Reading DPICS works
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273
epicsadapter.c
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273
epicsadapter.c
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/**
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* This is a general purpose adapter between SICS and EPICS. It provides callbacks
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* which allows Hipadaba nodes to be connected to EPICS PV's for both reading and
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* writing.
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*
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* copyright: see file COPYRIGHT
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*
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* Mark Koennecke, October-November 2014
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*/
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#include <assert.h>
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#include <sics.h>
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#include <sicshipadaba.h>
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#include <cadef.h>
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#include <epicsMessageQueue.h>
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#include <messagepipe.h>
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/*
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* we have a SICS tasks which polls EPICS regularly.
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*/
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static long epicsTaskID = -1L;
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static pMP readPipe = NULL;
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static epicsMessageQueueId writeQueue;
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typedef struct {
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char pvname[64];
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int connected;
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pHdb node;
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chid pvchid;
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chtype pvtype;
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}EpicsPriv, *pEpicsPriv;
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typedef struct {
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SConnection *pCon;
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char message[512];
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} WriteMessage, *pWriteMessage;
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/*======================================================================================
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Code for reading PV's
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======================================================================================*/
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/*--------------------------------------------------------------------------------------*/
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static int EpicsTask(void *userData)
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{
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ca_poll();
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return 1;
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}
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/*---------------------------------------------------------------------------------------*/
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static int makeEPICSContext(void *message, void *userData)
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{
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int status;
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pEpicsPriv priv = NULL;
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if(epicsTaskID < 0){
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status = ca_context_create(ca_disable_preemptive_callback);
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if(status != ECA_NORMAL){
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priv = (pEpicsPriv)message;
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SetHdbProperty(priv->node,"geterror", "Failed to create EPICS context");
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return MPSTOP;
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}
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epicsTaskID = TaskRegisterN(pServ->pTasker,
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"epics",
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EpicsTask,
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NULL,NULL,NULL,1
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);
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}
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return MPCONTINUE;
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}
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/*--------------------------------------------------------------------------------------*/
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static int epicsConnectPV(void *message, void *userData)
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{
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pEpicsPriv priv = NULL;
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int status;
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priv = (pEpicsPriv)message;
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status = ca_create_channel(priv->pvname,NULL,NULL,10,&priv->pvchid);
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if(status != ECA_NORMAL){
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SetHdbProperty(priv->node,"geterror", "Failed to connect to PV");
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return MPSTOP;
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}
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status = ca_pend_io(3.);
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if(status != ECA_NORMAL){
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SetHdbProperty(priv->node,"geterror", "Timeout connecting to PV");
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return MPSTOP;
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}
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return MPCONTINUE;
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}
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/*--------------------------------------------------------------------------------------*/
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static void epicsDataCallback(struct event_handler_args args)
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{
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pEpicsPriv priv = NULL;
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hdbValue v;
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priv = (pEpicsPriv)args.usr;
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if(args.status == ECA_NORMAL){
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switch(priv->node->value.dataType){
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case HIPTEXT:
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free(priv->node->value.v.text);
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priv->node->value.v.text = strdup((char *)args.dbr);
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break;
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case HIPINT:
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priv->node->value.v.intValue = *(int *)args.dbr;
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break;
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case HIPFLOAT:
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priv->node->value.v.doubleValue = *(double *)args.dbr;
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break;
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case HIPINTAR:
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case HIPINTVARAR:
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v = MakeHdbIntArray(args.count,(int *)args.dbr);
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copyHdbValue(&v,&priv->node->value);
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break;
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case HIPFLOATAR:
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case HIPFLOATVARAR:
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v = MakeHdbFloatArray(args.count,(double *)args.dbr);
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copyHdbValue(&v,&priv->node->value);
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break;
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}
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traceIO("epics","Received data for %s", priv->node->name);
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NotifyHipadabaPar(priv->node,NULL);
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}
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}
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/*--------------------------------------------------------------------------------------*/
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static int epicsSubscribePV(void *message, void *userData)
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{
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pEpicsPriv priv = NULL;
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int status;
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chtype subType = DBR_STRING;
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evid eid;
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priv = (pEpicsPriv)message;
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switch(priv->node->value.dataType){
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case HIPTEXT:
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subType = DBR_STRING;
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break;
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case HIPINT:
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case HIPINTAR:
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case HIPINTVARAR:
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subType = DBR_LONG;
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break;
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case HIPFLOAT:
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case HIPFLOATAR:
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case HIPFLOATVARAR:
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subType = DBR_DOUBLE;
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break;
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}
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status = ca_create_subscription(subType,0,priv->pvchid,
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DBE_VALUE,epicsDataCallback,priv,&eid);
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if(status != ECA_NORMAL){
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SetHdbProperty(priv->node,"geterror", "Failed to subscribe to PV");
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return MPSTOP;
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}
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return MPCONTINUE;
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}
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/*--------------------------------------------------------------------------------------*/
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static void createEPICSReadPipe()
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{
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readPipe = MakeMP();
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AppendMPFilter(readPipe,makeEPICSContext,NULL,NULL);
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AppendMPFilter(readPipe,epicsConnectPV,NULL,NULL);
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AppendMPFilter(readPipe,epicsSubscribePV,NULL,NULL);
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}
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/*--------------------------------------------------------------------------------------*/
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static void connectPV(pHdb node, pEpicsPriv priv)
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{
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int status;
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SetHdbProperty(node,"geterror", NULL);
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priv->node = node;
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status = MPprocess(readPipe, priv);
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if(status == MPCONTINUE){
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priv->connected = 1;
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}
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}
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/*--------------------------------------------------------------------------------------
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This is the Hipadaba callback function
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--------------------------------------------------------------------------------------*/
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static hdbCallbackReturn EPICSReadCallback(pHdb currentNode,
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void *userData,
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pHdbMessage message)
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{
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pEpicsPriv priv = (pEpicsPriv)userData;
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hdbDataMessage *mm = NULL;
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SConnection *con = NULL;
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char *geterror;
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char error[256];
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assert(priv != NULL);
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mm = GetHdbGetMessage(message);
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if (mm != NULL) {
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con = mm->callData;
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if(priv->connected != 1){
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connectPV(currentNode, priv);
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}
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geterror = GetHdbProp(currentNode, "geterror");
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if (geterror != NULL) {
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snprintf(error,sizeof(error),"ERROR: %s", geterror);
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SCWrite(con, error, eError);
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if (mm->v->dataType == HIPTEXT) {
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if (mm->v->v.text != NULL) {
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free(mm->v->v.text);
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}
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mm->v->v.text = strdup(error);
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}
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return hdbAbort;
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}
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return hdbContinue;
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}
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return hdbContinue;
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}
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/*------------------------------------------------------------------------------------*/
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static int EpicsConnectRead(pSICSOBJ ccmd, SConnection * con,
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Hdb * cmdNode, Hdb * par[], int nPar)
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{
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pHdb node = NULL;
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pEpicsPriv priv = NULL;
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if(nPar < 2){
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SCWrite(con,"ERROR: need node and PV-name arguments to connectread", eError);
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return 0;
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}
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node = FindHdbNode(NULL,par[0]->value.v.text,con);
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if(node == NULL){
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SCPrintf(con,eError,"ERROR: failed to locate node %s", par[0]->value.v.text);
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return 0;
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}
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priv = calloc(1,sizeof(EpicsPriv));
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priv->node = node;
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strncpy(priv->pvname,par[1]->value.v.text,sizeof(priv->pvname));
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SetHdbProperty(node,"readpv", par[1]->value.v.text);
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AppendHipadabaCallback(node,MakeHipadabaCallback(EPICSReadCallback, priv,free));
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SCSendOK(con);
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return 1;
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}
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/*==============================================================================================
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Writing Things. Writing can block, thus it has to run in its own thread. This raises the
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question is how to propagate error messages. The solution is a EPICS message queue to which
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writing threads post. The epics task will read this queue and do the actual printing in the
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SICS main thread. A convention: NULL means to print to trace.
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================================================================================================*/
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/*==============================================================================================
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SICS Hydraulics
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================================================================================================*/
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int MakeEpicsAdapter(SConnection * con, SicsInterp * sics,
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void *object, int argc, char *argv[])
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{
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pSICSOBJ self = NULL;
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pHdb child, par;
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self = MakeSICSOBJv("epicsadapter", "EpicsAdapter", HIPNONE, usMugger);
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createEPICSReadPipe();
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child = AddSICSHdbPar(self->objectNode,
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"connectread", usMugger, MakeSICSFunc(EpicsConnectRead));
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AddSICSHdbPar(child, "node", usMugger, MakeHdbText(""));
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AddSICSHdbPar(child, "pvname", usMugger, MakeHdbText(""));
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AddCommand(pServ->pSics, "epicsadapter", InterInvokeSICSOBJ, KillSICSOBJ, self);
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return 1;
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}
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