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- Added Sycamore protocol and command context to SICS

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- Added sinfo to SICS
- Added driver for TCP/IP Astrium velocity selector
- Added driver for TCP/IP Astrium chopper controller


SKIPPED:
	psi/amor2t.c
	psi/amorstat.c
	psi/dornier2.c
	psi/ecb.c
	psi/el734hp.c
	psi/fowrite.c
	psi/libpsi.a
	psi/make_gen
	psi/nextrics.c
	psi/pardef.c
	psi/pimotor.c
	psi/pipiezo.c
	psi/polterwrite.c
	psi/psi.c
	psi/scontroller.c
	psi/serial.c
	psi/tasinit.c
	psi/tasscan.c
	psi/tcpdocho.c
	psi/tcpdornier.c
	psi/tricssupport.c
	psi/velodornier.c
This commit is contained in:
koennecke
2005-12-22 22:16:10 +00:00
parent 603a4fc14b
commit b3138f1197
67 changed files with 4650 additions and 682 deletions
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137
interface.tex
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@ -1,3 +1,13 @@
\newcommand{\NWtarget}[2]{#2}
\newcommand{\NWlink}[2]{#2}
\newcommand{\NWtxtMacroDefBy}{Macro defined by}
\newcommand{\NWtxtMacroRefIn}{Macro referenced in}
\newcommand{\NWtxtMacroNoRef}{Macro never referenced}
\newcommand{\NWtxtDefBy}{Defined by}
\newcommand{\NWtxtRefIn}{Referenced in}
\newcommand{\NWtxtNoRef}{Not referenced}
\newcommand{\NWtxtFileDefBy}{File defined by}
\newcommand{\NWsep}{${\diamond}$}
\subsection{Object interfaces}\label{inter}
In order to present themselves to the system SICS objects need to adhere to
certyain interfaces. These interfaces are described in this
@ -28,33 +38,37 @@ Let's start with the objectdescriptor:
\begin{flushleft} \small
\begin{minipage}{\linewidth} \label{scrap1}
$\langle$obdes {\footnotesize ?}$\rangle\equiv$
$\langle\,$obdes\nobreak\ {\footnotesize \NWtarget{nuweb?}{?}}$\,\rangle\equiv$
\vspace{-1ex}
\begin{list}{}{} \item
\mbox{}\verb@@\\
\mbox{}\verb@/*--------------------------------------------------------------------------@\\
\mbox{}\verb@ In SICS there is the to find out what an@\\
\mbox{}\verb@ object is capable of at runtime. If this has been done a general@\\
\mbox{}\verb@ way to access those capabilities is needed. In order to do all@\\
\mbox{}\verb@ this each SICS-object is required to carry an object descriptor@\\
\mbox{}\verb@ struct as first parameter in its class/object struct. Additionslly@\\
\mbox{}\verb@ it is required to initialize this struct to something sensible.@\\
\mbox{}\verb@ @\\
\mbox{}\verb@ This file defines this struct. Additionally a few functions of@\\
\mbox{}\verb@ general use are prototyped.@\\
\mbox{}\verb@ @\\
\mbox{}\verb@ Mark Koennecke, June, 1997@\\
\mbox{}\verb@ @\\
\mbox{}\verb@ copyrigth: see implementation file @\\
\mbox{}\verb@ In SICS there is the to find out what an@\\
\mbox{}\verb@ object is capable of at runtime. If this has been done a general@\\
\mbox{}\verb@ way to access those capabilities is needed. In order to do all@\\
\mbox{}\verb@ this each SICS-object is required to carry an object descriptor@\\
\mbox{}\verb@ struct as first parameter in its class/object struct. Additionslly@\\
\mbox{}\verb@ it is required to initialize this struct to something sensible.@\\
\mbox{}\verb@ @\\
\mbox{}\verb@ This file defines this struct. Additionally a few functions of@\\
\mbox{}\verb@ general use are prototyped.@\\
\mbox{}\verb@ @\\
\mbox{}\verb@ Mark Koennecke, June, 1997@\\
\mbox{}\verb@ @\\
\mbox{}\verb@ copyrigth: see implementation file @\\
