aoRecord.c

Go to the documentation of this file.

/*************************************************************************\
* Copyright (c) 2008 UChicago Argonne LLC, as Operator of Argonne
*     National Laboratory.
* Copyright (c) 2002 The Regents of the University of California, as
*     Operator of Los Alamos National Laboratory.
* EPICS BASE is distributed subject to a Software License Agreement found
* in file LICENSE that is included with this distribution.
\*************************************************************************/

/* aoRecord.c - Record Support Routines for Analog Output records */
/*
 *      Original Author: Bob Dalesio
 *      Date:            7-14-89
 *
 */

#include <stddef.h>
#include <stdlib.h>
#include <stdarg.h>
#include <stdio.h>
#include <string.h>

#include "dbDefs.h"
#include "epicsPrint.h"
#include "epicsMath.h"
#include "alarm.h"
#include "callback.h"
#include "cvtTable.h"
#include "dbAccess.h"
#include "dbEvent.h"
#include "dbFldTypes.h"
#include "devSup.h"
#include "errMdef.h"
#include "special.h"
#include "recSup.h"
#include "recGbl.h"
#include "menuConvert.h"
#include "menuOmsl.h"
#include "menuYesNo.h"
#include "menuIvoa.h"

#define GEN_SIZE_OFFSET
#include "aoRecord.h"
#undef  GEN_SIZE_OFFSET
#include "epicsExport.h"

/* Create RSET - Record Support Entry Table*/
#define report NULL
#define initialize NULL
static long init_record(struct dbCommon *, int);
static long process(struct dbCommon *);
static long special(DBADDR *, int);
#define get_value NULL
#define cvt_dbaddr NULL
#define get_array_info NULL
#define put_array_info NULL
static long get_units(DBADDR *, char *);
static long get_precision(const DBADDR *, long *);
#define get_enum_str NULL
#define get_enum_strs NULL
#define put_enum_str NULL
static long get_graphic_double(DBADDR *, struct dbr_grDouble *);
static long get_control_double(DBADDR *, struct dbr_ctrlDouble *);
static long get_alarm_double(DBADDR *, struct dbr_alDouble *);

rset aoRSET={
    RSETNUMBER,
    report,
    initialize,
    init_record,
    process,
    special,
    get_value,
    cvt_dbaddr,
    get_array_info,
    put_array_info,
    get_units,
    get_precision,
    get_enum_str,
    get_enum_strs,
    put_enum_str,
    get_graphic_double,
    get_control_double,
    get_alarm_double
};
epicsExportAddress(rset,aoRSET);

static void checkAlarms(aoRecord *);
static long fetch_value(aoRecord *, double *);
static void convert(aoRecord *, double);
static void monitor(aoRecord *);
static long writeValue(aoRecord *);

static long init_record(struct dbCommon *pcommon, int pass)
{
    struct aoRecord *prec = (struct aoRecord *)pcommon;
    aodset *pdset;
    double          eoff = prec->eoff, eslo = prec->eslo;
    double          value;
    long            status = 0;

    if (pass == 0) return 0;

    recGblInitSimm(pcommon, &prec->sscn, &prec->oldsimm, &prec->simm, &prec->siml);

    if(!(pdset = (aodset *)(prec->dset))) {
        recGblRecordError(S_dev_noDSET,(void *)prec,"ao: init_record");
        return(S_dev_noDSET);
    }
    /* get the initial value if dol is a constant*/
    if (recGblInitConstantLink(&prec->dol,DBF_DOUBLE,&prec->val))
        prec->udf = isnan(prec->val);

    /* must have write_ao function defined */
    if ((pdset->common.number < 6) || (pdset->write_ao ==NULL)) {
        recGblRecordError(S_dev_missingSup,(void *)prec,"ao: init_record");
        return(S_dev_missingSup);
    }
    prec->init = TRUE;
    /*The following is for old device support that doesnt know about eoff*/
    if ((prec->eslo==1.0) && (prec->eoff==0.0)) {
        prec->eoff = prec->egul;
    }

