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add edmund HSFW management
This commit is contained in:
eddyem
459
HSFW_management/hsfw.c
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459
HSFW_management/hsfw.c
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@@ -0,0 +1,459 @@
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/*
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* hsfw.c - functions for work with wheels
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*
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* Copyright 2016 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
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* MA 02110-1301, USA.
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*/
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#include <string.h>
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#include <sys/ioctl.h>
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#include <linux/hidraw.h>
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#include "cmdlnopts.h"
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#include "usefull_macros.h"
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#include "hsfw.h"
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#include "hidmanage.h"
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// wheel Id & filter position given (if given by name - check names stored)
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static int wheel_id = -1 // wheel ID given or found by name
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,filter_pos = -1 // filter position given or found by name
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,max_pos = -1 // max filter position allowed
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,wheel_fd = -1 // file descriptor of active wheel
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,HW_found = 0 // amount of wheels found
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;
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static wheel_descr *wheel_chosen = NULL; // pointer to chosen wheel
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static wheel_descr *wheels = NULL; // array with descriptors of found devs
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char *get_filter_name(wheel_descr *wheel, int pos);
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void list_hw(int show);
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void rename_hw();
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void move_wheel();
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void set_cur_wheel(int idx);
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int writereg(int fd, uint8_t *buf, int l);
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int readreg(int fd, uint8_t *buf, int reg, int l);
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void check_and_clear_err(int fd);
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void go_home(int fd);
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void list_props(_U_ int verblevl, wheel_descr *wheel);
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int poll_regstatus(int fd, int msg);
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/**
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* set variables pointing current wheel to wheels[idx]
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*/
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void set_cur_wheel(int idx){
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wheel_chosen = &wheels[idx];
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wheel_id = wheel_chosen->ID;
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wheel_fd = wheel_chosen->fd;
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max_pos = wheel_chosen->maxpos;
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}
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/**
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* Check command line arguments, find filters/wheels by name, find max positions & so on
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*/
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void check_args(){
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// here we fill value of wheel_id if no given and present only one turret
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list_hw(listNms); // also exit if no HW found
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if(listNms) return;
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int i;
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if(G.wheelID || G.filterId){
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char wID = (G.wheelID) ? *G.wheelID : *G.filterId;
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if((wID < 'A' || wID > 'H') || (G.wheelID && strlen(G.wheelID) != 1)){
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/// "éÄÅÎÔÉÆÉËÁÔÏÒ ËÏÌÅÓÁ ÄÏÌÖÅÎ ÂÙÔØ ÂÕË×ÏÊ ÏÔ \"A\" ÄÏ \"H\"!"
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ERRX(_("Wheel ID should be a letter from \"A\" to \"H\"!"));
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}
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wheel_id = wID;
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DBG("wheel given by id: %c", wheel_id);
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for(i = 0; i < HW_found; ++i){
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if(wheels[i].ID == wheel_id)
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set_cur_wheel(i);
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}
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}
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if(G.wheelName){ // find wheel by name given
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if(G.wheelID){
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/// "úÁÄÁÎÙ É ÉÄÅÎÔÉÆÉËÁÔÏÒ, É ÉÍÑ ËÏÌÅÓÁ; ÐÏÐÒÏÂÕÊÔÅ ÞÔÏ-ÔÏ ÏÄÎÏ!"
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ERRX(_("You give both wheel ID and wheel name, try something one!"));
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}
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wheel_fd = -1;
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for(i = 0; i < HW_found; ++i){
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if(strcmp(wheels[i].name, G.wheelName) == 0){
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set_cur_wheel(i);
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break;
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}
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}
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}
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// if there's only one turret, fill wheel_id
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if(wheel_id < 0 && HW_found == 1)
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set_cur_wheel(0);
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if(wheel_fd < 0 || !wheel_chosen){
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/// "úÁÄÁÎÎÏÅ ËÏÌÅÓÏ ÎÅ ÏÂÎÁÒÕÖÅÎÏ!"
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ERRX(_("Given wheel not found!"));
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}
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if(gohome) return;
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if(G.filterId){ // filter given by its id like "B3"
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char *fid = G.filterId;
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/// "éÄÅÎÔÉÆÉËÁÔÏÒ ÆÉÌØÔÒÁ ÓÏÓÔÏÉÔ ÉÚ ÂÕË×Ù (ËÏÌÅÓÏ) É ÃÉÆÒÙ (ÐÏÚÉÃÉÑ)"
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if(strlen(G.filterId) != 2 || fid[1] > '9' || fid[1] < '0')
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ERRX(_("Filter ID is letter (wheel) and number (position)"));
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filter_pos = fid[1] - '0';
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}else if(G.filterPos){ // filter given by numerical position
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filter_pos = G.filterPos;
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}else if(G.filterName){ // filter given by name - search it
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for(i = 1; i <= max_pos; ++i){
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DBG("Search filter %s in pos %d (%s)", G.filterName, i, get_filter_name(wheel_chosen, i));
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if(strcmp(G.filterName, get_filter_name(wheel_chosen, i)) == 0){
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filter_pos = i;
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break;
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}
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}
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if(i > max_pos){
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/// "æÉÌØÔÒ %s ÎÅ ÏÂÎÁÒÕÖÅÎ"
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ERRX(_("Filter %s not found!"), G.filterName);
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}
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}else{
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/// "îÅ ÚÁÄÁÎÏ ÎÉËÁËÏÇÏ ÄÅÊÓÔ×ÉÑ"
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ERRX("No action given");
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}
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if(filter_pos < 1 || filter_pos > max_pos){
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/// "ðÏÚÉÃÉÑ ÆÉÌØÔÒÁ ÄÏÌÖÎÁ ÂÙÔØ ÞÉÓÌÏÍ ÏÔ 1 ÄÏ %d!"
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ERRX(_("Filter position should be a number from 1 to %d!"), max_pos);
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}
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DBG("filter given by position: %d", filter_pos);
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}
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/**
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* write buf of length l to register & check answer
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* return 0 if all OK
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*/
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int writereg(int fd, uint8_t *buf, int l){
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uint8_t reg = buf[0];
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//#if 0//
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#ifdef EBUG
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int i;
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printf("Write reg %d:", reg);
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for(i = 0; i < l; ++i) printf(" %02hhx", buf[i]);
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printf("\n");
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#endif
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if(ioctl(fd, HIDIOCSFEATURE(l), buf) < 0 || buf[0] != reg){
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/// "ïÛÉÂËÁ ÏÔÐÒÁ×ËÉ ÄÁÎÎÙÈ"
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WARNX(_("Error sending data"));
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return 1;
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}
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return 0;
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}
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/**
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* read register to buf & check answer
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* return 0 if all OK
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*/
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int readreg(int fd, uint8_t *buf, int reg, int l){
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memset(buf, 0, l);
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buf[0] = reg;
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if(ioctl(fd, HIDIOCGFEATURE(l), buf) < 0 || buf[0] != reg){
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/// "ïÛÉÂËÁ ÞÔÅÎÉÑ ÄÁÎÎÙÈ"
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WARNX(_("Error reading data"));
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return 1;
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}
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//#if 0//
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#ifdef EBUG
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int i;
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printf("Read reg %d:", reg);
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for(i = 0; i < l; ++i) printf(" %02hhx", buf[i]);
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printf("\n");
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#endif
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return 0;
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}
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/**
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* Check error state and clear it if need
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*/
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void check_and_clear_err(int fd){
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int i, stat = 1;
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uint8_t buf[REG_STATUS_LEN];
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for(i = 0; i < 10 && stat; ++i){
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stat = readreg(fd, buf, REG_STATUS, REG_STATUS_LEN);
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if(stat) usleep(100000);
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}
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/// "ïÛÉÂËÁ, ËÏÌÉÞÅÓÔ×Ï ÐÏÐÙÔÏË ÉÓÔÅËÌÏ"
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if(i == 10) ERRX(_("Error, tries amount exceed"));
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if(buf[1] != 0xff){
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if(buf[5]){
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/// "ïÛÉÂËÁ No %d, ÓÂÒÁÓÙ×ÁÀ"
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//red(_("Error No %d, clear it"), buf[5]);
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stat = 1;
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for(i = 0; i < 10 && stat; ++i){
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memset(buf, 0, sizeof(buf));
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buf[0] = REG_CLERR;
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stat = writereg(fd, buf, REG_CLERR_LEN);
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usleep(100000);
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if(!stat) stat = readreg(fd, buf, REG_STATUS, REG_STATUS_LEN);
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if(!stat && buf[5]) stat = 1;
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}
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}
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readreg(fd, buf, REG_STATUS, REG_STATUS_LEN);
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if(buf[1] != 0xff){
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/// "ôÕÒÅÌØ ÎÅ ÉÎÉÃÉÁÌÉÚÉÒÏ×ÁÎÁ, Ä×ÉÖÅÎÉÅ × \"ÄÏÍ\""
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red(_("Turret isn't initialized, move home..."));
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go_home(fd);
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readreg(fd, buf, REG_STATUS, REG_STATUS_LEN);
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}
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}
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}
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/**
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* poll status register until moving stops
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* @return current position
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*/
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int poll_regstatus(int fd, int msg){
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uint8_t buf[REG_STATUS_LEN];
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int i, stat = 1;
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/// "ïÖÉÄÁÎÉÅ ÏËÏÎÞÁÎÉÑ Ä×ÉÖÅÎÉÑ"
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if(msg) printf(_("Wait for end of moving "));
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for(i = 0; i < 300 && stat; ++i){
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stat = readreg(fd, buf, REG_STATUS, REG_STATUS_LEN);
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if(!stat){
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if(buf[2] == 0xff || buf[3] == 0xff) stat = 1;
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}
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if(buf[5]){
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if(msg) printf("\n");
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/// "ðÒÏÉÚÏÛÌÁ ÏÛÉÂËÁ, ÐÏ×ÔÏÒÉÔÅ ÚÁÐÕÓË"
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ERRX(_("Error ocured, repeat again"));
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}
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usleep(50000);
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if(msg) printf("."); fflush(stdout);
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}
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if(msg) printf("\n");
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return buf[4];
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}
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/**
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* return statically allocated buffer with given filter name
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* @param wheel - given wheel file structure
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* @param pos - filter position (starts from 1)
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*/
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char *get_filter_name(wheel_descr *wheel, int pos){
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static uint8_t buf[REG_NAME_LEN];
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int fd = wheel->fd;
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if(fd < 0) return NULL;
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if(pos < 1 || pos > wheel->maxpos){
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/// "úÁÄÁÎÎÁÑ ÐÏÚÉÃÉÑ ×ÎÅ ÄÉÁÐÁÚÏÎÁ 1..%d"
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WARNX(_("Given position out of range 1..%d"), wheel->maxpos);
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return NULL;
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}
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memset(buf, 0, sizeof(buf));
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buf[0] = REG_NAME;
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buf[1] = FILTER_NAME;
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buf[2] = wheel->ID;
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buf[3] = pos;
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if(writereg(fd, buf, REG_NAME_LEN)) return NULL;
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if(readreg(fd, buf, REG_NAME, REG_NAME_LEN)) return NULL;
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if(buf[2]) return NULL;
