void InvPartEditor::selectByName(char *regExp)
{
regex_t preg;
int err = regcomp(&preg, regExp, REG_ICASE | REG_NOSUB);
if (0 != err)
{
//obviously the regular expression was erroneous
showerr(err);
return;
}
int i;
for (i = 0; i < numberOfParts_; i++)
{
if (0 == regexec(&preg, parts_[i].name_, 0, NULL, REG_NOSUB))
{
XmToggleButtonSetState(parts_[i].visible_, True, False);
}
}
apply();
}
int run() {
int ret = 0, childpid;
struct tf_config *newconfig=NULL;
FILE *pidfile;
rbuf = malloc(sizeof(char) * 128);
prefix = "\n";
if ((config = readconfig(config_file)) == NULL) {
message(LOG_ERR, MSG_ERR_CONF_NOFILE);
return ERR_CONF_NOFILE;
}
if (config->init_fan()) {
ret = ERR_FAN_INIT;
goto bail;
}
if (config->get_temp() == ERR_T_GET) {
ret = ERR_T_GET;
goto bail;
}
if (chk_sanity && ((pidfile = fopen(PID_FILE, "r")) != NULL)) {
fclose(pidfile);
message_fg(LOG_ERR, MSG_ERR_RUNNING);
ret = ERR_PIDFILE;
goto bail;
}
if (depulse) message(LOG_INFO, MSG_INF_DEPULSE(sleeptime, depulse_tmp));
// So we try to detect most errors before forking...
if (!nodaemon) { //如果本程序可以作为一个后台应用程序
if ((childpid = fork()) != 0) {
if (!quiet) fprintf(stderr, "Daemon PID: %d\n", childpid);
ret = 0;
goto bail;
}
if (childpid < 0) {
perror("fork()");
ret = ERR_FORK;
goto bail;
}
}
if ((pidfile = fopen(PID_FILE, "w+")) == NULL) {
showerr(PID_FILE);
ret = ERR_PIDFILE;
goto bail;
}
fprintf(pidfile, "%d\n", getpid());
fclose(pidfile);
while (1) {
interrupted = 0;
if ((ret = fancontrol())) break;
else if (interrupted == SIGHUP) {
message(LOG_DEBUG, MSG_DBG_CONF_RELOAD);
if ((newconfig = readconfig(config_file)) != NULL) {
free_config(config);
config = newconfig;
}
else message(LOG_ERR, MSG_ERR_CONF_RELOAD);
}
else if (SIGINT <= interrupted && interrupted <= SIGTERM) {
message(LOG_WARNING, "\nCaught deadly signal. ");
break;
}
}
message(LOG_WARNING, MSG_INF_TERM);
config->uninit_fan();
unlink(PID_FILE);
bail:
free_config(config);
return ret;
}
/*
该函数用于显示错误信息
2011-01-29
20:00
*/
void errorprocess::showerr(TYPE_ERROR err)
{
showerr(err, "");
}
/**************************************************
* Just home the motor and do a bunch of random
* moves.
**************************************************/
int main( void )
{
// The libraries define one global object of type
// CopleyMotionLibraries named cml.
//
// This object has a couple handy member functions
// including this one which enables the generation of
// a log file for debugging
cml.SetDebugLevel( LOG_EVERYTHING );
// Create an object used to access the low level CAN network.
// This examples assumes that we're using the Copley PCI CAN card.
#if defined( USE_CAN )
CopleyCAN hw( "CAN0" );
hw.SetBaud( canBPS );
#elif defined( WIN32 )
WinUdpEcatHardware hw( "eth0" );
#else
LinuxEcatHardware hw( "eth0" );
#endif
// Open the network object
#if defined( USE_CAN )
CanOpen net;
#else
EtherCAT net;
#endif
const Error *err = net.Open( hw );
showerr( err, "Opening network" );
// Initialize the amplifiers using default settings
Amp amp[AMPCT];
AmpSettings set;
set.guardTime = 0;
printf( "Doing init\n" );
int i;
for( i=0; i<AMPCT; i++ )
{
printf( "Initing %d\n", canNodeID+i );
err = amp[i].Init( net, canNodeID+i, set );
showerr( err, "Initting amp" );
MtrInfo mtrInfo;
err = amp[i].GetMtrInfo( mtrInfo );
showerr( err, "Getting motor info\n" );
err = amp[i].SetCountsPerUnit( mtrInfo.ctsPerRev );
showerr( err, "Setting cpr\n" );
}
// Create a linkage object holding these amps
Linkage link;
err = link.Init( AMPCT, amp );
showerr( err, "Linkage init" );
// Home the amps
HomeConfig hcfg;
hcfg.method = CHM_NONE;
hcfg.offset = 0;
for( i=0; i<AMPCT; i++ )
{
// Home the amp. Notice that the linkage object may be used
// like an array to reference the amplifiers.
