sicspsi/julcho.c

/**
* This is the implementation of a chopper driver for the MARS Chopper cascade
* as provided by the Forschungszentrum Juelich. The original host protocol 
* from Juelich has been changed on our request; Gerd Theidel did some of that 
* Turbo Pascal coding.
*
* copyright: see file COPYRIGHT
*
* Mark Koennecke, June-July 2006
* 
* Parameter updating is to  slow, therefore it happens in two groups now: 
* actspeed and actphase are requested more frequently, so they go separate
* 
* Mark Koennecke, October 2006
*/
#include <stdlib.h>
#include <assert.h>
#include <time.h>
#include <sics.h>
#include <unistd.h>
#define CHOCOINTERNAL
#include <choco.h>
#include <SCinter.h>
#include <rs232controller.h>
#include <sicshipadaba.h>
#include <stptok.h>
#include <dynstring.h>
/*----------------------------- error codes  -----------------------------*/
#define FRAMEERROR -801
#define CKERROR    -802
#define BADCOMMAND -803
#define WRONGNOPAR -804
#define ILLPAR     -805
#define PARRANGE   -806
#define BADERR     -807
#define BADREPLY   -808
#define NOTPAR     -809
#define BADTEXT    -810
#define ROPAR      -811
#define NOMEM      -812
#define HALT       -813
/*--------------------- update flags -------------------------------------*/
#define ALL 1
#define SPEED 2
/*--------------------- wait after set -----------------------------------*/
#define STWAIT 5
/*------------------------- chopper internal names -----------------------*/
#define CH1N "snail"
#define CH2N "master"
#define CH3N "rabbit"
#define CH4N "four"
#define CH5N "five"
/*=============== Juelich chopper private data structure ================== */
typedef struct {
  prs232 controller;
  pHdb parNode;
  int errorCode;
  time_t lastUpdate;
  int updateIntervall;
  int speedUpdate;
  int halt;
} JulCho, *pJulCho;
/*------------------------------------------------------------------------*/
typedef struct {
  char prefix[10];
  char postfix[10];
  char comCode[10];
  pJulCho pDriv;
} julCBData, *pJulCBData;
/*================= internal support functions ============================*/
static int calculateJulCheckSum(char *realCommand)
{
  int i, checkSum = 0;

  for (i = 1; i < strlen(realCommand); i++) {
    checkSum += (int) realCommand[i];
  }
  return checkSum;
}

/*------------------------------------------------------------------------*/
static int testJulError(char *reply)
{
  char *pPtr = NULL, *pEnd = NULL;
  int code, status;

  if (strstr(reply, "ERR") == NULL) {
    return 1;
  }
  pPtr = &reply[9];             /* #ERR:CCC: */
  pEnd = strchr(pPtr, '{');
  if (pEnd == NULL) {
    return BADERR;
  }
  *pEnd = '\0';
  code = atoi(pPtr);
  switch (code) {
  case 1:
    status = FRAMEERROR;
    break;
  case 2:
    status = CKERROR;
    break;
  case 3:
    status = BADCOMMAND;
    break;
  case 4:
    status = WRONGNOPAR;
    break;
  case 5:
    status = ILLPAR;
    break;
  case 6:
    status = PARRANGE;
    break;
  default:
    status = BADERR;
    break;
  }
  return status;
}

/*------------------------------------------------------------------------*/
static void readClean(prs232 controller)
{
  char buffer[1024];
  int count = 0, bufSize;

  while (availableRS232(controller) == 1 && count < 20) {
    bufSize = 1024;
    readRS232(controller, buffer, &bufSize);
  }
}

/*-------------------------------------------------------------------------*/
static int JulChoTransact(pJulCho self, char *command,
                          char *reply, int replyLen)
{
  int status, length, checkSum;
  char realCommand[1024], checkString[30];

  strcpy(realCommand, "#");
  strcat(realCommand, command);

  checkSum = calculateJulCheckSum(realCommand);
  snprintf(checkString, 30, "{%d}$", checkSum);
  strcat(realCommand, checkString);

  /*
   * clean the socket: If someone whacked the keyboard and the
   * controller did not repsond, the line might be full of shit
   */
  readClean(self->controller);

  status =
      transactRS232(self->controller, realCommand, strlen(realCommand),
                    (void *) reply, replyLen);
  if (status <= 0) {
    return status;
  }

  status = testJulError(reply);

  return status;
}

/*---------------------------------------------------------------------------*/
static hdbCallbackReturn JulChoSetCallback(pHdb node, void *userData,
                                           pHdbMessage message)
{
  pJulCBData cbData = NULL;
  char command[256], reply[256];
  pHdbDataMessage mm = NULL;
  int status;

  cbData = (pJulCBData) userData;
  if (cbData == NULL) {
    return hdbContinue;
  }

  /*
   * Is this for us?
   */
  mm = GetHdbSetMessage(message);
  if (mm == NULL) {
    return hdbContinue;
  }


  if (mm->v->dataType == HIPINT) {
    snprintf(command, 255, "%s %s%d%s", cbData->comCode, cbData->prefix,
             (int) mm->v->v.intValue, cbData->postfix);
  } else if (mm->v->dataType == HIPFLOAT) {
    snprintf(command, 255, "%s %s%f%s", cbData->comCode, cbData->prefix,
             (float) mm->v->v.doubleValue, cbData->postfix);
  } else {
    assert(0);                  /* this is a programming error */
  }

  cbData->pDriv->halt = 0;
  status = JulChoTransact(cbData->pDriv, command, reply, 255);
  if (status < 0) {
    cbData->pDriv->errorCode = status;
    return hdbAbort;
  }
  return hdbContinue;
}

