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Ai slop2 #3

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wall_e wants to merge 4 commits from ai_slop2 into v1.6
pull from: ai_slop2
merge into: :v1.6
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5 changed files with 1128 additions and 999 deletions
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Makefile
+1 -1
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@@ -21,7 +21,7 @@ HEADERS += src/turboPmacController.h
SOURCES += sinqMotor/src/msgPrintControl.cpp
SOURCES += sinqMotor/src/sinqAxis.cpp
SOURCES += sinqMotor/src/sinqController.cpp
SOURCES += src/pmacAsynIPPort.c
SOURCES += src/pmacAsynIPPort.cpp
SOURCES += src/turboPmacAxis.cpp
SOURCES += src/turboPmacController.cpp
src/pmacAsynIPPort.c
-974
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@@ -1,974 +0,0 @@
/*
NOTES
This driver is an asyn interpose driver intended for use with pmacAsynMotor
to allow communication over ethernet to a PMAC.
*** Ensure I3=2 and I6=1 on the PMAC before using this driver. ***
This driver supports sending ascii commands to the PMAC over asyn IP and
obtaining the response. The driver uses the PMAC ethernet packets
VR_PMAC_GETRESPONSE, VR_PMAC_READREADY and VR_PMAC_GETBUFFER to send commands
and get responses. The PMAC may send responses in several different formats.
1) PMAC ascii command responses for single/multiple commands (e.g. I113 I114
I130 I131 I133) are in an ACK terminated form as follows (CR seperates the
cmd responses): data<CR(13)>data<CR(13)>data<CR(13)><ACK(6)> 2) PMAC error
responses to ascii commands ARE NOT ACK terminated as follows:
<BELL(7)>ERRxxx<CR(13)>
3) PMAC may also return the following:
<STX(2)>data<CR(13)>
This driver can send ctrl commands (ctrl B/C/F/G/P/V) to the pmac (using
VR_CTRL_REPONSE packet) however because the resulting response data is not
terminated as above the driver does not know when all the response data has
been received. The response data will therefore only be returned after the
asynUser.timeout has expired.
This driver 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);
// =============================================================================
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);
src/pmacAsynIPPort.cpp
+919
View File
@@ -0,0 +1,919 @@
/*
NOTES
This driver is an asyn driver intended for use with turboPmacController
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)
Unlike the original DLS driver, this is not an interpose layer on top of
drvAsynIPPort anymore. Instead the driver inherits from the C++ asynPortDriver
class, implements the socket handling itself and overrides the asynCommon,
asynOctet and asynInt32 methods.
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 "pmacAsynIPPort.h"
#include "asynDriver.h"
#include "asynInterposeEos.h"
#include "asynPortDriver.h"
#include "epicsExport.h"
#include <cstdio>
#include <cstring>
#include <epicsThread.h>
#include <epicsTime.h>
#include <exception>
#include <fcntl.h>
#include <iocsh.h>
#include <netinet/in.h>
#include <netinet/tcp.h>
#include <osiSock.h>
#include <stdexcept>
#include <string>
#include <sys/poll.h>
/* PMAC ethernet commands - RequestType field */
constexpr uint8_t VR_UPLOAD = 0xC0;
constexpr uint8_t VR_DOWNLOAD = 0x40;
/* PMAC ethernet commands - Request field */
constexpr uint8_t VR_PMAC_FLUSH = 0xB3;
constexpr uint8_t VR_PMAC_GETRESPONSE = 0xBF;
constexpr uint8_t VR_PMAC_READREADY = 0xC2;
constexpr uint8_t VR_CTRL_RESPONSE = 0xC4;
constexpr uint8_t VR_PMAC_GETBUFFER = 0xC5;
constexpr size_t MAX_BUFFER_SIZE = 2097152;
constexpr size_t INPUT_SIZE =
(ETHERNET_DATA_SIZE + 1) /* +1 to allow space to add terminating ACK */;
/* Connect timeout in seconds, matching asyn's DEFAULT_AUTOCONNECT_TIMEOUT. */
constexpr double AUTO_CONNECT_TIMEOUT = 0.5;
constexpr char STX = '\2';
constexpr char ACK = '\6';
constexpr char BELL = '\7';
/* PMAC control character commands (VR_CTRL_RESPONSE cmd): ctrl B/C/F/G/P/V */
constexpr char ctrlCommands[] = "\002\003\006\007\016\022";
/* This delay is how long to wait in seconds after a send fails with errno ==
* EAGAIN or EINTR before trying again */
constexpr double SEND_RETRY_DELAY = 0.01;
/*
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().
*/
/*
* OSI function to control blocking/non-blocking I/O
*/
static int setNonBlock(SOCKET fd, int nonBlockFlag) {
#if defined(vxWorks)
int flags = nonBlockFlag;
if (ioctl(fd, FIONBIO, (int)&flags) < 0)
return -1;
#elif defined(_WIN32)
unsigned long int flags = nonBlockFlag;
if (socket_ioctl(fd, FIONBIO, &flags) < 0)
return -1;
#else
int flags;
if ((flags = fcntl(fd, F_GETFL, 0)) < 0)
return -1;
if (nonBlockFlag)
flags |= O_NONBLOCK;
else
flags &= ~O_NONBLOCK;
if (fcntl(fd, F_SETFL, flags) < 0)
return -1;
#endif
return 0;
}
/* Clamp the asyn I/O timeout to a poll() timeout in milliseconds: negative
* values (infinite wait) pass through, a zero timeout becomes a 1 ms poll. */
static int pollmsecFromTimeout(double timeoutSeconds) {
int pollmsec = (int)(timeoutSeconds * 1000.0);
if (pollmsec == 0)
return 1;
return pollmsec;
}
pmacAsynIPPort::pmacAsynIPPort(const char *portName, const char *hostInfo)
: asynPortDriver(portName, 1 /* maxAddr */, asynOctetMask | asynInt32Mask,
0 /* interruptMask */, ASYN_CANBLOCK, 1 /* autoConnect */,
0 /* priority */, 0 /* stackSize */),
inBuf_(MAX_BUFFER_SIZE) {
// The base class constructor mirrors drvAsynIPPortConfigure(portName,
// hostInfo, priority, noAutoConnect) with ASYN_CANBLOCK and autoConnect
// enabled. We register the asynOctet, asynInt32 and asynCommon interfaces.
// The low level EOS processing is not enabled in the base class, since the
// EOS interpose layer added in pmacAsynIPPortConfigure handles the
// PMAC-specific message terminators instead.
parseHostInfo(hostInfo);
}
pmacAsynIPPort::~pmacAsynIPPort() {
if (fd_ != INVALID_SOCKET)
epicsSocketDestroy(fd_);
}
void pmacAsynIPPort::parseHostInfo(const char *hostInfo) {
std::string hostInfoString(hostInfo);
size_t colon = hostInfoString.find(':');
if (colon == std::string::npos) {
std::string msg("pmacAsynIPPort: \"");
msg += hostInfo;
msg += "\" is not of the form \"<host>:<port>\"";
throw std::runtime_error(msg);
}
IPHostName_ = hostInfoString.substr(0, colon);
std::string portString = hostInfoString.substr(colon + 1);
unsigned long port;
try {
port = std::stoul(portString);
} catch (const std::exception &) {
std::string msg("pmacAsynIPPort: invalid port \"");
msg += portString + "\" in \"" + hostInfo + "\"";
throw std::runtime_error(msg);
}
if (port == 0 || port > 65535) {
std::string msg("pmacAsynIPPort: port \"");
msg += portString + "\" out of range in \"" + hostInfo + "\"";
throw std::runtime_error(msg);
}
port_ = static_cast<unsigned short>(port);
}
asynStatus pmacAsynIPPort::connectIt(asynUser *pasynUser) {
SOCKET fd;
int i = 1;
char sockerrmsg[256];
osiSockAddr farAddr;
asynPrint(pasynUser, ASYN_TRACE_FLOW,
"Attempting to connect to %s reason:%d fd:%lld\n",
IPHostName_.c_str(), pasynUser->reason, (long long)fd_);
if (fd_ != INVALID_SOCKET) {
epicsSnprintf(pasynUser->errorMessage, pasynUser->errorMessageSize,
"%s: Link already open!", IPHostName_.c_str());
return asynError;
}
/*
* Create the socket
*/
if ((fd = epicsSocketCreate(AF_INET, SOCK_STREAM, 0)) < 0) {
epicsSocketConvertErrnoToString(sockerrmsg, sizeof(sockerrmsg));
epicsSnprintf(pasynUser->errorMessage, pasynUser->errorMessageSize,
"Can't create socket: %s", sockerrmsg);
return asynError;
}
/*
* Convert host name/number to IP address.
* We delay doing this until now in case a device
* has just appeared in a DNS database.
*/
farAddr.ia.sin_family = AF_INET;
farAddr.ia.sin_port = htons(port_);
if (hostToIPAddr(IPHostName_.c_str(), &farAddr.ia.sin_addr) < 0) {
epicsSnprintf(pasynUser->errorMessage, pasynUser->errorMessageSize,
"Unknown host \"%s\"", IPHostName_.c_str());
epicsSocketDestroy(fd);
return asynError;
}
if (setNonBlock(fd, 1) < 0) {
epicsSocketConvertErrnoToString(sockerrmsg, sizeof(sockerrmsg));
epicsSnprintf(pasynUser->errorMessage, pasynUser->errorMessageSize,
"Can't set %s O_NONBLOCK option: %s", IPHostName_.c_str(),
sockerrmsg);
epicsSocketDestroy(fd);
return asynError;
}
{
int connectResult = ::connect(fd, &farAddr.sa, sizeof(farAddr.ia));
if (connectResult < 0 &&
(SOCKERRNO == SOCK_EWOULDBLOCK || SOCKERRNO == SOCK_EINPROGRESS)) {
int msConnectTimeout;
struct pollfd pollfd;
// Use asyn's default auto-connect timeout. Older asyn versions do
// not provide asynManager::getAutoConnectTimeout.
