event3.c -- Perform a repeated single-axis motion using command-line-specified
axis (default 0).
/* event3.c */
/* Copyright(c) 1991-2006 by Motion Engineering, Inc. All rights reserved.
*
* This software contains proprietary and confidential information of
* Motion Engineering Inc., and its suppliers. Except as may be set forth
* in the license agreement under which this software is supplied, use,
* disclosure, or reproduction is prohibited without the prior express
* written consent of Motion Engineering, Inc.
*/
/*
:Perform a repeated single-axis motion with service thread events report method
Wait for events to be distributed by the event manager in a separate service
thread. Single axis motion with default axis number is 0 and motion
supervisor 0, but user is able to change this number through the command line.
Axis will move starting at the start position to the end position then back to
start position and so forth, until a key is pressed.
Warning! This is a sample program to assist in the integration of an
MEI motion controller with your application. It may not contain all
of the logic and safety features that your application requires.
The msgCHECK(...) macros used in the following sample code are intended
to convey our strong belief that ALL error return codes should be checked.
Actual application code should use specific error handling techniques (other
than msgCHECKs) best suited to your internal error recovery methods.
*/
#include <stdlib.h>
#include <stdio.h>
#include "stdmpi.h"
#include "stdmei.h"
#include "apputil.h"
#define MOTION_NUMBER (0)
#define AXIS_NUMBER (0)
#define START_POSITION (0.0)
#define END_POSITION (20000.0)
#define VELOCITY (10000.0)
#define ACCELERATION (1000000.0)
#define DECELERATION (1000000.0)
/* Parse command line */
long parseCommandLine(int argc,
char *argv[],
MPIControlType *controlType,
MPIControlAddress *controlAddress,
long *axisNumber,
long *motionNumber)
{
long argIndex;
/* Application-specific command line arguments */
Arg argList[] =
{
{ "-axis", ArgTypeLONG, &(*axisNumber), },
{ "-motion", ArgTypeLONG, &(*motionNumber), },
{ NULL, ArgTypeINVALID, NULL, }
};
/* Parse command line for Control type and address */
argIndex =
argControl(argc,
argv,
controlType,
controlAddress);
/* Parse command line for application-specific arguments */
while (argIndex < argc)
{
long argIndexNew;
argIndexNew = argSet(argList, argIndex, argc, argv);
if (argIndexNew <= argIndex)
{
argIndex = argIndexNew;
break;
}
else
{
argIndex = argIndexNew;
}
}
/* Check for unknown/invalid command line arguments */
if (argIndex < argc)
{
fprintf(stderr,"usage: %s %s\n"
"\t [-axis # (0 .. %d)]\n"
"\t [-motion # (0 .. %d)]\n",
argv[0],
ArgUSAGE,
MEIXmpMAX_Axes,
MEIXmpMAX_MSs);
exit(MPIMessageARG_INVALID);
}
return 0;
}
/* Create and initialize MPI objects */
void programInit(MPIControl *control,
MPIControlType controlType,
MPIControlAddress *controlAddress,
MPIMotion *motion,
long motionNumber,
MPIAxis *axis,
long axisNumber,
MPIEventMgr *eventMgr,
MPINotify *notify,
Service *service)
{
MPIEventMask eventMask;
MPIMotor motor;
long returnValue;
/* Create motion controller object */
*control =
mpiControlCreate(controlType, controlAddress);
msgCHECK(mpiControlValidate(*control));
/* Initialize motion controller */
returnValue =
mpiControlInit(*control);
msgCHECK(returnValue);
/* Create local motor object */
motor =
mpiMotorCreate(*control, axisNumber);
msgCHECK(mpiMotorValidate(motor));
/* Create axis object */
*axis =
mpiAxisCreate(*control, axisNumber);
msgCHECK(mpiAxisValidate(*axis));
/* Create motion supervisor object with axis */
*motion =
mpiMotionCreate(*control, motionNumber, *axis);
msgCHECK(mpiMotionValidate(*motion));
/* Map axis to motion supervisor on XMP */
returnValue =
mpiMotionAction(*motion, (MPIAction)MEIActionMAP);
msgCHECK(returnValue);
/* Map axis to motion supervisor on XMP */
returnValue =
mpiMotionAction(*motion, MPIActionRESET);
msgCHECK(returnValue);
returnValue =
mpiMotorAmpEnableSet(motor, TRUE);
/* Create event manager object */
*eventMgr =
mpiEventMgrCreate(*control);
msgCHECK(mpiEventMgrValidate(*eventMgr));
/* Request notification of ALL events from motion */
mpiEventMaskCLEAR(eventMask);
mpiEventMaskALL(eventMask);
meiEventMaskALL(eventMask);
/* Calling mpiMotionEventNotifySet(...) so that events will be reported */
returnValue =
mpiMotionEventNotifySet(*motion,
eventMask,
NULL);
msgCHECK(returnValue);
/* Create event notification object for NULL (all objects) */
*notify =
mpiNotifyCreate(eventMask, NULL);
msgCHECK(mpiNotifyValidate(*notify));
/* Append notify to event manager */
returnValue =
mpiEventMgrNotifyAppend(*eventMgr, *notify);
msgCHECK(returnValue);
/* Create service thread */
*service =
