FocusMotion.c Source File

00001 #include <tcl.h>
00002 #include <tk.h>
00003 #include <sys/types.h>
00004 #include <sys/stat.h>
00005 #include <sys/time.h>
00006 #include <fcntl.h>
00007 #include <termios.h>
00008 #include <stdio.h>
00009 
00010 #define MAXBUF     256
00011 #define MAXSTATBUF  16
00012 
00013 #define  BUSY    66
00014 #define  NOTBUSY 98
00015 
00016 void printios(struct termios* ios);
00017 int checkstatus(int fd);
00018 
00019 
00020 int fd;
00021 int err = 0;
00022 struct termios ttyios;
00023 unsigned char ibuf[MAXBUF]; 
00024 unsigned char obuf[MAXBUF]; 
00025 
00026 int FocusMotion_Init(Tcl_Interp*);
00027 
00028 
00029 
00030 int FocusMotion_Open_Cmd(ClientData client_data, Tcl_Interp* interp, int argc, char *argv[])
00031 {  
00032 
00033    fd = open("/dev/ttya", O_RDWR | O_NOCTTY);
00034    if (fd < 0) {
00035       perror("Couldn't open terminal");
00036       return (fd);
00037    }
00038    err = tcgetattr(fd, &ttyios);
00039    if (err) {
00040       perror("Couldn't get attributes");
00041       return (TCL_ERROR);
00042    }
00043    printios(&ttyios);
00044    ttyios.c_iflag = BRKINT;
00045    ttyios.c_oflag = 0;
00046    ttyios.c_cflag = B9600 | CS8 | CREAD | CLOCAL | CSTOPB;
00047    ttyios.c_lflag = 0;
00048    ttyios.c_cc[VMIN] = 1;
00049    ttyios.c_cc[VTIME] = 0;
00050    err = tcsetattr(fd, TCSANOW, &ttyios);
00051    if (err) {
00052       perror("Couldn't set attributes");
00053       return (TCL_ERROR);
00054    }
00055    err = tcgetattr(fd, &ttyios);
00056    if (err) {
00057       perror("Couldn't get attributes after setting");
00058       return (TCL_ERROR);
00059    }
00060    printios(&ttyios);
00061    while ((err = checkstatus(fd)) == BUSY) {};
00062    if (err < 0) return (TCL_ERROR);
00063    obuf[0] = 3; obuf[1] = 65; obuf[2] = 3; obuf[3] = 0; obuf[4] = 0;
00064    obuf[5] = 0; obuf[6] = 58;
00065    err = write(fd, &obuf, 7);
00066    if (err != 7) {
00067       perror("Couldn't set initial position");
00068       return (TCL_ERROR);
00069    }
00070    fprintf(stderr, "Set initial position\n");
00071    while ((err = checkstatus(fd)) == BUSY) {};
00072 
00073         if (err < 0) {
00074                 return TCL_ERROR;
00075         } else {
00076                 return TCL_OK;
00077         }
00078 }  
00079 
00080 
00081 
00082 
00083 int FocusMotion_MoveUp_Cmd(ClientData client_data, Tcl_Interp* interp, int argc,char *argv[])
00084 {  
00085         int increment;
00086         err = 0;
00087 
00088 
00089         if( argc <= 1 ) {
00090                 return TCL_ERROR;
00091         }
00092 
00093 
00094         if( Tcl_GetInt (interp, argv[1], &increment) != TCL_OK ) {
00095                 return TCL_ERROR;
00096         }
00097         if( (increment < 0) || (increment > 255) ) {
00098                 return TCL_ERROR;
00099         }
00100 
00101 
00102    while ((err = checkstatus(fd)) == BUSY) {};
00103    if (err < 0) return (TCL_ERROR);
00104    obuf[0] = 3; obuf[1] = 68; obuf[2] = 3; obuf[3] = 0; obuf[4] = (unsigned char) increment;
00105    obuf[5] = 0; obuf[6] = 58;
00106    err = write(fd, &obuf, 7);
00107    if (err != 7) {
00108       perror("Couldn't write motion increment");
00109       return (TCL_ERROR);
00110    }
00111    //fprintf(stderr, "Sent motion increment\n");
00112    while ((err = checkstatus(fd)) == BUSY) {};
00113    if (err < 0) return (TCL_ERROR);
00114    obuf[0] = 3;  obuf[1] = 43; obuf[2] = 0; obuf[3] = 58;
00115    err = write(fd, &obuf, 4);
00116    if (err != 4) {
00117       perror("Couldn't write motion up command");
00118       return (TCL_ERROR);
00119    }
00120    //fprintf(stderr, "Sent motion up command\n");
00121    while ((err = checkstatus(fd)) == BUSY) {};
00122 
00123 
00124         if (err < 0) {
00125                 return TCL_ERROR;
00126         } else {
00127                 return TCL_OK;
00128         }
00129 }  
00130 
00131 
00132 
00133 int FocusMotion_MoveDown_Cmd(ClientData client_data, Tcl_Interp* interp, int argc,char *argv[])
00134 {  
00135         int increment;
00136         err = 0;
00137 
00138 
00139         if( argc <= 1 ) {
00140                 return TCL_ERROR;
00141         }
00142 
00143 
00144         if( Tcl_GetInt (interp, argv[1], &increment) != TCL_OK ) {
00145                 return TCL_ERROR;
00146         }
00147         if( (increment < 0) || (increment > 255) ) {
00148                 return TCL_ERROR;
00149         }
00150 
00151 
00152    while ((err = checkstatus(fd)) == BUSY) {};
00153    if (err < 0) return (TCL_ERROR);
00154    obuf[0] = 3; obuf[1] = 68; obuf[2] = 3; obuf[3] = 0; obuf[4] = (unsigned char) increment;
00155    obuf[5] = 0; obuf[6] = 58;
00156    err = write(fd, &obuf, 7);
00157    if (err != 7) {
00158       perror("Couldn't write motion increment");
00159       return (TCL_ERROR);
00160    }
00161    //fprintf(stderr, "Sent motion increment\n");
00162    while ((err = checkstatus(fd)) == BUSY) {};
00163    if (err < 0) return (TCL_ERROR);
00164    obuf[0] = 3;  obuf[1] = 45; obuf[2] = 0; obuf[3] = 58;
00165    err = write(fd, &obuf, 4);
00166    if (err != 4) {
00167       perror("Couldn't write motion down command");
00168       return (TCL_ERROR);
00169    }
00170    //fprintf(stderr, "Sent motion down command\n");
00171    while ((err = checkstatus(fd)) == BUSY) {};
00172 
00173 
00174         if (err < 0) {
00175                 return TCL_ERROR;
00176         } else {
00177                 return TCL_OK;
00178         }
00179 }  
00180 
00181 
00182 int checkstatus(int fd)
00183 {
00184    unsigned char c_ibuf[MAXSTATBUF];   /* for now, could be single byte */
00185    unsigned char c_obuf[MAXSTATBUF];
00186    const struct timespec moment =  { 0, 10000000 };
00187    int rcode;
00188 
00189    /* Need this initial sleep, or will hang when reading response */
00190    if (rcode = nanosleep(&moment, NULL)) {
00191       fprintf(stderr, "Status code (interrupted sleep) %d.\n", rcode);
