Changeset 1275 for trunk/MagicSoft/Cosy/devdrv

Timestamp:

04/12/02 16:59:23 (23 years ago)

Author:

tbretz

Message:

*** empty log message ***

File:

• trunk/MagicSoft/Cosy/devdrv/macs.cc (modified) (12 diffs)

trunk/MagicSoft/Cosy/devdrv/macs.cc

@@ -9 +9 @@
 
 ClassImp(Macs);
+
+/*
+ ---------------------------
+ For test purposes
+ ---------------------------
+
+class MyTimer : public TTimer
+{
+public:
+    MyTimer(TObject *obj, Long_t ms, Bool_t mode) : TTimer(obj, ms, mode) {}
+    Bool_t Notify()
+    {
+        cout << "Notify" << endl;
+        TTimer::Notify();
+        return kTRUE;
+    }
+};
+*/
 
 Macs::Macs(const BYTE_t nodeid, const char *name, MLog &out)
@@ -15 +33 @@
     fPosActive(0), fRpmActive(0)
 {
-    fTimeout = new TTimer(this, 100, kFALSE); // 100ms
+    fTimeout = new TTimer(this, 100, kFALSE); // 100ms, asynchronous
 }
 
@@ -102 +120 @@
 void Macs::HandleSDOOK(WORD_t idx, BYTE_t subidx)
 {
-    if (idx==0x4000 && subidx==0 && fTimerOn)
-    {
-        ResetTimeout();
-        return;
+    switch (idx)
+    {
+    case 0x2002:
+        switch (subidx)
+        {
+        case 0:
+            lout << ddev(MLog::eGui);
+            lout << "- Velocity set (" << GetNodeName() << ")" << endl;
+            lout << edev(MLog::eGui);
+            return;
+        }
+        break;
+    case 0x2003:
+        switch (subidx)
+        {
+        case 0:
+            lout << ddev(MLog::eGui);
+            lout << "- Acceleration set (" << GetNodeName() << ")" << endl;
+            lout << edev(MLog::eGui);
+            return;
+        case 1:
+            lout << ddev(MLog::eGui);
+            lout << "- Deceleration set (" << GetNodeName() << ")" << endl;
+            lout << edev(MLog::eGui);
+            return;
+        }
+        break;
+    case 0x3006:
+        switch (subidx)
+        {
+        case 0:
+            lout << ddev(MLog::eGui);
+            lout << "- RPM mode switched (" << GetNodeName() << ")" << endl;
+            lout << edev(MLog::eGui);
+            return;
+
+        case 1:
+            /*
+             lout << ddev(MLog::eGui);
+             lout << "- Velocity set (" << GetNodeName() << ")" << endl;
+             lout << edev(MLog::eGui);
+             */
+            return;
+        }
+        break;
+    case 0x4000:
+        if (subidx==0 && fTimerOn)
+        {
+            ResetTimeout();
+            return;
+        }
+        break;
+    case 0x6004:
+        switch (subidx)
+        {
+        case 0:
+            lout << ddev(MLog::eGui);
+            lout << "- Relative positioning started (" << GetNodeName() << ")" << endl;
+            lout << edev(MLog::eGui);
+            return;
+
+        case 1:
+            lout << ddev(MLog::eGui);
+            lout << "- Absolute positioning started (" << GetNodeName() << ")" << endl;
+            lout << edev(MLog::eGui);
+            return;
+        }
+        break;
+
+
     }
     NodeDrv::HandleSDOOK(idx, subidx);
@@ -348 +432 @@
     if (!errnum)
     {
-        cout << "Mac " << GetNodeName() << " reports Error occursion." << endl;
+        lout << "Mac " << GetNodeName() << " reports Error occursion." << endl;
         SetError(-1);
         return;
@@ -358 +442 @@
     //
     if (GetError()>0)
-        cout << "Mac " << GetNodeName() << " WARNING! Error #" << GetError() << " unhandled by software." << endl;
+        lout << GetNodeName() << " WARNING! Error #" << GetError() << " unhandled by software." << endl;
 
     SetError(errnum);
 
-    cout << "Mac " << GetNodeName() << " reports: ";
+    lout << GetNodeName() << " reports: ";
     switch (errnum)
     {
     case 6:
-        cout << "Home position not the first positioning command." << endl;
+        lout << "Home position not the first positioning command." << endl;
         return;
 
     case 8:
-        cout << "Control deviation overflow." << endl;
+        lout << "Control deviation overflow." << endl;
         return;
 
     case 9:
-        cout << "Zero index not found." << endl;
+        lout << "Zero index not found." << endl;
         return;
 
