Index: /trunk/MagicSoft/Cosy/Changelog =================================================================== --- /trunk/MagicSoft/Cosy/Changelog (revision 8863) +++ /trunk/MagicSoft/Cosy/Changelog (revision 8864) @@ -1,3 +1,46 @@ -*-*- END -*-*- + + 2008/02/17 Thomas Bretz (La Palma) + + * cosy.cc: + - enable output device file for log-files + - set sps default address to "sps" + + * candrv/canopen.[h,cc]: + - added member function HasError to return an error status + of the network connection + + * candrv/ethernet.[h,cc]: + - improved the way a lost connection is reestablished + - added HasConnection to return the connection status + + * candrv/interface.h: + - added HasConnection to return the connection status + + * candrv/network.cc: + - when setting zombies check also the status of the network + + * candrv/nodedrv.h: + - made HasError a bit more fool proof + + * devdrv/macs.[cc.h]: + - added some more DKC error codes + - improved printed error DKC message + - do not treat warnings as errors anymore + + * gui/MGCosy.cc: + - the RA in TrackPos and CalibPos is in degrees + + * main/MCosy.cc: + - replaced some build-in numbers for the shaftenecoder- + resolution by it + - fixed a weird error: in one case when checking for errors + fMac3 was checked without testing for NULL pointer! + + * tcpip/MTcpIpIO.[h,cc]: + - imporved the whole communication stuff again, especially + the error handling and reestablishing of connections + + 2008/02/15 Thomas Bretz (La Palma) Index: /trunk/MagicSoft/Cosy/candrv/canopen.cc =================================================================== --- /trunk/MagicSoft/Cosy/candrv/canopen.cc (revision 8863) +++ /trunk/MagicSoft/Cosy/candrv/canopen.cc (revision 8864) @@ -78,4 +78,9 @@ if (fInterface) fInterface->Stop(); +} + +bool CanOpen::HasError() const +{ + return fInterface ? !fInterface->HasConnection() : kFALSE; } Index: /trunk/MagicSoft/Cosy/candrv/canopen.h =================================================================== --- /trunk/MagicSoft/Cosy/candrv/canopen.h (revision 8863) +++ /trunk/MagicSoft/Cosy/candrv/canopen.h (revision 8864) @@ -78,4 +78,6 @@ virtual void Start(); // Start CanOpen communication virtual void Stop(); // Stop CanOpen communcation + + virtual bool HasError() const; private: Index: /trunk/MagicSoft/Cosy/candrv/ethernet.cc =================================================================== --- /trunk/MagicSoft/Cosy/candrv/ethernet.cc (revision 8863) +++ /trunk/MagicSoft/Cosy/candrv/ethernet.cc (revision 8864) @@ -74,5 +74,5 @@ // -------------------------------------------------------------------------- // -void Ethernet::ReadSocket(TSocket &rx) +Bool_t Ethernet::ReadSocket(TSocket &rx) { Int_t pos = -1; @@ -87,11 +87,7 @@ while (!IsThreadCanceled()) { - //TThread::CancelPoint(); - unsigned char c; const Int_t len = rx.RecvRaw(&c, 1); - //TThread::CancelPoint(); - // No data received (non-blocking mode) if (len<0) @@ -101,11 +97,7 @@ } - // Data received with zero length! + // Data received with zero length! (Connection lost) if (len==0) - { - gLog << warn << "WARNING - Connection lost (received 0bytes) to " << address << endl; - //break; // This break is for TEST PURPOSE FIXME!!! - continue; - } + return kFALSE; // Data received @@ -113,5 +105,5 @@ { gLog << err << "Data received from " << address << " is more than one byte!" << endl; - break; + continue; } @@ -121,5 +113,5 @@ { cout << "Data received from " << address << " too long (> " << MSGLEN << ")" << endl; - break; + continue; } @@ -147,7 +139,88 @@ // String completed HandleMessage(msg); + + return kTRUE; } -} - + + return kTRUE; +} + +/* +void Ethernet::ReadSocket(TSocket &rx) +{ + Int_t pos = -1; + + Message msg; + msg.cmd = M_BCAN_RX_ind; + msg.data[0] = 