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Convert from MPF to asyn

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This commit is contained in:
MarkRivers
2004-04-20 20:57:23 +00:00
parent e28590f492
commit d7d08ef9ab
5 changed files with 60 additions and 62 deletions
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16
acsApp/src/AcsRegister.cc
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@@ -2,9 +2,9 @@
FILENAME... AcsRegister.cc FILENAME... AcsRegister.cc
USAGE... Register ACS motor device driver shell commands. USAGE... Register ACS motor device driver shell commands.
Version: $Revision: 1.1 $ Version: $Revision: 1.2 $
Modified By: $Author: sluiter $ Modified By: $Author: rivers $
Last Modified: $Date: 2003-05-27 13:39:40 $ Last Modified: $Date: 2004-04-20 20:50:11 $
*/ */
/***************************************************************** /*****************************************************************
@@ -31,16 +31,14 @@ static const iocshArg setupArg1 = {"N/A", iocshArgInt};
static const iocshArg setupArg2 = {"Polling rate", iocshArgInt}; static const iocshArg setupArg2 = {"Polling rate", iocshArgInt};
// ACS Config arguments // ACS Config arguments
static const iocshArg configArg0 = {"Card being configured", iocshArgInt}; static const iocshArg configArg0 = {"Card being configured", iocshArgInt};
static const iocshArg configArg1 = {"MPF server location", iocshArgInt}; static const iocshArg configArg1 = {"asyn port name", iocshArgString};
static const iocshArg configArg2 = {"MPF server task name", iocshArgString};
static const iocshArg * const MCB4BSetupArgs[3] = {&setupArg0, &setupArg1, static const iocshArg * const MCB4BSetupArgs[3] = {&setupArg0, &setupArg1,
&setupArg2}; &setupArg2};
static const iocshArg * const MCB4BConfigArgs[3] = {&configArg0, &configArg1, static const iocshArg * const MCB4BConfigArgs[2] = {&configArg0, &configArg1};
&configArg2};
static const iocshFuncDef setupMCB4B = {"MCB4BSetup", 3, MCB4BSetupArgs}; static const iocshFuncDef setupMCB4B = {"MCB4BSetup", 3, MCB4BSetupArgs};
static const iocshFuncDef configMCB4B = {"MCB4BConfig", 3, MCB4BConfigArgs}; static const iocshFuncDef configMCB4B = {"MCB4BConfig", 2, MCB4BConfigArgs};
static void setupMCB4BCallFunc(const iocshArgBuf *args) static void setupMCB4BCallFunc(const iocshArgBuf *args)
{ {
@@ -48,7 +46,7 @@ static void setupMCB4BCallFunc(const iocshArgBuf *args)
} }
static void configMCB4BCallFunc(const iocshArgBuf *args) static void configMCB4BCallFunc(const iocshArgBuf *args)
{ {
MCB4BConfig(args[0].ival, args[1].ival, args[2].sval); MCB4BConfig(args[0].ival, args[2].sval);
} }
static void AcsRegister(void) static void AcsRegister(void)

8
acsApp/src/AcsRegister.h
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@@ -2,9 +2,9 @@
FILENAME... AcsRegister.h FILENAME... AcsRegister.h
USAGE... This file contains function prototypes for ACS IOC shell commands. USAGE... This file contains function prototypes for ACS IOC shell commands.
Version: $Revision: 1.1 $ Version: $Revision: 1.2 $
Modified By: $Author: sluiter $ Modified By: $Author: rivers $
Last Modified: $Date: 2003-05-27 13:39:40 $ Last Modified: $Date: 2004-04-20 20:50:12 $
*/ */
/* /*
@@ -41,5 +41,5 @@ Last Modified: $Date: 2003-05-27 13:39:40 $
/* Function prototypes. */ /* Function prototypes. */
extern RTN_STATUS MCB4BSetup(int, int, int); extern RTN_STATUS MCB4BSetup(int, int, int);
extern RTN_STATUS MCB4BConfig(int, int, const char *); extern RTN_STATUS MCB4BConfig(int, const char *);

2
acsApp/src/Makefile
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@@ -14,7 +14,7 @@ SRCS += AcsRegister.cc
# Advanced Control Systems driver support. # Advanced Control Systems driver support.
SRCS += devMCB4B.c drvMCB4B.c SRCS += devMCB4B.c drvMCB4B.c
Acs_LIBS += motor motorCOM_mpf Acs_LIBS += motor asyn
Acs_LIBS += $(EPICS_BASE_IOC_LIBS) Acs_LIBS += $(EPICS_BASE_IOC_LIBS)
include $(TOP)/configure/RULES include $(TOP)/configure/RULES

