Remove duplicate camera code
This commit is contained in:
Ferdi Franceschini
@@ -1,197 +0,0 @@
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#include <stdio.h>
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#include <string.h>
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#include "camera.h"
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#define TR(a,b) #a,
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#define TE(a,b) #a
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char *event_names[] = { "0", CAMERA_CMDS_TABLE, CAMERA_MSGS_TABLE, CAM_MOD_EVENT_TABLE, DRIVER_EVENT_TABLE, CMD_EVENT_TABLE };
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#undef TR
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#undef TE
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/* The signature array defines the identifying characters at the start of a reply. */
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#define TR(a,b) b,
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#define TE(a,b) b
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char *event_signatures[] = { "0", CAMERA_CMDS_TABLE, CAMERA_MSGS_TABLE, CAM_MOD_EVENT_TABLE, DRIVER_EVENT_TABLE, CMD_EVENT_TABLE };
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#undef TR
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#undef TE
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#define TR(a,b) #a,
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#define TE(a,b) #a
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char *SCL_NAMES[] = {"0", COMMAND_LATCH_STATE_TABLE};
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char *SCM_NAMES[] = {"0", CAMERA_MODEL_STATE_TABLE};
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char *SDR_NAMES[] = {"0", DRIVER_STATE_TABLE};
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#undef TR
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#undef TE
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#define TR(a,b) b,
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#define TE(a,b) b
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char *COMMAND_LATCH_STATE_DESCRIPTION[] = {"0", COMMAND_LATCH_STATE_TABLE};
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char *CAMERA_MODEL_STATE_DESCRIPTION[] = {"0", CAMERA_MODEL_STATE_TABLE};
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char *DRIVER_STATE_DESCRIPTION[] = {"0", DRIVER_STATE_TABLE};
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#undef TR
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#undef TE
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char state_str[SSLEN+1];
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char event_str[ESLEN+1];
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/* Clear event channel */
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void EVclr(event_t *E) {
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E->ca=0;
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E->cm=0;
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E->cd=0;
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E->dr=0;
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}
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/* Set event channel */
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void EVset(event_t *E, event_t Ev) {
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if (Ev.ca) E->ca = Ev.ca;
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if (Ev.cm) E->cm = Ev.cm;
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if (Ev.cd) E->cd = Ev.cd;
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if (Ev.dr) E->dr = Ev.dr;
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}
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/* Set system state */
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void STset(state_t *Sc, state_t St) {
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if (St.cl)
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Sc->cl = St.cl;
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if (St.cm)
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Sc->cm = St.cm;
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if (St.dr)
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Sc->dr = St.dr;
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}
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enum event_codes camera_model(enum event_codes event) {
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switch (event) {
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case ECA_START:
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case ECA_OPEN_SHUTR:
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case ECA_ACQ_IMAGE:
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return ECM_ACQ;
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case ECA_CLOSE_SHUTR:
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case ECA_READ_IMAGE:
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case ECA_SEND_IMAGE:
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return ECM_PROC;
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case ECA_STOP:
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return ECM_STOP;
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case ECA_IDLE:
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return ECM_IDLE;
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case ECA_FAIL:
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return ECM_FAIL;
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default:
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return ECM_UNKNOWN;
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}
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}
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/* NOTE the state is actually of the form (SCL_X,SCM_X,SDR_X)
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* the table only shows the part of the state tuple which must match.
