halrmt.c

CNC 的开放码,EMC2 V2.2.8版

    rtapi_mutex_give(&(hal_data->mutex));
}

static void save_params(FILE *dst)
{
    int next;
    hal_param_t *param;

    fprintf(dst, "# parameter values\n");
    rtapi_mutex_get(&(hal_data->mutex));
    next = hal_data->param_list_ptr;
    while (next != 0) {
	param = SHMPTR(next);
	if (param->dir != HAL_RO) {
	    /* param is writable, save it's value */
	    fprintf(dst, "setp %s %s\n", param->name,
		data_value((int) param->type, SHMPTR(param->data_ptr)));
	}
	next = param->next_ptr;
    }
    rtapi_mutex_give(&(hal_data->mutex));
}

static void save_threads(FILE *dst)
{
    int next_thread;
    hal_thread_t *tptr;
    hal_list_t *list_root, *list_entry;
    hal_funct_entry_t *fentry;
    hal_funct_t *funct;

    fprintf(dst, "# realtime thread/function links\n");
    rtapi_mutex_get(&(hal_data->mutex));
    next_thread = hal_data->thread_list_ptr;
    while (next_thread != 0) {
	tptr = SHMPTR(next_thread);
	list_root = &(tptr->funct_list);
	list_entry = list_next(list_root);
	while (list_entry != list_root) {
	    /* print the function info */
	    fentry = (hal_funct_entry_t *) list_entry;
	    funct = SHMPTR(fentry->funct_ptr);
	    fprintf(dst, "addf %s %s\n", funct->name, tptr->name);
	    list_entry = list_next(list_entry);
	}
	next_thread = tptr->next_ptr;
    }
    rtapi_mutex_give(&(hal_data->mutex));
}

