/****************************************************************************/ /* Copyright (c) 2000 MBARI */ /* MBARI Proprietary Information. All rights reserved. */ /****************************************************************************/ /* Summary : */ /* Filename : FuelCellServer.cc */ /* Author : */ /* Project : */ /* Version : 1.0 */ /* Created : 02/07/2000 */ /* Modified : */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /****************************************************************************/ #include #include "FuelCellServer.h" #include "mvc_fcc_api.h" #include "Syslog.h" #include "SharedData.h" #ifdef _SIM #include "SimulatedFuelCellIF.h" #endif FuelCellServer::FuelCellServer() : FuelCellIF_SK() { #ifdef _SIM try{ Syslog::write("FuelCellServer.cc -- creating simulated fuel cell IF\n"); simulatedfuelcell = new SimulatedFuelCellIF("simulatedfuelcell"); } catch(SharedObjectClient::MissingServer e) { Syslog::write("FuelCellServer.cc --simulated Fuel Cell is not running. \n"); } catch(...) { Syslog::write("FuelCellServer.cc -- failed on instantiation of SimulatedFuelCellIF"); } #endif // _cutoffVoltage = 30.; Syslog::write("FuelCellServer -- FuelCellServer() -- creating output\n"); _output = new FuelCellOutput(SharedData::ReadWrite); Syslog::write("FuelCellServer -- FuelCellServer() -- created output\n"); } FuelCellServer::~FuelCellServer() { delete _output; } void FuelCellServer::name(DeviceIF::Name name) { strcpy(name,"FuelCell"); } void FuelCellServer::serialNumber(DeviceIF::Name number) { strcpy(number, "XXX"); } DeviceIF::Status FuelCellServer::initialize() { // Dummy implementation for now return DeviceIF::Ok; } DeviceIF::Status FuelCellServer::powerOn() { // Dummy implementation for now return DeviceIF::Ok; } DeviceIF::Status FuelCellServer::powerOff() { // Dummy implementation for now return DeviceIF::Ok; } DeviceIF::Status FuelCellServer::status() { // Dummy implementation for now return DeviceIF::Ok; } DeviceIF::Status FuelCellServer::dataLoggingOn() { // Dummy implementation for now return DeviceIF::Ok; } DeviceIF::Status FuelCellServer::dataLoggingOff() { // Dummy implementation for now return DeviceIF::Ok; } // the below are action commands send directly to the FCC via the FCC_api functions //start fuel cell DeviceIF::Status FuelCellServer::start() { // must check current control state so that we don't do something redundant // or inconsistent with the fcc API Syslog::write("FuelCellServer::start()\n"); #ifdef _SIM Syslog::write("FuelCellServer -- WARNING, SIM IS DEFINED!\n"); SimulatedFuelCellIF::FCC_status _fcc_status; #endif #ifndef _SIM FuelCellIF::FCC_status _fcc_status; #endif //#ifdef _SIM // if (simulatedfuelcell->get_simFCC_status(&_fcc_status) != DeviceIF::Ok) //#endif //#ifndef _SIM if (get_status(&_fcc_status) != DeviceIF::Ok) //#endif { // uh-oh, better throw an exception or something Syslog::write("FuelCellServer::start() -- couldn't get status\n"); return DeviceIF::Error; } else /* STATUS IS OKAY */ { if (_fcc_status.fc_control_state != FC_STATE_IDLE) { // we're in the wrong state! Syslog::write("FuelCellServer::start() -- can't execute command, FC is in incorrect control state\n"); return DeviceIF::Error; } else /*CONTROL STATE IS OKAY */ { int reply_code; #ifdef _SIM reply_code = simulatedfuelcell->send_simFCC_command(SimulatedFuelCellIF::FCC_CMD_START); #endif #ifndef _SIM Syslog::write("FuelCellServer::start() - sending start command\n"); reply_code = send_FCC_command(FCC_CMD_START); #endif if (reply_code!