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Integrated low level IP Port driver from DLS

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Integrated the low level asyn IP Port driver from the Diamond Light
Source so that StreamDevices can use it as well.
This commit is contained in:
mathis_s
2025-04-10 15:37:45 +02:00
parent 295cd34993
commit 4b70676eb0
5 changed files with 919 additions and 46 deletions
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91
src/turboPmacController.cpp
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@@ -174,56 +174,59 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
return asynError;
}
/*
The message protocol of the turboPmac used at PSI looks as follows (all
characters immediately following each other without a newline):
0x40 (ASCII value of @) -> Request for download
0xBF (ASCII value of ¿) -> Select mode "get_response"
0x00 (ASCII value of 0)
0x00 (ASCII value of 0)
0x00 (ASCII value of 0)
0x00 (ASCII value of 0)
0x00 (ASCII value of 0)
[message length in network byte order] -> Use the htons function for this
value [Actual message] It is not necessary to append a terminator, since
this protocol encodes the message length at the beginning. See Turbo PMAC
User Manual, page 418 in VR_PMAC_GETRESPONSE
x0D (ASCII value of carriage return) -> The controller needs a carriage
return at the end of a "send" command (a command were we transmit data via
=). For "request" commands (e.g. read status or position), this is not
necessary, but it doesn't hurt either, therefore we always add a carriage
return.
// NOT NEEDED ANYMORE DUE TO THE LOW LEVEL DRIVER
// /*
// The message protocol of the turboPmac used at PSI looks as follows (all
// characters immediately following each other without a newline):
// 0x40 (ASCII value of @) -> Request for download
// 0xBF (ASCII value of ¿) -> Select mode "get_response"
// 0x00 (ASCII value of 0)
// 0x00 (ASCII value of 0)
// 0x00 (ASCII value of 0)
// 0x00 (ASCII value of 0)
// 0x00 (ASCII value of 0)
// [message length in network byte order] -> Use the htons function for this
// value [Actual message] It is not necessary to append a terminator, since
// this protocol encodes the message length at the beginning. See Turbo PMAC
// User Manual, page 418 in VR_PMAC_GETRESPONSE
// x0D (ASCII value of carriage return) -> The controller needs a carriage
// return at the end of a "send" command (a command were we transmit data
// via
// =). For "request" commands (e.g. read status or position), this is not
// necessary, but it doesn't hurt either, therefore we always add a carriage
// return.
The message has to be build manually into the buffer fullCommand, since it
contains NULL terminators in its middle, therefore the string manipulation
methods of C don't work.
*/
// The message has to be build manually into the buffer fullCommand, since
// it contains NULL terminators in its middle, therefore the string
// manipulation methods of C don't work.
// */
const size_t commandLength = strlen(command);
const int offset = 9;
// const size_t commandLength = strlen(command);
// const int offset = 9;
// Positions 2 to 6 must have the value 0. Since fullCommand is initialized
// as an array of zeros, we don't need to set these bits manually.
fullCommand[0] = '\x40';
fullCommand[1] = '\xBF';
// // Positions 2 to 6 must have the value 0. Since fullCommand is
// initialized
// // as an array of zeros, we don't need to set these bits manually.
// fullCommand[0] = '\x40';
// fullCommand[1] = '\xBF';
// The size of size_t is platform dependant (pointers-sized), while htons
// needs an unsigned int. The byte order is then converted from host to
// network order. The offset "+1" is for the carriage return.
u_int16_t len = htons(static_cast<u_int16_t>(commandLength + 1));
// // The size of size_t is platform dependant (pointers-sized), while htons
// // needs an unsigned int. The byte order is then converted from host to
// // network order. The offset "+1" is for the carriage return.
// u_int16_t len = htons(static_cast<u_int16_t>(commandLength + 1));
// Split up into the upper and the lower byte
fullCommand[7] = (char)(len >> 8); // Shift the 8 higher bits to the right
fullCommand[8] = (char)(len & 0xFF); // Mask the higher bits
// // Split up into the upper and the lower byte
// fullCommand[7] = (char)(len >> 8); // Shift the 8 higher bits to the
// right fullCommand[8] = (char)(len & 0xFF); // Mask the higher bits
// Write the actual command behind the protocol
for (size_t i = 0; i < commandLength; i++) {
fullCommand[i + offset] = command[i];
}
fullCommand[offset + commandLength] = '\x0D';
// // Write the actual command behind the protocol
// for (size_t i = 0; i < commandLength; i++) {
// fullCommand[i + offset] = command[i];
// }
// fullCommand[offset + commandLength] = '\x0D';
// +1 for the carriage return.
const size_t fullComandLength = offset + commandLength + 1;
// // +1 for the carriage return.
// const size_t fullComandLength = offset + commandLength + 1;
/*
We use separated write and read commands here, not the combined writeRead
@@ -239,7 +242,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
trying to reconnect. If the problem persists, ask them to call the support
*/
status = pasynOctetSyncIO->write(ipPortUser_, fullCommand, fullComandLength,
status = pasynOctetSyncIO->write(ipPortUser_, command, commandLength,
comTimeout_, &nbytesOut);
msgPrintControlKey writeKey =