sicspsi/tcpdocho.c

/*--------------------------------------------------------------
 This is a driver for the newer Astrium == Dornier chopper 
 systems which use a TCP/IP server for communication.
 This driver has to take care of some ugliness:
 - As of december 2005, the communication is in unicode!
   To go from ASCII to unicode and back one has to 
   add a 0x00 before each character or to remove it.
 - The controller is slow in responding and the controller
   must be watched in the environment monitor. This is taken
   care of by a special SICS task which updates the status
   regularly and returning cached values anytime else.


 Inititial Implementation: Mark Koennecke, December 2005
 ------------------------------------------------------------*/
#include <stdlib.h>
#include <assert.h>
#include <time.h>
#include <fortify.h>
#include <sics.h>
#include <stringdict.h>
#include <rs232controller.h>
#include <codri.h>
#include <stptok.h>
#include <commandlog.h>
/*========================================================================
  Our private data structure
  ========================================================================*/
#define ASYNMODE 0
#define SYNCMODE 1

typedef struct {
  prs232 controller;
  int iRefreshIntervall;
  time_t nextRefresh;
  long lTask;
  pStringDict parameters;
  int lastError;
  int numChoppers;
  int mode;
  int timeout;
  char user[132];
  char pword[132];
  int stop;
  int busy;
  char *config;
} TcpDoCho, *pTcpDoCho;
/*-----------------------------------------------------------------------
Error codes:
-----------------------------------------------------------------------*/
#define WRONGMODE       -8301
#define BADCONVERSION   -8302
#define FAILEDCOMMAND   -8303
#define BADWRITE        -8304
#define BADRESPONSE     -8306
#define UNDRIVABLE      -8307
#define BADPAR          -8308
#define ESTOP           -8309

extern char *trim(char *str);
#define ABS(x) (x < 0 ? -(x) : (x))

#define SPEEDTOL 2
#define PHASETOL .5
/*=============== support functions ===================================*/
static int asciiToUnicode(char *input, char **output)
{
  int len, i;
  char *result = NULL;

  len = strlen(input);
  result = (char *) malloc(2 * len * sizeof(char));
  if (result == NULL) {
    return 0;
  }
  memset(result, 0, 2 * len * sizeof(char));
  for (i = 0; i < len; i++) {
    result[i * 2] = input[i];
  }
  *output = result;
  return 2 * len;
}

/*-------------------------------------------------------------------*/
static int unicodeToAscii(char *input, int len, char **output)
{
  int i, alen;
  char *result = NULL;

  alen = len / 2;

  result = (char *) malloc((alen + 1) * sizeof(char));
  if (result == NULL) {
    return 0;
  }
  memset(result, 0, (alen + 1) * sizeof(char));
  for (i = 0; i < alen; i++) {
    result[i] = input[i * 2];
  }
  *output = result;
  return alen;
}

/*----------------------------------------------------------------*/
static int tcpDoChoSend(pTcpDoCho self, char *command, int choNum,
                        char *value)
{
  char buffer[1024];
  int sendlen, status;

  /*
     format and send command
   */
  self->lastError = 0;
  if (choNum < 0) {
    snprintf(buffer, 1023, "#SOS#%s \r\n", command);
  } else if (value != NULL) {
    snprintf(buffer, 1023, "#SOS#%s%1.1d: %s\r\n", command, choNum, value);
  } else {
    snprintf(buffer, 1023, "#SOS#%s%1.1d:\r\n", command, choNum);
  }
  sendlen = strlen(buffer);
  if (sendlen == 0) {
    self->lastError = BADCONVERSION;
    return 0;
  }
  status = send(self->controller->pSock->sockid, buffer, sendlen, 0);
  if (status < 0) {
    self->lastError = BADWRITE;
    return 0;
  }
  return 1;
}

/*----------------------------------------------------------------*/
static int statusComplete(char *statusMessage)
{
  char *pPtr = NULL;

