Index: trunk/MagicSoft/Cosy/devdrv/macs.cc =================================================================== --- trunk/MagicSoft/Cosy/devdrv/macs.cc (revision 924) +++ trunk/MagicSoft/Cosy/devdrv/macs.cc (revision 925) @@ -12,8 +12,11 @@ fPosActive(0), fRpmActive(0) { + fTimeout = new TTimer(this, 100, kFALSE); // 100ms } Macs::~Macs() { + fTimerOn = kFALSE; + delete fTimeout; } @@ -30,4 +33,16 @@ fVel = val; return; + + case 0x4000: + switch (subidx) + { + case 1: + cout << "Timeout timer is " << (val?"en":"dis") << "abled." << endl; + return; + case 2: + cout << "Actual timeout time: " << dec << val << "ms" << endl; + return; + } + break; case 0x6004: @@ -74,5 +89,5 @@ case 0x6002: - lout << "- Velocity resolution #" << (int)GetId() << ": " << dec << val << " ticks/min" << endl; + lout << "- Velocity resolution Node#" << (int)GetId() << ": " << dec << val << " ticks/min" << endl; fVelRes = val; return; @@ -82,7 +97,45 @@ } +void Macs::SetTimeoutTime(LWORD_t ms) +{ + fTimeoutTime = ms/2; + + SendSDO(0x4000, 2, ms); + WaitForSdo(0x4000, 2); +} + +void Macs::ReqTimeoutTime() +{ + RequestSDO(0x4000, 2); + WaitForSdo(0x4000, 2); +} + +void Macs::EnableTimeout(bool enable, LWORDS_t ms) +{ + if (!enable) + { + SendSDO(0x4000, 1, string('o', 'f', 'f')); + WaitForSdo(0x4000, 1); + + cout << "--> Turn Off. " << endl; + fTimerOn = kFALSE; + } + else + { + if (ms>0) + SetTimeoutTime(ms); + + cout << "--> Turn On." << endl; + fTimerOn = kTRUE; + fTimeout->Start(fTimeoutTime, kTRUE); + + SendSDO(0x4000, 1, string('o', 'n')); + WaitForSdo(0x4000, 1); + } +} + void Macs::ReqVelRes() { - lout << "- Requesting velocity resolution (velres, 0x3007) of " << (int)GetId() << endl; + lout << "- Requesting velocity resolution (velres, 0x6002) of " << (int)GetId() << endl; RequestSDO(0x6002); WaitForSdo(0x6002); @@ -116,4 +169,5 @@ WaitForSdo(0x2004); */ + EnableTimeout(kFALSE); lout << "- Requesting Mac Software Version of " << (int)GetId() << endl; @@ -126,5 +180,5 @@ lout << "- Motor on of " << (int)GetId() << endl; - SendSDO(0x3000, string('O', 'N')); + SendSDO(0x3000, string('o', 'n')); WaitForSdo(0x3000); @@ -147,5 +201,5 @@ // Stop the motor and switch off the position control unit // - SendSDO(0x3000, string('S','T','O','P')); + SendSDO(0x3000, string('s','t','o','p')); WaitForSdo(0x3000); } @@ -153,4 +207,6 @@ void Macs::StopDevice() { + EnableTimeout(kFALSE); + SetNoWait(FALSE); @@ -164,5 +220,5 @@ lout << "- Motor off of " << (int)GetId() << endl; - SendSDO(0x3000, string('O', 'F', 'F')); + SendSDO(0x3000, string('o', 'f', 'f')); WaitForSdo(0x3000); @@ -227,5 +283,5 @@ // SetRpmMode(FALSE) stop the motor, but lets the position control unit on // - SendSDO(0x3006, 0, mode ? string('S','T','R','T') : string('S','T','O','P')); + SendSDO(0x3006, 0, mode ? string('s','t','r','t') : string('s','t','o','p')); WaitForSdo(0x3006, 0); } @@ -250,5 +306,5 @@ { lout << "- Setting NOWAIT " << (flag?"ON":"OFF") << " #" << (int)GetId() << endl; - SendSDO(0x3008, flag ? string('O', 'N') : string('O', 'F', 'F')); + SendSDO(0x3008, flag ? string('o', 