motion/ecmc_plugin_fft
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Compiles and options working.

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This commit is contained in:
Anders Sandström
2020-04-02 12:45:55 +02:00
parent 5658be384f
commit dc12e7a14a
5 changed files with 65 additions and 112 deletions
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2
configure/CONFIG_MODULE
View File

@@ -27,7 +27,7 @@ ASYN_DEP_VERSION:=4.36.0
#
E3_MODULE_NAME:=$(EPICS_MODULE_NAME)
E3_MODULE_SRC_PATH:=ecmcPlugin_Advanced-loc
E3_MODULE_SRC_PATH:=ecmcPlugin_FFT-loc
E3_MODULE_MAKEFILE:=$(EPICS_MODULE_NAME).Makefile

8
ecmcPlugin_FFT-loc/ecmcPlugin_FFTApp/src/ecmcFFT.cpp
View File

@@ -3,7 +3,7 @@
* ecmc is distributed subject to a Software License Agreement found
* in file LICENSE that is included with this distribution.
*
* ecmcAdvanced.cpp
* ecmcFFT.cpp
*
* Created on: Mar 22, 2020
* Author: anderssandstrom
@@ -18,7 +18,7 @@
#define ECMC_ERROR_ASYNPORT_NULL 1
#define ECMC_ERROR_ASYN_PARAM_FAIL 2
#include "ecmcAdvanced.h"
#include "ecmcFFT.h"
#include "ecmcPluginClient.h"
#include "ecmcAsynPortDriver.h"
@@ -42,7 +42,7 @@ int initAsyn() {
ecmcAsynPortDriver *ecmcAsynPort = (ecmcAsynPortDriver *)getEcmcAsynPortDriver();
if(!ecmcAsynPort) {
printf("Error: ecmcPlugin_Advanced: ecmcAsynPortDriver NULL.");
printf("Error: ecmcPlugin_FFT: ecmcAsynPortDriver NULL.");
return ECMC_ERROR_ASYNPORT_NULL;
}
@@ -55,7 +55,7 @@ int initAsyn() {
ECMC_EC_S32, // ecmc data type
0); // die if fail
if(!paramCount) {
printf("Error: ecmcPlugin_Advanced: Failed to create asyn param \"plugin.adv.counter\".");
printf("Error: ecmcPlugin_FFT: Failed to create asyn param \"plugin.adv.counter\".");
return ECMC_ERROR_ASYN_PARAM_FAIL;
}
paramCount->addSupportedAsynType(asynParamInt32); // Only allw records of this type

8
ecmcPlugin_FFT-loc/ecmcPlugin_FFTApp/src/ecmcFFT.h
View File

@@ -3,14 +3,14 @@
* ecmc is distributed subject to a Software License Agreement found
* in file LICENSE that is included with this distribution.
*
* ecmcAdvanced.h
* ecmcFFT.h
*
* Created on: Mar 22, 2020
* Author: anderssandstrom
*
\*************************************************************************/
#ifndef ECMC_ADVANCED_H_
#define ECMC_ADVANCED_H_
#ifndef ECMC_FFT_H_
#define ECMC_FFT_H_
#ifdef __cplusplus
extern "C" {
@@ -29,4 +29,4 @@ void increaseCounter();
}
#endif // ifdef __cplusplus
#endif /* ECMC_ADVANCED_H_ */
#endif /* ECMC_FFT_H_ */