  /*
     currently the status message has no terminator. I try to find
     the last component of the message which happens to be TIME and
     the last # after that
   */
  pPtr = strstr(statusMessage, "TIME");
  if (pPtr != NULL) {
    pPtr = strstr(pPtr + 6, "#");
    if (pPtr != NULL) {
      return 1;
    } else {
      return 0;
    }
  } else {
    return 0;
  }
}

/*---------------------------------------------------------------*/
static int readChopperNum(char *entry)
{
  int num;
  char *pPtr = NULL;

  pPtr = strstr(entry, "CH");
  if (pPtr == NULL) {
    return -1;
  }
  sscanf(pPtr + 3, "%d", &num);
  return num;
}

/*---------------------------------------------------------------*/
static void addEntry(pTcpDoCho self, int choNum, char *entry)
{
  char name[80], value[80], *pPtr = NULL;
  char num[5];

  memset(name, 0, 80);
  memset(value, 0, 80);
  snprintf(num, 5, "_%1.1d", choNum);
  pPtr = strstr(entry, "=");
  if (pPtr != NULL) {
    strncpy(name, entry, pPtr - entry);
    strncat(trim(name), num, 80 - strlen(trim(name)));
    strcpy(value, pPtr + 1);
    if (StringDictExists(self->parameters, name)) {
      StringDictUpdate(self->parameters, name, trim(value));
    } else {
      StringDictAddPair(self->parameters, name, trim(value));
    }
  }
}

/*----------------------------------------------------------------*/
static int parseStatus(pTcpDoCho self, char *statusMessage)
{
  int choNum;
  char entry[80], *pPtr;

  pPtr = statusMessage;

  /* skip over SOS */
  pPtr = stptok(pPtr, entry, 79, "#");
  pPtr = stptok(pPtr, entry, 79, "#");
  pPtr = stptok(pPtr, entry, 79, "#");

  choNum = readChopperNum(entry);
  if (choNum < 0) {
    self->lastError = BADRESPONSE;
    return 0;
  }
  while ((pPtr = stptok(pPtr, entry, 79, "#")) != NULL) {
    addEntry(self, choNum, entry);
    memset(entry, 0, 80);
  }
  return 1;
}

/*-----------------------------------------------------------------*/
static int tcpDoChoReceive(pTcpDoCho self)
{
  char buffer[1024];
  int len, bytesRead, bufferStart, status;
  time_t endTime;

  endTime = time(NULL) + self->timeout;
  bufferStart = 0;
  bytesRead = 0;
  memset(buffer, 0, 1024 * sizeof(char));
  while (time(NULL) < endTime) {
    if (availableRS232(self->controller)) {
      bytesRead +=
          recv(self->controller->pSock->sockid, buffer + bufferStart,
               1024 - bytesRead, 0);
      if (bytesRead < 0) {
        self->lastError = BADREAD;
        return 0;
      }
      if (strstr(buffer, "State") != NULL) {
        if (statusComplete(buffer) == 0) {
          continue;
        } else {
          status = parseStatus(self, buffer);
          return status;
        }
      }
      if (strstr(buffer, "ACCEPT") != NULL) {
        return 1;
      } else if (strstr(buffer, "NCCEPT") != NULL) {
        self->lastError = FAILEDCOMMAND;
        return 0;
      } else {
        self->lastError = BADRESPONSE;
        return 0;
      }
    } else {
      SicsWait(1);
    }
  }
  self->lastError = TIMEOUT;
  return 0;
}

/*-----------------------------------------------------------------*/
static int tcpDoChoCommand(pTcpDoCho self, char *command, int choNum,
                           char *value)
{
  int status;

  status = tcpDoChoSend(self, command, choNum, value);
  if (status == 0) {
    return 0;
  }
  return tcpDoChoReceive(self);
}

/*---------------------------------------------------------------*/
static int TcpDoChoConnect(pTcpDoCho self)
{
  int status, sendLen, readLen;
  char buffer[256];

  status = initRS232(self->controller);
  if (status != 1) {
    self->lastError = status;
    return 0;
  }
  setRS232Timeout(self->controller, 5);

  readLen = 255;
  readRS232(self->controller, (void *) buffer, &readLen);

