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motion.h

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#include <sys/conf.h>
#include <sys/types.h>
#include <sys/param.h>
#include <sys/errno.h>
#include <sys/file.h>
#include <sys/conf.h>
#include <sys/time.h>
#include <sys/uio.h>
#include <sys/map.h>
#include <sys/debug.h>
#include <sys/modctl.h>
#include <sys/kmem.h>
#include <sys/cmn_err.h>
#include <sys/open.h>
#include <sys/stat.h>
#include <sys/ddi.h>
#include <sys/sunddi.h>
#include <fcntl.h>
#include <values.h>
#include <math.h>
#include <stdio.h>
#include <unistd.h>
#include <pthread.h>

typedef int    coord_t;
typedef double velocity_t;
typedef double mass_t;

struct Motion {
   int        relative;
   coord_t    pos;
   velocity_t vel;
};

typedef struct Motion* pmotion;

struct Translation {
   int device;
   const char* label;
   pthread_mutex_t modlock;
   pthread_cond_t  offtrack;
   pthread_cond_t  ontrack;
   pthread_t tid;
   int (*step)(int, int);
   coord_t pos;
   coord_t goalpos;
   coord_t backlash;
   coord_t maxlash;
   velocity_t vel;
   velocity_t goalvel;
   velocity_t scale;
   double attract;
};

typedef struct Translation* ptranslation;

struct Traject {
   pthread_attr_t tattr;
   int filedescr;
   int naxes;
   ptranslation axis;
};

typedef struct Traject* ptraject;

int  openstage     (ptraject stage, const char* path);
int  closestage    (ptraject stage);
void disposestage  (ptraject stage);
int  movestage     (ptraject stage, pmotion motn);

ptraject newxystage (void);

int start  (int fd, ptranslation state, pthread_attr_t* ptattr);
int stop   (ptranslation state);
int moveto (ptranslation state, pmotion goal);
int where  (ptranslation state, pmotion here);

void showreg (int fd);

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