00192       return (-1);
00193    }
00194    if (tcflush(fd, TCIOFLUSH)) {
00195       perror("Couldn't flush input/output data");
00196       return (-1);
00197    }
00198    c_obuf[0] = 3;  c_obuf[1] = 63; c_obuf[2] = 58;
00199    if (write(fd, &c_obuf, 3) != 3) {
00200       perror("Couldn't write request");
00201       return (-1);
00202    }
00203    //fprintf(stderr, "Sent status request . . .  ");
00204    if (read(fd, &c_ibuf, 1) != 1) {
00205       perror("Couldn't read status");
00206       return (-1);
00207    }
00208    switch (*c_ibuf) {
00209    case BUSY:
00210       //fprintf(stderr, "BUSY\n");
00211       break;
00212    case NOTBUSY:
00213       //fprintf(stderr, "(not busy)\n");
00214       break;
00215    default:
00216       fprintf(stderr, "?? unknown status %d\n", *c_ibuf);
00217    }
00218    return (*c_ibuf);
00219 }
00220 
00221 void printios(struct termios* ios)
00222 {
00223    speed_t ospeed;
00224 
00225    fprintf(stderr, "\ninput modes     = %x\n", ios->c_iflag);
00226    if (ios->c_iflag & IGNBRK)
00227       fprintf(stderr, "IGNBRK\n");
00228    if (ios->c_iflag & BRKINT)
00229       fprintf(stderr, "BRKINT\n");
00230    if (ios->c_iflag & IGNPAR)
00231       fprintf(stderr, "IGNPAR\n");
00232    if (ios->c_iflag & PARMRK)
00233       fprintf(stderr, "PARMRK\n");
00234    if (ios->c_iflag & INPCK)
00235       fprintf(stderr, "INPCK\n");
00236    if (ios->c_iflag & ISTRIP)
00237       fprintf(stderr, "ISTRIP\n");
00238    if (ios->c_iflag & INLCR)
00239       fprintf(stderr, "INLCR\n");
00240    if (ios->c_iflag & IGNCR)
00241       fprintf(stderr, "IGNCR\n");
00242    if (ios->c_iflag & ICRNL)
00243       fprintf(stderr, "ICRNL\n");
00244    if (ios->c_iflag & IUCLC)
00245       fprintf(stderr, "IUCLC\n");
00246    if (ios->c_iflag & IXON)
00247       fprintf(stderr, "IXON\n");
00248    if (ios->c_iflag & IXANY)
00249       fprintf(stderr, "IXANY\n");
00250    if (ios->c_iflag & IXOFF)
00251       fprintf(stderr, "IXOFF\n");
00252    if (ios->c_iflag & IMAXBEL)
00253       fprintf(stderr, "IMAXBEL\n");
00254    if (ios->c_iflag & DOSMODE)
00255       fprintf(stderr, "DOSMODE\n");
00256    fprintf(stderr, "\noutput modes    = %x\n", ios->c_oflag);
00257    if (ios->c_oflag & OPOST)
00258       fprintf(stderr, "OPOST\n");
00259    if (ios->c_oflag & OLCUC)
00260       fprintf(stderr, "OLCUC\n");
00261    if (ios->c_oflag & ONLCR)
00262       fprintf(stderr, "ONLCR\n");
00263    if (ios->c_oflag & OCRNL)
00264       fprintf(stderr, "OCRNL\n");
00265    if (ios->c_oflag & ONOCR)
00266       fprintf(stderr, "ONOCR\n");
00267    if (ios->c_oflag & ONLRET)
00268       fprintf(stderr, "ONLRET\n");
00269    if (ios->c_oflag & OFILL)
00270       fprintf(stderr, "OFILL\n");
00271    if (ios->c_oflag & OFDEL)
00272       fprintf(stderr, "OFDEL\n");
00273    if (ios->c_oflag & NLDLY)
00274       fprintf(stderr, "NL1, NLDLY\n");
00275    if ((ios->c_oflag & CRDLY) == CRDLY)
