- Added a SICS to Hipadaba adapter
- Added a separate polling module to SICS
This commit is contained in:
koennecke
471
sicshdbadapter.c
Normal file
471
sicshdbadapter.c
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@ -0,0 +1,471 @@
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/*
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* Experience has shown that integrating existing SICS objects into the
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* Hierarchical Parameter Database (Hdb) is a difficult task without reworking
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* the complete SICS object model. Rather, it seems easier to adapt some
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* critical objects to the Hdb with some glue code. Following the facade or
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* adapter design pattern. This is the purpose of this module. For the moment
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* the external interface is only an interpreter function which will be used to
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* install suitable SICS objects into the Hdb tree and generates the necessary
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* adapters internally. This code can be used to adapt to:
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* - motors
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* - the data segment of histogram memories
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*
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* copyright: see file COPYRIGHT
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*
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* Mark Koennecke, November 2006
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*/
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#include <stdlib.h>
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#include <assert.h>
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#include <sics.h>
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#include "stptok.h"
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#include "motor.h"
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#include "HistMem.h"
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#include "sicsvar.h"
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#include "sicshipadaba.h"
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#include "sicshdbadapter.h"
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/*=================== motor code =======================================*/
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static int MoveCallback(int iEvent, void *eventData, void *userData,
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commandContext cc){
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MotCallback *motData = (MotCallback *)eventData;
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pHdb motor = (pHdb)userData;
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pHdb pos = NULL;
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if(iEvent == MOTDRIVE && motData != NULL && motor != NULL){
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UpdateHipadabaPar(motor,MakeHdbFloat((double)motData->fVal)
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,NULL);
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pos = GetHipadabaNode(motor,"position");
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if(pos != NULL){
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UpdateHipadabaPar(pos,MakeHdbFloat((double)motData->fVal)
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,NULL);
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}
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}
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return 1;
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}
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/*---------------------------------------------------------------------*/
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static int MotorValueCallback(int iEvent, void *eventData, void *userData,
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commandContext cc){
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pHdb motor = (pHdb)userData;
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pMotor pMot = (pMotor)eventData;
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pHdb current = NULL;
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float fVal;
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/*
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* as setting some motor parameters might cause other motor
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* parametes to change too, I opt for the cheap solution to check
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* them all.
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*/
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if(iEvent == HDBVAL && motor != NULL && pMot != NULL){
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current = motor->child;
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while(current != NULL){
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MotorGetPar(pMot,current->name,&fVal);
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if(fVal != current->value.v.doubleValue) {
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UpdateHipadabaPar(current,MakeHdbFloat((double)fVal),NULL);
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}
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current = current->next;
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}
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}
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return 1;
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}
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/*---------------------------------------------------------------------*/
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static int MotorParSetCallback(void *userData, void *callData,
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pHdb currentNode, hdbValue v){
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pMotor pMot = (pMotor)userData;
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SConnection *pCon = (SConnection *)callData;
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int status;
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assert(pMot != NULL && pCon != NULL);
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status = MotorSetPar(pMot,pCon,currentNode->name, (float)v.v.doubleValue);
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return status;
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}
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/*----------------------------------------------------------------------*/
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static int MotorParGetCallback(void *userData, void *callData,
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pHdb currentNode, hdbValue v){
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pMotor pMot = (pMotor)userData;
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float fVal;
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int status;
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assert(pMot != NULL);
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status = MotorGetPar(pMot,currentNode->name,&fVal);
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currentNode->value.v.doubleValue = fVal;
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return status;
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}
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/*---------------------------------------------------------------------*/
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static pHdb MakeMotParNode(char *name, pMotor pMot){
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pHdb node = NULL;
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pHdbCallback pCall = NULL;
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node = MakeHipadabaNode(name, HIPFLOAT, 1);
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if(node != NULL) {
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pCall = MakeHipadabaCallback(MotorParSetCallback,pMot,NULL,-1,-1);
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if(pCall == NULL){
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return NULL;
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}
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AppendHipadabaCallback(node,HCBSET,pCall);
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pCall = MakeHipadabaCallback(MotorParGetCallback,pMot,NULL,-1,-1);
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if(pCall == NULL){
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return NULL;
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}
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AppendHipadabaCallback(node,HCBREAD,pCall);
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}
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return node;
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}
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/*---------------------------------------------------------------------*/
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static int AddStdMotorPar(pHdb motorNode, pMotor pMot){
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int i;
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pHdb parNode = NULL;
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char *addPar[] = {"position",
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"target",
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"hardlowerlim",
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"hardupperlim",
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NULL};
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i = 0;
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while(addPar[i] != NULL){
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parNode = MakeMotParNode(addPar[i],pMot);
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if(parNode == NULL){
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return 0;
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}
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AddHipadabaChild(motorNode,parNode, NULL);
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i++;
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}
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/*
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* Add the parameters in the obpar array
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*/
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for(i = 0; i < MOTOBPARLENGTH; i++){
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parNode = MakeMotParNode(pMot->ParArray[i].name,pMot);
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if(parNode == NULL){
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return 0;
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}
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AddHipadabaChild(motorNode,parNode, NULL);
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}
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return 1;
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}
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/*--------------------------------------------------------------------------*/
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static char *getDriverParList(MotorDriver *pDriv){
