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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 146 | f9daq | 1 | #include <stdlib.h> |
| 2 | #include <stdio.h> |
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| 3 | #include "MIKRO.h" |
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| 4 | |||
| 5 | |||
| 6 | #include <getopt.h> |
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| 7 | |||
| 8 | #define MIKRO_COM "/dev/ttyUSB0" |
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| 9 | |||
| 10 | int help(){ |
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| 11 | fprintf(stderr,"Usage: mikro [-i node][-n node] [-u up] [-d down] [-r node] [-h node] [-a] [-g] [-m pos]\n"); |
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| 12 | fprintf(stderr," Options:\n"); |
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| 13 | fprintf(stderr,"[-n node] -i type .. initialize node + save to EEPROM\n"); |
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| 14 | fprintf(stderr," (1=3MLin,2=3MRot,3=4MLin,4=4MRot,0=skip\n"); |
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| 15 | fprintf(stderr," -n node -h .. homing procedure for node\n"); |
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| 16 | fprintf(stderr," -n node -r .. reset node\n"); |
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| 17 | fprintf(stderr," -n node -u .. move node for +1000\n"); |
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| 18 | fprintf(stderr," -n node -d .. move node for -1000\n"); |
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| 19 | fprintf(stderr,"[-n node] -a .. current status of the nodes\n"); |
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| 20 | fprintf(stderr," -n node -v value -s cmd .. set value of the cmd on the node\n"); |
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| 21 | fprintf(stderr," -n node -g cmd .. get value of the cmd on the node\n"); |
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| 22 | fprintf(stderr," -n node -m position .. move node to position\n"); |
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| 23 | fprintf(stderr," -l delaysec .. loop test with the delay delaysec\n"); |
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| 24 | return 0; |
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| 25 | } |
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| 26 | |||
| 27 | int main (int argc, char ** argv){ |
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| 28 | int i,j,k; |
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| 29 | int node=0,opt,value=0,itype=0; |
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| 30 | int nr_nodes=3; |
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| 31 | int ierr; |
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| 32 | int pos,xpos,ypos,zpos; |
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| 33 | char custcmd[20]; |
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| 34 | char statbits[16][10]={"Moving","In-Pos","Mode","AMN Mode","%Done","DNet","DNErr","FD-Error", |
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| 35 | "Disable","R-Lim","Local","Estop","Event1","P-Lim","Event2","N-Lim"}; |
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| 36 | |||
| 37 | MIKRO_Open (MIKRO_COM); |
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| 38 | |||
| 39 | // ":" just indicates that this option needs an argument |
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| 40 | while ((opt = getopt(argc, argv, "i:av:s:l:udn:c:pm:g:hre")) != -1) { |
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| 41 | switch (opt) { |
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| 42 | case 'i': |
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| 43 | itype = atoi(optarg); |
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| 44 | if(node != 0) |
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| 45 | MIKRO_Init (node,itype); |
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| 46 | else |
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| 47 | for(i=1; i<nr_nodes+1; i++) MIKRO_Init (i,itype); |
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| 48 | break; |
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| 49 | case 'a': |
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| 50 | if(node != 0) { |
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| 51 | pos=0; |
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| 52 | ierr=MIKRO_GetStat(node); |
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| 53 | MIKRO_GetPosition (node, &pos); |
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| 54 | printf("node %d position %d status =%04x\n",node,pos,ierr); |
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| 55 | for(i=0; i<16; i++){ |
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| 56 | printf("%d: %s\n", (ierr&1),statbits[i]); |
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| 57 | ierr>>=1; |
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| 58 | } |
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| 59 | }else{ |
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| 60 | pos=0; |
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| 61 | for (j=1;j<nr_nodes+1;j++){ |
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| 62 | ierr=MIKRO_GetStat(j); |
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| 63 | MIKRO_GetPosition (j, &pos); |
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| 64 | printf("node %d position %d status =%04x\n",j,pos,ierr); |
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| 65 | for(i=0; i<16; i++){ |
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| 66 | printf("%d: %s\n", (ierr&1),statbits[i]); |
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| 67 | ierr>>=1; |
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| 68 | } |
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| 69 | } |
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| 70 | } |
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| 71 | break; |
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| 72 | case 'l': |
