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6
.gitmodules
vendored
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6
.gitmodules
vendored
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@ -0,0 +1,6 @@
|
||||
[submodule "sinqmotor"]
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||||
path = sinqmotor
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||||
url = https://gitea.psi.ch/lin-epics-modules/sinqmotor
|
||||
[submodule "sinqMotor"]
|
||||
path = sinqMotor
|
||||
url = https://gitea.psi.ch/lin-epics-modules/sinqMotor
|
||||
674
LICENSE.txt
Normal file
674
LICENSE.txt
Normal file
@ -0,0 +1,674 @@
|
||||
GNU GENERAL PUBLIC LICENSE
|
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Version 3, 29 June 2007
|
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Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
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Everyone is permitted to copy and distribute verbatim copies
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License, you may add to a covered work material governed by the terms
|
||||
of that license document, provided that the further restriction does
|
||||
not survive such relicensing or conveying.
|
||||
|
||||
If you add terms to a covered work in accord with this section, you
|
||||
must place, in the relevant source files, a statement of the
|
||||
additional terms that apply to those files, or a notice indicating
|
||||
where to find the applicable terms.
|
||||
|
||||
Additional terms, permissive or non-permissive, may be stated in the
|
||||
form of a separately written license, or stated as exceptions;
|
||||
the above requirements apply either way.
|
||||
|
||||
8. Termination.
|
||||
|
||||
You may not propagate or modify a covered work except as expressly
|
||||
provided under this License. Any attempt otherwise to propagate or
|
||||
modify it is void, and will automatically terminate your rights under
|
||||
this License (including any patent licenses granted under the third
|
||||
paragraph of section 11).
|
||||
|
||||
However, if you cease all violation of this License, then your
|
||||
license from a particular copyright holder is reinstated (a)
|
||||
provisionally, unless and until the copyright holder explicitly and
|
||||
finally terminates your license, and (b) permanently, if the copyright
|
||||
holder fails to notify you of the violation by some reasonable means
|
||||
prior to 60 days after the cessation.
|
||||
|
||||
Moreover, your license from a particular copyright holder is
|
||||
reinstated permanently if the copyright holder notifies you of the
|
||||
violation by some reasonable means, this is the first time you have
|
||||
received notice of violation of this License (for any work) from that
|
||||
copyright holder, and you cure the violation prior to 30 days after
|
||||
your receipt of the notice.
|
||||
|
||||
Termination of your rights under this section does not terminate the
|
||||
licenses of parties who have received copies or rights from you under
|
||||
this License. If your rights have been terminated and not permanently
|
||||
reinstated, you do not qualify to receive new licenses for the same
|
||||
material under section 10.
|
||||
|
||||
9. Acceptance Not Required for Having Copies.
|
||||
|
||||
You are not required to accept this License in order to receive or
|
||||
run a copy of the Program. Ancillary propagation of a covered work
|
||||
occurring solely as a consequence of using peer-to-peer transmission
|
||||
to receive a copy likewise does not require acceptance. However,
|
||||
nothing other than this License grants you permission to propagate or
|
||||
modify any covered work. These actions infringe copyright if you do
|
||||
not accept this License. Therefore, by modifying or propagating a
|
||||
covered work, you indicate your acceptance of this License to do so.
|
||||
|
||||
10. Automatic Licensing of Downstream Recipients.
|
||||
|
||||
Each time you convey a covered work, the recipient automatically
|
||||
receives a license from the original licensors, to run, modify and
|
||||
propagate that work, subject to this License. You are not responsible
|
||||
for enforcing compliance by third parties with this License.
|
||||
|
||||
An "entity transaction" is a transaction transferring control of an
|
||||
organization, or substantially all assets of one, or subdividing an
|
||||
organization, or merging organizations. If propagation of a covered
|
||||
work results from an entity transaction, each party to that
|
||||
transaction who receives a copy of the work also receives whatever
|
||||
licenses to the work the party's predecessor in interest had or could
|
||||
give under the previous paragraph, plus a right to possession of the
|
||||
Corresponding Source of the work from the predecessor in interest, if
|
||||
the predecessor has it or can get it with reasonable efforts.
|
||||
|
||||
You may not impose any further restrictions on the exercise of the
|
||||
rights granted or affirmed under this License. For example, you may
|
||||
not impose a license fee, royalty, or other charge for exercise of
|
||||
rights granted under this License, and you may not initiate litigation
|
||||
(including a cross-claim or counterclaim in a lawsuit) alleging that
|
||||
any patent claim is infringed by making, using, selling, offering for
|
||||
sale, or importing the Program or any portion of it.
|
||||
|
||||
11. Patents.
|
||||
|
||||
A "contributor" is a copyright holder who authorizes use under this
|
||||
License of the Program or a work on which the Program is based. The
|
||||
work thus licensed is called the contributor's "contributor version".
|
||||
|
||||
A contributor's "essential patent claims" are all patent claims
|
||||
owned or controlled by the contributor, whether already acquired or
|
||||
hereafter acquired, that would be infringed by some manner, permitted
|
||||
by this License, of making, using, or selling its contributor version,
|
||||
but do not include claims that would be infringed only as a
|
||||
consequence of further modification of the contributor version. For
|
||||
purposes of this definition, "control" includes the right to grant
|
||||
patent sublicenses in a manner consistent with the requirements of
|
||||
this License.
|
||||
|
||||
Each contributor grants you a non-exclusive, worldwide, royalty-free
|
||||
patent license under the contributor's essential patent claims, to
|
||||
make, use, sell, offer for sale, import and otherwise run, modify and
|
||||
propagate the contents of its contributor version.
|
||||
|
||||
In the following three paragraphs, a "patent license" is any express
|
||||
agreement or commitment, however denominated, not to enforce a patent
|
||||
(such as an express permission to practice a patent or covenant not to
|
||||
sue for patent infringement). To "grant" such a patent license to a
|
||||
party means to make such an agreement or commitment not to enforce a
|
||||
patent against the party.
|
||||
|
||||
If you convey a covered work, knowingly relying on a patent license,
|
||||
and the Corresponding Source of the work is not available for anyone
|
||||
to copy, free of charge and under the terms of this License, through a
|
||||
publicly available network server or other readily accessible means,
|
||||
then you must either (1) cause the Corresponding Source to be so
|
||||
available, or (2) arrange to deprive yourself of the benefit of the
|
||||
patent license for this particular work, or (3) arrange, in a manner
|
||||
consistent with the requirements of this License, to extend the patent
|
||||
license to downstream recipients. "Knowingly relying" means you have
|
||||
actual knowledge that, but for the patent license, your conveying the
|
||||
covered work in a country, or your recipient's use of the covered work
|
||||
in a country, would infringe one or more identifiable patents in that
|
||||
country that you have reason to believe are valid.
|
||||
|
||||
If, pursuant to or in connection with a single transaction or
|
||||
arrangement, you convey, or propagate by procuring conveyance of, a
|
||||
covered work, and grant a patent license to some of the parties
|
||||
receiving the covered work authorizing them to use, propagate, modify
|
||||
or convey a specific copy of the covered work, then the patent license
|
||||
you grant is automatically extended to all recipients of the covered
|
||||
work and works based on it.
|
||||
|
||||
A patent license is "discriminatory" if it does not include within
|
||||
the scope of its coverage, prohibits the exercise of, or is
|
||||
conditioned on the non-exercise of one or more of the rights that are
|
||||
specifically granted under this License. You may not convey a covered
|
||||
work if you are a party to an arrangement with a third party that is
|
||||
in the business of distributing software, under which you make payment
|
||||
to the third party based on the extent of your activity of conveying
|
||||
the work, and under which the third party grants, to any of the
|
||||
parties who would receive the covered work from you, a discriminatory
|
||||
patent license (a) in connection with copies of the covered work
|
||||
conveyed by you (or copies made from those copies), or (b) primarily
|
||||
for and in connection with specific products or compilations that
|
||||
contain the covered work, unless you entered into that arrangement,
|
||||
or that patent license was granted, prior to 28 March 2007.
|
||||
|
||||
Nothing in this License shall be construed as excluding or limiting
|
||||
any implied license or other defenses to infringement that may
|
||||
otherwise be available to you under applicable patent law.
|
||||
|
||||
12. No Surrender of Others' Freedom.
|
||||
|
||||
If conditions are imposed on you (whether by court order, agreement or
|
||||
otherwise) that contradict the conditions of this License, they do not
|
||||
excuse you from the conditions of this License. If you cannot convey a
|
||||
covered work so as to satisfy simultaneously your obligations under this
|
||||
License and any other pertinent obligations, then as a consequence you may
|
||||
not convey it at all. For example, if you agree to terms that obligate you
|
||||
to collect a royalty for further conveying from those to whom you convey
|
||||
the Program, the only way you could satisfy both those terms and this
|
||||
License would be to refrain entirely from conveying the Program.
|
||||
|
||||
13. Use with the GNU Affero General Public License.
|
||||
|
||||
Notwithstanding any other provision of this License, you have
|
||||
permission to link or combine any covered work with a work licensed
|
||||
under version 3 of the GNU Affero General Public License into a single
|
||||
combined work, and to convey the resulting work. The terms of this
|
||||
License will continue to apply to the part which is the covered work,
|
||||
but the special requirements of the GNU Affero General Public License,
|
||||
section 13, concerning interaction through a network will apply to the
|
||||
combination as such.
|
||||
|
||||
14. Revised Versions of this License.
|
||||
|
||||
The Free Software Foundation may publish revised and/or new versions of
|
||||
the GNU General Public License from time to time. Such new versions will
|
||||
be similar in spirit to the present version, but may differ in detail to
|
||||
address new problems or concerns.
|
||||
|
||||
Each version is given a distinguishing version number. If the
|
||||
Program specifies that a certain numbered version of the GNU General
|
||||
Public License "or any later version" applies to it, you have the
|
||||
option of following the terms and conditions either of that numbered
|
||||
version or of any later version published by the Free Software
|
||||
Foundation. If the Program does not specify a version number of the
|
||||
GNU General Public License, you may choose any version ever published
|
||||
by the Free Software Foundation.
|
||||
|
||||
If the Program specifies that a proxy can decide which future
|
||||
versions of the GNU General Public License can be used, that proxy's
|
||||
public statement of acceptance of a version permanently authorizes you
|
||||
to choose that version for the Program.
|
||||
|
||||
Later license versions may give you additional or different
|
||||
permissions. However, no additional obligations are imposed on any
|
||||
author or copyright holder as a result of your choosing to follow a
|
||||
later version.
|
||||
|
||||
15. Disclaimer of Warranty.
|
||||
|
||||
THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
|
||||
APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
|
||||
HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
|
||||
OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
|
||||
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
|
||||
IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
|
||||
ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
|
||||
|
||||
16. Limitation of Liability.
|
||||
|
||||
IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
|
||||
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
|
||||
THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
|
||||
GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
|
||||
USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
|
||||
DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
|
||||
PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
|
||||
EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
|
||||
SUCH DAMAGES.
|
||||
|
||||
17. Interpretation of Sections 15 and 16.
|
||||
|
||||
If the disclaimer of warranty and limitation of liability provided
|
||||
above cannot be given local legal effect according to their terms,
|
||||
reviewing courts shall apply local law that most closely approximates
|
||||
an absolute waiver of all civil liability in connection with the
|
||||
Program, unless a warranty or assumption of liability accompanies a
|
||||
copy of the Program in return for a fee.
|
||||
|
||||
END OF TERMS AND CONDITIONS
|
||||
|
||||
How to Apply These Terms to Your New Programs
|
||||
|
||||
If you develop a new program, and you want it to be of the greatest
|
||||
possible use to the public, the best way to achieve this is to make it
|
||||
free software which everyone can redistribute and change under these terms.
|
||||
|
||||
To do so, attach the following notices to the program. It is safest
|
||||
to attach them to the start of each source file to most effectively
|
||||
state the exclusion of warranty; and each file should have at least
|
||||
the "copyright" line and a pointer to where the full notice is found.
|
||||
|
||||
{one line to give the program's name and a brief idea of what it does.}
|
||||
Copyright (C) {year} {name of author}
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
Also add information on how to contact you by electronic and paper mail.
|
||||
|
||||
If the program does terminal interaction, make it output a short
|
||||
notice like this when it starts in an interactive mode:
|
||||
|
||||
{project} Copyright (C) {year} {fullname}
|
||||
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
|
||||
This is free software, and you are welcome to redistribute it
|
||||
under certain conditions; type `show c' for details.
|
||||
|
||||
The hypothetical commands `show w' and `show c' should show the appropriate
|
||||
parts of the General Public License. Of course, your program's commands
|
||||
might be different; for a GUI interface, you would use an "about box".
|
||||
|
||||
You should also get your employer (if you work as a programmer) or school,
|
||||
if any, to sign a "copyright disclaimer" for the program, if necessary.
|
||||
For more information on this, and how to apply and follow the GNU GPL, see
|
||||
<http://www.gnu.org/licenses/>.
|
||||
|
||||
The GNU General Public License does not permit incorporating your program
|
||||
into proprietary programs. If your program is a subroutine library, you
|
||||
may consider it more useful to permit linking proprietary applications with
|
||||
the library. If this is what you want to do, use the GNU Lesser General
|
||||
Public License instead of this License. But first, please read
|
||||
<http://www.gnu.org/philosophy/why-not-lgpl.html>.
|
||||
18
Makefile
18
Makefile
@ -1,4 +1,4 @@
|
||||
# Use the PSI build system
|
||||
# Include the external Makefile
|
||||
include /ioc/tools/driver.makefile
|
||||
|
||||
MODULE=turboPmac
|
||||
@ -8,28 +8,30 @@ ARCH_FILTER=RHEL%
|
||||
|
||||
# Additional module dependencies
|
||||
REQUIRED+=motorBase
|
||||
REQUIRED+=sinqMotor
|
||||
|
||||
# Specify the version of motorBase we want to build against
|
||||
motorBase_VERSION=7.2.2
|
||||
|
||||
# Specify the version of sinqMotor we want to build against
|
||||
sinqMotor_VERSION=0.11.0
|
||||
|
||||
# These headers allow to depend on this library for derived drivers.
|
||||
HEADERS += src/turboPmacAsynIPPort.h
|
||||
HEADERS += src/pmacAsynIPPort.h
|
||||
HEADERS += src/turboPmacAxis.h
|
||||
HEADERS += src/turboPmacController.h
|
||||
|
||||
# Source files to build
|
||||
SOURCES += src/turboPmacAsynIPPort.c
|
||||
SOURCES += sinqMotor/src/msgPrintControl.cpp
|
||||
SOURCES += sinqMotor/src/sinqAxis.cpp
|
||||
SOURCES += sinqMotor/src/sinqController.cpp
|
||||
SOURCES += src/pmacAsynIPPort.c
|
||||
SOURCES += src/turboPmacAxis.cpp
|
||||
SOURCES += src/turboPmacController.cpp
|
||||
|
||||
# Store the record files
|
||||
TEMPLATES += sinqMotor/db/asynRecord.db
|
||||
TEMPLATES += sinqMotor/db/sinqMotor.db
|
||||
TEMPLATES += db/turboPmac.db
|
||||
|
||||
# This file registers the motor-specific functions in the IOC shell.
|
||||
DBDS += sinqMotor/src/sinqMotor.dbd
|
||||
DBDS += src/turboPmac.dbd
|
||||
|
||||
# USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wextra -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings
|
||||
USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings
|
||||
47
README.md
47
README.md
@ -4,20 +4,17 @@
|
||||
|
||||
## Overview
|
||||
|
||||
This is a driver for the Turbo PMAC motion controller with the SINQ communication protocol. It is based on the sinqMotor shared library (https://git.psi.ch/sinq-epics-modules/sinqmotor). The header files contain detailed documentation for all public functions. The headers themselves are exported when building the library to allow other drivers to depend on this one.
|
||||
This is a driver for the Turbo PMAC motion controller with the SINQ communication protocol. It is based on the sinqMotor shared library (https://gitea.psi.ch/lin-epics-modules/sinqMotor). The header files contain detailed documentation for all public functions. The headers themselves are exported when building the library to allow other drivers to depend on this one.
|
||||
|
||||
## User guide
|
||||
|
||||
This driver is a standard sinqMotor-derived driver and does not need any specific configuration. For the general configuration, please see https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
|
||||
This driver is a standard sinqMotor-derived which however uses a special low level IP Port driver (`pmacAsynIPPortConfigure`) instead of the standard `drvAsynIPPortConfigure`. For the general configuration, please see https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
|
||||
|
||||
The folder "utils" contains utility scripts for working with pmac motor controllers. To read their manual, run the scripts without any arguments.
|
||||
- writeRead.py: Allows sending commands to and receiving commands from a pmac controller over an ethernet connection.
|
||||
- analyzeTcpDump.py: Parse the TCP communication between an IOC and a MCU and format it into a dictionary. "demo.py" shows how this data can be easily visualized for analysis.
|
||||
|
||||
|
||||
## Developer guide
|
||||
|
||||
### Usage in IOC shell
|
||||
### IOC startup script
|
||||
|
||||
turboPmac exports the following IOC shell functions:
|
||||
- `turboPmacController`: Create a new controller object.
|
||||
@ -27,11 +24,13 @@ The full turboPmacX.cmd file looks like this:
|
||||
|
||||
```
|
||||
# Define the name of the controller and the corresponding port
|
||||
epicsEnvSet("NAME","turboPmacX")
|
||||
epicsEnvSet("ASYN_PORT","p$(NAME)")
|
||||
epicsEnvSet("DRIVER_PORT","turboPmacX")
|
||||
epicsEnvSet("IP_PORT","p$(DRIVER_PORT)")
|
||||
|
||||
# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name
|
||||
drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
|
||||
# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name.