150
ecmcPlugin_FFT-loc/ecmcPlugin_FFTApp/src/ecmcPluginFFT.c
View File

@@ -23,10 +23,10 @@ extern "C" {
#include <string.h>
#include "ecmcPluginDefs.h"
#include "ecmcAdvanced.h"
#include "ecmcPLC.h"
#include "ecmcFFT.h"
#define ECMC_PLUGIN_DBG_OPTION_CMD "DBG_PRINT"
#define ECMC_PLUGIN_DBG_OPTION_CMD "DBG_PRINT="
#define ECMC_PLUGIN_SOURCE_OPTION_CMD "SOURCE="
#define PRINT_IF_DBG_MODE(fmt, ...) \
{ \
@@ -40,6 +40,8 @@ static double ecmcSampleRate = 0;
static void* ecmcAsynPort = NULL;
static char* confStr = NULL;
static int dbgModeOption = 0;
static char* source = NULL;
/** Optional.
* Will be called once after successfull load into ecmc.
@@ -48,18 +50,44 @@ static int dbgModeOption = 0;
**/
int adv_exampleConstruct(char * configStr)
{
confStr = strdup(configStr);
//Only one option defined "DBG_PRINT=" (no need for loop)
int tempValue=0;
int nvals = sscanf(confStr, ECMC_PLUGIN_DBG_OPTION_CMD"=%d",&tempValue);
if (nvals == 1) {
dbgModeOption = tempValue;
}
PRINT_IF_DBG_MODE("%s/%s:%d: ConfigStr=\"%s\"...\n",__FILE__, __FUNCTION__, __LINE__,configStr);
// check config parameters
if (configStr && configStr[0]) {
char *pOptions = strdup(configStr);
char *pThisOption = pOptions;
char *pNextOption = pOptions;
while (pNextOption && pNextOption[0]) {
pNextOption = strchr(pNextOption, ';');
if (pNextOption) {
*pNextOption = '\0'; /* Terminate */
pNextOption++; /* Jump to (possible) next */
}
// ECMC_PLUGIN_DBG_OPTION_CMD
if (!strncmp(pThisOption, ECMC_PLUGIN_DBG_OPTION_CMD, strlen(ECMC_PLUGIN_DBG_OPTION_CMD))) {
pThisOption += strlen(ECMC_PLUGIN_DBG_OPTION_CMD);
dbgModeOption = atoi(pThisOption);
}
// ECMC_PLUGIN_SOURCE_OPTION_CMD
else if (!strncmp(pThisOption, ECMC_PLUGIN_SOURCE_OPTION_CMD, strlen(ECMC_PLUGIN_SOURCE_OPTION_CMD))) {
pThisOption += strlen(ECMC_PLUGIN_SOURCE_OPTION_CMD);
// get string to next ';'
source=strdup(pThisOption);
}
pThisOption = pNextOption;
}
free(pOptions);
}
//printout options
PRINT_IF_DBG_MODE("%s/%s:%d: %s%d, %s\"%s\"\n",__FILE__,
__FUNCTION__, __LINE__,ECMC_PLUGIN_DBG_OPTION_CMD,
dbgModeOption, ECMC_PLUGIN_SOURCE_OPTION_CMD, source);
// Determine ecmc sample rate (just for demo)
ecmcSampleRate = getSampleRate();
PRINT_IF_DBG_MODE("%s/%s:%d Ecmc sample rate is: %lf ms\n",__FILE__, __FUNCTION__, __LINE__,ecmcSampleRate);
PRINT_IF_DBG_MODE("%s/%s:%d: Ecmc sample rate is: %lf ms\n",__FILE__, __FUNCTION__, __LINE__,ecmcSampleRate);
// Use ecmcAsynPort (just for demo)
ecmcAsynPort = getAsynPort();
@@ -77,6 +105,10 @@ void adv_exampleDestruct(void)
{
PRINT_IF_DBG_MODE("%s/%s:%d...\n",__FILE__, __FUNCTION__, __LINE__);
if(source) {
free(source);
}
if(confStr){
free(confStr);
}
@@ -89,13 +121,7 @@ void adv_exampleDestruct(void)
* Return value other than 0 will be considered to be an error code in ecmc.
**/
int adv_exampleRealtime(int ecmcError)
{
// Check if plc 0 is enabled.. Just to show something with the ecmc headers
int plcEnabled = 0;
getPLCEnable(0,&plcEnabled);
PRINT_IF_DBG_MODE("%s/%s:%d: plc0.enabled=%d\n",__FILE__, __FUNCTION__, __LINE__,plcEnabled);
{
//Update asynparam counter
increaseCounter();
lastEcmcError = ecmcError;
@@ -119,30 +145,17 @@ int adv_exampleExitRT(void){
return 0;
}
/** Optional plc function 1*/
double adv_customPlcFunc1(double arg1, double arg2)
{
PRINT_IF_DBG_MODE("%s/%s:%d...\n",__FILE__, __FUNCTION__, __LINE__);
return arg1 * arg2;
}
/** Optional plc function 2*/
double adv_customPlcFunc2(double arg1, double arg2, double arg3)
{
PRINT_IF_DBG_MODE("%s/%s:%d...\n",__FILE__, __FUNCTION__, __LINE__);
return arg1 * arg2 * arg3;
}
// Register data for plugin so ecmc know what to use
