From d570ee3d591a05b883e21a9d77ff273c12d3dbd3 Mon Sep 17 00:00:00 2001
From: electrolab <electrolab@Maurice.hq.electrolab.fr>
Date: Tue, 8 Dec 2020 20:14:41 +0100
Subject: [PATCH] Move common real/simu elements to maurice-common.ini

---
 lcec.hal                                   |  10 ++
 lcec_simu.hal                              |   8 ++
 lcec_simu/lcec_simu.comp                   | 120 +++++++++++++++++++++
 lcec_simu/lcec_simu.so                     | Bin 0 -> 35384 bytes
 maurice_gmoccapy.ini => maurice-common.ini |   5 -
 maurice-simu.ini                           |   7 ++
 maurice.hal                                |  18 ++--
 maurice.ini                                |   7 ++
 8 files changed, 158 insertions(+), 17 deletions(-)
 create mode 100755 lcec.hal
 create mode 100755 lcec_simu.hal
 create mode 100755 lcec_simu/lcec_simu.comp
 create mode 100755 lcec_simu/lcec_simu.so
 rename maurice_gmoccapy.ini => maurice-common.ini (97%)
 mode change 100644 => 100755
 create mode 100755 maurice-simu.ini
 create mode 100644 maurice.ini

diff --git a/lcec.hal b/lcec.hal
new file mode 100755
index 0000000..5531cf5
--- /dev/null
+++ b/lcec.hal
@@ -0,0 +1,10 @@
+loadrt trivkins
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+
+loadusr -W lcec_conf maurice.xml
+loadrt lcec
+
+addf lcec.read-all servo-thread
+addf lcec.write-all servo-thread
+
+net state-op    <= lcec.state-op
diff --git a/lcec_simu.hal b/lcec_simu.hal
new file mode 100755
index 0000000..8b91ff0
--- /dev/null
+++ b/lcec_simu.hal
@@ -0,0 +1,8 @@
+loadrt trivkins
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+
+loadrt lcec_simu names=lcec.0.0,lcec.0.1
+addf lcec.0.0 servo-thread
+addf lcec.0.1 servo-thread
+
+setp iocontrol.0.emc-enable-in 1
diff --git a/lcec_simu/lcec_simu.comp b/lcec_simu/lcec_simu.comp
new file mode 100755
index 0000000..f9ac48d
--- /dev/null
+++ b/lcec_simu/lcec_simu.comp
@@ -0,0 +1,120 @@
+// setp lcec.0.0.drivecontrol-1 1
+// setp lcec.0.0.drivecontrol-2 1
+// net state-op    <= lcec.state-op
+// net X-amp       => lcec.0.0.drivecontrol-3 => lcec.0.0.drivecontrol-0
+// net X-poscmd    => lcec.0.0.poscommand
+// net X-posfb     <= lcec.0.0.pos
+// net X-fault     <= lcec.0.0.drivestatus-3
+
+// net X-stat-pos	<= lcec.0.0.modestatus-3
+// net X-stat-home	<= lcec.0.0.modestatus-2 
+// net X-homingok   <= lcec.0.0.drivestatus-12
+// net X-athome	    <= lcec.0.0.drivestatus-10
+
+// net X-ctrl-home	=> lcec.0.0.modecontrol-1 => lcec.0.0.modecontrol-2
+// net X-homestart	=> lcec.0.0.drivecontrol-4
+// net X-ctrl-pos	=> lcec.0.0.modecontrol-3
+
+// net X-PoT       <= lcec.0.0.inputs-1
+// net X-NoT       <= lcec.0.0.inputs-0
+
+component lcec_simu "ESTUN drive simulator";
+author "Electrolab";
+
+pin out bit state_op;
+
+pin in bit drivecontrol_0;
+pin in bit drivecontrol_1;
+pin in bit drivecontrol_2;
+pin in bit drivecontrol_3;
+pin in bit drivecontrol_4;
+
+pin in float poscommand;
+pin out float pos;
+
+pin out bit drivestatus_3;
+pin out bit drivestatus_10;
+pin out bit drivestatus_12;
+
+pin out bit modestatus_2;
+pin out bit modestatus_3;
+
+pin in bit modecontrol_0;
+pin in bit modecontrol_1;
+pin in bit modecontrol_2;
+pin in bit modecontrol_3;
+pin in bit modecontrol_4;
+
+pin out bit inputs_0;
+pin out bit inputs_1;
+
+pin out s32 debug;
+pin out s32 state;
+pin out float motion_length;
+
+function _;
+license "GPL"; // indicates GPL v2 or later
+;;
+
+#define HOMING_LENGTH 100
+#define LATCH_LENGTH 5
+#define HOMING_SPEED_MM_S 10
+#define SERVO_PERIOD_MILI 1 
+
+FUNCTION(_) {
+    state_op = 1;
+    drivestatus_3 = 0;
+    inputs_0 = 0;
+    inputs_1 = 0;
+    
+    debug += 1;
+    
+    modestatus_2 = modecontrol_2;
+    modestatus_3 = modecontrol_3;
+            
+    if (!drivecontrol_4) {
+        motion_length = HOMING_LENGTH;
+        drivestatus_12 = 0;
+        state = 0;
+    }
+    
+    if (drivecontrol_0 && drivecontrol_1 && drivecontrol_2 && drivecontrol_3) {     // Drive enable
+        
+        if (!modecontrol_2 && modecontrol_3) {  // Position mode
+            pos = poscommand;
+        }
+        
+        if (modecontrol_2 && !modecontrol_3 && drivecontrol_4) {  // Homing mode
+            switch (state) {
+            case 0: // idle
+                state = 1;
+                break;
+            case 1: // home
+                if (motion_length > 0) {
+                    float step = HOMING_SPEED_MM_S * SERVO_PERIOD_MILI / 1000.0;
+                    motion_length  -= step;
+                    pos += step;   
+                }
+                else {
+                    motion_length = LATCH_LENGTH;
+                    state = 2;
+                }
+                break;
+            case 2: // latch
+                if (motion_length > 0) {
+                    float step = HOMING_SPEED_MM_S * SERVO_PERIOD_MILI / 1000.0;
+                    motion_length  -= step;
+                    pos -= step;
+                }
+                else {
+                    state = 3;
+                }
+                break;
+            case 3: // homed
+                drivestatus_12 = 1;
+                break;
+            }
+        }
+    }
+
+}
\ No newline at end of file
diff --git a/lcec_simu/lcec_simu.so b/lcec_simu/lcec_simu.so
new file mode 100755
index 0000000000000000000000000000000000000000..86bd8f605ec17394e8744f8cbe58816792f81dd9
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literal 0
HcmV?d00001

diff --git a/maurice_gmoccapy.ini b/maurice-common.ini
old mode 100644
new mode 100755
similarity index 97%
rename from maurice_gmoccapy.ini
rename to maurice-common.ini
index 2568743..6c198b2
--- a/maurice_gmoccapy.ini
+++ b/maurice-common.ini
@@ -56,11 +56,6 @@ SERVO_PERIOD = 1000000
 TASK = milltask
 CYCLE_TIME = 0.005
 
-[HAL]
-HALUI = halui
-HALFILE = maurice.hal
-POSTGUI_HALFILE = gmoccapy_postgui.hal
-
 [HALUI]
 
 [TRAJ]
diff --git a/maurice-simu.ini b/maurice-simu.ini
new file mode 100755
index 0000000..c64dd9c
--- /dev/null
+++ b/maurice-simu.ini
@@ -0,0 +1,7 @@
+#INCLUDE maurice-common.ini
+
+[HAL]
+HALUI = halui
+HALFILE = lcec_simu.hal
+HALFILE = maurice.hal
+POSTGUI_HALFILE = gmoccapy_postgui.hal
diff --git a/maurice.hal b/maurice.hal
index 5e97fd9..fdef017 100644
--- a/maurice.hal
+++ b/maurice.hal
@@ -6,8 +6,8 @@
 # Components declaration
 #==========================================
 
-loadrt trivkins
-loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+#loadrt trivkins
+#loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
 
 addf motion-command-handler servo-thread
 addf motion-controller servo-thread
@@ -65,11 +65,11 @@ loadrt classicladder_rt
 addf classicladder.0.refresh servo-thread
 loadusr classicladder maurice.clp
 
-loadusr -W lcec_conf maurice.xml
-loadrt lcec
+#loadusr -W lcec_conf maurice.xml
+#loadrt lcec
 
-addf lcec.read-all servo-thread
-addf lcec.write-all servo-thread
+#addf lcec.read-all servo-thread
+#addf lcec.write-all servo-thread
 
 setp lcec.0.0.drivecontrol-1 1
 setp lcec.0.0.drivecontrol-2 1
@@ -81,12 +81,6 @@ setp lcec.0.0.modecontrol-4 0
 setp lcec.0.1.modecontrol-0 0
 setp lcec.0.1.modecontrol-4 0
 
-#==========================================
-# Global machine logic
-#==========================================
-
-net state-op    <= lcec.state-op
-
 #==========================================
 # X axis
 #==========================================
diff --git a/maurice.ini b/maurice.ini
new file mode 100644
index 0000000..c8932f2
--- /dev/null
+++ b/maurice.ini
@@ -0,0 +1,7 @@
+#INCLUDE maurice-common.ini
+
+[HAL]
+HALUI = halui
+HALFILE = lcec.hal
+HALFILE = maurice.hal
+POSTGUI_HALFILE = gmoccapy_postgui.hal
-- 
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