- various enhancements

ease.c

@@ -89,6 +89,7 @@ void EaseWriteError(EaseBase *eab) {
 }
 /*----------------------------------------------------------------------------*/
 void EaseWrite(EaseBase *eab, char *cmd) {
+  /* cmd==NULL: repeat the same command */
   int iRet;
   char trash[64];
   int l;
@@ -100,7 +101,9 @@ void EaseWrite(EaseBase *eab, char *cmd) {
     if (iRet < 0) break;
     ParPrintf(eab, -2, "trash: %s\n", trash);
   }
-  snprintf(eab->cmd, sizeof(eab->cmd), "%s%s", cmd, eab->ser->sendTerminator);
+  if (cmd) {
+    snprintf(eab->cmd, sizeof(eab->cmd), "%s%s", cmd, eab->ser->sendTerminator);
+  }
   iRet = writeRS232(eab->ser, eab->cmd, strlen(eab->cmd));
   if (iRet < 0) {
     FsmStop(eab->task, eab->idle);
@@ -112,25 +115,36 @@ void EaseWrite(EaseBase *eab, char *cmd) {
     eab->errCode = iRet;
     return;
   }
-  ParPrintf(eab, -2, "cmd: %s", cmd);
+  if (cmd) {
+    ParPrintf(eab, -2, "cmd: %s", cmd);
+  } else {
+    ParPrintf(eab, -2, "cmd: %s", eab->cmd);
+  }
   eab->state = EASE_expect;
   eab->cmdtime = time(NULL);
 }
 /*----------------------------------------------------------------------------*/
 int EaseWaitRead(EaseBase *eab) {
   int cnt=0;
+  time_t start;
 
   if (eab->state < EASE_idle) {
     return NOTCONNECTED;
   }
   FsmPause(eab->task, 1);
+  time(&start);
   while (eab->state == EASE_expect) {
     /* TaskYield(pServ->pTasker); does not work (pardef is not recursive) */
     FsmTaskHandler(eab->task);
     cnt++;
+    if (time(NULL) > start+5) {
+      eab->ans[0]='\0';
+      eab->state = EASE_read;
+      return TIMEOUT;
+    }
   }
   FsmPause(eab->task, 0);
-  /* if (cnt>1) printf("TaskYield %d\n", cnt); */
+  /* if (cnt>1) ParPrintf(eab, eError, "TaskYield %d\n", cnt); */
   return 1;
 }
 /*----------------------------------------------------------------------------*/
@@ -408,8 +422,9 @@ void EaseSetUpdate(void *object, int flag, int state) {
 static long EaseRun(void *obj, SConnection *pCon, float fVal) {
   EaseBase *eab = EaseBaseCast(obj);
   EaseDriv *ead = EaseDrivCast(obj);
-  
-  assert(ead );
+  int canc;
+
+  assert(ead);
 
   ParSaveConn(eab, pCon);
   if (! eab->doit) {
@@ -421,7 +436,10 @@ static long EaseRun(void *obj, SConnection *pCon, float fVal) {
     return 0;
   }
   if (FsmStop(eab->task, eab->doit)) {
+    canc = 1;
     ParPrintf(ead, eWarning, "running %s cancelled", eab->p.name);
+  } else {
+    canc = 0;
   }
   if (eab->todo) {
     ParPrintf(ead, eError, "ERROR: %s busy", eab->p.name);
@@ -442,6 +460,9 @@ static long EaseRun(void *obj, SConnection *pCon, float fVal) {
   ead->finish = 0;
   ead->usedSettle = 0;
   ead->tolState = EASE_outOfTolerance;
+  if (canc) {
+    ParPrintf(ead, eWarning, "rerun %s", eab->p.name);
+  }
   return 1;
 }
 /*----------------------------------------------------------------------------*/
@@ -633,7 +654,7 @@ static int EaseInit(SConnection *pCon, EaseBase *eab, int argc, char *argv[],
 
   eab->task = NULL;
   if (EaseRestart(eab) < 0) return -1;
-  eab->task = FsmStartTask(eab, eab->handler, eab->idle);
+  eab->task = FsmStartTask(eab, eab->handler, eab->idle, eab->p.name);
     
   TaskRegister(pServ->pTasker, (TaskFunc)FsmTaskHandler, NULL, FsmKill,
     eab->task, 0);

fsm.c

@@ -6,6 +6,7 @@ a finite state machine within sics
 M. Zolliker, Aug 2004
 ---------------------------------------------------------------------------- */
 
+#include <stdio.h>
 #include <stdlib.h>
 #include <assert.h>
 #include <time.h>
@@ -28,12 +29,12 @@ struct Fsm {
   int pause;
   int sp;
   StackItem stack[MAXSTACK];
+  Statistics *stat;
 };
 
 
 static Fsm *fsm = NULL;
 static FsmFunc callFunc = NULL;
-static Statistics *taskStat = NULL;
 
 void FsmWait(long delay) {
   assert(fsm);
@@ -49,10 +50,7 @@ int FsmTaskHandler(Fsm *task) {
   long line;
   Statistics *old;
   
