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MPI Application Template
template.c
 

EventLog.c -- Event Logging Application
/* EventLog.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.
 */

/*

:Event Logging Application

This application logs all events generated by a single controller.  To end
 the application, simply press a key.  To save the output to a file,
 please redirect the output using a pipe (type "EventLog > logOfEvents.txt")

NOTE:  This application does not change any configuration on the controller.
 If the controller is not configured to report events, then this application
 will report nothing.  Please refer to the sample application EventReport.c
 to see how to enable reporting of all events.

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"

/* Perform basic command line parsing. (-control -server -port -trace) */
void basicParsing(int                    argc,
                  char                  *argv[],
                  MPIControlType        *controlType,
                  MPIControlAddress     *controlAddress)
{
    long argIndex;

    /* Parse command line for Control type and address */
    argIndex = argControl(argc, argv, controlType, controlAddress);

    /* Check for unknown/invalid command line arguments */
    if (argIndex < argc) {
        fprintf(stderr,"usage: %s %s\n", argv[0], ArgUSAGE);
        exit(MPIMessageARG_INVALID);
    }
}


/* Create and initialize MPI objects */
void programInit(MPIControl         *control,
                 MPIControlType      controlType,
                 MPIControlAddress  *controlAddress,
                 MPIEventMgr        *eventMgr,
                 MPINotify          *notify)
{
    MPIEventMgrServiceConfig    serviceConfig;
    MPIEventMask                eventMask;

    long            returnValue;


    /* Obtain a control handle */
    *control =
        mpiControlCreate(controlType, controlAddress);
    msgCHECK(mpiControlValidate(*control));

    /* Initialize the controller */
    returnValue =
        mpiControlInit(*control);
    msgCHECK(returnValue);

    /* Obtain a notify handle */
    mpiEventMaskCLEAR(eventMask);
    mpiEventMaskALL(eventMask);
    mpiEventMaskALL(eventMask);

    *notify =
        mpiNotifyCreate(eventMask, NULL);
    msgCHECK(mpiNotifyValidate(*notify));

    /* Obtain an eventMgr handle */
    *eventMgr =
        mpiEventMgrCreate(*control);
    msgCHECK(mpiEventMgrValidate(*eventMgr));

    returnValue =
        mpiEventMgrNotifyAppend(*eventMgr, *notify);
    msgCHECK(returnValue);

    /* Retrieve events from all processes */
    returnValue =
        mpiEventMgrServiceConfigGet(*eventMgr, &serviceConfig);
    msgCHECK(returnValue);

    serviceConfig.allProcesses = TRUE;

    returnValue =
        mpiEventMgrServiceConfigSet(*eventMgr, &serviceConfig);
    msgCHECK(returnValue);
}


/* Perform certain cleanup actions and delete MPI objects */
void programCleanup(MPIControl  *control,
                    MPIEventMgr *eventMgr,
                    MPINotify   *notify)
{
    long    returnValue;

    /* Delete eventMgr handle */
    returnValue =
        mpiEventMgrDelete(*eventMgr);
    msgCHECK(returnValue);

    *eventMgr = MPIHandleVOID;

    /* Delete notify handle */
    returnValue =
        mpiNotifyDelete(*notify);
    msgCHECK(returnValue);

    *notify = MPIHandleVOID;

    /* Delete control handle */
    returnValue =
        mpiControlDelete(*control);
    msgCHECK(returnValue);

    *control = MPIHandleVOID;
}


/*
    Identifies the source (type and index) of an event 
        (from the MPIEventStatus structure)

    This is particularly useful when attempting to identify which axis produced
    an event in a different process or when identifying the axis without 
    comparing MPIAxis handles.

    identifyEventSource() will return MPIMessageARG_INVALID if status is NULL or
    if both sourceType and sourceIndex are NULL.  Otherwise, the function will 
    succeed and return MPIMessageOK.

    Possible values for sourceType:

    sourceType Value        Event Source Type
    ----------------        -----------------
    MPIXmpSignalID_MOTOR    Motor object
    MPIXmpSignalID_AXIS     Axis
    MPIXmpSignalID_MS       Motion Supervisor
    MPIXmpSignalID_PS       Program Sequencer (Non-user commanded events)
    MPIXmpSignalID_DR       Data Recorder
    MPIXmpSignalID_USER     User Commanded Event in a Program Sequencer

