static void sendTrackStatus(int property_list) {
if (HAS_TITLE(property_list) && mpris_data->title != NULL) {
debug("sending title\n");
transmitMsg(client_socket, pathFromUrl(mpris_data->title),
strlen(pathFromUrl(mpris_data->title)),
TRACK_TITLE, TRACK_TITLE_SZ);
}
if (HAS_ARTIST(property_list) && mpris_data->artist != NULL) {
debug("sending artist\n");
transmitMsg(client_socket, mpris_data->artist, strlen(mpris_data->artist),
TRACK_ARTIST, TRACK_ARTIST_SZ);
}
if (HAS_ALBUM(property_list) && mpris_data->album != NULL) {
debug("sending album\n");
transmitMsg(client_socket, mpris_data->album, strlen(mpris_data->album),
TRACK_ALBUM, TRACK_ALBUM_SZ);
}
if (HAS_LENGTH(property_list)) {
int64_t length = htobe64(mpris_data->length);
debug("sending length : %ld\n", mpris_data->length);
transmitMsg(client_socket, (char *)&length, sizeof(int64_t),
TRACK_LENGTH, TRACK_LENGTH_SZ);
}
if (HAS_TRACKID(property_list) && mpris_data->trackid != NULL) {
debug("sending trackid : %s\n", mpris_data->trackid);
transmitMsg(client_socket, mpris_data->trackid, strlen(mpris_data->trackid),
TRACK_ID, TRACK_ID_SZ);
}
if (HAS_ARTURL(property_list) && mpris_data->artUrl != NULL) {
debug("sending arturl\n");
transmit(client_socket, TRACK_ARTURL, TRACK_ARTURL_SZ);
transmitFile(client_socket, pathFromUrl(mpris_data->artUrl));
}
}
void ProcOnRegistered(BN_PInfo I)
{
bool found;
LinkedListItem_t *item;
IRCServer_t *server;
IRCChannel_t *channel;
server = (IRCServer_t *)I->User;
if( verbose ) {
LogPrintNoArg( LOG_DEBUG, "Event Registered");
}
if( strcmp(server->nickserv, "") ) {
/* We need to register with nickserv */
transmitMsg( server, TX_PRIVMSG, server->nickserv,
server->nickservmsg );
}
if( server->channels ) {
LinkedListLock( server->channels );
for( found = false, item = server->channels->head;
item && !found; item = item->next ) {
channel = (IRCChannel_t *)item;
if( channel->joined || !channel->enabled ) {
continue;
}
transmitMsg( server, TX_JOIN, channel->channel, NULL );
found = true;
}
LinkedListUnlock( server->channels );
}
}
void ProcOnJoinChannel(BN_PInfo I, const char Chan[])
{
bool found;
LinkedListItem_t *item;
IRCServer_t *server;
IRCChannel_t *channel;
server = (IRCServer_t *)I->User;
LogPrint( LOG_NOTICE, "Joined channel %s on server %s", Chan,
server->server);
if( server->channels ) {
LinkedListLock( server->channels );
for( found = false, item = server->channels->head;
item && !found; item = item->next ) {
channel = (IRCChannel_t *)item;
if( channel->joined || !channel->enabled ) {
continue;
}
if( !strcasecmp(Chan, channel->channel) ) {
channel->joined = TRUE;
channel->newChannel = FALSE;
db_flush_nicks( channel );
continue;
}
transmitMsg( server, TX_JOIN, channel->channel, NULL );
found = true;
}
LinkedListUnlock( server->channels );
}
}
void ProcOnKick(BN_PInfo I, const char Chan[], const char Who[],
const char Whom[], const char Msg[])
{
char *string;
IRCChannel_t *channel;
IRCServer_t *server;
char nick[256];
string = (char *)malloc(MAX_STRING_LENGTH);
BN_ExtractNick(Whom, nick, 256);
sprintf(string, "%s has been kicked from %s by %s (%s)\n", Whom, Chan, Who,
Msg);
server = (IRCServer_t *)I->User;
channel = FindChannel(server, Chan);
db_add_logentry( channel, (char *)Who, TYPE_KICK, string, true );
db_update_nick( channel, nick, false, false );
db_nick_history( channel, nick, HIST_LEAVE );
free( string );
if( !strcasecmp( Whom, server->nick ) ) {
#ifdef REJOIN_ON_KICK
/*
* We just got kicked. The NERVE! Join again.
