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674
LICENSE.txt
Normal file
674
LICENSE.txt
Normal file
@ -0,0 +1,674 @@
|
||||
GNU GENERAL PUBLIC LICENSE
|
||||
Version 3, 29 June 2007
|
||||
|
||||
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
|
||||
Everyone is permitted to copy and distribute verbatim copies
|
||||
of this license document, but changing it is not allowed.
|
||||
|
||||
Preamble
|
||||
|
||||
The GNU General Public License is a free, copyleft license for
|
||||
software and other kinds of works.
|
||||
|
||||
The licenses for most software and other practical works are designed
|
||||
to take away your freedom to share and change the works. By contrast,
|
||||
the GNU General Public License is intended to guarantee your freedom to
|
||||
share and change all versions of a program--to make sure it remains free
|
||||
software for all its users. We, the Free Software Foundation, use the
|
||||
GNU General Public License for most of our software; it applies also to
|
||||
any other work released this way by its authors. You can apply it to
|
||||
your programs, too.
|
||||
|
||||
When we speak of free software, we are referring to freedom, not
|
||||
price. Our General Public Licenses are designed to make sure that you
|
||||
have the freedom to distribute copies of free software (and charge for
|
||||
them if you wish), that you receive source code or can get it if you
|
||||
want it, that you can change the software or use pieces of it in new
|
||||
free programs, and that you know you can do these things.
|
||||
|
||||
To protect your rights, we need to prevent others from denying you
|
||||
these rights or asking you to surrender the rights. Therefore, you have
|
||||
certain responsibilities if you distribute copies of the software, or if
|
||||
you modify it: responsibilities to respect the freedom of others.
|
||||
|
||||
For example, if you distribute copies of such a program, whether
|
||||
gratis or for a fee, you must pass on to the recipients the same
|
||||
freedoms that you received. You must make sure that they, too, receive
|
||||
or can get the source code. And you must show them these terms so they
|
||||
know their rights.
|
||||
|
||||
Developers that use the GNU GPL protect your rights with two steps:
|
||||
(1) assert copyright on the software, and (2) offer you this License
|
||||
giving you legal permission to copy, distribute and/or modify it.
|
||||
|
||||
For the developers' and authors' protection, the GPL clearly explains
|
||||
that there is no warranty for this free software. For both users' and
|
||||
authors' sake, the GPL requires that modified versions be marked as
|
||||
changed, so that their problems will not be attributed erroneously to
|
||||
authors of previous versions.
|
||||
|
||||
Some devices are designed to deny users access to install or run
|
||||
modified versions of the software inside them, although the manufacturer
|
||||
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|
||||
protecting users' freedom to change the software. The systematic
|
||||
pattern of such abuse occurs in the area of products for individuals to
|
||||
use, which is precisely where it is most unacceptable. Therefore, we
|
||||
have designed this version of the GPL to prohibit the practice for those
|
||||
products. If such problems arise substantially in other domains, we
|
||||
stand ready to extend this provision to those domains in future versions
|
||||
of the GPL, as needed to protect the freedom of users.
|
||||
|
||||
Finally, every program is threatened constantly by software patents.
|
||||
States should not allow patents to restrict development and use of
|
||||
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|
||||
avoid the special danger that patents applied to a free program could
|
||||
make it effectively proprietary. To prevent this, the GPL assures that
|
||||
patents cannot be used to render the program non-free.
|
||||
|
||||
The precise terms and conditions for copying, distribution and
|
||||
modification follow.
|
||||
|
||||
TERMS AND CONDITIONS
|
||||
|
||||
0. Definitions.
|
||||
|
||||
"This License" refers to version 3 of the GNU General Public License.
|
||||
|
||||
"Copyright" also means copyright-like laws that apply to other kinds of
|
||||
works, such as semiconductor masks.
|
||||
|
||||
"The Program" refers to any copyrightable work licensed under this
|
||||
License. Each licensee is addressed as "you". "Licensees" and
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||||
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|
||||
|
||||
To "modify" a work means to copy from or adapt all or part of the work
|
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|
||||
exact copy. The resulting work is called a "modified version" of the
|
||||
earlier work or a work "based on" the earlier work.
|
||||
|
||||
A "covered work" means either the unmodified Program or a work based
|
||||
on the Program.