    if (pdset->common.init_record) {
        status = pdset->common.init_record(pcommon);
        if (prec->linr == menuConvertSLOPE) {
            prec->eoff = eoff;
            prec->eslo = eslo;
        }
        switch(status){
        case(0): /* convert */
            value = (double)prec->rval + (double)prec->roff;
            if(prec->aslo!=0.0) value *= prec->aslo;
            value += prec->aoff;
            if (prec->linr == menuConvertNO_CONVERSION){
                ; /*do nothing*/
            } else if ((prec->linr == menuConvertLINEAR) ||
                      (prec->linr == menuConvertSLOPE)) {
                value = value*prec->eslo + prec->eoff;
            }else{
                if(cvtRawToEngBpt(&value,prec->linr,prec->init,
                        (void *)&prec->pbrk,&prec->lbrk)!=0) break;
            }
            prec->val = value;
            prec->udf = isnan(value);
        break;
        case(2): /* no convert */
        break;
        default:
             recGblRecordError(S_dev_badInitRet,(void *)prec,"ao: init_record");
             return(S_dev_badInitRet);
        }
    }
    prec->oval = prec->pval = prec->val;
    prec->mlst = prec->val;
    prec->alst = prec->val;
    prec->lalm = prec->val;
    prec->oraw = prec->rval;
    prec->orbv = prec->rbv;
    return(0);
}

static long process(struct dbCommon *pcommon)
{
    struct aoRecord *prec = (struct aoRecord *)pcommon;
    aodset      *pdset = (aodset *)(prec->dset);
    long            status=0;
    unsigned char   pact=prec->pact;
    double          value;

    if ((pdset==NULL) || (pdset->write_ao==NULL)) {
        prec->pact=TRUE;
        recGblRecordError(S_dev_missingSup,(void *)prec,"write_ao");
        return(S_dev_missingSup);
    }

    /* fetch value and convert*/
    if (prec->pact == FALSE) {
                if (!dbLinkIsConstant(&prec->dol) &&
                    prec->omsl == menuOmslclosed_loop) {
                    status = fetch_value(prec, &value);
                }
                else {
                    value = prec->val;
                }
        if(!status) convert(prec, value);
        prec->udf = isnan(prec->val);
    }

    /* check for alarms */
    checkAlarms(prec);

    if (prec->nsev < INVALID_ALARM )
        status=writeValue(prec); /* write the new value */
    else {
        switch (prec->ivoa) {
            case (menuIvoaContinue_normally) :
                status=writeValue(prec); /* write the new value */
                break;
            case (menuIvoaDon_t_drive_outputs) :
            break;
            case (menuIvoaSet_output_to_IVOV) :
                if(prec->pact == FALSE){
                    prec->val=prec->ivov;
                    value=prec->ivov;
                    convert(prec,value);
                }
                status=writeValue(prec); /* write the new value */
                break;
            default :
                status=-1;
                recGblRecordError(S_db_badField,(void *)prec,
                        "ao:process Illegal IVOA field");
        }
    }

    /* check if device support set pact */
    if ( !pact && prec->pact ) return(0);
    prec->pact = TRUE;

    recGblGetTimeStampSimm(prec, prec->simm, NULL);

    /* check event list */
    monitor(prec);

    /* process the forward scan link record */
        recGblFwdLink(prec);

    prec->init=FALSE;
    prec->pact=FALSE;
    return(status);
}

static long special(DBADDR *paddr, int after)
{
    aoRecord     *prec = (aoRecord *)(paddr->precord);
    aodset       *pdset = (aodset *) (prec->dset);
    int                 special_type = paddr->special;

    switch(special_type) {
    case(SPC_LINCONV):
        if(pdset->common.number<6 ) {
            recGblDbaddrError(S_db_noMod,paddr,"ao: special");
            return(S_db_noMod);
        }
        prec->init=TRUE;
        if ((prec->linr == menuConvertLINEAR) && pdset->special_linconv) {
            double eoff = prec->eoff;
            double eslo = prec->eslo;
            long status;
            prec->eoff = prec->egul;
            status = (*pdset->special_linconv)(prec,after);
            if (eoff != prec->eoff)
                db_post_events(prec, &prec->eoff, DBE_VALUE|DBE_LOG);
            if (eslo != prec->eslo)
                db_post_events(prec, &prec->eslo, DBE_VALUE|DBE_LOG);
            return (status);
        }
        return (0);
    case(SPC_MOD):
        if (dbGetFieldIndex(paddr) == aoRecordSIMM) {
            if (!after)
                recGblSaveSimm(prec->sscn, &prec->oldsimm, prec->simm);
            else
                recGblCheckSimm((dbCommon *)prec, &prec->sscn, prec->oldsimm, prec->simm);
            return(0);
        }
    default:
        recGblDbaddrError(S_db_badChoice,paddr,"ao: special");
        return(S_db_badChoice);
    }
}

#define indexof(field) aoRecord##field

static long get_units(DBADDR * paddr,char *units)
{
    aoRecord    *prec=(aoRecord *)paddr->precord;

    if(paddr->pfldDes->field_type == DBF_DOUBLE) {
        switch (dbGetFieldIndex(paddr)) {
            case indexof(ASLO):
            case indexof(AOFF):
                break;
            default:
                strncpy(units,prec->egu,DB_UNITS_SIZE);
        }
    }
    return(0);
}

static long get_precision(const DBADDR *paddr,long *precision)
{
    aoRecord    *prec=(aoRecord *)paddr->precord;

    *precision = prec->prec;
    switch (dbGetFieldIndex(paddr)) {
        case indexof(VAL):
        case indexof(OVAL):
        case indexof(PVAL):
            break;
        default:
            recGblGetPrec(paddr,precision);
    }
    return(0);
}

static long get_graphic_double(DBADDR *paddr,struct dbr_grDouble *pgd)
{
    aoRecord    *prec=(aoRecord *)paddr->precord;

    switch (dbGetFieldIndex(paddr)) {
        case indexof(VAL):
        case indexof(OVAL):
        case indexof(PVAL):
        case indexof(HIHI):
        case indexof(HIGH):
        case indexof(LOW):
        case indexof(LOLO):
        case indexof(LALM):
        case indexof(ALST):
        case indexof(MLST):
        case indexof(IVOV):
            pgd->upper_disp_limit = prec->hopr;
            pgd->lower_disp_limit = prec->lopr;
            break;
        default:
            recGblGetGraphicDouble(paddr,pgd);
    }
    return(0);
}

static long get_control_double(DBADDR *paddr, struct dbr_ctrlDouble *pcd)
{
    aoRecord    *prec=(aoRecord *)paddr->precord;

    switch (dbGetFieldIndex(paddr)) {
        case indexof(VAL):
        case indexof(OVAL):
        case indexof(PVAL):
        case indexof(HIHI):
        case indexof(HIGH):
        case indexof(LOW):
        case indexof(LOLO):
        case indexof(LALM):
        case indexof(ALST):
        case indexof(MLST):
            pcd->upper_ctrl_limit = prec->drvh;
            pcd->lower_ctrl_limit = prec->drvl;
            break;
        default:
            recGblGetControlDouble(paddr,pcd);
    }
    return(0);
}
static long get_alarm_double(DBADDR *paddr, struct dbr_alDouble *pad)
{
    aoRecord    *prec=(aoRecord *)paddr->precord;

    if(dbGetFieldIndex(paddr) == indexof(VAL)){
        pad->upper_alarm_limit = prec->hhsv ? prec->hihi : epicsNAN;
        pad->upper_warning_limit = prec->hsv ? prec->high : epicsNAN;
        pad->lower_warning_limit = prec->lsv ? prec->low : epicsNAN;
        pad->lower_alarm_limit = prec->llsv ? prec->lolo : epicsNAN;
    } else recGblGetAlarmDouble(paddr,pad);
    return(0);
}

static void checkAlarms(aoRecord *prec)
{
    double val, hyst, lalm;
    double alev;
    epicsEnum16 asev;

    if (prec->udf) {
        recGblSetSevr(prec, UDF_ALARM, prec->udfs);
        return;
    }

    val = prec->val;
    hyst = prec->hyst;
    lalm = prec->lalm;

    /* alarm condition hihi */
    asev = prec->hhsv;
    alev = prec->hihi;
    if (asev && (val >= alev || ((lalm == alev) && (val >= alev - hyst)))) {
        if (recGblSetSevr(prec, HIHI_ALARM, asev))
            prec->lalm = alev;
        return;
    }

    /* alarm condition lolo */
    asev = prec->llsv;
    alev = prec->lolo;
    if (asev && (val <= alev || ((lalm == alev) && (val <= alev + hyst)))) {
        if (recGblSetSevr(prec, LOLO_ALARM, asev))
            prec->lalm = alev;
        return;
    }

    /* alarm condition high */
    asev = prec->hsv;
    alev = prec->high;
    if (asev && (val >= alev || ((lalm == alev) && (val >= alev - hyst)))) {
        if (recGblSetSevr(prec, HIGH_ALARM, asev))
            prec->lalm = alev;
        return;
    }

    /* alarm condition low */
    asev = prec->lsv;
    alev = prec->low;
    if (asev && (val <= alev || ((lalm == alev) && (val <= alev + hyst)))) {
        if (recGblSetSevr(prec, LOW_ALARM, asev))
            prec->lalm = alev;
        return;
    }

    /* we get here only if val is out of alarm by at least hyst */
    prec->lalm = val;
    return;
}

static long fetch_value(aoRecord *prec,double *pvalue)
{
    short       save_pact;
    long        status;

    save_pact = prec->pact;
    prec->pact = TRUE;

