MX_EXPORT mx_status_type
mxd_src_mono_move_absolute( MX_MOTOR *motor )
{
static const char fname[] = "mxd_src_mono_move_absolute()";
MX_SRC_MONO *src_mono = NULL;
char command[200];
char response[200];
mx_status_type mx_status;
mx_status = mxd_src_mono_get_pointers( motor, &src_mono, NULL, fname );
if ( mx_status.code != MXE_SUCCESS )
return mx_status;
/* Send the move command. */
snprintf( command, sizeof(command),
"SCANEV(%f)", motor->raw_destination.analog );
mx_status = mx_rs232_putline( src_mono->rs232_record,
command, NULL, MXD_SRC_MONO_DEBUG );
if ( mx_status.code != MXE_SUCCESS ) {
src_mono->state = MXS_SRC_MONO_ERROR;
return mx_status;
}
/* If all went well, we should get a wait response from
* the SRC computer.
*/
mx_status = mx_rs232_getline( src_mono->rs232_record,
response, sizeof(response),
NULL, MXD_SRC_MONO_DEBUG );
if ( mx_status.code == MXE_TIMED_OUT ) {
src_mono->state = MXS_SRC_MONO_TIMED_OUT;
} else
if ( mx_status.code != MXE_SUCCESS ) {
src_mono->state = MXS_SRC_MONO_ERROR;
} else {
if ( strcmp( response, "Wait!" ) == 0 ) {
src_mono->state = MXS_SRC_MONO_ACTIVE;
} else {
src_mono->state = MXS_SRC_MONO_ERROR;
mx_status = mx_error(MXE_DEVICE_IO_ERROR, fname,
"Received unexpected response '%s' from "
"SRC monochromator '%s'.",
response, motor->record->name );
}
}
return mx_status;
}
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;
}
}
MX_EXPORT mx_status_type
mxd_icplus_command( MX_ICPLUS *icplus,
char *command,
char *response,
size_t response_buffer_length,
int debug_flag )
{
static const char fname[] = "mxd_icplus_command()";
char c;
int i, max_attempts;
unsigned long sleep_ms, num_input_bytes_available;
mx_status_type mx_status, mx_status2;
if ( icplus == (MX_ICPLUS *) NULL ) {
return mx_error( MXE_NULL_ARGUMENT, fname,
"NULL MX_ICPLUS pointer passed." );
}
if ( command == NULL ) {
return mx_error( MXE_NULL_ARGUMENT, fname,
"NULL command buffer pointer passed." );
}
if ( debug_flag ) {
MX_DEBUG(-2,("%s: sending '%s' to '%s'",
fname, command, icplus->record->name ));
}
/* Send the command string. */
mx_status = mx_rs232_putline( icplus->rs232_record, command, NULL, 0 );
if ( mx_status.code != MXE_SUCCESS )
return mx_status;
/* The IC PLUS always sends an ACK character to acknowledge receipt
* of the LF terminator for the command that we just sent. Even if
* we expect no other response, we must still read and discard this
* ACK character.
*/
mx_status = mx_rs232_getchar( icplus->rs232_record, &c, MXF_232_WAIT );
if ( mx_status.code == MXE_NOT_READY ) {
return mx_error( MXE_NOT_READY, fname,
"No response received from %s amplifier '%s' "
"for command '%s'. Are you sure it is plugged in "
"and turned on?",
mx_get_driver_name( icplus->record ),
icplus->record->name, command );
}
if ( mx_status.code != MXE_SUCCESS )
return mx_status;
if ( c != MX_ACK ) {
(void) mx_rs232_discard_unread_input( icplus->rs232_record,
MXD_ICPLUS_DEBUG );
return mx_error( MXE_DEVICE_IO_ERROR, fname,
"Did not receive an ACK acknowledgement character from "
"%s interface '%s' in response to the command '%s'. "
"Instead, saw a %#x (%c) character.",
mx_get_driver_name( icplus->record ),
icplus->record->name, command, c, c );
}
/* If we expect a response, then read it in. */
if ( response != NULL ) {
mx_status = mx_rs232_getline( icplus->rs232_record,
response, response_buffer_length,
NULL, 0 );
if ( debug_flag & (mx_status.code == MXE_SUCCESS) ) {
MX_DEBUG(-2,("%s: received '%s' from '%s'",
fname, response, icplus->record->name ));
}
} else {
if ( debug_flag ) {
MX_DEBUG(-2,("%s complete.", fname));
}
}
/* If the IC PLUS echoes the command line back to us, then we must
* throw this away.