/*------------------------------------------------------------------------------*/
static pHdbCallback MakeJulChoSetCallback(pJulCho driv, char *command,
                                          char *prefix, char *postfix)
{
  pJulCBData cbData = NULL;
  pHdbCallback hdbCB = NULL;

  hdbCB = malloc(sizeof(hdbCallback));
  cbData = malloc(sizeof(julCBData));
  if (cbData == NULL || hdbCB == NULL) {
    return NULL;
  }
  cbData->pDriv = driv;
  strncpy(cbData->comCode, command, 9);
  strncpy(cbData->prefix, prefix, 9);
  strncpy(cbData->postfix, postfix, 9);
  hdbCB->next = NULL;
  hdbCB->previous = NULL;
  hdbCB->killFunc = free;
  hdbCB->userCallback = JulChoSetCallback;
  hdbCB->userData = cbData;
  return hdbCB;
}

/*--------------------------------------------------------------------------*/
static int splitJulChoInt(char *reply, int data[5])
{
  char number[10];
  char *pPtr = NULL;
  int count = 0;

  pPtr = stptok(reply, number, 10, ":");
  pPtr = stptok(pPtr, number, 10, ":");
  while (pPtr != NULL && count < 5) {
    data[count] = atoi(number);
    count++;
    pPtr = stptok(pPtr, number, 10, ":");
  }
  if (count < 4) {
    return 0;
  }
  return 1;
}

/*--------------------------------------------------------------------------*/
static int splitJulChoDouble(char *reply, double data[5])
{
  char number[10];
  char *pPtr = NULL;
  int count = 0;

  pPtr = stptok(reply, number, 10, ":");
  pPtr = stptok(pPtr, number, 10, ":");
  while (pPtr != NULL && count < 5) {
    data[count] = (double) atof(number);
    count++;
    pPtr = stptok(pPtr, number, 10, ":");
  }
  if (count < 4) {
    return 0;
  }
  return 1;
}

/*--------------------------------------------------------------------------*/
static int setJulChoIntPar(pHdb root, char *par, int data[5])
{
  char path[256];
  hdbValue v;
  pHdb node = NULL;

  memset(&v, 0, sizeof(hdbValue));
  v.dataType = HIPINT;

  snprintf(path, 255, "%s/%s", CH1N, par);
  node = GetHipadabaNode(root, path);
  assert(node != NULL);
  v.v.intValue = (long) data[0];
  UpdateHipadabaPar(node, v, NULL);

  snprintf(path, 255, "%s/%s", CH2N, par);
  node = GetHipadabaNode(root, path);
  assert(node != NULL);
  v.v.intValue = (long) data[1];
  UpdateHipadabaPar(node, v, NULL);

  snprintf(path, 255, "%s/%s", CH3N, par);
  node = GetHipadabaNode(root, path);
  assert(node != NULL);
  v.v.intValue = (long) data[2];
  UpdateHipadabaPar(node, v, NULL);

  snprintf(path, 255, "%s/%s", CH4N, par);
  node = GetHipadabaNode(root, path);
  assert(node != NULL);
  v.v.intValue = (long) data[3];
  UpdateHipadabaPar(node, v, NULL);

  snprintf(path, 255, "%s/%s", CH5N, par);
  node = GetHipadabaNode(root, path);
  assert(node != NULL);
  v.v.intValue = (long) data[4];
  UpdateHipadabaPar(node, v, NULL);

  return 1;
}

/*--------------------------------------------------------------------------*/
static int setJulChoDoublePar(pHdb root, char *par, double data[5])
{
  char path[256];
  hdbValue v;
  pHdb node = NULL;

  memset(&v, 0, sizeof(hdbValue));
  v.dataType = HIPFLOAT;

  snprintf(path, 255, "%s/%s", CH1N, par);
  node = GetHipadabaNode(root, path);
  assert(node != NULL);
  v.v.doubleValue = data[0];
  UpdateHipadabaPar(node, v, NULL);

  snprintf(path, 255, "%s/%s", CH2N, par);
  node = GetHipadabaNode(root, path);
  assert(node != NULL);
  v.v.doubleValue = data[1];
  UpdateHipadabaPar(node, v, NULL);

  snprintf(path, 255, "%s/%s", CH3N, par);
  node = GetHipadabaNode(root, path);
  assert(node != NULL);
  v.v.doubleValue = data[2];
  UpdateHipadabaPar(node, v, NULL);

  snprintf(path, 255, "%s/%s", CH4N, par);
  node = GetHipadabaNode(root, path);
  assert(node != NULL);
  v.v.doubleValue = data[3];
  UpdateHipadabaPar(node, v, NULL);

  snprintf(path, 255, "%s/%s", CH5N, par);
  node = GetHipadabaNode(root, path);
  assert(node != NULL);
  v.v.doubleValue = data[4];
  UpdateHipadabaPar(node, v, NULL);

  return 1;
}

/*--------------------------------------------------------------------------*/
static void updateJulChoFlag(pHdb node, char *choppername, char *parname,
                             int code, int mask)
{
  char path[256];
  hdbValue v;
  pHdb target = NULL;

  v.dataType = HIPINT;
  snprintf(path, 255, "%s/%s", choppername, parname);
  if ((mask & code) > 0) {
    v.v.intValue = 1;
  } else {
    v.v.intValue = 0;
  }
  target = GetHipadabaNode(node, path);
  assert(target != NULL);
  UpdateHipadabaPar(target, v, NULL);
}