    /* don't allow dbputs to val field */
    prec->val=prec->pval;

    status = dbGetLink(&prec->dol,DBR_DOUBLE,pvalue,0,0);
    prec->pact = save_pact;

    if (status) {
       recGblSetSevr(prec,LINK_ALARM,INVALID_ALARM);
       return(status);
    }

    if (prec->oif == aoOIF_Incremental)
        *pvalue += prec->val;

    return(0);
}

static void convert(aoRecord *prec, double value)
{
    /* check drive limits */
    if (prec->drvh > prec->drvl) {
        if (value > prec->drvh)
            value = prec->drvh;
        else if (value < prec->drvl)
            value = prec->drvl;
    }
    prec->val = value;
    prec->pval = value;

    /* now set value equal to desired output value */
    /* apply the output rate of change */
    if (prec->oroc != 0){/*must be defined and >0*/
        double diff;

        diff = value - prec->oval;
        if (diff < 0) {
            if (prec->oroc < -diff)
                value = prec->oval - prec->oroc;
        } else if (prec->oroc < diff)
            value = prec->oval + prec->oroc;
    }
    prec->omod = (prec->oval!=value);
    prec->oval = value;

    /* convert */
    switch (prec->linr) {
        case menuConvertNO_CONVERSION:
            break; /* do nothing*/
        case menuConvertLINEAR:
        case menuConvertSLOPE:
            if (prec->eslo == 0.0) value = 0;
            else value = (value - prec->eoff) / prec->eslo;
            break;
        default:
            if (cvtEngToRawBpt(&value, prec->linr, prec->init,
                (void *)&prec->pbrk, &prec->lbrk) != 0) {
                recGblSetSevr(prec, SOFT_ALARM, MAJOR_ALARM);
                return;
            }
    }
    value -= prec->aoff;
    if (prec->aslo != 0) value /= prec->aslo;

    /* Apply raw offset and limits, round to 32-bit integer */
    value -= prec->roff;
    if (value >= 0.0) {
        if (value >= (0x7fffffff - 0.5))
            prec->rval = 0x7fffffff;
        else
            prec->rval = (epicsInt32)(value + 0.5);
    } else {
        if (value > (0.5 - 0x80000000))
            prec->rval = (epicsInt32)(value - 0.5);
        else
            prec->rval = 0x80000000;
    }
}


static void monitor(aoRecord *prec)
{
    unsigned monitor_mask = recGblResetAlarms(prec);

    /* check for value change */
    recGblCheckDeadband(&prec->mlst, prec->val, prec->mdel, &monitor_mask, DBE_VALUE);

    /* check for archive change */
    recGblCheckDeadband(&prec->alst, prec->val, prec->adel, &monitor_mask, DBE_ARCHIVE);

    /* send out monitors connected to the value field */
    if (monitor_mask){
        db_post_events(prec,&prec->val,monitor_mask);
    }

    if(prec->omod) monitor_mask |= (DBE_VALUE|DBE_LOG);
    if(monitor_mask) {
        prec->omod = FALSE;
        db_post_events(prec,&prec->oval,monitor_mask);
        if(prec->oraw != prec->rval) {
            db_post_events(prec,&prec->rval,
                monitor_mask|DBE_VALUE|DBE_LOG);
            prec->oraw = prec->rval;
        }
        if(prec->orbv != prec->rbv) {
            db_post_events(prec,&prec->rbv,
                monitor_mask|DBE_VALUE|DBE_LOG);
            prec->orbv = prec->rbv;
        }
    }
    return;
}

static long writeValue(aoRecord *prec)
{
    aodset *pdset = (aodset *) prec->dset;
    long status = 0;

    if (!prec->pact) {
        status = recGblGetSimm((dbCommon *)prec, &prec->sscn, &prec->oldsimm, &prec->simm, &prec->siml);
        if (status) return status;
    }

    switch (prec->simm) {
    case menuYesNoNO:
        status = pdset->write_ao(prec);
        break;

    case menuYesNoYES: {
        recGblSetSevr(prec, SIMM_ALARM, prec->sims);
        if (prec->pact || (prec->sdly < 0.)) {
            status = dbPutLink(&prec->siol, DBR_DOUBLE, &prec->oval, 1);
            prec->pact = FALSE;
        } else { /* !prec->pact && delay >= 0. */
            epicsCallback *pvt = prec->simpvt;
            if (!pvt) {
                pvt = calloc(1, sizeof(epicsCallback)); /* very lazy allocation of callback structure */
                prec->simpvt = pvt;
            }
            if (pvt) callbackRequestProcessCallbackDelayed(pvt, prec->prio, prec, prec->sdly);
            prec->pact = TRUE;
        }
        break;
    }

    default:
        recGblSetSevr(prec, SOFT_ALARM, INVALID_ALARM);
        status = -1;
    }

    return status;
}