Difference between revisions of "V4 Link Support Tutorial"

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EPICS: IOC Link Support Tutorial Oct 26 2005
V4 Link Support Tutorial - November 03 2005


----
----
= Overview =
= Overview =


The V4 link support is a replacement for V3  
The V4 link/struct support is a replacement for V3  
# DBF_DEVICE, DBF_INLINK, DBF_OUTLINK, and DBF_FWDLINK
# DBF_DEVICE, DBF_INLINK, DBF_OUTLINK, and DBF_FWDLINK
# device DBD definition and device support
# device DBD definition and device support
# driver DBD definition and driver support
# driver DBD definition and driver support


The link support model is:
Each link and struct field in a record can have associated support.
* For each link, record support defines a list of interfaces it can use for communicating with link support
* record support communicates with support via interfaces
* Link support defines the set of interfaces it implements
* link or struct support implements interfaces
** link or struct support registers the interfaces it implements
** record support looks for interfaces it uses
*** it uses only the interfaces it finds
*** if no interfaces are found it reports an error


Link support has no knowledge of what record types are using it
Support has no knowledge of what record types are using it.
and record support has no knowledge about link support other than the
Struct support may have knowledge of the struct field
but not of the record type.
recordSupport has no knowledge about support other than the
interface it is using.
interface it is using.


EPICS base defines a standard set of interfaces for link support.
For the rest of this document recordSupport means record support and support,
The intention is that the set includes enough functionality such that
unless qualified, means link or struct support.
 
EPICS base defines a standard set of interfaces for support,
which includes enough functionality such that
most link support can be implemented via just these interfaces.
most link support can be implemented via just these interfaces.


The interfaces support all the functionality needed by Channel/Database access
Base provides struct support for the following:
and by the generic EPICS device support supplied by asynDriver.
* RecordCommon - used by all record types in base
* LinearConvert - can be used by any analog type record
* others TBD
 
Base provides channel/database access link support for primitive,
string, and array fields.
The link interfaces provided by base are also used by asynDriver.
Since asynDriver is intended as a framework for interfacing to most hardware,
Since asynDriver is intended as a framework for interfacing to most hardware,
this means that the interfaces supplied and used by base allows support
this means that the interfaces supplied and used by base allows support
for most hardware. The support can communicate with the hardware
for most hardware. The support can communicate with the hardware
however it wants but must implement some set of the interfaces defined
anyway it wants but must implement some set of the interfaces defined
by base.
by base.


This document gives a brief overview of the V4 link support model.
This document gives a brief overview of the V4 link/struct support model.


----
----
<center>
<center>
=  Database Definitions For Links =
=  Database Definitions For links and structures =
  </center>
  </center>


Line 42: Line 57:


A record link has the syntax:
A record link has the syntax:
     link(linkDirection,interface(interfaceName,...))
     field(name,link)
A link itself has the syntax:
A record struct has the syntax
     link(linkDirection,choiceName,dataStructName,interface(interfaceName,...))
    field(name,struct(structName))
A record instance link definition has the syntax:
Support for a struct or link has the syntax
    field = { choice(interfaceName) {structAssignmentList}}
     support(choiceName) // no SupportStruct
      or
    support(choiceName,SupportStruct)
    field = { choice(interfaceName) dataStructName {structAssignmentList} }
A record instance link has the syntax
 
    field = support(choiceName) SupportStruct{structAssignmentList}
where
A record instance struct has the the syntax
 
    field = StructName{structAssignmentList} // no support
; <tt>linkDirection</tt>
    field = support(choiceName)
: Must be one of <tt>none</tt>,<tt>in</tt>,<tt>out</tt>,<tt>process</tt>, or <tt>inout</tt>. Compatible checks are made to match the interface with a field.
            StructName{structAssignmentList} // support has no SupportStruct
    field = support(choiceName) SupportStruct{structAssignmentList}
            StructName{structAssignmentList}


; <tt>interface</tt>
; <tt>structName</tt>
: This is a list of the interfaces that the record support understands or that link support implements.
: The name of a <tt>struct</tt>
; <tt>choiceName</tt>
; <tt>choiceName</tt>
: UTF-8 string that describes the choice
: UTF-8 string that describes the choice. Each support must have a unique name.
 
; <tt>StructName</tt>
; <tt>interfaceName</tt>
: The same name that appears in the field definition of the record.
: The name of an interface via which record support communicates with link support.
; <tt>SupportStruct</tt>
 
: The name of a <tt>struct</tt> containing configuration information for the support. recordSupport normally does not access this structure. Database configuration tools prompt the user to assign values to the structure.
; <tt>dataStructName</tt>
: The name of a <tt>struct</tt> containing configuration information for the link support. Record support normally does not access this structure. Database configuration tools prompt the user to assign values to the structure.
; <tt>choice</tt>
: Selects a link with <tt>choiceName</tt> = <tt>choice</tt>
 
A record instance link definition selects a link as follows:
* The linkDirections must be compatible
** Except for inout the record link and link directions must be the same
** If record link specifies inout the link can specify either in or out or inout
* The interfaceName specified by the record instance must be in the record link interface list and in the link interface list.
* The dataStructName specified in the record instance must match the dataStructName in the link definition.