*/
channel->joined = FALSE;
transmitMsg( server, TX_JOIN, channel->channel, NULL );
#endif
LogPrint( LOG_NOTICE, "Kicked from channel %s on server %s by %s (%s)",
channel->channel, server->server, Who, Msg);
}
}
void LoggedActionMessage( IRCServer_t *server, IRCChannel_t *channel,
char *message )
{
transmitMsg( server, TX_ACTION, channel->channel, message );
db_add_logentry( channel, server->nick, TYPE_ACTION, message, false );
db_update_nick( channel, server->nick, true, false );
}
bool SerialManagerView::eventFilter(QObject *object, QEvent *event)
{
if (object == message && event->type() == QEvent::KeyPress)
{
QKeyEvent *keyEvent = static_cast<QKeyEvent *>(event);
if (keyEvent->key() == Qt::Key_Return)
{
// Special tab handling
//qDebug("Enter Key Pressed...");
/// transmission
if (message->text().length() > 0) {
appendEndCmd();
transmitMsg();
}
return true;
}
else
{
return QWidget::eventFilter(object, event);
}
}
else
{
return QWidget::eventFilter(object, event);
}
}
static void sendLoopStatus() {
if (mpris_data->loop == NULL) {
return;
}
transmitMsg(client_socket, mpris_data->loop, strlen(mpris_data->loop),
LOOP_HEAD, LOOP_HEAD_SZ);
}
void ProcOnInvite(BN_PInfo I, const char Chan[], const char Who[],
const char Whom[])
{
IRCChannel_t *channel;
IRCServer_t *server;
if( verbose ) {
LogPrint( LOG_DEBUG, "You (%s) have been invited to %s by %s", Whom,
Chan, Who);
}
server = (IRCServer_t *)I->User;
channel = FindChannel(server, Chan);
if( !channel || !channel->enabled ) {
return;
}
/*
* We are configured for this channel, rejoin
*/
LogPrint( LOG_NOTICE, "Invited to channel %s on server %s by %s",
channel->channel, server->server, Who);
channel->joined = FALSE;
transmitMsg( server, TX_JOIN, channel->channel, NULL );
}
QespTest::QespTest(QWidget *parent)
: QWidget(parent)
{
//modify the port settings on your own
#ifdef Q_OS_UNIX
port = new QextSerialPort(QLatin1String("/dev/ttyS0"), QextSerialPort::Polling);
#else
port = new QextSerialPort(QLatin1String("COM1"), QextSerialPort::Polling);
#endif /*Q_OS_UNIX*/
port->setBaudRate(BAUD19200);
port->setFlowControl(FLOW_OFF);
port->setParity(PAR_NONE);
port->setDataBits(DATA_8);
port->setStopBits(STOP_2);
//set timeouts to 500 ms
port->setTimeout(500);
message = new QLineEdit(this);
// transmit receive
QPushButton *transmitButton = new QPushButton(tr("Transmit"));
connect(transmitButton, SIGNAL(clicked()), SLOT(transmitMsg()));
QPushButton *receiveButton = new QPushButton(tr("Receive"));
connect(receiveButton, SIGNAL(clicked()), SLOT(receiveMsg()));
QHBoxLayout *trLayout = new QHBoxLayout;
trLayout->addWidget(transmitButton);
trLayout->addWidget(receiveButton);
//CR LF
QPushButton *CRButton = new QPushButton(tr("CR"));
connect(CRButton, SIGNAL(clicked()), SLOT(appendCR()));