|
||||
|
||||
To "propagate" a work means to do anything with it that, without
|
||||
permission, would make you directly or secondarily liable for
|
||||
infringement under applicable copyright law, except executing it on a
|
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computer or modifying a private copy. Propagation includes copying,
|
||||
distribution (with or without modification), making available to the
|
||||
public, and in some countries other activities as well.
|
||||
|
||||
To "convey" a work means any kind of propagation that enables other
|
||||
parties to make or receive copies. Mere interaction with a user through
|
||||
a computer network, with no transfer of a copy, is not conveying.
|
||||
|
||||
An interactive user interface displays "Appropriate Legal Notices"
|
||||
to the extent that it includes a convenient and prominently visible
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
the interface presents a list of user commands or options, such as a
|
||||
menu, a prominent item in the list meets this criterion.
|
||||
|
||||
1. Source Code.
|
||||
|
||||
The "source code" for a work means the preferred form of the work
|
||||
for making modifications to it. "Object code" means any non-source
|
||||
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|
||||
|
||||
A "Standard Interface" means an interface that either is an official
|
||||
standard defined by a recognized standards body, or, in the case of
|
||||
interfaces specified for a particular programming language, one that
|
||||
is widely used among developers working in that language.
|
||||
|
||||
The "System Libraries" of an executable work include anything, other
|
||||
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|
||||
packaging a Major Component, but which is not part of that Major
|
||||
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|
||||
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|
||||
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|
||||
"Major Component", in this context, means a major essential component
|
||||
(kernel, window system, and so on) of the specific operating system
|
||||
(if any) on which the executable work runs, or a compiler used to
|
||||
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||||
|
||||
The "Corresponding Source" for a work in object code form means all
|
||||
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|
||||
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|
||||
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|
||||
System Libraries, or general-purpose tools or generally available free
|
||||
programs which are used unmodified in performing those activities but
|
||||
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|
||||
includes interface definition files associated with source files for
|
||||
the work, and the source code for shared libraries and dynamically
|
||||
linked subprograms that the work is specifically designed to require,
|
||||
such as by intimate data communication or control flow between those
|
||||
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|
||||
|
||||
The Corresponding Source need not include anything that users
|
||||
can regenerate automatically from other parts of the Corresponding
|
||||
Source.
|
||||
|
||||
The Corresponding Source for a work in source code form is that
|
||||
same work.
|
||||
|
||||
2. Basic Permissions.
|
||||
|
||||
All rights granted under this License are granted for the term of
|
||||
copyright on the Program, and are irrevocable provided the stated
|
||||
conditions are met. This License explicitly affirms your unlimited
|
||||
permission to run the unmodified Program. The output from running a
|
||||
covered work is covered by this License only if the output, given its
|
||||
content, constitutes a covered work. This License acknowledges your
|
||||
rights of fair use or other equivalent, as provided by copyright law.
|
||||
|
||||
You may make, run and propagate covered works that you do not
|
||||
convey, without conditions so long as your license otherwise remains
|
||||
in force. You may convey covered works to others for the sole purpose
|
||||
of having them make modifications exclusively for you, or provide you
|
||||
with facilities for running those works, provided that you comply with
|
||||
the terms of this License in conveying all material for which you do
|
||||
not control copyright. Those thus making or running the covered works
|
||||
for you must do so exclusively on your behalf, under your direction
|
||||
and control, on terms that prohibit them from making any copies of
|
||||
your copyrighted material outside their relationship with you.
|
||||
|
||||
Conveying under any other circumstances is permitted solely under
|
||||
the conditions stated below. Sublicensing is not allowed; section 10
|
||||
makes it unnecessary.
|
||||
|
||||
3. Protecting Users' Legal Rights From Anti-Circumvention Law.
|
||||
|
||||
No covered work shall be deemed part of an effective technological
|
||||
measure under any applicable law fulfilling obligations under article
|
||||
11 of the WIPO copyright treaty adopted on 20 December 1996, or
|
||||
similar laws prohibiting or restricting circumvention of such
|
||||
measures.
|
||||
|
||||
When you convey a covered work, you waive any legal power to forbid
|
||||
circumvention of technological measures to the extent such circumvention
|
||||
is effected by exercising rights under this License with respect to
|
||||
the covered work, and you disclaim any intention to limit operation or
|
||||
modification of the work as a means of enforcing, against the work's
|
||||
users, your or third parties' legal rights to forbid circumvention of
|
||||
technological measures.
