Cleaned up ANSTO code to merge with sinqdev.sics
This is our new RELEASE-4_0 branch which was taken from ansto/93d9a7c Conflicts: .gitignore SICSmain.c asynnet.c confvirtualmot.c counter.c devexec.c drive.c event.h exebuf.c exeman.c histmem.c interface.h motor.c motorlist.c motorsec.c multicounter.c napi.c napi.h napi4.c network.c nwatch.c nxscript.c nxxml.c nxxml.h ofac.c reflist.c scan.c sicshipadaba.c sicsobj.c site_ansto/docs/Copyright.txt site_ansto/instrument/lyrebird/config/tasmad/sicscommon/nxsupport.tcl site_ansto/instrument/lyrebird/config/tasmad/taspub_sics/tasscript.tcl statusfile.c tasdrive.c tasub.c tasub.h tasublib.c tasublib.h
This commit is contained in:
Ferdi Franceschini
233
interface.c
233
interface.c
@@ -1,4 +1,4 @@
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/*--------------------------------------------------------------------------
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/*--------------------------------------------------------------------------
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I N T E R F A C E
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@@ -12,6 +12,11 @@
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Paul Scherrer Institut
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CH-5423 Villigen-PSI
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Extended over time with utility functions
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Added Drivable and Countable task functions
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Mark Koennecke, February 2013
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The authors hereby grant permission to use, copy, modify, distribute,
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and license this software and its documentation for any purpose, provided
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@@ -42,6 +47,7 @@
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#include "fortify.h"
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#include "sics.h"
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#include "motor.h"
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#include <status.h>
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/*=========================================================================
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Empty driveable interface functions
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==========================================================================*/
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@@ -168,7 +174,118 @@ int GetDrivablePosition(void *pObject, SConnection * pCon, float *fPos)
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*fPos = value;
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return 1;
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}
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/*--------------------------------------------------------------------------*/
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typedef struct {
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int id;
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void *obj;
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pIDrivable pDriv;
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SConnection *pCon;
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char *name;
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}DriveTaskData;
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/*-------------------------------------------------------------------------*/
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static void KillDriveTaskData(void *data)
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{
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DriveTaskData *taskData = (DriveTaskData *)data;
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if(taskData == NULL){
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return;
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}
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if(taskData->name != NULL){
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free(taskData->name);
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}
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if(taskData->pCon != NULL){
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SCDeleteConnection(taskData->pCon);
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}
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free(taskData);
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}
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/*-------------------------------------------------------------------------*/
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static void DriveTaskSignal(void *data, int iSignal, void *pSigData)
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{
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DriveTaskData *taskData = (DriveTaskData *)data;
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int *interrupt;
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assert(taskData != NULL);
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if(iSignal == SICSINT){
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interrupt = (int *)pSigData;
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if(*interrupt != eContinue){
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SCPrintf(taskData->pCon,eLogError,"ERROR: Interrupting %s", taskData->name);
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taskData->pDriv->Halt(taskData->obj);
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SCSetInterrupt(taskData->pCon,*interrupt);
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}
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}
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}
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/*--------------------------------------------------------------------------*/
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static int DriveTaskFunc(void *data)
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{
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DriveTaskData *taskData = (DriveTaskData *)data;
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int status;
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assert(taskData != NULL);
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status = taskData->pDriv->CheckStatus(taskData->obj,taskData->pCon);
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if(status == HWBusy){
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return 1;
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}
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if(status == HWFault){
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taskData->pDriv->iErrorCount++;
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}
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if(status == HWFault || status == HWPosFault){
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SetDevexecStatus(pServ->pExecutor,DEVERROR);
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}
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DevexecLog("STOP",taskData->name);
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if(status == HWIdle || status == OKOK){
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ExeInterest(pServ->pExecutor,taskData->name, "finished");
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} else {
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ExeInterest(pServ->pExecutor,taskData->name, "finished with problem");
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}
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traceSys("drive","DriveTask %s finished with state %d", taskData->name,status);
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return 0;
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}
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/*--------------------------------------------------------------------------*/
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long StartDriveTask(void *obj, SConnection *pCon, char *name, float fTarget)
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{
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pIDrivable pDriv = NULL;
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char error[132], buffer[132];
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DriveTaskData *taskData = NULL;
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pDriv = GetDrivableInterface(obj);
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if(pDriv == NULL){
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SCPrintf(pCon,eError,"ERROR: %s is not drivable", name);
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return -1;
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}
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if(pDriv->CheckLimits(obj,fTarget,error,sizeof(error)) != OKOK){
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SCPrintf(pCon,eError,"ERROR: %s cannot reach %f, reason %s", name,
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fTarget, error);
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return -1;
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}
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taskData = calloc(1,sizeof(DriveTaskData));
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if(taskData == NULL){
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SCPrintf(pCon,eError,"ERROR: out of memory starting %s", name);
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return -1;
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}
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if(pDriv->SetValue(obj,pCon,fTarget) != OKOK){
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return -1;
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}
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ExeInterest(pServ->pExecutor,name,"started");
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DevexecLog("START",name);