Assume the following definitions:
Assume the following definitions:
     record(AiRecord) {
     record(AiRecord) {
         ...
         ...
         field(in,link(in,interface(LinkInt64,LinkFloat64)))
         field(in,link)
         ...
         ...
     }
     }
     struct(PvMonitorLink) {
    ...
     struct(MonitorLink) {
         field(pvname,string)
         field(pvname,string)
         field(process,boolean) // process this record when monitor occurs
         field(process,boolean) // process this record when monitor occurs
         field(inheritSeverity,boolean)
         field(inheritSeverity,boolean)
     }
     }
     struct(PvInputLink) {
     struct(InputLink) {
         field(pvname,string)
         field(pvname,string)
         field(process,boolean)
         field(process,boolean)
Line 94: Line 101:
     }
     }
     ...
     ...
     link(in,monitorLink,PvMonitorLink,interface(
     support(monitorLink,MonitorLink)
        LinkBoolean,
     support(inputLink,InputLink)
        LinkInt16,LinkInt32,LinkInt64,
        LinkFloat32,LinkFloat64,
        LinkString
    ))
     link(in,inputLink,PvInputLink,interface(
        LinkBoolean,
        LinkInt16,LinkInt32,LinkInt64,
        LinkFloat32,LinkFloat64,
        LinkString
    ))
    ...
     struct VME{
     struct VME{
         field(a16,int16)  
         field(a16,int16)  
Line 113: Line 109:
     }
     }
     ...
     ...
     link(in,someVmeADC,VME, interface(LinkInt32))
     support(someVmeADC,VME)


The first example instance definition selects a monitor link. It selects interface LinkInt32, which means the support will provide a "raw" value that the
The first example instance definition selects a monitor link.
record support will convert to engineering units.
     AiRecord aiMonitorExample = {
     AiRecord aiMonitorExample = {
         ...
         ...
         in = {monitorLink(LinkInt32)  
         in = {
                  PvMonitorLink {     
                  support(monitorLink) MonitorLink {     
                         pvname = "someRecord";
                         pvname = "someRecord";
                        process = true;
                        process = true;
                         inheritSeverity = false
                         inheritSeverity = false
                   }
                   }
               }
               }
The next example selects a channel access input link. It selects interface
The next example selects a channel access input link.
LinkFloat64, which means the support will provide a value in engineering units.
It asks that the linked record be processed and that the link not complete
until the linked record completes processing.
     AiRecord aiInputExample = {
     AiRecord aiInputExample = {
         ...
         ...
         in = {inputLink(LinkFloat64)  
         in = {
                  PvInputLink {     
                  support(inputLink) InputLink {     
                         pvname = "someRecord";
                         pvname = "someRecord";
                         process = true;
                         process = true;
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     AiRecord aiMonitorExample = {
     AiRecord aiMonitorExample = {
         ...
         ...
         in = {someVmeADC(LinkInt32) VME {a16 = 0xc000; channel = 1} }
         in = {support(someVmeADC) VME {a16 = 0xc000; channel = 1} }


== Standard Definitions For Channel/Database Access ==
== Standard Definitions For Channel/Database Access ==


These are the database definitions defined in dbCommon are used by
menuStructBase.dbd defines definitions for Channel/Database Access Links.
the base supplied support for Channel/Database access.
The base supplied support registers each choiceName in the support definitions.
This support registers each choiceName in the link definitions.
The complete set of data structure and support definitions are defined
The complete set of data structure and link definitions are defined
in "V4 DB RecordCommon".
in "V4 DB RecordCommon".


Link support is provided for
Link support is provided for
* process
* monitor
* monitor
* input
* input
* output
* output
* process


For monitor, input, and output the following data types are supported:
For monitor, input, and output the following data types are supported:
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     }
     }