|
||||
|
||||
4. Conveying Verbatim Copies.
|
||||
|
||||
You may convey verbatim copies of the Program's source code as you
|
||||
receive it, in any medium, provided that you conspicuously and
|
||||
appropriately publish on each copy an appropriate copyright notice;
|
||||
keep intact all notices stating that this License and any
|
||||
non-permissive terms added in accord with section 7 apply to the code;
|
||||
keep intact all notices of the absence of any warranty; and give all
|
||||
recipients a copy of this License along with the Program.
|
||||
|
||||
You may charge any price or no price for each copy that you convey,
|
||||
and you may offer support or warranty protection for a fee.
|
||||
|
||||
5. Conveying Modified Source Versions.
|
||||
|
||||
You may convey a work based on the Program, or the modifications to
|
||||
produce it from the Program, in the form of source code under the
|
||||
terms of section 4, provided that you also meet all of these conditions:
|
||||
|
||||
a) The work must carry prominent notices stating that you modified
|
||||
it, and giving a relevant date.
|
||||
|
||||
b) The work must carry prominent notices stating that it is
|
||||
released under this License and any conditions added under section
|
||||
7. This requirement modifies the requirement in section 4 to
|
||||
"keep intact all notices".
|
||||
|
||||
c) You must license the entire work, as a whole, under this
|
||||
License to anyone who comes into possession of a copy. This
|
||||
License will therefore apply, along with any applicable section 7
|
||||
additional terms, to the whole of the work, and all its parts,
|
||||
regardless of how they are packaged. This License gives no
|
||||
permission to license the work in any other way, but it does not
|
||||
invalidate such permission if you have separately received it.
|
||||
|
||||
d) If the work has interactive user interfaces, each must display
|
||||
Appropriate Legal Notices; however, if the Program has interactive
|
||||
interfaces that do not display Appropriate Legal Notices, your
|
||||
work need not make them do so.
|
||||
|
||||
A compilation of a covered work with other separate and independent
|
||||
works, which are not by their nature extensions of the covered work,
|
||||
and which are not combined with it such as to form a larger program,
|
||||
in or on a volume of a storage or distribution medium, is called an
|
||||
"aggregate" if the compilation and its resulting copyright are not
|
||||
used to limit the access or legal rights of the compilation's users
|
||||
beyond what the individual works permit. Inclusion of a covered work
|
||||
in an aggregate does not cause this License to apply to the other
|
||||
parts of the aggregate.
|
||||
|
||||
6. Conveying Non-Source Forms.
|
||||
|
||||
You may convey a covered work in object code form under the terms
|
||||
of sections 4 and 5, provided that you also convey the
|
||||
machine-readable Corresponding Source under the terms of this License,
|
||||
in one of these ways:
|
||||
|
||||
a) Convey the object code in, or embodied in, a physical product
|
||||
(including a physical distribution medium), accompanied by the
|
||||
Corresponding Source fixed on a durable physical medium
|
||||
customarily used for software interchange.
|
||||
|
||||
b) Convey the object code in, or embodied in, a physical product
|
||||
(including a physical distribution medium), accompanied by a
|
||||
written offer, valid for at least three years and valid for as
|
||||
long as you offer spare parts or customer support for that product
|
||||
model, to give anyone who possesses the object code either (1) a
|
||||
copy of the Corresponding Source for all the software in the
|
||||
product that is covered by this License, on a durable physical
|
||||
medium customarily used for software interchange, for a price no
|
||||
more than your reasonable cost of physically performing this
|
||||
conveying of source, or (2) access to copy the
|
||||
Corresponding Source from a network server at no charge.
|
||||
|
||||
c) Convey individual copies of the object code with a copy of the
|
||||
written offer to provide the Corresponding Source. This
|
||||
alternative is allowed only occasionally and noncommercially, and
|
||||
only if you received the object code with such an offer, in accord
|
||||
with subsection 6b.
|
||||
|
||||
d) Convey the object code by offering access from a designated
|
||||
place (gratis or for a charge), and offer equivalent access to the
|
||||
Corresponding Source in the same way through the same place at no
|
||||
further charge. You need not require recipients to copy the
|
||||
Corresponding Source along with the object code. If the place to
|
||||
copy the object code is a network server, the Corresponding Source
|
||||
may be on a different server (operated by you or a third party)
|
||||
that supports equivalent copying facilities, provided you maintain
|
||||
clear directions next to the object code saying where to find the
|
||||
Corresponding Source. Regardless of what server hosts the
|
||||
Corresponding Source, you remain obligated to ensure that it is
|
||||
available for as long as needed to satisfy these requirements.
|
||||
|
||||
e) Convey the object code using peer-to-peer transmission, provided
|
||||
you inform other peers where the object code and Corresponding
|
||||
Source of the work are being offered to the general public at no
|
||||
charge under subsection 6d.
|
||||
|
||||
A separable portion of the object code, whose source code is excluded
|
||||
from the Corresponding Source as a System Library, need not be
|
||||
included in conveying the object code work.
|
||||
|
||||
A "User Product" is either (1) a "consumer product", which means any
|
||||
tangible personal property which is normally used for personal, family,
|
||||
or household purposes, or (2) anything designed or sold for incorporation
|
||||
into a dwelling. In determining whether a product is a consumer product,
|
||||
doubtful cases shall be resolved in favor of coverage. For a particular
|
||||
product received by a particular user, "normally used" refers to a
|
||||
typical or common use of that class of product, regardless of the status
|
||||
of the particular user or of the way in which the particular user
|
||||
actually uses, or expects or is expected to use, the product. A product
|
||||
is a consumer product regardless of whether the product has substantial
|
||||
commercial, industrial or non-consumer uses, unless such uses represent
|
||||
the only significant mode of use of the product.
|
||||
|
||||
"Installation Information" for a User Product means any methods,
|
||||
procedures, authorization keys, or other information required to install
|
||||
and execute modified versions of a covered work in that User Product from
|
||||
a modified version of its Corresponding Source. The information must
|
||||
suffice to ensure that the continued functioning of the modified object
|
||||
code is in no case prevented or interfered with solely because
|
||||
modification has been made.
|
||||
|
||||
If you convey an object code work under this section in, or with, or
|
||||
specifically for use in, a User Product, and the conveying occurs as
|
||||
part of a transaction in which the right of possession and use of the
|
||||
User Product is transferred to the recipient in perpetuity or for a
|
||||
fixed term (regardless of how the transaction is characterized), the
|
||||
Corresponding Source conveyed under this section must be accompanied
|
||||
by the Installation Information. But this requirement does not apply
|
||||
if neither you nor any third party retains the ability to install
|
||||
modified object code on the User Product (for example, the work has
|
||||
been installed in ROM).
|
||||
|
||||
The requirement to provide Installation Information does not include a
|
||||
requirement to continue to provide support service, warranty, or updates
|
||||
for a work that has been modified or installed by the recipient, or for
|
||||
the User Product in which it has been modified or installed. Access to a
|
||||
network may be denied when the modification itself materially and
|
||||
adversely affects the operation of the network or violates the rules and
|
||||
protocols for communication across the network.
|
||||
|
||||
Corresponding Source conveyed, and Installation Information provided,
|
||||
in accord with this section must be in a format that is publicly
|
||||
documented (and with an implementation available to the public in
|
||||
source code form), and must require no special password or key for
|
||||
unpacking, reading or copying.
|
||||
|
||||
7. Additional Terms.
|
||||
|
||||
"Additional permissions" are terms that supplement the terms of this
|
||||
License by making exceptions from one or more of its conditions.
|
||||
Additional permissions that are applicable to the entire Program shall
|
||||
be treated as though they were included in this License, to the extent
|
||||
that they are valid under applicable law. If additional permissions
|
||||
apply only to part of the Program, that part may be used separately
|
||||
under those permissions, but the entire Program remains governed by
|
||||
this License without regard to the additional permissions.
|
||||
|
||||
When you convey a copy of a covered work, you may at your option
|
||||
remove any additional permissions from that copy, or from any part of
|
||||
it. (Additional permissions may be written to require their own
|
||||
removal in certain cases when you modify the work.) You may place
|
||||
additional permissions on material, added by you to a covered work,
|
||||
for which you have or can give appropriate copyright permission.
|
||||
|
||||
Notwithstanding any other provision of this License, for material you
|
||||
add to a covered work, you may (if authorized by the copyright holders of
|
||||
that material) supplement the terms of this License with terms:
|
||||
|
||||
a) Disclaiming warranty or limiting liability differently from the
|
||||
terms of sections 15 and 16 of this License; or
|
||||
|
||||
b) Requiring preservation of specified reasonable legal notices or
|
||||
author attributions in that material or in the Appropriate Legal
|
||||
Notices displayed by works containing it; or
|
||||
|
||||
c) Prohibiting misrepresentation of the origin of that material, or
|
||||
requiring that modified versions of such material be marked in
|
||||
reasonable ways as different from the original version; or
|
||||
|
||||
d) Limiting the use for publicity purposes of names of licensors or
|
||||
authors of the material; or
|
||||
|
||||
e) Declining to grant rights under trademark law for use of some
|
||||
trade names, trademarks, or service marks; or
|
||||
|
||||
f) Requiring indemnification of licensors and authors of that
|
||||
material by anyone who conveys the material (or modified versions of
|
||||
it) with contractual assumptions of liability to the recipient, for
|
||||
any liability that these contractual assumptions directly impose on
|
||||
those licensors and authors.
|
||||
|
||||
All other non-permissive additional terms are considered "further
|
||||
restrictions" within the meaning of section 10. If the Program as you
|
||||
received it, or any part of it, contains a notice stating that it is
|
||||
governed by this License along with a term that is a further
|
||||
restriction, you may remove that term. If a license document contains
|
||||
a further restriction but permits relicensing or conveying under this
|
||||
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
|
||||
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|
||||
(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
|
||||
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|
||||
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|
||||
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>.
|
||||
6
Makefile
6
Makefile
@ -14,13 +14,15 @@ REQUIRED+=sinqMotor
|
||||
motorBase_VERSION=7.2.2
|
||||
|
||||
# Specify the version of sinqMotor we want to build against
|
||||
sinqMotor_VERSION=0.9.0
|
||||
sinqMotor_VERSION=mathis_s
|
||||
|
||||
# These headers allow to depend on this library for derived drivers.
|
||||
HEADERS += src/pmacAsynIPPort.h
|
||||
HEADERS += src/turboPmacAxis.h
|
||||
HEADERS += src/turboPmacController.h
|
||||
|
||||
# Source files to build
|
||||
SOURCES += src/pmacAsynIPPort.c
|
||||
SOURCES += src/turboPmacAxis.cpp
|
||||
SOURCES += src/turboPmacController.cpp
|
||||
|
||||
@ -30,4 +32,4 @@ TEMPLATES += db/turboPmac.db
|
||||
# This file registers the motor-specific functions in the IOC shell.
|
||||
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
|
||||
|
||||
45
README.md
45
README.md
@ -1,35 +1,38 @@
|
||||
# turboPmac
|
||||
|
||||
## <span style="color:red">Please read the documentation of sinqMotor first: https://git.psi.ch/sinq-epics-modules/sinqmotor</span>
|
||||
|
||||
## 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.
|
||||
|
||||
## 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.
|
||||
- `turboPmacAxis`: Create a new axis object.
|
||||
|
||||
The full mcu.cmd file looks like this:
|
||||
The full turboPmacX.cmd file looks like this:
|
||||
|
||||
```
|
||||
# Define the name of the controller and the corresponding port
|
||||
epicsEnvSet("NAME","mcu")
|
||||
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:
|
||||
@ -37,27 +40,33 @@ 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("$(DRIVER_PORT)", 20);
|
||||
|
||||
# Configure the timeout frequency watchdog:
|
||||
setThresholdComTimeout("$(NAME)", 100, 1);
|
||||
# Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed in 300 seconds before an alarm message is sent.
|
||||
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=$(NAME)")
|
||||
dbLoadTemplate("$(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=$(DRIVER_PORT)")
|
||||
dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(DRIVER_PORT),PORT=$(IP_PORT)")
|
||||
```
|
||||
|
||||
### Additional records
|
||||
|
||||
`turboPmac` provides a variety of additional records. See `db/turboPmac.db` for the complete list and the documentation.
|
||||
|
||||
## Developer guide
|
||||
|
||||
### Versioning
|
||||
|
||||
Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
|
||||
|
||||
@ -16,4 +16,18 @@ record(longout, "$(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")
|
||||
}
|
||||
|
||||
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 */
|
||||
@ -2,4 +2,5 @@
|
||||
# SINQ specific DB definitions
|
||||
#---------------------------------------------
|
||||
registrar(turboPmacControllerRegister)
|
||||
registrar(turboPmacAxisRegister)
|
||||
registrar(turboPmacAxisRegister)
|
||||
registrar(pmacAsynIPPortRegister)
|
||||
File diff suppressed because it is too large
Load Diff
@ -82,12 +82,12 @@ class turboPmacAxis : public sinqAxis {
|
||||
asynStatus init();
|
||||
|
||||
/**
|
||||
* @brief Reset the axis error
|
||||
* @brief Implementation of the `doReset` function from sinqAxis.
