Merge pull request #2 from keenanlang/master

2016 Argonne Open House Changes
BCDA-APS · May 6, 2016 · 9275d37 · 9275d37
2 parents d396340 + d834ec1
commit 9275d37
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Showing 16 changed files with 263 additions and 146 deletions.
diff --git a/edgeRoboArmIOC/support/usb-1-0/usbApp/Db/AnalogAxis.template b/edgeRoboArmIOC/support/usb-1-0/usbApp/Db/AnalogAxis.template
@@ -0,0 +1,7 @@
+record(ai, "$(P)$(R)")
+{
+	field(DTYP, "asynInt32")
+	field(SCAN, "I/O Intr")
+	field(INP, "@asyn($(PORT), 0, 0)$(PARAM)")
+	field(FLNK, "$(FLNK)")
+}
diff --git a/edgeRoboArmIOC/support/usb-1-0/usbApp/Db/DigitalButton.template b/edgeRoboArmIOC/support/usb-1-0/usbApp/Db/DigitalButton.template
@@ -0,0 +1,7 @@
+record(bi, "$(P)$(R)")
+{
+	field(DTYP, "asynInt32")
+	field(SCAN, "I/O Intr")
+	field(INP, "@asyn($(PORT), 0, 0)$(PARAM)")
+	field(FLNK, "$(FLNK)")
+}
diff --git a/edgeRoboArmIOC/support/usb-1-0/usbApp/src/devUSB.cpp b/edgeRoboArmIOC/support/usb-1-0/usbApp/src/devUSB.cpp
@@ -249,6 +249,27 @@ bool checkInterfaceArgs(const iocshArgBuf* args)
 	return true;
 }
 
+bool checkTransArgs(const iocshArgBuf* args)
+{
+	if (args[0].sval == NULL)
+	{
+		printf("Error: no input given.\n");
+		return false;
+	}
+	else if (not port_used(args[0].sval))
+	{ 
+		printf("Error: couldn't find port specified.\n");
+		return false;
+	}
+	else if (args[1].ival < 0)
+	{
+		printf("Error: input cannot be negative.\n");
+		return false;
+	}
+
+	return true;
+}
+
 
 static void parse(const char* filename, DataLayout& spec)
 {
@@ -336,6 +357,10 @@ void usbSetFrequency( const char* port_name, double frequency)
 	get_driver(port_name)->setFrequency(timing);
 }
 
+void usbShowIO(const char* port_name, int tf)
+{
+	get_driver(port_name)->setIOPrinting(tf);
+}
 
 
 extern "C"
@@ -365,6 +390,9 @@ extern "C"
 	static const iocshArg inter_arg0  = {"portName",       iocshArgString};
 	static const iocshArg inter_arg1  = {"interfaceNum",   iocshArgInt};
 
+	static const iocshArg trans_arg0  = {"portName",       iocshArgString};
+	static const iocshArg trans_arg1  = {"print_io_data",  iocshArgInt};
+
 
 
 	static const iocshArg* cx_args[]     = {&cx_arg0, &cx_arg1, &cx_arg2, &cx_arg3, &cx_arg4};
@@ -374,6 +402,7 @@ extern "C"
 	static const iocshArg* delay_args[]  = {&delay_arg0, &delay_arg1};
 	static const iocshArg* debug_args[]  = {&debug_arg0, &debug_arg1};
 	static const iocshArg* inter_args[]  = {&inter_arg0, &inter_arg1};
+	static const iocshArg* trans_args[]  = {&trans_arg0, &trans_arg1};
 
 
 
@@ -384,6 +413,7 @@ extern "C"
 	static const iocshFuncDef delay_func  = {"usbSetDelay", 2, delay_args};
 	static const iocshFuncDef debug_func  = {"usbSetDebugLevel", 2, debug_args};
 	static const iocshFuncDef inter_func  = {"usbSetInterface", 2, inter_args};
+	static const iocshFuncDef trans_func  = {"usbShowIO", 2, trans_args};
 
 
 
@@ -444,7 +474,14 @@ extern "C"
 		}
 	}
 
-
+	static void call_trans_func(const iocshArgBuf* args)
+	{
+		if (checkTransArgs(args))
+		{
+			usbShowIO(args[0].sval, args[0].ival);
+		}
+	}
+
 
 	static void usbConnectRegistrar(void)       { iocshRegister(&cx_func, call_cx_func); }
 	static void usbDriverRegistrar(void)        { iocshRegister(&driver_func, call_driver_func); }
@@ -453,6 +490,7 @@ extern "C"
 	static void usbDelayRegistrar(void)         { iocshRegister(&delay_func, call_delay_func); }
 	static void usbDebugRegistrar(void)         { iocshRegister(&debug_func, call_debug_func); }
 	static void usbInterRegistrar(void)         { iocshRegister(&inter_func, call_inter_func); }
+	static void usbTransRegistrar(void)         { iocshRegister(&trans_func, call_trans_func); }
 