msConnectTimeout = (int)(1000 * AUTO_CONNECT_TIMEOUT);
pollfd.fd = fd;
pollfd.events = POLLOUT;
/*
* poll() returning 1 is the only case where connect might have
* been successful. Otherwise connectResult will remain -1.
*/
if (poll(&pollfd, 1, msConnectTimeout) == 1) {
int so_error;
osiSocklen_t len = sizeof so_error;
/*
* We must verify SO_ERROR to make sure the connection was
* successful.
*/
int sockErrorStatus = getsockopt(fd, SOL_SOCKET, SO_ERROR,
(void *)&so_error, &len);
if (sockErrorStatus == 0 && so_error == 0)
connectResult = 0;
}
}
if (connectResult < 0) {
epicsSocketConvertErrnoToString(sockerrmsg, sizeof(sockerrmsg));
epicsSnprintf(pasynUser->errorMessage, pasynUser->errorMessageSize,
"Can't connect to %s: %s", IPHostName_.c_str(),
sockerrmsg);
epicsSocketDestroy(fd);
return asynError;
}
}
if (setsockopt(fd, IPPROTO_TCP, TCP_NODELAY, (void *)&i, sizeof i) < 0) {
epicsSocketConvertErrnoToString(sockerrmsg, sizeof(sockerrmsg));
epicsSnprintf(pasynUser->errorMessage, pasynUser->errorMessageSize,
"Can't set %s socket NODELAY option: %s",
IPHostName_.c_str(), sockerrmsg);
epicsSocketDestroy(fd);
return asynError;
}
asynPrint(pasynUser, ASYN_TRACE_FLOW, "Opened connection OK to %s\n",
IPHostName_.c_str());
fd_ = fd;
return asynSuccess;
}
void pmacAsynIPPort::closeConnection(asynUser *pasynUser, const char *why) {
asynPrint(pasynUser, ASYN_TRACE_FLOW,
"Closing %s connection (fd %lld): %s\n", IPHostName_.c_str(),
(long long)fd_, why);
if (fd_ != INVALID_SOCKET) {
epicsSocketDestroy(fd_);
fd_ = INVALID_SOCKET;
}
pasynManager->exceptionDisconnect(pasynUser);
}
asynStatus pmacAsynIPPort::connect(asynUser *pasynUser) {
int addr;
asynStatus status = getAddress(pasynUser, &addr);
if (status != asynSuccess)
return status;
status = connectIt(pasynUser);
if (status == asynSuccess) {
/* Clear any stale response data left from a previous connection */
inBufTail_ = 0;
inBufHead_ = 0;
pasynManager->exceptionConnect(pasynUser);
}
return status;
}
asynStatus pmacAsynIPPort::disconnect(asynUser *pasynUser) {
int addr;
asynStatus status = getAddress(pasynUser, &addr);
if (status != asynSuccess)
return status;
closeConnection(pasynUser, "Disconnect request");
return asynSuccess;
}
asynStatus pmacAsynIPPort::pollSocket(asynUser *pasynUser,
struct pollfd *pollfd, int pollmsec,
int *pollstatus) {
epicsTimeStamp startTime;
epicsTimeStamp endTime;
epicsTimeGetCurrent(&startTime);
while ((*pollstatus = poll(pollfd, 1, pollmsec)) < 0) {
if (SOCKERRNO != SOCK_EINTR) {
char sockerrmsg[256];
epicsSocketConvertErrnoToString(sockerrmsg, sizeof(sockerrmsg));
epicsSnprintf(pasynUser->errorMessage, pasynUser->errorMessageSize,
"%s poll() failed: %s", IPHostName_.c_str(),
sockerrmsg);
return asynError;
}
epicsTimeGetCurrent(&endTime);
if (epicsTimeDiffInSeconds(&endTime, &startTime) * 1000. > pollmsec)
break;
}
return asynSuccess;
}
asynStatus pmacAsynIPPort::socketRead(asynUser *pasynUser, char *data,
size_t maxchars, size_t *nbytesRead) {
int thisRead;
int readPollmsec;
int pollstatus;
asynStatus status = asynSuccess;
char sockerrmsg[256];
struct pollfd pollfd;
*nbytesRead = 0;
if (fd_ == INVALID_SOCKET) {
epicsSnprintf(pasynUser->errorMessage, pasynUser->errorMessageSize,
"%s disconnected", IPHostName_.c_str());
return asynError;
}
if (maxchars == 0) {
epicsSnprintf(pasynUser->errorMessage, pasynUser->errorMessageSize,
"%s maxchars %d. Why <=0?", IPHostName_.c_str(),
(int)maxchars);
return asynError;
}
readPollmsec = pollmsecFromTimeout(pasynUser->timeout);
pollfd.fd = fd_;
pollfd.events = POLLIN;
status = pollSocket(pasynUser, &pollfd, readPollmsec, &pollstatus);
if (status != asynSuccess)
return status;
thisRead = recv(fd_, data, (int)maxchars, 0);
if (thisRead < 0) {
