Trace2.c
/* Trace2.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.
*/
/*
This program perform a simple trapezoidal move while tracing any function entry
(see #define TRACE_OPTION) with a specific input (see #define LOOKUP_ENTRY),
write this specified trace into a circFile called trace2.txt (see #define CIRC_FILE) to
save disk space. It will also write the time when these trace is written to the file.
For a different TRACE_OPTION, see MPITrace enumeration below.
typedef enum {
MPITraceNONE
MPITraceFIRST
MPITraceFUNCTION_ENTRY
MPITraceFUNCTION_RETURN
MPITraceMEMORY_ALLOC
MPITraceMEMORY_FREE
MPITraceMEMORY_GET
MPITraceMEMORY_SET
MPITraceVALIDATE
MPITraceLOCK_GIVE
MPITraceLOCK_TAKE
MPITraceEVENT
MPITraceLAST
MPITraceALL
} MPITrace;
Example of what is written in the circular file when LOOKUP_ENTRY is
defined as "mpiMotionStart":
000000: 17:16:44 mpiMotionStart(0x843d20, 9, 0x12fdb4)
A circular file is defined in CircFile.c and CircFile.h
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 <string.h>
#include <time.h>
#include "stdmpi.h"
#include "stdmei.h"
#include "apputil.h"
#include "CircFile.h"
#if defined(ARG_MAIN_RENAME)
#define main trace2Main
argMainRENAME(main, trace2)
#endif
#define MOTION_NUMBER (0)
#define AXIS_NUMBER (0)
#define GOAL_POSITION (1000)
#define VELOCITY (5000)
#define ACCELERATION (10000)
#define DECELERATION (20000)
#define LINE_LENGTH (80)
#define LINE_COUNT (100)
#define CIRC_FILE "trace2.txt"
#define LOOKUP_ENTRY "mpiMotionStart"
#define TRACE_OPTION MPITraceFUNCTION_ENTRY
CircFilePtr cfp = NULL;
/* Parse command line */
long parseCommandLine(int argc,
char *argv[],
MPIControlType *controlType,
MPIControlAddress *controlAddress,
long *axisNumber)
{
long argIndex;
/* Application-specific command line arguments */
Arg argList[] =
{
{ "-axis", ArgTypeLONG, axisNumber, },
{ NULL, ArgTypeINVALID, NULL, }
};
/* 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)
{
fprintf(stderr,"usage: %s %s\n"
"\t\t[-axis #(0...%ld)]\n",
argv[0],
ArgUSAGE,
MPIControlMAX_AXES);
exit(MPIMessageARG_INVALID);
}
return 0;
}
/* Create and initialize MPI objects */
void programInit(MPIControl *control,
MPIControlType controlType,
MPIControlAddress *controlAddress,
MPIMotion *motion,
long motionNumber,
MPIAxis *axis,
long axisNumber)
{
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 motion supervisor object with axis */
*motion =
mpiMotionCreate(*control,
motionNumber, /* motion supervisor number */
*axis); /* axis object handle */
msgCHECK(mpiMotionValidate(*motion));
}
/* Perform certain cleanup actions and delete MPI objects */
void programCleanup(MPIControl *control,
MPIMotion *motion,
MPIAxis *axis)
{
long returnValue;
/* Delete motion supervisor object */
returnValue =
mpiMotionDelete(*motion);
msgCHECK(returnValue);
/* Delete axis object */
returnValue =
mpiAxisDelete(*axis);
msgCHECK(returnValue);
/* Delete motion controller object */
returnValue =
mpiControlDelete(*control);
msgCHECK(returnValue);
}
/* Close circular file and restore the mpiTraceFunction to default */
void endTrace(void)
{
/* Set the function back to default */
mpiTraceFunction(NULL);
/* Close circFile after use */
circFileClose(cfp);
}
/* Select which to trace and open circFile to write */
void setupTrace(char *circFileName,
long lineLength,
long lineCount,
long traceOption)
{
MPITraceMask rv;
/* Set trace option of interest, see MPITrace enum for more option */
rv = mpiTraceSet(traceOption);
/* Open circFile for writing purpose */
cfp = circFileOpenForWrite(circFileName, lineLength, lineCount);
if(cfp == NULL)
{
fprintf(stderr, "Unable to open file %s\n", circFileName);
exit(-1);
}
}
/* Display or write trace buffer to the circFile */
long traceFunction(const char *buffer)
{
char *lookUpEntry = LOOKUP_ENTRY;
struct tm *myTm;
time_t myTime;
/* Write to circular file only when it is the specified entry */
if(strncmp(buffer,lookUpEntry,strlen(lookUpEntry)) == 0)
{
/* Get time */
time(&myTime);
myTm = localtime(&myTime);
/* Write time and entry to circular file */
circFilePrint(cfp,"%d:%d:%d ", myTm->tm_hour, myTm->tm_min, myTm->tm_sec);
circFileWrite(cfp, buffer);
}
return 0;
}
/* Command simple trapezoidal motion */
long simpleTrapMove(MPIMotion motion,
double goalPosition,
double velocity,
double acceleration,
double deceleration)
{
MPIMotionParams params; /* Motion parameters */
MPITrajectory trajectory; /* Trajectory information */
long returnValue; /* MPI library return value */
/* Setup trajectory structure */
trajectory.velocity = velocity;
trajectory.acceleration = acceleration;
trajectory.deceleration = deceleration;
/* Setup parameters structure */
params.trapezoidal.trajectory = &trajectory;
params.trapezoidal.position = &goalPosition;
/* Start motion */
returnValue =
mpiMotionStart(motion,
MPIMotionTypeTRAPEZOIDAL,
¶ms);
msgCHECK(returnValue);
return returnValue;
}
int main(int argc,
char *argv[])
{
MPIControl control; /* motion controller object handle */
MPIControlType controlType;
MPIControlAddress controlAddress;
MPIMotion motion; /* motion object handle */
MPIAxis axis; /* axis object handle */
long axisNumber = AXIS_NUMBER;
/* Perform basic command line parsing. (-control -server -port -trace) */
parseCommandLine(argc,
argv,
&controlType,
&controlAddress,
&axisNumber);
/* Create and initialize MPI objects */
programInit(&control,
controlType,
&controlAddress,
&motion,
MOTION_NUMBER,
&axis,
AXIS_NUMBER);
/* Setup Trace module and Open circFile*/
setupTrace(CIRC_FILE,
LINE_LENGTH,
LINE_COUNT,
TRACE_OPTION);
/* Sets the function used to display a trace buffer */
mpiTraceFunction(traceFunction);
/* Command simple motion */
simpleTrapMove(motion,
GOAL_POSITION,
VELOCITY,
ACCELERATION,
DECELERATION);
/* Clean up and return trace settings to the default one */
endTrace();
/* Perform certain cleanup actions and delete MPI objects */
programCleanup(&control,
&motion,
&axis);
return MPIMessageOK;
}
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