From e52990e6e758189d8ff75dddb20689819401b4ce Mon Sep 17 00:00:00 2001 From: Jens Eden Date: Wed, 28 May 2014 12:52:35 +0000 Subject: [PATCH] merged r17178, r17179, r17277, r17278, r17279, r17417 --- documentation/motor_release.html | 7 ++ motorApp/OmsAsynSrc/omsBaseAxis.cpp | 8 +- motorApp/OmsAsynSrc/omsBaseController.cpp | 109 ++++++++++++---------- motorApp/OmsAsynSrc/omsBaseController.h | 2 +- motorApp/OmsAsynSrc/omsMAXnet.cpp | 103 ++++++++++---------- motorApp/OmsAsynSrc/omsMAXv.cpp | 46 +++++---- 6 files changed, 155 insertions(+), 120 deletions(-) diff --git a/documentation/motor_release.html b/documentation/motor_release.html index 3c9ebc93..3f17806e 100644 --- a/documentation/motor_release.html +++ b/documentation/motor_release.html @@ -48,6 +48,13 @@ set the limit mode to "Hard".

+

OMS Asyn

+

+ Flush OMS MAXv response buffer more than once (Thanks to Mitch D'Ewart). + Allow up to 10 axes for current MAXnet cards. Increased read buffer length for + MAXnet cards. +

+

Micos MoCo

Bug fix for protection against NULL *parms pointer from motor record. diff --git a/motorApp/OmsAsynSrc/omsBaseAxis.cpp b/motorApp/OmsAsynSrc/omsBaseAxis.cpp index a1aa6433..2ddf7b74 100644 --- a/motorApp/OmsAsynSrc/omsBaseAxis.cpp +++ b/motorApp/OmsAsynSrc/omsBaseAxis.cpp @@ -48,7 +48,11 @@ asynStatus omsBaseAxis::move(double position, int relative, double min_velocity, else rela = 0; - pos = (epicsInt32) (position + 0.5); + if ( position < 0.0) + pos = (epicsInt32) (position - 0.5); + else + pos = (epicsInt32) (position + 0.5); + if (abs(pos) > 67000000){ asynPrint(pasynUser_, ASYN_TRACE_ERROR, "%s:%s:%s axis %d position out of range %f\n", @@ -167,7 +171,7 @@ asynStatus omsBaseAxis::stop(double acceleration ) asynPrint(pasynUser_, ASYN_TRACE_FLOW, "%s:%s: port %s, set axis %d to stop with accel=%f\n", - driverName, functionName, pC_->portName, axisNo_, axisNo_, acceleration ); + driverName, functionName, pC_->portName, axisNo_, acceleration ); return status; } diff --git a/motorApp/OmsAsynSrc/omsBaseController.cpp b/motorApp/OmsAsynSrc/omsBaseController.cpp index c8d901aa..a2a66a3b 100644 --- a/motorApp/OmsAsynSrc/omsBaseController.cpp +++ b/motorApp/OmsAsynSrc/omsBaseController.cpp @@ -37,7 +37,7 @@ static const char *driverName = "omsBaseDriver"; #ifdef __GNUG__ #ifdef DEBUG - #define Debug(l, f, args...) {if (l <= motorOMSBASEdebug) \ + #define Debug(l, f, args...) {if (l & motorOMSBASEdebug) \ errlogPrintf(f, ## args);} #else #define Debug(l, f, args...) @@ -77,6 +77,9 @@ omsBaseController::omsBaseController(const char *portName, int maxAxes, int prio ++omsTotalControllerNumber; sanityCounter = 0; + fwMajor = 0; + fwMinor = 0; + fwRevision = 0; useWatchdog = false; enabled = true; numAxes = maxAxes; @@ -134,8 +137,8 @@ void omsBaseController::report(FILE *fp, int level) double velocity, position, encoderPosition; int haveEncoder=0; - fprintf(fp, "Oms %s motor driver %s, numAxes=%d\n", - controllerType, portName, numAxes); + fprintf(fp, "Oms %s motor driver %s, numAxes=%d; Firmware: %d.%d.