conman.c
Reduce log noise by setting iout = eInternal for macros. servlog.c Fixed timestamp in logfiles to get hours. hmm_configuration_common_1.tcl Added ML's mods to wombat config: ie BAT and FAT TABLE attributes and elements for multi-period acquisition and histo-streaming. Fixed "failed lsearch" bug. It's more robust to test for a non-successful lsearch instead of a failed lsearch. nxscripts_common_1.tcl SICS-297 Fixed Saving data series in a scratch file overwrites earlier entries. instdict_specification.tcl Added "scobj" kind and "sct_indexed_motor" sics object type for script context controllers and and objects. hipadaba_configuration_common.tcl Added sct_indexed_motor sics obj type to ::hdb::sobjadd and scobj kind to ::hdb::add_node sct_positmotor_common.tcl Update the index SICS variable when updating the current index value to make sure that the position is saved in the data file. You must now provide the hdb node_name when creating the sct posit motor. mk_sct_positmotor now sets the "param" and "long_name" attributes on the posit motor object util/utility.tcl Added ::utility::set_sct_indexed_motor_attributes to set SICS object attributes required for generating hdb info for an SCT_POSIT_MOTOR nxscript.c Merge the ansto mod to putslab (rev1.7) which adds support for saving unbuffered data from the histmem. sicshipadaba.c This incorporates the patch made to CommandSetCallback in rev1.10 so it can just be copied as is (ie no merge required). WARNING: There are changes to ListHdbNode to handle record separators which may affect us. Disabled sending hdb command start and stop messages because they break gumtree sicshdbfactory.c Disabled sending hdb command start and stop messages because they break gumtree hipadaba_configuration_common.tcl R2.4DEV The sct_posit_motor case of ::hdb::sobjadd is only needed to call add_node with kind=scobj. nxscripts_common_1.tcl R2.4DEV Added ::nexus::scobj::sdsinfo _gen_nxdict now skips nodes with data_type == "none" new util/script_context_util.tcl R2.4DEV Adds ::scobj::hinitprops command to initialise the hdb properties for script context object nodes. sct_positmotor_common.tcl R2.4DEV Use ::scobj::hinitprops utility command to initialise hdb properties on script context object parameter nodes. dynstring.c DynStringReplace should memcopy '\0', otherwise it can get the wrong length for iTextLen. Added DynStringReplaceWithLen to allow initialising a dynstring with char arrays which contain null chars and other non-ascii chars. Useful for read and write buffers in script context. ascon.c AsconRead return NULL for noResponse and AsconFailed otherwise the "result" node gets set with a spurious empty value. scriptcontext.c SctActionHandler only set the "result" node if there really is a reply. sicsobj.c Update from M.K. site_ansto.c Added galil and ordela hvps protocol handlers for scriptcontext. motor_dmc2280.c Allow home parameter to be outside of limits (for KOWARI) hardsup/makefile Added ordela HVPS protocol handler hardsup/sct_orhvpsprot.c New ordela HVPS protocol handler. Retries on NAKs and re-orders pot channels (ie toggles lower two bits). hardsup/sct_velselprot.c Start velocity selector protocol handler. hardsup/sct_galilprot.c Completed galil protocol handler. hipadaba_configuration_common.tcl Add new style SICS objects to hdb tree. instdict_specification.tcl Added scobj to kind list and sct_motor to sics object list. (and some housekeeping) hmm_configuration_common_1.tcl Added ratemaps to simulation. Fixe BAT_TABLE and added PERIOD_INDICES as per Mark Lesha's mods for multi-period acquisition. ratemaps now return float. sct_postimotor_common.tcl Now setting properties on the posit motor object so that it can be automatically added to the hdb tree. hrpd/config/motors/motor_configuration.tcl Fixed simulated msd motor so that it's handle properly in the hdb layer. sans/config/hmm/detector_ordela.tcl Updated the ordela calibration script to use the new sct_orhvpsprop.c script context controller. quokka_configuration.tcl Deleted lines which set the hdb properties for script context posit motors. This is now handled automatically as for other SICS objects. utility.tcl setpos now replaces the motor setpos subcommand. Added functions to set script context object attributes and sct_posit motor attributes. Created hparPath and hsibPath convenience commands for new-style SICS objects. script_context_util.tcl NEW! Adds hinitprops function to initialise the hdb properties for a script context object r2758 | ffr | 2008-12-12 17:53:53 +1100 (Fri, 12 Dec 2008) | 113 lines
This commit is contained in:
Ferdi Franceschini
committed by
Douglas Clowes
Douglas Clowes
parent
121aac2946
commit
e36e9f1146
351
site_ansto/hardsup/sct_orhvpsprot.c
Normal file
351
site_ansto/hardsup/sct_orhvpsprot.c
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@@ -0,0 +1,351 @@
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/** @file OrdHVPS protocol handler for script-context based controllers.
