asynDriver: Asynchronous Driver Support

This product is available via the open source license described at the end of this document.

• Local Serial Port
• TCP/IP or UDP/IP Port
• vxi11
• Green Springs IP488
• National Instruments GPIB-1014D

asynDriver is a general purpose facility for interfacing device specific code to low level communication drivers.

A primary target for asynDriver is EPICS IOC device support but, other than using libCom, it is independent of EPICS.

The following are some of the existing EPICS general purpose device support systems that have been converted to use asynDriver.

• gpibCore is the operating-system-independent version of the Winans/Franksen GPIB support.
• mpfSerial is the serial support provided with MPFOSI (Message Passing Facility)

The following are some of the existing EPICS general purpose device support systems that could be converted to use asynDriver.

• streams is the protocol file based support for serial/GPIB/CAN from Dirk Zimoch.
• devAscii/drvAscii is serial support from KECK Observatory.

Each of these systems is used at EPICS facilities for accessing GPIB and/or serial devices. Because device support has been written for many instruments and thousands of database records use the device support, users will not be easily persuaded to switch from their existing solution. Thus asynDriver implements a framework below device support that can be used by all of the above systems so that all can share the same drivers.

Each system needs to be modified so that the device support component is compatible with existing use but replace the driver part with asynDriver. The benefit is that all could share the same set of low level drivers.

gpibCore and mpfSerial have already been converted and is included with asynDriver.

Hopefully Dirk Zimoch will get time soon to convert streams and Allen Honey time to convert devAscii.

In the future other protocols will be supported especially for Ethernet based devices.

This version provides

• asynManager, i.e. the software layer between device support and drivers.
• asynRecord: EPICS record support that provides a generic interface to asynManager, asynCommon, asynOctet, and asynGpib.
• devGpib: EPICS device support that replaces the device support layer of the Winans/Franksen gpibCore support.
• asynGpib: a replacement for the drvGpibCommon layer of the Franksen gpibCore support.
• drvAsynSerialPort: Support for devices connected to serial ports.
• drvAsynIPPort: Support for devices connected to devices connected through Ethernet/Serial converter boxes, TCP/IP sockets or UDP/IP sockets.
• vxi11: A replacement for the vxi11 support of the Franksen gpibCore support.
• gsIP488: A low level driver for the Greensprings IP488 Industry Pack module. This support is only implemented for vxWorks.

The idea of creating asynDriver resulted from many years of experience with writing device support for serial and GPIB devices. The following individuals have been most influential.

John Winans

John provided the original EPICS GPIB support. Databases using John's support can be used without modification with devGpib. With small modifications, device support modules written for John's support can be used.

Benjamin Franksen

John's support only worked on vxWorks. In addition the driver support was implement as a single source file. Benjamin defined an interface between drvCommon and low level controllers and split the code into drvGpib and the low level drivers. He also created the support for drvVxi11.

Eric Norum

Eric started with Benjamin's code and converted it to use the Operating System Independent features of EPICS 3.14.

Marty Kraimer

Marty started with Eric's version and made changes to support secondary addressing and to replace ioctl with code to support general bus management, universal commands, and addressed commands.

Pete Owens

Pete, for the Diamond Light Source, did a survey of several types of device/driver support packages for serial devices. Diamond decided to use the streams support developed by Dirk Zimoch.

Dirk Zimoch

Dirk developed streams, which has a single device support model, but supports arbitrary low level message based drivers, i.e. GPIB, serial, etc.

Jun-ichi Odagare

Jun-ichi developed NetDev, a systems that provides EPICS device support for network based devices. It has a single device support model but provides a general framework for communicating with network based devices.

asynDriver is a software layer between device specific code and communication drivers that send/receive messages to/from devices. asynDriver defines the following terminology:

• interface

  All communication between software layers is done via interfaces. An interface definition is a C language structure consisting entirely of function pointers. An asynDriver interface is analogous to a C++ or Java pure virtual interface. Although the implementation is in C, the spirit is object oriented. Thus this document uses the term "member" rather than "function pointer".

• port

  A communication entity over which messages are sent. Whenever this document uses the word port without a qualifier, it means a communication port. A port provides access to one or more devices.

• device

  A device (instrument) connected to a port. For example if the port driver is a GPIB interface it can have up to 15 devices connected to each port. Whenever this document uses the word device without a quailifier, it means something that is connected to a port.

• asynDriver

  This is the name for the support described in this manual. It is also the name of the header file that describes the core interfaces

• asynManager

  The code which implements the asynManager and asynTrace methods..

Standard interfaces are defined so that most device specific code can communicate with multiple port drivers. If device support does all it's communication via reads and writes consisting of 8 bit bytes (octets) then it should work with almost all port drivers. If device support requires more complicated support then the types of ports will be more limited. Additional interfaces can be defined. It is expected that additional standard interfaces will be defined.

Examples of ports are GPIB controllers, serial ports, Ethernet ports, etc. One or more devices can be attached to a port. For example only one device can be attached to an RS-232 port but up to 15 devices can be attached to a GPIB port.

Multiple layers can exist between device specific code and a port driver. A software layer calls interposeInterface in order to be placed between device specific code and drivers.

For more complicated protocols additional layers can be created. For example GPIB support is implemented as an asynGpib interface which is called by user code and a asynGpibPort interface which is called by asynGpib.

A driver can implement multiple interfaces. For example asynGpib implements asynCommon, asynOctet, and asynGpib.

asynManager uses the Operating System Independent features of EPICS base. It is, however, independent of record/device support. Thus it can be used by other code, e.g. a sequence program.

Standard Asynchronous Driver Interfaces

This section briefly describes the interfaces provided by asynManager and standard interfaces implemented by port drivers. asynManager members are called by normal threads. Except for asynCommon:report, port driver methods can only be called from the user supplied callback supplied in the call to createAsynUser..