%d\n", + controllerType, portName, numAxes, fwMajor, fwMinor, fwRevision); for (axis=0; axis < numAxes; axis++) { omsBaseAxis *pAxis = pAxes[axis]; @@ -228,7 +231,7 @@ asynStatus omsBaseController::readInt32(asynUser *pasynUser, epicsInt32 *value) int function = pasynUser->reason; asynStatus status = asynSuccess; omsBaseAxis *pAxis = getAxis(pasynUser); - static const char *functionName = "readInt32"; +// static const char *functionName = "readInt32"; static char outputBuffer[8]; if (!pAxis) return asynError; @@ -268,7 +271,7 @@ asynStatus omsBaseController::writeInt32(asynUser *pasynUser, epicsInt32 value) if (function == motorDeferMoves_) { asynPrint(pasynUser, ASYN_TRACE_ERROR, - "%s:%s:%s Deferred Move: not yet implemented %s\n", + "%s:%s:%s Deferred Move: not yet implemented\n", driverName, functionName, portName); } else if (function == motorClosedLoop_) @@ -449,7 +452,7 @@ asynStatus omsBaseController::Init(const char* initString, int multiple){ char *p, *tokSave; int totalAxes; - char axisChrArr[OMS_MAX_AXES] = {'X','Y','Z','T','U','V','R','S'}; + char axisChrArr[OMS_MAX_AXES] = {'X','Y','Z','T','U','V','R','S','W','K'}; char outputBuffer[10]; epicsInt32 axisPosArr[OMS_MAX_AXES]; @@ -459,6 +462,9 @@ asynStatus omsBaseController::Init(const char* initString, int multiple){ /* Stop all axes */ sendOnlyLock("AM SA;"); + /* wait before sending init commands */ + epicsThreadSleep(0.5); + /* send InitString */ if ((initString != NULL) && (strlen(initString) > 0)) { if (multiple){ @@ -473,9 +479,10 @@ asynStatus omsBaseController::Init(const char* initString, int multiple){ sendOnlyLock(initString); } } + /* Some init commands (like "LT") need some time to process */ + epicsThreadSleep(0.5); /* get Positions of all axes */ - inputBuffer[0] = '\0'; sendReceiveLock((char*) "AA RP;", inputBuffer, sizeof(inputBuffer)); if (numAxes > OMS_MAX_AXES) { @@ -508,7 +515,7 @@ asynStatus omsBaseController::Init(const char* initString, int multiple){ pAxis->setIntegerParam(motorStatusCommsError_, 0); /* Determine if encoder is present and if mode is stepper or servo. */ - if (firmwareMin(1,1,30)) + if (firmwareMin(1,30,0)) strcpy(outputBuffer,"A? PS?"); else strcpy(outputBuffer,"A? ?PS"); @@ -532,7 +539,7 @@ asynStatus omsBaseController::Init(const char* initString, int multiple){ /* Determine limit true state high or low */ /* CAUTION you need firmware version 1.30 or higher to do this */ - if (firmwareMin(1,1,30)) + if (firmwareMin(1,30,0)) strcpy(outputBuffer,"A? LT?"); else strcpy(outputBuffer,"A? ?LS"); @@ -611,14 +618,14 @@ void omsBaseController::omsPoller() if (loopBreakCount > 10){ errlogPrintf("%s:%s:%s: Error: %d consecutive unsuccessful attempts to read from motor card\n" , driverName, functionName, this->portName, loopBreakCount); - loopBreakCount = 0; + break; } epicsTimeGetCurrent(&loopStart); retry_count = 0; while ((getAxesPositions(axisPosArr) != asynSuccess) && (retry_count < 5)){ - epicsThreadSleepQuantum(); + epicsThreadSleep(0.1); ++retry_count; } if (retry_count > 4){ @@ -635,9 +642,9 @@ void omsBaseController::omsPoller() } /* read all axis status values and reset done-field - * MDNN,MDNN,PNLN,PNNN,PNLN,PNNN,PNNN,PNNN*/ + * MDNN,MDNN,PNLN,PNNN,PNLN,PNNN,PNNN,PNNN */ if (getAxesStatus(statusBuffer, sizeof(statusBuffer), &moveDone) != asynSuccess){ - Debug(1, "%s:%s:%s: error reading axes status\n", driverName, functionName, this->portName); + Debug(1, "%s:%s:%s: error reading axes status\n", driverName, functionName, this->portName); ++loopBreakCount; continue; } @@ -668,24 +675,18 @@ void omsBaseController::omsPoller() Debug(1,"%s:%s:%s: Error reading encoder status buffer >%s<\n", driverName, functionName, this->portName, encStatusBuffer); } - /* read all limits */ - if (moveDone || (anyMoving == 0)) - haveLimits = true; - else - haveLimits = false; + haveLimits = true; limitFlags =0; - if (haveLimits){ - if ((sendReceiveLock((char*) "AM;QL;", pollInputBuffer, sizeof(pollInputBuffer)) == asynSuccess)){ - if (1 != sscanf(pollInputBuffer, "%x", &limitFlags)){ - Debug(1,"%s:%s:%s: error converting limits: %s\n", driverName, functionName, this->portName, pollInputBuffer); - haveLimits = false; - } - } - else { - haveLimits = false; - Debug(1,"%s:%s:%s: error reading limits %s\n", driverName, functionName, this->portName, pollInputBuffer); - } - } + if ((sendReceiveLock((char*) "AM;QL;", pollInputBuffer, sizeof(pollInputBuffer)) == asynSuccess)){ + if (1 != sscanf(pollInputBuffer, "%x", &limitFlags)){ + Debug(1,"%s:%s:%s: error converting limits: %s\n", driverName, functionName, this->portName, pollInputBuffer); + haveLimits = false; + } + } + else { + haveLimits = false; + Debug(1,"%s:%s:%s: error reading limits %s\n", driverName, functionName, this->portName, pollInputBuffer); + } if (enabled) watchdogOK(); anyMoving = 0; @@ -715,33 +716,42 @@ void omsBaseController::omsPoller() /* check the done flag or current velocity */ if (statusBuffer[i*STATUSSTRINGLEN + 1] == 'D'){ - Debug(3, "%s:%s:%s: found Done Flag axis %d\n", driverName, functionName, portName, i); + Debug(8, "%s:%s:%s: found Done Flag axis %d\n", driverName, functionName, portName, i); pAxis->setIntegerParam(motorStatusProblem_, 0); pAxis->moveDelay=0; pAxis->setIntegerParam(motorStatusDone_, 1); pAxis->setIntegerParam(motorStatusMoving_, 0); if (pAxis->homing) pAxis->homing = 0; - Debug(1, "%s:%s:%s: done axis %d \n", driverName, functionName, - this->portName, i ); } else if (haveVeloArray && (veloArr[i] == 0)){ - /* keep a small delay here, to make sure that a motorAxisDone cycle is performed - even if the motor is on hard limits */ getIntegerParam(pAxis->axisNo_, motorStatusMoving_, &axisMoving); if (axisMoving){ - pAxis->moveDelay++ ; - if (pAxis->moveDelay >= 5) { - Debug(4, "%s:%s:%s: setting Problem Flag axis %d\n", driverName, functionName, portName, i); + if (statusBuffer[i*STATUSSTRINGLEN + 2] == 'L'){ + pAxis->setIntegerParam(motorStatusProblem_, 0); + pAxis->moveDelay=0; pAxis->setIntegerParam(motorStatusDone_, 1); pAxis->setIntegerParam(motorStatusMoving_, 0); - pAxis->setIntegerParam(motorStatusProblem_, 1); - pAxis->moveDelay = 0; if (pAxis->homing) pAxis->homing = 0; - Debug(1, "%s:%s:%s: stop axis %d, moveDelay count %d\n", driverName, functionName, - this->portName, i, pAxis->moveDelay ); + if (statusBuffer[i*STATUSSTRINGLEN + 2] == 'P') + pAxis->setIntegerParam(motorStatusHighLimit_, 1); + else + pAxis->setIntegerParam(motorStatusLowLimit_, 1); + } + else { + pAxis->moveDelay++ ; + if (pAxis->moveDelay >= 5) { + Debug(4, "%s:%s:%s: setting Problem Flag axis %d\n", driverName, functionName, portName, i); + pAxis->setIntegerParam(motorStatusDone_, 1); + pAxis->setIntegerParam(motorStatusMoving_, 0); + pAxis->setIntegerParam(motorStatusProblem_, 1); + pAxis->moveDelay = 0; + if (pAxis->homing) pAxis->homing = 0; + Debug(1, "%s:%s:%s: stop axis %d, moveDelay count %d\n", driverName, functionName, + this->portName, i, pAxis->moveDelay ); + } + Debug(2, "%s:%s:%s: moveDelay axis %d, count %d\n", driverName, functionName, + this->portName, i, pAxis->moveDelay ); } - Debug(2, "%s:%s:%s: moveDelay axis %d, count %d\n", driverName, functionName, - this->portName, i, pAxis->moveDelay ); } } else { @@ -756,11 +766,13 @@ void omsBaseController::omsPoller() /* check limits */ if (haveLimits){ - if (((limitFlags & (1 << i)) > 0) ^ (pAxis->getLimitInvert())) - pAxis->setIntegerParam(motorStatusLowLimit_, 