static int do_help_cmd(char *command)
{

    if (strcmp(command, "help") == 0) {
	printf("If you need help to use 'help', then I can't help you.\n");
    } else if (strcmp(command, "loadrt") == 0) {
	printf("loadrt modname [modarg(s)]\n");
	printf("  Loads realtime HAL module 'modname', passing 'modargs'\n");
	printf("  to the module.\n");
    } else if (strcmp(command, "unloadrt") == 0) {
	printf("unloadrt modname\n");
	printf("  Unloads realtime HAL module 'modname'.  If 'modname'\n");
	printf("  is 'all', unloads all realtime modules.\n");
    } else if (strcmp(command, "loadusr") == 0) {
	printf("loadusr [options] progname [progarg(s)]\n");
	printf("  Starts user space program 'progname', passing\n");
	printf("  'progargs' to it.  Options are:\n");
	printf("  -w  wait for program to finish\n");
	printf("  -i  ignore program return value (use with -w)\n");
    } else if ((strcmp(command, "linksp") == 0) || (strcmp(command,"linkps") == 0)) {
	printf("linkps pinname [arrow] signame\n");
	printf("linksp signame [arrow] pinname\n");
	printf("  Links pin 'pinname' to signal 'signame'.  Both forms do\n");
	printf("  the same thing.  Use whichever makes sense.  The optional\n");
	printf("  'arrow' can be '==>', '<==', or '<=>' and is ignored.  It\n");
	printf("  can be used in files to show the direction of data flow,\n");
	printf("  but don't use arrows on the command line.\n");
    } else if (strcmp(command, "linkpp") == 0) {
	printf("linkpp firstpin secondpin\n");
	printf("  Creates a signal with the name of the first pin,\n");	printf("  then links both pins to the signal. \n");
    }else if (strcmp(command, "unlinkp") == 0) {
	printf("unlinkp pinname\n");
	printf("  Unlinks pin 'pinname' if it is linked to any signal.\n");
    } else if (strcmp(command, "lock") == 0) {
	printf("lock [all|tune|none]\n");
	printf("  Locks HAL to some degree.\n");
	printf("  none - no locking done.\n");
	printf("  tune - some tuning is possible (setp & such).\n");
	printf("  all  - HAL completely locked.\n");
    } else if (strcmp(command, "unlock") == 0) {
	printf("unlock [all|tune]\n");
	printf("  Unlocks HAL to some degree.\n");
	printf("  tune - some tuning is possible (setp & such).\n");
	printf("  all  - HAL completely unlocked.\n");
    } else if (strcmp(command, "newsig") == 0) {
	printf("newsig signame type\n");
	printf("  Creates a new signal called 'signame'.  Type is 'bit',\n");
	printf("  'float', 'u8', 's8', 'u16', 's16', 'u32', or 's32'.\n");
    } else if (strcmp(command, "delsig") == 0) {
	printf("delsig signame\n");
	printf("  Deletes signal 'signame'.  If 'signame is 'all',\n");
	printf("  deletes all signals\n");
    } else if (strcmp(command, "setp") == 0) {
	printf("setp paramname value\n");
	printf("paramname = value\n");
	printf("  Sets parameter 'paramname' to 'value' (if writable).\n");
	printf("  'setp' and '=' work the same, don't use '=' on the\n");
	printf("  command line.  'value' may be a constant such as 1.234\n");
	printf("  or TRUE, or a reference to an environment variable,\n");
#ifdef NO_INI
	printf("  using the syntax '$name'./n");
#else
	printf("  using the syntax '$name'.  If option -i was given,\n");
	printf("  'value' may also be a reference to an ini file entry\n");
	printf("  using the syntax '[section]name'.\n");
#endif
    } else if (strcmp(command, "sets") == 0) {
	printf("sets signame value\n");
	printf("  Sets signal 'signame' to 'value' (if sig has no writers).\n");
    } else if (strcmp(command, "getp") == 0) {
	printf("getp paramname\n");
	printf("  Gets the value of parameter 'paramname'.\n");
    } else if (strcmp(command, "gets") == 0) {
	printf("gets signame\n");
	printf("  Gets the value of signal 'signame'.\n");
    } else if (strcmp(command, "addf") == 0) {
	printf("addf functname threadname [position]\n");
	printf("  Adds function 'functname' to thread 'threadname'.  If\n");
	printf("  'position' is specified, adds the function to that spot\n");
	printf("  in the thread, otherwise adds it to the end.  Negative\n");
	printf("  'position' means position with respect to the end of the\n");
	printf("  thread.  For example '1' is start of thread, '-1' is the\n");
	printf("  end of the thread, '-3' is third from the end.\n");
    } else if (strcmp(command, "delf") == 0) {
	printf("delf functname threadname\n");
	printf("  Removes function 'functname' from thread 'threadname'.\n");
    } else if (strcmp(command, "show") == 0) {
	printf("show [type] [pattern]\n");
	printf("  Prints info about HAL items of the specified type.\n");
	printf("  'type' is 'comp', 'pin', 'sig', 'param', 'funct',\n");
	printf("  'thread', or 'all'.  If 'type' is omitted, it assumes\n");
	printf("  'all' with no pattern.  If 'pattern' is specified\n");
	printf("  it prints only those items whose names match the\n");
	printf("  pattern (no fancy regular expressions, just a simple\n");
	printf("  match: 'foo' matches 'foo', 'foobar' and 'foot' but\n");
	printf("  not 'fo' or 'frobz' or 'ffoo').\n");
    } else if (strcmp(command, "list") == 0) {
	printf("list type [pattern]\n");
	printf("  Prints the names of HAL items of the specified type.\n");
	printf("  'type' is 'comp', 'pin', 'sig', 'param', 'funct', or\n");
	printf("  'thread'.  If 'pattern' is specified it prints only\n");
	printf("  those names that match the pattern (no fancy regular\n");
	printf("  expressions, just a simple match: 'foo' matches 'foo',\n");
	printf("  'foobar' and 'foot' but not 'fo' or 'frobz' or 'ffoo').\n");
	printf("  Names are printed on a single line, space separated.\n");
    } else if (strcmp(command, "status") == 0) {
	printf("status [type]\n");
	printf("  Prints status info about HAL.\n");
	printf("  'type' is 'lock', 'mem', or 'all'. \n");
	printf("  If 'type' is omitted, it assumes\n");
	printf("  'all'.\n");
    } else if (strcmp(command, "save") == 0) {
	printf("save [type] [filename]\n");
	printf("  Prints HAL state to 'filename' (or stdout), as a series\n");
	printf("  of HAL commands.  State can later be restored by using\n");
	printf("  \"halrmt -f filename\".\n");
	printf("  Type can be 'comp', 'sig', 'link[a]', 'net[a]', 'param',\n");
	printf("  or 'thread'.  ('linka' and 'neta' show arrows for pin\n");
	printf("  direction.)  If 'type' is omitted or 'all', does the\n");
	printf("  equivalent of 'comp', 'sig', 'link', 'param', and 'thread'.\n");
    } else if (strcmp(command, "start") == 0) {
	printf("start\n");
	printf("  Starts all realtime threads.\n");
    } else if (strcmp(command, "stop") == 0) {
	printf("stop\n");
	printf("  Stops all realtime threads.\n");
    } else if (strcmp(command, "quit") == 0) {
	printf("quit\n");
	printf("  Stop processing input and terminate halrmt (when\n");
	printf("  reading from a file or stdin).\n");
    } else if (strcmp(command, "exit") == 0) {
	printf("exit\n");
	printf("  Stop processing input and terminate halrmt (when\n");
	printf("  reading from a file or stdin).\n");
    } else {
	printf("No help for unknown command '%s'\n", command);
    }
    return 0;
}