/*---------------------------------------------------------------------------*/
static int setJulChoFlags(pHdb node, int intData[5])
{
  char *chNames[] = { CH1N,
    CH2N,
    CH3N,
    CH4N,
    CH5N,
    NULL
  };
  char path[256];
  int i, code;
  hdbValue v;

  memset(&v, 0, sizeof(hdbValue));
  v.dataType = HIPINT;
  for (i = 0; i < 5; i++) {
    code = intData[i];
    updateJulChoFlag(node, chNames[i], "microok", code, 1);
    updateJulChoFlag(node, chNames[i], "atspeed", code, 2);
    updateJulChoFlag(node, chNames[i], "atphase", code, 4);
    updateJulChoFlag(node, chNames[i], "magneton", code, 8);
    updateJulChoFlag(node, chNames[i], "dcon", code, 16);
    updateJulChoFlag(node, chNames[i], "driveon", code, 32);
    updateJulChoFlag(node, chNames[i], "currentdc", code, 64);
    updateJulChoFlag(node, chNames[i], "lockopen", code, 128);
    updateJulChoFlag(node, chNames[i], "diskopen", code, 256);
    updateJulChoFlag(node, chNames[i], "diskclosed", code, 512);
    updateJulChoFlag(node, chNames[i], "speedoverflow", code, 1024);
    updateJulChoFlag(node, chNames[i], "bearingfailed", code, 2048);
    updateJulChoFlag(node, chNames[i], "voltagetohigh", code, 4096);
  }

  return 1;
}

/*--------------------------------------------------------------------------*/
static int ReadJulChoFlags(pJulCho self)
{
  int status, intData[5];
  char reply[256];

  status = JulChoTransact(self, "RSC", reply, 255);
/*    fprintf(stdout,"Chopper flags = %s\n", reply);*/
  if (status < 0) {
    self->errorCode = status;
    return 0;
  }
  if (!splitJulChoInt(reply, intData)) {
    self->errorCode = BADREPLY;
  }
  setJulChoFlags(self->parNode, intData);
  return 1;
}

/*---------------------------------------------------------------------------*/
static int UpdateJulChoParameters(pJulCho self, int what)
{
  int status, intData[5];
  double doubleData[5];
  char reply[255];

  assert(what == ALL || what == SPEED);

  if (what == SPEED) {
    if (time(NULL) < self->speedUpdate + self->updateIntervall) {
      return 1;
    }
  } else {
    if (time(NULL) < self->lastUpdate + self->updateIntervall) {
      return 1;
    }
  }

  status = JulChoTransact(self, "RAS", reply, 255);
  if (status < 0) {
    self->errorCode = status;
    return 0;
  }
  if (!splitJulChoInt(reply, intData)) {
    self->errorCode = BADREPLY;
  }
  setJulChoIntPar(self->parNode, "actspeed", intData);

  status = JulChoTransact(self, "RAP", reply, 255);
  if (status < 0) {
    self->errorCode = status;
    return 0;
  }
  if (!splitJulChoDouble(reply, doubleData)) {
    self->errorCode = BADREPLY;
  }
  setJulChoDoublePar(self->parNode, "actphase", doubleData);

  if (what != ALL) {
    self->speedUpdate = time(NULL);
    return 1;
  }

  status = JulChoTransact(self, "RNS", reply, 255);
  if (status < 0) {
    self->errorCode = status;
    return 0;
  }
  if (!splitJulChoInt(reply, intData)) {
    self->errorCode = BADREPLY;
  }
  setJulChoIntPar(self->parNode, "nomspeed", intData);


  status = JulChoTransact(self, "RNP", reply, 255);
  if (status < 0) {
    self->errorCode = status;
    return 0;
  }
  if (!splitJulChoDouble(reply, doubleData)) {
    self->errorCode = BADREPLY;
  }
  setJulChoDoublePar(self->parNode, "nomphase", doubleData);


  status = JulChoTransact(self, "RGW", reply, 255);
  if (status < 0) {
    self->errorCode = status;
    return 0;
  }
  if (!splitJulChoDouble(reply, doubleData)) {
    self->errorCode = BADREPLY;
  }
  setJulChoDoublePar(self->parNode, "gatewidth", doubleData);

  status = JulChoTransact(self, "RNC", reply, 255);
  if (status < 0) {
    self->errorCode = status;
    return 0;
  }
  if (!splitJulChoDouble(reply, doubleData)) {
    self->errorCode = BADREPLY;
  }
  setJulChoDoublePar(self->parNode, "nomcurrent", doubleData);


  status = JulChoTransact(self, "RAC", reply, 255);
  if (status < 0) {
    self->errorCode = status;
    return 0;
  }
  if (!splitJulChoDouble(reply, doubleData)) {
    self->errorCode = BADREPLY;
  }
  setJulChoDoublePar(self->parNode, "actcurrent", doubleData);

  status = JulChoTransact(self, "RAV", reply, 255);
  if (status < 0) {
    self->errorCode = status;
    return 0;
  }
  if (!splitJulChoDouble(reply, doubleData)) {
    self->errorCode = BADREPLY;
  }
  setJulChoDoublePar(self->parNode, "voltage", doubleData);

