From ad456b47ad1934169d34bff3ca4e155971f445fa Mon Sep 17 00:00:00 2001
From: galperti <cristian.galperti@epfl.ch>
Date: Thu, 23 Jul 2020 12:58:17 +0200
Subject: [PATCH] prev ethcat data (only int16) actualization added
---
code/classes/SCDclass_taskmdsloadprevETHCAT.m | 133 ++++++++++++++++++
1 file changed, 133 insertions(+)
create mode 100644 code/classes/SCDclass_taskmdsloadprevETHCAT.m
diff --git a/code/classes/SCDclass_taskmdsloadprevETHCAT.m b/code/classes/SCDclass_taskmdsloadprevETHCAT.m
new file mode 100644
index 0000000..e9fbf68
--- /dev/null
+++ b/code/classes/SCDclass_taskmdsloadprevETHCAT.m
@@ -0,0 +1,133 @@
+classdef SCDclass_taskmdsloadprevETHCAT < SCDclass_task
+ % This is a special class which loads previous
+ % values of the EtherCAT1 real-time network
+ properties
+ modelbus
+ node
+ workspacedatabasestructure
+ end
+
+ properties(Access=private)
+ logdecimate
+ nint16
+ nfloat32 % not yet implemented
+ end
+
+ methods
+
+ function obj=SCDclass_taskmdsloadprevETHCAT(id, varargin)
+ obj@SCDclass_task(id, varargin);
+ obj.cparser.addRequired('modelbus',@(x) ischar(x));
+ obj.cparser.addParameter('node', 0, @(x) (isnumeric(x) && ((x==1) || x==2)));
+ obj=obj.parseconstructorcommon(id, varargin);
+ obj.modelbus=obj.cparser.Results.modelbus;
+ obj.node=obj.cparser.Results.node;
+ switch(obj.node)
+ case 2
+ obj.workspacedatabasestructure='SCDsimdata.SCDnode02simdata.ethercat';
+ otherwise
+ error('SCDclass_taskmdsloadprevETHCAT:constructor','Class not implemented for node %d',obj.node);
+ %obj.workspacedatabasestructure='';
+ end
+ obj.classname=mfilename;
+ obj.logdecimate=2;
+ obj.nint16=20;
+ obj.nfloat32=10; % not yet implemented
+ end
+
+ function init(obj, shot)
+ mdsconnect(obj.mdsserver);
+ mdsopen(obj.mdstree, shot);
+
+ %try
+ switch(obj.node)
+ case 2
+ obj.actualizeNode(shot);
+ end
+ %catch
+ % fprintf('\n');
+ % warning('SCDclass_taskmdsloadprevETHCAT:init','Error initializing ETHCAT bus for node %d.',obj.node);
+ %end
+ end
+
+ function [obj, value] = getdata(obj,shot)
+ switch(obj.node)
+ case 2
+ [~,value]=obj.getdataNodeETHCAT1(shot);
+ end
+ end
+
+ function printinfo(obj)
+ obj.printinfocommon;
+ fprintf(' Init model bus: %s, node: %d, ws base struct: %s\n',obj.modelbus, obj.node, obj.workspacedatabasestructure);
+ end
+
+
+ function entrystring = genMARTe2entry(obj, shot)
+ % TODO: this is a workaround which works by chance, need a more accurate fix
+ entrystring = '';
+ end
+
+ end
+
+ methods(Access = private)
+
+ function obj = actualizeNode(obj, shot)
+ dd=SCDconf_getdatadict(obj.datadictionary);
+ adcbus=dd.getEntry(obj.modelbus).getValue;
+ [~,data]=obj.getdata(shot);
+ T=timeseries;
+ if obj.verbose==1
+ fprintf('Actualizing data for bus: ''%s'' (%s, shot %d) 0%% ', obj.modelbus, obj.classname, shot);
+ end
+ for ii=1:obj.nint16
+ T.Time=data.Time;
+ T.Data=int16(data.Data(:,ii));
+ assignin('base','temp',T);
+ assigncmd=sprintf('%s.%s=temp;',obj.workspacedatabasestructure, adcbus.Elements(ii).Name);
+ evalin('base',assigncmd);
+ if obj.verbose==1 && mod(ii,obj.logdecimate)==0
+ fprintf('%.0f%% ', ii/obj.nint16*100);
+ end
+ end
+ evalin('base','clear temp');
+ if obj.verbose==1
+ fprintf('100%% \n');
+ end
+ end
+
+
+%%
+% Node 02 loading functions
+
+ function [obj, value] = getdataNodeETHCAT1(obj, shot)
+ mdsnodename='node02';
+ mdsopen('rtc',shot);
+ T=timeseries;
+ timebase=mdsvalue(['dim_of(\top.' mdsnodename '.ethcat1.in.int16_001)']);
+ d_time = double(mdsvalueraw(['\top.' mdsnodename '.params:d_time']))*1.0e-6;
+ %timebase = round(timebase.*1/d_time)*d_time-d_time/2;
+ timebase = round(timebase.*1/d_time)*d_time-d_time/100;
+ T.Time=timebase;
+ T.Data=zeros(numel(timebase),obj.nint16);
+ datamatrix=zeros(numel(timebase),obj.nint16);
+ if obj.verbose==1
+ fprintf('Getting data for bus: ''%s'' (%s, shot %d) 0%% ', obj.modelbus, obj.classname, shot);
+ end
+ for ii=1:obj.nint16
+ channelstr=sprintf(['\\top.' mdsnodename '.ethcat1.in.int16_%03d.raw'],ii);
+ datamatrix(:,ii)=int16(mdsvalueraw(channelstr));
+ if obj.verbose==1 && mod(ii,obj.logdecimate)==0
+ fprintf('%.0f%% ', ii/192*100);
+ end
+ end
+ T.Data=datamatrix; % this speeds up a lot the loading
+ value=T;
+ if obj.verbose==1
+ fprintf('100%% \n');
+ end
+ end
+
+ end
+end
+
--
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