ProbeSniffer.c -- Monitor the state of any Probe that has been configured.
/* Copyright(c) 1991-2007 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.
*/
/*
P R O B E S N I F F E R
===================================
This program may be used to monitor the state of any Probe that has been
configured.
Use to diagnose problems with Probe configuration and confirm captured
time/position in the registers.
I N S T R U C T I O N S
=======================
1. Compile this code for your MPI
2. Run Program
3. Program will Prompt for a Motor # that the Probe is on, enter the desired
Motor (with Probe on it) to watch 0-31
4. After selecting a Motor Number, enter the Probe Index(on that Motor) to watch,
# of available Probes varies by node.
5. Use keyboard to select how to view the information: (Type a letter at any time)
d = Double, f = Float, h = Hex
6. To monitor a different user limit, type "c", refer to Step 3
7. To clear the selected Probe's configuration, and disable the probe, press "L"
8. To Quit, type "q"
C O M P I L E N O T E S
=========================
Originally built and compiled under MPI 03.04.08
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 <windows.h>
#include "stdmpi.h"
#include "stdmei.h"
#include "apputil.h"
typedef struct objProbe {
long ynEnabled;
long probeSource;
long probeDataType;
long ynInputFilter;
long intMaxRegisterCount;
long intProbeIndex;
long ioStatus;
long arrRegisters[MPIMaxProbeRegisters];
} objProbe;
//Function Declarations
void ProbeSourceToEnglish(int intProbeSource, char *strProbeSource);
void ProbeDataTypeToEnglish(int intProbeDataType, char *strProbeDataType);
void BooleanToEnglish(int ynBoolean, char *strBoolean);
void clearUserLimit(MPIControl control, MPIMotor *motor, int intUserLimit);
// Setup Global Variables
long intProbeToSniff=-1; // -1: Nothing Specified, anything greater watches the
// specified probe on specified motor
// # Available varies by node
long intMotorNumToSniff=-1; // -1: Nothing Specified, anything greater watches the
// specified Motor 0-31 Available
char DisplayMode = 'h'; // d = Double, f = Float, h = hex
/* 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,
MPIMotor motor[32])
{
long returnValue;
long i=0; //Loop incrementor
/* Create motion controller object */
*control =
mpiControlCreate(controlType, controlAddress);
msgCHECK(mpiControlValidate(*control));
/* Initialize motion controller */
returnValue =
mpiControlInit(*control);
msgCHECK(returnValue);
/* Create motor objects */
for(i=0; i<32; i++){
motor[i] = mpiMotorCreate(*control, i);
msgCHECK(mpiMotorValidate(motor[i]));
}
}
/* Perform certain cleanup actions and delete MPI objects */
void programCleanup(MPIControl *control, MPIMotor motor[32])
{
long returnValue;
long i;
/* Delete Motor Objects */
for(i=0; i<32; i++){
returnValue = mpiMotorDelete(motor[i]);
msgCHECK(returnValue);
}
/* Delete motion controller object */
returnValue =
mpiControlDelete(*control);
msgCHECK(returnValue);
*control = MPIHandleVOID;
}
/* Create Probe Object */
void createProbe(MPIControl control, MPIProbe *probe)
{
MPIProbeParams probeParams;
