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Improve timeout handling, implement list command and all print remaining items

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r1615 | dcl | 2007-03-08 16:25:30 +1100 (Thu, 08 Mar 2007) | 2 lines
This commit is contained in:
Douglas Clowes
2007-03-08 16:25:30 +11:00
parent c437ef70d7
commit e284d5f09b
1 changed files with 165 additions and 60 deletions
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225
site_ansto/safetyplc.c
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@@ -6,6 +6,7 @@
*/
#include <netinet/tcp.h>
#include <sys/time.h>
#include <sics.h>
#include "network.h"
#include "multichan.h"
@@ -47,13 +48,15 @@ struct __SafetyPLCController {
int iGetOut;
int iValue;
pNWTimer nw_tmr; /* NetWait timer handle */
int timeout;
struct timeval tvSend;
};
typedef struct __command Command, *pCommand;
typedef int (*CommandCallback)(void* ctx, const char* resp, int resp_len);
struct __command {
pMultiChan unit;
pSafetyPLCController plc;
int cstate;
int lstate;
char* out_buf;
@@ -72,10 +75,11 @@ static int PLC_Tx(void* ctx)
pCommand myCmd = (pCommand) ctx;
if (myCmd) {
iRet = MultiChanWrite(myCmd->unit, myCmd->out_buf, myCmd->out_len);
gettimeofday(&myCmd->plc->tvSend, NULL); /* refresh */
iRet = MultiChanWrite(myCmd->plc->mcc, myCmd->out_buf, myCmd->out_len);
/* TODO handle errors */
if (iRet < 0) { /* TODO: EOF */
iRet = MultiChanReconnect(myCmd->unit);
iRet = MultiChanReconnect(myCmd->plc->mcc);
if (iRet == 0)
return 0;
}
@@ -127,13 +131,14 @@ static int PLC_Rx(void* ctx, int rxchar)
return iRet;
}
int PLC_SendCmd(pMultiChan unit,
static int PLC_SendCmd(pSafetyPLCController self,
char* command, int cmd_len,
CommandCallback callback, void* context, int rsp_len)
{
pCommand myCmd = NULL;
assert(unit);
assert(self);
assert(self->mcc);
myCmd = (pCommand) malloc(sizeof(Command));
assert(myCmd);
memset(myCmd, 0, sizeof(Command));
@@ -156,8 +161,9 @@ int PLC_SendCmd(pMultiChan unit,
memset(myCmd->inp_buf, 0, rsp_len + 1);
}
myCmd->inp_len = rsp_len;
myCmd->unit = unit;
return MultiChanEnque(unit, myCmd, PLC_Tx, PLC_Rx);
myCmd->plc = self;
gettimeofday(&self->tvSend, NULL); /* refresh */
return MultiChanEnque(self->mcc, myCmd, PLC_Tx, PLC_Rx);
}
static void PLC_Notify(void* context, int event)
@@ -213,75 +219,172 @@ static int MyTimerCallback(void* context, int mode)
{
pSafetyPLCController self = (pSafetyPLCController) context;
if (self->iGetOut) {
struct timeval now;
gettimeofday(&now, NULL);
/* TODO error handling */
if (--self->iGetOut)
if (((now.tv_sec - self->tvSend.tv_sec) * 1000
+ (now.tv_usec / 1000)
- (self->tvSend.tv_usec / 1000)) < self->timeout)
return 1;
DMC2280MotionControl = -1;
}
self->iGetOut = 100;
PLC_SendCmd(self->mcc, "READ", 4,
GetCallback, self, 132);
self->iGetOut = 1;
PLC_SendCmd(self, "READ", 4, GetCallback, self, 132);
return 1;
}
static int PLC_Print(SConnection *pCon, SicsInterp *pSics,
void *pData, char *name, char *param)
{
char line[132];
pSafetyPLCController self = (pSafetyPLCController) pData;
if (strcasecmp(param, "key") == 0) {
char* state = "unknown(low)";