|
||||
*
|
||||
* @param on
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus reset();
|
||||
asynStatus doReset();
|
||||
|
||||
/**
|
||||
* @brief Enable / disable the axis.
|
||||
@ -112,6 +112,16 @@ class turboPmacAxis : public sinqAxis {
|
||||
*/
|
||||
asynStatus rereadEncoder();
|
||||
|
||||
/**
|
||||
* @brief Interpret the error code and populate the user message accordingly
|
||||
*
|
||||
* @param error
|
||||
* @param userMessage
|
||||
* @param sizeUserMessage
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus handleError(int error, char *userMessage, int sizeUserMessage);
|
||||
|
||||
protected:
|
||||
turboPmacController *pC_;
|
||||
|
||||
|
||||
@ -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>
|
||||
@ -61,7 +63,7 @@ turboPmacController::turboPmacController(const char *portName,
|
||||
status = createParam("REREAD_ENCODER_POSITION", asynParamInt32,
|
||||
&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__,
|
||||
@ -71,7 +73,17 @@ turboPmacController::turboPmacController(const char *portName,
|
||||
|
||||
status = createParam("READ_CONFIG", asynParamInt32, &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, &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__,
|
||||
@ -88,27 +100,44 @@ 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, &pasynInt32SyncIOipPort_,
|
||||
NULL);
|
||||
if (status != asynSuccess || pasynInt32SyncIOipPort_ == nullptr) {
|
||||
errlogPrintf("Controller \"%s\" => %s, line %d:\nFATAL ERROR (cannot "
|
||||
"connect to MCU controller).\n"
|
||||
"Terminating IOC",
|
||||
portName, __PRETTY_FUNCTION__, __LINE__);
|
||||
exit(-1);
|
||||
}
|
||||
}
|
||||
@ -140,7 +169,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
|
||||
asynStatus status = asynSuccess;
|
||||
asynStatus paramLibStatus = asynSuccess;
|
||||
asynStatus timeoutStatus = asynSuccess;
|
||||
char fullCommand[MAXBUF_] = {0};
|
||||
// char fullCommand[MAXBUF_] = {0};
|
||||
char drvMessageText[MAXBUF_] = {0};
|
||||
char modResponse[MAXBUF_] = {0};
|
||||
int motorStatusProblem = 0;
|
||||
@ -173,85 +202,31 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
|
||||
// We already did the error logging directly in getAxis
|
||||
return asynError;
|
||||
}
|
||||
|
||||
/*
|
||||
The message protocol of the turboPmac used at PSI looks as follows (all
|
||||
characters immediately following each other without a newline):
|
||||
0x40 (ASCII value of @) -> Request for download
|
||||
0xBF (ASCII value of ¿) -> Select mode "get_response"
|
||||
0x00 (ASCII value of 0)
|
||||
0x00 (ASCII value of 0)
|
||||
0x00 (ASCII value of 0)
|
||||
0x00 (ASCII value of 0)
|
||||
0x00 (ASCII value of 0)
|
||||
[message length in network byte order] -> Use the htons function for this
|
||||
value [Actual message] It is not necessary to append a terminator, since
|
||||
this protocol encodes the message length at the beginning. See Turbo PMAC
|
||||
User Manual, page 418 in VR_PMAC_GETRESPONSE
|
||||
x0D (ASCII value of carriage return) -> The controller needs a carriage
|
||||
return at the end of a "send" command (a command were we transmit data via
|
||||
=). For "request" commands (e.g. read status or position), this is not
|
||||
necessary, but it doesn't hurt either, therefore we always add a carriage
|
||||
return.
|
||||
|
||||
The message has to be build manually into the buffer fullCommand, since it
|
||||
contains NULL terminators in its middle, therefore the string manipulation
|
||||
methods of C don't work.
