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PSI sics-cvs-psi-2006

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This commit is contained in:
koennecke
2006-05-08 02:00:00 +00:00
committed by Douglas Clowes
parent ae77364de2
commit 6e926b813f
388 changed files with 445529 additions and 14109 deletions
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257
devexec.c
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@@ -41,6 +41,7 @@
-----------------------------------------------------------------------------*/
#include <stdlib.h>
#include <assert.h>
#include <time.h>
#include <string.h>
#include "fortify.h"
#include "sics.h"
@@ -61,6 +62,7 @@
pObjectDescriptor pDescriptor;
float fVal;
char *name;
commandContext comCon;
} DevEntry, *pDevEntry;
/*-------------------------------------------------------------------------*/
static pDevEntry CreateDevEntry(pObjectDescriptor pDes, void *pData,
@@ -79,6 +81,7 @@
pNew->pData = pData;
pNew->name = strdup(name);
pNew->fVal = fVal;
memset(&pNew->comCon,0,sizeof(commandContext));
return pNew;
}
/*-------------------------------------------------------------------------*/
@@ -102,9 +105,12 @@
int iStop;
int iStatus;
int iEnd;
int drivePrint;
long lTask;
pTaskMan pTask;
int iLock;
pICallBack pCall;
time_t lastRun;
} ExeList;
static pExeList pExecutor = NULL;
@@ -139,6 +145,9 @@
pRes->pTask = pTask;
pRes->lTask = -1;
pRes->iLock = 0;
pRes->drivePrint = 0;
pRes->pCall = CreateCallBackInterface();
pRes->lastRun = time(NULL);
return pRes;
}
/*-------------------------------------------------------------------------*/
@@ -153,8 +162,21 @@
DeleteDescriptor(self->pDes);
ClearExecutor(self);
LLDdelete(self->iList);
if(self->pCall)
DeleteCallBackInterface(self->pCall);
free(self);
pServ->pExecutor = NULL;
}
/*--------------------------------------------------------------------------*/
void ExeInterest(pExeList self, pDevEntry pDev, char *text) {
char buf[128];
if(pDev)
{
snprintf(buf, sizeof(buf),"%s %s",pDev->name,text);
InvokeCallBack(self->pCall, DRIVSTAT, buf);
}
}
/*------------------------------------------------------------------------*/
int StartDevice(pExeList self, char *name, pObjectDescriptor pDes,
@@ -165,6 +187,9 @@
char pBueffel[132], pError[80];
pIDrivable pDrivInt = NULL;
pICountable pCountInt = NULL;
static int overwriteOwner = -1;
char *overwriteOption;
float oldVal;
assert(self);
assert(pDes);
@@ -175,9 +200,19 @@
{
if(pCon != self->pOwner)
{
SCWrite(pCon,
"ERROR: somebody else is still driving, Request rejected",eError);
return 0;
/* this hack helps on rita2, when using the sendsics script
which opens a client for every command */
if (overwriteOwner < 0) {
overwriteOption = IFindOption(pSICSOptions, "overwriteOwner");
overwriteOwner = overwriteOption && *overwriteOption != '0';
}
if (overwriteOwner) {
self->pOwner = pCon;
} else {
SCWrite(pCon,
"ERROR: somebody else is still driving, Request rejected",eError);
return 0;
}
}
}
else
@@ -198,13 +233,22 @@
SCWrite(pCon,"ERROR: memory exhausted in Device Executor ",eError);
return 0;
}
pNew->comCon = SCGetContext(pCon);
