path1.c -- Two-axis path motion, around a rectangle with rounded

MPI Application Template
template.c

path1.c -- Two-axis path motion, around a rectangle with rounded corners.

/* path1.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.
 */

/*

:Two-axis path motion, around a rectangle with rounded corners.

This sample demonstrates how to create a two-axis path motion.

The following procedure is used to create the path motion.
- Create the path object (done in programInit).
- The motion trajectory parameters are configured (pathConfig2d)
- Line and Arc elements are appended to the path (pathLine, pathArc)
- The MotionParams are generated (generatePath)
- The motion is started using mpiMotionStart(...).

When the motion has started, the program will wait for a MOTION_DONE event
 to be distributed by the event manager in a separate service thread
 (eventCollectUntilMotionDone).

A summary of Path object structures and methods:

	 MPIGeometricPath -- path object handle
    MPIGeometricPathParams{} -- path config structure
    MPIGeometricPathArc{} -- arc from start, angle and radius
    MPIGeometricPathLine{} -- point in space

    mpiGeometricPathCreate() -- create a path
    mpiGeometricPathDelete() -- delete a path
    mpiGeometricPathValidate() -- validate a path
    mpiGeometricPathParamsGet() -- get the current path configuration
    mpiGeometricPathParamsSet() -- set the path configuration
    mpiGeometricPathAppend() -- add a path element to the path
    mpiGeometricPathMotionParamsGenerate() -- generate the motion parameters


Note:  When multiple axes are associated with a motion supervisor, the
 controller automatically combines the individual axis and motor status
 into the motion status.  Thus, if a Stop, E-Stop or Abort action occurs
 on one axis, the event will be propogated automatically to the other axes.

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 <math.h>
#include "stdmpi.h"
#include "apputil.h"

#include "firmware.h"

#define AXIS_COUNT (2) /* Don't change, this is a 2d example */
/* Set the vector values for Vel, Accel, Decel */
#define VELOCITY   (5000.0)
#define ACCEL      (50000.0)
#define DECEL      (50000.0)
/*
   Time slice determine how far apart the points are in time.
   The practical range for the time slice parameter is 10 msec (0.01 s)
   and greater.  The time slice determines the spacing of points for the
   internal algorithm interpolation. A time slice value that is too small
   will result in points needing to be loaded more frequently from the host
   (and associated risk of the host being late loading the points). A time
   slice that is too large will result in rough motion and can cause radii
   to be distorted.
*/
#define TIME_SLICE   (0.01) /* seconds */
/* There must be this many points in the buffer, or the motion will E_STOP */
#define EMPTY_COUNT  (5)
#define INTERPOLATION_TYPE  MPIGeometricPathInterpolationTypePT
#define TIMEOUT      (10000) /* ms to wait for MOTION_DONE */

#if defined(ARG_MAIN_RENAME)

#define main path1Main

argMainRENAME(main, path1)

#endif

/* Command line arguments and defaults */

static int32_t axisNumber[AXIS_COUNT] = { 0, 1};

static int32_t motionNumber = 0;

static Arg argList[] = {

{ "-axis1", ArgTypeLONG, &axisNumber[0], },

{ "-axis2", ArgTypeLONG, &axisNumber[1], },

{ "-motion", ArgTypeLONG, &motionNumber, },

{ NULL, ArgTypeINVALID, NULL, }

};

/* Perform command line parsing. (-control -server -port -trace) */

static void

parsing(int argc,

char *argv[],

MPIControlType *controlType,

MPIControlAddress *controlAddress)

{

int32_t argIndex;

/* Parse command line for Control type and address */

argIndex =

argControl(argc,

argv,

controlType,

controlAddress);

/* Parse command line for application-specific arguments */

while (argIndex < argc) {

int32_t 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) ||

(axisNumber[0] > (MPIControlMAX_OBJECTS - AXIS_COUNT)) ||

(motionNumber >= MPIControlMAX_OBJECTS)) {

mpiPlatformConsole("usage: %s %s\n"

"\t\t[-axis1 # (0 .. %d)]\n"

"\t\t[-axis2 # (0 .. %d)]\n"

"\t\t[-motion # (0 .. %d)]\n",

argv[0],

ArgUSAGE,

MPIControlMAX_OBJECTS - AXIS_COUNT,

MPIControlMAX_OBJECTS - 1);

exit(MPIMessageARG_INVALID);

}

/* Event service error handler - logs error data to stdout */

static MPI_BOOL MPI_DECL2

eventServiceErrorHandler(MPIControlEventServiceErrorParams *params)

{

mpiPlatformConsole("Event service thread error occurred:\n"

" Error Count = %d Error = 0x%x (%s)\n",

params->errorCount,

params->message,

mpiMessage(params->message, NULL));

return FALSE;