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* MJL 17/9/08 implement a special command mode to make life easier
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*
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TODO Make dhv1 object, refer to following cmd IO for scripting.
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sct_dhv1 transact "P x4"
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x4 6
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sct_dhv1 transact v
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ORDELA 2.10 07/24/00
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sct_dhv1 transact H
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56
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set msg [sct_dhv1 transact {h 57}]
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ACK
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sct_dhv1 transact H
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57
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* TODO Remove globals and statics if we want to allow more controllers.
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*/
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#include <errno.h>
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#include <ascon.h>
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#include <ascon.i>
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#include <dynstring.h>
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#include <unistd.h>
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#define ACK 6
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#define NAK 21
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#define MAXARGS 5
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#define MAXARGLEN 32
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#define ERRMSGLEN 127
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#define MAXRETRY 3
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static char cmdrspfmt[MAXARGLEN];
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static char *pcmdrspfmt=cmdrspfmt;
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static char cmdArgv[MAXARGS][MAXARGLEN];
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/** @brief Format command before sending
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*/
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int OrdHVPSWriteStart(Ascon *a) {
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char cmd[MAXARGLEN];
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int cmd_len, ci,cj,bi;
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char *wrBArray, ch;
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// strcpy(wrBArray, GetCharArray(a->wrBuffer));
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wrBArray = GetCharArray(a->wrBuffer);
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cmd_len = GetDynStringLength(a->wrBuffer);
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for (ci=2, cj=0, bi=0; ci<MAXARGS && bi<cmd_len && cj < MAXARGLEN; ci++) {
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for (cj=0; (ch = wrBArray[bi]) != ' ' && bi<cmd_len; bi++, cj++)
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cmdArgv[ci][cj] = ch;
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cmdArgv[ci][cj] = '\0';
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while (wrBArray[bi] == ' ' && bi < cmd_len)
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bi++;
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}
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if (cj >= MAXARGLEN) {
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a->state = AsconIdle;
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AsconError(a, "Command or argument exceeds maximum length", 0);
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return 0;
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}
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pcmdrspfmt=cmdrspfmt;
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// In command mode, the third argument is normally a single letter command
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// and the remaining arguments are command parameters. For future expansion,
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// we also allow the third argument to be an explicit command/response format.
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// This is in format "<cmd>-<resp>" where the command and response fields
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// are format specifiers containing the required/expected ASCII letters
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// in the command, and the format specifiers '%s' (string),
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// '%d' (integer 0-255), , '%B' (a board name e.g. x0-y15),
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// '%P' (a pot name e.g. x0-y191), or '%A' (ack code as 'ACK'/'NAK').
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// Formats '%c' (a character) and '%x' (char as 2 hex digits) could be
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// added to the code if needed.
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// Note '%P' translates to/from a two-byte board number plus pot number.
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// Code '%A' only useable in response format.
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if (strlen(cmdArgv[2])==1)
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switch(*cmdArgv[2])
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{
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// All the known commands for the Ordela 21000N, at 9/08.
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// If more become available, add them here, or alternately
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// supply an appropriate command format string explicitly.
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case 'v': pcmdrspfmt="vz-%sz"; break; // Get firmware version
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case 'p': pcmdrspfmt="p%P%dz-%A"; break; // Set a pot value
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case 'P': pcmdrspfmt="P%Pz-P%P%dz"; break; // Get a pot value
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case 'h': pcmdrspfmt="h%dz-%A"; break; // Set HV voltage (also settable directly via the orhvps object)
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case 'H': pcmdrspfmt="Hz-H%dz"; break; // Get HV setting
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case 'd': pcmdrspfmt="dz-%A"; break; // Enter diagnostic mode (disables coincidence detection etc.)