 
 
@@ -463,4 +501,5 @@ extern "C"
 	epicsExportRegistrar(usbDelayRegistrar);
 	epicsExportRegistrar(usbDebugRegistrar);
 	epicsExportRegistrar(usbInterRegistrar);
+	epicsExportRegistrar(usbTransRegistrar);
 }
diff --git a/edgeRoboArmIOC/support/usb-1-0/usbApp/src/hidDriver.h b/edgeRoboArmIOC/support/usb-1-0/usbApp/src/hidDriver.h
@@ -40,6 +40,7 @@ class hidDriver : public asynPortDriver
 
 		void printDebug(int level, std::string format, ...);
 		void setDebugLevel(int amt);
+		void setIOPrinting(int tf);
 
 		asynStatus writeInt32(asynUser* pasynuser, epicsInt32 value);
 		asynStatus writeFloat64(asynUser* pasynuser, epicsFloat64 value);
@@ -75,18 +76,18 @@ class hidDriver : public asynPortDriver
 		std::string  SERIAL_NUM;
 		unsigned     INTERFACE;
 
-		int TRANSFER_LENGTH_IN;
-		int ENDPOINT_ADDRESS_IN;
+		unsigned int TRANSFER_LENGTH_IN;
+		unsigned int ENDPOINT_ADDRESS_IN;
 
-		int TRANSFER_LENGTH_OUT;
-		int ENDPOINT_ADDRESS_OUT;
+		unsigned int TRANSFER_LENGTH_OUT;
+		unsigned int ENDPOINT_ADDRESS_OUT;
 
-		int DEBUG_LEVEL;
+		unsigned int DEBUG_LEVEL;
 
 		DataLayout input_specification;
 		DataLayout output_specification;
 
-		int    TIMEOUT;
+		unsigned int    TIMEOUT;
         double FREQUENCY;
 		double TIME_BETWEEN_CHECKS;
 
@@ -101,6 +102,7 @@ class hidDriver : public asynPortDriver
 		epicsMutexId device_state;
 
 		bool need_init;
+		bool print_transfer;
 };
 
 #endif
diff --git a/edgeRoboArmIOC/support/usb-1-0/usbApp/src/hidDriverConnect.cpp b/edgeRoboArmIOC/support/usb-1-0/usbApp/src/hidDriverConnect.cpp
@@ -278,8 +278,10 @@ void  hidDriver::findDevice()
 
 		if (this->isMatch(dev) and not contains(dev))
 		{
-			claimed.push_back(dev);
-			libusb_open(dev, &DEVICE);
+			int stat = libusb_open(dev, &DEVICE);
+
+			if (! stat)    { claimed.push_back(dev); }
+
 			break;
 		}
 	}

diff --git a/edgeRoboArmIOC/support/usb-1-0/usbApp/src/hidDriverInput.cpp b/edgeRoboArmIOC/support/usb-1-0/usbApp/src/hidDriverInput.cpp
@@ -94,6 +94,16 @@ void hidDriver::update_thread()
 
 void hidDriver::updateParams()
 {	
+	if (this->print_transfer)
+	{
+		for (unsigned index = 0; index < this->TRANSFER_LENGTH_IN; index += 1)
+		{
+			printf("%02X ", this->state[index]);
+		}
+
+		printf("\n");
+	}
+
 	/*
 	 * Iterate through the asyn params and assign them to their 
 	 * registers.

diff --git a/edgeRoboArmIOC/support/usb-1-0/usbApp/src/hidDriverStatus.cpp b/edgeRoboArmIOC/support/usb-1-0/usbApp/src/hidDriverStatus.cpp
@@ -108,3 +108,10 @@ void hidDriver::setInterface(int interface_in)
 		this->claimInterface();
 	epicsMutexUnlock(this->device_state);
 }
+
+void hidDriver::setIOPrinting(int tf)
+{
+	this->printDebug(10, "Setting IO Printing: %d -> %d\n", this->print_transfer, tf);
+
+	this->print_transfer = tf;
+}
diff --git a/edgeRoboArmIOC/support/usb-1-0/usbApp/src/usbSupport.dbd b/edgeRoboArmIOC/support/usb-1-0/usbApp/src/usbSupport.dbd
@@ -5,3 +5,4 @@ registrar(usbFrequencyRegistrar)
 registrar(usbDelayRegistrar)
 registrar(usbDebugRegistrar)
 registrar(usbInterRegistrar)
+registrar(usbTransRegistrar)
diff --git a/edgeRoboArmIOC/support/xxx-5-6/iocBoot/iocLinux/st.cmd b/edgeRoboArmIOC/support/xxx-5-6/iocBoot/iocLinux/st.cmd
@@ -18,10 +18,19 @@ iocxxxLinux_registerRecordDeviceDriver(pdbbase)
 drvAsynUSBPortConfigure("USB1", "Robotic Arm", 0x1267, 0, 0, 0, 0, 1)
 asynOctetConnect("USB1", "USB1")
 
