new work in progress patch from daan.

'work-in-progress-daan-2013-06-05-idn-rd-wr-ok.diff'
This branch is now based on the sercos branch.

common/include/controller_block.h

-/*
-	Copyright Jeroen Vreeken (pe1rxq@amsat.org), 2007, 2009, 2013
-	Copyright Stichting C.A. Muller Radioastronomiestation, 2007, 2009, 2013
-
-	This program is free software: you can redistribute it and/or modify
-	it under the terms of the GNU General Public License as published by
-	the Free Software Foundation, either version 3 of the License, or
-	(at your option) any later version.
-
-	This program is distributed in the hope that it will be useful,
-	but WITHOUT ANY WARRANTY; without even the implied warranty of
-	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-	GNU General Public License for more details.
-
-	You should have received a copy of the GNU General Public License
-	along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#ifndef _INCLUDE_CONTROLLER_BLOCK_H_
-#define _INCLUDE_CONTROLLER_BLOCK_H_
-
-#include <stddef.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <math.h>
-#include <pthread.h>
-#include <semaphore.h>
-#include <stdarg.h>
-
-enum controller_block_term_type {
-	CONTROLLER_BLOCK_TERM_VOID, /* Special case for checks... do NOT use! */
-	CONTROLLER_BLOCK_TERM_FLOAT,
-	CONTROLLER_BLOCK_TERM_BOOL,
-	CONTROLLER_BLOCK_TERM_UINT8,
-	CONTROLLER_BLOCK_TERM_UINT16,
-	CONTROLLER_BLOCK_TERM_UINT32,
-	CONTROLLER_BLOCK_TERM_SINT8,
-	CONTROLLER_BLOCK_TERM_SINT16,
-	CONTROLLER_BLOCK_TERM_SINT32,
-};
-
-
-/* Each off the inputs and outputs of the block is described with this struct.
-   For inputs: the value pointer pointer has to be filled in when building the
-               network.
-   For outputs: the value pointer is filled at block creation.
- */
-struct controller_block_outterm {
-	char *name;
-	enum controller_block_term_type type;
-	union {
-		void     *v;
-		float    *f;
-		bool     *b;
-		uint8_t  *u8;
-		uint16_t *u16;
-		uint32_t *u32;
-		int8_t   *s8;
-		int16_t  *s16;
-		int32_t  *s32;
-	} value;
-	struct controller_block *source;
-	
-	/* terminal of source (if not this one) */
-	struct controller_block_outterm *sourceterm;
-};
-
-struct controller_block_interm {
-	char *name;
-	enum controller_block_term_type type;
-	union {
-		void     **v;
-		float    **f;
-		bool     **b;
-		uint8_t  **u8;
-		uint16_t **u16;
-		uint32_t **u32;
-		int8_t   **s8;
-		int16_t  **s16;
-		int32_t  **s32;
-	} value;
-	struct controller_block *otherside;
-	struct controller_block_interm *ghostof;
-
-	/* link back to owning block */
-	struct controller_block *block;
-};
-
-/* List of interms which must be created in the block's input pointer.
-   This structure and its helper functions can only be used for normal
-   inputs which have no 'ghosts' and which are located in the private
-   structure.
-   
-   name:        name of the input terminal
-   type:        type of the input terminal
-   priv_offset: offset within the private structure where the target
-                pointer is located.
- */
-struct controller_block_interm_list {
-	char *name;
-	enum controller_block_term_type type;
-	size_t priv_offset;
-};
-
-/* List of outterms which must be created in the block's output pointer.
-   This structure and its helper functions can only be used for normal
-   outputs which have no 'ghosts' and which are located in the private
-   structure.
-
-   name:        name of the output terminal
-   type:        type of the output terminal
-   priv_offset: offset within the private structure where the source
-                pointer is located.
- */
-struct controller_block_outterm_list {
-	char *name;
-	enum controller_block_term_type type;
-	size_t priv_offset;
-};
-
-/* Starting point for a block.
-   Additional data a block might need can be pointed to by the private pointer.
- */
-struct controller_block {
-	char *name;	/* instance name this block */
-	char *type;	/* generic type of the block */
-	char *context;	/* Which context 'owns' this block */
-
-	/* List of inputs */
-	int inputs;
-	struct controller_block_interm *input;
-
-	/* List of outputs */
-	int outputs;
-	struct controller_block_outterm *output;
-
-	/* List of params */
