- Removed defunct capture command
- Moved some protocolls from sicspsi to kernel as discussed at ANSTO
This commit is contained in:
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pmacprot.c
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224
pmacprot.c
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/**
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* This is an asynchronous protocol driver for the Delta-Tau PMAC
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* series of controllers, connected via TCP/IP. The PMAC needs its
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* commands in a special purpose data structure, describe below.
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* As responses, it can send any of the following formats:
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* data<CR>data<CR>data>CR><ACK>
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* <BELL>ERRxxx<CR>
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* <STX>data<CR>
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* There can be multiple data and errors in a string. However, I wish to
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* restrict this to processing one command at any time. This driver owes
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* some insight and little code to the EPICS driver by
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* Pete Leicester, Diamond.
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*
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* ** Before this can be used, I3=2 and I6=1 must be set on the PMAC **
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*
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* copyright: see file COPYRIGHT
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*
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* Mark Koennecke, December 2008
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*
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* Introduced a delay on read in order to throttle requests
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*
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* Mark Koennecke, June 2011
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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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#define ETHERNET_DATA_SIZE 1492
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#define INPUT_SIZE (ETHERNET_DATA_SIZE+1) /* +1 to allow space to add terminating ACK */
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#define STX '\2'
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#define CTRLB '\2'
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#define CTRLC '\3'
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#define ACK '\6'
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#define CTRLF '\6'
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#define BELL '\7'
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#define CTRLG '\7'
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#define CTRLP '\16'
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#define CTRLV '\22'
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#define CTRLX '\24'
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/* PMAC ethernet command structure */
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#pragma pack(1)
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typedef struct tagEthernetCmd {
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unsigned char RequestType;
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unsigned char Request;
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unsigned short wValue;
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unsigned short wIndex;
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unsigned short wLength; /* length of bData */
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unsigned char bData[ETHERNET_DATA_SIZE];
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} ethernetCmd;
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#pragma pack()
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#define ETHERNET_CMD_HEADER ( sizeof(ethernetCmd) - ETHERNET_DATA_SIZE )
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/* PMAC ethernet commands - RequestType field */
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#define VR_UPLOAD 0xC0
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#define VR_DOWNLOAD 0x40
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/* PMAC ethernet commands - Request field */
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#define VR_PMAC_SENDLINE 0xB0
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#define VR_PMAC_GETLINE 0xB1
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#define VR_PMAC_FLUSH 0xB3
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#define VR_PMAC_GETMEM 0xB4
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#define VR_PMAC_SETMEN 0xB5
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#define VR_PMAC_SETBIT 0xBA
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#define VR_PMAC_SETBITS 0xBB
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#define VR_PMAC_PORT 0xBE
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#define VR_PMAC_GETRESPONSE 0xBF
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#define VR_PMAC_READREADY 0xC2
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#define VR_CTRL_RESPONSE 0xC4
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#define VR_PMAC_GETBUFFER 0xC5
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#define VR_PMAC_WRITEBUFFER 0xC6
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#define VR_PMAC_WRITEERROR 0xC7
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#define VR_FWDOWNLOAD 0xCB
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#define VR_IPADDRESS 0xE0
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/*---------------------------------------------------------------------------
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* a private data structurli to keep track of the PMAC
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*---------------------------------------------------------------------------*/
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typedef struct {
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ethernetCmd cmd;
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char *ptr;
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int bytesToWrite;
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int expectACK;
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double startTime;
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} PMACPrivate, *pPMACPrivate;
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/*---------------------------------------------------------------------------*
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* wait period before read
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----------------------------------------------------------------------------*/
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#define READDELAY .05
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/*---------------------------------------------------------------------------*/
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static int PMACHandler(Ascon * a)
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{
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char *data = NULL;
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int ret, l;
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char chr;
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pPMACPrivate priv = NULL;
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priv = a->private;
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switch (a->state) {
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case AsconWriteStart:
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data = GetCharArray(a->wrBuffer);
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memset(priv, 0, sizeof(PMACPrivate));
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priv->cmd.RequestType = VR_DOWNLOAD;
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priv->cmd.Request = VR_PMAC_GETRESPONSE;
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priv->cmd.wValue = 0;
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priv->cmd.wIndex = 0;
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priv->cmd.wLength = htons(strlen(data)); /* may be one more */
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priv->bytesToWrite = strlen(data) + 1 + ETHERNET_CMD_HEADER;
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strcpy((char *) priv->cmd.bData, data);
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priv->expectACK = 1;
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priv->ptr = (char *) &priv->cmd;
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a->state = AsconWriting;
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a->wrPos = 0;
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break;
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case AsconWriting:
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AsconReadGarbage(a->fd);
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l = priv->bytesToWrite - a->wrPos;
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ret = AsconWriteChars(a->fd, priv->ptr, l);
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if (ret < 0) {
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if (errno != EINTR && errno != EAGAIN) {
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AsconError(a, "send failed:", errno);
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}
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/*
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* Ooops: which state shall we go to after a write fail?
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* This seems to retry.
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*/
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} else {
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a->wrPos += ret;
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if (a->wrPos >= priv->bytesToWrite) {
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a->state = AsconWriteDone;
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priv->startTime = DoubleTime();
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} else {
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priv->ptr += ret;
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}
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}
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break;
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case AsconReadStart:
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DynStringClear(a->rdBuffer);
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if(DoubleTime() > priv->startTime + READDELAY){
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a->start = DoubleTime();
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a->state = AsconReading;
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}
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break;
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case AsconReading:
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ret = AsconReadChar(a->fd, &chr);
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if (ret < 0) {
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/* EINTR means we must retry */
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if (errno != EINTR && errno != EAGAIN) {
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AsconError(a, "AsconReadChar failed:", errno);
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}
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return 1;
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} else if (ret > 0) {
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a->start = DoubleTime();
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if (chr == STX || chr == BELL) {
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priv->expectACK = 0;
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return 1;
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}
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if (priv->expectACK && chr == ACK) {
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if (GetDynStringLength(a->rdBuffer) == 0) {
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DynStringConcat(a->rdBuffer, "ACK");
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}
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DynStringConcatChar(a->rdBuffer, '\0');
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a->state = AsconReadDone;
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break;
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}
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if (priv->expectACK == 0 && chr == '\r') {
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DynStringConcatChar(a->rdBuffer, '\0');
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a->state = AsconReadDone;
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break;
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}
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if (DynStringConcatChar(a->rdBuffer, chr) == 0) {
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AsconError(a, "DynStringConcatChar failed:", ENOMEM);
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break;
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}
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} else if (ret == 0) {
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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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}
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}
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return 0;
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}
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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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/*------------------------------------------------------------------------*/
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static int PMACInit(Ascon * a, SConnection * con, int argc, char *argv[])
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{
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pPMACPrivate priv = NULL;
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priv = calloc(sizeof(PMACPrivate), 1);
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a->fd = -1;
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a->state = AsconConnectStart;
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a->reconnectInterval = 10;
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a->hostport = strdup(argv[1]);
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if (argc > 2) {
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a->timeout = atof(argv[2]);
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} else {
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a->timeout = 2.0; /* sec */
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}
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a->private = priv;
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a->killPrivate = free;
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return 1;
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}
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/*------------------------------------------------------------------------*/
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void AddPMACProtocoll()
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{
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AsconProtocol *prot = NULL;
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prot = calloc(sizeof(AsconProtocol), 1);
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prot->name = strdup("pmac");
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prot->init = PMACInit;
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prot->handler = PMACHandler;
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AsconInsertProtocol(prot);
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}
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