| 1 | #include "shaftencoder.h"
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| 2 |
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| 3 | #include "network.h"
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| 4 |
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| 5 | #include <iostream> // cout
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| 6 | #include <iomanip> // setw, setfill
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| 7 |
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| 8 | #include <TGLabel.h> // TGLabel->SetText
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| 9 |
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| 10 | ClassImp(ShaftEncoder);
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| 11 |
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| 12 | using namespace std;
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| 13 |
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| 14 | ShaftEncoder::ShaftEncoder(const BYTE_t nodeid, const char *name, MLog &out)
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| 15 | : NodeDrv(nodeid, name, out), fPos(0), fVel(0), fAcc(0),
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| 16 | fTurn(0), fLabel(NULL), fPosHasChanged(false), fReport(NULL)
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| 17 | {
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| 18 | }
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| 19 |
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| 20 | void ShaftEncoder::HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, timeval_t *tv)
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| 21 | {
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| 22 | switch (idx)
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| 23 | {
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| 24 | case 0x1000:
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| 25 | lout << "- Model: ";
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| 26 | switch (val&0xffff)
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| 27 | {
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| 28 | case 0x0196:
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| 29 | lout << "Shaft Encoder Type: ";
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| 30 | switch ((val>>16)&0xff)
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| 31 | {
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| 32 | case 0x01:
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| 33 | lout << "Singleturn" << endl;
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| 34 | return;
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| 35 | case 0x02:
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| 36 | lout << "Multiturn" << endl;
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| 37 | return;
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| 38 | default:
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| 39 | lout << "?" << endl;
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| 40 | SetZombie();
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| 41 | return;
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| 42 | }
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| 43 | default:
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| 44 | lout << "???" << endl;
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| 45 | SetZombie();
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| 46 | return;
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| 47 | }
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| 48 | case 0x100b:
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| 49 | // Do not display, this is used for CheckConnection
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| 50 | // lout << "Node ID: " << dec << val << endl;
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| 51 | return;
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| 52 |
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| 53 | case 0x100c:
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| 54 | lout << "- Guardtime: " << dec << val << "ms" << endl;
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| 55 | return;
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| 56 |
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| 57 | case 0x100d:
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| 58 | lout << "- Lifetimefactor: " << dec << val << endl;
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| 59 | return;
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| 60 |
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| 61 | case 0x100e:
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| 62 | lout << "- CobId for guarding: 0x" << hex << val << endl;
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| 63 | return;
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| 64 |
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| 65 | case 0x6000:
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| 66 | case 0x6500:
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| 67 | lout << "- Counting: " << (val&1 ?"anti-clockwise":"clockwise") << " ";
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| 68 | lout << "HwTest: " << (val&2 ?"on":"off") << " ";
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| 69 | lout << "Scaling: " << (val&4 ?"on":"off") << " ";
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| 70 | lout << "Modulo: " << (val&4096?"on":"off") << endl;
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| 71 | return;
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| 72 |
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| 73 | case 0x6001:
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| 74 | lout << "- Logical Ticks/Revolution: " << dec << val << endl;
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| 75 | return;
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| 76 |
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| 77 | case 0x6004:
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| 78 | lout << "- Position: " << dec << val << endl;
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| 79 | fPos = val;
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| 80 | fTurn = 0;
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| 81 | return;
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| 82 |
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| 83 |
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| 84 | case 0x6501:
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| 85 | lout << "- Phys. Ticks/Revolution: " << dec << val << endl;
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| 86 | fTicks = val;
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| 87 | return;
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| 88 |
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| 89 | case 0x6502:
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| 90 | //if (val==0)
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| 91 | // val = 1; // Single Turn = Multiturn with one turn
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| 92 | lout << "- Number of Revolutions: " << dec << val << endl;
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| 93 | fTurns = val;
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| 94 | return;
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| 95 |
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| 96 |
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| 97 | }
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| 98 | cout << hex << setfill('0');
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| 99 | cout << "Sdo=" << idx << "/" << (int)subidx << ": 0x" << setw(8) << val;
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| 100 | cout << endl;
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| 101 | }
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| 102 |
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| 103 | void ShaftEncoder::HandleSDOOK(WORD_t idx, BYTE_t subidx, LWORD_t data, timeval_t *tv)
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| 104 | {
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| 105 | switch (idx)
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| 106 | {
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| 107 | case 0x1802:
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| 108 | switch (subidx)
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| 109 | {
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| 110 | case 1:
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| 111 | //lout << ddev(MLog::eGui);
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| 112 | lout << "- " << GetNodeName() << ": PDOs configured." << endl;
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| 113 | //lout << edev(MLog::eGui);
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| 114 | return;
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| 115 | }
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| 116 | break;
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| 117 |
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| 118 | case 0x6001:
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| 119 | switch (subidx)
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| 120 | {
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| 121 | case 0:
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| 122 | //lout << ddev(MLog::eGui);
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| 123 | lout << "- " << GetNodeName() << ": Log.ticks/revolution set." << endl;
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| 124 | //lout << edev(MLog::eGui);
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| 125 | return;
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| 126 | }
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| 127 | break;
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| 128 |
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| 129 | case 0x6002:
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| 130 | switch (subidx)
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| 131 | {
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| 132 | case 0:
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| 133 | //lout << ddev(MLog::eGui);
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| 134 | lout << "- " << GetNodeName() << ": Max number of ticks set." << endl;
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| 135 | //lout << edev(MLog::eGui);
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| 136 | return;
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| 137 | }
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| 138 | break;
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| 139 |
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| 140 | case 0x6003:
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| 141 | switch (subidx)
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| 142 | {
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| 143 | case 0:
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| 144 | //lout << ddev(MLog::eGui);
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| 145 | lout << "- " << GetNodeName() << ": Preset value set." << endl;
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| 146 | //lout << edev(MLog::eGui);
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| 147 | return;
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| 148 | }
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| 149 | break;
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| 150 | }
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| 151 | NodeDrv::HandleSDOOK(idx, subidx, data, tv);
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| 152 | }
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| 153 |
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| 154 | void ShaftEncoder::DisplayVal()
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| 155 | {
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| 156 | if (IsZombieNode())
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| 157 | {
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| 158 | fLabel->SetText(new TGString(""));
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| 159 | fUpdPos = ~fPos;
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| 160 | return;
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| 161 | }
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| 162 |
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| 163 | char text[21];
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| 164 |
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| 165 | if (fPos!=fUpdPos && fLabel)
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| 166 | {
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| 167 | sprintf(text, "%ld", fPos);
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| 168 | fLabel->SetText(new TGString(text));
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| 169 | fUpdPos = fPos;
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| 170 | }
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| 171 | }
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| 172 |
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| 173 | void ShaftEncoder::HandlePDOType0(BYTE_t *data, timeval_t *tv)
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| 174 | {
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| 175 | //
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| 176 | // Decode information, we have a 14bit only
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| 177 | //
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| 178 | LWORDS_t pos = data[0] | (data[1]<<8) | (data[2]<<16); // | (data[3]<<24);
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| 179 | if (pos==fPos)
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| 180 | return;
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| 181 |
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| 182 | fPos = pos;
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| 183 | fTime.Set(*tv);
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| 184 | fPosHasChanged = true;
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| 185 |
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| 186 | if (fReport)
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| 187 | {
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| 188 | fReport->Lock();
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| 189 | *fReport << "SE-REPORT " << (int)GetId() << " " << fTime << " PDO0 " << pos << " " << GetNodeName() << endl;
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| 190 | fReport->UnLock();
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| 191 | }
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| 192 | }
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| 193 |
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| 194 | void ShaftEncoder::HandlePDOType1(BYTE_t *data, timeval_t *tv)
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| 195 | {
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| 196 | //
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| 197 | // Decode information, we have a 14bit only
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| 198 | //
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| 199 | LWORDS_t pos = data[0] | (data[1]<<8) | (data[2]<<16); // | (data[3]<<24);
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| 200 | BYTE_t flag = data[4];
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| 201 |
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| 202 | if (fPos==pos)
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| 203 | return;
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| 204 |
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| 205 | fPos=pos;
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| 206 | fTime.Set(*tv);
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| 207 | fPosHasChanged=true;
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| 208 |
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| 209 | flag=flag;
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| 210 |
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| 211 | if (fReport)
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| 212 | {
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| 213 | fReport->Lock();
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| 214 | *fReport << "SE-REPORT " << (int)GetId() << " " << fTime << " PDO1 " << pos << " " << (int)flag << " " << GetNodeName() << endl;
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| 215 | fReport->UnLock();
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| 216 | }
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| 217 | }
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| 218 |
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| 219 | //#include <fstream.h>
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| 220 | //ofstream fout("log/shaftencoder.log");
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| 221 |
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| 222 | void ShaftEncoder::HandlePDOType2(BYTE_t *data, timeval_t *tv)
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| 223 | {
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| 224 | //
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| 225 | // Decode information, we have a 14bit only
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| 226 | //
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| 227 | LWORDS_t pos = data[0] | (data[1]<<8) | (data[2]<<16); // | (data[3]<<24);
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| 228 |
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| 229 | fVel = data[4] | (data[5]<<8);
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| 230 | fAcc = data[6] | (data[7]<<8);
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| 231 |
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| 232 | const int dnlim = fTicks/10;
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| 233 | const int uplim = fTurns*fTicks-dnlim;
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| 234 |
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| 235 | int turn = fTurn;
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| 236 |
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| 237 | if (fPos > uplim && pos < dnlim)
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| 238 | turn++;
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| 239 |
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| 240 | if (fPos < dnlim && pos > uplim)
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| 241 | turn--;
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| 242 |
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| 243 | if (fPos==pos && fTurn==fTurn)
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| 244 | return;
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| 245 |
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| 246 | fPos = pos;
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| 247 | fTurn = turn;
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| 248 |
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| 249 | fTime.Set(*tv);
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| 250 | fPosHasChanged=true;
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| 251 |
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| 252 | if (fReport)
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| 253 | {
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| 254 | fReport->Lock();
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| 255 | *fReport << "SE-REPORT " << (int)GetId() << " " << fTime << " PDO2 " << pos << " " << fVel << " " << fAcc << " " << GetNodeName() << endl;
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| 256 | fReport->UnLock();
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| 257 | }
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| 258 | }
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| 259 |
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| 260 | double ShaftEncoder::GetMjd()
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| 261 | {
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| 262 | return fTime.GetMjd();
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| 263 | }
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| 264 |
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| 265 | void ShaftEncoder::Init()
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| 266 | {
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| 267 | //-----------------------------------------------------------------------
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| 268 | // Start Setup of the Shaft Encoder
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| 269 | //-----------------------------------------------------------------------
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| 270 |
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| 271 | StopGuarding();
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| 272 |
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| 273 | //
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| 274 | // Requesting and checking (FIXME) type of encoder
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| 275 | //
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| 276 | lout << "- " << GetNodeName() << ": Requesting Hardware Type (0x1000)." << endl;
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| 277 | RequestSDO(0x1000);
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| 278 | WaitForSdo(0x1000);
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| 279 | if (IsZombieNode())
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| 280 | return;
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| 281 |
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| 282 | //
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| 283 | // Read physical ticks per revolution
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| 284 | //
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| 285 | lout << "- " << GetNodeName() << ": Requesting physical ticks/revolution (SDO 0x6501)." << endl;
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| 286 | RequestSDO(0x6501);
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| 287 | WaitForSdo(0x6501);
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| 288 |
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| 289 | //
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| 290 | // Read number of possible ticks per revolution
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| 291 | //
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| 292 | lout << "- " << GetNodeName() << ": Requesting possible ticks/revolution (SDO 0x6502)." << endl;
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| 293 | RequestSDO(0x6502);
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| 294 | WaitForSdo(0x6502);
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| 295 |
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| 296 | //
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| 297 | // Request Lifetimefactor for unknown reason to make guarding
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| 298 | // working in SE/Az... (FIXME)
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| 299 | //
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| 300 | // lout << "- " << GetNodeName() << ": Requesting Lifetimefactor (Workaround, FIXME!) (SDO 0x100d)." << endl;
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| 301 | // RequestSDO(0x100c);
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| 302 | // WaitForSdo(0x100c);
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| 303 | // RequestSDO(0x100d);
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| 304 | // WaitForSdo(0x100d);
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| 305 |
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| 306 | //
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| 307 | // Set logic ticks/revolution = physical ticks/revolution => scale factor = 1
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| 308 | //
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| 309 | lout << "- " << GetNodeName() << ": Configuring log. tick/rev (0x6001)." << endl;
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| 310 | SendSDO(0x6001, fTicks);
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| 311 | WaitForSdo(0x6001);
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| 312 |
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| 313 | //
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| 314 | // Set maximum number of ticks (ticks * turns)
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| 315 | //
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| 316 | lout << "- " << GetNodeName() << ": Configuring max number of ticks (0x6002)." << endl;
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| 317 | SendSDO(0x6002, (LWORD_t)(fTicks*fTurns));
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| 318 | WaitForSdo(0x6002);
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| 319 |
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| 320 | //
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| 321 | // Delete preset Value
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| 322 | //
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| 323 | lout << "- " << GetNodeName() << ": Delete preset value (0x6003)." << endl;
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| 324 | SendSDO(0x6003, (LWORD_t)0xffffffff);
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| 325 | WaitForSdo(0x6003);
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| 326 |
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| 327 | //
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| 328 | // Configure PDOs
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| 329 | //
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| 330 | lout << "- " << GetNodeName() << ": Configuring PDOs (0x1802)." << endl;
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| 331 | SendSDO(0x1802, 1, (LWORD_t)0x281);
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| 332 | WaitForSdo(0x1802, 1);
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| 333 |
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| 334 | //
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| 335 | // Request Parameter
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| 336 | //
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| 337 | lout << "- " << GetNodeName() << ": Requesting SDO 0x6000." << endl;
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| 338 | RequestSDO(0x6000);
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| 339 | WaitForSdo(0x6000);
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| 340 |
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| 341 | ReqPos();
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| 342 |
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| 343 | lout << "- " << GetNodeName() << ": Start Node (NMT)." << endl;
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| 344 | SendNMT(kNMT_START);
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| 345 |
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| 346 | /*
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| 347 | cout << "---1---" << endl;
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| 348 | MTimeout t(1000);
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| 349 | while (!t.HasTimedOut())
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| 350 | usleep(1);
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| 351 | cout << "---2---" << endl;
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| 352 | */
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| 353 |
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| 354 | // StartGuarding(200, 1, kTRUE); // 175
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| 355 | // StartGuarding(10*GetId(), 2); // 175
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| 356 | }
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| 357 |
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| 358 | void ShaftEncoder::CheckConnection()
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| 359 | {
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| 360 | // Request Node number
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| 361 | RequestSDO(0x100b);
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| 362 | WaitForSdo(0x100b);
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| 363 | }
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| 364 |
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| 365 | void ShaftEncoder::ReqPos()
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| 366 | {
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| 367 | //
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| 368 | // Request Position
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| 369 | //
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| 370 | lout << "- " << GetNodeName() << ": Requesting Position." << endl;
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| 371 | RequestSDO(0x6004);
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| 372 | WaitForSdo(0x6004);
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| 373 | }
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| 374 |
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| 375 | void ShaftEncoder::SetPreset(LWORD_t pre)
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| 376 | {
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| 377 | lout << "- " << GetNodeName() << ": Setting Preset." << endl;
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| 378 |
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| 379 | SendSDO(0x6003, (LWORD_t)pre);
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| 380 | if (!WaitForSdo(0x6003))
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| 381 | return;
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| 382 |
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| 383 | fPos = pre%16384;
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| 384 | fTurn = pre/16384;
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| 385 | }
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| 386 |
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| 387 | void ShaftEncoder::StopDevice()
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| 388 | {
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| 389 | lout << "- " << GetNodeName() << ": Stop Node (NMT)." << endl;
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| 390 | SendNMT(kNMT_STOP);
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| 391 | }
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| 392 |
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