void setCurrentPosition(int pos)
{
char str[32];
if(motorinvert)
sprintf(str, "A %d%c", (int)((electrodeDepthOffset-pos) * motormags[motorid]),CR);
else
sprintf(str, "A %d%c", (int)((electrodeDepthOffset+pos) * motormags[motorid]),CR);
write(motorPort, str, strlen(str)); delay(10);
#ifdef DEBUG
printf("Stepper: %s\n",str);
#endif
notifyPositionChange(electrodeDepth);
return;
}
void NewPosition(int pos)
{
char buf[256];
#ifdef REVERSED_CABLEA
int diff = pos - electrodeDepth;
#else
int diff = electrodeDepth - pos;
#endif
int old = electrodeDepth;
int portstate;
if(motorinvert){
while((electrodeDepthOffset-pos) <= 0){
electrodeDepthOffset += 10000;
}
}
else{
while((electrodeDepthOffset+pos) <= 0){
electrodeDepthOffset += 10000;
}
}
#ifdef OLDCODE
while((pos - electrodeDepthOffset) >= 0){
electrodeDepthOffset -= 10000;
}
#endif
if(fabs(diff) > 9999){
sprintf(buf,"Thats a big step (%d) Proceed?",diff);
acknowledge(buf,"/bgc/bgc/c/binoc/help/bigstep.err");
}
if(fabs(diff) > 200){
sprintf(buf,"Thats a big step (%d) Proceed?",diff);
if(!confirm_yes(buf,NULL))
return;
}
#ifdef DEBUG
printf("Setting new Postion to %d (%d) %d\n",pos,diff,electrodeDepthOffset);
#endif
#if !defined(WIN32)
ioctl(motorPort,TIOCMGET,&portstate);
if(!(portstate & TIOCM_CTS)){
fprintf(stderr,"Stepper Not Ready\n");
acknowledge("Stepper Not Ready!");
if(optionflags[STEP_CLEAR_SPIKES]){
memcpy(&cleartime,&now,sizeof(struct timeval));
/* empirical approximation for the duration of the movement artifact */
cleardelay = 0.2;
}
return;
}
#endif
sprintf(buf,"%d",pos);
electrodeDepth = pos;
selectMotor(motorids[motorid]);
setCurrentPosition(old);
setNewPosition(electrodeDepth,diff);
gettimeofday(&now,NULL);
times[totalsteps] = timediff(&now,&progstarttime) + timeoffset;
depths[totalsteps] = electrodeDepth;
if(penlog){
fprintf(penlog,"ed %d at %.1f\n",electrodeDepth,times[totalsteps]);
if(diff < -200){
fprintf(penlog,"Step Back at %s\n",binocTimeString());
}
}
times[totalsteps+1] = 0;
if(totalsteps < MAXDEPTHS-1)
totalsteps++;
if(optionflags[STEP_CLEAR_SPIKES]){
memcpy(&cleartime,&now,sizeof(struct timeval));
/* empirical approximation for the duration of the movement artifact */
cleardelay = 0.11 + fabs(diff) * 0.027 - pow(fabs(diff),1.13) * 0.0113;
}
notifyPositionChange(electrodeDepth);
}
int OpenStepSerial(char *port)
{
char buf[256];
char str[256];
struct termios termios_p;
TTY t;
struct itimerval itimer;
long speed;
int portstate;
void (* sigfn)();
int i = 0;
stepport = port;
if(ttys[0] != 0)
i = 1;
/*
* On SGI, ttyd does not use RTS/CTS, so can use this to tell the
* Controller to turn on RTS/CTS (which then sets CTS high)
* Once this is done, can open with /dev/ttyf1, which uses
* CTS. CTS then used to poll when the motor has done its move
*/
//Ali #if defined(macosx)
if((ttys[i] = open(port,O_RDWR|O_NONBLOCK)) < 0)
//Ali #else
//Ali if((ttys[i] = open("/dev/ttyd1",O_RDWR|O_NONBLOCK)) < 0)
//Ali #endif
{
sprintf(buf,"Can't open %s",port);
perror(buf);
return(0);
}
alarm(0);
motorPort = ttys[i];
if(tcgetattr(ttys[i], &termios_p)) {
perror("Can't get terminal properties");
exit(-1);
}
if(tcgetattr(ttys[i], &termios_p)) {
perror("Can't get terminal properties");
return(-1);
}
/*
* after first opening the port, set it to ignore CTS (VTIME = 0)
* since the controller has the busy bit set at power up.
