sics/sctdriveadapter.c

/**
 * This is an adapter to a node under the control of the new 
 * scriptcontext generic device model. This is a wrapper around 
 * such a node which implements the drivable interface.
 * 
 * Some cooperation from the node is required: It has to provide
 * certain properties the value of which define scripts which 
 * have to be called at various stages. These are:
 * 
 *    checklimits, for limits checking
 *    checkstatus, for evaluating progress
 *    halt       , for halting things
 * 
 * copyright: see file COPYRIGHT
 * 
 * Mark Koennecke, June 2008
 * --------------------------------------------------------------*/
#include <sics.h>
#include <sicshipadaba.h>
#include <devser.h>
#include <tcl.h>
#include <macro.h>
#include <sicsobj.h>
#include "scriptcontext.h"
/*---------------------------------------------------------------*/
typedef struct {
  pObjectDescriptor pDes;
  pIDrivable pDriv;
  pHdb node;
  SctController *c;
} SctDrive, *pSctDrive;
/*---------------------------------------------------------------*/
static void *SCTDRIVGetInterface(void *data, int iD)
{
  pSctDrive self = NULL;

  self = (pSctDrive) data;
  if (self != NULL && iD == DRIVEID) {
    if (self->node == NULL)
      return NULL;
    return self->pDriv;
  } else {
    return NULL;
  }
  return NULL;
}

/*----------------------------------------------------------------
 This routine can return either OKOK or HWFault when thing
 go wrong. However, the return value of Halt is usually ignored!
------------------------------------------------------------------*/
static int SCTDRIVHalt(void *data)
{
  pSctDrive self = NULL;
  char dummy[16];

  self = (pSctDrive) data;
  if (GetHdbProperty(self->node, "halt", dummy, sizeof dummy)) {
    SctQueueNode(self->c, self->node, HaltPRIO, "halt", 1, NULL);
  } else if (GetHdbProperty(self->node, "status", dummy, sizeof dummy)) {
    SetHdbProperty(self->node, "status", "idle");
  }
  return OKOK;
}

/*----------------------------------------------------------------
 This routine can return either 1 or 0. 1 means the position can 
 be reached, 0 NOT
 If 0, error shall contain up to errlen characters of information
 about which limit was violated
------------------------------------------------------------------*/
static int SCTDRIVCheckLimits(void *data, float val,
                              char *error, int errlen)
{
  pSctDrive self = NULL;
  char script[1024];
  int status;
  Tcl_Interp *pTcl = NULL;
  char *result;

  self = (pSctDrive) data;
  snprintf(script, 1024, "%f", val);
  SetHdbProperty(self->node, "target", script);
  if (GetHdbProperty(self->node, "checklimits", script, 1024)) {
    status = SctCallInContext(pServ->dummyCon, script,
                              self->node, self->c, &result);
    if (SctDebugConn(self->c)) {
      SCPf(SCPureSockWrite, SctDebugConn(self->c), eWarning,
           "script %s called with result %s\n ", script, result);
    }
    if (status == 0) {
      strlcpy(error, result, errlen);
      return 0;
    }
  }
  return 1;
}

/*----------------------------------------------------------------
 This routine can return 0 when a limit problem occurred 
 OKOK when the motor was successfully started 
 HWFault when a problem occured starting the device
 Possible errors shall be printed to pCon
 For real motors, this is supposed to try at least three times
 to start the motor in question
 val is the value to drive the motor too
------------------------------------------------------------------*/
static long SCTDRIVSetValue(void *data, SConnection * pCon, float val)
{
  pSctDrive self = NULL;
  int status;
  hdbValue v;

  self = (pSctDrive) data;
  v.dataType = HIPFLOAT;
  v.v.doubleValue = (double) val;
  SetHdbProperty(self->node, "writestatus", "start");
  status = SetHipadabaPar(self->node, v, pCon);
  if (status == 1) {
    return OKOK;
  } else {
    return HWFault;
  }
}

/*----------------------------------------------------------------
 Checks the status of a running motor. Possible return values
   HWBusy The motor is still running
   OKOK or HWIdle when the motor finished driving
   HWFault when a hardware problem ocurred
   HWPosFault when the hardware cannot reach a position
 Errors are duly to be printed to pCon
 For real motors CheckStatus again shall try hard to fix any 
 issues with the motor 
------------------------------------------------------------------*/
static int SCTDRIVCheckStatus(void *data, SConnection * pCon)
{
  pSctDrive self = NULL;
  char script[1024];
  int status;
  Tcl_Interp *pTcl = NULL;
  char *result;
  SConnection *con;

  self = (pSctDrive) data;

  /*
   * check if the write command has gone through
   */
  if (GetHdbProperty(self->node, "writestatus", script, 1024)) {
    if (strcmp(script, "start") == 0) {
      return HWBusy;
    }
  }