QPushButton *LFButton = new QPushButton(tr("LF"));
connect(LFButton, SIGNAL(clicked()), SLOT(appendLF()));
QHBoxLayout *crlfLayout = new QHBoxLayout;
crlfLayout->addWidget(CRButton);
crlfLayout->addWidget(LFButton);
//open close
QPushButton *openButton = new QPushButton(tr("Open"));
connect(openButton, SIGNAL(clicked()), SLOT(openPort()));
QPushButton *closeButton = new QPushButton(tr("Close"));
connect(closeButton, SIGNAL(clicked()), SLOT(closePort()));
QHBoxLayout *ocLayout = new QHBoxLayout;
ocLayout->addWidget(openButton);
ocLayout->addWidget(closeButton);
received_msg = new QTextEdit();
QVBoxLayout *myVBox = new QVBoxLayout;
myVBox->addWidget(message);
myVBox->addLayout(crlfLayout);
myVBox->addLayout(trLayout);
myVBox->addLayout(ocLayout);
myVBox->addWidget(received_msg);
setLayout(myVBox);
qDebug("isOpen : %d", port->isOpen());
}
void channelLeave( IRCServer_t *server, IRCChannel_t *channel,
char *oldChannel )
{
transmitMsg( server, TX_PART, oldChannel,
"Leaving due to reconfiguration" );
db_nick_history( channel, "", HIST_END );
channel->joined = FALSE;
}
static void sendPlaybackStatus() {
if (mpris_data->playback == NULL) {
return;
}
debug("client socket : %d\n", client_socket);
transmitMsg(client_socket, mpris_data->playback, strlen(mpris_data->playback),
PLAYBACK_HEAD, PLAYBACK_HEAD_SZ);
}
void ProcOnConnected(BN_PInfo I, const char HostName[])
{
IRCServer_t *server;
server = (IRCServer_t *)I->User;
LogPrint( LOG_NOTICE, "Connected to %s:%d as %s...", server->server,
server->port, server->nick);
if( verbose ) {
LogPrint( LOG_DEBUG, "Event Connected : (%s)", HostName);
}
/* We are doing our own, thanks! */
BN_DisableFloodProtection(I);
if( strcmp( server->password, "" ) ) {
transmitMsg( server, TX_PASSWORD, NULL, server->password );
}
transmitMsg( server, TX_NICK, NULL, server->nick );
transmitMsg( server, TX_REGISTER, server->username, server->realname );
}
void SerialManagerView::setupGUI() {
// transmit receive
QPushButton *transmitButton = new QPushButton(tr("Transmit"));
connect(transmitButton, SIGNAL(clicked()), SLOT(transmitMsg()));
QPushButton *receiveButton = new QPushButton(tr("Receive"));
connect(receiveButton, SIGNAL(clicked()), SLOT(receiveMsg()));
QHBoxLayout *trLayout = new QHBoxLayout;
trLayout->addWidget(transmitButton);
trLayout->addWidget(receiveButton);
//CR LF
QPushButton *CRButton = new QPushButton(tr("CR"));
connect(CRButton, SIGNAL(clicked()), SLOT(appendCR()));
QPushButton *LFButton = new QPushButton(tr("LF"));
connect(LFButton, SIGNAL(clicked()), SLOT(appendLF()));
QHBoxLayout *crlfLayout = new QHBoxLayout;
crlfLayout->addWidget(CRButton);
crlfLayout->addWidget(LFButton);
//open close
QPushButton *openButton = new QPushButton(tr("Open"));