'n') : string('o', 'f', 'f')); WaitForSdo(0x3008); } @@ -261,5 +317,5 @@ // lout << "- Setting Vel Sync Mode #" << (int)GetId() << endl; - SendSDO(0x3007, 0, string('S', 'Y', 'N', 'C')); + SendSDO(0x3007, 0, string('s', 'y', 'n', 'c')); WaitForSdo(0x3007, 0); } @@ -272,5 +328,5 @@ // lout << "- Setting Pos Sync Mode #" << (int)GetId() << endl; - SendSDO(0x3007, 1, string('S', 'Y', 'N', 'C')); + SendSDO(0x3007, 1, string('s', 'y', 'n', 'c')); WaitForSdo(0x3007, 1); } @@ -403,8 +459,9 @@ switch (GetError()) { - case 6: // home - case 8: // control dev - case 9: // zero idx - case 84: // ON TIME + case 6: // home + case 8: // control dev + case 9: // zero idx + case 84: // ON TIME + case 100: // timeout // Stop program? return; @@ -457,2 +514,36 @@ WaitForSdo(0x2000, 3); } + +Bool_t Macs::HandleTimer(TTimer *t) +{ + /* + Fons: + ----- + + timers never trigger at the same time or when in a TTimer::Notify. + Little explanation: + + - there are two types of timers synchronous and a-synchronous. + - synchronous timers are only handled via the ROOT eventloop + (see TUnixSystem::DispatchOneEvent()). If there are no mouse/keyboard + events then the synchronous timer queue is checked. So if the processing + of a mouse/keyboard event takes a long time synchronous timers are not + called for a while. To prevent this from happening one can call in long + procedures gSystem->ProcessEvents(). The system schedules only the + next timer in the queue when the current one's Notify() has finished. + - a-synchronous timers are triggered via SIGALARM, i.e. the program is + interupted and execution jumps to the Notify() function. When the + notify is finished the next a-sync timer is scheduled and the system + resumes from the place where it was initially interrupted. One of the + things to remember when using a-sync timers is don't make any graphics + calls in them. X11 is not re-entrant and it might be that the SIGALARM + signal interrupted the system while being in X11. A-sync timers are best + used to set flags that you can test at a convenient and controlled + time. + */ + SendSDO(0x4000); + WaitForSdo(0x4000, 0, kDontWait); + if (fTimerOn) + fTimeout->Start(fTimeoutTime, kTRUE); + return kTRUE; +} Index: trunk/MagicSoft/Cosy/devdrv/macs.h =================================================================== --- trunk/MagicSoft/Cosy/devdrv/macs.h (revision 924) +++ trunk/MagicSoft/Cosy/devdrv/macs.h (revision 925) @@ -1,9 +1,11 @@ #ifndef MACS_H #define MACS_H + +#include #include "nodedrv.h" #include "base/timer.h" -class Macs : public NodeDrv +class Macs : public NodeDrv, public TObject { private: @@ -22,8 +24,14 @@ BYTE_t fRpmActive; + TTimer *fTimeout; + Bool_t fTimerOn; + LWORD_t fTimeoutTime; + LWORD_t string(BYTE_t b0=0, BYTE_t b1=0, BYTE_t b2=0, BYTE_t b3=0) { return (LWORD_t)(b0<<24 | b1<<16 | b2<<8 | b3); } + + Bool_t HandleTimer(TTimer *t); public: @@ -70,4 +78,9 @@ void StartAbsPos(LWORDS_t pos); + void SetTimeoutTime(LWORD_t ms); + void ReqTimeoutTime(); + + void EnableTimeout(bool enable=true, LWORDS_t ms=-1); + void StopMotor();