=== link definitions ===
=== support definitions ===


     link(inout,asynInt32,AsynLink,interface(LinkInt32))
     support(asynInt32,AsynLink)
     link(in,asynInt32Average,AsynLink,interface(LinkInt32))
     support(asynInt32Average,AsynLink)
     link(in,asynInt32Monitor,AsynLink,interface(LinkInt32))
     support(asynInt32Monitor,AsynLink)
     link(inout,asynFloat64,AsynLink,interface(LinkFloat64))
     support(asynFloat64,AsynLink)
     link(in,asynFloat64Average,AsynLink,interface(LinkFloat64))
     support(asynFloat64Average,AsynLink)
     link(in,asynFloat64Monitor,AsynLink,interface(LinkFloat64))
     support(asynFloat64Monitor,AsynLink)
     link(in,asynDigitalMonitor,AsynLink,interface(AsynDigital))
     support(asynDigitalMonitor,AsynLink)
     link(inout,asynDigital,AsynLink,interface(AsynDigital)))
     support(asynDigital,AsynLink)
     link(inout,asynInt32Array,AsynLink,interface(LinkArrayInt32)))
     support(asynInt32Array,AsynLink)
     link(inout,asynFloat64Array,AsynLink,interface(LinkArrayFloat64)))
     support(asynFloat64Array,AsynLink)
     link(inout,asynOctet,AsynLink,interface(AsynOctet)))
     support(asynOctet,AsynLink)


This is the set of definitions for the standard EPICS device support implemented
This is the set of definitions for the standard EPICS device support implemented
by asynDriver. Although, at least for the first few V4 releases,
by asynDriver. At least for the first few V4 releases,
asynDriver will not be part of base, they are shown here because the
asynDriver will not be part of base.
LinkInt32,... interface definitions are defined as part of base.
Again it is expected that almost all hardware support be created by
implementing a combination of these link interface definitions or
the interfaces implemented by Channel/Database access link support.
---
---
<center>
<center>
Link Support =
interfaces for link and struct support =
  </center>
  </center>


== Overview ==
Support can be provided for link and struct fields.
An arbitrary number of Link Support implementations can exist.
An arbitrary number of Support implementations can exist.
An implementation can be either soft support or support that communicates with
An implementation can be either soft support or support that communicates with
hardware.
hardware.


Other link support can also be supplied.
The syntax for interface definitions is similar to Java syntax
Whenever possible support should implement the standard interfaces
since it is more concise than C++.
supplied by EPICS base, since these are the interfaces that the record types
supplied with base know how to use.
 
Soft support should try to implement the same interfaces implemented by
the Channel/Database access support supplied with base. The support
can, of course, define data structures for it's own use.
Implementing these interfaces means that the support will work for
the same set of record links as the Channel/Database access support.
 
Hardware support should, if possible, also implement the same interfaces
implemented by the Channel/Database access support.
Message based support may also have to implement the AsynOctet interface
but this interface is only used by a few record types.
 
This section describes the interfaces implemented by all link support
and then the standard interfaces used by the records supplied with base.
 
The syntax is similar to Java syntax since it is more concise than C++.
It can easily be translated to C++ syntax. For example the
It can easily be translated to C++ syntax. For example the
definition:
definition:
     interface LinkInt16 {
     interface LinkInt16 {
         LinkResult get(Callback callback,Int16 data);
         LinkResult get(Callback callback,Int16 data);
         LinkResult put(Callback callback,Int16 data);
         LinkResult put(Callback callback,int16 data);
         boolean getBounds(Int16 low, Int16 high);
         boolean getBounds(Int16 low, Int16 high);
     }
     }
Line 246: Line 215:
     };
     };


<b>NOTE:</b> Int16 becomes int16_t &data and int16 data becomes int16_t data.


== Link and MonitorLink ==
Support and SupportMonitor are interfaces that are common to
the support for both link and struct fields.


All support <b>must</b> register interface <tt>Link</tt>
and if it supports monitors interface <tt>MonitorLink</tt>.
<b>NOTE: arguments and return types ignored for now</b>
<b>NOTE: arguments and return types ignored for now</b>
     interface Link {
     interface Support {
         void report(int16 level);
         void report(int16 level);
        void cancel();
         void destroy();
         void destroy();
         void initialize();
         void initialize(int16 pass);
         void connect();
         void connect();
         void disconnect();
         void disconnect();
        void cancel();
     }
     }


     interface MonitorLink {
     interface SupportMonitor {
         void addMonitor(Callback callback);
         void addMonitor(Callback callback);
         void removeMonitor();
         void removeMonitor();
     }
     }


<tt>Link</tt> is an interface that must be implemented by every link
<tt>Support</tt> is an interface that must be implemented by every  
support.
support module.
An instance of this is connected to each DbfLink field.
<tt>SupportMonitor</tt> is an interface that is implemented by support that
The <tt>Link</tt> methods are:
* <tt>report</tt> - report
* <tt>cancel</tt> - Cancel any outstanding I/O
* <tt>destroy</tt> - This is called if the field is being changed after initialization or if the record is being removed.
* <tt>initialize</tt> - Called to initialize a link.
* <tt>connect</tt> - Called to connect. Note that this is different than initilization.
* <tt>disconnect</tt> - disconnect.
 
<tt>MonitorLink</tt> is an interface that is implemented by link support that
supports monitors. An example is support for hardware interrupts.
supports monitors. An example is support for hardware interrupts.
The <tt>MonitorLink</tt> methods are:
* <tt>addMonitor</tt> - Add a monitor callback
* <tt>removeMonitor</tt> - Remove monitor


Normally record support does not need to call any of the Link
Normally recordSupport does not need to call any of the Support
or MonitorLink methods since database access does this automatically.
or SupportMonitor methods since database access does this automatically.
For example if a link field is modified via a channel access put,
For example if a link field is modified via a channel access put,
database access will call destroy before modifying the link
database access will call destroy before modifying the link
and initialize and connect after the link is modified.
and initialize and connect after the link is modified.
---
<center>
=  interfaces for struct support =
</center>
== support for RecordCommon ==
This implements an interface, not yet defined, that is similar to the
interface record support implements.
== support for LinearConvert ==
This implements the interface
    interface SupportLinearConvert{
          convert(int32 raw,Float64 value) // from raw to eng
          convert(float64 value,Int32 raw) // from eng to raw
    }


Note that neither Link or MonitorLink is listed in the <tt>link</tt> database
In addition it provides a factory
definition since they are generic.
    interface FactoryLinearConvert{
        SupportLinearConvert(string choiceName,
            DbfStruct linearConvert,DbfLink inlink)
    }
== support for simulation ==
This needs to be defined.
== support for breakpoint tables ==
This needs to be defined.


== Definitions that apply to Process,Monitor,Input,and Output support ==
---
These are the definitions used by the Channel/Database access support
<center>
supplied with base. It is also used by the standard EPICS support from asyn.
= interfaces for link Support =
</center>
 
EPICS base defines a number of standard interfaces
that are used by the record types supplied with epics base.
These interfaces are appropriate for the soft support supplied with EPICS
base and should also be sufficient for a wide variety of hardware support.
In particular they sufficient for communication with asynDriver.
 
 
The standard interfaces use the following definitions:


     enum LinkResult {
     enum LinkResult {
         linkNoop,          // Nothing was done, e.g. link is null link
         linkNoop,          // Nothing was done, e.g. link is null link
         linkDone,          // field was modified. No wait is necessary
         linkNoop,          // field was modified. No wait is necessary
         linkWait,          // waiting. can do additional procsssing
         linkWait,          // waiting for completion
     }
     }


Line 306: Line 293:
         void failure();
         void failure();
     }
     }
== Process Link Support ==
 
The complete set of interfaces are described in V4 Design: Runtime Interfaces.
Some examples are:
 
     interface LinkProcess {
     interface LinkProcess {
         LinkResult process(Callback callback);
         LinkResult process(Callback callback);
     }
     }
== Octet Support ==
    interface LinkOctet {
        LinkResult get(Callback callback, Octet data);
        LinkResult put(Callback callback, octet data);
    }
    interface LinkArrayOctet {
        LinkResult get(Callback callback, octet[] data);
        LinkResult put(Callback callback, octet[] data);
    }
<b>GENERIC QUESTION</b> The data is passed as primitive or arrays of
primitive types. Should <tt>Dbf</tt> interfaces be used? Needs thought.
== asynOctet Support ==
This still needs more work. It attempts to reproduce the functionality
of V3 asynDriver.
    interface AsynOctet {
        LinkResult write(Callback callback,
          octet[] data, int32 numchars, Int32 nbytesTransfered);
        LinkResult writeRaw(Callback callback,
          octet[] data, int32 numchars, Int32 nbytesTransfered);
        LinkResult read(Callback callback,
          octet[] data, Int32 nbytesTransfered);
        LinkResult readRaw(Callback callback,
          octet[] data, Int32 nbytesTransfered);
        void flush();
        void setInputEos(octet[] eos);
        void getInputEos(octet[] eos);
        void setOutputEos(octet[] eos);
        void getOutputEos(octet[] eos);
    }
== asynDigital Support ==
    enum interruptReason {
        interruptOnZeroToOne, interruptOnOneToZero, interruptOnBoth
    }
    struct asynDigitalInterrupt {
        octet[] mask;
        int32 addr;
        Callback callback
    }
    interface AsynDigital {
          LinkResult write(Callback callback,octet[] value, octet[] mask);
          LinkResult read(Callback callback,octet[] value, octet[] mask);
          void setInterrupt(octet[] mask, interruptReason reason);
          void clearInterrupt(octet[] mask);
          void getInterrupt(octet[] mask, interruptReason reason);
          void registerInterruptUser(interruptCallbackUInt32Digital callback,
              octet[] mask);
          void cancelInterruptUser();
    }
== Boolean Support ==
    interface LinkBoolean {
        LinkResult get(Callback callback,Boolean data);
        LinkResult put(Callback callback,boolean data);
    }
    interface LinkArrayBoolean {
        LinkResult get(Callback callback,boolean[] data);
        LinkResult put(Callback callback,boolean[] data);
    }
The data source must be a boolean or a string that contains a valid
boolean value.
== Integer Support ==
Support is available. for int16, int32, and int64.


     interface LinkInt16 {
     interface LinkInt16 {
         LinkResult get(Callback callback,Int16 data);
         LinkResult get(Callback callback,Int16 data);
         LinkResult put(Callback callback,Int16 data);
         LinkResult put(Callback callback,int16 data);
         boolean getBounds(Int16 low, Int16 high);
         boolean getBounds(Int16 low, Int16 high);
    }
    interface LinkArrayInt16 {
        LinkResult get(Callback callback,int16[] data);
        LinkResult put(Callback callback,int16[] data);
    }
    interface LinkInt32 {
        LinkResult get(Callback callback,Int32 data);
        LinkResult put(Callback callback,Int32 data);
        boolean getBounds(Int32 low, Int32 high);
    }
    interface LinkArrayInt32 {
        LinkResult get(Callback callback,int32[] data);
        LinkResult put(Callback callback,int32[] data);
    }
    interface LinkInt64 {
        LinkResult get(Callback callback,Int64 data);
        LinkResult put(Callback callback,Int64 data);
        boolean getBounds(Int64 low, Int64 high);
    }
    interface LinkArrayInt64 {
        LinkResult get(Callback callback,int64[] data);
        LinkResult put(Callback callback,int64[] data);
     }
     }


       
<tt>LinkProcess</tt> is the interface for process link fields
== Float Support ==
and <tt>LinkInt16</tt> is the interface for int16 fields.
 
Support is available. for float32 and float64.
 
    interface LinkFloat32 {
        LinkResult get(Callback callback,Float32 data);
        LinkResult put(Callback callback,float32 data);
    }
    interface LinkArrayFloat32 {
        LinkResult get(Callback callback,float32[] data);
        LinkResult put(Callback callback,float32[] data);
    }
    interface LinkFloat64 {
        LinkResult get(Callback callback,Float64 data);
        LinkResult put(Callback callback,float64 data);
    }
    interface LinkArrayFloat64 {
        LinkResult get(Callback callback,float64[] data);
        LinkResult put(Callback callback,float64[] data);
    }
 
== String Support ==
    interface LinkString {
        LinkResult get(Callback callback,string data);
        LinkResult put(Callback callback,string data);
    }
    interface LinkArrayString {
        LinkResult get(Callback callback,string[] data);
        LinkResult put(Callback callback,string[] data);
    }
 
 
The data source must be a string.
 
----
----
<center>
<center>
= Example - VME ADC support =
= Example - VME ADC support =
  </center>
  </center>
Assume the VME and link definitions given in the examples at the beginning
Assume the VME and support definitions given in the examples at the beginning
of this document.
of this document.


Line 494: Line 353:
     {
     {
         data = (Int)VME.getShort(vmeaddr);
         data = (Int)VME.getShort(vmeaddr);
         return linkDone;
         return linkNoop;
     }
     }
     LinkResult put(Callback callback, Int data)
     LinkResult put(Callback callback, int data)
     {
     {
         throw CantWriteAdc;
         throw CantWriteAdc;
Line 514: Line 373:
----
----
<center>
<center>
= Discussion of link support interfaces =
= Additional requirements for link support =
  </center>
  </center>


== Overview ==
== Overview ==
The link definitions: record link, link, record instance links,
and the link interfaces are designed to support channel/database links,
links to hardware support, and links to other types of support.


The following are two important requirements:
The following are two important requirements:
Line 527: Line 383:
** link support can return engineering units
** link support can return engineering units
* output records
* output records
** Can link support provide initial value?
** If possible link support should provide initial value during initialization
** What if multiple sources can change linked output?
** If output can be modified other than by record itself than the records balue should be modified without causing a new output


Lets consider each of these separately.
Lets consider each of these separately.
Line 535: Line 391:
raw values and engineering units. Raw values are 32 bit integers. Device
raw values and engineering units. Raw values are 32 bit integers. Device
support is responsible for setting the slope and intercept fields of the record.
support is responsible for setting the slope and intercept fields of the record.
Record support takes care of the actual conversions.
recordSupport takes care of the actual conversions.
Device support can tell record support that it set the engineering units
Device support can tell recordSupport that it set the engineering units
rather than a raw value by a different return value.
rather than a raw value by a different return value.
<b>NOTE:</b>Perhaps in V4 aiRecord should be separated into two records,
e.g. a record that always uses float values and an ADC record which handles
raw values. Another possibility is special link support that provides
floating values to the record support and links to the actual hardware support.
For this discussion it is assummed that aiRecord and aoRecord are still
responsible for conversions since most of the discussion is
independent of how the record support is structured.


For V4 the following is done:
For V4 the following is done:
Line 553: Line 400:


     menu(menuConvert) {
     menu(menuConvert) {
         choice(menuConvertRaw, "Raw")
         choice(menuConvertRaw, "None")
         choice(menuConvertLinear, "Linear")
         choice(menuConvertLinear, "Linear")
         choice(menuConvertTable, "Table")
         choice(menuConvertTable, "Table")
Line 559: Line 406:


     struct(LinearConvert) {
     struct(LinearConvert) {
         field(eguf,float64)
         field(engUnitsHigh,float64)
         field(egul,float64)
         field(engUnitsLow,float64)
         field(slope,float64)
         field(slope,float64)
         field(intercept,float64)
         field(intercept,float64)
Line 572: Line 419:
     field(units, string)
     field(units, string)


The link field for aiRecord is
<b>NOTE</b> This section is written as though record support itself does
    field(in,link(in,interface( LinkInt32, LinkFloat64)))
the conversions. Most record support would call the standard support
for LinearConvert.
 
 
If a record instance has convert set to None then recordSupport does the following.
* if link support implements LinkFloat64 it just calls this to obtain an engineering units value
* otherwise it gets a value via interface LinkInt32 and converts the value from in int32 to a float64.


The link field for aoRecord is
If a record instance has convert linear
    field(out,link(out,interface( LinkInt32, LinkFloat64)))
* if link support implements LinkInt32 it uses LinkInt32 otherwise it uses LinkFloat64
* it uses slope and interccept to convert from raw to engineering units


When a record instance is defined the link specifies the interface to use.
If the interface is:
* <tt>LinkInt32</tt> - Then the link support supplies raw values
* <tt>LinkFloat64</tt> - Then the link support supplies engineering units


<tt>LinkInt32</tt> is defined as:
<tt>LinkInt32</tt> is defined as:
Line 587: Line 437:
         LinkResult get(Callback callback,Int32 data);
         LinkResult get(Callback callback,Int32 data);
         LinkResult put(Callback callback,Int32 data);
         LinkResult put(Callback callback,Int32 data);
         void getBounds(Int32 low, Int32 high);
         boolean getBounds(Int32 low, Int32 high);
     }
     }
Thus link support is responsible for returning the ADC bounds.
 
If convert is linear and getBounds returns true than recordSupport
uses the returned value to compute slope and intercept. In all
other cases recordSupport just uses whatever values they have.
 
For example support for a 16 bit unipolar ADC would set low=0, high=65535,
For example support for a 16 bit unipolar ADC would set low=0, high=65535,
and return true.
and return true.
If link support can not determine the bounds then getBounds returns false.
If link support can not determine the bounds then getBounds returns false.


If the link interface is LinkFloat64 then record support does no conversion.
Thus the following only applys if the interface is LinkInt32.
Record support handles conversions as follows:
* Raw - The value obtained from the link support is converted to a double.
* Linear
** If link support returned the bounds record support computes slope and intercept
** otherwise it uses the slope and intercept from instance definition
* Table - The interface implementation for convertTable is located and used.


<b>NOTE:</b>The interface implemented by breakpoint tables must be defined.
<b>NOTE:</b>The interface implemented by breakpoint tables must be defined.
Line 612: Line 457:
whenever possible:
whenever possible:
# When a record is initalized provide the current value of the output
# When a record is initalized provide the current value of the output
# If something else modifies the actual output value in the record
# If the actual output is changed by something other than the output record than the output record should also be modified to reflect the new output value.


The first feature is especially desirable when an IOC is rebooted.
The first feature is especially desirable when an IOC is rebooted.
Line 646: Line 491:


If the link support can support readbacks then it implements get
If the link support can support readbacks then it implements get
and returns linkDone. If it does not support readbacks
and returns linkNoop. If it does not support readbacks
then it implements get by just returning linkNoop.
then it implements get by just returning linkNoop.


