/*	**************************************************************  */
/*
 *	Module TELETRAC
 *	This module contains I/O functions for the TELETRAC interferometer.                 
 *
 *	Zachary Wolf
 *	1/21/03
 */ 

/*	**************************************************************  */

/*	INCLUDES  */
#include <utility.h>
#include <gpib.h>
#include <formatio.h>
#include <ansi_c.h>
#include "teletrac.h"

/*	**************************************************************  */

/*  PRIVATE FUNCTIONS  */
int teletrac_open_dev(int gpib_board_addr, int gpib_dev_addr);
void teletrac_close_dev(int dev_ID);
int teletrac_check_dev_open(int dev_ID);
int teletrac_out(int dev_ID, char* buf);
int teletrac_in(int dev_ID, char* buf);
int teletrac_spoll(int dev_ID, int* spoll);
int teletrac_get_errors(int dev_ID);
void teletrac_message(char* msg);
void teletrac_error(char* msg);

/*	**************************************************************  */

/*  PRIVATE DEVICE TABLE  */
/*
 *	This table allows several devices of the same type to be
 *	used in the system.
 *  dev_addr, contains the GPIB addresses of opened devices
 *  dev_descr, contains the device descriptors of opened devices
 *  dev_count, contains the number of devices open of this type
 */
static int dev_addr[TELETRAC_MAX_NUM_DEV + 1];
static int dev_descr[TELETRAC_MAX_NUM_DEV + 1];
static int dev_count;

/*	**************************************************************  */

/*  PRIVATE GLOBAL VARIABLES  */
/*
 *  cmd, buffer for GPIB I/O strings
 *  msg, buffer for message strings to Standard I/O
 */
static char cmd[TELETRAC_MAX_CMD + 1];
static char msg[TELETRAC_MAX_CMD + 1];

/*	**************************************************************  */

/*	PUBLIC FUNCTIONS  */

/*	**************************************************************  */
/*
 *  teletrac_init
 *  This function opens the device, queries for ID, and
 *  initializes the device to a known state.
 *
 *	Input:
 *	gpib_board_addr, address of the GPIB board the device is connected to (0, 1, ...)
 *	gpib_dev_addr, GPIB address of the device (1 to 30, 0 is reserved)
 *
 *	Output:
 *	dev_ID, identifier for future references to the device
 *
 *	Zachary Wolf
 *	1/21/03
 */

void teletrac_init(int gpib_board_addr, int gpib_dev_addr, int* ID)
{
    /* Declare variables */
    int dev_ID;
    int err;
    int i;
    
    /* Message */
    teletrac_message("");
    teletrac_message("Initializing the TELETRAC interferometer...");
    printf("\nThis module has not been tested yet.\n");

    /* Check input parameters */
    if (gpib_board_addr < 0 || gpib_board_addr > 10)
    {
    	Fmt(msg, "%s<gpib_board_addr = %i, out of range", gpib_board_addr);
    	teletrac_error(cmd);
    	return;
    }
    if (gpib_dev_addr < 1 || gpib_dev_addr > 30)
    {
    	Fmt(msg, "%s<gpib_dev_addr = %i, out of range", gpib_dev_addr);
    	teletrac_error(msg);
    	return;
    }
    
    /* Exit here if testing without hardware */
    #ifdef DUMMY_DEVICES
    	*ID = 1;
    	return;
    #endif
    
    /* Open the TELETRAC */
    dev_ID = teletrac_open_dev(gpib_board_addr, gpib_dev_addr);
    if (dev_ID <= 0)
    {
        teletrac_error("TELETRAC was not opened");
        return;
    }
    
    /* Put the interferometer in remote mode */
    teletrac_out(dev_ID, "RE");
    Delay(.36);
    
    /* Set the x axis + direction */
    teletrac_out(dev_ID, "DXU");
    
    /* Set the y axis + direction */
    teletrac_out(dev_ID, "DYU");
    
    /* Set the units to cm */
    teletrac_out(dev_ID, "UM");
    
    /* Turn on the smooth function to reduce vibration effects */
    teletrac_out(dev_ID, "SY");
    