|
||||
# We do not use the standard asyn port driver here, but a PMAC-specific one which enables the usage of StreamDevices for
|
||||
# communicating with the controller directly.
|
||||
pmacAsynIPPortConfigure("$(IP_PORT)","172.28.101.24:1025")
|
||||
|
||||
# Create the controller object with the defined name and connect it to the socket via the port name.
|
||||
# The other parameters are as follows:
|
||||
@ -39,31 +38,37 @@ drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
|
||||
# 0.05: Busy poll period in seconds
|
||||
# 1: Idle poll period in seconds
|
||||
# 1: Socket communication timeout in seconds
|
||||
turboPmacController("$(NAME)", "$(ASYN_PORT)", 8, 0.05, 1, 1);
|
||||
turboPmacController("$(DRIVER_PORT)", "$(IP_PORT)", 8, 0.05, 1, 1);
|
||||
|
||||
# Define some axes for the specified MCU at the given slot (1, 2 and 5). No slot may be used twice!
|
||||
turboPmacAxis("$(NAME)",1);
|
||||
turboPmacAxis("$(NAME)",2);
|
||||
turboPmacAxis("$(NAME)",5);
|
||||
turboPmacAxis("$(DRIVER_PORT)",1);
|
||||
turboPmacAxis("$(DRIVER_PORT)",2);
|
||||
turboPmacAxis("$(DRIVER_PORT)",5);
|
||||
|
||||
# Set the number of subsequent timeouts
|
||||
setMaxSubsequentTimeouts("$(NAME)", 20);
|
||||
setMaxSubsequentTimeouts("$(DRIVER_PORT)", 20);
|
||||
|
||||
# Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed in 300 seconds before an alarm message is sent.
|
||||
setThresholdComTimeout("$(NAME)", 300, 10);
|
||||
setThresholdComTimeout("$(DRIVER_PORT)", 300, 10);
|
||||
|
||||
# Parametrize the EPICS record database with the substitution file named after the MCU.
|
||||
epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
|
||||
dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
|
||||
epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/sinqMotor.db")
|
||||
dbLoadTemplate("$(TOP)/$(DRIVER_PORT).substitutions", "INSTR=$(INSTR)$(DRIVER_PORT):,CONTROLLER=$(DRIVER_PORT)")
|
||||
epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/turboPmac.db")
|
||||
dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
|
||||
dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
|
||||
dbLoadTemplate("$(TOP)/$(DRIVER_PORT).substitutions", "INSTR=$(INSTR)$(DRIVER_PORT):,CONTROLLER=$(DRIVER_PORT)")
|
||||
dbLoadRecords("$(turboPmac_DB)/asynRecord.db","P=$(INSTR)$(DRIVER_PORT),PORT=$(IP_PORT)")
|
||||
```
|
||||
|
||||
### Additional records
|
||||
|
||||
`turboPmac` provides a variety of additional records. See `db/turboPmac.db` for the complete list and the documentation.
|
||||
|
||||
## Developer guide
|
||||
|
||||
### Versioning
|
||||
|
||||
Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
|
||||
|
||||
### How to build it
|
||||
|
||||
Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
|
||||
This driver can be compiled and installed by running `make install` from the same directory where the Makefile is located. However, since it uses the git submodule sinqMotor, make sure that the correct version of the submodule repository is checked out AND the change is commited (`git status` shows no non-committed changes). Please see the section "Usage as static dependency" in https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md for more details.
|
||||
|
||||
@ -16,4 +16,29 @@ record(longout, "$(INSTR)$(M):ReadConfig") {
|
||||
field(DTYP, "asynInt32")
|
||||
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) READ_CONFIG")
|
||||
field(PINI, "NO")
|
||||
}
|
||||
|
||||
# PMAC controllers can be "flushed" by setting a certain bit. This empties all
|
||||
# communication buffers. Once the flush is done, the controller acknowledges
|
||||
# this by sending an echo character. This procedure can take up to 10 ms (see
|
||||
# Turbo PMAC User Manual, p. 414) and should therefore not be done as part of
|
||||
# "normal" communications (like the original pmacAsynIPPort driver from DLS
|
||||
# does). The SINQ driver for the Turbo PMAC controller therefore offers this PV
|
||||
# in order to manually trigger a controller flush by writing any value to this PV.
|
||||
record(longout, "$(INSTR)FlushHardware") {
|
||||
field(DTYP, "asynInt32")
|
||||
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) FLUSH_HARDWARE")
|
||||
field(PINI, "NO")
|
||||
field(VAL, "1")
|
||||
}
|
||||
|
||||
# If this PV is set to 1 (default), the position limits are read out from the
|
||||
# controller. Otherwise, the limits given in the substitution file (DHLM and
|
||||
# DLLM) are used.
|
||||
# This record is coupled to the parameter library via limFromHardware -> LIM_FROM_HARDWARE.
|
||||
record(longout, "$(INSTR)$(M):LimFromHardware") {
|
||||
field(DTYP, "asynInt32")
|
||||
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) LIM_FROM_HARDWARE")
|
||||
field(PINI, "YES")
|
||||
field(VAL, "$(LIMFROMHARDWARE=1)")
|
||||
}
|
||||
1
sinqMotor
Submodule
1
sinqMotor
Submodule
Submodule sinqMotor added at 55a9fe6f3e
975
src/pmacAsynIPPort.c
Normal file
975
src/pmacAsynIPPort.c
Normal file
@ -0,0 +1,975 @@
|
||||
/*
|
||||
NOTES
|
||||
|
||||
This driver is an asyn interpose driver intended for use with pmacAsynMotor
|
||||
to allow communication over ethernet to a PMAC.
|
||||
|
||||
*** Ensure I3=2 and I6=1 on the PMAC before using this driver. ***
|
||||
|
||||
This driver supports sending ascii commands to the PMAC over asyn IP and
|
||||
obtaining the response. The driver uses the PMAC ethernet packets
|
||||
VR_PMAC_GETRESPONSE, VR_PMAC_READREADY and VR_PMAC_GETBUFFER to send commands
|
||||
and get responses. The PMAC may send responses in several different formats.
|
||||
1) PMAC ascii command responses for single/multiple commands (e.g. I113 I114
|
||||
I130 I131 I133) are in an ACK terminated form as follows (CR seperates the
|
||||
cmd responses): data<CR(13)>data<CR(13)>data<CR(13)><ACK(6)> 2) PMAC error
|
||||
responses to ascii commands ARE NOT ACK terminated as follows:
|
||||
<BELL(7)>ERRxxx<CR(13)>
|
||||
3) PMAC may also return the following:
|
||||
<STX(2)>data<CR(13)>
|
||||
|
||||
This driver can send ctrl commands (ctrl B/C/F/G/P/V) to the pmac (using
|
||||
VR_CTRL_REPONSE packet) however because the resulting response data is not
|
||||
terminated as above the driver does not know when all the response data has
|
||||
been received. The response data will therefore only be returned after the
|
||||
asynUser.timeout has expired.
|
||||
|
||||
This driver does NOT support large buffer transfers (VR_PMAC_WRITEBUFFER,
|
||||
VR_FWDOWNLOAD) or set/get of DPRAM (VR_PMAC_SETMEM etc) or changing comms
|
||||
setup (VR_IPADDRESS, VR_PMAC_PORT)
|
||||
|
||||
|
||||
REVISION HISTORY
|
||||
|
||||
10 Aug 07 - Pete Leicester - Diamond Light Source
|
||||
Modified to handle responses other than those ending in <ACK> (e.g. errors) -
|
||||
No longer used asyn EOS.
|
||||
|
||||
9 Aug 07 - Pete Leicester - Diamond Light Source
|
||||
Initial version reliant on asyn EOS to return <ACK> terminated responses.
|
||||
|
||||
2 Feb 09 - Matthew Pearson - Diamond Light Source
|
||||
Ported to work with Asyn 4-10. Still compiles with pre Asyn4-10 versions but
|
||||
does not work. Also added new config function, pmacAsynIPPortConfigureEos(),
|
||||
to be used when disabling low level EOS handling in the Asyn IP layer. This
|
||||
new function should be used with Asyn 4-10 and above (it is not compatible
|
||||
with Asyn 4-9).
|
||||
|
||||
10 Apr 25 - Stefan Mathis - Paul Scherrer Institut
|
||||
Adjusted the driver to the requirements of SINQ:
|
||||
- Added a lot of comments, removed the predecessor of
|
||||
pmacAsynIPPortConfigureEos() since SINQ doesn't need it (see comment above)
|
||||
- Removed the call to `pmacFlush` from `flushItOctet`: We want to flush the
|
||||
communication buffer on the IOC side before each communication, but we do not
|
||||
want to flush the PMAC controller itself, since this stalls the controller for
|
||||
10 ms everytime (see Turbo PMAC User Manual, p. 414). Instead, a PV was added in
|
||||
the higher level `turboPmac` driver to manually call the `pmacFlush` function.
|
||||
*/
|
||||
|
||||
#include <stddef.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
|
||||
#include <cantProceed.h>
|
||||
#include <epicsAssert.h>
|
||||
#include <epicsStdio.h>
|
||||
#include <epicsString.h>
|
||||
#include <iocsh.h>
|
||||
#include <osiSock.h>
|
||||
|
||||
#include "asynDriver.h"
|
||||
#include "asynInt32.h"
|
||||
#include "asynInterposeEos.h"
|
||||
#include "asynOctet.h"
|
||||
#include "drvAsynIPPort.h"
|
||||
#include "epicsThread.h"
|
||||
#include "pmacAsynIPPort.h"
|
||||
#include <epicsExport.h>
|
||||
|
||||
#define ETHERNET_DATA_SIZE 1492
|
||||
#define MAX_BUFFER_SIZE 2097152
|
||||
#define INPUT_SIZE \
|
||||
(ETHERNET_DATA_SIZE + 1) /* +1 to allow space to add terminating ACK */
|
||||
#define STX '\2'
|
||||
#define CTRLB '\2'
|
||||
#define CTRLC '\3'
|
||||
#define ACK '\6'
|
||||
#define CTRLF '\6'
|
||||
#define BELL '\7'
|
||||
#define CTRLG '\7'
|
||||
#define CTRLP '\16'
|
||||
#define CTRLV '\22'
|
||||
#define CTRLX '\24'
|
||||
|
||||
/* PMAC ethernet command structure */
|
||||
#pragma pack(1)
|
||||
typedef struct tagEthernetCmd {
|
||||
unsigned char RequestType;
|
||||
unsigned char Request;
|
||||
unsigned short wValue;
|
||||
unsigned short wIndex;
|
||||
unsigned short wLength; /* length of bData */
|
||||
unsigned char bData[ETHERNET_DATA_SIZE];
|
||||
} ethernetCmd;
|
||||
#pragma pack()
|
||||
|
||||
#define ETHERNET_CMD_HEADER (sizeof(ethernetCmd) - ETHERNET_DATA_SIZE)
|
||||
|
||||
/* PMAC ethernet commands - RequestType field */
|
||||
#define VR_UPLOAD 0xC0
|
||||
#define VR_DOWNLOAD 0x40
|
||||
|
||||
/* PMAC ethernet commands - Request field */
|
||||
#define VR_PMAC_SENDLINE 0xB0
|
||||
#define VR_PMAC_GETLINE 0xB1
|
||||
#define VR_PMAC_FLUSH 0xB3
|
||||
#define VR_PMAC_GETMEM 0xB4
|
||||
#define VR_PMAC_SETMEN 0xB5
|
||||
#define VR_PMAC_SETBIT 0xBA
|
||||
#define VR_PMAC_SETBITS 0xBB
|
||||
#define VR_PMAC_PORT 0xBE
|
||||
#define VR_PMAC_GETRESPONSE 0xBF
|
||||
#define VR_PMAC_READREADY 0xC2
|
||||
#define VR_CTRL_RESPONSE 0xC4
|
||||
#define VR_PMAC_GETBUFFER 0xC5
|
||||
#define VR_PMAC_WRITEBUFFER 0xC6
|
||||
#define VR_PMAC_WRITEERROR 0xC7
|
||||
#define VR_FWDOWNLOAD 0xCB
|
||||
#define VR_IPADDRESS 0xE0
|
||||
|
||||
/* PMAC control character commands (VR_CTRL_RESPONSE cmd) */
|
||||
static char ctrlCommands[] = {CTRLB, CTRLC, CTRLF, CTRLG, CTRLP, CTRLV};
|
||||
|
||||
/**
|
||||
* @brief PMAC_specific equivalent of the ioPvt struct from
|
||||
* asyn/interfaces/asynOctetSyncIo.c
|
||||
*
|
||||
*/
|
||||
typedef struct pmacPvt {
|
||||
char *portName;
|
||||
int addr;
|
||||
asynInterface int32Interface;
|
||||
asynInt32 *pint32; /* The methods we're overriding */
|
||||
void *int32Pvt;
|
||||
asynInterface octetInterface;
|
||||
asynOctet *poctet; /* The methods we're overriding */
|
||||
void *octetPvt;
|
||||
asynUser *pasynUser; /* For connect/disconnect reporting */
|
||||
ethernetCmd *poutCmd;
|
||||
ethernetCmd *pinCmd;
|
||||
char *inBuf;
|
||||
unsigned int inBufHead;
|
||||
unsigned int inBufTail;
|
||||
} pmacPvt;
|
||||
|
||||
/*
|
||||
Notes on asyn
|
||||
use asynUser.timeout to specify I/O request timeouts in seconds
|
||||
asynStatus may return asynSuccess(0),asynTimeout(1),asynOverflow(2) or
|
||||
asynError(3) eomReason may return ASYN_EOM_CNT (1:Request count reached),
|
||||
ASYN_EOM_EOS (2:End of String detected), ASYN_EOM_END (4:End indicator
|
||||
detected) asynError indicates that asynUser.errorMessage has been populated
|
||||
by epicsSnprintf().
|
||||
*/
|
||||
|
||||
/* Connect/disconnect handling */
|
||||
static void pmacInExceptionHandler(asynUser *pasynUser,
|
||||
asynException exception);
|
||||
|
||||
// =============================================================================
|
||||
|
||||
/* Declare asynInt32 here, and assign functions later on
|
||||
(compatible with both Asyn 4-10 and pre 4-10 versions).*/
|
||||
static asynInt32 int32;
|
||||
|
||||
/* Declare asynInt32 methods (they are defined down below) */
|
||||
static asynStatus writeInt32(void *drvPvt, asynUser *pasynUser,
|
||||
epicsInt32 value);
|
||||
static asynStatus readInt32(void *drvPvt, asynUser *pasynUser,
|
||||
epicsInt32 *value);
|
||||
static asynStatus getBoundsInt32(void *drvPvt, asynUser *pasynUser,
|
||||
epicsInt32 *low, epicsInt32 *high);
|
||||
static asynStatus registerInterruptUserInt32(void *drvPvt, asynUser *pasynUser,
|
||||
interruptCallbackInt32 callback,
|
||||
void *userPvt,
|
||||
void **registrarPvt);
|
||||
static asynStatus cancelInterruptUserInt32(void *drvPvt, asynUser *pasynUser,
|
||||
void *registrarPvt);
|
||||
|
||||
// =============================================================================
|
||||
|
||||
/* Declare asynOctet here, and assign functions later on
|
||||
(compatible with both Asyn 4-10 and pre 4-10 versions).*/
|
||||
static asynOctet octet;
|
||||
|
||||
/* Declare asynOctet methods (they are defined down below) */
|
||||
static asynStatus writeItOctet(void *drvPvt, asynUser *pasynUser,
|
||||
const char *data, size_t numchars,
|
||||
size_t *nbytesTransfered);
|
||||
static asynStatus readItOctet(void *drvPvt, asynUser *pasynUser, char *data,
|
||||
size_t maxchars, size_t *nbytesTransfered,
|
||||
int *eomReason);
|
||||
static asynStatus flushItOctet(void *drvPvt, asynUser *pasynUser);
|
||||
static asynStatus registerInterruptUserOctet(void *drvPvt, asynUser *pasynUser,
|
||||
interruptCallbackOctet callback,
|
||||
void *userPvt,
|
||||
void **registrarPvt);
|
||||
static asynStatus cancelInterruptUserOctet(void *drvPvt, asynUser *pasynUser,
|
||||
void *registrarPvt);
|
||||
static asynStatus setInputEosOctet(void *drvPvt, asynUser *pasynUser,
|
||||
const char *eos, int eoslen);
|
||||
static asynStatus getInputEosOctet(void *drvPvt, asynUser *pasynUser, char *eos,
|
||||
int eossize, int *eoslen);
|
||||
static asynStatus setOutputEosOctet(void *drvPvt, asynUser *pasynUser,
|
||||
const char *eos, int eoslen);
|
||||
static asynStatus getOutputEosOctet(void *drvPvt, asynUser *pasynUser,
|
||||
char *eos, int eossize, int *eoslen);
|
||||
|
||||
// =============================================================================
|
||||
|
||||
// Declare PMAC-specific functions (they are defined down below)
|
||||
|
||||
static asynStatus readResponse(pmacPvt *pPmacPvt, asynUser *pasynUser,
|
||||
size_t maxchars, size_t *nbytesTransfered,
|
||||
int *eomReason);
|
||||
static int pmacReadReady(pmacPvt *pPmacPvt, asynUser *pasynUser);
|
||||
static int pmacFlush(pmacPvt *pPmacPvt, asynUser *pasynUser);
|
||||
static asynStatus sendPmacGetBuffer(pmacPvt *pPmacPvt, asynUser *pasynUser,
|
||||
size_t maxchars, size_t *nbytesTransfered);
|
||||
|
||||
// =============================================================================
|
||||
|
||||
epicsShareFunc int pmacAsynIPPortConfigure(const char *portName,
|
||||
const char *hostInfo) {
|
||||
asynStatus status = asynSuccess;
|
||||
asynInterface *int32LowerLevelInterface = NULL;
|
||||
asynInterface *octetLowerLevelInterface = NULL;
|
||||
asynUser *pasynUser = NULL;
|
||||
size_t len = 0;
|
||||
|
||||
/*
|
||||
The asyn adress is always set to 0. This is taken verbatim from the DLS
|
||||
source code
|
||||
(https://github.com/DiamondLightSource/pmac/blob/afe81f8bb9179c3a20eff351f30bc6cfd1539ad9/pmacApp/pmacAsynIPPortSrc/pmacAsynIPPort.c#L192)
|
||||
*/
|
||||
int addr = 0;
|
||||
|
||||
/*
|
||||
This is the generic "parent" function of this function which is also
|
||||
exported in the IOC shell and used for drivers which don't use a specialized
|
||||
interpose layer.
|
||||
*/
|
||||
if ((status = drvAsynIPPortConfigure(portName, hostInfo, 0, 0, 1)) != 0) {
|
||||
printf(
|
||||
"pmacAsynIPPortConfigure: error from drvAsynIPPortConfigure. Port: "
|
||||
"%s\n",
|
||||
portName);
|
||||
}
|
||||
|
||||
/*
|
||||
Assign specialized versions of the methods from
|
||||
asyn/interfaces/asynInt32SyncIo.c
|
||||
*/
|
||||
int32.write = writeInt32;
|
||||
int32.read = readInt32;
|
||||
int32.getBounds = getBoundsInt32;
|
||||
int32.registerInterruptUser = registerInterruptUserInt32;
|
||||
int32.cancelInterruptUser = cancelInterruptUserInt32;
|
||||
|
||||
/*
|
||||
Assign specialized versions of the methods from
|
||||
asyn/interfaces/asynOctetSyncIO.c
|
||||
*/
|
||||
octet.write = writeItOctet;
|
||||
octet.read = readItOctet;
|
||||
octet.flush = flushItOctet;
|
||||
octet.setInputEos = setInputEosOctet;
|
||||
octet.setOutputEos = setOutputEosOctet;
|
||||
octet.getInputEos = getInputEosOctet;
|
||||
octet.getOutputEos = getOutputEosOctet;
|
||||
octet.registerInterruptUser = registerInterruptUserOctet;
|
||||
octet.cancelInterruptUser = cancelInterruptUserOctet;
|
||||
|
||||
len = sizeof(pmacPvt) + strlen(portName) + 1;
|
||||
pmacPvt *pPmacPvt = callocMustSucceed(
|
||||
1, len,
|
||||
"calloc pPmacPvt error in pmacAsynIPPort::pmacAsynIPPortConfigure.");
|
||||
|
||||
pPmacPvt->portName = (char *)(pPmacPvt + 1);
|
||||
|
||||
strcpy(pPmacPvt->portName, portName);
|
||||
pPmacPvt->addr = addr;
|
||||
|
||||
pPmacPvt->int32Interface.interfaceType = asynInt32Type;
|
||||
pPmacPvt->int32Interface.pinterface = &int32;
|
||||
pPmacPvt->int32Interface.drvPvt = pPmacPvt;
|
||||
|
||||
status = pasynInt32Base->initialize(pPmacPvt->portName,
|
||||
&pPmacPvt->int32Interface);
|
||||
if (status != asynSuccess) {
|
||||
printf("pmacAsynIPPortConfigure: Can't register int32.\n");
|
||||
pasynManager->freeAsynUser(pasynUser);
|
||||
free(pPmacPvt);
|
||||
return -1;
|
||||
}
|
||||
|
||||
pPmacPvt->octetInterface.interfaceType = asynOctetType;
|
||||
pPmacPvt->octetInterface.pinterface = &octet;
|
||||
pPmacPvt->octetInterface.drvPvt = pPmacPvt;
|
||||
|
||||
// We don't need to initialize the octet interface, since the interface type
|
||||
// asynOctetType has already been initialized in drvAsynIPPortConfigure(..).
|
||||
|
||||
pasynUser = pasynManager->createAsynUser(0, 0);
|
||||
pPmacPvt->pasynUser = pasynUser;
|
||||
pPmacPvt->pasynUser->userPvt = pPmacPvt;
|
||||
|
||||
// In case connecting to the given IP port fails, clean up the memory
|
||||
status = pasynManager->connectDevice(pasynUser, portName, addr);
|
||||
if (status != asynSuccess) {
|
||||
printf("pmacAsynIPPortConfigure: %s connectDevice failed\n", portName);
|
||||
pasynManager->freeAsynUser(pasynUser);
|
||||
free(pPmacPvt);
|
||||
return -1;
|
||||
}
|
||||
|
||||
status =
|
||||
pasynManager->exceptionCallbackAdd(pasynUser, pmacInExceptionHandler);
|
||||
if (status != asynSuccess) {
|
||||
printf("pmacAsynIPPortConfigure: %s exceptionCallbackAdd failed\n",
|
||||
portName);
|
||||
pasynManager->freeAsynUser(pasynUser);
|
||||
free(pPmacPvt);
|
||||
return -1;
|
||||
}
|
||||
|
||||
status = pasynManager->interposeInterface(
|
||||
portName, addr, &pPmacPvt->int32Interface, &(int32LowerLevelInterface));
|
||||
if (status != asynSuccess) {
|
||||
printf("pmacAsynIPPortConfigure: %s interposeInterface failed\n",
|
||||
portName);
|
||||
pasynManager->exceptionCallbackRemove(pasynUser);
|
||||
pasynManager->freeAsynUser(pasynUser);
|
||||
free(pPmacPvt);
|
||||
return -1;
|
||||
}
|
||||
pPmacPvt->pint32 = (asynInt32 *)int32LowerLevelInterface->pinterface;
|
||||
pPmacPvt->int32Pvt = int32LowerLevelInterface->drvPvt;
|
||||
|
||||
status = pasynManager->interposeInterface(
|
||||
portName, addr, &pPmacPvt->octetInterface, &(octetLowerLevelInterface));
|
||||
if (status != asynSuccess) {
|
||||
printf("pmacAsynIPPortConfigure: %s interposeInterface failed\n",
|
||||
portName);
|
||||
pasynManager->exceptionCallbackRemove(pasynUser);
|
||||
pasynManager->freeAsynUser(pasynUser);
|
||||
free(pPmacPvt);
|
||||
return -1;
|
||||
}
|
||||
pPmacPvt->poctet = (asynOctet *)octetLowerLevelInterface->pinterface;
|
||||
pPmacPvt->octetPvt = octetLowerLevelInterface->drvPvt;
|
||||
|
||||
pPmacPvt->poutCmd = callocMustSucceed(
|
||||
1, sizeof(ethernetCmd),
|
||||
"calloc poutCmd error in pmacAsynIPPort::pmacAsynIPPortCommon().");
|
||||
pPmacPvt->pinCmd = callocMustSucceed(
|
||||
1, sizeof(ethernetCmd),
|
||||
"calloc pinCmd error in pmacAsynIPPort::pmacAsynIPPortCommon().");
|
||||
|
||||
pPmacPvt->inBuf = callocMustSucceed(
|
||||
1, MAX_BUFFER_SIZE,
|
||||
"calloc inBuf error in pmacAsynIPPort::pmacAsynIPPortCommon().");
|
||||
|
||||
pPmacPvt->inBufHead = 0;
|
||||
pPmacPvt->inBufTail = 0;
|
||||
|
||||
// Interpose EOS handling layer, above the PMAC IP layer.
|
||||
asynInterposeEosConfig(portName, addr, 1, 1);
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static void pmacInExceptionHandler(asynUser *pasynUser,
|
||||
asynException exception) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)pasynUser->userPvt;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacInExceptionHandler\n");
|
||||
|
||||
if (exception == asynExceptionConnect) {
|
||||
pPmacPvt->inBufHead = 0;
|
||||
pPmacPvt->inBufTail = 0;
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
Read reponse data from PMAC into buffer pmacPvt.inBuf. If there is no data
|
||||
in the asyn buffer then issue pmac GETBUFFER command to get any outstanding
|
||||
data still on the PMAC.
|
||||
*/
|
||||
static asynStatus readResponse(pmacPvt *pPmacPvt, asynUser *pasynUser,
|
||||
size_t maxchars, size_t *nbytesTransfered,
|
||||
int *eomReason) {
|
||||
asynStatus status = asynSuccess;
|
||||
size_t thisRead = 0;
|
||||
*nbytesTransfered = 0;
|
||||
if (maxchars > INPUT_SIZE)
|
||||
maxchars = INPUT_SIZE;
|
||||
|
||||
asynPrint(
|
||||
pasynUser, ASYN_TRACE_FLOW,
|
||||
"pmacAsynIPPort::readResponse. Performing pPmacPvt->poctet->read().\n");
|
||||
|
||||
status =
|
||||
pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser, pPmacPvt->inBuf,
|
||||
maxchars, &thisRead, eomReason);
|
||||
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW,
|
||||
"%s readResponse1 maxchars=%zd, thisRead=%zd, eomReason=%d, "
|
||||
"status=%u\n",
|
||||
pPmacPvt->portName, maxchars, thisRead, *eomReason, status);
|
||||
if (status == asynTimeout && thisRead == 0 && pasynUser->timeout > 0) {
|
||||
/* failed to read as many characters as required into the input buffer,
|
||||
check for more response data on the PMAC */
|
||||
if (pmacReadReady(pPmacPvt, pasynUser)) {
|
||||
|
||||
status = sendPmacGetBuffer(pPmacPvt, pasynUser, maxchars,
|
||||
nbytesTransfered);
|
||||
asynPrintIO(pasynUser, ASYN_TRACE_FLOW, (char *)pPmacPvt->pinCmd,
|
||||
ETHERNET_CMD_HEADER, "%s write GETBUFFER\n",
|
||||
pPmacPvt->portName);
|
||||
|
||||
/* We have nothing to return at the moment so read again */
|
||||
status = pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser,
|
||||
pPmacPvt->inBuf, maxchars,
|
||||
&thisRead, eomReason);
|
||||
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW,
|
||||
"%s readResponse2 maxchars=%zd, thisRead=%zd, "
|
||||
"eomReason=%d, status=%u\n",
|
||||
pPmacPvt->portName, maxchars, thisRead, *eomReason,
|
||||
status);
|
||||
}
|
||||
}
|
||||
|
||||
if (thisRead > 0) {
|
||||
if (status == asynTimeout)
|
||||
status = asynSuccess;
|
||||
*nbytesTransfered = thisRead;
|
||||
pPmacPvt->inBufTail = 0;
|
||||
pPmacPvt->inBufHead = thisRead;
|
||||
}
|
||||
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW,
|
||||
"pmacAsynIPPort::readResponse. END\n");
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
/*
|
||||
Send ReadReady command to PMAC to discover if there is any data to read from
|
||||
it. Returns: 0 - no data available 1 - data available
|
||||
*/
|
||||
static int pmacReadReady(pmacPvt *pPmacPvt, asynUser *pasynUser) {
|
||||
ethernetCmd cmd;
|
||||
char data[2] = {0};
|
||||
asynStatus status;
|
||||
size_t thisRead = 0;
|
||||
size_t nbytesTransfered = 0;
|
||||
int eomReason = 0;
|
||||
int retval = 0;
|
||||
|
||||
cmd.RequestType = VR_UPLOAD;
|
||||
cmd.Request = VR_PMAC_READREADY;
|
||||
cmd.wValue = 0;
|
||||
cmd.wIndex = 0;
|
||||
cmd.wLength = htons(2);
|
||||
|
||||
status =
|
||||
pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser, (char *)&cmd,
|
||||
ETHERNET_CMD_HEADER, &nbytesTransfered);
|
||||
|
||||
if (status != asynSuccess) {
|
||||
asynPrintIO(pasynUser, ASYN_TRACE_ERROR, (char *)&cmd,
|
||||
ETHERNET_CMD_HEADER, "%s write pmacReadReady fail\n",
|
||||
pPmacPvt->portName);
|
||||
}
|
||||
|
||||
status = pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser, data, 2,
|
||||
&thisRead, &eomReason);
|
||||
|
||||
if (status == asynSuccess) {
|
||||
if (thisRead == 2 && data[0] != 0) {
|
||||
retval = 1;
|
||||
}
|
||||
asynPrintIO(pasynUser, ASYN_TRACE_FLOW, data, thisRead,
|
||||
"%s read pmacReadReady OK thisRead=%zd\n",
|
||||
pPmacPvt->portName, thisRead);
|
||||
} else {
|
||||
asynPrint(pasynUser, ASYN_TRACE_ERROR,
|
||||
"%s read pmacReadReady failed status=%d, retval=%d\n",
|
||||
pPmacPvt->portName, status, retval);
|
||||
}
|
||||
return retval;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Flush the PMAC communication buffer
|
||||
*
|
||||
Send a Flush command to PMAC and wait for confirmation ctrlX to be returned
|
||||
according to the Turbo PMAC user manual, p. 414 Returns: 0 - failed 1 - success
|
||||
|
||||
* @param pPmacPvt
|
||||
* @param pasynUser
|
||||
* @return int
|
||||
*/
|
||||
static int pmacFlush(pmacPvt *pPmacPvt, asynUser *pasynUser) {
|
||||
|
||||
ethernetCmd cmd;
|
||||
char data[2];
|
||||
asynStatus status = asynSuccess;
|
||||
size_t thisRead;
|
||||
size_t nbytesTransfered = 0;
|
||||
int eomReason = 0;
|
||||
int retval = 0;
|
||||
|
||||
cmd.RequestType = VR_DOWNLOAD;
|
||||
cmd.Request = VR_PMAC_FLUSH;
|
||||
cmd.wValue = 0;
|
||||
cmd.wIndex = 0;
|
||||
cmd.wLength = 0;
|
||||
|
||||
status =
|
||||
pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser, (char *)&cmd,
|
||||
ETHERNET_CMD_HEADER, &nbytesTransfered);
|
||||
|
||||
if (status != asynSuccess) {
|
||||
asynPrintIO(pasynUser, ASYN_TRACE_ERROR, (char *)&cmd,
|
||||
ETHERNET_CMD_HEADER, "%s write pmacFlush fail\n",
|
||||
pPmacPvt->portName);
|
||||
}
|
||||
|
||||
/* read flush acknowledgement character */
|
||||
/* NB we don't check what the character is (manual sais ctrlX, we get 0x40
|
||||
* i.e.VR_DOWNLOAD) */
|
||||
status = pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser, data, 1,
|
||||
&thisRead, &eomReason);
|
||||
|
||||
if (status == asynSuccess) {
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW, "%s read pmacFlush OK\n",
|
||||
pPmacPvt->portName);
|
||||
retval = 1;
|
||||
} else {
|
||||
asynPrint(pasynUser, ASYN_TRACE_ERROR,
|
||||
"%s read pmacFlush failed - thisRead=%zd, eomReason=%d, "
|
||||
"status=%d\n",
|
||||
pPmacPvt->portName, thisRead, eomReason, status);
|
||||
}
|
||||
|
||||
pPmacPvt->inBufTail = 0;
|
||||
pPmacPvt->inBufHead = 0;
|
||||
|
||||
return retval;
|
||||
}
|
||||
|
||||
static asynStatus sendPmacGetBuffer(pmacPvt *pPmacPvt, asynUser *pasynUser,
|
||||
size_t maxchars, size_t *nbytesTransfered) {
|
||||
asynStatus status = 0;
|
||||
ethernetCmd *inCmd = NULL;
|
||||
|
||||
inCmd = pPmacPvt->pinCmd;
|
||||
inCmd->RequestType = VR_UPLOAD;
|
||||
inCmd->Request = VR_PMAC_GETBUFFER;
|
||||
inCmd->wValue = 0;
|
||||
inCmd->wIndex = 0;
|
||||
inCmd->wLength = htons(maxchars);
|
||||
status = pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser,
|
||||
(char *)pPmacPvt->pinCmd,
|
||||
ETHERNET_CMD_HEADER, nbytesTransfered);
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
/*
|
||||
Implementation of asynInt32 methods
|
||||
Most of these implementations just redirect to the corresponding implementation
|
||||
in asyn/interfaces/asynInt32Base.c
|
||||
*/
|
||||
// =============================================================================
|
||||
|
||||
static asynStatus writeInt32(void *drvPvt, asynUser *pasynUser,
|
||||
epicsInt32 value) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::writeInt32\n");
|
||||
|
||||
// Check that the given pointer is not NULL
|
||||
assert(pPmacPvt);
|
||||
|
||||
if (pasynUser->reason == FLUSH_HARDWARE) {
|
||||
/*
|
||||
According to the Turbo PMAC user manual, p. 414:
|
||||
0 - failed 1 - success
|
||||
*/
|
||||
if (pmacFlush(pPmacPvt, pasynUser) == 1) {
|
||||
return asynSuccess;
|
||||
} else {
|
||||
return asynError;
|
||||
}
|
||||
} else {
|
||||
return pPmacPvt->pint32->write(pPmacPvt->int32Pvt, pasynUser, value);
|
||||
}
|
||||
}
|
||||
|
||||
static asynStatus readInt32(void *drvPvt, asynUser *pasynUser,
|
||||
epicsInt32 *value) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::readInt32\n");
|
||||
|
||||
// Check that the given pointer is not NULL
|
||||
assert(pPmacPvt);
|
||||
|
||||
return pPmacPvt->pint32->read(pPmacPvt->int32Pvt, pasynUser, value);
|
||||
}
|
||||
|
||||
static asynStatus getBoundsInt32(void *drvPvt, asynUser *pasynUser,
|
||||
epicsInt32 *low, epicsInt32 *high) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::getBoundsInt32\n");
|
||||
|
||||
// Check that the given pointer is not NULL
|
||||
assert(pPmacPvt);
|
||||
|
||||
return pPmacPvt->pint32->getBounds(pPmacPvt->int32Pvt, pasynUser, low,
|
||||
high);
|
||||
}
|
||||
|
||||
static asynStatus registerInterruptUserInt32(void *drvPvt, asynUser *pasynUser,
|
||||
interruptCallbackInt32 callback,
|
||||
void *userPvt,
|
||||
void **registrarPvt) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW,
|
||||
"pmacAsynIPPort::registerInterruptUserInt32\n");
|
||||
|
||||
// Check that the given pointer is not NULL
|
||||
assert(pPmacPvt);
|
||||
|
||||
return pPmacPvt->pint32->registerInterruptUser(
|
||||
pPmacPvt->int32Pvt, pasynUser, callback, userPvt, registrarPvt);
|
||||
}
|
||||
|
||||
static asynStatus cancelInterruptUserInt32(void *drvPvt, asynUser *pasynUser,
|
||||
void *registrarPvt) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW,
|
||||
"pmacAsynIPPort::cancelInterruptUserInt32\n");
|
||||
|
||||
// Check that the given pointer is not NULL
|
||||
assert(pPmacPvt);
|
||||
|
||||
return pPmacPvt->pint32->cancelInterruptUser(pPmacPvt->int32Pvt, pasynUser,
|
||||
registrarPvt);
|
||||
}
|
||||
|
||||
/*
|
||||
Implementation of asynOctet methods
|
||||
Most of these implementations just redirect to the corresponding implementation
|
||||
in asyn/interfaces/asynOctetBase.c
|
||||
*/
|
||||
// =============================================================================
|
||||
|
||||
/* This function sends either a ascii string command to the PMAC using
|
||||
VR_PMAC_GETRESPONSE or a single control character (ctrl B/C/F/G/P/V) using
|
||||
VR_CTRL_RESPONSE
|
||||
*/
|
||||
static asynStatus writeItOctet(void *drvPvt, asynUser *pasynUser,
|
||||
const char *data, size_t numchars,
|
||||
size_t *nbytesTransfered) {
|
||||
asynStatus status;
|
||||
ethernetCmd *outCmd;
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
|
||||
size_t nbytesActual = 0;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::writeItOctet\n");
|
||||
|
||||
// Check that the given pointer is not NULL
|
||||
assert(pPmacPvt);
|
||||
|
||||
/* NB currently we assume control characters arrive as individual
|
||||
characters/calls to this routine. Idealy we should probably scan the data
|
||||
buffer for control commands and do PMAC_GETRESPONSE and CTRL_RESPONSE
|
||||
commands as necessary, */
|
||||
outCmd = pPmacPvt->poutCmd;
|
||||
if (numchars == 1 && strchr(ctrlCommands, data[0])) {
|
||||
outCmd->RequestType = VR_UPLOAD;
|
||||
outCmd->Request = VR_CTRL_RESPONSE;
|
||||
outCmd->wValue = data[0];
|
||||
outCmd->wIndex = 0;
|
||||
outCmd->wLength = htons(0);
|
||||
status = pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser,
|
||||
(char *)pPmacPvt->poutCmd,
|
||||
ETHERNET_CMD_HEADER, &nbytesActual);
|
||||
*nbytesTransfered =
|
||||
(nbytesActual == ETHERNET_CMD_HEADER) ? numchars : 0;
|
||||
} else {
|
||||
if (numchars > ETHERNET_DATA_SIZE) {
|
||||
/* NB large data should probably be sent using PMAC_WRITEBUFFER
|
||||
* which isnt implemented yet - for the moment just truncate */
|
||||
numchars = ETHERNET_DATA_SIZE;
|
||||
asynPrint(pasynUser, ASYN_TRACE_ERROR,
|
||||
"writeItOctet - ERROR TRUNCATED\n");
|
||||
}
|
||||
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
outCmd->RequestType = VR_DOWNLOAD;
|
||||
outCmd->Request = VR_PMAC_GETRESPONSE;
|
||||
outCmd->wValue = 0;
|
||||
outCmd->wIndex = 0;
|
||||
outCmd->wLength = htons(numchars);
|
||||
memcpy(outCmd->bData, data, numchars);
|
||||
status = pPmacPvt->poctet->write(
|
||||
pPmacPvt->octetPvt, pasynUser, (char *)pPmacPvt->poutCmd,
|
||||
numchars + ETHERNET_CMD_HEADER, &nbytesActual);
|
||||
*nbytesTransfered = (nbytesActual > ETHERNET_CMD_HEADER)
|
||||
? (nbytesActual - ETHERNET_CMD_HEADER)
|
||||
: 0;
|
||||
}
|
||||
|
||||
asynPrintIO(pasynUser, ASYN_TRACE_FLOW, (char *)pPmacPvt->poutCmd,
|
||||
numchars + ETHERNET_CMD_HEADER, "%s writeItOctet\n",
|
||||
pPmacPvt->portName);
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
/*
|
||||
This function reads data using read() into a local buffer and then look for
|
||||
message terminating characters and returns a complete response (or times
|
||||
out), adding on ACK if neccessary. The PMAC command response may be any of
|
||||
the following:- data<CR>data<CR>....data<CR><ACK> <BELL>data<CR> e.g. an
|
||||
error <BELL>ERRxxx<CR> <STX>data<CR> (NB asyn EOS only allows one message
|
||||
terminator to be specified. We add on ACK for the EOS layer above.)
|
||||
*/
|
||||
static asynStatus readItOctet(void *drvPvt, asynUser *pasynUser, char *data,
|
||||
size_t maxchars, size_t *nbytesTransfered,
|
||||
int *eomReason) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
|
||||
asynStatus status = asynSuccess;
|
||||
size_t thisRead = 0;
|
||||
size_t nRead = 0;
|
||||
int bell = 0;
|
||||
int initialRead = 1;
|
||||
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW,
|
||||
"pmacAsynIPPort::readItOctet. START\n");
|
||||
|
||||
// Check that the given pointer is not NULL
|
||||
assert(pPmacPvt);
|
||||
|
||||
if (maxchars > 0) {
|
||||
for (;;) {
|
||||
if ((pPmacPvt->inBufTail != pPmacPvt->inBufHead)) {
|
||||
*data = pPmacPvt->inBuf[pPmacPvt->inBufTail++];
|
||||
if (*data == BELL || *data == STX)
|
||||
bell = 1;
|
||||
if (*data == '\r' && bell) {
|
||||
/* <BELL>xxxxxx<CR> or <STX>xxxxx<CR> received - its
|
||||
* probably an error response (<BELL>ERRxxx<CR>) - assume
|
||||
* there is no more response data to come */
|
||||
nRead++; /* make sure the <CR> is passed to the client app
|
||||
*/
|
||||
/*Add on ACK, because that's what we expect to be EOS in EOS
|
||||
* interpose layer.*/
|
||||
if ((nRead + 1) > maxchars) {
|
||||
/*If maxchars is reached overwrite <CR> with ACK, so
|
||||
* that no more reads will be done from EOS layer.*/
|
||||
*data = ACK;
|
||||
} else {
|
||||
data++;
|
||||
nRead++;
|
||||
*data = ACK;
|
||||
}
|
||||
break;
|
||||
}
|
||||
if (*data == ACK || *data == '\n') {
|
||||
/* <ACK> or <LF> received - assume there is no more response
|
||||
* data to come */
|
||||
/* If <LF>, replace with an ACK.*/
|
||||
if (*data == '\n') {
|
||||
*data = ACK;
|
||||
}
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW,
|
||||
"Message was terminated with ACK in "
|
||||
"pmacAsynIPPort::readItOctet.\n");
|
||||
/*Pass ACK up to Asyn EOS handling layer.*/
|
||||
data++;
|
||||
nRead++;
|
||||
break;
|
||||
}
|
||||
data++;
|
||||
nRead++;
|
||||
if (nRead >= maxchars)
|
||||
break;
|
||||
continue;
|
||||
}
|
||||
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW,
|
||||
"pmacAsynIPPort::readItOctet. Calling readResponse().\n");
|
||||
if (!initialRead) {
|
||||
if (pmacReadReady(pPmacPvt, pasynUser)) {
|
||||
status = sendPmacGetBuffer(pPmacPvt, pasynUser, maxchars,
|
||||
nbytesTransfered);
|
||||
}
|
||||
}
|
||||
status = readResponse(pPmacPvt, pasynUser, maxchars - nRead,
|
||||
&thisRead, eomReason);
|
||||
initialRead = 0;
|
||||
if (status != asynSuccess || thisRead == 0)
|
||||
break;
|
||||
}
|
||||
}
|
||||
*nbytesTransfered = nRead;
|
||||
|
||||
asynPrintIO(
|
||||
pasynUser, ASYN_TRACE_FLOW, data, *nbytesTransfered,
|
||||
"%s pmacAsynIPPort readItOctet nbytesTransfered=%zd, eomReason=%d, "
|
||||
"status=%d\n",
|
||||
pPmacPvt->portName, *nbytesTransfered, *eomReason, status);
|
||||
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::readItOctet. END\n");
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static asynStatus flushItOctet(void *drvPvt, asynUser *pasynUser) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
|
||||
asynStatus status;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::flushItOctet\n");
|
||||
|
||||
// Check that the given pointer is not NULL
|
||||
assert(pPmacPvt);
|
||||
|
||||
/*
|
||||
See changelog at the file header: We do not want to flush the controller
|
||||
during "normal" operation, since this stalls the controller.
|
||||
|
||||
pmacFlush(pPmacPvt, pasynUser);
|
||||
*/
|
||||
|
||||
status = pPmacPvt->poctet->flush(pPmacPvt->octetPvt, pasynUser);
|
||||
return status;
|
||||
}
|
||||
|
||||
static asynStatus registerInterruptUserOctet(void *drvPvt, asynUser *pasynUser,
|
||||
interruptCallbackOctet callback,
|
||||
void *userPvt,
|
||||
void **registrarPvt) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW,
|
||||
"pmacAsynIPPort::registerInterruptUserOctet\n");
|
||||
|
||||
// Check that the given pointer is not NULL
|
||||
assert(pPmacPvt);
|
||||
|
||||
return pPmacPvt->poctet->registerInterruptUser(
|
||||
pPmacPvt->octetPvt, pasynUser, callback, userPvt, registrarPvt);
|
||||
}
|
||||
|
||||
static asynStatus cancelInterruptUserOctet(void *drvPvt, asynUser *pasynUser,
|
||||
void *registrarPvt) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW,
|
||||
"pmacAsynIPPort::cancelInterruptUserOctet\n");
|
||||
|
||||
// Check that the given pointer is not NULL
|
||||
assert(pPmacPvt);
|
||||
|
||||
return pPmacPvt->poctet->cancelInterruptUser(pPmacPvt->octetPvt, pasynUser,
|
||||
registrarPvt);
|
||||
}
|
||||
|
||||
static asynStatus setInputEosOctet(void *drvPvt, asynUser *pasynUser,
|
||||
const char *eos, int eoslen) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::setInputEosOctet\n");
|
||||
|
||||
// Check that the given pointer is not NULL
|
||||
assert(pPmacPvt);
|
||||
|
||||
return pPmacPvt->poctet->setInputEos(pPmacPvt->octetPvt, pasynUser, eos,
|
||||
eoslen);
|
||||
}
|
||||
|
||||
static asynStatus getInputEosOctet(void *drvPvt, asynUser *pasynUser, char *eos,
|
||||
int eossize, int *eoslen) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::getInputEosOctet\n");
|
||||
|
||||
// Check that the given pointer is not NULL
|
||||
assert(pPmacPvt);
|
||||
|
||||
return pPmacPvt->poctet->getInputEos(pPmacPvt->octetPvt, pasynUser, eos,
|
||||
eossize, eoslen);
|
||||
}
|
||||
|
||||
static asynStatus setOutputEosOctet(void *drvPvt, asynUser *pasynUser,
|
||||
const char *eos, int eoslen) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW,
|
||||
"pmacAsynIPPort::setOutputEosOctet\n");
|
||||
|
||||
// Check that the given pointer is not NULL
|
||||
assert(pPmacPvt);
|
||||
|
||||
return pPmacPvt->poctet->setOutputEos(pPmacPvt->octetPvt, pasynUser, eos,
|
||||
eoslen);
|
||||
}
|
||||
|
||||
static asynStatus getOutputEosOctet(void *drvPvt, asynUser *pasynUser,
|
||||
char *eos, int eossize, int *eoslen) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW,
|
||||
"pmacAsynIPPort::getOutputEosOctet\n");
|
||||
|
||||
// Check that the given pointer is not NULL
|
||||
assert(pPmacPvt);
|
||||
|
||||
return pPmacPvt->poctet->getOutputEos(pPmacPvt->octetPvt, pasynUser, eos,
|
||||
eossize, eoslen);
|
||||
}
|
||||
|
||||
// =============================================================================
|
||||
|
||||
/* register pmacAsynIPPortConfigure*/
|
||||
static const iocshArg pmacAsynIPPortConfigureArg0 = {"portName",
|
||||
iocshArgString};
|
||||
static const iocshArg pmacAsynIPPortConfigureArg1 = {"hostInfo",
|
||||
iocshArgString};
|
||||
static const iocshArg *pmacAsynIPPortConfigureArgs[] = {
|
||||
&pmacAsynIPPortConfigureArg0, &pmacAsynIPPortConfigureArg1};
|
||||
static const iocshFuncDef pmacAsynIPPortConfigFuncDef = {
|
||||
"pmacAsynIPPortConfigure", 2, pmacAsynIPPortConfigureArgs, ""};
|
||||
static void pmacAsynIPPortConfigureCallFunc(const iocshArgBuf *args) {
|
||||
pmacAsynIPPortConfigure(args[0].sval, args[1].sval);
|
||||
}
|
||||
|
||||
static void pmacAsynIPPortRegister(void) {
|
||||
static int firstTime = 1;
|
||||
if (firstTime) {
|
||||
firstTime = 0;
|
||||
iocshRegister(&pmacAsynIPPortConfigFuncDef,
|
||||
pmacAsynIPPortConfigureCallFunc);
|
||||
}
|
||||
}
|
||||
epicsExportRegistrar(pmacAsynIPPortRegister);
|
||||
35
src/pmacAsynIPPort.h
Normal file
35
src/pmacAsynIPPort.h
Normal file
@ -0,0 +1,35 @@
|
||||
#ifndef asynInterposePmac_H
|
||||
#define asynInterposePmac_H
|
||||
|
||||
#include <epicsExport.h>
|
||||
#include <shareLib.h>
|
||||
|
||||
/*
|
||||
Value is chosen arbitrarily, it just needs to be unique
|
||||
*/
|
||||
#define FLUSH_HARDWARE 1
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif /* __cplusplus */
|
||||
|
||||
/**
|
||||
* @brief Initialize a special asyn IP Port for PMAC controllers.
|
||||
*
|
||||
* Function that first initialises an asyn IP port and then the PMAC Asyn IP
|
||||
* interpose layer. It is a wrapper for drvAsynIPPort::drvAsynIPPortConfigure()
|
||||
* and pmacAsynIPPort::pmacAsynIPPortConfigureEos().
|
||||
*
|
||||
* @param portName The Asyn Port name string.
|
||||
* @param hostInfo The hostname or IP address followed by IP port (eg.
|
||||
* 172.23.243.156:1025)
|
||||
* @return status
|
||||
*/
|
||||
epicsShareFunc int pmacAsynIPPortConfigure(const char *portName,
|
||||
const char *hostInfo);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* __cplusplus */
|
||||
|
||||
#endif /* asynInterposePmac_H */
|
||||
@ -1,848 +0,0 @@
|
||||
/*
|
||||
NOTES
|
||||
|
||||
This driver is an asyn interpose driver intended for use with pmacAsynMotor
|
||||
to allow communication over ethernet to a PMAC.
|
||||
|
||||
*** Ensure I3=2 and I6=1 on the PMAC before using this driver. ***
|
||||
|
||||
This driver supports sending ascii commands to the PMAC over asyn IP and
|
||||
obtaining the response. The driver uses the PMAC ethernet packets
|
||||
VR_PMAC_GETRESPONSE, VR_PMAC_READREADY and VR_PMAC_GETBUFFER to send commands
|
||||
and get responses. The PMAC may send responses in several different formats.
|
||||
1) PMAC ascii command responses for single/multiple commands (e.g. I113 I114
|
||||
I130 I131 I133) are in an ACK terminated form as follows (CR seperates the
|
||||
cmd responses): data<CR(13)>data<CR(13)>data<CR(13)><ACK(6)> 2) PMAC error
|
||||
responses to ascii commands ARE NOT ACK terminated as follows:
|
||||
<BELL(7)>ERRxxx<CR(13)>
|
||||
3) PMAC may also return the following:
|
||||
<STX(2)>data<CR(13)>
|
||||
|
||||
This driver can send ctrl commands (ctrl B/C/F/G/P/V) to the pmac (using
|
||||
VR_CTRL_REPONSE packet) however because the resulting response data is not
|
||||
terminated as above the driver does not know when all the response data has
|
||||
been received. The response data will therefore only be returned after the
|
||||
asynUser.timeout has expired.
|
||||
|
||||
This driver supports the octet flush method and issues a VR_PMAC_FLUSH to the
|
||||
PMAC.
|
||||
|
||||
This driver does NOT support large buffer transfers (VR_PMAC_WRITEBUFFER,
|
||||
VR_FWDOWNLOAD) or set/get of DPRAM (VR_PMAC_SETMEM etc) or changing comms
|
||||
setup (VR_IPADDRESS, VR_PMAC_PORT)
|
||||
|
||||
|
||||
REVISION HISTORY
|
||||
|
||||
10 Aug 07 - Pete Leicester - Diamond Light Source
|
||||
Modified to handle responses other than those ending in <ACK> (e.g. errors) -
|
||||
No longer used asyn EOS.
|
||||
|
||||
9 Aug 07 - Pete Leicester - Diamond Light Source
|
||||
Initial version reliant on asyn EOS to return <ACK> terminated responses.