\mbox{}\verb@----------------------------------------------------------------------------*/@\\
\mbox{}\verb@#ifndef SICSDESCRIPTOR@\\
\mbox{}\verb@#define SICSDESCRIPTOR@\\
\mbox{}\verb@#include <stdio.h>@\\
\mbox{}\verb@#include <ifile.h>@\\
\mbox{}\verb@@\\
\mbox{}\verb@ typedef struct {@\\
\mbox{}\verb@ char *name;@\\
\mbox{}\verb@ int (*SaveStatus)(void *self, char *name,FILE *fd);@\\
\mbox{}\verb@ void *(*GetInterface)(void *self, int iInterfaceID);@\\
\mbox{}\verb@ char *description;@\\
\mbox{}\verb@ char *group;@\\
\mbox{}\verb@ IPair *pKeys;@\\
\mbox{}\verb@ } ObjectDescriptor, *pObjectDescriptor;@\\
\mbox{}\verb@@\\
\mbox{}\verb@ /*---------------------------------------------------------------------------*/@\\
@ -63,9 +77,9 @@ $\langle$obdes {\footnotesize ?}$\rangle\equiv$
\mbox{}\verb@ pObjectDescriptor FindDescriptor(void *pData);@\\
\mbox{}\verb@ @\\
\mbox{}\verb@/*============================================================================@\\
\mbox{}\verb@ Objects which do not carry data need a dummy descriptor. Otherwise@\\
\mbox{}\verb@ drive or scan will protection fault when trying to drive something@\\
\mbox{}\verb@ which should not be driven. This is defined below.@\\
\mbox{}\verb@ Objects which do not carry data need a dummy descriptor. Otherwise@\\
\mbox{}\verb@ drive or scan will protection fault when trying to drive something@\\
\mbox{}\verb@ which should not be driven. This is defined below.@\\
\mbox{}\verb@*/@\\
\mbox{}\verb@@\\
\mbox{}\verb@typedef struct {@\\
@ -74,17 +88,17 @@ $\langle$obdes {\footnotesize ?}$\rangle\equiv$
\mbox{}\verb@ @\\
\mbox{}\verb@@\\
\mbox{}\verb@ pDummy CreateDummy(char *name);@\\
\mbox{}\verb@ void KillDummy(void *pData); @\\
\mbox{}\verb@ void KillDummy(void *pData); @\\
\mbox{}\verb@@\\
\mbox{}\verb@ int iHasType(void *pData, char *Type);@\\
\mbox{}\verb@ @\\
\mbox{}\verb@#endif @\\
\mbox{}\verb@@$\diamond$
\mbox{}\verb@@{\NWsep}
\end{list}
\vspace{-1ex}
\footnotesize\addtolength{\baselineskip}{-1ex}
\begin{list}{}{\setlength{\itemsep}{-\parsep}\setlength{\itemindent}{-\leftmargin}}
\item Macro referenced in scrap ?.
\item \NWtxtMacroRefIn\ \NWlink{nuweb?}{?}.
\end{list}
\end{minipage}\\[4ex]
\end{flushleft}
@ -128,7 +142,7 @@ environment controllers fit this bill as well.
\begin{flushleft} \small
\begin{minipage}{\linewidth} \label{scrap2}
$\langle$driv {\footnotesize ?}$\rangle\equiv$
$\langle\,$driv\nobreak\ {\footnotesize \NWtarget{nuweb?}{?}}$\,\rangle\equiv$
\vspace{-1ex}
\begin{list}{}{} \item
\mbox{}\verb@@\\
@ -143,18 +157,19 @@ $\langle$driv {\footnotesize ?}$\rangle\equiv$
\mbox{}\verb@ int (*CheckStatus)(void *self, SConnection *pCon);@\\
\mbox{}\verb@ float (*GetValue)(void *self, SConnection *pCon); @\\
\mbox{}\verb@ int iErrorCount;@\\
\mbox{}\verb@ int drivableStatus;@\\
\mbox{}\verb@ } IDrivable, *pIDrivable;@\\
\mbox{}\verb@@\\
\mbox{}\verb@ pIDrivable GetDrivableInterface(void *pObject); @\\
\mbox{}\verb@ int GetDrivablePosition(void *pObject, SConnection *pCon,@\\
\mbox{}\verb@ float *fPos);@\\
\mbox{}\verb@ int GetDrivablePosition(void *pObject, SConnection *pCon,@\\
\mbox{}\verb@ float *fPos);@\\
\mbox{}\verb@@\\
\mbox{}\verb@@$\diamond$
\mbox{}\verb@@{\NWsep}
\end{list}
\vspace{-1ex}
\footnotesize\addtolength{\baselineskip}{-1ex}
\begin{list}{}{\setlength{\itemsep}{-\parsep}\setlength{\itemindent}{-\leftmargin}}
\item Macro referenced in scrap ?.