    /* Print a message from the interferometer */
    teletrac_out(dev_ID, "R?");
    teletrac_in(dev_ID, msg);
    printf("%s\n", msg);

	/* Return the device ID */
    *ID = dev_ID;
    
    /* Done */
    return;
}

/*	**************************************************************  */
/*
 *	teletrac_get_pos
 *  This function gets a reading from the interferometer.
 *
 *	Input:
 *	dev_ID, device identifier
 *	axis, which axis position to return (x or y)
 *
 *	Output:
 *	pos, position reading (m)
 *
 *	Zachary Wolf
 *	1/21/03
 */

void teletrac_get_pos(int dev_ID, char axis, double* pos)
{
	/* Declare variables */
	int dev_open;
	int num_scan;
	double pos_cm;
	char sign;

    /* Check input parameters */
    if (dev_ID < 1 || dev_ID > TELETRAC_MAX_NUM_DEV)
    {
    	Fmt(msg, "%s<dev_ID = %i, out of range", dev_ID);
    	teletrac_error(msg);
    	return;
    }
    if (axis != 'x' && axis != 'X' && axis != 'y' && axis != 'Y')
    {
    	Fmt(msg, "%s<axis = %c, out of range", axis);
    	teletrac_error(msg);
    	return;
    }
    
    /* Exit here if testing without hardware */
    #ifdef DUMMY_DEVICES
    	*pos = 0.;
    	return;
    #endif
    
    /* Check to make sure the device is open */
    dev_open = teletrac_check_dev_open(dev_ID);
    if (dev_open != 1)
    {
    	teletrac_error("TELETRAC not open");
    	return;
    }

    /* Get the interferometer reading */
    if      (axis == 'x' || axis == 'X') strcpy(cmd, "QX");
    else if (axis == 'y' || axis == 'Y') strcpy(cmd, "QY");
    else teletrac_error("Unknown axis");
    teletrac_out(dev_ID, cmd);
    teletrac_in(dev_ID, msg);
    num_scan = Scan(msg, "%s>%c%c[d] %f", &sign, &pos_cm);
    if (num_scan != 3)
    {
    	printf("TELETRAC problem getting interferometer reading: %s\n", msg);
    	*pos = 0.;
    	return;
    }
    
    /* Convert from cm to m */
    *pos = pos_cm / 100.;
    
    /* Account for the sign */
    if (sign == '-') *pos = - *pos;
    
    /* Done */
    return;
}

/*	**************************************************************  */
/*
 *	teletrac_zero
 *  This function zeros the interferometer.
 *
 *	Input:
 *	dev_ID, device identifier
 *	axis, which axis position to return (x or y)
 *
 *	Zachary Wolf
 *	1/21/03
 */

void teletrac_zero(int dev_ID, char axis)
{
	/* Declare variables */
	int dev_open;

    /* Check input parameters */
    if (dev_ID < 1 || dev_ID > TELETRAC_MAX_NUM_DEV)
    {
    	Fmt(msg, "%s<dev_ID = %i, out of range", dev_ID);
    	teletrac_error(msg);
    	return;
    }
    if (axis != 'x' && axis != 'X' && axis != 'y' && axis != 'Y')
    {
    	Fmt(msg, "%s<axis = %c, out of range", axis);
    	teletrac_error(msg);
    	return;
    }
    
    /* Exit here if testing without hardware */
    #ifdef DUMMY_DEVICES
    	return;
    #endif
    
    /* Check to make sure the device is open */
    dev_open = teletrac_check_dev_open(dev_ID);
    if (dev_open != 1)
    {
    	teletrac_error("TELETRAC not open");
    	return;
    }

    /* Zero the interferometer reading */
    if      (axis == 'x' || axis == 'X') strcpy(cmd, "ZX");
    else if (axis == 'y' || axis == 'Y') strcpy(cmd, "ZY");
    else teletrac_error("Unknown axis");
    teletrac_out(dev_ID, cmd);
    
