int main(int argc, char *argv[]) {
char *line, word[12], cmdChar, *ip;
int n;
pthread_t driverTid;
#if _POSIX_VERSION >= 199506
struct sched_param param;
#else /* _POSIX_VERSION >= 199506 */
pthread_attr_t attr;
#endif /* _POSIX_VERSION >= 199506 */
if(processPresent("excl_Track")) {
printf("Another Track type process is running\n");
exit(1);
}
setpriority(PRIO_PROCESS, (0), (TRACKUSERPRIO));
readline_initialize_everything();
read_history(HIST_FILE);
tsshm = OpenShm(TSSHMNAME, TSSHMSZ);
tsshm->azCmd = OFF_CMD;
tsshm->elCmd = OFF_CMD;
tsshm->az = tsshm->encAz;
tsshm->el = tsshm->encEl;
tsshm->azVel = 0;
tsshm->elVel = 0;
tsshm->msecCmd = tsshm->msec;
/* Start the driver thread */
#if _POSIX_VERSION >= 199506
if(pthread_create(&driverTid, NULL, driver, (void *)0) < 0) {
perror("Failed to create driver");
exit(1);
}
param.sched_priority = TRACKPRIO;
pthread_setschedparam(driverTid, SCHED_DEFAULT, ¶m);
#else /* _POSIX_VERSION >= 199506 */
pthread_attr_create(&attr);
if(pthread_create(&driverTid, attr, driver, (void *)0) < 0) {
perror("Failed to create driver");
exit(1);
}
pthread_setprio(driverTid, TRACKPRIO);
#endif /* _POSIX_VERSION >= 199506 */
/* This main loop communicates with the user */
for(;;) {
line = readline("trk: ");
if(*line) { /* Readline removes the '\n' */
add_history(line);
/* At this point the main part of the program should run. */
cmdChar = *line;
/* Skip the remainder of the first word */
for(ip = 1 + line; ! isspace(*ip); ip++) ;
switch(cmdChar) {
case 'p':
n = 1;
printf("Fault = %d az cmd %d, state %d "
"el cmd %d, state %d\n", tsshm->fault,
tsshm->azCmd, tsshm->azState,
tsshm->elCmd, tsshm->elState);
printf("az %9.4f, azVel %9.4f curAz %9.4f, encAz %9.4f\n",
tsshm->az/MSEC_PER_DEG, tsshm->azVel/MSEC_PER_DEG,
(double)tsshm->cmdAz/MSEC_PER_DEG,
(double)tsshm->encAz/MSEC_PER_DEG);
printf("el %9.4f, elVel %9.4f curEl %9.4f, encEl %9.4f\n",
tsshm->el/MSEC_PER_DEG, tsshm->elVel/MSEC_PER_DEG,
(double)tsshm->cmdEl/MSEC_PER_DEG,
(double)tsshm->encEl/MSEC_PER_DEG);
printf("day %d, msec %d, msecCmd %d "
"msecAccept %d\n", tsshm->day,
tsshm->msec, tsshm->msecCmd, tsshm->msecAccept);
printf("MSEC_PER_DEG = %9.4f\n", (double)n*MSEC_PER_DEG);
printf("m3Cmd = %d = %s m3State = %d = %s\n", tsshm->m3Cmd,
(tsshm->m3Cmd == CLOSE_M3_CMD)? "Closed":
(tsshm->m3Cmd == OPEN_M3_CMD)? "open":"Unknown",
tsshm->m3State,
(tsshm->m3State == CLOSED_ST)? "Closed":
(tsshm->m3State == OPEN_ST)? "open":"Unknown");
printf("lastMsec = %d, servoKnownDead = %d\n", lastMsec,
servoKnownDead);
break;
case 'a':
if(line[1] == 'a') {
n = sscanf(ip, "%lf %lf", &newP, &newV);
switch(n) {
case 1:
newV = 0;
case 2: /* This is supposed to fall through */
if(line[2] == 's') {
newP = tsshm->az/MSEC_PER_DEG + newP/3600;
newV = tsshm->azVel/MSEC_PER_DEG + newV/3600;
} else {
newP = tsshm->az/MSEC_PER_DEG + newP;
newV = tsshm->azVel/MSEC_PER_DEG + newV;
}
newAz = 1; /* Signal driver new az pos, vel. */
break;
default:
printf("??\n");
break;
}
break;
} else if(line[1] == 'h') {
if(sscanf(ip, "%s", word)) {
if(strcmp("on", word) == 0) {
tsshm->sendEncToPalm = AZ_TO_PALM;
} else if(strcmp("off", word) == 0) {
tsshm->sendEncToPalm = NOTHING_TO_PALM;
} else {
printf("??\n");
}
}
break;
}
n = sscanf(ip, "%lf %lf", &newP, &newV);
switch(n) {
case 1:
newV = 0;
case 2: /* This is supposed to fall through */
newAz = 1; /* Signal driver new az pos, vel. */
break;
case 0:
if(sscanf(ip, "%s", word)) {
if(strcmp("on", word) == 0) {
tsshm->msecCmd = tsshm->msec;
usleep(10000);
tsshm->azCmd = ON_CMD;
} else if(strcmp("off", word) == 0) {
tsshm->azCmd = OFF_CMD;
} else {
printf("??\n");
}
}
break;
default:
printf("??\n");
break;
}
break;
case 'e':
if(line[1] == 'a') {
n = sscanf(ip, "%lf %lf", &newP, &newV);
switch(n) {
case 1:
newV = 0;
case 2: /* This is supposed to fall through */
if(line[2] == 's') {
newP = tsshm->el/MSEC_PER_DEG + newP/3600;
newV = tsshm->elVel/MSEC_PER_DEG + newV/3600;
} else {
