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MPI Application Template
template.c
 

motid1.c -- Point to Point motion with Motion Done event identification.
/* motId1.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.
 */

/*

:Point to Point motion with Motion Done event identification.

The MPI supports a motion attribute that allows an application to tag
 a mpiMotionStart(...) or mpiMotionModify(...) with an identification
 value.

This feature is useful in tracking the commanded motions to the done
 events.  It is also applicable when using the AUTO_START attribute
 with mpiMotionModify(...).

For example:

Suppose mpiMotionStart(...) is called with the MPIMotionAttrID attribute,
 and the params.attributes.id = 1 and later mpiMotionModify(...) is called
 with params.attributes.id = 2.

Case 1: MPIMotionAttrAUTO_START is not used.
if mpiMotionModify(...) returns MPIMessageOK, there will be 1 DONE event
 with info->data.motion.id = 2.
if mpiMotionModify(...) returns MPIMotionMessageIDLE, there will be 1 DONE
 event with info->data.motion.id = 1.

Case 2: MPIMotionAttrAUTO_START is used.
if mpiMotionModify(...) returns MPIMessageOK, there will be 1 DONE event
 with info->data.motion.id = 2.
if mpiMotionModify(...) returns MPIMotionMessageAUTO_START,
 there will be 2 DONE events. The first will have info->data.motion.id = 1
 and the second will have info->data.motion.id = 2.


The XMP-Series controller supports some user data to be copied during Events
 and then later retrieved from the Host via the Notify object.

There are MPIXmpSignalUserData words of data for the motion, axis and motor
 event sources.  The default configuration for the first word is the XMP's
 sampleCounter.  The default for the second word is "actualPosition" for axis
 event sources, and "encoderPosition" for motor event sources.

In this sample, the second word for motion and axis events is configured for "id".

Note:  Keeping the first word configured for the "sampleCounter" is very
 helpful in determining event sequences.

Here is the default configuration for the event data:

    union {
        long sampleCounter;
        struct {
            long sampleCounter;
        } motion;
        struct {
            long sampleCounter;
            long actualPosition;
        } axis;
        struct {
            long sampleCounter;
            long encoderPosition;
        } motor;
        long word[MPIXmpSignalUserData];
    } data;


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.
*/

#include <stdlib.h>
#include <stdio.h>

#include "stdmpi.h"
#include "stdmei.h"

#include "apputil.h"

#if defined(ARG_MAIN_RENAME)
#define main    motId1Main

argMainRENAME(main, motId1)
#endif

#define MOTION_COUNT    (2)
#define AXIS_COUNT      (1)

/* Command line arguments and defaults */
long            axisNumber[AXIS_COUNT] = { 0,   };
long            motionNumber    = 0;
MPIMotionType   motionType      = MPIMotionTypeS_CURVE;

Arg argList[] = {
    {   "-axis",    ArgTypeLONG,    &axisNumber[0], },
    {   "-motion",  ArgTypeLONG,    &motionNumber,  },
    {   "-type",    ArgTypeLONG,    &motionType,    },

    {   NULL,       ArgTypeINVALID, NULL,   }
};

/* Motion Parameters */
double position[MOTION_COUNT][AXIS_COUNT] = {
    { 20000.0,  },
    { 0.0,      },
};

MPITrajectory trajectory[MOTION_COUNT][AXIS_COUNT] = {
    {   /* velocity     accel       decel       jerkPercent */
        { 10000.0,      1000000.0,  1000000.0,  0.0,    },
    },
    {   /* velocity     accel       decel       jerkPercent*/
        { 10000.0,      100000.0,   100000.0,   0.0,    },
    },
};

MPIMotionSCurve sCurve[MOTION_COUNT] = {
    {   &trajectory[0][0],  &position[0][0],    },
    {   &trajectory[1][0],  &position[1][0],    },
};

MPIMotionTrapezoidal    trapezoidal[MOTION_COUNT] = {
    {   &trajectory[0][0],  &position[0][0],    },
    {   &trajectory[1][0],  &position[1][0],    },
};

MPIMotionVelocity   velocity[MOTION_COUNT] = {
    {   &trajectory[0][0],  },
    {   &trajectory[1][0],  },
};


int
    main(int    argc,
         char   *argv[])
{
    MPIControl  control;    /* motion controller handle */
    MPIAxis     axis;       /* axis object */
    MPIMotion   motion;     /* motion object */
    MPINotify   notify;     /* event notification object */
    MPIEventMgr eventMgr;   /* event manager handle */

    MPIEventMask    eventMask;

    MPIEventNotifyData  motionData;
    MPIXmpAxis          *xmpAxis;

    long    returnValue;    /* return value from library */

    long     index;
    long     moveId;         /* identification tag */
    MPI_BOOL motionDone;

    Service service;

    MPIControlType      controlType;
    MPIControlAddress   controlAddress;

    long    argIndex;

    /* 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[0] > (MPIXmpMAX_Axes - AXIS_COUNT)) ||
        (motionNumber  >= MPIXmpMAX_MSs) ||
        (motionType <  MPIMotionTypeFIRST) ||
        (motionType >= MPIMotionTypeLAST)) {
        mpiPlatformConsole("usage: %s %s\n"
                           "\t\t[-axis # (0 .. %d)]\n"
                           "\t\t[-motion # (0 .. %d)]\n"
                           "\t\t[-type # (0 .. %d)]\n",
                            argv[0],
                            ArgUSAGE,
                            MPIXmpMAX_Axes - AXIS_COUNT,
                            MPIXmpMAX_MSs - 1,
                            MPIMotionTypeLAST - 1);
        exit(MPIMessageARG_INVALID);
    }

    switch (motionType) {
        case MPIMotionTypeS_CURVE:
        case MPIMotionTypeTRAPEZOIDAL:
        case MPIMotionTypeVELOCITY: {
            break;
        }
        default: {
            mpiPlatformConsole("%s: %d: motion type not available\n",
                                argv[0],
                                motionType);
            exit(MPIMessageUNSUPPORTED);
            break;
        }
    }

    /* Create motion controller object */
    control =
        mpiControlCreate(controlType,
                         &controlAddress);
    msgCHECK(mpiControlValidate(control));

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

    /* Create axis object for axisNumber */
    axis =
        mpiAxisCreate(control,
                      axisNumber[0]);
    msgCHECK(mpiAxisValidate(axis));

    /* Create motion object, appending the axis object */
    motion =
        mpiMotionCreate(control,
                        motionNumber,
                        axis);
    msgCHECK(mpiMotionValidate(motion));

    /* Get current user data configuration */
    mpiEventMaskCLEAR(eventMask);
    returnValue =
        mpiMotionEventNotifyGet(motion,
                                &eventMask,
                                &motionData);
    msgCHECK(returnValue);

    /* Request notification of all events from motion */
    mpiEventMaskALL(eventMask);

    /* Request ID data from motion event info[...] */
    returnValue  =
        mpiAxisMemory(axis,     /* use ID from first axis in motion object */
                      (void **)&xmpAxis);
    msgCHECK(returnValue);

    motionData.address[1] = (void *)(&xmpAxis->MoveID);

    returnValue =
        mpiMotionEventNotifySet(motion,
                                eventMask,
                                &motionData);
    msgCHECK(returnValue);

    /* Create event notification object for motion */
    notify =
        mpiNotifyCreate(eventMask,
                        motion);
    msgCHECK(mpiNotifyValidate(notify));

    /* Create event manager object */
    eventMgr = mpiEventMgrCreate(control);
    msgCHECK(mpiEventMgrValidate(eventMgr));

    /* Add notify to event manager's list */
    returnValue =
        mpiEventMgrNotifyAppend(eventMgr,
                                notify);
    msgCHECK(returnValue);

    /* Create service thread */
    service =
        serviceCreate(eventMgr,
                      -1,   /* default (max) priority */
                      -1);  /* -1 => enable interrupts */
    mpiAssert(service != NULL);

    printf("Press any key to stop ...\n");

    /* Loop repeatedly */
    index       = 0;
    moveId      = 0;
    motionDone  = TRUE;
    while (mpiPlatformKey(MPIWaitPOLL) <= 0) {
        MPIEventStatus  eventStatus;

        if (motionDone != FALSE) {
            MPIMotionParams motionParams;       /* motion parameters */

            switch (motionType) {
                case MPIMotionTypeS_CURVE: {
                    motionParams.sCurve = sCurve[index];
                    break;
                }
                case MPIMotionTypeTRAPEZOIDAL: {
                    motionParams.trapezoidal = trapezoidal[index];
                    break;
                }
                case MPIMotionTypeVELOCITY: {
                    motionParams.velocity = velocity[index];
                    break;
                }
                default: {
                    mpiAssert(FALSE);
                    break;
                }
            }

            motionParams.attributes.id = moveId;        /* identification tag */

            returnValue =
                mpiMotionStart(motion,
                               (MPIMotionType)(motionType | MPIMotionAttrMaskID),
                               &motionParams);
            msgCHECK(returnValue);

            printf("\nMotion Start #%d...", moveId);

            moveId++;

            motionDone = FALSE;
        }

        /* Wait for motion event */
        returnValue =
            mpiNotifyEventWait(notify,
                               &eventStatus,
                               MPIWaitFOREVER);
        msgCHECK(returnValue);

        if (eventStatus.type == MPIEventTypeMOTION_DONE) {
            MPIEventStatusInfo *info;

            info = (MPIEventStatusInfo *)eventStatus.info;

            printf(" done #%ld",
                    info->data.word[1]);        /* user configurable data */

            if (++index >= MOTION_COUNT) {
                index = 0;
            }

            motionDone = TRUE;
        }
    }

    printf("\n");

    returnValue = mpiMotionDelete(motion);
    msgCHECK(returnValue);

    returnValue = mpiAxisDelete(axis);
    msgCHECK(returnValue);

    returnValue = serviceDelete(service);
    msgCHECK(returnValue);

    returnValue = mpiEventMgrDelete(eventMgr);
    msgCHECK(returnValue);

    returnValue = mpiNotifyDelete(notify);
    msgCHECK(returnValue);

    returnValue = mpiControlDelete(control);
    msgCHECK(returnValue);

    return ((int)returnValue);
}


      
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