| 1 | #include "shaftencoder.h"
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| 2 |
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| 3 | #include <TGLabel.h> // TGLabel->SetText
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| 4 |
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| 5 | #include "MLog.h"
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| 6 | #include "MLogManip.h"
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| 7 |
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| 8 | #include "macs.h"
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| 9 | #include "network.h"
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| 10 |
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| 11 | ClassImp(ShaftEncoder);
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| 12 |
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| 13 | using namespace std;
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| 14 |
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| 15 | ShaftEncoder::ShaftEncoder(const BYTE_t nodeid, const char *name)
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| 16 | : NodeDrv(nodeid, name),
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| 17 | fPos(0), fVel(0), fAcc(0), fPosRes(0), fTurns(0),
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| 18 | fLabel(NULL), fUpdPos(0),
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| 19 | fPosHasChanged(false), fDirHasChanged(false),
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| 20 | fReport(NULL)
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| 21 | {
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| 22 | }
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| 23 |
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| 24 | void ShaftEncoder::HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, const timeval_t &tv)
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| 25 | {
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| 26 | switch (idx)
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| 27 | {
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| 28 | case 0x1000:
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| 29 | gLog << inf2 << "- Model: ";
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| 30 | switch (val&0xffff)
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| 31 | {
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| 32 | case 0x0196:
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| 33 | gLog << inf2 << "Shaft Encoder Type: ";
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| 34 | switch ((val>>16)&0xff)
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| 35 | {
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| 36 | case 0x01:
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| 37 | gLog << "Singleturn" << endl;
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| 38 | return;
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| 39 | case 0x02:
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| 40 | gLog << "Multiturn" << endl;
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| 41 | return;
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| 42 | default:
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| 43 | gLog << err << "?" << endl;
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| 44 | SetZombie();
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| 45 | return;
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| 46 | }
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| 47 | default:
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| 48 | gLog << err << "???" << endl;
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| 49 | SetZombie();
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| 50 | return;
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| 51 | }
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| 52 | case 0x100b:
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| 53 | // Do not display, this is used for CheckConnection
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| 54 | // lout << "Node ID: " << dec << val << endl;
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| 55 | return;
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| 56 |
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| 57 | case 0x100c:
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| 58 | gLog << inf2 << "- Guardtime: " << dec << val << "ms" << endl;
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| 59 | return;
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| 60 |
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| 61 | case 0x100d:
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| 62 | gLog << inf2 << "- Lifetimefactor: " << dec << val << endl;
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| 63 | return;
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| 64 |
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| 65 | case 0x100e:
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| 66 | gLog << inf2 << "- CobId for guarding: 0x" << hex << val << endl;
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| 67 | return;
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| 68 |
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| 69 | case 0x6000:
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| 70 | case 0x6500:
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| 71 | gLog << inf2 << "- Counting: " << (val&1 ?"anti-clockwise":"clockwise") << " ";
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| 72 | gLog << "HwTest: " << (val&2 ?"on":"off") << " ";
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| 73 | gLog << "Scaling: " << (val&4 ?"on":"off") << " ";
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| 74 | gLog << "Modulo: " << (val&4096?"on":"off") << endl;
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| 75 | return;
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| 76 |
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| 77 | case 0x6001:
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| 78 | gLog << inf2 << "- Logical Ticks/Revolution: " << dec << val << endl;
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| 79 | return;
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| 80 |
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| 81 | case 0x6004:
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| 82 | gLog << inf2 << "- Reported position: " << dec << (Int_t)val << endl;
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| 83 | fPos = val;
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| 84 | return;
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| 85 |
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| 86 |
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| 87 | case 0x6501:
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| 88 | gLog << inf2 << "- Position resolution Ticks/Revolution: " << dec << val << endl;
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| 89 | fPosRes = val;
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| 90 | return;
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| 91 |
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| 92 | case 0x6502:
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| 93 | //if (val==0)
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| 94 | // val = 1; // Single Turn = Multiturn with one turn
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| 95 | gLog << inf2 << "- Number of Revolutions: " << dec << val << endl;
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| 96 | fTurns = val;
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| 97 | return;
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| 98 |
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| 99 |
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| 100 | }
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| 101 |
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| 102 | NodeDrv::HandleSDO(idx, subidx, val, tv);
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| 103 |
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| 104 | // gLog << err << hex << setfill('0');
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| 105 | // gLog << "Sdo=" << idx << "/" << (int)subidx << ": 0x" << setw(8) << val;
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| 106 | // gLog << endl;
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| 107 | }
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| 108 |
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| 109 | void ShaftEncoder::HandleSDOOK(WORD_t idx, BYTE_t subidx, LWORD_t data, const timeval_t &tv)
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| 110 | {
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| 111 | switch (idx)
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| 112 | {
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| 113 | case 0x1802:
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| 114 | switch (subidx)
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| 115 | {
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| 116 | case 1:
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| 117 | //lout << ddev(MLog::eGui);
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| 118 | gLog << inf2 << "- " << GetNodeName() << ": PDOs configured." << endl;
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| 119 | //lout << edev(MLog::eGui);
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| 120 | return;
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| 121 | }
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| 122 | break;
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| 123 |
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| 124 | case 0x6001:
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| 125 | switch (subidx)
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| 126 | {
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| 127 | case 0:
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| 128 | //lout << ddev(MLog::eGui);
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| 129 | gLog << inf2 << "- " << GetNodeName() << ": Log.ticks/revolution set." << endl;
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| 130 | //lout << edev(MLog::eGui);
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| 131 | return;
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| 132 | }
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| 133 | break;
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| 134 |
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| 135 | case 0x6002:
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| 136 | switch (subidx)
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| 137 | {
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| 138 | case 0:
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| 139 | //lout << ddev(MLog::eGui);
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| 140 | gLog << inf2 << "- " << GetNodeName() << ": Max number of ticks set." << endl;
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| 141 | //lout << edev(MLog::eGui);
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| 142 | return;
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| 143 | }
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| 144 | break;
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| 145 |
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| 146 | case 0x6003:
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| 147 | switch (subidx)
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| 148 | {
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| 149 | case 0:
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| 150 | //lout << ddev(MLog::eGui);
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| 151 | gLog << inf2 << "- " << GetNodeName() << ": Preset value set." << endl;
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| 152 | //lout << edev(MLog::eGui);
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| 153 | return;
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| 154 | }
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| 155 | break;
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| 156 | }
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| 157 | NodeDrv::HandleSDOOK(idx, subidx, data, tv);
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| 158 | }
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| 159 |
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| 160 | void ShaftEncoder::HandlePDOType0(const BYTE_t *data, const timeval_t &tv)
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| 161 | {
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| 162 | //
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| 163 | // Decode information, we have a 14bit only
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| 164 | //
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| 165 | LWORDS_t pos = data[0] | (data[1]<<8) | (data[2]<<16); // | (data[3]<<24);
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| 166 |
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| 167 | //if (pos==fPos)
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| 168 | // return;
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| 169 |
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| 170 | fPos = pos;
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| 171 | fTime.Set(tv);
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| 172 | fPosHasChanged = true;
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| 173 |
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| 174 | //CheckTwin(fPos-pos);
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| 175 | //fIsUpdated=kTRUE;
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| 176 |
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| 177 | if (fReport)
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| 178 | {
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| 179 | fReport->Lock("ShaftEncoder::HandlePDOType0");
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| 180 | *fReport << "SE-REPORT " << (int)GetId() << " " << fTime << " PDO0 " << pos << " " << GetNodeName() << endl;
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| 181 | fReport->UnLock("ShaftEncoder::HandlePDOType0");
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| 182 | }
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| 183 | }
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| 184 |
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| 185 | void ShaftEncoder::HandlePDOType1(const BYTE_t *data, const timeval_t &tv)
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| 186 | {
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| 187 | //
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| 188 | // Decode information, we have a 14bit only
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| 189 | //
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| 190 | LWORDS_t pos = data[0] | (data[1]<<8) | (data[2]<<16) | (data[3]<<24);
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| 191 | BYTE_t flag = data[4];
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| 192 |
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| 193 | //if (fPos==pos)
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| 194 | // return;
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| 195 |
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| 196 | //CheckTwin(fPos-pos);
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| 197 | fPos=pos;
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| 198 | fTime.Set(tv);
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| 199 | fPosHasChanged=true;
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| 200 | //fIsUpdated=kTRUE;
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| 201 | //fOffset = 0;
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| 202 |
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| 203 | flag=flag;
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| 204 |
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| 205 | if (fReport)
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| 206 | {
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| 207 | fReport->Lock("ShaftEncoder::HandlePDOType1");
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| 208 | *fReport << "SE-REPORT " << (int)GetId() << " " << fTime << " PDO1 " << pos << " " << (int)flag << " " << GetNodeName() << endl;
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| 209 | fReport->UnLock("ShaftEncoder::HandlePDOType1");
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| 210 | }
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| 211 | }
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| 212 |
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| 213 | //#include <fstream.h>
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| 214 | //ofstream fout("log/shaftencoder.log");
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| 215 |
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| 216 | void ShaftEncoder::HandlePDOType2(const BYTE_t *data, const timeval_t &tv)
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| 217 | {
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| 218 | //
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| 219 | // Decode information, we have a 14bit only
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| 220 | //
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| 221 | LWORDS_t pos = data[0] | (data[1]<<8) | (data[2]<<16) | (data[3]<<24);
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| 222 |
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| 223 | fVel = data[4] | (data[5]<<8);
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| 224 | fAcc = data[6] | (data[7]<<8);
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| 225 |
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| 226 | // LWORDS_t multipos = pos+turn*fTicks; // SE position of multiturn shaftencoder
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| 227 |
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| 228 | //if (fPos==pos && fTurn==fTurn)
