forked from epics_driver_modules/motorBase
New file for Newport XPSC8 controller
This commit is contained in:
MarkRivers
Executable
+244
@@ -0,0 +1,244 @@
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/*
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DESCRIPTION
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This module implements a client which periodically
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sends a request to the slave spawned by a concurrent
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server. This code illustrates how many clients
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to be handled in parallel if the server has a
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concurrent architecture.
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*/
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/* includes */
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#ifdef vxWorks
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#else
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#define TRUE 1
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#define FALSE 0
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typedef int BOOL;
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#endif
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#include <stdio.h>
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#include <unistd.h>
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#include <string.h>
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#include <osiSock.h>
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#include <sys/types.h>
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <netinet/tcp.h>
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#include <arpa/inet.h>
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#include <time.h>
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/* defines */
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#define MAX_MSG_SIZE 80
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#define TIMEOUT 0.5
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#define SIZEBUFFER 256
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#define CONNREFUSED -1
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#define CREATESOCKETFAILED -2
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#define OPTREFUSED -3
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#define MAX_NB_SOCKETS 100
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/* typedefs */
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typedef int SOCK_FD;
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/* global variables */
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SOCK_FD sockFd[MAX_NB_SOCKETS];
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BOOL UsedSocket[MAX_NB_SOCKETS] = { FALSE };
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double TimeoutSocket[MAX_NB_SOCKETS];
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int ErrorSocket[MAX_NB_SOCKETS];
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/***************************************************************************************/
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int ConnectToServer(char *Ip_Address, int Ip_Port, double TimeOut)
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{
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/* printf("Socket.cpp ConnectToServer: Top/n");*/
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int flag = 1;
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u_long srvInet;
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struct sockaddr_in srvAddr;
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int SocketIndex = 0;
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int status;
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char * optval=0;
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osiSocklen_t optlen;
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status = getsockopt (SocketIndex,IPPROTO_TCP,TCP_NODELAY, optval, &optlen);
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/* Select a free socket */
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while ((UsedSocket[SocketIndex] == TRUE) && (SocketIndex < MAX_NB_SOCKETS))
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{
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SocketIndex++;
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}
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if (SocketIndex == MAX_NB_SOCKETS)
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return -1;
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/* Create socket */
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ErrorSocket[SocketIndex] = 0;
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if ((sockFd[SocketIndex] = socket (PF_INET, SOCK_STREAM, IPPROTO_TCP)) < 0 )
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{
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ErrorSocket[SocketIndex] = CREATESOCKETFAILED;
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return -1;
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}
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/* Convert the server's IP address from ASCII dot notation to */
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/* a network byte-ordered integer */
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srvInet = inet_addr (Ip_Address);
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/* Initialize servers address */
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memset ((char *)&srvAddr, 0, sizeof(srvAddr));
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srvAddr.sin_family = AF_INET;
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srvAddr.sin_port = htons (Ip_Port);
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srvAddr.sin_addr.s_addr = srvInet;
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if (setsockopt (sockFd[SocketIndex],
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IPPROTO_TCP,
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TCP_NODELAY,
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(char *)&flag,
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(int)sizeof(flag)) != 0 )
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{
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ErrorSocket[SocketIndex] = OPTREFUSED;
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return -1;
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}
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/* Connect to server */
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if (connect(sockFd[SocketIndex], (sockaddr *)&srvAddr, sizeof(srvAddr)) < 0)
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{
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ErrorSocket[SocketIndex] = CONNREFUSED;
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return -1;
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}
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if (TimeOut > 0) TimeoutSocket[SocketIndex] = TimeOut;
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else TimeoutSocket[SocketIndex] = TIMEOUT;
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UsedSocket[SocketIndex] = TRUE;
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return SocketIndex;
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}
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/***************************************************************************************/
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void SetTCPTimeout(int SocketIndex, double TimeOut)
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{
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if ((SocketIndex >= 0) && (SocketIndex < MAX_NB_SOCKETS) && (UsedSocket[SocketIndex] == TRUE))
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{
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if (TimeOut > 0) TimeoutSocket[SocketIndex] = TimeOut;
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}
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}
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/***************************************************************************************/
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void SendAndReceive (int SocketIndex, char *buffer, char *valueRtrn)