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if(buf[6]){
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char *x = strchr((char*)&buf[6], ' ');
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if(x) *x = 0;
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return (char*) &buf[6];
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}
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else return NULL;
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}
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/**
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* list properties of wheels & fill remain fields of struct wheel_descr
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*/
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void list_props(_U_ int verblevl, wheel_descr *wheel){
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uint8_t buf[REG_NAME_LEN];
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int fd = wheel->fd;
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if(fd < 0){
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/// "îÅ ÍÏÇÕ ÏÔËÒÙÔØ ÕÓÔÒÏÊÓÔ×Ï"
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WARNX(_("Can't open device"));
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return;
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}
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check_and_clear_err(fd);
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// get status of wheel
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if(readreg(fd, buf, REG_INFO, REG_INFO_LEN)) return;
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wheel->ID = buf[5];
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wheel->maxpos = buf[4];
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DBG("Wheel with id '%c' and maxpos %d", wheel->ID, wheel->maxpos);
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char *getwname(int id){
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memset(buf, 0, sizeof(buf));
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buf[0] = REG_NAME;
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buf[1] = WHEEL_NAME;
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buf[2] = id;
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if(writereg(fd, buf, REG_NAME_LEN)) return NULL;
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if(readreg(fd, buf, REG_NAME, REG_NAME_LEN)) return NULL;
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if(buf[6]){
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char *x = strchr((char*)&buf[6], ' ');
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if(x) *x = 0;
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return (char*)&buf[6];
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}
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else return NULL;
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}
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if(verblevl == LIST_PRES || !verblevl){ // list only presented devices or not list
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char *nm;
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/// "\nó×ÏÊÓÔ×Á ÐÏÄËÌÀÞÅÎÎÏÇÏ ËÏÌÅÓÁ\n"
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if(verblevl) green(_("\nConnected wheel properties\n"));
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if(verblevl) printf("Wheel ID '%c'", wheel->ID);
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nm = getwname(wheel->ID);
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if(nm){
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strncpy(wheel->name, nm, 9);
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if(verblevl) printf(", name '%s'", wheel->name);
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}
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if(verblevl) printf("\n\tFilters:\n");
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else return;
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int i, m = wheel->maxpos + 1;
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// now get filter names
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for(i = 1; i < m; ++i){
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nm = get_filter_name(wheel, i);
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printf("\t\tPOS %d", i);
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if(nm) printf(" -- '%s'", nm);
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printf("\n");
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}
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}
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if(verblevl != LIST_ALL) return;
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// now list all things stored in memory of turret driver
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int w;
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/// "\n÷ÓÅ ÚÁÐÉÓÉ EEPROM\n"
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green(_("\nAll records from EEPROM\n"));
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wheel_descr wl;
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wl.fd = fd;
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wl.maxpos = ABS_MAX_POS;
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for(w = 'A'; w < 'I'; ++w){
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char *nm = getwname(w);
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int f;
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printf("Wheel ID '%c'", w);
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if(nm) printf(" with name '%s'", nm);
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printf("; filters:\n");
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wl.ID = w;
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for(f = 1; f <= ABS_MAX_POS; ++f){
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nm = get_filter_name(&wl, f);
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if(!nm){
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check_and_clear_err(fd);
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memset(buf, 0, sizeof(buf));