The interfaces are:

• asynManager This provides services for communicating with a device connected to a port. The following services are provided
  • report - A method that reports the status of all ports.
  • A thread for each communication port.
  • Methods to connect/disconnect to a device or port.
  • A method for locating port driver interfaces.
  • queueRequest. This is a non-blocking method, i.e. it can be called from scan threads. A callback specified by the user is called by the interface thread. The user callback can then make an arbitrary number of calls to the driver. These calls may be blocking calls.
  • Methods that provide a transaction service, i.e. members lock/unlock can lock out other users while multiple queueRequests are issued.
  • Methods for registering ports and interfaces.
  • Methods called by a driver when it connects or disconnects from a port or device.
  • A Method for interposing an interface between clients and drivers.
  • Methods for enable and autoConnect.
• asynCommon asynCommon is a set of methods that must be implemented by all drivers. The methods are:
  • report - Report status of port.
  • connect - Connect to the port or device.
  • disconnect - Disconnect from the port or device.
  • setOption - Set device option.
  • showOption - Show device option.
• asynOctet asynOctet is a set of methods implemented by any driver that accepts octet messages (messages consisting of 8-bit bytes) and returns octet responses. This interface will be sufficient for most device specific code. For example the code for streams protocol files needs only this interface. The term octet is used instead of ASCII because the only requirement is that messages consist of 8-bit bytes. The methods are:
  • read - input a message. The routine returns the number of 8-bit bytes read from the device or -1 to indicate error.
  • write - output a message. The routine returns the number of 8-bit bytes written to the device or -1 to indicate error.
  • flush - if input is buffered flush the buffer.
  • setEos - Specify an end of message string for detecting the end of input messages.
  • getEos - Get the currect end of message string.
• asynTrace asynTrace is a set of methods for generating diagnostic messages.
• asynSyncIO asynSyncIO is a set of methods for performing synchronous I/O using asynManager and asynOctet. This interface is convenient for code that is running in a thread that is allowed to wait.  Examples include motor drivers, SNL programs and the shell commands described later in this document. The methods are:
  • connect - connect to a device and port, create asynUser for use by other methods.
  • openSocket- open a TCP/IP or UDP/IP socket and port, creating an asyn port.
  • read - read device, wait for response. Optionally flush input before the read, and optionally set end of message string. The routine returns the number of 8-bit bytes read from the device or -1 to indicate error.
  • write - write device, wait for response.  The routine returns the number of 8-bit bytes written to the device or -1 to indicate error.
  • writeRead - perform a "write" and then a "read" as an atomic operation. The routine returns the number of 8-bit bytes read from the device or -1 to indicate error.
  • flush - if input is buffered flush the buffer, wait for completion.

Overview

During initialization port drivers registers each communication port as well as all supported interfaces.

User code creates an asynUser by calling pasynManager->createAsynUser(). The address of the asynUser is passed to most other asynDriver methods.

User code connects to a device, which is located located at some address on a port, and communicates with the device via combination of asynManager and one or more interfaces.

User code communicates with drivers via the following method:

1. It calls:

    pasynManager->queueRequest(...)

2. The callback specified in createAsynUser calls the driver via one of the driver interfaces.

Comments:

1. Streams, devAscii, and mpfSerial need only asynManager and asynOctet. devGpib needs only asynManager, asynCommon, asynOctet, and asynGpib.
2. It is expected that most users will connect to these interfaces via device support. However other code can call it. Examples are sequence programs, test programs, utility commands, etc.
3. Device support can consist of more than one type of support. For example most functions could be accessed via streams but asynGpib could be used to handle SRQs.

asynDriver.h describes the following:

• asynStatus - An enum that describes the status returned by many methods.
• asynException - An enum that describes exceptions.
• asynQueuePriority - An enum that describes the queue priorities,
• asynUser - A struture that contains generic information and is the "handle" for calling most methods.
• asynInterface - a structure that describes an interface.
• asynManager - An interface for communicating with asynDriver.
• asynCommon - An interface providing methods that must be implemented by all low level drivers.
• asynOctet - An interface providing I/O methods that most low level drivers implement.
• asynTrace - An interface plus associated functions and definitions that implement the trace facility.

asynStatus

Defines the status returned by most methods. If a method returns a status other than asynSuccess and one of the arguments to the method is pasynUser then the method is expected to write a message into pasynUser->errorMessage.

typedef enum {
    asynSuccess,asynTimeout,asynOverflow,asynError
}asynStatus;

asynException

Defines the exceptions for method exceptionOccurred

typedef enum {
    asynExceptionConnect,asynExceptionEnable,asynExceptionAutoConnect,
    asynExceptionTraceMask,asynExceptionTraceIOMask,
    asynExceptionTraceFile,asynExceptionTraceIOTruncateSize
} asynException;

asynQueuePriority

This defines the priority passed to queueRequest.

typedef enum {
    asynQueuePriorityLow,asynQueuePriorityMedium,asynQueuePriorityHigh,asynQueuePriorityConnect
}asynQueuePriority;

asynUser

Describes a structure that user code passes to most asynManager and driver methods. Code must allocate and free an asynUser by calling asynManager:createAsynUser and asynManager:freeAsynUser.

typedef struct asynUser {
    char *errorMessage;
    int errorMessageSize;
    /* The following must be set by the user */
    double timeout;  /*Timeout for I/O operations*/
    void *userPvt;
    /* The following are for additional information from method calls */
    int          auxStatus; /*For auxillary status*/
}asynUser;

epicsSnprintf(pasynUser->errorMessage,pasynUser->errorMessageSize,"<format>",...)
        

asynInterface

This defines an interface registered with asynPortManager:registerPort or asynManager:interposeInterface.

typedef struct asynInterface{
    const char *interfaceType; /*For example asynCommonType*/
    void *pinterface;          /*For example pasynCommon */
    void *drvPvt;
}asynInterface;

asynManager

This is the main interface for communicating with asynDriver.

typedef void (*userCallback)(asynUser *pasynUser);
typedef void (*exceptionCallback)(asynUser *pasynUser,asynException exception);

typedef struct asynManager {
    void      (*report)(FILE *fp,int details);
    asynUser  *(*createAsynUser)(userCallback queue,userCallback timeout);
    asynStatus (*freeAsynUser)(asynUser *pasynUser);
    asynStatus (*isMultiDevice)(asynUser *pasynUser,
                                const char *portName,int *yesNo);
    /* addr = (-1,>=0) => connect to (port,device) */
    asynStatus (*connectDevice)(asynUser *pasynUser,
                                const char *portName,int addr);
    asynStatus (*disconnect)(asynUser *pasynUser);
    asynStatus (*exceptionCallbackAdd)(asynUser *pasynUser,
                                       exceptionCallback callback);
    asynStatus (*exceptionCallbackRemove)(asynUser *pasynUser);
    asynInterface *(*findInterface)(asynUser *pasynUser,
                            const char *interfaceType,int interposeInterfaceOK);
    asynStatus (*queueRequest)(asynUser *pasynUser,
                              asynQueuePriority priority,double timeout);
    asynStatus (*cancelRequest)(asynUser *pasynUser,int *wasQueued);
    asynStatus (*lock)(asynUser *pasynUser);   /*lock portName,addr */
    asynStatus (*unlock)(asynUser *pasynUser);
    asynStatus (*getAddr)(asynUser *pasynUser,int *addr);
    /* drivers call the following*/
    asynStatus (*registerPort)(const char *portName,
                              int multiDevice,int autoConnect,
                              unsigned int priority,unsigned int stackSize);
    asynStatus (*registerInterface)(const char *portName,
                              asynInterface *pasynInterface);
    asynStatus (*exceptionConnect)(asynUser *pasynUser);
    asynStatus (*exceptionDisconnect)(asynUser *pasynUser);
    /*any code can call the following*/
    asynStatus (*interposeInterface)(const char *portName, int addr,
                              asynInterface *pasynInterface,
                              asynInterface **ppPrev);
    asynStatus (*enable)(asynUser *pasynUser,int yesNo);
    asynStatus (*autoConnect)(asynUser *pasynUser,int yesNo);
    asynStatus (*isConnected)(asynUser *pasynUser,int *yesNo);
    asynStatus (*isEnabled)(asynUser *pasynUser,int *yesNo);
    asynStatus (*isAutoConnect)(asynUser *pasynUser,int *yesNo);
}asynManager;
epicsShareExtern asynManager *pasynManager;

asynInterface *pasynInterface;
asynOctet *pasynOctet;
void *pasynOctetPvt;
...
pasynInterface = pasynManager->findInterface(
        pasynUser,asynOctetType,1);
if(!pasynInterface) { /*error do something*/}
pasynOctet = (asynOctet *)pasynInterface->pinterface;
pasynOctetPvt = pasynInterface->pdrvPvt;
/* The following call must be made from a callback */
pasynOctet->read(pasynOctetPvt,pasynUser,...
        

asynCommon

/* Device Interface supported by ALL asyn drivers*/
#define asynCommonType "asynCommon"
typedef struct  asynCommon {
    void       (*report)(void *drvPvt,FILE *fp,int details);
    /*following are to connect/disconnect to/from hardware*/
    asynStatus (*connect)(void *drvPvt,asynUser *pasynUser);
    asynStatus (*disconnect)(void *drvPvt,asynUser *pasynUser);
    /*The following are generic methods to set/get device options*/
    asynStatus (*setOption)(void *drvPvt, asynUser *pasynUser,
                                const char *key, const char *val);
    asynStatus (*getOption)(void *drvPvt, asynUser *pasynUser,
                                const char *key, char *val, int sizeval);
}asynCommon;

asynCommon describes the methods that must be implemented by drivers.

asynOctet

/* Device Interface supported by low level octet drivers. */
#define asynOctetType "asynOctet"
typedef struct asynOctet{
    asynStatus (*read)(void *drvPvt,asynUser *pasynUser,
                       char *data,int maxchars,int *nbytesTransfered);
    asynStatus (*write)(void *drvPvt,asynUser *pasynUser,
                        const char *data,int numchars,int *nbytesTransfered);
    asynStatus (*flush)(void *drvPvt,asynUser *pasynUser);
    asynStatus (*setEos)(void *drvPvt,asynUser *pasynUser,
                         const char *eos,int eoslen);
    asynStatus (*getEos)(void *drvPvt,asynUser *pasynUser,
                        char *eos, int eossize, int *eoslen);
}asynOctet;

NOTE: The name octet is used instead of ASCII because it implies that communication is done via 8-bit bytes.

asynOctet describes the methods implemented by drivers that use octet strings for sending commands and receiving responses from a device.

Trace Interface

/*asynTrace is implemented by asynManager*/
/*All asynTrace methods can be called from any thread*/
/* traceMask definitions*/
#define ASYN_TRACE_ERROR     0x0001
#define ASYN_TRACEIO_DEVICE  0x0002
#define ASYN_TRACEIO_FILTER  0x0004
#define ASYN_TRACEIO_DRIVER  0x0008
#define ASYN_TRACE_FLOW      0x0010

/* traceIO mask definitions*/
#define ASYN_TRACEIO_NODATA 0x0000
#define ASYN_TRACEIO_ASCII  0x0001
#define ASYN_TRACEIO_ESCAPE 0x0002
#define ASYN_TRACEIO_HEX    0x0004

/* asynPrint and asynPrintIO are macros that act like
   int asynPrint(asynUser *pasynUser,int reason, const char *format, ... );
   int asynPrintIO(asynUser *pasynUser,int reason,
        const char *buffer, int len, const char *format, ... );
*/
typedef struct asynTrace {
    /* lock/unlock are only necessary if caller performs I/O other then*/
    /* by calling asynTrace methods                                    */
    asynStatus (*lock)(asynUser *pasynUser);
    asynStatus (*unlock)(asynUser *pasynUser);
    asynStatus (*setTraceMask)(asynUser *pasynUser,int mask);
    int        (*getTraceMask)(asynUser *pasynUser);
    asynStatus (*setTraceIOMask)(asynUser *pasynUser,int mask);
    int        (*getTraceIOMask)(asynUser *pasynUser);
    asynStatus (*setTraceFILE)(asynUser *pasynUser,FILE *fp);
    FILE       *(*getTraceFILE)(asynUser *pasynUser);
    asynStatus (*setTraceIOTruncateSize)(asynUser *pasynUser,int size);
    int        (*getTraceIOTruncateSize)(asynUser *pasynUser);
    int        (*print)(asynUser *pasynUser,int reason, const char *pformat, ...);
    int        (*printIO)(asynUser *pasynUser,int reason,
               const char *buffer, int len,const char *pformat, ...);
}asynTrace;
epicsShareExtern asynTrace *pasynTrace;

asynTrace

asynDriver provides a trace facility with the following attributes:

• Tracing is turned on/off for individual devices, i.e. a portName,addr
• Trace has a global trace mask for asynUsers not connected to a port ot port,addr.
• The output is sent to a file or to stdout.
• A mask determines the type of information that can be displayed. The various choices can be ored together.
  • ASYN_TRACE_ERROR Run time errors are reported, e.g. timeouts.
  • ASYN_TRACEIO_DEVICE High level device support reports I/O activity.
  • ASYN_TRACEIO_FILTER Any layer between device support and the low level driver reports any filtering it does on I/O.
  • ASYN_TRACEIO_DRIVER Low level driver reports I/O activity.
  • ASYN_TRACE_FLOW Report logic flow. Device support should report all queue requests, callbacks entered, and all calls to drivers. Layers between device support and low level drivers should report all calls they make to lower level drivers. Low level drivers report calls they make to other support.
• Another mask determines how message buffers are printed. The various choices can be ored together.
  • ASYN_TRACEIO_NODATA Dont print any data from the message buffers
  • ASYN_TRACEIO_ASCII Print with a "%s" style format.
  • ASYN_TRACEIO_ESCAPE Call epicsStrPrintEscaped.
  • ASYN_TRACEIO_HEX Print each byte with " %2.2x".

