BOOL CMainFrame::CreateStatusBar()
{
std::vector<UINT> indicators(1, ID_SEPARATOR);
ConfigSection items(m_frameNode.GetSection(L"statusbar/indicators"));
for (int i = 0; ; i++)
{
ConfigSection item(items.GetSectionByIndex(L"item", i));
UINT id = GetNodeID(item, L"id");
if (0 == id)
break;
indicators.push_back(id);
if (ID_SEPARATOR == id && indicators.front() == id)
indicators.erase(indicators.begin());
}
VERIFY(m_statusBar.Create(m_mainwnd)
&& m_statusBar.SetIndicators(&indicators[0], x3::GetSize(indicators)));
m_statusBar.SetCommandBars(m_cmdbars);
m_statusBar.SetDrawDisabledText(FALSE);
m_statusBar.GetStatusBarCtrl().SetMinHeight(22);
m_statusBar.GetPane(0)->SetMargins(8, 1, 2, 1);
return TRUE;
}
const Error *Node::ResetNode( void )
{
cml.Debug( "ResetNode %d.\n", GetNodeID() );
// Send the node a reset message
RefObjLocker<Network> net( GetNetworkRef() );
if( !net ) return &NodeError::NetworkUnavailable;
return net->ResetNode( this );
}
const Error *Amp::UpdateEvents( uint16 stat, uint32 events, uint16 inputs )
{
cml.Debug( "Amp %d status 0x%08x 0x%04x 0x%04x\n", GetNodeID(), events, stat, inputs );
uint32 mask = 0;
if( stat & DRIVESTAT_SPACK ) mask |= AMPEVENT_SPACK;
if( stat & DRIVESTAT_MOVEDONE ) mask |= AMPEVENT_MOVEDONE;
if( ~stat & DRIVESTAT_TRJ ) mask |= AMPEVENT_TRJDONE;
if( ~stat & DRIVESTAT_QSTOP ) mask |= AMPEVENT_QUICKSTOP;
if( stat & DRIVESTAT_ABORT ) mask |= AMPEVENT_ABORT;
if( stat & DRIVESTAT_HOMECAP ) mask |= AMPEVENT_HOME_CAPTURE;
if( events & ERROR_EVENTS ) mask |= AMPEVENT_ERROR;
if( events & ESTAT_FAULT ) mask |= AMPEVENT_FAULT;
if( events & ESTAT_TRK_WARN ) mask |= AMPEVENT_POSWARN;
if( events & ESTAT_TRK_WIN ) mask |= AMPEVENT_POSWIN;
if( events & ESTAT_VEL_WIN ) mask |= AMPEVENT_VELWIN;
if( events & ESTAT_PWM_DISABLE ) mask |= AMPEVENT_DISABLED;
if( events & ESTAT_POSLIM ) mask |= AMPEVENT_POSLIM;
if( events & ESTAT_NEGLIM ) mask |= AMPEVENT_NEGLIM;
if( events & ESTAT_SOFTLIM_POS ) mask |= AMPEVENT_SOFTLIM_POS;
if( events & ESTAT_SOFTLIM_NEG ) mask |= AMPEVENT_SOFTLIM_NEG;
if( events & ESTAT_SOFT_DISABLE) mask |= AMPEVENT_SOFTDISABLE;
if( events & ESTAT_PHASE_INIT ) mask |= AMPEVENT_PHASE_INIT;
// On new move aborts, do some clean up.
if( mask & AMPEVENT_ABORT )
{
uint32 old = eventMap.getMask();
if( !(old & AMPEVENT_ABORT) )
MoveAborted();
}
// Do the same thing if the amplifier is disabled while
// a trajectory was in progress
if( mask & AMPEVENT_DISABLED )
{
uint32 old = eventMap.getMask();
if( !(old & AMPEVENT_TRJDONE) )
MoveAborted();
}
// Change the bits that this function is responsible for.
// for now, that's everything but the node guarding
// and PVT buffer empty bits.
eventMap.changeBits( ~(AMPEVENT_PVT_EMPTY|AMPEVENT_NODEGUARD), mask );
// Update the input pins state
inputStateMap.setMask( (uint32)inputs );
return 0;
}
const Error *Amp::FormatPvtSeg( int32 pos, int32 vel, uint8 time, uint8 *buff )
{
cml.Debug( "Amp %d PVT Segment: %-10ld %-10ld %3d\n", GetNodeID(), pos, vel, time );
// Save the lowest 3 bits of the segment ID. This allows the
// amplifier to identify missing profile segments.
buff[0] = 7 & pvtSegID;
// If position is more then 24 bits then we will have to send a
// relative move segment. I'll just find the difference between
// this position and the last one sent.
if( pos > 0x007FFFFF || -pos > 0x007FFFFF )
{
pos -= pvtLastPos;
// if the result is still more then 24 bits, return an error
if( pos > 0x007FFFFF || -pos > 0x007FFFFF )
return &AmpError::pvtSegPos;
// mark the segment as relative
buff[0] |= 0x10;
}
// If velocity is more then 24-bits, send it in lower resolution
if( vel > 0x007FFFFF )
{
vel = (vel+50)/100;
buff[0] |= 0x08;
if( vel > 0x007FFFFF )
return &AmpError::pvtSegVel;
}
else if( -vel > 0x007FFFFF )
{
vel = (vel-50)/100;
buff[0] |= 0x08;
if( -vel > 0x007FFFFF )
return &AmpError::pvtSegVel;
}
// Format the message and return
buff[1] = time;
buff[2] = pos;
buff[3] = pos>>8;
buff[4] = pos>>16;
buff[5] = vel;
buff[6] = vel>>8;
buff[7] = vel>>16;
return 0;
}
BOOL CMainFrame::BeforeLoadFrame(CFrameWnd* pMainWnd)
{
m_mainwnd = pMainWnd;
m_frameNode = g_factoryRoot.GetSection(L"mainframe");
m_appid = g_factoryRoot->GetString(L"_appid");
m_appname = g_factoryRoot->GetString(L"appname");
m_id = GetNodeID(m_frameNode, L"id");
ASSERT(!m_appname.empty());
m_barsfile = getConfigPath() + g_factoryRoot->GetString(L"cmdbarsFile", L"cmdbars.xml");
return TRUE;
}
const Error *Amp::FormatPtSeg( int32 pos, uint8 time, uint8 *buff )
{
cml.Debug( "Amp %d PT Segment: %-10ld %3d\n", GetNodeID(), pos, time );
// Save the lowest 3 bits of the segment ID. This allows the
// amplifier to identify missing profile segments.
buff[0] = 7 & pvtSegID;
// PT points are always passed using buffer format code 5
buff[0] |= (5<<3);
// Format the message and return
buff[1] = time;
buff[2] = ByteCast(pos);
buff[3] = ByteCast(pos>>8);
buff[4] = ByteCast(pos>>16);
buff[5] = ByteCast(pos>>24);
return 0;
}
PySubStruct *PyServiceMgr::BindObject(Client *c, PyBoundObject *cb, PyDict **dict) {
if(cb == NULL)
{
sLog.Error("Service Mgr", "Tried to bind a NULL object!");
return new PySubStruct(new PyNone());
}
cb->_SetNodeBindID(GetNodeID(), _GetBindID()); //tell the object what its bind ID is.
BoundObject obj;
obj.client = c;
obj.destination = cb;
m_boundObjects[cb->bindID()] = obj;
//sLog.Debug("Service Mgr", "Binding %s to service %s", bind_str, cb->GetName());
std::string bind_str = cb->GetBindStr();
//not sure what this really is...
uint64 expiration = Win32TimeNow() + Win32Time_Hour;
PyTuple *objt;
if(dict == NULL || *dict == NULL)
{
objt = new PyTuple(2);
objt->items[0] = new PyString(bind_str);
objt->items[1] = new PyLong(expiration); //expiration?
}
else
{
objt = new PyTuple(3);
objt->items[0] = new PyString(bind_str);
objt->items[1] = *dict; *dict = NULL; //consumed
objt->items[2] = new PyLong(expiration); //expiration?
}
return new PySubStruct(new PySubStream(objt));
}
// Uninitialize the PDOs used to get status from the drive.
const Error *Amp::UninitPDOs( void )
{
const Error *err = 0;
// If this is a secondary axis, we shouldn't have to uninit the PDOs
if( primaryAmpRef )
{
return err;
}
// Disable all the default PDOs
cml.Debug( "Amp %d, Uninitting PDOs\n", GetNodeID() );
// See if I need to uninit for multiple axes
int16 numAxes = 1;
if( GetNetworkType() == NET_TYPE_ETHERCAT )
{
err = Upld16( OBJID_AMP_INFO, 25, numAxes );
if( err ) return err;
}
if (statPDO)
{
err = statPDO->Uninit( *this, 0, numAxes );
if( err )
{
delete statPDO;
statPDO = 0;
return err;
}
}
if (pvtStatPDO)
{
err = pvtStatPDO->Uninit( *this, 1, numAxes );
if( err )
{
delete pvtStatPDO;
pvtStatPDO = 0;
return err;
}
}
if( GetNetworkType() == NET_TYPE_ETHERCAT )
{
if (ctrlPDO)
{
err = ctrlPDO->Uninit( *this, 0, numAxes );
if( err )
{
delete ctrlPDO;
ctrlPDO = 0;
return err;
}
}
}
else
{
if (pvtCtrlPDO)
{
err = pvtCtrlPDO->Uninit( *this, 0, numAxes );
if( err )
{
delete pvtCtrlPDO;
pvtCtrlPDO = 0;
return err;
}
}
}
return 0;
}
// Initialize the PDOs used to get status from the drive and send control info to it.
const Error *Amp::InitPDOs( void )
{
const Error *err = 0;
// If this is a secondary axis, just attach to the primary axis status PDO
if( primaryAmpRef )
{
RefObjLocker<Amp> pri( primaryAmpRef );
if( !pri ) return &AmpError::NotInit;
if( !err ) err = pri->statPDO->ConnectSubAxis( axisNum, this );
if( !err ) err = pri->pvtStatPDO->ConnectSubAxis( axisNum, this );
return err;
}
// Disable all the default PDOs
cml.Debug( "Amp %d, Initting PDOs\n", GetNodeID() );
for( int i=0; i<8; i++ )
{
if( !err ) err = TpdoDisable( i );
if( !err ) err = RpdoDisable( i );
}
// See if I need to init for multiple axes
int16 numAxes = 1;
if( GetNetworkType() == NET_TYPE_ETHERCAT )
{
err = Upld16( OBJID_AMP_INFO, 25, numAxes );
if( err ) return err;
}
// Release any PDOs that were previously allocated
FreePDOs();
statPDO = new TPDO_Status();
err = statPDO->Init( *this, 0, numAxes );
if( err )
{
delete statPDO;
statPDO = 0;
return err;
}
pvtStatPDO = new TPDO_PvtStat();
err = pvtStatPDO->Init( *this, 1, numAxes );
if( err )
{
delete pvtStatPDO;
pvtStatPDO = 0;
return err;
}
if( GetNetworkType() == NET_TYPE_ETHERCAT )
{
ctrlPDO = new RPDO_Ctrl();
err = ctrlPDO->Init( *this, 0, numAxes );
if( err )
{
delete ctrlPDO;
ctrlPDO = 0;
return err;
}
}
else
{
pvtCtrlPDO = new RPDO_PvtCtrl();
err = pvtCtrlPDO->Init( *this, 0, numAxes );
if( err )
{
delete pvtCtrlPDO;
pvtCtrlPDO = 0;
return err;
}
}
return 0;
}
