#include <stdio.h>
#include <string.h>
#include "Gpib.h"

#define PMC       6     /* GPIB address of PMC200-P  */
#define BUFLEN  100     /* buffer length for received data */

void init_pmc()
{
  unsigned char buf[BUFLEN];          /* buffer for received data   */

  gpib_init();                        /* initialize the GPIB 1014   */

  gpib_write("*IDN?",PMC);

  gpib_read(buf,BUFLEN,PMC);
  printf("PMC_ID=%s\n",buf);
  printf("GPIB_ERR=%d\n",GPIB_ERR);

/*  gpib_write("*RST",PMC);   */
          /* software reset, stop motion */

  gpib_write("UNITS mm,mm",PMC);      /* set units to mm            */

  return;
}

float getpos_pmc(int axis)                    /* returns position of        */
{                                     /* actuator          */
  float position;
  unsigned char buf[BUFLEN];          /* buffer for received data   */ 
  
  if( axis == 1 ) 
   gpib_write("POS1?",PMC);            /* get the current position   */
  else
   gpib_write("POS2?",PMC);
  gpib_read(buf,BUFLEN,PMC);
  sscanf(buf,"%f\n",&position);

  return(position);
}

void mvtopos_pmc(pos,axis)                 /* moves actuator  to        */
float pos;                            /* given position             */
int axis;
{                                     /* at maximum speed           */
  unsigned char buf[BUFLEN];          /* buffer for received data   */ 

  if( axis == 1 ) 
   gpib_write("VEL1?",PMC);            /* get the maximum possible   */
  else
   gpib_write("VEL2?",PMC);            /* get the maximum possible   */
  gpib_read(buf+5,BUFLEN,PMC);        /* velocity and use it.       */
  if( axis == 1 )
   strcpy(buf,"VEL1");
  else
   strcpy(buf,"VEL2");
  buf[4]=' ';
  gpib_write(buf,PMC);
    
  if( axis == 1 )
   sprintf(buf,"MOVE1 %8.4f",pos);     /* move to destination,       */
  else
   sprintf(buf,"MOVE2 %8.4f",pos);     /* move to destination,       */
  gpib_write(buf,PMC);                /* and wait until motion      */
  wait_stop();                        /* has stopped.               */
  return;
}

void jog_pmc(amount,axis)                  /* moves actuator by a      */
float amount;                         /* given amount               */
int axis;
{                                     /* at minimum speed           */
  unsigned char buf[BUFLEN];          /* buffer for received data   */ 

  if( axis == 1 )
  {
   gpib_write("VEL1 0.01",PMC);        /* v=0.010 mm/sec             */  
   sprintf(buf,"JOG1 %8.4f",amount);         
  }
  else
  {
   gpib_write("VEL2 0.01",PMC);        /* v=0.010 mm/sec             */
   sprintf(buf,"JOG2 %8.4f",amount);
  }
  gpib_write(buf,PMC);                /* jog 'amount'               */
  wait_stop();

  return;
}

/********************************************************************
*                                                                   *
*  wait_stop() waits for all actuator movement to stop.             *
*  And while twiddling thumbs, it counts the number of seconds      *
*  it had to wait and returns them.                                 *
*                                                                   *
*  The device command *OPC (operation complete) sets bit 0 of       *
*  of the eventstatus register to 1.  Reading the register          *
*  clears its bits.                                                 *
*                                                                   *
*********************************************************************/

wait_stop()
{
  unsigned char buf[100];             /* buffer for received data   */
  int           esr;                  /* event status register      */
  int           count;

  count=0;  
  gpib_write("*OPC",PMC);             /* sets a bit when motion stops */
  do{                                 /* check every second if      */
    sleep(1); count++;                /* motion has stopped         */
    gpib_write("*ESR?",PMC);          /* get the event status register */
    gpib_read(buf,BUFLEN,PMC);   
    sscanf(buf,"%d",&esr);  
  } while(!(esr&1));                  /* bit 0 is 1 when motion has */
                                      /* stopped                    */
  return(count);
}