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- asyn R4.1 compatible.

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- make debug variables always available.
- MS Visual C compatibility; make all epicsExportAddress
  extern "C" linkage.
- retry on initial communication.
This commit is contained in:
Ron Sluiter
2004-12-21 17:26:44 +00:00
parent 21aa1269f5
commit 93b6d89462
2 changed files with 127 additions and 111 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/ImsSrc/drvIM483PL.cc
+49 -38
View File
@@ -3,9 +3,9 @@ FILENAME... drvIM483PL.cc
USAGE... Motor record driver level support for Intelligent Motion
Systems, Inc. IM483(I/IE).
Version: $Revision: 1.11 $
Version: $Revision: 1.12 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-09-20 21:04:06 $
Last Modified: $Date: 2004-12-21 17:26:44 $
*/
/*****************************************************************
@@ -37,6 +37,11 @@ of this distribution.
* .07 09/20/04 rls - increase BUFF_SIZE; response was exceeding 13 characters.
* - support for 32axes/controller.
* - remove '?' command line padding.
* .08 12/14/04 rls - asyn R4.0 support.
* - make debug variables always available.
* - MS Visual C compatibility; make all epicsExportAddress
* extern "C" linkage.
* - retry on initial communication.
*/
/*
@@ -73,15 +78,15 @@ DESIGN LIMITATIONS...
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
volatile int drvIM483PLdebug = 0;
#define Debug(l, f, args...) {if (l <= drvIM483PLdebug) printf(f, ## args);}
epicsExportAddress(int, drvIM483PLdebug);
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
volatile int drvIM483PLdebug = 0;
extern "C" {epicsExportAddress(int, drvIM483PLdebug);}
/* --- Local data. --- */
int IM483PL_num_cards = 0;
@@ -91,8 +96,8 @@ static char *IM483PL_axis[] = {"A", "B", "C", "D", "E", "F", "G", "H"};
#include "motordrvComCode.h"
/*----------------functions-----------------*/
int recv_mess(int, char *, int);
RTN_STATUS send_mess(int, char const *, char *);
static int recv_mess(int, char *, int);
static RTN_STATUS send_mess(int, char const *, char *);
static int set_status(int, int);
static long report(int);
static long init();
@@ -128,16 +133,11 @@ struct driver_table IM483PL_access =
struct
{
long number;
#ifdef __cplusplus
long (*report) (int);
long (*init) (void);
#else
DRVSUPFUN report;
DRVSUPFUN init;
#endif
} drvIM483PL = {2, report, init};
epicsExportAddress(drvet, drvIM483PL);
extern "C" {epicsExportAddress(drvet, drvIM483PL);}
static struct thread_args targs = {SCAN_RATE, &IM483PL_access};
@@ -376,20 +376,22 @@ exit:
/* send a message to the IM483PL board */
/* send_mess() */
/*****************************************************/
RTN_STATUS send_mess(int card, char const *com, char *name)
static RTN_STATUS send_mess(int card, char const *com, char *name)
{
char local_buff[MAX_MSG_SIZE];
struct IM483controller *cntrl;
int size;
int comsize, namesize;
int nwrite;
size = strlen(com);
comsize = (com == NULL) ? 0 : strlen(com);
namesize = (name == NULL) ? 0 : strlen(name);
if (size > MAX_MSG_SIZE)
if ((comsize + namesize) > MAX_MSG_SIZE)
{
errlogMessage("drvIM483PL.c:send_mess(); message size violation.\n");
return(ERROR);
}
else if (size == 0) /* Normal exit on empty input message. */
else if (comsize == 0) /* Normal exit on empty input message. */
return(OK);
if (!motor_state[card])
@@ -399,7 +401,7 @@ RTN_STATUS send_mess(int card, char const *com, char *name)
}
/* Make a local copy of the string and add the command line terminator. */
if (name != NULL)
if (namesize != 0)
{
strcpy(local_buff, name); /* put in axis */
strcat(local_buff, com);