strncpy(pNew->comCon.deviceID,name,SCDEVIDLEN);
/* start it */
pDrivInt = pDes->GetInterface(pData,DRIVEID);
pCountInt = pDes->GetInterface(pData,COUNTID);
if(pDrivInt)
{
iRet = pDrivInt->SetValue(pData,pCon,fNew);
if(iRet == OKOK && self->drivePrint == 1)
{
oldVal = pDrivInt->GetValue(pData,pCon);
snprintf(pBueffel,131,"Driving %s from %8.3f to %8.3f",
name, oldVal, fNew);
SCWrite(pCon,pBueffel,eWarning);
}
}
else if(pCountInt)
{
@@ -220,6 +264,12 @@
if(iRet == OKOK)
{
LLDnodeAppendFrom(self->iList,&pNew);
sprintf(pBueffel,"started");
if(NULL!=pNew->comCon.deviceID)
{
snprintf(pBueffel,130,"started (%s)",pNew->comCon.deviceID);
}
ExeInterest(self, pNew, pBueffel);
self->iRun = 1;
self->iStatus = DEVDONE;
/* if no task: start it */
@@ -232,6 +282,7 @@
self,
1);
self->iEnd = 0;
pCon->conStatus = HWBusy;
}
return 1;
}
@@ -248,6 +299,7 @@
}
return 0;
}
/*-----------------------------------------------------------------------*/
/*--------------------------------------------------------------------------*/
int StartMotor(pExeList self, SicsInterp *pSics, SConnection *pCon,
char *name, float fVal)
@@ -341,7 +393,11 @@
pICountable pCountInt = NULL;
pIDrivable pDrivInt = NULL;
int eCode;
int isCounting=0, isDriving=0;
char pBueffel[512];
SConnection *pCon;
pCon = self->pOwner;
assert(self);
/* Sometimes this gets called, though nothing is running. There are
@@ -365,6 +421,11 @@
LLDnodeDataTo(self->iList,&pDev);
if(pDev)
{
/*
SCSetContext(self->pOwner,pDev->cmdID,pDev->name);
*/
SCPushContext(self->pOwner, pDev->comCon.transID, pDev->comCon.deviceID);
pDrivInt = pDev->pDescriptor->GetInterface(pDev->pData,DRIVEID);
pCountInt = pDev->pDescriptor->GetInterface(pDev->pData,COUNTID);
@@ -388,19 +449,27 @@
{
pDrivInt->iErrorCount = 0;
}
ExeInterest(self, pDev, "finished");
DeleteDevEntry(pDev);
LLDnodeDelete(self->iList);
SCWrite(pCon, "", eFinish);
iRet = LLDnodePtr2Prev(self->iList);
if(SCGetInterrupt(self->pOwner) != eContinue)
{
self->iStatus = DEVINT;
SCPopContext(self->pOwner);
return -1;
}
self->iStatus = DEVDONE;
break;
case HWFault: /* real HW error: burning, no net etc.. */
ExeInterest(self, pDev, "finished with problem");
DeleteDevEntry(pDev);
pDev = NULL;
SCWrite(pCon, "", eFinish);
LLDnodeDataTo(self->iList,&pDev);
LLDnodeDelete(self->iList);
iRet = LLDnodePtr2Prev(self->iList);
self->iStatus = DEVERROR;
if(pDrivInt)
{
@@ -409,6 +478,7 @@
if(SCGetInterrupt(self->pOwner) != eContinue)
{
self->iStatus = DEVINT;
SCPopContext(self->pOwner);
return -1;
}
break;
@@ -418,6 +488,7 @@
{
SetStatus(eEager);
self->iStatus = DEVINT;
SCPopContext(self->pOwner);
return -1;
}
break;
@@ -427,27 +498,26 @@
{
ContinueExecution(self);
self->iStatus = DEVINT;
SCPopContext(self->pOwner);
return -1;
}
break;
case HWBusy:
if(pCountInt != NULL && pDrivInt != NULL)
if(pDrivInt != NULL)
{
SetStatus(eCountDrive);
isDriving = 1;
}
else if(pCountInt != NULL && pDrivInt == NULL)
{
SetStatus(eCounting);
}
else if(pDrivInt != NULL && pCountInt == NULL)
else if(pCountInt != NULL)
{
SetStatus(eDriving);
isCounting = 1;
}
self->iStatus = DEVBUSY;
break;