struct ecmcPluginData pluginDataDef = {
// Allways use ECMC_PLUG_VERSION_MAGIC
.ifVersion = ECMC_PLUG_VERSION_MAGIC,
// Name
.name = "ecmcExamplePlugin",
.name = "ecmcPlugin_FFT",
// Description
.desc = "Advanced example with use of asynport obj.",
.desc = "FFT plugin for use with ecmc.",
// Option description
.optionDesc = ECMC_PLUGIN_DBG_OPTION_CMD"=1/0 : Enables/disables printouts from plugin.",
.optionDesc = "\n "ECMC_PLUGIN_DBG_OPTION_CMD"1/0 : Enables/disables printouts from plugin.\n"
" "ECMC_PLUGIN_SOURCE_OPTION_CMD"<source> : Sets source variable for FFT (example: ec0.s1.AI_1).",
// Plugin version
.version = ECMC_EXAMPLE_PLUGIN_VERSION,
// Optional construct func, called once at load. NULL if not definded.
@@ -155,67 +168,10 @@ struct ecmcPluginData pluginDataDef = {
.realtimeEnterFnc = adv_exampleEnterRT,
// Optional func that will be called once just before exit realtime mode
.realtimeExitFnc = adv_exampleExitRT,
// Allow max s custom plc funcs
.funcs[0] =
{ /*----customPlcFunc1----*/
// Function name (this is the name you use in ecmc plc-code)
.funcName = "adv_plugin_func_1",
// Function description
.funcDesc = "Multiply arg0 with arg1.",
/**
* 11 different prototypes allowed (only doubles since reg in plc).
* Only one funcArg<argCount> func shall be assigned the rest set to NULL.
**/
.funcArg0 = NULL,
.funcArg1 = NULL,
.funcArg2 = adv_customPlcFunc1, // Func 1 has 2 args
.funcArg3 = NULL,
.funcArg4 = NULL,
.funcArg5 = NULL,
.funcArg6 = NULL,
.funcArg7 = NULL,
.funcArg8 = NULL,
.funcArg9 = NULL,
.funcArg10 = NULL
},
.funcs[1] =
{ /*----customPlcFunc2----*/
// Function name (this is the name you use in ecmc plc-code)
.funcName = "adv_plugin_func_2",
// Function description
.funcDesc = "Multiply arg0, arg1 and arg2.",
/**
* 11 different prototypes allowed (only doubles since reg in plc).
* Only funcArg${argCount} func shall be assigned the rest set to NULL.
**/
.funcArg0 = NULL,
.funcArg1 = NULL,
.funcArg2 = NULL,
.funcArg3 = adv_customPlcFunc2, // Func 2 has 3 args
.funcArg4 = NULL,
.funcArg5 = NULL,
.funcArg6 = NULL,
.funcArg7 = NULL,
.funcArg8 = NULL,
.funcArg9 = NULL,
.funcArg10 = NULL
},
.funcs[2] = {0}, // last element set all to zero..
/** Plugin specific constants (add prefix to not risc collide with
* names from other modules) */
.consts[0] = {
.constName = "adv_CONST_1",
.constDesc = "Test constant \"adv_CONST_1\" = 1.234567890",
.constValue = 1.234567890,
},
.consts[1] = {
.constName = "adv_CONST_2",
.constDesc = "Test constant \"adv_CONST_2\" = 9.876543210",
.constValue = 9.876543210,
},
.consts[2] = {0}, // last element set all to zero..
// PLC funcs
.funcs[0] = {0}, // last element set all to zero..
// PLC consts
.consts[0] = {0}, // last element set all to zero..
};
ecmc_plugin_register(pluginDataDef);

9
ecmcPlugin_FFT.Makefile
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@@ -24,9 +24,6 @@
# Please look at many other _module_.Makefile in e3-* repository
#
## The following lines are mandatory, please don't change them.
where_am_I := $(dir $(abspath $(lastword $(MAKEFILE_LIST))))
include $(E3_REQUIRE_TOOLS)/driver.makefile
@@ -40,7 +37,7 @@ ifneq ($(strip $(ECMC_DEP_VERSION)),)
ecmc_VERSION=$(ECMC_DEP_VERSION)
endif
APP:=ecmcPlugin_AdvancedApp
APP:=ecmcPlugin_FFTApp
APPDB:=$(APP)/Db
APPSRC:=$(APP)/src
@@ -49,8 +46,8 @@ USR_LDFLAGS += -lstdc++
USR_INCLUDES += -I$(where_am_I)$(APPSRC)
TEMPLATES += $(wildcard $(APPDB)/*.db)
SOURCES += $(APPSRC)/ecmcPluginExample.c
SOURCES += $(APPSRC)/ecmcAdvanced.cpp
SOURCES += $(APPSRC)/ecmcPluginFFT.c
SOURCES += $(APPSRC)/ecmcFFT.cpp
db: