MX_EXPORT mx_status_type
mxi_isobus_command( MX_ISOBUS *isobus,
long isobus_address,
char *command,
char *response,
size_t max_response_length,
long maximum_retries,
unsigned long isobus_flags )
{
static const char fname[] = "mxi_isobus_command()";
MX_RECORD *interface_record;
long gpib_address;
char local_command_buffer[100];
char *command_ptr;
size_t length;
long i, j, rs232_retries;
unsigned long wait_ms, num_input_bytes_available;
mx_bool_type error_occurred;
mx_status_type mx_status;
if ( isobus == (MX_ISOBUS *) NULL ) {
return mx_error( MXE_NULL_ARGUMENT, fname,
"The MX_ISOBUS pointer passed was NULL." );
}
if ( command == (char *) NULL ) {
return mx_error( MXE_NULL_ARGUMENT, fname,
"The command pointer passed was NULL." );
}
interface_record = isobus->isobus_interface.record;
if ( interface_record == (MX_RECORD *) NULL ) {
return mx_error( MXE_CORRUPT_DATA_STRUCTURE, fname,
"The interface record pointer for ISOBUS interface '%s' is NULL.",
isobus->record->name );
}
/* Format the command to be sent. */
if ( isobus_address < 0 ) {
command_ptr = command;
} else {
command_ptr = local_command_buffer;
snprintf( local_command_buffer, sizeof(local_command_buffer),
"@%ld%s", isobus_address, command );
}
if ( maximum_retries < 0 ) {
maximum_retries = LONG_MAX;
}
error_occurred = FALSE;
for ( i = 0; i <= maximum_retries; i++ ) {
if ( i > 0 ) {
mx_info( "ISOBUS interface '%s' command retry #%ld.",
isobus->record->name, i );
}
/* Send the command and get the response. */
if ( isobus_flags & MXF_ISOBUS_DEBUG ) {
MX_DEBUG(-2,("%s: sending command '%s' to '%s'.",
fname, command_ptr, isobus->record->name));
}
error_occurred = FALSE;
if ( interface_record->mx_class == MXI_RS232 ) {
mx_status = mx_rs232_putline( interface_record,
command_ptr, NULL, 0 );
if ( mx_status.code != MXE_SUCCESS )
return mx_status;
if ( response != NULL ) {
/* Wait for the response. */
rs232_retries = 50;
wait_ms = 100;
for ( j = 0; j <= rs232_retries; j++ ) {
/* See if the first character
* has arrived.
*/
mx_status =
mx_rs232_num_input_bytes_available(
interface_record,
&num_input_bytes_available );
if ( mx_status.code != MXE_SUCCESS ) {
/* Exit the for(j) loop. */
break;
}
if ( num_input_bytes_available > 0 ) {
/* Exit the for(j) loop. */
break;
}
}
if ( mx_status.code != MXE_SUCCESS ) {
error_occurred = TRUE;
} else {
/* Read in the response. */
mx_status = mx_rs232_getline(
interface_record, response,
max_response_length, NULL, 0);
if ( mx_status.code != MXE_SUCCESS ) {
error_occurred = TRUE;
} else {
/* Remove any trailing carriage
* return characters.
*/
length = strlen( response );
if (length <
max_response_length )
{
if ( response[length-1]
== MX_CR )
{
response[length-1]
= '\0';
}
}
}
}
}
} else { /* GPIB */
gpib_address = isobus->isobus_interface.address;
mx_status = mx_gpib_putline(
interface_record, gpib_address,
command_ptr, NULL, 0 );
if ( mx_status.code != MXE_SUCCESS )
return mx_status;
if ( response != NULL ) {
mx_status = mx_gpib_getline(
interface_record, gpib_address,
response, max_response_length, NULL, 0);
if ( mx_status.code != MXE_SUCCESS ) {
error_occurred = TRUE;
}
}
}
if ( error_occurred == FALSE ) {
/* If the first character in the response is a
* question mark '?', then an error occurred.