  status = JulChoTransact(self, "RIT", reply, 255);
  if (status < 0) {
    self->errorCode = status;
    return 0;
  }
  if (!splitJulChoDouble(reply, doubleData)) {
    self->errorCode = BADREPLY;
  }
  setJulChoDoublePar(self->parNode, "inverter_temperature", doubleData);

  status = JulChoTransact(self, "RST", reply, 255);
  if (status < 0) {
    self->errorCode = status;
    return 0;
  }
  if (!splitJulChoDouble(reply, doubleData)) {
    self->errorCode = BADREPLY;
  }
  setJulChoDoublePar(self->parNode, "stator_temperature", doubleData);

  status = ReadJulChoFlags(self);

  self->lastUpdate = time(NULL);
  self->speedUpdate = time(NULL);
  return status;
}

/*------------------------------------------------------------------------*/
static void JulChoErrorcodeToString(int code, char *pError, int iLen)
{
  switch (code) {
  case FRAMEERROR:
    strncpy(pError, "Frame error", iLen);
    break;
  case CKERROR:
    strncpy(pError, "Checksum error", iLen);
    break;
  case BADCOMMAND:
    strncpy(pError, "Bad Command", iLen);
    break;
  case WRONGNOPAR:
    strncpy(pError, "Wrong number of parameters", iLen);
    break;
  case ILLPAR:
    strncpy(pError, "Illegal parameter", iLen);
    break;
  case PARRANGE:
    strncpy(pError, "Parameter out of range", iLen);
    break;
  case BADERR:
    strncpy(pError, "Controller error not recognised", iLen);
    break;
  case BADREPLY:
    strncpy(pError, "Unexpected reply", iLen);
    break;
  case NOTPAR:
    strncpy(pError, "Unsupported parameter", iLen);
    break;
  case BADTEXT:
    strncpy(pError, "Failed to convert text to number", iLen);
    break;
  case ROPAR:
    strncpy(pError, "Read only Parameter", iLen);
    break;
  case NOMEM:
    strncpy(pError, "Out of memory formatting parameter", iLen);
    break;
  case HALT:
    strncpy(pError, "User requested HALT; choppers status undefined ",
            iLen);
    break;
  case SICSCBRANGE:
    strncpy(pError, "Parameter value out of range", iLen);
    break;
  case SICSCBRO:
    strncpy(pError, "Parameter is READ-ONLY", iLen);
    break;
  default:
    getRS232Error(code, pError, iLen);
    break;
  }
}

/*------------------------------------------------------------------------*/
static int testParGroup(char *name)
{
  if (strstr(name, "actspeed") != NULL || strstr(name, "actphase") != NULL) {
    return SPEED;
  } else {
    return ALL;
  }
}

/*-------------------------------------------------------------------------*/
static hdbCallbackReturn JulChoGetCallback(pHdb currentNode,
                                           void *userData,
                                           pHdbMessage message)
{
  pJulCho self = NULL;
  SConnection *pCon = NULL;
  int status;
  char error[128], buffer[256];
  pHdbDataMessage mm = NULL;

  self = (pJulCho) userData;
  assert(self != NULL);

  mm = GetHdbGetMessage(message);
  if (mm == NULL) {
    return hdbContinue;
  }
  pCon = (SConnection *) mm->callData;

  status = UpdateJulChoParameters(self, testParGroup(currentNode->name));
  if (status != 1 && pCon != NULL) {
    JulChoErrorcodeToString(self->errorCode, error, 127);
    snprintf(buffer, 255, "ERROR: %s occurred reading par", error);
    SCWrite(pCon, buffer, eError);
  }
  return hdbContinue;
}

/*--------------------------------------------------------------------------*/
static int AppendJulChoROPar(pHdb parent, char *name, int type)
{
  pHdb child = NULL;
  child = AddSICSHdbROPar(parent, name, makeHdbValue(type, 1));
  if (child != NULL) {
    return 1;
  } else {
    return 0;
  }
}

/*---------------------------------------------------------------------------*/
static int ConfigureSingleJulCho(pHdb parent, pJulCho driv,
                                 char *prefix, char *postfix)
{
  pHdb child = NULL;
  pHdbCallback pCb = NULL;

  /*
   * write parameters
   */

  child = MakeHipadabaNode("nomphase", HIPFLOAT, 0);
  if (child == NULL) {
    return 0;
  }
  pCb = MakeCheckPermissionCallback(usUser);
  if (pCb == NULL) {
    return 0;
  }
  AppendHipadabaCallback(child, pCb);
  pCb = MakeFloatRangeCallback(5.0, 355.);
  if (pCb == NULL) {
    return 0;
  }
  AppendHipadabaCallback(child, pCb);
  pCb = MakeJulChoSetCallback(driv, "SPH", prefix, postfix);
  if (pCb == NULL) {
    return 0;
  }
  AppendHipadabaCallback(child, pCb);
  AddHipadabaChild(parent, child, NULL);

  child = MakeHipadabaNode("gatewidth", HIPFLOAT, 0);
  if (child == NULL) {
    return 0;
  }
  pCb = MakeCheckPermissionCallback(usUser);
  if (pCb == NULL) {
    return 0;
  }
  AppendHipadabaCallback(child, pCb);
  pCb = MakeJulChoSetCallback(driv, "SGW", prefix, postfix);
  if (pCb == NULL) {
    return 0;
  }
  AppendHipadabaCallback(child, pCb);
  AddHipadabaChild(parent, child, NULL);

