- Fixed sicsprompt bug. Sicsprompt caused a core dump

- Removed generation of incommenurate reflections for 0,0,0 in fourmess.c
- Implemented a Poch command for heartbeats
- Fixed 64 bit dimension issues in nxdict
- Fixed different calling conventions for NXReportError deep stack in nxdict
- Stopped ei motor driving when not necessary
- Added yet another monitor for POLDI
- Added a protocoll driver for the JVL motor RS-485 binary protocoll
- Fixed some reporting issues

jvlprot.c

@@ -0,0 +1,230 @@
+/*
+ * jvlprot.c
+ *
+ * This is a protocol driver for the JVL integrated stepper motors.
+ * They talk on a RS485 bus, half-duplex, 19220 Baud, 8N1. They use
+ * a weird binary protocol which is documented in the accompanying
+ * manual.
+ *
+ *  Created on: May 7, 2012
+ *      Author: koennecke
+ */
+
+#include <errno.h>
+#include <time.h>
+#include <ascon.h>
+#include <ascon.i>
+#include <stptok.h>
+
+typedef struct {
+	unsigned char wrBuffer[30];
+	unsigned char rdBuffer[30];
+	int toWrite, toRead;
+	unsigned char *wrPtr, *rdPtr;
+	int reading;
+	time_t start;
+}JVL, *pJVL;
+/*------------------------------------------------------------*/
+static int validResponse(pJVL priv)
+{
+  if(priv->rdPtr - priv->rdBuffer > 3){
+    if((priv->rdBuffer[0] == 0x52 && priv->rdBuffer[1] == 0x52 && priv->rdBuffer[2] == 0x52) ||
+       (priv->rdBuffer[0] == 0x11 && priv->rdBuffer[1] == 0x11 && priv->rdBuffer[2] == 0x11) ) {
+      return 1;
+    } else {
+      return 0;
+    }
+  } else {
+    return 1;
+  }
+}
+
+/*------------------------------------------------------------*/
+static int JVLHandler(Ascon *a)
+{
+	pJVL priv;
+	char *data, token[20];
+	int motNo, address,ret;
+	union {
+		unsigned char b[4];
+		int iVal;
+	}val;
+	char chr;
+
+	priv = (pJVL)a->private;
+	switch(a->state){
+	case AsconWriteStart:
+		data = GetCharArray(a->wrBuffer);
+		if(data[0] == 'r'){
+			data = stptok(data,token,20," ");
+			data = stptok(data,token,20," ");
+			motNo = atoi(token);
+			data = stptok(data,token,20," ");
+			address = atoi(token);
+			priv->wrBuffer[0] = 80; /* 0x50 */
+			priv->wrBuffer[1] = 80;
+			priv->wrBuffer[2] = 80;
+			priv->wrBuffer[3] = motNo;
+			priv->wrBuffer[4] = 255 - motNo;
+			priv->wrBuffer[5] = address;
+			priv->wrBuffer[6] = 255-address;
+			priv->wrBuffer[7] = 170; /* 0xAA */
+			priv->wrBuffer[8] = 170;
+			priv->toWrite = 9;
+			priv->toRead = 19;
+			priv->rdPtr = priv->rdBuffer;
+			priv->wrPtr = priv->wrBuffer;
+			a->state = AsconWriting;
+			priv->reading = 1;
+			priv->start = time(NULL);
+			return 1;
+		} else if(data[0] == 'w'){
+			data = stptok(data,token,20," ");
+			data = stptok(data,token,20," ");
+			motNo = atoi(token);
+			data = stptok(data,token,20," ");
+			address = atoi(token);
+			data = stptok(data,token,20," ");
+			val.iVal = atoi(token);
+			priv->wrBuffer[0] = 82; /* 0x52 */
+			priv->wrBuffer[1] = 82;
+			priv->wrBuffer[2] = 82;
+			priv->wrBuffer[3] = motNo;
+			priv->wrBuffer[4] = 255 - motNo;
+			priv->wrBuffer[5] = address;
+			priv->wrBuffer[6] = 255-address;
+			priv->wrBuffer[7] = 4; /* len */
+			priv->wrBuffer[8] = 255 - 4;
+			/*
+			 * This code may be platform byte order dependent
+			 */
+			priv->wrBuffer[9] = val.b[0]; /* data */
+			priv->wrBuffer[10] = 255 -val.b[0];
+			priv->wrBuffer[11] = val.b[1];
+			priv->wrBuffer[12] = 255 -val.b[1];
+			priv->wrBuffer[13] = val.b[2];
+			priv->wrBuffer[14] = 255 -val.b[2];
+			priv->wrBuffer[15] = val.b[3];
+			priv->wrBuffer[16] = 255 -val.b[3];
+			priv->wrBuffer[17] = 170; /* 0xAA */
+			priv->wrBuffer[18] = 170;
+			priv->wrPtr = priv->wrBuffer;
+			priv->toWrite = 19;
+			priv->rdPtr = priv->rdBuffer;
+			priv->toRead = 3;
+			a->state = AsconWriting;
+			priv->reading = 0;
+			priv->start = time(NULL);
+			return 1;
+		} else {
+			priv->reading = 0;
+			AsconError(a,"Unknown JVL command", 0);
+			return 1;
+		}
+		break;
+	case AsconWriting:
+	    AsconReadGarbage(a->fd);
+	    ret = AsconWriteChars(a->fd, (char *)priv->wrPtr, priv->toWrite);
+	    if(*priv->wrPtr != 80){
+	      printf("Hugo\n");
+            }
+	    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 {
+	      priv->wrPtr += ret;
+	      priv->toWrite -= ret;
+	      if (priv->toWrite <= 0) {
+	        a->state = AsconWriteDone;
+	      }
+	      return 1;
+	    }
+		break;
+	  case AsconReadStart:
+	    DynStringClear(a->rdBuffer);
+	    a->state = AsconReading;
+	    return 1;
+	    break;
+	case AsconReading:
+	  if(!validResponse(priv)){
+	    a->state = AsconWriteStart;
+	    return 1;
+	  }
+		if(time(NULL) > priv->start + 1){
+			a->state = AsconReadDone;
+			DynStringConcat(a->rdBuffer,"timeout");
+			return 1;
+		}
+		ret = AsconReadChar(a->fd, &chr);
+		if (ret < 0) {
+			/* EINTR means we must retry */
+			if (errno != EINTR && errno != EAGAIN) {
+				AsconError(a, "AsconReadChar failed:", errno);
+			}
+		} else if (ret > 0) {
+			*(priv->rdPtr) = (unsigned char)chr;
+			priv->toRead--;
+			priv->rdPtr++;
+			if(priv->toRead <= 0){
+				a->state = AsconReadDone;
+				if(priv->reading){
+					/* This code may be platform byte order dependent */
+					val.b[0] = priv->rdBuffer[9];
+					val.b[1] = priv->rdBuffer[11];
+					val.b[2] = priv->rdBuffer[13];
+					val.b[3] = priv->rdBuffer[15];
+					snprintf(token,20,"%d", val.iVal);
+					DynStringConcat(a->rdBuffer,token);
+				} else {
+					if(priv->rdBuffer[0] == 0x11){
+						DynStringConcat(a->rdBuffer,"OK");
+					} else {
+						DynStringConcat(a->rdBuffer,"Unknown response code from JVL: ");
+						snprintf(token,20,"%x", priv->rdBuffer[0]);
+						DynStringConcat(a->rdBuffer, token);
+					}
+				}
+			}
+		}
+		return 1;
+	    break;
+	default:
+		return AsconBaseHandler(a);
+	}
+	return AsconBaseHandler(a);
+}
+/*------------------------------------------------------------------------*/
+static int JVLInit(Ascon * a, SConnection * con, int argc, char *argv[])
+{
+	  pJVL priv = NULL;
+
+	  priv = calloc(sizeof(JVL), 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 AddJVLProtocoll()
+{
+  AsconProtocol *prot = NULL;
+
+  prot = calloc(sizeof(AsconProtocol), 1);
+  prot->name = strdup("jvl");
+  prot->init = JVLInit;
+  prot->handler = JVLHandler;
+  AsconInsertProtocol(prot);
+}

