/*	**************************************************************  */
/*
 *	Module VRZ404
 *	This module contains I/O functions for the Heidenhain model
 *	VRZ404 counters.                 
 *
 *	Zachary Wolf
 *	4/4/01
 */ 

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

/*	INCLUDES  */
#include <utility.h>
#include <gpib.h>
#include <formatio.h>
#include <ansi_c.h>
#include "vrz404.h"

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

/*  PRIVATE FUNCTIONS  */
int vrz404_open_dev(int gpib_board_addr, int gpib_dev_addr);
void vrz404_close_dev(int dev_ID);
int vrz404_check_dev_open(int dev_ID);
int vrz404_out(int dev_ID, char* buf);
int vrz404_in(int dev_ID, char* buf);
int vrz404_spoll(int dev_ID, int* spoll);
int vrz404_get_errors(int dev_ID);
void vrz404_message(char* msg);
void vrz404_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[VRZ404_MAX_NUM_DEV + 1];
static int dev_descr[VRZ404_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[VRZ404_MAX_CMD + 1];
static char msg[VRZ404_MAX_CMD + 1];

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

/*	PUBLIC FUNCTIONS  */

/*	**************************************************************  */
/*
 *  vrz404_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
 *	4/4/01
 */

void vrz404_init(int gpib_board_addr, int gpib_dev_addr, int* ID)
{
    /* Declare variables */
    int dev_ID;
    int err;
    int i;
    
    /* Message */
    vrz404_message("");
    vrz404_message("Initializing the Heidenhain VRZ404 counter...");

    /* 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);
    	vrz404_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);
    	vrz404_error(msg);
    	return;
    }
    
    /* Exit here if testing without hardware */
    #ifdef DUMMY_DEVICES
    	*ID = 1;
    	return;
    #endif
    
    /* Open the VRZ404 */
    dev_ID = vrz404_open_dev(gpib_board_addr, gpib_dev_addr);
    if (dev_ID <= 0)
    {
        vrz404_error("VRZ404 was not opened");
        return;
    }
    
    /* Put the counter in a known default state */
    vrz404_default_setup(dev_ID);

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

/*	**************************************************************  */
/*
 *	vrz404_default_setup
 *  This function sets up the counter in a default state.
 *
 *	Input:
 *	dev_ID, device identifier
 *
 *	Zachary Wolf
 *	4/4/01
 */

void vrz404_default_setup(int dev_ID)
{
	/* Declare variables */
	int i;
	int dev_open;
	int err;

    /* Check input parameters */
    if (dev_ID < 1 || dev_ID > VRZ404_MAX_NUM_DEV)
    {
    	Fmt(msg, "%s<dev_ID = %i, out of range", dev_ID);
    	vrz404_error(msg);
    	return;
    }
    
    /* Exit here if testing without hardware */
    #ifdef DUMMY_DEVICES
    	return;
    #endif
    
    /* Check to make sure the device is open */
    dev_open = vrz404_check_dev_open(dev_ID);
    if (dev_open != 1)
    {
    	vrz404_error("Device not open");
    	return;
    }
    
    /* Put setup operations here */
    
    /* Check for errors */
    err = vrz404_get_errors(dev_ID);
    if (err != 0)
    {
        vrz404_error("The counter has an error in the default setup.");
        vrz404_close_dev(dev_ID);
        return;
    }
    
    /* Done */
    return;
}

/*	**************************************************************  */
/*
 *	vrz404_get_pos
 *  This function gets the reading from the counter.
 *
 *	Input:
 *	dev_ID, device identifier
 *
 *	Output:
 *	pos, position reading (m)
 *
 *	Zachary Wolf
 *	4/4/01
 */

void vrz404_get_pos(int dev_ID, double* pos)
{
	/* Declare variables */
	int dev_open;
	int err;
	int num_scan;
	double pos_mm;
	char sign;
	int spoll;

    /* Check input parameters */
    if (dev_ID < 1 || dev_ID > VRZ404_MAX_NUM_DEV)
    {
    	Fmt(msg, "%s<dev_ID = %i, out of range", dev_ID);
    	vrz404_error(msg);
    	return;
    }
    
    /* Exit here if testing without hardware */
    #ifdef DUMMY_DEVICES
    	return;
    #endif
    
    /* Check to make sure the device is open */
    dev_open = vrz404_check_dev_open(dev_ID);
    if (dev_open != 1)
    {
    	vrz404_error("VRZ404 not open");
    	return;
    }

    /* Get the counter reading */
    try_again:;
    vrz404_in(dev_ID, msg);
    sign = msg[0];
    msg[0] = ' ';
    num_scan = Scan(msg, "%s>%f", &pos_mm);
    if (num_scan != 1)
    {
    	printf("VRZ404 problem getting counter reading: %s\n", msg);
    	printf("Try again...\n");
    	Delay(1.);
    	goto try_again;
    }
    if (sign == '-') pos_mm = -pos_mm;
    else if (sign == '+') pos_mm = pos_mm;
    else printf("VRZ404 problem getting counter reading.");
    
    /* Convert from mm to m */
    *pos = pos_mm / 1000.;
    
    /* Check for errors */
    err = vrz404_get_errors(dev_ID);
    if (err != 0)
    {
        vrz404_error("The counter has an error");
        vrz404_close_dev(dev_ID);
        *pos = 0.;
        return;
    }
    
    /* Perform a serial poll to prepare for the next read */
	vrz404_spoll(dev_ID, &spoll);
	//printf("spoll = %i\n", spoll);
    
