seqrec.c -- Track status of specified motion supervisors and enable
data recorder on any motion.
/* seqrec.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.
*/
/*
:Track status of specified motion supervisors and enable data recorder on any motion.
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"
#define RECORDER_NUMBER (0)
#if defined(ARG_MAIN_RENAME)
#define main seqrecMain
argMainRENAME(main, seqrec)
#endif
/* Command line arguments and defaults */
long sequenceNumber = 0;
Arg argList[] = {
{ "-sequence", ArgTypeLONG, &sequenceNumber, },
{ NULL, ArgTypeINVALID, NULL, }
};
int
main(int argc,
char *argv[])
{
MPIControl control; /* motion controller handle */
MPISequence sequence; /* sequence handle */
MPICommand command;
MPIXmpData *firmware;
MPICommandParams params;
MPIControlConfig controlConfig;
long returnValue; /* return value from library */
long index;
long motionCount;
MPIObjectMap motionMap;
long labelCheckMS;
MPIControlType controlType;
MPIControlAddress controlAddress;
long argIndex;
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 (sequenceNumber >= MPIXmpMAX_PSs) {
mpiPlatformConsole("usage: %s %s\n"
"\t\t[-sequence # (0 .. %d)]\n"
"\t\t[motion# (0) ...]\n",
argv[0],
ArgUSAGE,
MPIXmpMAX_PSs - 1);
exit(MPIMessageARG_INVALID);
}
mpiObjectMapCLEAR(motionMap);
/* Create motion map */
if (argIndex >= argc) {
motionCount = 1;
mpiObjectMapBitSET(motionMap, 0, 1); /* MS[0] default */
}
else {
motionCount = 0;
while (argIndex < argc) {
char *arg;
long number;
arg = argv[argIndex++];
number = mpiPlatformAtol(arg);
if ((number >= 0) &&
(number < MPIXmpMAX_MSs)) {
motionCount++;
mpiObjectMapBitSET(motionMap, number, 1);
}
else {
fprintf(stderr,
"%s: invalid motion number\n",
arg);
exit(1);
}
}
}
if (argIndex < argc) {
mpiPlatformConsole("usage: %s %s\n"
"\t\t[-sequence # (0 .. %d)]\n"
"\t\t[motion# (0) ...]\n",
argv[0],
ArgUSAGE,
MPIXmpMAX_PSs - 1);
exit(MPIMessageARG_INVALID);
}
/* Create motion controller object */
control =
mpiControlCreate(controlType,
&controlAddress);
msgCHECK(mpiControlValidate(control));
/* Initialize motion controller */
returnValue = mpiControlInit(control);
msgCHECK(returnValue);
/* Enable a sequence engine on the controller */
returnValue =
mpiControlConfigGet(control,
&controlConfig,
NULL);
msgCHECK(returnValue);
if (controlConfig.sequenceCount <= sequenceNumber) {
controlConfig.sequenceCount = (sequenceNumber + 1);
}
returnValue =
mpiControlConfigSet(control,
&controlConfig,
NULL);
msgCHECK(returnValue);
returnValue =
mpiControlMemory(control,
(void **)&firmware,
NULL);
msgCHECK(returnValue);
/* Create Sequence */
sequence =
mpiSequenceCreate(control,
sequenceNumber,
2 + motionCount + 2); /* sequence size */
msgCHECK(mpiSequenceValidate(sequence));
/* Create Commands */
/* Branch to "CheckMS" if Recorder is ON (!= 0) */
params.branch.label = "CheckMS";
params.branch.expr.address.l = &firmware->Recorder[RECORDER_NUMBER].Enable;
params.branch.expr.oper = MPICommandOperatorNOT_EQUAL;
params.branch.expr.by.value.l = 0;
command =
mpiCommandCreate(MPICommandTypeBRANCH,
¶ms,
"RecorderON");
msgCHECK(mpiCommandValidate(command));
returnValue =
mpiSequenceCommandAppend(sequence,
command);
msgCHECK(returnValue);
/* Turn Recorder ON */
params.assign.dst.l = &firmware->Recorder[RECORDER_NUMBER].Enable;
params.assign.value.l = -1; /* continuous, else # records */
command =
mpiCommandCreate(MPICommandTypeASSIGN,
¶ms,
NULL);
msgCHECK(mpiCommandValidate(command));
returnValue =
mpiSequenceCommandAppend(sequence,
command);
msgCHECK(returnValue);
labelCheckMS = FALSE;
for (index = 0; index < MPIXmpMAX_MSs; index++) {
if (mpiObjectMapBitGET(motionMap, index) == 0) {
continue;
}
/* Branch to "RecorderOn" if motion detected */
params.branch.label = "RecorderON";
params.branch.expr.address.l = (long *)&firmware->MS[index].Status;
params.branch.expr.oper = MPICommandOperatorBIT_CLEAR;
params.branch.expr.by.value.l = (0x1 << MPIXmpEventDONE);
command =
mpiCommandCreate(MPICommandTypeBRANCH,
¶ms,
(labelCheckMS == FALSE) ? "CheckMS" : NULL);
msgCHECK(mpiCommandValidate(command));
labelCheckMS = TRUE;
returnValue =
mpiSequenceCommandAppend(sequence,
command);
msgCHECK(returnValue);
}
/* Turn Recorder OFF */
params.assign.dst.l = &firmware->Recorder[RECORDER_NUMBER].Enable;
params.assign.value.l = 0;
command =
mpiCommandCreate(MPICommandTypeASSIGN,
¶ms,
NULL);
msgCHECK(mpiCommandValidate(command));
returnValue =
mpiSequenceCommandAppend(sequence,
command);
msgCHECK(returnValue);
/* Branch to "CheckMS" */
params.branch.label = "CheckMS";
params.branch.expr.oper = MPICommandOperatorALWAYS;
command =
mpiCommandCreate(MPICommandTypeBRANCH,
¶ms,
NULL);
msgCHECK(mpiCommandValidate(command));
returnValue =
mpiSequenceCommandAppend(sequence,
command);
msgCHECK(returnValue);
/* Start sequence */
returnValue =
mpiSequenceStart(sequence,
MPIHandleVOID);
if (returnValue != MPIMessageOK) {
fprintf(stderr, "%s: mpiSequenceStart() returns 0x%x: %s\n",
argv[0],
returnValue,
mpiMessage(returnValue, NULL));
exit(returnValue);
}
mpiPlatformConsole("Press any key to stop sequence\n");
mpiPlatformKey(MPIWaitFOREVER);
/* Stop sequence */
returnValue = mpiSequenceStop(sequence);
msgCHECK(returnValue);
returnValue = mpiSequenceDelete(sequence);
msgCHECK(returnValue);
returnValue = mpiControlDelete(control);
msgCHECK(returnValue);
return ((int)returnValue);
}
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