source: trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc@ 800

#include "shaftencoder.h"

#include "timer.h"
#include "network.h"

#include <iostream.h>      // cout
#include <iomanip.h>       // setw, setfill

#include <TSystem.h>       // gSystem
#include <TGLabel.h>       // TGLabel->SetText

#include <pthread.h>
#include <sys/resource.h>  // PRIO_PROCESS

ShaftEncoder::ShaftEncoder(BYTE_t nodeid, ostream &out=cout) : NodeDrv(nodeid, out), fLabel(NULL)
{
    //
    // Show information
    //
    pthread_create(&fThread, NULL, MapUpdateThread, this);

}

ShaftEncoder::~ShaftEncoder()
{
    pthread_cancel(fThread);
}

void ShaftEncoder::HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, struct timeval *tv)
{
    switch (idx)
    {
    case 0x1000:
        cout << "Model: ";
        switch (val&0xffff)
        {
        case 0x0196:
            cout << "Shaft Encoder  Type: ";
            switch ((val>>16)&0xff)
            {
            case 0x01:
                cout << "Singleturn" << endl;
                return;
            case 0x02:
                cout << "Multiturn" << endl;
                return;
            default:
                cout << "?" << endl;
                return;
            }
        default:
            cout << "???" << endl;
            return;
        }
    case 0x100b:
        cout << "Node ID: " << dec << val << endl;
        return;

    case 0x6000:
    case 0x6500:
        cout << "Counting: " << (val&1   ?"anti-clockwise":"clockwise") << "  ";
        cout << "HwTest: " <<   (val&2   ?"on":"off") << "  ";
        cout << "Scaling: " <<  (val&4   ?"on":"off") << "  ";
        cout << "Modulo: " <<   (val&4096?"on":"off") << endl;

    case 0x6001:
        cout << "Logical Ticks/Turn: " << dec << val << endl;
        return;

    case 0x6004:
        cout << "Position: " << dec << val << endl;
        fPos  = val;
        fTurn = 0;
        return;


    case 0x6501:
        cout << "Phys. Ticks/Turn: " << dec << val << endl;
        fTicks = val;
        return;

    case 0x6502:
        cout << "Possible Turns: " << dec << val << endl;
        fTurns = val ? val : 1; // Single Turn = Multiturn with one turn
        return;


    }
    cout << hex << setfill('0');
    cout << "Sdo=" << idx  << "/" << (int)subidx << ": 0x" << setw(8) << val;
    cout << endl;
}

void *ShaftEncoder::MapUpdateThread(void *data)
{
    ShaftEncoder *se = (ShaftEncoder*) data;

    //
    // Detach thread (make sure that it is really removed from memory)
    //
    pthread_detach(pthread_self());
    setpriority(PRIO_PROCESS, 0, 5);

    se->UpdateThread();

    return NULL;
}

void ShaftEncoder::UpdateThread()
{
    //
    // check for a running thread and lock mutex
    //
    char text[21];

    //
    // Wait until the network and the output widget is initialized
    //
    while (!GetNetwork() || !fLabel)
        usleep(1);

    while (1)
    {
        WaitForNextPdo1();

        //
        // Update information
        //
        sprintf(text, "%ld", fPos);
        fLabel[0]->SetText(new TGString(text));

        sprintf(text, "%d", fVel);
        fLabel[1]->SetText(new TGString(text));

        sprintf(text, "%d", fAcc);
        fLabel[2]->SetText(new TGString(text));