\item \NWtxtMacroRefIn\ \NWlink{nuweb?}{?}.
\end{list}
\end{minipage}\\[4ex]
\end{flushleft}
@ -207,7 +222,7 @@ This is an interface for interacting with anything which counts.
\begin{flushleft} \small
\begin{minipage}{\linewidth} \label{scrap3}
$\langle$count {\footnotesize ?}$\rangle\equiv$
$\langle\,$count\nobreak\ {\footnotesize \NWtarget{nuweb?}{?}}$\,\rangle\equiv$
\vspace{-1ex}
\begin{list}{}{} \item
\mbox{}\verb@@\\
@ -225,12 +240,12 @@ $\langle$count {\footnotesize ?}$\rangle\equiv$
\mbox{}\verb@@\\
\mbox{}\verb@ pICountable GetCountableInterface(void *pObject); @\\
\mbox{}\verb@@\\
\mbox{}\verb@@$\diamond$
\mbox{}\verb@@{\NWsep}
\end{list}
\vspace{-1ex}
\footnotesize\addtolength{\baselineskip}{-1ex}
\begin{list}{}{\setlength{\itemsep}{-\parsep}\setlength{\itemindent}{-\leftmargin}}
\item Macro referenced in scrap ?.
\item \NWtxtMacroRefIn\ \NWlink{nuweb?}{?}.
\end{list}
\end{minipage}\\[4ex]
\end{flushleft}
@ -272,19 +287,19 @@ The first thing to define for such an interface is the type of the callback
function:
\begin{flushleft} \small
\begin{minipage}{\linewidth} \label{scrap4}
$\langle$callfunc {\footnotesize ?}$\rangle\equiv$
$\langle\,$callfunc\nobreak\ {\footnotesize \NWtarget{nuweb?}{?}}$\,\rangle\equiv$
\vspace{-1ex}
\begin{list}{}{} \item
\mbox{}\verb@@\\
\mbox{}\verb@ typedef void (*KillFuncIT)(void *pData);@\\
\mbox{}\verb@ typedef int (*SICSCallBack)(int iEvent, void *pEventData, @\\
\mbox{}\verb@ void *pUserData);@\\
\mbox{}\verb@@$\diamond$
\mbox{}\verb@ void *pUserData, commandContext cc);@\\
\mbox{}\verb@@{\NWsep}
\end{list}
\vspace{-1ex}
\footnotesize\addtolength{\baselineskip}{-1ex}
\begin{list}{}{\setlength{\itemsep}{-\parsep}\setlength{\itemindent}{-\leftmargin}}
\item Macro referenced in scrap ?.
\item \NWtxtMacroRefIn\ \NWlink{nuweb?}{?}.
\end{list}
\end{minipage}\\[4ex]
\end{flushleft}
@ -306,7 +321,7 @@ interface:
\begin{flushleft} \small
\begin{minipage}{\linewidth} \label{scrap5}
$\langle$cifunc {\footnotesize ?}$\rangle\equiv$
$\langle\,$cifunc\nobreak\ {\footnotesize \NWtarget{nuweb?}{?}}$\,\rangle\equiv$
\vspace{-1ex}
\begin{list}{}{} \item
\mbox{}\verb@@\\
@ -318,21 +333,22 @@ $\langle$cifunc {\footnotesize ?}$\rangle\equiv$
\mbox{}\verb@ int InvokeCallBack(pICallBack pInterface, int iEvent, void *pEventData); @\\
\mbox{}\verb@@\\
\mbox{}\verb@ /* callback client side */@\\
\mbox{}\verb@ long RegisterCallback(pICallBack pInterface, int iEvent, SICSCallBack pFunc,@\\
\mbox{}\verb@ long RegisterCallback(pICallBack pInterface, commandContext comCon, @\\
\mbox{}\verb@ int iEvent, SICSCallBack pFunc,@\\
\mbox{}\verb@ void *pUserData, KillFuncIT pKill);@\\
\mbox{}\verb@ int RemoveCallback(pICallBack pInterface, long iID);@\\
\mbox{}\verb@ int RemoveCallback2(pICallBack pInterface, void *pUserData);@\\
\mbox{}\verb@@\\
\mbox{}\verb@ int CallbackScript(SConnection *pCon, SicsInterp *pSics, void *pData,@\\
\mbox{}\verb@ int argc, char *argv[]); @\\
\mbox{}\verb@ int argc, char *argv[]); @\\
\mbox{}\verb@@\\
\mbox{}\verb@ pICallBack GetCallbackInterface(void *pData); @\\
\mbox{}\verb@@$\diamond$
\mbox{}\verb@@{\NWsep}
\end{list}
\vspace{-1ex}
\footnotesize\addtolength{\baselineskip}{-1ex}
\begin{list}{}{\setlength{\itemsep}{-\parsep}\setlength{\itemindent}{-\leftmargin}}
\item Macro referenced in scrap ?.