err = link[i].GoHome( hcfg );
showerr( err, "Going home" );
}
// Wait for all amplifiers to finish the home by waiting on the
// linkage object itself.
printf( "Waiting for home to finish...\n" );
err = link.WaitMoveDone( 20000 );
showerr( err, "waiting on home" );
// Setup the velocity, acceleration, deceleration & jerk limits
// for multi-axis moves using the linkage object
err = link.SetMoveLimits( 10, 10, 10, 100 );
showerr( err, "setting move limits" );
// Do a bunch of random moves.
for( int j=0; j<5000; j++ )
{
// Create an N dimensional position to move to
Point<AMPCT> pos;
printf( "%d: moving to ", j );
for( i=0; i<AMPCT; i++ )
{
pos[i] = (rand() % 100000) / 100000.0;
if( i ) pos[i] = pos[0];
printf( "%.3lf ", pos[i] );
}
printf( "\n" );
// This function will cause the linkage object to create a
// multi-axis S-curve move to the new position. This
// trajectory will be passed down to the amplifiers using
// the PVT trajectory mode
err = link.MoveTo( pos );
showerr( err, "Moving linkage" );
// Wait for the move to finish
err = link.WaitMoveDone( 1000 * 30 );
showerr( err, "waiting on linkage done" );
}
return 0;
}
static
void
parseCommandline( int argc, char* argv[],
int* fail_hard, int* old_mode, int* cpus )
{
char *s, *ptr = strrchr( argv[0], '/' );
int option, tmp;
/* exit code 0 is always good, just in case */
memset( success, 0, sizeof(success) );
success[0] = 1;
*cpus = 1;
if ( ptr == NULL ) ptr = argv[0];
else ptr++;
application = ptr;
/* default progress report location from environment variable */
if ( (s = getenv("SEQEXEC_PROGRESS_REPORT")) != NULL ) {
if ( (progress = open( s, O_WRONLY | O_APPEND | O_CREAT, 0666 )) == -1 ) {
showerr( "%s: open progress %s: %d: %s\n",
application, s, errno, strerror(errno) );
}
}
/* default parallelism from environment variable */
if ( (s = getenv("SEQEXEC_CPUS")) != NULL ) {
if ( strcasecmp( s, "auto" ) == 0 ) *cpus = processors();
else *cpus = atoi(s);
if ( *cpus < 0 ) *cpus = 1;
}
opterr = 0;
while ( (option = getopt( argc, argv, "R:S:defhn:s:" )) != -1 ) {
switch ( option ) {
case 'R':
if ( progress != -1 ) close(progress);
if ( (progress = open( optarg, O_WRONLY | O_APPEND | O_CREAT, 0666 )) == -1 ) {
showerr( "%s: open progress %s: %d: %s\n",
application, optarg, errno, strerror(errno) );
}
break;
case 'S':
tmp = atoi(optarg);
if ( tmp > 0 && tmp < sizeof(success) ) success[tmp] = 1;
else showerr( "%s: Ignoring unreasonable success code %d\n", application, tmp );
break;
case 'd':
debug++;
break;
case 'e':
*old_mode = 1;
*fail_hard = 0;
break;
case 'f':
*fail_hard = 1;
*old_mode = 0;
break;
case 'n':
if ( strcasecmp( optarg, "auto" ) == 0 ) *cpus = processors();
else *cpus = atoi(optarg);
if ( *cpus < 0 ) *cpus = 1;
break;
case 's':
if ( freopen( optarg, "w", stdout ) == NULL ) {
showerr( "%s: open status %s: %d: %s\n",
application, optarg, errno, strerror(errno) );
exit(2);
}
break;
case 'h':
case '?':
helpMe( ptr, 0 );
break;
default:
helpMe( ptr, 1 );
break;
}
}
if ( (argc - optind) > 1 ) helpMe( ptr, 1 );
if ( argc != optind ) {
if ( (freopen( argv[optind], "r", stdin )) == NULL ) {
showerr( "%s: open input %s: %d: %s\n",
application, argv[optind], errno, strerror(errno) );
exit(3);
}
}
}
/* initialize variables */
int init_hist_np()
{
chamber_p chamb;
int ipl;
double d;
int i, n;
/* initialyze for Target Chamber MWDC */
chamb = &tgc_mwdc;
chamb->name = "TGC";
chamb->type = CHAMB_MWDC;
chamb->npl = 10;
chamb->plane = (plane_p)malloc(sizeof(plane_t)*chamb->npl);
chamb->plane[0].name = "VT1";
chamb->plane[1].name = "VT2";
chamb->plane[2].name = "VT3";
chamb->plane[3].name = "VT4";
chamb->plane[4].name = "X1";
chamb->plane[5].name = "X2";
chamb->plane[6].name = "U1";
chamb->plane[7].name = "U2";
chamb->plane[8].name = "V1";
chamb->plane[9].name = "V2";
for(ipl=0; ipl<chamb->npl; ipl++){
chamb->plane[ipl].chamb = chamb;
}
chamb_init_hist(chamb);
n = 1<<chamb->npl;
chamb->matrix = (void*)malloc(sizeof(mat_p)*n);
for(i=0; i<n; i++) ((mat_p*)chamb->matrix)[i] = (mat_p)NULL;
chamb->mb = matrix_new(4,1);
chamb->mc = matrix_new(4,1);
if(chamb->matrix==NULL||chamb->mb==NULL||chamb->mc==NULL){
showerr("init_hist_np: No enough memory available\n");
exit(1);
}
/* initialyze for Front-end Chamber MWDC */
chamb = &fec_mwdc;
chamb->name = "FEC";
chamb->type = CHAMB_MWDC;
chamb->npl = 6;
chamb->plane = (plane_p)malloc(sizeof(plane_t)*chamb->npl);
chamb->plane[0].name = "Y1";
chamb->plane[1].name = "Y2";
chamb->plane[2].name = "V1";
chamb->plane[3].name = "V2";
chamb->plane[4].name = "U1";
chamb->plane[5].name = "U2";
for(ipl=0; ipl<chamb->npl; ipl++){
chamb->plane[ipl].chamb = chamb;
}
chamb_init_hist(chamb);
n = 1<<chamb->npl;
chamb->matrix = (void*)malloc(sizeof(mat_p)*n);
for(i=0; i<n; i++) ((mat_p*)chamb->matrix)[i] = (mat_p)NULL;
chamb->mb = matrix_new(4,1);
chamb->mc = matrix_new(4,1);
if(chamb->matrix==NULL||chamb->mb==NULL||chamb->mc==NULL){
showerr("init_hist_np: No enough memory available\n");
exit(1);
}
}
/* description: Initialize the motor,the motor can work in three diffrient mode
posiotion,velocity,torque.this one is initialed to torque,modify
the code if needed
// function: void motor_init(void)
// @param:
//return value:
*/
void motor_init(void)
{
static char message[32];
uint8 err;
sprintf(message, "velocity started:\r\n");
UART0_SendStr (message);
//get initial position step:0
uint32 pos;
err=GetPosition(&pos);
if(err){showerr(err,0);}
else{
sprintf(message, "initial pos: %4d\r\n",pos);
UART0_SendStr (message);
}
// set homing mode step:1
err=SetHomeMode(1);
if(err){showerr(err,1);}
// set homing method step:2
// here the mean of homing is that
// to use the current position as homing position
err=Dnld8(OBJID_HOME_METHOD, 0, (uint8)35,2);
if(err){showerr(err,2);}
// shutdown step:3
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x06,3);
if(err){showerr(err,3);}
//wait at least 3ms to avoid the Priority inversion
sysDelayNS(3);
// switch on step:4
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x07,4);
if(err){showerr(err,4);}
// enable operation step:5
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x0f,5);
if(err){showerr(err,5);}
// start home mode step:6
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x1f,6);
if(err){showerr(err,6);}
// home mode active step:7
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x1f,7);
if(err){showerr(err,7);}
sysDelayNS(10);
//get current position step:8
err=GetPosition(&pos);
if(err){showerr(err,8);}
else{
sprintf(message, "current pos: %4d\r\n",pos);
UART0_SendStr (message);
}
//===================================
// set position mode step:9
err=SetPositionMode(1);
if(err){showerr(err,9);}
// shutdown step:10
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x06,2);
if(err){showerr(err,10);}
// switch on step:11
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x07,3);
if(err){showerr(err,11);}
//wait at least 3ms to avoid the Priority inversion
sysDelayNS(3);
// enable operation step:12
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x0f,4);
if(err){showerr(err,12);}
// while(1){;} //just for debug
}
int main( void )
{
////////////////////////////////////////////////////////////////////////////////////////// VVV Initialization and Homing VVV
//cout << "ayy lmao\n"; //For debugging
////////////////////Set up Copley Libraries///////////
// The libraries define one global object of type
// CopleyMotionLibraries named cml.
//
// This object has a couple handy member functions
// including this one which enables the generation of
// a log file for debugging
cml.SetDebugLevel( LOG_EVERYTHING );
// Create an object used to access the low level CAN network.
// This examples assumes that we're using the Copley PCI CAN card.
#if defined( USE_CAN )
KvaserCAN hw( "CAN0" );
hw.SetBaud( canBPS );
#elif defined( WIN32 )
WinUdpEcatHardware hw( "eth0" );
#else
LinuxEcatHardware hw( "eth0" );
#endif
// Open the network object
#if defined( USE_CAN )
CanOpen net;
#else
EtherCAT net;
#endif
const Error *err;
int i;
Amp amp[AMPCT];
if(robotPlugged){
err = net.Open( hw );
showerr( err, "Opening network" );
// Initialize the amplifiers using default settings
AmpSettings set;
set.guardTime = 0;
cout << "Doing initialization"<<endl;
for( i=0; i<AMPCT; i++ )
{
//printf( "Initiating Amplifier %d\n", canNodeID+i );
cout << "Initializing Amplifier " << (canNodeID+i) << endl;
err = amp[i].Init( net, canNodeID+i, set );
showerr( err, "Initting amp" );
MtrInfo mtrInfo;
err = amp[i].GetMtrInfo( mtrInfo );
showerr( err, "Getting motor info\n" );
// err = amp[i].SetCountsPerUnit( mtrInfo.ctsPerRev );
// printf( "CountsPerRev %d\n", mtrInfo.ctsPerRev );
err = amp[i].SetCountsPerUnit( 8000.0/5.0); // User Units are now in mm
showerr( err, "Setting cpr\n" );
}
}
// Create a linkage object holding these amps
Linkage link;
if(robotPlugged){
err = link.Init( AMPCT, amp );
showerr( err, "Linkage init" );
// Home the amps
HomeConfig hcfg;
err = link[0].GetHomeConfig(hcfg);
showerr(err, "get Home Config");
hcfg.velFast = 5;
hcfg.velSlow = 1;
hcfg.accel = 10;
hcfg.method = CHM_NHOME_INDX; // CHM_NONE;
hcfg.offset = 0;
printf( "Home Velocity %f \n", hcfg.velFast );
printf( "Home Velocity Slow %f \n", hcfg.velSlow );
// Setup the velocity, acceleration, deceleration & jerk limits
// for multi-axis moves using the linkage object
err = link.SetMoveLimits( 75, 75, 75, 100 );
showerr( err, "setting move limits" );
// Create an N dimensional position to move to
Point<AMPCT> act;
for( i=0; i<AMPCT; i++ )
{
// Assuming we are low to the ground and centered, first move forward 30mm.
//Notice that the linkage object may be used like an array to reference the amplifiers.
double currentPosition;
err = link[i].GetPositionActual(currentPosition);
printf( "Current Position %f \n", currentPosition );
showerr( err, "ActualPosition" );
act[i]= currentPosition+50; //in mm
// if(currentPosition<0){
// act[i]= currentPosition+(0-currentPosition)+2.5; //in mm
// }else{
// act[i]= 2.5;
// }
printf( "Goal Position %f mm \n", act[i]);
}
err = link.MoveTo( act );
showerr( err, "Moving linkage" );
// Wait for all amplifiers to finish the initial move by waiting on the
// linkage object itself.
printf( "Waiting for move up to finish...\n" );
err = link.WaitMoveDone( 20000 );
showerr( err, "waiting on initial move" );
for( i=0; i<AMPCT; i++ )
{
// Home the amp. Notice that the linkage object may be used
// like an array to reference the amplifiers.