make_gen

@@ -24,7 +24,7 @@ OBJ=psi.o buffer.o ruli.o  sps.o pimotor.o charbychar.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 phytron.o autowin.o eigera2.o \
-	tclClock.o tclDate.o tclUnixTime.o
+	tclClock.o tclDate.o tclUnixTime.o jvlprot.o 
 
 .SECONDARY.: sanslirebin.c
 

polterwrite.c

@@ -545,6 +545,8 @@ static void PoldiUpdate(pPolterdi self, SConnection * pCon)
 	  NXDputalias(hfil, hdict, "cntime", &fVal);
 	  lVal = GetMonitor(pCount, 1, pCon);
 	  NXDputalias(hfil, hdict, "cnmon1", &lVal);
+	  lVal = GetMonitor(pCount, 0, pCon);
+	  NXDputalias(hfil, hdict, "cnprot", &lVal);
 	  lVal = GetMonitor(pCount, 2, pCon);
 	  NXDputalias(hfil, hdict, "cnmon2", &lVal);
 	  eMode = GetCounterMode(pCount);

psi.c

@@ -74,6 +74,7 @@ void SiteInit(void)
   INIT(AddCharByCharProtocoll);
   INIT(AddBinProtocol);
   INIT(AddDumProtocol);
+  INIT(AddJVLProtocoll);
 
 }
 

spss7.c

@@ -407,11 +407,9 @@ static char *S7InitHandler(void *actionData, char *reply, int comerror)
 		dblength = ntohs(dblength);
 		InitializeSPSDataBase(self,self->spsNode);
 		node = GetHipadabaNode(self->spsNode,"init");
-		/*
 		if(node != NULL){
 			UpdateHipadabaPar(node,MakeHdbInt(1), NULL);
 		}
-		*/
 		return NULL;
 	}
 }