\item \NWtxtMacroRefIn\ \NWlink{nuweb?}{?}.
\end{list}
\end{minipage}\\[4ex]
\end{flushleft}
@ -389,7 +405,7 @@ This interface is used by the environment monitor in order to monitor
the status of a environment controller. The interface looks like this:
\begin{flushleft} \small
\begin{minipage}{\linewidth} \label{scrap6}
$\langle$envir {\footnotesize ?}$\rangle\equiv$
$\langle\,$envir\nobreak\ {\footnotesize \NWtarget{nuweb?}{?}}$\,\rangle\equiv$
\vspace{-1ex}
\begin{list}{}{} \item
\mbox{}\verb@@\\
@ -400,12 +416,12 @@ $\langle$envir {\footnotesize ?}$\rangle\equiv$
\mbox{}\verb@ int (*IsInTolerance)(void *self);@\\
\mbox{}\verb@ int (*HandleError)(void *self);@\\
\mbox{}\verb@ } EVInterface, *pEVInterface;@\\
\mbox{}\verb@@$\diamond$
\mbox{}\verb@@{\NWsep}
\end{list}
\vspace{-1ex}
\footnotesize\addtolength{\baselineskip}{-1ex}
\begin{list}{}{\setlength{\itemsep}{-\parsep}\setlength{\itemindent}{-\leftmargin}}
\item Macro referenced in scrap ?.
\item \NWtxtMacroRefIn\ \NWlink{nuweb?}{?}.
\end{list}
\end{minipage}\\[4ex]
\end{flushleft}
@ -428,17 +444,17 @@ in question.
The environment interface has just one function associated with it:
\begin{flushleft} \small
\begin{minipage}{\linewidth} \label{scrap7}
$\langle$envfunc {\footnotesize ?}$\rangle\equiv$
$\langle\,$envfunc\nobreak\ {\footnotesize \NWtarget{nuweb?}{?}}$\,\rangle\equiv$
\vspace{-1ex}
\begin{list}{}{} \item
\mbox{}\verb@@\\
\mbox{}\verb@ pEVInterface CreateEVInterface(void);@\\
\mbox{}\verb@@$\diamond$
\mbox{}\verb@@{\NWsep}
\end{list}
\vspace{-1ex}
\footnotesize\addtolength{\baselineskip}{-1ex}
\begin{list}{}{\setlength{\itemsep}{-\parsep}\setlength{\itemindent}{-\leftmargin}}
\item Macro referenced in scrap ?.
\item \NWtxtMacroRefIn\ \NWlink{nuweb?}{?}.
\end{list}
\end{minipage}\\[4ex]
\end{flushleft}
@ -446,24 +462,34 @@ $\langle$envfunc {\footnotesize ?}$\rangle\equiv$
\begin{flushleft} \small
\begin{minipage}{\linewidth} \label{scrap8}
\verb@"obdes.h"@ {\footnotesize ? }$\equiv$
\verb@"obdes.h"@\nobreak\ {\footnotesize \NWtarget{nuweb?}{?} }$\equiv$
\vspace{-1ex}
\begin{list}{}{} \item
\mbox{}\verb@@\\
\mbox{}\verb@@$\langle$obdes {\footnotesize ?}$\rangle$\verb@@\\
\mbox{}\verb@@$\diamond$
\mbox{}\verb@@\hbox{$\langle\,$obdes\nobreak\ {\footnotesize \NWlink{nuweb?}{?}}$\,\rangle$}\verb@@\\
\mbox{}\verb@/*--------------------------------------------------------------------------*/@\\
\mbox{}\verb@/* Additional properties used by the ANSTO site to provide more information@\\
\mbox{}\verb@ * about each object instance, especially devices.@\\
\mbox{}\verb@ */@\\
\mbox{}\verb@ void SetDescriptorKey(pObjectDescriptor self, char *keyName, char *value);@\\
\mbox{}\verb@ void SetDescriptorGroup(pObjectDescriptor self, char *group);@\\
\mbox{}\verb@ void SetDescriptorDescription(pObjectDescriptor self, char *description);@\\
\mbox{}\verb@ char * GetDescriptorKey(pObjectDescriptor self, char *keyName);@\\