static void print_help_general(int showR)
{
    printf("\nUsage:   halrmt [options] [cmd [args]]\n\n");
    printf("options:\n\n");
    printf("  -f [filename]  Read commands from 'filename', not command\n");
    printf("                 line.  If no filename, read from stdin.\n");
#ifndef NO_INI
    printf("  -i filename    Open .ini file 'filename', allow commands\n");
    printf("                 to get their values from ini file.\n");
#endif
    printf("  -k             Keep going after failed command.  Default\n");
    printf("                 is to exit if any command fails. (Useful with -f)\n");
    printf("  -q             Quiet - print errors only (default).\n");
    printf("  -Q             Very quiet - print nothing.\n");
    if (showR != 0) {
    printf("  -R             Release mutex (for crash recovery only).\n");
    }
    printf("  -s             Script friendly - don't print headers on output.\n");
    printf("  -v             Verbose - print result of every command.\n");
    printf("  -V             Very verbose - print lots of junk.\n");
    printf("  -h             Help - print this help screen and exit.\n\n");
    printf("commands:\n\n");
    printf("  loadrt, unloadrt, loadusr, lock, unlock, linkps, linksp, linkpp,\n");
    printf("  unlinkp, newsig, delsig, setp, getp, sets, gets, addf, delf, show,\n");
    printf("  list, save, status, start, stop, quit, exit\n");
    printf("  help           Lists all commands with short descriptions\n");
    printf("  help command   Prints detailed help for 'command'\n\n");
}

static halCommandType lookupHalCommand(char *s)
{
  halCommandType i = hcEcho;
  int temp;
  
  while (i < hcUnknown) {
    if (strcmp(halCommands[i], s) == 0) return i;
//    (int)i += 1;
      temp = i;
      temp++;
      i = (halCommandType) temp;
    }
  return i;
}
 
 static int commandHello(connectionRecType *context)
{
  char *pch;
  char *password = "EMC";
  
  pch = strtok(NULL, delims);
  if (pch == NULL) return -1;
  if (strcmp(pch, password) != 0) return -1;
  pch = strtok(NULL, delims);
  if (pch == NULL) return -1;
  strcpy(context->hostName, pch);  
  pch = strtok(NULL, delims);
  if (pch == NULL) return -1;
  context->linked = 1;    
  strcpy(context->version, pch);
  printf("Connected to %s\n\r", context->hostName);
  return 0;
}

static cmdResponseType getEcho(char *s, connectionRecType *context)
{
  char *pEchoStr = "ECHO %s";
  
  if (context->echo == 1) sprintf(context->outBuf, pEchoStr, "ON");
  else sprintf(context->outBuf, pEchoStr, "OFF");
  return rtNoError;
}

static cmdResponseType getVerbose(char *s, connectionRecType *context)
{
  char *pVerboseStr = "VERBOSE %s";
  
  if (context->verbose == 1) sprintf(context->outBuf, pVerboseStr, "ON");
  else sprintf(context->outBuf, pVerboseStr, "OFF");
  return rtNoError;
}

static cmdResponseType getEnable(char *s, connectionRecType *context)
{
  char *pEnableStr = "ENABLE %s";
  
  if (context->cliSock == enabledConn) sprintf(context->outBuf, pEnableStr, "ON");
  else sprintf(context->outBuf, pEnableStr, "OFF");
  return rtNoError;
}