00276       fprintf(stderr, "CR3, CRDLY\n");
00277    if (ios->c_oflag & CR1)
00278       fprintf(stderr, "CR1\n");
00279    if (ios->c_oflag & CR2)
00280       fprintf(stderr, "CR2\n");
00281    if ((ios->c_oflag & TABDLY) == TABDLY)
00282       fprintf(stderr, "TAB3, TABDLY, XTABS\n");
00283    if (ios->c_oflag & TAB1)
00284       fprintf(stderr, "TAB1\n");
00285    if (ios->c_oflag & TAB2)
00286       fprintf(stderr, "TAB2\n");
00287    if (ios->c_oflag & BS1)
00288       fprintf(stderr, "BS1, BSDLY\n");
00289    if (ios->c_oflag & VT1)
00290       fprintf(stderr, "VT1, VTDLY\n");
00291    if (ios->c_oflag & FF1)
00292       fprintf(stderr, "FF1, FFDLY\n");
00293    if (ios->c_oflag & PAGEOUT)
00294       fprintf(stderr, "PAGEOUT\n");
00295    if (ios->c_oflag & WRAP)
00296       fprintf(stderr, "WRAP\n");
00297    fprintf(stderr, "\ncontrol modes   = %x\n", ios->c_cflag);
00298    if ((ios->c_cflag & CS8) == CS8)
00299       fprintf(stderr, "CS8, CSIZE\n");
00300    if (ios->c_cflag & CS6)
00301       fprintf(stderr, "CS6\n");
00302    if (ios->c_cflag & CS7)
00303       fprintf(stderr, "CS7\n");
00304    if (ios->c_cflag & CSTOPB)
00305       fprintf(stderr, "CSTOPB\n");
00306    if (ios->c_cflag & CREAD)
00307       fprintf(stderr, "CREAD\n");
00308    if (ios->c_cflag & PARENB)
00309       fprintf(stderr, "PARENB\n");
00310    if (ios->c_cflag & PARODD)
00311       fprintf(stderr, "PARODD\n");
00312    if (ios->c_cflag & HUPCL)
00313       fprintf(stderr, "HUPCL\n");
00314    if (ios->c_cflag & CLOCAL)
00315       fprintf(stderr, "CLOCAL\n");
00316    if (ios->c_cflag & RCV1EN)
00317       fprintf(stderr, "RCV1EN\n");
00318    if (ios->c_cflag & XMT1EN)
00319       fprintf(stderr, "XMT1EN\n");
00320    if (ios->c_cflag & LOBLK)
00321       fprintf(stderr, "LOBLK\n");
00322    if (ios->c_cflag & XCLUDE)
00323       fprintf(stderr, "XCLUDE\n");
00324    if (ios->c_cflag & CRTSXOFF)
00325       fprintf(stderr, "CRTSXOFF\n");
00326    if (ios->c_cflag & CRTSCTS)
00327       fprintf(stderr, "CRTSCTS\n");
00328    if (ios->c_cflag & PAREXT)
00329       fprintf(stderr, "PAREXT\n");
00330    if (ios->c_cflag & CBAUDEXT)
00331       fprintf(stderr, "CBAUDEXT\n");
00332    if (ios->c_cflag & CIBAUDEXT)
00333       fprintf(stderr, "CIBAUDEXT\n");
00334    if (ios->c_cflag & CRTS_IFLOW)
00335       fprintf(stderr, "CRTS_IFLOW\n");
00336    if (ios->c_cflag & CCTS_OFLOW)
00337       fprintf(stderr, "CCTS_OFLOW\n");
00338    ospeed = (ios->c_cflag & CBAUDEXT) ? (ios->c_cflag & CBAUD) + CBAUD + 1
00339      : ios->c_cflag & CBAUD;
00340    switch (ospeed) {
00341    case B0: fprintf(stderr, "B0\n"); break;
00342    case B50: fprintf(stderr, "B50\n"); break;
00343    case B75: fprintf(stderr, "B75\n"); break;
00344    case B110: fprintf(stderr, "B110\n"); break;
00345    case B134: fprintf(stderr, "B134\n"); break;
00346    case B150: fprintf(stderr, "B150\n"); break;
00347    case B200: fprintf(stderr, "B200\n"); break;