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{
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char pBuf[SIZEBUFFER]={'\0'};
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int iRvcd=0;
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clock_t start, finish;
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double timeEllapse = 0.0;
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if ((SocketIndex >= 0) && (SocketIndex < MAX_NB_SOCKETS) && (UsedSocket[SocketIndex] == TRUE))
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{
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/* Send String to controller and wait for response */
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write (sockFd[SocketIndex], buffer, strlen(buffer) + 1);
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/* printf("SendAndRecieve after write\n");*/
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/* Read error ? */
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iRvcd = read (sockFd[SocketIndex], pBuf, SIZEBUFFER);
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start = clock();
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/* printf("SendAndRecieve after read\n");*/
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while ((iRvcd <= 0) && (timeEllapse < TimeoutSocket[SocketIndex]))
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{
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iRvcd = read (sockFd[SocketIndex], pBuf, SIZEBUFFER);
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finish = clock();
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timeEllapse = (double)(finish - start) / CLOCKS_PER_SEC;
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/* waiting ... */
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}
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}
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if (iRvcd > 0) pBuf[iRvcd] = '\0';
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strcpy(valueRtrn, pBuf);
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}
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/***************************************************************************************/
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void SendOnly (int SocketIndex, char *buffer, char *valueRtrn)
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{
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char pBuf[SIZEBUFFER]={'\0'};
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int iRvcd=0;
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clock_t start, finish;
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double timeEllapse = 0.0;
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if ((SocketIndex >= 0) && (SocketIndex < MAX_NB_SOCKETS) && (UsedSocket[SocketIndex] == TRUE))
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{
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/* Send String to controller and wait for response */
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write (sockFd[SocketIndex], buffer, strlen(buffer) + 1);
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/* printf("---------------------SendOnly after write\n");*/
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/* Read error ? */
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/* iRvcd = read (sockFd[SocketIndex], pBuf, SIZEBUFFER);
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start = clock();
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printf("SendAndRecieve after read\n");
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while ((iRvcd <= 0) && (timeEllapse < TimeoutSocket[SocketIndex]))
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{
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iRvcd = read (sockFd[SocketIndex], pBuf, SIZEBUFFER);
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finish = clock();
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timeEllapse = (double)(finish - start) / CLOCKS_PER_SEC;
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}*/
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}
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/*if (iRvcd > 0) pBuf[iRvcd] = '\0';*/
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pBuf[iRvcd] = '\0';
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strcpy(valueRtrn, pBuf);
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}
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/***************************************************************************************/
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void CloseSocket(int SocketIndex)
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{
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if ((SocketIndex >= 0) && (SocketIndex < MAX_NB_SOCKETS) && (UsedSocket[SocketIndex] == TRUE))
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{
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close (sockFd[SocketIndex]);
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TimeoutSocket[SocketIndex] = TIMEOUT;
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ErrorSocket[SocketIndex] = 0;
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UsedSocket[SocketIndex] = FALSE;
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}
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}
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/***************************************************************************************/
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void CloseAllSockets(void)
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{
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int i;
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for (i = 0; i < MAX_NB_SOCKETS; i++)
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{
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if (UsedSocket[i] == TRUE)
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{
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close (sockFd[i]);
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TimeoutSocket[i] = TIMEOUT;
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ErrorSocket[i] = 0;
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UsedSocket[i] = FALSE;
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}
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}
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}
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/***************************************************************************************/
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void ResetAllSockets(void)
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{
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int i;
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for (i = 0; i < MAX_NB_SOCKETS; i++)
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{
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if (UsedSocket[i] == TRUE)
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UsedSocket[i] = FALSE;
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}
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}
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/***************************************************************************************/
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char * GetError(int SocketIndex)
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{
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if ((SocketIndex >= 0) && (SocketIndex < MAX_NB_SOCKETS) && (UsedSocket[SocketIndex] == TRUE))
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{
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switch (ErrorSocket[SocketIndex])
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{
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case CONNREFUSED: return("The attempt to connect was rejected.");
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case CREATESOCKETFAILED: return("Create Socket failed.");
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case OPTREFUSED: return("SetSockOption() Refused.");
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}
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}
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return("");
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}
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