|
||||
|
||||
2 Feb 09 - Matthew Pearson - Diamond Light Source
|
||||
Ported to work with Asyn 4-10. Still compiles with pre Asyn4-10 versions but
|
||||
does not work. Also added new config function, pmacAsynIPPortConfigureEos(),
|
||||
to be used when disabling low level EOS handling in the Asyn IP layer. This
|
||||
new function should be used with Asyn 4-10 and above (it is not compatible
|
||||
with Asyn 4-9).
|
||||
*/
|
||||
|
||||
#include <stddef.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
|
||||
#include <cantProceed.h>
|
||||
#include <epicsAssert.h>
|
||||
#include <epicsStdio.h>
|
||||
#include <epicsString.h>
|
||||
#include <iocsh.h>
|
||||
|
||||
#include "asynDriver.h"
|
||||
#include "asynInterposeEos.h"
|
||||
#include "asynOctet.h"
|
||||
#include "drvAsynIPPort.h"
|
||||
#include "epicsThread.h"
|
||||
#include "turboPmacAsynIPPort.h"
|
||||
#include <epicsExport.h>
|
||||
|
||||
#include <netinet/in.h>
|
||||
|
||||
#define ETHERNET_DATA_SIZE 1492
|
||||
#define MAX_BUFFER_SIZE 2097152
|
||||
#define INPUT_SIZE \
|
||||
(ETHERNET_DATA_SIZE + 1) /* +1 to allow space to add terminating ACK */
|
||||
#define STX '\2'
|
||||
#define CTRLB '\2'
|
||||
#define CTRLC '\3'
|
||||
#define ACK '\6'
|
||||
#define CTRLF '\6'
|
||||
#define BELL '\7'
|
||||
#define CTRLG '\7'
|
||||
#define CTRLP '\16'
|
||||
#define CTRLV '\22'
|
||||
#define CTRLX '\24'
|
||||
|
||||
/* PMAC ethernet command structure */
|
||||
#pragma pack(1)
|
||||
typedef struct tagEthernetCmd {
|
||||
unsigned char RequestType;
|
||||
unsigned char Request;
|
||||
unsigned short wValue;
|
||||
unsigned short wIndex;
|
||||
unsigned short wLength; /* length of bData */
|
||||
unsigned char bData[ETHERNET_DATA_SIZE];
|
||||
} ethernetCmd;
|
||||
#pragma pack()
|
||||
|
||||
#define ETHERNET_CMD_HEADER (sizeof(ethernetCmd) - ETHERNET_DATA_SIZE)
|
||||
|
||||
/* PMAC ethernet commands - RequestType field */
|
||||
#define VR_UPLOAD 0xC0
|
||||
#define VR_DOWNLOAD 0x40
|
||||
|
||||
/* PMAC ethernet commands - Request field */
|
||||
#define VR_PMAC_SENDLINE 0xB0
|
||||
#define VR_PMAC_GETLINE 0xB1
|
||||
#define VR_PMAC_FLUSH 0xB3
|
||||
#define VR_PMAC_GETMEM 0xB4
|
||||
#define VR_PMAC_SETMEN 0xB5
|
||||
#define VR_PMAC_SETBIT 0xBA
|
||||
#define VR_PMAC_SETBITS 0xBB
|
||||
#define VR_PMAC_PORT 0xBE
|
||||
#define VR_PMAC_GETRESPONSE 0xBF
|
||||
#define VR_PMAC_READREADY 0xC2
|
||||
#define VR_CTRL_RESPONSE 0xC4
|
||||
#define VR_PMAC_GETBUFFER 0xC5
|
||||
#define VR_PMAC_WRITEBUFFER 0xC6
|
||||
#define VR_PMAC_WRITEERROR 0xC7
|
||||
#define VR_FWDOWNLOAD 0xCB
|
||||
#define VR_IPADDRESS 0xE0
|
||||
|
||||
/* PMAC control character commands (VR_CTRL_RESPONSE cmd) */
|
||||
static char ctrlCommands[] = {CTRLB, CTRLC, CTRLF, CTRLG, CTRLP, CTRLV};
|
||||
|
||||
typedef struct pmacPvt {
|
||||
char *portName;
|
||||
int addr;
|
||||
asynInterface pmacInterface;
|
||||
asynOctet *poctet; /* The methods we're overriding */
|
||||
void *octetPvt;
|
||||
asynUser *pasynUser; /* For connect/disconnect reporting */
|
||||
ethernetCmd *poutCmd;
|
||||
ethernetCmd *pinCmd;
|
||||
char *inBuf;
|
||||
unsigned int inBufHead;
|
||||
unsigned int inBufTail;
|
||||
} pmacPvt;
|
||||
|
||||
/*
|
||||
Notes on asyn
|
||||
use asynUser.timeout to specify I/O request timeouts in seconds
|
||||
asynStatus may return asynSuccess(0),asynTimeout(1),asynOverflow(2) or
|
||||
asynError(3) eomReason may return ASYN_EOM_CNT (1:Request count reached),
|
||||
ASYN_EOM_EOS (2:End of String detected), ASYN_EOM_END (4:End indicator
|
||||
detected) asynError indicates that asynUser.errorMessage has been populated
|
||||
by epicsSnprintf().
|
||||
*/
|
||||
|
||||
/* Connect/disconnect handling */
|
||||
static void pmacInExceptionHandler(asynUser *pasynUser,
|
||||
asynException exception);
|
||||
|
||||
/* asynOctet methods */
|
||||
static asynStatus writeIt(void *ppvt, asynUser *pasynUser, const char *data,
|
||||
size_t numchars, size_t *nbytesTransfered);
|
||||
static asynStatus readIt(void *ppvt, asynUser *pasynUser, char *data,
|
||||
size_t maxchars, size_t *nbytesTransfered,
|
||||
int *eomReason);
|
||||
static asynStatus flushIt(void *ppvt, asynUser *pasynUser);
|
||||
static asynStatus registerInterruptUser(void *ppvt, asynUser *pasynUser,
|
||||
interruptCallbackOctet callback,
|
||||
void *userPvt, void **registrarPvt);
|
||||
static asynStatus cancelInterruptUser(void *drvPvt, asynUser *pasynUser,
|
||||
void *registrarPvt);
|
||||
static asynStatus setInputEos(void *ppvt, asynUser *pasynUser, const char *eos,
|
||||
int eoslen);
|
||||
static asynStatus getInputEos(void *ppvt, asynUser *pasynUser, char *eos,
|
||||
int eossize, int *eoslen);
|
||||
static asynStatus setOutputEos(void *ppvt, asynUser *pasynUser, const char *eos,
|
||||
int eoslen);
|
||||
static asynStatus getOutputEos(void *ppvt, asynUser *pasynUser, char *eos,
|
||||
int eossize, int *eoslen);
|
||||
|
||||
/* Declare asynOctet here, and assign functions later on
|
||||
(compatible with both Asyn 4-10 and pre 4-10 versions).*/
|
||||
static asynOctet octet;
|
||||
|
||||
static asynStatus readResponse(pmacPvt *pPmacPvt, asynUser *pasynUser,
|
||||
size_t maxchars, size_t *nbytesTransfered,
|
||||
int *eomReason);
|
||||
static int pmacReadReady(pmacPvt *pPmacPvt, asynUser *pasynUser);
|
||||
static int pmacFlush(pmacPvt *pPmacPvt, asynUser *pasynUser);
|
||||
static int pmacAsynIPPortCommon(const char *portName, int addr,
|
||||
pmacPvt **pPmacPvt,
|
||||
asynInterface **plowerLevelInterface,
|
||||
asynUser **pasynUser);
|
||||
static int pmacAsynIPPortConfigureEos(const char *portName, int addr);
|
||||
static asynStatus sendPmacGetBuffer(pmacPvt *pPmacPvt, asynUser *pasynUser,
|
||||
size_t maxchars, size_t *nbytesTransfered);
|
||||
|
||||
/**
|
||||
* Function that first initialises an Asyn IP port and then the PMAC Asyn IP
|
||||
* interpose layer. It is a wrapper for drvAsynIPPort::drvAsynIPPortConfigure()
|
||||
* and pmacAsynIPPort::pmacAsynIPPortConfigureEos().
|
||||
*
|
||||
* @param portName The Asyn Port name string.
|
||||
* @param hostInfo The hostname or IP address followed by IP port (eg.
|
||||
* 172.23.243.156:1025)
|
||||
* @return status
|
||||
*/
|
||||
epicsShareFunc int pmacAsynIPConfigure(const char *portName,
|
||||
const char *hostInfo) {
|
||||
asynStatus status = 0;
|
||||
|
||||
if ((status = drvAsynIPPortConfigure(portName, hostInfo, 0, 0, 1)) != 0) {
|
||||
printf("pmacAsynIPConfigure: error from drvAsynIPPortConfigure. Port: "
|
||||
"%s\n",
|
||||
portName);
|
||||
}
|
||||
|
||||
if ((status = pmacAsynIPPortConfigureEos(portName, 0)) != 0) {
|
||||
printf("pmacAsynIPConfigure: error from pmacAsynIPPortConfigureEos. "
|
||||
"Port: %s\n",
|
||||
portName);
|
||||
}
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
/**
|
||||
* This reimplements pmacAsynIPPort::pmacAsynIPPortConfigure(), but introduces
|
||||
* EOS handling interpose layer above the PMAC IP layer.
|
||||
*
|
||||
* The setup of the Asyn IP port must set noProcessEos=1 to use this function.
|
||||
*
|
||||
* NOTE: The use of this function is not compatible with versions of Asyn before
|
||||
* 4-10.
|
||||
*
|
||||
* @param portName The Asyn port name
|
||||
* @param addr The Asyn address.
|
||||
* @return status
|
||||
*/
|
||||
epicsShareFunc int pmacAsynIPPortConfigureEos(const char *portName, int addr) {
|
||||
pmacPvt *pPmacPvt = NULL;
|
||||
asynInterface *plowerLevelInterface = NULL;
|
||||
asynStatus status = 0;
|
||||
asynUser *pasynUser = NULL;
|
||||
|
||||
status = pmacAsynIPPortCommon(portName, addr, &pPmacPvt,
|
||||
&plowerLevelInterface, &pasynUser);
|
||||
if (status) {
|
||||
asynPrint(pasynUser, ASYN_TRACE_ERROR,
|
||||
"pmacAsynIPPortConfigureEos: error from pmacAsynIPPortCommon "
|
||||
"%s: %s\n",
|
||||
portName, pasynUser->errorMessage);
|
||||
}
|
||||
|
||||
/*Now interpose EOS handling layer, above the PMAC IP layer.*/
|
||||
asynInterposeEosConfig(portName, addr, 1, 1);
|
||||
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW,
|
||||
"Done pmacAsynIPPortConfigureEos OK\n");
|
||||
return (0);
|
||||
}
|
||||
|
||||
epicsShareFunc int pmacAsynIPPortConfigure(const char *portName, int addr) {
|
||||
pmacPvt *pPmacPvt = NULL;
|
||||
asynInterface *plowerLevelInterface = NULL;
|
||||
asynUser *pasynUser = NULL;
|
||||
asynStatus status = 0;
|
||||
|
||||
status = pmacAsynIPPortCommon(portName, addr, &pPmacPvt,
|
||||
&plowerLevelInterface, &pasynUser);
|
||||
|
||||
status =
|
||||
pPmacPvt->poctet->setInputEos(pPmacPvt->octetPvt, pasynUser, "\6", 1);
|
||||
if (status) {
|
||||
asynPrint(
|
||||
pasynUser, ASYN_TRACE_ERROR,
|
||||
"pmacAsynIPPortConfigure: unable to set input EOS on %s: %s\n",
|
||||
portName, pasynUser->errorMessage);
|
||||
return -1;
|
||||
}
|
||||
status =
|
||||
pPmacPvt->poctet->setOutputEos(pPmacPvt->octetPvt, pasynUser, "\r", 1);
|
||||
if (status) {
|
||||
asynPrint(
|
||||
pasynUser, ASYN_TRACE_ERROR,
|
||||
"pmacAsynIPPortConfigure: unable to set output EOS on %s: %s\n",
|
||||
portName, pasynUser->errorMessage);
|
||||
return -1;
|
||||
}
|
||||
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW, "Done pmacAsynIPPortConfigure OK\n");
|
||||
return (0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Common code for both pmacAsynIPPortConfigure and pmacAsynIPPortConfigureEos.
|
||||
* @param portName
|
||||
* @param addr
|
||||
* @param pPmacPvt pointer
|
||||
* @param plowerLevelInterface pointer
|
||||
* @param pasynUser pointer
|
||||
* @return status
|
||||
*/
|
||||
static int pmacAsynIPPortCommon(const char *portName, int addr,
|
||||
pmacPvt **pPmacPvt,
|
||||
asynInterface **plowerLevelInterface,
|
||||
asynUser **pasynUser) {
|
||||
asynStatus status;
|
||||
size_t len;
|
||||
|
||||
/*Assign static asynOctet functions here.*/
|
||||
octet.write = writeIt;
|
||||
octet.read = readIt;
|
||||
octet.flush = flushIt;
|
||||
octet.setInputEos = setInputEos;
|
||||
octet.setOutputEos = setOutputEos;
|
||||
octet.getInputEos = getInputEos;
|
||||
octet.getOutputEos = getOutputEos;
|
||||
octet.registerInterruptUser = registerInterruptUser;
|
||||
octet.cancelInterruptUser = cancelInterruptUser;
|
||||
|
||||
len = sizeof(pmacPvt) + strlen(portName) + 1;
|
||||
*pPmacPvt = callocMustSucceed(
|
||||
1, len,
|
||||
"calloc pPmacPvt error in pmacAsynIPPort::pmacAsynIPPortCommon().");
|
||||
(*pPmacPvt)->portName = (char *)(*pPmacPvt + 1);
|
||||
strcpy((*pPmacPvt)->portName, portName);
|
||||
(*pPmacPvt)->addr = addr;
|
||||
(*pPmacPvt)->pmacInterface.interfaceType = asynOctetType;
|
||||
(*pPmacPvt)->pmacInterface.pinterface = &octet;
|
||||
(*pPmacPvt)->pmacInterface.drvPvt = *pPmacPvt;
|
||||
*pasynUser = pasynManager->createAsynUser(0, 0);
|
||||
(*pPmacPvt)->pasynUser = *pasynUser;
|
||||
(*pPmacPvt)->pasynUser->userPvt = *pPmacPvt;
|
||||
|
||||
status = pasynManager->connectDevice(*pasynUser, portName, addr);
|
||||
if (status != asynSuccess) {
|
||||
printf("pmacAsynIPPortConfigure: %s connectDevice failed\n", portName);
|
||||
pasynManager->freeAsynUser(*pasynUser);
|
||||
free(*pPmacPvt);
|
||||
return -1;
|
||||
}
|
||||
|
||||
status =
|
||||
pasynManager->exceptionCallbackAdd(*pasynUser, pmacInExceptionHandler);
|
||||
if (status != asynSuccess) {
|
||||
printf("pmacAsynIPPortConfigure: %s exceptionCallbackAdd failed\n",
|
||||
portName);
|
||||
pasynManager->freeAsynUser(*pasynUser);
|
||||
free(*pPmacPvt);
|
||||
return -1;
|
||||
}
|
||||
|
||||
status = pasynManager->interposeInterface(
|
||||
portName, addr, &(*pPmacPvt)->pmacInterface, &(*plowerLevelInterface));
|
||||
if (status != asynSuccess) {
|
||||
printf("pmacAsynIPPortConfigure: %s interposeInterface failed\n",
|
||||
portName);
|
||||
pasynManager->exceptionCallbackRemove(*pasynUser);
|
||||
pasynManager->freeAsynUser(*pasynUser);
|
||||
free(*pPmacPvt);
|
||||
return -1;
|
||||
}
|
||||
|
||||
(*pPmacPvt)->poctet = (asynOctet *)(*plowerLevelInterface)->pinterface;
|
||||
(*pPmacPvt)->octetPvt = (*plowerLevelInterface)->drvPvt;
|
||||
|
||||
(*pPmacPvt)->poutCmd = callocMustSucceed(
|
||||
1, sizeof(ethernetCmd),
|
||||
"calloc poutCmd error in pmacAsynIPPort::pmacAsynIPPortCommon().");
|
||||
(*pPmacPvt)->pinCmd = callocMustSucceed(
|
||||
1, sizeof(ethernetCmd),
|
||||
"calloc pinCmd error in pmacAsynIPPort::pmacAsynIPPortCommon().");
|
||||
|
||||
(*pPmacPvt)->inBuf = callocMustSucceed(
|
||||
1, MAX_BUFFER_SIZE,
|
||||
"calloc inBuf error in pmacAsynIPPort::pmacAsynIPPortCommon().");
|
||||
|
||||
(*pPmacPvt)->inBufHead = 0;
|
||||
(*pPmacPvt)->inBufTail = 0;
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static void pmacInExceptionHandler(asynUser *pasynUser,
|
||||
asynException exception) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)pasynUser->userPvt;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacInExceptionHandler\n");
|
||||
|
||||
if (exception == asynExceptionConnect) {
|
||||
pPmacPvt->inBufHead = 0;
|
||||
pPmacPvt->inBufTail = 0;
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
Read reponse data from PMAC into buffer pmacPvt.inBuf. If there is no data
|
||||
in the asyn buffer then issue pmac GETBUFFER command to get any outstanding
|
||||
data still on the PMAC.
