event1.c -- Perform a repeated two-axis motion while polling an event
manager.
/* 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 multi-axis motion while polling an for a motion done event.
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 AXIS_COUNT (2)
#define END_POSITION (20000.0)
#define SPEED (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 *axisCount,
long *motionNumber)
{
long argIndex;
/* Application-specific command line arguments */
Arg argList[] =
{
{ "-motion", ArgTypeLONG, motionNumber, },
{ "-axis", ArgTypeLONG, axisNumber, },
{ "-axisCount", ArgTypeLONG, axisCount, },
{ 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) ||
(*axisNumber > (MPIXmpMAX_Axes - AXIS_COUNT)))
{
mpiPlatformConsole("usage: %s %s\n"
"\t\t[-axis # (0 .. %d)]\n"
"\t\t[-motion # (0 .. %d)]\n",
argv[0],
ArgUSAGE,
MPIXmpMAX_Axes - AXIS_COUNT,
MPIXmpMAX_MSs - 1);
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,
long numberOfAxes,
MPIEventMgr *eventMgr,
MPINotify *notify)
{
MPIEventMask eventMask;
long index;
long returnValue;
/* Create motion controller object */
*control =
mpiControlCreate(controlType, controlAddress);
msgCHECK(mpiControlValidate(*control));
/* Initialize motion controller */
returnValue =
mpiControlInit(*control);
msgCHECK(returnValue);
/* Create axes objects */
for (index = 0; index < numberOfAxes; ++index)
{
axis[index] =
mpiAxisCreate(*control, index + axisNumber);
msgCHECK(mpiAxisValidate(axis[index]));
}
/* Create motion supervisor object */
*motion =
mpiMotionCreate(*control, motionNumber, NULL);
msgCHECK(mpiMotionValidate(*motion));
/* Attach axes */
for (index = 0; index < numberOfAxes; ++index)
{
returnValue =
mpiMotionAxisAppend(*motion, axis[index]);
msgCHECK(returnValue);
}
/* Map axis to motion supervisor on XMP */
returnValue =
mpiMotionAction(*motion, MPIActionMAP);
msgCHECK(returnValue);
/* Create event manager object */
*eventMgr =
mpiEventMgrCreate(*control);
msgCHECK(mpiEventMgrValidate(*eventMgr));
returnValue =
mpiEventMgrFlush(*eventMgr);
msgCHECK(returnValue);
/* Request notification of all events from motion */
mpiEventMaskCLEAR(eventMask);
mpiEventMaskALL(eventMask);
mpiEventMaskALL(eventMask);
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);
}
/* Perform certain cleanup actions and delete MPI objects */
void programCleanup(MPIControl *control,
MPIMotion *motion,
MPIAxis *axis,
long axisNumber,
long numberOfAxes,
MPIEventMgr *eventMgr,
MPINotify *notify)
{
long index;
long 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 axes objects */
for (index = 0; index < numberOfAxes; index++)
{
returnValue =
mpiAxisDelete(axis[index]);
msgCHECK(returnValue);
axis[index] = MPIHandleVOID;
}
/* Delete motion controller object */
returnValue =
mpiControlDelete(*control);
msgCHECK(returnValue);
*control = MPIHandleVOID;
}
/* Wait for motion done event */
void waitForMotionDoneEvent(MPIEventMgr eventMgr,
MPINotify notify)
{
MPIEventStatus eventStatus;
long returnValue;
/* Collect motion events */
while (TRUE)
{
/* Obtain firmware event(s) (if any) */
returnValue =
mpiEventMgrService(eventMgr,
MPIHandleVOID);
msgCHECK(returnValue);
/* Poll for motion event */
returnValue =
mpiNotifyEventWait(notify,
&eventStatus,
MPIWaitMSEC*20);
if (returnValue == MPIMessageOK)
{
if (eventStatus.type == MPIEventTypeMOTION_DONE)
{
printf("Motion Done event received\n");
break;
}
}
else
{
mpiAssert(returnValue == MPIMessageTIMEOUT);
}
}
}
/* Perform a multi-axis trapezoidal move */
void multiAxisTrapMove(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 endPosition,
double speed,
double acceleration,
double deceleration,
long axisCount,
MPIEventMgr eventMgr,
MPINotify notify)
{
MPITrajectory trajectory; /* trajectory information */
double command[MPIXmpMAX_Axes]; /* command position */
double position[MPIXmpMAX_Axes]; /* target position */
long index; /* loop index */
long returnValue; /* MPI return value */
/* Set up trajectory information */
trajectory.velocity = speed;
trajectory.acceleration = acceleration;
trajectory.deceleration = deceleration;
printf("Press any key to exit...\n\n");
/* Loop until the user presses a key */
while (mpiPlatformKey(MPIWaitPOLL) < 0)
{
/* Get command position */
returnValue =
mpiMotionPositionGet(motion,
NULL,
command);
msgCHECK(returnValue);
if (command[0] != 0.0)
{
for (index=0; index<axisCount; ++index)
{
position[index] = 0.0;
}
}
else
{
for (index=0; index<axisCount; ++index)
{
position[index] = endPosition;
}
}
/* Perform a trapezoidal move */
multiAxisTrapMove(motion,
&trajectory,
position);
/* Wait for a motion done event */
waitForMotionDoneEvent(eventMgr, notify);
}
printf("\n");
}
int main(int argc,
char *argv[])
{
MPIControl control;
MPIControlType controlType;
MPIControlAddress controlAddress;
MPIMotion motion;
MPIAxis axis[AXIS_COUNT];
MPIEventMgr eventMgr;
MPINotify notify;
double endPosition = END_POSITION;
double speed = SPEED;
double acceleration = ACCELERATION;
double deceleration = DECELERATION;
long motionNumber = MOTION_NUMBER;
long axisNumber = AXIS_NUMBER;
long axisCount = AXIS_COUNT;
/* Parse command line */
parseCommandLine(argc,
argv,
&controlType,
&controlAddress,
&axisNumber,
&axisCount,
&motionNumber);
/* Create and initialize MPI objects */
programInit(&control,
controlType,
&controlAddress,
&motion,
motionNumber,
axis,
axisNumber,
axisCount,
&eventMgr,
¬ify);
/* setup move parameters, start move, wait for motion done event, repeat */
commandMoves(motion,
endPosition,
speed,
acceleration,
deceleration,
axisCount,
eventMgr,
notify);
/* Perform certain cleanup actions and delete MPI objects */
programCleanup(&control,
&motion,
axis,
axisNumber,
axisCount,
&eventMgr,
¬ify);
return MPIMessageOK;
}
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