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SConnection *pCon = NULL;
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pDynString list = NULL;
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char *listData = NULL;
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if(pDriv->ListDriverPar != NULL){
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pCon = SCCreateDummyConnection(pServ->pSics);
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if(pCon == NULL){
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return NULL;
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}
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SCStartBuffering(pCon);
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pDriv->ListDriverPar(pDriv,"test.", pCon);
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list = SCEndBuffering(pCon);
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if(list != NULL){
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listData = strdup(GetCharArray(list));
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SCDeleteConnection(pCon);
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} else {
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listData = NULL;
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}
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return listData;
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}
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return NULL;
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}
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/*--------------------------------------------------------------------------*/
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extern char *trim(char *str);
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/*--------------------------------------------------------------------------*/
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static char *extractName(char *line){
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char *name = NULL, *pEnd = NULL;
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name = strchr(line,'.');
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assert(name != NULL);
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while(*name == '.'){
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name++;
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}
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pEnd = strchr(name,'=');
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assert(pEnd != NULL);
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*pEnd = '\0';
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return trim(name);
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}
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/*------------------------------------------------------------------------*/
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static int CreateDriverParameters(pMotor pM, pHdb parent){
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char *listPtr = NULL, line[80], *pPtr, *name;
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pHdb node = NULL;
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listPtr = getDriverParList(pM->pDriver);
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if(listPtr == NULL){
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/*
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* no driver parameters
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*/
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return 1;
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}
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pPtr = listPtr;
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while((pPtr = stptok(pPtr,line,79,"\n")) != NULL){
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name = extractName(line);
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node = MakeMotParNode(name,pM);
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if(node != NULL){
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AddHipadabaChild(parent,node,NULL);
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}
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}
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free(listPtr);
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return 1;
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}
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/*----------------------------------------------------------------------*/
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static pHdb CreateMotorAdapter(char *name, pMotor pMot){
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pHdb result = NULL;
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commandContext comCom;
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assert(pMot != NULL);
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result = MakeSICSHdbDriv(name,usUser,pMot,HIPFLOAT);
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if(result == NULL){
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return NULL;
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}
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/*
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* We want to be notified when this motor drives around. Or
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* its parameters change.
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*/
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strncpy(comCom.deviceID,name,255);
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comCom.transID = -77;
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RegisterCallback(pMot->pCall,comCom, MOTDRIVE, MoveCallback,
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result,NULL);
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RegisterCallback(pMot->pCall,comCom, HDBVAL, MotorValueCallback,
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result,NULL);
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if(!AddStdMotorPar(result,pMot)){
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DeleteHipadabaNode(result,NULL);
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return NULL;
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}
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if(!CreateDriverParameters(pMot,result)){
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DeleteHipadabaNode(result,NULL);
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return NULL;
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}
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result->protected = 1;
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return result;
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}
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/*============== histogram memory ======================================*/
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static long totalSum(int *data, int length){
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long result = 0l;
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int i;
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for(i = 0; i < length; i++){
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result += data[i];
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}
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return result;
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}
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/*----------------------------------------------------------------------*/
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static int HMDataGetCallback(void *userData, void *callData,
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pHdb currentNode, hdbValue v){
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pHistMem pHM = (pHistMem)userData;
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SConnection *pCon = (SConnection *)callData;
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long sum1, sum2;
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assert(pHM != NULL);
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if(pCon == NULL){
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return 0;
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}
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sum1 = totalSum(currentNode->value.v.intArray, currentNode->value.arrayLength);
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currentNode->value.arrayLength = GetHistLength(pHM);
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currentNode->value.v.intArray = (int *)GetHistogramPointer(pHM,pCon);
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sum2 = totalSum(currentNode->value.v.intArray, currentNode->value.arrayLength);
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if(sum1 != sum2){
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UpdateHipadabaPar(currentNode,currentNode->value,NULL);
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}
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return 1;
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}
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/*----------------------------------------------------------------------*/
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static pHdb MakeHMDataNode(pHistMem pHM, char *name){
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pHdb node = NULL;
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pHdbCallback pCall = NULL;
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node = MakeHipadabaNode(name,HIPINTVARAR,2);
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if(node == NULL){
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return NULL;
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}
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pCall = MakeHipadabaCallback(HMDataGetCallback,pHM,NULL,-1,-1);
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if(pCall == NULL){
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return NULL;
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}
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AppendHipadabaCallback(node,HCBREAD,pCall);
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AppendHipadabaCallback(node,HCBSET,MakeReadOnlyCallback());
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return node;
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}
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/*================ SICS Variable ======================================*/
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static int SicsVarSetCallback(void *userData, void *callData,
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pHdb currentNode, hdbValue v){
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pSicsVariable pVar = (pSicsVariable)userData;
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SConnection *pCon = (SConnection *)callData;
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int userRights = usMugger;
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assert(pVar != NULL);
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if(pCon != NULL){
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userRights = SCGetRights(pCon);
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}
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switch(currentNode->value.dataType){
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case HIPINT:
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VarSetInt(pVar, v.v.intValue, userRights);
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break;