-	int params;
-	struct controller_block_param_list *param;
-
-	void (*calculate)(struct controller_block *);
-
-	void (*param_get)(struct controller_block *, int, void *);
-	void (*param_set)(struct controller_block *, int, va_list);
-	
-	/* Incomplete type for private data */
-	struct controller_block_private *private;
-};
-
-struct controller_trace {
-	void *ptr;
-	enum controller_block_term_type type;
-	float *buffer;
-	size_t len;
-	size_t wr_pos;
-	size_t rd_pos;
-};
-
-struct controller_block_link {
-	char *outblock;
-	char *outterm;
-	char *inblock;
-	char *interm;
-	int chain;
-	char *type;
-};
-
-/* 64bit continuous counter */
-extern uint64_t controller_time_nseconds;
-
-extern uint32_t controller_time_seconds;
-extern uint32_t controller_time_samplenr;
-extern uint32_t controller_samplenr;
-
-int controller_block_create(char *type, char *name, va_list ap);
-void controller_block_add(struct controller_block *newblock);
-struct controller_block *controller_block_find(char *name);
-int controller_block_nr(void);
-struct controller_block *controller_block_get(int nr);
-struct controller_block_outterm *controller_block_find_outterm(
-    struct controller_block *block, char *output);
-
-int controller_block_add_float_input(struct controller_block *blk,
-    char *name, float **ptr);
-int controller_block_add_bool_input(struct controller_block *blk,
-    char *name, bool **ptr);
-int controller_block_add_sint16_input(struct controller_block *blk,
-    char *name, int16_t **ptr);
-int controller_block_add_sint32_input(struct controller_block *blk,
-    char *name, int32_t **ptr);
-
-int controller_block_add_float_output(struct controller_block *blk,
-    char *name, float *ptr);
-int controller_block_add_bool_output(struct controller_block *blk, char *name,
-    bool *ptr);
-int controller_block_add_uint16_output(struct controller_block *blk,
-    char *name, uint16_t *ptr);
-int controller_block_add_sint32_output(struct controller_block *blk,
-    char *name, int32_t *ptr);
-int controller_block_add_sint16_output(struct controller_block *blk,
-    char *name, int16_t *ptr);
-
-int controller_block_interm_list_init(struct controller_block *block,
-    struct controller_block_interm_list *list);
-int controller_block_outterm_list_init(struct controller_block *block,
-    struct controller_block_outterm_list *list);
-
-int controller_block_output_get_float(char *block, char *param, float *value);
-
-int controller_block_connect(char *outblock, char *outterm,
-    char *inblock, char *interm, int chain);
-int controller_block_link(void);
-
-struct controller_block_link *controller_block_link_get(int nr);
-int controller_block_link_nr(void);
-
-int controller_block_sample_init(void);
-
-void controller_block_calculate(void);
-
-char *controller_block_context_get(void);
-void controller_block_context_set(char *new_context);
-
-/* Helper function to create a new block */
-struct controller_block *controller_block_alloc(char *type, char *name,
-    size_t private_size);
-void controller_block_free(struct controller_block *blk);
-
-
-#define RPM2RADS(val) ((val)*2.0*M_PI/60.0)
-#define RADS2RPM(val) ((val)*60.0/(2.0*M_PI))
-#define DEG2RAD(val)  ((val)*2.0*M_PI/360.0)
-#define RAD2DEG(val)  ((val)*360.0/(2.0*M_PI))
-
-
-/*
-	controller_block_param
- */
-
-/* List of params which must be initialized in the block's param pointer */
-struct controller_block_param_list {
-	char *name;
-	bool sample;	/* True: all access to params must be 'sample safe' */
-};
-
-void controller_block_param_init(void);
-int controller_block_param_list_init(struct controller_block *block,
-    struct controller_block_param_list *list);
-int controller_block_param_set(char *block, char *param, va_list);
-int controller_block_param_get(char *block, char *param, void *value);
-void controller_block_param_handle(void);
-
-/*
-	controller_block_trace
- */
-
-void controller_block_trace_init(int max);
-int controller_block_trace_add(char *block, char *outterm,
-    struct controller_trace *trace);
-void controller_block_trace_del(struct controller_trace *trace);
-void controller_block_trace_wait(void);
-
-void controller_block_trace(void);
-
-#endif