Line 653: Line 498:
If output link support can detect when something besides the link support
If output link support can detect when something besides the link support
itself modifies the output then it implements interface <tt>MonitorLink</tt>
itself modifies the output then it implements interface <tt>MonitorLink</tt>
     interface MonitorLink {
     interface SupportMonitor {
         void addMonitor(Callback callback);
         void addMonitor(Callback callback);
         void removeMonitor();
         void removeMonitor();
     }
     }
At initialization record support looks for this interface and if found
At initialization recordSupport looks for this interface and if found
it calls <tt>addMonitor</tt>. The link support calls the callback whenever
it calls <tt>addMonitor</tt>. The link support calls the callback whenever
it detects a change in the output that it did not cause. Record support
it detects a change in the output that it did not cause. recordSupport
causes itself to be processed without making a new call to the
causes itself to be processed without making a new call to the
link support.
link support.
---

Latest revision as of 19:46, 3 November 2005

V4 Link Support Tutorial - November 03 2005


Overview

The V4 link/struct support is a replacement for V3

  1. DBF_DEVICE, DBF_INLINK, DBF_OUTLINK, and DBF_FWDLINK
  2. device DBD definition and device support
  3. driver DBD definition and driver support

Each link and struct field in a record can have associated support.

  • record support communicates with support via interfaces
  • link or struct support implements interfaces
    • link or struct support registers the interfaces it implements
    • record support looks for interfaces it uses
      • it uses only the interfaces it finds
      • if no interfaces are found it reports an error

Support has no knowledge of what record types are using it. Struct support may have knowledge of the struct field but not of the record type. recordSupport has no knowledge about support other than the interface it is using.

For the rest of this document recordSupport means record support and support, unless qualified, means link or struct support.

EPICS base defines a standard set of interfaces for support, which includes enough functionality such that most link support can be implemented via just these interfaces.

Base provides struct support for the following:

  • RecordCommon - used by all record types in base
  • LinearConvert - can be used by any analog type record
  • others TBD

Base provides channel/database access link support for primitive, string, and array fields. The link interfaces provided by base are also used by asynDriver. Since asynDriver is intended as a framework for interfacing to most hardware, this means that the interfaces supplied and used by base allows support for most hardware. The support can communicate with the hardware anyway it wants but must implement some set of the interfaces defined by base.

This document gives a brief overview of the V4 link/struct support model.


Database Definitions For links and structures

This section first reviews the DBD syntax related to link definitions. It then gives a brief description of link related definitions in dbCommon.dbd

Syntax

A record link has the syntax:

    field(name,link)

A record struct has the syntax

    field(name,struct(structName))

Support for a struct or link has the syntax

    support(choiceName) // no SupportStruct
    support(choiceName,SupportStruct)

A record instance link has the syntax

   field = support(choiceName) SupportStruct{structAssignmentList}

A record instance struct has the the syntax

   field = StructName{structAssignmentList} // no support
   field = support(choiceName)
           StructName{structAssignmentList} // support has no SupportStruct
   field = support(choiceName) SupportStruct{structAssignmentList}
           StructName{structAssignmentList}
structName
The name of a struct
choiceName
UTF-8 string that describes the choice. Each support must have a unique name.
StructName
The same name that appears in the field definition of the record.
SupportStruct
The name of a struct containing configuration information for the support. recordSupport normally does not access this structure. Database configuration tools prompt the user to assign values to the structure.

Assume the following definitions:

    record(AiRecord) {
        ...
        field(in,link)
        ...
    }
    ...
    struct(MonitorLink) {
        field(pvname,string)
        field(process,boolean) // process this record when monitor occurs
        field(inheritSeverity,boolean)
    }
    struct(InputLink) {
        field(pvname,string)
        field(process,boolean)
        field(wait,boolean)
        field(timeout,float64)
        field(inheritSeverity,boolean)
    }
    ...
    support(monitorLink,MonitorLink)
    support(inputLink,InputLink)
    struct VME{
        field(a16,int16) 
        field(a32,int32)
        field(channel,int16)
    }
    ...
    support(someVmeADC,VME)

The first example instance definition selects a monitor link.

    AiRecord aiMonitorExample = {
        ...
        in = {
                  support(monitorLink) MonitorLink {    
                       pvname = "someRecord";
                       process = true;
                       inheritSeverity = false
                  }
              }

The next example selects a channel access input link.

    AiRecord aiInputExample = {
        ...
        in = {
                  support(inputLink) InputLink {    
                       pvname = "someRecord";
                       process = true;
                       wait = true;
                       timeout = 1.0;
                       inheritSeverity = false
                  }
              }

The last example selects support for a VME Analog to Digital device.

    AiRecord aiMonitorExample = {
        ...
        in = {support(someVmeADC) VME {a16 = 0xc000; channel = 1} }

Standard Definitions For Channel/Database Access

menuStructBase.dbd defines definitions for Channel/Database Access Links. The base supplied support registers each choiceName in the support definitions. The complete set of data structure and support definitions are defined in "V4 DB RecordCommon".

Link support is provided for

  • process
  • monitor
  • input
  • output

For monitor, input, and output the following data types are supported:

  • primitive types
  • string
  • arrays of primitive types and strings

asynDriver link support

These are definitions that are used by the standard EPICS device support for asynDriver. Since asynDriver is a generic way of interfacing arbitrary hardware support, this is a generic way of attaching links in records to hardware.