connect(openButton, SIGNAL(clicked()), SLOT(openPort()));
QPushButton *closeButton = new QPushButton(tr("Close"));
connect(closeButton, SIGNAL(clicked()), SLOT(closePort()));
QHBoxLayout *ocLayout = new QHBoxLayout;
ocLayout->addWidget(openButton);
ocLayout->addWidget(closeButton);
received_msg = new QTextEdit();
QVBoxLayout *myVBox = new QVBoxLayout;
myVBox->addWidget(message);
myVBox->addLayout(crlfLayout);
myVBox->addLayout(trLayout);
myVBox->addLayout(ocLayout);
myVBox->addWidget(received_msg);
setLayout(myVBox);
qDebug("isOpen : %d", port->isOpen());
/// configure textEdit
message->installEventFilter(this);
}
void ProcOnNames(BN_PInfo I, const char Channel[], const char *Names[],
int Count)
{
int i;
IRCServer_t *server;
server = (IRCServer_t *)I->User;
if( verbose ) {
LogPrint( LOG_DEBUG, "Names for channel (%s) :", Channel);
for (i = 0; i < Count; i++) {
LogPrint( LOG_DEBUG, "\t(%s)", Names[i]);
}
LogPrint( LOG_DEBUG, "End of names for (%s)", Channel);
}
transmitMsg( server, TX_WHO, (char *)Channel, NULL );
}
void sendPosition() {
int64_t pos = htobe64(mpris_data->position);
transmitMsg(client_socket, (char*)&pos, sizeof(int64_t),
POSITION, POSITION_SZ);
}
void botCmdPlugin( IRCServer_t *server, IRCChannel_t *channel, char *who,
char *msg, void *tag )
{
int len;
char *line;
char *command;
char *message;
bool ret;
static char *notauth = "You are not authorized, you can't do that!";
if( !server || channel ) {
return;
}
if( !authenticate_check( server, who ) ) {
transmitMsg( server, TX_PRIVMSG, who, notauth );
return;
}
line = strstr( msg, " " );
if( line ) {
/* Command has trailing text, skip the space */
len = line - msg;
line++;
command = (char *)malloc( len + 2 );
strncpy( command, msg, len );
command[len] = '\0';
} else {
/* Command is the whole line */
command = strdup( msg );
}
/* Strip trailing spaces */
if( line ) {
for( len = strlen(line); len && line[len-1] == ' ';
len = strlen(line) ) {
line[len-1] = '\0';
}
if( *line == '\0' ) {
line = NULL;
}
}
if( !strcmp( command, "list" ) ) {
BalancedBTreeLock( pluginTree );
if( line && !strcmp( line, "all" ) ) {
message = botCmdDepthFirst( pluginTree->root, false );
} else {
message = botCmdDepthFirst( pluginTree->root, true );
}
BalancedBTreeUnlock( pluginTree );
} else if( !strcmp( command, "load" ) && line ) {
ret = pluginLoad( line );
message = (char *)malloc(strlen(line) + 32);
if( ret ) {
sprintf( message, "Loaded module %s", line );
} else {
sprintf( message, "Module %s already loaded", line );
}
} else if( !strcmp( command, "unload" ) && line ) {
ret = pluginUnload( line );
message = (char *)malloc(strlen(line) + 32);
if( ret ) {
sprintf( message, "Unloaded module %s", line );
} else {
sprintf( message, "Module %s already unloaded", line );
