Changeset 4076 for trunk/MagicSoft/Cosy/devdrv

Timestamp:

05/15/04 16:46:27 (21 years ago)

Author:

tbretz

Message:

*** empty log message ***

Location:

trunk/MagicSoft/Cosy/devdrv

Files:

• macs.h (modified) (1 diff)
• shaftencoder.cc (modified) (4 diffs)
• shaftencoder.h (modified) (2 diffs)

trunk/MagicSoft/Cosy/devdrv/macs.h

@@ -118 +118 @@
     void HandleError();
 
+    Double_t GetPosTime() const { return fPosTime; }
+
     ClassDef(Macs, 0)
 };

trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc

@@ -14 +14 @@
 ShaftEncoder::ShaftEncoder(const BYTE_t nodeid, const char *name, MLog &out)
     : NodeDrv(nodeid, name, out), fPos(0), fVel(0), fAcc(0),
-    fTurn(0), fLabel(NULL), fPosHasChanged(false)
+    fTurn(0), fLabel(NULL), fPosHasChanged(false), fReport(NULL)
 {
 }
@@ -183 +183 @@
     fTime.Set(*tv);
     fPosHasChanged = true;
+
+    if (fReport)
+    {
+        fReport->Lock();
+        *fReport << "SE-REPORT " << (int)GetId() << " " << fTime << " PDO0 " << pos << " " << GetNodeName() << endl;
+        fReport->UnLock();
+    }
 }
 
@@ -201 +208 @@
 
     flag=flag;
+
+    if (fReport)
+    {
+        fReport->Lock();
+        *fReport << "SE-REPORT " << (int)GetId() << " " << fTime << " PDO1 " << pos << " " << (int)flag << " " << GetNodeName() << endl;
+        fReport->UnLock();
+    }
 }
 
@@ -235 +249 @@
     fTime.Set(*tv);
     fPosHasChanged=true;
+
+    if (fReport)
+    {
+        fReport->Lock();
+        *fReport << "SE-REPORT " << (int)GetId() << " " << fTime << " PDO2 " << pos << " " << fVel << " " << fAcc << " " << GetNodeName() << endl;
+        fReport->UnLock();
+    }
 }
 

trunk/MagicSoft/Cosy/devdrv/shaftencoder.h

@@ -25 +25 @@
 
     MTime fTime;
+    MLog *fReport;
 
     void HandlePDOType0(BYTE_t *data, timeval_t *tv);
@@ -63 +64 @@
     void ResetPosHasChanged() { fPosHasChanged = false; }
 
+    void SetReport(MLog *log) { fReport = log; }
+
     ClassDef(ShaftEncoder, 0)
 };