|
||||
*/
|
||||
|
||||
const size_t commandLength = strlen(command);
|
||||
const int offset = 9;
|
||||
|
||||
// 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_,
|
||||
comTimeout_, &nbytesOut, &nbytesIn, &eomReason);
|
||||
|
||||
status = pasynOctetSyncIO->write(ipPortUser_, fullCommand, fullComandLength,
|
||||
comTimeout_, &nbytesOut);
|
||||
|
||||
msgPrintControlKey writeKey =
|
||||
msgPrintControlKey comKey =
|
||||
msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
|
||||
|
||||
if (status == asynTimeout) {
|
||||
|
||||
if (msgPrintControl_.shouldBePrinted(writeKey, true, pasynUserSelf)) {
|
||||
if (msgPrintControl_.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());
|
||||
}
|
||||
@ -264,11 +239,15 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
|
||||
checkMaxSubsequentTimeouts(timeoutCounter, axis);
|
||||
timeoutCounter += 1;
|
||||
|
||||
status = pasynOctetSyncIO->write(ipPortUser_, fullCommand,
|
||||
fullComandLength, comTimeout_,
|
||||
&nbytesOut);
|
||||
if (maxSubsequentTimeoutsExceeded_) {
|
||||
break;
|
||||
}
|
||||
|
||||
status = pasynOctetSyncIO->writeRead(
|
||||
pasynOctetSyncIOipPort(), command, commandLength, response,
|
||||
MAXBUF_, 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__);
|
||||
@ -276,66 +255,16 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
|
||||
}
|
||||
}
|
||||
} else if (status != asynSuccess) {
|
||||
if (msgPrintControl_.shouldBePrinted(writeKey, true, pasynUserSelf)) {
|
||||
if (msgPrintControl_.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());
|
||||
}
|
||||
} else {
|
||||
msgPrintControl_.resetCount(writeKey, pasynUserSelf);
|
||||
}
|
||||
|
||||
// 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);
|
||||
msgPrintControl_.resetCount(comKey, pasynUser());
|
||||
}
|
||||
|
||||
if (timeoutStatus == asynError) {
|
||||
@ -348,20 +277,40 @@ 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 (msgPrintControl_.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, msgPrintControl_.getSuffix());
|
||||
}
|
||||
} else {
|
||||
msgPrintControl_.resetCount(terminateKey, pasynUserSelf);
|
||||
msgPrintControl_.resetCount(terminateKey, pasynUser());
|
||||
}
|
||||
|
||||
/*
|
||||
@ -379,9 +328,9 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
|
||||
adjustResponseForPrint(modResponse, response, MAXBUF_);
|
||||
|
||||
if (msgPrintControl_.shouldBePrinted(numResponsesKey, true,
|
||||
pasynUserSelf)) {
|
||||
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",
|
||||
@ -396,7 +345,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
|
||||
modResponse, command);
|
||||
status = asynError;
|
||||
} else {
|
||||
msgPrintControl_.resetCount(numResponsesKey, pasynUserSelf);
|
||||
msgPrintControl_.resetCount(numResponsesKey, pasynUser());
|
||||
}
|
||||
|
||||
// Create custom error messages for different failure modes, if no error
|
||||
@ -466,6 +415,22 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
|
||||
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 = pasynInt32SyncIOipPort_->reason;
|
||||
pasynInt32SyncIOipPort_->reason = FLUSH_HARDWARE;
|
||||
asynStatus status = (asynStatus)pasynInt32SyncIO->write(
|
||||
pasynInt32SyncIOipPort_, 1, comTimeout_);
|
||||
|
||||
// Reset the status afterwards
|
||||
pasynInt32SyncIOipPort_->reason = temp;
|
||||
return status;
|
||||
}
|
||||
|
||||
asynStatus turboPmacController::writeInt32(asynUser *pasynUser,
|
||||
epicsInt32 value) {
|
||||
int function = pasynUser->reason;
|
||||
@ -479,28 +444,21 @@ asynStatus turboPmacController::writeInt32(asynUser *pasynUser,
|
||||
return axis->rereadEncoder();
|
||||
} else if (function == readConfig_) {
|
||||
return axis->init();
|
||||
} else if (function == flushHardware_) {
|
||||
return doFlushHardware();
|
||||
} else {
|
||||
return sinqController::writeInt32(pasynUser, value);
|
||||
}
|
||||
}
|
||||
|
||||
asynStatus turboPmacController::readInt32(asynUser *pasynUser,
|
||||
epicsInt32 *value) {
|
||||
// PMACs can be disabled
|
||||
if (pasynUser->reason == motorCanDisable_) {
|
||||
*value = 1;
|
||||
return asynSuccess;
|
||||
} else {
|
||||
return sinqController::readInt32(pasynUser, value);
|
||||
}
|
||||
}
|
||||
|
||||
asynStatus turboPmacController::errMsgCouldNotParseResponse(
|
||||
const char *command, const char *response, int axisNo,
|
||||
const char *functionName, int lineNumber) {
|
||||
asynStatus turboPmacController::couldNotParseResponse(const char *command,
|
||||
const char *response,
|
||||
int axisNo,
|
||||
const char *functionName,
|
||||
int lineNumber) {
|
||||
char modifiedResponse[MAXBUF_] = {0};
|
||||
adjustResponseForPrint(modifiedResponse, response, MAXBUF_);
|
||||
return sinqController::errMsgCouldNotParseResponse(
|
||||
return sinqController::couldNotParseResponse(
|
||||
command, modifiedResponse, axisNo, functionName, lineNumber);
|
||||
}
|
||||
|
||||
|
||||
@ -51,17 +51,6 @@ class turboPmacController : public sinqController {
|
||||
*/
|
||||
turboPmacAxis *getTurboPmacAxis(int axisNo);
|
||||
|
||||
/**
|
||||
* @brief Overloaded function of sinqController
|
||||
*
|
||||
* The function is overloaded in order to read motorCanDisable_.