  if (!AppendJulChoROPar(parent, "nomspeed", HIPINT)) {
    return 0;
  }

  if (!AppendJulChoROPar(parent, "actspeed", HIPINT)) {
    return 0;
  }

  if (!AppendJulChoROPar(parent, "actphase", HIPFLOAT)) {
    return 0;
  }

  if (!AppendJulChoROPar(parent, "nomcurrent", HIPFLOAT)) {
    return 0;
  }

  if (!AppendJulChoROPar(parent, "actcurrent", HIPFLOAT)) {
    return 0;
  }

  if (!AppendJulChoROPar(parent, "voltage", HIPFLOAT)) {
    return 0;
  }

  if (!AppendJulChoROPar(parent, "inverter_temperature", HIPFLOAT)) {
    return 0;
  }

  if (!AppendJulChoROPar(parent, "stator_temperature", HIPFLOAT)) {
    return 0;
  }

  if (!AppendJulChoROPar(parent, "microok", HIPINT)) {
    return 0;
  }

  if (!AppendJulChoROPar(parent, "atspeed", HIPINT)) {
    return 0;
  }

  if (!AppendJulChoROPar(parent, "atphase", HIPINT)) {
    return 0;
  }

  if (!AppendJulChoROPar(parent, "magneton", HIPINT)) {
    return 0;
  }

  if (!AppendJulChoROPar(parent, "dcon", HIPINT)) {
    return 0;
  }

  if (!AppendJulChoROPar(parent, "driveon", HIPINT)) {
    return 0;
  }

  if (!AppendJulChoROPar(parent, "currentdc", HIPINT)) {
    return 0;
  }

  if (!AppendJulChoROPar(parent, "lockopen", HIPINT)) {
    return 0;
  }

  if (!AppendJulChoROPar(parent, "diskopen", HIPINT)) {
    return 0;
  }

  if (!AppendJulChoROPar(parent, "diskclosed", HIPINT)) {
    return 0;
  }

  if (!AppendJulChoROPar(parent, "speedoverflow", HIPINT)) {
    return 0;
  }

  if (!AppendJulChoROPar(parent, "bearingfailed", HIPINT)) {
    return 0;
  }

  if (!AppendJulChoROPar(parent, "voltagetohigh", HIPINT)) {
    return 0;
  }

  /*
   * append get callbacks 
   */
  child = parent->child;
  while (child != NULL) {
    AppendHipadabaCallback(child,
                           MakeHipadabaCallback(JulChoGetCallback, driv,
                                                NULL));
    child = child->next;
  }
  return 1;
}

/*--------------------------------------------------------------------------*/
static int InitJulChoPar(pJulCho driv)
{
  pHdb child = NULL, parChild = NULL;
  pHdbCallback pCb = NULL;


  child = MakeHipadabaNode(CH1N, HIPNONE, 0);
  if (child == NULL) {
    return 0;
  }
  if (!ConfigureSingleJulCho(child, driv, "", "::::")) {
    return 0;
  }
  AddHipadabaChild(driv->parNode, child, NULL);

  child = MakeHipadabaNode(CH2N, HIPNONE, 0);
  if (child == NULL) {
    return 0;
  }
  if (!ConfigureSingleJulCho(child, driv, ":", ":::")) {
    return 0;
  }
    /**
     * the master speed can be set, the slaves not, thus remove the read only 
     * set callback and replace by a speed setting callback
     */
  parChild = GetHipadabaNode(child, "nomspeed");
  assert(parChild != NULL);
  /*
   * delete the callback cahin in order to remove the 
   * read only callback
   */
  DeleteCallbackChain(parChild);
  parChild->callBackChain = NULL;

  pCb = MakeCheckPermissionCallback(usUser);
  if (pCb == NULL) {
    return 0;
  }
  AppendHipadabaCallback(parChild, pCb);
  pCb = MakeJulChoSetCallback(driv, "SMS", "", "");
  if (pCb == NULL) {
    return 0;
  }
  AppendHipadabaCallback(parChild, pCb);
  AppendHipadabaCallback(parChild,
                         MakeHipadabaCallback(JulChoGetCallback, driv,
                                              NULL));


  AddHipadabaChild(driv->parNode, child, NULL);

  child = MakeHipadabaNode(CH3N, HIPNONE, 0);
  if (child == NULL) {
    return 0;
  }
  if (!ConfigureSingleJulCho(child, driv, "::", "::")) {
    return 0;
  }
  AddHipadabaChild(driv->parNode, child, NULL);

  child = MakeHipadabaNode(CH4N, HIPNONE, 0);
  if (child == NULL) {
    return 0;
  }
  if (!ConfigureSingleJulCho(child, driv, ":::", ":")) {
    return 0;
  }
  AddHipadabaChild(driv->parNode, child, NULL);

  child = MakeHipadabaNode(CH5N, HIPNONE, 0);
  if (child == NULL) {
    return 0;
  }
  if (!ConfigureSingleJulCho(child, driv, "::::", "")) {
    return 0;
  }
  AddHipadabaChild(driv->parNode, child, NULL);

  return 1;
}

/*================= actual interface functions ==============================*/
static int JulChoInit(pCodri pDriv)
{
  pJulCho self = NULL;
  int status;

  self = (pJulCho) pDriv->pPrivate;
  status = initRS232(self->controller);
  if (status < 1) {
    self->errorCode = status;
  }
  setRS232SendTerminator(self->controller, "$");
  setRS232ReplyTerminator(self->controller, "$");
  setRS232Timeout(self->controller, 2000);
  return 1;
}