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*/
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int cam_parse_status(char *msg, enum event_codes *ca_sym, int *time_rem, int *time_tot) {
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char *delim=" ,";
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char str[100], *tok;
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int ret = 1;
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strcpy(str,msg);
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tok=strtok(str,delim);
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ret = cam_rep2sym(tok);
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if (ret != -1) {
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*ca_sym = ret;
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if (ECA_IDLE == *ca_sym) {
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*time_rem = *time_tot = -1;
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} else {
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tok=strstr(msg, "Remaining");
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sscanf(tok, " Remaining= %d ms, Total Time= %d ms, ", time_rem, time_tot);
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}
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}
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return ret;
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}
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/* return -1 if message is unknown
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* NOTE: 0 has meaning in the transition table
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*/
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enum event_codes cam_rep2sym(char *msg) {
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int i;
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for (i = ECA_START; i <= ECA_STOP; i++) {
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if (0 == strcmp(msg, event_signatures[i])) {
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return i;
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}
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}
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return -1;
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}
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/* return 0 = no transition,
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* return 1 = transition
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*/
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int cam_trans_fn(state_t Sc, enum event_codes Ein, state_t *Sn, event_t *Eo) {
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trans_t tt;
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int i, ret=0;
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STset(Sn, Sc);
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EVclr(Eo);
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for (i=0; tt=TRANS_TABLE[i], tt.Sc.dr != END_TABLE; i++) {
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if ( Ein == tt.Ei && INSYS(Sc,tt.Sc)) {
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STset(Sn, tt.Sn);
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EVset(Eo, tt.Eo);
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ret = 1;
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}
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}
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return ret;
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}
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void camdriv_input(void *caller, camdriv_t *self, enum event_codes event_sym) {
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state_t Sn;
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cam_trans_fn(self->Sc, event_sym, &Sn, &self->Eo);
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self->output_fn(caller, self->Eo);
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self->Sc = Sn;
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}
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char *strstate(state_t s) {
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char *cl, *cm, *dr;
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cm = SCM_NAMES[s.cm];
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cl = SCL_NAMES[s.cl];
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dr = SDR_NAMES[s.dr];
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snprintf(state_str, SSLEN, "%s,%s,%s", cm, cl, dr);
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return state_str;
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}
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char *strevent(event_t E) {
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char *ca, *cm, *cd, *dr;
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ca = event_names[E.ca];
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cm = event_names[E.cm];
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cd = event_names[E.cd];
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dr = event_names[E.dr];
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snprintf(event_str, ESLEN, "%s,%s,%s,%s", ca, cm, cd, dr);
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return event_str;
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}
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/* 0 = wildcard for states.
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* 0 = no output for the output events.
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*/
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int START_STATE = SCL_RDY|SCM_IDLE|SDR_IDLE;
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trans_t TRANS_TABLE[] = {
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{{.cl=SCL_RDY, .dr=SDR_IDLE}, ECD_TK_SHOT,{.dr=0}, {.cl=SCL_TK_SHOT}},
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{{.cl=SCL_RDY, .dr=SDR_IDLE}, ECD_TK_MLTI,{.dr=0}, {.cl=SCL_TK_MLTI}},
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{{.cl=SCL_TK_SHOT}, ECM_IDLE, {.ca=ECA_TK_SHOT}, {.cl=SCL_WT_ACQ}},
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{{.cl=SCL_TK_MLTI}, ECM_IDLE, {.ca=ECA_MLTI_ON}, {.cl=SCL_WT_ACQ}},
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{{.cl=SCL_TK_SHOT}, ECD_CLEAR, {.dr=0}, {.cl=SCL_RDY}},
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{{.cl=SCL_TK_MLTI}, ECD_CLEAR, {.dr=0}, {.cl=SCL_RDY}},
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{{.cl=SCL_WT_ACQ}, ECM_ACQ, {.dr=0}, {.cl=SCL_RDY}},
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{{.cl=SCL_WT_ACQ}, ECM_PROC, {.dr=0}, {.cl=SCL_RDY}},
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{{.cl=SCL_WT_ACQ}, ECM_STOP, {.dr=0}, {.cl=SCL_RDY}},
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/* ffr: Uncomment when we're sure that we don't receive "Idle" after "take shot"
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* {{.cl=SCL_WT_ACQ}, ECM_IDLE, {.dr=0}, {.cl=SCL_RDY}},*/
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{{.cm=SCM_IDLE}, ECM_ACQ, {.dr=0}, {.cm=SCM_ACQ}},
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{{.cm=SCM_IDLE}, ECM_PROC, {.dr=0}, {.cm=SCM_PROC}},
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{{.cm=SCM_ACQ}, ECM_PROC, {.dr=0}, {.cm=SCM_PROC}},
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{{.cm=SCM_ACQ}, ECM_STOP, {.dr=0}, {.cm=SCM_IDLE}},
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{{.cm=SCM_PROC}, ECM_STOP, {.dr=0}, {.cm=SCM_IDLE}},
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{{.cm=SCM_ACQ}, ECM_IDLE, {.dr=0}, {.cm=SCM_IDLE}},
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{{.cm=SCM_PROC}, ECM_IDLE, {.dr=0}, {.cm=SCM_IDLE}},
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{{.dr=SDR_IDLE}, ECD_TK_SHOT,{.dr=EDR_BUSY}, {.dr=SDR_BUSY}},
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{{.dr=SDR_IDLE}, ECD_TK_MLTI,{.dr=EDR_BUSY}, {.dr=SDR_BUSY}},
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{{.dr=SDR_BUSY, .cl=SCL_RDY}, ECM_PROC, {.dr=EDR_IDLE}, {.dr=SDR_IDLE}},
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{{.dr=SDR_BUSY, .cl=SCL_RDY}, ECM_STOP, {.dr=EDR_IDLE}, {.dr=SDR_IDLE}},
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{{.dr=SDR_BUSY, .cl=SCL_RDY}, ECM_IDLE, {.dr=EDR_IDLE}, {.dr=SDR_IDLE}},
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{{.dr=END_TABLE}, END_TABLE, {.dr=END_TABLE}, {.dr=END_TABLE}}
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};
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@@ -1,213 +0,0 @@
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/* Deterministic Finite State machine transducer (Mealy)
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* The system is made up of three commponents, a command latch (CL), a camera
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* model (CM) and the driver (DR). The system state machine is considered to be
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* made up of the component state machines running in parallel and with some of
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* the component stae machine transitions being restricted by system state
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* transition rules.