static cmdResponseType getConfig(char *s, connectionRecType *context)
{
  char *pConfigStr = "CONFIG";

  strcpy(context->outBuf, pConfigStr);
  return rtNoError;
}

static cmdResponseType getCommMode(char *s, connectionRecType *context)
{
  char *pCommModeStr = "COMM_MODE %s";
  
  switch (context->commMode) {
    case 0: sprintf(context->outBuf, pCommModeStr, "ASCII"); break;
    case 1: sprintf(context->outBuf, pCommModeStr, "BINARY"); break;
    }
  return rtNoError;
}

static cmdResponseType getCommProt(char *s, connectionRecType *context)
{
  char *pCommProtStr = "COMM_PROT %s";
  
  sprintf(context->outBuf, pCommProtStr, context->version);
  return rtNoError;
}

static cmdResponseType getComps(char *s, connectionRecType *context)
{
  getCompInfo("", context);
  return rtHandledNoError;
}

static cmdResponseType getPins(char *s, connectionRecType *context)
{
  getPinInfo("", 0, context);
  return rtHandledNoError;
}

static cmdResponseType getPinVals(char *s, connectionRecType *context)

{
  getPinInfo("", 1, context);
  return rtHandledNoError;
}

static cmdResponseType getSignals(char *s, connectionRecType *context)
{
  getSigInfo("", 0, context);
  return rtHandledNoError;
}

static cmdResponseType getSignalVals(char *s, connectionRecType *context)
{
  getSigInfo("", 1, context);
  return rtHandledNoError;
}

static cmdResponseType getParams(char *s, connectionRecType *context)
{
  getParamInfo("", 0, context);
  return rtHandledNoError;
}

static cmdResponseType getParamVals(char *s, connectionRecType *context)
{
  getParamInfo("", 1, context);
  return rtHandledNoError;
}

static cmdResponseType getFuncts(char *s, connectionRecType *context)
{
  getFunctInfo("", context);
  return rtHandledNoError;
}

static cmdResponseType getThreads(char *s, connectionRecType *context)
{
  getThreadInfo("", context);
  return rtHandledNoError;
}

static cmdResponseType getComp(char *s, connectionRecType *context)
{
  if (s == NULL) return rtStandardError;
  getCompInfo(s, context);
  return rtHandledNoError;
}

static cmdResponseType getPin(char *s, connectionRecType *context)
{
  if (s == NULL) return rtStandardError;
  getPinInfo(s, 0, context);
  return rtHandledNoError;
}

static cmdResponseType getPinVal(char *s, connectionRecType *context)
{
  if (s == NULL) return rtStandardError;
  getPinInfo(s, 1, context);
  return rtHandledNoError;
}

static cmdResponseType getSignal(char *s, connectionRecType *context)
{
  if (s == NULL) return rtStandardError;
  getSigInfo(s, 0, context);
  return rtHandledNoError;
}

static cmdResponseType getSignalVal(char *s, connectionRecType *context)
{
  if (s == NULL) return rtStandardError;
  getSigInfo(s, 1, context);
  return rtHandledNoError;
}

static cmdResponseType getParam(char *s, connectionRecType *context)
{
  if (s == NULL) return rtStandardError;
  getParamInfo(s, 0, context);
  return rtHandledNoError;
}

static cmdResponseType getParamVal(char *s, connectionRecType *context)
{
  if (s == NULL) return rtStandardError;
  getParamInfo(s, 1, context);
  return rtHandledNoError;
}

static cmdResponseType getFunct(char *s, connectionRecType *context)
{
  if (s == NULL) return rtStandardError;
  getFunctInfo(s, context);
  return rtHandledNoError;
}

static cmdResponseType getThread(char *s, connectionRecType *context)
{
  if (s == NULL) return rtStandardError;
  getThreadInfo(s, context);
  return rtHandledNoError;
}

int commandGet(connectionRecType *context)
{
  static char *setNakStr = "GET NAK\r\n";
  static char *setCmdNakStr = "GET %s NAK\r\n";
  halCommandType cmd;
  char *pch;
  cmdResponseType ret = rtNoError;
  
  pch = strtok(NULL, delims);
  if (pch == NULL) {
    write(context->cliSock, setNakStr,