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StageMotion.c

Go to the documentation of this file.

#include <tcl.h>
#include <tk.h>
#include <stdio.h>
#include <string.h>

#include "motion.h"



#define         rnd(x)          (short)((x) > 0.0  ?  (x)+0.5 : (x)-0.5)


ptraject xy = 0;


int StageMotion_Open_Cmd(ClientData client_data, Tcl_Interp* interp, int argc, char *argv[])
{  
        int err = 0;

        if (xy == 0) {
          xy = newxystage();
          err = openstage(xy, "/dev/bpp0");
        } else {
          return TCL_OK; /* Assume the stage is already open */
        }
        if (err) {
                return TCL_ERROR;
        } else {
                return TCL_OK;
        }
}  



int StageMotion_Close_Cmd(ClientData client_data, Tcl_Interp* interp, int argc, char *argv[])
{  

        int err = 0;

      if (closestage(xy)) {
         return TCL_ERROR;
      } else {
         disposestage(xy);
                 return TCL_OK;
      }

}  



int StageMotion_Move_Cmd(ClientData client_data, Tcl_Interp* interp, int argc,char *argv[])
{  
        int xp, yp, xcoord, ycoord;
        int err = 0;
        struct Motion nextpoint[2];


        if( argc <= 2 ) {
                return TCL_ERROR;
        }


        if( Tcl_GetInt (interp, argv[1], &xcoord) != TCL_OK ) {
                return TCL_ERROR;
        }
        if( Tcl_GetInt (interp, argv[2], &ycoord) != TCL_OK ) {
                return TCL_ERROR;
        }


        xp = xcoord;
        yp = ycoord;
        nextpoint[0].relative = 0;
        nextpoint[0].vel = 0;
        nextpoint[0].pos = xp;
        nextpoint[1].relative = 0;
        nextpoint[1].vel = 0;
        nextpoint[1].pos = yp;
        err = movestage(xy, nextpoint);

        if (err) {
                return TCL_ERROR;
        } else {
                return TCL_OK;
        }
}  


int StageMotion_GetState_Cmd(ClientData client_data, Tcl_Interp* interp, int argc,char *argv[])
{  
        int ax  = xy->naxes;
        ptranslation trans = xy->axis;
        char state[15];
    char   msg[200];

        sprintf(state,"stopped");

        while (ax-- && (trans != NULL)) {
                if (trans->pos != trans->goalpos) {
                        sprintf(state,"moving");
                }
            
            trans++;
        }

        sprintf(msg, "%s", state);
        Tcl_SetResult(interp, msg, TCL_VOLATILE);

        return TCL_OK;
}  



#ifdef __cplusplus
extern "C" {
#endif 


/*************************************************************************
 *
 * This procedure initializes the the stagemotion procedures when
 * this package is loaded.
 *
 *************************************************************************/
int StageMotion_Init(Tcl_Interp *interp) {
  Tcl_CreateCommand(interp, "StageMotion_Open", StageMotion_Open_Cmd,
        (ClientData) NULL, NULL);
  Tcl_CreateCommand(interp, "StageMotion_Close", StageMotion_Close_Cmd,
        (ClientData) NULL, NULL);
  Tcl_CreateCommand(interp, "StageMotion_Move", StageMotion_Move_Cmd,
        (ClientData) NULL, NULL);
  Tcl_CreateCommand(interp, "StageMotion_GetState", StageMotion_GetState_Cmd,
        (ClientData) NULL, NULL);

  return TCL_OK;
}


#ifdef __cplusplus
}
#endif 

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