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* The sets of states are,
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* SCL:Command Latch states, SCM:Camera Model states, SCDR:Driver states.
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* Q is the set of system states.
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* The sets of event symbols are defined as,
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* ECA:Camera events, ECM:Camera model events, ECD:User command events,
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* EDR:Driver events.
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*
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* In the following, '<' means subset
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* Q < SCL X SCM X SCDR
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* Ein = ECA U ECM U ECD U EDR
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* Eo < ECA X ECM X ECD X EDR
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* trans fn: QXEin -> Q
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* out fn : QXEin -> Eo
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*
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* In the implementation the transition and output functions are combined in
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* TRANS_TABLE.
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*/
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#ifndef CAMERA_H
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#define CAMERA_H
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/* TODO
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* int output(state, event) return output event code
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* int transition(state,event) return next state
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*
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*/
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/* END_TABLE marks the last row in the transition table */
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#define END_TABLE -1
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/* EVENT CODES */
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/* All event enum constants start with 'EXX_', XX identifies the source
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* ECA_ : Camera event stream. Messages destined for or received from the camera.
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* ECM_ : Events from the camera model.
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* ECD_ : Command input, either directly from a user or via the scan command
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* EDR_ : Driver events
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*/
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#define CAMERA_CMDS_TABLE \
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TR(ECA_TK_SHOT, "take shot") \
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TR(ECA_MLTI_ON, "take multi on") \
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TR(ECA_MLTI_OFF, "take multi off") \
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TR(ECA_GET_STATUS, "get status") \
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TE(ECA_GET_STATE, "get state")
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#define CAMERA_MSGS_TABLE \
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TR(ECA_START, "StartTime") \
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TR(ECA_OK, "OK") \
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TR(ECA_FAIL, "Fail") \
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TR(ECA_IDLE, "Idle") \
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TR(ECA_OPEN_SHUTR, "Open") \
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TR(ECA_CLOSE_SHUTR, "Close") \
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TR(ECA_ACQ_IMAGE, "Acq") \
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TR(ECA_READ_IMAGE, "Read") \
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TR(ECA_SEND_IMAGE, "Send") \
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TE(ECA_STOP, "Stop")
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#define CAM_MOD_EVENT_TABLE \
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TR(ECM_UNKNOWN, "Stop message received from camera") \
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TR(ECM_STOP, "Stop message received from camera") \
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TR(ECM_IDLE, "Camera in idle state") \
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TR(ECM_FAIL, "Command rejected") \
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TR(ECM_ACQ, "catch-all for start of acq phase") \
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TE(ECM_PROC, "catch-all for end of acq phase")
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/* COMMAND EVENTS
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* These are events triggered by user input.
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* The events can be direct via the 'send' subcommand or
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* indirect via the scan command through the counter interface.
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*/
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#define CMD_EVENT_TABLE \
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TR(ECD_CMD_INPUT, "received a command") \
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TR(ECD_CLEAR, "Clear latched command") \
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TR(ECD_TK_SHOT, "take shot") \
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TR(ECD_TK_MLTI, "take multi on") \
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TR(ECD_GET_STATE, "get state") \
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TE(ECD_GET_STATUS, "get status")
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/* DRIVER EVENT TABLE
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*/
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#define DRIVER_EVENT_TABLE \
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TR(EDR_IDLE, "HWIDLE") \
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TR(EDR_BUSY, "HWBUSY") \
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TE(EDR_FAULT, "HWFAULT")
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#define ESLEN 32
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/* STATE CODES
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* NOTE: Every state will respond to a timer event and
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* SXX_ State code enum constants, XX identifies a component of the system.