*/
if ( response != NULL ) {
if ( response[0] == '?' ) {
mx_status = mx_error(
MXE_DEVICE_ACTION_FAILED, fname,
"The command '%s' to ISOBUS interface '%s' failed. "
"Controller error message = '%s'", command_ptr,
isobus->record->name, response );
error_occurred = TRUE;
} else {
if ( isobus_flags & MXF_ISOBUS_DEBUG )
{
MX_DEBUG(-2,("%s: received "
"response '%s' from '%s'",
fname, response,
isobus->record->name ));
}
}
}
}
if ( error_occurred == FALSE ) {
break; /* Exit the for() loop. */
}
}
if ( error_occurred ) {
return mx_error( MXE_TIMED_OUT, fname,
"The command '%s' to ISOBUS interface '%s' is still failing "
"after %ld retries. Giving up...", command_ptr,
isobus->record->name,
maximum_retries );
} else {
return MX_SUCCESSFUL_RESULT;
}
}
int
motor_gpib_fn( int argc, char *argv[] )
{
static const char cname[] = "gpib";
MX_RECORD *record;
int cmd_type, status, address;
size_t length;
mx_status_type mx_status;
static char usage[] =
"\n"
"Usage: gpib 'record_name' address getline\n"
" gpib 'record_name' address putline \"text to send\"\n"
" gpib 'record_name' address command \"text to send\"\n"
" gpib 'record_name' address cmd \"text to send\"\n\n";
if ( argc <= 4 ) {
fputs( usage, output );
return FAILURE;
}
record = mx_get_record( motor_record_list, argv[2] );
if ( record == NULL ) {
fprintf( output, "\n%s: There is no record named '%s'.\n\n",
cname, argv[2] );
return FAILURE;
}
if ( ( record->mx_superclass != MXR_INTERFACE )
|| ( record->mx_class != MXI_GPIB ) )
{
fprintf( output, "\n%s: Record '%s' is not an GPIB port.\n\n",
cname, argv[2] );
return FAILURE;
}
address = atoi( argv[3] );
length = strlen( argv[4] );
if ( strncmp( "getline", argv[4], max(4,length) ) == 0 ) {
cmd_type = GPIB_GETLINE_CMD;
} else if ( strncmp( "putline", argv[4], max(1,length) ) == 0 ) {
cmd_type = GPIB_PUTLINE_CMD;
} else if ( strncmp( "command", argv[4], max(1,length) ) == 0 ) {
cmd_type = GPIB_COMMAND_CMD;
} else if ( strncmp( "cmd", argv[4], max(1,length) ) == 0 ) {
cmd_type = GPIB_COMMAND_CMD;
} else {
fputs( usage, output );
return FAILURE;
}
if ( cmd_type == GPIB_GETLINE_CMD ) {
if ( argc != 5 ) {
fputs( usage, output );
return FAILURE;
}
} else {
if ( argc != 6 ) {
fputs( usage, output );
return FAILURE;
}
}
/* Both putline and command send a string here. */
if ( ( cmd_type == GPIB_PUTLINE_CMD )
|| ( cmd_type == GPIB_COMMAND_CMD ) )
{
mx_status = mx_gpib_putline( record, address,
argv[5], NULL, GPIB_DEBUG );
if ( mx_status.code != MXE_SUCCESS )
return FAILURE;
}
switch( cmd_type ) {
case GPIB_PUTLINE_CMD:
/* Putline is done at this point. */
return SUCCESS;
case GPIB_GETLINE_CMD:
status = motor_gpib_readline( record, address );
if ( status == FAILURE ) {
fprintf( output,
"gpib: No new response is available.\n" );
return FAILURE;
}
break;
case GPIB_COMMAND_CMD:
mx_msleep(500);
status = motor_gpib_readline( record, address );
if ( status == FAILURE ) {
fprintf( output,
"gpib: No response is available.\n" );
return FAILURE;
}
break;
default:
fprintf( output,
"gpib: Unrecognized command line.\n" );
return FAILURE;
}
return SUCCESS;
}
