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pusirobot/canserver/processmotors.c

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/*
* This file is part of the CANserver project.
* Copyright 2020 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* 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/>.
*/
#include "aux.h"
#include "canopen.h"
#include "cmdlnopts.h"
#include "processmotors.h"
#include "pusirobot.h"
#include "socket.h"
#include <fcntl.h> // open
#include <inttypes.h> // PRId64
#include <stdio.h> // printf
#include <string.h> // strcmp
#include <sys/stat.h> // open
#include <unistd.h> // usleep
#include <usefull_macros.h>
// command to show help
#define HELPCMD "help"
static int CANspeed = 0; // default speed, if !=0 set it when connected
// all messages are in format "ID [data]"
static message CANbusMessages = {0}; // CANserver thread is master
#define CANBUSPUSH(mesg) mesgAddObj(&CANbusMessages, mesg, sizeof(CANmesg))
#define CANBUSPOP() mesgGetObj(&CANbusMessages, NULL)
// commands sent to threads
// each threadCmd array should be terminated with NULLs; default command `help` shows all names/descriptions
typedef struct{
char *name; // command name
int nargs; // max arguments number
long *args; // pointer to arguments
char *descr; // description for help
} threadCmd;
// basic threads
// messages: master - thread, slave - caller
static void *stpemulator(void *arg);
static void *rawcommands(void *arg);
static void *canopencmds(void *arg);
static void *simplestp(void *arg);
// handlers for standard types
thread_handler CANhandlers[] = {
{"canopen", canopencmds, "NodeID index subindex [data] - raw CANOpen commands with `index` and `subindex` to `NodeID`"},
{"emulation", stpemulator, "(args) - stepper emulation"},
{"raw", rawcommands, "ID [DATA] - raw CANbus commands to raw `ID` with `DATA`"},
{"stepper", simplestp, "(args) - simple stepper motor: no limit switches, only goto"},
{NULL, NULL, NULL}
};
thread_handler *get_handler(const char *name){
for(thread_handler *ret = CANhandlers; ret->name; ++ret){
if(strcmp(ret->name, name)) continue;
return ret;
}
return NULL;
}
// bad arguments number
#define CMDPAR_ERR_BADNUMB (-1)
// command not found
#define CMDPAR_ERR_NOTFOUND (-2)
// just show help
#define CMDPAR_ERR_SHOWHELP (-3)
// clear errors
#define CMDPAR_CLEARERR (-4)
/**
* @brief cmdParser - parser of user's comands
* @param cmdlist - NULL-terminated array with possible commands
* @param s - user's command (default command HELPCMD shows all names/descriptions)
* argument `s` will be broken to tokens
* @param thrname - thread name (for help message)
* @return index of command in `cmdlist`, or negative errcode
*/
static int cmdParser(const threadCmd *cmdlist, char *s, const char *thrname){
if(!cmdlist || !s) return -1;
char *saveptr, *command;
int idx = 0;
command = strtok_r(s, " \t,;\r\n", &saveptr);
if(!command) return -1;
if(strcmp(command, HELPCMD) == 0){ // just show help
char buf[128];
snprintf(buf, 128, "%s> COMMAND NARGS MEANING", thrname);
mesgAddText(&ServerMessages, buf);
while(cmdlist->name){
snprintf(buf, 128, "%s> %-12s%-6d%s",
thrname, cmdlist->name, cmdlist->nargs, cmdlist->descr);
mesgAddText(&ServerMessages, buf);
++cmdlist;
}
return CMDPAR_ERR_SHOWHELP;
}
while(cmdlist->name){
if(strcmp(cmdlist->name, command) == 0) break;
++idx; ++cmdlist;
}
if(!cmdlist->name) return CMDPAR_ERR_NOTFOUND; // command not found
if(cmdlist->nargs == 0) return idx; // simple command
int nargsplus1 = cmdlist->nargs + 1, N = 0;
long *args = MALLOC(long, nargsplus1);
for(; N < nargsplus1; ++N){
char *nxt = strtok_r(NULL, " \t,;\r\n", &saveptr);
if(!nxt) break;
if(str2long(nxt, &args[N])) break;
}
if(!cmdlist->args){
WARNX("NULL instead of pointer to received data");
return CMDPAR_ERR_BADNUMB;
}
if(N != cmdlist->nargs){
FREE(args);
return CMDPAR_ERR_BADNUMB; // bad arguments number
}
for(int i = 0; i < N; ++i)
cmdlist->args[i] = args[i];
FREE(args);
return idx;
}
/**
* @brief parsePacket - convert text into can packet data
* @param packet (o) - pointer to CANpacket or NULL (just to check)
* @param data - text in format "ID [byte0 ... byteN]"
* @return 0 if all OK
*/
static int parsePacket(CANmesg *packet, char *data){
if(!data || *data == 0){ // no data
return 1;
}
long info[10]={0};
int N = 0;
char *saveptr = NULL;
for(char *s = data; N < 10; s = NULL, ++N){
char *nxt = strtok_r(s, " \t,;\r\n", &saveptr);
if(!nxt) break;
if(str2long(nxt, &info[N])) break;
}
if(N > 9 || N == 0) return 1; // ID + >8 data bytes or no at all
if(packet){
packet->ID = info[0];
packet->len = N - 1;
}
for(int i = 1; i < N; ++i){
if(info[i] < 0 || info[i] > 0xff) return 2;
if(packet) packet->data[i-1] = (uint8_t) info[i];
}
return 0;
}
// [re]open serial device
static void reopen_device(){
char *devname = NULL;
double t0 = dtime();
canbus_close();
DBG("Try to [re]open serial device");
while(dtime() - t0 < 5.){
if((devname = find_device())) break;
usleep(1000);
}
if(!devname || canbus_open(devname)){
FREE(devname);
LOGERR("Can't find serial device");
ERRX("Can't find serial device");
}else {DBG("Opened device: %s", devname);}
if(CANspeed){ // set default speed
canbus_clear();
canbus_setspeed(CANspeed);
canbus_clear();
}
FREE(devname);
}
// do something with can message: send to receiver
static void processCANmessage(CANmesg *mesg){
threadinfo *ti = findThreadByID(0);
if(ti){
mesgAddObj(&ti->answers, (void*)mesg, sizeof(CANmesg));
}
ti = findThreadByID(mesg->ID);
if(ti){
mesgAddObj(&ti->answers, (void*) mesg, sizeof(CANmesg));
}
}
/**
* @brief CANserver - main CAN thread; receive/transmit raw messages by CANbusMessages
* @param data - unused
* @return unused
*/
void *CANserver(_U_ void *data){
reopen_device();
while(1){
CANmesg *msg = CANBUSPOP();
if(msg){
if(canbus_write(msg)){
LOGWARN("Can't write to CANbus, try to reopen");
WARNX("Can't write to canbus");
if(canbus_disconnected()) reopen_device();
}
FREE(msg);
}
CANmesg cm = {0};
if(!canbus_read(&cm)){ // got raw message from CAN bus - parse it
DBG("Got CAN message from 0x%03X, len: %d", cm.ID, cm.len);
processCANmessage(&cm);
}else if(canbus_disconnected()) reopen_device();
}
LOGERR("CANserver(): UNREACHABLE CODE REACHED!");
return NULL;
}
/**
* @brief stpemulator - stepper motor emulator
* @param arg - threadinfo
* @return unused
*/
static void *stpemulator(void *arg){
threadinfo *ti = (threadinfo*)arg;
while(1){
char *mesg = mesgGetText(&ti->commands);
if(mesg){
DBG("Stepper emulator got: %s", mesg);
mesgAddText(&ServerMessages, mesg);
/* do something */
FREE(mesg);
}
int r100 = rand() % 10000;
if(r100 < 1){ // 10% of probability
mesgAddText(&ServerMessages, "stpemulator works fine!");
}
if(r100 > 9998){
mesgAddText(&ServerMessages, "O that's good!");
}
usleep(1000);
}
LOGERR("stpemulator(): UNREACHABLE CODE REACHED!");
return NULL;
}
/**
* @brief rawcommands - send/receive raw commands
* @param arg - threadinfo
* @return unused
* message format: ID [data]; ID - receiver ID (raw), data - 0..8 bytes of data
* ID == 0 receive everything!
*/
static void *rawcommands(void *arg){
threadinfo *ti = (threadinfo*)arg;
while(1){
char *mesg = mesgGetText(&ti->commands);
if(mesg){
DBG("Got raw command: %s", mesg);
CANmesg cm;
if(!parsePacket(&cm, mesg)) CANBUSPUSH(&cm);
FREE(mesg);
}
CANmesg *ans = (CANmesg*) mesgGetObj(&ti->answers, NULL);
if(ans){ // got raw answer from bus to thread ID, send it to all
char buf[64], *ptr = buf;
int l = 64, x;
x = snprintf(ptr, l, "#0x%03X ", ans->ID);
l -= x; ptr += x;
for(int i = 0; i < ans->len; ++i){
x = snprintf(ptr, l, "0x%02X ", ans->data[i]);
l -= x; ptr += x;
}
mesgAddText(&ServerMessages, buf);
FREE(ans);
}
usleep(1000);
}
LOGERR("rawcommands(): UNREACHABLE CODE REACHED!");
return NULL;
}
// make string for CAN message from command message (NodeID index subindex [data] -> ID data)
static void sendSDO(char *mesg){
long info[8] = {0}; // 0 - NodeID, 1 - index, 2 - subindex, 3..6 - data[0..4]
int N = 0;
char *saveptr = NULL;
for(char *s = mesg; N < 8; s = NULL, ++N){
char *nxt = strtok_r(s, " \t,;\r\n", &saveptr);
if(!nxt) break;
if(str2long(nxt, &info[N])) break;
}
if(N > 7 || N < 3){
WARNX("Got bad CANopen command");
LOGMSG("Got bad CANopen command");
return;
}
DBG("User's message have %d ints", N);
CANmesg comesg;
uint8_t datalen = (uint8_t) N - 3;
comesg.data[0] = (datalen) ? SDO_CCS(CCS_INIT_DOWNLOAD) : SDO_CCS(CCS_INIT_UPLOAD); // write or read
comesg.len = 8;
if(datalen){ // there's data
comesg.data[0] |= SDO_N(datalen) | SDO_E | SDO_S;
for(int i = 0; i < datalen; ++i) comesg.data[4+i] = (uint8_t)(info[3+i]);
}
comesg.data[1] = info[1] & 0xff;
comesg.data[2] = (info[1] >> 8) & 0xff;
comesg.data[3] = (uint8_t)(info[2]);
comesg.ID = (uint16_t)(RSDO_COBID + info[0]);
CANBUSPUSH(&comesg);
}
// send raw CANopen commands
// message format: NodeID index subindex [data]
static void *canopencmds(void *arg){
threadinfo *ti = (threadinfo*)arg;
while(1){
char *mesg = mesgGetText(&ti->commands);
if(mesg) do{
DBG("Got CANopen command: %s", mesg);
sendSDO(mesg);
FREE(mesg);
}while(0);
CANmesg *ans = (CANmesg*)mesgGetObj(&ti->answers, NULL);
if(ans){ // got raw answer from bus to thread ID, analize it
SDO sdo;
if(parseSDO(ans, &sdo)){
char buf[128], *ptr = buf;
int rest = 128;
int l = snprintf(ptr, rest, "%s nid=0x%02X, idx=0x%04X, subidx=%d, ccs=0x%02X, datalen=%d",
ti->name, sdo.NID, sdo.index, sdo.subindex, sdo.ccs, sdo.datalen);
ptr += l; rest -= l;
if(sdo.datalen){
l = snprintf(ptr, rest, ", data=[");
ptr += l; rest -= l;
for(int idx = 0; idx < sdo.datalen; ++idx){
if(idx) l = snprintf(ptr, rest, ", 0x%02X", sdo.data[idx]);
else l = snprintf(ptr, rest, "0x%02X", sdo.data[idx]);
ptr += l; rest -= l;
}
l = snprintf(ptr, rest, "]");
ptr += l; rest -= l;
}
mesgAddText(&ServerMessages, buf);
}
FREE(ans);
}
usleep(1000);
}
