Fix things so that they actually work
This commit is contained in:
David Schleef
parent
69b9002a22
commit
9ff8e2fa97
4 changed files with 37 additions and 87 deletions
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@ -170,7 +170,7 @@ CONFIGC= $(LIBPL)/config.c
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CONFIGCIN= $(LIBPL)/config.c.in
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SETUP= $(LIBPL)/Setup.thread $(LIBPL)/Setup.local $(LIBPL)/Setup
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SYSLIBS= $(LIBM) $(LIBC)
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SYSLIBS= $(LIBM) $(LIBC) -lcomedi
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ADDOBJS= $(LIBPL)/python.o config.o
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@ -1 +1,2 @@
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comedi compy.c
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*shared*
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comedi compy.c -lcomedi
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@ -25,6 +25,7 @@ static comedi_t *compy_it[maxcards];
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static comedi_trig trig;
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static int trigchan[2];
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static printstats=1;
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static int debug = 1;
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/*******************************/
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static PyObject *
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@ -45,18 +46,34 @@ compy_open(self, args)
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compy_it[card]=comedi_open(filen);
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trig.data=&trigdata;
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trig.mode=0;
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trig.flags=0;
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trig.n_chan=1;
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trig.chanlist=trigchan;
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trig.n=1;
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trig.trigsrc=TRIG_NOW;
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trig.data_len=1;
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if(debug)
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printf("open returned %p\n",compy_it[card]);
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return Py_BuildValue("i", 1);
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}
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static PyObject *
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compy_read_data(PyObject *self, PyObject *args)
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{
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int subd, chan;
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int card;
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lsampl_t data;
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if (!PyArg_ParseTuple(args, "(iii)", &card, &subd, &chan))
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return NULL;
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if ((card < 0) || (card >= maxcards))
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return NULL;
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if(debug)
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printf("compy trig dev %d subd %d chan %d\n",card,subd,chan);
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comedi_data_read(compy_it[card],subd,chan,0,0,&data);
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if(debug)
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printf("comedi_data_read value %d\n",data);
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return Py_BuildValue("i", data);
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}
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static PyObject *
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compy_trig(self, args)
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PyObject *self;
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@ -115,9 +132,10 @@ compy_version(self, args)
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/* List of functions defined in the module */
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static PyMethodDef compy_methods[] = {
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static PyMethodDef comedi_methods[] = {
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{"open", compy_open, METH_VARARGS},
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{"trig", compy_trig, METH_VARARGS},
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{"data_read", compy_data_read, METH_VARARGS},
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{"close", compy_close, METH_VARARGS},
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{"__version__", compy_version, METH_VARARGS},
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{NULL, NULL} /* sentinel */
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@ -126,10 +144,10 @@ static PyMethodDef compy_methods[] = {
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/* Initialization function for the module (*must* be called initxx) */
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DL_EXPORT(void)
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initcompy()
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initcomedi()
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{
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/* Create the module and add the functions */
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(void) Py_InitModule("compy", compy_methods);
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(void) Py_InitModule("comedi", comedi_methods);
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}
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@ -11,82 +11,13 @@
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import os
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import stat
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import time
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import compy # important if you want to use compy
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import comedi # important if you want to use compy
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from string import *
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# this project uses 3 advantech PCM-3730's
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# 8 isolated outputs on dev 0
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# 8 isolated inputs on dev 3
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# 8 ttl outputs each on dev 1 & 2 not used
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# 8 ttl inputs each on dev 4 & 5 not used
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comedi.open(0,"/dev/comedi0",1)
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compypath0 = "/dev/comedi0" # a little abstraction
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compypath1 = "/dev/comedi1"
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compypath2 = "/dev/comedi2"
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val = comedi.read_data((0,0,0));
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print val
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# ************ I/O definitions
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SolderSOV = (0,0,1)
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Work0SOV = (0,0,2) # input card 0, dev 0, channel 2
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Work1SOV = (0,0,3)
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Move1SOV = (0,0,4)
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BlowSOV = (0,0,5)
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SolderDn = (0,3,2)
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SolderUp = (0,3,3)
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Work0In = (0,3,4)
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Work0Out = (0,3,5)
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SolderPresent0 = (0,3,6)
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Work1In = (1,3,0)
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Work1Out = (1,3,1)
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SolderPresent1 = (1,3,2)
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MoveAt1 = (1,3,3)
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MoveAt0 = (1,3,4)
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PalmL = (2,3,0)
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PalmR = (2,3,1) # input card 2, dev 3, channel 1
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PartPres0 = (2,3,2)
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PartPres1 = (2,3,3)
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compyif = compy.trig # got rid of old work around of compy v2
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# all new code should use compy.trig directly!!!
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# *********************************************
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def inout(SOV, Sin, Sout, Ppres, Head ):
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"A task to manage one arm of a 'ping-pong' machine"
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global SolderNow
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compyif(SOV,0) # reset
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SolderNow[Head] = 0
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while 1:
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while not compyif(Sout,0): # wait until out and ready
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time.sleep(.001)
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while compyif(Ppres,0): # Wait for part to be removed
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time.sleep(.001)
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while not compyif(Ppres,0): # Wait for part to be replaced
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time.sleep(.001)
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while compyif(PalmL,0) or compyif(PalmR,0): # palms must not be blocked
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time.sleep(.001)
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while (not compyif(PalmL,0)) or (not compyif(PalmR,0)): # wait for palms
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time.sleep(.001)
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SolderNow[Head] = 1 # signal that this side will be ready soon
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compyif(SOV,1) # go in
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while not compyif(Sin,0): # wait for in
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time.sleep(.001)
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SolderNow[Head] = 2
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while SolderNow[Head]: # wait for process
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time.sleep(.001)
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# Of course this won't exit, you don't have the other tasks that run
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# the machine!!!!
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compyif(SOV,0) # go out
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# ************ comedi setup
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compy.open(0,compypath0,0)
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compy.open(1,compypath1,0)
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compy.open(2,compypath2,0)
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compyif(SolderSOV,0) # solder up
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inout(Work0SOV,Work0In,Work0Out,PartPres0,0)
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compy.close(0)
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compy.close(1)
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compy.close(2)
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comedi.close(0)
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