*/
if ( icplus->discard_echoed_command_line ) {
max_attempts = 100;
sleep_ms = 1;
for ( i = 0; i < max_attempts; i++ ) {
mx_status2 = mx_rs232_num_input_bytes_available(
icplus->rs232_record,
&num_input_bytes_available );
if ( mx_status2.code != MXE_SUCCESS )
break;
if ( num_input_bytes_available > 0 )
break;
mx_msleep( sleep_ms );
}
if ( i >= max_attempts ) {
mx_status = mx_error( MXE_TIMED_OUT, fname,
"Timed out waiting for %s record '%s' to echo "
"the command line '%s' back to us.",
mx_get_driver_name( icplus->record ),
icplus->record->name, command );
}
(void) mx_rs232_discard_unread_input(
icplus->rs232_record, FALSE );
}
return mx_status;
}
static mx_status_type
mxd_sim980_command( MX_SIM980 *sim980,
char *command,
char *response,
size_t max_response_length,
int debug_flag )
{
static const char fname[] = "mxd_sim980_command()";
#if 0
char esr_response[10];
unsigned char esr_byte;
#endif
mx_status_type mx_status;
if ( command == (char *) NULL ) {
return mx_error( MXE_NULL_ARGUMENT, fname,
"The command buffer pointer passed was NULL." );
}
/* Send the command. */
if ( debug_flag ) {
MX_DEBUG(-2,("%s: sending '%s' to '%s'",
fname, command, sim980->record->name));
}
mx_status = mx_rs232_putline( sim980->port_record, command, NULL, 0 );
if ( mx_status.code != MXE_SUCCESS )
return mx_status;
if ( response != (char *) NULL ) {
/* If a response is expected, read back the response. */
mx_status = mx_rs232_getline( sim980->port_record,
response, max_response_length,
NULL, 0 );
if ( mx_status.code != MXE_SUCCESS )
return mx_status;
if ( debug_flag ) {
MX_DEBUG(-2,("%s: received '%s' from '%s'",
fname, response, sim980->record->name ));
}
}
/* Check for errors in the previous command. */
#if 0
#if MXD_SIM980_ERROR_DEBUG
MX_DEBUG(-2,("%s: sending '*ESR?' to '%s'",
fname, sim980->record->name ));
#endif
mx_status = mx_rs232_putline( sim980->port_record, "*ESR?", NULL, 0 );
if ( mx_status.code != MXE_SUCCESS )
return mx_status;
mx_status = mx_rs232_getline( sim980->port_record,
esr_response, sizeof(esr_response),
NULL, 0 );
if ( mx_status.code != MXE_SUCCESS )
return mx_status;
#if MXD_SIM980_ERROR_DEBUG
MX_DEBUG(-2,("%s: received '%s' from '%s'",
fname, esr_response, sim980->record->name ));
#endif
esr_byte = atol( esr_response );
if ( esr_byte & 0x20 ) {
return mx_error( MXE_PROTOCOL_ERROR, fname,
"Command error (CME) seen for command '%s' sent to '%s'.",
command, sim980->record->name );
} else
if ( esr_byte & 0x10 ) {
return mx_error( MXE_PROTOCOL_ERROR, fname,
"Execution error (EXE) seen for command '%s' sent to '%s'.",
command, sim980->record->name );
} else
if ( esr_byte & 0x08 ) {
return mx_error( MXE_DEVICE_ACTION_FAILED, fname,
"Device dependent error (DDE) seen for command '%s' sent to '%s'.",
command, sim980->record->name );
} else
if ( esr_byte & 0x02 ) {
return mx_error( MXE_DEVICE_IO_ERROR, fname,
"Input data lost (INP) for command '%s' sent to '%s'.",
command, sim980->record->name );
} else
if ( esr_byte & 0x04 ) {
return mx_error( MXE_DEVICE_IO_ERROR, fname,
"Output data lost (QYE) for command '%s' sent to '%s'.",
command, sim980->record->name );
}
#endif /* 0 */
return MX_SUCCESSFUL_RESULT;
}
MX_EXPORT mx_status_type
mxd_src_mono_get_extended_status( MX_MOTOR *motor )
{
static const char fname[] = "mxd_src_mono_get_extended_status()";
MX_SRC_MONO *src_mono = NULL;
unsigned long num_input_bytes_available;
double current_position;
int num_items;
char response[200];
mx_status_type mx_status;
mx_status = mxd_src_mono_get_pointers( motor, &src_mono, NULL, fname );
if ( mx_status.code != MXE_SUCCESS )
return mx_status;
#if MXD_SRC_MONO_DEBUG
MX_DEBUG(-2,("%s invoked for motor '%s'.", fname, motor->record->name));
MX_DEBUG(-2,("%s: Starting src_mono->state = %d",
fname, src_mono->state ));
#endif
motor->status = MXSF_MTR_ERROR;
switch( src_mono->state ) {
case MXS_SRC_MONO_ERROR:
/* Currently, all we can do is close our eyes, be optimistic
* and hope that any existing errors have gone away. We do
* generate a warning about that though.