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case 'D': pcmdrspfmt="Dz-D%dz"; break; // Check if in diagnostic mode
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case 'n': pcmdrspfmt="nz-%A"; break; // Exit diagnostic mode
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case 'b': pcmdrspfmt="b%Bz-%A"; break; // Disable a board
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case 'B': pcmdrspfmt="B%Bz-B%B%dz"; break; // Query if board disabled
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case 'l': pcmdrspfmt="l%Bz-%A"; break; // Re-enable a board
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case 'J': pcmdrspfmt="Jz-J%dz"; break; // Check jumper settings
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}
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// Prepare the command string
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char *pcmd=cmd;
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int nfmtspec=0;
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while(*pcmdrspfmt!='-')
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{
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if (*pcmdrspfmt=='\0')
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{
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a->state = AsconIdle;
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AsconError(a, "Missing '-' separator in format string", 0);
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return 0;
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}
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if (*pcmdrspfmt=='%') // format specifier
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{
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pcmdrspfmt++;
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if (++nfmtspec>3)
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{
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a->state = AsconIdle;
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AsconError(a, "Not enough arguments supplied for cmd", 0);
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return 0;
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}
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int v1,v2;
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switch(*pcmdrspfmt++)
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{
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case 's': // probably never used
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pcmd+=sprintf(pcmd,"%s",cmdArgv[nfmtspec+2]);
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break;
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case 'd':
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sscanf(cmdArgv[nfmtspec+2],"%d",&v1);
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pcmd+=sprintf(pcmd,"%c",(char)v1);
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break;
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case 'B':
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sscanf(cmdArgv[nfmtspec+2]+1,"%d",&v1);
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v1+=(v1>=8)*8; // 0-15-> 0-7 and 16-23
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v1+=(*cmdArgv[nfmtspec+2]=='y')*8; // y at 8-15 and 24-31
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pcmd+=sprintf(pcmd,"%c",v1);
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break;
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case 'P':
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sscanf(cmdArgv[nfmtspec+2]+1,"%d",&v1);
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v1^=0x3;
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v2=v1&0xF;
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v1>>=4;
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v1+=(v1>=8)*8;
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v1+=(*cmdArgv[nfmtspec+2]=='y')*8;
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pcmd+=sprintf(pcmd,"%c%c",v1,v2);
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break;
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// case 'A': is NOT supported - responses only!
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default:
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a->state = AsconIdle;
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AsconError(a, "Unknown % specification in command format", 0);
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return 0;
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}
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}
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else
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*pcmd++=*pcmdrspfmt++; // Simple ASCII character that is part of command
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}
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pcmdrspfmt++; // skip over the '-' separator into the response format
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cmd_len=pcmd-cmd;
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cmd[cmd_len] = '\0';
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DynStringReplaceWithLen(a->wrBuffer,cmd,0,cmd_len);
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a->state = AsconWriting;
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a->wrPos = 0;
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return 1;
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}
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int OrdFmtReply(char *rdBArray, int rsp_len, char *response, char *errmsg) {
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int ret, i, idx, bnum;
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char chr, ch[2];
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char *rsp;
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int error_in_cmd_rsp_parse=0;
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//int rsp_len;
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// Start parsing the response according to the format string.
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// If we don't get what we expect, set error_in_cmd_rsp_parse
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// so that the response is output in 'send' format.
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// Only output the parameters in the response format, not ASCII's
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char *pcmd;
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char *prsp;
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int got_fmt_rsp=0;
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#if 0
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AsconStdHandler(a);
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/*
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ffr If AsconStdHandler doesn't see a '\r' or '\n' and there are no more
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chars to read, it leaves state=AsconReading and the rdBuffer char array
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without a null terminator. So we assume that higher level code can tell
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if the response is OK and set the state and terminator.
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*/
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DynStringConcatChar(a->rdBuffer, '\0');
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a->state = AsconReadDone;
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#else
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//if (0 == OrdReadChars(a)) return 0;
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#endif
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pcmd = response;
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rsp=rdBArray;
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//rsp_len = GetDynStringLength(a->rdBuffer);
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prsp = rsp;
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while (*pcmdrspfmt&&!error_in_cmd_rsp_parse)
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{
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if (prsp-rsp>=rsp_len)
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error_in_cmd_rsp_parse=1; // response is too short - no bytes left to parse
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else if (*pcmdrspfmt=='%') // Parse byte(s)
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{
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pcmdrspfmt++;
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if (got_fmt_rsp)
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*pcmd++=' '; // separate response fields with spaces (Tcl list can separate these)
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int slen;
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switch(*pcmdrspfmt++)
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{
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case 's':
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pcmd+=(slen=sprintf(pcmd,"%s",prsp));
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*--pcmd='\0'; // string should have been terminated (with a 'z') but that gets checked later
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prsp+=slen-1;
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break;
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case 'd':
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pcmd+=sprintf(pcmd,"%d",*prsp++);
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break;
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case 'B':
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pcmd+=sprintf(pcmd,"%c%d",(prsp[0]&0x8)?'y':'x',(prsp[0]&0x7)+((prsp[0]&0x10)>>1));
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prsp++;
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break;
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case 'P':
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if (rsp_len-(prsp-rsp)<2)