00348    case B300: fprintf(stderr, "B300\n"); break;
00349    case B600: fprintf(stderr, "B600\n"); break;
00350    case B1200: fprintf(stderr, "B1200\n"); break;
00351    case B1800: fprintf(stderr, "B1800\n"); break;
00352    case B2400: fprintf(stderr, "B2400\n"); break;
00353    case B4800: fprintf(stderr, "B4800\n"); break;
00354    case B9600: fprintf(stderr, "B9600\n"); break;
00355    case B19200: fprintf(stderr, "B19200\n"); break;
00356    case B38400: fprintf(stderr, "B38400\n"); break;
00357    case B57600: fprintf(stderr, "B57600\n"); break;
00358    case B76800: fprintf(stderr, "B76800\n"); break;
00359    case B115200: fprintf(stderr, "B115200\n"); break;
00360    case B153600: fprintf(stderr, "B153600\n"); break;
00361    case B230400: fprintf(stderr, "B230400\n"); break;
00362    case B307200: fprintf(stderr, "B307200\n"); break;
00363    case B460800: fprintf(stderr, "B460800\n"); break;
00364    default: fprintf(stderr, "? Baud rate code %d\n", ospeed);
00365    }
00366    fprintf(stderr, "\nline dis. modes = %x\n", ios->c_lflag);
00367    if (ios->c_lflag & ISIG)
00368       fprintf(stderr, "ISIG\n");
00369    if (ios->c_lflag & ICANON)
00370       fprintf(stderr, "ICANON\n");
00371    if (ios->c_lflag & XCASE)
00372       fprintf(stderr, "XCASE\n");
00373    if (ios->c_lflag & ECHO)
00374       fprintf(stderr, "ECHO\n");
00375    if (ios->c_lflag & ECHOE)
00376       fprintf(stderr, "ECHOE\n");
00377    if (ios->c_lflag & ECHOK)
00378       fprintf(stderr, "ECHOK\n");
00379    if (ios->c_lflag & ECHONL)
00380       fprintf(stderr, "ECHONL\n");
00381    if (ios->c_lflag & NOFLSH)
00382       fprintf(stderr, "NOFLSH\n");
00383    if (ios->c_lflag & ECHOCTL)
00384       fprintf(stderr, "ECHOCTL\n");
00385    if (ios->c_lflag & ECHOPRT)
00386       fprintf(stderr, "ECHOPRT\n");
00387    if (ios->c_lflag & ECHOKE)
00388       fprintf(stderr, "ECHOKE\n");
00389    if (ios->c_lflag & DEFECHO)
00390       fprintf(stderr, "DEFECHO\n");
00391    if (ios->c_lflag & FLUSHO)
00392       fprintf(stderr, "FLUSHO\n");
00393    if (ios->c_lflag & PENDIN)
00394       fprintf(stderr, "PENDIN\n");
00395    if (ios->c_lflag & IEXTEN)
00396       fprintf(stderr, "IEXTEN\n");
00397 
00398 }
00399 
00400 
00401 
00402 
00403 
00404 /*************************************************************************
00405  *
00406  * This procedure initializes the the stagemotion procedures when
00407  * this package is loaded.
00408  *
00409  *************************************************************************/
00410 int FocusMotion_Init(Tcl_Interp *interp) {
00411   Tcl_CreateCommand(interp, "FocusMotion_Open", FocusMotion_Open_Cmd,
00412         (ClientData) NULL, NULL);
00413   Tcl_CreateCommand(interp, "FocusMotion_MoveUp", FocusMotion_MoveUp_Cmd,
00414         (ClientData) NULL, NULL);
00415   Tcl_CreateCommand(interp, "FocusMotion_MoveDown", FocusMotion_MoveDown_Cmd,
00416         (ClientData) NULL, NULL);
00417 
00418   return TCL_OK;
00419 }