*/
src_mono->state = MXS_SRC_MONO_IDLE;
mx_warning( "Resetting SRC mono error for motor '%s'.",
motor->record->name );
break;
case MXS_SRC_MONO_TIMED_OUT:
/* Generate a warning that we are ignoring a timeout. */
src_mono->state = MXS_SRC_MONO_IDLE;
mx_warning( "Ignoring timeout for motor '%s'.",
motor->record->name );
break;
case MXS_SRC_MONO_ACTIVE:
/* A move is currently supposed to be in progress.
* Has the move completed yet? We check for this
* by seeing whether or not the SRC computer has
* sent us a message.
*/
mx_status = mx_rs232_num_input_bytes_available(
src_mono->rs232_record,
&num_input_bytes_available );
if ( mx_status.code != MXE_SUCCESS ) {
src_mono->state = MXS_SRC_MONO_ERROR;
break;
}
if ( num_input_bytes_available == 0 ) {
/* We have not been sent any new characters, so
* the move must not yet be complete.
*/
break;
}
/* Apparently the move has completed. We now verify this
* by looking for a scan complete message.
*/
mx_status = mx_rs232_getline( src_mono->rs232_record,
response, sizeof(response),
NULL, MXD_SRC_MONO_DEBUG );
if ( mx_status.code == MXE_TIMED_OUT ) {
src_mono->state = MXS_SRC_MONO_TIMED_OUT;
} else
if ( mx_status.code != MXE_SUCCESS ) {
src_mono->state = MXS_SRC_MONO_ERROR;
} else {
if ( strcmp( response, "OK-Scan Completed!" ) == 0 ) {
src_mono->state = MXS_SRC_MONO_IDLE;
} else {
mx_status = mx_error(MXE_DEVICE_IO_ERROR, fname,
"Received unexpected response '%s' from "
"SRC monochromator '%s'.",
response, motor->record->name );
}
}
break;
case MXS_SRC_MONO_IDLE:
/* If the mono is idle, then there is nothing that we
* need to do at this point in the function.
*/
break;
default:
return mx_error( MXE_ILLEGAL_ARGUMENT, fname,
"SRC mono '%s' is in illegal state %d. "
"This should never happen, but if it does, try restarting MX.",
motor->record->name, src_mono->state );
}
if ( src_mono->state == MXS_SRC_MONO_ACTIVE ) {
motor->status = MXSF_MTR_IS_BUSY;
return MX_SUCCESSFUL_RESULT;
}
/* We should only get here if the monochromator is now idle.
* It should now be safe to ask for the current position.