In order for the trace facility to perform properly, device support, and all drivers must use the trace facility. Device and driver support can directly call the asynTrace methods. The asynPrint and asynPrintIO macros are provided so that it is easier for device/driver support. Support can have calls like.

    asynPrintIO(pasynUser,ASYN_TRACE_FLOW,"%s Calling queueRequest\n",
        someName);

The asynPrintIO call is designed for device support or drivers that issue read or write requests. They make calls like:

    asynPrintIO(pasynUser,ASYN_TRACEIO_DRIVER,data,nchars,"%s nchars %d",someName,nchars);

The asynTrace methods are implemented by asynManager. These methods can be used by any code that has created an asynUser and connected to a device. All methods can be called by any thread. If a thread performs all I/O via calls to print or printIO, then it does not have to call lock or unlock. If it does want to do it's own I/O, it must lock before any I/O and unlock after. For example:

    pasynTrace->lock(pasunUser);
    fd = pasynTrace->getTraceFILE(pasunUser);
    /*perform I/O of fd */
    pasynTrace->unlock(pasunUser);

If the asynUser is not connected to a port, i.e. pasynManager->connectDevice has not been called, then a "global" device is assumed. This is usefull when asynPrint is called before connectDevice.

asynSyncIO.h describes the following:

/* Synchronous Interface to the asynManager and asynOctet interfaces. */
typedef struct asynSyncIO {
   asynStatus (*connect)(const char *port, int addr, asynUser **ppasynUser);
   asynStatus (*openSocket)(const char *server, int port,
                  char **portName);
   int        (*write)(asynUser *pasynUser, char const *buffer, int buffer_len,
                  double timeout);
   int        (*read)(asynUser *pasynUser, char *buffer, int buffer_len,
                  const char *ieos, int ieos_len, int flush, double timeout);
   int        (*writeRead)(asynUser *pasynUser,
                  const char *write_buffer, int write_buffer_len,
                  char *read_buffer, int read_buffer_len,
                  const char *ieos, int ieos_len, double timeout);
   asynStatus (*flush)(asynUser *pasynUser);
} asynSyncIO;
epicsShareExtern asynSyncIO *pasynSyncIO;

asynSyncIO provides a convenient interface for software that needs to perform "synchronous" I/O to an asyn device, i.e. that starts an I/O operation and then blocks while waiting for the response.  The code does not need to handle callbacks or the understand the details of the asynManager and asynOctet interfaces. Examples include motor drivers running in their own threads, SNL programs, and the shell commands described later in this document.

Multiple Device vs Single Device port drivers

When a low level driver calls registerPort it must say if it supports multiple devices. This determines how the addr argument to connectDevice is handled and what getAddr returns.

• multiDevice false

  The addr argument to connectDevice is ignored and getAddr always returns -1

• multiDevice true

  If connectDevice is called with addr<0 the connection is to the port and getAddr always returns -1. If addr>=0 then the caller is connected to the device at the specified address. getAddr will return this address.

Connection Management

asynManager keeps track of the following states:

• connection

  Is the port or device connected? This state is initialized to disconnected.

• enabled

  Is the port or device enabled? This state is initialized to enabled.

• autoConnect

  Does asynManager call connect if it finds the port or device disconnected. This is initialized to the state specified in the call to registerPort.

If the port does not support multiple devices then port and device status are the same. If the port does support multiple devices than asynManager keeps the states for the port and for every device connected to the port.

Whenever any of the states change for a port or device than all users that called exceptionCallbackAdd for that port or device are called.

Low level drivers must call pasynManager:exceptionConnect whenever they connect to a port or port,addr and must call exceptionDisconnect whenever they disconnect.

Flow of Control

The methods asynManager:report and asynCommon:report can be called by any thread but the caller is blocked until the report finishes. The following discussion applys to all methods except report.

The asynManager methods can be called by any thread including portThread. None of these methods except report block.

The methods for interfaces asynCommon (except report), asynOctet, and asynGpib must only be called by the queue callback specified in the call to createAsynUser.

portThread

When a low level driver calls registerPort, asynManager creates a thread for the port. Each portThread has it's own set of queues for the calls to queueRequest. portThread runs forever implementing the following algorithm:

1. Wait for work by calling epicsEventMustWait. Other code such as queueRequest call epicsEventSignal.
2. If the port is disabled return 1.
3. For every element in queue asynQueuePriorityConnect:
   • Remove the element from the queue.
   • Calls the user's callback
4. If the port is not connected and autoConnect is true for the port then attempt to connect to the port.
5. If the port is still not connected return 1.
6. For each element of the queues asynQueuePriorityHigh,...,asynQueuePriorityLow.
   • If disabled skip this element.
   • If not connected and autoConnect is true for the device then attempt to connect to the device.
   • If not connected skip this element.
   • If locked and not lock holder skip this element.
   • If not locked and user has requested lock then set locked,
   • remove from queue and call user callback.

The actual code is more complicated because it unlocks before it calls code outside asynManager. This means that the queues can be modified and exceptions may occur.

A special record type asynRecord is provided. Details are described in asynRecord. This section provides a brief description of how to use it.

Each IOC can load one or more instances of asynRecord. An example is:

cd ${ASYN}
dbLoadRecords("db/asynRecord.db","P=asyn,R=Test,PORT=L0,ADDR=15,IMAX=0,OMAX=0")

The example creates a record with name "asynTest" (formed from the concatenation of the P and R macros) that will connect to port "L0" and addr 15. After the ioc is started, it is possible to change PORT and/or ADDR. Thus a single record can be used to access all asyn devices connected to the IOC. Multiple records are only needed if one or more devices need a dedicated record.