1); + int limitOffset = 0; + if (i > 7) limitOffset = 8; // same as limitOffset = 16 ; i -= 8 + if (((limitFlags & (1 << (i+limitOffset))) > 0) ^ (pAxis->getLimitInvert())) + pAxis->setIntegerParam(motorStatusLowLimit_, 1); else pAxis->setIntegerParam(motorStatusLowLimit_, 0); - if (((limitFlags & (1 << (i+8))) > 0) ^ (pAxis->getLimitInvert())) + if (((limitFlags & (1 << (i+limitOffset+8))) > 0) ^ (pAxis->getLimitInvert())) pAxis->setIntegerParam(motorStatusHighLimit_, 1); else pAxis->setIntegerParam(motorStatusHighLimit_, 0); @@ -810,7 +822,7 @@ void omsBaseController::omsPoller() waiting may be interrupted by pollEvent or interrupt messages*/ epicsTimeGetCurrent(&now); timeToWait = timeout - epicsTimeDiffInSeconds(&now, &loopStart); - Debug(5, "%s:%s:%s: poller loop: waiting %f s\n", driverName, functionName, this->portName, timeToWait); + Debug(16, "%s:%s:%s: poller loop: waiting %f s\n", driverName, functionName, this->portName, timeToWait); if (waitInterruptible(timeToWait) == epicsEventWaitOK) { fastPolls = forcedFastPolls; } @@ -959,6 +971,7 @@ asynStatus omsBaseController::sendOnlyLock(const char *outputBuff) asynStatus omsBaseController::sendReceiveLock(const char *outputBuff, char *inputBuff, unsigned int inputSize) { asynStatus status; + if (inputSize > 0) inputBuff[0] = '\0'; baseMutex->lock(); status = sendReceive(outputBuff, inputBuff, inputSize); baseMutex->unlock(); diff --git a/motorApp/OmsAsynSrc/omsBaseController.h b/motorApp/OmsAsynSrc/omsBaseController.h index 2fa166fe..79a7c08d 100644 --- a/motorApp/OmsAsynSrc/omsBaseController.h +++ b/motorApp/OmsAsynSrc/omsBaseController.h @@ -27,7 +27,7 @@ HeadURL: $URL$ #include "omsBaseAxis.h" #include -#define OMS_MAX_AXES 8 +#define OMS_MAX_AXES 10 #define OMSBASE_MAXNUMBERLEN 12 #define OMSINPUTBUFFERLEN OMSBASE_MAXNUMBERLEN * OMS_MAX_AXES + 2 diff --git a/motorApp/OmsAsynSrc/omsMAXnet.cpp b/motorApp/OmsAsynSrc/omsMAXnet.cpp index a3d9ccd8..2313b041 100644 --- a/motorApp/OmsAsynSrc/omsMAXnet.cpp +++ b/motorApp/OmsAsynSrc/omsMAXnet.cpp @@ -20,7 +20,7 @@ HeadURL: $URL$ #ifdef __GNUG__ #ifdef DEBUG - #define Debug(l, f, args...) {if (l <= motorMAXnetdebug) \ + #define Debug(l, f, args...) {if (l & motorMAXnetdebug) \ errlogPrintf(f, ## args);} #else #define Debug(l, f, args...) @@ -28,11 +28,12 @@ HeadURL: $URL$ #else #define Debug #endif + static const char *driverName = "omsMAXnetDriver"; volatile int motorMAXnetdebug = 0; extern "C" {epicsExportAddress(int, motorMAXnetdebug);} -#define MAXnet_MAX_BUFFERLENGTH 80 +#define MAXnet_MAX_BUFFERLENGTH 250 static void connectCallback(asynUser *pasynUser, asynException exception) { @@ -43,12 +44,12 @@ static void connectCallback(asynUser *pasynUser, asynException exception) if (exception == asynExceptionConnect) { status = pasynManager->isConnected(pasynUser, &connected); if (connected){ - if (motorMAXnetdebug > 4) asynPrint(pasynUser, ASYN_TRACE_FLOW, + if (motorMAXnetdebug & 8) asynPrint(pasynUser, ASYN_TRACE_FLOW, "MAXnet connectCallback: TCP-Port connected\n"); pController->portConnected = 1; } else { - if (motorMAXnetdebug > 3) asynPrint(pasynUser, ASYN_TRACE_FLOW, + if (motorMAXnetdebug & 4) asynPrint(pasynUser, ASYN_TRACE_FLOW, "MAXnet connectCallback: TCP-Port disconnected\n"); pController->portConnected = 0; } @@ -93,14 +94,12 @@ omsMAXnet::omsMAXnet(const char* portName, int numAxes, const char* serialPortNa pasynUserSerial = pasynManager->createAsynUser(0,0); pasynUserSerial->userPvt = this; - Debug(9, "omsMAXnet connect to %s \n", serialPortName); status = pasynManager->connectDevice(pasynUserSerial,serialPortName,0); if(status != asynSuccess){ printf("MAXnetConfig: can't connect to port %s: %s\n",serialPortName,pasynUserSerial->errorMessage); return; } - Debug(9, "omsMAXnet add Callback \n"); status = pasynManager->exceptionCallbackAdd(pasynUserSerial, connectCallback); if(status != asynSuccess){ printf("MAXnetConfig: can't set exceptionCallback for %s: %s\n",serialPortName,pasynUserSerial->errorMessage); @@ -109,7 +108,6 @@ omsMAXnet::omsMAXnet(const char* portName, int numAxes, const char* serialPortNa /* set the connect flag */ pasynManager->isConnected(pasynUserSerial, &portConnected); - Debug(9, "omsMAXnet findInterface \n"); pasynInterface = pasynManager->findInterface(pasynUserSerial,asynOctetType,1); if( pasynInterface == NULL) { printf("MAXnetConfig: %s driver not supported\n", asynOctetType); @@ -118,7 +116,6 @@ omsMAXnet::omsMAXnet(const char* portName, int numAxes, const char* serialPortNa pasynOctetSerial = (asynOctet*)pasynInterface->pinterface; octetPvtSerial = pasynInterface->drvPvt; - Debug(9, "omsMAXnet SyncIO->connect \n"); status = pasynOctetSyncIO->connect(serialPortName, 0, &pasynUserSyncIOSerial, NULL); if(status != asynSuccess){ printf("MAXnetConfig: can't connect pasynOctetSyncIO %s: %s\n",serialPortName,pasynUserSyncIOSerial->errorMessage); @@ -126,13 +123,11 @@ omsMAXnet::omsMAXnet(const char* portName, int numAxes, const char* serialPortNa } /* flush any junk at input port - should be no data available */ - Debug(9, "omsMAXnet flush \n"); pasynOctetSyncIO->flush(pasynUserSyncIOSerial); timeout = 2.0; pasynUserSerial->timeout = 0.0; - Debug(9, "omsMAXnet setInputEos \n"); // CAUTION firmware versions before 1.33.4 use '\n' for serial port and '\n\r' for IP port as InputEOS // Set inputEOS in st.cmd for old firmware versions status = pasynOctetSyncIO->setInputEos(pasynUserSyncIOSerial, "\n\r", 2); @@ -141,14 +136,12 @@ omsMAXnet::omsMAXnet(const char* portName, int numAxes, const char* serialPortNa return ; } - Debug(9, "omsMAXnet setOutputEos \n"); status = pasynOctetSyncIO->setOutputEos(pasynUserSyncIOSerial, "\n", 1); if(status != asynSuccess){ printf("MAXnetConfig: unable to set OutputEOS %s: %s\n",serialPortName,pasynUserSyncIOSerial->errorMessage); return ; } - Debug(9, "omsMAXnet registerInterruptUser \n"); void* registrarPvt= NULL; status = pasynOctetSerial->registerInterruptUser(octetPvtSerial, pasynUserSerial, omsMAXnet::asynCallback, this, ®istrarPvt); if(status != asynSuccess) { @@ -156,7 +149,6 @@ omsMAXnet::omsMAXnet(const char* portName, int numAxes, const char* serialPortNa return; } - Debug(9, "omsMAXnet get FirmwareVersion \n"); /* get FirmwareVersion */ if(getFirmwareVersion() != asynSuccess) { printf("MAXnetConfig: unable to talk to controller at %s: %s\n",serialPortName,pasynUserSyncIOSerial->errorMessage); @@ -184,7 +176,6 @@ epicsEventWaitStatus omsMAXnet::waitInterruptible(double timeout) epicsEventWaitStatus waitStatus = epicsEventWaitTimeout; epicsTimeGetCurrent(&starttime); - // TODO use local poll Periods or lock() if (timeout == idlePollPeriod_) pollWait = idlePollPeriod_ / 5.0; else @@ -195,7 +186,7 @@ epicsEventWaitStatus omsMAXnet::waitInterruptible(double timeout) pasynManager->unlockPort(pasynUserSerial); while ( timeToWait > 0){ /* reading with bufferlength 0 and timeout 0.0 triggers a callback and - * poll event, if a notification is outstanding */ + * poll event, if a notification is outstanding. One character will be read. */ if (enabled) { pasynManager->lockPort(pasynUserSerial); status = pasynOctetSerial->read(octetPvtSerial, pasynUserSerial, inputBuff, @@ -218,14 +209,13 @@ asynStatus omsMAXnet::sendOnly(const char *outputBuff) asynStatus status; if (!enabled) return asynError; - Debug(9, "omsMAXnet::sendOnly: write: %s \n", outputBuff); status = pasynOctetSyncIO->write(pasynUserSyncIOSerial, outputBuff, strlen(outputBuff), timeout, &nActual); if (status != asynSuccess) { asynPrint(pasynUserSyncIOSerial, ASYN_TRACE_ERROR, - "drvMAXnetAsyn:sendOnly: error sending command %d, sent=%d, status=%d\n", + "drvMAXnetAsyn:sendOnly: error sending command %s, sent=%d, status=%d\n", outputBuff, nActual, status); } Debug(4, "omsMAXnet::sendOnly: wrote: %s \n", outputBuff); @@ -235,28 +225,30 @@ asynStatus omsMAXnet::sendOnly(const char *outputBuff) asynStatus omsMAXnet::sendReceive(const char *outputBuff, char *inputBuff, unsigned int inputSize) { char localBuffer[MAXnet_MAX_BUFFERLENGTH + 1] = ""; - size_t nRead, nWrite, bufferSize = inputSize; + size_t nRead=0, nReadnext=0, nWrite=0; + size_t bufferSize = MAXnet_MAX_BUFFERLENGTH; int eomReason = 0; asynStatus status = asynSuccess; - char *outString; + char *outString = localBuffer; int errorCount = 10; if (!enabled) return asynError; - Debug(4, "omsMAXnet::sendReceive: write: %s \n", outputBuff); - - if (bufferSize > MAXnet_MAX_BUFFERLENGTH) bufferSize = MAXnet_MAX_BUFFERLENGTH; - - Debug(9, "omsMAXnet::sendReceive: read the notification \n"); /* * read the notification from input buffer */ while ((notificationCounter > 0) && errorCount){ - status = pasynOctetSyncIO->read(pasynUserSyncIOSerial, localBuffer, sizeof(localBuffer), 0.1, &nRead, &eomReason); + status = pasynOctetSyncIO->read(pasynUserSyncIOSerial, localBuffer, bufferSize, 0.001, &nRead, &eomReason); + while ((status == asynSuccess) && !(eomReason & ASYN_EOM_EOS)) { + status = pasynOctetSyncIO->read(pasynUserSyncIOSerial, localBuffer+nRead, + bufferSize-nRead, timeout, &nReadnext, &eomReason); + nRead += nReadnext; + } + localBuffer[nRead] = '\0'; + outString = localBuffer; + while (*outString == 6) ++outString; if (status == asynSuccess) { - localBuffer[nRead] = '\0'; - if (isNotification(localBuffer) && (notificationCounter > 0)) { - Debug(2, "omsMAXnet::sendReceive: decrement notificationCounter: %s, len: %d, reason: %d\n", localBuffer, nRead, eomReason); + if (isNotification(outString) && (notificationCounter > 0)) { --notificationCounter; } } @@ -268,33 +260,43 @@ asynStatus omsMAXnet::sendReceive(const char *outputBuff, char *inputBuff, unsig } } - Debug(9, "omsMAXnet::sendReceive: write \n"); + Debug(4, "omsMAXnet::sendReceive: write: %s \n", outputBuff); + nRead=0; + nReadnext=0; status = pasynOctetSyncIO->writeRead(pasynUserSyncIOSerial, outputBuff, strlen(outputBuff), localBuffer, bufferSize, timeout, &nWrite, &nRead, &eomReason); - if (status == asynSuccess) localBuffer[nRead] = '\0'; - // if input data is a notification read until expected data arrived - while ((status == asynSuccess) && isNotification(localBuffer)) { - Debug(2, "omsMAXnet::sendReceive: notification while reading: %s\n", localBuffer); + while ((status == asynSuccess) && !