    /* Done */
    return;
}

/*	**************************************************************  */
/*
 *	teletrac_exit
 *  This function configures the TELETRAC for program exit and
 *	closes the device.
 *
 *	Input:
 *	dev_ID, device identifier
 *
 *	Zachary Wolf
 *	1/24/00
 */

void teletrac_exit(int dev_ID)
{
	/* Declare variables */
	int dev_open;
	int err;

    /* Check input parameters */
    if (dev_ID < 1 || dev_ID > TELETRAC_MAX_NUM_DEV)
    {
    	Fmt(msg, "%s<dev_ID = %i, out of range", dev_ID);
    	teletrac_error(msg);
    	return;
    }
    
    /* Exit here if testing without hardware */
    #ifdef DUMMY_DEVICES
    	return;
    #endif
    
    /* Check to make sure the device is open */
    dev_open = teletrac_check_dev_open(dev_ID);
    if (dev_open != 1)
    {
    	return;		 /* OK, already closed */
    }

	/* Close the device */
    teletrac_close_dev(dev_ID);
    
    /* Done */
    return;
}

/*	**************************************************************  */

/*	PRIVATE FUNCTIONS  */

/*	**************************************************************  */
/*
 *	teletrac_open_dev
 *	This function opens the device and returns an identifier for
 *	future references to the device.
 *
 *	Input:
 *	gpib_board_addr, address of the GPIB board the device is connected to
 *	gpib_dev_addr, GPIB address of the device (1 to 30, 0 is reserved)
 *
 *	Output:
 *	dev_ID, device identifier for future references to the device (-1 if there is a problem)
 *
 *	Zachary Wolf
 *	12/20/99
 */

int teletrac_open_dev(int gpib_board_addr, int gpib_dev_addr)
{
	/* Declare variables */
    int i;
    int dev_ID;
    int descr;
    int err;

    /* Check input parameters */
    if (gpib_board_addr < 0 || gpib_board_addr > 10)
    {
    	Fmt(msg, "%s<gpib_board_addr = %i, out of range", gpib_board_addr);
    	teletrac_error(cmd);
    	return -1;
    }
    if (gpib_dev_addr < 1 || gpib_dev_addr > 30)
    {
    	Fmt(msg, "%s<gpib_dev_addr = %i, out of range", gpib_dev_addr);
    	teletrac_error(msg);
    	return -1;
    }

	/* Initialization */
    dev_ID = 0;

    /* Check to see if the device is already in the device table */
    for (i = 1; i <= TELETRAC_MAX_NUM_DEV; i++)
    {
        if (dev_addr[i] == gpib_dev_addr)
        {
            dev_ID = i;
            return dev_ID;
        }
    }
    
    /* Find an ID for the device */
	for (i = 1; i <= TELETRAC_MAX_NUM_DEV; i++)
	{
		if (dev_addr[i] == 0)
		{
			dev_ID = i;
			break;
		}
	}
     
    /* If an entry could not be opened in the device table, return an error */
    if (dev_ID <= 0)
    {
    	teletrac_error("The device could not be opened");
        return  -1;
    }
    
    /* Open the device */
    /* Terminate write with CR EOI, add CR in send routine */
    /* Terminate read on CR LF, remove CR LF in read routine */
	descr = ibdev(gpib_board_addr, gpib_dev_addr, 0, T30s, 1, 0x180D);
	if (descr <= 0)
	{
		teletrac_error("The device could not be opened");
		return  -1;
	}
    
    /* Open successful, save results */
    dev_addr[dev_ID] = gpib_dev_addr;
    dev_descr[dev_ID] = descr;
    dev_count++;
    
    /* Clear the device */
    //err = ibclr(dev_descr[dev_ID]);
    //if (err & 0x8000)
    //{
    //	teletrac_error("Problem clearing device");
    //}
    
    /* Return the device ID */
    return dev_ID;
}

/*	**************************************************************  */
/*
 *	teletrac_close_dev
 *  This function closes the device.
 *
 *	Input:
 *	dev_ID, device identifier
 *
 *	Zachary Wolf
 *	12/20/99
 */

void teletrac_close_dev(int dev_ID)
{
	/* Close the device */
    if (dev_descr[dev_ID] != 0)
    {
        ibonl(dev_descr[dev_ID], 0);
        dev_descr[dev_ID] = 0;
        dev_addr[dev_ID] = 0;
        dev_count--;
    }
    
    /* Done */
    return;
}

/*	**************************************************************  */
/*
 *	teletrac_check_dev_open
 *  This function checks to see if the specified device is open.
 *	If the device has been opened, a 1 is returned, 0 otherwise.
 *
 *	Input:
 *	dev_ID, device identifier
 *
 *	Output:
 *	status, 1 if device is open, 0 otherwise
 *
 *	Zachary Wolf
 *	12/20/99
 */

int teletrac_check_dev_open(int dev_ID)
{
	/* See if the device descriptor has a positive value */
    if (dev_descr[dev_ID] > 0)
    {
        return  1;		/* Open */
    }
    else
    {
	    return 0;		/* Not open */
	}
}

/*	**************************************************************  */
/*
 *	teletrac_out
 *  This function writes a buffer of data to the device.
 *
 *	Input:
 *	dev_ID, device identifier
 *	buf, null terminated string, the contents up to \0 are sent
 *
 *	Output:
 *	err, 0 if ok, -1 otherwise
 *
 *	Zachary Wolf
 *	1/21/03
 */

int teletrac_out(int dev_ID, char* buf)
{
	/* Declare variables */
	int nbytes;
	int err;
	char out_buf[TELETRAC_MAX_CMD + 1];
	
	/* Add CR to the message */
	Fmt(out_buf, "%s<%s%c", buf, 13);
	
	/* Send the message */
	nbytes = StringLength(out_buf);
	err = ibwrt(dev_descr[dev_ID], out_buf, (long)nbytes);
	
	/* Check for errors */
	if (err & 0x8000)
	{
		Fmt(msg, "%s<ibsta = %x, problem sending GPIB command", err);
		teletrac_error(msg);
		return -1;
	}
	
	/* Allow time to process command */
	Delay(.1);
	
	/* Done */
    return 0;
}

/*	**************************************************************  */
/*
 *	teletrac_in
 *  This function reads a buffer of data from the device.
 *
 *	Input:
 *	dev_ID, device identifier
 *
 *	Output:
 *	buf, null terminated string, the contents from the device
 *	err, 0 if ok, -1 otherwise
 *
 *	Zachary Wolf
 *	1/21/03
 */

int teletrac_in(int dev_ID, char* buf)
{
	/* Declare variables */
	int err;
	char in_buf[TELETRAC_MAX_CMD];
	
	/* Read the message */
	err = ibrd(dev_descr[dev_ID], in_buf, TELETRAC_MAX_CMD);
	
	/* Check for errors */
	if (err & 0x8000)
	{
		Fmt(msg, "%s<ibsta = %x, problem receiving GPIB input", err);
		teletrac_error(msg);
		return -1;
	}
	
	/* Remove the CR LF terminator */
	Scan(in_buf, "%s[t13]>%s[t-]", buf);
	
	/* Done */
    return 0;
}

/*	**************************************************************  */
/*
 *	teletrac_message
 *  This function handles messages about the TELETRAC.
 *
 *	Input:
 *	message, string to display in standard I/O
 *
 *	Zachary Wolf
 *	12/20/99
 */

void teletrac_message(char* message)
{
	/* Print the message */
	printf("%s\n", message);
	
	/* Done */
	return;
}

/*	**************************************************************  */
/*
 *	teletrac_error
 *  This function handles error messages for the TELETRAC.
 *
 *	Input:
 *	message, string to display in standard I/O
 *
 *	Zachary Wolf
 *	12/20/99
 */

void teletrac_error(char* message)
{
	/* Declare variables */
	char buf[80];
	
	/* Notify the operator of the error */
	printf("\nTELETRAC ERROR: %s\n", message);
	Beep();
	Delay(.5);
	Beep();
	
	/* Terminate the program if the operator desires */
	printf("Press ENTER to continue.\nPress any key then ENTER to terminate program.\n");
	fgets(buf, 80, stdin);
	if (buf[0] == '\n') return;
	else exit(0);
}