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InvokeNewTarget(pServ->pExecutor,name,fTarget);
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taskData->id = DRIVEID;
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taskData->obj = obj;
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taskData->pDriv = pDriv;
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taskData->pCon = SCCopyConnection(pCon);
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taskData->name = strdup(name);
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return TaskRegisterN(pServ->pTasker,
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name,
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DriveTaskFunc,
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DriveTaskSignal,
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KillDriveTaskData,
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taskData,0);
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}
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/*--------------------------------------------------------------------------*/
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pICountable GetCountableInterface(void *pObject)
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{
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@@ -201,6 +318,120 @@ int isRunning(pICountable self)
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{
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return self->running;
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}
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/*--------------------------------------------------------------------------*/
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typedef struct {
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int id;
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void *obj;
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pICountable pCount;
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SConnection *pCon;
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char *name;
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}CountTaskData;
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/*-------------------------------------------------------------------------*/
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static void KillCountTaskData(void *data)
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{
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CountTaskData *taskData = (CountTaskData *)data;
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if(taskData == NULL){
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return;
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}
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if(taskData->name != NULL){
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free(taskData->name);
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}
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if(taskData->pCon != NULL){
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SCDeleteConnection(taskData->pCon);
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}
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free(taskData);
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}
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/*-------------------------------------------------------------------------*/
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static void CountTaskSignal(void *data, int iSignal, void *pSigData)
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{
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CountTaskData *taskData = (CountTaskData *)data;
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int *interrupt;
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assert(taskData != NULL);
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if(iSignal == SICSINT){
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interrupt = (int *)pSigData;
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if(*interrupt != eContinue){
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SCPrintf(taskData->pCon,eLogError,"ERROR: Interrupting %s", taskData->name);
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taskData->pCount->Halt(taskData->obj);
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SCSetInterrupt(taskData->pCon,*interrupt);
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}
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} else if(iSignal == IPAUSE){
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taskData->pCount->Pause(taskData->obj,taskData->pCon);
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} else if(iSignal == CONTINUE){
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taskData->pCount->Continue(taskData->obj,taskData->pCon);
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}
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}
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/*--------------------------------------------------------------------------*/
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static int CountTaskFunc(void *data)
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{
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CountTaskData *taskData = (CountTaskData *)data;
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int status;
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assert(taskData != NULL);
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status = taskData->pCount->CheckCountStatus(taskData->obj,taskData->pCon);
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if(status == HWBusy) {
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return 1;
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} else if(status == HWNoBeam){
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return 1;
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} else if(status == HWPause){
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return 1;
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}
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taskData->pCount->TransferData(taskData->obj, taskData->pCon);
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if(status == HWFault){
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SetDevexecStatus(pServ->pExecutor,DEVERROR);
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}
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DevexecLog("STOP",taskData->name);
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if(status == HWIdle || status == OKOK){
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ExeInterest(pServ->pExecutor,taskData->name, "finished");
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} else {
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ExeInterest(pServ->pExecutor,taskData->name, "finished with problem");
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}
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traceSys("count","CountTask %s finished with state %d", taskData->name,status);
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return 0;
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}
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/*--------------------------------------------------------------------------*/
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long StartCountTask(void *obj, SConnection *pCon, char *name)
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{
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pICountable pCount = NULL;
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char error[132], buffer[132];
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CountTaskData *taskData = NULL;
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pCount = FindInterface(obj,COUNTID);
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if(pCount == NULL){
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SCPrintf(pCon,eError,"ERROR: %s is not countable", name);
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return 1;
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}
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taskData = calloc(1,sizeof(CountTaskData));
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if(taskData == NULL){
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SCPrintf(pCon,eError,"ERROR: out of memory starting %s", name);
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return -1;
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}
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if(pCount->StartCount(obj,pCon) != OKOK){
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pCount->running = 0;
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return -1;
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}
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ExeInterest(pServ->pExecutor,name,"started");
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DevexecLog("START",name);
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taskData->id = COUNTID;
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taskData->obj = obj;
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taskData->pCount = pCount;
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taskData->pCon = SCCopyConnection(pCon);
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taskData->name = strdup(name);
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return TaskRegisterN(pServ->pTasker,
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name,
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CountTaskFunc,
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CountTaskSignal,
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KillCountTaskData,
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taskData,0);
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}
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/*--------------------------------------------------------------------------*/
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pICallBack GetCallbackInterface(void *pObject)
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