*/
mx_status = mx_rs232_putline( src_mono->rs232_record,
"ENERGY", NULL, MXD_SRC_MONO_DEBUG );
if ( mx_status.code != MXE_SUCCESS ) {
src_mono->state = MXS_SRC_MONO_ERROR;
return mx_status;
}
/* Now read back the motor position. */
mx_status = mx_rs232_getline( src_mono->rs232_record,
response, sizeof(response),
NULL, MXD_SRC_MONO_DEBUG );
if ( mx_status.code == MXE_TIMED_OUT ) {
src_mono->state = MXS_SRC_MONO_TIMED_OUT;
return mx_status;
} else
if ( mx_status.code != MXE_SUCCESS ) {
src_mono->state = MXS_SRC_MONO_ERROR;
return mx_status;
}
num_items = sscanf( response, "%lg", ¤t_position );
if ( num_items != 1 ) {
src_mono->state = MXS_SRC_MONO_ERROR;
return mx_error( MXE_DEVICE_IO_ERROR, fname,
"Did not find the position for SRC mono '%s' in the "
"response '%s' to the 'ENERGY' command.",
motor->record->name, response );
}
motor->raw_position.analog = current_position;
motor->status = 0;
return MX_SUCCESSFUL_RESULT;
}
MX_EXPORT mx_status_type
mx_umx_command( MX_RECORD *umx_record,
char *command,
char *response,
size_t max_response_length,
mx_bool_type debug_flag )
{
static const char fname[] = "mx_umx_command()";
MX_UMX_SERVER *umx_server = NULL;
MX_RECORD *rs232_record = NULL;
char local_response_buffer[200];
char *buffer_ptr = NULL;
size_t buffer_length;
mx_status_type mx_status;
if ( umx_record == (MX_RECORD *) NULL ) {
return mx_error( MXE_NULL_ARGUMENT, fname,
"The umx_record pointer passed was NULL." );
}
umx_server = (MX_UMX_SERVER *) umx_record->record_type_struct;
if ( umx_server == (MX_UMX_SERVER *) NULL ) {
return mx_error( MXE_CORRUPT_DATA_STRUCTURE, fname,
"The MX_UMX_SERVER pointer for UMX server '%s' is NULL.",
umx_record->name );
}
rs232_record = umx_server->rs232_record;
if ( rs232_record == (MX_RECORD *) NULL ) {
return mx_error( MXE_CORRUPT_DATA_STRUCTURE, fname,
"The rs232_record pointer for UMX server '%s' is NULL.",
umx_record->name );
}
if ( command != (char *) NULL ) {
/* If requested, send a command. */
if ( debug_flag ) {
MX_DEBUG(-2,("%s: sending '%s' to '%s'.",
fname, command, umx_record->name ));
}
mx_status = mx_rs232_putline( rs232_record, command,
NULL, (unsigned long) debug_flag );
if ( mx_status.code != MXE_SUCCESS )
return mx_status;
}
if ( response != (char *) NULL ) {
/* If requested, receive the response. */
buffer_ptr = response;
buffer_length = max_response_length;
} else {
/* If no response is expected, we still need to
* find out if the last command succeeded.
*/
buffer_ptr = local_response_buffer;
buffer_length = sizeof(local_response_buffer);
}
while (TRUE) {
/* We loop here just in case we need to retry the read.
* That can happen if we received a monitor callback '<'
* or a comment '#' line.
*/
mx_status = mx_rs232_getline( rs232_record,
buffer_ptr, buffer_length,
NULL, (unsigned long) debug_flag );
if ( mx_status.code != MXE_SUCCESS )
return mx_status;
if ( debug_flag ) {
MX_DEBUG(-2,("%s: received '%s' from '%s'.",
fname, buffer_ptr, umx_record->name ));
}
switch( buffer_ptr[0] ) {
case '$': /* Success */
/* If the caller expected a response, then the
* response is already in their buffer. If it
* did not, then the response we got into the
* local buffer will be thrown away once we
* return. In either case, we can just
* return now.
*/
return MX_SUCCESSFUL_RESULT;
break;
case '!': /* Error */
mx_status = mxp_umx_handle_error( rs232_record,
buffer_ptr );
break;
case '<': /* A monitor callback. */
mx_status = mxp_umx_handle_monitor_callback(
rs232_record, buffer_ptr );
if ( mx_status.code != MXE_SUCCESS )
return mx_status;
/* If we get here, then we will retry the attempt
* to receive the response we were looking for.
*/
continue; /* Go back to the top of the while () loop. */
break;
case '#': /* We were sent a 'comment'. */
/* Throw the rest of the line away and go back to the
* top of the while() loop to try again.