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| 229 | // return;
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| 230 |
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| 231 | //CheckTwin(fPos-pos);
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| 232 |
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| 233 | fPos = pos;
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| 234 | //fTurn = turn;
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| 235 |
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| 236 | fTime.Set(tv);
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| 237 | fPosHasChanged=true;
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| 238 | //fIsUpdated=kTRUE;
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| 239 | //fOffset = 0;
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| 240 |
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| 241 | if (fReport)
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| 242 | {
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| 243 | fReport->Lock("ShaftEncoder::HandlePDOType2");
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| 244 | *fReport << "SE-REPORT " << (int)GetId() << " " << fTime << " PDO2 " << pos << " " << fVel << " " << fAcc << " " << GetNodeName() << endl;
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| 245 | //*fReport << "DIR-REPORT " << (int)GetId() << " " << (Int_t)fDirHasChanged << " " << (Int_t)fDirChangedPos << endl;
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| 246 | fReport->UnLock("ShaftEncoder::HandlePDOType2");
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| 247 | }
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| 248 | }
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| 249 |
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| 250 | double ShaftEncoder::GetMjd()
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| 251 | {
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| 252 | return fTime.GetMjd();
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| 253 | }
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| 254 |
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| 255 | void ShaftEncoder::Init()
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| 256 | {
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| 257 | //-----------------------------------------------------------------------
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| 258 | // Start Setup of the Shaft Encoder
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| 259 | //-----------------------------------------------------------------------
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| 260 |
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| 261 | StopGuarding();
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| 262 |
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| 263 | //
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| 264 | // Requesting and checking (FIXME) type of encoder
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| 265 | //
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| 266 | gLog << inf2 << "- " << GetNodeName() << ": Requesting Hardware Type (0x1000)." << endl;
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| 267 | RequestSDO(0x1000);
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| 268 | WaitForSdo(0x1000);
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| 269 | if (IsZombieNode())
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| 270 | return;
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| 271 |
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| 272 | //
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| 273 | // Read physical ticks per revolution
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| 274 | //
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| 275 | gLog << inf2 << "- " << GetNodeName() << ": Requesting physical ticks/revolution (SDO 0x6501)." << endl;
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| 276 | RequestSDO(0x6501);
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| 277 | WaitForSdo(0x6501);
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| 278 |
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| 279 | //
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| 280 | // Read number of possible ticks per revolution
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| 281 | //
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| 282 | gLog << inf2 << "- " << GetNodeName() << ": Requesting possible ticks/revolution (SDO 0x6502)." << endl;
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| 283 | RequestSDO(0x6502);
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| 284 | WaitForSdo(0x6502);
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| 285 |
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| 286 | //
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| 287 | // Request Lifetimefactor for unknown reason to make guarding
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| 288 | // working in SE/Az... (FIXME)
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| 289 | //
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| 290 | // lout << "- " << GetNodeName() << ": Requesting Lifetimefactor (Workaround, FIXME!) (SDO 0x100d)." << endl;
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| 291 | // RequestSDO(0x100c);
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| 292 | // WaitForSdo(0x100c);
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| 293 | // RequestSDO(0x100d);
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| 294 | // WaitForSdo(0x100d);
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| 295 |
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| 296 | //
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| 297 | // Configure PDOs
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| 298 | //
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| 299 | gLog << inf2 << "- " << GetNodeName() << ": Configuring PDOs (0x1802)." << endl;
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| 300 | SendSDO(0x1802, 1, (LWORD_t)0x281);
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| 301 | WaitForSdo(0x1802, 1);
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| 302 |
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| 303 | //
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| 304 | // Request Parameter
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| 305 | //
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| 306 | gLog << inf2 << "- " << GetNodeName() << ": Requesting SDO 0x6000." << endl;
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| 307 | RequestSDO(0x6000);
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| 308 | WaitForSdo(0x6000);
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| 309 |
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| 310 | ReqPos();
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| 311 |
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| 312 | gLog << inf2 << "- " << GetNodeName() << ": Start Node (NMT)." << endl;
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| 313 | SendNMT(kNMT_START);
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| 314 | }
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| 315 |
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| 316 | void ShaftEncoder::CheckConnection()
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| 317 | {
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| 318 | // Request Node number
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| 319 | RequestSDO(0x100b);
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| 320 | WaitForSdo(0x100b);
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| 321 | }
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| 322 |
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| 323 | void ShaftEncoder::ReqPos()
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| 324 | {
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| 325 | //
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| 326 | // Request Position
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| 327 | //
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| 328 | gLog << inf2 << "- " << GetNodeName() << ": Requesting Position." << endl;
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| 329 | RequestSDO(0x6004);
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| 330 | WaitForSdo(0x6004);
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| 331 | }
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| 332 |
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| 333 | void ShaftEncoder::StopDevice()
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| 334 | {
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| 335 | gLog << inf2 << "- " << GetNodeName() << ": Stop Node (NMT)." << endl;
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| 336 | SendNMT(kNMT_STOP);
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| 337 | }
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