-usbCreateDriver("JOYSTICK", "$(USB)/usbApp/Db/LogitechExtreme3DPro.in")
-usbConnectDevice("JOYSTICK", 0, 0x046D, 0xC215)
+#usbCreateDriver("LOGITECH", "$(USB)/usbApp/Db/LogitechATKIII.in")
+#usbConnectDevice("LOGITECH", 0, 0x046D, 0xC214)
+#dbLoadTemplate("./substitutions/LogitechATKIII.substitutions")
 
-dbLoadRecords("../../xxxApp/Db/roboArm.db", "P=xxx:, A=A1:, INPORT=JOYSTICK, OUTPORT=USB1")
+usbCreateDriver("LOGITECH", "$(USB)/usbApp/Db/LogitechExtreme3DPro.in")
+usbConnectDevice("LOGITECH", 0, 0x046D, 0xC215)
+dbLoadTemplate("./substitutions/LogitechExtreme3DPro.substitutions")
+
+#usbCreateDriver("LOGITECH", "$(USB)/usbApp/Db/LogitechDualAction.in")
+#usbConnectDevice("LOGITECH", 0, 0x046D, 0xC216)
+#dbLoadTemplate("./substitutions/LogitechDualAction.substitutions")
+
+dbLoadRecords("../../xxxApp/Db/roboArm.db", "P=xxx:, A=A1:, OUTPORT=USB1")
 ###############################################################################
 ###############################################################################
 ###############################################################################