\mbox{}\verb@ char * GetDescriptorGroup(pObjectDescriptor self);@\\
\mbox{}\verb@ char * GetDescriptorDescription(pObjectDescriptor self);@\\
\mbox{}\verb@@{\NWsep}
\end{list}
\vspace{-2ex}
\end{minipage}\\[4ex]
\end{flushleft}
\begin{flushleft} \small
\begin{minipage}{\linewidth} \label{scrap9}
\verb@"interface.h"@ {\footnotesize ? }$\equiv$
\verb@"interface.h"@\nobreak\ {\footnotesize \NWtarget{nuweb?}{?} }$\equiv$
\vspace{-1ex}
\begin{list}{}{} \item
\mbox{}\verb@@\\
\mbox{}\verb@/*---------------------------------------------------------------------------@\\
\mbox{}\verb@ I N T E R F A C E S@\\
\mbox{}\verb@ I N T E R F A C E S@\\
\mbox{}\verb@@\\
\mbox{}\verb@ Any object in SICS has to adhere to the object descriptor interface (see@\\
\mbox{}\verb@ file obdes.h). Furthermore SICS objects may choose to support other@\\
@ -478,6 +504,7 @@ $\langle$envfunc {\footnotesize ?}$\rangle\equiv$
\mbox{}\verb@@\\
\mbox{}\verb@#ifndef SICSINTERFACES@\\
\mbox{}\verb@#define SICSINTERFACES@\\
\mbox{}\verb@#include "commandcontext.h"@\\
\mbox{}\verb@@\\
\mbox{}\verb@/* interface ID's used to recognize an interface */@\\
\mbox{}\verb@#define DRIVEID 513@\\
@ -486,23 +513,23 @@ $\langle$envfunc {\footnotesize ?}$\rangle\equiv$
\mbox{}\verb@#define ENVIRINTERFACE 949@\\
\mbox{}\verb@@\\
\mbox{}\verb@/* ----------------------- The drivable interface -----------------------*/@\\
\mbox{}\verb@@$\langle$driv {\footnotesize ?}$\rangle$\verb@@\\
\mbox{}\verb@@\hbox{$\langle\,$driv\nobreak\ {\footnotesize \NWlink{nuweb?}{?}}$\,\rangle$}\verb@@\\
\mbox{}\verb@@\\
\mbox{}\verb@ pIDrivable CreateDrivableInterface(void);@\\
\mbox{}\verb@@\\
\mbox{}\verb@/* ------------------------ The countable interface ---------------------*/@\\
\mbox{}\verb@@$\langle$count {\footnotesize ?}$\rangle$\verb@@\\
\mbox{}\verb@@\hbox{$\langle\,$count\nobreak\ {\footnotesize \NWlink{nuweb?}{?}}$\,\rangle$}\verb@@\\
\mbox{}\verb@@\\
\mbox{}\verb@ pICountable CreateCountableInterface(void);@\\
\mbox{}\verb@@\\
\mbox{}\verb@/* ------------------------- The CallBack Interface --------------------*/@\\
\mbox{}\verb@@$\langle$callfunc {\footnotesize ?}$\rangle$\verb@@\\
\mbox{}\verb@@$\langle$cifunc {\footnotesize ?}$\rangle$\verb@@\\
\mbox{}\verb@@\hbox{$\langle\,$callfunc\nobreak\ {\footnotesize \NWlink{nuweb?}{?}}$\,\rangle$}\verb@@\\
\mbox{}\verb@@\hbox{$\langle\,$cifunc\nobreak\ {\footnotesize \NWlink{nuweb?}{?}}$\,\rangle$}\verb@@\\
\mbox{}\verb@/*---------------------- The Environment Interface --------------------*/@\\
\mbox{}\verb@@$\langle$envir {\footnotesize ?}$\rangle$\verb@@\\
\mbox{}\verb@@$\langle$envfunc {\footnotesize ?}$\rangle$\verb@@\\
\mbox{}\verb@@\hbox{$\langle\,$envir\nobreak\ {\footnotesize \NWlink{nuweb?}{?}}$\,\rangle$}\verb@@\\
\mbox{}\verb@@\hbox{$\langle\,$envfunc\nobreak\ {\footnotesize \NWlink{nuweb?}{?}}$\,\rangle$}\verb@@\\
\mbox{}\verb@#endif@\\
\mbox{}\verb@@$\diamond$
\mbox{}\verb@@{\NWsep}
\end{list}
\vspace{-2ex}
\end{minipage}\\[4ex]