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| 73 | printf("MIKRO_MoveTo Loop\n"); |
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| 74 | for (i=0;i<5;i++){ |
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| 75 | xpos=i*1000+10000; |
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| 76 | MIKRO_MoveTo (1, xpos); |
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| 77 | for (j=0;j<5;j++){ |
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| 78 | ypos=j*1000+10000; |
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| 79 | MIKRO_MoveTo (2, ypos); |
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| 80 | for (k=0;k<50;k++){ |
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| 81 | zpos=k*1000+10000; |
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| 82 | MIKRO_MoveTo (3, zpos); |
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| 83 | printf("x=%d y=%d z=%d\n",xpos,ypos,zpos); |
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| 84 | Delay(atof(optarg)); |
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| 85 | } |
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| 86 | } |
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| 87 | } |
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| 88 | break; |
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| 89 | case 'n': |
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| 90 | node = atoi(optarg); |
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| 91 | break; |
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| 92 | case 'm': |
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| 93 | MIKRO_MoveTo (node, atoi(optarg)); |
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| 94 | printf("MIKRO_MoveTo node=%d pos=%d \n",node,atoi(optarg)); |
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| 95 | MIKRO_GetPosition (node, &i); |
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| 96 | printf("node %d position %d \n",node,i); |
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| 97 | break; |
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| 98 | case 'v': |
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| 99 | value=atoi(optarg); |
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| 100 | break; |
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| 101 | case 's': |
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| 102 | MIKRO_Set (node,optarg,value); |
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| 103 | printf("MIKRO_Set node %d cmd=%s val=%d\n",node,optarg, value); |
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| 104 | break; |
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| 105 | case 'g': |
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| 106 | MIKRO_Get (node,optarg,&i); |
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| 107 | printf("MIKRO_Get node %d cmd=%s val=%d\n",node,optarg, i); |
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| 108 | break; |
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| 109 | case 'h': |
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| 110 | printf("MIKRO_ReferenceMove node=%d\n",node); |
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| 111 | MIKRO_ReferenceMove (node); |
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| 112 | break; |
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| 113 | case 'r': |
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| 114 | printf("MIKRO_Reset node=%d\n",node); |
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| 115 | MIKRO_Reset (node); |
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| 116 | break; |
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| 117 | case 'u': |
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| 118 | MIKRO_Set(node,"lr", 1000); |
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| 119 | MIKRO_Cmd(node,"mv"); |
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| 120 | break; |
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| 121 | case 'd': |
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| 122 | MIKRO_Set(node,"lr", -1000); |
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| 123 | MIKRO_Cmd(node,"mv"); |
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| 124 | break; |
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| 125 | case 'e': |
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| 126 | MIKRO_Cmd(node,"ab"); |
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| 127 | MIKRO_Cmd(node,"n 2"); |
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| 128 | MIKRO_Cmd(node,"en"); |
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| 129 | break; |
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| 130 | case 'c': // cust. com. |
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| 131 | sprintf(custcmd,"%s",optarg); |
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| 132 | MIKRO_Cmd(node,custcmd); |
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| 133 | break; |
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| 134 | case 'p': // get pos. |
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| 135 | if(node != 0){ |
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| 136 | MIKRO_GetPosition (node, &pos); |
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| 137 | printf("%d\n",pos); |
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| 138 | } |
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| 139 | break; |
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| 140 | default: // '?' |
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| 141 | help(); |
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| 142 | break; |
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| 143 | } |
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| 144 | } |
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| 145 | if (argc==1) help(); |
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| 146 | MIKRO_Close (); |
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| 147 | return 0; |
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| 148 | } |