Added SMSD non-interactive command line client for Shack-Hartmann control system

Trinamic/SHA_client/Makefile

@@ -0,0 +1,22 @@
+PROGRAM = client
+LDFLAGS =
+SRCS = client.c
+CC = gcc
+DEFINES = -D_XOPEN_SOURCE=501
+CXX = gcc
+CFLAGS = -Wall -Werror $(DEFINES)
+OBJS = $(SRCS:.c=.o)
+all : $(PROGRAM) clean
+$(PROGRAM) : $(OBJS)
+	$(CC) $(CFLAGS) $(OBJS) $(LDFLAGS) -o $(PROGRAM)
+
+# some addition dependencies
+# %.o: %.c
+#        $(CC) $(LDFLAGS) $(CFLAGS) $< -o $@
+#$(SRCS) : %.c : %.h $(INDEPENDENT_HEADERS)
+#        @touch $@
+
+clean:
+	/bin/rm -f *.o *~
+depend:
+	$(CXX) -MM $(CXX.SRCS)

Trinamic/SHA_client/client.c

@@ -0,0 +1,526 @@
+/*
+ * client.c - simple terminal client for operationg with
+ * Standa's 8MT175-150 translator by SMSD-1.5 driver
+ *
+ * Hardware operates in microsterpping mode (1/16),
+ * max current = 1.2A
+ * voltage     = 12V
+ * "0" of driver connected to end-switch at opposite from motor side
+ * switch of motor's side connected to "IN1"
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include <termios.h>		// tcsetattr
+#include <unistd.h>			// tcsetattr, close, read, write
+#include <sys/ioctl.h>		// ioctl
+#include <stdio.h>			// printf, getchar, fopen, perror
+#include <stdlib.h>			// exit
+#include <sys/stat.h>		// read
+#include <fcntl.h>			// read
+#include <signal.h>			// signal
+#include <time.h>			// time
+#include <string.h>			// memcpy, strcmp etc
+#include <stdint.h>			// int types
+#include <sys/time.h>		// gettimeofday
+
+#define DBG(...) do{fprintf(stderr, __VA_ARGS__); }while(0)
+
+//double t0; // start time
+static int bus_error = 0; // last error of data output
+enum{
+	NO_ERROR  = 0, // normal execution
+	CODE_ERR,      // error of exexuted program code
+	BUS_ERR,       // data transmission error
+	COMMAND_ERR,   // wrong command
+	CMD_DATA_ERR,  // wrong data of command
+	UNDEFINED_ERR  // something else wrong
+};
+
+FILE *fout = NULL; // file for messages duplicating
+char *comdev = "/dev/ttyUSB0";
+int BAUD_RATE = B9600;
+uint16_t step_spd = 900;  // stepper speed: 225 steps per second in 1/1 mode
+struct termio oldtty, tty; // TTY flags
+struct termios oldt, newt; // terminal flags
+int comfd = -1; // TTY fd
+
+int erase_ctrlr();
+
+/**
+ * function for different purposes that need to know time intervals
+ * @return double value: time in seconds
+ *
+double dtime(){
+	double t;
+	struct timeval tv;
+	gettimeofday(&tv, NULL);
+	t = tv.tv_sec + ((double)tv.tv_usec)/1e6;
+	return t;
+}*/
+
+/**
+ * Exit & return terminal to old state
+ * @param ex_stat - status (return code)
+ */
+void quit(int ex_stat){
+	tcsetattr(STDIN_FILENO, TCSANOW, &oldt); // return terminal to previous state
+	if(comfd > 0){
+		erase_ctrlr();
+		ioctl(comfd, TCSANOW, &oldtty ); // return TTY to previous state
+		close(comfd);
+	}
+	if(fout) fclose(fout);
+	printf("Exit! (%d)\n", ex_stat);
+	exit(ex_stat);
+}
+
+/**
+ * Open & setup TTY, terminal
+ */
+void tty_init(){
+	// terminal without echo
+	tcgetattr(STDIN_FILENO, &oldt);
+	newt = oldt;
+	//newt.c_lflag &= ~(ICANON | ECHO);
+	newt.c_lflag &= ~(ICANON);
+	if(tcsetattr(STDIN_FILENO, TCSANOW, &newt) < 0) quit(-2);
+	printf("\nOpen port...\n");
+	if ((comfd = open(comdev,O_RDWR|O_NOCTTY|O_NONBLOCK)) < 0){
+		fprintf(stderr,"Can't use port %s\n",comdev);
+		quit(1);
+	}
+	printf(" OK\nGet current settings...\n");
+	if(ioctl(comfd,TCGETA,&oldtty) < 0) quit(-1); // Get settings
+	tty = oldtty;
+	tty.c_lflag     = 0; // ~(ICANON | ECHO | ECHOE | ISIG)
+	tty.c_oflag     = 0;
+	tty.c_cflag     = BAUD_RATE|CS8|CREAD|CLOCAL | PARENB; // 9.6k, 8N1, RW, ignore line ctrl
+	tty.c_cc[VMIN]  = 0;  // non-canonical mode
+	tty.c_cc[VTIME] = 5;
+	if(ioctl(comfd,TCSETA,&tty) < 0) quit(-1); // set new mode
+	printf(" OK\n");
+}
+
+/**
+ * Read characters from console without echo
+ * @return char readed
+ */
+int read_console(char *buf, size_t len){
+	int rb = 0;
+	ssize_t L = 0;
+	struct timeval tv;
+	int retval;
+	fd_set rfds;
+	tcsetattr(STDIN_FILENO, TCSANOW, &newt);
+	FD_ZERO(&rfds);
+	FD_SET(STDIN_FILENO, &rfds);
+	tv.tv_sec = 0; tv.tv_usec = 1000;
+	retval = select(1, &rfds, NULL, NULL, &tv);
+	if(retval){
+		if(FD_ISSET(STDIN_FILENO, &rfds)){
+			if(len < 2 || !buf) // command works as simple getchar
+				rb = getchar();
+			else{ // read all data from console buffer
+				if((L = read(STDIN_FILENO, buf, len)) > 0) rb = (int)L;
+			}
+		}
+	}
+	//tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
+	return rb;
+}
+
+/**
+ * getchar() without echo
+ * wait until at least one character pressed
+ * @return character readed
+ */
+int mygetchar(){ // ÁÎÁÌÏÇ getchar() ÂÅÚ ÎÅÏÂÈÏÄÉÍÏÓÔÉ ÖÁÔØ Enter
+	int ret;
+	do ret = read_console(NULL, 1);
+	while(ret == 0);
+	return ret;
+}
+
+/**
+ * Read data from TTY
+ * @param buff (o) - buffer for data read
+ * @param length   - buffer len
+ * @return amount of readed bytes
+ */
+size_t read_tty(char *buff, size_t length){
+	ssize_t L = 0;
+	fd_set rfds;
+	struct timeval tv;
+	int retval;
+	FD_ZERO(&rfds);
+	FD_SET(comfd, &rfds);
+	tv.tv_sec = 0; tv.tv_usec = 50000;
+	retval = select(comfd + 1, &rfds, NULL, NULL, &tv);
+	if(retval < 1) return 0;
+	if(FD_ISSET(comfd, &rfds)){
+		if((L = read(comfd, buff, length)) < 1){
+			fprintf(stderr, "ERROR on bus, exit!\n");
+			quit(-4);
+		}
+	}
+	return (size_t)L;
+}
+
+/**
+ * wait for answer from server
+ * @param sock - socket fd
+ * @return 0 in case of error or timeout, 1 in case of socket ready
+ *
+int waittoread(int sock){
+	fd_set fds;
+	struct timeval timeout;
+	int rc;
+	timeout.tv_sec = 0;
+	timeout.tv_usec = 1000;
+	FD_ZERO(&fds);
+	FD_SET(sock, &fds);
+	rc = select(sock+1, &fds, NULL, NULL, &timeout);
+	if(rc < 0){
