Add RVA SC driver and associated Newport protocol
r3081 | dcl | 2011-03-24 14:51:13 +1100 (Thu, 24 Mar 2011) | 1 line
This commit is contained in:
Douglas Clowes
@@ -10,7 +10,26 @@ SRC = .
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CC = gcc
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CFLAGS = -g -DLINUX $(DFORTIFY) -I$(SRC) -I../.. $(INC_TCL8) -Wall -Wno-unused -Wextra
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HOBJ= nhq200util.o itc4util.o lh45util.o lakeshore340util.o west4100util.o asynsrv_utility.o geterrno.o strjoin.o chopper.o modbustcp.o sct_galilprot.o sct_modbusprot.o sct_oxfordprot.o sct_orhvpsprot.o sct_velselprot.o sct_usbtmcprot.o sct_rfamp.o sinqhttpprot.o sct_protek608.o
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HOBJ = nhq200util.o
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HOBJ += itc4util.o
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HOBJ += lh45util.o
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HOBJ += lakeshore340util.o
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HOBJ += west4100util.o
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HOBJ += asynsrv_utility.o
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HOBJ += geterrno.o
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HOBJ += strjoin.o
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HOBJ += chopper.o
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HOBJ += modbustcp.o
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HOBJ += sct_galilprot.o
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HOBJ += sct_modbusprot.o
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HOBJ += sct_oxfordprot.o
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HOBJ += sct_newportprot.o
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HOBJ += sct_orhvpsprot.o
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HOBJ += sct_velselprot.o
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HOBJ += sct_usbtmcprot.o
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HOBJ += sct_rfamp.o
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HOBJ += sinqhttpprot.o
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HOBJ += sct_protek608.o
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libhlib.a: $(HOBJ)
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rm -f libhlib.a
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228
site_ansto/hardsup/sct_newportprot.c
Normal file
228
site_ansto/hardsup/sct_newportprot.c
Normal file
@@ -0,0 +1,228 @@
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/** @file Newport protocol handler for script-context based controllers.
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*
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* If you 'send' commands to a oxford controller using this protocol you
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* will get one of three possible responses,
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* 1. A response
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* eg
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* 2. An acknowledgement (ie 'OK')
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* eg
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* sct_rva send "STT03E8"
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* OK
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* 3. An error message
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* eg
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* sct_mc2 send "BGG"
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* ASCERR: 20 Begin not valid with motor off (during read finished)
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*/
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#include <ctype.h>
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#include <errno.h>
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#include <ascon.h>
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#include <ascon.i>
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#include <dynstring.h>
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struct NewportProtocol_t {
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unsigned int magic;
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Ascon* parent;
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double last_line_time;
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double last_char_time;
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double inter_line_time;
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double inter_char_time;
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};
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typedef struct NewportProtocol_t NewportProtocol;
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/** @brief Set line terminator before sending command
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*/
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int NewportWriteStart(Ascon *a) {
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NewportProtocol* private;
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double now;
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int i, len;
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char *text;
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private = (NewportProtocol*) a->private;
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assert(private->magic == 0xcafef00d);
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now = DoubleTime();
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if (now < private->last_line_time) {
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private->last_line_time = now;
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}
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private->last_char_time = now;
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/*
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if (now > private->last_line_time + private->inter_line_time) {
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return 1;
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}
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*/
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len = GetDynStringLength(a->wrBuffer);
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text = GetCharArray(a->wrBuffer);
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if (len < 1 || text[len - 1] != '\r')
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DynStringConcat(a->wrBuffer, "\r");
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len = GetDynStringLength(a->wrBuffer);
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/* if there is only the terminator, do not send it */
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if (len <= 1) {
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a->state = AsconWriteDone;
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return 1;
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}
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a->wrPos = 0;
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a->state = AsconWriting;
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text = GetCharArray(a->wrBuffer);
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for (i = 0; i < len; ++i)
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if (islower(text[i]))
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text[i] = toupper(text[i]);
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return 1;
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}
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/** @brief Write the line one character at a time
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*/
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int NewportWriting(Ascon *a) {
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NewportProtocol* private;
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int ret;
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double now;
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private = (NewportProtocol*) a->private;
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assert(private->magic == 0xcafef00d);
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now = DoubleTime();
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if (now < private->last_char_time) {
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private->last_char_time = now;
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}
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if (now < private->last_char_time + private->inter_char_time) {
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return 1;
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}
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if (a->wrPos == 0)
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AsconReadGarbage(a->fd);
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ret = AsconWriteChars(a->fd, GetCharArray(a->wrBuffer) + a->wrPos, 1);
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if (ret < 0) {
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AsconError(a, "send failed:", errno);
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/*
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* Ooops: which state shall we go to after a write fail?
