303 lines
9.4 KiB
C++
303 lines
9.4 KiB
C++
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/* **************************************************************************
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Author: Holger Stork, Achim Gaedke
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Created: January 2005
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****************************************************************************/
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#include "Eurotherm-2000Series.h"
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#include <cstdio>
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#include <cmath>
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#include <unistd.h>
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#include <fcntl.h>
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#include <termios.h>
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#include <errno.h>
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#include <locale.h>
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#include <string>
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Eurotherm2000Series::Eurotherm2000Series(const std::string& dev_name, int dev_address, int failure_status_mask): tempcont() {
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/*
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initialization of serial device
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*/
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device_name=dev_name;
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failure_mask=failure_status_mask;
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serial_dev=open(dev_name.c_str(),O_RDWR|O_NONBLOCK);
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if (serial_dev<0)
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throw Eurotherm2000Series_error("could not open serial device");
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// set attributes now
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termios the_attributes;
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the_attributes.c_iflag=0;
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the_attributes.c_oflag=0;
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// 7 bit per byte, even parity, reciever enabled
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the_attributes.c_cflag=CS7|PARENB|CREAD;
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the_attributes.c_lflag=0;
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// baud rate
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cfsetospeed(&the_attributes,B19200);
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cfsetispeed(&the_attributes,B19200);
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if(tcsetattr(serial_dev,TCSANOW,&the_attributes)!=0)
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throw Eurotherm2000Series_error("could not configure serial line");
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address=dev_address;
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(void)setlocale(LC_NUMERIC,"C");
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fp_format="%05.1f";
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int_format="%05d.";
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hex_format=">%04x";
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std::map<std::string,std::string> config;
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// configure for <20>K output
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config["Q1"]="2.";
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// configure for nnn.n format output/precision
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config["QD"]="1.";
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configure(config);
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set_history_stepsize(1);
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device_failed=0;
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}
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void Eurotherm2000Series::configure(const std::map<std::string,std::string>& config) {
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std::string error_message;
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try {
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std::string mode;
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const char config_mode[]="0002.";
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read_value("IM",mode);
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for (std::map<std::string,std::string>::const_iterator i=config.begin();i!=config.end();++i) {
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try {
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std::string value;
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read_value(i->first, value);
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fprintf(stderr, "%s: %s (%s)", i->first.c_str(), value.c_str(), i->second.c_str());
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if (value!=i->second) {
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if (mode!=config_mode) set_value("IM",config_mode);
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set_value(i->first,i->second);
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mode=config_mode;
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}
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}
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catch (Eurotherm2000Series_error e){error_message+=i->first+"->"+i->second+", ";}
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}
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if (mode==config_mode) {
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set_value("IM","0000.");
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// read superficial zero byte
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char buffer[1];
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while (read(serial_dev,buffer,1)<=0) sleep(1);
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// wait for restarted communication
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int timeout=10;
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while (1) {
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if (timeout<0) throw Eurotherm2000Series_error("could not establish connection after configuring");
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try {get_summary_status();} catch(Eurotherm2000Series_error){--timeout;sleep(1); continue;}
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break;
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}
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}
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}
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catch (const Eurotherm2000Series_error& e) {
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throw Eurotherm2000Series_error("got error while configuration: "+std::string(e.what()));
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}
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if (error_message.size()!=0) {
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throw Eurotherm2000Series_error("Could not set "+error_message.substr(0,error_message.size()-1));
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}
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}
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void Eurotherm2000Series::reset() {
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set_value("IM","0000.");
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// read superficial zero byte
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char buffer[1];
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while (read(serial_dev,buffer,1)<=0) sleep(1);
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// wait for restarted communication
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int timeout=10;
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while (1) {
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if (timeout<0) throw Eurotherm2000Series_error("could not establish connection after reset");
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try {get_summary_status();} catch(Eurotherm2000Series_error){--timeout; sleep(1); continue;}
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break;
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}
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}
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Eurotherm2000Series::~Eurotherm2000Series() {
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/**
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close serial device, clean up
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*/
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close(serial_dev);
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}
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void Eurotherm2000Series::read_value(const std::string& param_name, std::string& return_value) const{
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// assemble message without channel
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std::string message;
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message+=4;
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message+='0'+(address/10);
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message+='0'+(address/10);
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message+='0'+(address%10);
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message+='0'+(address%10);
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message+=param_name;
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message+=5;
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// write message to device
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pthread_mutex_lock((pthread_mutex_t*)&device_lock);
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write(serial_dev,message.c_str(),message.size());
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// read answer
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unsigned char got_byte=0;
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return_value.clear();
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// sleep minimum latency time for parameter reading
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timespec read_latency;
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read_latency.tv_sec=0; read_latency.tv_nsec=2000000;
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nanosleep(&read_latency,NULL);
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// now use shorter steps
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int timeout=100;
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read_latency.tv_nsec=1000000;
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while (return_value.size()<2 || return_value[return_value.size()-2]!=3) {
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int result=read(serial_dev,&got_byte,1);
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if (result<=0) {
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if (result<0 && errno!=EAGAIN) {
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return_value.clear();
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pthread_mutex_unlock((pthread_mutex_t*)&device_lock);
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throw Eurotherm2000Series_error("read_value: error while reading");
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}
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if (timeout<0) {
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return_value.clear();
