- Major changes folling the rework of the connection object

- Added support for galil controllers

pmacprot.c

@@ -0,0 +1,204 @@
+/**
+ * This is an asynchronous protocol driver for the Delta-Tau PMAC
+ * series of controllers, connected via TCP/IP. The PMAC needs its
+ * commands in a special purpose data structure, describe below. 
+ * As responses, it can send any of the following formats:
+ *     data<CR>data<CR>data>CR><ACK>
+ *     <BELL>ERRxxx<CR>
+ *     <STX>data<CR>
+ * There can be multiple data and errors in a string. However, I wish to 
+ * restrict this to processing one command at any time. This driver owes 
+ * some insight and little code to the EPICS driver by 
+ * Pete Leicester, Diamond. 
+ * 
+ * ** Before this can be used, I3=2 and I6=1 must be set on the PMAC **
+ * 
+ * copyright: see file COPYRIGHT
+ * 
+ * Mark Koennecke, December 2008
+ */
+#include <errno.h>
+#include <ascon.h>
+#include <ascon.i>
+#include <dynstring.h>
+
+#define ETHERNET_DATA_SIZE 1492
+#define INPUT_SIZE        (ETHERNET_DATA_SIZE+1)  /* +1 to allow space to add terminating ACK */
+#define STX   '\2'
+#define CTRLB '\2'
+#define CTRLC '\3'
+#define ACK   '\6'
+#define CTRLF '\6'
+#define BELL  '\7'
+#define CTRLG '\7'
+#define CTRLP '\16'
+#define CTRLV '\22'
+#define CTRLX '\24'
+
+/* PMAC ethernet command structure */
+#pragma pack(1)
+typedef struct tagEthernetCmd
+{
+    unsigned char RequestType;
+    unsigned char Request;
+    unsigned short wValue;
+    unsigned short wIndex;
+    unsigned short wLength; /* length of bData */
+    unsigned char bData[ETHERNET_DATA_SIZE];
+} ethernetCmd;
+#pragma pack()
+
+#define ETHERNET_CMD_HEADER ( sizeof(ethernetCmd) - ETHERNET_DATA_SIZE )
+
+/* PMAC ethernet commands - RequestType field */
+#define VR_UPLOAD   0xC0
+#define VR_DOWNLOAD 0x40
+
+/* PMAC ethernet commands - Request field */
+#define VR_PMAC_SENDLINE    0xB0
+#define VR_PMAC_GETLINE     0xB1
+#define VR_PMAC_FLUSH       0xB3
+#define VR_PMAC_GETMEM      0xB4
+#define VR_PMAC_SETMEN      0xB5
+#define VR_PMAC_SETBIT      0xBA
+#define VR_PMAC_SETBITS     0xBB
+#define VR_PMAC_PORT        0xBE
+#define VR_PMAC_GETRESPONSE 0xBF
+#define VR_PMAC_READREADY   0xC2
+#define VR_CTRL_RESPONSE    0xC4
+#define VR_PMAC_GETBUFFER   0xC5
+#define VR_PMAC_WRITEBUFFER 0xC6
+#define VR_PMAC_WRITEERROR  0xC7
+#define VR_FWDOWNLOAD       0xCB
+#define VR_IPADDRESS        0xE0
+
+/*---------------------------------------------------------------------------
+ * a private data structurli to keep track of the PMAC
+ *---------------------------------------------------------------------------*/
+typedef struct {
+	ethernetCmd cmd;
+	char *ptr;
+	int bytesToWrite;
+	int expectACK;
+}PMACPrivate, *pPMACPrivate;	
+
+/*---------------------------------------------------------------------------*/
+static int PMACHandler(Ascon *a){
+	char *data = NULL;
+	int ret, l;
+	char chr;
+	pPMACPrivate priv = NULL;
+	
+	priv = a->private;
+	
+	switch(a->state){
+	case AsconWriteStart:
+		data = GetCharArray(a->wrBuffer);