@@ -382 +466 @@
         {
         case -1:
-            cout << "Negative";
+            lout << "Negative";
             break;
         case 1:
-            cout << "Positive";
+            lout << "Positive";
             break;
         default:
-            cout << "-unknown-";
+            lout << "-unknown-";
         }
         switch (errnum)
         {
         case 11:
-            cout << " software endswitch activated." << endl;
+            lout << " software endswitch activated." << endl;
             break;
         case 25:
-            cout << " hardware endswitch activated." << endl;
+            lout << " hardware endswitch activated." << endl;
             break;
         }
@@ -402 +486 @@
 
     case 84:
-        cout << "Too many (>12) ON TIME calls." << endl;
+        lout << "Too many (>12) ON TIME calls." << endl;
         return;
 
     case 100:
-        cout << "Connection timed out." << endl;
+        lout << "Connection timed out." << endl;
         return;
 
     default:
-        cout << "Error Nr. " << errnum << ", " << errinf << endl;
+        lout << "Error Nr. " << errnum << ", " << errinf << endl;
     }
 }
@@ -436 +520 @@
     // we can go on working 'as usual' Eg. Initialize a Display Update
     //
-    cout << "Mac " << GetNodeName() << " Handling Error #" << GetError() << endl;
+    cout << GetNodeName() << " Handling Error #" << GetError() << endl;
     switch (GetError())
     {
@@ -525 +609 @@
 
         fTimerOn = kTRUE;
-        fTimeout->Start(fGuardTime, kFALSE); //kTRUE);
-
-        SendSDO(0x4000, 1, string('o', 'n'));
-        WaitForSdo(0x4000, 1);
+        fTimeout->Start(fGuardTime/*/3*2*/, kTRUE); //kFALSE); //TRUE);
+        //
+        // Start with kFALSE would be a continous timer, but this
+        // timer seems to stop it's activity at some stage without
+        // any reason
+        //
+
+//        SendSDO(0x4000, 1, string('o', 'n'));
+//        WaitForSdo(0x4000, 1);
     }
     lout << "- Timeout timer of " << GetNodeName() << " turned "
@@ -565 +654 @@
     //  FIXME! Use NMT!
     //
+    // --- lout << ddev(MLog::eGui);
+    // --- lout << "Send 0x4000: " << GetNodeName() << endl;
+
     SendSDO(0x4000, 0, (LWORD_t)0, false);
 
+    // --- lout << "Done 0x4000: " << GetNodeName() << endl;
+
     Timer time;
-    if (time.Now() > fTimeoutTime)
+
+    // --- lout << "dT " << GetNodeName() << ": " <<  dec <<(int)((fTimeoutTime-time.Now())*1000) << endl;
+    // --- lout << edev(MLog::eGui);
+
+    if (time.Now() > fTimeoutTime+0.5)
     {
         lout << ddev(MLog::eGui);
@@ -576 +674 @@
     }
 
-
     //WaitForSdo(0x4000, 0, kDontWait);
-    //    if (fTimerOn)
-    //        fTimeout->Start(fGuardTime, kTRUE);
+    //
+    // Would not be necessary if I would Start the timer with
+    // kFALSE. This would be a continous timer, but this
+    // timer seems to stop it's activity at some stage without
+    // any reason
+    //
+    if (fTimerOn)
+        fTimeout->Start(fGuardTime/*/3*2*/, kTRUE);
 
     return kTRUE;
@@ -587 +690 @@
 {
     Timer time;
-    fTimeoutTime = time.Now() + 2.*fGuardTime/1000.; //[usec]
+
+    // --- lout << ddev(MLog::eGui);
+    // --- lout << "Reset " << GetNodeName() << ": " << dec << (int)((fTimeoutTime-time.Now())*1000) << endl;
+    // --- lout << edev(MLog::eGui);
+
+    fTimeoutTime = time.Now() + 3.*fGuardTime/1000.;
 }
 
 void Macs::SetTimeoutTime(LWORD_t ms)
 {
-    fGuardTime = ms/2; // FIXME: Is '/2' the best choose?
-
-    SendSDO(0x4000, 2, ms);
+    // FIXME: Is '/2' the best choose?
+    fGuardTime = ms/3;      // how often do we send/request the handshake
+
+    SendSDO(0x4000, 2, ms); // How often do we check for the handshake
     WaitForSdo(0x4000, 2);
 }