An medm display is available for accessing an asynRecord. It is started as follows:

cd <asyn>/medm
medm -x -macro "P=asyn,R=Test" asynRecord.adl

The following medm display appears.

The following reads from an device via octet messages.

#include <asynDriver.h>
...
#define BUFSIZE 80
typedef struct myData {
    asynOctet *pasynOctet;
    void *pdrvPvt;
    char buffer[BUFSIZE];
}myData;

void queueCallback(asynUser *pasynUser)
    myData *pmydata = (myData *)puserPvt;
    asynOctet *pasynOctet = pmydata->pasynOctet;
    void *pdrvPvt = pmydata->pdrvPvt;
    asynStatus status;
    int retlen;

    asynPrint(pasynUser,ASYN_TRACE_FLOW,"queueCallback entered\n");
    status = pasynOctet->setEos(pdrvPvt,pasynUser,"\n",1);
    if(status!=asynSuccess) {
        asynPrint(pasynUser,ASYN_TRACE_ERROR,
            "queueCallback setEos failed %s\n",pasynUser->errorMessage);
    }
    status = pasynOctet->read(pdrvPvt,pasynUser,pmydata->buffer,BUFSIZE,&retlen);
    if(status!=asynSuccess || retlen<=0) {
        asynPrint(pasynUser,ASYN_TRACE_ERROR,
            "queueCallback read failed %s\n",pasynUser->errorMessage);
    } else {
        asynPrintIO(pasynUser,ASYN_TRACEIO_DEVICE,
            pmydata->buffer,BUFSIZE,
            "queueCallback read returned: retlen %d data %s\n",
            retlen,pmydata->buffer);
    }
}

void mainThread(void)
{
    myData *pmyData;
    asynUser *pasynUser;
    asynStatus status;
    asynInterface *pasynInterface;

    pmyData = calloc(1,sizeof(myData));
    pasynUser = pasynManager->createAsynUser(queueCallback,0);
    pasynUser->userPvt = pmyData;
    status = pasynManager->connectDevice(pasynUser,"serialPort1",0)
    if(status!=asynSuccess) {
        printf("can't connect to serialPort1 %s\n",pasynUser->errorMessage);
        exit(1);
    }
    pasynInterface = pasynManager->findInterface(
        pasynUser,asynOctetType,1);
    if(!pasynInterface) {
        printf("%s driver not supported\n",asynOctetType);
        exit(-1);
    }
    pmyData->pasynOctet = (asynOctet *)pasynInterface->pinterface;
    pmyData->pdrvPvt = pasynInterface->pdrvPvt;
    status = pasynManager->queueRequest(pasynUser,asynQueuePriorityLow, 0.0);
    if(status) {
        asynPrint(pasynUser,ASYN_TRACE_ERROR,
            "queueRequest failed %s\n",pasynUser->errorMessage);
        exit(1);
    }
    /*Note that callback will be called by another thread*/
    ...
}

The flow of control is as follows:

1. A port driver calls registerPort. This step is not shown in the above example.
2. mainThread allocates myData and an asynUser.
3. mainThread connects to a device and to the asynOctet interface for the port driver..
4. When it is ready to communicate with the driver it calls queueRequest.
5. The thread associated with the port calls the callback which then calls the port driver's setEos and read methods.

The asynDriver distribution includes code to test asynDriver. It is also an example of how to interface to asynManager. The example resides in <top>/testApp and contains the following components:

Db/
   test.db
adl/
   test.adl
src/
   devAsynTest.c
   devAsynTest.dbd
   echoDriver.c
   interposeInterface.c

echoDriver is a port driver that echos messages it receives. It implements asynCommon and asynOctet. When asynOctet:write is called it saves the message. When asynOctet:read is called the saved message is returned and the message is flushed. echoDriverInit has an argument that determines if it acts like a multiDevice or single device port driver.

test.db is a template containing three records: a calc record, which forward links to a stringout record which forward links to a stringin record. The string records attach to the device support supplied by devAsynTest.c. The stringout and stringin records share the same asynUser. When the stringout record processes it:

• fetches the current value from the calc record (converted to ascii).
• calls pasynManager->lock.
• Calls pasynManager->queueRequest.
• The callback calls pasynOctet->write and then asks for the record to complete processing.
• The stringout record forward links to the stringin record

• Calls pasynManager->queueRequest.
• The callback routine:
  • calls pasynOctet->read
  • Checks what it received vs what the stringout record wrote. If the values match it sets it's VAL field to "OK", otherwise it writes an error message into VAL.
  • Asks for the record to complete processing.
• The stringin record calls pasynManager->unlock.

devAsynTest also does additional checking for connect state, enable/disable.

Executing "medm -x test.adl" produces the display:

It assumes that an ioc has been started via:

cd <top>/iocBoot/ioctest
../../bin/solaris-sparc/test st.cmd

This starts two versions of echoDriver as port "A" and "B". port A acts as single device port. port B acts as a multiDevice port that has two devices. For each of the three possible devices, the st.cmd file starts up two sets of records from test.db The st.cmd file also loads a set of records from asynTest.db for port A and for port B and for each of the two devices attached to port B. It also loads a set of records from asynGeneric.db.

GPIB has additional features that are not supported by asynCommon and asynOctet. asynGpib defines two interfaces.

• asynGpib - This is the interface that device support calls.. It provides the following:
  • A set of GPIB specific methods that device support can call.
  • Code that handles generic GPIB functions like SRQ polling.
  • A registerPort method which is called by GPIB port drivers.
• asynGpibPort - A set of methods implemented by GPIB drivers

asynGpibDriver.h

asynGpibDriver.h contains the following definitions:

#include "asynDriver.h"
#define asynGpibType "asynGpib"
/* GPIB drivers */
typedef void (*srqHandler)(void *userPrivate,int gpibAddr,int statusByte);
typedef struct asynGpib asynGpib;
typedef struct asynGpibPort asynGpibPort;
/*asynGpib defines methods called by gpib aware users*/
struct asynGpib{
    /*addressedCmd,...,ren are just passed to device handler*/
    asynStatus (*addressedCmd) (void *drvPvt,asynUser *pasynUser,
        const char *data, int length);
    asynStatus (*universalCmd) (void *drvPvt,asynUser *pasynUser, int cmd);
    asynStatus (*ifc) (void *drvPvt,asynUser *pasynUser);
    asynStatus (*ren) (void *drvPvt,asynUser *pasynUser, int onOff);
    /* The following are implemented by asynGpib */
    asynStatus (*registerSrqHandler)(void *drvPvt,asynUser *pasynUser,
        srqHandler handler, void *srqHandlerPvt);
    void (*pollAddr)(void *drvPvt,asynUser *pasynUser, int onOff);
    /* The following are called by low level gpib drivers */
    /*srqHappened is passed the pointer returned by registerPort*/
    void *(*registerPort)(
        const char *portName,
        int multiDevice,int autoConnect,
        asynGpibPort *pasynGpibPort, void *asynGpibPortPvt,
        unsigned int priority, unsigned int stackSize);
    void (*srqHappened)(void *asynGpibPvt);
};
struct asynGpibPort {
    /*asynCommon methods */
    void (*report)(void *drvPvt,FILE *fp,int details);
    asynStatus (*connect)(void *drvPvt,asynUser *pasynUser);
    asynStatus (*disconnect)(void *drvPvt,asynUser *pasynUser);
    asynStatus (*setOption)(void *drvPvt,asynUser *pasynUser,
                                const char *key,const char *val);
    asynStatus (*getOption)(void *drvPvt,asynUser *pasynUser,
                                const char *key,char *val,int sizeval);
    /*asynOctet methods passed through from asynGpib*/
    asynStatus (*read)(void *drvPvt,asynUser *pasynUser,
                                char *data,int maxchars,int *nbytesTransfered);
    asynStatus (*write)(void *drvPvt,asynUser *pasynUser,
                                const char *data,int numchars,int *nbytesTransfered);
    asynStatus (*flush)(void *drvPvt,asynUser *pasynUser);
    asynStatus (*setEos)(void *drvPvt,asynUser *pasynUser,
                const char *eos,int eoslen);
    asynStatus (*getEos)(void *drvPvt,asynUser *pasynUser,
                char *eos, int eossize, int *eoslen);
    /*asynGpib methods passed thrtough from asynGpib*/
    asynStatus (*addressedCmd) (void *drvPvt,asynUser *pasynUser,
                const char *data, int length);
    asynStatus (*universalCmd) (void *drvPvt, asynUser *pasynUser, int cmd);
    asynStatus (*ifc) (void *drvPvt,asynUser *pasynUser);
    asynStatus (*ren) (void *drvPvt,asynUser *pasynUser, int onOff);
    /*asynGpibPort specific methods */
    int (*srqStatus) (void *drvPvt);
    asynStatus (*srqEnable) (void *drvPvt, int onOff);
    asynStatus (*serialPollBegin) (void *drvPvt);
    int (*serialPoll) (void *drvPvt, int addr, double timeout);
    asynStatus (*serialPollEnd) (void *drvPvt);
};

asynGpib

asynGpib describes the interface for device support code. It provides gpib specific functions like SRQ handling. It makes calls to asynGpibPort. Note that asynGpib.c also implements asynCommon and asynOctet.

asynGpibPort

asynGpibPort is the interface that is implemented by gpib drivers, e.g. the vxi11. It provides:

Local Serial Port

The drvAsynSerialPort driver supports devices connected to serial ports on the IOC.

Serial ports are configured with the drvAsynSerialPortConfigure and asynSetOption commands:

   drvAsynSerialPortConfigure("portName","ttyName",priority,noAutoConnect,noEos)
   asynSetOption("portName",addr,"key","value")

• portName - The portName that is registered with asynGpib.
• ttyName - The name of the local serial port (e.g. "/dev/ttyS0").
• priority - Priority at which the asyn I/O thread will run. If this is zero or missing then epicsThreadPriorityMedium is used.
• noAutoConnect - Zero or missing indicates that portThread should automatically connect. Non-zero if explicit connect command must be issued.
• noEos - Zero or missing indicates that the input routines should search for the end-of-string character(s), if any. Non-zero inhibits end-of-string search.
• addr - This argument is ignored since serial devices are configured with multiDevice=0.

The following table summarizes the drvAsynSerialPort driver asynSetOption keys and values. Default values are enclosed in square brackets.

The clocal and crtscts parameter names are taken from the POSIX termios serial interface definition. The clocal parameter controls whether the modem control lines (Data Terminal Ready, Carrier Detect/Received Line Signal Detect) are used (clocal=N) or ignored (clocal=Y). The crtscts parameter controls whether the hardware handshaking lines (Request To Send, Clear To Send) are used (crtscts=Y) or ignored (crtscts=N). The default parameter values (clocal=Y, crtscts=N) are those of a 'data-leads-only' serial interface.

The vxWorks serial driver does not provide independent control of the hardware handshaking and modem control lines thus clocal=Y implies crtscts=N and clocal=N implies crtscts=Y.

vxWorks IOC serial ports may need to be set up using hardware-specific commands. Once this is done the standard drvAsynSerialPortConfigure and asynSetOption commands can be issued. For example, the following example shows the configuration procedure for a port on a GreenSprings octal UART Industry-Pack module on a GreenSprings VIP616-01 carrier.

ipacAddVIPC616_01("0x6000,B0000000")
tyGSOctalDrv(1)
tyGSOctalModuleInit("RS232", 0x80, 0, 0)
tyGSOctalDevCreate("/tyGS/0/0",0,0,1000,1000)
drvAsynSerialPortConfigure("L0","/tyGS/0/0",0,0,0)
asynSetOption("L0",0,"baud","9600")

TCP/IP or UDP/IP Port

The drvAsynIPPort driver supports devices which communicate over a TCP/IP or UDP/IP connection. A typical example is a device connected through an Ethernet/Serial converter box.

TCP/IP or UDP/IP connections are configured with the drvAsynIPPortConfigure command:

   drvAsynIPPortConfigure("portName","hostInfo",priority,noAutoConnect,noEos)

• portName - The portName that is registered with asynGpib.
• hostInfo - The Internet host name, port number and optional IP protocol of the device (e.g. "164.54.9.90:4002", "serials8n3:4002", "serials8n3:4002 TCP" or "164.54.17.43:5186 udp"). If no protocol is specified, TCP will be used.
• priority - Priority at which the asyn I/O thread will run. If this is zero or missing then epicsThreadPriorityMedium is used.
• noAutoConnect - Zero or missing indicates that portThread should automatically connect. Non-zero if explicit connect command must be issued.
• noEos - Zero or missing indicates that the input routines should search for the end-of-string character(s), if any. Non-zero inhibits end-of-string search.

There are no asynSetOption key/value pairs associated with drvAsynIPPort connections.

vxi11

• VXI-11.1 - A standard for communicating with VXIbus devices. These devices have a vxiName that starts with "vxi".
• VXI-11.2 - A standard for communicating with a IEEE 488.1 device. This means that the TCP/IP connection is talking to a GPIB controller that is talking to a GPIB bus. These devices have an vxiName that starts with "gpib".
• VXI-11.3 - A standard for communicating with IEEE 488.2 devices. This means that the TCP/IP connection is talking directly with an device. These devices have an vxiName that starts with "inst".

Consult the following documents (available on-line for free) for details.

VMEbus Extensions for Instrumentation
    VXI-11   TCP/IP Instrument Protocol Specification
    VXI-11.1 TCP/IP-VXIbus Interface Specification
    VXI-11.2 TCP/IP-IEEE 488.1 Interface Specification
    VXI-11.3 TCP/IP-IEEE 488.2 Instrument Interface Specification

The following commands may be specified in the st.cmd file

    E2050Reboot("inet_addr")
    E5810Reboot("inet_addr","password")
    vxi11Configure("portName","inet_addr",recoverWithIFC,timeout,
        "vxiName",priority,noAutoConnect)

• inet_addr - Internet Address
• password - password. If given as 0 the default E5810 is used.
• portName - The portName that is registered with asynGib.
• inet_addr - Internet address.
• recoverWithIFC - (0,1) => (don't, do) issue IFC when error occurs.
• timeout - I/O operation timeout in seconds as a double. If 0.0 then a default is assigned.
• vxiName - Must be chosen as specified above.
• priority - Priority at which the asyn I/O thread will run. If this is zero or missing then epicsThreadPriorityMedium is used.
• noAutoConnect - Zero or missing indicates that portThread should automatically connect. Non-zero if explicit connect command must be issued.

Green Springs IP488

This is support for the Green Springs Industry Pack GPIB carrier. The configuration command is:

    gsIP488Configure(portName,carrier,module,intVec,priority,noAutoConnect)

• portName - An ascii string specifying the port name the will be registered with asynDriver.
• carrier - An integer identifying the Industry Pack Carrier
• module - An integer identifying the module on the carrier
• intVec - An integer specifying the interrupt vector
• priority - In integer specifying the priority of the port thread. A value of 0 will result in a defalt value being assigned
• noAutoConnect - Zero or missing indicates that portThread should automatically connect. Non-zero if explicit connect command must be issued.

An example is:

#The following is for the Greensprings IP488 on an MV162 
ipacAddMVME162("A:l=3,3 m=0xe0000000,64")
gsIP488Configure("L0",0,0,0x61,0,0)

National Instruments GPIB-1014D

This is support for a National Instruments VME GPIB interface. The configuration command is:

    ni1014Config(portNameA,portNameB,base,vector,level,priority,noAutoConnect)

• portNameA - An ascii string specifying the port name that will be registered with asynDriver for portA.
• portNameB - An ascii string specifying the port name that will be registered with asynDriver for portB. If only one port should be registered than leave this as a null string. The support should also work for a single port NI1014 butb has not been tested.
• base - VME A16 base address.
• vector - VME interrupt vector.
• level - An integer specifying the interrupt level.
• priority - In integer specifying the priority of the port thread. A value of 0 will result in a defalt value being assigned
• noAutoConnect - Zero or missing indicates that portThread should automatically connect. Non-zero if explicit connect command must be issued.

An example is:

ni1014Config("L0","L1",0x5000,0x64,5,0,0)

NOTES:

• Ports A and B are almost but not quite the same. Thus the code for connecting to port A is slightly different than the code for portB.
• In order to disconnect and reconnect either port, BOTH ports must be disconnected and reconnected.
• When the ports are connected, portA MUST be connected before portB.
• Programmed I/O, via interrupts, rather than DMA is implemented. Thus no A24 address space is required.

iocsh commands

    asynReport(filename,level)
    asynInterposeFlushConfig(portName,addr,timeout)
    asynInterposeEosConfig(portName,addr)
    asynSetTraceMask(portName,addr,mask)
    asynSetTraceIOMask(portName,addr,mask)
    asynSetTraceFile(portName,addr,filename)
    asynSetTraceIOTruncateSize(portName,addr,size)
    asynSetOption(portName,addr,key,val)
    asynShowOption(portName,addr,key)
    asynConnect(entry,portName,addr,oeos,ieos,timeout,buffer_len)
    asynAutoConnect(portName,addr,yesNo)
    asynEnable(portName,addr,yesNo)
    asynRead(entry,nread,flush)
    asynWrite(entry,output)
    asynWriteRead(entry,output,nread)
    asynFlush(entry)

asynReport calls asynCommon:report for all registered drivers and processModules.

asynInterposeFlushConfig is a generic interposeInterface that implement flush for low level drivers that don't implement flush. It just issues read requests until no bytes are read. The timeout is used for the read requests.

asynInterposeEosConfig is a generic interposeInterface that implements end of string processing for low level drivers that don't.

asynSetTraceMask calls asynTrace:setTraceMask for the specified port and address.

asynSetTraceIOMask calls asynTrace:setTraceIOMask for the specified port and address.

asynSetTraceFile calls asynTrace:setTraceFile. filename is handled as follows:

• Not specified - A NULL pointer is passed to setTraceFile. Subsequent messages are sent to errlog.
• An empty string ("") or "stdout" - stdout is passed to setTraceFile.
• Any other string - The specified file is opened with an option of "w" and the file pointer is passed to setTraceFile.

asynSetTraceIOTruncateSize calls asynTrace:setTraceIOTruncateSize

asynSetOption calls asynCommon:setOption. asynShowOption calls asynCommon:getOption.

asynConnect,...asynFlush provide shell access to asynSyncIO methods. entry is a character string constant that identifys the port,addr.

where

• filename (for report) - An ascii string naming a file to which the report is sent. If this is null or a null string then the output is sent to stdout
• level - The report level.
• portName - An ascii string specifying the portName of the driver.
• addr - In integer specifying the address of the device. For multiDevice ports a value of -1 means the port itself. For ports that support a single device addr is ignored.
• mask - The mask value to set. See the mask bit definitions in asynDriver.h
• key - The key for the option desired.
• val - The value for the option.
• yesNo - The value (0,1) means (no,yes).
• entry - A character string that identifies the asynConnect request.
• oeos,ieos - The output and input end of string terminator.  Default="\r"
• timeout - timeout as an integer in milliseconds. The default is 1;
• buffer_len - length of buffer for I/O. Default=80.
• nread - max number of bytes to read. Default=buffer_len.
• flush - (0,1) means (don't, do) flush before reading. Default=0.
• output - output string.

The commands asynConnect, asynRead, asynWrite, asynWriteRead, asynFlush allow I/O to a device from the ioc shell. Examples are:

asynConnect("myid","A",0,"\n","\n",1,20)
asynWrite("myid","testnew")
asynRead("myid")
testnew\n
asynWriteRead("myid","this is test")
this is test\n

Install and build asynDriver

1. Create an installation directory for the module, usually this will end with

.../support/asyn/

2. Place the distribution file in this directory. Then issue the commands (Unix style)

gunzip <file>.tar.gz
tar xvf <file>.tar

3. This creates a support <top>.

.../support/asyn/X-Y

where X-Y is the release. For example.

.../support/asyn/3-1

4. Edit the config/RELEASE file and set the paths to your installation of EPICS_BASE and IPAC. IPAC is only needed if you are building for vxWorks.
5. Run make in the top level directory and check for any compilation errors.

Using asynDriver components with an EPICS iocCore application

Since asynDriver does NOT provide support for specific devices an application must obtain device specific support elsewhere. This section only explains how to include asynDriver components.

In the configure/RELEASE file add definitions for IPAC, ASYN, and EPICS_BASE.

In the src directory where the application is built

• Add the following to Makefile

          <app>_LIBS += asyn
      

• Add the following to <app>Include.dbd and uncomment the line or lines appropriate for your application:

        #include "drvAsynSerialPort.dbd"
        #include "drvAsynIPPort.dbd"
        #include "drvVxi11.dbd"
        #include "drvGsIP488.dbd"
        #include "drvIpac.dbd"
        #registrar(mv162ipRegistrar)
      

In the st.cmd file add.
dbLoadRecords("db/asynRecord.db", "P=<ioc>, R=<record>, PORT=<port>, ADDR=<addr>, OMAX=<omax>, IMAX=<imax>")

You must provide values for <ioc>, <record>, <port>, <addr>, <omax>, and <imax>.

Once the application is running, medm displays for an ioc can be started by: medm -x -macro "P=<ioc>,R=<record>" <asyntop>/medm/asynRecord.adl &

You must provide correct values for <ioc> and <record>. Once asynRecord is started it can be connected to different devices.

Copyright (c) 2002 University of Chicago All rights reserved.
asynDriver is distributed subject to the following license conditions:

SOFTWARE LICENSE AGREEMENT
Software: asynDriver

 1. The "Software", below, refers to asynDriver (in either source code, or
    binary form and accompanying documentation). Each licensee is
    addressed as "you" or "Licensee."

 2. The copyright holders shown above and their third-party licensors
    hereby grant Licensee a royalty-free nonexclusive license, subject to
    the limitations stated herein and U.S. Government license rights.

 3. You may modify and make a copy or copies of the Software for use
    within your organization, if you meet the following conditions:
      a. Copies in source code must include the copyright notice and this
         Software License Agreement.
      b. Copies in binary form must include the copyright notice and this
         Software License Agreement in the documentation and/or other
         materials provided with the copy.

 4. You may modify a copy or copies of the Software or any portion of it,
    thus forming a work based on the Software, and distribute copies of
    such work outside your organization, if you meet all of the following
    conditions:
      a. Copies in source code must include the copyright notice and this
         Software License Agreement;
      b. Copies in binary form must include the copyright notice and this
         Software License Agreement in the documentation and/or other
         materials provided with the copy;
      c. Modified copies and works based on the Software must carry
         prominent notices stating that you changed specified portions of
         the Software.

 5. Portions of the Software resulted from work developed under a U.S.
    Government contract and are subject to the following license: the
    Government is granted for itself and others acting on its behalf a
    paid-up, nonexclusive, irrevocable worldwide license in this computer
    software to reproduce, prepare derivative works, and perform publicly
    and display publicly.

 6. WARRANTY DISCLAIMER. THE SOFTWARE IS SUPPLIED "AS IS" WITHOUT WARRANTY
    OF ANY KIND. THE COPYRIGHT HOLDERS, THEIR THIRD PARTY LICENSORS, THE
    UNITED STATES, THE UNITED STATES DEPARTMENT OF ENERGY, AND THEIR
    EMPLOYEES: (1) DISCLAIM ANY WARRANTIES, EXPRESS OR IMPLIED, INCLUDING
    BUT NOT LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS
    FOR A PARTICULAR PURPOSE, TITLE OR NON-INFRINGEMENT, (2) DO NOT ASSUME
    ANY LEGAL LIABILITY OR RESPONSIBILITY FOR THE ACCURACY, COMPLETENESS,
    OR USEFULNESS OF THE SOFTWARE, (3) DO NOT REPRESENT THAT USE OF THE
    SOFTWARE WOULD NOT INFRINGE PRIVATELY OWNED RIGHTS, (4) DO NOT WARRANT
    THAT THE SOFTWARE WILL FUNCTION UNINTERRUPTED, THAT IT IS ERROR-FREE
    OR THAT ANY ERRORS WILL BE CORRECTED.

 7. LIMITATION OF LIABILITY. IN NO EVENT WILL THE COPYRIGHT HOLDERS, THEIR
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    OF ENERGY, OR THEIR EMPLOYEES: BE LIABLE FOR ANY INDIRECT, INCIDENTAL,
    CONSEQUENTIAL, SPECIAL OR PUNITIVE DAMAGES OF ANY KIND OR NATURE,
    INCLUDING BUT NOT LIMITED TO LOSS OF PROFITS OR LOSS OF DATA, FOR ANY
    REASON WHATSOEVER, WHETHER SUCH LIABILITY IS ASSERTED ON THE BASIS OF
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    OTHERWISE, EVEN IF ANY OF SAID PARTIES HAS BEEN WARNED OF THE
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