|
||||
*/
|
||||
static asynStatus readResponse(pmacPvt *pPmacPvt, asynUser *pasynUser,
|
||||
size_t maxchars, size_t *nbytesTransfered,
|
||||
int *eomReason) {
|
||||
ethernetCmd *inCmd;
|
||||
asynStatus status = asynSuccess;
|
||||
size_t thisRead = 0;
|
||||
*nbytesTransfered = 0;
|
||||
if (maxchars > INPUT_SIZE)
|
||||
maxchars = INPUT_SIZE;
|
||||
|
||||
asynPrint(
|
||||
pasynUser, ASYN_TRACE_FLOW,
|
||||
"pmacAsynIPPort::readResponse. Performing pPmacPvt->poctet->read().\n");
|
||||
|
||||
status =
|
||||
pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser, pPmacPvt->inBuf,
|
||||
maxchars, &thisRead, eomReason);
|
||||
|
||||
asynPrint(
|
||||
pasynUser, ASYN_TRACE_FLOW,
|
||||
"%s readResponse1 maxchars=%d, thisRead=%d, eomReason=%d, status=%d\n",
|
||||
pPmacPvt->portName, maxchars, thisRead, *eomReason, status);
|
||||
if (status == asynTimeout && thisRead == 0 && pasynUser->timeout > 0) {
|
||||
/* failed to read as many characters as required into the input buffer,
|
||||
check for more response data on the PMAC */
|
||||
if (pmacReadReady(pPmacPvt, pasynUser)) {
|
||||
|
||||
status = sendPmacGetBuffer(pPmacPvt, pasynUser, maxchars,
|
||||
nbytesTransfered);
|
||||
asynPrintIO(pasynUser, ASYN_TRACE_FLOW, (char *)pPmacPvt->pinCmd,
|
||||
ETHERNET_CMD_HEADER, "%s write GETBUFFER\n",
|
||||
pPmacPvt->portName);
|
||||
|
||||
/* We have nothing to return at the moment so read again */
|
||||
status = pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser,
|
||||
pPmacPvt->inBuf, maxchars,
|
||||
&thisRead, eomReason);
|
||||
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW,
|
||||
"%s readResponse2 maxchars=%d, thisRead=%d, "
|
||||
"eomReason=%d, status=%d\n",
|
||||
pPmacPvt->portName, maxchars, thisRead, *eomReason,
|
||||
status);
|
||||
}
|
||||
}
|
||||
|
||||
if (thisRead > 0) {
|
||||
if (status == asynTimeout)
|
||||
status = asynSuccess;
|
||||
*nbytesTransfered = thisRead;
|
||||
pPmacPvt->inBufTail = 0;
|
||||
pPmacPvt->inBufHead = thisRead;
|
||||
}
|
||||
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW,
|
||||
"pmacAsynIPPort::readResponse. END\n");
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
/*
|
||||
Send ReadReady command to PMAC to discover if there is any data to read from
|
||||
it. Returns: 0 - no data available 1 - data available
|
||||
*/
|
||||
static int pmacReadReady(pmacPvt *pPmacPvt, asynUser *pasynUser) {
|
||||
ethernetCmd cmd;
|
||||
unsigned char data[2] = {0};
|
||||
asynStatus status;
|
||||
size_t thisRead = 0;
|
||||
size_t nbytesTransfered = 0;
|
||||
int eomReason = 0;
|
||||
int retval = 0;
|
||||
|
||||
cmd.RequestType = VR_UPLOAD;
|
||||
cmd.Request = VR_PMAC_READREADY;
|
||||
cmd.wValue = 0;
|
||||
cmd.wIndex = 0;
|
||||
cmd.wLength = htons(2);
|
||||
|
||||
status =
|
||||
pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser, (char *)&cmd,
|
||||
ETHERNET_CMD_HEADER, &nbytesTransfered);
|
||||
|
||||
if (status != asynSuccess) {
|
||||
asynPrintIO(pasynUser, ASYN_TRACE_ERROR, (char *)&cmd,
|
||||
ETHERNET_CMD_HEADER, "%s write pmacReadReady fail\n",
|
||||
pPmacPvt->portName);
|
||||
}
|
||||
|
||||
status = pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser, data, 2,
|
||||
&thisRead, &eomReason);
|
||||
|
||||
if (status == asynSuccess) {
|
||||
if (thisRead == 2 && data[0] != 0) {
|
||||
retval = 1;
|
||||
}
|
||||
asynPrintIO(pasynUser, ASYN_TRACE_FLOW, data, thisRead,
|
||||
"%s read pmacReadReady OK thisRead=%d\n",
|
||||
pPmacPvt->portName, thisRead);
|
||||
} else {
|
||||
asynPrint(pasynUser, ASYN_TRACE_ERROR,
|
||||
"%s read pmacReadReady failed status=%d,retval=%d",
|
||||
pPmacPvt->portName, status, retval);
|
||||
}
|
||||
return retval;
|
||||
}
|
||||
|
||||
/*
|
||||
Send Flush command to PMAC and wait for confirmation ctrlX to be returned.
|
||||
Returns: 0 - failed
|
||||
1 - success
|
||||
*/
|
||||
static int pmacFlush(pmacPvt *pPmacPvt, asynUser *pasynUser) {
|
||||
ethernetCmd cmd;
|
||||
unsigned char data[2];
|
||||
asynStatus status = asynSuccess;
|
||||
size_t thisRead;
|
||||
size_t nbytesTransfered = 0;
|
||||
int eomReason = 0;
|
||||
int retval = 0;
|
||||
|
||||
cmd.RequestType = VR_DOWNLOAD;
|
||||
cmd.Request = VR_PMAC_FLUSH;
|
||||
cmd.wValue = 0;
|
||||
cmd.wIndex = 0;
|
||||
cmd.wLength = 0;
|
||||
|
||||
status =
|
||||
pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser, (char *)&cmd,
|
||||
ETHERNET_CMD_HEADER, &nbytesTransfered);
|
||||
|
||||
if (status != asynSuccess) {
|
||||
asynPrintIO(pasynUser, ASYN_TRACE_ERROR, (char *)&cmd,
|
||||
ETHERNET_CMD_HEADER, "%s write pmacFlush fail\n",
|
||||
pPmacPvt->portName);
|
||||
}
|
||||
|
||||
/* read flush acknowledgement character */
|
||||
/* NB we don't check what the character is (manual sais ctrlX, we get 0x40
|
||||
* i.e.VR_DOWNLOAD) */
|
||||
status = pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser, data, 1,
|
||||
&thisRead, &eomReason);
|
||||
|
||||
if (status == asynSuccess) {
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW, "%s read pmacFlush OK\n",
|
||||
pPmacPvt->portName);
|
||||
retval = 1;
|
||||
} else {
|
||||
asynPrint(
|
||||
pasynUser, ASYN_TRACE_ERROR,
|
||||
"%s read pmacFlush failed - thisRead=%d, eomReason=%d, status=%d\n",
|
||||
pPmacPvt->portName, thisRead, eomReason, status);
|
||||
}
|
||||
|
||||
pPmacPvt->inBufTail = 0;
|
||||
pPmacPvt->inBufHead = 0;
|
||||
|
||||
return retval;
|
||||
}
|
||||
|
||||
/* asynOctet methods */
|
||||
|
||||
/* This function sends either a ascii string command to the PMAC using
|
||||
VR_PMAC_GETRESPONSE or a single control character (ctrl B/C/F/G/P/V) using
|
||||
VR_CTRL_RESPONSE
|
||||
*/
|
||||
static asynStatus writeIt(void *ppvt, asynUser *pasynUser, const char *data,
|
||||
size_t numchars, size_t *nbytesTransfered) {
|
||||
asynStatus status;
|
||||
ethernetCmd *outCmd;
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
|
||||
size_t nbytesActual = 0;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::writeIt\n");
|
||||
assert(pPmacPvt);
|
||||
|
||||
/* NB currently we assume control characters arrive as individual
|
||||
characters/calls to this routine. Idealy we should probably scan the data
|
||||
buffer for control commands and do PMAC_GETRESPONSE and CTRL_RESPONSE
|
||||
commands as necessary, */
|
||||
outCmd = pPmacPvt->poutCmd;
|
||||
if (numchars == 1 && strchr(ctrlCommands, data[0])) {
|
||||
outCmd->RequestType = VR_UPLOAD;
|
||||
outCmd->Request = VR_CTRL_RESPONSE;
|
||||
outCmd->wValue = data[0];
|
||||
outCmd->wIndex = 0;
|
||||
outCmd->wLength = htons(0);
|
||||
status = pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser,
|
||||
(char *)pPmacPvt->poutCmd,
|
||||
ETHERNET_CMD_HEADER, &nbytesActual);
|
||||
*nbytesTransfered =
|
||||
(nbytesActual == ETHERNET_CMD_HEADER) ? numchars : 0;
|
||||
} else {
|
||||
if (numchars > ETHERNET_DATA_SIZE) {
|
||||
/* NB large data should probably be sent using PMAC_WRITEBUFFER
|
||||
* which isnt implemented yet - for the moment just truncate */
|
||||
numchars = ETHERNET_DATA_SIZE;
|
||||
asynPrint(pasynUser, ASYN_TRACE_ERROR,
|
||||
"writeIt - ERROR TRUNCATED\n");
|
||||
}
|
||||
outCmd->RequestType = VR_DOWNLOAD;
|
||||
outCmd->Request = VR_PMAC_GETRESPONSE;
|
||||
outCmd->wValue = 0;
|
||||
outCmd->wIndex = 0;
|
||||
outCmd->wLength = htons(numchars);
|
||||
memcpy(outCmd->bData, data, numchars);
|
||||
status = pPmacPvt->poctet->write(
|
||||
pPmacPvt->octetPvt, pasynUser, (char *)pPmacPvt->poutCmd,
|
||||
numchars + ETHERNET_CMD_HEADER, &nbytesActual);
|
||||
*nbytesTransfered = (nbytesActual > ETHERNET_CMD_HEADER)
|
||||
? (nbytesActual - ETHERNET_CMD_HEADER)
|
||||
: 0;
|
||||
}
|
||||
|
||||
asynPrintIO(pasynUser, ASYN_TRACE_FLOW, (char *)pPmacPvt->poutCmd,
|
||||
numchars + ETHERNET_CMD_HEADER, "%s writeIt\n",
|
||||
pPmacPvt->portName);
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
/* This function reads data using read() into a local buffer and then look for
|
||||
message terminating characters and returns a complete response (or times
|
||||
out), adding on ACK if neccessary. The PMAC command response may be any of
|
||||
the following:- data<CR>data<CR>....data<CR><ACK> <BELL>data<CR> e.g. an
|
||||
error <BELL>ERRxxx<CR> <STX>data<CR> (NB asyn EOS only allows one message
|
||||
terminator to be specified. We add on ACK for the EOS layer above.)
|
||||
*/
|
||||
static asynStatus readIt(void *ppvt, asynUser *pasynUser, char *data,
|
||||
size_t maxchars, size_t *nbytesTransfered,
|
||||
int *eomReason) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
|
||||
asynStatus status = asynSuccess;
|
||||
size_t thisRead = 0;
|
||||
size_t nRead = 0;
|
||||
int bell = 0;
|
||||
int initialRead = 1;
|
||||
ethernetCmd *inCmd;
|
||||
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::readIt. START\n");
|
||||
assert(pPmacPvt);
|
||||
|
||||
if (maxchars > 0) {
|
||||
for (;;) {
|
||||
if ((pPmacPvt->inBufTail != pPmacPvt->inBufHead)) {
|
||||
*data = pPmacPvt->inBuf[pPmacPvt->inBufTail++];
|
||||
if (*data == BELL || *data == STX)
|
||||
bell = 1;
|
||||
if (*data == '\r' && bell) {
|
||||
/* <BELL>xxxxxx<CR> or <STX>xxxxx<CR> received - its
|
||||
* probably an error response (<BELL>ERRxxx<CR>) - assume
|
||||
* there is no more response data to come */
|
||||
nRead++; /* make sure the <CR> is passed to the client app
|
||||
*/
|
||||
/*Add on ACK, because that's what we expect to be EOS in EOS
|
||||
* interpose layer.*/
|
||||
if ((nRead + 1) > maxchars) {
|
||||
/*If maxchars is reached overwrite <CR> with ACK, so
|
||||
* that no more reads will be done from EOS layer.*/
|
||||
*data = ACK;
|
||||
} else {
|
||||
data++;
|
||||
nRead++;
|
||||
*data = ACK;
|
||||
}
|
||||
break;
|
||||
}
|
||||
if (*data == ACK || *data == '\n') {
|
||||
/* <ACK> or <LF> received - assume there is no more response
|
||||
* data to come */
|
||||
/* If <LF>, replace with an ACK.*/
|
||||
if (*data == '\n') {
|
||||
*data = ACK;
|
||||
}
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW,
|
||||
"Message was terminated with ACK in "
|
||||
"pmacAsynIPPort::readIt.\n");
|
||||
/*Pass ACK up to Asyn EOS handling layer.*/
|
||||
data++;
|
||||
nRead++;
|
||||
break;
|
||||
}
|
||||
data++;
|
||||
nRead++;
|
||||
if (nRead >= maxchars)
|
||||
break;
|
||||
continue;
|
||||
}
|
||||
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW,
|
||||
"pmacAsynIPPort::readIt. Calling readResponse().\n");
|
||||
if (!initialRead) {
|
||||
if (pmacReadReady(pPmacPvt, pasynUser)) {
|
||||
status = sendPmacGetBuffer(pPmacPvt, pasynUser, maxchars,
|
||||
nbytesTransfered);
|
||||
}
|
||||
}
|
||||
status = readResponse(pPmacPvt, pasynUser, maxchars - nRead,
|
||||
&thisRead, eomReason);
|
||||
initialRead = 0;
|
||||
if (status != asynSuccess || thisRead == 0)
|
||||
break;
|
||||
}
|
||||
}
|
||||
*nbytesTransfered = nRead;
|
||||
|
||||
asynPrintIO(pasynUser, ASYN_TRACE_FLOW, data, *nbytesTransfered,
|
||||
"%s pmacAsynIPPort readIt nbytesTransfered=%d, eomReason=%d, "
|
||||
"status=%d\n",
|
||||
pPmacPvt->portName, *nbytesTransfered, *eomReason, status);
|
||||
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::readIt. END\n");
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static asynStatus sendPmacGetBuffer(pmacPvt *pPmacPvt, asynUser *pasynUser,
|
||||
size_t maxchars, size_t *nbytesTransfered) {
|
||||
asynStatus status = 0;
|
||||
ethernetCmd *inCmd = NULL;
|
||||
|
||||
inCmd = pPmacPvt->pinCmd;
|
||||
inCmd->RequestType = VR_UPLOAD;
|
||||
inCmd->Request = VR_PMAC_GETBUFFER;
|
||||
inCmd->wValue = 0;
|
||||
inCmd->wIndex = 0;
|
||||
inCmd->wLength = htons(maxchars);
|
||||
status = pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser,
|
||||
(char *)pPmacPvt->pinCmd,
|
||||
ETHERNET_CMD_HEADER, nbytesTransfered);
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static asynStatus flushIt(void *ppvt, asynUser *pasynUser) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
|
||||
asynStatus status = asynSuccess;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::flushIt\n");
|
||||
assert(pPmacPvt);
|
||||
|
||||
pmacFlush(pPmacPvt, pasynUser);
|
||||
status = pPmacPvt->poctet->flush(pPmacPvt->octetPvt, pasynUser);
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
static asynStatus registerInterruptUser(void *ppvt, asynUser *pasynUser,
|
||||
interruptCallbackOctet callback,
|
||||
void *userPvt, void **registrarPvt) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW,
|
||||
"pmacAsynIPPort::registerInterruptUser\n");
|
||||
assert(pPmacPvt);
|
||||
|
||||
return pPmacPvt->poctet->registerInterruptUser(
|
||||
pPmacPvt->octetPvt, pasynUser, callback, userPvt, registrarPvt);
|
||||
}
|
||||
|
||||
static asynStatus cancelInterruptUser(void *drvPvt, asynUser *pasynUser,
|
||||
void *registrarPvt) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW,
|
||||
"pmacAsynIPPort::cancelInterruptUser\n");
|
||||
assert(pPmacPvt);
|
||||
|
||||
return pPmacPvt->poctet->cancelInterruptUser(pPmacPvt->octetPvt, pasynUser,
|
||||
registrarPvt);
|
||||
}
|
||||
|
||||
static asynStatus setInputEos(void *ppvt, asynUser *pasynUser, const char *eos,
|
||||
int eoslen) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::setInputEos\n");
|
||||
assert(pPmacPvt);
|
||||
|
||||
return pPmacPvt->poctet->setInputEos(pPmacPvt->octetPvt, pasynUser, eos,
|
||||
eoslen);
|
||||
}
|
||||
|
||||
static asynStatus getInputEos(void *ppvt, asynUser *pasynUser, char *eos,
|
||||
int eossize, int *eoslen) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::getInputEos\n");
|
||||
assert(pPmacPvt);
|
||||
|
||||
return pPmacPvt->poctet->getInputEos(pPmacPvt->octetPvt, pasynUser, eos,
|
||||
eossize, eoslen);
|
||||
}
|
||||
|
||||
static asynStatus setOutputEos(void *ppvt, asynUser *pasynUser, const char *eos,
|
||||
int eoslen) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::setOutputEos\n");
|
||||
assert(pPmacPvt);
|
||||
|
||||
return pPmacPvt->poctet->setOutputEos(pPmacPvt->octetPvt, pasynUser, eos,
|
||||
eoslen);
|
||||
}
|
||||
|
||||
static asynStatus getOutputEos(void *ppvt, asynUser *pasynUser, char *eos,
|
||||
int eossize, int *eoslen) {
|
||||
pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
|
||||
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::getOutputEos\n");
|
||||
assert(pPmacPvt);
|
||||
|
||||
return pPmacPvt->poctet->getOutputEos(pPmacPvt->octetPvt, pasynUser, eos,
|
||||
eossize, eoslen);
|
||||
}
|
||||
|
||||
/* register pmacAsynIPPortConfigure*/
|
||||
static const iocshArg pmacAsynIPPortConfigArg0 = {"portName", iocshArgString};
|
||||
static const iocshArg pmacAsynIPPortConfigArg1 = {"addr", iocshArgInt};
|
||||
static const iocshArg *pmacAsynIPPortConfigArgs[] = {&pmacAsynIPPortConfigArg0,
|
||||
&pmacAsynIPPortConfigArg1};
|
||||
static const iocshFuncDef pmacAsynIPPortConfigFuncDef = {
|
||||
"pmacAsynIPPortConfigure", 2, pmacAsynIPPortConfigArgs};
|
||||
static void pmacAsynIPPortConfigCallFunc(const iocshArgBuf *args) {
|
||||
pmacAsynIPPortConfigure(args[0].sval, args[1].ival);
|
||||
}
|
||||
|
||||
/* Register pmacAsynIPPortConfigureEos.*/
|
||||
static const iocshArg pmacAsynIPPortConfigEosArg0 = {"portName",
|
||||
iocshArgString};
|
||||
static const iocshArg pmacAsynIPPortConfigEosArg1 = {"addr", iocshArgInt};
|
||||
static const iocshArg *pmacAsynIPPortConfigEosArgs[] = {
|
||||
&pmacAsynIPPortConfigEosArg0, &pmacAsynIPPortConfigEosArg1};
|
||||
static const iocshFuncDef pmacAsynIPPortConfigEosFuncDef = {
|
||||
"pmacAsynIPPortConfigureEos", 2, pmacAsynIPPortConfigEosArgs};
|
||||
static void pmacAsynIPPortConfigEosCallFunc(const iocshArgBuf *args) {
|
||||
pmacAsynIPPortConfigureEos(args[0].sval, args[1].ival);
|
||||
}
|
||||
|
||||
/* Register pmacAsynIPConfigure.*/
|
||||
static const iocshArg pmacAsynIPConfigureArg0 = {"portName", iocshArgString};
|
||||
static const iocshArg pmacAsynIPConfigureArg1 = {"hostInfo", iocshArgString};
|
||||
static const iocshArg *pmacAsynIPConfigureArgs[] = {&pmacAsynIPConfigureArg0,
|
||||
&pmacAsynIPConfigureArg1};
|
||||
static const iocshFuncDef pmacAsynIPConfigureFuncDef = {
|
||||
"pmacAsynIPConfigure", 2, pmacAsynIPConfigureArgs};
|
||||
static void pmacAsynIPConfigureCallFunc(const iocshArgBuf *args) {
|
||||
pmacAsynIPConfigure(args[0].sval, args[1].sval);
|
||||
}
|
||||
|
||||
static void pmacAsynIPPortRegister(void) {
|
||||
static int firstTime = 1;
|
||||
if (firstTime) {
|
||||
firstTime = 0;
|
||||
iocshRegister(&pmacAsynIPPortConfigFuncDef,
|
||||
pmacAsynIPPortConfigCallFunc);
|
||||
iocshRegister(&pmacAsynIPPortConfigEosFuncDef,
|
||||
pmacAsynIPPortConfigEosCallFunc);
|
||||
iocshRegister(&pmacAsynIPConfigureFuncDef, pmacAsynIPConfigureCallFunc);
|
||||
}
|
||||
}
|
||||
epicsExportRegistrar(pmacAsynIPPortRegister);
|
||||
@ -1,19 +0,0 @@
|
||||
#ifndef asynInterposePmac_H
|
||||
#define asynInterposePmac_H
|
||||
|
||||
#include <epicsExport.h>
|
||||
#include <shareLib.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif /* __cplusplus */
|
||||
|
||||
epicsShareFunc int pmacAsynIPPortConfigure(const char *portName, int addr);
|
||||
epicsShareFunc int pmacAsynIPConfigure(const char *portName,
|
||||
const char *hostInfo);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* __cplusplus */
|
||||
|
||||
#endif /* asynInterposePmac_H */
|
||||
File diff suppressed because it is too large
Load Diff
@ -1,11 +1,10 @@
|
||||
#ifndef turboPmacAXIS_H
|
||||
#define turboPmacAXIS_H
|
||||
#include "sinqAxis.h"
|
||||
#include "sinqController.h"
|
||||
#include "turboPmacController.h"
|
||||
#include <memory>
|
||||
|
||||
// Forward declaration of the controller class to resolve the cyclic dependency
|
||||
// between the controller and the axis .h-file. See
|
||||
// https://en.cppreference.com/w/cpp/language/class.