-  if (taskStat == NULL) {
-    taskStat=StatisticsNew("<fsm>");
-  }
-  old = StatisticsBegin(taskStat);
+  old = StatisticsBegin(task->stat);
   if (task->pause) {
     task->handler(task->obj);
     StatisticsEnd(old);
@@ -110,12 +108,15 @@ void FsmRestartTask(Fsm *task, FsmFunc func) {
   task->till = 0;
 }
 
-Fsm *FsmStartTask(void *obj, FsmHandler handler, FsmFunc func) {
+Fsm *FsmStartTask(void *obj, FsmHandler handler, FsmFunc func, char *name) {
   Fsm *task;
+  char fsmName[80];
   
   task=malloc(sizeof *task);
   task->obj = obj;
   task->handler = handler;
+  snprintf(fsmName, sizeof fsmName, "fsm %s", name);
+  task->stat = StatisticsNew(fsmName);
   FsmRestartTask(task, func);
   return task;
 }

ipsdriv.c

@@ -368,6 +368,7 @@ static long IpsChangeField(long pc, void *object) {
       ParPrintf(drv, -1, "IPS: wait %d sec to open switch", delay);
     
   start_ramp:
+    ParLog(drv);
     FsmWait(1);
   return __LINE__; case __LINE__: /**********************************/
     EaseWrite(eab, "X");
@@ -390,6 +391,7 @@ static long IpsChangeField(long pc, void *object) {
     ParPrintf(drv, -1, "IPS: ramp to %f Tesla", drv->d.targetValue);
     
   ramping:
+    ParLog(drv);
     FsmWait(1);
   return __LINE__; case __LINE__: /**********************************/
     EaseWrite(eab, "R7"); /* read "current" in Tesla */
@@ -413,7 +415,6 @@ static long IpsChangeField(long pc, void *object) {
     }
     OxiSet(eab, "J", fld, 3);
   return __LINE__; case __LINE__: /**********************************/
-    ParLog(drv);
     goto ramping;
     
   target_reached:
@@ -423,6 +424,7 @@ static long IpsChangeField(long pc, void *object) {
     /* but we continue in the background */
     drv->tim = time(NULL);
   stab3:
+    ParLog(drv);
     FsmWait(1);
   return __LINE__; case __LINE__: /**********************************/
     EaseWrite(eab, "X");
@@ -441,6 +443,7 @@ static long IpsChangeField(long pc, void *object) {
     ParPrintf(drv, -1, "IPS: wait 30 sec to close switch");
     
   wait_closed:
+    ParLog(drv);
     FsmWait(1);
   return __LINE__; case __LINE__: /**********************************/
     EaseWrite(eab, "R18"); /* read persistent field in Tesla */

itcdriv.c

@@ -502,21 +502,21 @@ static long ItcRead(long pc, void *object) {
   skiphtr:
   
     if (EaseGetUpdate(drv, ITC_PROP)) goto skipprop;
-    EaseWrite(eab, "R9"); /* read prop */
+    EaseWrite(eab, "R8"); /* read prop */
   return __LINE__; case __LINE__: /**********************************/
     if (EaseGetUpdate(drv, ITC_PROP)) goto skipprop;
     drv->prop = OxiGet(eab, 1, NULL, drv->prop);
   skipprop:
 
     if (EaseGetUpdate(drv, ITC_INTEG)) goto skipint;
-    EaseWrite(eab, "R10"); /* read int */
+    EaseWrite(eab, "R9"); /* read int */
   return __LINE__; case __LINE__: /**********************************/
     if (EaseGetUpdate(drv, ITC_INTEG)) goto skipint;
     drv->integ = OxiGet(eab, 1, NULL, drv->integ);
   skipint:
 
     if (EaseGetUpdate(drv, ITC_DERIV)) goto skipderiv;
-    EaseWrite(eab, "R11"); /* read deriv */
+    EaseWrite(eab, "R10"); /* read deriv */
   return __LINE__; case __LINE__: /**********************************/
     if (EaseGetUpdate(drv, ITC_DERIV)) goto skipderiv;
     drv->deriv = OxiGet(eab, 1, NULL, drv->deriv);
@@ -696,8 +696,8 @@ static long ItcSet(long pc, void *object) {
                        }
                        goto loop;
       case ITC_PROP:   OxiSet(eab, "P", drv->prop, 1); goto loop;
-      case ITC_INTEG:  OxiSet(eab, "I", drv->prop, 1); goto loop;
-      case ITC_DERIV:  OxiSet(eab, "D", drv->prop, 1); goto loop;
+      case ITC_INTEG:  OxiSet(eab, "I", drv->integ, 1); goto loop;
+      case ITC_DERIV:  OxiSet(eab, "D", drv->deriv, 1); goto loop;
       default: break;
       }
     }