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buf[0] = REG_NAME;
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writereg(fd, buf, REG_NAME_LEN);
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readreg(fd, buf, REG_NAME, REG_NAME_LEN);
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break;
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}
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printf("\tPOS %d -- '%s'\n", f, nm);
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}
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}
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}
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/**
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* Check hardware present
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* if 'show' != 0 show names found
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*/
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void list_hw(int show){
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int i;
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if(show) DBG("show");
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HW_found = find_wheels(&wheels);
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DBG("Found %d dev[s]", HW_found);
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if(HW_found == 0){
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/// "ôÕÒÅÌÉ ÎÅ ÏÂÎÁÒÕÖÅÎÙ"
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ERRX(_("No turrets found"));
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}
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for(i = 0; i < HW_found; ++i)
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if(wheels[i].fd > 0) break;
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if(i == HW_found){
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/// "ïÂÎÁÒÕÖÅÎÏ %d ÔÕÒÅÌÅÊ, ÎÏ ÎÉ Ë ÏÄÎÏÊ ÎÅÔ ÐÒÁ× ÄÏÓÔÕÐÁ"
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ERRX(_("Found %d turrets but have no access rights to any"), HW_found);
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}
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// read other wheel properties & list if show!=0
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for(i = 0; i < HW_found; ++i){
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list_props(show, &wheels[i]);
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}
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}
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void rename_hw(){
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FNAME();
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check_and_clear_err(wheel_fd);
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}
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/**
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* move wheel home
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*/
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void go_home(int fd){
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static int Nruns = 0;
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/// "úÁÃÉËÌÉ×ÁÎÉÅ, ÐÏÐÒÏÂÕÊÔÅ ÅÝÅ ÒÁÚ"
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if(++Nruns > 10) ERRX(_("Cycling detected, try again"));
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DBG("Wheel go home");
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poll_regstatus(fd, 0); // wait for last moving
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uint8_t buf[REG_HOME_LEN];
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int i, stat = 1;
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for(i = 0; i < 10 && stat; ++i){
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memset(buf, 0, REG_HOME_LEN);
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buf[0] = REG_HOME;
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stat = writereg(fd, buf, REG_HOME_LEN);
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if(stat){usleep(100000); continue;}
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if((stat = readreg(fd, buf, REG_HOME, REG_HOME_LEN))) continue;
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if(buf[1] != 0xff){
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stat = 1; continue;
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}else{
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readreg(fd, buf, REG_HOME, REG_HOME_LEN);
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break;
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}
|
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}
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if(i == 10) exit(1);
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// now poll REG_STATUS
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poll_regstatus(fd, 1);
|
||||
check_and_clear_err(fd);
|
||||
}
|
||||
|
||||
void move_wheel(){
|
||||
DBG("Move wheel %c to pos %d", wheel_id, filter_pos);
|
||||
if(wheel_fd < 0) return;
|
||||
if(filter_pos == poll_regstatus(wheel_fd, 0)){
|
||||
/// "õÖÅ × ÚÁÄÁÎÎÏÊ ÐÏÚÉÃÉÉ"
|
||||
WARNX(_("Already at position"));
|
||||
exit(0);
|
||||
}
|
||||
uint8_t buf[REG_GOTO_LEN];
|
||||
int i, stat = 1;
|
||||
for(i = 0; i < 10 && stat; ++i){
|
||||
DBG("i=%d",i);
|
||||
memset(buf, 0, REG_GOTO_LEN);
|
||||
buf[0] = REG_GOTO;
|
||||
buf[1] = filter_pos;
|
||||
stat = writereg(wheel_fd, buf, REG_GOTO_LEN);
|
||||
usleep(100000);
|
||||
if(stat) continue;
|
||||
if((stat = readreg(wheel_fd, buf, REG_GOTO, REG_GOTO_LEN))) continue;
|
||||
if(buf[1] != 0xff){
|
||||
stat = 1; continue;
|
||||
}else{
|
||||
readreg(wheel_fd, buf, REG_GOTO, REG_HOME_LEN);
|
||||
break;
|
||||
}
|
||||
}
|
||||
if(i == 10) exit(1);
|
||||
poll_regstatus(wheel_fd, 1);
|
||||
check_and_clear_err(wheel_fd);
|
||||
}
|
||||
|
||||
void process_args(){
|
||||
FNAME();
|
||||
if(wheel_id < 0) return;
|
||||
if(gohome){
|
||||
go_home(wheel_fd);
|
||||
return;
|
||||
}
|
||||
if(reName){
|
||||
rename_hw();
|
||||
return;
|
||||
}
|
||||
if(filter_pos < 0) return;
|
||||
move_wheel();
|
||||
}
|
||||
Reference in New Issue
Block a user