- Added Sycamore protocol and command context to SICS
- 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
395
tclmotdriv.c
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395
tclmotdriv.c
Normal file
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/*---------------------------------------------------------------------------
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This is a motor driver which is implemented in Tcl. This means
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this code is only a wrapper which calls Tcl functions to do the
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actual work.
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The Tcl functions to implement the interface are called with the name
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of the motor as first parameter followed by any additional parameters
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such as the position to run to for run. Functions have to return the proper
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SICS return codes for a motor driver as integer numbers.
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The Tcl function list is initialized from a Tcl-array which holds function
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names for the entries:
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- getpos
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- run
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- status
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- geterror
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- fixit
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This Tcl-array is passed as parameter on creating the motor. In order to
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facilitate error handling, a motor parameter errorcode is available to
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store errors between invocations.
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copyright: see file COPYRIGHT
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Mark Koennecke, December 2005
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--------------------------------------------------------------------------*/
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#include <stdlib.h>
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#include <assert.h>
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#include <string.h>
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#include <time.h>
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#include "sics.h"
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#include "modriv.h"
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#include "tclmotdriv.h"
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#define FUNCNOTFOUND -11000
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#define TCLERROR -11001
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#define NOTCLRESULT -11002
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/*----------------------------------------------------------------------------*/
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static int buildStandardCommandPart(TCLDriv *pDriv, char *command,
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char *tclCommand, int commandLen){
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char tclFunc[132];
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int status;
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status = StringDictGet(pDriv->mappings,command,tclFunc,131);
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if(status != 1) {
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return 0;
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}
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snprintf(tclCommand,commandLen,"%s %s ", tclFunc, pDriv->motName);
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return 1;
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}
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/*----------------------------------------------------------------------------*/
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static int GetTclPos(void *self, float *fPos){
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TCLDriv *pDriv;
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char tclCommand[1024];
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int status;
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const char *result = NULL;
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assert(self);
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pDriv = (TCLDriv *)self;
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pDriv->errorCode = 0;
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if(!buildStandardCommandPart(pDriv,"getpos",tclCommand,1023)){
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pDriv->errorCode = FUNCNOTFOUND;
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return HWFault;
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}
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status = Tcl_Eval(pServ->pSics->pTcl,tclCommand);
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result = Tcl_GetStringResult(pServ->pSics->pTcl);
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if(result == NULL){
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pDriv->errorCode = NOTCLRESULT;
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return HWFault;
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}
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if(status != TCL_OK){
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pDriv->errorCode = TCLERROR;
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strncpy(pDriv->tclError,result,1023);
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return HWFault;
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}
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sscanf(result,"%f",fPos);
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return OKOK;
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}
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/*----------------------------------------------------------------------------*/
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static int TclRun(void *self, float fVal) {
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TCLDriv *pDriv;
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char tclCommand[1024];
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char num[80];
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int status;
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const char *result = NULL;
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assert(self);
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pDriv = (TCLDriv *)self;
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pDriv->errorCode = 0;
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if(!buildStandardCommandPart(pDriv,"run",tclCommand,1023)){
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pDriv->errorCode = FUNCNOTFOUND;
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return HWFault;
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}
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snprintf(num,79,"%f",fVal);
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strncat(tclCommand,num,1023-strlen(tclCommand));
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status = Tcl_Eval(pServ->pSics->pTcl,tclCommand);
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result = Tcl_GetStringResult(pServ->pSics->pTcl);
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if(result == NULL) {
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pDriv->errorCode = NOTCLRESULT;
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return HWFault;
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}
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if(status != TCL_OK){
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pDriv->errorCode = TCLERROR;
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strncpy(pDriv->tclError,result,1023);
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return HWFault;
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}
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sscanf(result,"%d%",&status);
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return status;
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}
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/*-------------------------------------------------------------------------*/
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static int evaluateInternalErrors(TCLDriv *pDriv, int *iCode,
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char *error, int iErrLen){
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switch(pDriv->errorCode){
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case FUNCNOTFOUND:
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strncpy(error,"Config Error: Tcl function for driver not found",iErrLen);
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*iCode = pDriv->errorCode;
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return 1;
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break;