probeParams.probeIndex = intProbeToSniff;
probeParams.type = MPIProbeTypeMOTOR;
probeParams.number.motor = intMotorNumToSniff;
/* Create probe */
*probe = mpiProbeCreate(control, &probeParams);
msgCHECK(mpiProbeValidate(*probe));
}
/* Delete Probe object */
void destroyProbe(MPIProbe *probe)
{
long returnValue;
returnValue = mpiProbeDelete(*probe);
msgCHECK(returnValue);
}
/* Clear Probe configuration and disable */
void clearProbe(MPIProbe *probe)
{
MPIProbeStatus probeStatus;
MPIProbeParams probeParams;
MPIProbeConfig probeConfig;
long returnValue;
probeParams.type = MPIProbeTypeMOTOR;
probeParams.number.motor = intMotorNumToSniff;
probeParams.probeIndex = intProbeToSniff;
msgCHECK(mpiProbeValidate(*probe));
/* Get probe configuration handle */
returnValue = mpiProbeConfigGet(*probe, &probeConfig, NULL);
msgCHECK(returnValue);
probeConfig.enable = FALSE; // Disable Probe
probeConfig.source = 0;
probeConfig.data = MPIProbeDataTIME; /* Time mode */
probeConfig.inputFilter = FALSE;
/* Set probe configuration */
returnValue = mpiProbeConfigSet(*probe, &probeConfig, NULL);
msgCHECK(returnValue);
returnValue = mpiProbeStatus(*probe, &probeStatus, NULL);
msgCHECK(returnValue);
}
/* This Function Reads the current State and Registers of a specified probe */
void readProbe(MPIControl control, MPIProbe *probe, objProbe *sniffedProbe)
{
MPIProbeConfig probeConfig;
MPIProbeStatus probeStatus;
char strEnabled[MPIMapNameSizeMAX];
char strProbeSource[MPIMapNameSizeMAX];
char strProbeDataType[MPIMapNameSizeMAX];
char strInputFilter[MPIMapNameSizeMAX];
long returnValue;
long i;
/* Get probe configuration handle */
returnValue = mpiProbeConfigGet(*probe, &probeConfig, NULL);
msgCHECK(returnValue);
returnValue = mpiProbeStatus(*probe, &probeStatus, NULL);
msgCHECK(returnValue);
//Read Info from probeConfig
sniffedProbe->ynEnabled = probeConfig.enable;
sniffedProbe->probeSource = probeConfig.source;
sniffedProbe->probeDataType = probeConfig.data;
sniffedProbe->ynInputFilter = probeConfig.inputFilter;
//Read Info from probeStatus
sniffedProbe->intMaxRegisterCount = probeStatus.maxRegisters;
sniffedProbe->intProbeIndex = probeStatus.index;
sniffedProbe->ioStatus = probeStatus.io;
//Populate Registers
for(i = 0; i < sniffedProbe->intMaxRegisterCount; i++){
sniffedProbe->arrRegisters[i] = probeStatus.regs[i];
}
// Convert Status values to English
BooleanToEnglish(sniffedProbe->ynEnabled, strEnabled);
ProbeSourceToEnglish(sniffedProbe->probeSource, strProbeSource);
ProbeDataTypeToEnglish(sniffedProbe->probeDataType, strProbeDataType);
BooleanToEnglish(sniffedProbe->ynInputFilter, strInputFilter);
// Start Printing to Screen
printf("PROPERTIES FOR PROBE:\tMotor #:\t%d", intMotorNumToSniff);
printf("\tEnabled:\t%s\n", strEnabled);
printf("\t\t\tProbe #:\t%d", intProbeToSniff);
printf("\tInput Filter:\t%s\n", strInputFilter);
printf("\t\t\tProbe Source:\t%s\n", strProbeSource);
printf("\t\t\tProbe DataType:\t%s\n", strProbeDataType);
printf("\t\t\tMax Registers:\t%d\n", sniffedProbe->intMaxRegisterCount);
printf("\t\t\tProbe Index:\t%d\n", sniffedProbe->intProbeIndex);