0; + msg.data[1] = 0; + + const TString address = MTcpIpO::GetSocketAddress(rx); + + while (!IsThreadCanceled()) + { + //TThread::CancelPoint(); + + unsigned char c; + const Int_t len = rx.RecvRaw(&c, 1); + + //TThread::CancelPoint(); + + // No data received (non-blocking mode) + if (len<0) + { + usleep(1); + continue; + } + + // Data received with zero length! + if (len==0) + { + gLog << warn << "WARNING - Connection lost (received 0bytes) to " << address << endl; + //break; // This break is for TEST PURPOSE FIXME!!! + return; + } + + // Data received + if (len>1) + { + gLog << err << "Data received from " << address << " is more than one byte!" << endl; + continue; + } + + if (pos<0) + { + if (c>=MSGLEN) + { + cout << "Data received from " << address << " too long (> " << MSGLEN << ")" << endl; + continue; + } + + msg.len = c; + pos = 2; + continue; + } + + // if (pos==2 && c==0x0a) + // continue; + + msg.data[pos++] = c; + if (pos-2 +#endif void Ethernet::SendCanFrame(WORD_t cobid, BYTE_t m[8], BYTE_t rtr) { @@ -203,5 +279,12 @@ #endif +#ifdef DEBUG + TStopwatch st; + st.Start(); +#endif MTcpIpO::SendFrame(fTxAddress, fTxPort, (char*)(msg.data+1), msg.len-1); +#ifdef DEBUG + st.Print(); +#endif //Send((char*)(msg.data+1), msg.len-1); Index: /trunk/MagicSoft/Cosy/candrv/ethernet.h =================================================================== --- /trunk/MagicSoft/Cosy/candrv/ethernet.h (revision 8863) +++ /trunk/MagicSoft/Cosy/candrv/ethernet.h (revision 8864) @@ -17,9 +17,11 @@ // Send interface based on MTcpIpI - void ReadSocket(TSocket &rx); + Bool_t ReadSocket(TSocket &rx); // Start/stop communication inherited from Interface void Start() { RunThread(); } void Stop() { CancelThread(); } + + Bool_t HasConnection() const { return IsConnectionEstablished(); } public: Index: /trunk/MagicSoft/Cosy/candrv/interface.h =================================================================== --- /trunk/MagicSoft/Cosy/candrv/interface.h (revision 8863) +++ /trunk/MagicSoft/Cosy/candrv/interface.h (revision 8864) @@ -45,4 +45,6 @@ virtual void EnableCobId(WORD_t cobid, int flag=TRUE) { } + virtual bool HasConnection() const { return true; } + // Public interface void PrintMsg(const Message &m); Index: /trunk/MagicSoft/Cosy/candrv/network.cc =================================================================== --- /trunk/MagicSoft/Cosy/candrv/network.cc (revision 8863) +++ /trunk/MagicSoft/Cosy/candrv/network.cc (revision 8864) @@ -314,4 +314,7 @@ continue; + if (CanOpen::HasError()) + fNodes[i]->SetZombie(); + if (!fNodes[i]->HasError()) continue; @@ -325,4 +328,7 @@ //gLog << "' has error #" << fNodes[i]->GetError() << endl; } + + if (CanOpen::HasError()) + return true; return rc; Index: /trunk/MagicSoft/Cosy/candrv/nodedrv.h =================================================================== --- /trunk/MagicSoft/Cosy/candrv/nodedrv.h (revision 8863) +++ /trunk/MagicSoft/Cosy/candrv/nodedrv.h (revision 8864) @@ -60,5 +60,5 @@ int GetError() const { return fError; } - bool HasError() const { return fError; } + bool HasError() const { return fError!=0; } bool IsZombieNode() const { return fIsZombie; } Index: /trunk/MagicSoft/Cosy/cosy.cc =================================================================== --- /trunk/MagicSoft/Cosy/cosy.cc (revision 8863) +++ /trunk/MagicSoft/Cosy/cosy.cc (revision 8864) @@ -90,5 +90,5 @@ const Bool_t kDebugMem = arg.HasOnlyAndRemove("--debug-mem"); const Bool_t kDebugThreads = arg.HasOnlyAndRemove("--debug-threads"); - const TString sps = arg.GetStringAndRemove("--sps=", "127.0.0.1"); + const TString sps = arg.GetStringAndRemove("--sps=", "sps"); const TString ceco = arg.GetStringAndRemove("--cc=", "ceco"); // ceco const