linkage_8cpp-source.html

美国COPLEY驱动器,程序开发工具之一.

<a name="l00520"></a>00520 
<a name="l00521"></a>00521    <span class="comment">// Reset the event chaining that I setup.  This ensures that the</span>
<a name="l00522"></a>00522    <span class="comment">// events won't point to an event map that has been destroyed</span>
<a name="l00523"></a>00523    <span class="comment">// already.</span>
<a name="l00524"></a>00524    <span class="keywordflow">for</span>( i=0; i&lt;ampct; i++ )
<a name="l00525"></a>00525       events[i].<a class="code" href="classEvent.html#a4">delChain</a>();
<a name="l00526"></a>00526 
<a name="l00527"></a>00527    <span class="keywordflow">return</span> 0;
<a name="l00528"></a>00528 }
<a name="l00529"></a>00529 
<a name="l00530"></a>00530 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00531"></a>00531 <span class="comment">/**</span>
<a name="l00532"></a>00532 <span class="comment">  Halt the current move.  The exact type of halt can be programmed individually </span>
<a name="l00533"></a>00533 <span class="comment">  for each axis using the Amp::SetHaltMode function.</span>
<a name="l00534"></a>00534 <span class="comment">  @return An error object pointer, or NULL on success.</span>
<a name="l00535"></a>00535 <span class="comment">  */</span>
<a name="l00536"></a>00536 <span class="comment">/***************************************************************************/</span>
<a name="l00537"></a><a class="code" href="classLinkage.html#a14">00537</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classLinkage.html#a14">Linkage::HaltMove</a>( <span class="keywordtype">void</span> )
<a name="l00538"></a>00538 {
<a name="l00539"></a>00539    SetControlWord( 0x010F );
<a name="l00540"></a>00540    <span class="keywordflow">return</span> 0;
<a name="l00541"></a>00541 }
<a name="l00542"></a>00542 
<a name="l00543"></a>00543 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00544"></a>00544 <span class="comment">/**</span>
<a name="l00545"></a>00545 <span class="comment">  Set the linkage control word.</span>
<a name="l00546"></a>00546 <span class="comment"></span>
<a name="l00547"></a>00547 <span class="comment">  @param value The control word value to set</span>
<a name="l00548"></a>00548 <span class="comment">  @return A pointer to an error object, or NULL on success</span>
<a name="l00549"></a>00549 <span class="comment">  */</span>
<a name="l00550"></a>00550 <span class="comment">/***************************************************************************/</span>
<a name="l00551"></a>00551 <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *Linkage::SetControlWord( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> value )
<a name="l00552"></a>00552 {
<a name="l00553"></a>00553    <a class="code" href="CML_8h.html#a0">cml</a>.<a class="code" href="classCopleyMotionLibrary.html#a8">Debug</a>( <span class="stringliteral">"Link %d control 0x%04x\n"</span>, amp[0]-&gt;GetNodeID(), value );
<a name="l00554"></a>00554 
<a name="l00555"></a>00555    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = ctrlPDO.<a class="code" href="classRPDO__LinkCtrl.html#a2">Transmit</a>( value );
<a name="l00556"></a>00556 
<a name="l00557"></a>00557    <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00558"></a>00558 
<a name="l00559"></a>00559    <span class="keywordflow">for</span>( <span class="keywordtype">int</span> i=0; i&lt;ampct; i++ )
<a name="l00560"></a>00560       amp[i]-&gt;<a class="code" href="classAmp.html#r5">lastCtrlWord</a> = value;
<a name="l00561"></a>00561 
<a name="l00562"></a>00562    <span class="keywordflow">return</span> 0;
<a name="l00563"></a>00563 }
<a name="l00564"></a>00564 
<a name="l00565"></a>00565 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00566"></a>00566 <span class="comment">/**</span>
<a name="l00567"></a>00567 <span class="comment">  Wait for a linkage event condition. This function can be used to wait</span>
<a name="l00568"></a>00568 <span class="comment">  on any generic event associated with the linkage.</span>
<a name="l00569"></a>00569 <span class="comment">  @param e The event to wait on.</span>
<a name="l00570"></a>00570 <span class="comment">  @param timeout The timeout for the wait (milliseconds).  If &lt; 0, then </span>
<a name="l00571"></a>00571 <span class="comment">  wait forever.</span>
<a name="l00572"></a>00572 <span class="comment">  @param match Returns the matching event condition.</span>
<a name="l00573"></a>00573 <span class="comment">  @return A pointer to an error object, or NULL on success.</span>
<a name="l00574"></a>00574 <span class="comment">  */</span>
<a name="l00575"></a>00575 <span class="comment">/***************************************************************************/</span>
<a name="l00576"></a><a class="code" href="classLinkage.html#a12">00576</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classLinkage.html#a12">Linkage::WaitEvent</a>( <a class="code" href="classEvent.html">Event</a> &amp;e, <a class="code" href="CML__Utils_8h.html#a9">int32</a> timeout, <a class="code" href="CML__Linkage_8h.html#a15">LINK_EVENT</a> &amp;match )
<a name="l00577"></a>00577 {
<a name="l00578"></a>00578    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = e.<a class="code" href="classEvent.html#a7">Wait</a>( <a class="code" href="classLinkage.html#o0">eventMap</a>, timeout );
<a name="l00579"></a>00579    match = (<a class="code" href="CML__Linkage_8h.html#a15">LINK_EVENT</a>)e.<a class="code" href="classEvent.html#a6">getMask</a>();
<a name="l00580"></a>00580    <span class="keywordflow">return</span> err;
<a name="l00581"></a>00581 }
<a name="l00582"></a>00582 
<a name="l00583"></a>00583 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00584"></a>00584 <span class="comment">/**</span>
<a name="l00585"></a>00585 <span class="comment">  Wait for a linkage event condition. This function can be used to wait</span>
<a name="l00586"></a>00586 <span class="comment">  on any generic event associated with the linkage.</span>
<a name="l00587"></a>00587 <span class="comment">  @param e The event to wait on.</span>
<a name="l00588"></a>00588 <span class="comment">  @param timeout The timeout for the wait (milliseconds).  If &lt; 0, then </span>
<a name="l00589"></a>00589 <span class="comment">  wait forever (default).</span>
<a name="l00590"></a>00590 <span class="comment">  @return A pointer to an error object, or NULL on success.</span>
<a name="l00591"></a>00591 <span class="comment">  */</span>
<a name="l00592"></a>00592 <span class="comment">/***************************************************************************/</span>
<a name="l00593"></a><a class="code" href="classLinkage.html#a13">00593</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classLinkage.html#a12">Linkage::WaitEvent</a>( <a class="code" href="classEvent.html">Event</a> &amp;e, <a class="code" href="CML__Utils_8h.html#a9">int32</a> timeout )
<a name="l00594"></a>00594 {
<a name="l00595"></a>00595    <a class="code" href="CML__Linkage_8h.html#a15">LINK_EVENT</a> match;
<a name="l00596"></a>00596    <span class="keywordflow">return</span> <a class="code" href="classLinkage.html#a12">WaitEvent</a>( e, timeout, match );
<a name="l00597"></a>00597 }
<a name="l00598"></a>00598 
<a name="l00599"></a>00599 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00600"></a>00600 <span class="comment">/**</span>
<a name="l00601"></a>00601 <span class="comment">  Wait for the currently running move to finish, or for an error to occur.</span>
<a name="l00602"></a>00602 <span class="comment"></span>
<a name="l00603"></a>00603 <span class="comment">  @param timeout The maximum time to wait (milliseconds).  Default is -1 (forever).</span>
<a name="l00604"></a>00604 <span class="comment">  @return A pointer to an error object, or NULL on success.</span>
<a name="l00605"></a>00605 <span class="comment">  */</span>
<a name="l00606"></a>00606 <span class="comment">/***************************************************************************/</span>
<a name="l00607"></a><a class="code" href="classLinkage.html#a11">00607</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classLinkage.html#a11">Linkage::WaitMoveDone</a>( <a class="code" href="CML__Utils_8h.html#a9">int32</a> timeout )
