add web-interface

Z1000_focus/HW_dependent.h

@@ -55,6 +55,9 @@
 // minimal & maximal focus positions (should be >min+dF0 & <max-dF0)
 #define FOCMIN              200
 #define FOCMAX              320000
+// focus raw positions @ endswitches (< or >)
+#define FOCPOS_CW_ESW       5000
+#define FOCPOS_CCW_ESW      315000
 // the same in mm
 #define FOCMIN_MM           0.1
 #define FOCMAX_MM           76.0

Z1000_focus/can_encoder.c

@@ -35,11 +35,30 @@ static unsigned long motor_id = 0, motor_p_id = 0;//, bcast_id = 1;
 static unsigned long curposition = 0;
 // encoder's node number
 static int encnodenum = 0;
-
+// system status
+static sysstatus curstatus = STAT_OK;
 static canstatus can_write_par(uint8_t subidx, uint16_t idx, uint32_t *parval);
 static canstatus can_read_par(uint8_t subidx, uint16_t idx, uint32_t *parval);
 static int move(unsigned long targposition, int16_t rawspeed);
 
+// return 0 if all OK
+static int chk_eswstates(){
+    uint32_t cw, ccw;
+    if(CAN_NOERR != can_read_par(PAR_DI_SUBIDX, PAR_CW_IDX, &cw)) goto verybad;
+    if(CAN_NOERR != can_read_par(PAR_DI_SUBIDX, PAR_CCW_IDX, &ccw)) goto verybad;
+    uint32_t parval = DI_ENSTOP;
+    if(cw != DI_ENSTOP || ccw != DI_ENSTOP){ // activate enable/stop
+        WARNX("\n\nThe end-switches state wasn't default!");
+        if(CAN_NOERR != can_write_par(PAR_DI_SUBIDX, PAR_CW_IDX, &parval)) goto verybad;
+        if(CAN_NOERR != can_write_par(PAR_DI_SUBIDX, PAR_CCW_IDX, &parval)) goto verybad;
+    }
+    return 0;
+verybad:
+    WARNX("Can't return esw to default state");
+    curstatus = STAT_ERROR;
+    return 1;
+}
+
 /**
  * @brief init_encoder - encoder's interface initialisation
  * @param encnode - encoder's node number
@@ -107,6 +126,7 @@ int init_encoder(int encnode, int reset){
         else for(i=0;i<n;i++)
             verbose("Node%d PDO%d %08lx (%ld)\n",node[i],pdo_n[i],pdo_v[i],pdo_v[n]);
     }while(0);
+    curstatus = STAT_OK;
     return 0;
 }
 
@@ -132,12 +152,15 @@ int go_out_from_ESW(){
     }
     if(e == ESW_BOTH_ACTIVE){ // error situation!
         WARNX("Error: both end-switches are active!");
+        curstatus = STAT_BOTHESW;
         return 1;
     }
     if(e == ESW_INACTIVE){
         DBG("Esw inactive");
+        curstatus = STAT_OK;
         return 0;
     }
+    curstatus = STAT_GOFROMESW;
     // try to move from esw
     parval = DI_NOFUNC;
     uint16_t idx = (e == ESW_CW_ACTIVE) ? PAR_CW_IDX : PAR_CCW_IDX;
@@ -147,7 +170,6 @@ int go_out_from_ESW(){
         getPos(NULL);
         DBG("try %d, pos: %lu, E=%d", i, curposition, e);
         unsigned long targ = (e == ESW_CW_ACTIVE) ? curposition - (double)FOCSCALE_MM*0.2 : curposition + (double)FOCSCALE_MM*0.2;
-
         if(move(targ, speed)) continue;
         get_endswitches(&e);
         if(e == ESW_INACTIVE) break;
@@ -158,11 +180,14 @@ int go_out_from_ESW(){
     if(CAN_NOERR != can_write_par(PAR_DI_SUBIDX, PAR_CCW_IDX, &parval)) goto bad;
     if(e != ESW_INACTIVE){
         WARNX("Can't move out of end-switch");
+        curstatus = STAT_ERROR;
         return 1;
     }
+    curstatus = STAT_OK;
     return 0;
 bad:
     WARNX("Can't get/set esw parameters");
+    curstatus = STAT_ERROR;
     return 1;
 }
 
@@ -193,6 +218,26 @@ int init_motor_ids(int addr){
 int getPos(double *pos){
     int r = !(getLong(encnodenum, DS406_POSITION_VAL, 0, &curposition));
     if(pos) *pos = FOC_RAW2MM(curposition);
+    eswstate e;
+    if(CAN_NOERR != get_endswitches(&e)){
+        WARNX("Can't read end-switches state");
+        curstatus = STAT_ERROR;
+    }else switch(e){
+        case ESW_BOTH_ACTIVE:
+            curstatus = STAT_BOTHESW;
+        break;
+        case ESW_CCW_ACTIVE:
+            if(curposition > FOCPOS_CCW_ESW) curstatus = STAT_BADESW;
+            else curstatus = STAT_ESW;
+        break;
+        case ESW_CW_ACTIVE:
+            if(curposition < FOCPOS_CW_ESW) curstatus = STAT_BADESW;
+            else curstatus = STAT_ESW;
+        break;
+        case ESW_INACTIVE:
+        default:
+            curstatus = STAT_OK;
+    }
     return r;
 }
 
@@ -433,6 +478,7 @@ int stop(){
  * @return 0 if all OK
  */
 int movewconstspeed(int spd){
+    if(chk_eswstates()) return 1;
     int16_t targspd = RAWSPEED(spd);
     unsigned char buf[8] = {0,};
     buf[1] = CW_ENABLE;
@@ -457,6 +503,7 @@ static int move(unsigned long targposition, int16_t rawspeed){
         verbose("Already at position\n");
         return 0;
     }
+    if(chk_eswstates()) return 1;
     unsigned char buf[6] = {0,};
     DBG("Start moving with speed %d", rawspeed);
     buf[1] = CW_ENABLE;
@@ -481,25 +528,35 @@ static int move(unsigned long targposition, int16_t rawspeed){
         can_dsleep(0.01);
         //uint16_t motstat;
         double speed;
-        eswstate esw;
         if(emerg_stop){ // emergency stop activated
             WARNX("Activated stop while moving");
             stop();
+            curstatus = STAT_OK;
             return 1;
         }
         if(get_motor_speed(&speed) != CAN_NOERR){ // WTF?
             WARNX("Unknown situation: can't get speed of moving motor");
             stop();
+            curstatus = STAT_ERROR;
             return 1;
         }
+        getPos(NULL);
+        if(curstatus != STAT_OK){
+            WARNX("Something bad with end-switches");
+            stop();
+            return 1;
+        }
+        /* eswstate esw;
         if(get_endswitches(&esw) != CAN_NOERR){
             WARNX("Can't get endswitches state, stopping");
             stop();
+            curstatus = STAT_ERROR;
             return 1;
         }
         if(esw != ESW_INACTIVE){ // OOps, something wrong
             if(esw == ESW_BOTH_ACTIVE){ // error!
                 WARNX("Check end-switches, both active!");
+                curstatus = STAT_BOTHESW;
                 stop();
                 return 1;
             }
@@ -507,20 +564,23 @@ static int move(unsigned long targposition, int16_t rawspeed){
             if(rawspeed > 0){ // moving CW, don't care for CCW esw state
                 if(esw == ESW_CW_ACTIVE){
                     WARNX("CW mowing: end-switch!");
+                    curstatus = STAT_ESW;
                     stop();
                     return 1;
                 }
             }else{ // movig CCW
                 if(esw == ESW_CCW_ACTIVE){
                     WARNX("CCW mowing: end-switch!");
+                    curstatus = STAT_ESW;
                     stop();
                     return 1;
                 }
             }
-        }
+        }*/
         if(fabs(speed) < 0.1){ // || (motstat & (SW_B_UNBLOCK|SW_B_READY|SW_B_POUNBLOCK)) != (SW_B_UNBLOCK|SW_B_READY|SW_B_POUNBLOCK)){
             if(++zerctr == 10){
                 WARNX("Motor stopped while moving!");
+                curstatus = STAT_ERROR;
                 stop();
                 return 1;
             }
@@ -538,6 +598,7 @@ static int move(unsigned long targposition, int16_t rawspeed){
     if(i == MOVING_TIMEOUT){
         WARNX("Error: timeout, but motor still not @ position! STOP!");
         stop();
+        curstatus = STAT_ERROR;
         return 1;
     }
     DBG("end-> curpos: %ld, difference: %ld, tm=%g\n", curposition, targposition - curposition, can_dtime()-t0);
@@ -553,6 +614,7 @@ static int move(unsigned long targposition, int16_t rawspeed){
     if(abs(targposition - curposition) > RAWPOS_TOLERANCE)
         verbose("Current (%ld) position is too far from target (%ld)\n", curposition, targposition);
     DBG("stop-> curpos: %ld, difference: %ld, tm=%g\n", curposition, targposition - curposition, can_dtime()-t0);
+    curstatus = STAT_OK;
     return r;
 }
 
@@ -714,3 +776,7 @@ void movewithmon(double spd){
     }
 #undef PRINT
 }
+
+sysstatus get_status(){
+    return curstatus;
+}

Z1000_focus/can_encoder.h

@@ -37,6 +37,18 @@ typedef enum{
     ESW_BOTH_ACTIVE = 3
 } eswstate;
 
+// system state
+typedef enum{
+    // non-blocking statuses:
+    STAT_OK,        // all OK
+    // blocking statuses:
+    STAT_ESW,       // end-switch active
+    STAT_BADESW,    // wrong end-switch active
+    STAT_BOTHESW,   // both end-switches active
+    STAT_GOFROMESW, // mowing from end-switch
+    STAT_ERROR      // uncoverable error
+} sysstatus;
+
 int init_encoder(int encnode, int reset);
 void returnPreOper();
 int getPos(double *pos);
@@ -49,5 +61,6 @@ int move2pos(double target);
 int stop();
 int movewconstspeed(int spd);
 int go_out_from_ESW();
+sysstatus get_status();
 
 #endif // CAN_ENCODER_H__

Z1000_focus/html/focus.html

@@ -0,0 +1,49 @@
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd">
+<html>
+<head>
+<style type="text/css">
+body{text-align:center;}
+.shadow{
+        position:absolute;
+        text-align:center;
+        vertical-align: center;
+        top:0;
+        display: none;
+        left:0;
+        width:100%;
+        height:100%;
+        background-color: lightGrey;
+        opacity: 0.5;
+}
+.B{font-weight: bold;}
+.big{font-size: 200%;}
+.M{margin-bottom: 5px;}
+.C{text-align:center; padding: 10px;}
+.btm{margin-top: 15px; color: red; position: fixed; bottom: 10px;
+    width: 50%; left: 25%; font-size: 200%;}
+</style>
+<script src="focus.js" type="text/javascript" language="javascript"></script>
+<title>Zeiss-1000 focusing</title>
+</head>
+<body onload="Foc.Run();">
+<noscript><h1>Turn ON JavaScript!!!</h1></noscript>
+<div class="C" id="container">
+    <div class="C M big" onclick="Foc.upd();">
+        Current F=<span id="curFval"></span>
+    </div>
+    <div class="C M big">
+        <label for="speed">Speed: </label>
+        <input style="width: 50px" id="speed" type="number" value="1" min="1" max="4" onchange="Foc.chSpd(this.value);">
+        <button class="B" id="F-" onmousedown="Foc.Move(-1);" onmouseup="Foc.Stop();">-</button>
+        <!--<input style="width: 300px" id="focSlider" type="range" min="0" max="100" step="1" value="50" readonly>-->
+        <button class="B" id="F+" onmousedown="Foc.Move(1);" onmouseup="Foc.Stop();">+</button>&nbsp;&nbsp;
+    </div>
+    <div class="C big">
+        <button class="B" id="Fstop" onclick="Foc.Stop();">Stop</button>
+        <input style="width: 130px" id="focSet" type="number" lang="en-150" value="2" min="0.1" max="65" step="0.01"> <!-- onchange="Foc.Ch(this.value);"-->
+        <button class="B" id="Fset" onclick="Foc.SetFocus();">Set</button>
+    </div>
+</div>
+<div class="shadow" id="shadow">
+</body>
+</html>

Z1000_focus/html/focus.js

@@ -0,0 +1,143 @@
+Foc = function(){
+// const REQ_PATH=window.location.hostname+":4444/";
+const REQ_PATH="http://dasha.sao.ru:4444/";
+var minVal=0.01, maxVal=76.5, curVal = 3.0, curSpeed = 1;
+var timeout_upd, timeout_msg;
+// ID
+function $(id){ return document.getElementById(id); }
+// Request: req_SRT - request string, _onOK - function to run if all OK
+function sendrequest(req_STR, _onOK){
+    var request = new XMLHttpRequest(), timeout_id;
+    request.open("POST", REQ_PATH + req_STR, true);
+    request.onreadystatechange=function(){
+        if (request.readyState == 4){
+            if (request.status == 200){
+                clearTimeout(timeout_id);
+                if(_onOK) _onOK(request);
+            }
+            else{
+                clearTimeout(timeout_id);
+                blockMsg("Request Error");
+            }
+        }
+    }
+    request.send(req_STR);
+    timeout_id = setTimeout(function(){blockMsg("Request timeout");}, 3000);
+}
+// show message blocking all
+function blockMsg(txt, bgcolor){
+    $("shadow").style.display = "block";
+    if(!bgcolor) bgcolor = "red";
+    $("shadow").innerHTML = txt.replace("\n", "<br>");
+}
+// parse answer for status request
+function chkStatus(req){
+    var msg = req.responseText;
+    console.log("Get status message: " + msg);
+    if(msg == "OK"){
+        $("shadow").innerHTML = "";
+        $("shadow").style.display = "none";
+    }else blockMsg(msg);
+};
+// parse answer for command requests
+function chkCmd(req){
+    var msg = req.responseText;
+    console.log("Get cmd answer: " + msg);
+    if(msg != "OK") alert(msg);
+}
+    /*
+function ch_status(txt, bgcolor){
+    function rmmsg(){clearTimeout(timeout_msg);document.body.removeChild($("_msg_div"));}
+    clearTimeout(timeout_msg);
+    if(!bgcolor) bgcolor = "red";
+    if(!$("_msg_div")){ // ÄÏÂÁ×ÌÑÅÍ ÂÌÏË ÄÌÑ ×Ù×ÏÄÁ ÓÏÏÂÝÅÎÉÊ
+        var div = document.createElement('div'), s = div.style;
+        div.id = "_msg_div";
+        div.class = "btm";
+        document.body.appendChild(div);
+    };
+    $("_msg_div").style.backgroundColor = bgcolor;
+    $("_msg_div").innerHTML = txt.replace("\n", "<br>");
+    $("_msg_div").addEventListener("click", rmmsg, true)
+    timeout_msg = setTimeout(rmmsg, 5000);
+}*/
+var first = true;
+function chF(req){
+    console.log(req.responseText);
+    curVal = Number(req.responseText);
+    if(first){
+        $('focSet').value = curVal;
+        first = false;
+    }
+    $('curFval').innerHTML = curVal;
+    //$('focSlider').value = curVal;
+}
+function getdata(){
+    clearTimeout(timeout_upd);
+    sendrequest("focus", chF);
+    sendrequest("status", chkStatus);
+    timeout_upd = setTimeout(getdata, 1000);
+}
+
+// init all things
+function FirstRun(){
+    blockMsg("init", "black");
+    // first we should get all params
+    chSpd($('speed').value);
+    var F = $('focSet');
+    F.value = curVal;
+    F.min = minVal;
+    F.max = maxVal;
+    getdata();
+}
+// send new focus value
+function SetFocus(){
+    var set = $('focSet').value;
+    if(set < minVal || set > maxVal){
+        alert("Wrong focus value");
+        return;
+    }
+    console.log("Set focus: " + set);
+    sendrequest("goto="+set, chkCmd);
+}
+function Move(dir){
+    console.log("Move to " + ((dir > 0) ? "+" : "-") + " with speed " + curSpeed);
+    var targspeeds = [ 130, 400, 800, 1200 ];
+    var cmd = "targspeed=" + ((dir > 0) ? "" : "-") + targspeeds[curSpeed-1];
+    sendrequest(cmd, chkCmd);
+    console.log("send request " + cmd);
+}
+function Stop(){
+    sendrequest("stop", chkCmd);
+    console.log("Stop");
+}
+// slider or input field changed
+function change(val){
+    if(val < minVal) val = minVal;
+    else if(val > maxVal) val = maxVal;
+    //$('focSlider').value = val;
+    $('focSet').value = val;
+    console.log("Chfocval: " + val);
+}
+function chSpd(val){
+    if(val < 1) val = 1;
+    else if(val > 4) val = 4;
+    $('speed').value = val;
+    curSpeed = val;
+    console.log("Chspd: " + val);
+}
+// update value in input field by current
+function update(){
+    $('focSet').value = curVal;
+}
+
+return{
+    Run: FirstRun,
+    SetFocus: SetFocus,
+    Move: Move,
+    Stop: Stop,
+    Ch: change,
+    chSpd: chSpd,
+    upd: update,
+    }
+}();

Z1000_focus/socket.c

@@ -193,7 +193,7 @@ static void *handle_socket(void *asock){
         // empty request == focus request
         if(strlen(found) < 1 || getparam(S_CMD_FOCUS)){
             DBG("position request");
-            snprintf(buff, BUFLEN, "%.3f", curPos());
+            snprintf(buff, BUFLEN, "%.03f", curPos());
         }else if(getparam(S_CMD_STOP)){
             DBG("Stop request");
             emerg_stop = TRUE;
@@ -226,6 +226,29 @@ static void *handle_socket(void *asock){
                 DBG("Move to position %g request", pos);
                 sprintf(buff, startmoving(pos));
             }
+        }else if(getparam(S_CMD_STATUS)){
+            const char *msg = S_STATUS_ERROR;
+            switch(get_status()){
+                case STAT_OK:
+                    msg = S_STATUS_OK;
+                break;
+                case STAT_BADESW:
+                    msg = S_STATUS_BADESW;
+                break;
+                case STAT_BOTHESW:
+                    msg = S_STATUS_BOTHESW;
+                break;
+                case STAT_ERROR:
+                    msg = S_STATUS_ERROR;
+                break;
+                case STAT_ESW:
+                    msg = S_STATUS_ESW;
+                break;
+                case STAT_GOFROMESW:
+                    msg = S_STATUS_GOFROMESW;
+                break;
+            }
+            sprintf(buff, msg);
         }else sprintf(buff, S_ANS_ERR);
         if(!send_data(sock, webquery, buff)){
             WARNX("can't send data, some error occured");
@@ -297,9 +320,16 @@ static void daemon_(int sock){
         }
         usleep(500000); // sleep a little or thread's won't be able to lock mutex
         // get current position
-        pthread_mutex_lock(&canbus_mutex);
+        if(!pthread_mutex_trylock(&canbus_mutex)){
-        getPos(NULL);
+            getPos(NULL);
-        pthread_mutex_unlock(&canbus_mutex);
+            if(get_status() != STAT_OK){
+                if(!pthread_mutex_trylock(&moving_mutex)){
+                    go_out_from_ESW();
+                    pthread_mutex_unlock(&moving_mutex);
+                }
+            }
+            pthread_mutex_unlock(&canbus_mutex);
+        }
     }while(1);
     putlog("daemon_(): UNREACHABLE CODE REACHED!");
 }

Z1000_focus/socket.h

@@ -36,12 +36,22 @@
 #define S_CMD_FOCUS     "focus"
 #define S_CMD_TARGSPEED "targspeed"
 #define S_CMD_GOTO      "goto"
+#define S_CMD_STATUS    "status"
 
 // answers through the socket
 #define S_ANS_ERR       "error"
 #define S_ANS_OK        "OK"
 #define S_ANS_MOVING    "moving"
 
+// statuses
+#define S_STATUS_OK         "OK"
+#define S_STATUS_ESW        "End-switch active"
+#define S_STATUS_ERROR      "Uncoverable error"
+#define S_STATUS_BOTHESW    "Both end-switches active"
+#define S_STATUS_BADESW     "Wrong end-switch active"
+#define S_STATUS_ESW        "End-switch active"
+#define S_STATUS_GOFROMESW  "Moving from end-switch"
+
 bool emerg_stop;
 
 void daemonize(const char *port);