(eomReason & ASYN_EOM_EOS)) { + status = pasynOctetSyncIO->read(pasynUserSyncIOSerial, localBuffer+nRead, + bufferSize-nRead, timeout, &nReadnext, &eomReason); + nRead += nReadnext; + } + localBuffer[nRead] = '\0'; + // cut off a leading /006 + outString = localBuffer; + while (*outString == 6) ++outString; + + // if input data is a notification read until expected data arrived + while ((status == asynSuccess) && isNotification(outString)) { + nRead=0; + nReadnext=0; status = pasynOctetSyncIO->read(pasynUserSyncIOSerial, localBuffer, bufferSize, timeout, &nRead, &eomReason); - if (status == asynSuccess) localBuffer[nRead] = '\0'; + while ((status == asynSuccess) && !(eomReason & ASYN_EOM_EOS)) { + status = pasynOctetSyncIO->read(pasynUserSyncIOSerial, localBuffer+nRead, + bufferSize-nRead, timeout, &nReadnext, &eomReason); + nRead += nReadnext; + } + localBuffer[nRead] = '\0'; + // cut off a leading /006 + outString = localBuffer; + while (*outString == 6) ++outString; + if (notificationCounter > 0) --notificationCounter; } - if ((status == asynSuccess) && (eomReason == ASYN_EOM_EOS)) { - // cut off a leading /006 - outString = strrchr(localBuffer, 6); - if (outString == NULL) { - outString = localBuffer; - } - else { - ++outString; - } - - // copy into inputBuffer - strncpy(inputBuff, outString, inputSize); - inputBuff[inputSize-1] = '\0'; - } + // copy into inputBuffer + strncpy(inputBuff, outString, inputSize); + inputBuff[inputSize-1] = '\0'; Debug(4, "omsMAXnet::sendReceive: read: %s \n", inputBuff); @@ -303,6 +305,7 @@ asynStatus omsMAXnet::sendReceive(const char *outputBuff, char *inputBuff, unsig /* * check if buffer is a notification messages with 13 chars ("%000 SSSSSSSS") + * (first character may miss */ int omsMAXnet::isNotification (char *buffer) { @@ -313,8 +316,8 @@ int omsMAXnet::isNotification (char *buffer) { printf("%s:%s:%s: CMD_ERR_FLAG received\n", driverName, functionName, portName); } else { - if (motorMAXnetdebug > 1) printf("%s:%s:%s: Interrupt notification: %s\n", - driverName, functionName, portName, buffer); + Debug(2,"%s:%s:%s: Interrupt notification: %s\n", + driverName, functionName, portName, buffer); epicsEventSignal(pollEventId_); } return 1; diff --git a/motorApp/OmsAsynSrc/omsMAXv.cpp b/motorApp/OmsAsynSrc/omsMAXv.cpp index 2894286d..3a594701 100644 --- a/motorApp/OmsAsynSrc/omsMAXv.cpp +++ b/motorApp/OmsAsynSrc/omsMAXv.cpp @@ -23,7 +23,7 @@ HeadURL: $URL$ #include #include "omsMAXv.h" -static const char *driverName = "omsMAXvDriver"; +static const char *driverName = "omsMAXvAsyn"; #define MIN(a,b) ((a)<(b)? (a): (b)) @@ -66,10 +66,11 @@ void omsMAXv::InterruptHandler( void * param ) epicsInterruptContextMessage(errmsg); } - // not clearing this may corrupt the next read/write operation + /* unset this bit to not clear the text_response bit */ if (status1_flag.Bits.text_response != 0) status1_flag.Bits.text_response = 0; - pmotor->status1_flag.All = status1_flag.All; /* Release IRQ's. */ + /* Release IRQ's. Clear bits by writing a 1 */ + pmotor->status1_flag.All = status1_flag.All; /* do a dummy read to ensure that all previous writes, which may * have been queued in the VME bridge chip get processed @@ -248,7 +249,7 @@ void omsMAXv::initialize(const char* portName, int numAxes, int cardNo, const ch Debug(64, "motor_init: send init string\n"); - if( Init(initString, 1) != asynSuccess) { + if( Init(initString, 0) != asynSuccess) { errlogPrintf("%s:%s:%s: unable to send initstring to controller card %d\n", driverName, functionName, portName, cardNo); return; @@ -282,6 +283,7 @@ asynStatus omsMAXv::sendOnly(const char *outputBuff) STATUS1 flag1; const