common/include/controller_block.h

+../../controller/controller/controller_block.h
\ No newline at end of file

controller/Makefile

@@ -17,17 +17,16 @@ endif
 
 
 dt_ctrl_LDFLAGS=`./controller/block_list.sh lib/*.a` \
-	-lcontroller -lethercat -llog -lshell -ldt_azimuth -ldt_elevation
+	-lcontroller -lethercat -lsercos -llog -lshell \
+	-ldt_azimuth -ldt_elevation
 
 all: dt_ctrl \
 	test \
 	controller
 
-dt_ctrl: lib/libcontroller.la lib/libethercat.la lib/libdt_azimuth.la lib/libdt_elevation.la
+dt_ctrl: lib/libcontroller.la lib/libethercat.la lib/libsercos.la \
+	lib/libdt_azimuth.la lib/libdt_elevation.la
 
-lib/libethercat.la: lib/libcontroller.la
-lib/libdt_azimuth.la: lib/libcontroller.la
-lib/libdt_elevation.la: lib/libcontroller.la
 
 dt_ctrl: dt_ctrl.o
 
@@ -42,20 +41,31 @@ lib/libcontroller.la:
 	@echo " SUBDIR: $@"
 	@$(MAKE) -C controller
 
+lib/libdt_azimuth.la: lib/libcontroller.la
+
 lib/libdt_azimuth.la: lib
 	@echo " SUBDIR: $@"
 	@$(MAKE) -C dt_azimuth
 
+lib/libdt_elevation.la: lib/libcontroller.la
+
 lib/libdt_elevation.la: lib
 	@echo " SUBDIR: $@"
 	@$(MAKE) -C dt_elevation
 
-lib/libethercat.la: lib/liblog.la lib/libshell.la lib
+lib/libethercat.la: lib/liblog.la lib/libshell.la lib/libcontroller.la
+lib/libethercat.la: lib/libsercos.la
 
-lib/libethercat.la:
+lib/libethercat.la: lib
 	@echo " SUBDIR: $@"
 	@$(MAKE) -C ec
 
+lib/libsercos.la: lib/libcontroller.la
+
+lib/libsercos.la:
+	@echo " SUBDIR: $@"
+	@$(MAKE) -C sercos
+
 lib/libshell.la: lib/liblog.la lib
 	@echo " SUBDIR: $@"
 	@$(MAKE) -C shell
@@ -78,6 +88,7 @@ clean:
 	$(MAKE) -C dt_azimuth clean
 	$(MAKE) -C dt_elevation clean
 	$(MAKE) -C ec clean
+	$(MAKE) -C sercos clean
 	$(MAKE) -C test clean
 	$(MAKE) -C shell clean
 	$(MAKE) -C log clean

controller/controller/Makefile

@@ -58,6 +58,7 @@ CONTROLLERSRCS= \
 	controller_sample.c \
 	controller_dumpdot.c \
 	controller_load.c \
+	controller_load_variable.c \
 	controller_load_parser.tab.c \
 	controller_load_parser.yy.c
 

controller/controller/controller_block.c

@@ -23,7 +23,6 @@
 #include <math.h>
 #include <pthread.h>
 #include <dlfcn.h>
-#include <errno.h>
 
 #include "controller_block.h"
 #include "controller_sample.h"
@@ -57,7 +56,7 @@ int controller_block_create(char *type, char *name, va_list ap)
 	handle = dlopen(NULL, RTLD_NOW);
 	if (!handle) {
 		log_send(LOG_T_ERROR, 
-		    "Error getting handle from dlopen(): %s", dlerror());
+		    "Could not get handle from dlopen(): %s", dlerror());
 		return -1;
 	}
 	
