int CKMotionIO::ServiceConsole()
{
int nbytes, timeout;
char b[MAX_LINE];
if (KMotionLock() == KMOTION_LOCKED) // quick check if it is available
{
if (!NumberBytesAvailToRead(&nbytes, false) && nbytes>0)
{
// some data in the buffer
timeout = ReadLineTimeOutRaw(b,100);
if (!timeout)
{
if (b[0]==0x1b) // skip over esc if there is one
LogToConsole(b+1);
else
LogToConsole(b);
}
}
ReleaseToken();
}
return 0;
}
int CKMotionIO::ServiceConsole()
{
int nbytes;
int timeout;
char buf[MAX_LINE];
if (KMotionLock() == KMOTION_LOCKED) // quick check if it is available
{
//if (!NumberBytesAvailToRead(&nbytes, false) && nbytes>0)
//Instead of making one call with a long time out we first make a call with a short time out,
//if data is read we need to check if we had a timeout and ask again with a greater value.
timeout = ReadLineTimeOutRaw(buf,0); // likely we will get a timeout sometimes
nbytes = strlen(buf);
if(nbytes>0)
{
// some data in the buffer
if(timeout){
//if previos call timed out we can try again with a longer timout adding read bytes to buffer pointer
timeout = ReadLineTimeOutRaw(buf + nbytes ,100);
}
if (!timeout)
{
if (buf[0]==0x1b) // skip over esc if there is one
LogToConsole(buf+1);
else
LogToConsole(buf);
}
}
ReleaseToken();
}
return 0;
}
int CKMotionIO::ReadLineTimeOut(char *buf, int TimeOutms)
{
int result;
bool Done;
do
{
Done=true;
result = ReadLineTimeOutRaw(buf, TimeOutms);
if (result==0)
{
// check if first char is an ESC
if (buf[0] == 0x1b)
{
// it is!
// if next character is 1, 2, or 3
// handle it as a write file command
if (buf[1] >=1 && buf[1] <=3)
{
// it is a disk command
HandleDiskIO(buf+1);
}
else
{
// Send to console
LogToConsole(buf+1);
}
Done=false;
}
}
}
while (!Done);
return result;
}
int CKMotionIO::CheckForReady()
{
char buf[257];
char *beg;
char copy[257];
int nbytes, result;
bool DetectedError=false;
for (;;)
{
if (m_Connected)
{
if (!NumberBytesAvailToRead(&nbytes, true) && nbytes>0)
{
result = ReadLineTimeOutRaw(buf, 100);
if (result==0)
{
// check if first char is an ESC
if (buf[0] == 0x1b)
beg=buf+1;
else
beg=buf;
strncpy(copy,beg,255);
_strupr(copy);
// check for "Error"
if (strstr(copy,"ERROR")!=NULL)
{
// error, send to console
DetectedError=true;
}
// check for "Ready"
if (strcmp(beg,"Ready\r\n"))
{
// no, strange send to console
LogToConsole(beg);
}
else
{
// yes! send to console and return Ready
LogToConsole(beg);
if (DetectedError)
return KMOTION_ERROR; // a line contained the word "error"
else
return KMOTION_READY;
}
}
else
{
return KMOTION_TIMEOUT; // not a whole line for some reason
}
}
else
{
return KMOTION_OK; // no data, return OK, not Ready
}
}
else
{
return KMOTION_ERROR; // not connected return error
}
}
return result;
}