LOGERR("rawcommands(): UNREACHABLE CODE REACHED!");
return NULL;
}
// check incoming SDO and send data to all (thrname - thread name)
static void chkSDO(const SDO *sdo, const char *thrname){
char buf[128];
if(!sdo) return;
SDO_dic_entry *de = dictentry_search(sdo->index, sdo->subindex);
if(!de) return; // SDO not from dictionary
const abortcodes *ac = NULL;
int64_t val = getSDOval(sdo, de, &ac);
if(val == INT_MAX) // zero-length SDO - last command acknowledgement
snprintf(buf, 128, "%s %s=OK", thrname, de->varname);
else if(val == INT64_MIN) // error
snprintf(buf, 128, "%s abortcode='0x%X' error='%s'", thrname, ac->code, ac->errmsg);
else // got value
snprintf(buf, 128, "%s %s=%" PRId64, thrname, de->varname, val);
mesgAddText(&ServerMessages, buf);
}
// parser of base stepper motor commands
/**
* @brief baseStepperCommands - parser of base stepper motor commands
* @param cmd - command message (don't brokes like in `cmdParser`)
* @param thrname - thread name
* @return 0 if found command (or it was erroneous), CMDPAR_ERR_NOTFOUND if not found,
* CMDPAR_ERR_SHOWHELP if got 'help', CMDPAR_CLEARERR if got 'stop'
*/
static int baseStepperCommands(const char *cmd, const threadinfo *ti){
if(!cmd || !ti) return CMDPAR_ERR_NOTFOUND;
CANmesg can;
char buf[128];
int i;
long par;
int NID = ti->ID & NODEID_MASK; // node ID
char *mesg = strdup(cmd);
threadCmd commands[] = {
[0] = {"stop", 0, NULL, "stop motor and clear errors"},
[1] = {"status", 0, NULL, "get current position and status"},
[2] = {"relmove", 1, &par, "relative move"},
[3] = {"absmove", 1, &par, "absolute move to position arg"},
[4] = {"enable", 1, &par, "enable (!0) or disable (0) motor"},
[5] = {"setzero", 0, NULL, "set current position as zero"},
[6] = {"maxspeed", 1, &par, "set/get maxspeed (get: arg==0)"},
[7] = {"info", 0, NULL, "get motor information"},
{NULL, 0, NULL, NULL}
};
int idx = cmdParser(commands, mesg, ti->name);
DBG("idx = %d", idx);
if(idx < 0){
switch(idx){
case CMDPAR_ERR_BADNUMB:
snprintf(buf, 128, "%s bad arguments number for '%s'", ti->name, mesg);
break;
case CMDPAR_ERR_NOTFOUND:
FREE(mesg);
return CMDPAR_ERR_NOTFOUND;
break;
case CMDPAR_ERR_SHOWHELP: // do nothing
FREE(mesg);
return CMDPAR_ERR_SHOWHELP;
break;
default:
snprintf(buf, 128, "%s error in command '%s'", ti->name, mesg);
}
if(CMDPAR_ERR_SHOWHELP != idx){
mesgAddText(&ServerMessages, buf);
FREE(mesg);
return 0;
}
}
switch(idx){
case 0: // stop
CANBUSPUSH(SDO_write(&STOP, NID, 1, &can));
CANBUSPUSH(SDO_read(&DEVSTATUS, NID, &can));
CANBUSPUSH(SDO_read(&ERRSTATE, NID, &can));
return CMDPAR_CLEARERR;
break;
case 1: // status, curpos
CANBUSPUSH(SDO_read(&DEVSTATUS, NID, &can));
CANBUSPUSH(SDO_read(&POSITION, NID, &can));
CANBUSPUSH(SDO_read(&ERRSTATE, NID, &can));
break;
case 2: // relmove
i = 1; // positive direction
if(par < 0){
i = 0; // negative direction
par = -par;
}
CANBUSPUSH(SDO_write(&ROTDIR, NID, i, &can));
CANBUSPUSH(SDO_write(&RELSTEPS, NID, par, &can));
break;
case 3: // absmove
CANBUSPUSH(SDO_write(&ABSSTEPS, NID, par, &can));
break;
case 4: // enable
if(par) par = 1;
CANBUSPUSH(SDO_write(&ENABLE, NID, par, &can));
break;
case 5: // setzero
CANBUSPUSH(SDO_write(&POSITION, NID, 0, &can));
break;
case 6: // maxspeed
if(par) // set
CANBUSPUSH(SDO_write(&MAXSPEED, NID, par, &can));
else
CANBUSPUSH(SDO_read(&MAXSPEED, NID, &can));
break;
case 7: // info
CANBUSPUSH(SDO_read(&ERRSTATE, NID, &can));
CANBUSPUSH(SDO_read(&DEVSTATUS, NID, &can));
CANBUSPUSH(SDO_read(&POSITION, NID, &can));
CANBUSPUSH(SDO_read(&ENABLE, NID, &can));
CANBUSPUSH(SDO_read(&MICROSTEPS, NID, &can));
CANBUSPUSH(SDO_read(&EXTENABLE, NID, &can));
CANBUSPUSH(SDO_read(&MAXSPEED, NID, &can));
CANBUSPUSH(SDO_read(&MAXCURNT, NID, &can));
CANBUSPUSH(SDO_read(&GPIOVAL, NID, &can));
CANBUSPUSH(SDO_read(&ROTDIR, NID, &can));
CANBUSPUSH(SDO_read(&RELSTEPS, NID, &can));
CANBUSPUSH(SDO_read(&ABSSTEPS, NID, &can));
break;
default:
break;
}
FREE(mesg);
return 0;
}
/**
* @brief simplestp - simplest stepper motor
* @param arg - thread identifier
* @return not used
* Commands:
* maxspeed x: set maximal speed to x pulses per second
* microsteps x: set microstepping to x pulses per step
* move x: move for x pulses (+-)
* status: current position & state
* stop: stop motor
*/
static void *simplestp(void *arg){
threadinfo *ti = (threadinfo*)arg;
CANmesg can;
int NID = ti->ID & NODEID_MASK; // node ID
uint8_t clearerr = 0;
// prepare all
CANBUSPUSH(SDO_write(&MAXSPEED, NID, 3200, &can));
while(1){
char *mesg = mesgGetText(&ti->commands);
if(mesg){
DBG("Got command: %s", mesg);
int b = baseStepperCommands(mesg, ti);
if(b){ // not found, 'help' or 'stop'
switch(b){
case CMDPAR_ERR_NOTFOUND: // process own commands
break;
case CMDPAR_ERR_SHOWHELP: // show own help
break;
case CMDPAR_CLEARERR:
clearerr = 1;
break;
default:
break;
}
}
}
CANmesg *ans = (CANmesg*)mesgGetObj(&ti->answers, NULL);
if(ans) do{
SDO sdo;
if(!parseSDO(ans, &sdo)) break;
chkSDO(&sdo, ti->name);
if(clearerr){
if(sdo.index == ERRSTATE.index && sdo.subindex == ERRSTATE.subindex){
CANBUSPUSH(SDO_write(&ERRSTATE, NID, sdo.data[0], &can));
--clearerr;
}
if(sdo.index == DEVSTATUS.index && sdo.subindex == DEVSTATUS.subindex){
CANBUSPUSH(SDO_write(&DEVSTATUS, NID, sdo.data[0], &can));
--clearerr;
}
}
FREE(ans);
}while(0);
usleep(1000);
}
LOGERR("simplestp(): UNREACHABLE CODE REACHED!");
return NULL;
}
/**
* @brief setCANspeed - set new speed of CANbus
* @param speed - speed in kbaud
*/
void setCANspeed(int speed){
CANspeed = speed;
}
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