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pthread_mutex_unlock((pthread_mutex_t*)&device_lock);
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throw Eurotherm2000Series_error("read_value: timeout while reading");
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}
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// go on sleeping for a while
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nanosleep(&read_latency,NULL);
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timeout--;
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continue;
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}
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if (return_value.size()==0 && got_byte==4) throw Eurotherm2000Series_error("read_value: invalid register");
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return_value+=got_byte;
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}
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pthread_mutex_unlock((pthread_mutex_t*)&device_lock);
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if (0) {
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for (std::string::const_iterator i=return_value.begin();i!=return_value.end();++i)
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fprintf(stderr,"%02x",*i);
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fprintf(stderr,"\n");
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}
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// test bcc
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unsigned char bcc=return_value[1];
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for (size_t i=2;i<return_value.size()-1;++i) bcc^=return_value[i];
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if (bcc!=got_byte) {
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return_value.clear();
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throw Eurotherm2000Series_error("read_value: bcc missmatch");
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}
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// compare C1 and C2
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if (return_value.substr(1,param_name.size())!=param_name) {
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return_value.clear();
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throw Eurotherm2000Series_error("read_value: register name echo mismatch");
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}
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// cut protocol bytes
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return_value.erase(0,3);
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return_value.resize(return_value.size()-2);
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return;
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}
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int Eurotherm2000Series::set_value(const std::string& param_name, const std::string& value) {
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// comunicate with device
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std::string message;
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message+=4; //EOT
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message+='0'+(address/10);
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message+='0'+(address/10);
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message+='0'+(address%10);
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message+='0'+(address%10);
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message+=2; //STX
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message+=param_name.substr(0,2);
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message+=value;
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message+=3; //ETX
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// calculate bcc byte
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unsigned char bcc=message[6];
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for (size_t i=7;i<message.size();++i) bcc^=message[i];
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message+=(unsigned char)bcc; //BCC
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#if 0
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printf("param: %s, value: %s: ",param_name.c_str(),value.c_str());
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for (size_t i=0; i<message.size();i++)
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printf("%02x ",(unsigned char)message[i]);
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printf("\n");
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#endif
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pthread_mutex_lock(&device_lock);
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write(serial_dev,message.c_str(),message.size());
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// sleep minimum latency time for value setting
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timespec write_latency;
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write_latency.tv_sec=0; write_latency.tv_nsec=5000000;
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nanosleep(&write_latency,NULL);
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// wait shorter while polling
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write_latency.tv_nsec=1000000;
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int timeout=1000;
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unsigned char got_byte;
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int result;
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while ((result=read(serial_dev,&got_byte,1))<=0) {
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if (result<0 && errno!=EAGAIN) {
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pthread_mutex_unlock(&device_lock);
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throw Eurotherm2000Series_error("set_value: read error");
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}
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if (timeout<0) {
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pthread_mutex_unlock(&device_lock);
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throw Eurotherm2000Series_error("set_value: timeout occurred");
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}
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nanosleep(&write_latency,NULL);
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timeout--;
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}
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pthread_mutex_unlock(&device_lock);
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if (got_byte==0x15) {
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char message_buffer[256];
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std::string ee_answer;
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read_value("EE",ee_answer);
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snprintf(message_buffer, 256, "set_value: negative acknoledge (ee=0x%02x)",ee_answer.c_str()[0]);
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throw Eurotherm2000Series_error(message_buffer);
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}
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if (got_byte!=6) {
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char message_buffer[256];
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snprintf(message_buffer,256,"(0x%02x)",got_byte);
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throw Eurotherm2000Series_error(std::string("set_value: no acknoledge ")+message_buffer);
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}
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return 0;
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}
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double Eurotherm2000Series::get_temperature() const {
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int summary_status=get_summary_status();
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if (failure_mask&summary_status) {
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char message_buffer[10];
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snprintf(message_buffer,10,"0x%04x",summary_status);
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throw Eurotherm2000Series_error(std::string("sensor/heater/temperature range fault: ")+message_buffer);
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}
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std::string answer;
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read_value("PV",answer);
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return strtod(answer.c_str(),NULL);
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}
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double Eurotherm2000Series::set_setpoint(double ct) {
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char buffer[8];
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snprintf(buffer,8,fp_format.c_str(),ct);
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set_value("SL",buffer);
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// extra wait, until the get_setpoint function returns the same value
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timespec write_latency;
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write_latency.tv_sec=0; write_latency.tv_nsec=50000000;
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nanosleep(&write_latency,NULL);
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write_latency.tv_nsec=100000000;
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int i=100;
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while(fabs(get_setpoint()-ct)>1e-4) {
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if (i<0) throw Eurotherm2000Series_error("could not confirm setpoint value settings, timeout");
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nanosleep(&write_latency,NULL);
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--i;
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}
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return ct;
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}
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double Eurotherm2000Series::get_setpoint() const {
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std::string answer;
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read_value("SL",answer);
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return strtod(answer.c_str(),NULL);
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}
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int Eurotherm2000Series::get_summary_status() const {
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std::string answer;
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read_value("SO",answer);
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if (answer[0]!='>') throw Eurotherm2000Series_error("could not handle status data format \'"+answer+"\'");
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answer.erase(0,1);
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return strtol(answer.c_str(),NULL,16);
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}
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void Eurotherm2000Series::get_setpoint_limits(double& min, double& max) const {
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std::string answer;
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read_value("LS",answer);
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min=strtod(answer.c_str(),NULL);
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read_value("HS",answer);
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max=strtod(answer.c_str(),NULL);
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}
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