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MPI Application Template
template.c
 

record3.c -- Interrupt-driven display of data recorder records from specified axis (default 0)
/* record3.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.
 */

/*

:Interrupt-driven display of data recorder records from specified axis (default 0)

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 AXIS_NUMBER     (0)     /* Default axis to record */
#define PERIOD          (0)     /* milliseconds  (0 means every servo cycle) */
#define RECORD_COUNT    (2000)   /* Number of samples to record */

/*
   Recorder will report full when HIGH_COUNT records have been recorded

   If HIGH_COUNT < 0, then programInit() will configure HIGH_COUNT to equal
   the maximum number of possible records.
*/
#define HIGH_COUNT      (1000)


/* 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,
                 MPIAxis            *axis,
                 long                axisNumber,
                 MPIRecorder        *recorder,
                 MPIRecorderRecord **records,
                 long                recordCount,
                 long               *highCount,
                 MPINotify          *notify,
                 MPIEventMgr        *eventMgr,
                 Service            *service)
{
    MPIEventMask        eventMask;
    MPIRecorderStatus   recorderStatus;

    long returnValue;


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

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

    /* Create axis object */
    *axis =
        mpiAxisCreate(*control,
                      axisNumber);
    msgCHECK(mpiAxisValidate(*axis));

    /* Create recorder object */
    *recorder =
        mpiRecorderCreate(*control, -1);
    msgCHECK(mpiRecorderValidate(*recorder));

    /* Request notification of all events from recorder */
    mpiEventMaskCLEAR(eventMask);
    mpiEventMaskRECORDER(eventMask);    /* macro */
    returnValue =
        mpiRecorderEventNotifySet(*recorder,
                                  eventMask,
                                  NULL);
    msgCHECK(returnValue);

    /* Create event notification object for recorder */
    *notify =
        mpiNotifyCreate(eventMask,
                        *recorder);
    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);

    returnValue =
        mpiRecorderStatus(*recorder,
                          &recorderStatus,
                          NULL);
    msgCHECK(returnValue);

    if (*highCount < 0) {
        *highCount =
            recorderStatus.recordCountMax -
                (recorderStatus.recordCountMax / 4);
    }

    /* Allocate memory for record buffer */
    *records =
        (MPIRecorderRecord *)mpiPlatformAlloc(sizeof(MPIRecorderRecord) *
                                              recordCount);
    mpiAssert(*records != NULL);
}


/* Perform certain cleanup actions and delete MPI objects */
void programCleanup(MPIControl          *control,
                   MPIAxis              *axis,
                   MPIRecorder          *recorder,
                   MPIRecorderRecord    *records,
                   long                  recordCount,
                   MPIEventMgr          *eventMgr,
                   MPINotify            *notify,
                   Service              *service)
{
    long returnValue;


    /* Free recorder buffer */
    returnValue =
        mpiPlatformFree(records,
                        (sizeof(MPIRecorderRecord) * recordCount));
    mpiAssert(returnValue == MPIMessageOK);

    /* Delete service */
    returnValue =
        serviceDelete(*service);
    msgCHECK(returnValue);

    *service = MPIHandleVOID;

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

    *eventMgr = MPIHandleVOID;

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

    *notify = MPIHandleVOID;

    /* Delete recorder */
    returnValue =
        mpiRecorderDelete(*recorder);
    msgCHECK(returnValue);

    *recorder = MPIHandleVOID;

    /* Delete axis */
    returnValue =
        mpiAxisDelete(*axis);
    msgCHECK(returnValue);

    *axis = MPIHandleVOID;

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

    *control = MPIHandleVOID;
}


/* Start recorder, get data, and stop recorder */
void recordData(MPIRecorder         recorder,
                MPIRecorderRecord  *records,
                long                recordCount,
                MPINotify           notify)
{
    MPIRecorderRecord   *recordPtr;
    long                 recordingDone;
    long                 returnValue;


    /* Start Recorder and wait for Event */
    returnValue =
        mpiRecorderStart(recorder,
                         recordCount);
    msgCHECK(returnValue);

    recordPtr = (MPIRecorderRecord *)records;
    recordingDone = FALSE;
    while (recordingDone == FALSE) {
        MPIEventStatus  eventStatus;

