seqKill.c -- Program Sequence to monitor an I/O bit and abort all
axes when active.
/* seqkill.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.
*/
/*
:Program Sequence to monitor an I/O bit and abort all axes when active.
This sample program creates a program sequencer that will monitor an I/O bit.
When this I/O bit is set, it will abort all the axes from 0 to axisCount. It
will monitor motor 0's transceiver A to determine when to abort the axes.
The XMP program sequencer controls the execution of a single command or a
series of commands on the XMP controller. The program sequencer provides the
ability to execute programs directly on the XMP controller without host
intervention. Examples of individual commands that can be executed by the
program sequencer are motion, looping, conditional branching, computation,
reading and writing of memory, time delays, waiting for conditions, setting
inputs/outputs, and generation of events. This rich command set provides
capability similar to, and beyond, that provided by Programmable Logic
Controller (PLC) programs.
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 "mei_rmb.h"
#include "apputil.h"
#define MOTION_NUMBER (0)
#define MOTOR_NUMBER (0)
#define AXIS_COUNT (8)
#define IO_TRIGGER (RMBGeneralIoXCVR_A)
/*
Active High: MPICommandOperatorBIT_SET
Active Low : MPICommandOperatorBIT_CLEAR
*/
#define IO_LEVEL (MPICommandOperatorBIT_SET)
/* 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,
MPIMotion *motion,
long motionNumber,
MPIAxis *axis,
long axisCount,
MPIMotor *motor,
long motorNumber)
{
long index;
long returnValue;
/* Create motion controller object */
*control =
mpiControlCreate(controlType,
controlAddress);
msgCHECK(mpiControlValidate(*control));
/* Initialize motion controller */
returnValue =
mpiControlInit(*control);
msgCHECK(returnValue);
/* Create axis objects */
for (index = 0; index < axisCount; index++) {
axis[index] =
mpiAxisCreate(*control,
index);
msgCHECK(mpiAxisValidate(axis[index]));
}
/* Create motion supervisor object with axis */
*motion =
mpiMotionCreate(*control,
motionNumber,
*axis);
msgCHECK(mpiMotionValidate(*motion));
/* Create motor object */
*motor =
mpiMotorCreate(*control,
motorNumber);
msgCHECK(mpiMotorValidate(*motor));
/* Write Motion Supervisor AxisMap[], and clear fault conditions */
returnValue =
mpiMotionAction(*motion,
MPIActionRESET);
msgCHECK(returnValue);
}
/* Perform certain cleanup actions and delete MPI objects */
void programCleanup(MPIControl *control,
MPIMotion *motion,
MPIAxis *axis,
long axisCount,
MPIMotor *motor)
{
long index;
long returnValue;
/* Delete motor object */
returnValue =
mpiMotorDelete(*motor);
msgCHECK(returnValue);
*motor = MPIHandleVOID;
/* Delete motion supervisor object */
returnValue =
mpiMotionDelete(*motion);
msgCHECK(returnValue);
*motion = MPIHandleVOID;
/* Delete axis objects */
for (index = 0; index < axisCount; index++) {
returnValue = mpiAxisDelete(axis[index]);
msgCHECK(returnValue);
axis[index] = MPIHandleVOID;
}
/* Delete motion controller object */
returnValue =
mpiControlDelete(*control);
msgCHECK(returnValue);
*control = MPIHandleVOID;
}
/*
sequenceCommandAdd() creates a command (MPICommand object) and appends it to
sequence's list of commands. This function does return MPI error codes so
that sequence setup code may be more easily debugged.
Warning: sequenceCommandAdd() does not keep track of created command objects
so it is important that before a sequence object is deleted, that each
command object on sequence's list is itself deleted. Otherwise, there will
be memory leaks. One can use sequenceProgramDelete() to accomplish this.
*/
long sequenceCommandAdd(MPISequence sequence,
MPICommandType commandType,
MPICommandParams *commandParams,
const char *label)
{
MPICommand command;
long returnValue;
command =
mpiCommandCreate(commandType,
commandParams,
label);
returnValue =
mpiCommandValidate(command);
if (returnValue == MPIMessageOK) {
returnValue =
mpiSequenceCommandAppend(sequence,
command);
}
return returnValue;
}
/*
sequenceKillProgramCreate() creates a program that waits for one of motor's
io lines (represented by trigger) to turn on then commands an E_STOP_ABORT.
