- Added protocol from phytron MCCC-2 motor controller

- Modified lmd200.c to reflect new additional values

lmd200.c

@@ -13,12 +13,14 @@
  * copyright: see file COPYRIGHT
  * 
  * Mark Koennecke, October 2007
+ * 
+ * modifed to use asynnet and to cope with even more data. 
+ * Mark Koennecke, June 2009
  */
 #include <sics.h>
 #include <sicsobj.h>
 #include <sicshipadaba.h>
-#include <network.h>
+#include <asynnet.h> 
-#include <nwatch.h>
 #include <commandlog.h>
 #include <stptok.h>
 /*
@@ -32,11 +34,9 @@
   */
 #define BUFLEN 1024
 typedef struct {
-  int state;
   char host[256];
   int port;
-  mkChannel *pSock;
+  int asChannel;
-  pNWContext watchContext;
   char lineBuffer[BUFLEN];
 } LMD200, *pLMD200;
  /*----------------------------------------------------------------------------*/
@@ -46,16 +46,9 @@ static void killLMD200(void *data)
   if (priv == NULL) {
     return;
   }
-  if (priv->watchContext != NULL) {
+  ANETclose(priv->asChannel);
-    NetWatchRemoveCallback(priv->watchContext);
-  }
-  if (priv->pSock != NULL) {
-    NETClosePort(priv->pSock);
-    free(priv->pSock);
-  }
   free(priv);
 }
-
 /*-------------------------------------------------------------------------*/
 static void setAlarm(pSICSOBJ self, char *text)
 {
@@ -143,72 +136,55 @@ static void interpretLine(pSICSOBJ self, pLMD200 priv)
 {
   pHdb node = NULL;
 
-  switch (priv->state) {
+  node = GetHipadabaNode(self->objectNode, "data");
-  case IDLE:
+  assert(node != NULL);
+
+  /*
+   * TODO: check the message headers against what is now coming out 
+   * of the device.
+   */
   if (strstr(priv->lineBuffer, "Alarm") != NULL) {
 	  doAlarm(self, priv->lineBuffer);
 	  return;
   } else if (strstr(priv->lineBuffer, "Pre") != NULL) {
 	  setAlarm(self, priv->lineBuffer);
-    } else {
+  } else if (strstr(priv->lineBuffer, "...0") == NULL) {
-      priv->state = WAITDATA1;
-      setAlarm(self, "I do not feel very alarmed");
-      return;
-    }
-    break;
-  case WAITDATA1:
-    if (strstr(priv->lineBuffer, "...0") == NULL) {
-      /* this data is out of order, recover... */
-      priv->state = IDLE;
-      return;
-    }
 	  storeData(self, 0, priv->lineBuffer);
-    priv->state = WAITDATA2;
-    break;
-  case WAITDATA2:
-    if (strstr(priv->lineBuffer, "...0") == NULL) {
-      /* this data is out of order, recover... */
-      priv->state = IDLE;
-      return;
-    }
-    storeData(self, 8, priv->lineBuffer);
-    priv->state = IDLE;
-    node = GetHipadabaNode(self->objectNode, "data");
-    assert(node != NULL);
 	  NotifyHipadabaPar(node, NULL);
-    break;
+      return;
+  } else if(strstr(priv->lineBuffer,"..000") == NULL) {
+    storeData(self, 8, priv->lineBuffer);
+    NotifyHipadabaPar(node, NULL);
   }
 }
 
-/*---------------------------------------------------------------------------
+/*----------------------------------------------------------------------------*/
- * This handles the terminator discovery and causes the evaluation of complete
+static int LMD200Callback(int handle, void *userData)
- * lines.
- * --------------------------------------------------------------------------*/
-static int LMD200Callback(void *context, int mode)
 {
-  pSICSOBJ self = (pSICSOBJ) context;
+	pSICSOBJ self = (pSICSOBJ)userData;
-  pLMD200 priv = NULL;
+	pLMD200 priv = (pLMD200)self->pPrivate;
-  char buffer[512], *pPtr = NULL, line[132];
+	char *pPtr = NULL, *pEnd = NULL;
+	int length;
 	
