simstatprint.cc File Reference

00017 {
00018   emcGetArgs(argc,argv); // get EMC_NMLFILE, and EMC_INIFILE;
00019   INIFILE inifile;
00020   const char *inistring;
00021 
00022   for(int i = 0; i < argc-1; i++)
00023     {
00024       if(!strcmp(argv[i],"-axis"))
00025         {
00026           axis = strtol(argv[++i],0,0);
00027           break;
00028         }
00029     }
00030 
00031   // open it
00032   if (-1 == inifile.open(EMC_INIFILE)) {
00033     exit(-1);
00034   }
00035 
00036   if (NULL != (inistring = inifile.find("NML_FILE", "EMC"))) {
00037     // copy to global
00038     strcpy(EMC_NMLFILE, inistring);
00039   }
00040   else {
00041     // not found, use default
00042   }
00043 
00044 
00045   sim_stat = new NML(simmot_format, "simmot_stat","simstatprint",EMC_NMLFILE);
00046   if(NULL == sim_stat)
00047     {
00048       exit(-1);
00049     }
00050   if(!sim_stat->valid())
00051     {
00052       exit(-1);
00053     }
00054 
00055   while(sim_stat->read() != SIMMOT_STATUS_TYPE) esleep(0.01);
00056 
00057   simmot_stat = (SIMMOT_STATUS *) sim_stat->get_address();
00058 
00059   printf("amplifier[%d].gain=%8.8f\n",axis, simmot_stat->data.amplifier[axis].gain);
00060   printf("amplifier[%d].maxOutputCurrent=%8.8f\n",axis, simmot_stat->data.amplifier[axis].maxOutputCurrent);
00061   printf("amplifier[%d].configured=%d\n",axis, simmot_stat->data.amplifier[axis].configured);
00062   printf("amplifier[%d].enabled=%d\n",axis, simmot_stat->data.amplifier[axis].enabled);
00063   printf("amplifier[%d].tripped=%d\n",axis, simmot_stat->data.amplifier[axis].tripped);
00064   printf("dcmotor[%d].Ra=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].Ra);
00065   printf("dcmotor[%d].La=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].La);
00066   printf("dcmotor[%d].Kb=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].Kb);
00067   printf("dcmotor[%d].Jm=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].Jm);
00068   printf("dcmotor[%d].Bm=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].Bm);
00069   printf("dcmotor[%d].a=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].a);
00070   printf("dcmotor[%d].b=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].b);
00071   printf("dcmotor[%d].c=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].c);
00072   printf("dcmotor[%d].fourac_minus_b_squared=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].fourac_minus_b_squared);
00073   printf("dcmotor[%d].sa_real=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].sa_real);
00074   printf("dcmotor[%d].sa_img=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].sa_img);
00075   printf("dcmotor[%d].sb_real=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].sb_real);
00076   printf("dcmotor[%d].sb_img=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].sb_img);
00077   printf("dcmotor[%d].sa_time_factor=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].sa_time_factor);
00078   printf("dcmotor[%d].sb_time_factor=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].sb_time_factor);
00079   printf("dcmotor[%d].wo=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].wo);
00080   printf("dcmotor[%d].dwo=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].dwo);
00081   printf("dcmotor[%d].cycleTime=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].cycleTime);
00082   printf("dcmotor[%d].A=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].A);
00083   printf("dcmotor[%d].B=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].B);
00084   printf("dcmotor[%d].delta_thm=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].delta_thm);
00085   printf("dcmotor[%d].last_ea=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].last_ea);
00086   printf("dcmotor[%d].thm=%8.8f\n",axis, simmot_stat->data.dcmotor[axis].thm);
00087 
00088   delete sim_stat;
00089 }
Functions
int	main (int argc, char **argv)
Variables
NML *	sim_cmd
NML *	sim_stat
SIMMOT_COMMAND	cmd
SIMMOT_STATUS *	simmot_stat
int	axis = 0
simstatprint.cc File Reference

Functions

Variables

Function Documentation

Variable Documentation