89
acsApp/src/drvMCB4B.cc
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@@ -20,14 +20,14 @@
#include "motor.h" #include "motor.h"
#include "AcsRegister.h" #include "AcsRegister.h"
#include "drvMCB4B.h" #include "drvMCB4B.h"
#include "serialIO.h" #include "asynSyncIO.h"
#include "epicsExport.h" #include "epicsExport.h"
#define STATIC static #define STATIC static
#define WAIT 1 #define WAIT 1
#define SERIAL_TIMEOUT 2000 /* Command timeout in msec */ #define TIMEOUT 2.0 /* Command timeout in sec */
#define BUFF_SIZE 100 /* Maximum length of string to/from MCB4B */ #define BUFF_SIZE 100 /* Maximum length of string to/from MCB4B */
@@ -35,8 +35,8 @@
#ifdef DEBUG #ifdef DEBUG
volatile int drvMCB4BDebug = 0; volatile int drvMCB4BDebug = 0;
#define Debug(L, FMT, V...) { if(L <= drvMCB4BDebug) \ #define Debug(L, FMT, V...) { if(L <= drvMCB4BDebug) \
{ errlogPrintf("%s(%d):",__FILE__,__LINE__); \ { printf("%s(%d):",__FILE__,__LINE__); \
errlogPrintf(FMT,##V); } } printf(FMT,##V); } }
#else #else
#define Debug(L, FMT, V...) #define Debug(L, FMT, V...)
#endif #endif
@@ -116,16 +116,20 @@ STATIC struct thread_args targs = {SCAN_RATE, &MCB4B_access};
static long report(int level) static long report(int level)
{ {
int card; int card;
struct MCB4Bcontroller *cntrl;
if (MCB4B_num_cards <=0) if (MCB4B_num_cards <=0)
printf(" NO MCB4B controllers found\n"); printf(" NO MCB4B controllers found\n");
else else
{ {
for (card = 0; card < MCB4B_num_cards; card++) for (card = 0; card < MCB4B_num_cards; card++) {
if (motor_state[card]) if (motor_state[card]) {
printf(" MCB4B controller %d, id: %s \n", cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate;
card, printf(" MCB4B controller %d, port=%s, id: %s \n",
card, cntrl->port,
motor_state[card]->ident); motor_state[card]->ident);
}
}
} }
return (0); return (0);
} }
@@ -292,11 +296,11 @@ STATIC RTN_STATUS send_mess(int card, const char *com, char c)
strcpy(buff, com); strcpy(buff, com);
strcat(buff, OUTPUT_TERMINATOR); strcat(buff, OUTPUT_TERMINATOR);
/*
Debug(2, "%.2f : send_mess: sending message to card %d, message=%s\n", Debug(2, "send_mess: sending message to card %d, message=%s\n",
tickGet()/60., card, buff); card, buff);
*/
cntrl->serialInfo->serialIOSend(buff, strlen(buff), SERIAL_TIMEOUT); pasynSyncIO->write(cntrl->pasynUser, buff, strlen(buff), TIMEOUT);
return (OK); return (OK);
} }
@@ -308,9 +312,10 @@ STATIC RTN_STATUS send_mess(int card, const char *com, char c)
/*****************************************************/ /*****************************************************/
STATIC int recv_mess(int card, char *com, int flag) STATIC int recv_mess(int card, char *com, int flag)
{ {
int timeout; double timeout;
int len=0; int len=0;
struct MCB4Bcontroller *cntrl; struct MCB4Bcontroller *cntrl;
int flush;
/* Check that card exists */ /* Check that card exists */
if (!motor_state[card]) if (!motor_state[card])
@@ -321,35 +326,35 @@ STATIC int recv_mess(int card, char *com, int flag)
cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate; cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate;
/* Debug(3, "recv_mess entry: card %d, flag=%d\n",
Debug(3, "%.2f : recv_mess entry: card %d, flag=%d\n", card, flag);
tickGet()/60., card, flag); if (flag == FLUSH) {
*/ flush = 1;
if (flag == FLUSH) timeout = 0.;
timeout = 0; } else {
else flush = 0;
timeout = SERIAL_TIMEOUT; timeout = TIMEOUT;
len = cntrl->serialInfo->serialIORecv(com, MAX_MSG_SIZE, (char *) "\r", timeout); }
len = pasynSyncIO->read(cntrl->pasynUser, com, MAX_MSG_SIZE,
"\r", 1, flush, timeout);
/* The response from the MCB4B is terminated with CR. Remove */ /* The response from the MCB4B is terminated with CR. Remove */
if (len < 1) com[0] = '\0'; if (len < 1) com[0] = '\0';
else com[len-1] = '\0'; else com[len-1] = '\0';
/*
if (len > 0) { if (len > 0) {
Debug(2, "%.2f : recv_mess: card %d, message = \"%s\"\n", Debug(2, "recv_mess: card %d, message = \"%s\"\n",