epicsSocketConvertErrnoToString(sockerrmsg, sizeof(sockerrmsg));
if (SOCKERRNO == SOCK_EWOULDBLOCK || SOCKERRNO == SOCK_EINTR) {
epicsSnprintf(pasynUser->errorMessage, pasynUser->errorMessageSize,
"%s timeout: %s", IPHostName_.c_str(), sockerrmsg);
status = asynTimeout;
} else {
epicsSnprintf(pasynUser->errorMessage, pasynUser->errorMessageSize,
"%s read error: %s", IPHostName_.c_str(), sockerrmsg);
closeConnection(pasynUser, "Read error");
status = asynError;
}
}
/* If recv() returns 0 on a SOCK_STREAM (TCP) socket, the connection has
* closed */
if (thisRead == 0) {
epicsSnprintf(pasynUser->errorMessage, pasynUser->errorMessageSize,
"%s connection closed", IPHostName_.c_str());
closeConnection(pasynUser, "Read from broken connection");
}
if (thisRead < 0)
thisRead = 0;
*nbytesRead = thisRead;
/* If there is room add a null byte */
if (thisRead < (int)maxchars)
data[thisRead] = 0;
return status;
}
asynStatus pmacAsynIPPort::socketWrite(asynUser *pasynUser, const char *data,
size_t numchars,
size_t *nbytesTransferred) {
asynStatus status = asynSuccess;
int thisWrite;
int writePollmsec;
int pollstatus;
epicsTimeStamp startTime;
epicsTimeStamp endTime;
int haveStartTime = 0;
char sockerrmsg[256];
struct pollfd pollfd;
asynPrint(pasynUser, ASYN_TRACE_FLOW, "%s write.\n", IPHostName_.c_str());
if (nbytesTransferred)
*nbytesTransferred = 0;
if (fd_ == INVALID_SOCKET) {
epicsSnprintf(pasynUser->errorMessage, pasynUser->errorMessageSize,
"%s disconnected", IPHostName_.c_str());
return asynError;
}
if (numchars == 0)
return asynSuccess;
writePollmsec = pollmsecFromTimeout(pasynUser->timeout);
for (;;) {
pollfd.fd = fd_;
pollfd.events = POLLOUT;
status = pollSocket(pasynUser, &pollfd, writePollmsec, &pollstatus);
if (status != asynSuccess)
return status;
if (pollstatus == 0) {
epicsSnprintf(pasynUser->errorMessage, pasynUser->errorMessageSize,
"%s poll() timed out", IPHostName_.c_str());
return asynTimeout;
}
for (;;) {
thisWrite = send(fd_, data, (int)numchars, 0);
if (thisWrite >= 0)
break;
if (SOCKERRNO == SOCK_EWOULDBLOCK || SOCKERRNO == SOCK_EINTR) {
if (!haveStartTime) {
epicsTimeGetCurrent(&startTime);
haveStartTime = 1;
} else if (pasynUser->timeout >= 0) {
epicsTimeGetCurrent(&endTime);
if (epicsTimeDiffInSeconds(&endTime, &startTime) >
pasynUser->timeout) {
thisWrite = 0;
break;
}
}
epicsThreadSleep(SEND_RETRY_DELAY);
} else
break;
}
if (thisWrite > 0) {
if (nbytesTransferred)
*nbytesTransferred += thisWrite;
numchars -= thisWrite;
if (numchars == 0)
break;
data += thisWrite;
} else if (thisWrite == 0) {
status = asynTimeout;
epicsSnprintf(pasynUser->errorMessage, pasynUser->errorMessageSize,
"%s send() returned 0", IPHostName_.c_str());
break;
} else {
epicsSocketConvertErrnoToString(sockerrmsg, sizeof(sockerrmsg));
epicsSnprintf(pasynUser->errorMessage, pasynUser->errorMessageSize,
"%s write error: %s", IPHostName_.c_str(),
sockerrmsg);
closeConnection(pasynUser, "Write error");
status = asynError;
break;
}
}
asynPrint(pasynUser, ASYN_TRACE_FLOW, "wrote %lu to %s, return %s.\n",
(unsigned long)(nbytesTransferred ? *nbytesTransferred : 0),
IPHostName_.c_str(), pasynManager->strStatus(status));
return status;
}
asynStatus pmacAsynIPPort::sendPmacCommand(asynUser *pasynUser,
EthernetCmd &cmd,
uint8_t requestType, uint8_t request,
uint16_t wValue, uint16_t wLength,
size_t *nbytesTransfered) {
cmd.RequestType = requestType;
cmd.Request = request;
cmd.wValue = wValue;
cmd.wIndex = 0;
cmd.wLength = htons(wLength);
return socketWrite(pasynUser, reinterpret_cast<const char *>(&cmd),
ETHERNET_CMD_HEADER, nbytesTransfered);
}
/*
Read reponse data from PMAC into buffer inBuf_. If there is no data in the
socket buffer then issue pmac GETBUFFER command to get any outstanding data
still on the PMAC.
*/
asynStatus pmacAsynIPPort::readResponse(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 socketRead().\n");
status = socketRead(pasynUser, inBuf_.data(), maxchars, &thisRead);
asynPrint(pasynUser, ASYN_TRACE_FLOW,
"%s readResponse1 maxchars=%zd, thisRead=%zd, eomReason=%d, "
"status=%u\n",
portName, maxchars, thisRead, *eomReason,
static_cast<unsigned>(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(pasynUser)) {
status = sendPmacGetBuffer(pasynUser, maxchars);
asynPrintIO(pasynUser, ASYN_TRACE_FLOW,
reinterpret_cast<const char *>(&pinCmd_),
ETHERNET_CMD_HEADER, "%s write GETBUFFER\n", portName);
/* We have nothing to return at the moment so read again */
status = socketRead(pasynUser, inBuf_.data(), maxchars, &thisRead);
asynPrint(pasynUser, ASYN_TRACE_FLOW,
"%s readResponse2 maxchars=%zd, thisRead=%zd, "
"eomReason=%d, status=%u\n",
portName, maxchars, thisRead, *eomReason,
static_cast<unsigned>(status));
}
}
if (thisRead > 0) {
if (status == asynTimeout)
status = asynSuccess;
*nbytesTransfered = thisRead;
inBufTail_ = 0;
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
*/
int pmacAsynIPPort::pmacReadReady(asynUser *pasynUser) {
EthernetCmd cmd{};
char data[2] = {0};
asynStatus status;
size_t thisRead = 0;
int retval = 0;
status = sendPmacCommand(pasynUser, cmd, VR_UPLOAD, VR_PMAC_READREADY, 0, 2,
nullptr);
if (status != asynSuccess) {
asynPrintIO(pasynUser, ASYN_TRACE_ERROR,
reinterpret_cast<const char *>(&cmd), ETHERNET_CMD_HEADER,
"%s write pmacReadReady fail\n", portName);
}
status = socketRead(pasynUser, data, 2, &thisRead);
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", portName,
thisRead);
} else {
asynPrint(pasynUser, ASYN_TRACE_ERROR,
"%s read pmacReadReady failed status=%d, retval=%d\n",
portName, static_cast<int>(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.
*
* @return 0 - failed, 1 - success
*/
int pmacAsynIPPort::pmacFlush(asynUser *pasynUser) {
EthernetCmd cmd{};
char data[2] = {0};
asynStatus status = asynSuccess;
size_t thisRead = 0;
int retval = 0;
status = sendPmacCommand(pasynUser, cmd, VR_DOWNLOAD, VR_PMAC_FLUSH, 0, 0,
nullptr);
if (status != asynSuccess) {
asynPrintIO(pasynUser, ASYN_TRACE_ERROR,
reinterpret_cast<const char *>(&cmd), ETHERNET_CMD_HEADER,
"%s write pmacFlush fail\n", 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 = socketRead(pasynUser, data, 1, &thisRead);
if (status == asynSuccess) {
asynPrint(pasynUser, ASYN_TRACE_FLOW, "%s read pmacFlush OK\n",
portName);
retval = 1;
} else {
asynPrint(pasynUser, ASYN_TRACE_ERROR,
"%s read pmacFlush failed - thisRead=%zd, status=%d\n",
portName, thisRead, static_cast<int>(status));
}
inBufTail_ = 0;
inBufHead_ = 0;
return retval;
}
asynStatus pmacAsynIPPort::sendPmacGetBuffer(asynUser *pasynUser,
size_t maxchars) {
return sendPmacCommand(pasynUser, pinCmd_, VR_UPLOAD, VR_PMAC_GETBUFFER, 0,
maxchars, nullptr);
}
/*
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
*/
asynStatus pmacAsynIPPort::writeOctet(asynUser *pasynUser, const char *data,
size_t numchars,
size_t *nbytesTransfered) {
asynStatus status;
size_t nbytesActual = 0;
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::writeOctet\n");
/* 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, */
if (numchars == 1 && strchr(ctrlCommands, data[0])) {
status = sendPmacCommand(pasynUser, poutCmd_, VR_UPLOAD,
VR_CTRL_RESPONSE, data[0], 0, &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,
"writeOctet - 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.