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* This seems to retry.
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*/
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} else {
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private->last_char_time = now;
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a->wrPos += ret;
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if (a->wrPos >= GetDynStringLength(a->wrBuffer)) {
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private->last_line_time = now;
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a->state = AsconWriteDone;
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}
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}
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return 1;
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}
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/** @brief Map replies to OK, ASCERR:..., value.
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* You can not use the first character to sort replies from a Newport controller
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*/
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int NewportReading(Ascon *a) {
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int ret;
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char chr, ch[2];
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char* cp = NULL;
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ret = AsconReadChar(a->fd, &chr);
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while (ret > 0) {
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a->start = DoubleTime();
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DynStringConcatChar(a->rdBuffer, chr);
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ret = AsconReadChar(a->fd, &chr);
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}
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if (ret < 0) {
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AsconError(a, "AsconReadChar failed:", errno);
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return 0;
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} else {
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/* TODO: should always timeout and check for trailing CR */
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double now = DoubleTime();
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char *text = GetCharArray(a->rdBuffer);
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int len = GetDynStringLength(a->rdBuffer);
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double timeout;
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if (len < 5) {
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if (a->timeout > 0.0)
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timeout = a->timeout;
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else
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timeout = 1.0;
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} else if (text[len - 1] == '\r') {
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timeout = 0.1;
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} else {
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timeout = 0.1;
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}
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if ((now - a->start) > timeout) {
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if (len < 5) {
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a->state = AsconTimeout;
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AsconError(a, "read timeout", 0);
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} else if (text[len - 1] != '\r') {
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AsconError(a, "missing terminator", 0);
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} else if (len > 5 && text[len - 6] != '\r') {
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AsconError(a, "format error", 0);
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} else {
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int i;
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for (i = 0; i < len - 1; ++i)
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if (text[i] == '\r')
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text[i] = ' ';
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text[len - 1] = '\0';
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a->state = AsconReadDone;
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}
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}
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}
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return 0;
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}
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/** @brief Newport protocol handler.
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* This handler formats commands (ie adds cr line terminator) and
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* sorts replies into standard responses of
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* <value>
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* OK
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* ASCERR:...
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*/
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int NewportProtHandler(Ascon *a) {
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int ret;
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switch(a->state){
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case AsconWriteStart:
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ret = NewportWriteStart(a);
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return ret;
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break;
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case AsconWriting:
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ret = NewportWriting(a);
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return ret;
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break;
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case AsconReadStart:
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a->start = DoubleTime();
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ret = AsconStdHandler(a);
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return ret;
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break;
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case AsconReading:
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ret = NewportReading(a);
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return ret;
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break;
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default:
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ret = AsconStdHandler(a);
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return ret;
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break;
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}
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return 1;
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}
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void NewportKillPrivate(void *arg) {
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NewportProtocol *private = (NewportProtocol *) arg;
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assert(private->magic == 0xcafef00d);
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assert(private->parent->private == private);
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private->magic = 0;
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free(arg);
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}
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int NewportInit(Ascon *a, SConnection *con,
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int argc, char *argv[]) {
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NewportProtocol *private;
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int ret;
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ret = AsconStdInit(a, con, argc, argv);
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private = calloc(sizeof(NewportProtocol), 1);
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a->private = (void *) private;
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private->magic = 0xcafef00d;
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private->parent = a;
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private->inter_line_time = 0.100;
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private->inter_char_time = 0.010;
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a->killPrivate = NewportKillPrivate;
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return ret;
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}
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void AddNewportProtocoll(){
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AsconProtocol *prot = NULL;
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prot = calloc(sizeof(AsconProtocol), 1);
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prot->name = strdup("newport");
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prot->init = NewportInit;
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prot->handler = NewportProtHandler;
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AsconInsertProtocol(prot);
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}
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