newP = tsshm->el/MSEC_PER_DEG + newP;
newV = tsshm->elVel/MSEC_PER_DEG + newV;
}
newEl = 1; /* Signal driver new az pos, vel. */
break;
default:
printf("??\n");
break;
}
break;
} else if(line[1] == 'h') {
if(sscanf(ip, "%s", word)) {
if(strcmp("on", word) == 0) {
tsshm->sendEncToPalm = EL_TO_PALM;
} else if(strcmp("off", word) == 0) {
tsshm->sendEncToPalm = NOTHING_TO_PALM;
} else {
printf("??\n");
}
}
break;
}
n = sscanf(ip, "%lf %lf", &newP, &newV);
switch(n) {
case 1:
newV = 0;
case 2: /* This is supposed to fall through */
newEl = 1; /* Signal driver */
break;
case 0:
if(sscanf(ip, "%s", word)) {
if(strcmp("on", word) == 0) {
tsshm->msecCmd = tsshm->msec;
usleep(10000);
tsshm->elCmd = ON_CMD;
} else if(strcmp("off", word) == 0) {
tsshm->msecCmd = tsshm->msec;
tsshm->elCmd = OFF_CMD;
} else {
printf("??\n");
}
}
break;
default:
printf("??\n");
break;
}
break;
case 'm':
if(sscanf(ip, "%s", word)) {
if(strcmp("open", word) == 0)
tsshm->m3Cmd = OPEN_M3_CMD;
else if(strcmp("closed", word) == 0)
tsshm->m3Cmd = CLOSE_M3_CMD;
else {
printf("??\n");
}
}
break;
case 'q':
tsshm->azCmd = OFF_CMD;
tsshm->elCmd = OFF_CMD;
write_history(HIST_FILE);
return(0);
default:
printf("??\n");
break;
}
/* end of the main loop */
}
free(line);
}
fprintf(stderr, "!!! Control should not get here !!!\n");
/* shm_unlink(TSSHMNAME); */
return(0);
}
int main(int argc, char *argv[]) {
char *ip, *cp;
char ttybuf[TTYLEN], cmd[CMDLEN];
COMMAND *cmdp;
int i;
config.gpibPresent = 1;
gpibDebug = 0;
vector_voltmeter.address = HP8508;
vector_voltmeter2.address = HP8508+1;
for (i=1; i<argc; i++) {
if (present(argv[i],"-a")) {
if (++i < argc) {
sscanf(argv[i],"%d",&vector_voltmeter.address);
} else {
vvUsage(argv[0]);
}
}
if (present(argv[i],"-b")) {
if (++i < argc) {
sscanf(argv[i],"%d",&vector_voltmeter2.address);
} else {
vvUsage(argv[0]);
}
}
if (present(argv[i],"-h")) {
vvUsage(argv[0]);
}
if (present(argv[i],"-d")) {
gpibDebug = 1;
}
}
readline_initialize_everything();
read_history(HIST_FILE);
vector_voltmeter.present = 1;
vector_voltmeter2.present = 1;
/* find controller and setup the GPIB bus */
#if __Lynx__
brd0 = call_ibfind(GPIBDEVICE);
#if !__powerpc__
call_ibsic(brd0);
call_ibsre(brd0,1);
#endif
#endif
/* open up the device */
WARN("opening GPIB device at address = %d....\n",
vector_voltmeter.address);
vector_voltmeter.dd = setupGPIBdevice(vector_voltmeter.address);
if (vector_voltmeter.dd < 0) {
WARN("Failed\n");
exit(0);
} else {
WARN("Succeeded. Descriptor = %d\n",vector_voltmeter.dd);
clearVectorVoltmeter(vector_voltmeter.dd);
}
WARN("opening GPIB device at address = %d....\n",
vector_voltmeter2.address);
vector_voltmeter2.dd = setupGPIBdevice(vector_voltmeter2.address);
if (vector_voltmeter2.dd < 0) {
WARN("Failed\n");
exit(0);
} else {
WARN("Succeeded. Descriptor = %d\n",vector_voltmeter2.dd);
clearVectorVoltmeter(vector_voltmeter2.dd);
}
whichVVMdd = vector_voltmeter.dd;
whichVVM = 1;
/* Now the main program is a loop, reading and executing commands */
for (;;) {
sprintf(ttybuf,"vectorVoltmeter%d@addr%d> ",whichVVM,
addressVVM(whichVVMdd));
ip = readline(ttybuf);
add_history(ip);
if (ip[0] == '!') {
system(++ip);
continue;
}
while((*ip == ' ' || *ip == '\t') && *ip != '\n')
ip++;
for(cp = cmd; cp < &cmd[CMDLEN]; cp++) {
if((*cp = *ip++) == ' ' || *cp == ',' ||
*cp == '\t' || *cp == '\n' || *cp == 0)
break;
}
*cp = 0;
if (cp >= &cmd[CMDLEN]) {
WARN( "cmd %s too long\n", cmd);
continue;
}
if (cmd[0] == 0)
continue;
/* 'ip' now contains only the arguments to the command */
for (cmdp = cmds; cmdp < &cmds[NUMCMDS]; cmdp++) {
/* look up the command */
if(*cmd == *cmdp->cmd && strcmp(cmd + 1, cmdp->cmd + 1) == 0) {
cmdp->sub(ip);
break;
}
} /* end of 'for' loop */
if (cmdp >= &cmds[NUMCMDS]) {
WARN("Unrecognized cmd = %s\n", cmd);
}
#if __Lynx__
free(ip);
#endif
} /* end of infinite 'for' command loop */
call_ibloc(vector_voltmeter.dd);
call_ibloc(vector_voltmeter2.dd);
write_history(HIST_FILE);
return(0);
}