tickGet()/60., card, com); card, com);
} }
if (len == 0) { if (len == 0) {
if (flag != FLUSH) { if (flag != FLUSH) {
Debug(1, "%.2f: recv_mess: card %d ERROR: no response\n", Debug(1, "recv_mess: card %d ERROR: no response\n",
tickGet()/60., card); card);
} else { } else {
Debug(3, "%.2f: recv_mess: card %d flush returned no characters\n", Debug(3, "recv_mess: card %d flush returned no characters\n",
tickGet()/60., card); card);
} }
} }
*/
return (len); return (len);
} }
@@ -400,8 +405,7 @@ MCB4BSetup(int num_cards, /* maximum number of controllers in system */
/*****************************************************/ /*****************************************************/
RTN_STATUS RTN_STATUS
MCB4BConfig(int card, /* card being configured */ MCB4BConfig(int card, /* card being configured */
int location, /* card for RS-232 */ const char *name) /* port name for asyn */
const char *name) /* server_task for RS-232 */
{ {
struct MCB4Bcontroller *cntrl; struct MCB4Bcontroller *cntrl;
@@ -411,8 +415,7 @@ MCB4BConfig(int card, /* card being configured */
motor_state[card] = (struct controller *) malloc(sizeof(struct controller)); motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct MCB4Bcontroller)); motor_state[card]->DevicePrivate = malloc(sizeof(struct MCB4Bcontroller));
cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate; cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate;
cntrl->serial_card = location; strcpy(cntrl->port, name);
strcpy(cntrl->serial_task, name);
return (OK); return (OK);
} }
@@ -432,7 +435,7 @@ STATIC int motor_init()
char buff[BUFF_SIZE]; char buff[BUFF_SIZE];
int total_axis = 0; int total_axis = 0;
int status = 0; int status = 0;
bool success_rtn; int success_rtn;
initialized = true; /* Indicate that driver is initialized. */ initialized = true; /* Indicate that driver is initialized. */
@@ -454,20 +457,18 @@ STATIC int motor_init()
cntrl = (struct MCB4Bcontroller *) brdptr->DevicePrivate; cntrl = (struct MCB4Bcontroller *) brdptr->DevicePrivate;
/* Initialize communications channel */ /* Initialize communications channel */
success_rtn = false;
cntrl->serialInfo = new serialIO(cntrl->serial_card, success_rtn = pasynSyncIO->connect(cntrl->port, 0, &cntrl->pasynUser);
cntrl->serial_task, &success_rtn); Debug(1, "motor_init, return from pasynSyncIO->connect for port %s = %d, pasynUser=%p\n",
cntrl->port, success_rtn, cntrl->pasynUser);
if (success_rtn == true) if (success_rtn == 0)
{ {
int retry = 0; int retry = 0;
/* Send a message to the board, see if it exists */ /* Send a message to the board, see if it exists */
/* flush any junk at input port - should not be any data available */ /* flush any junk at input port - should not be any data available */
do { pasynSyncIO->flush(cntrl->pasynUser);
recv_mess(card_index, buff, FLUSH);
} while (strlen(buff) != 0);
do do
{ {
send_mess(card_index, "#00X", 0); send_mess(card_index, "#00X", 0);
@@ -478,7 +479,7 @@ STATIC int motor_init()
} }
if (success_rtn == true && status > 0) if (success_rtn == 0 && status > 0)
{ {
brdptr->localaddr = (char *) NULL; brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0; brdptr->motor_in_motion = 0;

7
acsApp/src/drvMCB4B.h
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@@ -16,7 +16,7 @@
#define INCdrvMCB4Bh 1 #define INCdrvMCB4Bh 1
#include "motordrvCom.h" #include "motordrvCom.h"
#include "serialIO.h" #include "asynDriver.h"
/* MCB4B default profile. */ /* MCB4B default profile. */
@@ -27,9 +27,8 @@
struct MCB4Bcontroller struct MCB4Bcontroller
{ {
serialIO *serialInfo; /* For RS-232 */ asynUser *pasynUser; /* asynUser structure */
int serial_card; /* Card on which Hideos/MPF is running */ char port[80]; /* asyn port name */
char serial_task[20]; /* Hideos/MPF task/server name for serial port */
}; };
#endif /* INCdrvMCB4Bh */ #endif /* INCdrvMCB4Bh */