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case HIPFLOAT:
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VarSetFloat(pVar, (float)v.v.doubleValue, userRights);
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break;
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case HIPTEXT:
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VarSetText(pVar, v.v.text, userRights);
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break;
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}
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return 1;
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}
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/*----------------------------------------------------------------------*/
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static int ValueCallback(int iEvent, void *eventData, void *userData,
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commandContext cc){
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pSicsVariable pVar = (pSicsVariable)eventData;
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pHdb node = (pHdb)userData;
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hdbValue v;
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if(iEvent == VALUECHANGE && pVar != NULL && node != NULL){
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switch(pVar->eType){
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case veInt:
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v = MakeHdbInt(pVar->iVal);
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break;
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case veFloat:
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v = MakeHdbFloat((double)pVar->fVal);
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break;
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case veText:
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v = MakeHdbText(pVar->text);
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break;
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}
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UpdateHipadabaPar(node,v,NULL);
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}
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return 1;
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}
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/*----------------------------------------------------------------------*/
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static pHdb MakeSicsVarNode(pSicsVariable pVar, char *name){
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pHdb node = NULL;
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pHdbCallback pCall = NULL;
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commandContext comCom;
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int type;
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switch(pVar->eType){
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case veInt:
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type = HIPINT;
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break;
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case veFloat:
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type = HIPFLOAT;
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break;
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case veText:
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type = HIPTEXT;
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break;
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}
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node = MakeHipadabaNode(name,type,1);
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if(node == NULL){
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return NULL;
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}
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pCall = MakeHipadabaCallback(SicsVarSetCallback,pVar,NULL,-1,-1);
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if(pCall == NULL){
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return NULL;
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}
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strncpy(comCom.deviceID,name,255);
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comCom.transID = -77;
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AppendHipadabaCallback(node,HCBSET,pCall);
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RegisterCallback(pVar->pCall,comCom, VALUECHANGE, ValueCallback,
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node,NULL);
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node->protected = 1;
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return node;
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}
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/*============== interpreter function ==================================*/
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int SICSHdbAdapter(SConnection *pCon, SicsInterp *pSics, void *pData,
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int argc, char *argv[]){
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pHdb root = NULL;
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pHdb path = NULL;
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pHdb node = NULL;
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pMotor pMot = NULL;
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pHistMem pHM = NULL;
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CommandList *pCom = NULL;
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pIDrivable pDriv = NULL;
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pSicsVariable pVar = NULL;
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char buffer[512];
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root = GetHipadabaRoot();
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assert(root != NULL);
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if(!SCMatchRights(pCon,usMugger)){
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return 0;
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}
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if(argc < 4) {
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SCWrite(pCon,"ERROR: Insufficient number of arguments",eError);
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return 0;
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}
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path = GetHipadabaNode(root,argv[1]);
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if(path == NULL){
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SCWrite(pCon,"ERROR: path to attach object too not found",eError);
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return 0;
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}
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/*
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* look for motors
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*/
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pMot = (pMotor)FindCommandData(pSics,argv[2],"Motor");
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if(pMot != NULL){
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node = CreateMotorAdapter(argv[3],pMot);
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if(node == NULL){
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SCWrite(pCon,"ERROR: out of memory creating motor node",eError);
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return 0;
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}
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AddHipadabaChild(path,node,pCon);
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SCSendOK(pCon);
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return 1;
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}
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/*
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* look for drivables
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*/
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pDriv = FindDrivable(pSics,argv[2]);
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pCom = FindCommand(pSics,argv[2]);
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if(pDriv != NULL && pCom != NULL && pCom->pData != NULL){
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node = MakeSICSHdbDriv(argv[3],usUser,pCom->pData,HIPFLOAT);
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if(node == NULL){
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SCWrite(pCon,"ERROR: out of memory creating drivable node",eError);
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return 0;
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}
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AddHipadabaChild(path,node,pCon);
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SCSendOK(pCon);
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return 1;
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}
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/**
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* look for SICS Variables
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*/
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pVar = (pSicsVariable)FindCommandData(pSics,argv[2],"SicsVariable");
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if(pVar != NULL){
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node = MakeSicsVarNode(pVar,argv[3]);
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if(node == NULL){
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SCWrite(pCon,"ERROR: out of memory creating SICS variable node",
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eError);
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return 0;
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}
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AddHipadabaChild(path,node,pCon);
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SCSendOK(pCon);
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return 1;
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}
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/*
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* look for histogram memories
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*/
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pHM = (pHistMem)FindCommandData(pSics,argv[2],"HistMem");
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if(pHM != NULL){
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node = MakeHMDataNode(pHM,argv[3]);
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if(node == NULL){
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SCWrite(pCon,"ERROR: out of memory creating HM node",eError);
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return 0;
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}
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AddHipadabaChild(path,node,pCon);
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SCSendOK(pCon);
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return 1;
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}
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snprintf(buffer,511,
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"ERROR: attaching this type of object: %s at %s not implemented",
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argv[2], argv[1]);
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SCWrite(pCon,buffer,eError);
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return 0;
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}
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