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vrpn_BiosciencesTools.C 17.14 KiB
// vrpn_BiosciencesTools.C
// This is a driver for the BiosciencesTools temperature controller.
// It was written in October 2012 by Russ Taylor.
// INFO about how the device communicates, taken from the user manual:
// Note: They say that the device uses <cr>, but they also say that it
// uses \n for this character. In fact, the \r character is <cr> and \n
// is newline. In fact, \r is what works in the end.
/*
Using a standard DB-9 cable (female-female connectors on both ends with
straight-through connections from each pin)
connect the controller (middle DB-9 connector) to a serial port of your computer.
Set the serial port at 115,200 speed, 8 bits, 1 stop bit,
NONE parity, and Hardware flow control.
The following is the list of text commands supported.
NOTE: Each command should follow by \r <CR> code:
(The following notes LIE: There is no space before the . or before the C,
and sometimes the C is an E. Also, the order is incorrect. The actual
order is stage 1, bath 1, external 1, stage 2, bath 2, external 2.)
T1<CR> returns temperature readings from STAGE1 sensor: 37 .1 C
T2<CR> returns temperature readings from BATH1 sensor: 36 .9 C
T5<CR> returns SET temperature: 37 .0 C
T3<CR> returns temperature readings from STAGE2 sensor: 37 .1 C
T4<CR> returns temperature readings from BATH2 sensor: 36 .9 C
T6<CR> returns SET temperature: 37 .0 C
CTn<CR> returns readings from n (n=1 - STAGE1, 2 - BATH1, 3 - STAGE2, 4 - BATH2) sensor: 37 .1 C
ON<CR> turns temperature control ON
OFF<CR> turns temperature control OFF
S1 037 0<CR> sets reference temperature for channel I (NOTE: all four digits should be sent to the controller)
S2 037 0<CR> sets reference temperature for channel II
*/
#include <stddef.h> // for size_t
#include <stdio.h> // for sprintf, fprintf, stderr, etc
#include <string.h> // for strlen, NULL
#include "vrpn_BaseClass.h" // for ::vrpn_TEXT_ERROR, etc
#include "vrpn_BiosciencesTools.h"
#include "vrpn_Serial.h" // for vrpn_write_characters, etc
#include "vrpn_Shared.h" // for vrpn_unbuffer, timeval, etc
#include "vrpn_MessageMacros.h" // for VRPN_MSG_INFO, VRPN_MSG_WARNING, VRPN_MSG_ERROR
#undef VERBOSE
// Defines the modes in which the device can find itself.
#define STATUS_RESETTING (-1) // Resetting the device
#define STATUS_SYNCING (0) // Looking for the first character of report
#define STATUS_READING (1) // Looking for the rest of the report
#define TIMEOUT_TIME_INTERVAL (2000000L) // max time between reports (usec)
// This creates a vrpn_BiosciencesTools. It opens
// the serial device using the code in the vrpn_Serial_Analog constructor.
// It uses hardware flow control.
vrpn_BiosciencesTools::vrpn_BiosciencesTools (const char * name, vrpn_Connection * c,
const char * port, float temp1, float temp2, bool control_on):
vrpn_Serial_Analog(name, c, port, 115200, 8, vrpn_SER_PARITY_NONE, true),
vrpn_Analog_Output(name, c),
vrpn_Button_Filter(name, c)
{
num_channel = 6;
o_num_channel = 3;
num_buttons = 1;
buttons[0] = control_on;
// Fill in the arguments to send to the device at reset time.
o_channel[0] = temp1; o_channel[1] = temp2;
o_channel[2] = control_on;
// Set the mode to reset
status = STATUS_RESETTING;
// Register to receive the message to request changes and to receive connection
// messages.