TString pointing = arg.GetStringAndRemove("--pointing-model=", "bending2.txt"); // ceco @@ -138,4 +138,5 @@ gLog << inf << "Open automatic logfile: " << name << endl; gLog.SetOutputFile(name); + gLog.EnableOutputDevice(MLog::eFile); } Index: /trunk/MagicSoft/Cosy/devdrv/macs.cc =================================================================== --- /trunk/MagicSoft/Cosy/devdrv/macs.cc (revision 8863) +++ /trunk/MagicSoft/Cosy/devdrv/macs.cc (revision 8864) @@ -71,4 +71,6 @@ case 0xa148: return "Drive controlled interpolated relative positioning lagless with encoder 1"; case 0xa149: return "Drive controlled interpolated relative positioning lagless with encoder 2"; + case 0xa150: return "Drive controlled positioning with encoder 1"; + case 0xa151: return "Drive controlled positioning with encoder 2"; case 0xa208: return "Jog mode positive"; case 0xa218: return "Jog mode negative"; @@ -86,4 +88,6 @@ case 0xe251: return "Motor overtemp warning"; case 0xe252: return "Bleeder overtemp warning"; + case 0xe257: return "Continous current limit active"; + case 0xe264: return "Target position out of numerical range"; case 0xe834: return "Emergency-Stop"; case 0xe843: return "Positive end-switch activated"; @@ -95,4 +99,5 @@ case 0xf224: return "Maximum breaking time exceeded"; case 0xf228: return "Excessive control deviation"; + case 0xf250: return "Overflow of target position preset memory"; case 0xf269: return "Error during release of the motor holding brake"; case 0xf276: return "Absolute encoder out of allowed window"; @@ -120,5 +125,5 @@ const Int_t type = errinf&0xf000; - gLog << all << "DKC reports: "; + gLog << all << MTime(-1) << ": " << GetNodeName() << " DKC "; switch (type) @@ -127,4 +132,6 @@ case 0xe000: gLog << "WARNING"; break; case 0xa000: gLog << "Status"; break; + case 0xc000: + case 0xd000: gLog << "Message"; break; default: gLog << "Unknown"; break; } @@ -134,5 +141,5 @@ gLog << (type==0xf000 || type==0xe000 ? "!" : ".") << endl; - return type==0xa000; + return type!=0xf000; } @@ -148,5 +155,5 @@ return; gLog << inf2 << "- " << GetNodeName() << ": Error[0]=" << hex << val << dec << endl; - SetError(EvalStatus(val) ? 0 : val); + CheckErrorDKC(val); return; @@ -680,4 +687,12 @@ } +void Macs::CheckErrorDKC(LWORD_t val) +{ + Bool_t rc = EvalStatus(val); + SetError(rc ? 0 : val); + if (!rc) + SetZombie(); +} + void Macs::HandlePDO2(const BYTE_t *data, const timeval_t &tv) { @@ -688,6 +703,5 @@ if (errnum==0xff && (errinf&0xf000)<=0xe000) { - EvalStatus(errnum, errinf); - SetError(0); + CheckErrorDKC(errnum, errinf); return; } @@ -915,5 +929,5 @@ case 0xff: gLog << err << "DKC error! Go and check what is going on!" << endl; - DelError(); + //DelError(); return; /* Index: /trunk/MagicSoft/Cosy/devdrv/macs.h =================================================================== --- /trunk/MagicSoft/Cosy/devdrv/macs.h (revision 8863) +++ /trunk/MagicSoft/Cosy/devdrv/macs.h (revision 8864) @@ -44,4 +44,10 @@ return EvalStatus(errnum|(errinf<<16)); } + void CheckErrorDKC(LWORD_t val); + void CheckErrorDKC(UInt_t errnum, UInt_t errinf) + { + CheckErrorDKC(errnum|(errinf<<16)); + } + void HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, const timeval_t &tv); Index: /trunk/MagicSoft/Cosy/gui/MGCosy.cc =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGCosy.cc (revision 8863) +++ /trunk/MagicSoft/Cosy/gui/MGCosy.cc (revision 8864) @@ -1149,6 +1149,6 @@ RaDec dest1(xy1.X()*15., xy1.Y()); // xy.X() [h]->[ø] - cout << "TrackPos: " << dest0.Ra() << "h " << dest0.Dec() << "\xb0" << endl; - cout << "CalibPos: " << dest1.Ra() << "h " << dest1.Dec() << "\xb0" << endl; + cout << "TrackPos: " << dest0.Ra() << "\xb0 " << dest0.Dec() << "\xb0" << endl; + cout << "CalibPos: " << dest1.Ra() << "\xb0 " << dest1.Dec() << "\xb0" << endl; RaDec dest[2] = { dest0, dest1 }; Index: /trunk/MagicSoft/Cosy/main/MCosy.cc =================================================================== --- /trunk/MagicSoft/Cosy/main/MCosy.cc (revision 8863) +++ /trunk/MagicSoft/Cosy/main/MCosy.cc (revision 8864) @@ -143,6 +143,9 @@ // Get the values (FIXME!) // - int p1 = (fZd1->GetPos()/*+8192*/)%fZd1->GetPhysRes(); - int p2 = -(fZd2->GetPos()/*+8192*/)%fZd2->GetPhysRes(); + //int p1 = (fZd1->GetPos()+fZd1->GetPhysRes()/2)%fZd1->GetPhysRes(); + //int p2 = -(fZd2->GetPos()+fZd2->GetPhysRes()/2)%fZd2->GetPhysRes(); + + int p1 = fZd1->GetPos();//+fZd1->GetPhysRes()/2)%fZd1->GetPhysRes(); + int p2 = -fZd2->GetPos();//+fZd2->GetPhysRes()/2)%fZd2->GetPhysRes(); if (fZd1->IsZombieNode()) @@ -562,5 +565,6 @@ fMac1->HandleError(); fMac2->HandleError(); - fMac3->HandleError(); + if (fMac3) + fMac3->HandleError(); if (HasError() || HasZombie()) return false; @@ -948,6 +952,6 @@ gLog << " * Max: " << zmax << "deg " << amax << "deg" << endl; - fMin = fBending.AddOffsets(fMin/TMath::RadToDeg()); - fMax = fBending.AddOffsets(fMax/TMath::RadToDeg()); + fMin = fBending.AddOffsets(fMin*TMath::DegToRad()); + fMax = fBending.AddOffsets(fMax*TMath::DegToRad()); gLog << " * Min': " << fMin.Zd()*TMath::RadToDeg() << "deg " << fMin.Az()*TMath::RadToDeg() << "deg" << endl; @@ -1628,5 +1632,5 @@ gLog << inf << "Open Repfile: " << name << endl; fOutRep = new MLog(name, kTRUE); - *fOutRep << "[Drive Report File]" << endl; + *fOutRep << all << "[Drive Report File]" << endl; *fOutRep << "Version " << endl; *fOutRep << "Date " << MTime(-1) << endl; Index: /trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.cc =================================================================== --- /trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.cc (revision 8863) +++ /trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.cc (revision 8864) @@ -2,4 +2,6 @@ #include // usleep + +#include #include @@ -153,14 +155,8 @@ } -void MTcpIpIO::ReadSocket(TSocket &rx) -{ - // Clear buffer! - char c; -// while (fRxSocket->RecvRaw(&c, 1)>0 && !HasStopFlag()) - while (rx.RecvRaw(&c, 1)>0 && !IsThreadCanceled()) - usleep(1); - +Bool_t MTcpIpIO::ReadSocket(TSocket &rx) +{ TString str; - // while (!HasStopFlag()) + while (!IsThreadCanceled()) { @@ -175,12 +171,7 @@ } - // Data received with zero length! + // Data received with zero length! (Connection lost) if (len==0) - { - // THIS MEANS CONNECTIION LOST!!!! - cout << "============> len==0 (CONNECTION LOST?)" << endl; - break; // This break is for TEST PURPOSE FIXME!!! - continue; - } + return kFALSE; // This break is for TEST PURPOSE FIXME!!! // Data received @@ -202,7 +193,126 @@ str = ""; } -} - -//void *MTcpIpIO::Thread() + + return kTRUE; +} + +Bool_t MTcpIpI::WaitForData(TSocket &sock) +{ + // No connection established? + if (!sock.IsValid()) + { + gLog << warn << "TSocket invalid on port " << fPortRx << "." << endl; + return kFALSE; + } + + fConnectionEstablished = kTRUE; + + // Get connection on port fPortRx and redirected + while (!IsThreadCanceled()) + { + // Check for pending data (every ms) + switch (sock.Select(TSocket::kRead, 1)) + { + case kTRUE: // Data pending... go on reading + if (!ReadSocket(sock)) + { + gLog << warn << "WARNING - Connection lost to " << MTcpIpO::GetSocketAddress(sock) << endl; + return kFALSE; + } + + // *FALLTHROUGH* + case kFALSE: // Time out, no data yet, go on waiting + + // Go on waiting for new data + continue; + + default: // Error occurance + gLog << err << "TSocket::Select returned an error: " << strerror(errno) << endl; + return kFALSE; + } + } + return kTRUE; //??? +} + +void MTcpIpI::WaitForConnection(TServerSocket &server) +{ + gLog << all << " Wait for connection" << endl; + + while (!IsThreadCanceled()) + { + gLog << all << "Listening for new connection on port " << fPortRx << "..." << endl; + + // Check for a connection request (reminder: we are in non-blocking mode) + TSocket *socket = 0; + + while (!IsThreadCanceled()) + { + socket = server.Accept(); + + // Accept returned an error + if (socket==0) + { + gLog << err << "Error: TServerSock::Accept on port " << fPortRx << ": " << strerror(errno) << endl; + // Since we don't know the type of the error we better shut down the socket + return; + } + + // No connection request pending + if ((Long_t)socket<0) + { + MThread::Sleep(1000); // Wait a ms + continue; + } + + // Connection established + break; + } + + if ((Long_t)socket<=0) + return; + + if (!WaitForData(*socket)) + fConnectionEstablished = kFALSE; + + delete socket; + } +} + +Int_t MTcpIpI::Thread() +{ + gLog << inf << "- Starting server listening on port " << fPortRx << "..." << endl; + + while (!IsThreadCanceled()) + { + TServerSocket *server=new TServerSocket(fPortRx, kTRUE); + server->SetOption(kNoBlock, 1); + + while (!IsThreadCanceled() && server->IsValid()) + WaitForConnection(*server); + + if (!server->IsValid()) + { + gLog << err << "ServerSocket on port " << fPortRx << " invalid: "; + switch (server->GetErrorCode()) + { + case 0: gLog << "No error." << endl; break; + case -1: gLog << "low level socket() call failed." << endl; break; + case -2: gLog << "low level bind() call failed." << endl; break; + case -3: gLog << "low level listen() call failed." << endl; break; + default: gLog << "Unknown." << endl; break; + } + } + + delete server; + + MThread::Sleep(5000000); + } + + gLog << inf << "- Listening server stopped on port " << fPortRx << "." << endl; + + return 0; +} + +/* Int_t MTcpIpI::Thread() { @@ -276,8 +386,44 @@ gLog << all << "Connection established on port " << fPortRx << "." << endl; - fRxSocket->SetOption(kNoBlock, 1); + + //fRxSocket->SetOption(kNoBlock, 1); + + // Waqit for data + while (!IsThreadCanceled()) + { + switch (fRxSocket->Select(kRead, 1)) + { + case kTRUE: // Data waiting to be read + break; + case kFALSE: // time out + usleep(10); + continue; + } + + // ERROR + cout << "Error: TRxSocket::Select on port " << fPortRx << "." << endl; + + delete fServSock; + delete fRxSocket; + fServSock = NULL; + fRxSocket = NULL; + break; + }¨ + + if (!fServSock) + continue; + + if (IsThreadCanceled()) + { + delete fServSock; + delete fRxSocket; + fServSock = NULL; + fRxSocket = NULL; + continue; + } // ------ IDENTICAL UP TO HERE ------ + // Read and evaluate data ReadSocket(*fRxSocket); @@ -292,3 +438,3 @@ return 0; // return NULL; -} +}*/ Index: /trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.h =================================================================== --- /trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.h (revision 8863) +++ /trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.h (revision 8864) @@ -18,13 +18,19 @@ { private: - Int_t fPortRx; + Int_t fPortRx; + Bool_t fConnectionEstablished; + + Bool_t WaitForData(TSocket &sock); + void WaitForConnection(TServerSocket &server); Int_t Thread(); - virtual void ReadSocket(TSocket &rx) = 0; + virtual Bool_t ReadSocket(TSocket &rx) = 0; public: - MTcpIpI(Int_t rx) : MThread(Form("MTcpIpI::%d", rx)), fPortRx(rx) { /*RunThread();*/ } + MTcpIpI(Int_t rx) : MThread(Form("MTcpIpI::%d", rx)), fPortRx(rx), fConnectionEstablished(kFALSE) { /*RunThread();*/ } ~MTcpIpI() { CancelThread(); } + + Bool_t IsConnectionEstablished() const { return fConnectionEstablished; } }; @@ -52,5 +58,5 @@ { private: - void ReadSocket(TSocket &rx); + Bool_t ReadSocket(TSocket &rx); public: