QString AxisHandler::description()
{
QString addressesW(""), addressesR(""), addressesS(""), addressesG("");
for(int i=0; i<assignedWriteRegisters_.size(); ++i)
{
addressesW += QString::number(getRegister(i, regType::write));
if(i < assignedWriteRegisters_.size()-1)
addressesW += ",";
}
for(int i=0; i<assignedReadRegisters_.size(); ++i)
{
addressesR += QString::number(getRegister(i, regType::read));
if(i < assignedReadRegisters_.size()-1)
addressesR += ",";
}
for(int i=0; i<assignedSpeedRegisters_.size(); ++i)
{
addressesS += QString::number(getRegister(i, regType::speed));
if(i < assignedSpeedRegisters_.size()-1)
addressesS += ",";
}
for(int i=0; i<assignedGearRegisters_.size(); ++i)
{
addressesG += QString::number(getRegister(i, regType::gear));
if(i < assignedGearRegisters_.size()-1)
addressesG += ",";
}
return QString(handlerType())+"/"+QString::number(axesCount_)+"/"+addressesW+"/"+addressesR+"/"+addressesS+"/"+addressesG;
}
Foam::fileOperations::autoParallelFileOperation::
autoParallelFileOperation
(
const bool verbose
)
:
uncollatedFileOperation(false)
{
// Determine the underlying file handler
word handlerType(getEnv("FOAM_FILEHANDLER"));
if (handlerType == type())
{
handlerType = word::null;
}
if (handlerType.empty())
{
handlerType = fileOperation::defaultFileHandler;
}
if (verbose)
{
Info<< "I/O : " << typeName << nl
<< " (reconstructs on-the-fly in parallel operation)" << nl
<< " Underlying I/O through " << handlerType
<< endl;
}
if (regIOobject::fileModificationChecking == regIOobject::timeStampMaster)
{
if (verbose)
{
WarningInFunction
<< "Resetting fileModificationChecking to timeStamp" << endl;
}
regIOobject::fileModificationChecking = regIOobject::timeStamp;
}
else if
(
regIOobject::fileModificationChecking
== regIOobject::inotifyMaster
)
{
if (verbose)
{
WarningInFunction
<< "Resetting fileModificationChecking to inotify"
<< endl;
}
regIOobject::fileModificationChecking = regIOobject::inotify;
}
// Construct basic file handler
basicFileHandler_ = fileOperation::New(handlerType, true);
}
void AxisHandler::set(QStringList frame)
{
ModbusCommand* cmd;
QStringList context = QStringList() << QString(handlerType());
bool ok = false;
if(frame.at(0) == QString("*")) // (S,A,*,...)
{
if(frame.length() == axesCount_+1) // (S,A,*,pierwsza,druga,...)
{
context << QString("*");
ok = true;
QVector<int> values;
for(int i=1; i<=axesCount_; ++i)
values.push_back(frame.at(i).toInt());
//rejestr kroków
cmd = new ModbusCommandMultiwrite(context, getRegister(0, regType::write), axesCount_, values);
}
else
{
emit error("A/1/Arguments count not valid. Required " + QString::number(axesCount_+1) + \
", given " + QString::number(frame.length()));
return;
}
}
else if(frame.at(0) == QString("s")) // (S,A,s,...)
{
context << QString("s");
if(frame.at(1) == QString("*")) // (S,A,s,*,...)
{
if(frame.length() == axesCount_+2) // (S,A,s,*,piersza,druga,...)
{
context << QString("*");
ok = true;
QVector<int> values;
for(int i=2; i<axesCount_+2; ++i)
values.push_back(frame.at(i).toInt());
//rejestr prędkości
cmd = new ModbusCommandMultiwrite(context, getRegister(0, regType::speed), axesCount_, values);
}
else
{
emit error("A/1/Arguments count not valid. Required 3 or " + QString::number(axesCount_+2) + \
", given " + QString::number(frame.length()));
return;
}
}
else if(frame.length() == 3) // (S,A,s,nr,wartość)
{
ok = true;
//rejestr prędkości
cmd = new ModbusCommandWrite(context, getRegister(frame.at(1).toInt(), regType::speed), frame.at(2).toInt());
}
else
{
emit error("A/1/Not enough arguments to set all axes' speed at once");
return;
}
}
else if(frame.at(0) == QString("g")) // (S,A,g,...)
{
context << QString("g");
if(frame.at(1) == QString("*")) // (S,A,g,*,...)
{
if(frame.length() == axesCount_+2) // (S,A,g,*,piersza,druga,...)
{
context << QString("*");
ok = true;
QVector<int> values;
for(int i=2; i<axesCount_+2; ++i)
values.push_back(frame.at(i).toInt());
//rejestr prędkości
cmd = new ModbusCommandMultiwrite(context, getRegister(0, regType::gear), axesCount_, values);
}
else
{
emit error("A/1/Arguments count not valid. Required 3 or " + QString::number(axesCount_+2) + \
", given " + QString::number(frame.length()));
return;
}
}
else if(frame.length() == 3) // (S,A,g,nr,wartość)
{
ok = true;
//rejestr prędkości
cmd = new ModbusCommandWrite(context, getRegister(frame.at(1).toInt(), regType::gear), frame.at(2).toInt());
}
else
{
emit error("A/1/Not enough arguments to set all axes' gear at once");
return;
}
}
else if(frame.length() == 2) // (S,A,nr,wartość)
{
ok = true;
//rejestr kroków
cmd = new ModbusCommandWrite(context, getRegister(frame.at(0).toInt(), regType::write), frame.at(1).toInt());
}
else
emit error("A/1/Arguments count not valid. Required 2 or " + QString::number(axesCount_+1) + \
" (+1 for speed), given " + QString::number(frame.length()));
if(ok)
{
connect(cmd, SIGNAL(done(QStringList,QStringList)), this, SLOT(finish(QStringList,QStringList)));
connect(cmd, SIGNAL(error(QString)), this, SLOT(failure(QString)));
modbus_->addCommand(cmd);
}
}
void AxisHandler::get(QStringList frame)
{
QStringList context = QStringList() << QString(handlerType()) << frame.at(0);
ModbusCommand* cmd;
bool ok = false;
if(frame.length() == 1)
{
if(frame.at(0) == QString("*"))
{
cmd = new ModbusCommandMultiread(context, getRegister(0, regType::read), axesCount_);
}
else
{
cmd = new ModbusCommandRead(context, getRegister(frame.at(0).toInt(), regType::read));
}
ok = true;
}
else if(frame.length() == 2)
{
context << frame.at(1);
if(frame.at(0) == QString("s"))
{
if(frame.at(1) == QString("*"))
{
cmd = new ModbusCommandMultiread(context, getRegister(0, regType::speed), axesCount_);
ok = true;
}
else
{
cmd = new ModbusCommandRead(context, getRegister(frame.at(1).toInt(), regType::speed));
ok = true;
}
}
else if(frame.at(0) == QString("g"))
{
if(frame.at(1) == QString("*"))
{
cmd = new ModbusCommandMultiread(context, getRegister(0, regType::gear), axesCount_);
ok = true;
}
else
{
cmd = new ModbusCommandRead(context, getRegister(frame.at(1).toInt(), regType::gear));
ok = true;
}
}
else
emit error("A/2/Two arguments given, but first is not 's' nor 'g'");
}
else
emit error("A/1/Arguments count not valid. Required 1 or 2, given "+QString::number(frame.length()));
if(ok)
{
connect(cmd, SIGNAL(done(QStringList,QStringList)), this, SLOT(finish(QStringList,QStringList)));
connect(cmd, SIGNAL(error(QString)), this, SLOT(failure(QString)));
modbus_->addCommand(cmd);
}
}