  /*
     user name
   */
  snprintf(buffer, 255, "user:%s\r\n", self->user);
  sendLen = strlen(buffer);
  if (sendLen == 0) {
    self->lastError = BADCONVERSION;
    return 0;
  }
  status = send(self->controller->pSock->sockid, buffer, sendLen, 0);
  if (status < 0) {
    self->lastError = BADSEND;
    return 0;
  }
  readLen = 255;
  readRS232(self->controller, (void *) buffer, &readLen);

  /* 
     password
   */
  snprintf(buffer, 255, "password:%s\r\n", self->pword);
  sendLen = strlen(buffer);
  if (sendLen == 0) {
    self->lastError = BADCONVERSION;
    return 0;
  }
  status = send(self->controller->pSock->sockid, buffer, sendLen, 0);
  if (status < 0) {
    self->lastError = BADSEND;
    return 0;
  }
  readLen = 255;
  readRS232(self->controller, (void *) buffer, &readLen);

  /*
     TODO: responses should be checked to test for a valid login. 
     I do not know at this time how the controller reacts upon a
     bad login.
   */

  return 1;
}

/*==================== actual driver implementation code ==================*/
static int TcpChopperTask(void *pData)
{
  pCodri self = NULL;
  pTcpDoCho pPriv = NULL;
  int status, code, i;
  char buffer[80];
  char error[512];

  self = (pCodri) pData;
  assert(self);
  pPriv = (pTcpDoCho) self->pPrivate;
  assert(pPriv);

  if (pPriv->stop == 1) {
    return 0;
  }

  if (time(NULL) > pPriv->nextRefresh) {
    if (pPriv->lastError != 0) {
      self->GetError(self, &code, buffer, 79);
      snprintf(error, 511, "WARNING: chopper tries to fix: %s", buffer);
      WriteToCommandLog("Chopper-task:>>", error);
      status = self->TryFixIt(self, code);
      if (status == CHFAIL) {
        pPriv->nextRefresh = time(NULL) + pPriv->iRefreshIntervall;
        return 1;
      }
    } else {
      pPriv->busy = 1;
      for (i = 0; i < pPriv->numChoppers; i++) {
        status = tcpDoChoCommand(pPriv, "STATE ", i + 1, NULL);
        if (status != 1) {
          /*
             force error correction
           */
          return 1;
        }
      }
      pPriv->nextRefresh = time(NULL) + pPriv->iRefreshIntervall;
      pPriv->busy = 0;
    }
  }
  return 1;
}

/*------------------------------------------------------------------------------*/
static int TcpDoChoKill(pCodri self)
{
  pTcpDoCho pPriv = NULL;

  pPriv = (pTcpDoCho) self->pPrivate;
  if (!pPriv)
    return 1;

  if (pPriv->controller != NULL) {
    KillRS232(pPriv->controller);
  }
  if (pPriv->parameters != NULL) {
    DeleteStringDict(pPriv->parameters);
  }
  if (pPriv->config != NULL) {
    free(pPriv->config);
  }
  free(pPriv);
  return 1;
}

/*-------------------------------------------------------------------*/
static int TcpDoChoConfigure(pCodri pDriv)
{
  pTcpDoCho self = NULL;
  int status;
  char *pPtr = NULL;
  char command[80];

  assert(pDriv != NULL);
  self = (pTcpDoCho) pDriv->pPrivate;
  assert(self != NULL);

  if (self->config != NULL) {
    pPtr = self->config;
    while ((pPtr = stptok(pPtr, command, 79, "\n")) != NULL) {
      status = tcpDoChoCommand(self, command, -1, NULL);
      if (status != 1) {
        return 0;
      }
    }
  }
  return 1;
}