=FCC_ERR_OK) { //bad reply code switch(reply_code) { case FCC_ERR_INVALID_PARAM: Syslog::write("FuelCellServer.cc:start()-- invalid parameter sent"); throw Exception("FuelCellServer.cc:get_start()-- invalid parameter sent"); return DeviceIF::Error; break; case FCC_ERR_COMM: Syslog::write("FuelCellServer.cc:start()-- comm error"); throw Exception("FuelCellServer.cc:start()-- comm error"); break; } // end switch } //end bad reply code else // good reply code { Syslog::write("FuelCellServer.cc:start() -- Fuel Cell is ramping up, wait until status = RUNNING (4) before sending new commands (120 sec)\n"); return DeviceIF::Ok; } } //end control-state if } // end status-okay-else return DeviceIF::Ok; } DeviceIF::Status FuelCellServer::stop() { Syslog::write("FuelCellServer::stop()\n"); int reply_code; #ifdef _SIM SimulatedFuelCellIF::FCC_status _fcc_status; #endif #ifndef _SIM FuelCellIF::FCC_status _fcc_status; #endif //#ifdef _SIM // if (simulatedfuelcell->get_simFCC_status(&_fcc_status) != DeviceIF::Ok) //#endif //#ifndef _SIM // if (get_status(&_fcc_status) != DeviceIF::Ok) //#endif if (get_status(&_fcc_status) != DeviceIF::Ok) { // uh-oh, better throw an exception or something } else { if (_fcc_status.fc_control_state != FC_STATE_OFFLINE) { // we're in the wrong state! Syslog::write("FuelCellServer::start() -- can't execute command, FC is in incorrect control state\n"); return DeviceIF::Error; } else { #ifdef _SIM reply_code = simulatedfuelcell->send_simFCC_command(SimulatedFuelCellIF::FCC_CMD_STOP); #endif #ifndef _SIM Syslog::write("FuelCellServer::stop() - sending stop command\n"); reply_code = send_FCC_command(FCC_CMD_STOP); #endif if (reply_code!=FCC_ERR_OK) { switch(reply_code) { case FCC_ERR_INVALID_PARAM: Syslog::write("FuelCellServer.cc:stop()-- invalid parameter sent"); throw Exception("FuelCellServer.cc:get_stop()-- invalid parameter sent"); return DeviceIF::Error; break; case FCC_ERR_COMM: Syslog::write("FuelCellServer.cc:stop()-- comm error"); throw Exception("FuelCellServer.cc:stop()-- comm error"); return DeviceIF::Error; break; } } else { return DeviceIF::Ok; } } } return DeviceIF::Ok; } DeviceIF::Status FuelCellServer::offline() { Syslog::write("FuelCellServer::offline\n"); int reply_code; #ifdef _SIM SimulatedFuelCellIF::FCC_status _fcc_status; #endif #ifndef _SIM FuelCellIF::FCC_status _fcc_status; #endif //#ifdef _SIM //if (simulatedfuelcell->get_simFCC_status(&_fcc_status) != DeviceIF::Ok) //#endif //#ifndef _SIM // if (get_status(&_fcc_status) != DeviceIF::Ok) //#endif // FuelCellIF::FCC_status _fcc_status; if (get_status(&_fcc_status) != DeviceIF::Ok) { // uh-oh, better throw an exception or something return DeviceIF::Error; } else { if (_fcc_status.fc_control_state != FC_STATE_ONLINE) { // we're in the wrong state! Syslog::write("FuelCellServer::offline() -- can't execute command, FC is in incorrect control state\n"); return DeviceIF::Error; } else { #ifdef _SIM reply_code = simulatedfuelcell->send_simFCC_command(SimulatedFuelCellIF::FCC_CMD_OFFLINE); #endif #ifndef _SIM Syslog::write("FuelCellServer: offline command sending\n"); reply_code = send_FCC_command(FCC_CMD_OFFLINE); #endif if (reply_code!