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* SCL_ Command latch states
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* SCM_ Camera model states
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* SDR_ Driver states
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*/
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#define COMMAND_LATCH_STATE_TABLE \
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TR(SCL_RDY, "command latch ready to accept") \
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TR(SCL_TK_SHOT, "latched a take shot command") \
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TR(SCL_TK_MLTI, "latched a multi-shot command") \
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TE(SCL_WT_ACQ, "waiting for camera to start acquisition")
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#define CAMERA_MODEL_STATE_TABLE \
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TR(SCM_IDLE, "Camera is idle") \
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TR(SCM_ACQ, "Camera is acquiring an image") \
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TE(SCM_PROC, "Camera is processing an image")
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#define DRIVER_STATE_TABLE \
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TR(SDR_IDLE, "HWIdle") \
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TR(SDR_BUSY, "HWBusy") \
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TE(SDR_FAULT, "HWFault")
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#define SSLEN 32
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/* Generate event and state symbols */
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#define TR(a,b) a,
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#define TE(a,b) a
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enum event_codes {ECA_UNKNOWN, CAMERA_CMDS_TABLE, CAMERA_MSGS_TABLE, CAM_MOD_EVENT_TABLE, DRIVER_EVENT_TABLE, CMD_EVENT_TABLE};
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#undef TR
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#undef TE
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#define TR(n,d) n,
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#define TE(n,d) n
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enum command_latch_states {CL_Z,COMMAND_LATCH_STATE_TABLE};
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enum camera_model_states {CM_Z,CAMERA_MODEL_STATE_TABLE};
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enum driver_states {DR_Z,DRIVER_STATE_TABLE};
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#undef TR
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#undef TE
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extern char *SCL_NAMES[];
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extern char *SCM_NAMES[];
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extern char *SDR_NAMES[];
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/* List of names generated from the event_codes. Defined in camera.c. */
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extern char *event_names[];
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/* The signature array defines the identifying characters at the start of a reply. */
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extern char *event_signatures[];
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/* Output event channel
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* A tuple (Eca,Ecm,Ecd,Edr) in ECA X ECM X ECD X EDR
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*/
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typedef struct {
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enum event_codes ca;
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enum event_codes cm;
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enum event_codes cd;
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enum event_codes dr;
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} event_t;
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/* A tuple (Scl,Scm,Sdr) in SCL X SCM X SDR */
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typedef struct {
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int cl;
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int cm;
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int dr;
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} state_t;
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typedef struct {
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state_t Sc;
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enum event_codes Ei;
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event_t Eo;
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state_t Sn;
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} trans_t;
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typedef struct {
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state_t Sc;
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event_t Eo;
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int multi;
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int (*output_fn)(void *caller, event_t Eo);
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} camdriv_t;
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/* True if system state Sc is in St.
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* St is normally the current state in the transition table
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* and describes a range of possible states.
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*/
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#define INCL(Sc,St) (!St.cl || Sc.cl==St.cl)
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#define INCM(Sc,St) (!St.cm || Sc.cm==St.cm)
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#define INDR(Sc,St) (!St.dr || Sc.dr==St.dr)
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#define INSYS(Sc,St) ( INCL(Sc,St) && INCM(Sc,St) && INDR(Sc,St) )
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void EVclr(event_t *E);
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void EVset(event_t *E, event_t Ev);
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void STset(state_t *Sc, state_t St);
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/* \brief Translates a camera status message to a camera (ECA_) event */
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enum event_codes cam_rep2sym(char *msg);
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/* \brief Converts a camera (ECA_) event to a camera modle (ECM_) event */
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enum event_codes camera_model(enum event_codes event);
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/* \brief Determines camera state from camera status message and reads acquisition
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* time if camera is running.
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* \param msg camera status message from the "get status" command.
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* \param ca_sym symbol for the camera state in the status message, one of ECA_ enums.
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* \param time_rem time remaining during while the camera is running.
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* \param time_tot total time while the camera is running.
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*/
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int cam_parse_status(char *msg, enum event_codes *ca_sym, int *time_rem, int *time_tot);
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/* \brief Transition function for the camera system state machine.
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* \param Sc the current system state.
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* \param Ein input event.
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* \param Sn the next system state.
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* \param Eo the output events.
