This commit is contained in:
2024-05-02 14:43:10 +02:00
parent a6a53ddfc0
commit 1074a0c9e3
15 changed files with 543 additions and 99 deletions

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@@ -1,99 +0,0 @@
#
# Copyright (c) 2023 Paul Scherrer Institute
#
# The program is free software: you can redistribute
# it and/or modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation, either version 2 of the
# License, or any newer version.
#
# This program is distributed in the hope that it will be useful, but WITHOUT
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
# more details.
#
# You should have received a copy of the GNU General Public License along with
# this program. If not, see https://www.gnu.org/licenses/gpl-2.0.txt
#
#
# Author : anderssandstrom
# email : anders.sandstroem@psi.ch
# Date : 2023 July 10
# version : 0.0.0
#
## The following lines are mandatory, please don't change them.
where_am_I := $(dir $(abspath $(lastword $(MAKEFILE_LIST))))
include $(E3_REQUIRE_TOOLS)/driver.makefile
include $(E3_REQUIRE_CONFIG)/DECOUPLE_FLAGS
ifneq ($(strip $(ASYN_DEP_VERSION)),)
asyn_VERSION=$(ASYN_DEP_VERSION)
endif
ifneq ($(strip $(ECMC_DEP_VERSION)),)
ecmc_VERSION=$(ECMC_DEP_VERSION)
endif
ifneq ($(strip $(RUCKIG_DEP_VERSION)),)
ruckig_VERSION=$(RUCKIG_DEP_VERSION)
endif
ifeq ($(T_A),linux-x86_64)
# Assume that the etherlab user library is done via
# https://github.com/icshwi/etherlabmaster
USR_INCLUDES += -I/opt/etherlab/include
USR_CFLAGS += -fPIC
USR_LDFLAGS += -L /opt/etherlab/lib
USR_LDFLAGS += -lethercat
USR_LDFLAGS += -Wl,-rpath=/opt/etherlab/lib
else
ifeq ($(T_A),linux-arm)
# Assume that the etherlab user library is done via
# https://github.com/icshwi/etherlabmaster
USR_INCLUDES += -I/opt/etherlab/include
USR_CFLAGS += -fPIC
USR_LDFLAGS += -L /opt/etherlab/lib
USR_LDFLAGS += -lethercat
USR_LDFLAGS += -Wl,-rpath=/opt/etherlab/lib
else
# Assume that the etherlab user library is done via
# Yocto ESS Linux bb recipe
USR_INCLUDES += -I$(SDKTARGETSYSROOT)/usr/include/etherlab
USR_CFLAGS += -fPIC
USR_LDFLAGS += -L $(SDKTARGETSYSROOT)/usr/lib/etherlab
USR_LDFLAGS += -lethercat
USR_LDFLAGS += -Wl,-rpath=$(SDKTARGETSYSROOT)/usr/lib/etherlab
USR_LDFLAGS += -lstdc++
endif
endif
APP:="."
#APPDB:=$(APP)/Db
#APPSRC:=$(APP)/src
APPSRC:=src
APPDB:=Db
USR_CFLAGS += -shared -fPIC -Wall -Wextra
USR_LDFLAGS += -lstdc++
USR_INCLUDES += -I$(where_am_I)$(APPSRC)
TEMPLATES += $(wildcard $(APPDB)/*.db)
TEMPLATES += $(wildcard $(APPDB)/*.template)
SOURCES += $(APPSRC)/ecmcPluginMotion.c
SOURCES += $(APPSRC)/ecmcMotionPlgWrap.cpp
SOURCES += $(APPSRC)/ecmcMotionPlg.cpp
#SOURCES += $(APPSRC)/ecmcDataBuffer.cpp
SCRIPTS += startup.cmd
SCRIPTS += addMotionObj.cmd
db:
.PHONY: db
vlibs:
.PHONY: vlibs
###

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@@ -0,0 +1,543 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>Dialog</class>
<widget class="QDialog" name="Dialog">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>1420</width>
<height>893</height>
</rect>
</property>
<property name="windowTitle">
<string>ecmc expert axis</string>
</property>
<widget class="caStripPlot" name="castripplot">
<property name="geometry">
<rect>
<x>10</x>
<y>30</y>
<width>1200</width>
<height>500</height>
</rect>
</property>
<property name="font">
<font>
<pointsize>4</pointsize>
</font>
</property>
<property name="Title" stdset="0">
<string notr="true">Analog</string>
</property>
<property name="TitleX">
<string notr="true"/>
</property>
<property name="TitleY">
<string notr="true">Position</string>
</property>
<property name="channels" stdset="0">
<string>$(SYS):Plg-Mtn$(MTN_ID=0)-PosAct-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-PosSet-Arr;</string>
</property>
<property name="period">
<double>30.000000000000000</double>
</property>
<property name="refreshRate" stdset="0">
<enum>caStripPlot::High</enum>
</property>
<property name="XaxisType">
<enum>caStripPlot::TimeScale</enum>
</property>
<property name="numberOfXticks" stdset="0">
<number>4</number>
</property>
<property name="YAxisScaling" stdset="0">
<enum>caStripPlot::autoScale</enum>
</property>
<property name="YaxisLimitsMax_1">
<double>600.000000000000000</double>
</property>
<property name="YaxisLimitsMin_1">
<double>200.000000000000000</double>
</property>
<property name="YaxisScalingMax_1" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="YaxisScalingMin_1" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="color_1">
<color>
<red>255</red>
<green>216</green>
<blue>217</blue>
</color>
</property>
<property name="YaxisLimitsMin_2">
<double>-100.000000000000000</double>
</property>
<property name="YaxisScalingMax_2" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="YaxisScalingMin_2" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="color_2">
<color>
<red>0</red>
<green>255</green>
<blue>0</blue>
</color>
</property>
<property name="YaxisLimitsMax_3">
<double>30.000000000000000</double>
</property>
<property name="YaxisLimitsMin_3">
<double>0.000000000000000</double>
</property>
<property name="YaxisScalingMax_3" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="YaxisScalingMin_3" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="color_3">
<color>
<red>159</red>
<green>207</green>
<blue>255</blue>
</color>
</property>
<property name="foreground">
<color alpha="0">
<red>133</red>
<green>190</green>
<blue>232</blue>
</color>
</property>
<property name="XaxisEnabled">
<bool>false</bool>
</property>
<property name="LegendEnabled">
<bool>true</bool>
</property>
<property name="XaxisSyncGroup">
<number>1</number>
</property>
</widget>
<widget class="caStripPlot" name="castripplot_2">
<property name="geometry">
<rect>
<x>10</x>
<y>680</y>
<width>1231</width>
<height>200</height>
</rect>
</property>
<property name="font">
<font>
<pointsize>4</pointsize>
</font>
</property>
<property name="Title" stdset="0">
<string notr="true"/>
</property>
<property name="TitleX">
<string notr="true">Time</string>
</property>
<property name="TitleY">
<string notr="true">State</string>
</property>
<property name="channels" stdset="0">
<string>$(SYS):Plg-Mtn$(MTN_ID=0)-Ena-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-EnaAct-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-Bsy-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-Exe-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-TrjSrc-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-EncSrc-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-AtTrg-Arr;</string>
</property>
<property name="period">
<double>30.000000000000000</double>
</property>
<property name="refreshRate" stdset="0">
<enum>caStripPlot::High</enum>
</property>
<property name="XaxisType">
<enum>caStripPlot::TimeScaleFix</enum>
</property>
<property name="numberOfXticks" stdset="0">
<number>4</number>
</property>
<property name="YAxisScaling" stdset="0">
<enum>caStripPlot::fixedScale</enum>
</property>
<property name="YaxisLimitsMax_1">
<double>1.200000000000000</double>
</property>
<property name="YaxisLimitsMin_1">
<double>-0.200000000000000</double>
</property>
<property name="YaxisScalingMax_1" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="YaxisScalingMin_1" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="color_1">
<color>
<red>255</red>
<green>216</green>
<blue>217</blue>
</color>
</property>
<property name="YaxisLimitsMax_2">
<double>1.200000000000000</double>
</property>
<property name="YaxisLimitsMin_2">
<double>-0.200000000000000</double>
</property>
<property name="YaxisScalingMax_2" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="YaxisScalingMin_2" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="color_2">
<color>
<red>0</red>
<green>255</green>
<blue>0</blue>
</color>
</property>
<property name="YaxisLimitsMax_3">
<double>1.200000000000000</double>
</property>
<property name="YaxisLimitsMin_3">
<double>-0.200000000000000</double>
</property>
<property name="YaxisScalingMax_3" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="YaxisScalingMin_3" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="color_3">
<color>
<red>159</red>
<green>207</green>
<blue>255</blue>
</color>
</property>
<property name="YaxisLimitsMax_4">
<double>1.200000000000000</double>
</property>
<property name="YaxisLimitsMin_4">
<double>-0.200000000000000</double>
</property>
<property name="YaxisScalingMax_4" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="YaxisScalingMin_4" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="YaxisLimitsMax_5">
<double>1.200000000000000</double>
</property>
<property name="YaxisLimitsMin_5">
<double>-0.200000000000000</double>
</property>
<property name="YaxisScalingMax_5" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="YaxisScalingMin_5" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="YaxisLimitsMax_6">
<double>1.200000000000000</double>
</property>
<property name="YaxisLimitsMin_6">
<double>-0.200000000000000</double>
</property>
<property name="YaxisScalingMax_6" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="YaxisScalingMin_6" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="YaxisLimitsMax_7">
<double>1.200000000000000</double>
</property>
<property name="YaxisLimitsMin_7">
<double>-0.200000000000000</double>
</property>
<property name="YaxisScalingMax_7" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="YaxisScalingMin_7" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="foreground">
<color alpha="0">
<red>133</red>
<green>190</green>
<blue>232</blue>
</color>
</property>
<property name="LegendEnabled">
<bool>true</bool>
</property>
<property name="XaxisSyncGroup">
<number>1</number>
</property>
</widget>
<widget class="caStripPlot" name="castripplot_3">
<property name="geometry">
<rect>
<x>10</x>
<y>530</y>
<width>1200</width>
<height>151</height>
</rect>
</property>
<property name="font">
<font>
<pointsize>4</pointsize>
</font>
</property>
<property name="Title" stdset="0">
<string notr="true"/>
</property>
<property name="TitleX">
<string notr="true"/>
</property>
<property name="TitleY">
<string notr="true">Position Error</string>
</property>
<property name="channels" stdset="0">
<string>$(SYS):Plg-Mtn$(MTN_ID=0)-PosErr-Arr;</string>
</property>
<property name="period">
<double>30.000000000000000</double>
</property>
<property name="refreshRate" stdset="0">
<enum>caStripPlot::High</enum>
</property>
<property name="XaxisType">
<enum>caStripPlot::TimeScale</enum>
</property>
<property name="numberOfXticks" stdset="0">
<number>4</number>
</property>
<property name="YAxisScaling" stdset="0">
<enum>caStripPlot::autoScale</enum>
</property>
<property name="YaxisLimitsMax_1">
<double>600.000000000000000</double>
</property>
<property name="YaxisLimitsMin_1">
<double>200.000000000000000</double>
</property>