/*---------------------------------------------------------------------*/
static int TcpDoChoInit(pCodri pDriv)
{
  pTcpDoCho self = NULL;
  int status;

  assert(pDriv != NULL);
  self = (pTcpDoCho) pDriv->pPrivate;
  assert(self != NULL);

  self->lastError = 0;
  self->stop = 0;
  self->nextRefresh = 0;

  status = TcpDoChoConnect(self);
  if (status != 1) {
    return 0;
  }

  status = TcpDoChoConfigure(pDriv);
  if (status != 1) {
    return 0;
  }

  /* start the update task */
  if (self->lTask == 0) {
    self->lTask = TaskRegister(pServ->pTasker,
                               TcpChopperTask, NULL, NULL, pDriv, 1);
  }
  return 1;
}

/*-------------------------------------------------------------------*/
static void waitForBusy(pTcpDoCho self)
{
  time_t endTime;

  endTime = time(NULL) + 10 * 60;       /* max 10 min */
  while (time(NULL) < endTime) {
    if (self->busy == 1) {
      SicsWait(3);
    } else {
      return;
    }
  }
  WriteToCommandLog("Chopper-task>> ",
                    "WARNING: timeout on busy flag, flag forced");
  self->busy = 0;
}

/*----------------------------------------------------------------------*/
static int TcpDoChoClose(pCodri pDriv)
{
  pTcpDoCho self = NULL;
  int status;

  assert(pDriv != NULL);
  self = (pTcpDoCho) pDriv->pPrivate;
  assert(self != NULL);

  self->stop = 1;
  if (self->controller != NULL) {
    KillRS232(self->controller);
    self->controller = NULL;
  }
  return 1;
}

/*----------------------------------------------------------------------*/
static int dissectName(char *name, char par[80], int *num)
{
  char *pPtr = NULL;

  pPtr = strrchr(name, (int) '_');
  if (pPtr == NULL) {
    return 0;
  }
  memset(par, 0, 80 * sizeof(char));
  strncpy(par, name, pPtr - name);
  if (sscanf(pPtr + 1, "%d", num) != 1) {
    return 0;
  }
  return 1;
}

/*----------------------------------------------------------------------*/
static int TcpDoChoSetPar2(pCodri pDriv, char *parname, char *value)
{

  pTcpDoCho self = NULL;
  int status, choNum;
  char par[80], buffer[80], state[80];

  assert(pDriv != NULL);
  self = (pTcpDoCho) pDriv->pPrivate;
  assert(self != NULL);


  /*
     force status requests right after setting something in order
     to make the stored status represent the new target values
   */
  if (dissectName(parname, par, &choNum)) {
    /*
       check for emergency stop
     */
    snprintf(buffer, 79, "State_%1.1d", choNum);
    memset(state, 0, 80 * sizeof(char));
    StringDictGet(self->parameters, buffer, state, 79);
    if (strstr(state, "E-Stop") != NULL) {
      self->lastError = ESTOP;
      return 0;
    }

    if (strcmp(par, "speed") == 0) {
      waitForBusy(self);
      status = tcpDoChoCommand(self, "SPEED ", choNum, trim(value));
      tcpDoChoCommand(self, "STATE ", choNum, NULL);
      if (status != 1) {
        return 0;
      } else {
        return 1;
      }
    } else if (strcmp(par, "phase") == 0) {
      waitForBusy(self);
      status = tcpDoChoCommand(self, "PHASE ", choNum, trim(value));
      tcpDoChoCommand(self, "STATE ", choNum, NULL);
      if (status != 1) {
        return 0;
      } else {
        return 1;
      }
    }
  }
  self->lastError = UNDRIVABLE;
  return 0;
}

/*-----------------------------------------------------------------------*/
static int TcpDoChoHalt(pCodri pDriv)
{

  pTcpDoCho self = NULL;
  int status;

  assert(pDriv != NULL);
  self = (pTcpDoCho) pDriv->pPrivate;
  assert(self != NULL);

  waitForBusy(self);
  tcpDoChoCommand(self, "ESTOP :", -1, NULL);
  return 1;
}

/*-----------------------------------------------------------------------*/
static int TcpDoChoSetPar(pCodri pDriv, char *parname, float fValue)
{

  pTcpDoCho self = NULL;
  int status, choNum;
  char value[80];
  char par[80];


  assert(pDriv != NULL);
  self = (pTcpDoCho) pDriv->pPrivate;
  assert(self != NULL);