+		perror("select failed");
+		return 0;
+	}
+	if(rc > 0 && FD_ISSET(sock, &fds)) return 1;
+	return 0;
+}
+*/
+
+void help(){
+	printf("\n\nUse this commands:\n"
+		"0\tMove to end-switch 0\n"
+		"1\tMove to end-switch 1\n"
+		"-xxx\tMake xxx steps toward zero's end-switch (0 main infinity)\n"
+		"+xxx\tMake xxx steps toward end-switch 1      (0 main infinity)\n"
+		"S\tPause motor when program is running\n"
+		"A\tStop motor when programm is running\n"
+		"E\tErase previous program from controller's memory\n"
+		"R\tTurn relay ON\n"
+		"r\tTurn relay OFF\n"
+		">\tincrease speed for 25pulses per second\n"
+		"<\tdecrease speed for 25pulses per second\n"
+		"\n"
+	);
+}
+
+void write_tty(char *str, int L){
+	ssize_t D = write(comfd, str, L);
+	if(D != L){
+		fprintf(stderr, "ERROR on bus, exit!\n");
+		quit(-3);
+	}
+}
+
+//#define dup_pr(...) do{printf(__VA_ARGS__); if(fout) fprintf(fout, __VA_ARGS__);}while(0)
+
+size_t read_ctrl_command(char *buf, size_t L){ // read data from controller to buffer buf
+	int i, j;
+	char *ptr = buf;
+	size_t R;
+	memset(buf, 0, L);
+	for(j = 0; j < L; j++, ptr++){
+		R = 0;
+		for(i = 0; i < 10 && !R; i++){
+			R = read_tty(ptr, 1);
+		}
+		if(!R){j--; break;}  // nothing to read
+		if(*ptr == '*') // read only one command
+			break;
+		if(*ptr < ' '){ // omit spaces & non-characters
+			j--; ptr--;
+		}
+	}
+	return (size_t) j + 1;
+}
+
+int parse_ctrlr_ans(char *ans){
+	char *E = NULL, *Star = NULL;
+	if(!ans || !*ans) return 1;
+	bus_error = NO_ERROR;
+	if(!(E = strchr(ans, 'E')) || !(Star = strchr(ans, '*')) || E[1] != '1'){
+		fprintf(stderr, "Answer format error (got: %s)\n", ans);
+		bus_error = UNDEFINED_ERR;
+		return 0;
+	}
+	switch (E[2]){ // E = "E1x"
+		case '0': // 10 - normal execution
+		break;
+		case '4': // 14 - program end
+			printf("Last command exectuted normally\n");
+		break;
+		case '2': // command interrupt by other signal
+			fprintf(stderr, "Last command terminated\n");
+		break;
+		case '3':
+			bus_error = CODE_ERR;
+			fprintf(stderr, "runtime");
+		break;
+		case '5':
+			bus_error = BUS_ERR;
+			fprintf(stderr, "data bus");
+		break;
+		case '6':
+			bus_error = COMMAND_ERR;
+			fprintf(stderr, "command");
+		break;
+		case '9':
+			bus_error = CMD_DATA_ERR;
+			fprintf(stderr, "command data");
+		break;
+		default:
+			bus_error = UNDEFINED_ERR;
+			fprintf(stderr, "undefined (%s)", ans);
+	}
+	if(bus_error != NO_ERROR){
+		fprintf(stderr, " error in controller\n");
+		return 0;
+	}
+	return 1;
+}
+
+int send_command(char *cmd){
+	int L = strlen(cmd);
+	size_t R = 0;
+	char ans[256];
+	write_tty(cmd, L);
+	R = read_ctrl_command(ans, 255);
+//	DBG("readed: %s (cmd: %s, R = %zd, L = %d)\n", ans, cmd, R, L);
+	if(!R || (strncmp(ans, cmd, L) != 0)){
+		fprintf(stderr, "Error: controller doesn't respond (answer: %s)\n", ans);