}
} else {
message = NULL;
free( command );
return;
}
transmitMsg( server, TX_MESSAGE, who, message );
free( message );
free( command );
}
void botSighup( int signum, void *arg )
{
IRCServer_t *server;
LinkedListItem_t *listItem, *next;
BalancedBTreeItem_t *item;
IRCChannel_t *channel;
bool newChannel = FALSE;
server = (IRCServer_t *)arg;
if( !server ) {
return;
}
/*
* Check each channel on the server, leave those no longer needed
*/
if( server->channels ) {
LinkedListLock( server->channels );
BalancedBTreeLock( server->channelName );
BalancedBTreeLock( server->channelNum );
for( listItem = server->channels->head; listItem; listItem = next ) {
next = listItem->next;
channel = (IRCChannel_t *)listItem;
if( !channel->visited ) {
channelLeave( server, channel, channel->channel );
regexpBotCmdRemove( server, channel );
LinkedListRemove( server->channels, listItem, LOCKED );
item = BalancedBTreeFind( server->channelName,
&channel->channel, LOCKED );
if( item ) {
BalancedBTreeRemove( server->channelName, item, LOCKED,
FALSE );
}
item = BalancedBTreeFind( server->channelNum,
&channel->channelId, LOCKED );
if( item ) {
BalancedBTreeRemove( server->channelNum, item, LOCKED,
FALSE );
}
ThreadAllNotifyChannel( channel );
cursesMenuItemRemove( 2, MENU_CHANNELS, channel->menuText );
free( channel->menuText );
free( channel->channel );
free( channel->fullspec );
free( channel->url );
free( channel );
} else if( channel->newChannel && channel->enabled &&
!channel->joined && !newChannel ) {
newChannel = TRUE;
transmitMsg( server, TX_JOIN, channel->channel, NULL );
} else if( channel->newChannel && !channel->enabled ) {
channel->newChannel = FALSE;
}
}
BalancedBTreeUnlock( server->channelNum );
BalancedBTreeUnlock( server->channelName );
LinkedListUnlock( server->channels );
}
}
//-----------------------------------------------
//local functions
//-----------------------------------------------
void execEvent(struct Event event)
{
int i, iPara, iCmd;
int iSynchVal, iSynchValMeasNorm, iDeltaSynchMeas;
static enum STATE_Connection s_StConnection = ST_ConnReset;
static enum STATE_Motor s_StMotor = ST_BrakeClosed;
iCmd = event.ucData[0];
switch(s_StConnection)
{
case ST_ConnReset:
//-------------------
switch(iCmd)
{
//-------------------
case CMD_MOTCTRL_CONNECT:
transmitMsg(event.iSource, 0, 0, 0, 0, 0, 0, 0, (iCmd << 2) | Msg_OK);
s_StConnection = ST_ConnConnected;
break;
//-------------------
case CMD_MOTCTRL_DISCONNECT:
_trap_(0x00);
break;
//-------------------
default:
if(event.iSource != EVSOURCE_INTERN)
transmitMsg(event.iSource, 0, 0, 0, 0, 0, 0, 0, (iCmd << 2) | Msg_NotAccept);
break;
}
break; //case ST_ConnReset
case ST_ConnConnected:
//---------------------------------------