  if (dissectName(parname, par, &choNum)) {
    if (strcmp(par, "speed") == 0) {
      snprintf(value, 79, "%5.1f", fValue);
      return TcpDoChoSetPar2(pDriv, parname, value);
    } else if (strcmp(par, "phase") == 0) {
      snprintf(value, 79, "%6.2f", fValue);
      return TcpDoChoSetPar2(pDriv, parname, value);
    }
  }
  if (strcmp(parname, "updateintervall") == 0) {
    sprintf(value, "%d", (int) fValue);
    StringDictUpdate(self->parameters, "updateintervall", value);
    self->iRefreshIntervall = (int) fValue;
    return 1;
  } else {
    snprintf(value, 79, "%f", fValue);
    return TcpDoChoSetPar2(pDriv, parname, value);
  }
}

/*---------------------------------------------------------------------*/
static int TcpDoChoGetPar(pCodri pDriv, char *parname,
                          char *pBuffer, int iBuflen)
{
  pTcpDoCho self = NULL;
  int status = 0, choNum;
  char par[80], buffer[80];
  float val;

  assert(pDriv != NULL);
  self = (pTcpDoCho) pDriv->pPrivate;
  assert(self != NULL);

  memset(par, 0, 80);
  dissectName(parname, par, &choNum);
  if (strcmp(par, "speed") == 0) {
    snprintf(buffer, 80, "ASPEED_%1.1d", choNum);
    status = StringDictGet(self->parameters, buffer, pBuffer, iBuflen);
  } else if (strcmp(par, "phase") == 0) {
    snprintf(buffer, 80, "APHASE_%1.1d", choNum);
    status = StringDictGet(self->parameters, buffer, pBuffer, iBuflen);
  } else {
    status = StringDictGet(self->parameters, parname, pBuffer, iBuflen);
  }
  return status;
}

/*----------------------------------------------------------------------*/
static int TcpDoChoCheckPar(pCodri pDriv, char *parname)
{
  pTcpDoCho self = NULL;
  int status = 0, choNum;
  float val, soll, delta;
  char value[80], csoll[80], par[80], buffer[80], state[80];

  assert(pDriv != NULL);
  self = (pTcpDoCho) pDriv->pPrivate;
  assert(self != NULL);

  /*
     check for flags first
   */
  if (self->busy) {
    return HWBusy;
  }
  if (self->lastError != 0) {
    return HWFault;
  }

  /*
     updateintervall is always Idle
   */
  if (strcmp(parname, "updateintervall") == 0) {
    return HWIdle;
  }

  /*
     check for emergency stop
   */
  snprintf(buffer, 79, "State_%1.1d", choNum);
  memset(state, 0, 80 * sizeof(char));
  StringDictGet(self->parameters, buffer, state, 79);
  if (strstr(state, "E-Stop") != NULL) {
    self->lastError = HWFault;
    return 0;
  }

  memset(par, 0, 80);
  dissectName(parname, par, &choNum);
  if (strcmp(par, "speed") == 0) {
    snprintf(buffer, 79, "RSPEED_%1.1d", choNum);
    StringDictGet(self->parameters, buffer, csoll, 79);
    sscanf(csoll, "%f", &soll);
    snprintf(buffer, 79, "ASPEED_%1.1d", choNum);
    StringDictGet(self->parameters, buffer, value, 79);
    sscanf(value, "%f", &val);
    delta = ABS(soll - val);
    if (delta > SPEEDTOL) {
      return HWBusy;
    } else {
      return HWIdle;
    }
  } else if (strcmp(par, "phase") == 0) {
    snprintf(buffer, 79, "RPHASE_%1.1d", choNum);
    StringDictGet(self->parameters, buffer, csoll, 79);
    sscanf(value, "%f", &soll);
    snprintf(buffer, 79, "APHASE_%1.1d", choNum);
    StringDictGet(self->parameters, buffer, value, 79);
    sscanf(value, "%f", &val);
    delta = ABS(soll - val);
    if (delta > PHASETOL) {
      return HWBusy;
    } else {
      return HWIdle;
    }
  }
  self->lastError = BADPAR;
  return HWFault;
}