-  assert(self != NULL);
+	pPtr = ANETreadPtr(priv->asChannel,&length);
-  priv = (pLMD200) self->pPrivate;
+	pEnd = strchr(pPtr,(int)'\r');
-  if (mode == nwatch_read) {
+	if(pEnd != NULL){
-    memset(buffer, 0, 512);
+		length = pEnd - pPtr;
-    memset(line, 0, 132);
+		*pEnd = '\0';
-    NETRead(priv->pSock, buffer, 512, 0);
+		strncpy(priv->lineBuffer,pPtr,BUFLEN);
-    pPtr = stptok(buffer, line, 132, "\r");
+		ANETreadConsume(priv->asChannel,length+1);
-    while (pPtr != NULL) {
+		interpretLine(self,priv);
-      if (strlen(line) > 3) {
-        strncpy(priv->lineBuffer, line, BUFLEN);
-        interpretLine(self, priv);
-        priv->lineBuffer[0] = '\0';
-      }
-      pPtr = stptok(pPtr, line, 132, "\r");
-    }
 	}
 	return 1;
 }
-
+/*---------------------------------------------------------------------------*/
+static int ClearCmd(pSICSOBJ ccmd, SConnection * con,
+                      Hdb * cmdNode, Hdb * par[], int nPar)
+{
+	setAlarm(ccmd,"I do not feel very alarmed...");
+	SCSendOK(con);
+	return 1;
+}
  /*---------------------------------------------------------------------------*/
 int MakeLMD200(SConnection * pCon, SicsInterp * pSics, void *pData,
                int argc, char *argv[])
@@ -228,8 +204,8 @@ int MakeLMD200(SConnection * pCon, SicsInterp * pSics, void *pData,
   memset(priv, 0, sizeof(LMD200));
   strncpy(priv->host, argv[2], 256);
   priv->port = atoi(argv[3]);
-  priv->pSock = NETConnect(priv->host, priv->port);
+  priv->asChannel = ANETconnect(priv->host, priv->port);
-  if (priv->pSock == NULL) {
+  if (priv->asChannel  < 0) {
     SCWrite(pCon, "ERROR: failed to connect to LMD200", eError);
     killLMD200(priv);
     return 0;
@@ -240,14 +216,16 @@ int MakeLMD200(SConnection * pCon, SicsInterp * pSics, void *pData,
     return 0;
   }
   textValue = MakeHdbText("I do not feel very alarmed");
-  dataValue = makeHdbValue(HIPFLOATAR, 16);
+  dataValue = makeHdbValue(HIPFLOATAR, 32);
   AddSICSHdbPar(self->objectNode, "alarm", usInternal, textValue);
   AddSICSHdbPar(self->objectNode, "data", usInternal, dataValue);
   self->pPrivate = priv;
   self->KillPrivate = killLMD200;
   ReleaseHdbValue(&dataValue);
-  NetWatchRegisterCallback(&priv->watchContext, priv->pSock->sockid,
+  ANETsetReadCallback(priv->asChannel,LMD200Callback,self, NULL);
-                           LMD200Callback, self);
+
+  AddSICSHdbPar(self->objectNode,
+                      "clearalarm", usUser, MakeSICSFunc(ClearCmd));
   
   status = AddCommand(pSics,
                       argv[1], InterInvokeSICSOBJ, KillSICSOBJ, self);
@@ -257,7 +235,5 @@ int MakeLMD200(SConnection * pCon, SicsInterp * pSics, void *pData,
              argv[1]);
     return 0;
   }
-
-
   return 1;
 }

make_gen

@@ -23,7 +23,7 @@ OBJ=psi.o buffer.o ruli.o dmc.o nxsans.o nextrics.o sps.o pimotor.o \
 	dgrambroadcast.o sinq.o tabledrive.o tcpdocho.o julcho.o \
 	ritastorage.o poldizug.o audinelib.o delcam.o el737hpdrivsps.o \
 	rebin.o sanslirebin.o lmd200.o slsvme.o julprot.o sinqhttpprot.o \
-	pmacprot.o pfeifferprot.o termprot.o 
+	pmacprot.o pfeifferprot.o termprot.o phytron.o
 
 .SECONDARY.: sanslirebin.c
 

phytron.c

@@ -0,0 +1,100 @@
+/**
+ * This is an asynchronous protocol driver for the protocol of 
+ * the Phytron MCC-2 motor controller. 
+ * The send format is:
+ *   <STX> DATA <ETX>
+ * the reply format is:
+ *   <STX> NACK | ACK |& REPLY <ETX>
+ * 
+ * copyright: see file COPYRIGHT
+ * 
+ * Mark Koennecke, June 2009
+ */
+#include <errno.h>
+#include <ascon.h>
+#include <ascon.i>
+#include <dynstring.h>
+
+#define STX   '\2'
+#define ETX   '\3'
+#define NACK  '\5'
+#define ACK   '\6'
+
+/*---------------------------------------------------------------------------*/
+static int PhytronHandler(Ascon * a)
+{
+  char *data = NULL;
+  int ret, l;
+  char chr;
+
+
+  switch (a->state) {
+  case AsconWriteStart:
+	DynStringInsert(a->wrBuffer,"\2",0);
+	DynStringConcatChar(a->wrBuffer,ETX);
+	a->state = AsconWriting;
+	a->wrPos = 0;
+    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) {
+    	if(chr == STX){
+    		DynStringClear(a->rdBuffer);
+    	} else if (chr == ACK){
+    		DynStringConcat(a->rdBuffer,"ACK");
+    	} else if(chr == NACK){
+    		DynStringConcat(a->rdBuffer,"NACK");
+    	} else if(chr == ETX){
+    		a->state = AsconReadDone; 
+    	} else {
+    		DynStringConcatChar(a->rdBuffer,chr);
+    	}
+   } 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 PhytronInit(Ascon * a, SConnection * con, int argc, char *argv[])
+{
+  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->killPrivate = free;
+  return 1;
+}
+
+/*------------------------------------------------------------------------*/
+void AddPhytronProtocoll()
+{
+  AsconProtocol *prot = NULL;
+
+  prot = calloc(sizeof(AsconProtocol), 1);
+  prot->name = strdup("phytron");
+  prot->init = PhytronInit;
+  prot->handler = PhytronHandler;
+  AsconInsertProtocol(prot);
+}
+

psi.c

@@ -85,6 +85,8 @@ extern void AddPMACProtocoll();
 extern void AddPfeifferProtocoll();
 /* from termprot.c */
 extern void AddTermProtocoll();
+/* from phytron.c */
+extern void AddPhytronProtocoll();
 
 /*--------------------------------------------------------------------------*/
 void SiteInit(void)
@@ -114,6 +116,7 @@ void SiteInit(void)
   AddPMACProtocoll();
   AddPfeifferProtocoll();
   AddTermProtocoll();
+  AddPhytronProtocoll();
 
 }