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

        switch (eventStatus.type) {
            case MPIEventTypeRECORDER_HIGH:
            case MPIEventTypeRECORDER_FULL:
            case MPIEventTypeRECORDER_DONE: {
                long    countGet;

                returnValue =
                    mpiRecorderRecordGet(recorder,
                                         recordCount,
                                         (MPIRecorderRecord *)recordPtr,
                                         &countGet);
                msgCHECK(returnValue);

                recordPtr += countGet;

            printf("event: %d\n",eventStatus.type);

                if (eventStatus.type == MPIEventTypeRECORDER_DONE) {
                    recordingDone = TRUE;
                }
                break;
            }
            default: {
                mpiAssert(FALSE);
                break;
            }
        }
    }

    /* Stop recording */
    returnValue = mpiRecorderStop(recorder);

    /* In case the recorder has already stopped */
    if (returnValue == MPIRecorderMessageSTOPPED) {
        returnValue = MPIMessageOK;
    }
    msgCHECK(returnValue);
}


/* Print the records */
void printRecords(MPIRecorderRecord *records,
                  long               recordCount,
                  long               axisNumber)
{
    MPIRecorderRecord   *recordPtr;
    long                 recordIndex;


    /* Ouput all records to console */
    for (recordIndex = 0,
            recordPtr = (MPIRecorderRecord *)records;
         recordIndex < recordCount;
         recordIndex++,
             recordPtr++) {
        printf("\nrecord[%d]:\n",
               recordIndex);

        printf("axis %d sample %d\tcommand %d\tactual %d\tdac %.4f\n",
                axisNumber,
                recordPtr->axis[0].sample,
                recordPtr->axis[0].command,
                recordPtr->axis[0].actual,
                recordPtr->axis[0].dac);
    }
}


int main(int    argc,
         char   *argv[])
{
    MPIControl          control;                    /* motion controller handle  */
    MPIControlType      controlType;
    MPIControlAddress   controlAddress;
    MPIAxis             axis;                       /* axis handle               */
    MPIRecorder         recorder;                   /* data recorder handle      */
   MPIRecorderConfig recorderConfig;
    MPIRecorderRecord  *records;
    MPINotify           notify;                     /* event notification handle */
    MPIEventMgr         eventMgr;                   /* event manager handle      */
    Service             service;                    /* service thread */
    long                axisNumber  = AXIS_NUMBER;  /* axis number */
    long                period      = PERIOD;       /* every sample */
    long                recordCount = RECORD_COUNT;
    long                highCount   = HIGH_COUNT;
    long                returnValue;                /* return value from library */


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

    /* Create and initialize MPI objects */
    programInit(&control,
                controlType,
                &controlAddress,
                &axis,
                axisNumber,
                &recorder,
                &records,
                recordCount,
                &highCount,
                &notify,
                &eventMgr,
                &service);

    /* Configure recorder object */
    returnValue =
        mpiRecorderRecordConfig(recorder,
                                (MPIRecorderRecordType)MPIRecorderRecordTypeAXIS,
                                1,
                                &axis);
    msgCHECK(returnValue);

   returnValue =
      mpiRecorderConfigGet(recorder,
                      &recorderConfig,
                      NULL);
    msgCHECK(returnValue);

   recorderConfig.period = PERIOD;
   recorderConfig.highCount = HIGH_COUNT;

   returnValue =
      mpiRecorderConfigSet(recorder,
                      &recorderConfig,
                      NULL);
    msgCHECK(returnValue);

    /* Start recorder, get data, and stop recorder */
    recordData(recorder,
               records,
               recordCount,
               notify);

    /* Print the records */
    printRecords(records,
                 recordCount,
                 axisNumber);

    /* Perform certain cleanup actions and delete MPI objects */
    programCleanup(&control,
                   &axis,
                   &recorder,
                   records,
                   recordCount,
                   &eventMgr,
                   &notify,
                   &service);

    return ((int)returnValue);
}


      
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