|
||||
class turboPmacController;
|
||||
struct turboPmacAxisImpl;
|
||||
|
||||
class turboPmacAxis : public sinqAxis {
|
||||
public:
|
||||
@ -21,6 +20,7 @@ class turboPmacAxis : public sinqAxis {
|
||||
/**
|
||||
* @brief Destroy the turboPmacAxis
|
||||
*
|
||||
* This destructor is necessary in order to use the PIMPL idiom.
|
||||
*/
|
||||
virtual ~turboPmacAxis();
|
||||
|
||||
@ -31,7 +31,7 @@ class turboPmacAxis : public sinqAxis {
|
||||
* value is currently not used.
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus stop(double acceleration);
|
||||
virtual asynStatus stop(double acceleration);
|
||||
|
||||
/**
|
||||
* @brief Implementation of the `doHome` function from sinqAxis. The
|
||||
@ -43,8 +43,8 @@ class turboPmacAxis : public sinqAxis {
|
||||
* @param forwards
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus doHome(double minVelocity, double maxVelocity,
|
||||
double acceleration, int forwards);
|
||||
virtual asynStatus doHome(double minVelocity, double maxVelocity,
|
||||
double acceleration, int forwards);
|
||||
|
||||
/**
|
||||
* @brief Implementation of the `doPoll` function from sinqAxis. The
|
||||
@ -53,7 +53,7 @@ class turboPmacAxis : public sinqAxis {
|
||||
* @param moving
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus doPoll(bool *moving);
|
||||
virtual asynStatus doPoll(bool *moving);
|
||||
|
||||
/**
|
||||
* @brief Implementation of the `doMove` function from sinqAxis. The
|
||||
@ -66,8 +66,9 @@ class turboPmacAxis : public sinqAxis {
|
||||
* @param acceleration
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus doMove(double position, int relative, double min_velocity,
|
||||
double max_velocity, double acceleration);
|
||||
virtual asynStatus doMove(double position, int relative,
|
||||
double min_velocity, double max_velocity,
|
||||
double acceleration);
|
||||
|
||||
/**
|
||||
* @brief Readout of some values from the controller at IOC startup
|
||||
@ -79,7 +80,7 @@ class turboPmacAxis : public sinqAxis {
|
||||
*
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus init();
|
||||
virtual asynStatus init();
|
||||
|
||||
/**
|
||||
* @brief Implementation of the `doReset` function from sinqAxis.
|
||||
@ -87,7 +88,7 @@ class turboPmacAxis : public sinqAxis {
|
||||
* @param on
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus doReset();
|
||||
virtual asynStatus doReset();
|
||||
|
||||
/**
|
||||
* @brief Enable / disable the axis.
|
||||
@ -95,7 +96,7 @@ class turboPmacAxis : public sinqAxis {
|
||||
* @param on
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus enable(bool on);
|
||||
virtual asynStatus enable(bool on);
|
||||
|
||||
/**
|
||||
* @brief Read the encoder type (incremental or absolute) for this axis from
|
||||
@ -103,14 +104,14 @@ class turboPmacAxis : public sinqAxis {
|
||||
*
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus readEncoderType();
|
||||
virtual asynStatus readEncoderType();
|
||||
|
||||
/**
|
||||
* @brief Trigger a rereading of the encoder position.
|
||||
*
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus rereadEncoder();
|
||||
virtual asynStatus rereadEncoder();
|
||||
|
||||
/**
|
||||
* @brief Interpret the error code and populate the user message accordingly
|
||||
@ -122,14 +123,29 @@ class turboPmacAxis : public sinqAxis {
|
||||
*/
|
||||
asynStatus handleError(int error, char *userMessage, int sizeUserMessage);
|
||||
|
||||
protected:
|
||||
/**
|
||||
* @brief Check if the axis needs to run its initialization function
|
||||
*
|
||||
* @return true
|
||||
* @return false
|
||||
*/
|
||||
bool needInit();
|
||||
|
||||
/**
|
||||
* @brief Instruct the axis to run its init() function during the next poll
|
||||
*
|
||||
* @param needInit
|
||||
*/
|
||||
void setNeedInit(bool needInit);
|
||||
|
||||
/**
|
||||
* @brief Return a pointer to the axis controller
|
||||
*/
|
||||
virtual turboPmacController *pController() override { return pC_; };
|
||||
|
||||
private:
|
||||
turboPmacController *pC_;
|
||||
|
||||
bool waitForHandshake_;
|
||||
time_t timeAtHandshake_;
|
||||
|
||||
// The axis status is used when enabling / disabling the motor
|
||||
int axisStatus_;
|
||||
std::unique_ptr<turboPmacAxisImpl> pTurboPmacA_;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
@ -1,6 +1,8 @@
|
||||
#include "turboPmacController.h"
|
||||
#include "asynInt32SyncIO.h"
|
||||
#include "asynMotorController.h"
|
||||
#include "asynOctetSyncIO.h"
|
||||
#include "pmacAsynIPPort.h"
|
||||
#include "turboPmacAxis.h"
|
||||
#include <epicsExport.h>
|
||||
#include <errlog.h>
|
||||
@ -29,6 +31,24 @@ void adjustResponseForPrint(char *dst, const char *src, size_t buf_length) {
|
||||
}
|
||||
}
|
||||
|
||||
struct turboPmacControllerImpl {
|
||||
|
||||
// Timeout for the communication process in seconds
|
||||
double comTimeout;
|
||||
|
||||
char lastResponse[sinqController::MAXBUF_];
|
||||
|
||||
// User for writing int32 values to the port driver.
|
||||
asynUser *pasynInt32SyncIOipPort;
|
||||
|
||||
// Indices of additional PVs
|
||||
int rereadEncoderPosition;
|
||||
int readConfig;
|
||||
int flushHardware;
|
||||
int limFromHardware;
|
||||
};
|
||||
#define NUM_turboPmac_DRIVER_PARAMS 3
|
||||
|
||||
turboPmacController::turboPmacController(const char *portName,
|
||||
const char *ipPortConfigName,
|
||||
int numAxes, double movingPollPeriod,
|
||||
@ -45,23 +65,27 @@ turboPmacController::turboPmacController(const char *portName,
|
||||
|
||||
{
|
||||
|
||||
// The paramLib indices are populated with the calls to createParam
|
||||
pTurboPmacC_ =
|
||||
std::make_unique<turboPmacControllerImpl>((turboPmacControllerImpl){
|
||||
.comTimeout = comTimeout,
|
||||
.lastResponse = {0},
|
||||
});
|
||||
|
||||
// Initialization of local variables
|
||||
asynStatus status = asynSuccess;
|
||||
|
||||
// Initialization of all member variables
|
||||
comTimeout_ = comTimeout;
|
||||
|
||||
// Maximum allowed number of subsequent timeouts before the user is
|
||||
// informed.
|
||||
maxSubsequentTimeouts_ = 10;
|
||||
setMaxSubsequentTimeouts(10);
|
||||
|
||||
// =========================================================================
|
||||
// Create additional parameter library entries
|
||||
|
||||
status = createParam("REREAD_ENCODER_POSITION", asynParamInt32,
|
||||
&rereadEncoderPosition_);
|
||||
&pTurboPmacC_->rereadEncoderPosition);
|
||||
if (status != asynSuccess) {
|
||||
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
|
||||
"Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
|
||||
"parameter failed with %s).\nTerminating IOC",
|
||||
portName, __PRETTY_FUNCTION__, __LINE__,
|
||||
@ -69,9 +93,32 @@ turboPmacController::turboPmacController(const char *portName,
|
||||
exit(-1);
|
||||
}
|
||||
|
||||
status = createParam("READ_CONFIG", asynParamInt32, &readConfig_);
|
||||
status =
|
||||
createParam("READ_CONFIG", asynParamInt32, &pTurboPmacC_->readConfig);
|
||||
if (status != asynSuccess) {
|
||||
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
|
||||
"Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
|
||||
"parameter failed with %s).\nTerminating IOC",
|
||||
portName, __PRETTY_FUNCTION__, __LINE__,
|
||||
stringifyAsynStatus(status));
|
||||
exit(-1);
|
||||
}
|
||||
|
||||
status = createParam("FLUSH_HARDWARE", asynParamInt32,
|
||||
&pTurboPmacC_->flushHardware);
|
||||
if (status != asynSuccess) {
|
||||
asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
|
||||
"Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
|
||||
"parameter failed with %s).\nTerminating IOC",
|
||||
portName, __PRETTY_FUNCTION__, __LINE__,
|
||||
stringifyAsynStatus(status));
|
||||
exit(-1);
|
||||
}
|
||||
|
||||
status = createParam("LIM_FROM_HARDWARE", asynParamInt32,
|
||||
&pTurboPmacC_->limFromHardware);
|
||||
if (status != asynSuccess) {
|
||||
asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
|
||||
"Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
|
||||
"parameter failed with %s).\nTerminating IOC",
|
||||
portName, __PRETTY_FUNCTION__, __LINE__,
|
||||
@ -88,31 +135,52 @@ turboPmacController::turboPmacController(const char *portName,
|
||||
const char *message_from_device =
|
||||
"\006"; // Hex-code for ACK (acknowledge) -> Each message from the MCU
|
||||
// is terminated by this value
|
||||
status = pasynOctetSyncIO->setInputEos(ipPortUser_, message_from_device,
|
||||
status = pasynOctetSyncIO->setInputEos(pasynOctetSyncIOipPort(),
|
||||
message_from_device,
|
||||
strlen(message_from_device));
|
||||
if (status != asynSuccess) {
|
||||
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
|
||||
"Controller \"%s\" => %s, line %d\nFATAL ERROR "
|
||||
"(setting input EOS failed with %s).\nTerminating IOC",
|
||||
portName, __PRETTY_FUNCTION__, __LINE__,
|
||||
stringifyAsynStatus(status));
|
||||
pasynOctetSyncIO->disconnect(ipPortUser_);
|
||||
pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
|
||||
exit(-1);
|
||||
}
|
||||
|
||||
status = callParamCallbacks();
|
||||
if (status != asynSuccess) {
|
||||
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
|
||||
"Controller \"%s\" => %s, line %d\nFATAL ERROR "
|
||||
"(executing ParamLib callbacks failed "
|
||||
"with %s).\nTerminating IOC",
|
||||
portName, __PRETTY_FUNCTION__, __LINE__,
|
||||
stringifyAsynStatus(status));
|
||||
pasynOctetSyncIO->disconnect(ipPortUser_);
|
||||
pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
|
||||
exit(-1);
|
||||
}
|
||||
|
||||
// =========================================================================;
|
||||
|
||||
/*
|
||||
We try to connect to the port via the port name provided by the constructor.
|
||||
If this fails, the function is terminated via exit.
|
||||
*/
|
||||
pasynInt32SyncIO->connect(ipPortConfigName, 0,
|
||||
&pTurboPmacC_->pasynInt32SyncIOipPort, NULL);
|
||||
if (status != asynSuccess ||
|
||||
pTurboPmacC_->pasynInt32SyncIOipPort == nullptr) {
|
||||
errlogPrintf("Controller \"%s\" => %s, line %d:\nFATAL ERROR (cannot "
|
||||
"connect to MCU controller).\n"
|
||||
"Terminating IOC",
|
||||
portName, __PRETTY_FUNCTION__, __LINE__);
|
||||
pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
|
||||
exit(-1);
|
||||
}
|
||||
}
|
||||
|
||||
turboPmacController::~turboPmacController() {}
|
||||
|
||||
/*
|
||||
Access one of the axes of the controller via the axis adress stored in asynUser.
|
||||
If the axis does not exist or is not a Axis, a nullptr is returned and an
|
||||
@ -138,7 +206,6 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
|
||||
|
||||
// Definition of local variables.
|
||||
asynStatus status = asynSuccess;
|
||||
asynStatus paramLibStatus = asynSuccess;
|
||||
asynStatus timeoutStatus = asynSuccess;
|
||||
// char fullCommand[MAXBUF_] = {0};
|
||||
char drvMessageText[MAXBUF_] = {0};
|
||||
@ -175,89 +242,31 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
|
||||
}
|
||||
const size_t commandLength = strlen(command);
|
||||
|
||||
// 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.
|
||||
// */
|
||||
|
||||
//
|
||||
// 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';
|
||||
|
||||
// // 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
|
||||
|
||||
// // 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;
|
||||
|
||||
/*
|
||||
We use separated write and read commands here, not the combined writeRead
|
||||
method, because the latter is actually a flushWriteRead (see
|
||||
https://epics.anl.gov/modules/soft/asyn/R4-14/asynDriver.pdf, p. 31) ->
|
||||
Calls the flush command, then the write command, then the read command.
|
||||
The flush itself reads repeatedly from the MCU until no messages are there
|
||||
anymore. (The Diamond Light Source driver first send a PMAC flush command
|
||||
and then does the same as the asyn flush). We don't want this behaviour.
|
||||
(https://www.slac.stanford.edu/grp/lcls/controls/global/doc/epics-modules/R3-14-12/asyn/asyn-R4-18-lcls2/asyn/interfaces/asynOctetBase.c)
|
||||
The writeRead command performs the following steps:
|
||||
1) Flush the socket buffer on the IOC side (not the controller!)
