- Added missing files to split directories
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282
scontroller.c
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282
scontroller.c
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/*--------------------------------------------------------------------------
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Some code to connect to a serial port through the SINQ system.
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Just a wrapper around serialsinq derived from David Maden's
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EL734 routines.
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You are free to use and modify this software for noncommercial
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usage.
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No warranties or liabilities of any kind taken by me or my employer
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Very primitive device to send commands to a motor from Tcl
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Modified version for use within SICS.
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----------------------------------------------------------------------------*/
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#include "sinq_prototypes.h"
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/* #include <timers.h>*/
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#include <tcl.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include <string.h>
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#include "rs232c_def.h"
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#include "el734_def.h"
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#include "psi/hardsup/serialsinq.h"
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#include "sics.h"
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#define False 0
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#define True 1
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/*---------------------------------------------------------------------------
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Tcl has a high niceness level. It deletes a command properly when
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exiting, reinitializing etc. I use this facility to kill off the
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motor initialised in Controller.
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---------------------------------------------------------------------------*/
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EXTERN void SerialMurder(ClientData pData)
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{
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/*
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NetReadRemoveUserSocket(pServ->pReader, SerialGetSocket(&(pData)));
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*/
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SerialClose(&(pData));
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free(pData);
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}
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/*------------------ a forward declaration -----------------------------*/
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EXTERN int SurielSend(ClientData clientData, Tcl_Interp *interp,
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int argc, char *argv[]);
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/*----------------------------------------------------------------------------
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Controller is the main entry point for this stuff. It connects to a motor
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and, on success, creates a new command with the name of the motor.
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Syntax:
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Controller name host port channel
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---------------------------------------------------------------------------*/
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int Controller(ClientData clientData, Tcl_Interp *interp,
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int argc, char *argv[])
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{
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int iRet;
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int iPort, iChannel, iMotor;
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char *pErr = NULL;
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char pBueffel[80];
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void **pData = NULL;
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/* check arguments */
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if(argc < 5)
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{
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Tcl_AppendResult(interp,
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" Insufficient arguments: Controller name host port channel index"
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, (char *) NULL);
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return TCL_ERROR;
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}
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/* convert arguments */
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iRet = Tcl_GetInt(interp,argv[3],&iPort);
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if(iRet == TCL_ERROR)
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{
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Tcl_AppendResult(interp,"Need integer value for port",
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(char *)NULL);
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return iRet;
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}
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iRet = Tcl_GetInt(interp,argv[4],&iChannel);
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if(iRet == TCL_ERROR)
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{
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Tcl_AppendResult(interp,"Need integer value for channel",
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(char *)NULL);
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return iRet;
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}
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iMotor = 1;
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/* make a new pointer, initialise EL734st */
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pData = malloc(sizeof(void *));
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if(pData ==NULL)
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{
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Tcl_AppendResult(interp,"No memory in SerialSinq",NULL);
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return TCL_ERROR;
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}
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/* check for optional force flag */
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if(argc > 5)
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{
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iRet = SerialForceOpen(pData, argv[2],iPort,iChannel);
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}
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/* open the motor, finally */
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iRet = SerialOpen(pData, argv[2],iPort,iChannel);
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if(iRet == 1) /* success */
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{
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/* handle TCL, create new command: the serial line */
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Tcl_CreateCommand(interp,strdup(argv[1]),SurielSend,
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*pData,SerialMurder);
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strcpy(pBueffel,argv[1]);
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Tcl_AppendResult(interp,strdup(argv[1]),(char *)NULL);
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if(pServ->pReader != NULL)
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{
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NetReadRegisterUserSocket(pServ->pReader,
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SerialGetSocket(pData));
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}
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return TCL_OK;
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}
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else
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{
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SerialError(iRet,pBueffel,79);
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Tcl_AppendResult(interp,pBueffel,(char *) NULL);
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SerialClose(pData);
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free(pData);
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return TCL_ERROR;
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}
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}
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/*--------------------------------------------------------------------------
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Now, this interprets some commands:
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-tmo val
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will set a timeout value for the connection. Everything
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else will be concatenated and sent to the device.
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-sendterm text
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defines the terminator which will be appended automatically
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to each command.