*/
MPISequence sequenceKillProgramCreate(MPIMotion motion,
MPIMotor motor,
RMBGeneralIo trigger,
MPICommandOperator level)
{
MPISequence sequence;
MPICommandParams commandParams;
long returnValue;
/* Create sequence object */
sequence =
mpiSequenceCreate(mpiMotionControl(motion),
-1, /* Use the next available sequence */
3); /* # of commands in sequence */
msgCHECK(mpiSequenceValidate(sequence));
/* Wait for motor 0's bit 0 (transceiver A) to be set */
commandParams.waitIO.type = MPIIoTypeMOTOR_GENERAL;
commandParams.waitIO.source.motor = motor;
commandParams.waitIO.oper = level;
commandParams.waitIO.mask = trigger;
returnValue =
sequenceCommandAdd(sequence,
MPICommandTypeWAIT_IO,
&commandParams,
NULL);
msgCHECK(returnValue);
/* command an E_STOP_ABORT */
commandParams.motion.motionCommand = MPICommandMotionE_STOP_ABORT;
commandParams.motion.motion = motion;
returnValue =
sequenceCommandAdd(sequence,
MPICommandTypeMOVE,
&commandParams,
NULL);
msgCHECK(returnValue);
/* Stop sequence */
commandParams.branch.label = NULL;
commandParams.branch.expr.oper = MPICommandOperatorALWAYS;
returnValue =
sequenceCommandAdd(sequence,
MPICommandTypeBRANCH,
&commandParams,
NULL);
msgCHECK(returnValue);
/* Return the new sequence handle */
return sequence;
}
/*
sequenceProgramDelete() removes and deletes all command objects on sequence's
command list and then deletes sequence. This function does return MPI error
codes so that sequence setup code may be more easily debugged.
*/
long sequenceProgramDelete(MPISequence *sequence)
{
MPICommand command;
long returnValue = MPIMessageOK;
/* Remove and delete command objects on sequence list */
while(TRUE) {
command = mpiSequenceCommandLast(*sequence);
if ((returnValue != MPIMessageOK) ||
(command==MPIHandleVOID)) {
break;
}
returnValue =
mpiSequenceCommandRemove(*sequence,
command);
if (returnValue == MPIMessageOK) {
returnValue =
mpiCommandDelete(command);
}
}
/* Delete sequence object */
returnValue =
mpiSequenceDelete(*sequence);
if (returnValue == MPIMessageOK) {
/* Make it obvious that sequence is no longer a valid object */
*sequence = MPIHandleVOID;
}
return returnValue;
}
/*
Starts a sequence, waits for the user to press a key and then
stops the sequence.
*/
void sequenceRun(MPISequence sequence)
{
long returnValue;
/* Start sequence */
returnValue =
mpiSequenceStart(sequence,
MPIHandleVOID);
msgCHECK(returnValue);
fprintf(stderr,"Press any key to stop sequence.\n");
mpiPlatformKey(MPIWaitFOREVER);
fprintf(stderr,"Exiting ...\n");
/* Stop sequence */
returnValue = mpiSequenceStop(sequence);
if ((returnValue != MPIMessageOK) &&
(returnValue != MPISequenceMessageSTOPPED)) {
msgCHECK(returnValue);
}
}
int main(int argc,
char *argv[])
{
MPIControl control;
MPIControlType controlType;
MPIControlAddress controlAddress;
MPIMotion motion;
MPIAxis axis[MPIXmpMAX_COORD_AXES]; /* axis handles */
MPIMotor motor;
MPISequence sequence;
long returnValue;
/* Perform basic command line parsing. (-control -server -port -trace) */
basicParsing(argc,
argv,
&controlType,
&controlAddress);
/* Create and initialize MPI objects */
programInit(&control,
controlType,
&controlAddress,
&motion,
MOTION_NUMBER,
axis,
AXIS_COUNT,
&motor,
MOTOR_NUMBER);
/* Create sequence program */
sequence =
sequenceKillProgramCreate(motion,
motor,
IO_TRIGGER,
IO_LEVEL);
/* Run sequence */
sequenceRun(sequence);
/* Delete sequence program */
returnValue =
sequenceProgramDelete(&sequence);
msgCHECK(returnValue);
/* Perform certain cleanup actions and delete MPI objects */
programCleanup(&control,
&motion,
axis,
AXIS_COUNT,
&motor);
return ((int)returnValue);
}
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