sics/eurodriv.c

/*--------------------------------------------------------------------------
                     E U R O D R I V

 This file contains the implementation for the Eurotherm temperature
 controller as used at SANS. The Eurotherm is a grossly strange device
 which has a very weird command protocoll. The implementation here uses
 the EI-Bisynch Protocoll option. This has to be configured in the 
 Eurotherm on the manual interface!! Also watch out for the unusual RS232-
 setting: 7 bits, even parity, 1 stop bit.   

 Mark Koennecke, May 1999 

 Copyright: see copyright.h
----------------------------------------------------------------------------*/
#include <string.h>
#include <stdlib.h>
#include <time.h>
#include <math.h>
#include <assert.h>
#include "fortify.h"
#include "conman.h"
#include "servlog.h"
#include "fortify.h"

  typedef struct __EVDriver  *pEVDriver;

#include "evdriver.i"  
#include "psi/hardsup/el734_def.h"
#include "psi/hardsup/el734fix.h"
#include "psi/hardsup/serialsinq.h"
#include "eurodriv.h"      

#define INVALIDANSWER -1005      
#define INVALIDNUMBER -1006      
#define ERRNAK        -1007
#define NOSEND        -1008
/*-----------------------------------------------------------------------*/
  typedef struct {
                   void *pData;
                   char *pHost;
                   int iPort;
                   int iChannel;
                   int iLastError;
                  } EuroDriv, *pEuroDriv;

/*------------------------------------------------------------------------*/
 int EuroGetParameter(void **pData, char *pPar,int iLen, float *fVal)
 {
     char pCommand[20];
     char pReply[20];
     char *pStart = NULL, *pEnd = NULL;
     int iRet,i;

     /* configure the serial port */
     SerialATerm(pData,"1\x3"); /* ETX */
     pCommand[0] = '\x4'; /* EOT */
     pCommand[1] = '0'; /* GID*/     
     pCommand[2] = '0'; /* GID*/     
     pCommand[3] = '1'; /* UID*/     
     pCommand[4] = '1'; /* UID*/     
     pCommand[5] = '1'; /* CHAN */ 
     for(i = 0; i < iLen; i++)
     {
       pCommand[6+i] = pPar[i]; 
     }
     pCommand[6+iLen] = '\x5'; /* ENQ*/
     pCommand[7+iLen] = '\0';
     
     /* send */
     iRet  = SerialWriteRead(pData,pCommand,pReply,19);
     if(iRet != 1)
     {
         return iRet;
     }

     /* decode reply */
     pStart = strstr(pReply,pPar);
     if(!pStart)
     {
        if(strstr(pReply,"?TMO"))
	{
           return EL734__BAD_TMO;
	}
        else
	{
           return INVALIDANSWER;
	}
     }     
     iRet = sscanf(pStart+strlen(pPar),"%f",fVal);
     if(iRet != 1)
     {
       return INVALIDNUMBER;
     }
     return 1;
 }
/*------------------------------------------------------------------------*/
 int EuroSetParameter(void **pData, char *pPar,int iLen, 
                      char *pFormat, float fVal)
 {
     char pCommand[30];
     char pNum[10];
     char *pPtr, *pPtr2;
     char pReply[20];
     char bcc;
     int iRet,i;
 

     /* configure the serial port */
     SerialATerm(pData,"1\x06\x15"); /* ACK,NAK */
     pCommand[0] = '\x04'; /* EOT */
     pCommand[1] = '0'; /* GID*/     
     pCommand[2] = '0'; /* GID*/     
     pCommand[3] = '1'; /* UID*/     
     pCommand[4] = '1'; /* UID*/
     pCommand[5] = '\x02';     
     pCommand[6] = '1'; /* CHAN */ 
     for(i = 0; i < iLen; i++)
     {
       pCommand[7+i] = pPar[i]; 
     }
     pPtr = pCommand + 7 + iLen;
     sprintf(pNum,pFormat,fVal);
     strcpy(pPtr,pNum);
     pPtr += strlen(pNum);
     *pPtr = '\x03';
     pPtr++;

     /* build the checksum */
     bcc = pCommand[6];
     pPtr2 = &pCommand[7];
     while(pPtr2 != pPtr)
     {
        bcc = bcc ^ *pPtr2;
        pPtr2++;
     }     
     *pPtr = bcc;
     pPtr++;
     *pPtr = '\0';

     /* send */
     iRet  = SerialSend(pData,pCommand);
     if(iRet != 1)
     {
         return iRet;
     }
     iRet = SerialReceiveWithTerm(pData,pReply,19,&bcc);
/*
     printf("%s\n",pReply);
*/     
     if(iRet != 1)
     {
         return iRet;
     }
     if(bcc == '\x15')
     {
       return ERRNAK;
     }
     if(strstr(pReply,"?TMO"))
     {
        return EL734__BAD_TMO;
     }

     return 1;
 }
/*---------------------------------------------------------------------------*/
  static int GetEuroPos(pEVDriver  self, float *fPos)
  {
     pEuroDriv pMe = NULL;
     int iRet;
     
     assert(self);
     pMe = (pEuroDriv)self->pPrivate;
     assert(pMe);

     iRet = EuroGetParameter(&(pMe->pData),"PV",2,fPos);
     if(iRet != 1)
     {
        pMe->iLastError = iRet;
        return 0;
     }
     return 1;
  } 
/*----------------------------------------------------------------------------*/
  static int EuroRun(pEVDriver self, float fVal)
  {
     pEuroDriv pMe = NULL;
     int iRet;
     
     assert(self);
     pMe = (pEuroDriv )self->pPrivate;
     assert(pMe);

     iRet = EuroSetParameter(&(pMe->pData),"SL",2,"%4.1f",fVal);
     if(iRet != 1)
     {
       pMe->iLastError = iRet;
       return 0;
     } 
     return 1;
 }
/*--------------------------------------------------------------------------*/
  static int EuroError(pEVDriver self, int *iCode, char *error, int iErrLen)
  {
     pEuroDriv pMe = NULL;
     
     assert(self);
     pMe = (pEuroDriv)self->pPrivate;
     assert(pMe);