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-replyterm text
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sets the expected reply terminator from the Macintosh
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Serial Port server.
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----------------------------------------------------------------------------*/
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EXTERN int SurielSend(ClientData clientData, Tcl_Interp *interp,
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int argc, char *argv[])
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{
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char pBueffel[256];
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char pAnswer[256];
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char *pErr = NULL;
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int iRet, iMSR;
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int i;
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void *pData;
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pData = clientData;
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if(argc >= 2)
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{
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if(strcmp(argv[1],"-tmo") == 0)
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{
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if(argc >= 3)
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{
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iRet = Tcl_GetInt(interp,argv[2],&iMSR);
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if(iRet != TCL_OK)
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{
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sprintf(pBueffel,"%s is not a valid number",argv[2]);
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Tcl_AppendResult(interp,pBueffel,NULL);
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return TCL_ERROR;
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}
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SerialConfig(&(pData),iMSR);
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return TCL_OK;
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}
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else
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{
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Tcl_AppendResult(interp, "Expected parameter after -tmo",NULL);
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return TCL_ERROR;
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}
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}
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else if(strcmp(argv[1],"-sendterm") == 0)
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{
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if(argc < 3)
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{
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Tcl_AppendResult(interp, "Expected parameter after -tmo",NULL);
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return TCL_ERROR;
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}
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iRet = SerialSendTerm(&(pData),argv[2]);
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if(iRet != 1)
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{
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Tcl_AppendResult(interp,"To many characters for terminator",NULL);
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return TCL_ERROR;
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}
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return TCL_OK;
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}
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else if(strcmp(argv[1],"-replyterm") == 0)
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{
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if(argc < 3)
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{
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Tcl_AppendResult(interp, "Expected parameter after -tmo",NULL);
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return TCL_ERROR;
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}
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iRet = SerialATerm(&(pData),argv[2]);
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if(!iRet)
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{
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Tcl_AppendResult(interp,"To many characters for terminator",NULL);
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return TCL_ERROR;
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}
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return TCL_OK;
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}
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else if(strcmp(argv[1],"-put") == 0)
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{
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NetReadResetUser(pServ->pReader,SerialGetSocket(&(pData)));
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if(argc > 2)
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{
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strcpy(pBueffel,argv[2]);
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}
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for(i = 3; i < argc; i++)
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{
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strcat(pBueffel," ");
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strcat(pBueffel,argv[i]);
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}
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iRet = SerialSend(&(pData),pBueffel);
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if(iRet != 1)
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{
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Tcl_AppendResult(interp,pAnswer,NULL);
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return TCL_ERROR;
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}
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return TCL_OK;
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}
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else if(strcmp(argv[1],"-readable") == 0)
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{
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iRet = NetReadReadable(pServ->pReader,SerialGetSocket(&(pData)));
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if(iRet)
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{
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Tcl_AppendResult(interp,"1",NULL);
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return TCL_OK;
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}
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else
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{
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Tcl_AppendResult(interp,"0",NULL);
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return TCL_OK;
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}
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}
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else if(strcmp(argv[1],"-get") == 0)
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{
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if(NetReadReadable(pServ->pReader,SerialGetSocket(&(pData))))
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{
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iRet = SerialReceive(&(pData),pAnswer, 255);
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Tcl_AppendResult(interp,pAnswer,NULL);
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if(iRet == 1)
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{
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return TCL_OK;
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}
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else
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{
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return TCL_ERROR;
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}
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}
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Tcl_AppendResult(interp,"Not Readable",NULL);
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return TCL_ERROR;
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}
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}
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if(argc >= 2)
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{
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strcpy(pBueffel,argv[1]);
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}
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for(i = 2; i < argc; i++)
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{
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strcat(pBueffel," ");
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strcat(pBueffel,argv[i]);
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}
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i = strlen(pBueffel);
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iRet = SerialWriteRead(&(pData),pBueffel,pAnswer,254);
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if(iRet != 1)
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{
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Tcl_AppendResult(interp,pAnswer,NULL);
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return TCL_ERROR;
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}
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Tcl_AppendResult(interp,pAnswer,NULL);
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return TCL_OK;
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}
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