/*---------------------------------------------------------------------------*/
static int JulChoClose(pCodri pDriv)
{
  pJulCho self = NULL;

  self = (pJulCho) pDriv->pPrivate;
  closeRS232(self->controller);
  return 1;
}

/*---------------------------------------------------------------------------*/
static int JulChoKill(pCodri pDriv)
{
  pJulCho self = NULL;

  if (pDriv == NULL) {
    return 1;
  }
  self = (pJulCho) pDriv->pPrivate;
  JulChoClose(pDriv);
  if (self->controller != NULL) {
    KillRS232(self->controller);
    self->controller = NULL;
  }
  free(self);
  return 1;
}

/*---------------------------------------------------------------------------
 * The set and get routines introduce phase and speed values which map to
 * nomspeed when setting and actspeed when reading. This ugly hack saves me
 * to introduce another drive adapter which set one parameter and reads 
 * another
 *---------------------------------------------------------------------------*/
static int JulChoSetPar2(pCodri pDriv, char *parname, char *pValue)
{
  pJulCho self = NULL;
  pHdb target = NULL;
  hdbValue v;
  char error[64], *pPtr = NULL;
  int status;

  if (strcmp(parname, "master/speed") == 0) {
    status = JulChoSetPar2(pDriv, "master/nomspeed", pValue);
    if (status == 1) {
      SicsWait(10);
    }
    return status;
  } else if (strcmp(parname, "master/phase") == 0) {
    return JulChoSetPar2(pDriv, "master/nomphase", pValue);
  } else if (strcmp(parname, "snail/phase") == 0) {
    return JulChoSetPar2(pDriv, "snail/nomphase", pValue);
  } else if (strcmp(parname, "rabbit/phase") == 0) {
    return JulChoSetPar2(pDriv, "rabbit/nomphase", pValue);
  } else if (strcmp(parname, "four/phase") == 0) {
    return JulChoSetPar2(pDriv, "four/nomphase", pValue);
  } else if (strcmp(parname, "five/phase") == 0) {
    return JulChoSetPar2(pDriv, "five/nomphase", pValue);
  }

  self = (pJulCho) pDriv->pPrivate;
  target = GetHipadabaNode(self->parNode, parname);
  if (target == NULL) {
    self->errorCode = NOTPAR;
    return 0;
  }
  v.dataType = target->value.dataType;
  if (!readHdbValue(&v, pValue, error, 63)) {
    self->errorCode = BADTEXT;
    return 0;
  }
  self->errorCode = 0;
  status = SetHipadabaPar(target, v, NULL);
  if (status == 0 && self->errorCode == 0) {
    self->errorCode = status;
    return 0;
  }
  /*
   * The SicsWait is here to allow the chopper to update his status flags.
   * There were occurrences where the chopper was still driving but the 
   * status flag did not reflect this.
   */
  SicsWait(STWAIT);
  self->lastUpdate = 0;
  return status;
}

/*-------------------------------------------------------------------------------*/
static int JulChoSetPar(pCodri pDriv, char *parname, float fValue)
{
  pJulCho self = NULL;
  pHdb target = NULL;
  hdbValue v;
  char error[64];
  int status;

  if (strcmp(parname, "master/speed") == 0) {
    status = JulChoSetPar(pDriv, "master/nomspeed", fValue);
    if (status == 1) {
      SicsWait(10);
    }
    return status;
  } else if (strcmp(parname, "master/phase") == 0) {
    return JulChoSetPar(pDriv, "master/nomphase", fValue);
  } else if (strcmp(parname, "snail/phase") == 0) {
    return JulChoSetPar(pDriv, "snail/nomphase", fValue);
  } else if (strcmp(parname, "rabbit/phase") == 0) {
    return JulChoSetPar(pDriv, "rabbit/nomphase", fValue);
  } else if (strcmp(parname, "four/phase") == 0) {
    return JulChoSetPar(pDriv, "four/nomphase", fValue);
  } else if (strcmp(parname, "five/phase") == 0) {
    return JulChoSetPar(pDriv, "five/nomphase", fValue);
  }

  self = (pJulCho) pDriv->pPrivate;
  target = GetHipadabaNode(self->parNode, parname);
  if (target == NULL) {
    self->errorCode = NOTPAR;
    return 0;
  }
  v.dataType = target->value.dataType;
  if (v.dataType == HIPINT) {
    v.v.intValue = (int) fValue;
  } else {
    v.v.doubleValue = (double) fValue;
  }
  self->errorCode = 0;
  status = SetHipadabaPar(target, v, NULL);
  if (status == 0 && self->errorCode == 0) {
    self->errorCode = status;
    return 0;
  }
  /*
   * The SicsWait is here to allow the chopper to update his status flags.
   * There were occurrences where the chopper was still driving but the 
   * status flag did not reflect this.
   */
  SicsWait(STWAIT);
  self->lastUpdate = 0;
  return status;
}

/*---------------------------------------------------------------------------*/
static int JulChoHalt(pCodri pDriv)
{
  pJulCho self = NULL;

  self = (pJulCho) pDriv->pPrivate;
  self->halt = 1;
  /*
   * empty function on Philips request
   */
  return 1;
}