     *iCode = pMe->iLastError;
     switch(pMe->iLastError)
     {
          case INVALIDANSWER:
              strncpy(error,"Unexpected reply from Eurotherm",iErrLen);
              break;
          case INVALIDNUMBER:
              strncpy(error,"No number in Eurotherm answer",iErrLen);
              break;
          case ERRNAK:
              strncpy(error,"Eurothem did NOT acknowledge command",iErrLen);
              break;
          case NOSEND:
              strncpy(error,
 "Eurotherm has a bizarre protocoll, sending things is very STUPID",iErrLen);
              break;
          default: 
              SerialError(pMe->iLastError,error,iErrLen);
              break;
     }
    
    return 1;
  }
/*--------------------------------------------------------------------------*/
  static int EuroSend(pEVDriver self, char *pCommand, char *pReply, int iLen)
  {
     pEuroDriv pMe = NULL;
     
     assert(self);
     pMe = (pEuroDriv)self->pPrivate;
     assert(pMe);
    
     pMe->iLastError = NOSEND;
     strncpy(pReply,"ERROR: Eurotherm does not support send functionality",
            iLen);
     return 0;
  }  
/*--------------------------------------------------------------------------*/
  static int EuroInit(pEVDriver self)
  {
     pEuroDriv pMe = NULL;
     int iRet;
     
     assert(self);
     pMe = (pEuroDriv )self->pPrivate;
     assert(pMe);

     pMe->pData = NULL;
     iRet = SerialOpen(&pMe->pData, pMe->pHost, pMe->iPort, pMe->iChannel);
     if(iRet != 1)
     {
         pMe->iLastError = iRet;
         return 0;
     }
     SerialSendTerm(&pMe->pData,"");
     return 1;
  }  
/*--------------------------------------------------------------------------*/
  static int EuroClose(pEVDriver self)
  {
     pEuroDriv pMe = NULL;
     int iRet;
     
     assert(self);
     pMe = (pEuroDriv )self->pPrivate;
     assert(pMe);

     SerialClose(&pMe->pData);
     return 1;
  }  
/*---------------------------------------------------------------------------*/
  static int EuroFix(pEVDriver self, int iError)
  {
     pEuroDriv pMe = NULL;
     int iRet;
     
     assert(self);
     pMe = (pEuroDriv )self->pPrivate;
     assert(pMe);

        switch(iError)
        {
            /* network errors */
            case EL734__BAD_FLUSH:
            case EL734__BAD_RECV:
            case EL734__BAD_RECV_NET:
            case EL734__BAD_RECV_UNKN:
            case EL734__BAD_RECVLEN:
            case EL734__BAD_RECV1:
            case EL734__BAD_RECV1_PIPE:
            case EL734__BAD_RNG:
            case EL734__BAD_SEND:
            case EL734__BAD_SEND_PIPE:
            case EL734__BAD_SEND_NET:
            case EL734__BAD_SEND_UNKN:
            case EL734__BAD_SENDLEN:
                      EuroClose(self);
                      iRet = EuroInit(self);
                      if(iRet)
                      {
                        return DEVREDO;
                      }                 
                      else
                      {
                        return DEVFAULT;
                      }                 
                      break;
            /* handable protocoll errors */
            case EL734__BAD_TMO:
                      return DEVREDO;
                      break;
	    case ERRNAK:
	    case NOSEND:
	    case INVALIDANSWER:
	    case INVALIDNUMBER:
                           return DEVFAULT;
            default:
                      return DEVFAULT;
                      break;                       
        }
        return DEVFAULT;
  }
     
/*--------------------------------------------------------------------------*/
  static int EuroHalt(pEVDriver *self)
  {
     assert(self);
     
     return 1;
  }
/*------------------------------------------------------------------------*/
  void KillEuro(void *pData)
  {
     pEuroDriv pMe = NULL;
     
     pMe = (pEuroDriv)pData;
     assert(pMe);
     
     if(pMe->pHost)
     {
        free(pMe->pHost);
     }
     free(pMe);
  }  
/*------------------------------------------------------------------------*/
  pEVDriver CreateEURODriv(int argc, char *argv[])
  {
     pEVDriver pNew = NULL;
     pEuroDriv pSim = NULL;
     
     /* check for arguments */
     if(argc < 3)
     {
       return NULL;
     }
     
     pNew = CreateEVDriver(argc,argv);
     pSim = (pEuroDriv)malloc(sizeof(EuroDriv));
     memset(pSim,0,sizeof(EuroDriv));
     if(!pNew || !pSim)
     {
       return NULL;
     }
     pNew->pPrivate = pSim;
     pNew->KillPrivate = KillEuro;
     
     /* initalise pDILLUDriver */
     pSim->iLastError = 0;
     pSim->pHost = strdup(argv[0]);
     pSim->iPort = atoi(argv[1]);
     pSim->iChannel = atoi(argv[2]);
     
     /* initialise function pointers */
     pNew->SetValue = EuroRun;
     pNew->GetValue = GetEuroPos;
     pNew->Send     = EuroSend;
     pNew->GetError = EuroError;
     pNew->TryFixIt = EuroFix;
     pNew->Init     = EuroInit;
     pNew->Close    = EuroClose;
     
     return pNew; 
  }