if ((self->iValue & KEY_BOTH_BITS) == KEY_BOTH_BITS)
state = "invalid(high)";
else if (self->iValue & KEY_ENABLED_BIT)
state = "enabled";
else if (self->iValue & KEY_DISABLED_BIT)
state = "disabled";
snprintf(line, 132, "%s.Key = %s", name, state);
SCWrite(pCon, line, eStatus);
return OKOK;
}
if (strcasecmp(param, "secondary") == 0) {
char* state = "unknown(low)";
if ((self->iValue & SEC_BOTH_BITS) == SEC_BOTH_BITS)
state = "invalid(high)";
if (self->iValue & SEC_OPENED_BIT)
state = "opened";
else if (self->iValue & SEC_CLOSED_BIT)
state = "closed";
snprintf(line, 132, "%s.Secondary = %s", name, state);
SCWrite(pCon, line, eStatus);
return OKOK;
}
if (strcasecmp(param, "tertiary") == 0) {
char* state = "unknown(low)";
if ((self->iValue & TER_BOTH_BITS) == TER_BOTH_BITS)
state = "invalid(high)";
if (self->iValue & TER_OPENED_BIT)
state = "opened";
else if (self->iValue & TER_CLOSED_BIT)
state = "closed";
snprintf(line, 132, "%s.Tertiary = %s", name, state);
SCWrite(pCon, line, eStatus);
return OKOK;
}
if (strcasecmp(param, "motioncontrol") == 0) {
char* state = "unknown(low)";
if ((self->iValue & MOTOR_BOTH_BITS) == MOTOR_BOTH_BITS)
state = "invalid(high)";
else if (self->iValue & MOTOR_ENABLED_BIT)
state = "enabled";
else if (self->iValue & MOTOR_DISABLED_BIT)
state = "disabled";
snprintf(line, 132, "%s.MotionControl = %s", name, state);
SCWrite(pCon, line, eStatus);
return OKOK;
}
if (strcasecmp(param, "access") == 0) {
char* state = "unknown(low)";
if ((self->iValue & ACCESS_BOTH_BITS) == ACCESS_BOTH_BITS)
state = "invalid(high)";
else if (self->iValue & ACCESS_LOCKED_BIT)
state = "locked";
else if (self->iValue & ACCESS_UNLOCKED_BIT)
state = "unlocked";
snprintf(line, 132, "%s.Access = %s", name, state);
SCWrite(pCon, line, eStatus);
return OKOK;
}
if (strcasecmp(param, "dc") == 0) {
char* state = "false";
if (self->iValue & DC_POWEROK_BIT)
state = "true";
snprintf(line, 132, "%s.DC = %s", name, state);
SCWrite(pCon, line, eStatus);
return OKOK;
}
if (strcasecmp(param, "exit") == 0) {
char* state = "false";
if (self->iValue & EXIT_INPROGRESS_BIT)
state = "true";
snprintf(line, 132, "%s.Exit = %s", name, state);
SCWrite(pCon, line, eStatus);
return OKOK;
}
if (strcasecmp(param, "trip") == 0) {
char* state = "false";
if (self->iValue & SAFETY_TRIPPED_BIT)
state = "true";
snprintf(line, 132, "%s.Trip = %s", name, state);
SCWrite(pCon, line, eStatus);
return OKOK;
}
if (strcasecmp(param, "fault") == 0) {
char* state = "false";
if (self->iValue & SAFETY_MALFUNCTION_BIT)
state = "true";
snprintf(line, 132, "%s.Fault = %s", name, state);
SCWrite(pCon, line, eStatus);
return OKOK;
}
if (strcasecmp(param, "operate") == 0) {
char* state = "false";
if (self->iValue & TER_OPERATE_BIT)
state = "true";
snprintf(line, 132, "%s.Operate = %s", name, state);
SCWrite(pCon, line, eStatus);
return OKOK;
}
if (strcasecmp(param, "relay") == 0) {
char* state = "false";
if (self->iValue & RELAY_ENABLED_BIT)
state = "true";
snprintf(line, 132, "%s.Relay = %s", name, state);
SCWrite(pCon, line, eStatus);
return OKOK;
}
if (strcasecmp(param, "ready") == 0) {
char* state = "false";