if (d_connection != NULL) {
if (register_autodeleted_handler(request_m_id, handle_request_message,
this, d_sender_id)) {
fprintf(stderr,"vrpn_BiosciencesTools: can't register handler\n");
d_connection = NULL;
}
if (register_autodeleted_handler(request_channels_m_id, handle_request_channels_message,
this, d_sender_id)) {
fprintf(stderr,"vrpn_BiosciencesTools: can't register handler\n");
d_connection = NULL;
}
if (register_autodeleted_handler(d_ping_message_id, handle_connect_message,
this, d_sender_id)) {
fprintf(stderr,"vrpn_BiosciencesTools: can't register handler\n");
d_connection = NULL;
}
} else {
fprintf(stderr,"vrpn_BiosciencesTools: Can't get connection!\n");
}
}
// Command format described in document:
// S1 037 0<CR> sets reference temperature for channel 1
// (NOTE: all four digits should be sent to the controller)
// Actual command format:
// S1 0370<CR> Sets reference temperature for channel 1 to 37.0 deg C
// S2 0421<CR> Sets reference temperature for channel 2 to 42.1 deg C
bool vrpn_BiosciencesTools::set_reference_temperature(unsigned channel, float value)
{
char command[128];
// Fill in the command with the zero-padded integer output for
// above the decimal and then a single value for the first point
// past the decimal.
int whole = static_cast<int>(value);
int dec = static_cast<int>(value*10) - whole*10;
sprintf(command, "S%d %03d%d\r", channel+1, whole,dec);
// Send the command to the serial port
return (vrpn_write_characters(serial_fd, (unsigned char *)(command), strlen(command)) == strlen(command));
}
// Command format:
// ON<CR> sets control on
// OFF<CR> sets control off
bool vrpn_BiosciencesTools::set_control_status(bool on)
{
char command[128];
if (on) {
sprintf(command, "ON\r");
} else {
sprintf(command, "OFF\r");
}
// Send the command to the serial port
return (vrpn_write_characters(serial_fd, (unsigned char *)(command), strlen(command)) == strlen(command));
}
// Command format:
// T1<CR> returns temperature readings from STAGE1 sensor: 37.1C
// T2<CR> returns temperature readings from BATH1 sensor: 36.9C
// T5<CR> returns SET temperature: 37.0C
// T3<CR> returns temperature readings from STAGE2 sensor: 37.1C
// T4<CR> returns temperature readings from BATH2 sensor: 36.9C
// T6<CR> returns SET temperature: 37.0C
// NOTE: Sometimes the C is an E when there is no reading.
bool vrpn_BiosciencesTools::request_temperature(unsigned channel)
{
char command[128];
sprintf(command, "T%d\r", channel+1);
#ifdef VERBOSE
printf("Sending command: %s", command);
#endif
// Send the command to the serial port
return (vrpn_write_characters(serial_fd, (unsigned char *)(command), strlen(command)) == strlen(command));
}
// Convert the four bytes that have been read into a signed integer value.
// The format (no quotes) looks like: "- 37.1C\r" or " 000.00E\r".
// I don't think that the - means a minus sign, and it has a space
// between it and the number.
// Returns -1000 if there is an error.
float vrpn_BiosciencesTools::convert_bytes_to_reading(const char *buf)
{
float val;
char c;
// Skip any leading minus sign.
if (*buf == '-') { buf++; }
// Read a fractional number.
if (sscanf(buf, "%f%c", &val, &c) != 2) {
return -1000;
}
// See if we get and E or C after the number,
// or (since E can be part of a floating-point
// number) if we get \r.
if ( (c != 'E') && (c != 'C') && (c != '\r') ) {
return -1000;
}
return val;
}
int vrpn_BiosciencesTools::reset(void)
{
//-----------------------------------------------------------------------
// Sleep less thana second and then drain the input buffer to make sure we start
// with a fresh slate.
vrpn_SleepMsecs(200);
vrpn_flush_input_buffer(serial_fd);
//-----------------------------------------------------------------------
// Set the temperatures for channel 1 and 2 and then set the temperature
// control to be on or off depending on what we've been asked to do.
if (!set_reference_temperature(0, static_cast<float>(o_channel[0]))) {
fprintf(stderr,"vrpn_BiosciencesTools::reset(): Cannot send set ref temp 0, trying again\n");
return -1;
}
if (!set_reference_temperature(1, static_cast<float>(o_channel[1]))) {
fprintf(stderr,"vrpn_BiosciencesTools::reset(): Cannot send set ref temp 1, trying again\n");
return -1;
} if (!set_control_status(o_channel[0] != 0)) {
fprintf(stderr,"vrpn_BiosciencesTools::reset(): Cannot send set control status, trying again\n");
return -1;
}
//-----------------------------------------------------------------------
// Send the command to request input from the first channel, and set up
// the finite-state machine so we know which thing to request next.
d_next_channel_to_read = 0;
if (!request_temperature(d_next_channel_to_read)) {
fprintf(stderr,"vrpn_BiosciencesTools::reset(): Cannot request temperature, trying again\n");
return -1;
}
// We're now waiting for any responses from devices
status = STATUS_SYNCING;
VRPN_MSG_WARNING("reset complete (this is normal)");
vrpn_gettimeofday(×tamp, NULL); // Set watchdog now
return 0;
}
// This function will read characters until it has a full report, then
// put that report into analog fields and call the report methods on these.