/*---------------------------------------------------------------------------*/
static int TcpDoChoError(pCodri pDriv, int *iCode, char *pError, int iLen)
{
  pTcpDoCho self = NULL;
  int status = 0;
  float val, soll, delta;
  char value[80];

  assert(pDriv != NULL);
  self = (pTcpDoCho) pDriv->pPrivate;
  assert(self != NULL);

  *iCode = self->lastError;
  switch (self->lastError) {
  case WRONGMODE:
    strncpy(pError, "Chopper in wrong mode", iLen);
    break;
  case BADCONVERSION:
    strncpy(pError, "Bad ASCII to unicode conversion", iLen);
    break;
  case FAILEDCOMMAND:
    strncpy(pError, "Command not accepted", iLen);
    break;
  case BADWRITE:
    strncpy(pError, "Failed to write to chopper controller", iLen);
    break;
  case BADRESPONSE:
    strncpy(pError, "Chopper controller send invalid command", iLen);
    break;
  case UNDRIVABLE:
    strncpy(pError, "Parameter cannot be changed", iLen);
    break;
  case BADPAR:
    strncpy(pError, "No such parameter", iLen);
    break;
  case ESTOP:
    strncpy(pError, "Emergency stop is engaged", iLen);
    break;
  default:
    getRS232Error(self->lastError, pError, iLen);
    break;
  }
  return 1;
}

/*---------------------------------------------------------------------*/
static int TcpDoChoFix(pCodri pDriv, int iCode)
{
  pTcpDoCho self = NULL;
  int status = 0;
  float val, soll, delta;
  char value[80];

  assert(pDriv != NULL);
  self = (pTcpDoCho) pDriv->pPrivate;
  assert(self != NULL);

  self->lastError = 0;
  switch (iCode) {
  case BADCONVERSION:
  case BADRESPONSE:
    return CHREDO;
    break;
  case WRONGMODE:
  case FAILEDCOMMAND:
  case UNDRIVABLE:
  case BADPAR:
  case ESTOP:
    return CHFAIL;
    break;
  default:
    closeRS232(self->controller);
    status = TcpDoChoConnect(self);
    if (status == 1) {
      return CHREDO;
    } else {
      return CHFAIL;
    }
    break;
  }
  return CHFAIL;
}

/*-------------------------------------------------------------------*/
pCodri MakeTcpDoChoDriver(char *tclArray, SConnection * pCon)
{
  pCodri pNew = NULL;
  pTcpDoCho self = NULL;
  const char *pPtr = NULL;
  char buffer[132];
  int port, i, count;
  Tcl_DString pars;
  char *parnames[] = { "State",
    "ASPEED",
    "RSPEED",
    "APHASE",
    "RPHASE",
    "AVETO",
    "DIR",
    "MONIT",
    "FLOWR",
    "WTEMP",
    "MTEMP",
    "MVIBR",
    "MVACU",
    "speed",
    "phase",
    NULL,
  };

  /*
     allocate memory
   */
  pNew = (pCodri) malloc(sizeof(Codri));
  self = (pTcpDoCho) malloc(sizeof(TcpDoCho));
  if (!pNew || !self) {
    return NULL;
  }
  memset(pNew, 0, sizeof(Codri));
  memset(self, 0, sizeof(TcpDoCho));

  /* port and host name */
  pPtr =
      Tcl_GetVar2(pServ->pSics->pTcl, tclArray, "port", TCL_GLOBAL_ONLY);
  if (!pPtr) {
    SCWrite(pCon,
            "ERROR: port not found in configuration array for TCP Dornier Chopper",
            eError);
    free(pNew);
    free(self);
    return NULL;
  }
  sscanf(pPtr, "%d", &port);
  pPtr =
      Tcl_GetVar2(pServ->pSics->pTcl, tclArray, "host", TCL_GLOBAL_ONLY);
  if (!pPtr) {
    SCWrite(pCon,
            "ERROR: host not found in configuration array for TCP Dornier Chopper",
            eError);
    free(pNew);
    free(self);
    return NULL;
  }
  memset(buffer, 0, 132);
  strncpy(buffer, pPtr, 131);
  self->controller = createRS232(buffer, port);

