#%TITLE% LOCK.MAC
#%NAME% Software Lock motor macros
#%CATEOGRY% Positioning, Tools
#%DESCRIPTION%
#
# These macros allow the user to lock a motor and prevent it for moving.
# The checking is done before every movement and it is done at the macro
# level... this means that motors are locked for one user but perhaps
# not for another one.
# If you want to prevent a motor to be moved by ANY user... you should
# check the restrictions flag in the config file for that motor to
# "CANT MOVE"
#
# This macros are NOT HACK-PROOF. The idea is just to make life easier
# by avoiding consequences of forgetting a motor should not be moved...
# then spec will remind it to you. I am sure you will still be able to
# move if you really want to.
#
# Should we define only authorised users for locking? The answer is
# no. If you really want by all means to avoid a motor be moved by the
# user use config and protections in UNIX file system.
#
#%OVERVIEW%
# Basic commands are:
# %DL%
# %DT%lock%DD% Locks a motor and a comment can be stored with the lock
# flag
# %DT%unlock%DD% Unlocks a motor that was previously locked.
# %DT%lockshow%DD% Shows all the motor locks.
# %DT%lockclear%DD% Clear all the locks.
# %XDL%
#%BR%
#
#%EXAMPLE%
# %DL%
# %DT% %B% laposmenu%B% %DD% (Opens the menu)
# %DT% %B% lock %B% %B% mu %B% %B% "It is broken" %B% %B% Vicente %B% %DD%
# (Locks the motor "mu" with message and user name
# %DT% %B% laposconfig %B% %B% lapos.dat%B% %B% %DD%
# ( Configure the system from file lapos.dat)
# %XDL%
#%BR%
#
#%SETUP%
# The macro locksetup must be executed once when SPEC is started fresh
# before any of the other macros in this macro set.
#
#%END%
##
# locksetup
##
#%UU%
#%MDESC%
# Do all the necessary setup and variable definition.
# TAKE CARE : lock does not work if locksetup has not been executed...
def locksetup '{
global LOCKTABLE LOCKNO LOCKOLD LOCK_ON LOCK_OFF
global LOCKMESS LOCKUSER LOCK_SETUP
global COMSTR
COMSTR = "Comment="
LOCK_ON = 1
LOCK_OFF = 0
cdef("user_checkall", "_lockcheck;", "LOCK")
cdef("user_getpangles", "_lockgetangles;", "LOCK")
LOCK_SETUP = 1
}'
#%UU%
#%MDESC%
# Clean all lock stuff
def lockunsetup '{
cdef("user_checkall", "", "LOCK", "delete")
cdef("user_getpangles", "", "LOCK", "delete")
unglobal LOCKTABLE LOCKNO LOCKOLD LOCK_ON LOCK_OFF
unglobal LOCKMESS LOCKUSER
unglobal COMSTR
}'
#%UU% [filename]
#%MDESC%
# Saves the lock state into a file. Can be restored later with
# lockrestore
# !! take care : if saving in an existing file, the file is not flushed...
def locksave '{
local nbparam
local lockfile
local ii
nbparam = $#
if (nbparam > 1) {
print "Usage: locksave filename"
exit
}
# get filename.
if (nbparam != 1) {
lockfile = getval("File name for saving locks", 0)
}
else {
lockfile = "$1"
}
# warn if lockfile alredy exits.
if(file_info(lockfile, "-e")){
printf ("locksave WARNING : file \"%s\" exists\n", lockfile)
}
on(lockfile)
offt
for( ii = 0 ; ii < MOTORS ; ii++) {
if (LOCKTABLE[ii] == LOCK_ON) {
printf("%d %s Comment=%s\n", ii, LOCKUSER[ii], LOCKMESS[ii])
}
}
ont
close(lockfile)
}'
##
# lockrestore
##
#%UU% [filename]
#%MDESC%
#
# Restores saved by a previous locksave.
#
def lockrestore '{
local rline
local nbparam
local lockfopen
nbparam = $#
if (nbparam > 1) {
print "Usage: lockrestore filename"
exit
}
if (nbparam != 1) {
lockfile = getval("File name for restoring locks",0)
}
else {
lockfile = "$1"
}
if (getline(lockfile, "open") != 0){
printf("Error opening file %s for reading\n", lockfile)
lockfopen = 0
}
else {
lockfopen = 1
}
while(lockfopen)
{
rline = getline(lockfile)
if (rline == "-1") {
lockfopen = 0
getline(lockfile, "close")
continue
}
nn = sscanf(rline, "%d %s %*s", lomotor, louser)
buf = substr(rline, index(rline, COMSTR) + length(COMSTR))
locomment = substr(buf, 1, length(buf)-1)
LOCKOLD[lomotor] = A[lomotor]
LOCKTABLE[lomotor] = LOCK_ON
LOCKMESS[lomotor] = locomment
_lockmess(lomotor)
}
}'
##
# lockclear
##
#%UU%
#%MDESC%
#
# Clears all the locks in the system.
#
def lockclear '{
local ii
for(ii = 0 ; ii < MOTORS ; ii++) {
LOCKTABLE[ii] = LOCK_OFF
}
}'
##
# lock
##
#%UU% motor [comment] [user]
#%MDESC%
#
# Locks a motor for moving. Comment (like reason of the locking) and
# a name identifying the user should be given in the command line or
# the macro will prompt for them.
#
def lock '{
#
# Check usage:
#
local nbparam
nbparam = $#
if (LOCK_SETUP != 1){
print "ERROR : lock is not initialized : use locksetup"
exit
}
if (nbparam < 1) {
print "Usage: lock motor [comment] [user]"
exit
}
_check0 "$1"
LOCKOLD[$1] = A[$1]
LOCKTABLE[$1] = LOCK_ON
if (nbparam > 1 ) LOCKMESS[$1] = "$2"
if (nbparam > 2 ) LOCKUSER[$1] = "$3"
if (nbparam < 2 ) {
LOCKMESS[$1] = getval("lock message",LOCKMESS[$1])
}
if (nbparam < 3 ) {
LOCKUSER[$1] = getval("username",LOCKUSER[$1])
}
printf("Locking motor %s \(%s\). %s\n", \
motor_name($1),motor_mne($1),LOCKMESS[$1])
}'
##
# unlock
##
#%UU% motor
#%MDESC%
#
# Clear the lock for a motor.
#
def unlock '{
local nbparam
nbparam = $#
if (nbparam < 1) {
print "Usage: unlock motor"
exit
}
_check0 "$1"
if (LOCKTABLE[$1] == LOCK_ON) {
LOCKTABLE[$1] = LOCK_OFF
printf("Motor %s \(%s\) unlocked\n",motor_name($1),motor_mne($1))
} else {
printf("Motor %s \(%s\) was not locked\n",motor_name($1),motor_mne($1))
}
}'
##
# lockshow
##
#%UU%
#%MDESC%
#
# Shows a list of all the locks in the system.
#
def lockshow '{
local ii
for (ii=0 ; ii < MOTORS ; ii++) {
if ( LOCKTABLE[ii] == LOCK_ON ) {
_lockmess(ii)
}
}
}'
#%IU% (motor_number)
#%MDESC%
# Prints a short message on the screen informing that the motor is locked.
def _lockmess(mot_nb) '{
printf("Motor %s \(%s\) locked by %s. %s\n", \
motor_name(mot_nb),motor_mne(mot_nb),LOCKUSER[mot_nb],LOCKMESS[mot_nb])
}'
##
# _lockcheck
##
#%IU%
def _lockcheck '{
local mot_nb
for ( mot_nb=0 ; mot_nb < MOTORS ; mot_nb++) {
if (LOCKTABLE[mot_nb] == LOCK_ON) {
if (LOCKOLD[mot_nb] != A[mot_nb]) {
A[mot_nb] = LOCKOLD[mot_nb]
_lockmess(mot_nb)
exit
}
}
}
}'
##
# _lockgetangles
##
#%IU%
def _lockgetangles '{
local ii
for (ii=0 ; ii<MOTORS ; ii++) {
if (LOCKTABLE[ii] == LOCK_ON) {
LOCKOLD[ii] = A[ii]
}
}
}'
#%MACROS%
#%IMACROS%
#%AUTHOR% Vicente Rey 20 Jan. 1995
#%TOC%
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