Before implementing transmit retries

mc/Makefile

@@ -5,7 +5,8 @@ TARGETS=lth_fixes.mc \
 	hijacknet_lth_net.mc \
 	fei82557End.mc \
 	hijacknet_test.mc \
-	extctrl2014_lc.mc
+	extctrl2014_lc.mc \
+	hijacknet_extctrl2014.mc
 AUTO_GEN=extctrl2014_lc.c \
 	 extctrl2014_lc.h \
 	 mc.globalize.c
@@ -19,6 +20,10 @@ EXTRA_CFLAGS_hijacknet_lth_net=-I/opt/robot/include
 EXTRA_CFLAGS_fei82557End=-Wno-error -Wno-all -Wno-endif-labels
 EXTRA_CFLAGS_extctrl2014_lc=-I/usr/include/labcomm \
                             -DLABCOMM_COMPAT="<labcomm_compat.h>"
+EXTRA_CFLAGS_hijacknet_extctrl2014=-I/usr/include/labcomm \
+	                           -DLABCOMM_COMPAT="<labcomm_compat.h>"
+EXTRA_LDFLAGS_hijacknet_extctrl2014=extctrl2014_lc.mc -Wl,-r,-llabcomm2014
+HIDE_hijacknet_extctrl2014=labcomm2014_
 ROBOT=
 ROBOTWARE=$(shell [ -n "$(ROBOT)" ] && \
 	    ../tools/abb_extctrl_setup.py --robot "$(ROBOT)" --robotware)
@@ -32,7 +37,7 @@ all: $(TARGETS)
 
 mc_test_load: hijack_fei.mc.load spray_test.mc.load
 
-%.mc:	%.mc.c
+%.mc:	%.mc.c Makefile
 	WIND_BASE=/opt/robot/include/vxworks/5.5.1/ \
 		i586-wrs-vxworks-gcc \
 		-O3 -Wall -Wno-unused-but-set-variable -Werror \
@@ -44,9 +49,9 @@ mc_test_load: hijack_fei.mc.load spray_test.mc.load
 		-I. \
 		-I../common \
 		-o $@ \
-		-c $< 
+		$< $(EXTRA_LDFLAGS_$*)
 
-%.mc:	%.c
+%.mc:	%.c Makefile
 	WIND_BASE=/opt/robot/include/vxworks/5.5.1/ \
 		i586-wrs-vxworks-gcc \
 		-O3 -Wall -Wno-unused-but-set-variable -Werror \
@@ -56,7 +61,14 @@ mc_test_load: hijack_fei.mc.load spray_test.mc.load
 		-I. \
 		-I../common \
 		-o $@ \
-		-c $< 
+		$< $(EXTRA_LDFLAGS_$*)
+	for h in $(HIDE_$*) ; do \
+	    nm $@ | sed -e  "s/.*[DTB] \($$h.*\)/\1/gp;d" > $@.hide || exit 1; \
+	    echo "Hiding: $$h ($$(cat $@.hide | wc -l) symbols)" ; \
+	    i586-wrs-vxworks-objcopy --localize-symbols=$@.hide $@ $@.tmp && \
+            mv $@.tmp $@ || echo "Hiding failed for $$h" || exit 1 ; \
+	    rm $@.hide ; \
+	done
 
 %_lc.c %_lc.h: %.lc
 	labcomm2014 --c=$*_lc.c --h=$*_lc.h $<
@@ -92,7 +104,10 @@ host_commands:
 	@echo "ncftpput -uu -pp $(ROBOT) /hd0a/$(DESTDIR) hijacknet_hpnet.mc"
 	@echo "ncftpput -uu -pp $(ROBOT) /hd0a/$(DESTDIR) hijacknet_fei.mc"
 	@echo "ncftpput -uu -pp $(ROBOT) /hd0a/$(DESTDIR) hijacknet.mc"
+	@echo
 	@echo "ncftpput -uu -pp $(ROBOT) /hd0a/$(DESTDIR) hijacknet_test.mc"
+	@echo
+	@echo "ncftpput -uu -pp $(ROBOT) /hd0a/$(DESTDIR) hijacknet_extctrl2014.mc"
 
 .PHONY: robot_commands
 robot_commands:
@@ -101,8 +116,11 @@ robot_commands:
 	@echo "ld < /hd0a/$(DESTDIR)/hijacknet_hpnet.mc"
 	@echo "ld < /hd0a/$(DESTDIR)/hijacknet_fei.mc"
 	@echo "ld < /hd0a/$(DESTDIR)/hijacknet.mc"
+	@echo
 	@echo "ld < /hd0a/$(DESTDIR)/hijacknet_test.mc"
-
+	@echo
+	@echo "ld < /hd0a/$(DESTDIR)/hijacknet_extctrl2014.mc"
+	@echo "hijacknet_extctrl2014_connect \"fei0\",\"38:60:77:b5:0e:cf\""
 
 .PHONY: clean
 clean:
@@ -114,3 +132,4 @@ distclean: clean
 
 hijacknet_fei.mc: fei82557.mc.h hijacknet_private.h
 hijacknet.mc: hijacknet.h
+hijacknet_extctrl2014.mc: extctrl2014_lc.mc

mc/extctrl_pub.irc5_main_110310.h

+#ifndef _EXTCTRL_PUB_H_
+#define _EXTCTRL_PUB_H_
+
+typedef struct {
+  int value[4];
+} axis_configuration_t;                 // Up to 128 axes (32 * 4)
+
+typedef struct {
+  int manualMode;			// 1 = teach mode 
+  int controlActive;			// 1 = at least torque mode active
+} controller_state;                 
+
+
+typedef struct extctrl_irb2ext_joint {
+  /* Control parameters: */
+  float parKp;     /* Position control proportional gain. */
+  float parKv;     /* Velocity control proportional gain. */
+  float parKi;     /* Velocity control integration gain. */
+  float parTrqMin; /* Minimum torque (control output) allowed. */
+  float parTrqMax; /* Dito maximum. */
+
+  /* Exposed (measured or computed) states: */
+  double posRawAbs;   /* Measured unfiltered motor angle. [abs] */
+  double posRawFb;    /* Measured unfiltered motor angle. [feedback]  */
+  double posFlt;      /* Filtered motor angle. */
+  float  velRaw;      /* Unfiltered angular velocity. */
+  float  velFlt;      /* Dito filtered, also for motor shaft. */
+  float  velOut;      /* Dito according to actual velocity control ref. */
+  float  trqRaw;      /* Measured (or internal) unfiltered torque. */
+  float  trqRefFlt;   /* filtered Torque  ref */
+
+  double posRef;     /* Nominal position reference. */
+  float  velRef;     /* Dito for the velocity reference/feedforward. */
+  float  trqFfw;     /* Model-based torque feedforward. */
+  float  trqFfwGrav; /* total dynamic model based torque. */
+} EXTCTRL_IRB2EXT_JOINT;
+
+typedef struct extctrl_ext2irb_joint {
+  /* Possibly updated control parameters: */
+  float parKp;
+  float parKv;
+  float parKi;
+
+  /* Modified references and feed forward: */
+  double posRef;
+  float  velRef;
+  float  trqFfw;
+} EXTCTRL_EXT2IRB_JOINT;
+
+typedef struct extctrl_communication_data {
+  int instruction;
+  float value1;
+  float value2;
+  float value3;
+  float value4;
+  float value5;
+  float value6;
+  char str1[20];
+  char str2[20];
+} EXTCTRL_COMMUNICATION_DATA;
+
+/* To use extctrl_communication from RAPID
+ * RAPID SYNTAX:
+ * 
+ * VAR mocgendata mydata=[1,2,3,4,5,6,'str1','str2'];
+ * MocGenInstr 88999, mydata 
+ * mydata is written to extctrl_communication and NEW data is returned
+ */
+
+
+/* 
+ * To be called by programs invoked from VxWorks prompt, 
+ * i.e. concurrently, hence we need mutex protection. Mutex 
+ * is allocated by extctrl_initialize.
+ */
+
+typedef int (*extctrl_active_cb)(axis_configuration_t axis_configuration);
+
+typedef int (*extctrl_submit_cb)(controller_state ctrl_state , 
+				 axis_configuration_t axis_configuration,
+				 EXTCTRL_IRB2EXT_JOINT *joint);
+
+typedef int (*extctrl_obtain_cb)(axis_configuration_t axis_configuration,
+				 EXTCTRL_EXT2IRB_JOINT *joint);
+
+typedef int (*extctrl_communication_cb)(axis_configuration_t ac,
+                                        EXTCTRL_COMMUNICATION_DATA *data);
+
+#define extctrl_install_callbacks extctrl_install_callbacks_irc5_110310
+
+int extctrl_install_callbacks(extctrl_active_cb submit_active,
+			      extctrl_submit_cb submit,
+			      extctrl_active_cb obtain_active,
+			      extctrl_obtain_cb obtain,
+			      extctrl_active_cb communication_active,
+			      extctrl_communication_cb communication);
+
+#endif