*/
poutCmd_.RequestType = VR_DOWNLOAD;
poutCmd_.Request = VR_PMAC_GETRESPONSE;
poutCmd_.wValue = 0;
poutCmd_.wIndex = 0;
poutCmd_.wLength = htons(numchars);
memcpy(poutCmd_.bData, data, numchars);
status =
socketWrite(pasynUser, reinterpret_cast<const char *>(&poutCmd_),
numchars + ETHERNET_CMD_HEADER, &nbytesActual);
if (nbytesActual > ETHERNET_CMD_HEADER)
*nbytesTransfered = nbytesActual - ETHERNET_CMD_HEADER;
else
*nbytesTransfered = 0;
}
asynPrintIO(pasynUser, ASYN_TRACE_FLOW,
reinterpret_cast<const char *>(&poutCmd_),
numchars + ETHERNET_CMD_HEADER, "%s writeOctet\n", 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.)
*/
asynStatus pmacAsynIPPort::readOctet(asynUser *pasynUser, char *data,
size_t maxchars, size_t *nbytesTransfered,
int *eomReason) {
asynStatus status = asynSuccess;
size_t thisRead = 0;
size_t nRead = 0;
bool bell = false;
bool initialRead = true;
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::readOctet. START\n");
if (maxchars > 0) {
for (;;) {
if (inBufTail_ != inBufHead_) {
*data = inBuf_[inBufTail_++];
if (*data == BELL || *data == STX)
bell = true;
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::readOctet.\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::readOctet. Calling readResponse().\n");
if (!initialRead) {
if (pmacReadReady(pasynUser)) {
status = sendPmacGetBuffer(pasynUser, maxchars);
}
}
status =
readResponse(pasynUser, maxchars - nRead, &thisRead, eomReason);
initialRead = false;
if (status != asynSuccess || thisRead == 0)
break;
}
}
*nbytesTransfered = nRead;
asynPrintIO(pasynUser, ASYN_TRACE_FLOW, data, *nbytesTransfered,
"%s pmacAsynIPPort readOctet nbytesTransfered=%zd, "
"eomReason=%d, status=%d\n",
portName, *nbytesTransfered, *eomReason,
static_cast<int>(status));
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::readOctet. END\n");
return status;
}
asynStatus pmacAsynIPPort::flushOctet(asynUser *pasynUser) {
int numRecv, numTotal = 0;
char cbuf[512];
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::flushOctet\n");
if (fd_ != INVALID_SOCKET) {
/*
* Toss characters until there are none left
*/
while (1) {
numRecv = recv(fd_, cbuf, sizeof cbuf, 0);
if (numRecv <= 0)
break;
numTotal += numRecv;
}
}
if (numTotal > 0) {
asynPrint(pasynUser, ASYN_TRACEIO_DRIVER, "%s flushed %d bytes\n",
portName, numTotal);
}
return asynSuccess;
}
asynStatus pmacAsynIPPort::writeInt32(asynUser *pasynUser, epicsInt32 value) {
asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::writeInt32\n");
if (pasynUser->reason != FLUSH_HARDWARE)
return asynPortDriver::writeInt32(pasynUser, value);
/* Turbo PMAC User Manual, p. 414: 0 - failed, 1 - success */
if (pmacFlush(pasynUser) == 1)
return asynSuccess;
return asynError;
}
// =============================================================================
int pmacAsynIPPortConfigure(const char *portName, const char *hostInfo) {
/*
The port is registered with asynManager in the asynPortDriver base class
constructor. The object lives for the whole IOC lifetime and is therefore
intentionally never deleted (see turboPmacCreateAxis in turboPmacAxis.cpp
for a similar pattern).
*/
try {
new pmacAsynIPPort(portName, hostInfo);
} catch (const std::exception &e) {
printf("pmacAsynIPPortConfigure: error from pmacAsynIPPort "
"constructor. ");
printf("Port: %s (%s)\n", portName, e.what());
return -1;
}
/* Interpose EOS handling layer, above the PMAC IP layer. */
asynInterposeEosConfig(portName, 0, 1, 1);
return asynSuccess;
}
// =============================================================================
/* 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 bool firstTime = true;
if (firstTime) {
firstTime = false;
iocshRegister(&pmacAsynIPPortConfigFuncDef,
pmacAsynIPPortConfigureCallFunc);
}
}
epicsExportRegistrar(pmacAsynIPPortRegister);
src/pmacAsynIPPort.h
+188 -16
View File
@@ -1,35 +1,207 @@
#ifndef asynInterposePmac_H
#define asynInterposePmac_H
#ifndef pmacAsynIPPort_H
#define pmacAsynIPPort_H
#include <epicsExport.h>
#include <macros.h>
#include <shareLib.h>
#include "asynPortDriver.h"
#include <cstddef>
#include <cstdint>
#include <string>
#include <vector>
#include <osiSock.h>
/*
Value is chosen arbitrarily, it just needs to be unique
*/
#define FLUSH_HARDWARE 1
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
constexpr size_t ETHERNET_DATA_SIZE = 1492;
/* PMAC ethernet command structure */
#pragma pack(push, 1)
struct EthernetCmd {
uint8_t RequestType;
uint8_t Request;
uint16_t wValue;
uint16_t wIndex;
uint16_t wLength; /* length of bData */
uint8_t bData[ETHERNET_DATA_SIZE];
};
#pragma pack(pop)
constexpr size_t ETHERNET_CMD_HEADER = sizeof(EthernetCmd) - ETHERNET_DATA_SIZE;
/**
* @brief asyn driver speaking the PMAC ethernet protocol directly over a TCP
* socket.
*
* This driver replaces the generic drvAsynIPPort driver for the communication
* with a Turbo PMAC controller. It handles the socket layer itself and builds
* and parses the PMAC ethernet packets in its asynOctet methods. The
* asynCommon connect/disconnect handling and the asynInt32 interface (used for
* FLUSH_HARDWARE) are implemented here as well.
*/
class HIDDEN pmacAsynIPPort : public asynPortDriver {
public:
/**
* @brief Construct a new pmacAsynIPPort object
*
* The port is registered with asynManager in the asynPortDriver base class
* constructor and can therefore safely be "leaked" here. See
* turboPmacCreateAxis in turboPmacAxis.cpp for a similar pattern.
*
* @param portName The Asyn Port name string.
* @param hostInfo The hostname or IP address followed by the IP port (eg.
* 172.23.243.156:1025)
*/
pmacAsynIPPort(const char *portName, const char *hostInfo);
virtual ~pmacAsynIPPort();
// asynCommon interface overrides
virtual asynStatus connect(asynUser *pasynUser) override;
virtual asynStatus disconnect(asynUser *pasynUser) override;
// asynOctet interface overrides
virtual asynStatus writeOctet(asynUser *pasynUser, const char *data,
size_t numchars,
size_t *nbytesTransfered) override;
virtual asynStatus readOctet(asynUser *pasynUser, char *data,
size_t maxchars, size_t *nbytesTransfered,
int *eomReason) override;
virtual asynStatus flushOctet(asynUser *pasynUser) override;
// asynInt32 interface overrides
virtual asynStatus writeInt32(asynUser *pasynUser,
epicsInt32 value) override;
private:
/**
* @brief Parse a "<host>:<port>" string into IPHostName_ and port_.
*
* @throws std::runtime_error if hostInfo is not of the form
* "<host>:<port>".
*/
void parseHostInfo(const char *hostInfo);
/**
* @brief Open a TCP connection to the PMAC.
*
* The host name lookup is delayed until this point, so that a device which
* gets a new IP address via DHCP is found again on the next reconnect
* attempt.
*/
asynStatus connectIt(asynUser *pasynUser);
/**
* @brief Close the TCP connection and notify asynManager.
*
* This marks the port as disconnected, so that asynManager's autoConnect
* logic retries to establish a connection.
*/
void closeConnection(asynUser *pasynUser, const char *why);
/**
* @brief Raw read from the TCP socket.
*
* Polls the socket for up to pasynUser->timeout and returns any received
* data. A timeout with no data returns asynTimeout and does not close the
* connection.
*/
asynStatus socketRead(asynUser *pasynUser, char *data, size_t maxchars,
size_t *nbytesRead);
/**
* @brief Raw write to the TCP socket.
*
* If nbytesTransferred is not null, it receives the number of bytes that
* were sent to the socket.
*/
asynStatus socketWrite(asynUser *pasynUser, const char *data,
size_t numchars, size_t *nbytesWritten);
/**
* @brief Poll the socket fd, retrying while poll() is interrupted by
* EINTR.
*
* @return asynSuccess with *pollstatus holding poll()'s return value, or
* asynError if poll() failed for a different reason.
*/
asynStatus pollSocket(asynUser *pasynUser, struct pollfd *pollfd,
int pollmsec, int *pollstatus);
/**
* @brief Fill in a PMAC ethernet command header and send it over the
* socket.
*
* Only the 8 byte command header is sent. Commands that carry a payload
* (e.g. GETRESPONSE in writeOctet) are sent directly via socketWrite.
*/
asynStatus sendPmacCommand(asynUser *pasynUser, EthernetCmd &cmd,
uint8_t requestType, uint8_t request,
uint16_t wValue, uint16_t wLength,
size_t *nbytesTransfered);
/**
* @brief Read response data from the PMAC into the internal input buffer
*
* If there is no data in the socket buffer then a GETBUFFER command is
* issued to get any outstanding data still on the PMAC.