//commands always executed
switch(iCmd)
{
//-------------------
case CMD_MOTCTRL_DISCONNECT:
_trap_(0x00);
return;
//-------------------
//io
case CMD_MOTCTRL_SETDIGOUT:
setOutputPort8(event.ucData[1], event.ucData[2]);
return;
//-------------------
case CMD_MOTCTRL_GETDIGIN:
transmitMsg(event.iSource, P1H, P1L, 0, 0, 0, 0, 0, (iCmd << 2) | Msg_OK);
return;
//-------------------
case CMD_MOTCTRL_GETANALOGIN:
iPara = g_iAnIn[event.ucData[1]];
transmitMsg(event.iSource, iPara >> 8, iPara, 0, 0, 0, 0, 0, (iCmd << 2) | Msg_OK);
return;
//-------------------
//debug
case CMD_MOTCTRL_SETCTRLPARA:
g_iIn1 = (event.ucData[1] << 8) | event.ucData[2];
g_iIn2 = (event.ucData[3] << 8) | event.ucData[4];
g_iIn3 = (event.ucData[5] << 8) | event.ucData[6];
//synch pos fine tuning
//gc_iFieldPosSynchNorm = g_iIn1;
return;
//-------------------
case CMD_MOTCTRL_GETCTRLPARA:
transmitMsg(event.iSource, g_iOut1 >> 8, g_iOut1, g_iOut2 >> 8, g_iOut2, g_iOut3 >> 8, g_iOut3, 0, (iCmd << 2) | Msg_OK);
return;
//-------------------
//get data
case CMD_MOTCTRL_GETPOSVEL:
transmitMsg(event.iSource, g_lPosMeas >> 24, g_lPosMeas >> 16, g_lPosMeas >> 8, g_lPosMeas, g_iVelMeas >> 8, g_iVelMeas, 0, (iCmd << 2) | Msg_OK);
return;
//-------------------
case CMD_MOTCTRL_GETSTATUS:
transmitMsg(event.iSource, g_iStateCtrl >> 8, g_iStateCtrl, g_iTempMeas >> 8, g_iTempMeas, 0, 0, 0, (iCmd << 2) | Msg_OK);
return;
}
//---------------------------------------
//motor control commands state machine
switch(s_StMotor)
{
//-------------------
case ST_BrakeClosed:
switch(iCmd)
{
case CMD_MOTCTRL_DISABLEBRAKE:
if(event.ucData[1] == 1)
{
openBrake(gc_iBrakeHasRelais);
transmitMsg(event.iSource, 0, 0, 0, 0, 0, 0, 0, (iCmd << 2) | Msg_OK);
s_StMotor = ST_BrakeOpen;
}
break; //CMD_MOTCTRL_DISABLEBRAKE
default:
if(event.iSource != EVSOURCE_INTERN)
transmitMsg(event.iSource, 0, 0, 0, 0, 0, 0, 0, (iCmd << 2) | Msg_NotAccept);
} //switch(iCmd)
break; //ST_BrakeClosed
//-------------------
case ST_BrakeOpen:
switch(iCmd)
{
case CMD_MOTCTRL_DISABLEBRAKE:
if(event.ucData[1] == 0)
{
closeBrake(gc_iBrakeHasRelais);
s_StMotor = ST_BrakeClosed;
transmitMsg(event.iSource, 0, 0, 0, 0, 0, 0, 0, (iCmd << 2) | Msg_OK);
}
break; //CMD_MOTCTRL_DISABLEBRAKE
case CMD_MOTCTRL_ENABLEMOTOR:
if(event.ucData[1] == 1)
{
enableMotor(gc_iSineZero);
g_iPosVelCtrlRun = 0;
g_iTorqueCmd = 0;
g_iTorqueCtrlRun = 1;
g_iFieldPos = 0;
g_iCommRun = 0;
g_iSynchRun = 1;
//increase torque slowly
do
{
g_iTorqueCmd++;
Delay(5000);
}
while(g_iTorqueCmd < gc_iSynchTorque);
s_StMotor = ST_MotorEnabled;
transmitMsg(event.iSource, 0, 0, 0, 0, 0, 0, 0, (iCmd << 2) | Msg_OK);
}
break; //CMD_MOTCTRL_ENABLEMOTOR
default:
if(event.iSource != EVSOURCE_INTERN)