+		return 0;
+	}
+	R = read_ctrl_command(ans, 255);
+//	DBG("readed: %s\n", ans);
+	if(!R){ // controller is running or error
+		fprintf(stderr, "Controller doesn't answer!\n");
+		return 0;
+	}
+	return parse_ctrlr_ans(ans);
+}
+
+/*
+int send5times(char *cmd){ // sends command 'cmd' up to 5 times (if errors), return 0 in case of false
+	int N, R = 0;
+	for(N = 0; N < 5 && !R; N++){
+		R = send_command(cmd);
+	}
+	return R;
+}*/
+
+
+int erase_ctrlr(){
+	char *errmsg = "\n\nCan't erase controller's memory: some errors occured!\n\n";
+	#define safely_send(x) do{ if(bus_error != NO_ERROR){				\
+		fprintf(stderr, errmsg); return 0;} send_command(x); }while(0)
+	if(!send_command("LD1*")){ // start writing a program
+	//if(!send_command("LB*")){ // start writing a program into op-buffer
+		if(bus_error == COMMAND_ERR){ // motor is moving
+			printf("Found running program, stop it\n");
+			if(!send_command("ST1*"))
+			//if(!send_command("ST*"))
+				send_command("SP*");
+			send_command("LD1*");
+			//send_command("LB*");
+		}else{
+			fprintf(stderr, "Controller doesn't answer: try to press S or E\n");
+			return 1;
+		}
+	}
+	safely_send("BG*");   // move address pointer to beginning
+	safely_send("DS*");   // turn off motor
+	safely_send("ED*");   // end of program
+	if(bus_error != NO_ERROR){
+		fprintf(stderr, errmsg);
+		return 0;
+	}
+	return 1;
+}
+
+void con_sig(int rb){
+	int stepsN = 0, got_command = 0;
+	char command[256];
+	char buf[13];
+	if(rb < 1) return;
+	if(rb == 'q') quit(0); // q == exit
+	if(rb == '-' || rb == '+'){
+		if(!fgets(command, 255, stdin)){
+			fprintf(stderr, "You should give amount of steps after commands 'L' and 'R'\n");
+			return;
+		}
+		stepsN = atoi(command); // in ticks
+		if(stepsN < 0 || stepsN > 10000000){
+			fprintf(stderr, "\n\nSteps amount should be > -1 and < 10000000 (0 means infinity)!\n\n");
+			return;
+		}
+	}
+	#define Die_on_error(arg) do{if(!send_command(arg)) goto erase_;}while(0)
+	if(strchr("-+01Rr", rb)){ // command to execute
+		got_command = 1;
+		if(!send_command("LD1*")){        // start writing a program
+		//if(!send_command("LB*")){        // start writing a program into op-buffer
+			fprintf(stderr, "Error: previous program is running!\n");
+			return;
+		}
+		Die_on_error("BG*");              // move address pointer to beginning
+		if(strchr("-+01", rb)){
+			Die_on_error("EN*");              // enable power
+			//Die_on_error("SD10000*");         // set speed to max (156.25 steps per second with 1/16)
+			snprintf(buf, 12, "SD%u*", step_spd);
+			Die_on_error(buf);
+		}
+	}
+	switch(rb){
+		case 'h':
+			help();
+		break;
+		case '0':
+			Die_on_error("DL*");
+			Die_on_error("HM*");
+		break;
+		case '1':
+			Die_on_error("DR*");
+			Die_on_error("ML*");
+		break;
+		case '+':
+			Die_on_error("DR*");
+			if(stepsN)