switch(DisplayMode)
{
case 'f':{ //Case Float
printf("\t\t\tIO State:\t%2.2f\n\n", (float)*((float *)&sniffedProbe->ioStatus));
for(i = 0; i < sniffedProbe->intMaxRegisterCount; i++){
printf("\t\t\tRegister %d:\t%2.2f\n", i, (float)*((float *)&sniffedProbe->arrRegisters[i]));//Separated or else String displays Funky
}
break;
}
case 'h':{ //Default: Case Hex
printf("\t\t\tIO State:\t0x%8.8X\n\n", sniffedProbe->ioStatus);
for(i = 0; i < sniffedProbe->intMaxRegisterCount; i++){
printf("\t\t\tRegister %d:\t0x%4.4X\n", i, sniffedProbe->arrRegisters[i]);//Separated or else String displays Funky
}
break;
}
default:{ //Default => d
printf("\t\t\tIO State:\t%d\n\n", sniffedProbe->ioStatus);
for(i = 0; i < sniffedProbe->intMaxRegisterCount; i++){
printf("\t\t\tRegister %d:\t%d\n", i, sniffedProbe->arrRegisters[i]);//Separated or else String displays Funky
}
break;
}
}//end Switch
}
void displayHeaders(){
// Clear Screen
system ("cls");
// Informational Printout
printf("| P R O B E S N I F F E R | Change Data Type: D - Double |\n|------------------------------------| F - Float |\n");
printf("|Key Commands: Q - Quit | H - Hex |\n| C - Change Probe # | |\n");
printf("| L - Clear Probe | |\n");
printf("|----------------------------------------------------------------------|\n");
}
/* Convert mpiProbeSource value to English */
void ProbeSourceToEnglish(int intProbeSource, char *strProbeSource){
switch(intProbeSource)
{
case (MPIProbeSourceHOME):{
sprintf(strProbeSource,"Triggers on MPIProbeSourceHOME");
break;
}
case (MPIProbeSourceINDEX):{
sprintf(strProbeSource,"Triggers on Condition[0]=True");
break;
}
case (MPIProbeSourceLIMIT_HW_NEG):{
sprintf(strProbeSource,"Triggers on MPIProbeSourceLIMIT_HW_NEG");
break;
}
case (MPIProbeSourceLIMIT_HW_POS):{
sprintf(strProbeSource,"Triggers on MPIProbeSourceLIMIT_HW_POS");
break;
}
case (MPIProbeSourceINDEX_SECONDARY):{
sprintf(strProbeSource,"Triggers on MPIProbeSourceINDEX_SECONDARY");
break;
}
case (MPIProbeSourceMOTOR_IO_0):{
sprintf(strProbeSource,"Triggers on MPIProbeSourceMOTOR_IO_0");
break;
}
case (MPIProbeSourceMOTOR_IO_1):{
sprintf(strProbeSource,"Triggers on MPIProbeSourceMOTOR_IO_1");
break;
}
case (MPIProbeSourceMOTOR_IO_2):{
sprintf(strProbeSource,"Triggers on MPIProbeSourceMOTOR_IO_2");
break;
}
case (MPIProbeSourceMOTOR_IO_3):{
sprintf(strProbeSource,"Triggers on MPIProbeSourceMOTOR_IO_3");
break;
}
case (MPIProbeSourceMOTOR_IO_4):{
sprintf(strProbeSource,"Triggers on MPIProbeSourceMOTOR_IO_4");
break;
}
case (MPIProbeSourceMOTOR_IO_5):{
sprintf(strProbeSource,"Triggers on MPIProbeSourceMOTOR_IO_5");
break;
}
case (MPIProbeSourceMOTOR_IO_6):{
sprintf(strProbeSource,"Triggers on MPIProbeSourceMOTOR_IO_6");
break;
}
case (MPIProbeSourceMOTOR_IO_7):{
sprintf(strProbeSource,"Triggers on MPIProbeSourceMOTOR_IO_7");
break;
}
case (MPIProbeSourceMOTOR_IO_8):{
sprintf(strProbeSource,"Triggers on MPIProbeSourceMOTOR_IO_8");
break;
}
case (MPIProbeSourceMOTOR_IO_9):{
sprintf(strProbeSource,"Triggers on MPIProbeSourceMOTOR_IO_9");
break;
}
case (MPIProbeSourceMOTOR_IO_10):{
sprintf(strProbeSource,"Triggers on MPIProbeSourceMOTOR_IO_10");
break;
}
case (MPIProbeSourceMOTOR_IO_11):{
sprintf(strProbeSource,"Triggers on MPIProbeSourceMOTOR_IO_11");
break;
}
case (MPIProbeSourceMOTOR_IO_12):{
sprintf(strProbeSource,"Triggers on MPIProbeSourceMOTOR_IO_12");
break;
}
case (MPIProbeSourceMOTOR_IO_13):{
sprintf(strProbeSource,"Triggers on MPIProbeSourceMOTOR_IO_13");
break;
}
case (MPIProbeSourceMOTOR_IO_14):{
sprintf(strProbeSource,"Triggers on MPIProbeSourceMOTOR_IO_14");
break;
}
case (MPIProbeSourceMOTOR_IO_15):{
sprintf(strProbeSource,"Triggers on MPIProbeSourceMOTOR_IO_15");
break;
}
default:{
sprintf(strProbeSource,"** Not Set **");
break;
}
}//End Switch
}
/* Convert mpiProbeData value to English */
void ProbeDataTypeToEnglish(int intProbeDataType, char *strProbeDataType){
switch(intProbeDataType)
{
case MPIProbeDataPOSITION_PRIMARY:{
sprintf(strProbeDataType,"MPIProbeDataPOSITION_PRIMARY");
break;
}
case MPIProbeDataPOSITION_SECONDARY:{
sprintf(strProbeDataType,"MPIProbeDataPOSITION_SECONDARY");
break;
}
case MPIProbeDataTIME:{
sprintf(strProbeDataType,"MPIProbeDataTIME");
break;
}
default:{
sprintf(strProbeDataType,"** Not Set **");
break;
}
}//End Switch
}
/* Convert Boolean value to English */
void BooleanToEnglish(int ynBoolean, char *strBoolean){
switch(ynBoolean)
{
case 0:{
sprintf(strBoolean,"FALSE");
break;
}
case 1:{
sprintf(strBoolean,"TRUE");
break;
}
default:{ //Default => d
sprintf(strBoolean,"** Not Set **");
break;
}
}//End Switch
}
int main(int argc,
char *argv[])
{
MPIControl control;
MPIControlType controlType;
MPIControlAddress controlAddress;
MPIMotor motor[32]; /* motor object */
MPIProbe probe;
MPI_BOOL done = FALSE;
char key;
objProbe sniffedProbe;
/* Perform basic command line parsing. (-control -server -port -trace) */
basicParsing(argc,
argv,
&controlType,
&controlAddress);
/* Create and initialize MPI objects */
programInit(&control,
controlType,
&controlAddress,
motor);
displayHeaders();
/* Display in use status and shutdown recorders if requested */
while (!done)
{
key = (char) mpiPlatformKey(MPIWaitMSEC*100);
switch(key)
{
case 'q':{
done = TRUE;
printf("\n\n\n\nExit Sequence Completed\n");
break;
}
case 'c':{
intProbeToSniff = -1;
destroyProbe(&probe);
displayHeaders();
break;
}
case 'd':{
DisplayMode = 'd';
break;
}
case 'f':{
DisplayMode = 'f';
break;
}
case 'h':{
DisplayMode = 'h';
break;
}
case 'l':{
//Clear Probe Function
clearProbe(&probe);
break;
}
default:{
break;
}
}
// Check Value of Probe #
if(intProbeToSniff > -1)
{
//If Probe# is Specified, SNIFF IT!
displayHeaders();
readProbe(control, &probe, &sniffedProbe);
mpiPlatformSleep(150);
}else{
// Prompt User for new User Limit #, as well as Limit # to sniff;
printf("\f\rEnter Motor Number With Probe (0-31): ");
scanf("%d", &intMotorNumToSniff);
printf("Enter Probe on Motor to Monitor: ");
scanf("%d", &intProbeToSniff);
// Create Probe based on motor/probe numbers entered
createProbe(control, &probe);
}
}
/* Perform certain cleanup actions and delete MPI objects */
programCleanup(&control, motor);
return MPIMessageOK;
}
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