}

static void

programInit(MPIControl *control,

MPIControlType controlType,

MPIControlAddress *controlAddress,

MPIAxis axis[AXIS_COUNT],

MPIMotion *motion,

MPIEventMask eventMask,

MPINotify *notify,

MPIGeometricPath *path)

{

MPIMotionAxisMap motionAxisMap;

MPI_RESULT returnValue;

MPIControlEventServiceErrorConfig serviceErrorConfig;

int32_t index;

/* Create motion controller object */

returnValue =

mpiControlCreate(control,

controlType,

controlAddress);

msgCHECK(returnValue);

/* Create axis objects */

returnValue =

mpiAxisCreate(&axis[0],

*control,

axisNumber[0]);

msgCHECK(returnValue);

returnValue =

mpiAxisCreate(&axis[1],

*control,

axisNumber[1]);

msgCHECK(returnValue);

/* Create motion supervisor object using MS number 0 */

returnValue =

mpiMotionCreate(motion,

*control,

motionNumber);

msgCHECK(returnValue);

/* Map axes to motionSupervisor */

returnValue =

mpiMotionAxisMapGet(*motion, &motionAxisMap);

msgCHECK(returnValue);

motionAxisMap.count = AXIS_COUNT;

for (index = 0; index < AXIS_COUNT; index++) {

motionAxisMap.number[index] = axisNumber[index];

}

returnValue =

mpiMotionAxisMapSet(*motion, &motionAxisMap);

msgCHECK(returnValue);

/* Request notification of all MPI events from motion */

mpiEventMaskCLEAR(eventMask);

mpiEventMaskALL(eventMask);

/* Request notification of all events from motion */

returnValue =

mpiMotionEventNotifySet(*motion,

eventMask,

NULL);

msgCHECK(returnValue);

/* Create event notification object for motion */

/* Add notify to event manager's list */

returnValue =

mpiControlNotifyCreate(*control,

notify,

eventMask,

*motion);

msgCHECK(returnValue);

returnValue = mpiGeometricPathCreate(path);

msgCHECK(returnValue);

/* Create the event service */

serviceErrorConfig.errorHandler = eventServiceErrorHandler;

serviceErrorConfig.errorThreshold = 1;

returnValue =

mpiControlEventServiceStart(*control,

MPIThreadPriorityHIGHEST,

MPIWaitFOREVER, /* FOREVER => enable interrupts */

&serviceErrorConfig);

msgCHECK(mpiASSERT(returnValue == MPIMessageOK, "Failed to create the event service"));

}

static void

deleteObjects(MPIGeometricPath path,

MPINotify notify,

MPIMotion motion,

MPIAxis axis[AXIS_COUNT],

MPIControl control)

{

MPI_RESULT returnValue;

returnValue = mpiGeometricPathDelete(path);

msgCHECK(returnValue);

returnValue = mpiControlNotifyDelete(control, notify);

msgCHECK(returnValue);

returnValue = mpiMotionDelete(motion);

msgCHECK(returnValue);

returnValue = mpiAxisDelete(axis[0]);

msgCHECK(returnValue);

returnValue = mpiAxisDelete(axis[1]);

msgCHECK(returnValue);

returnValue = mpiControlDelete(control);

msgCHECK(returnValue);

}

Ensure that the E_STOP will finish before the points are empty.

Only shorten the EStop time, don't lengthen it.

This is important if the point list has an underflow and the path

tries to EStop in response. If the EStop takes longer than the

amount of motion left in the buffer, violent motion can occur.

static void setEStop(MPIMotion motion, double timeSlice, int32_t emptyCount)

{

MPIMotionConfig motionConfig;

MPI_RESULT returnValue;

/* Read current motion supervisor configuration */

returnValue =

mpiMotionConfigGet(motion, &motionConfig);

msgCHECK(returnValue);

if((timeSlice * (double)emptyCount) < motionConfig.decelTime.eStop)

{

/* Set new E_STOP deceleration rates */

motionConfig.decelTime.eStop = (float)(timeSlice * (double)emptyCount);

returnValue =

mpiMotionConfigSet(motion, &motionConfig);

msgCHECK(returnValue);

}

static void getCommandPositions2d(MPIAxis axis[AXIS_COUNT], double start[2])

{

MPI_RESULT returnValue;

returnValue = mpiAxisCommandPositionGet(axis[0], &start[0]);

msgCHECK(returnValue);

returnValue = mpiAxisCommandPositionGet(axis[1], &start[1]);

msgCHECK(returnValue);

}

Sets the configuration needed to set up a path.

start is the starting point for the path.

is start == NULL, the path will start from 0,0.

