Changeset 4104 for trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc

Timestamp:

05/20/04 04:42:48 (20 years ago)

Author:

tbretz

Message:

*** empty log message ***

File:

• trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc (modified) (9 diffs)

trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc

@@ -8 +8 @@
 #include <TGLabel.h>       // TGLabel->SetText
 
+#include "macs.h"
+
 ClassImp(ShaftEncoder);
 
@@ -14 +16 @@
 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), fReport(NULL)
-{
-}
-
+    fTurn(0), fLabel(NULL), fPosHasChanged(false), fReport(NULL),/*fTwin(0),
+    fIsUpdated(kFALSE),*/ fMotor(0), fOffset(0)
+{
+}
+/*
+void ShaftEncoder::CheckTwin(Int_t diff) const
+{
+    if (!fTwin)
+        return;
+
+    if (fTwin->fIsUpdated)
+        fTwin->fIsUpdated = kFALSE;
+    else
+        fTwin->fOffset += diff;
+}
+*/
 void ShaftEncoder::HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, timeval_t *tv)
 {
@@ -79 +93 @@
         fPos  = val;
         fTurn = 0;
+        fOffset = fMotor ? fMotor->GetPdoPos() : 0;
+        //fIsUpdated=kTRUE;
+        //fOffset = 0;
         return;
 
@@ -154 +171 @@
 void ShaftEncoder::DisplayVal()
 {
+    const LWORDS_t pos = GetPos();
     if (IsZombieNode())
     {
         fLabel->SetText(new TGString(""));
-        fUpdPos = ~fPos;
+        fUpdPos = ~pos;
         return;
     }
 
     char text[21];
-
-    if (fPos!=fUpdPos && fLabel)
-    {
-        sprintf(text, "%ld", fPos);
+    if (pos!=fUpdPos && fLabel)
+    {
+        sprintf(text, "%ld", pos);
         fLabel->SetText(new TGString(text));
-        fUpdPos = fPos;
+        fUpdPos = pos;
     }
 }
@@ -177 +194 @@
     //
     LWORDS_t pos = data[0] | (data[1]<<8) | (data[2]<<16); // | (data[3]<<24);
-    if (pos==fPos)
-        return;
+
+    //if (pos==fPos)
+    //    return;
 
     fPos = pos;
+    fOffset = fMotor ? fMotor->GetPdoPos() : 0;
     fTime.Set(*tv);
     fPosHasChanged = true;
 
+    //CheckTwin(fPos-pos);
+    //fIsUpdated=kTRUE;
+
     if (fReport)
     {
-        fReport->Lock();
+        fReport->Lock("ShaftEncoder::HandlePDOType0");
         *fReport << "SE-REPORT " << (int)GetId() << " " << fTime << " PDO0 " << pos << " " << GetNodeName() << endl;
-        fReport->UnLock();
+        fReport->UnLock("ShaftEncoder::HandlePDOType0");
     }
 }
@@ -200 +222 @@
     BYTE_t   flag = data[4];
 
-    if (fPos==pos)
-        return;
-
+    //if (fPos==pos)
+    //    return;
+
+    //CheckTwin(fPos-pos);
     fPos=pos;
+    fOffset = fMotor ? fMotor->GetPdoPos() : 0;
     fTime.Set(*tv);
     fPosHasChanged=true;
+    //fIsUpdated=kTRUE;
+    //fOffset = 0;
 
     flag=flag;
@@ -211 +237 @@
     if (fReport)
     {
-        fReport->Lock();
+        fReport->Lock("ShaftEncoder::HandlePDOType1");
         *fReport << "SE-REPORT " << (int)GetId() << " " << fTime << " PDO1 " << pos << " " << (int)flag << " " << GetNodeName() << endl;
-        fReport->UnLock();
+        fReport->UnLock("ShaftEncoder::HandlePDOType1");
     }
 }
@@ -241 +267 @@
         turn--;
 
-    if (fPos==pos && fTurn==fTurn)
-        return;
+    //if (fPos==pos && fTurn==fTurn)
+    //    return;
+
+    //CheckTwin(fPos-pos);
 
     fPos  = pos;
     fTurn = turn;
 
+    fOffset = fMotor ? fMotor->GetPdoPos() : 0;
     fTime.Set(*tv);
     fPosHasChanged=true;
+    //fIsUpdated=kTRUE;
+    //fOffset = 0;
+
 
     if (fReport)
     {
-        fReport->Lock();
+        fReport->Lock("ShaftEncoder::HandlePDOType2");
         *fReport << "SE-REPORT " << (int)GetId() << " " << fTime << " PDO2 " << pos << " " << fVel << " " << fAcc << " " << GetNodeName() << endl;
-        fReport->UnLock();
+        fReport->UnLock("ShaftEncoder::HandlePDOType2");
     }
 }
@@ -383 +415 @@
     fPos  = pre%16384;
     fTurn = pre/16384;
+
+    fOffset = fMotor ? fMotor->GetPdoPos() : 0;
 }