR: failed to reconnect with: %s", error);
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SCWrite(pCon, buffer, eError);
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return 0;
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}
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SCSendOK(pCon);
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return 1;
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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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{
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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
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|| 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, 10000);
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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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{
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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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{
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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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self->iMode = FORCE;
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SCSendOK(pCon);
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return 1;
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} else if (strcmp(argv[2], "pos") == 0) {
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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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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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} 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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} else if (strcmp(argv[1], "velocity") == 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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self->velocity = atoi(argv[2]);
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SCSendOK(pCon);
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return 1;
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} else {
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snprintf(command, 70, "%s.velocity = %d", argv[0], self->velocity);
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SCWrite(pCon, command, eValue);
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return 1;
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}
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} else if (strcmp(argv[1], "connect") == 0) {
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return PZRConnect(self, pCon);
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} else if (strcmp(argv[1], "off") == 0) {
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status =
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PZRCommand(self->controller, pCon, "wr mode 0\r\n", reply, 79);
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if (status == 1) {
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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[1], "poslimits") == 0) {
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if (argc > 3) {
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if (!SCMatchRights(pCon, usMugger)) {
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return 0;
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}
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self->minPos = atof(argv[2]);
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self->maxPos = atof(argv[3]);
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SCSendOK(pCon);
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return 1;
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} else {
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snprintf(command, 80, "pzr.poslimits = %f,%f", self->minPos,
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self->maxPos);
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SCWrite(pCon, command, eValue);
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return 1;
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}
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} else if (strcmp(argv[1], "forcelimits") == 0) {
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if (argc > 3) {
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if (!SCMatchRights(pCon, usMugger)) {
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return 0;
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}
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self->minForce = atof(argv[2]);
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self->maxForce = atof(argv[3]);
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SCSendOK(pCon);
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return 1;
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} else {
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snprintf(command, 80, "pzr.forcelimits = %f,%f", self->minForce,
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self->maxForce);
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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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}
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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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{
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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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self->iMode = FORCE;
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self->velocity = 2;
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PZRCommand(self->controller, pCon, "wr mode 0\r\n", reply, 79);
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AddCommand(pSics, argv[1], PoldiReissAction, killPoldiZug, self);
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return 1;
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}
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