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case TCLERROR:
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strncpy(error,pDriv->tclError,iErrLen);
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*iCode = pDriv->errorCode;
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return 1;
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break;
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case NOTCLRESULT:
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strncpy(error,"Tcl function did not return result",iErrLen);
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*iCode = pDriv->errorCode;
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return 1;
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break;
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default:
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return 0;
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break;
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}
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return 0;
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}
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/*--------------------------------------------------------------------------*/
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static void TclError(void *self, int *iCode, char *error, int iErrLen){
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TCLDriv *pDriv;
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char tclCommand[1024];
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int status = 1;
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const char *result = NULL;
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assert(self);
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pDriv = (TCLDriv *)self;
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if(evaluateInternalErrors(pDriv,iCode,error,iErrLen) == 1) {
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return;
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}
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if(!buildStandardCommandPart(pDriv,"geterror",tclCommand,1023)){
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pDriv->errorCode = FUNCNOTFOUND;
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status = 0;
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}
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if(status != 0){
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status = Tcl_Eval(pServ->pSics->pTcl,tclCommand);
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result = Tcl_GetStringResult(pServ->pSics->pTcl);
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if(result == NULL) {
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pDriv->errorCode = NOTCLRESULT;
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}
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if(status != TCL_OK && result != NULL){
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pDriv->errorCode = TCLERROR;
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strncpy(pDriv->tclError,result,1023);
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}
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}
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if(evaluateInternalErrors(pDriv,iCode,error,iErrLen) == 1) {
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return;
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}
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strncpy(error,result,iErrLen);
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}
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/*---------------------------------------------------------------------------*/
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static int TclFix(void *self, int iError, float fNew){
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TCLDriv *pDriv;
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char tclCommand[1024];
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char num[80];
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int status;
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const char *result = NULL;
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assert(self);
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pDriv = (TCLDriv *)self;
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pDriv->errorCode = 0;
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if(!buildStandardCommandPart(pDriv,"fixit",tclCommand,1023)){
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pDriv->errorCode = FUNCNOTFOUND;
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return HWFault;
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}
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snprintf(num,79,"%f",fNew);
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strncat(tclCommand,num,1023-strlen(tclCommand));
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status = Tcl_Eval(pServ->pSics->pTcl,tclCommand);
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result = Tcl_GetStringResult(pServ->pSics->pTcl);
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if(result == NULL) {
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pDriv->errorCode = NOTCLRESULT;
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return HWFault;
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}
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if(status != TCL_OK){
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pDriv->errorCode = TCLERROR;
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strncpy(pDriv->tclError,result,1023);
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return HWFault;
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}
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sscanf(result,"%d%",&status);
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return status;
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}
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/*--------------------------------------------------------------------------*/
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static int TclHalt(void *self)
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{
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TCLDriv *pDriv;
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char tclCommand[1024];
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int status;
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const char *result = NULL;
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assert(self);
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pDriv = (TCLDriv *)self;
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pDriv->errorCode = 0;
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if(!buildStandardCommandPart(pDriv,"halt",tclCommand,1023)){
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pDriv->errorCode = FUNCNOTFOUND;
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return HWFault;
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}
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status = Tcl_Eval(pServ->pSics->pTcl,tclCommand);
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result = Tcl_GetStringResult(pServ->pSics->pTcl);
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if(result == NULL){
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pDriv->errorCode = NOTCLRESULT;
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return HWFault;
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}
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if(status != TCL_OK){
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pDriv->errorCode = TCLERROR;
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strncpy(pDriv->tclError,result,1023);
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return HWFault;
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}
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return OKOK;
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}
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/*--------------------------------------------------------------------------*/
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static int TclStat(void *self)
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{
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TCLDriv *pDriv;
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char tclCommand[1024];
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int status;
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const char *result = NULL;
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assert(self);
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pDriv = (TCLDriv *)self;
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pDriv->errorCode = 0;
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if(!buildStandardCommandPart(pDriv,"status",tclCommand,1023)){
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pDriv->errorCode = FUNCNOTFOUND;
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return HWFault;
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}
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status = Tcl_Eval(pServ->pSics->pTcl,tclCommand);