*/
asynStatus readResponse(asynUser *pasynUser, size_t maxchars,
size_t *nbytesTransfered, int *eomReason);
/**
* @brief Send a ReadReady command to the PMAC to discover if there is any
* data to read from it.
*
* @return 0 - no data available, 1 - data available
*/
int pmacReadReady(asynUser *pasynUser);
/**
* @brief Send a Flush command to the PMAC and wait for confirmation.
*
* @return 0 - failed, 1 - success
*/
int pmacFlush(asynUser *pasynUser);
/**
* @brief Send a GETBUFFER command to the PMAC.
*/
asynStatus sendPmacGetBuffer(asynUser *pasynUser, size_t maxchars);
// Host name and TCP port of the PMAC
std::string IPHostName_;
unsigned short port_ = 0;
// TCP socket used for the connection
SOCKET fd_ = INVALID_SOCKET;
// Command buffers used for the PMAC ethernet protocol
EthernetCmd poutCmd_{};
EthernetCmd pinCmd_{};
// Buffer for incoming response data
std::vector<char> inBuf_;
size_t inBufHead_ = 0;
size_t inBufTail_ = 0;
};
/**
* @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().
* Wrapper which creates a pmacAsynIPPort object and interposes the EOS
* handling layer above it.
*
* @param portName The Asyn Port name string.
* @param hostInfo The hostname or IP address followed by IP port (eg.
* @param hostInfo The hostname or IP address followed by the IP port (eg.
* 172.23.243.156:1025)
* @return status
*/
int HIDDEN pmacAsynIPPortConfigure(const char *portName, const char *hostInfo);
int pmacAsynIPPortConfigure(const char *portName, const char *hostInfo);
#ifdef __cplusplus
}
#endif /* __cplusplus */
#endif /* asynInterposePmac_H */
#endif /* pmacAsynIPPort_H */
src/turboPmacController.cpp
+20 -8
View File
@@ -36,8 +36,6 @@ struct turboPmacControllerImpl {
// Timeout for the communication process in seconds
double comTimeout;
char lastResponse[sinqController::MAXBUF_];
// User for writing int32 values to the port driver.
asynUser *pasynInt32SyncIOipPort;
@@ -46,6 +44,8 @@ struct turboPmacControllerImpl {
int readConfig;
int flushHardware;
int limFromHardware;
char lastResponse[sinqController::MAXBUF_];
};
#define NUM_turboPmac_DRIVER_PARAMS 5
@@ -65,12 +65,12 @@ turboPmacController::turboPmacController(const char *portName,
pTurboPmacC_(
std::make_unique<turboPmacControllerImpl>((turboPmacControllerImpl){
.comTimeout = comTimeout,
.lastResponse = {0},
.pasynInt32SyncIOipPort = nullptr, // Populated in constructor
.rereadEncoderPosition = 0, // Populated in constructor
.readConfig = 0, // Populated in constructor
.flushHardware = 0, // Populated in constructor
.limFromHardware = 0, // Populated in constructor
.lastResponse = {0},
})) {
// Initialization of local variables
asynStatus status = asynSuccess;
@@ -399,11 +399,23 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
command, getMsgPrintControl().getSuffix());
}
/*
The literal part of the message below is 113 bytes long. Cap the two
embedded strings (constexpr precision) so that the message always fits
into drvMessageText (MAXBUF_ bytes), otherwise the
-Wformat-truncation check would be triggered.
*/
constexpr size_t msgLiteralLen =
sizeof("Received unexpected response '' (carriage returns are "
"replaced with spaces) for command . Please call the "
"support") -
1;
constexpr size_t msgArgLen = (MAXBUF_ - msgLiteralLen - 1) / 2;
snprintf(drvMessageText, sizeof(drvMessageText),
"Received unexpected response '%s' (carriage returns "
"are replaced with spaces) for command %s. "
"Please call the support",
modResponse, command);
"Received unexpected response '%.*s' (carriage returns "
"are replaced with spaces) for command %.*s. Please call "
"the support",
(int)msgArgLen, modResponse, (int)msgArgLen, command);
status = asynError;
} else {
getMsgPrintControl().resetCount(numResponsesKey, pasynUser());
@@ -456,7 +468,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
asynStatus turboPmacController::doFlushHardware() {
/*
Temporarily overwrite the "reason" field with the FLUSH_HARDWARE
constant defined in pmacAsynIPPort.c. This reason is then used within
constant defined in pmacAsynIPPort.h. This reason is then used within
the write method of pasynInt32SyncIO to select the flush function.
*/
int temp = pTurboPmacC_->pasynInt32SyncIOipPort->reason;