diff --git a/edgeRoboArmIOC/support/xxx-5-6/iocBoot/iocLinux/substitutions/AxisMove.template b/edgeRoboArmIOC/support/xxx-5-6/iocBoot/iocLinux/substitutions/AxisMove.template
@@ -0,0 +1,7 @@
+record(calcout, "$(P)$(R)")
+{
+	field(INPA, "$(LOCK)")
+	field(INPB, "$(AXIS)")
+	field(CALC, "A ? 0 : 2 * (B < $(DEAD_LOW)) + (B > $(DEAD_HIGH))")
+	field(OUT, "$(OUT) PP")
+}
diff --git a/edgeRoboArmIOC/support/xxx-5-6/iocBoot/iocLinux/substitutions/ButtonMove.template b/edgeRoboArmIOC/support/xxx-5-6/iocBoot/iocLinux/substitutions/ButtonMove.template
@@ -0,0 +1,8 @@
+record(calcout, "$(P)$(R)")
+{
+	field(INPA, "$(LOCK)")
+	field(INPB, "$(BUTTONA)")
+	field(INPC, "$(BUTTONB)")
+	field(CALC, "A ? 0 : 2 * B + C")
+	field(OUT, "$(OUT) PP")
+}
diff --git a/edgeRoboArmIOC/support/xxx-5-6/iocBoot/iocLinux/substitutions/DiscreteMove.template b/edgeRoboArmIOC/support/xxx-5-6/iocBoot/iocLinux/substitutions/DiscreteMove.template
@@ -0,0 +1,7 @@
+record(calcout, "$(P)$(R)")
+{
+	field(INPA, "$(LOCK) NPP")
+	field(INPB, "$(AXIS) NPP")
+	field(CALC, "A ? 0 : (B = $(VALB)) + 2 * (B = $(VALA))")
+	field(OUT, "$(OUT) PP")
+}
diff --git a/edgeRoboArmIOC/support/xxx-5-6/iocBoot/iocLinux/substitutions/LogitechATKIII.substitutions b/edgeRoboArmIOC/support/xxx-5-6/iocBoot/iocLinux/substitutions/LogitechATKIII.substitutions
@@ -0,0 +1,41 @@
+file "$(USB)/usbApp/Db/AnalogAxis.template"
+{
+pattern
+{P     R               PARAM               PORT          FLNK}
+{xxx:  A1:Vertical     VERTICAL_STATE      LOGITECH      xxx:A1:shoulder}
+{xxx:  A1:Switch       SWITCH_STATE        LOGITECH      xxx:A1:move_lock} 
+}
+
+file "$(USB)/usbApp/Db/DigitalButton.template"
+{
+pattern
+{P     R               PARAM               PORT          FLNK}
+{xxx:  A1:Trigger      TRIGGER_PRESSED     LOGITECH      xxx:A1:led}
+{xxx:  A1:Button2      BUTTON2_PRESSED     LOGITECH      xxx:A1:wrist}
+{xxx:  A1:Button3      BUTTON3_PRESSED     LOGITECH      xxx:A1:wrist}
+{xxx:  A1:Button4      BUTTON4_PRESSED     LOGITECH      xxx:A1:grip}
+{xxx:  A1:Button5      BUTTON5_PRESSED     LOGITECH      xxx:A1:grip}
+{xxx:  A1:Button6      BUTTON6_PRESSED     LOGITECH      xxx:A1:elbow}
+{xxx:  A1:Button7      BUTTON7_PRESSED     LOGITECH      xxx:A1:elbow}
+{xxx:  A1:Button8      BUTTON8_PRESSED     LOGITECH      xxx:A1:base}
+{xxx:  A1:Button9      BUTTON9_PRESSED     LOGITECH      xxx:A1:base}
+}
+
+file "$(TOP)/iocBoot/$(IOC)/substitutions/AxisMove.template"
+{
+pattern
+{P     R               LOCK               AXIS             DEAD_LOW   DEAD_HIGH   OUT}
+{xxx:  A1:move_lock    0                  xxx:A1:Switch    0          126         ""}        
+{xxx:  A1:shoulder     xxx:A1:move_lock   xxx:A1:Vertical  100        150         xxx:A1:shoulder_move}
+}
+
+file "$(TOP)/iocBoot/$(IOC)/substitutions/ButtonMove.template"
+{
+pattern
+{P     R                LOCK              BUTTONA            BUTTONB           OUT}
+{xxx:  A1:led           0                 0                  xxx:A1:Trigger    xxx:A1:led_onoff}
+{xxx:  A1:grip          xxx:A1:move_lock  xxx:A1:Button4     xxx:A1:Button5    xxx:A1:grip_move}
+{xxx:  A1:elbow         xxx:A1:move_lock  xxx:A1:Button6     xxx:A1:Button7    xxx:A1:elbow_move}
+{xxx:  A1:base          xxx:A1:move_lock  xxx:A1:Button8     xxx:A1:Button9    xxx:A1:base_move}
+{xxx:  A1:wrist         xxx:A1:move_lock  xxx:A1:Button2     xxx:A1:Button3    xxx:A1:wrist_move}
+}
diff --git a/...oboArmIOC/support/xxx-5-6/iocBoot/iocLinux/substitutions/LogitechDualAction.substitutions b/...oboArmIOC/support/xxx-5-6/iocBoot/iocLinux/substitutions/LogitechDualAction.substitutions
@@ -0,0 +1,40 @@
+file "$(USB)/usbApp/Db/AnalogAxis.template"
+{
+pattern
+{P     R               PARAM               PORT          FLNK}
+{xxx:  A1:Vertical     LSTICK_UD_STATE     LOGITECH      xxx:A1:shoulder}
+{xxx:  A1:Rotation     LSTICK_LR_STATE     LOGITECH      xxx:A1:base}
+}
+
+file "$(USB)/usbApp/Db/DigitalButton.template"
+{
+pattern