+		memset(priv,0,sizeof(PMACPrivate));
+		priv->cmd.RequestType = VR_DOWNLOAD;
+		priv->cmd.Request = VR_PMAC_GETRESPONSE;
+		priv->cmd.wValue = 0;
+		priv->cmd.wIndex = 0;
+		priv->cmd.wLength = htons(strlen(data)); /* may be one more */
+		priv->bytesToWrite = strlen(data) + 1 + ETHERNET_CMD_HEADER;
+		strcpy((char *)priv->cmd.bData,data);
+		priv->expectACK = 1;
+		priv->ptr = (char *)&priv->cmd;
+		a->state = AsconWriting;
+		a->wrPos = 0;
+		break;
+	  case AsconWriting:
+	    AsconReadGarbage(a->fd);
+	    l = priv->bytesToWrite - a->wrPos;
+	    ret = AsconWriteChars(a->fd, priv->ptr, l);
+	    if (ret < 0) {
+	      if(errno != EINTR && errno != EAGAIN){
+	    	  AsconError(a, "send failed:", errno);
+	      }
+	      /*
+	       * Ooops: which state shall we go to after a write fail?
+	       * This seems to retry.
+	       */
+	    } else {
+	      a->wrPos += ret;
+	      if (a->wrPos >= priv->bytesToWrite) {
+	        a->state = AsconWriteDone;
+	      } else {
+	    	  priv->ptr += ret;
+	      }
+	    }
+	    break;
+	case AsconReading:
+		ret = AsconReadChar(a->fd, &chr);
+		if(ret < 0){
+			  /* EINTR means we must retry */
+			  if(errno != EINTR && errno != EAGAIN){
+				AsconError(a, "AsconReadChar failed:", errno);
+			  }
+		      return 1;
+		}  else if (ret > 0) {
+			a->start = DoubleTime();
+			if(chr == STX || chr == BELL){
+				priv->expectACK = 0;
+				return 1;
+			}
+			if(priv->expectACK && chr == ACK){
+				if(GetDynStringLength(a->rdBuffer) == 0){
+					DynStringConcat(a->rdBuffer,"ACK");
+				}
+				DynStringConcatChar(a->rdBuffer, '\0');
+				a->state = AsconReadDone;
+		        break;
+			}
+			if(priv->expectACK == 0 && chr == '\r'){
+				DynStringConcatChar(a->rdBuffer, '\0');
+				a->state = AsconReadDone;
+		        break;
+			}
+	        if (DynStringConcatChar(a->rdBuffer, chr) == 0) {
+	          AsconError(a, "DynStringConcatChar failed:", ENOMEM);
+	          break;
+	        }
+		} else if(ret == 0){
+			if (a->timeout > 0) {
+				if (DoubleTime() - a->start > a->timeout) {
+		          AsconError(a, "read timeout", 0);
+		          a->state = AsconTimeout;
+		        }
+		    }
+		}
+		break;
+	default:
+		return AsconStdHandler(a);
+	}
+	return 1;
+}
+/*------------------------------------------------------------------------*/
+static int  PMACInit(Ascon *a, SConnection *con, 
+			int argc, char *argv[]) {
+  pPMACPrivate priv = NULL;
+  
+  priv = calloc(sizeof(PMACPrivate), 1);
+  a->fd = -1;
+  a->state = AsconConnectStart;
+  a->reconnectInterval = 10;
+  a->hostport = strdup(argv[1]);
+   if(argc > 2){
+	  a->timeout = atof(argv[2]);
+  } else {
+	  a->timeout = 2.0; /* sec */
+  }
+  a->private  = priv;
+  a->killPrivate  = free;
+  return 1;
+}
+/*------------------------------------------------------------------------*/
+void AddPMACProtocoll(){
+	AsconProtocol *prot = NULL;
+	
+	prot = calloc(sizeof(AsconProtocol), 1);
+	prot->name = strdup("pmac");
+	prot->init = PMACInit;
+	prot->handler = PMACHandler;
+	AsconInsertProtocol(prot);
+}