127 lines
3.0 KiB
C
127 lines
3.0 KiB
C
/** @file Galil protocol handler for script-context based controllers.
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*
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* If you 'send' commands to a galil controller using this protocol you
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* will get one of three possible responses,
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* 1. A value
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* eg
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* 2. An acknowledgement (ie 'OK')
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* eg
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* sct_mc2 send "MOG"
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* OK
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* 3. An error message
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* eg
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* sct_mc2 send "BGG"
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* ASCERR: 20 Begin not valid with motor off (during read finished)
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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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/** @brief Set line terminator before sending command
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*/
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int GalilWriteStart(Ascon *a) {
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DynStringConcat(a->wrBuffer,"\r");
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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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/** @brief Map galil replies to OK, ASCERR:..., value.
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* You can use the first character to sort replies from a galil controller
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* into four categories
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* First character is,
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* 'SPACE' This is followed by a value
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* '?' Error, use 'TC 1' to get error code and message.
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* ':' Command received, in response to commands which don't request data.
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* '1-9' First digit of error-code followed by error message. (in response to 'TC 1')
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*/
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int GalilReading(Ascon *a) {
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int ret;
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char chr, ch[2];
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ret = AsconReadChar(a->fd, &chr);
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if (ret > 0) {
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a->start = DoubleTime();
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} else if (ret < 0) {
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AsconError(a, "ASC5", errno)
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return 0;
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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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switch (chr) {
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case ' ':
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return AsconStdHandler(a);
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break;
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case '?':
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DynStringClear(a->wrBuffer);
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DynStringCopy(a->wrBuffer, "TC 1");
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a->noResponse = 0;
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a->state = AsconWriteStart;
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a->responseValid=0;
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a->wrPos = 0;
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return 0;
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break;
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case ':':
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DynStringReplace(a->rdBuffer, "OK",0);
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a->state = AsconReadDone;
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return 0;
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break;
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default:
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/* Check for first digit of errorcode followed by error message */
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if ('1' <= chr && chr <= '9') {
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ch[0] = chr;
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ch[1] = '\0';
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AsconStdHandler(a);
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DynStringInsert(a->rdBuffer, ch, 0);
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a->state = AsconReadDone;
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AsconError(a, GetCharArray(a->rdBuffer), 0);
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return 0;
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}
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}
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/* Return 1 to read next char befor progressing to next task */
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return 1;
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}
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/** brief Galil 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 GalilProtHandler(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 = GalilWriteStart(a);
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return ret;
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break;
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case AsconReading:
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ret = GalilReading(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 AddGalilProtocoll(){
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AsconProtocol *prot = NULL;
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prot = calloc(sizeof(AsconProtocol), 1);
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prot->name = strdup("galil");
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prot->init = AsconStdInit;
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prot->handler = GalilProtHandler;
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AsconInsertProtocol(prot);
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}
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