char* functionName = "sendOnly"; int len = strlen(outputBuff); + double timeout = 0.01; epicsUInt16 getIndex, putIndex; if (!enabled) return asynError; @@ -295,7 +297,8 @@ asynStatus omsMAXv::sendOnly(const char *outputBuff) } /* see if junk at input port - should not be any data available */ - if ((epicsUInt16) pmotor->inGetIndex != (epicsUInt16) pmotor->inPutIndex) + int flushTime = 0; + while (((epicsUInt16) pmotor->inGetIndex != (epicsUInt16) pmotor->inPutIndex) && (flushTime < 100)) { // flush cards response Buffer #ifdef DEBUG @@ -310,7 +313,12 @@ asynStatus omsMAXv::sendOnly(const char *outputBuff) flag1.All = pmotor->status1_flag.All; pmotor->status1_flag.All = flag1.All; pmotor->msg_semaphore=0; - + epicsThreadSleep(timeout); + flushTime++; + if (flushTime == 100 ) { + Debug(1, "%s:%s:%s: unable to flush more than 100 strings\n", driverName, functionName, portName); + return asynError; + } } putIndex = (epicsUInt16) pmotor->outPutIndex; @@ -323,10 +331,12 @@ asynStatus omsMAXv::sendOnly(const char *outputBuff) pmotor->outPutIndex = putIndex; /* Message Sent */ - int count=0, prevdeltaIndex =0; + int count = 0, prevdeltaIndex = 0, index = 0; + int maxcount = (int)(0.1 / epicsThreadSleepQuantum()); + // skip busy-waiting for small epicsThreadSleepQuantum + if (epicsThreadSleepQuantum() <= 0.01) index = 100; int deltaIndex = ((epicsUInt16)pmotor->outPutIndex) - ((epicsUInt16)pmotor->outGetIndex); - int index = 0; - while (deltaIndex != 0) + while ((deltaIndex != 0) && (count <= maxcount)) { deltaIndex = ((epicsUInt16)pmotor->outPutIndex) - ((epicsUInt16)pmotor->outGetIndex); // do busy-waiting but not more than 100 times @@ -334,16 +344,13 @@ asynStatus omsMAXv::sendOnly(const char *outputBuff) deltaIndex = ((epicsUInt16)pmotor->outPutIndex) - ((epicsUInt16)pmotor->outGetIndex); ++index; } - // epicsThreadSleepQuantum => 0.02s for RTEMS - if ((index >= 100) && (deltaIndex != 0)) epicsThreadSleep(epicsThreadSleepQuantum()); + if ((index >= 100) && (deltaIndex != 0)) epicsThreadSleep(timeout); if (deltaIndex == prevdeltaIndex) ++count; else - count =0; - if (count > 10) break; + count = 0; prevdeltaIndex = deltaIndex; }; - Debug(32, "%s:%s:%s: Waited %d loops\n", driverName, functionName, portName, index); if (deltaIndex != 0) { Debug(1, "%s:%s:%s: Timeout\n", driverName, functionName, portName); @@ -366,7 +373,7 @@ asynStatus omsMAXv::sendReceive(const char *outputBuff, char *inputBuff, unsigne size_t bufsize; size_t usedSpace = 0; char *start, *end; - int itera; + int itera = 0; asynStatus status; if (!enabled) return asynError; @@ -378,10 +385,10 @@ asynStatus omsMAXv::sendReceive(const char *outputBuff, char *inputBuff, unsigne *inputBuff = '\0'; - Debug(64, "omsMAXv::sendReceive: receiving\n"); - itera = 0; double time = 0.0; - double timeout = epicsThreadSleepQuantum() + 0.001; + double timeout = 0.1; + // skip busy-waiting for small epicsThreadSleepQuantum + if (epicsThreadSleepQuantum() <= 0.01) itera = 2001; while ((pmotor->status1_flag.Bits.text_response == 0) && (time < timeout)){ Debug(32, "%s:%s:%s: Waiting for reponse, itera:%d\n", driverName, functionName, portName, itera); @@ -395,7 +402,8 @@ asynStatus omsMAXv::sendReceive(const char *outputBuff, char *inputBuff, unsigne if (pmotor->status1_flag.Bits.text_response == 0) { - Debug(1, "Timeout occurred in recv_mess, %s\n", outputBuff); + Debug(1, "%s:%s:%s: Timeout occurred , %s\n", + driverName, functionName, portName, outputBuff); return asynTimeout; }