TimeSlice in seconds. MotionType is typically MPIMotionTypeBSPLINE

static void

pathConfig2d(MPIGeometricPath path, double start[2],

double velocity, double accel,

MPIGeometricPathInterpolationType interpType, double timeSlice)

{

MPIGeometricPathParams params;

MPI_RESULT returnValue;

returnValue =

mpiGeometricPathParamsGet(path,

&params);

msgCHECK(returnValue);

params.dimension = 2;

MPIGeometricPathPointX(params.start) = start? start[0] : 0; /*Allow the user to pass a null start position and get zeroes */

MPIGeometricPathPointY(params.start) = start? start[1] : 0;

params.velocity = velocity;

params.acceleration = accel;

params.deceleration = accel;

params.interpolation = interpType;

params.timeSlice = timeSlice;

returnValue =

mpiGeometricPathParamsSet(path,

&params);

msgCHECK(returnValue);

}

/* Convenient function for appending an arc to a path */

static void

pathArc(MPIGeometricPath path, MPIGeometricPathElement *element,

double start, double included, double radius)

{

MPI_RESULT returnValue;

element->type = MPIGeometricPathElementTypeARC;

element->params.arc.angle.start = start;

element->params.arc.angle.included = included;

element->params.arc.radius = radius;

returnValue = mpiGeometricPathSimpleAppend(path,

element);

msgCHECK(returnValue);

}

Convenient function for appending a line to a path.

start is a starting point for the move and x and y

are relative from that point.

If start == NULL, the x and y points are absolute.

static void

pathLine(MPIGeometricPath path, MPIGeometricPathElement *element,

double x, double y, double start[2])

{

MPI_RESULT returnValue;

element->type = MPIGeometricPathElementTypeLINE;

MPIGeometricPathPointX(element->params.line.point) = x + (start? start[0] : 0); /* Make a default of 0,0 start point for null startpoint */

MPIGeometricPathPointY(element->params.line.point) = y + (start? start[1] : 0);

returnValue = mpiGeometricPathSimpleAppend(path,

element);

msgCHECK(returnValue);

}

Collects events and prints them out. Event collection

ends when a motion done event is found.

This function waits for an event for timeout milliseconds.

A timeout value of -1 will make the function wait forever

for and event.

A timeout value of 0 will make the function not wait for

an event (falls through).

static void eventCollectUntilMotionDone(MPINotify notify, int32_t timeout)

{

MPIEventData eventStatus;

MPI_RESULT returnValue = MPIMessageOK;

/* Collect motion events */

while (returnValue == MPIMessageOK)

{

/* Wait for event */

returnValue =

mpiNotifyEventWait(notify,

&eventStatus,

timeout);

msgCHECK(returnValue);

if (eventStatus.eventType == MPIEventTypeMOTION_DONE) {

mpiPlatformConsole("Motion Done\n");

break;

}

else {

mpiPlatformConsole("mpiNotifyEventWait(0x%x, 0x%x, %d) returns 0x%x\n"

"\teventStatus: type %d objectType %d index %u\n",

notify,

&eventStatus,

MPIWaitFOREVER,

returnValue,

eventStatus.eventType,

eventStatus.objectType,

eventStatus.objectIndex);

}

int main(int argc, char *argv[])

{

MPIControl control;

MPIAxis axis[AXIS_COUNT];

MPIMotion motion;

MPINotify notify;

MPIGeometricPath path;

MPIGeometricPathElement element;

MPIMotionPTPoint *point;

int32_t pointCount;

MPIControlType controlType;

MPIControlAddress controlAddress;

MPIEventMask eventMask;

MPI_RESULT returnValue;

double start[2];

parsing(argc, argv, &controlType, &controlAddress);

programInit(&control, controlType, &controlAddress, axis, &motion, eventMask, &notify, &path);

Ensure that the E_STOP will finish before the points are empty.

Only shorten the EStop time, don't lengthen it

setEStop(motion, TIME_SLICE, EMPTY_COUNT);

/* Get the command positions to offset the move */

getCommandPositions2d(axis, start);

/* Set path configurations before appending points */

pathConfig2d(path, start,

VELOCITY, ACCEL,

INTERPOLATION_TYPE, TIME_SLICE);

/* Append all the path segments */

pathLine(path, &element, 1800, 0, start);

pathArc(path, &element, 270.0, 90.0, 200.0);

pathLine(path, &element, 2000, 1800.0, start);

pathArc(path, &element, 0.0, 90.0, 200.0);

pathLine(path, &element, -1800.0, 2000.0, start);

pathArc(path, &element, 90.0, 90.0, 200.0);

pathLine(path, &element, -2000.0, 200.0, start);

pathArc(path, &element, 180.0, 90.0, 200.0);

pathLine(path, &element, 0, 0, start);

returnValue = mpiGeometricPathToPTPoints(path, &point, &pointCount, NULL);

msgCHECK(returnValue);

returnValue = mpiMotionPTMove(motion, pointCount, point, MPIMotionPathAttrMaskNONE, NULL);

msgCHECK(returnValue);

/* Prints events to screen until a motion done */

eventCollectUntilMotionDone(notify, TIMEOUT);

/* Clean up objects */

deleteObjects(path, notify, motion, axis, control);

return returnValue;

}