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error_in_cmd_rsp_parse=1;
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else
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{
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bnum =0x3^( (prsp[0]&0x7)*0x10+(prsp[0]&0x10)*0x8+prsp[1] );
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pcmd+=sprintf(pcmd,"%c%d",(prsp[0]&0x8)?'y':'x',bnum);
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prsp+=2;
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}
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break;
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case 'A':
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error_in_cmd_rsp_parse|=(prsp[0]!=0x06&&prsp[0]!=0x15);
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pcmd+=sprintf(pcmd,"%s",(prsp[0]==0x06)?"ACK":"NAK");
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prsp++;
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break;
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default:
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// a->state = AsconReadDone;
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// AsconError(a, "Unknown % specification in response format", 0);
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sprintf(errmsg, "Unknown specification for response format");
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return -1;
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}
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got_fmt_rsp=1;
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}
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else // expected ASCII characters in response have to match response format
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error_in_cmd_rsp_parse|=(*prsp++!=*pcmdrspfmt++);
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}
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if (error_in_cmd_rsp_parse) {
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idx=0;
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idx=sprintf(errmsg,"Bad response format: ");
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for (i = 0; i < rsp_len && idx < 31; ++i) {
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if (response[i] < 32 || response[i] > 126)
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idx+=sprintf(&errmsg[idx], "%02Xh", response[i]);
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else
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errmsg[idx++] = response[i];
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}
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// if (idx < 31)
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errmsg[idx++] = '\0';
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// a->state = AsconReadDone;
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// AsconError(a, errmsg, 0);
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return -1;
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} else {
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// a->state = AsconReadDone;
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// DynStringReplace(a->rdBuffer,response,0);
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return 1;
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}
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}
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int OrdHVPSReading(Ascon *a) {
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int ret, rsp_len;
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static int retries = MAXRETRY;
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char chr, errmsg[ERRMSGLEN], response[MAXARGLEN];
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ret = AsconReadChar(a->fd, &chr);
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if (ret > 0 && chr == NAK && retries > 0) {
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AsconReadGarbage(a->fd);
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a->state = AsconWriting;
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a->wrPos = 0;
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retries--;
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return 0;
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} else if (retries <= 0) {
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a->state = AsconReadDone;
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AsconError(a, "Received too many NAKs", 0);
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retries = MAXRETRY;
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return 0;
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}
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retries = MAXRETRY;
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while (ret > 0) {
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a->start = DoubleTime();
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if (ACK == chr) {
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a->state = AsconReadDone;
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DynStringConcatChar(a->rdBuffer, chr);
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} else if (chr == 'z') {
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a->state = AsconReadDone;
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DynStringConcatChar(a->rdBuffer, 'z');
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break;
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} else {
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if (DynStringConcatChar(a->rdBuffer, chr) == 0) {
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a->state = AsconReadDone;
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AsconError(a, "DynStringConcatChar failed:", ENOMEM);
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return 1;
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break;
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}
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}
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ret = AsconReadChar(a->fd, &chr);
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}
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if (a->state != AsconReadDone) {
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if (a->timeout > 0) {
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if (DoubleTime() - a->start > a->timeout) {
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AsconError(a, "read timeout", 0);
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a->state = AsconTimeout;
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return 1;
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} else {
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return 1;
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}
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}
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}
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rsp_len = GetDynStringLength(a->rdBuffer);
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if (OrdFmtReply(GetCharArray(a->rdBuffer), rsp_len, response, errmsg) >= 0) {
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DynStringReplace(a->rdBuffer,response,0);
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return 1;
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} else {
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AsconError(a, errmsg, 0);
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return 1;
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}
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}
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/** brief OrdHVPS protocol handler.
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* This handler formats commands (ie adds cr line terminator) and
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* sorts replies into standard responses of
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* <value>
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* OK
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* ASCERR:...
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*/
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int OrdHVPSProtHandler(Ascon *a) {
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int ret;
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switch(a->state){
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case AsconWriteStart:
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ret = OrdHVPSWriteStart(a);
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return ret;
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break;
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case AsconReading:
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ret = OrdHVPSReading(a);
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return ret;
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break;
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default:
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return AsconStdHandler(a);
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}
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return 1;
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}
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void AddOrdHVPSProtocoll(){
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AsconProtocol *prot = NULL;
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pcmdrspfmt = (char *) malloc(128);
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prot = calloc(sizeof(AsconProtocol), 1);
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prot->name = strdup("ordhvps");
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prot->init = AsconStdInit;
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prot->handler = OrdHVPSProtHandler;
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AsconInsertProtocol(prot);
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}
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