// The time stored is that of the first character received as part of the
// report.
int vrpn_BiosciencesTools::get_report(void)
{
int ret; // Return value from function call to be checked
//--------------------------------------------------------------------
// If we're SYNCing, then the next character we get should be the start
// of a report. If we recognize it, go into READing mode and tell how
// many characters we expect total. If we don't recognize it, then we
// must have misinterpreted a command or something; reset
// and start over
//--------------------------------------------------------------------
if (status == STATUS_SYNCING) {
// Try to get a character. If none, just return.
if (vrpn_read_available_characters(serial_fd, (unsigned char *)(d_buffer), 1) != 1) {
return 0;
}
// Got the first character of a report -- go into READING mode
// and record that we got one character at this time. Clear the
// rest of the buffer to 0's so that we won't be looking at old
// data when we parse.
// The time stored here is as close as possible to when the
// report was generated.
d_bufcount = 1;
vrpn_gettimeofday(×tamp, NULL);
status = STATUS_READING;
size_t i;
for (i = 1; i < sizeof(d_buffer); i++) {
d_buffer[i] = 0;
}
#ifdef VERBOSE
printf("... Got the 1st char\n");
#endif
}
//--------------------------------------------------------------------
// Read as many bytes of this report as we can, storing them
// in the buffer.
//--------------------------------------------------------------------
while ( 1 == (ret = vrpn_read_available_characters(serial_fd, (unsigned char *)(&d_buffer[d_bufcount]), 1))) {
d_bufcount++;
} if (ret == -1) {
VRPN_MSG_ERROR("Error reading");
status = STATUS_RESETTING;
return 0;
}
#ifdef VERBOSE
if (ret != 0) printf("... got %d total characters\n", d_bufcount);
#endif
if (d_buffer[d_bufcount-1] != '\r') { // Not done -- go back for more
return 0;
}
//--------------------------------------------------------------------
// We now have enough characters to make a full report. Check to make
// sure that its format matches what we expect. If it does, the next
// section will parse it.
// Store the report into the appropriate analog channel.
//--------------------------------------------------------------------
#ifdef VERBOSE
printf(" Complete report: \n%s\n",d_buffer);
#endif
float value = convert_bytes_to_reading(d_buffer);
if (value == -1000) {
char msg[256];
sprintf(msg,"Invalid report, channel %d, resetting", d_next_channel_to_read);
VRPN_MSG_ERROR(msg);
status = STATUS_RESETTING;
}
channel[d_next_channel_to_read] = value;
#ifdef VERBOSE
printf("got a complete report (%d chars)!\n", d_bufcount);
#endif
//--------------------------------------------------------------------
// Request a reading from the next channe.
//--------------------------------------------------------------------
d_next_channel_to_read = (d_next_channel_to_read + 1) % 6;
if (!request_temperature(d_next_channel_to_read)) {
char msg[256];
sprintf(msg,"Can't request reading, channel %d, resetting", d_next_channel_to_read);
VRPN_MSG_ERROR(msg);
status = STATUS_RESETTING;
}
//--------------------------------------------------------------------
// Done with the decoding, send the reports and go back to syncing
//--------------------------------------------------------------------
report_changes();
status = STATUS_SYNCING;
d_bufcount = 0;
return 1;
}
bool vrpn_BiosciencesTools::set_specified_channel(unsigned channel, vrpn_float64 value)
{
// XXX Check return status of the set commands?
switch (channel) {
case 0: // Reference temperature for channels 1 and 2
case 1: // Reference temperature for channels 1 and 2
set_reference_temperature(channel, static_cast<float>(value));
o_channel[channel] = value;
break;
case 2: // Turn on temperature control if this is nonzero.