*/
continue; /* Go back to the top of the while () loop. */
break;
default:
break;
}
/* If we get here, then we are done with processing
* responses for now and can return.
*/
return mx_status;
}
}
MX_EXPORT mx_status_type
mxi_spellman_df3_command( MX_SPELLMAN_DF3 *spellman_df3,
char *command,
char *response,
size_t response_buffer_length,
int debug_flag )
{
static const char fname[] = "mxi_spellman_df3_command()";
char local_command[100];
unsigned long i, command_length, response_length;
unsigned long command_checksum, expected_checksum, actual_checksum;
char *checksum_ptr;
mx_bool_type response_has_checksum;
mx_status_type mx_status;
if ( spellman_df3 == (MX_SPELLMAN_DF3 *) NULL ) {
return mx_error( MXE_NULL_ARGUMENT, fname,
"The MX_SPELLMAN_DF3 pointer passed was NULL." );
}
if ( debug_flag ) {
MX_DEBUG(-2,("%s: sending '%s' to '%s'",
fname, command, spellman_df3->record->name ));
}
/* Compute the command checksum. */
command_length = strlen(command);
command_checksum = 0;
for ( i = 0; i < command_length; i++ ) {
command_checksum = command_checksum + command[i];
}
command_checksum = command_checksum % 256;
/* Format the command to be sent to the power supply. */
snprintf( local_command, sizeof(local_command),
"%c%s%02lX", MX_CTRL_A, command, command_checksum );
#if 0
{
unsigned long local_command_length;
int c;
local_command_length = strlen(local_command);
for ( i = 0; i < local_command_length; i++ ) {
c = local_command[i];
MX_DEBUG(-2,("%s: local_command[%lu] = %#x '%c'",
fname, i, c, c));
}
}
#endif
/* Send the command. */
mx_status = mx_rs232_putline( spellman_df3->rs232_record,
local_command, NULL, 0 );
if ( mx_status.code != MXE_SUCCESS )
return mx_status;
/* Read the response. */
mx_status = mx_rs232_getline( spellman_df3->rs232_record,
response, response_buffer_length,
NULL, 0 );
if ( mx_status.code != MXE_SUCCESS )
return mx_status;
response_length = strlen(response);
#if 0
{
int c;
for ( i = 0; i < response_length; i++ ) {
c = response[i];
MX_DEBUG(-2,("%s: response[%lu] = %#x '%c'",
fname, i, c, c));
}
}
#endif
/* Should this response have a checksum? */
switch( response[0] ) {
case 'A':
response_has_checksum = FALSE;
break;
case 'B':
case 'E':
case 'R':
response_has_checksum = TRUE;
break;
default:
return mx_error( MXE_INTERFACE_IO_ERROR, fname,
"The response '%s' to the command '%s' sent to "
"Spellman DF3/FF# '%s' starts with the unexpected "
"character %X '%c'.",
response, command, spellman_df3->record->name,
response[0], response[0] );
break;
}
if ( response_has_checksum ) {
/* See if the two byte checksum is correct. */
checksum_ptr = response + response_length - 2;
#if 0
MX_DEBUG(-2,("%s: response '%s' checksum = '%s'",
fname, response, checksum_ptr));
#endif
/* The checksum leaves out the first character in the response
* as well as the two byte checksum at the end.
*/
expected_checksum = 0;
for ( i = 1; i < (response_length - 2); i++ ) {
expected_checksum = expected_checksum + response[i];
}
expected_checksum = expected_checksum % 256;
/*---*/
actual_checksum
= 16 * mx_hex_char_to_unsigned_long( checksum_ptr[0] )
+ mx_hex_char_to_unsigned_long( checksum_ptr[1] );
if ( actual_checksum != expected_checksum ) {
mx_warning( "The response '%s' to the command '%s' "
"sent to Spellman DF3/FF3 '%s' had a checksum %#lX "
"that did not match the expected checksum of %#lX. "
"Continuing anyway.",
response, command, spellman_df3->record->name,
actual_checksum, expected_checksum );
}
/* Strip off the two byte checksum. */
*checksum_ptr = '\0';
}
if ( debug_flag ) {
MX_DEBUG(-2,("%s: received '%s' from '%s'",
fname, response, spellman_df3->record->name ));
}
/* If the response was not an error response, then we are done now. */
if ( response[0] != 'E' ) {
return MX_SUCCESSFUL_RESULT;
}
/* We received an error code. Return an approprate error
* to the caller.