if(i==0){
hcfg.offset = 2;
}else if(i==2 || i==3){
hcfg.offset = -0.75;
}else if(i==4){
hcfg.offset = -1;
}else{
hcfg.offset = 0;
}
err = link[i].GoHome(hcfg); // hcfg
showerr( err, "Going home" );
}
// Wait for all amplifiers to finish the home by waiting on the
// linkage object itself.
printf( "Waiting for home to finish...\n" );
err = link.WaitMoveDone( 20000 );
showerr( err, "waiting on home" );
}
////////////////////////////////////////////////////////////////////////////////////////// ^^^ Initialization and Homing Complete. ^^^
// Create an N dimensional position to move to
Point<AMPCT> act;
act[0] = 99-1;
act[1] = 99-2;
act[2] = 99-2.5;
act[3] = 99-1;
act[4] = 99-2;
act[5] = 99-.5;
// Z is 45.75 inches
if(robotPlugged){
err = link.MoveTo( act );
showerr( err, "Moving linkage" );
// Wait for all amplifiers to finish the initial move by waiting on the
// linkage object itself.
printf( "Waiting for move up to finish...\n" );
err = link.WaitMoveDone( 20000 );
showerr( err, "waiting on initial move" );
}
// Create an N dimensional slide vector
// Point<AMPCT> q;
double q[AMPCT];
char msgBack;
char qMsg[sizeof(double)];
double qTemp;
////////////////////////////////////////////////////////////////////////////////////////////////////////////////Main Function
while(isRunning){
std::cout<< "RUN CHECK\n";
msgBack = std::cin.get();
std::cout<< "CPP Receieves Message!\n";
isRunning = msgBack-48;
if(isRunning){
std::cout<< "RUN OK\n";
//Check if valid q. If not, then isRunning = false, break. Or, try again.
int checker = 0;
for (int i = 0; i<AMPCT; i++){
std::cout<< "GIMME\n";
for (int j = 0; j<sizeof(double); j++){
qMsg[j] = std::cin.get();
std::cout<< qMsg[j] <<endl;
}
//printf("Received:%s\n", qMsg );
memcpy(&qTemp,&qMsg,sizeof(double));
printf( "Converted %f \n", qTemp);
q[i] = qTemp;
if(SIGMA2ACTUATOR - q[i]<=250 && SIGMA2ACTUATOR - q[i] >= 0){
checker++;
}
}
for (int i = 0; i<AMPCT; i+=2){
if(sqrt(q[i]*q[i]+q[i]*q[i+1]+q[i+1]*q[i+1])<=MAXWIDTH){
checker+=2;
}
}
if(checker == 2*AMPCT){
checker = 0;
std::cout<< "GOOD Q\n";
std::cout<< "Moving to point...\n";
//If all safe, Assign vector act[] with the new coords. If not, stay.
//Convert from q (sigma coords) to actuator coords (0 to 300mm)
act[0] = SIGMA2ACTUATOR - q[0];
act[1] = SIGMA2ACTUATOR - q[1];
act[2] = SIGMA2ACTUATOR - q[2];
act[3] = SIGMA2ACTUATOR - q[3];
act[4] = SIGMA2ACTUATOR - q[4];
act[5] = SIGMA2ACTUATOR - q[5];
if(robotPlugged){
err = link.MoveTo( act );
showerr( err, "Moving linkage" );
// Wait for all amplifiers to finish the initial move by waiting on the
// linkage object itself.
printf( "Waiting for move up to finish...\n" );
err = link.WaitMoveDone( 20000 );
showerr( err, "waiting on initial move" );
}
}else{
checker = 0;
std::cout<< "BAD Q\n";
std::cout<< "Please try again...\n";
}
// tell Python we're done with this move.
std::cout<<"Move Done.\n";
}else{
std::cout<<"Ending Program...\n";
}
}
//////////////////////////////////////////////////////////////////////////////////////Go to home position before ending
act[0] = 0;
act[1] = 0;
act[2] = 0;
act[3] = 0;
act[4] = 0;
act[5] = 0;
//cout << "Press ENTER to coninue...";
//std::cin.ignore();
if(robotPlugged){
err = link.MoveTo( act );
showerr( err, "Moving linkage" );
// Wait for all amplifiers to finish the initial move by waiting on the
// linkage object itself.
printf( "Waiting for move up to finish...\n" );
err = link.WaitMoveDone( 20000 );
showerr( err, "waiting on initial move" );
}
return 0;
}