=FCC_ERR_OK) { switch(reply_code) { case FCC_ERR_INVALID_PARAM: Syslog::write("FuelCellServer.cc:offline()-- invalid parameter sent"); throw Exception("FuelCellServer.cc:get_offline()-- invalid parameter sent"); return DeviceIF::Error; break; case FCC_ERR_COMM: Syslog::write("FuelCell.cc:offline()-- comm error"); throw Exception("FuelCell.cc:offline()-- comm error"); break; } } else { return DeviceIF::Ok; } } } return DeviceIF::Ok; } DeviceIF::Status FuelCellServer::resume() { Syslog::write("FuelCellServer::resume()\n"); int reply_code; #ifdef _SIM SimulatedFuelCellIF::FCC_status _fcc_status; #endif #ifndef _SIM FuelCellIF::FCC_status _fcc_status; #endif //#ifdef _SIM // if (simulatedfuelcell->get_simFCC_status(&_fcc_status) != DeviceIF::Ok) //#endif //#ifndef _SIM // if (get_status(&_fcc_status) != DeviceIF::Ok) //#endif if (get_status(&_fcc_status) != DeviceIF::Ok) { // uh-oh, better throw an exception or something return DeviceIF::Error; } else { if (_fcc_status.fc_control_state != FC_STATE_OFFLINE) { // we're in the wrong state! Syslog::write("FuelCellServer::offline() -- can't execute command, FC is in incorrect control state\n"); return DeviceIF::Error; } else { #ifdef _SIM reply_code = simulatedfuelcell->send_simFCC_command(SimulatedFuelCellIF::FCC_CMD_RESUME); #endif #ifndef _SIM reply_code = send_FCC_command(FCC_CMD_RESUME); #endif if (reply_code!=FCC_ERR_OK) { switch(reply_code) { case FCC_ERR_INVALID_PARAM: Syslog::write("FuelCellServer.cc:resume()-- invalid parameter sent"); throw Exception("FuelCell.cc:get_resume()-- invalid parameter sent"); return DeviceIF::Error; break; case FCC_ERR_COMM: Syslog::write("FuelCell.cc:resume()-- comm error"); throw Exception("FuelCell.cc:resume()-- comm error"); break; } } else { return DeviceIF::Ok; } } } return DeviceIF::Ok; } //#ifndef _SIM DeviceIF::Status FuelCellServer::get_status(FuelCellIF::FCC_status *fcc_status) { _output->read(); memcpy((void *)fcc_status, (void *)&_output->data.fcc_status, sizeof(FuelCellIF::FCC_status)); return DeviceIF::Ok; } //#endif //#ifdef _SIM DeviceIF::Status FuelCellServer::get_status(SimulatedFuelCellIF::FCC_status *fcc_status) { _output->read(); memcpy((void *)fcc_status, (void *)&_output->data.fcc_status, sizeof(SimulatedFuelCellIF::FCC_status)); return DeviceIF::Ok; } //#endif DeviceIF::Status FuelCellServer::get_data(FuelCellIF::FCC_data *fcc_data) { _output->read(); memcpy((void *)fcc_data, (void *)&_output->data.fcc_data, sizeof(FuelCellIF::FCC_data)); return DeviceIF::Ok; } int FuelCellServer::spawnAuxTasks() { char *program = "fuelCellDriver"; char errorBuf[256]; pid_t pid; Syslog::write("FuelCellServer -- spawnAuxTasks() -- forking driver...\n"); switch ((pid = fork())) { case 0: // In child // Execute server program Syslog::write("FuelCellServer -- spawnAuxTasks() -- execlping driver..\n"); execlp(program, program,0); sprintf(errorBuf, "Task::spawnServer() - execlp() of \"%s\" failed", program); perror(errorBuf); break; case -1: perror("Task::spawnServer() - fork() failed"); Syslog::write("FuelCellServer -- spawnAuxTasks() -- fork() failed\n"); return -1; } return 0; }