*/
switch( response[1] ) {
case '1':
return mx_error( MXE_NOT_VALID_FOR_CURRENT_STATE, fname,
"Local Mode Error for '%s': A set command was attempted "
"while the power supply was set to Local Mode.",
spellman_df3->record->name );
break;
case '2':
return mx_error( MXE_ILLEGAL_ARGUMENT, fname,
"Undefined Command Code for '%s': The command character '%c' "
"received was not an S, Q, or V.",
spellman_df3->record->name, command[0] );
break;
case '3':
return mx_error( MXE_INTERFACE_IO_ERROR, fname,
"Checksum Error for '%s': The transmitted checksum received "
"in the command packet did not match the checksum calculated "
"on the received bytes.",
spellman_df3->record->name );
break;
case '4':
return mx_error( MXE_INTERFACE_IO_ERROR, fname,
"Extra Byte(s) Received for '%s': A byte other than the "
"carriage return character was received in the last expected "
"byte position of the command.",
spellman_df3->record->name );
break;
case '5':
return mx_error( MXE_CONFIGURATION_CONFLICT, fname,
"Illegal Digital Control Byte in Set Command for '%s': "
"Only one of the conditions 'X-ray On', 'X-ray Off', "
"and 'Power Supply Reset' can be set in the digital control "
"byte of the Set command at any one time.",
spellman_df3->record->name );
break;
case '6':
return mx_error( MXE_NOT_READY, fname,
"Illegal Set Command Received While a Fault is Active "
"for '%s': You must send a Power Supply Reset before "
"sending any other commands.",
spellman_df3->record->name );
break;
default:
return mx_error( MXE_UNKNOWN_ERROR, fname,
"Unrecognized error code '%c' was seen in the response '%s' "
"to command '%s' for Spellman power supply '%s'.",
response[1], response, command,
spellman_df3->record->name );
break;
}
#if !defined(OS_SOLARIS)
return MX_SUCCESSFUL_RESULT;
#endif
}
MX_EXPORT mx_status_type
mxi_compumotor_command( MX_COMPUMOTOR_INTERFACE *compumotor_interface,
char *command, char *response, size_t response_buffer_length,
int command_flags )
{
static const char fname[] = "mxi_compumotor_command()";
MX_RS232 *rs232;
unsigned long interface_flags;
unsigned long sleep_ms, num_bytes_available;
long num_command_attempts;
long i, max_response_attempts;
size_t command_length, response_length;
char c;
char echoed_command_string[200];
mx_bool_type debug_flag, debug_getchar_flag;
mx_status_type mx_status;
#if MXI_COMPUMOTOR_INTERFACE_DEBUG_TIMING
MX_HRT_RS232_TIMING command_timing, response_timing;
#endif
debug_flag = FALSE;
MX_DEBUG(2,("%s invoked.", fname));
if ( compumotor_interface == NULL ) {
return mx_error( MXE_NULL_ARGUMENT, fname,
"MX_COMPUMOTOR_INTERFACE pointer passed was NULL." );
}
if ( command == NULL ) {
return mx_error( MXE_NULL_ARGUMENT, fname,
"'command' buffer pointer passed was NULL. No command sent.");
}
if ( compumotor_interface->rs232_record == (MX_RECORD *) NULL ) {
return mx_error( MXE_CORRUPT_DATA_STRUCTURE, fname,
"The rs232_record pointer for record '%s' is NULL.",
compumotor_interface->record->name );
}
rs232 = (MX_RS232 *)
compumotor_interface->rs232_record->record_class_struct;
if ( rs232 == (MX_RS232 *) NULL ) {
return mx_error( MXE_CORRUPT_DATA_STRUCTURE, fname,
"The MX_RS232 pointer for record '%s' used by '%s' is NULL.",
compumotor_interface->rs232_record->name,
compumotor_interface->record->name );
}
interface_flags = compumotor_interface->interface_flags;
if ( interface_flags & MXF_COMPUMOTOR_ECHO_ON ) {