* then reopen the port and set it up to wait for CTS
*/
speed = B9600;
cfsetospeed(&termios_p, speed);
cfsetispeed(&termios_p, speed);
termios_p.c_cc[VMIN] = 1;
termios_p.c_cc[VTIME] = 0;
termios_p.c_lflag &= ~(ECHO|ICANON|ISIG|ECHOE|ECHOK|ECHONL|CCTS_OFLOW);
tcsetattr(motorPort, TCSANOW, &termios_p);
/* send commands to controller to auto select BAUD rate */
sprintf(str, "%c", CR);
write(motorPort, str, strlen(str));
delay(20);
write(motorPort, str, strlen(str));
delay(20);
/* set mode to ASCII commands, enable CTS on bit 6 */
sprintf(str, "O 0A0H%c", CR);
i = write(motorPort, str, strlen(str)); delay(20);
i = write(motorPort, str, strlen(str)); delay(20);
termios_p.c_cc[VMIN] = 1;
termios_p.c_cc[VTIME] = 0;
termios_p.c_lflag &= ~(ECHO|ICANON|ISIG|ECHOE|ECHOK|ECHONL);
// dont need to play wiht this here - just about to close port
// termios_p.c_lflag |= CCTS_OFLOW;
tcsetattr(motorPort, TCSANOW, &termios_p);
close(motorPort);
usleep(10000);
/* Now can open a port that Respects RTS/CTS */
sigfn = signal(SIGALRM, settimeout);
alarm(10);
// itimer.it_interval.tv_sec = 10;
// setitimer(ITIMER_REAL, &itimer, NULL);
/*
* on macosx (with Keyspan serial adapters) this will hang
* if there is no Controller box attached, unless O_NONBLOCK is set.
* Alarm should deal with this, but seems not to under macosx
* problem is that I think this may stop it from blocking when the motor
* is moved. Need to check this.
*/
// if((motorPort = open(port, O_RDWR|O_NONBLOCK)) == -1) {
if((motorPort = open(port, O_RDWR|O_NONBLOCK)) == -1) {
perror("Can't open serial port");
acknowledge("Can't open serial port",NULL);
return(-1);
}
alarm(0);
// itimer.it_interval.tv_sec = 0;
// setitimer(ITIMER_REAL, &itimer, NULL);
signal(SIGALRM, sigfn);
if(ioctl(motorPort,TCGETA,&t) < 0)
{
perror("iocntl 1");
exit(-1);
}
t.c_lflag &= ~(ICANON | ECHO);
t.c_cflag &= (~(PARENB|PARODD));
t.c_ospeed = B9600;
t.c_ispeed = B9600;
// This is necessary to get CTS respsected
t.c_cflag |= (CCTS_OFLOW);
t.c_cc[VEOF] = 0; /* 0 buffered char */
t.c_cc[VEOL] = 0; /* return immediately between */
t.c_cc[VMIN] = 0; /* 0 buffered char */
t.c_cc[VTIME] = 0; /* return if no char in 0.l sec */
if(ioctl(motorPort,TCSETA,&t) < 0)
{
perror("Ioctl 2");
exit(-2);
}
usleep(10000);
#if !defined(WIN32)
ioctl(motorPort,TIOCMGET,&portstate);
if(!(portstate & TIOCM_CTS)){
acknowledge("Controller CTS is low. Restart",NULL);
}
#endif
stepsetup();
notifyPositionChange(electrodeDepth);
return(motorPort);
}
void GraphicsNodeSocket::
set_edge(GraphicsDirectedEdge *edge) {
// TODO: handle edge conflict
_edge = edge;
notifyPositionChange();
}