@@ -68,12 +67,12 @@ int controller_block_create(char *type, char *name, va_list ap)
 	
 	if (create_func) {
 		if(!create_func(name, ap)) {
-			log_send(LOG_T_ERROR, "Error: %s() failed", symbol);
+			log_send(LOG_T_ERROR, "%s() failed", symbol);
 			ret = -1;
 		}
 	} else {
 		log_send(LOG_T_ERROR, 
-		    "Error finding function %s for block %s", symbol, type);
+		    "Could not find function %s for block %s", symbol, type);
 		ret = -1;
 	}
 	
@@ -214,7 +213,7 @@ int controller_block_sample_init(void)
 		for (j = 0; j < blocks[i]->inputs; j++) {
 			if (*blocks[i]->input[j].value.v == NULL) {
 				log_send(LOG_T_ERROR,
-				    "%s.%s is not connected!",
+				    "input %s.%s is not connected!",
 				    blocks[i]->name,
 				    blocks[i]->input[j].name);
 				check = false;
@@ -573,201 +572,3 @@ void controller_block_free(struct controller_block *blk)
 	
 	free(blk);
 }
-
-
-struct controller_block_interm *controller_block_add_input(
-    struct controller_block *blk, char *name,
-    enum controller_block_term_type type)
-{
-	int					inputs;
-	int					idx;
-	struct controller_block_interm		*input;
-	
-	inputs = blk->inputs + 1;
-	if (inputs == 1) {
-		input = malloc(sizeof(struct controller_block_interm));
-	} else {
-		input = realloc(blk->input, inputs *
-		    sizeof(struct controller_block_interm));
-	}
-	if (input == NULL)
-		return NULL;
-	
-	blk->inputs = inputs;
-	blk->input = input;
-	
-	idx = inputs - 1;
-	input[idx].name = name;
-	input[idx].type = type;
-	input[idx].ghostof = NULL;
-	
-	return &input[idx];
-}
-
-
-int controller_block_add_float_input(struct controller_block *blk,
-    char *name, float **ptr)
-{
-	struct controller_block_interm		*input;
-	
-	input = controller_block_add_input(blk, name,
-	    CONTROLLER_BLOCK_TERM_FLOAT);
-	if (input == NULL)
-		return ENOMEM;
-
-	input->value.f = ptr;
-	
-	return 0;
-}
-
-int controller_block_add_bool_input(struct controller_block *blk,
-    char *name, bool **ptr)
-{
-	struct controller_block_interm		*input;
-	
-	input = controller_block_add_input(blk, name,
-	    CONTROLLER_BLOCK_TERM_BOOL);
-	if (input == NULL)
-		return ENOMEM;
-
-	input->value.b = ptr;
-	
-	return 0;
-}
-
-int controller_block_add_sint16_input(struct controller_block *blk,
-    char *name, int16_t **ptr)
-{
-	struct controller_block_interm		*input;
-	
-	input = controller_block_add_input(blk, name,
-	    CONTROLLER_BLOCK_TERM_SINT16);
-	if (input == NULL)
-		return ENOMEM;
-
-	input->value.v = (void **)ptr;
-	
-	return 0;
-}
-
-int controller_block_add_sint32_input(struct controller_block *blk,
-    char *name, int32_t **ptr)
-{
-	struct controller_block_interm		*input;
-	
-	input = controller_block_add_input(blk, name,
-	    CONTROLLER_BLOCK_TERM_SINT32);
-	if (input == NULL)
-		return ENOMEM;
-
-	input->value.v = (void **)ptr;
-	
-	return 0;
-}
-
-struct controller_block_outterm *controller_block_add_output(
-    struct controller_block *blk, char *name,
-    enum controller_block_term_type type)
-{
-	int					outputs;
-	int					idx;
-	struct controller_block_outterm		*output;
-	
-	outputs = blk->outputs + 1;
-	if (outputs == 1) {
-		output = malloc(sizeof(struct controller_block_outterm));
-	} else {
-		output = realloc(blk->output, outputs *
-		    sizeof(struct controller_block_outterm));
-	}
-	if (output == NULL)
-		return NULL;
-	
-	blk->outputs = outputs;
-	blk->output = output;
-	
-	idx = outputs - 1;
-	output[idx].name = name;
-	output[idx].type = type;
-	output[idx].source = blk;
-
-	return &output[idx];
-}
-
-int controller_block_add_float_output(struct controller_block *blk,
-    char *name, float *ptr)
-{
-	struct controller_block_outterm		*output;
-
-	output = controller_block_add_output(blk, name,
-	    CONTROLLER_BLOCK_TERM_FLOAT);
-	if (output == NULL)
-		return ENOMEM;
-	
-	output->value.f = ptr;
-
-	return 0;
-}
-
-int controller_block_add_bool_output(struct controller_block *blk,
-    char *name, bool *ptr)
-{
-	struct controller_block_outterm		*output;
-
-	output = controller_block_add_output(blk, name,
-	    CONTROLLER_BLOCK_TERM_BOOL);
-	if (output == NULL)
-		return ENOMEM;
-	
-	output->value.b = ptr;
-
-	return 0;
-}
-
-int controller_block_add_uint16_output(struct controller_block *blk,
-    char *name, uint16_t *ptr)
-{
-	struct controller_block_outterm		*output;
-
-	output = controller_block_add_output(blk, name,
-	    CONTROLLER_BLOCK_TERM_UINT16);
-	if (output == NULL)
-		return ENOMEM;
-	
-	output->value.v = ptr;
-
-	return 0;
-}
-
-int controller_block_add_sint32_output(struct controller_block *blk,
-    char *name, int32_t *ptr)
-{
-	struct controller_block_outterm		*output;
-
-	output = controller_block_add_output(blk, name,
-	    CONTROLLER_BLOCK_TERM_SINT32);
-	if (output == NULL)
-		return ENOMEM;
-	
-	output->value.v = ptr;
-
-	return 0;
-}
-
-int controller_block_add_sint16_output(struct controller_block *blk,
-    char *name, int16_t *ptr)
-{
-	struct controller_block_outterm		*output;
-
-	output = controller_block_add_output(blk, name,
-	    CONTROLLER_BLOCK_TERM_SINT16);
-	if (output == NULL)
-		return ENOMEM;
-	
-	output->value.v = ptr;
-
-	return 0;
-}
-
-
-