/*--------------------------------------------------------------------------*/
static int JulChoGetPar(pCodri pDriv, char *parname,
                        char *pBuffer, int iBufLen)
{
  pJulCho self = NULL;
  pHdb target = NULL;
  pDynString val = NULL;

  if (strcmp(parname, "master/speed") == 0) {
    return JulChoGetPar(pDriv, "master/actspeed", pBuffer, iBufLen);
  } else if (strcmp(parname, "master/phase") == 0) {
    return JulChoGetPar(pDriv, "master/actphase", pBuffer, iBufLen);
  } else if (strcmp(parname, "snail/phase") == 0) {
    return JulChoGetPar(pDriv, "snail/actphase", pBuffer, iBufLen);
  } else if (strcmp(parname, "rabbit/phase") == 0) {
    return JulChoGetPar(pDriv, "rabbit/actphase", pBuffer, iBufLen);
  } else if (strcmp(parname, "four/phase") == 0) {
    return JulChoGetPar(pDriv, "four/actphase", pBuffer, iBufLen);
  } else if (strcmp(parname, "five/phase") == 0) {
    return JulChoGetPar(pDriv, "five/actphase", pBuffer, iBufLen);
  }


  self = (pJulCho) pDriv->pPrivate;
  target = GetHipadabaNode(self->parNode, parname);
  if (target == NULL) {
    self->errorCode = NOTPAR;
    return 0;
  }
  if (!UpdateJulChoParameters(self, testParGroup(parname))) {
    return 0;
  }
  val = formatValue(target->value, target);
  if (val == NULL) {
    self->errorCode = NOMEM;
    return 0;
  }
  strncpy(pBuffer, GetCharArray(val), iBufLen);
  DeleteDynString(val);
  return 1;
}

/*---------------------------------------------------------------------------*/
static int JulChoCheckPar(pCodri pDriv, char *parname)
{
  pJulCho self = NULL;
  int i, status;
  char path[256], reply[256];
  pHdb target = NULL;
  char *chNames[] = { CH1N,
    CH2N,
    CH3N,
    CH4N,
    CH5N,
    NULL
  };

  self = (pJulCho) pDriv->pPrivate;

  if (self->halt == 1) {
    self->errorCode = HALT;
    return HWFault;
  }
  /* 
   * For the Juelich chopper this means checking the atspeed, atphase
   * flags
   */
  if (!ReadJulChoFlags(self)) {
    return HWFault;
  }
  for (i = 0; i < 5; i++) {
    snprintf(path, 255, "%s/atspeed", chNames[i]);
    target = GetHipadabaNode(self->parNode, path);
    assert(target != NULL);
    if (target->value.v.intValue == 0) {
      return HWBusy;
    }
    snprintf(path, 255, "%s/atphase", chNames[i]);
    target = GetHipadabaNode(self->parNode, path);
    assert(target != NULL);
    if (target->value.v.intValue == 0) {
      return HWBusy;
    }
  }
  status = JulChoTransact(self, "RSC", reply, 255);
  if (status < 0) {
    self->errorCode = status;
    return HWFault;
  }
/*    fprintf(stdout,"Chopper Flags at finish: %s\n", reply);*/
  return HWIdle;
}

/*---------------------------------------------------------------------------*/
static int JulChoError(pCodri pDriv, int *iCode, char *pError, int iLen)
{
  pJulCho self = NULL;

  self = (pJulCho) pDriv->pPrivate;

  *iCode = self->errorCode;
  JulChoErrorcodeToString(self->errorCode, pError, iLen);
  return 1;
}

/*---------------------------------------------------------------------------*/
static int JulChoFix(pCodri pDriv, int code)
{
  pJulCho self = NULL;

  self = (pJulCho) pDriv->pPrivate;

  switch (code) {
  case TIMEOUT:
  case CKERROR:
  case BADERR:
  case BADREPLY:
    return CHREDO;
    break;
  case NOTCONNECTED:
    if (initRS232(self->controller) == 1) {
      return CHREDO;
    } else {
      return CHFAIL;
    }
    break;
  case INCOMPLETE:
  case BADSEND:
  case BADREAD:
    closeRS232(self->controller);
    if (initRS232(self->controller) == 1) {
      return CHREDO;
    } else {
      return CHFAIL;
    }
    break;
  default:
    return CHFAIL;
    break;
  }
}

/*---------------------------------------------------------------------------*/
static pCodri MakeJulChoDriver(char *pHost, int port, pHdb parNode)
{
  pCodri pDriv = NULL;
  pJulCho self = NULL;
  int i;
  pDynString names = NULL;
  char *chNames[] = { CH1N,
    CH2N,
    CH3N,
    CH4N,
    CH5N,
    NULL
  };
  char path[256], *par = NULL;

  pDriv = malloc(sizeof(Codri));
  self = malloc(sizeof(JulCho));
  names = CreateDynString(256, 256);

  if (pDriv == NULL && self == NULL && names == NULL) {
    return NULL;
  }
  memset(pDriv, 0, sizeof(Codri));
  memset(self, 0, sizeof(JulCho));

  self->parNode = parNode;
  self->controller = createRS232(pHost, port);
  if (self->controller == NULL) {
    free(self);
    free(pDriv);
    return NULL;
  }
  self->updateIntervall = 10;
  if (!InitJulChoPar(self)) {
    free(self);
    free(pDriv);
    return NULL;
  }

  pDriv->pPrivate = self;

  pDriv->Init = JulChoInit;
  pDriv->Close = JulChoClose;
  pDriv->Delete = JulChoKill;
  pDriv->SetPar = JulChoSetPar;
  pDriv->SetPar2 = JulChoSetPar2;
  pDriv->GetPar = JulChoGetPar;
  pDriv->CheckPar = JulChoCheckPar;
  pDriv->GetError = JulChoError;
  pDriv->TryFixIt = JulChoFix;
  pDriv->Halt = JulChoHalt;

  for (i = 0; i < 5; i++) {
    snprintf(path, 255, "%s/nomspeed,", chNames[i]);
    DynStringConcat(names, path);
    snprintf(path, 255, "%s/actspeed,", chNames[i]);
    DynStringConcat(names, path);
    snprintf(path, 255, "%s/nomphase,", chNames[i]);
    DynStringConcat(names, path);
    snprintf(path, 255, "%s/actphase,", chNames[i]);
    DynStringConcat(names, path);
    snprintf(path, 255, "%s/gatewidth,", chNames[i]);
    DynStringConcat(names, path);
    snprintf(path, 255, "%s/nomcurrent,", chNames[i]);
    DynStringConcat(names, path);
    snprintf(path, 255, "%s/actcurrent,", chNames[i]);
    DynStringConcat(names, path);
    snprintf(path, 255, "%s/voltage,", chNames[i]);
    DynStringConcat(names, path);
    snprintf(path, 255, "%s/inverter_temperature,", chNames[i]);
    DynStringConcat(names, path);
    snprintf(path, 255, "%s/stator_temperature,", chNames[i]);
    DynStringConcat(names, path);
    snprintf(path, 255, "%s/microok,", chNames[i]);
    DynStringConcat(names, path);
    snprintf(path, 255, "%s/atspeed,", chNames[i]);
    DynStringConcat(names, path);
    snprintf(path, 255, "%s/atphase,", chNames[i]);
    DynStringConcat(names, path);
    snprintf(path, 255, "%s/magneton,", chNames[i]);
    DynStringConcat(names, path);
    snprintf(path, 255, "%s/dcon,", chNames[i]);
    DynStringConcat(names, path);
    snprintf(path, 255, "%s/driveon,", chNames[i]);
    DynStringConcat(names, path);
    snprintf(path, 255, "%s/currentdc,", chNames[i]);
    DynStringConcat(names, path);
    snprintf(path, 255, "%s/lockopen,", chNames[i]);
    DynStringConcat(names, path);
    snprintf(path, 255, "%s/diskopen,", chNames[i]);
    DynStringConcat(names, path);
    snprintf(path, 255, "%s/diskclosed,", chNames[i]);
    DynStringConcat(names, path);
    snprintf(path, 255, "%s/speedoverflow,", chNames[i]);
    DynStringConcat(names, path);
    snprintf(path, 255, "%s/bearingfailed,", chNames[i]);
    DynStringConcat(names, path);
    snprintf(path, 255, "%s/voltagetohigh,", chNames[i]);
    DynStringConcat(names, path);
  }
  par = GetCharArray(names);
  par[strlen(par) - 1] = '\0';
  pDriv->pParList = strdup(par);
  DeleteDynString(names);
  if (pDriv->pParList == NULL) {
    JulChoKill(pDriv);
    free(pDriv);
    return NULL;
  }

  return pDriv;
}

/*--------------------------------------------------------------------------*/
int JulChoFactory(SConnection * pCon, SicsInterp * pSics, void *pData,
                  int argc, char *argv[])
{
  pChoco pNew = NULL;
  pCodri pDriv = NULL;
  pObjectDescriptor pDes = NULL;
  char pBueffel[132];
  int iRet, iPort, iChannel;
  int iSingle = 0;

  if (argc < 4) {
    SCWrite(pCon,
            "ERROR: Insufficient number of arguments to MakeJulCho",
            eError);
    return 0;
  }


  /* first try to get everything done */
  pNew = (pChoco) malloc(sizeof(Choco));
  pDes = CreateDescriptor("Chopper");
  pDes->parNode = MakeHipadabaNode(argv[1], HIPNONE, 0);
  /* do driver */

  pDriv = MakeJulChoDriver(argv[2], atoi(argv[3]), pDes->parNode);
  if (pDriv == NULL) {
    sprintf(pBueffel, "ERROR: Failed to initialize JulCho Driver");
    SCWrite(pCon, pBueffel, eError);
    return 0;
  }
  if ((pNew == NULL) || (pDes == NULL) || (pDriv == NULL)) {
    SCWrite(pCon, "ERROR: No memory left to create controller", eError);
    return 0;
  }
  pNew->pDes = pDes;
  pNew->pDriv = pDriv;

  /* initialize driver */
  iRet = pDriv->Init(pDriv);
  if (!iRet) {
    SCWrite(pCon, "ERROR: Failed to initialize driver", eError);
    KillChoco(pNew);
    return 0;
  }

  /* install as command */
  iRet = AddCommand(pSics, argv[1], ChocoAction, KillChoco, pNew);
  if (!iRet) {
    sprintf(pBueffel, "ERROR: duplicate command %s NOT created", argv[1]);
    SCWrite(pCon, pBueffel, eError);
    return 0;
  }
  return 1;
}