    NOTE: As of Feb 2002, only one Data Recorder exists per controller, so
    when the source is the data recorder, sourceIndex will filled with the
    value of zero.
 */
long identifyEventSource(MPIEventStatus* status,
                         MPIXmpSignalID* sourceType,
                         long* sourceIndex)
{
    if (status==NULL)
    {
        return MPIMessageARG_INVALID;
    }

    if ((sourceType==NULL) && (sourceIndex==NULL))
    {
        return MPIMessageARG_INVALID;
    }

    if (sourceType!=NULL)
    {
        *sourceType =
            ((((MPIEventStatusInfo*)status->info)->signalID) &
                MPIXmpSignalID_MASK);
    }

    if (sourceIndex!=NULL)
    {
        *sourceIndex =
            ((((MPIEventStatusInfo*)status->info)->signalID) &
                MPIXmpSignalID_INDEX) >> 16;
    }

    return MPIMessageOK;
}


/* Display event information */
void reportEvent(MPIEventStatus* status)
{
    MPIXmpSignalID  sourceType;

    long            sourceIndex;
    long            returnValue;

    returnValue =
        identifyEventSource(status, &sourceType, &sourceIndex);
    msgCHECK(returnValue);

    /* Report event source */
    switch (sourceType)
    {
        case MPIXmpSignalID_MOTOR:
            if (sourceIndex<10)
            {
                printf("Motor[%1d]     : ",sourceIndex);
            }
            else
            {
                printf("Motor[%2d]    : ",sourceIndex);
            }
            break;
        case MPIXmpSignalID_AXIS:
            if (sourceIndex<10)
            {
                printf("Axis[%1d]      : ",sourceIndex);
            }
            else
            {
                printf("Axis[%2d]     : ",sourceIndex);
            }
            break;
        case MPIXmpSignalID_MS:
            if (sourceIndex<10)
            {
                printf("Motion[%1d]    : ",sourceIndex);
            }
            else
            {
                printf("Motion[%2d]   : ",sourceIndex);
            }
            break;
        case MPIXmpSignalID_DR:
            printf("Data Recorder[%2d] : ",sourceIndex);
            break;
        case MPIXmpSignalID_PS:
            if (sourceIndex<10)
            {
                printf("Sequence[%1d]  : ",sourceIndex);
            }
            else
            {
                printf("Sequence[%2d] : ",sourceIndex);
            }
            break;
        case MPIXmpSignalID_USER:
            if (sourceIndex<10)
            {
                printf("User (PS[%1d]) : ",sourceIndex);
            }
            else
            {
                printf("User (PS[%2d]): ",sourceIndex);
            }
            break;
        default:
            printf("Unknown Source: ",sourceIndex);
    }

    /* Report event type */
   printf("%42s ", mpiEventTypeName(status->type));

    /* Report event sample */
    printf("Sample %10u ",((MPIEventStatusInfo*)status->info)->data.sampleCounter);

    /* Report additional information */
    switch (sourceType)
    {
        case MPIXmpSignalID_MOTOR:
            printf("Enc Position  %11d\n",
                    ((MPIEventStatusInfo*)status->info)->data.motor.encoderPosition);
            break;
        case MPIXmpSignalID_AXIS:
            printf("Axis Position %11d\n",
                    ((MPIEventStatusInfo*)status->info)->data.axis.actualPosition);
            break;
        default:
            printf("\n");
    }
}


/* Gather and display events */
void reportEventsUntilUserRequestsExit(MPIEventMgr eventMgr, MPINotify notify)
{
    MPIEventStatus  eventStatus;

    long returnValue;


    fprintf(stderr, "Press any key to exit...\n");

    /* Collect motion events */
    while (mpiPlatformKey(MPIWaitPOLL) < 0)
    {
        /* Obtain firmware event(s) (if any) */
        returnValue =
            mpiEventMgrService(eventMgr,
                               MPIHandleVOID);
        msgCHECK(returnValue);

        /* Poll for motion event */
        returnValue =
            mpiNotifyEventWait(notify,
                               &eventStatus,
                               (MPIWait)MPIWaitMSEC*20);

        if (returnValue != MPIMessageTIMEOUT)
        {
            reportEvent(&eventStatus);
        }
    }
}


int main(int     argc,
         char   *argv[])
{
    MPIControl          control;
    MPIControlType      controlType;
    MPIControlAddress   controlAddress;
    MPIEventMgr         eventMgr;
    MPINotify           notify;


    /* Perform basic command line parsing. (-control -server -port -trace) */
    basicParsing(argc,
                 argv,
                 &controlType,
                 &controlAddress);

    /* Create and initialize MPI objects */
    programInit(&control,
                controlType,
                &controlAddress,
                &eventMgr,
                &notify);

    /* Gather and display events */
    reportEventsUntilUserRequestsExit(eventMgr, notify);

    /* Perform certain cleanup actions and delete MPI objects */
    programCleanup(&control,
                   &eventMgr,
                   &notify);

    return MPIMessageOK;
}


      
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