command_length = strlen( command );
if ( command_length > ( sizeof(echoed_command_string) - 1 ) ) {
return mx_error( MXE_WOULD_EXCEED_LIMIT, fname,
"Compumotor interface record '%s' has ECHO set to 1. When ECHO is "
"set to 1, commands are limited to a maximum of %ld characters, but "
"the command string passed is %ld characters long. command = '%s'",
compumotor_interface->record->name,
(long) sizeof( echoed_command_string ) - 1L,
(long) command_length, command );
}
}
if ( command_flags & MXI_COMPUMOTOR_INTERFACE_DEBUG ) {
debug_flag = TRUE;
} else
if ( interface_flags & MXF_COMPUMOTOR_DEBUG_SERIAL ) {
} else {
debug_flag = FALSE;
}
if ( command_flags & MXF_COMPUMOTOR_NO_RECURSION ) {
num_command_attempts = 1;
} else
if ( interface_flags & MXF_COMPUMOTOR_AUTOMATIC_RESYNCHRONIZE ) {
num_command_attempts = 2;
} else {
num_command_attempts = 1;
}
if ( interface_flags & MXF_COMPUMOTOR_DEBUG_SERIAL_GETCHAR ) {
if ( interface_flags & MXF_COMPUMOTOR_DEBUG_SERIAL ) {
debug_getchar_flag = TRUE;
} else
if ( rs232->rs232_flags & MXF_232_DEBUG_SERIAL ) {
debug_getchar_flag = TRUE;
} else
if ( rs232->rs232_flags & MXF_232_DEBUG_SERIAL_HEX ) {
debug_getchar_flag = TRUE;
} else {
debug_getchar_flag = FALSE;
}
} else {
debug_getchar_flag = FALSE;
}
/* Send the command string. */
if ( debug_flag ) {
MX_DEBUG(-2,("%s: sending '%s' to '%s'",
fname, command, compumotor_interface->record->name));
}
while ( num_command_attempts > 0 ) {
num_command_attempts--;
#if MXI_COMPUMOTOR_INTERFACE_DEBUG_TIMING
MX_HRT_RS232_START_COMMAND( command_timing, 2 + strlen(command) );
#endif
mx_status = mx_rs232_putline( compumotor_interface->rs232_record,
command, NULL, 0 );
#if MXI_COMPUMOTOR_INTERFACE_DEBUG_TIMING
MX_HRT_RS232_END_COMMAND( command_timing );
#endif
if ( mx_status.code != MXE_SUCCESS )
return mx_status;
#if MXI_COMPUMOTOR_INTERFACE_DEBUG_TIMING
MX_HRT_RS232_COMMAND_RESULTS( command_timing, command, fname );
#endif
if ( interface_flags & MXF_COMPUMOTOR_ECHO_ON ) {
/* If the Compumotor is configured to echo commands,
* read the echoed command string.
*/
#if MXI_COMPUMOTOR_INTERFACE_DEBUG_TIMING
MX_HRT_RS232_START_RESPONSE( response_timing,
compumotor_interface->rs232_record );
#endif
mx_status = mx_rs232_getline(compumotor_interface->rs232_record,
echoed_command_string,
sizeof( echoed_command_string ) - 1L,
NULL, 0 );
#if MXI_COMPUMOTOR_INTERFACE_DEBUG_TIMING
MX_HRT_RS232_END_RESPONSE( response_timing,
strlen(echoed_command_string) );
MX_HRT_RS232_RESPONSE_RESULTS( response_timing,
echoed_command_string, fname );
#endif
if ( mx_status.code != MXE_SUCCESS )
return mx_status;
}
/* Get the response, if one is expected. */
i = 0;
max_response_attempts = 1000;
sleep_ms = 1;
if ( response == NULL ) {
/* If we are not checking for a response, then we have no
* way to tell whether or not the command succeeded. That
* means that we have no justification for retrying a
* command, so we suppress command retries.
*/
num_command_attempts = 0;
} else {
/* If we get here, a response is expected. */
#if MXI_COMPUMOTOR_INTERFACE_DEBUG_TIMING
#if 0
MX_HRT_RS232_START_RESPONSE( response_timing,
compumotor_interface->rs232_record );
#else
MX_HRT_RS232_START_RESPONSE( response_timing, NULL );
#endif
#endif
/* Any text sent by the Compumotor controller should
* be prefixed by an asterisk character, so to begin
* with, we try to read and discard characters until
* we see an asterisk.