+{P     R               PARAM               PORT          FLNK}
+{xxx:  A1:Button1      BUTTON1_PRESSED     LOGITECH      xxx:A1:led}
+{xxx:  A1:Button2      BUTTON2_PRESSED     LOGITECH      xxx:A1:move_lock}
+{xxx:  A1:Button3      BUTTON3_PRESSED     LOGITECH      xxx:A1:grip}
+{xxx:  A1:Button4      BUTTON4_PRESSED     LOGITECH      xxx:A1:grip}
+{xxx:  A1:Button5      BUTTON5_PRESSED     LOGITECH      xxx:A1:elbow}
+{xxx:  A1:Button7      BUTTON7_PRESSED     LOGITECH      xxx:A1:elbow}
+{xxx:  A1:Button6      BUTTON6_PRESSED     LOGITECH      xxx:A1:wrist}
+{xxx:  A1:Button8      BUTTON8_PRESSED     LOGITECH      xxx:A1:wrist}
+}
+
+file "$(TOP)/iocBoot/$(IOC)/substitutions/AxisMove.template"
+{
+pattern
+{P     R               LOCK               AXIS             DEAD_LOW   DEAD_HIGH   OUT}
+{xxx:  A1:move_lock    0                  xxx:A1:Button2   1          1           ""}  
+{xxx:  A1:base         xxx:A1:move_lock   xxx:A1:Rotation  100        150         xxx:A1:base_move}
+{xxx:  A1:shoulder     xxx:A1:move_lock   xxx:A1:Vertical  100        150         xxx:A1:shoulder_move}
+}
+
+file "$(TOP)/iocBoot/$(IOC)/substitutions/ButtonMove.template"
+{
+pattern
+{P     R                LOCK              BUTTONA            BUTTONB           OUT}
+{xxx:  A1:led           0                 0                  xxx:A1:Button1    xxx:A1:led_onoff}      
+{xxx:  A1:elbow         xxx:A1:move_lock  xxx:A1:Button7     xxx:A1:Button5    xxx:A1:elbow_move}
+{xxx:  A1:grip          0                 xxx:A1:Button3     xxx:A1:Button4    xxx:A1:grip_move}
+{xxx:  A1:wrist         xxx:A1:move_lock  xxx:A1:Button8     xxx:A1:Button6    xxx:A1:wrist_move}
+}
diff --git a/...oArmIOC/support/xxx-5-6/iocBoot/iocLinux/substitutions/LogitechExtreme3DPro.substitutions b/...oArmIOC/support/xxx-5-6/iocBoot/iocLinux/substitutions/LogitechExtreme3DPro.substitutions
@@ -0,0 +1,45 @@
+file "$(USB)/usbApp/Db/AnalogAxis.template"
+{
+pattern
+{P     R               PARAM               PORT          FLNK}
+{xxx:  A1:Vertical     VERTICAL_STATE      LOGITECH      xxx:A1:shoulder}
+{xxx:  A1:Rotation     ROTATION_STATE      LOGITECH      xxx:A1:base}
+{xxx:  A1:Switch       SWITCH_STATE        LOGITECH      xxx:A1:move_lock} 
+{xxx:  A1:Hat          HAT_STATE           LOGITECH      xxx:A1:wrist}
+}
+
+file "$(USB)/usbApp/Db/DigitalButton.template"
+{
+pattern
+{P     R               PARAM               PORT          FLNK}
+{xxx:  A1:Trigger      TRIGGER_PRESSED     LOGITECH      xxx:A1:grip}
+{xxx:  A1:LButton      LBUTTON_PRESSED     LOGITECH      xxx:A1:grip}
+{xxx:  A1:Button3      BUTTON3_PRESSED     LOGITECH      xxx:A1:elbow}
+{xxx:  A1:Button5      BUTTON5_PRESSED     LOGITECH      xxx:A1:elbow}
+{xxx:  A1:Button11     BUTTON11_PRESSED    LOGITECH      xxx:A1:led}
+}
+
+file "$(TOP)/iocBoot/$(IOC)/substitutions/AxisMove.template"
+{
+pattern
+{P     R               LOCK               AXIS             DEAD_LOW   DEAD_HIGH   OUT}
+{xxx:  A1:move_lock    0                  xxx:A1:Switch    0          126         ""}        
+{xxx:  A1:base         xxx:A1:move_lock   xxx:A1:Rotation  50         200         xxx:A1:base_move}
+{xxx:  A1:shoulder     xxx:A1:move_lock   xxx:A1:Vertical  50         600         xxx:A1:shoulder_move}
+}
+
+file "$(TOP)/iocBoot/$(IOC)/substitutions/ButtonMove.template"
+{
+pattern
+{P     R                LOCK              BUTTONA            BUTTONB           OUT}
+{xxx:  A1:led           0                 0                  xxx:A1:Button11   xxx:A1:led_onoff}
+{xxx:  A1:elbow         xxx:A1:move_lock  xxx:A1:Button3     xxx:A1:Button5    xxx:A1:elbow_move}
+{xxx:  A1:grip          xxx:A1:move_lock  xxx:A1:LButton     xxx:A1:Trigger    xxx:A1:grip_move}
+}
+
+file "$(TOP)/iocBoot/$(IOC)/substitutions/DiscreteMove.template"
+{
+pattern
+{P     R                LOCK               AXIS            VALA    VALB     OUT}
+{xxx:  A1:wrist         xxx:A1:move_lock   xxx:A1:Hat      4       0        xxx:A1:wrist_move}
+}