|
||||
2) Write a command to the controller
|
||||
3) Read the response
|
||||
|
||||
If a timeout occurs during writing or reading, inform the user that we're
|
||||
trying to reconnect. If the problem persists, ask them to call the support
|
||||
*/
|
||||
status = pasynOctetSyncIO->writeRead(
|
||||
pasynOctetSyncIOipPort(), command, commandLength, response, MAXBUF_,
|
||||
pTurboPmacC_->comTimeout, &nbytesOut, &nbytesIn, &eomReason);
|
||||
|
||||
status = pasynOctetSyncIO->write(ipPortUser_, command, commandLength,
|
||||
comTimeout_, &nbytesOut);
|
||||
|
||||
msgPrintControlKey writeKey =
|
||||
msgPrintControlKey comKey =
|
||||
msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
|
||||
|
||||
if (status == asynTimeout) {
|
||||
|
||||
if (msgPrintControl_.shouldBePrinted(writeKey, true, pasynUserSelf)) {
|
||||
if (getMsgPrintControl().shouldBePrinted(comKey, true, pasynUser())) {
|
||||
asynPrint(
|
||||
this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
this->pasynUser(), ASYN_TRACE_ERROR,
|
||||
"Controller \"%s\", axis %d => %s, line %d\nTimeout while "
|
||||
"writing to the MCU.%s\n",
|
||||
"writing to the controller. Retrying ...%s\n",
|
||||
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
|
||||
msgPrintControl_.getSuffix());
|
||||
getMsgPrintControl().getSuffix());
|
||||
}
|
||||
|
||||
timeoutStatus = checkComTimeoutWatchdog(axisNo, drvMessageText,
|
||||
@ -268,10 +277,16 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
|
||||
checkMaxSubsequentTimeouts(timeoutCounter, axis);
|
||||
timeoutCounter += 1;
|
||||
|
||||
status = pasynOctetSyncIO->write(
|
||||
ipPortUser_, command, commandLength, comTimeout_, &nbytesOut);
|
||||
if (maxSubsequentTimeoutsExceeded()) {
|
||||
break;
|
||||
}
|
||||
|
||||
status = pasynOctetSyncIO->writeRead(
|
||||
pasynOctetSyncIOipPort(), command, commandLength, response,
|
||||
MAXBUF_, pTurboPmacC_->comTimeout, &nbytesOut, &nbytesIn,
|
||||
&eomReason);
|
||||
if (status != asynTimeout) {
|
||||
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
|
||||
"Controller \"%s\", axis %d => %s, line "
|
||||
"%d\nReconnected after write timeout\n",
|
||||
portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
|
||||
@ -279,66 +294,28 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
|
||||
}
|
||||
}
|
||||
} else if (status != asynSuccess) {
|
||||
if (msgPrintControl_.shouldBePrinted(writeKey, true, pasynUserSelf)) {
|
||||
if (getMsgPrintControl().shouldBePrinted(comKey, true, pasynUser())) {
|
||||
asynPrint(
|
||||
this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
this->pasynUser(), ASYN_TRACE_ERROR,
|
||||
"Controller \"%s\", axis %d => %s, line %d\nError %s while "
|
||||
"writing to the controller.%s\n",
|
||||
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
|
||||
stringifyAsynStatus(status), msgPrintControl_.getSuffix());
|
||||
stringifyAsynStatus(status), getMsgPrintControl().getSuffix());
|
||||
}
|
||||
} else {
|
||||
msgPrintControl_.resetCount(writeKey, pasynUserSelf);
|
||||
getMsgPrintControl().resetCount(comKey, pasynUser());
|
||||
}
|
||||
|
||||
// Read the response from the MCU buffer
|
||||
status = pasynOctetSyncIO->read(ipPortUser_, response, MAXBUF_, comTimeout_,
|
||||
&nbytesIn, &eomReason);
|
||||
|
||||
msgPrintControlKey readKey =
|
||||
msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
|
||||
|
||||
if (status == asynTimeout) {
|
||||
|
||||
if (msgPrintControl_.shouldBePrinted(readKey, true, pasynUserSelf)) {
|
||||
asynPrint(
|
||||
this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
"Controller \"%s\", axis %d => %s, line %d\nTimeout while "
|
||||
"reading from the MCU.%s\n",
|
||||
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
|
||||
msgPrintControl_.getSuffix());
|
||||
}
|
||||
|
||||
// Add this event to the back of the timeout event counter
|
||||
timeoutStatus = checkComTimeoutWatchdog(axisNo, drvMessageText,
|
||||
sizeof(drvMessageText));
|
||||
|
||||
int timeoutCounter = 0;
|
||||
while (1) {
|
||||
checkMaxSubsequentTimeouts(timeoutCounter, axis);
|
||||
timeoutCounter += 1;
|
||||
|
||||
status = pasynOctetSyncIO->read(ipPortUser_, response, MAXBUF_,
|
||||
comTimeout_, &nbytesIn, &eomReason);
|
||||
if (status != asynTimeout) {
|
||||
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
"Controller \"%s\", axis %d => %s, line "
|
||||
"%d\nReconnected after read timeout\n",
|
||||
portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
|
||||
break;
|
||||
}
|
||||
}
|
||||
} else if (status != asynSuccess) {
|
||||
if (msgPrintControl_.shouldBePrinted(readKey, true, pasynUserSelf)) {
|
||||
asynPrint(
|
||||
this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
"Controller \"%s\", axis %d => %s, line %d\nError %s while "
|
||||
"reading from the controller.%s\n",
|
||||
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
|
||||
stringifyAsynStatus(status), msgPrintControl_.getSuffix());
|
||||
}
|
||||
} else {
|
||||
msgPrintControl_.resetCount(readKey, pasynUserSelf);
|
||||
if (status != asynSuccess) {
|
||||
/*
|
||||
Since the communication failed, there is the possibility that the
|
||||
controller is not connected at all to the network. In that case, we
|
||||
cannot be sure that the information read out in the init method of the
|
||||
axis is still up-to-date the next time we get a connection. Therefore,
|
||||
an info flag is set which the axis object can use at the start of its
|
||||
poll method to try to initialize itself.
|
||||
*/
|
||||
axis->setNeedInit(true);
|
||||
}
|
||||
|
||||
if (timeoutStatus == asynError) {
|
||||
@ -351,20 +328,41 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
|
||||
if (eomReason != 2) {
|
||||
status = asynError;
|
||||
|
||||
snprintf(drvMessageText, sizeof(drvMessageText),
|
||||
"Terminated message due to reason %d (should be 2).",
|
||||
eomReason);
|
||||
char reasonStringified[30] = {0};
|
||||
switch (eomReason) {
|
||||
case 0:
|
||||
snprintf(reasonStringified, sizeof(reasonStringified), "Timeout");
|
||||
break;
|
||||
case 1:
|
||||
snprintf(reasonStringified, sizeof(reasonStringified),
|
||||
"Request count reached");
|
||||
break;
|
||||
case 2:
|
||||
snprintf(reasonStringified, sizeof(reasonStringified),
|
||||
"End of string detected");
|
||||
break;
|
||||
case 3:
|
||||
snprintf(reasonStringified, sizeof(reasonStringified),
|
||||
"End indicator detected");
|
||||
break;
|
||||
}
|
||||
|
||||
if (msgPrintControl_.shouldBePrinted(terminateKey, true,
|
||||
pasynUserSelf)) {
|
||||
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
snprintf(drvMessageText, sizeof(drvMessageText),
|
||||
"Terminated message due to reason %s (should be \"End of "
|
||||
"string detected\"). Please call the support.",
|
||||
reasonStringified);
|
||||
|
||||
if (getMsgPrintControl().shouldBePrinted(terminateKey, true,
|
||||
pasynUser())) {
|
||||
|
||||
asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
|
||||
"Controller \"%s\", axis %d => %s, line %d\nMessage "
|
||||
"terminated due to reason %i.%s\n",
|
||||
"terminated due to reason %s.%s\n",
|
||||
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
|
||||
eomReason, msgPrintControl_.getSuffix());
|
||||
reasonStringified, getMsgPrintControl().getSuffix());
|
||||
}
|
||||
} else {
|
||||
msgPrintControl_.resetCount(terminateKey, pasynUserSelf);
|
||||
getMsgPrintControl().resetCount(terminateKey, pasynUser());
|
||||
}
|
||||
|
||||
/*
|
||||
@ -381,15 +379,15 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
|
||||
if (numExpectedResponses != numReceivedResponses) {
|
||||
adjustResponseForPrint(modResponse, response, MAXBUF_);
|
||||
|
||||
if (msgPrintControl_.shouldBePrinted(numResponsesKey, true,
|
||||
pasynUserSelf)) {
|
||||
if (getMsgPrintControl().shouldBePrinted(numResponsesKey, true,
|
||||
pasynUser())) {
|
||||
asynPrint(
|
||||
this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
this->pasynUser(), ASYN_TRACE_ERROR,
|
||||
"Controller \"%s\", axis %d => %s, line %d\nUnexpected "
|
||||
"response '%s' (carriage returns are replaced with spaces) "
|
||||
"for command %s.%s\n",
|
||||
portName, axisNo, __PRETTY_FUNCTION__, __LINE__, modResponse,
|
||||
command, msgPrintControl_.getSuffix());
|
||||
command, getMsgPrintControl().getSuffix());
|
||||
}
|
||||
|
||||
snprintf(drvMessageText, sizeof(drvMessageText),
|
||||
@ -399,7 +397,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
|
||||
modResponse, command);
|
||||
status = asynError;
|
||||
} else {
|
||||
msgPrintControl_.resetCount(numResponsesKey, pasynUserSelf);
|
||||
getMsgPrintControl().resetCount(numResponsesKey, pasynUser());
|
||||
}
|
||||
|
||||
// Create custom error messages for different failure modes, if no error
|
||||
@ -429,46 +427,39 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
|
||||
|
||||
// Log the overall status (communication successfull or not)
|
||||
if (status == asynSuccess) {
|
||||
paramLibStatus = axis->setIntegerParam(this->motorStatusCommsError_, 0);
|
||||
setAxisParamChecked(axis, motorStatusCommsError, false);
|
||||
} else {
|
||||
// Check if the axis already is in an error communication mode. If
|
||||
// it is not, upstream the error. This is done to avoid "flooding"
|
||||
// the user with different error messages if more than one error
|
||||
// ocurred before an error-free communication
|
||||
paramLibStatus =
|
||||
getIntegerParam(axisNo, motorStatusProblem_, &motorStatusProblem);
|
||||
if (paramLibStatus != asynSuccess) {
|
||||
return paramLibAccessFailed(paramLibStatus, "motorStatusProblem_",
|
||||
axisNo, __PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
getAxisParamChecked(axis, motorStatusProblem, &motorStatusProblem);
|
||||
|
||||
if (motorStatusProblem == 0) {
|
||||
paramLibStatus =
|
||||
axis->setStringParam(motorMessageText_, drvMessageText);
|
||||
if (paramLibStatus != asynSuccess) {
|
||||
return paramLibAccessFailed(paramLibStatus, "motorMessageText_",
|
||||
axisNo, __PRETTY_FUNCTION__,
|
||||
__LINE__);
|
||||
}
|
||||
|
||||
paramLibStatus = axis->setIntegerParam(motorStatusProblem_, 1);
|
||||
if (paramLibStatus != asynSuccess) {
|
||||
return paramLibAccessFailed(paramLibStatus,
|
||||
"motorStatusProblem", axisNo,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
|
||||
paramLibStatus = axis->setIntegerParam(motorStatusProblem_, 1);
|
||||
if (paramLibStatus != asynSuccess) {
|
||||
return paramLibAccessFailed(paramLibStatus,
|
||||
"motorStatusCommsError_", axisNo,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
setAxisParamChecked(axis, motorMessageText, drvMessageText);
|
||||
setAxisParamChecked(axis, motorStatusProblem, true);
|
||||
setAxisParamChecked(axis, motorStatusCommsError, true);
|
||||
}
|
||||
}
|
||||
return status;
|
||||
}
|
||||
|
||||
asynStatus turboPmacController::doFlushHardware() {
|
||||
/*
|
||||
Temporarily overwrite the "reason" field with the FLUSH_HARDWARE
|
||||
constant defined in pmacAsynIPPort.c. This reason is then used within
|
||||
the write method of pasynInt32SyncIO to select the flush function.
|
||||
*/
|
||||
int temp = pTurboPmacC_->pasynInt32SyncIOipPort->reason;
|
||||
pTurboPmacC_->pasynInt32SyncIOipPort->reason = FLUSH_HARDWARE;
|
||||
asynStatus status = (asynStatus)pasynInt32SyncIO->write(
|
||||
pTurboPmacC_->pasynInt32SyncIOipPort, 1, pTurboPmacC_->comTimeout);
|
||||
|
||||
// Reset the status afterwards
|
||||
pTurboPmacC_->pasynInt32SyncIOipPort->reason = temp;
|
||||
return status;
|
||||
}
|
||||
|
||||
asynStatus turboPmacController::writeInt32(asynUser *pasynUser,
|
||||
epicsInt32 value) {
|
||||
int function = pasynUser->reason;
|
||||
@ -478,10 +469,12 @@ asynStatus turboPmacController::writeInt32(asynUser *pasynUser,
|
||||
turboPmacAxis *axis = getTurboPmacAxis(pasynUser);
|
||||
|
||||
// Handle custom PVs
|
||||
if (function == rereadEncoderPosition_) {
|
||||
if (function == rereadEncoderPosition()) {
|
||||
return axis->rereadEncoder();
|
||||
} else if (function == readConfig_) {
|
||||
} else if (function == readConfig()) {
|
||||
return axis->init();
|
||||
} else if (function == flushHardware()) {
|
||||
return doFlushHardware();
|
||||
} else {
|
||||
return sinqController::writeInt32(pasynUser, value);
|
||||
}
|
||||
@ -498,6 +491,19 @@ asynStatus turboPmacController::couldNotParseResponse(const char *command,
|
||||
command, modifiedResponse, axisNo, functionName, lineNumber);
|
||||
}
|
||||
|
||||
int turboPmacController::rereadEncoderPosition() {
|
||||
return pTurboPmacC_->rereadEncoderPosition;
|
||||
}
|
||||
int turboPmacController::readConfig() { return pTurboPmacC_->readConfig; }
|
||||
int turboPmacController::flushHardware() { return pTurboPmacC_->flushHardware; }
|
||||
int turboPmacController::limFromHardware() {
|
||||
return pTurboPmacC_->limFromHardware;
|
||||
}
|
||||
|
||||
asynUser *turboPmacController::pasynInt32SyncIOipPort() {
|
||||
return pTurboPmacC_->pasynInt32SyncIOipPort;
|
||||
}
|
||||
|
||||
/*************************************************************************************/
|
||||
/** The following functions are C-wrappers, and can be called directly from
|
||||
* iocsh */
|
||||
|
||||
@ -10,7 +10,14 @@
|
||||
#define turboPmacController_H
|
||||
#include "sinqAxis.h"
|
||||
#include "sinqController.h"
|
||||
#include "turboPmacAxis.h"
|
||||
#include <memory>
|
||||
|
||||
// Forward declaration of the controller class to resolve the cyclic dependency
|
||||
// between the controller and the axis .h-file. See
|
||||
// https://en.cppreference.com/w/cpp/language/class.
|
||||
class turboPmacAxis;
|
||||
|
||||
struct turboPmacControllerImpl;
|
||||
|
||||
class turboPmacController : public sinqController {
|
||||
public:
|
||||
@ -33,6 +40,13 @@ class turboPmacController : public sinqController {
|
||||
double idlePollPeriod, double comTimeout,
|
||||
int numExtraParams = 0);
|
||||
|
||||
/**
|
||||
* @brief Destroy the controller. Its implementation is empty, however the
|
||||
* destructor needs to be provided for handling turboPmacControllerImpl.
|
||||
*
|
||||
*/
|
||||
virtual ~turboPmacController();
|
||||
|
||||
/**
|
||||
* @brief Get the axis object
|
||||
*
|
||||
@ -103,30 +117,30 @@ class turboPmacController : public sinqController {
|
||||
int axisNo_, const char *functionName,
|
||||
int lineNumber);
|
||||
|
||||
// Accessors for additional PVs
|
||||
int rereadEncoderPosition() { return rereadEncoderPosition_; }
|
||||
int readConfig() { return readConfig_; }
|
||||
/**
|
||||
* @brief Perform a hardware flush (clearing of communication buffers)
|
||||
*
|
||||
* The PMAC controllers hardware buffers can be flushed (see Turbo PMAC user
|
||||
* manual, p. 414). This "freezes" the PMAC for around 10 ms and should
|
||||
* therefore only be done if it is necessary (i.e. not as part of the
|
||||
* regular communication procedure).
|
||||
*
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus doFlushHardware();
|
||||
|
||||
// Set the maximum buffer size. This is an empirical value which must be
|
||||
// large enough to avoid overflows for all commands to the device /
|
||||
// responses from it.
|
||||
static const uint32_t MAXBUF_ = 200;
|
||||
// Accessors for additional PVs
|
||||
int rereadEncoderPosition();
|
||||
int readConfig();
|
||||
int flushHardware();
|
||||
int limFromHardware();
|
||||
|
||||
asynUser *pasynInt32SyncIOipPort();
|
||||
|
||||
private:
|
||||
std::unique_ptr<turboPmacControllerImpl> pTurboPmacC_;
|
||||
|
||||
protected:
|
||||
/*
|
||||
Timeout for the communication process in seconds
|
||||
*/
|
||||
double comTimeout_;
|
||||
|
||||
char lastResponse[MAXBUF_];
|
||||
|
||||
// Indices of additional PVs
|
||||
#define FIRST_turboPmac_PARAM rereadEncoderPosition_
|
||||
int rereadEncoderPosition_;
|
||||
int readConfig_;
|
||||
#define LAST_turboPmac_PARAM readConfig_
|
||||
};
|
||||
#define NUM_turboPmac_DRIVER_PARAMS \
|
||||
(&LAST_turboPmac_PARAM - &FIRST_turboPmac_PARAM + 1)
|
||||
|
||||
#endif /* turboPmacController_H */
|
||||
|
||||
Reference in New Issue
Block a user