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result = Tcl_GetStringResult(pServ->pSics->pTcl);
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if(result == NULL){
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pDriv->errorCode = NOTCLRESULT;
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return HWFault;
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}
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if(status != TCL_OK){
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pDriv->errorCode = TCLERROR;
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strncpy(pDriv->tclError,result,1023);
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return HWFault;
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}
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sscanf(result,"%d%",&status);
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return status;
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}
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/*-----------------------------------------------------------------------*/
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static int TclSetPar(void *self, SConnection *pCon, char *name, float newValue){
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TCLDriv *pDriv = (TCLDriv *) self;
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assert(self);
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assert(pCon);
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if(strcmp(name,"hardupperlim") == 0)
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{
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pDriv->fUpper = newValue;
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return 1;
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}
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if(strcmp(name,"hardlowerlim") == 0)
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{
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pDriv->fLower = newValue;
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return 1;
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}
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if(strcmp(name,"errorcode") == 0)
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{
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pDriv->errorCode = (int)newValue;
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return 1;
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}
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return 0;
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}
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/*-----------------------------------------------------------------------*/
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static int TclGetPar(void *self, char *name, float *value){
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TCLDriv *pDriv = (TCLDriv *) self;
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assert(self);
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if(strcmp(name,"errorcode") == 0)
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{
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*value = (float)pDriv->errorCode;
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return 1;
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}
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return 0;
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}
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/*---------------------------------------------------------------------------*/
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void KillTCL(void *pData)
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{
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TCLDriv *pDriv = (TCLDriv *) pData;
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if(pDriv != NULL){
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DeleteStringDict(pDriv->mappings);
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}
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return;
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}
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/*-------------------------------------------------------------------------*/
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static int assignMappings(TCLDriv *pDriv, SConnection *pCon, char *arrayName){
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const char *funcName = NULL;
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char *funcText[] = {"getpos",
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"run",
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"status",
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"halt",
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"geterror",
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"fixit",
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NULL};
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char error[256];
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int count = 0;
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while(funcText[count] != NULL) {
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funcName = Tcl_GetVar2(pServ->pSics->pTcl,arrayName,funcText[count],TCL_GLOBAL_ONLY);
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if(funcName == NULL) {
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snprintf(error,255,"ERROR: entry for %s not found in tcl-array %s",
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funcText[count], arrayName);
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SCWrite(pCon,error,eError);
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return 0;
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}
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StringDictAddPair(pDriv->mappings,funcText[count],(char *)funcName);
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count++;
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}
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return 1;
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}
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/*--------------------------------------------------------------------------*/
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MotorDriver *CreateTclMotDriv(SConnection *pCon, int argc, char *argv[])
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{
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TCLDriv *pDriv = NULL;
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assert(pCon);
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if(argc < 4) {
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SCWrite(pCon,"ERROR: not enough arguments to initilaize Tcl-driver",eError);
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return NULL;
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}
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pDriv = (TCLDriv *)malloc(sizeof(TCLDriv));
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if(!pDriv){
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SCWrite(pCon,"Error allocating memory in TclMotor",eError);
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return NULL;
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}
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memset(pDriv,0,sizeof(TCLDriv));
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pDriv->mappings = CreateStringDict();
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if(pDriv->mappings == NULL){
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SCWrite(pCon,"Error allocating memory in TclMotor",eError);
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free(pDriv);
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return NULL;
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}
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if(assignMappings(pDriv,pCon,argv[3]) != 1){
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DeleteStringDict(pDriv->mappings);
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free(pDriv);
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return NULL;
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}
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pDriv->name = strdup("Tcl-Driver");
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strncpy(pDriv->motName, argv[1], 131);
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pDriv->GetPosition = GetTclPos;
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pDriv->RunTo = TclRun;
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pDriv->GetStatus = TclStat;
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pDriv->GetError = TclError;
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pDriv->TryAndFixIt = TclFix;
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pDriv->SetDriverPar = TclSetPar;
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pDriv->GetDriverPar = TclGetPar;
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pDriv->Halt = TclHalt;
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pDriv->KillPrivate = KillTCL;
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return (MotorDriver *)pDriv;
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}
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