    /* Done */
    return;
}

/*	**************************************************************  */
/*
 *	vrz404_exit
 *  This function configures the VRZ404 for program exit and
 *	closes the device.
 *
 *	Input:
 *	dev_ID, device identifier
 *
 *	Zachary Wolf
 *	1/24/00
 */

void vrz404_exit(int dev_ID)
{
	/* Declare variables */
	int dev_open;
	int err;

    /* Check input parameters */
    if (dev_ID < 1 || dev_ID > VRZ404_MAX_NUM_DEV)
    {
    	Fmt(msg, "%s<dev_ID = %i, out of range", dev_ID);
    	vrz404_error(msg);
    	return;
    }
    
    /* Exit here if testing without hardware */
    #ifdef DUMMY_DEVICES
    	return;
    #endif
    
    /* Check to make sure the device is open */
    dev_open = vrz404_check_dev_open(dev_ID);
    if (dev_open != 1)
    {
    	return;		 /* OK, already closed */
    }

	/* Close the device */
    vrz404_close_dev(dev_ID);
    
    /* Done */
    return;
}

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

/*	PRIVATE FUNCTIONS  */

/*	**************************************************************  */
/*
 *	vrz404_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 vrz404_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);
    	vrz404_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);
    	vrz404_error(msg);
    	return -1;
    }

	/* Initialization */
    dev_ID = 0;

    /* Check to see if the device is already in the device table */
    for (i = 1; i <= VRZ404_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 <= VRZ404_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)
    {
    	vrz404_error("The device could not be opened");
        return  -1;
    }
    
    /* Open the device */
    /* Terminate write with LF EOI, add LF in send routine */
    /* Terminate read on LF, remove LF in read routine */
	descr = ibdev(gpib_board_addr, gpib_dev_addr, 0, T30s, 1, 0x1C0A);
	if (descr <= 0)
	{
		vrz404_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)
    //{
    //	vrz404_error("Problem clearing device");
    //}
    
    /* Return the device ID */
    return dev_ID;
}

/*	**************************************************************  */
/*
 *	vrz404_close_dev
 *  This function closes the device.
 *
 *	Input:
 *	dev_ID, device identifier
 *
 *	Zachary Wolf
 *	12/20/99
 */

void vrz404_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;
}

/*	**************************************************************  */
/*
 *	vrz404_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 vrz404_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 */
	}
}

/*	**************************************************************  */
/*
 *	vrz404_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
 *	4/4/01
 */

int vrz404_out(int dev_ID, char* buf)
{
	/* Declare variables */
	int nbytes;
	int err;
	char out_buf[VRZ404_MAX_CMD + 1];
	
	/* Add CR LF to the message */
	Fmt(out_buf, "%s<%s%c%c", buf, 13, 10);
	
	/* 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);
		vrz404_error(msg);
		return -1;
	}
	
	/* Done */
    return 0;
}

/*	**************************************************************  */
/*
 *	vrz404_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
 *	4/4/01
 */

int vrz404_in(int dev_ID, char* buf)
{
	/* Declare variables */
	int err;
	char in_buf[VRZ404_MAX_CMD];
	
	/* Read the message */
	err = ibrd(dev_descr[dev_ID], in_buf, VRZ404_MAX_CMD);
	
	/* Check for errors */
	if (err & 0x8000)
	{
		Fmt(msg, "%s<ibsta = %x, problem receiving GPIB input", err);
		vrz404_error(msg);
		return -1;
	}
	
	/* Remove the CR LF terminator */
	Scan(in_buf, "%s[t13]>%s[t-]", buf);
	
	/* Done */
    return 0;
}

/*	**************************************************************  */
/*
 *	vrz404_spoll
 *  This function performs a serial poll on the device.
 *
 *	Input:
 *	dev_ID, device identifier
 *
 *	Output:
 *	spoll, integer encoding the serial poll information
 *	err, 0 if ok, -1 otherwise
 *
 *	Zachary Wolf
 *	4/4/01
 */

int vrz404_spoll(int dev_ID, int* spoll)
{
	/* Declare variables */
	int err;
	char spoll_byte;
	
	/* Perform the serial poll */
	err = ibrsp(dev_descr[dev_ID], &spoll_byte);
	
	/* Check for errors */
	if (err & 0x8000)
	{
		Fmt(msg, "%s<ibsta = %x, problem performing serial poll", err);
		vrz404_error(msg);
		return -1;
	}
	
	/* Put the serial poll information into an integer */
	*spoll = (int) spoll_byte;
	
	/* Done */
    return 0;
}

/*	**************************************************************  */
/*
 *	vrz404_get_errors
 *  This function obtains device errors.
 *	The operator is alerted if there is an error.
 *
 *	Input:
 *	dev_ID, device identifier
 *
 *	Output:
 *	err, 0 if no errors, -1 otherwise
 *
 *	Zachary Wolf
 *	12/20/99
 */

int vrz404_get_errors(int dev_ID)
{
	/* Declare variables */
	
	/* No error checks at present */
    
    /* Done */
    return 0;
}

/*	**************************************************************  */
/*
 *	vrz404_message
 *  This function handles messages about the VRZ404.
 *
 *	Input:
 *	message, string to display in standard I/O
 *
 *	Zachary Wolf
 *	12/20/99
 */

void vrz404_message(char* message)
{
	/* Print the message */
	printf("%s\n", message);
	
	/* Done */
	return;
}

/*	**************************************************************  */
/*
 *	vrz404_error
 *  This function handles error messages for the VRZ404.
 *
 *	Input:
 *	message, string to display in standard I/O
 *
 *	Zachary Wolf
 *	12/20/99
 */

void vrz404_error(char* message)
{
	/* Declare variables */
	char buf[80];
	
	/* Notify the operator of the error */
	printf("\nVRZ404 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);
}