@@ -407,14 +409,11 @@ RTN_STATUS send_mess(int card, char const *com, char *name)
else
strcpy(local_buff, com);
strcat(local_buff, "\n");
Debug(2, "send_mess(): message = %s\n", local_buff);
cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
pasynOctetSyncIO->write(cntrl->pasynUser, local_buff, strlen(local_buff),
COMM_TIMEOUT);
COMM_TIMEOUT, &nwrite);
return(OK);
}
@@ -424,12 +423,11 @@ RTN_STATUS send_mess(int card, char const *com, char *name)
/* receive a message from the IM483 board */
/* recv_mess() */
/*****************************************************/
int recv_mess(int card, char *com, int flag)
static int recv_mess(int card, char *com, int flag)
{
struct IM483controller *cntrl;
int timeout;
int flush = 0;
int len = 0;
int nread = 0;
asynStatus status = asynError;
int eomReason;
/* Check that card exists */
@@ -439,20 +437,19 @@ int recv_mess(int card, char *com, int flag)
cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
if (flag == FLUSH)
timeout = 0;
pasynOctetSyncIO->flush(cntrl->pasynUser);
else
timeout = COMM_TIMEOUT;
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE,
COMM_TIMEOUT, &nread, &eomReason);
len = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE, (char *) "\n",
1, flush, timeout, &eomReason);
if (len == 0)
if ((status != asynSuccess) || (nread <= 0))
{
com[0] = '\0';
else
com[len - 1] = '\0';
nread = 0;
}
Debug(2, "recv_mess(): message = \"%s\"\n", com);
return(len);
return(nread);
}
@@ -530,6 +527,8 @@ static int motor_init()
int total_axis = 0;
int status;
asynStatus success_rtn;
static const char output_terminator[] = "\n";
static const char input_terminator[] = "\n";
initialized = true; /* Indicate that driver is initialized. */
@@ -549,18 +548,30 @@ static int motor_init()
cntrl = (struct IM483controller *) brdptr->DevicePrivate;
/* Initialize communications channel */
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port, 0, &cntrl->pasynUser);
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port, 0,
&cntrl->pasynUser, NULL);
if (success_rtn == asynSuccess)
{
pasynOctetSyncIO->setOutputEos(cntrl->pasynUser, output_terminator,
strlen(output_terminator));
pasynOctetSyncIO->setInputEos(cntrl->pasynUser, input_terminator,
strlen(input_terminator));
/* Send a message to the board, see if it exists */
/* flush any junk at input port - should not be any data available */
pasynOctetSyncIO->flush(cntrl->pasynUser);
for (total_axis = 0; total_axis < MAX_AXES; total_axis++)
{
send_mess(card_index, " Z 0", IM483PL_axis[total_axis]);
status = recv_mess(card_index, buff, 1);
int retry = 0;
do
{
send_mess(card_index, " Z 0", IM483PL_axis[total_axis]);
status = recv_mess(card_index, buff, 1);
retry++;
} while (status <= 0 && retry < 3);
if (status <= 0)
break;
}
motorApp/ImsSrc/drvIM483SM.cc
+78 -73
View File
@@ -3,9 +3,9 @@ FILENAME... drvIM483SM.cc
USAGE... Motor record driver level support for Intelligent Motion
Systems, Inc. IM483(I/IE).
Version: $Revision: 1.12 $
Version: $Revision: 1.13 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-09-20 21:05:39 $
Last Modified: $Date: 2004-12-21 17:25:13 $
*/
/*****************************************************************
@@ -35,6 +35,11 @@ of this distribution.
* .05 02/03/04 rls Eliminate erroneous "Motor motion timeout ERROR".
* .06 07/01/04 rls Converted from MPF to asyn.
* .07 09/20/04 rls support for 32axes/controller.
* .08 12/14/04 rls - asyn R4.0 support.
* - make debug variables always available.
* - MS Visual C compatibility; make all epicsExportAddress
* extern "C" linkage.
* - retry on initial communication.
*/
/*
@@ -70,16 +75,15 @@ DESIGN LIMITATIONS...