controller/controller/controller_block.h

@@ -180,26 +180,6 @@ struct controller_block *controller_block_get(int nr);
 struct controller_block_outterm *controller_block_find_outterm(
     struct controller_block *block, char *output);
 
-int controller_block_add_float_input(struct controller_block *blk,
-    char *name, float **ptr);
-int controller_block_add_bool_input(struct controller_block *blk,
-    char *name, bool **ptr);
-int controller_block_add_sint16_input(struct controller_block *blk,
-    char *name, int16_t **ptr);
-int controller_block_add_sint32_input(struct controller_block *blk,
-    char *name, int32_t **ptr);
-
-int controller_block_add_float_output(struct controller_block *blk,
-    char *name, float *ptr);
-int controller_block_add_bool_output(struct controller_block *blk, char *name,
-    bool *ptr);
-int controller_block_add_uint16_output(struct controller_block *blk,
-    char *name, uint16_t *ptr);
-int controller_block_add_sint32_output(struct controller_block *blk,
-    char *name, int32_t *ptr);
-int controller_block_add_sint16_output(struct controller_block *blk,
-    char *name, int16_t *ptr);
-
 int controller_block_interm_list_init(struct controller_block *block,
     struct controller_block_interm_list *list);
 int controller_block_outterm_list_init(struct controller_block *block,

controller/controller/controller_load.c

@@ -215,13 +215,15 @@ int controller_load_block_param_set(char *block, char *param, yyscan_t scanner)
 	return controller_block_param_set(block, param, extra->va_list);
 }