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*/
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int cam_trans_fn(state_t Sc, enum event_codes Ein, state_t *Sn, event_t *Eo);
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void camdriv_input(void *caller, camdriv_t *self, enum event_codes event_sym);
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char *strstate(state_t s);
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char *strevent(event_t E);
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extern trans_t TRANS_TABLE[];
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#endif
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@@ -1,378 +0,0 @@
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/* MGS_ :Message from camera Get Status command
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*/
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#include <sics.h>
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#include <obdes.h>
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#include <countdriv.h>
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#include <nwatch.h>
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#include <asyncqueue.h>
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#include "camera.h"
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|
||||
#define ERRLEN 256
|
||||
#define MSGLEN 256
|
||||
|
||||
enum camstates {idle, acquiring, processing, saving};
|
||||
#define CAMDRIV_ERRTABLE \
|
||||
TR(ENONE, "OK") \
|
||||
TR(EFAIL, "command failed") \
|
||||
TR(EBUSYACQ, "camera busy acquiring image") \
|
||||
TR(EBUSYSAVE, "camera busy saving image") \
|
||||
TE(EBUSYPROC, "camera busy processing image")
|
||||
|
||||
#define TR(a,b) a,
|
||||
#define TE(a,b) a
|
||||
enum errcodes {CAMDRIV_ERRTABLE};
|
||||
#undef TR
|
||||
#undef TE
|
||||
|
||||
#define TR(a,b) b,
|
||||
#define TE(a,b) b
|
||||
char *errmsg[] = {CAMDRIV_ERRTABLE};
|
||||
#undef TR
|
||||
#undef TE
|
||||
|
||||
// Camera get/set commands: ['status', 'info', 'state', 'camera', 'meta', 'file']
|
||||
#define ECMDSTART 0
|
||||
#define EGETSTART 100
|
||||
#define ESETSTART 200
|
||||
enum CommandCodes {cmdTake = 1, cmdClear, cmdGet, cmdSet, cmdEnd};
|
||||
enum GetCodes {gCamera = 1, gFile, gMeta, gInfo, gStatus, gState, gEnd};
|
||||
enum SetCodes {sCamera = 1, sFile, sMeta, sInfo, sEnd};
|
||||
char *CMD[13] = {"temp", "shspd", "ffmt", "binres", "imsz", "xstart", "ystart", "floc", "fname", "fcntr", "acq", "status", "shtime"};
|
||||
|
||||
struct __cameraObj {
|
||||
int debug;
|
||||
camdriv_t state_machine;
|
||||
pNWTimer state_timer;
|
||||
int status;
|
||||
enum errcodes camError;
|
||||
pAsyncUnit asyncUnit;
|
||||
};
|
||||
typedef struct __cameraObj CamObj;
|
||||
|
||||
/* Camera communications and protocol handlers */
|
||||
static pAsyncProtocol CAM_Protocol = NULL;
|
||||
|
||||
static int CAM_Tx(pAsyncProtocol p, pAsyncTxn txn) {
|
||||
int ret = 1;
|
||||
|
||||
if (txn) {
|
||||
txn->txn_status = ATX_ACTIVE;
|
||||
if (AsyncUnitWrite(txn->unit, txn->out_buf, txn->out_len) < 0) {
|
||||
if (AsyncUnitReconnect(txn->unit) < 0)
|
||||
ret = 0;
|
||||
}
|
||||
ret = 1;
|
||||
} else {
|
||||
ret = 0;
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
int defaultHandleInput(pAsyncProtocol p, pAsyncTxn txn, int ch);
|
||||
static int CAM_Rx(pAsyncProtocol p, pAsyncTxn txn, int ch) {
|
||||
int ret = 1;
|
||||
|
||||
if (ch == '\r')