|
||||
*
|
||||
* @param pasynUser
|
||||
* @param value
|
||||
* @return asynStatus
|
||||
*/
|
||||
virtual asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
|
||||
|
||||
/**
|
||||
* @brief Overloaded function of sinqController
|
||||
*
|
||||
@ -93,13 +82,13 @@ class turboPmacController : public sinqController {
|
||||
int numExpectedResponses);
|
||||
|
||||
/**
|
||||
* @brief Specialized version of sinqController::errMsgCouldNotParseResponse
|
||||
* @brief Specialized version of sinqController::couldNotParseResponse
|
||||
* for turboPmac
|
||||
*
|
||||
* This is an overloaded version of
|
||||
* sinqController::errMsgCouldNotParseResponse which calls
|
||||
* sinqController::couldNotParseResponse which calls
|
||||
* adjustResponseForLogging on response before handing it over to
|
||||
* sinqController::errMsgCouldNotParseResponse.
|
||||
* sinqController::couldNotParseResponse.
|
||||
*
|
||||
* @param command Command which led to the unparseable message
|
||||
* @param response Response which wasn't parseable
|
||||
@ -110,20 +99,34 @@ class turboPmacController : public sinqController {
|
||||
called. It is recommended to use a macro, e.g. __LINE__.
|
||||
* @return asynStatus Returns asynError.
|
||||
*/
|
||||
asynStatus errMsgCouldNotParseResponse(const char *command,
|
||||
const char *response, int axisNo_,
|
||||
const char *functionName,
|
||||
int lineNumber);
|
||||
asynStatus couldNotParseResponse(const char *command, const char *response,
|
||||
int axisNo_, const char *functionName,
|
||||
int lineNumber);
|
||||
|
||||
/**
|
||||
* @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();
|
||||
|
||||
// Accessors for additional PVs
|
||||
int rereadEncoderPosition() { return rereadEncoderPosition_; }
|
||||
int readConfig() { return readConfig_; }
|
||||
int flushHardware() { return flushHardware_; }
|
||||
|
||||
// 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;
|
||||
|
||||
asynUser *pasynInt32SyncIOipPort() { return pasynInt32SyncIOipPort_; }
|
||||
|
||||
protected:
|
||||
/*
|
||||
Timeout for the communication process in seconds
|
||||
@ -132,11 +135,15 @@ class turboPmacController : public sinqController {
|
||||
|
||||
char lastResponse[MAXBUF_];
|
||||
|
||||
// User for writing int32 values to the port driver.
|
||||
asynUser *pasynInt32SyncIOipPort_;
|
||||
|
||||
// Indices of additional PVs
|
||||
#define FIRST_turboPmac_PARAM rereadEncoderPosition_
|
||||
int rereadEncoderPosition_;
|
||||
int readConfig_;
|
||||
#define LAST_turboPmac_PARAM readConfig_
|
||||
int flushHardware_;
|
||||
#define LAST_turboPmac_PARAM flushHardware_
|
||||
};
|
||||
#define NUM_turboPmac_DRIVER_PARAMS \
|
||||
(&LAST_turboPmac_PARAM - &FIRST_turboPmac_PARAM + 1)
|
||||
|
||||
Reference in New Issue
Block a user