*/
c = '\0';
for ( i = 0; i < max_response_attempts; i++ ) {
mx_status = mx_rs232_num_input_bytes_available(
compumotor_interface->rs232_record,
&num_bytes_available );
if ( mx_status.code != MXE_SUCCESS )
return mx_status;
if ( num_bytes_available == 0 ) {
/* Sleep and then go back to the top
* of the for() loop.
*/
mx_msleep(sleep_ms);
continue;
}
mx_status = mx_rs232_getchar(
compumotor_interface->rs232_record,
&c, MXF_232_WAIT );
if ( debug_getchar_flag ) {
MX_DEBUG(-2,
("%s: mx_rs232_getchar() = '%c' %#x",
fname, c, c));
}
if ( mx_status.code != MXE_SUCCESS ) {
response[0] = '\0';
if ( debug_flag ) {
MX_DEBUG(-2,
("%s failed while waiting for an asterisk character from '%s'.",
fname, compumotor_interface->record->name));
}
return mx_status;
}
/* Did we see the asterisk character? */
if ( c != '*' ) {
/* If not, sleep and then go back to
* the top of the for() loop.
*/
mx_msleep(sleep_ms);
continue;
}
/* Read in the Compumotor response. */
mx_status = mx_rs232_getline(
compumotor_interface->rs232_record,
response, response_buffer_length,
NULL, 0 );
if ( mx_status.code == MXE_SUCCESS ) {
break; /* Exit the for() loop. */
} else if ( mx_status.code != MXE_NOT_READY ) {
MX_DEBUG(-2,
("*** Exiting with status = %ld for Compumotor interface '%s'.",
mx_status.code, compumotor_interface->record->name));
return mx_status;
}
mx_msleep(sleep_ms);
} /* End of response attempt loop (i) */
if ( i >= max_response_attempts ) {
if ( num_command_attempts > 0 ) {
mx_warning( "Resynchronizing '%s'.",
compumotor_interface->record->name );
mx_status = mxi_compumotor_resynchronize(
compumotor_interface->record );
if ( mx_status.code != MXE_SUCCESS )
return mx_status;
mx_warning( "Resynchronization of '%s' complete.",
compumotor_interface->record->name );
} else {
mx_status = mx_rs232_discard_unread_input(
compumotor_interface->rs232_record,
debug_flag );
if ( mx_status.code != MXE_SUCCESS ) {
mx_error( MXE_INTERFACE_IO_ERROR, fname,
"Failed at attempt to discard unread characters in buffer for record '%s'",
compumotor_interface->record->name );
}
return mx_error( MXE_TIMED_OUT, fname,
"No response seen to '%s' command after "
"%ld attempts to read from Compumotor "
"interface '%s'.",
command, max_response_attempts,
compumotor_interface->record->name );
}
} else {
/* Successfully got a response. */
num_command_attempts = 0; /* No more attempts needed. */
/* Sometimes, the response string after the asterisk '*'
* character starts with a newline character. If this
* has happened, strip off the leading newline.
*/
if ( response[0] == MX_LF ) {
response_length = strlen(response);
memmove( response, response+1, response_length );
}
#if MXI_COMPUMOTOR_INTERFACE_DEBUG_TIMING
MX_HRT_RS232_END_RESPONSE( response_timing,
strlen(response) );
MX_HRT_TIME_BETWEEN_MEASUREMENTS( command_timing,
response_timing, fname );
MX_HRT_RS232_RESPONSE_RESULTS( response_timing,
response, fname);
#endif
if ( debug_flag ) {
MX_DEBUG(-2,("%s: received '%s' from '%s'",
fname, response,
compumotor_interface->record->name));
}
#if 0
{
long j;
response_length = strlen(response);
for ( j = 0; j < response_length; j++ ) {
MX_DEBUG(-2,("%s: response[%ld] = %#x '%c'",
fname, j, response[j], response[j]));
}
}
#endif
}
} /* End of ( response != NULL ) block */
} /* End of while() command attempt loop. */
MX_DEBUG(2,("%s complete.", fname));
return MX_SUCCESSFUL_RESULT;
}