|
||||
ret = 1;
|
||||
else if (ch == '\n')
|
||||
ret = AQU_POP_CMD;
|
||||
else if (txn->inp_idx < txn->inp_len)
|
||||
txn->inp_buf[txn->inp_idx++] = ch;
|
||||
else
|
||||
ret = AQU_POP_CMD;
|
||||
|
||||
return ret;
|
||||
}
|
||||
/* TODO
|
||||
static int CAM_Ev(pAsyncProtocol p, pAsyncTxn txn, int event) {
|
||||
}
|
||||
*/
|
||||
|
||||
void CameraInitProtocol(SicsInterp *pSics) {
|
||||
if (CAM_Protocol == NULL) {
|
||||
CAM_Protocol = AsyncProtocolCreate(pSics, "CAMERA", NULL, NULL);
|
||||
CAM_Protocol->sendCommand = CAM_Tx;
|
||||
CAM_Protocol->handleInput = CAM_Rx;
|
||||
CAM_Protocol->prepareTxn = NULL;
|
||||
CAM_Protocol->killPrivate = NULL;
|
||||
#if 0
|
||||
CAM_Protocol->handleEvent = CAM_Ev;
|
||||
CAM_Protocol->sendTerminator = strdup("\r\n");
|
||||
CAM_Protocol->replyTerminator[0] = strdup("\r\n");
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
/* CounterDriver interface functions */
|
||||
static int CamGetStatus(CounterDriver *cntrData, float *fControl) {
|
||||
CamObj *camdrv= (CamObj *)cntrData->pData;
|
||||
|
||||
return camdrv->status;
|
||||
}
|
||||
static int replyOK(enum CommandCodes cc, char *reply) {
|
||||
return 1;
|
||||
}
|
||||
|
||||
static void crank_state_machine(CamObj *self, enum event_codes ev_sym) {
|
||||
char sscur[SSLEN+1], ssnext[SSLEN+1], esout[ESLEN+1], message[MSGLEN+1];
|
||||
|
||||
if (self->debug)
|
||||
strncpy(sscur, strstate(self->state_machine.Sc), SSLEN);
|
||||
camdriv_input(self, &self->state_machine, ev_sym);
|
||||
if (self->debug) {
|
||||
strncpy(ssnext, strstate(self->state_machine.Sc), SSLEN);
|
||||
strncpy(esout, strevent(self->state_machine.Eo), ESLEN);
|
||||
snprintf(message, MSGLEN,
|
||||
"DEBUG:(%s:%d) Scurr:%s Ein:%s|Snext:%s Eout:%s",__FILE__,__LINE__,
|
||||
sscur,event_names[ev_sym],ssnext,esout);
|
||||
SICSLogWrite(message, eLog);
|
||||
}
|
||||
}
|
||||
static int CamStart(CounterDriver *cntrData) {
|
||||
CamObj *self = NULL;
|
||||
enum event_codes cd_sym;
|
||||
|
||||
self = cntrData->pData;
|
||||
|
||||
if (self->state_machine.multi) {
|
||||
cd_sym = ECD_TK_MLTI;
|
||||
} else {
|
||||
cd_sym = ECD_TK_SHOT;
|
||||
}
|
||||
crank_state_machine(self, cd_sym);
|
||||
return 1;
|
||||
}
|
||||
static int CamPause(CounterDriver *cntrData) {
|
||||
return 1;
|
||||
}
|
||||
static int CamContinue(CounterDriver *cntrData) {
|
||||
return 1;
|
||||
}
|
||||
static int CamHalt(CounterDriver *cntrData) {
|
||||
return 1;
|
||||
}
|
||||
static int CamReadValues(CounterDriver *cntrData) {
|
||||
int status, iReplyLen=MSGLEN;
|
||||
char *cmd="get imsz", pReply[MSGLEN];
|
||||
CamObj *self = NULL;
|
||||
return 1;
|
||||
|
||||
self = cntrData->pData;
|
||||
// fTime = [get shtime]
|
||||
status = AsyncUnitTransact(self->asyncUnit, cmd, strlen(cmd), pReply, &iReplyLen);
|
||||
return 1;
|
||||
}
|
||||
static int CamGetError(CounterDriver *cntrData, int *iCode, char *error, int iErrLen) {
|
||||
CamObj *camdrv=NULL;
|
||||
camdrv = (CamObj *) cntrData->pData;
|
||||
*iCode = camdrv->camError;
|
||||
|
||||
camdrv->camError = ENONE;
|
||||
switch (*iCode) {
|
||||
case EBUSYACQ:
|
||||
snprintf(error, (size_t) iErrLen, "CAMERR: Can't complete operation, %s", errmsg[EBUSYACQ]);
|
||||
break;
|
||||
case EBUSYSAVE:
|
||||
snprintf(error, (size_t) iErrLen, "CAMERR: Can't complete operation, %s", errmsg[EBUSYSAVE]);
|
||||
break;
|
||||
case EBUSYPROC:
|
||||
snprintf(error, (size_t) iErrLen, "CAMERR: Can't complete operation, %s", errmsg[EBUSYPROC]);
|
||||
break;
|
||||
case ENONE:
|
||||
snprintf(error, (size_t) iErrLen, "CAMERR: Can't complete operation, %s", errmsg[ENONE]);
|
||||
break;
|
||||
case EFAIL:
|
||||
snprintf(error, (size_t) iErrLen, "CAMERR: %s", errmsg[EFAIL]);
|
||||
break;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
static int CamTryAndFixIt(CounterDriver *cntrData, int iCode) {
|
||||
return COTERM;
|
||||
}
|
||||
static int CamSet(CounterDriver *cntrData, char *name, int iCter, float fVal) {
|
||||
return 1;
|
||||
}
|
||||
static int CamGet(CounterDriver *cntrData, char *name, int iCter, float *fVal) {
|
||||
return 1;
|
||||
}
|
||||
static int CamSend(CounterDriver *cntrData, char *pText, char *pReply, int iReplyLen) {
|
||||
int status;
|
||||
CamObj *self = NULL;
|
||||
|
||||
self = cntrData->pData;
|
||||
|
||||
status = AsyncUnitTransact(self->asyncUnit, pText, strlen(pText), pReply, &iReplyLen);
|
||||
return 1;
|
||||
}
|
||||
|
||||
static int cb_shotcmd(pAsyncTxn txn) {
|
||||
CamObj *self = (CamObj *) txn->cntx;
|
||||
char *resp = txn->inp_buf, message[MSGLEN+1];
|
||||
enum event_codes cd_sym;
|
||||
|
||||
if (strncmp(resp, "OK", 2) != 0) {
|
||||
self->camError = EFAIL;
|
||||
return 0;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
|
||||
int camdriv_out(void *me, event_t Eo) {
|
||||
int len;
|
||||
char cmd[MSGLEN], logmsg[MSGLEN];
|
||||
CamObj *self = (CamObj *)me;
|
||||
|
||||
if (Eo.ca) {
|
||||
/* send command to camera */
|
||||
switch (Eo.ca) {
|
||||
case ECA_TK_SHOT:
|
||||
len = strlen(event_signatures[ECA_TK_SHOT]);
|
||||
strncpy(cmd, event_signatures[ECA_TK_SHOT], len);
|
||||
break;
|
||||
case ECA_MLTI_ON:
|
||||
len = strlen(event_signatures[ECA_MLTI_ON]);
|
||||
strncpy(cmd, event_signatures[ECA_MLTI_ON], len);
|
||||
break;
|
||||
}
|
||||
AsyncUnitSendTxn(self->asyncUnit, cmd, len, cb_shotcmd, self, MSGLEN);
|
||||
if (self->debug) {
|
||||
snprintf(logmsg, MSGLEN, "DEBUG: camdriv_out: ev=%s, output=%s\n", event_names[Eo.ca], event_signatures[Eo.ca]);
|
||||
SICSLogWrite(logmsg, eLog);
|
||||
}
|
||||
}
|
||||
if (Eo.cm) {
|
||||
snprintf(logmsg, MSGLEN, "ERROR: NOT IMPLEMENTED, camdriv_out: ev=%s, output=%s\n", event_names[Eo.cm], event_signatures[Eo.cm]);
|
||||
SICSLogWrite(logmsg, eLogError);
|
||||
}
|
||||
if (Eo.cd) {
|
||||
snprintf(logmsg, MSGLEN, "ERROR: NOT IMPLEMENTED, camdriv_out: ev=%s, output=%s\n", event_names[Eo.cd], event_signatures[Eo.cd]);
|
||||
SICSLogWrite(logmsg, eLogError);
|
||||
}
|
||||
if (Eo.dr) {
|
||||
/* send msg to SICS */
|
||||
switch (Eo.dr) {
|
||||
case EDR_IDLE:
|
||||
self->status = HWIdle;
|
||||
break;
|
||||
case EDR_BUSY:
|
||||
self->status = HWBusy;
|
||||
break;
|
||||
case EDR_FAULT:
|
||||
self->status = HWFault;
|
||||
break;
|
||||
}
|
||||
if (self->debug) {
|
||||
snprintf(logmsg, MSGLEN, "DEBUG: camdriv_out: ev=%s, output=%s\n", event_names[Eo.dr], event_signatures[Eo.dr]);
|
||||
SICSLogWrite(logmsg, eLog);
|
||||
}
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
static int cb_getstate(pAsyncTxn txn);
|
||||
static int cb_state_timer(void *ctx, int mode) {
|
||||
CamObj *self = (CamObj *) ctx;
|
||||
char errmsg[32]="";
|
||||
char cmd[MSGLEN];
|
||||
int len, status;
|
||||
|
||||
len = strlen(event_signatures[ECA_GET_STATE]);
|
||||
strncpy(cmd, event_signatures[ECA_GET_STATE], len);
|
||||
status = AsyncUnitSendTxn(self->asyncUnit, cmd, len, cb_getstate, self, MSGLEN);
|
||||
|
||||
if (status==1) {
|
||||
return 1;
|
||||
} else {
|
||||
snprintf(errmsg, 31, "ERROR:(%s) AsyncUnitTransact failed",__FILE__);
|
||||
SICSLogWrite(errmsg, eLogError);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
/* Input from camera state feedback */
|
||||
static int cb_getstate(pAsyncTxn txn) {
|
||||
CamObj *self = (CamObj *) txn->cntx;
|
||||
char *resp = txn->inp_buf, message[MSGLEN+1];
|
||||
int len = txn->inp_idx, ret=1, time_rem, time_tot;
|
||||
enum event_codes ca_sym, cm_sym;
|
||||
|
||||
|
||||
if ( cam_parse_status(resp, &ca_sym, &time_rem, &time_tot) == -1) {
|
||||
snprintf(message, MSGLEN, "ERROR:(%s:%d) cam_parse_status failed on '%s'",__FILE__,__LINE__,resp);
|
||||
SICSLogWrite(message, eLogError);
|
||||
ret = 0;
|
||||
} else {
|
||||
cm_sym = camera_model(ca_sym);
|
||||
crank_state_machine(self, cm_sym);
|
||||
}
|
||||
if (self->state_timer) {
|
||||
NetWatchRemoveTimer(self->state_timer);
|
||||
self->state_timer=0;
|
||||
}
|
||||
NetWatchRegisterTimer(&self->state_timer, 500, cb_state_timer, self);
|
||||
return ret;
|
||||
}
|
||||
|
||||
pCounterDriver CreateCam(SConnection *pCon, char *name, char *asynq) {
|
||||
char msg[ERRLEN], cmd[MSGLEN], reply[MSGLEN];
|
||||
int len, reply_len;
|
||||
state_t start_state = {.cl=SCL_RDY, .cm=SCM_IDLE, .dr=SDR_IDLE};
|
||||
|
||||
pCounterDriver pCntDriv = NULL;
|
||||
CamObj *pNewCam = NULL;
|
||||
|
||||
pNewCam = (CamObj *) malloc(sizeof(CamObj));
|
||||
memset(pNewCam, 0, sizeof(CamObj));
|
||||
STset(&pNewCam->state_machine.Sc, start_state);
|
||||
EVclr(&pNewCam->state_machine.Eo);
|
||||
pNewCam->state_machine.output_fn = camdriv_out;
|
||||
pNewCam->state_machine.multi = 0;
|
||||
pNewCam->state_timer = 0;
|
||||
pNewCam->status = HWIdle;
|
||||
pNewCam->camError = ENONE;
|
||||
pNewCam->debug = 1;
|
||||
|
||||
if (!AsyncUnitCreate(asynq, &pNewCam->asyncUnit)) {
|
||||
snprintf(msg, ERRLEN, "CAMERR:AsyncQueue %s has not been defined", asynq);
|
||||
SCWrite(pCon, msg, eError);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
pCntDriv = CreateCounterDriver(name, "anstocamera");
|
||||
if (pCntDriv == NULL)
|
||||
return NULL;
|
||||
|
||||
|
||||
pCntDriv->GetStatus = CamGetStatus;
|
||||
pCntDriv->Start = CamStart;
|
||||
pCntDriv->Pause = CamPause;
|
||||
pCntDriv->Continue = CamContinue;
|
||||
pCntDriv->Halt = CamHalt;
|
||||
pCntDriv->ReadValues = CamReadValues;
|
||||
pCntDriv->GetError = CamGetError;
|
||||
pCntDriv->TryAndFixIt = CamTryAndFixIt;
|
||||
pCntDriv->Set = CamSet;
|
||||
pCntDriv->Get = CamGet;
|
||||
pCntDriv->Send = CamSend;
|
||||
|
||||
pCntDriv->iNoOfMonitors = 1;
|
||||
pCntDriv->pData = pNewCam;
|
||||
|
||||
len = strlen(event_signatures[ECA_GET_STATE]);
|
||||
strncpy(cmd, event_signatures[ECA_GET_STATE], len);
|
||||
AsyncUnitSendTxn(pNewCam->asyncUnit, cmd, len, cb_getstate, pNewCam, MSGLEN);
|
||||
return pCntDriv;
|
||||
}
|
||||
#if 0
|
||||
int CameraAction(SConnection *pCon, SicsInterp *pSics, void *pData, int argc, char *argv[]) {
|
||||
CamObj *pCam = (CamObj *) pData;
|
||||
}
|
||||
int CamMakeCmd(SConnection *pCon, SicsInterp *pSics, void *pData, int argc, char *argv[]) {
|
||||
CamObj *pNew = NULL;
|
||||
|
||||
pNew = CreateCam(argv[1], argv[2]);
|
||||
if (pNew == NULL)
|
||||
return 0;
|
||||
AddCommand(pSics, argv[1], CameraAction, NULL, pNew);
|
||||
return 1;
|
||||
}
|
||||
#endif
|
||||
Reference in New Issue
Block a user