        //
        // make updated information visible
        //
        gSystem->ProcessEvents();
    }
}

void ShaftEncoder::HandlePDOType0(BYTE_t *data)
{
    //
    // Decode information, we have a 14bit only
    //
    fPos  = data[0] | (data[1]<<8) | (data[2]<<16); // | (data[3]<<24);
}

void ShaftEncoder::HandlePDOType1(BYTE_t *data)
{
    //
    // Decode information, we have a 14bit only
    //
    LWORDS_t pos  = data[0] | (data[1]<<8) | (data[2]<<16); // | (data[3]<<24);
    BYTE_t   flag = data[4];
    pos=pos;
    flag=flag;
}

void ShaftEncoder::HandlePDOType2(BYTE_t *data, struct timeval *tv)
{
    //
    // Decode information, we have a 14bit only
    //
    LWORDS_t pos = data[0] | (data[1]<<8) | (data[2]<<16); // | (data[3]<<24);

    fVel = data[4] | (data[5]<<8);
    fAcc = data[6] | (data[7]<<8);

    fTime.SetTimer(tv);

    const int uplim = 9*fTicks/10;
    const int dnlim = 1*fTicks/10;

    if (fPos > uplim && pos < dnlim)
        fTurn++;

    if (fPos < dnlim && pos > uplim)
        fTurn--;

    fPos = pos;
}

double ShaftEncoder::GetTime()
{
    return fTime.GetTime();
}

double ShaftEncoder::GetMjd()
{
    return fTime.GetMjd();
}

void ShaftEncoder::InitDevice(Network *net)
{
    NodeDrv::InitDevice(net);

    //-----------------------------------------------------------------------
    //                    Start Setup of the Shaft Encoder
    //-----------------------------------------------------------------------

    //
    // Requesting and checking (FIXME) type of encoder
    //
    lout << "- Requesting SDO 0x1000 of " << (int)GetId() << endl;
    RequestSDO(0x1000);
    WaitForSdo(0x1000);

    //
    // Read physical ticks per turn
    //
    lout << "- Requesting SDO 0x6501 of " << (int)GetId() << endl;
    RequestSDO(0x6501);
    WaitForSdo(0x6501);

    //
    // Read number of possible ticks per turn
    //
    lout << "- Requesting SDO 0x6502 of " << (int)GetId() << endl;
    RequestSDO(0x6502);
    WaitForSdo(0x6502);

    //
    // Set logic ticks per turn = physical ticks per turn => scale factor = 1
    //
    lout << "- Configuring SDO 0x6001 of " << (int)GetId() << endl;
    SendSDO(0x6001, fTicks);
    WaitForSdo(0x6001);

    //
    // Set maximum number of ticks (ticks * turns)
    //
    lout << "- Configuring SDO 0x6002 of " << (int)GetId() << endl;
    SendSDO(0x6002, (LWORD_t)(fTicks*fTurns));
    WaitForSdo(0x6002);

    //
    // Configure PDOs
    //
    lout << "- Configuring SDO 0x1802 of " << (int)GetId() << endl;
    SendSDO(0x1802, 1, (LWORD_t)0x281);
    WaitForSdo(0x1802, 1);

    //
    // Delete preset Value
    //
    lout << "- Configuring SDO 0x6003 of " << (int)GetId() << endl;
    SendSDO(0x6003, (LWORD_t)0xffffffff);
    WaitForSdo(0x6003);

    //
    // Request Parameter
    //
    lout << "- Requesting SDO 0x6000 of " << (int)GetId() << endl;
    RequestSDO(0x6000);
    WaitForSdo(0x6000);

    ReqPos();

    lout << "- Start Node " << (int)GetId() << endl;
    SendNMT(kNMT_START);
}

void ShaftEncoder::ReqPos()
{
    //
    // Request Position
    //
    lout << "- Requesting Position of #" << (int)GetId() << endl;
    RequestSDO(0x6004);
    WaitForSdo(0x6004);
}

void ShaftEncoder::SetPreset(LWORD_t pre)
{
    fPos  = pre%16384;
    fTurn = pre/16384;

    lout << " - Setting Preset #" << (int)GetId() << endl;
    SendSDO(0x6003, (LWORD_t)fPos);
    WaitForSdo(0x6003);
}

void ShaftEncoder::StopDevice()
{
    lout << "- Start Node " << (int)GetId() << endl;
    SendNMT(kNMT_STOP);
}