From 544c41d6460890b0835785f150daeedeeb6ba954 Mon Sep 17 00:00:00 2001 From: Eric Marcil Date: Mon, 24 Apr 2023 11:40:27 -0400 Subject: [PATCH 01/13] Added basic FSU Speed Limit Handling This is the basic handling of FSU Speed Limit. Works for a single control group. Need to generalize for multiple control groups. --- .gitignore | 4 + motoman_driver/MotoPlus/MotionServer.c | 325 ++++++++++++++---- .../MotoPlus/MpRosAllControllers.vcxproj | 2 + .../MpRosAllControllers.vcxproj.filters | 6 + motoman_driver/MotoPlus/debug.c | 70 ++++ motoman_driver/MotoPlus/debug.h | 9 + motoman_driver/MotoPlus/mpMain.c | 2 + 7 files changed, 357 insertions(+), 61 deletions(-) create mode 100644 motoman_driver/MotoPlus/debug.c create mode 100644 motoman_driver/MotoPlus/debug.h diff --git a/.gitignore b/.gitignore index 842ce6fa..db6acbb2 100644 --- a/.gitignore +++ b/.gitignore @@ -59,3 +59,7 @@ motoman_driver/MotoPlus/_buildLog/MotoROSYRC1000u.log /motoman_gp8_support/out/build/x64-Debug (default) /motoman_gp88_support/out/build/x64-Debug (default) /motoman_gp7_support/out/build/x64-Debug (default) +*.vsidx +motoman_driver/MotoPlus/.vs/MpRosAllControllers/FileContentIndex/read.lock +*.db-shm +*.db-wal diff --git a/motoman_driver/MotoPlus/MotionServer.c b/motoman_driver/MotoPlus/MotionServer.c index be661f32..bca35e04 100644 --- a/motoman_driver/MotoPlus/MotionServer.c +++ b/motoman_driver/MotoPlus/MotionServer.c @@ -30,6 +30,7 @@ */ #include "MotoROS.h" +#include "debug.h" //----------------------- // Function Declarations @@ -1668,7 +1669,40 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio LONG q_time; int axis; //BOOL bNoData = TRUE; // for testing + MP_PULSE_POS_RSP_DATA prevPulsePosData, pulsePosData; + MP_CTRL_GRP_SEND_DATA ctrlGrpData; + LONG newPulseInc[MP_GRP_AXES_NUM]; + LONG toProcessPulses[MP_GRP_AXES_NUM]; + LONG sentPulseInc[MP_GRP_AXES_NUM]; + LONG processedPulses[MP_GRP_AXES_NUM]; + LONG unsentPulses[MP_GRP_AXES_NUM]; + LONG prevMaxSpeed[MP_GRP_AXES_NUM]; + LONG prevMaxSpeedRemain[MP_GRP_AXES_NUM]; + LONG maxSpeed[MP_GRP_AXES_NUM]; + LONG maxSpeedRemain[MP_GRP_AXES_NUM]; + BOOL isMissingPulse; + BOOL skipReadingQ; + BOOL queueRead; + BOOL hasUnprocessedData; + + ctrlGrpData.sCtrlGrp = 0; + mpGetPulsePos(&ctrlGrpData, &prevPulsePosData); + + memset(newPulseInc, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); + memset(toProcessPulses, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); + memset(sentPulseInc, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); + memset(processedPulses, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); + memset(unsentPulses, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); + memset(prevMaxSpeed, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); + memset(prevMaxSpeedRemain, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); + memset(maxSpeed, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); + memset(maxSpeedRemain, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); + isMissingPulse = FALSE; + skipReadingQ = FALSE; + queueRead = FALSE; + hasUnprocessedData = FALSE; + printf("IncMoveTask Started\r\n"); memset(&moveData, 0x00, sizeof(moveData)); @@ -1682,87 +1716,100 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio FOREVER { mpClkAnnounce(MP_INTERPOLATION_CLK); + queueRead = FALSE; if (Ros_Controller_IsMotionReady(controller) - && Ros_MotionServer_HasDataInQueue(controller) + && (Ros_MotionServer_HasDataInQueue(controller) || hasUnprocessedData) && !controller->bStopMotion) { //bNoData = FALSE; // for testing - - for(i=0; inumGroup; i++) + if (skipReadingQ) { - q = &controller->ctrlGroups[i]->inc_q; - - // Lock the q before manipulating it - if(mpSemTake(q->q_lock, Q_LOCK_TIMEOUT) == OK) + skipReadingQ = FALSE; + for (i = 0; i < controller->numGroup; i++) + memset(&moveData.grp_pos_info[i].pos, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); + } + else + { + for (i = 0; i < controller->numGroup; i++) { - if(q->cnt > 0) + q = &controller->ctrlGroups[i]->inc_q; + + // Lock the q before manipulating it + if (mpSemTake(q->q_lock, Q_LOCK_TIMEOUT) == OK) { - time = q->data[q->idx].time; - q_time = controller->ctrlGroups[i]->q_time; - moveData.grp_pos_info[i].pos_tag.data[2] = q->data[q->idx].tool; - moveData.grp_pos_info[i].pos_tag.data[3] = q->data[q->idx].frame; - moveData.grp_pos_info[i].pos_tag.data[4] = q->data[q->idx].user; - - memcpy(&moveData.grp_pos_info[i].pos, &q->data[q->idx].inc, sizeof(LONG) * MP_GRP_AXES_NUM); - - // increment index in the queue and decrease the count - q->idx = Q_OFFSET_IDX( q->idx, 1, Q_SIZE ); - q->cnt--; - - // Check if complet interpolation period covered - while(q->cnt > 0) + if (q->cnt > 0) { - if( (q_time <= q->data[q->idx].time) - && (q->data[q->idx].time - q_time <= controller->interpolPeriod) ) - { - // next incMove is part of same interpolation period - - // check that information is in the same format - if( (moveData.grp_pos_info[i].pos_tag.data[2] != q->data[q->idx].tool) - || (moveData.grp_pos_info[i].pos_tag.data[3] != q->data[q->idx].frame) - || (moveData.grp_pos_info[i].pos_tag.data[4] != q->data[q->idx].user) ) + time = q->data[q->idx].time; + q_time = controller->ctrlGroups[i]->q_time; + moveData.grp_pos_info[i].pos_tag.data[2] = q->data[q->idx].tool; + moveData.grp_pos_info[i].pos_tag.data[3] = q->data[q->idx].frame; + moveData.grp_pos_info[i].pos_tag.data[4] = q->data[q->idx].user; + + memcpy(&moveData.grp_pos_info[i].pos, &q->data[q->idx].inc, sizeof(LONG) * MP_GRP_AXES_NUM); + queueRead = TRUE; + Debug_BroadcastMsg("New Inc from Buffer: %d, %d, %d, %d, %d, %d\r\n", + moveData.grp_pos_info[i].pos[0], moveData.grp_pos_info[i].pos[1], moveData.grp_pos_info[i].pos[2], + moveData.grp_pos_info[i].pos[3], moveData.grp_pos_info[i].pos[4], moveData.grp_pos_info[i].pos[5]); + + // increment index in the queue and decrease the count + q->idx = Q_OFFSET_IDX(q->idx, 1, Q_SIZE); + q->cnt--; + + // Check if complet interpolation period covered + while (q->cnt > 0) + { + if ((q_time <= q->data[q->idx].time) + && (q->data[q->idx].time - q_time <= controller->interpolPeriod)) { - // Different format can't combine information + // next incMove is part of same interpolation period + + // check that information is in the same format + if ((moveData.grp_pos_info[i].pos_tag.data[2] != q->data[q->idx].tool) + || (moveData.grp_pos_info[i].pos_tag.data[3] != q->data[q->idx].frame) + || (moveData.grp_pos_info[i].pos_tag.data[4] != q->data[q->idx].user)) + { + // Different format can't combine information + break; + } + + // add next incMove to current incMove + for (axis = 0; axis < MP_GRP_AXES_NUM; axis++) + moveData.grp_pos_info[i].pos[axis] += q->data[q->idx].inc[axis]; + time = q->data[q->idx].time; + + // increment index in the queue and decrease the count + q->idx = Q_OFFSET_IDX(q->idx, 1, Q_SIZE); + q->cnt--; + } + else + { + // interpolation period complet break; } - - // add next incMove to current incMove - for(axis=0; axisdata[q->idx].inc[axis]; - time = q->data[q->idx].time; - - // increment index in the queue and decrease the count - q->idx = Q_OFFSET_IDX( q->idx, 1, Q_SIZE ); - q->cnt--; - } - else - { - // interpolation period complet - break; } + + controller->ctrlGroups[i]->q_time = time; + } + else + { + moveData.grp_pos_info[i].pos_tag.data[2] = 0; + moveData.grp_pos_info[i].pos_tag.data[3] = MP_INC_PULSE_DTYPE; + moveData.grp_pos_info[i].pos_tag.data[4] = 0; + memset(&moveData.grp_pos_info[i].pos, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); } - - controller->ctrlGroups[i]->q_time = time; + + // Unlock the q + mpSemGive(q->q_lock); } else { - moveData.grp_pos_info[i].pos_tag.data[2] = 0; - moveData.grp_pos_info[i].pos_tag.data[3] = MP_INC_PULSE_DTYPE; - moveData.grp_pos_info[i].pos_tag.data[4] = 0; + printf("ERROR: Can't get data from queue. Queue is locked up.\r\n"); memset(&moveData.grp_pos_info[i].pos, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); + continue; } - - // Unlock the q - mpSemGive(q->q_lock); } - else - { - printf("ERROR: Can't get data from queue. Queue is locked up.\r\n"); - memset(&moveData.grp_pos_info[i].pos, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); - continue; - } - } + } #if DX100 // first robot @@ -1796,6 +1843,155 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio } } #else + // --- FSU Speed Limit Check --- + hasUnprocessedData = FALSE; + + for (i = 0; i < controller->numGroup; i++) + { + memcpy(newPulseInc, moveData.grp_pos_info[i].pos, sizeof(LONG) * MP_GRP_AXES_NUM); + // record the speed associate with the next amount of pulses + if (queueRead) + { + for (axis = 0; axis < MP_GRP_AXES_NUM; axis++) + { + maxSpeed[axis] = abs(newPulseInc[axis]); + maxSpeedRemain[axis] = abs(newPulseInc[axis]); + } + } + + // Check if pulses are missing from last increment + mpGetPulsePos(&ctrlGrpData, &pulsePosData); + isMissingPulse = FALSE; + for (axis = 0; axis < MP_GRP_AXES_NUM; axis++) + { + // Check how many pulses we processed from last increment + processedPulses[axis] = pulsePosData.lPos[axis] - prevPulsePosData.lPos[axis]; + // Remove those pulses from the amount to process. + // If everything was processed, then there should by 0 pulses left. Otherwise FSU Speed limit prevented processing + toProcessPulses[axis] -= processedPulses[axis]; + if (toProcessPulses[axis] != 0) + isMissingPulse = TRUE; + + // Add the new pulses to be processed for this iteration + toProcessPulses[axis] += newPulseInc[axis]; + + if(toProcessPulses[axis] != 0) + hasUnprocessedData = TRUE; + } + + //BroadcastF("Processed: %d Missing: %d New: %d ToProcess %d\r\n", + // processedPulses[0], toProcessPulses[0] - newPulseInc[0], newPulseInc[0], toProcessPulses[0]); + + if (isMissingPulse) + { + LONG max_inc; + + // Prevent going faster than original requested speed once speed limit turns off + // Check if the speed (inc) of previous interation should be considered by checking + // if the unprocessed pulses from that speed setting still remains. + // If all the pulses of previous increment were processed, then transfer the current + // speed and process the next increment from the increment queue. + for (axis = 0; axis < MP_GRP_AXES_NUM; axis++) + { + // Check if has pulses to process + if (toProcessPulses[axis] == 0) + prevMaxSpeedRemain[axis] = 0; + else + prevMaxSpeedRemain[axis] = abs(prevMaxSpeedRemain[axis]) - abs(processedPulses[axis]); + } + + // Check if still have data to process from previous iteration + skipReadingQ = FALSE; + for (axis = 0; axis < MP_GRP_AXES_NUM; axis++) + { + if (prevMaxSpeedRemain[axis] > 0) + skipReadingQ = TRUE; + } + + Debug_BroadcastMsg("Remain: %d, %d, %d, %d, %d, %d Skip: %d\r\n", + prevMaxSpeedRemain[0], prevMaxSpeedRemain[1], prevMaxSpeedRemain[2], + prevMaxSpeedRemain[3], prevMaxSpeedRemain[4], prevMaxSpeedRemain[5], skipReadingQ); + + if (!skipReadingQ) { + for (axis = 0; axis < MP_GRP_AXES_NUM; axis++) { + // Transfer the current speed as the new prevSpeed + prevMaxSpeed[axis] = maxSpeed[axis]; + prevMaxSpeedRemain[axis] += maxSpeedRemain[axis]; + } + + Debug_BroadcastMsg("New Remain: %d, %d, %d, %d, %d, %d \r\n", + prevMaxSpeedRemain[0], prevMaxSpeedRemain[1], prevMaxSpeedRemain[2], + prevMaxSpeedRemain[3], prevMaxSpeedRemain[4], prevMaxSpeedRemain[5]); + } + + // Set the number of pulse that can be sent without exceeding speed + for (axis = 0; axis < MP_GRP_AXES_NUM; axis++) + { + // Check if has pulses to process + if (toProcessPulses[axis] == 0) + continue; + + // Maximum inc that should be send () + if (prevMaxSpeed[axis] > 0) + // if previous speed is defined use it + max_inc = prevMaxSpeed[axis]; + else + { + if (maxSpeed[axis] > 0) + // else fallback on current speed if defined + max_inc = maxSpeed[axis]; + else if (newPulseInc[axis] != 0) + // use the current speed if none zero. + max_inc = abs(newPulseInc[axis]); + else + // otherwise use the axis max speed + max_inc = controller->ctrlGroups[i]->maxInc.maxIncrement[axis]; + + Debug_BroadcastMsg("Warning undefined speed: Axis%d Defaulting Max Inc: %d (prevSpeed: %d curSpeed %d)\r\n", + axis, max_inc, prevMaxSpeed[axis], maxSpeed[axis]); + } + + // Set new increment and recalculate unsent pulses + if (abs(toProcessPulses[axis]) <= max_inc) + { + // Pulses to send is small than max, so send everything + moveData.grp_pos_info[i].pos[axis] = toProcessPulses[axis]; + sentPulseInc[axis] = toProcessPulses[axis]; + unsentPulses[axis] = 0; + } + else { + // Pulses to send is too high, so send the amount matching the maximum speed + if (toProcessPulses[axis] >= 0) + { + moveData.grp_pos_info[i].pos[axis] = max_inc; + sentPulseInc[axis] = max_inc; + } + else + { + moveData.grp_pos_info[i].pos[axis] = -max_inc; + sentPulseInc[axis] = -max_inc; + } + + unsentPulses[axis] = toProcessPulses[axis] - sentPulseInc[axis]; + //if (axis == 0) + // BroadcastF("Axis %d unsent: %d = toProcess: %d - send: %d \r\n", + // axis, unsentPulses[axis], toProcessPulses[axis], sentPulseInc[axis]); + } + } + } + else + { + // No PFL Speed Limit detected + memcpy(sentPulseInc, moveData.grp_pos_info[i].pos, sizeof(LONG) * MP_GRP_AXES_NUM); + memset(unsentPulses, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); + for (axis = 0; axis < MP_GRP_AXES_NUM; axis++) + { + prevMaxSpeed[axis] = abs(sentPulseInc[axis]); + prevMaxSpeedRemain[axis] = abs(sentPulseInc[axis]); + } + } + } + ret = mpExRcsIncrementMove(&moveData); if(ret != 0) { @@ -1846,6 +2042,13 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio Ros_MotionServer_StopMotion(controller); } } + + for(axis=0; axis<2; axis++) + Debug_BroadcastMsg("Axis %d: New: %d ToProcess: %d Sent: %d Unsent: %d Skip: %d\r\n", + axis, newPulseInc[axis], toProcessPulses[axis], + moveData.grp_pos_info[0].pos[axis], unsentPulses[axis], skipReadingQ); + + memcpy(&prevPulsePosData, &pulsePosData, sizeof(MP_PULSE_POS_RSP_DATA)); #endif } diff --git a/motoman_driver/MotoPlus/MpRosAllControllers.vcxproj b/motoman_driver/MotoPlus/MpRosAllControllers.vcxproj index 010a969c..c168ffcf 100644 --- a/motoman_driver/MotoPlus/MpRosAllControllers.vcxproj +++ b/motoman_driver/MotoPlus/MpRosAllControllers.vcxproj @@ -179,6 +179,7 @@ + @@ -188,6 +189,7 @@ + diff --git a/motoman_driver/MotoPlus/MpRosAllControllers.vcxproj.filters b/motoman_driver/MotoPlus/MpRosAllControllers.vcxproj.filters index 9a4f6772..d945caab 100644 --- a/motoman_driver/MotoPlus/MpRosAllControllers.vcxproj.filters +++ b/motoman_driver/MotoPlus/MpRosAllControllers.vcxproj.filters @@ -87,6 +87,9 @@ Source Files + + Source Files + @@ -116,5 +119,8 @@ Header Files + + Header Files + \ No newline at end of file diff --git a/motoman_driver/MotoPlus/debug.c b/motoman_driver/MotoPlus/debug.c new file mode 100644 index 00000000..0886e520 --- /dev/null +++ b/motoman_driver/MotoPlus/debug.c @@ -0,0 +1,70 @@ +//debug.c +// + +#include "motoPlus.h" + +#define DEBUG_UDP_PORT_NUMBER 21789 + +#define MAX_DEBUG_MESSAGE_SIZE 1024 + +#define SO_BROADCAST 0x0020 + +#define MP_USER_LAN1 1 /* general LAN interface1 */ +#define MP_USER_LAN2 2 /* general LAN interface2(only YRC1000) */ + + +extern STATUS setsockopt(int s, int level, int optname, char* optval, int optlen); +extern int mpNICData(USHORT if_no, ULONG* ip_addr, ULONG* subnet_mask, UCHAR* mac_addr, ULONG* default_gw); + +int ros_DebugSocket = -1; +struct sockaddr_in ros_debug_destAddr1; + + +void Ros_Debug_Init() +{ + ULONG ip_be; + ULONG subnetmask_be; + ULONG gateway_be; + int broadcastVal = 1; + UCHAR mac[6]; + + ros_DebugSocket = mpSocket(AF_INET, SOCK_DGRAM, 0); + setsockopt(ros_DebugSocket, SOL_SOCKET, SO_BROADCAST, (char*)&broadcastVal, sizeof(broadcastVal)); + + mpNICData(MP_USER_LAN1, &ip_be, &subnetmask_be, mac, &gateway_be); + + ros_debug_destAddr1.sin_addr.s_addr = ip_be | (~subnetmask_be); + ros_debug_destAddr1.sin_family = AF_INET; + ros_debug_destAddr1.sin_port = mpHtons(DEBUG_UDP_PORT_NUMBER); +} + + +void Debug_BroadcastMsg(const char *fmt, ...) +{ + char str[MAX_DEBUG_MESSAGE_SIZE]; + va_list va; + + + memset(str, 0x00, MAX_DEBUG_MESSAGE_SIZE); + + va_start(va, fmt); + vsnprintf(str, MAX_DEBUG_MESSAGE_SIZE, fmt, va); + va_end(va); + + if (ros_DebugSocket == -1) + Ros_Debug_Init(); + + mpSendTo(ros_DebugSocket, str, strlen(str), 0, (struct sockaddr*)&ros_debug_destAddr1, sizeof(struct sockaddr_in)); + + // puts(str); +} + + +void Debug_BroadcastBytes(char* bytes, int len) +{ + if (ros_DebugSocket == -1) + Ros_Debug_Init(); + + mpSendTo(ros_DebugSocket, bytes, len, 0, (struct sockaddr*)&ros_debug_destAddr1, sizeof(struct sockaddr_in)); +} + diff --git a/motoman_driver/MotoPlus/debug.h b/motoman_driver/MotoPlus/debug.h new file mode 100644 index 00000000..49ea7ccd --- /dev/null +++ b/motoman_driver/MotoPlus/debug.h @@ -0,0 +1,9 @@ +//debug.h +// +#ifndef _DEBUG_H_ +#define _DEBUG_H_ + +extern void Ros_Debug_Init(); +extern void Debug_BroadcastMsg(const char *fmt, ...); + +#endif \ No newline at end of file diff --git a/motoman_driver/MotoPlus/mpMain.c b/motoman_driver/MotoPlus/mpMain.c index 859e084e..89ae4224 100644 --- a/motoman_driver/MotoPlus/mpMain.c +++ b/motoman_driver/MotoPlus/mpMain.c @@ -40,6 +40,7 @@ */ #include "MotoROS.h" +#include "debug.h" #ifdef DEBUG @@ -57,6 +58,7 @@ void mpUsrRoot(int arg1, int arg2, int arg3, int arg4, int arg5, int arg6, int a #ifdef DX100 Ros_Sleep(10000); // 10 sec. delay to enable DX100 system to complete initialization #endif + Ros_Debug_Init(); //Creates and starts a new task in a seperate thread of execution. //All arguments will be passed to the new task if the function From 305136f447306ca6591b623c42bad123766debff Mon Sep 17 00:00:00 2001 From: Eric Marcil Date: Mon, 24 Apr 2023 18:01:40 -0400 Subject: [PATCH 02/13] Added multiple control group support Added multiple control group support and debug statements --- motoman_driver/MotoPlus/MotionServer.c | 166 ++++++++++++------------- motoman_driver/MotoPlus/mpMain.c | 5 +- 2 files changed, 80 insertions(+), 91 deletions(-) diff --git a/motoman_driver/MotoPlus/MotionServer.c b/motoman_driver/MotoPlus/MotionServer.c index bca35e04..31056450 100644 --- a/motoman_driver/MotoPlus/MotionServer.c +++ b/motoman_driver/MotoPlus/MotionServer.c @@ -30,7 +30,10 @@ */ #include "MotoROS.h" + +#ifdef DEBUG #include "debug.h" +#endif //----------------------- // Function Declarations @@ -1672,35 +1675,32 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio MP_PULSE_POS_RSP_DATA prevPulsePosData, pulsePosData; MP_CTRL_GRP_SEND_DATA ctrlGrpData; - LONG newPulseInc[MP_GRP_AXES_NUM]; - LONG toProcessPulses[MP_GRP_AXES_NUM]; - LONG sentPulseInc[MP_GRP_AXES_NUM]; - LONG processedPulses[MP_GRP_AXES_NUM]; - LONG unsentPulses[MP_GRP_AXES_NUM]; - LONG prevMaxSpeed[MP_GRP_AXES_NUM]; - LONG prevMaxSpeedRemain[MP_GRP_AXES_NUM]; - LONG maxSpeed[MP_GRP_AXES_NUM]; - LONG maxSpeedRemain[MP_GRP_AXES_NUM]; + LONG newPulseInc[MAX_CONTROLLABLE_GROUPS][MP_GRP_AXES_NUM]; // Pulse increments that we just retrieved from the incQueue + LONG toProcessPulses[MAX_CONTROLLABLE_GROUPS][MP_GRP_AXES_NUM]; // Total pulses that still need to be sent to the command + LONG processedPulses[MP_GRP_AXES_NUM]; // Amount of pulses from the last command that were actually processed (accepted) + LONG prevMaxSpeed[MAX_CONTROLLABLE_GROUPS][MP_GRP_AXES_NUM]; + LONG prevMaxSpeedRemain[MAX_CONTROLLABLE_GROUPS][MP_GRP_AXES_NUM]; + LONG maxSpeed[MAX_CONTROLLABLE_GROUPS][MP_GRP_AXES_NUM]; + LONG maxSpeedRemain[MAX_CONTROLLABLE_GROUPS][MP_GRP_AXES_NUM]; + BOOL skipReadingQ[MAX_CONTROLLABLE_GROUPS]; + BOOL queueRead[MAX_CONTROLLABLE_GROUPS]; BOOL isMissingPulse; - BOOL skipReadingQ; - BOOL queueRead; BOOL hasUnprocessedData; ctrlGrpData.sCtrlGrp = 0; mpGetPulsePos(&ctrlGrpData, &prevPulsePosData); - memset(newPulseInc, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); - memset(toProcessPulses, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); - memset(sentPulseInc, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); + memset(newPulseInc, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM * MAX_CONTROLLABLE_GROUPS); + memset(toProcessPulses, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM * MAX_CONTROLLABLE_GROUPS); memset(processedPulses, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); - memset(unsentPulses, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); - memset(prevMaxSpeed, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); - memset(prevMaxSpeedRemain, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); - memset(maxSpeed, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); - memset(maxSpeedRemain, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); + memset(prevMaxSpeed, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM * MAX_CONTROLLABLE_GROUPS); + memset(prevMaxSpeedRemain, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM * MAX_CONTROLLABLE_GROUPS); + memset(maxSpeed, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM * MAX_CONTROLLABLE_GROUPS); + memset(maxSpeedRemain, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM * MAX_CONTROLLABLE_GROUPS); + memset(skipReadingQ, 0x00, sizeof(BOOL) * MAX_CONTROLLABLE_GROUPS); + memset(queueRead, 0x00, sizeof(BOOL) * MAX_CONTROLLABLE_GROUPS); + isMissingPulse = FALSE; - skipReadingQ = FALSE; - queueRead = FALSE; hasUnprocessedData = FALSE; printf("IncMoveTask Started\r\n"); @@ -1716,22 +1716,23 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio FOREVER { mpClkAnnounce(MP_INTERPOLATION_CLK); - queueRead = FALSE; if (Ros_Controller_IsMotionReady(controller) && (Ros_MotionServer_HasDataInQueue(controller) || hasUnprocessedData) && !controller->bStopMotion) { //bNoData = FALSE; // for testing - if (skipReadingQ) + + for (i = 0; i < controller->numGroup; i++) { - skipReadingQ = FALSE; - for (i = 0; i < controller->numGroup; i++) + queueRead[i] = FALSE; + + if (skipReadingQ[i]) + { + skipReadingQ[i] = FALSE; memset(&moveData.grp_pos_info[i].pos, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); - } - else - { - for (i = 0; i < controller->numGroup; i++) + } + else { q = &controller->ctrlGroups[i]->inc_q; @@ -1747,11 +1748,12 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio moveData.grp_pos_info[i].pos_tag.data[4] = q->data[q->idx].user; memcpy(&moveData.grp_pos_info[i].pos, &q->data[q->idx].inc, sizeof(LONG) * MP_GRP_AXES_NUM); - queueRead = TRUE; + queueRead[i] = TRUE; +#ifdef DEBUG Debug_BroadcastMsg("New Inc from Buffer: %d, %d, %d, %d, %d, %d\r\n", moveData.grp_pos_info[i].pos[0], moveData.grp_pos_info[i].pos[1], moveData.grp_pos_info[i].pos[2], moveData.grp_pos_info[i].pos[3], moveData.grp_pos_info[i].pos[4], moveData.grp_pos_info[i].pos[5]); - +#endif // increment index in the queue and decrease the count q->idx = Q_OFFSET_IDX(q->idx, 1, Q_SIZE); q->cnt--; @@ -1848,14 +1850,15 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio for (i = 0; i < controller->numGroup; i++) { - memcpy(newPulseInc, moveData.grp_pos_info[i].pos, sizeof(LONG) * MP_GRP_AXES_NUM); + memcpy(newPulseInc[i], moveData.grp_pos_info[i].pos, sizeof(LONG)* MP_GRP_AXES_NUM); + // record the speed associate with the next amount of pulses - if (queueRead) + if (queueRead[i]) { for (axis = 0; axis < MP_GRP_AXES_NUM; axis++) { - maxSpeed[axis] = abs(newPulseInc[axis]); - maxSpeedRemain[axis] = abs(newPulseInc[axis]); + maxSpeed[i][axis] = abs(newPulseInc[i][axis]); + maxSpeedRemain[i][axis] = abs(newPulseInc[i][axis]); } } @@ -1868,19 +1871,19 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio processedPulses[axis] = pulsePosData.lPos[axis] - prevPulsePosData.lPos[axis]; // Remove those pulses from the amount to process. // If everything was processed, then there should by 0 pulses left. Otherwise FSU Speed limit prevented processing - toProcessPulses[axis] -= processedPulses[axis]; - if (toProcessPulses[axis] != 0) + toProcessPulses[i][axis] -= processedPulses[axis]; + if (toProcessPulses[i][axis] != 0) isMissingPulse = TRUE; // Add the new pulses to be processed for this iteration - toProcessPulses[axis] += newPulseInc[axis]; + toProcessPulses[i][axis] += newPulseInc[i][axis]; - if(toProcessPulses[axis] != 0) + if(toProcessPulses[i][axis] != 0) hasUnprocessedData = TRUE; } //BroadcastF("Processed: %d Missing: %d New: %d ToProcess %d\r\n", - // processedPulses[0], toProcessPulses[0] - newPulseInc[0], newPulseInc[0], toProcessPulses[0]); + // processedPulses[0], toProcessPulses[i][0] - newPulseInc[i][0], newPulseInc[i][0], toProcessPulses[i][0]); if (isMissingPulse) { @@ -1894,100 +1897,82 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio for (axis = 0; axis < MP_GRP_AXES_NUM; axis++) { // Check if has pulses to process - if (toProcessPulses[axis] == 0) - prevMaxSpeedRemain[axis] = 0; + if (toProcessPulses[i][axis] == 0) + prevMaxSpeedRemain[i][axis] = 0; else - prevMaxSpeedRemain[axis] = abs(prevMaxSpeedRemain[axis]) - abs(processedPulses[axis]); + prevMaxSpeedRemain[i][axis] = abs(prevMaxSpeedRemain[i][axis]) - abs(processedPulses[axis]); } // Check if still have data to process from previous iteration - skipReadingQ = FALSE; + skipReadingQ[i] = FALSE; for (axis = 0; axis < MP_GRP_AXES_NUM; axis++) { - if (prevMaxSpeedRemain[axis] > 0) - skipReadingQ = TRUE; + if (prevMaxSpeedRemain[i][axis] > 0) + skipReadingQ[i] = TRUE; } - +#ifdef DEBUG Debug_BroadcastMsg("Remain: %d, %d, %d, %d, %d, %d Skip: %d\r\n", - prevMaxSpeedRemain[0], prevMaxSpeedRemain[1], prevMaxSpeedRemain[2], - prevMaxSpeedRemain[3], prevMaxSpeedRemain[4], prevMaxSpeedRemain[5], skipReadingQ); - - if (!skipReadingQ) { + prevMaxSpeedRemain[i][0], prevMaxSpeedRemain[i][1], prevMaxSpeedRemain[i][2], + prevMaxSpeedRemain[i][3], prevMaxSpeedRemain[i][4], prevMaxSpeedRemain[i][5], skipReadingQ[i]); +#endif + if (!skipReadingQ[i]) { for (axis = 0; axis < MP_GRP_AXES_NUM; axis++) { // Transfer the current speed as the new prevSpeed - prevMaxSpeed[axis] = maxSpeed[axis]; - prevMaxSpeedRemain[axis] += maxSpeedRemain[axis]; + prevMaxSpeed[i][axis] = maxSpeed[i][axis]; + prevMaxSpeedRemain[i][axis] += maxSpeedRemain[i][axis]; } - - Debug_BroadcastMsg("New Remain: %d, %d, %d, %d, %d, %d \r\n", - prevMaxSpeedRemain[0], prevMaxSpeedRemain[1], prevMaxSpeedRemain[2], - prevMaxSpeedRemain[3], prevMaxSpeedRemain[4], prevMaxSpeedRemain[5]); } // Set the number of pulse that can be sent without exceeding speed for (axis = 0; axis < MP_GRP_AXES_NUM; axis++) { // Check if has pulses to process - if (toProcessPulses[axis] == 0) + if (toProcessPulses[i][axis] == 0) continue; // Maximum inc that should be send () - if (prevMaxSpeed[axis] > 0) + if (prevMaxSpeed[i][axis] > 0) // if previous speed is defined use it - max_inc = prevMaxSpeed[axis]; + max_inc = prevMaxSpeed[i][axis]; else { - if (maxSpeed[axis] > 0) + if (maxSpeed[i][axis] > 0) // else fallback on current speed if defined - max_inc = maxSpeed[axis]; - else if (newPulseInc[axis] != 0) + max_inc = maxSpeed[i][axis]; + else if (newPulseInc[i][axis] != 0) // use the current speed if none zero. - max_inc = abs(newPulseInc[axis]); + max_inc = abs(newPulseInc[i][axis]); else // otherwise use the axis max speed max_inc = controller->ctrlGroups[i]->maxInc.maxIncrement[axis]; - +#ifdef DEBUG Debug_BroadcastMsg("Warning undefined speed: Axis%d Defaulting Max Inc: %d (prevSpeed: %d curSpeed %d)\r\n", - axis, max_inc, prevMaxSpeed[axis], maxSpeed[axis]); + axis, max_inc, prevMaxSpeed[i][axis], maxSpeed[i][axis]); +#endif } // Set new increment and recalculate unsent pulses - if (abs(toProcessPulses[axis]) <= max_inc) + if (abs(toProcessPulses[i][axis]) <= max_inc) { // Pulses to send is small than max, so send everything - moveData.grp_pos_info[i].pos[axis] = toProcessPulses[axis]; - sentPulseInc[axis] = toProcessPulses[axis]; - unsentPulses[axis] = 0; + moveData.grp_pos_info[i].pos[axis] = toProcessPulses[i][axis]; } else { // Pulses to send is too high, so send the amount matching the maximum speed - if (toProcessPulses[axis] >= 0) - { + if (toProcessPulses[i][axis] >= 0) moveData.grp_pos_info[i].pos[axis] = max_inc; - sentPulseInc[axis] = max_inc; - } else - { moveData.grp_pos_info[i].pos[axis] = -max_inc; - sentPulseInc[axis] = -max_inc; - } - - unsentPulses[axis] = toProcessPulses[axis] - sentPulseInc[axis]; - //if (axis == 0) - // BroadcastF("Axis %d unsent: %d = toProcess: %d - send: %d \r\n", - // axis, unsentPulses[axis], toProcessPulses[axis], sentPulseInc[axis]); } } } else { // No PFL Speed Limit detected - memcpy(sentPulseInc, moveData.grp_pos_info[i].pos, sizeof(LONG) * MP_GRP_AXES_NUM); - memset(unsentPulses, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); for (axis = 0; axis < MP_GRP_AXES_NUM; axis++) { - prevMaxSpeed[axis] = abs(sentPulseInc[axis]); - prevMaxSpeedRemain[axis] = abs(sentPulseInc[axis]); + prevMaxSpeed[i][axis] = abs(moveData.grp_pos_info[i].pos[axis]); + prevMaxSpeedRemain[i][axis] = abs(moveData.grp_pos_info[i].pos[axis]); } } } @@ -2043,11 +2028,14 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio } } +#ifdef DEBUG + i = 0; for(axis=0; axis<2; axis++) - Debug_BroadcastMsg("Axis %d: New: %d ToProcess: %d Sent: %d Unsent: %d Skip: %d\r\n", - axis, newPulseInc[axis], toProcessPulses[axis], - moveData.grp_pos_info[0].pos[axis], unsentPulses[axis], skipReadingQ); + Debug_BroadcastMsg("Axis %d: New: %d ToProcess: %d Sent: %d Skip: %d\r\n", + axis, newPulseInc[i][axis], toProcessPulses[i][axis], + moveData.grp_pos_info[i].pos[axis], skipReadingQ[i]); +#endif memcpy(&prevPulsePosData, &pulsePosData, sizeof(MP_PULSE_POS_RSP_DATA)); #endif diff --git a/motoman_driver/MotoPlus/mpMain.c b/motoman_driver/MotoPlus/mpMain.c index 89ae4224..a30d11cd 100644 --- a/motoman_driver/MotoPlus/mpMain.c +++ b/motoman_driver/MotoPlus/mpMain.c @@ -40,10 +40,9 @@ */ #include "MotoROS.h" -#include "debug.h" - #ifdef DEBUG + #include "debug.h" #warning Debug messages in MotoPlus *will* affect application performance (disable this in SimpleMessage.h) #endif @@ -58,7 +57,9 @@ void mpUsrRoot(int arg1, int arg2, int arg3, int arg4, int arg5, int arg6, int a #ifdef DX100 Ros_Sleep(10000); // 10 sec. delay to enable DX100 system to complete initialization #endif +#ifdef DEBUG Ros_Debug_Init(); +#endif //Creates and starts a new task in a seperate thread of execution. //All arguments will be passed to the new task if the function From 6d69201d19c86380274ef9803c56b492484725f4 Mon Sep 17 00:00:00 2001 From: Eric Marcil Date: Mon, 24 Apr 2023 18:38:31 -0400 Subject: [PATCH 03/13] Updated prevPulsePosData for all control groups Updated prevPulsePosData for all control groups. --- motoman_driver/MotoPlus/MotionServer.c | 26 +++++++++++--------------- 1 file changed, 11 insertions(+), 15 deletions(-) diff --git a/motoman_driver/MotoPlus/MotionServer.c b/motoman_driver/MotoPlus/MotionServer.c index 31056450..b0fec59c 100644 --- a/motoman_driver/MotoPlus/MotionServer.c +++ b/motoman_driver/MotoPlus/MotionServer.c @@ -1672,8 +1672,9 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio LONG q_time; int axis; //BOOL bNoData = TRUE; // for testing - MP_PULSE_POS_RSP_DATA prevPulsePosData, pulsePosData; MP_CTRL_GRP_SEND_DATA ctrlGrpData; + MP_PULSE_POS_RSP_DATA prevPulsePosData[MAX_CONTROLLABLE_GROUPS]; + MP_PULSE_POS_RSP_DATA pulsePosData; LONG newPulseInc[MAX_CONTROLLABLE_GROUPS][MP_GRP_AXES_NUM]; // Pulse increments that we just retrieved from the incQueue LONG toProcessPulses[MAX_CONTROLLABLE_GROUPS][MP_GRP_AXES_NUM]; // Total pulses that still need to be sent to the command @@ -1688,7 +1689,6 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio BOOL hasUnprocessedData; ctrlGrpData.sCtrlGrp = 0; - mpGetPulsePos(&ctrlGrpData, &prevPulsePosData); memset(newPulseInc, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM * MAX_CONTROLLABLE_GROUPS); memset(toProcessPulses, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM * MAX_CONTROLLABLE_GROUPS); @@ -1711,6 +1711,7 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio { moveData.ctrl_grp |= (0x01 << i); moveData.grp_pos_info[i].pos_tag.data[0] = Ros_CtrlGroup_GetAxisConfig(controller->ctrlGroups[i]); + mpGetPulsePos(&ctrlGrpData, &prevPulsePosData[i]); } FOREVER @@ -1868,7 +1869,9 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio for (axis = 0; axis < MP_GRP_AXES_NUM; axis++) { // Check how many pulses we processed from last increment - processedPulses[axis] = pulsePosData.lPos[axis] - prevPulsePosData.lPos[axis]; + processedPulses[axis] = pulsePosData.lPos[axis] - prevPulsePosData[i].lPos[axis]; + prevPulsePosData[i].lPos[axis] = pulsePosData.lPos[axis]; + // Remove those pulses from the amount to process. // If everything was processed, then there should by 0 pulses left. Otherwise FSU Speed limit prevented processing toProcessPulses[i][axis] -= processedPulses[axis]; @@ -1882,9 +1885,6 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio hasUnprocessedData = TRUE; } - //BroadcastF("Processed: %d Missing: %d New: %d ToProcess %d\r\n", - // processedPulses[0], toProcessPulses[i][0] - newPulseInc[i][0], newPulseInc[i][0], toProcessPulses[i][0]); - if (isMissingPulse) { LONG max_inc; @@ -1910,11 +1910,7 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio if (prevMaxSpeedRemain[i][axis] > 0) skipReadingQ[i] = TRUE; } -#ifdef DEBUG - Debug_BroadcastMsg("Remain: %d, %d, %d, %d, %d, %d Skip: %d\r\n", - prevMaxSpeedRemain[i][0], prevMaxSpeedRemain[i][1], prevMaxSpeedRemain[i][2], - prevMaxSpeedRemain[i][3], prevMaxSpeedRemain[i][4], prevMaxSpeedRemain[i][5], skipReadingQ[i]); -#endif + if (!skipReadingQ[i]) { for (axis = 0; axis < MP_GRP_AXES_NUM; axis++) { // Transfer the current speed as the new prevSpeed @@ -2030,13 +2026,13 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio #ifdef DEBUG i = 0; - for(axis=0; axis<2; axis++) + for(axis=0; axis<6; axis++) - Debug_BroadcastMsg("Axis %d: New: %d ToProcess: %d Sent: %d Skip: %d\r\n", + Debug_BroadcastMsg("Axis %d: New: %d ToProcess: %d Sent: %d MaxSpeed: %d for remaining %d Skip: %d\r\n", axis, newPulseInc[i][axis], toProcessPulses[i][axis], - moveData.grp_pos_info[i].pos[axis], skipReadingQ[i]); + moveData.grp_pos_info[i].pos[axis], prevMaxSpeed[i][axis], prevMaxSpeedRemain[i][axis], skipReadingQ[i]); #endif - memcpy(&prevPulsePosData, &pulsePosData, sizeof(MP_PULSE_POS_RSP_DATA)); + #endif } From 5c7870ea0556302a8bc616c4f66c70f561246081 Mon Sep 17 00:00:00 2001 From: Eric Marcil Date: Tue, 25 Apr 2023 08:17:42 -0400 Subject: [PATCH 04/13] Added MotoRosYRC1u_,out Added MotoRosYRC1u_,out so people can test without needing to compile from source code. --- .../YRC1000u/MotoRosYRC1u_/MotoRosYRC1u_.out 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z=N0F1M4Mb>&$rI>r44o-b3CDjx>vgs61jTCUwz5tlJq=?1{;_l(cQ-JPrKIT`PeHFz1pMePkqroJTt6 zApO^iY2;E-WZb@-6z^c$Yn}Ywbmty^(HQM%>3`p^-IM9!yUCOMCTZSo@>U(|37enoKWsfJ3JGhQ>p37~OaL}6@vWJc2hH3eO z3d`CC{Wrnj?QK7RNCb_J)D~shd)PM zYkx54J{URGZIcRbxb}#2@f{<2f}CqYWQMpzcm~)bKvp<%QOnU&nYJKKPcM4vvggFX zak;tvJUxjhC3P=nUD-9xVm;>TxU$`r z(=N+-e2NPMva`~h+e$)ihF_05Ss4XdLo=Xtb?`&5(PebFa+pQVSoT<8srZ-!K*)VNusp z=NPuzl{V6C$GPM<)5V?eqSM5=s=Ln^R#y1HUHtjUnoIYkHA>BLkDQ{@XYX+0?A&%A z5{ebIu@U}XTdgV1P4@=V-3_&=Vsj6z1Kw^j@`p3a(%VK&QAUg{#1`Q)qRdAypm|D z^puwA4eH+P4f$->YJKs(;Sc6GZ%egC Date: Wed, 14 Jun 2023 08:47:10 -0400 Subject: [PATCH 06/13] Change to support DX100 Change to support DX100 --- motoman_driver/MotoPlus/MotionServer.c | 79 +++++++++--------- .../obj/Win32/YRC1000u/_IsIncrementalBuild | 1 + .../YRC1000u/MotoRosYRC1u_/MotoRosYRC1u_.out | Bin 215821 -> 215821 bytes 3 files changed, 40 insertions(+), 40 deletions(-) create mode 100644 motoman_driver/MotoPlus/obj/Win32/YRC1000u/_IsIncrementalBuild diff --git a/motoman_driver/MotoPlus/MotionServer.c b/motoman_driver/MotoPlus/MotionServer.c index b0fec59c..41e7aa53 100644 --- a/motoman_driver/MotoPlus/MotionServer.c +++ b/motoman_driver/MotoPlus/MotionServer.c @@ -1814,38 +1814,7 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio } } -#if DX100 - // first robot - if (controller->bIsDx100Sda) - moveData.ctrl_grp = 1 | (1 << 2); //R1 + B1 - else - moveData.ctrl_grp = 1; //R1 only - ret = mpMeiIncrementMove(MP_SL_ID1, &moveData); - if(ret != 0) - { - controller->bMpIncMoveError = TRUE; - Ros_MotionServer_StopMotion(controller); - if(ret == -3) - printf("mpMeiIncrementMove returned: %d (ctrl_grp = %d)\r\n", ret, moveData.ctrl_grp); - else - printf("mpMeiIncrementMove returned: %d\r\n", ret); - } - // if second robot - moveData.ctrl_grp = 2; //R2 only - if(controller->numRobot > 1) - { - ret = mpMeiIncrementMove(MP_SL_ID2, &moveData); - if(ret != 0) - { - controller->bMpIncMoveError = TRUE; - Ros_MotionServer_StopMotion(controller); - if(ret == -3) - printf("mpMeiIncrementMove returned: %d (ctrl_grp = %d)\r\n", ret, moveData.ctrl_grp); - else - printf("mpMeiIncrementMove returned: %d\r\n", ret); - } - } -#else + // --- FSU Speed Limit Check --- hasUnprocessedData = FALSE; @@ -1973,6 +1942,38 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio } } +#if DX100 + // first robot + if (controller->bIsDx100Sda) + moveData.ctrl_grp = 1 | (1 << 2); //R1 + B1 + else + moveData.ctrl_grp = 1; //R1 only + ret = mpMeiIncrementMove(MP_SL_ID1, &moveData); + if (ret != 0) + { + controller->bMpIncMoveError = TRUE; + Ros_MotionServer_StopMotion(controller); + if (ret == -3) + printf("mpMeiIncrementMove returned: %d (ctrl_grp = %d)\r\n", ret, moveData.ctrl_grp); + else + printf("mpMeiIncrementMove returned: %d\r\n", ret); + } + // if second robot + moveData.ctrl_grp = 2; //R2 only + if (controller->numRobot > 1) + { + ret = mpMeiIncrementMove(MP_SL_ID2, &moveData); + if (ret != 0) + { + controller->bMpIncMoveError = TRUE; + Ros_MotionServer_StopMotion(controller); + if (ret == -3) + printf("mpMeiIncrementMove returned: %d (ctrl_grp = %d)\r\n", ret, moveData.ctrl_grp); + else + printf("mpMeiIncrementMove returned: %d\r\n", ret); + } + } +#else ret = mpExRcsIncrementMove(&moveData); if(ret != 0) { @@ -2023,18 +2024,16 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio Ros_MotionServer_StopMotion(controller); } } +#endif #ifdef DEBUG i = 0; - for(axis=0; axis<6; axis++) - - Debug_BroadcastMsg("Axis %d: New: %d ToProcess: %d Sent: %d MaxSpeed: %d for remaining %d Skip: %d\r\n", - axis, newPulseInc[i][axis], toProcessPulses[i][axis], - moveData.grp_pos_info[i].pos[axis], prevMaxSpeed[i][axis], prevMaxSpeedRemain[i][axis], skipReadingQ[i]); -#endif + for (axis = 0; axis < 6; axis++) -#endif - + Debug_BroadcastMsg("Axis %d: New: %d ToProcess: %d Sent: %d MaxSpeed: %d for remaining %d Skip: %d\r\n", + axis, newPulseInc[i][axis], toProcessPulses[i][axis], + moveData.grp_pos_info[i].pos[axis], prevMaxSpeed[i][axis], prevMaxSpeedRemain[i][axis], skipReadingQ[i]); +#endif } //else // for testing //{ diff --git a/motoman_driver/MotoPlus/obj/Win32/YRC1000u/_IsIncrementalBuild b/motoman_driver/MotoPlus/obj/Win32/YRC1000u/_IsIncrementalBuild new file mode 100644 index 00000000..ef60a6ee --- /dev/null +++ b/motoman_driver/MotoPlus/obj/Win32/YRC1000u/_IsIncrementalBuild @@ -0,0 +1 @@ +obj\Win32\YRC1000u\\_IsIncrementalBuild diff --git a/motoman_driver/MotoPlus/output/YRC1000u/MotoRosYRC1u_/MotoRosYRC1u_.out b/motoman_driver/MotoPlus/output/YRC1000u/MotoRosYRC1u_/MotoRosYRC1u_.out index 1634e6c43e24c939efd1490297301713b09d213b..1ee63361defa26478a7889ecf87f6e3fe9f153ed 100644 GIT binary patch delta 481 zcmX|7yGjE=6umba;xq}QG4X|(oi&h7!Ny9lP@+U7n}83j6eEZUagCT2Hl2c`h()GJ zA=vlusy1NB}9zyRAHlF+Yh12Q%N672AGdGlZaVmO*4qL<-$nG_~KBLr~40o2D8 zI`ps`qLo_HQr~AC{OcI`xkwT0V^XTrt}GB+8H`{|SQ+fMhMC^&bm1@3MP+YFJ3hNc zkh4p_ggLFaX#i?&xkB8e{A+rAZjxl>w-ImygGsA!c2IP=}n9pK#HQ(_lO%a=Cu7w(wjvi$EQ?4p9 xqdkMi8(|;HdVdnq< delta 481 zcmX|7yGjE=6umbIW-Jm&V}eG|>}&$*w6L(!N{Qktn}822L@|Qss_QE&Y&r!=5sOS? zA=vlVxa&4 From 0654dfaba390033b21e98c6729ea09ad286e6edd Mon Sep 17 00:00:00 2001 From: Eric Marcil Date: Wed, 27 Sep 2023 12:03:41 -0400 Subject: [PATCH 07/13] Reset Speed Limit related variables when robot is not under ROS motion control When the ROS commanded motion is restrained by the FSU Speed Limit, fixed unwanted motion after robot is moved by non-ROS means and then ROS motion is restarted. --- motoman_driver/MotoPlus/MotionServer.c | 19 +++++++++--------- .../YRC1000/MotoRosYRC1_/MotoRosYRC1_.out | Bin 0 -> 216009 bytes .../YRC1000/MotoRosYRC1_/MotoRosYRC1_1910.out | Bin 209119 -> 0 bytes 3 files changed, 10 insertions(+), 9 deletions(-) create mode 100644 motoman_driver/MotoPlus/output/YRC1000/MotoRosYRC1_/MotoRosYRC1_.out delete mode 100644 motoman_driver/MotoPlus/output/YRC1000/MotoRosYRC1_/MotoRosYRC1_1910.out diff --git a/motoman_driver/MotoPlus/MotionServer.c b/motoman_driver/MotoPlus/MotionServer.c index 41e7aa53..80e5f7ca 100644 --- a/motoman_driver/MotoPlus/MotionServer.c +++ b/motoman_driver/MotoPlus/MotionServer.c @@ -1850,7 +1850,7 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio // Add the new pulses to be processed for this iteration toProcessPulses[i][axis] += newPulseInc[i][axis]; - if(toProcessPulses[i][axis] != 0) + if (toProcessPulses[i][axis] != 0) hasUnprocessedData = TRUE; } @@ -2035,14 +2035,15 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio moveData.grp_pos_info[i].pos[axis], prevMaxSpeed[i][axis], prevMaxSpeedRemain[i][axis], skipReadingQ[i]); #endif } - //else // for testing - //{ - // if(!bNoData) - // { - // printf("INFO: No data in queue.\r\n"); - // bNoData = TRUE; - // } - //} + else + { + // Reset previous position in case 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zM%!`jzLDcCyH9(@pX1Gq4{8iS=Pp-x=?J+;t37vZ>NEFtaCGN<#MP><#&B*J^$D?PlR)K(SeJuCQHm z*=M}TD)O9RQ&YJ4Ty~wSiY7qs1B1SRKd84h&hc$Wev1D>^O}5TMlSsGh8{Xv`+WA~ RmFW-WIB!d}M&$A9{{aOY1JnQj From 0adc258d92acde94a2be8f38b73e4b975ca296e7 Mon Sep 17 00:00:00 2001 From: Eric Marcil Date: Fri, 6 Oct 2023 16:26:52 -0400 Subject: [PATCH 08/13] Reset of hasUnprocessedData Added code to reset hasUnprocessedData state when Ros operation is interrupted. --- motoman_driver/MotoPlus/MotionServer.c | 1 + .../YRC1000/MotoRosYRC1_/MotoRosYRC1_.out | Bin 216009 -> 216045 bytes 2 files changed, 1 insertion(+) diff --git a/motoman_driver/MotoPlus/MotionServer.c b/motoman_driver/MotoPlus/MotionServer.c index 80e5f7ca..84ab14a6 100644 --- a/motoman_driver/MotoPlus/MotionServer.c +++ b/motoman_driver/MotoPlus/MotionServer.c @@ -2039,6 +2039,7 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio { // Reset previous position in case the robot is moved externally memset(toProcessPulses, 0x00, sizeof(LONG)* MP_GRP_AXES_NUM* MAX_CONTROLLABLE_GROUPS); + hasUnprocessedData = FALSE; for (i = 0; i < controller->numGroup; i++) { mpGetPulsePos(&ctrlGrpData, &prevPulsePosData[i]); diff --git a/motoman_driver/MotoPlus/output/YRC1000/MotoRosYRC1_/MotoRosYRC1_.out b/motoman_driver/MotoPlus/output/YRC1000/MotoRosYRC1_/MotoRosYRC1_.out index 45dc7bd5afe87bb313b9a91088a9984703b3b119..ae4133809c7dd69a4b78a362ac3d111509b8f3db 100644 GIT binary patch delta 16420 zcmaKz2Ygh;`u=Cm=7bFrAhZwyDI^eTC{l$$D4~ZcQVdmk2NR_T8wdy(T3B&JLJJ_E zkz&9F3j*Q=mEKX|0^(H^P{fN3;r~2)-sPhA{{DVEeCK)Rop;KanKQdN`-us?X+oF8 z=-Jz2$A*P2)Jh#p`B~w=>#5!qVHK?E+WRh0M0+oUwbX~aLnKF%>}zkbPd)^3JOKUwJP1alu{Qy`RDbE z=O^{fPPuU*xyVI(U_tY=0=FLFy)z_PkMY(UT2oK(4jx)Vr+XIUoV8l3Vihu8b$)FwLGyJTuh^y<{q&vd+Z^|WKUM#1)_uTndkBE$1_{$%ifS#)sgnhD(&qstDZlVh<~@tf?vVq zSr3ABm4eIj#{}ux1*waMS-O#T$C70_xu8Q%vP-uv$bR|XmTp%t(^S+IzYTN>9sKoS zx^=uev^1s$I$p~A@v9X_b&XK!((Nx&H)W@63XD2(|KmmPpm+|0e~4I;;b41M!~B%P zSU>yxV(ZdCQ20B@p9bV5Bp>RbCrp-7VwIeyyEW-qWuQikuuS&APri 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z7T9Zv+g+IbA9u1TrHkXnV0PEXNosArukTFk#-D>M$2?%}W#rz@!gfG{ehtkZhLo1e zE9?Zbh0xs#`jU0m^Z=9-)3}>MjeLUYmOx2r12Z+ zX=o#BkHWeTWxj{G8-MkHMb~HM@4`q z0~?^rP0WS{&MpIeA2y;SD}BBsmfr+yIz_LA_Wv>ZCTRZ$ob*2f&EH#nfjsI@p?#l) zioORu#B^(jzVX)>i=`1yVZ`1xGaEX)gz&c|#bvr*gc(24`J^GvuK#mMMr~RePp{8m zA0|=zLE{UlM$Sq}{4Twbe<)z~eYYuYdC>gi`xns#(ACV$MmQh-k2D!Q86ER|Z!BTD zLBDSD5glJqeGl&t-xs73q!79I;J Date: Tue, 17 Oct 2023 08:38:21 -0400 Subject: [PATCH 09/13] Added comments Added comments to code to help developers understand what is being done. --- motoman_driver/MotoPlus/MotionServer.c | 46 ++++++++++++++++++++------ 1 file changed, 35 insertions(+), 11 deletions(-) diff --git a/motoman_driver/MotoPlus/MotionServer.c b/motoman_driver/MotoPlus/MotionServer.c index 84ab14a6..333c86e1 100644 --- a/motoman_driver/MotoPlus/MotionServer.c +++ b/motoman_driver/MotoPlus/MotionServer.c @@ -1676,17 +1676,27 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio MP_PULSE_POS_RSP_DATA prevPulsePosData[MAX_CONTROLLABLE_GROUPS]; MP_PULSE_POS_RSP_DATA pulsePosData; + // --- FSU Speed Limit related --- + // When FSU speed limitation is active, some pulses for an interpolation cycle may not be processed by the controller. + // To track the true amount of pulses processed, we keep track of the command position and by substracting the + // the previous position from the current one, we can confirm the amount if pulses precessed. + // If the amount processed doesn't match the amount sent at the previous cycle, we resend the unprocessed pulses amount. + // To keep the motion smooth, the 'maximum speed' (max pulses per cycle) is tracked and used to skip reading + // more pulse increment from the queue if the amount of unprocessed pulses is larger than the detected speed. + // The 'maximum speed' is also used to prevent exceeding the commanded speed once the FSU Speed Limit is removed. + // + // The following set of variables are used to track FSU speed limitation. LONG newPulseInc[MAX_CONTROLLABLE_GROUPS][MP_GRP_AXES_NUM]; // Pulse increments that we just retrieved from the incQueue LONG toProcessPulses[MAX_CONTROLLABLE_GROUPS][MP_GRP_AXES_NUM]; // Total pulses that still need to be sent to the command - LONG processedPulses[MP_GRP_AXES_NUM]; // Amount of pulses from the last command that were actually processed (accepted) - LONG prevMaxSpeed[MAX_CONTROLLABLE_GROUPS][MP_GRP_AXES_NUM]; - LONG prevMaxSpeedRemain[MAX_CONTROLLABLE_GROUPS][MP_GRP_AXES_NUM]; - LONG maxSpeed[MAX_CONTROLLABLE_GROUPS][MP_GRP_AXES_NUM]; - LONG maxSpeedRemain[MAX_CONTROLLABLE_GROUPS][MP_GRP_AXES_NUM]; - BOOL skipReadingQ[MAX_CONTROLLABLE_GROUPS]; - BOOL queueRead[MAX_CONTROLLABLE_GROUPS]; - BOOL isMissingPulse; - BOOL hasUnprocessedData; + LONG processedPulses[MP_GRP_AXES_NUM]; // Amount of pulses from the last command that were actually processed (accepted) + LONG maxSpeed[MAX_CONTROLLABLE_GROUPS][MP_GRP_AXES_NUM]; // ROS speed (amount of pulses for one cycle from the data queue) that should not be exceeded + LONG maxSpeedRemain[MAX_CONTROLLABLE_GROUPS][MP_GRP_AXES_NUM]; // Number of pulses (absolute) that remains to be processed at the 'maxSpeed' + LONG prevMaxSpeed[MAX_CONTROLLABLE_GROUPS][MP_GRP_AXES_NUM]; // Previous data queue reading 'maxSpeed' + LONG prevMaxSpeedRemain[MAX_CONTROLLABLE_GROUPS][MP_GRP_AXES_NUM]; // Previous data queue reading 'maxSpeedRemain' + BOOL skipReadingQ[MAX_CONTROLLABLE_GROUPS]; // Flag indicating to skip reading more data from the increment queue (there is enough unprocessed from previous cycles remaining) + BOOL queueRead[MAX_CONTROLLABLE_GROUPS]; // Flag indicating that new increment data was retrieve from the queue on this cycle. + BOOL isMissingPulse; // Flag that there are pulses send in last cycle that are missing from the command (pulses were not processed) + BOOL hasUnprocessedData; // Flag that at least one axis (any group) still has unprecessed data. (Used to continue sending data after the queue is empty.) ctrlGrpData.sCtrlGrp = 0; @@ -1724,17 +1734,20 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio { //bNoData = FALSE; // for testing + // For each control group, retrieve the new pulse increments for this cycle for (i = 0; i < controller->numGroup; i++) { queueRead[i] = FALSE; if (skipReadingQ[i]) { + // Reset skip flag and set position increment to 0 skipReadingQ[i] = FALSE; memset(&moveData.grp_pos_info[i].pos, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); } else { + // Retrieve position increment from the queue. q = &controller->ctrlGroups[i]->inc_q; // Lock the q before manipulating it @@ -1742,6 +1755,7 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio { if (q->cnt > 0) { + // Initialize moveData with the next data from the queue time = q->data[q->idx].time; q_time = controller->ctrlGroups[i]->q_time; moveData.grp_pos_info[i].pos_tag.data[2] = q->data[q->idx].tool; @@ -1759,7 +1773,10 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio q->idx = Q_OFFSET_IDX(q->idx, 1, Q_SIZE); q->cnt--; - // Check if complet interpolation period covered + // Check if complet interpolation period covered. + // (Because time period of data received from ROS may not be a multiple of the + // controller interpolation clock period, the queue may contain partiel period and + // more than one queue increment maybe required to complete the interpolation period) while (q->cnt > 0) { if ((q_time <= q->data[q->idx].time) @@ -1796,6 +1813,7 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio } else { + // Queue is empty, initialize to 0 pulse increment moveData.grp_pos_info[i].pos_tag.data[2] = 0; moveData.grp_pos_info[i].pos_tag.data[3] = MP_INC_PULSE_DTYPE; moveData.grp_pos_info[i].pos_tag.data[4] = 0; @@ -1832,7 +1850,10 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio } } - // Check if pulses are missing from last increment + // Check if pulses are missing from last increment. + // Get the current controller command position and substract the previous command position + // and check if it matches the amount if increment sent last cycle. If it doesn't then + // some pulses are missing and the amount of unprocessed pulses needs to be added to this cycle. mpGetPulsePos(&ctrlGrpData, &pulsePosData); isMissingPulse = FALSE; for (axis = 0; axis < MP_GRP_AXES_NUM; axis++) @@ -1854,6 +1875,7 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio hasUnprocessedData = TRUE; } + // Check if pulses are missing which means that the FSU speed limit is enabled if (isMissingPulse) { LONG max_inc; @@ -1974,9 +1996,11 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio } } #else + // Send pulse increment to the controller command position ret = mpExRcsIncrementMove(&moveData); if(ret != 0) { + // Failure: command rejected by controller // Update controller status to help identify cause Ros_Controller_StatusUpdate(controller); From 961183ae751a3d0b416a161b9a7d1d7d378de91c Mon Sep 17 00:00:00 2001 From: Eric Marcil Date: Fri, 20 Oct 2023 16:09:18 -0400 Subject: [PATCH 10/13] Update MotionServer.c Fix for multi-group support from correction made by Ted Miller on the MotoRos2 PR#157 Port FSU speed limit handling from MotoROS1 --- motoman_driver/MotoPlus/MotionServer.c | 5 +++-- .../YRC1000/MotoRosYRC1_/MotoRosYRC1_.out | Bin 216045 -> 216085 bytes 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/motoman_driver/MotoPlus/MotionServer.c b/motoman_driver/MotoPlus/MotionServer.c index 333c86e1..c42b88d0 100644 --- a/motoman_driver/MotoPlus/MotionServer.c +++ b/motoman_driver/MotoPlus/MotionServer.c @@ -1698,8 +1698,6 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio BOOL isMissingPulse; // Flag that there are pulses send in last cycle that are missing from the command (pulses were not processed) BOOL hasUnprocessedData; // Flag that at least one axis (any group) still has unprecessed data. (Used to continue sending data after the queue is empty.) - ctrlGrpData.sCtrlGrp = 0; - memset(newPulseInc, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM * MAX_CONTROLLABLE_GROUPS); memset(toProcessPulses, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM * MAX_CONTROLLABLE_GROUPS); memset(processedPulses, 0x00, sizeof(LONG) * MP_GRP_AXES_NUM); @@ -1721,6 +1719,7 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio { moveData.ctrl_grp |= (0x01 << i); moveData.grp_pos_info[i].pos_tag.data[0] = Ros_CtrlGroup_GetAxisConfig(controller->ctrlGroups[i]); + ctrlGrpData.sCtrlGrp = controller->ctrlGroups[i]->groupId; mpGetPulsePos(&ctrlGrpData, &prevPulsePosData[i]); } @@ -1854,6 +1853,7 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio // Get the current controller command position and substract the previous command position // and check if it matches the amount if increment sent last cycle. If it doesn't then // some pulses are missing and the amount of unprocessed pulses needs to be added to this cycle. + moveData.grp_pos_info[i].pos_tag.data[0] = Ros_CtrlGroup_GetAxisConfig(controller->ctrlGroups[i]); mpGetPulsePos(&ctrlGrpData, &pulsePosData); isMissingPulse = FALSE; for (axis = 0; axis < MP_GRP_AXES_NUM; axis++) @@ -2066,6 +2066,7 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio hasUnprocessedData = FALSE; for (i = 0; i < controller->numGroup; i++) { + moveData.grp_pos_info[i].pos_tag.data[0] = Ros_CtrlGroup_GetAxisConfig(controller->ctrlGroups[i]); mpGetPulsePos(&ctrlGrpData, &prevPulsePosData[i]); } } diff --git a/motoman_driver/MotoPlus/output/YRC1000/MotoRosYRC1_/MotoRosYRC1_.out b/motoman_driver/MotoPlus/output/YRC1000/MotoRosYRC1_/MotoRosYRC1_.out index ae4133809c7dd69a4b78a362ac3d111509b8f3db..7db975d28522d560008d18e645d3daaf3fbbc27b 100644 GIT binary patch delta 15969 zcma)@31CiF`v1?lZ*IKSNMZ{@B2i+CeHlvywZ*QBqOr6^ 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zD-u5mx>&{ad@z5b@lbNjMs0FTd{tKmd@?hksw)Z~@+*7 z=Kt=7_NA~_4dypDg{rwC@L5lMHCI#({*a=g%gOlg#T=2a`#Q;1>MFxpd0?824lxp$v6x$em0FM>(hzQ{3PiG(QTkt zFLJ(1V=;rE=bN52F$U7igqp6A_*ms8R5ZVzj*znBgK%=FilHw~dO&Y5@wJdCz$Djl zRg2~)*3%{Rdc^)%5=)7s-U9urS%%cnhnwKFl_Yxv^ZH88r@lO!H z+Dxd+!iV4;qB!kU*!LCs`*mIIi}8mo`DI9+f*rpP%3se_HQN8RAuH9e2;Nz}iROvh z6zCnMXFXR`BEK}RCvKO+?EA`5lI1~9{}6xl6@41IpV?Rs9T}R5zivym+C}kj5rx4m zx)byd<^jCp^S$u;u4=))k1)l_1;iFLJ?o=GQp~dYNVL`LM51E;PZ(L@3@j+s8|FQ% J?}{k){{X4|#PR?D From 860fa61405d87bfd560f146e3c00d8c807933ecc Mon Sep 17 00:00:00 2001 From: Eric Marcil Date: Mon, 23 Oct 2023 11:22:44 -0400 Subject: [PATCH 11/13] Fix last commit error --- motoman_driver/MotoPlus/MotionServer.c | 4 ++-- .../YRC1000/MotoRosYRC1_/MotoRosYRC1_.out | Bin 216085 -> 216005 bytes 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/motoman_driver/MotoPlus/MotionServer.c b/motoman_driver/MotoPlus/MotionServer.c index c42b88d0..311e3061 100644 --- a/motoman_driver/MotoPlus/MotionServer.c +++ b/motoman_driver/MotoPlus/MotionServer.c @@ -1853,7 +1853,7 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio // Get the current controller command position and substract the previous command position // and check if it matches the amount if increment sent last cycle. If it doesn't then // some pulses are missing and the amount of unprocessed pulses needs to be added to this cycle. - moveData.grp_pos_info[i].pos_tag.data[0] = Ros_CtrlGroup_GetAxisConfig(controller->ctrlGroups[i]); + ctrlGrpData.sCtrlGrp = controller->ctrlGroups[i]->groupId; mpGetPulsePos(&ctrlGrpData, &pulsePosData); isMissingPulse = FALSE; for (axis = 0; axis < MP_GRP_AXES_NUM; axis++) @@ -2066,7 +2066,7 @@ void Ros_MotionServer_IncMoveLoopStart(Controller* controller) //<-- IP_CLK prio hasUnprocessedData = FALSE; for (i = 0; i < controller->numGroup; i++) { - moveData.grp_pos_info[i].pos_tag.data[0] = Ros_CtrlGroup_GetAxisConfig(controller->ctrlGroups[i]); + ctrlGrpData.sCtrlGrp = controller->ctrlGroups[i]->groupId; mpGetPulsePos(&ctrlGrpData, &prevPulsePosData[i]); } } diff --git a/motoman_driver/MotoPlus/output/YRC1000/MotoRosYRC1_/MotoRosYRC1_.out b/motoman_driver/MotoPlus/output/YRC1000/MotoRosYRC1_/MotoRosYRC1_.out index 7db975d28522d560008d18e645d3daaf3fbbc27b..328d9ad1c8552017ea2adcc9f3304fd213abc98e 100644 GIT binary patch delta 6014 zcmZvg33OFOwubjUHz(Y*VF;kiVQPdZ^PovTWDKhXM5Tog2OuUQAVCb141t?;2mwO~ z4Z$Kn9tmJ$8XE|S+@L&(0>J?U2{XzATM!<0Yb%Y?!lM8Go=Ug6Ue>z#>fd|UuBuaY z>YP)n*VH{=>aJ*`&y}^Un0kL&q)6@%|I)BuU%7SX&YkS4S-;9!a7F4bO7tAL8I4sW zyQ+TnZ+E_Um#eR?ikwl^aP(2s$&FtTnLEJ0G`sIV@7yW>ZpN{&mQSOUmpuUgYZERV zay)Cnapb#JesRuN)x1^x=e2ZR`fk<5DUDa9&1<1?tENvK6c*TX^=A2%c^7=TqWs{( z10%b9{wI;Y;n#Yr$m95B;OzqsjHdR_^Ow!6^+#ri3=gmMig5a z`^$i1xwQf5e->%$`=!68sMcRx9(H#37@Zt^r-w$j)4bqkPw04c|B4=-Hv>m&Q#WU> z$fsu9XdUI|%@Y}Hf}{0uckq0XO(rrypL92&SYlpC(1+dVbdj+pn4s<45)@O+`2vhI!G72CB%WLj{0iazUesn?pjC+ef& zYf-$l*i4?NgWOvvCz%}+b!2!_j>y+Jrp_dozeahKd32KQa!0))5^o|V>xS@nT+Yk6 zX4_<)>Rv{9v1#*y9&{Hk=jHh71zj3GIA7#OzL`Ho=Y-!t`TG^-<`m6wzh5DeY_d~z zf}8vYcI4|+eIb19N|9>?X8csGbgvbNRGF49>fG?E)o8|;bua2B_p%WgVFpjrDej0h zA_b;=n#Q^XC`JXpnWnweIbUKrq-k3>YNLpn;c3XFn?*{Ef4Z)8OJAdP!*tDZ6<1@I z={Q5rMPRwee5{Do!MkSa-HuCLY&y)=PT?zG7r9Vso|vse++y4X^G(rgJrlw8Q?x_m zt6<<|9oN96o^C$R(PVe}Hj!#GbcyzHt5IxVvXU>b2m--FnG&{N2n4d)0u!lq%h%ni{P0o_1G_494!$BGts;$^ClC zr*$iKcq7p5p(pYHVy7Lq%ZkfU8^TDu%18L8C2IDmgO!E%kfE5 zbkH9zl4l+|p)Ep7KgkR{u8nk)NjsrULTmj!&yr$FPU!ubY7W!EHLYgsNp0^w6Co05 zqE2d)W?aJ~(Qa)!jgg=3N;42{tuarY)cZpVcaSMLiDuTCA~-^8_BqdzWDe89ci<5PN% zs>y_>85eBg|I?hBveUSrmF6=z+|bIiDt*kMv5Mbb^%GpNj^IO->(=8Vx@ZAPBa z7TUl}MO0`#PB3Lhv~>gnZXux9lrbRQ9A+9WwcWqy1EUIqx6f#^(!jue+}&sSQ91NS zJt$K{CR82L}H>?gb-W*FJrEBnb-gUp5b&V9k?Mb3M5oa+_l^IWH$`|Es1j+%&N zPJ8WSx-4@#I@ilg!ZPPxO)?80b&+|^!(qUkahlueC(E2hCNj@y;Ou$RMCUp8x;1Aw zS0nRbe+G8kA5-&C`7yH^aQ5#q?;uL=HJ2dWcH2~XnW*Jxv$N^59C3+eEV0OB1J0o{ zX4`Uv&o(D$-DqwT1*StjoL|HRAI*2F?+&~(17k;b2G0V|;v!o*FMB%9GIEZmAGUmj zd=z&P*%O;HsJL?uP`44eLVhgrBZ&>S9-fcRaXe+o$=Lir#0TUd8c<=fXOI`IUQ42Z z9ptkjpIHA%>%VOEHLL65sq0jVbSKw~%py;VykYerkR6%I&SBYOs9g*Pp~v|N`7|9H$jNPpPxJ$AR8 zXIW}_&T?fI>OF*ebP?v?If6@u7ZWnqvXVR?vM(D%1OKq>fY%XT${{3@)sXOiNgfh; 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extern int mpNICData(USHORT if_no, ULONG* ip_addr, ULONG* subnet_mask, UCHAR* mac_addr, ULONG* default_gw); int ros_DebugSocket = -1; struct sockaddr_in ros_debug_destAddr1; - void Ros_Debug_Init() { ULONG ip_be; @@ -38,13 +37,22 @@ void Ros_Debug_Init() ros_debug_destAddr1.sin_port = mpHtons(DEBUG_UDP_PORT_NUMBER); } +void Debug_BroadcastBytes(char* bytes, int len) +{ + if (ros_DebugSocket == -1) + Ros_Debug_Init(); + + mpSendTo(ros_DebugSocket, bytes, len, 0, (struct sockaddr*)&ros_debug_destAddr1, sizeof(struct sockaddr_in)); +} +#endif + void Debug_BroadcastMsg(const char *fmt, ...) { +#if defined(YRC1000)||defined(YRC1000u) char str[MAX_DEBUG_MESSAGE_SIZE]; va_list va; - memset(str, 0x00, MAX_DEBUG_MESSAGE_SIZE); va_start(va, fmt); @@ -55,16 +63,13 @@ void Debug_BroadcastMsg(const char *fmt, ...) Ros_Debug_Init(); mpSendTo(ros_DebugSocket, str, strlen(str), 0, (struct sockaddr*)&ros_debug_destAddr1, sizeof(struct sockaddr_in)); - - // puts(str); +#else + // Broadcast not available, just print to terminal + va_list va; + va_start(va, fmt); + printf(fmt, va); + va_end(va); +#endif } -void Debug_BroadcastBytes(char* bytes, int len) -{ - if (ros_DebugSocket == -1) - Ros_Debug_Init(); - - mpSendTo(ros_DebugSocket, bytes, len, 0, (struct sockaddr*)&ros_debug_destAddr1, sizeof(struct sockaddr_in)); -} - diff --git a/motoman_driver/MotoPlus/debug.h b/motoman_driver/MotoPlus/debug.h index 49ea7ccd..2860c9fc 100644 --- a/motoman_driver/MotoPlus/debug.h +++ b/motoman_driver/MotoPlus/debug.h @@ -3,7 +3,9 @@ #ifndef _DEBUG_H_ #define _DEBUG_H_ +#if (YRC1000||YRC1000u) extern void Ros_Debug_Init(); +#endif extern void Debug_BroadcastMsg(const char *fmt, ...); #endif \ No newline at end of file diff --git a/motoman_driver/MotoPlus/mpMain.c b/motoman_driver/MotoPlus/mpMain.c index a30d11cd..4c0ffec0 100644 --- a/motoman_driver/MotoPlus/mpMain.c +++ b/motoman_driver/MotoPlus/mpMain.c @@ -40,9 +40,9 @@ */ #include "MotoROS.h" +#include "debug.h" #ifdef DEBUG - #include "debug.h" #warning Debug messages in MotoPlus *will* affect application performance (disable this in SimpleMessage.h) #endif @@ -57,9 +57,6 @@ void mpUsrRoot(int arg1, int arg2, int arg3, int arg4, int arg5, int arg6, int a #ifdef DX100 Ros_Sleep(10000); // 10 sec. delay to enable DX100 system to complete initialization #endif -#ifdef DEBUG - Ros_Debug_Init(); -#endif //Creates and starts a new task in a seperate thread of execution. //All arguments will be passed to the new task if the function diff --git a/motoman_driver/MotoPlus/output/DX100/MotoRosDX1_/MotoRosDX1_1910.out b/motoman_driver/MotoPlus/output/DX100/MotoRosDX1_/MotoRosDX1_1910.out deleted file mode 100644 index c1724fe965c9dd5d979f49e3a8b39bd43055e03e..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 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