transmitMsg(event.iSource, 0, 0, 0, 0, 0, 0, 0, (iCmd << 2) | Msg_NotAccept);
} //switch(iCmd)
break; //ST_BrakeOpen
//-------------------
case ST_MotorEnabled:
switch(iCmd)
{
case CMD_MOTCTRL_ENABLEMOTOR:
if(event.ucData[1] == 0)
{
disableMotorCtrl();
s_StMotor = ST_BrakeOpen;
transmitMsg(event.iSource, 0, 0, 0, 0, 0, 0, 0, (iCmd << 2) | Msg_OK);
}
break; //CMD_MOTCTRL_ENABLEMOTOR
case CMD_MOTCTRL_SYNCHMOTOR:
//exec single rot to snap in rotor
for(i=0; i<gc_iEncPulsePerRev; i++)
{
g_iFieldPos++;
Delay(gc_iSynchVelDelay);
}
g_iFieldPos = 0;
g_lPosOffset = g_lPosOffset + T2; //g_lPosOffset used to move back to 0 after synch
T2 = 0;
//enable synch int
g_iSynchIntCaptured = 0;
EXICON = 0x0008 | 0x0001; //EXIN0 interrupt on pos edge, EXIN1 interrupt on neg edge
//wait for synch interrupt, communication blocking
while(g_iSynchIntCaptured == 0)
{
_atomic_(3);
//if no synch interrupt captured, update iSynchVal
if(g_iSynchIntCaptured == 0)
iSynchVal = T2;
g_iFieldPos++;
Delay(gc_iSynchVelDelay);
}
g_lPosOffset = g_lPosOffset + iSynchVal;
//shift back iSynchVal
while(iSynchVal > gc_iEncPulsePerPhase)
iSynchVal = iSynchVal - gc_iEncPulsePerPhase;
//reset T2, g_iT2RevCnt -> EncPosAbs = 0
T2 = 0;
g_iT2RevCnt = 0;
if(gc_iMotorType == MotorType_6Pol)
iSynchValMeasNorm = toFieldPosNorm_Mot6Pol_Enc4096(iSynchVal);
if(gc_iMotorType == MotorType_4Pol)
iSynchValMeasNorm = toFieldPosNorm_Mot4Pol_Enc4096(iSynchVal);
iDeltaSynchMeas = iSynchValMeasNorm - gc_iFieldPosSynchNorm;
if(iDeltaSynchMeas < -255)
iDeltaSynchMeas = iDeltaSynchMeas + 512;
if(iDeltaSynchMeas > 255)
iDeltaSynchMeas = iDeltaSynchMeas - 512;
//test for correct SynchVal
if((iDeltaSynchMeas > -30) && (iDeltaSynchMeas < 90))
{
transmitMsg(event.iSource, iSynchValMeasNorm >> 8, iSynchValMeasNorm, gc_iFieldPosSynchNorm >> 8, gc_iFieldPosSynchNorm, 0, 0, 0, (iCmd << 2) | Msg_OK);
s_StMotor = ST_MotorSynch;
}
else
{
disableMotorCtrl();
transmitMsg(event.iSource, iSynchValMeasNorm >> 8, iSynchValMeasNorm, gc_iFieldPosSynchNorm >> 8, gc_iFieldPosSynchNorm, 0, 0, 0, (iCmd << 2) | Msg_Error);
s_StMotor = ST_BrakeOpen;
}
break; //CMD_MOTCTRL_SYNCHMOTOR
default:
if(event.iSource != EVSOURCE_INTERN)
transmitMsg(event.iSource, 0, 0, 0, 0, 0, 0, 0, (iCmd << 2) | Msg_NotAccept);
} //switch(iCmd)
break; //ST_MotorEnabled
//-------------------
case ST_MotorSynch:
switch(iCmd)
{
case CMD_MOTCTRL_ENABLECOMM:
g_iTorqueCmd = 0;
while(g_lTorqueCmd != 0)
;
g_iT2Overflow = 0;
g_lPosCmd = getEncPosAbsAsLong();
g_iSynchRun = 0;
g_iCommRun = 1;
g_iPosVelCtrlRun = 1;
s_StMotor = ST_MotorRunning;
setVoltDownBrake(gc_iBrakeHasRelais);
transmitMsg(event.iSource, 0, 0, 0, 0, 0, 0, 0, (iCmd << 2) | Msg_OK);
break; //CMD_MOTCTRL_ENABLECOMM
default:
if(event.iSource != EVSOURCE_INTERN)
