Add a protocol module for Omron Compoway/F protocol on asyncqueue

site_ansto/hardsup/makefile

@@ -35,6 +35,7 @@ HOBJ  += camera.o
 HOBJ  += cameradriver.o
 HOBJ  += sct_asyncqueue.o
 HOBJ  += aqp_opalstatus.o
+HOBJ  += omron_asyncprotocol.o
 
 libhlib.a: $(HOBJ)
 	rm -f libhlib.a

site_ansto/hardsup/omron_asyncprotocol.c

@@ -0,0 +1,144 @@
+#include <sics.h>
+#include <asyncprotocol.h>
+#include <asyncqueue.h>
+
+#define STX 2
+#define ETX 3
+
+static int calc_bcc(const char* text)
+{
+  int bcc = 0;
+  int i = 0;
+  int c;
+  while (i < 1024) {
+    c = text[i] & 0xFF;
+    if (c == STX) {
+      bcc = 0;
+    } else {
+      bcc ^= c;
+    }
+    SICSLogPrintf(eLog, "BCC %02d: char %02X, bcc = %02X", i, c, bcc);
+    if (c == ETX)
+      break;
+    ++text;
+  }
+  return bcc;
+}
+
+
+/*
+ * Protocol transmit function
+ * Called by AsyncQueue to transmit a line
+ */
+static int OMRON_Tx(pAsyncProtocol p, pAsyncTxn myCmd) {
+  int iRet = 1;
+
+  if (myCmd) {
+    myCmd->txn_status = ATX_ACTIVE;
+    iRet = AsyncUnitWrite(myCmd->unit, myCmd->out_buf, myCmd->out_len);
+    /* TODO handle errors */
+    if (iRet < 0) { /* TODO: EOF */
+      /*
+      iRet = AsyncUnitReconnect(myCmd->unit);
+      if (iRet == 0)
+      */
+        return 0;
+    }
+  }
+  return 1;
+}
+
+/*
+ * Protocol receive character - characater by character
+ */
+static int OMRON_Rx(pAsyncProtocol p, pAsyncTxn ctx, int rxchar) {
+  int iRet = 1;
+  pAsyncTxn myCmd = (pAsyncTxn) ctx;
+
+  switch (myCmd->txn_state) {
+    case 0: /* first character */
+      if (rxchar != STX) { /* STX */
+        /* TODO: error */
+        myCmd->txn_state = 99;
+        myCmd->txn_status = ATX_COMPLETE;
+        break;
+      }
+      /* normal data */
+      myCmd->txn_state = 1;
+      /* note fallthrough */
+    case 1: /* receiving reply */
+      if (myCmd->inp_idx < myCmd->inp_len)
+        myCmd->inp_buf[myCmd->inp_idx++] = rxchar;
+      if (rxchar == ETX)
+        myCmd->txn_state = 2;
+      break;
+    case 2: /* receiving bcc */
+      if (myCmd->inp_idx < myCmd->inp_len)
+        myCmd->inp_buf[myCmd->inp_idx++] = rxchar;
+      if (calc_bcc(myCmd->inp_buf) != rxchar) {
+        /* TODO: fail bcc */
+        int bcc = calc_bcc(myCmd->inp_buf);
+        SICSLogPrintf(eError,
+            "Omron BCC mismatch, expected %02X but received %02X on message:",
+            bcc, rxchar);
+        SICSLogWriteHex(myCmd->inp_buf, myCmd->inp_idx, eError); 
+      }
+      myCmd->txn_state = 99;
+      myCmd->inp_idx -= 3;
+      memmove(myCmd->inp_buf, myCmd->inp_buf + 1, myCmd->inp_idx);
+      break;
+  }
+  if (myCmd->txn_state == 99) {
+    iRet = 0;
+  }
+  if (iRet == 0) { /* end of command */
+    return AQU_POP_CMD;
+  }
+  return iRet;
+}
+
+/*
+ * AsyncProtocol Event callback
+ */
+static int OMRON_Ev(pAsyncProtocol p, pAsyncTxn pTxn, int event) {
+  if (event == AQU_TIMEOUT) {
+    /* handle command timeout */
+    pTxn->txn_status = ATX_TIMEOUT;
+    return AQU_POP_CMD;
+  }
+  return AQU_POP_CMD;
+}
+
+static int OMRON_PrepareTxn(pAsyncProtocol p, pAsyncTxn txn, const char* cmd, int cmd_len, int rsp_len) {
+  int i, bcc;
+  txn->out_buf = (char*) malloc(cmd_len + 3);
+  if (txn->out_buf == NULL) {
+    SICSLogWrite("ERROR: Out of memory in OMRON_PrepareTxn", eError);
+    return 0;
+  }
+  memcpy(txn->out_buf + 1, cmd, cmd_len);
+  txn->out_buf[0] = STX;
+  txn->out_buf[cmd_len + 1] = ETX;
+  txn->out_buf[cmd_len + 2] = calc_bcc(txn->out_buf);
+  txn->out_buf[cmd_len + 3] = 0x0D;
+  txn->out_buf[cmd_len + 4] = 0x0A;
+  txn->out_len = cmd_len + 5;
+  return 1;
+}
+
+static pAsyncProtocol OMRON_Protocol = NULL;
+
+/*
+ * Protocol Initialisation
+ */
+void OMRONInitProtocol(SicsInterp *pSics) {
+  if (OMRON_Protocol == NULL) {
+    OMRON_Protocol = AsyncProtocolCreate(pSics, "OMRON", NULL, NULL);
+    OMRON_Protocol->sendCommand = OMRON_Tx;
+    OMRON_Protocol->handleInput = OMRON_Rx;
+    OMRON_Protocol->handleEvent = OMRON_Ev;
+    OMRON_Protocol->prepareTxn = OMRON_PrepareTxn;
+    OMRON_Protocol->killPrivate = NULL;
+  }
+}
+

site_ansto/site_ansto.c

@@ -353,6 +353,7 @@ static void AddCommands(SicsInterp *pInter)
   LS340InitProtocol(pInter);
   CameraInitProtocol(pInter);
   OpalStatusInitProtocol(pInter);
+  OMRONInitProtocol(pInter);
   AddCommand(pInter,"InstallProtocolHandler", InstallProtocol,NULL,NULL);
   AddCommand(pInter,"hostnam",hostNamCmd,NULL,NULL);
   AddCommand(pInter,"portnum",portNumCmd,NULL,NULL);