<property name="YaxisScalingMax_1" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="YaxisScalingMin_1" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="color_1">
<color>
<red>255</red>
<green>216</green>
<blue>217</blue>
</color>
</property>
<property name="YaxisLimitsMin_2">
<double>-100.000000000000000</double>
</property>
<property name="YaxisScalingMax_2" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="YaxisScalingMin_2" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="color_2">
<color>
<red>0</red>
<green>255</green>
<blue>0</blue>
</color>
</property>
<property name="YaxisLimitsMax_3">
<double>30.000000000000000</double>
</property>
<property name="YaxisLimitsMin_3">
<double>0.000000000000000</double>
</property>
<property name="YaxisScalingMax_3" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="YaxisScalingMin_3" stdset="0">
<enum>caStripPlot::User</enum>
</property>
<property name="color_3">
<color>
<red>159</red>
<green>207</green>
<blue>255</blue>
</color>
</property>
<property name="foreground">
<color alpha="0">
<red>133</red>
<green>190</green>
<blue>232</blue>
</color>
</property>
<property name="XaxisEnabled">
<bool>false</bool>
</property>
<property name="LegendEnabled">
<bool>true</bool>
</property>
<property name="XaxisSyncGroup">
<number>1</number>
</property>
</widget>
<widget class="caToggleButton" name="catogglebutton">
<property name="geometry">
<rect>
<x>1270</x>
<y>80</y>
<width>100</width>
<height>22</height>
</rect>
</property>
<property name="text">
<string>Enable</string>
</property>
<property name="channel" stdset="0">
<string notr="true">$(SYS):Plg-Mtn$(MTN_ID=0)-EnaCmd-RB</string>
</property>
</widget>
<widget class="caNumeric" name="canumeric">
<property name="geometry">
<rect>
<x>1300</x>
<y>120</y>
<width>100</width>
<height>50</height>
</rect>
</property>
<property name="integerDigits" stdset="0">
<number>1</number>
</property>
<property name="decimalDigits" stdset="0">
<number>0</number>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
<property name="channel" stdset="0">
<string notr="true">$(SYS):Plg-Mtn$(MTN_ID=0)-AxCmd-RB</string>
</property>
<property name="colorMode">
<enum>caNumeric::Alarm</enum>
</property>
<property name="precisionMode">
<enum>caNumeric::User</enum>
</property>
<property name="fixedFormat">
<bool>true</bool>
</property>
<property name="limitsMode">
<enum>caNumeric::User</enum>
</property>
<property name="maxValue">
<double>100.000000000000000</double>
</property>
<property name="minValue">
<double>0.000000000000000</double>
</property>
</widget>
<widget class="QLabel" name="label">
<property name="geometry">
<rect>
<x>1230</x>
<y>130</y>
<width>63</width>
<height>20</height>
</rect>
</property>
<property name="text">
<string>Axis ID:</string>
</property>
</widget>
<widget class="caLineEdit" name="calineedit">
<property name="geometry">
<rect>
<x>1330</x>
<y>190</y>
<width>61</width>
<height>20</height>
</rect>
</property>
<property name="channel" stdset="0">
<string notr="true">$(SYS):Plg-Mtn$(MTN_ID=0)-SmpHz</string>
</property>
</widget>
<widget class="QLabel" name="label_2">
<property name="geometry">
<rect>
<x>1230</x>
<y>190</y>
<width>63</width>
<height>20</height>
</rect>
</property>
<property name="text">
<string>Rate [Hz]:</string>
</property>
</widget>
<widget class="caLabel" name="calabel">
<property name="geometry">
<rect>
<x>1310</x>
<y>290</y>
<width>90</width>
<height>28</height>
</rect>
</property>
<property name="channel" stdset="0">
<string notr="true">$(SYS):Plg-Mtn$(MTN_ID=0)-SmpHz</string>
</property>
</widget>
</widget>
<customwidgets>
<customwidget>
<class>caNumeric</class>
<extends>QFrame</extends>
<header>caNumeric</header>
</customwidget>
<customwidget>
<class>caToggleButton</class>
<extends>QCheckBox</extends>
<header>caToggleButton</header>
</customwidget>
<customwidget>
<class>caLabel</class>
<extends>QLabel</extends>
<header>caLabel</header>
</customwidget>
<customwidget>
<class>caLineEdit</class>
<extends>QLineEdit</extends>
<header>caLineEdit</header>
</customwidget>
<customwidget>
<class>caStripPlot</class>
<extends>QwtPlot</extends>
<header>caStripPlot</header>
</customwidget>
<customwidget>
<class>QwtPlot</class>
<extends>QFrame</extends>
<header>qwt_plot.h</header>
</customwidget>
</customwidgets>
<resources/>
<connections/>
</ui>