serviceCreate(*eventMgr,
-1, /* default (max) priority */
-1); /* -1 => enable interrupts */
if (*service == NULL)
{
msgCHECK(MPIMessageHANDLE_INVALID);
}
}
/* Perform certain cleanup actions and delete MPI objects */
void programCleanup(MPIControl *control,
MPIMotion *motion,
MPIAxis *axis,
MPIEventMgr *eventMgr,
MPINotify *notify,
Service *service)
{
long returnValue;
/* Delete service object */
returnValue =
serviceDelete(*service);
msgCHECK(returnValue);
/* Delete event manager object */
returnValue =
mpiEventMgrDelete(*eventMgr);
msgCHECK(returnValue);
*eventMgr = MPIHandleVOID;
/* Delete event notification object */
returnValue =
mpiNotifyDelete(*notify);
msgCHECK(returnValue);
*notify = MPIHandleVOID;
/* Delete motion supervisor object */
returnValue =
mpiMotionDelete(*motion);
msgCHECK(returnValue);
*motion = MPIHandleVOID;
/* Delete axis object */
returnValue =
mpiAxisDelete(*axis);
msgCHECK(returnValue);
*axis = MPIHandleVOID;
/* Delete motion controller object */
returnValue =
mpiControlDelete(*control);
msgCHECK(returnValue);
*control = MPIHandleVOID;
}
/* Wait for motion done event */
void waitForMotionDoneEvent(MPINotify notify)
{
MPIEventStatus eventStatus;
long returnValue;
/* Collect motion events */
while (TRUE)
{
/* Poll for motion event */
returnValue =
mpiNotifyEventWait(notify,
&eventStatus,
MPIWaitFOREVER);
msgCHECK(returnValue);
if (eventStatus.type == MPIEventTypeMOTION_DONE)
{
printf("Motion Done event received\n");
break;
}
}
}
/* Perform a single-axis trapezoidal move */
void singleAxisTrapMove(MPIMotion motion,
MPITrajectory *trajectory,
double *position)
{
MPIMotionParams params; /* Motion parameters */
MPIStatus status; /* Status handle */
long returnValue;
params.trapezoidal.trajectory = trajectory;
params.trapezoidal.position = position;
/* Read motion status */
returnValue =
mpiMotionStatus(motion,
&status,
NULL);
msgCHECK(returnValue);
switch (status.state)
{
case MPIStateIDLE:
case MPIStateSTOPPED:
{
/* Start motion */
returnValue =
mpiMotionStart(motion,
MPIMotionTypeTRAPEZOIDAL,
¶ms);
msgCHECK(returnValue);
break;
}
case MPIStateSTOPPING:
case MPIStateMOVING:
{
/* Modify the executing motion profile */
returnValue =
mpiMotionModify(motion,
MPIMotionTypeTRAPEZOIDAL,
¶ms);
msgCHECK(returnValue);
break;
}
case MPIStateERROR:
{
/* Error State */
msgCHECK(MPIMotionMessageERROR);
break;
}
default:
{
/* Unknown State */
fprintf(stderr, "Unknown state from mpiMotionStatus.\n");
msgCHECK(MPIMessageFATAL_ERROR);
break;
}
}
}
/* Setup move parameters, start move, wait for motion done event, repeat */
void commandMoves(MPIMotion motion,
double startPosition,
double endPosition,
double velocity,
double acceleration,
double deceleration,
MPIEventMgr eventMgr,
MPINotify notify)
{
MPITrajectory trajectory; /* trajectory information */
double command; /* command position */
double position; /* target position */
long returnValue; /* MPI return value */
/* Set up trajectory information */
trajectory.velocity = velocity;
trajectory.acceleration = acceleration;
trajectory.deceleration = deceleration;
printf("Press any key to exit...\n\n");
/* Loop until the user presses a key */
while (meiPlatformKey(MPIWaitPOLL) < 0)
{
/* Get command position */
returnValue =
mpiMotionPositionGet(motion,
NULL,
&command);
msgCHECK(returnValue);
if (command != startPosition)
{
position = startPosition;
}
else
{
position = endPosition;
}
/* Perform a single axis trapezoidal move until a key is pressed */
singleAxisTrapMove(motion,
&trajectory,
&position);
/* Wait for a motion done event */
waitForMotionDoneEvent(notify);
}
printf("\n");
}
/* Main routine */
int main(int argc,
char *argv[])
{
MPIControl control;
MPIControlType controlType;
MPIControlAddress controlAddress;
MPIMotion motion;
MPIAxis axis;
MPIEventMgr eventMgr;
MPINotify notify;
Service service = MPIHandleVOID;
double startPosition = START_POSITION;
double endPosition = END_POSITION;
double velocity = VELOCITY;
double acceleration = ACCELERATION;
double deceleration = DECELERATION;
long axisNumber = AXIS_NUMBER;
long motionNumber = MOTION_NUMBER;
/* Parse command line */
parseCommandLine(argc,
argv,
&controlType,
&controlAddress,
&axisNumber,
&motionNumber);
/* Create and initialize MPI objects */
programInit(&control,
controlType,
&controlAddress,
&motion,
motionNumber,
&axis,
axisNumber,
&eventMgr,
¬ify,
&service);
/* Setup move parameters, start move, wait for motion done event, repeat */
commandMoves(motion,
startPosition,
endPosition,
velocity,
acceleration,
deceleration,
eventMgr,
notify);
/* Perform certain cleanup actions and delete MPI objects */
programCleanup(&control,
&motion,
&axis,
&eventMgr,
¬ify,
&service);
return MPIMessageOK;
}
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