o_channel[2] = value;
buttons[0] = ( value != 0 ); set_control_status( value != 0);
break;
default:
return false;
}
return true;
}
int vrpn_BiosciencesTools::handle_request_message(void *userdata, vrpn_HANDLERPARAM p)
{
const char *bufptr = p.buffer;
vrpn_int32 chan_num;
vrpn_int32 pad;
vrpn_float64 value;
vrpn_BiosciencesTools *me = (vrpn_BiosciencesTools *)userdata;
// Read the parameters from the buffer
vrpn_unbuffer(&bufptr, &chan_num);
vrpn_unbuffer(&bufptr, &pad);
vrpn_unbuffer(&bufptr, &value);
// Set the appropriate value, if the channel number is in the
// range of the ones we have.
if ( (chan_num < 0) || (chan_num >= me->o_num_channel) ) {
char msg[1024];
sprintf(msg,"vrpn_BiosciencesTools::handle_request_message(): Index out of bounds (%d of %d), value %lg\n",
chan_num, me->num_channel, value);
me->send_text_message(msg, me->timestamp, vrpn_TEXT_ERROR);
return 0;
}
me->set_specified_channel(chan_num, value);
return 0;
}
int vrpn_BiosciencesTools::handle_request_channels_message(void* userdata, vrpn_HANDLERPARAM p)
{
int i;
const char* bufptr = p.buffer;
vrpn_int32 num;
vrpn_int32 pad;
vrpn_BiosciencesTools* me = (vrpn_BiosciencesTools *)userdata;
// Read the values from the buffer
vrpn_unbuffer(&bufptr, &num);
vrpn_unbuffer(&bufptr, &pad);
if (num > me->o_num_channel) {
char msg[1024];
sprintf(msg,"vrpn_BiosciencesTools::handle_request_channels_message(): Index out of bounds (%d of %d), clipping\n",
num, me->o_num_channel);
me->send_text_message(msg, me->timestamp, vrpn_TEXT_ERROR);
num = me->o_num_channel;
}
for (i = 0; i < num; i++) {
vrpn_unbuffer(&bufptr, &(me->o_channel[i]));
me->set_specified_channel(i, me->o_channel[i]);
}
return 0;
}
/** When we get a connection request from a remote object, send our state so
they will know it to start with. */
int vrpn_BiosciencesTools::handle_connect_message(void *userdata, vrpn_HANDLERPARAM)
{
vrpn_BiosciencesTools *me = (vrpn_BiosciencesTools *)userdata;
me->report(vrpn_CONNECTION_RELIABLE);
return 0;
}
void vrpn_BiosciencesTools::report_changes(vrpn_uint32 class_of_service)
{
vrpn_Analog::timestamp = timestamp;
vrpn_Analog::report_changes(class_of_service);
vrpn_Button::report_changes();
}
void vrpn_BiosciencesTools::report(vrpn_uint32 class_of_service)
{
vrpn_Analog::timestamp = timestamp;
vrpn_Analog::report(class_of_service);
vrpn_Button::report_changes();
}
/** This routine is called each time through the server's main loop. It will
take a course of action depending on the current status of the device,
either trying to reset it or trying to get a reading from it. It will
try to reset the device if no data has come from it for a couple of
seconds
*/
void vrpn_BiosciencesTools::mainloop()
{
char errmsg[256];
server_mainloop();
switch(status) {
case STATUS_RESETTING:
reset();
break;
case STATUS_SYNCING:
case STATUS_READING:
{
// It turns out to be important to get the report before checking
// to see if it has been too long since the last report. This is
// because there is the possibility that some other device running
// in the same server may have taken a long time on its last pass
// through mainloop(). Trackers that are resetting do this. When
// this happens, you can get an infinite loop -- where one tracker
// resets and causes the other to timeout, and then it returns the
// favor. By checking for the report here, we reset the timestamp
// if there is a report ready (ie, if THIS device is still operating).
while (get_report()) {}; // Keep getting reports so long as there are more
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
if ( vrpn_TimevalDuration(current_time,timestamp) > TIMEOUT_TIME_INTERVAL) {
sprintf(errmsg,"Timeout... current_time=%ld:%ld, timestamp=%ld:%ld",
current_time.tv_sec, static_cast<long>(current_time.tv_usec),
timestamp.tv_sec, static_cast<long>(timestamp.tv_usec));
VRPN_MSG_ERROR(errmsg);
status = STATUS_RESETTING;
}
}
break;
default:
VRPN_MSG_ERROR("Unknown mode (internal error)");
break;
}
}