<a name="l00608"></a>00608 {
<a name="l00609"></a>00609    <a class="code" href="CML_8h.html#a0">cml</a>.<a class="code" href="classCopleyMotionLibrary.html#a8">Debug</a>( <span class="stringliteral">"Link %d waiting on move\n"</span>, amp[0]-&gt;GetNodeID() );
<a name="l00610"></a>00610 
<a name="l00611"></a>00611    <a class="code" href="CML__Utils_8h.html#a10">uint32</a> value = <a class="code" href="CML__Linkage_8h.html#a15a0">LINKEVENT_MOVEDONE</a> | <a class="code" href="CML__Linkage_8h.html#a15a2">LINKEVENT_NODEGUARD</a> | <a class="code" href="CML__Linkage_8h.html#a15a3">LINKEVENT_FAULT</a> |
<a name="l00612"></a>00612         <a class="code" href="CML__Linkage_8h.html#a15a4">LINKEVENT_ERROR</a> | <a class="code" href="CML__Linkage_8h.html#a15a8">LINKEVENT_DISABLED</a> | <a class="code" href="CML__Linkage_8h.html#a15a13">LINKEVENT_QUICKSTOP</a> | 
<a name="l00613"></a>00613              <a class="code" href="CML__Linkage_8h.html#a15a14">LINKEVENT_ABORT</a>;
<a name="l00614"></a>00614 
<a name="l00615"></a>00615    <a class="code" href="classEventAny.html">EventAny</a> e( value );
<a name="l00616"></a>00616 
<a name="l00617"></a>00617    <a class="code" href="CML__Linkage_8h.html#a15">LINK_EVENT</a> match;
<a name="l00618"></a>00618    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = <a class="code" href="classLinkage.html#a12">WaitEvent</a>( e, timeout, match );
<a name="l00619"></a>00619 
<a name="l00620"></a>00620    <span class="keywordflow">if</span>( !err )
<a name="l00621"></a>00621    {
<a name="l00622"></a>00622       match = (<a class="code" href="CML__Linkage_8h.html#a15">LINK_EVENT</a>)(match &amp; value);
<a name="l00623"></a>00623       <span class="keywordflow">if</span>( match == <a class="code" href="CML__Linkage_8h.html#a15a0">LINKEVENT_MOVEDONE</a> )
<a name="l00624"></a>00624     <span class="keywordflow">return</span> 0;
<a name="l00625"></a>00625 
<a name="l00626"></a>00626       <span class="comment">// There should be a latched error</span>
<a name="l00627"></a>00627       <span class="keywordtype">int</span> ndx;
<a name="l00628"></a>00628       err = <a class="code" href="classLinkage.html#a16">GetLatchedError</a>( ndx );
<a name="l00629"></a>00629 
<a name="l00630"></a>00630       <span class="comment">// If not, take a best guess</span>
<a name="l00631"></a>00631       <span class="keywordflow">if</span>( !err ) 
<a name="l00632"></a>00632     err = GetError( match );
<a name="l00633"></a>00633 
<a name="l00634"></a>00634       <a class="code" href="CML_8h.html#a0">cml</a>.<a class="code" href="classCopleyMotionLibrary.html#a8">Debug</a>( <span class="stringliteral">"Linkage::WaitMoveDone returned: %s\n"</span>, err-&gt;<a class="code" href="classError.html#a0">toString</a>() );
<a name="l00635"></a>00635    }
<a name="l00636"></a>00636 
<a name="l00637"></a>00637    <span class="keywordflow">return</span> err;
<a name="l00638"></a>00638 }
<a name="l00639"></a>00639 
<a name="l00640"></a>00640 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00641"></a>00641 <span class="comment">/**</span>
<a name="l00642"></a>00642 <span class="comment">  Return an error code for a failed move.  The passed mask identifies</span>
<a name="l00643"></a>00643 <span class="comment">  which amplifier in the linkage generated the error.</span>
<a name="l00644"></a>00644 <span class="comment">  @param mask The event mask that caused the error</span>
<a name="l00645"></a>00645 <span class="comment">  @return A pointer to an error object</span>
<a name="l00646"></a>00646 <span class="comment">  */</span>
<a name="l00647"></a>00647 <span class="comment">/***************************************************************************/</span>
<a name="l00648"></a>00648 <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *Linkage::GetError( <a class="code" href="CML__Utils_8h.html#a10">uint32</a> mask )
<a name="l00649"></a>00649 {
<a name="l00650"></a>00650    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err, *someErr=0;
<a name="l00651"></a>00651    <span class="keywordtype