  /*
   * run the checkstatus script
   */
  if (!GetHdbProperty(self->node, "checkstatus", script, 1024)) {
    if (!GetHdbProperty(self->node, "status", script, 1024)) {
      SCWrite(pCon,
              "ERROR: configuration problem: no checkstatus script!",
              eError);
      return HWFault;
    }
    result = script;
  } else {
    status = SctCallInContext(pCon, script, self->node, self->c, &result);
    if (status == 0) {
      SCPrintf(pCon, eError, " script %s returned %s", script, result);
      return HWFault;
    }
    if (SctDebugConn(self->c)) {
      SCPf(SCPureSockWrite, SctDebugConn(self->c), eError,
           " script %s returned %s", script, result);
    }
  }
  if (strstr(result, "run") != NULL) {
    return HWBusy;
  } else if (strstr(result, "posfault") != NULL) {
    return HWPosFault;
  } else if (strstr(result, "error") != NULL) {
    return HWFault;
  } else if (strstr(result, "idle") != NULL) {
    return HWIdle;
  } else {
    SCPrintf(pCon, eError,
             "ERROR: invalid status code %s returned from checkstatus script",
             result);
    return HWFault;
  }
  return HWFault;
}

/*----------------------------------------------------------------
 GetValue is supposed to read a motor position
 On errors, -99999999.99 is returned and messages printed to pCon
------------------------------------------------------------------*/
static float SCTDRIVGetValue(void *data, SConnection * pCon)
{
  pSctDrive self = NULL;
  float val = -99999999.99;
  int status;
  char error[256];
  hdbValue v;

  self = (pSctDrive) data;
  if (GetHdbProperty(self->node, "geterror", error, 256)) {
    SCWrite(pCon, error, eError);
    return val;
  }
  return (float) self->node->value.v.doubleValue;
}

/*----------------------------------------------------------------
 returns NULL on failure, a new datastructure else
------------------------------------------------------------------*/
static pSctDrive SCTDRIVMakeObject()
{
  pSctDrive self = NULL;

  self = calloc(sizeof(SctDrive), 1);
  if (self == NULL) {
    return NULL;
  }
  self->pDes = CreateDescriptor("SctDriveAdapter");
  self->pDriv = CreateDrivableInterface();
  if (self->pDes == NULL || self->pDriv == NULL) {
    free(self);
    return NULL;
  }

  self->pDes->GetInterface = SCTDRIVGetInterface;
  self->pDriv->Halt = SCTDRIVHalt;
  self->pDriv->CheckLimits = SCTDRIVCheckLimits;
  self->pDriv->SetValue = SCTDRIVSetValue;
  self->pDriv->CheckStatus = SCTDRIVCheckStatus;
  self->pDriv->GetValue = SCTDRIVGetValue;

  return self;
}

/*-----------------------------------------------------------------*/
static int SctDriveCommand(SConnection * pCon, SicsInterp * sics,
                           void *object, int argc, char *argv[])
{
  pSctDrive self = (pSctDrive) object;
  float val;

  assert(self != NULL);

  if (self->node == NULL) {
    SCWrite(pCon, "ERROR: defunct object", eError);
    return 0;
  }
  /*
   * only action: print value
   */
  val = self->pDriv->GetValue(self, pCon);
  SCPrintf(pCon, eValue, "%s = %f", argv[0], val);
  return 1;
}

/*----------------------------------------------------------------*/
static void SctDriveKill(void *data)
{
  pSctDrive self = (pSctDrive) data;

  if (self == NULL) {
    return;
  }
  if (self->pDriv != NULL) {
    free(self->pDriv);
  }
  if (self->pDes != NULL) {
    DeleteDescriptor(self->pDes);
  }
  free(self);
}

/*----------------------------------------------------------------*/
static hdbCallbackReturn SctDummyCallback(Hdb * node, void *userData,
                                          hdbMessage * msg)
{
  return hdbContinue;
}

/*----------------------------------------------------------------*/
static void SctDriveDeleteNode(void *data)
{
  pSctDrive self = (pSctDrive) data;
  self->node = NULL;
}

/*---------------------------------------------------------------*/
int SctMakeDriveAdapter(SConnection * pCon, SicsInterp * pSics,
                        void *object, int argc, char *argv[])
{
  pSctDrive pNew = NULL;
  pSICSOBJ obj = NULL;
  hdbCallback *cb;

  pNew = SCTDRIVMakeObject();
  if (pNew == NULL) {
    SCWrite(pCon, "ERROR: out of memory in SctMakeDriveAdapter", eError);
    return 0;
  }

  if (argc < 4) {
    SCPrintf(pCon, eError,
             "ERROR: should be  %s <object name> <existing-node> <controller>",
             argv[0]);
    return 0;
  }

  pNew->node = FindHdbNode(NULL, argv[2], pCon);
  obj = FindCommandData(pSics, argv[3], "SctController");
  if (pNew->node == NULL || obj == NULL) {
    SCWrite(pCon, "ERROR: node or controller not found", eError);
    SctDriveKill(pNew);
    return 0;
  }
  pNew->c = (SctController *) obj->pPrivate;

  if (strcasecmp(argv[0], "dynsctdrive") == 0) {
    /* make object dynamic by defining a descriptor command */
    SetDescriptorKey(pNew->pDes, "creationCommand", "0");
  }
  AddCommand(pSics, argv[1], SctDriveCommand, SctDriveKill, pNew);
  SetHdbProperty(pNew->node, "sicsdev", argv[1]);

  cb = MakeHipadabaCallback(SctDummyCallback, pNew, SctDriveDeleteNode);
  assert(cb);
  AppendHipadabaCallback(pNew->node, cb);

  return 1;
}

/*---------------------------------------------------------------*/
void SctDriveAdapterInit(void)
{
  AddCmd("makesctdrive", SctMakeDriveAdapter);
  AddCmd("dynsctdrive", SctMakeDriveAdapter);
}