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
volatile int drvIM483SMdebug = 0;
#define Debug(l, f, args...) {if (l <= drvIM483SMdebug) printf(f, ## args);}
epicsExportAddress(int, drvIM483SMdebug);
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
volatile int drvIM483SMdebug = 0;
extern "C" {epicsExportAddress(int, drvIM483SMdebug);}
/* --- Local data. --- */
int IM483SM_num_cards = 0;
@@ -125,16 +129,11 @@ struct driver_table IM483SM_access =
struct
{
long number;
#ifdef __cplusplus
long (*report) (int);
long (*init) (void);
#else
DRVSUPFUN report;
DRVSUPFUN init;
#endif
} drvIM483SM = {2, report, init};
epicsExportAddress(drvet, drvIM483SM);
extern "C" {epicsExportAddress(drvet, drvIM483SM);}
static struct thread_args targs = {SCAN_RATE, &IM483SM_access};
@@ -376,9 +375,9 @@ exit:
/*****************************************************/
static RTN_STATUS send_mess(int card, char const *com, char *name)
{
char local_buff[MAX_MSG_SIZE];
struct IM483controller *cntrl;
int size;
int nwrite;
size = strlen(com);
@@ -402,15 +401,11 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
return(ERROR);
}
/* Make a local copy of the string and add the command line terminator. */
strcpy(local_buff, com);
strcat(local_buff, "\r");
Debug(2, "send_mess(): message = %s\n", local_buff);
Debug(2, "send_mess(): message = %s\n", com);
cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
pasynOctetSyncIO->write(cntrl->pasynUser, local_buff, strlen(local_buff),
COMM_TIMEOUT);
pasynOctetSyncIO->write(cntrl->pasynUser, com, size, COMM_TIMEOUT,
&nwrite);
return(OK);
}
@@ -423,9 +418,8 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
static int recv_mess(int card, char *com, int flag)
{
struct IM483controller *cntrl;
int timeout;
int flush = 0;
int len = 0;
int nread = 0;
asynStatus status = asynError;
int eomReason;
/* Check that card exists */
@@ -435,20 +429,19 @@ static int recv_mess(int card, char *com, int flag)
cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
if (flag == FLUSH)
timeout = 0;
pasynOctetSyncIO->flush(cntrl->pasynUser);
else
timeout = COMM_TIMEOUT;
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE,
COMM_TIMEOUT, &nread, &eomReason);
len = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE, (char *) "\r\n",
2, flush, timeout, &eomReason);
if (len < 2)
if ((status != asynSuccess) || (nread <= 0))
{
com[0] = '\0';
else
com[len - 2] = '\0';
nread = 0;
}
Debug(2, "recv_mess(): message = \"%s\"\n", com);
return(len);
return(nread);
}
@@ -526,6 +519,8 @@ static int motor_init()
int total_axis = 0;
int status;
asynStatus success_rtn;
static const char output_terminator[] = "\r";
static const char input_terminator[] = "\r\n";
initialized = true; /* Indicate that driver is initialized. */
@@ -544,63 +539,73 @@ static int motor_init()
cntrl = (struct IM483controller *) brdptr->DevicePrivate;
/* Initialize communications channel */
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port, 0, &cntrl->pasynUser);
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port, 0,
&cntrl->pasynUser, NULL);
if (success_rtn == asynSuccess)
{
int itera;
int itera, retry = 0;
char *src, *dest;
/* Send a message to the board, see if it exists */
/* flush any junk at input port - should not be any data available */
pasynOctetSyncIO->flush(cntrl->pasynUser);
send_mess(card_index, "\003", (char) NULL); /* Reset device. */
epicsThreadSleep(1.0);
send_mess(card_index, " ", (char) NULL);
/* Save controller identification message. */
src = buff;
dest = brdptr->ident;
*src = (char) NULL;
for (itera = 0; itera < 50; itera++)
pasynOctetSyncIO->setOutputEos(cntrl->pasynUser, output_terminator,
strlen(output_terminator));
pasynOctetSyncIO->setInputEos(cntrl->pasynUser, input_terminator,
strlen(input_terminator));
do
{
if (*src == (char) NULL)
/* Send a message to the board, see if it exists */
/* flush any junk at input port - should not be any data available */
pasynOctetSyncIO->flush(cntrl->pasynUser);
send_mess(card_index, "\003", (char) NULL); /* Reset device. */
epicsThreadSleep(1.0);
send_mess(card_index, " ", (char) NULL);
/* Save controller identification message. */
src = buff;
dest = brdptr->ident;
*src = (char) NULL;
for (itera = 0; itera < 50; itera++)
{
status = recv_mess(card_index, buff, 1);
if (status <= 0)
if (*src == (char) NULL)
{
status = recv_mess(card_index, buff, 1);
if (status <= 0)
{
if (itera != 0)
{
*dest = (char) NULL;
status = 1;
}
break;
}
src = buff;
while (isspace(*src++));
--src;
if (itera != 0)
{
*dest = (char) NULL;
status = 1;
*dest++ = ' ';
itera++;
}
break;
}
src = buff;
while(isspace(*src++));
--src;
if (itera != 0)
else if (isspace(*src))
{
*dest++ = ' ';
itera++;
while (isspace(*src++));
src -= 2;
}
else if (strncmp(src, "AD", 2) == 0)
{
strcpy(dest, "AMS");
src += 22;
dest += 3;
itera += 3;
}
*dest++ = *src++;
}
else if (isspace(*src))
{
while(isspace(*src++));
src -= 2;
}
else if (strncmp(src, "AD", 2) == 0)
{
strcpy(dest, "AMS");
src += 22;
dest += 3;
itera += 3;
}
*dest++ = *src++;
}
retry++;
/* Return value is length of response string */
} while (status == 0 && retry < 3);
}
if (success_rtn == asynSuccess && status > 0)