if (self->iValue & INST_READY_BIT)
state = "true";
snprintf(line, 132, "%s.Ready = %s", name, state);
SCWrite(pCon, line, eStatus);
return OKOK;
}
return 0;
}
static int PLC_Action(SConnection *pCon, SicsInterp *pSics,
void *pData, int argc, char *argv[])
{
char line[132];
pSafetyPLCController self = (pSafetyPLCController) pData;
if (argc == 1) {
snprintf(line, 132, "%s.iValue = %06x", argv[0], self->iValue & 0xffffff);
snprintf(line, 132, "%s.iValue = %06X", argv[0], self->iValue & 0xffffff);
SCWrite(pCon, line, eStatus);
return OKOK;
}
else if (argc == 2) {
if (strcmp(argv[1], "list") == 0) {
PLC_Print(pCon, pSics, pData, argv[0], "key");
PLC_Print(pCon, pSics, pData, argv[0], "secondary");
PLC_Print(pCon, pSics, pData, argv[0], "tertiary");
PLC_Print(pCon, pSics, pData, argv[0], "motioncontrol");
PLC_Print(pCon, pSics, pData, argv[0], "access");
PLC_Print(pCon, pSics, pData, argv[0], "dc");
PLC_Print(pCon, pSics, pData, argv[0], "exit");
PLC_Print(pCon, pSics, pData, argv[0], "trip");
PLC_Print(pCon, pSics, pData, argv[0], "fault");
PLC_Print(pCon, pSics, pData, argv[0], "operate");
PLC_Print(pCon, pSics, pData, argv[0], "relay");
PLC_Print(pCon, pSics, pData, argv[0], "ready");
return OKOK;
}
if (strcmp(argv[1], "motioncontrol") == 0) {
char* state = "unknown";
if ((self->iValue & MOTOR_BOTH_BITS) == MOTOR_BOTH_BITS)
state = "invalid";
else if (self->iValue & MOTOR_ENABLED_BIT)
state = "enabled";
else if (self->iValue & MOTOR_DISABLED_BIT)
state = "disabled";
snprintf(line, 132, "%s.MotionControl = %s", argv[0], state);
SCWrite(pCon, line, eStatus);
if (PLC_Print(pCon, pSics, pData, argv[0], argv[1]))
return OKOK;
}
else if (strcmp(argv[1], "secondary") == 0) {
char* state = "unknown";
if ((self->iValue & SEC_BOTH_BITS) == SEC_BOTH_BITS)
state = "invalid";
if (self->iValue & SEC_OPENED_BIT)
state = "opened";
else if (self->iValue & SEC_CLOSED_BIT)
state = "closed";
snprintf(line, 132, "%s.Secondary = %s", argv[0], state);
SCWrite(pCon, line, eStatus);
return OKOK;
}
else if (strcmp(argv[1], "tertiary") == 0) {
char* state = "unknown";
if ((self->iValue & TER_BOTH_BITS) == TER_BOTH_BITS)
state = "invalid";
if (self->iValue & TER_OPENED_BIT)
state = "opened";
else if (self->iValue & TER_CLOSED_BIT)
state = "closed";
snprintf(line, 132, "%s.Tertiary = %s", argv[0], state);
SCWrite(pCon, line, eStatus);
return OKOK;
}
else if (strcmp(argv[1], "instrument") == 0) {
char* state = "unready";
if (self->iValue & INST_READY_BIT)
state = "ready";
snprintf(line, 132, "%s.Instrument = %s", argv[0], state);
SCWrite(pCon, line, eStatus);
return OKOK;
}
}
/* TODO: handle private stuff */
return MultiChanAction(pCon, pSics, self->mcc, argc, argv);
@@ -308,11 +411,13 @@ static pSafetyPLCController PLC_Create(const char* pName, int port)
static int PLC_Init(pSafetyPLCController self)
{
/* TODO: Init the controller */
if (self->nw_tmr == NULL)
NetWatchRegisterTimerPeriodic(&self->nw_tmr,
1000, 100,
MyTimerCallback,
self);
if (self->nw_tmr != NULL)
NetWatchRemoveTimer(self->nw_tmr);
NetWatchRegisterTimerPeriodic(&self->nw_tmr,
1000, 100,
MyTimerCallback,
self);
self->timeout=30000;
return 1;
}