  /* number of choppers */
  pPtr =
      Tcl_GetVar2(pServ->pSics->pTcl, tclArray, "nchopper",
                  TCL_GLOBAL_ONLY);
  if (!pPtr) {
    SCWrite(pCon,
            "ERROR: nchopper  not found in configuration array for TCP Dornier Chopper",
            eError);
    free(pNew);
    free(self);
    return NULL;
  }
  sscanf(pPtr, "%d", &port);
  if (port < 0 || port > 8) {
    SCWrite(pCon, "ERROR: number of choppers not in range 1 - 8", eError);
    free(pNew);
    free(self);
  }
  self->numChoppers = port;

  /* timeout */
  pPtr =
      Tcl_GetVar2(pServ->pSics->pTcl, tclArray, "timeout",
                  TCL_GLOBAL_ONLY);
  if (!pPtr) {
    SCWrite(pCon,
            "ERROR: timeout not found in configuration array for TCP Dornier Chopper",
            eError);
    free(pNew);
    free(self);
    return NULL;
  }
  sscanf(pPtr, "%d", &port);
  self->timeout = port;

  /* username and password */
  pPtr =
      Tcl_GetVar2(pServ->pSics->pTcl, tclArray, "user", TCL_GLOBAL_ONLY);
  if (!pPtr) {
    SCWrite(pCon,
            "ERROR: user not found in configuration array for TCP Dornier Chopper",
            eError);
    free(pNew);
    free(self);
    return NULL;
  }
  strncpy(self->user, pPtr, 131);
  pPtr =
      Tcl_GetVar2(pServ->pSics->pTcl, tclArray, "password",
                  TCL_GLOBAL_ONLY);
  if (!pPtr) {
    SCWrite(pCon,
            "ERROR: password not found in configuration array for TCP Dornier Chopper",
            eError);
    free(pNew);
    free(self);
    return NULL;
  }
  strncpy(self->pword, pPtr, 131);

  /*
     chopper configuration
   */
  pPtr =
      Tcl_GetVar2(pServ->pSics->pTcl, tclArray, "config", TCL_GLOBAL_ONLY);
  if (pPtr != NULL) {
    self->config = strdup(pPtr);
  }


  /* initialize some more */
  self->parameters = CreateStringDict();
  if (self->parameters == NULL || self->controller == NULL) {
    SCWrite(pCon, "ERROR: out of memory in MakeTcpDoCho", eError);
    free(pNew);
    free(self);
    return NULL;
  }
  self->iRefreshIntervall = 60;
  pNew->Init = TcpDoChoInit;
  pNew->Close = TcpDoChoClose;
  pNew->Delete = TcpDoChoKill;
  pNew->SetPar = TcpDoChoSetPar;
  pNew->SetPar2 = TcpDoChoSetPar2;
  pNew->GetPar = TcpDoChoGetPar;
  pNew->CheckPar = TcpDoChoCheckPar;
  pNew->GetError = TcpDoChoError;
  pNew->TryFixIt = TcpDoChoFix;
  pNew->Halt = TcpDoChoHalt;
  StringDictAddPair(self->parameters, "updateintervall", "60");
  pNew->pPrivate = self;

  /*
     create parameter list
   */
  Tcl_DStringInit(&pars);
  count = 0;
  Tcl_DStringAppend(&pars, "updateintervall", 15);
  while (parnames[count] != NULL) {
    for (i = 0; i < self->numChoppers; i++) {
      snprintf(buffer, 131, ",%s_%1.1d", parnames[count], i + 1);
      Tcl_DStringAppend(&pars, buffer, strlen(buffer));
    }
    count++;
  }
  pNew->pParList = strdup(Tcl_DStringValue(&pars));
  Tcl_DStringFree(&pars);
  return pNew;
}