+				sprintf(command, "MV%d*", stepsN);
+			else
+				sprintf(command, "MV*");
+			Die_on_error(command);
+		break;
+		case '-':
+			Die_on_error("DL*");
+			if(stepsN)
+				sprintf(command, "MV%d*", stepsN);
+			else
+				sprintf(command, "MV*");
+			Die_on_error(command);
+		break;
+		case 'S':
+			Die_on_error("SP*");
+		break;
+		case 'A':
+			Die_on_error("ST1*");
+			//Die_on_error("ST*");
+		break;
+		case 'E':
+			erase_ctrlr();
+		break;
+		case 'R':
+			Die_on_error("SF*");
+		break;
+		case 'r':
+			Die_on_error("CF*");
+		break;
+		case '>': // increase speed for 25 pulses
+			step_spd += 25;
+			printf("\nCurrent speed: %u pulses per sec\n", step_spd);
+			//snprintf(buf, 12, "SD%u*", step_spd);
+			//Die_on_error(buf);
+		break;
+		case '<': // decrease speed for 25 pulses
+			if(step_spd > 25){
+				step_spd -= 25;
+				printf("\nCurrent speed: %u pulses per sec\n", step_spd);
+				//snprintf(buf, 12, "SD%u*", step_spd);
+				//Die_on_error(buf);
+			}else
+				printf("\nSpeed is too low\n");
+		break;
+
+/*		default:
+			cmd = (uint8_t) rb;
+			write(comfd, &cmd, 1);*/
+	}
+	if(got_command){ // there was some command: write ending words
+		Die_on_error("DS*"); // turn off power from motor at end
+		Die_on_error("ED*"); // signal about command end
+		Die_on_error("ST1*");// start program
+	}
+	return;
+erase_:
+	erase_ctrlr();
+}
+
+/**
+ * Get integer value from buffer
+ * @param buff (i) - buffer with int
+ * @param len      - length of data in buffer (could be 2 or 4)
+ * @return
+ *
+uint32_t get_int(uint8_t *buff, size_t len){
+	int i;
+	printf("read %zd bytes: ", len);
+	for(i = 0; i < len; i++) printf("0x%x ", buff[i]);
+	printf("\n");
+	if(len != 2 && len != 4){
+		fprintf(stdout, "Bad data length!\n");
+		return 0xffffffff;
+	}
+	uint32_t data = 0;
+	uint8_t *i8 = (uint8_t*) &data;
+	if(len == 2) memcpy(i8, buff, 2);
+	else memcpy(i8, buff, 4);
+	return data;
+}*/
+
+int main(int argc, char *argv[]){
+	int rb;
+	char buff[128], *bufptr = buff;
+	size_t L;
+	if(argc == 2){
+		fout = fopen(argv[1], "a");
+		if(!fout){
+			perror("Can't open output file");
+			return (-1);
+		}
+		setbuf(fout, NULL);
+	}
+	tty_init();
+	signal(SIGTERM, quit);		// kill (-15)
+	signal(SIGINT, quit);		// ctrl+C
+	signal(SIGQUIT, SIG_IGN);	// ctrl+\   .
+	signal(SIGTSTP, SIG_IGN);	// ctrl+Z
+	setbuf(stdout, NULL);
+	erase_ctrlr();
+	//t0 = dtime();
+	while(1){
+		rb = read_console(NULL, 1);
+		if(rb > 0) con_sig(rb);
+		L = read_tty(bufptr, 127);
+		if(L){
+			bufptr += L;
+			if(bufptr - buff > 127){
+				fprintf(stderr, "Error: input buffer overflow!\n");
+				bufptr = buff;
+			}
+			if(bufptr[-1] == '*'){ // end of input command
+				*bufptr = 0;
+				parse_ctrlr_ans(buff);
+				//printf("%s", buff);
+				if(fout) fprintf(fout, "%zd\t%s\n", time(NULL), buff);
+				bufptr = buff;
+			}
+		}
+	}
+}