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closeSocket at exit code installed. - requires asd8 level boardsupport

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jsullivan-anl
2006-12-18 19:31:15 +00:00
parent b6883a1485
commit af250761e6
1 changed files with 73 additions and 4 deletions
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motorApp/PC6KSrc/drvPC6K.cc
+73 -4
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@@ -3,9 +3,9 @@ FILENAME... drvPC6K.cc
USAGE... Motor record driver level support for Parker Computmotor
6K Series motor controllers
Version: $Revision: 1.4 $
Version: $Revision: 1.5 $
Modified By: $Author: sullivan $
Last Modified: $Date: 2006-08-31 15:42:30 $
Last Modified: $Date: 2006-12-18 19:31:15 $
*/
@@ -51,7 +51,9 @@ Last Modified: $Date: 2006-08-31 15:42:30 $
#include "ParkerRegister.h"
#include "drvPC6K.h"
#include "asynOctetSyncIO.h"
#include "asynCommonSyncIO.h"
#include "epicsExport.h"
#include "epicsExit.h"
#define CMD_STATUS "TAS"
#define CMD_POS "TPC"
@@ -121,6 +123,26 @@ static struct {
#define QUERY_CNT PC6K_QUERY_CNT
/* Track open asyn ports - close on IOC exit */
#define MAX_SOCKETS PC6K_NUM_CARDS+1
#define PORT_NAME_SIZE 100
#define ERROR_STRING_SIZE 100
#define DEFAULT_TIMEOUT 0.2
static int nextSocket = 0;
/* Pointer to the connection info for each socket
the asynUser structure is defined in asynDriver.h */
typedef struct {
asynUser *pasynUser;
asynUser *pasynUserCommon;
double timeout;
char errorString[ERROR_STRING_SIZE];
bool connected;
} socketStruct;
static socketStruct socketStructs[MAX_SOCKETS];
/*----------------functions-----------------*/
static int recv_mess(int card, char *com, int flag);
@@ -133,6 +155,7 @@ static long report(int level);
static long init();
static int motor_init();
static void query_done(int, int, struct mess_node *);
void closePC6KSockets(void *);
/*----------------functions-----------------*/
@@ -741,6 +764,7 @@ static int motor_init()
asynStatus success_rtn;
initialized = true; /* Indicate that driver is initialized. */
nextSocket = 0;
/* Check for setup */
if (PC6K_num_cards <= 0)
@@ -763,9 +787,16 @@ static int motor_init()
/* Initialize communications channel */
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port,
cntrl->asyn_address, &cntrl->pasynUser, NULL);
if (success_rtn == asynSuccess)
if (success_rtn != asynSuccess)
printf("drvPC68K:motor_init(), error calling pasynOctetSyncIO->connect port=%s error=%d\n",
cntrl->asyn_port, success_rtn);
else
{
/* Save asyn sockets for IOC exit cleanup */
socketStructs[nextSocket].pasynUserCommon = cntrl->pasynUser;
socketStructs[nextSocket].connected = true;
nextSocket++;
/* Set command End-of-string */
pasynOctetSyncIO->setInputEos(cntrl->pasynUser,
@@ -907,7 +938,45 @@ static int motor_init()
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs);
// void epicsAtExit( (*epicsExitFunc)(void *arg), void *arg);
epicsAtExit(&closePC6KSockets, NULL);
return(OK);
}
/***************************************************************************************/
static void CloseSocket(int SocketIndex)
{
socketStruct *psock;
asynUser *pasynUser;
int status;
if ((SocketIndex < 0) || (SocketIndex >= nextSocket)) {
printf("drvPMNC CloseSocket: invalid SocketIndex %d\n", SocketIndex);
return;
}
psock = &socketStructs[SocketIndex];
pasynUser = psock->pasynUserCommon;
status = pasynCommonSyncIO->disconnectDevice(pasynUser);
if (status != asynSuccess ) {
asynPrint(pasynUser, ASYN_TRACE_ERROR,
"drvPMNC CloseSocket: error calling pasynCommonSyncIO->disconnect, status=%d, %s\n",
status, pasynUser->errorMessage);
return;
} else
printf("drvPC6K CloseSocket: Disconnected SocketIndex %d\n",SocketIndex);
psock->connected = false;
}
/***************************************************************************************/
void closePC6KSockets(void *arg)
{
int i;
for (i=0; i<nextSocket; i++) {
if (socketStructs[i].connected) CloseSocket(i);
}
}
/*---------------------------------------------------------------------*/