case HWPosFault: /* cannot get somewhere... */
ExeInterest(self, pDev, "finished with problem");
DeleteDevEntry(pDev);
LLDnodeDelete(self->iList);
SCWrite(pCon, "", eFinish);
self->iStatus = DEVERROR;
if(pDrivInt)
{
@@ -456,14 +526,26 @@
if(SCGetInterrupt(self->pOwner) != eContinue)
{
self->iStatus = DEVINT;
SCPopContext(self->pOwner);
return -1;
}
break;
}
SCPopContext(self->pOwner);
}
iRet = LLDnodePtr2Next(self->iList);
}
if (isCounting) {
if (isDriving) {
SetStatus(eCountDrive);
} else {
SetStatus(eCounting);
}
} else if (isDriving) {
SetStatus(eDriving);
}
iRet = LLDnodePtr2First(self->iList);
if(LLDcheck(self->iList) == LIST_EMPTY)
{
@@ -484,12 +566,11 @@
int iRet;
assert(self);
self->iRun = 0;
/* do nothing if not running */
if(self->lTask < 0)
{
printf("Nothing to wait for....\n");
printf("Nothing to wait for.... \n");
self->iRun = 0; /* not sure if this is needed here, but does not harm */
return self->iStatus;
}
@@ -498,6 +579,7 @@
#ifdef DEBUG
printf("Wait4Success finished\n");
#endif
self->iRun = 0;
return self->iStatus;
}
/*--------------------------------------------------------------------------*/
@@ -561,23 +643,23 @@
return 1;
}
/*
check for stop flag. This is to stop unnecessary calls to StopExe.
There may be way to many, but each call is reasonable under certain
circumstances.
*/
if(self->iStop == 1)
{
return 0;
}
else
{
self->iStop = 1;
}
/* first the ALL case */
if(strcmp(name,"all") == 0)
{
/*
check for stop flag. This is to stop unnecessary calls to StopExe.
There may be way to many, but each call is reasonable under certain
circumstances.
*/
if(self->iStop == 1)
{
return 0;
}
else
{
self->iStop = 1;
}
iRet = LLDnodePtr2First(self->iList);
while(iRet != 0)
{
@@ -597,7 +679,9 @@
}
iRet = LLDnodePtr2Next(self->iList);
}
SCPushContext(self->pOwner,0,"system");
SCWrite(self->pOwner,"ERROR: Full Stop called!!",eError);
SCPopContext(self->pOwner);
if(SCGetInterrupt(self->pOwner) > eContinue)
{
self->iStatus = DEVINT;
@@ -622,7 +706,7 @@
}
else if(pCountInt)
{
pDrivInt->Halt(pDev->pData);
pCountInt->Halt(pDev->pData);
}
return 1;
}
@@ -655,6 +739,8 @@
pDev = (pDevEntry)LLDnodePtr(self->iList);
if(pDev)
{
SCPushContext(self->pOwner, pDev->comCon.transID, pDev->comCon.deviceID);
pCountInt = pDev->pDescriptor->GetInterface(pDev->pData,COUNTID);
if(pCountInt)
{
@@ -665,7 +751,8 @@
}
}
}
}
SCPopContext(self->pOwner);
iRet = LLDnodePtr2Next(self->iList);
}
SetStatus(ePaused);
@@ -691,7 +778,6 @@
{
return 1;
}
}
iRet = LLDnodePtr2Next(self->iList);
}
@@ -716,11 +802,13 @@
pCountInt = pDev->pDescriptor->GetInterface(pDev->pData,COUNTID);
if(pCountInt)
{
SCPushContext(self->pOwner, pDev->comCon.transID, pDev->comCon.deviceID);
iRet = pCountInt->Continue(pDev->pData,self->pOwner);
if(!iRet)
{
iRes = 0;
}
SCPopContext(self->pOwner);
}
}
@@ -796,13 +884,68 @@
SCWrite(pCon,pBueffel,eError);
}
return iRet;
}
}
/*------------------- The CallBack function for interest ------------------*/
static int DrivStatCallback(int iEvent, void *text, void *pCon,
commandContext cc)
{
assert(pCon);
assert(text);
SCPushContext2(pCon,cc);
SCWrite(pCon, text, eValue);
SCPopContext(pCon);
return 1;
}
/*--------------------------------------------------------------------------*/
int ListExe(SConnection *pCon, SicsInterp *pSics, void *pData,
int argc, char *argv[])
{
return ListPending((pExeList)pData,pCon);
pExeList self = NULL;
int list;
if (argc == 1) {
return ListPending((pExeList)pData,pCon);
}
argtolower(argc,argv);
self = (pExeList)pData;
assert(self);
if (argc == 2) {
if (strcmp(argv[1], "interest") == 0)
{
list = RegisterCallback(self->pCall, SCGetContext(pCon),
DRIVSTAT, DrivStatCallback,
pCon, NULL);
SCRegister(pCon, pSics, self->pCall,list);
SCSendOK(pCon);
return 1;
}
if (strcmp(argv[1], "uninterest") == 0)
{
RemoveCallback2(self->pCall, pCon);
SCUnregister(pCon, self->pCall);
SCSendOK(pCon);
return 1;
}
}
SCWrite(pCon, "ERROR: illegal arguments for ListExe", eError);
return 0;
}
/*-------------------------------------------------------------------------*/
int SicsIdle(SConnection *pCon, SicsInterp *pSics, void *pData,
int argc, char *argv[])
{
pExeList self = NULL;
int idle;
char pBueffel[80];
self = (pExeList)pData;
assert(self);
idle = time(NULL) - self->lastRun;
snprintf(pBueffel,79,"sicsidle = %d",idle);
SCWrite(pCon,pBueffel,eValue);
return 1;
}
/*--------------------------------------------------------------------------
Usage:
Success
@@ -830,7 +973,7 @@
SCWrite(pCon,"All done",eStatus);
iRet = 1;
}
else if(iRet = DEVERROR)
else if(iRet == DEVERROR)
{
SCWrite(pCon,"Finished with Problems",eStatus);
iRet = 1;
@@ -856,6 +999,39 @@
return 0;
}
}
/*---------------------------------------------------------------------*/
int DevexecAction(SConnection *pCon, SicsInterp *pSics, void *pData,
int argc, char *argv[])
{
int val;
char pBueffel[256];
pExeList self = (pExeList)pData;
if(argc < 2)
{
SCWrite(pCon,"ERROR: not enough argumentd to devexec command",eError);
return 0;
}
strtolower(argv[1]);
if(strcmp(argv[1],"driveprint") == 0)
{
if(argc > 2 && SCMatchRights(pCon,usUser))
{
val = atoi(argv[2]);
self->drivePrint = val;
SCSendOK(pCon);
return 1;
} else {
snprintf(pBueffel,255,"devexe.drivePrint = %d",
self->drivePrint);
SCWrite(pCon,pBueffel,eValue);
return 1;
}
} else {
SCWrite(pCon,"ERROR: unknown subcommand to devexec",eError);
return 0;
}
}
/*-------------------------------------------------------------------------*/
int ContinueAction(SConnection *pCon, SicsInterp *pSics, void *pData,
int argc, char *argv[])
@@ -920,6 +1096,7 @@
return 0;
}
self->lastRun = time(NULL);
iRet = CheckExeList(self);
switch(iRet)
{
@@ -927,12 +1104,8 @@
iInterrupt = SCGetInterrupt(self->pOwner);
if(iInterrupt != eContinue)
{
SCWrite(self->pOwner,pBueffel, eError);
if(iInterrupt > 1)
{
Interrupt2Text(iInterrupt,pInterrupt,79);
snprintf(pBueffel,131,"ERROR: interrupt %s triggered",
pInterrupt);
StopExe(self,"all");
}
#ifdef DEBUG
@@ -976,10 +1149,12 @@
{
if(self->pOwner)
{
SCPushContext(self->pOwner,0,"system");
SCWrite(self->pOwner,
"ERROR: Interrupting Current Hardware Operation",
eError);
SCSetInterrupt(self->pOwner,*iInt);
SCSetInterrupt(self->pOwner,*iInt);
SCPopContext(self->pOwner);
}
StopExe(self,"all");
}