transmitMsg(event.iSource, 0, 0, 0, 0, 0, 0, 0, (iCmd << 2) | Msg_NotAccept);
} //switch
break; //ST_MotorSynch
//-------------------
case ST_MotorRunning:
switch(iCmd)
{
case CMD_MOTCTRL_SETCMDVAL:
g_lPosCmd = (((long int)event.ucData[1]) << 24 | ((long int)event.ucData[2]) << 16 | ((long int)event.ucData[3]) << 8 | (long int)event.ucData[4]);
g_iVelCmd = event.ucData[5] << 8 | event.ucData[6];
transmitMsg(event.iSource, g_iStateCtrl >> 8, g_iStateCtrl, g_iTempMeas >> 8, g_iTempMeas, 0, 0, 0, (CMD_MOTCTRL_GETSTATUS << 2) | Msg_OK);
transmitMsg(event.iSource, g_lPosMeas >> 24, g_lPosMeas >> 16, g_lPosMeas >> 8, g_lPosMeas, g_iVelMeas >> 8, g_iVelMeas, 0, (CMD_MOTCTRL_GETPOSVEL << 2) | Msg_OK);
break; //CMD_MOTCTRL_SETCMDVAL
case CMD_MOTCTRL_SETMOTIONTYPE:
g_iStMotionType = event.ucData[1];
transmitMsg(event.iSource, 0, 0, 0, 0, 0, 0, 0, (iCmd << 2) | Msg_OK);
break; //CMD_MOTCTRL_SETMOTIONTYPE
case CMD_MOTCTRL_SETEMSTOP:
g_iPosVelCtrlRun = 0;
g_iVelCmd = 0;
g_iTorqueCmd = 0;
//decrease torque slowly
/*
while(g_iTorqueCmd > 0)
{
g_iTorqueCmd--;
Delay(3000);
}
*/
closeBrake(gc_iBrakeHasRelais);
s_StMotor = ST_MotorEMStop;
if(event.iSource != EVSOURCE_INTERN)
transmitMsg(event.iSource, 0, 0, 0, 0, 0, 0, 0, (iCmd << 2) | Msg_OK);
break; //CMD_MOTCTRL_SETEMSTOP
case CMD_MOTCTRL_ENABLEMOTOR:
if(event.ucData[1] == 0)
{
disableMotorCtrl();
s_StMotor = ST_BrakeOpen;
transmitMsg(event.iSource, 0, 0, 0, 0, 0, 0, 0, (iCmd << 2) | Msg_OK);
}
break; //CMD_MOTCTRL_ENABLEMOTOR
default:
if(event.iSource != EVSOURCE_INTERN)
transmitMsg(event.iSource, 0, 0, 0, 0, 0, 0, 0, (iCmd << 2) | Msg_NotAccept);
} //switch(iCmd)
break; //ST_MotorRunning
//-------------------
case ST_MotorEMStop:
switch(iCmd)
{
case CMD_MOTCTRL_SETCMDVAL:
transmitMsg(event.iSource, g_iStateCtrl >> 8, g_iStateCtrl, g_iTempMeas >> 8, g_iTempMeas, 0, 0, 0, (CMD_MOTCTRL_GETSTATUS << 2) | Msg_OK);
transmitMsg(event.iSource, g_lPosMeas >> 24, g_lPosMeas >> 16, g_lPosMeas >> 8, g_lPosMeas, g_iVelMeas >> 8, g_iVelMeas, 0, (CMD_MOTCTRL_GETPOSVEL << 2) | Msg_OK);
break; //CMD_MOTCTRL_SETCMDVAL
case CMD_MOTCTRL_RESETEMSTOP:
openBrake(gc_iBrakeHasRelais);
g_iPosVelCtrlRun = 1;
s_StMotor = ST_MotorRunning;
transmitMsg(event.iSource, 0, 0, 0, 0, 0, 0, 0, (iCmd << 2) | Msg_OK);
break;
case CMD_MOTCTRL_ENABLEMOTOR:
if(event.ucData[1] == 0)
{
disableMotorCtrl();
s_StMotor = ST_BrakeOpen;
transmitMsg(event.iSource, 0, 0, 0, 0, 0, 0, 0, (iCmd << 2) | Msg_OK);
}
break; //CMD_MOTCTRL_ENABLEMOTOR
default:
if(event.iSource != EVSOURCE_INTERN)
transmitMsg(event.iSource, 0, 0, 0, 0, 0, 0, 0, (iCmd << 2) | Msg_NotAccept);
} //switch(iCmd)
break; //ST_MotorEMStop
} //switch(StMotor)
int transmit(int socketd, char * buff, size_t size) {
return transmitMsg(socketd, buff, size, NULL, 0);
}