Data Definitions

    struct(AsynLink) {
        field(portName,string)
        field(addr,int32)
        field(timeout,float64)
        field(drvPvt,string)
    }

support definitions

    support(asynInt32,AsynLink)
    support(asynInt32Average,AsynLink)
    support(asynInt32Monitor,AsynLink)
    support(asynFloat64,AsynLink)
    support(asynFloat64Average,AsynLink)
    support(asynFloat64Monitor,AsynLink)
    support(asynDigitalMonitor,AsynLink)
    support(asynDigital,AsynLink)
    support(asynInt32Array,AsynLink)
    support(asynFloat64Array,AsynLink)
    support(asynOctet,AsynLink)

This is the set of definitions for the standard EPICS device support implemented by asynDriver. At least for the first few V4 releases, asynDriver will not be part of base. ---

interfaces for link and struct support

Support can be provided for link and struct fields. An arbitrary number of Support implementations can exist. An implementation can be either soft support or support that communicates with hardware.

The syntax for interface definitions is similar to Java syntax since it is more concise than C++. It can easily be translated to C++ syntax. For example the definition:

    interface LinkInt16 {
        LinkResult get(Callback callback,Int16 data);
        LinkResult put(Callback callback,int16 data);
        boolean getBounds(Int16 low, Int16 high);
    }

In C++ would be:

    class LinkInt16 {
    public:
        virtual LinkResult get(Callback &callback, int16_t &data) = 0;
        virtual LinkResult put(Callback &callback, int16_t data) = 0;
        virtual bool getBounds(int16_t &low, int16_t &high) = 0;
    };

NOTE: Int16 becomes int16_t &data and int16 data becomes int16_t data.

Support and SupportMonitor are interfaces that are common to the support for both link and struct fields.

NOTE: arguments and return types ignored for now

    interface Support {
        void report(int16 level);
        void destroy();
        void initialize(int16 pass);
        void connect();
        void disconnect();
        void cancel();
    }
    interface SupportMonitor {
        void addMonitor(Callback callback);
        void removeMonitor();
    }

Support is an interface that must be implemented by every support module. SupportMonitor is an interface that is implemented by support that supports monitors. An example is support for hardware interrupts.

Normally recordSupport does not need to call any of the Support or SupportMonitor methods since database access does this automatically. For example if a link field is modified via a channel access put, database access will call destroy before modifying the link and initialize and connect after the link is modified. ---

interfaces for struct support

support for RecordCommon

This implements an interface, not yet defined, that is similar to the interface record support implements.

support for LinearConvert

This implements the interface

    interface SupportLinearConvert{
         convert(int32 raw,Float64 value) // from raw to eng
         convert(float64 value,Int32 raw) // from eng to raw
    }

In addition it provides a factory

    interface FactoryLinearConvert{
        SupportLinearConvert(string choiceName,
            DbfStruct linearConvert,DbfLink inlink)
    }

support for simulation

This needs to be defined.

support for breakpoint tables

This needs to be defined.

---

interfaces for link Support

EPICS base defines a number of standard interfaces that are used by the record types supplied with epics base. These interfaces are appropriate for the soft support supplied with EPICS base and should also be sufficient for a wide variety of hardware support. In particular they sufficient for communication with asynDriver.


The standard interfaces use the following definitions:

    enum LinkResult {
        linkNoop,           // Nothing was done, e.g. link is null link
        linkNoop,           // field was modified. No wait is necessary
        linkWait,           // waiting for completion 
    }
    interface Callback {
        void done();
        void failure();
    }

The complete set of interfaces are described in V4 Design: Runtime Interfaces. Some examples are:

    interface LinkProcess {
        LinkResult process(Callback callback);
    }
    interface LinkInt16 {
        LinkResult get(Callback callback,Int16 data);
        LinkResult put(Callback callback,int16 data);
        boolean getBounds(Int16 low, Int16 high);
    }

LinkProcess is the interface for process link fields and LinkInt16 is the interface for int16 fields.


Example - VME ADC support

Assume the VME and support definitions given in the examples at the beginning of this document.

The following is presented with Java syntax. It assumes that there is VME support of the form

    public class vme {
        static public short getShort(long addr);
        ...
    }

The link support would be something like:

    class AdcSupport implements Link LinkInt32 {
    AdcSupport(VME fromFactory)
    {
        addr = fromFactory;
        connected = false;
        //  from the VME initialize vmeaddr and channel
        // details left to your imagination
    }
    // Link methods
    void report(int16_t level)
    {
        printf("AdcSupport a16 %x channel %d\n",a16,channel);
    }
    void cancel() {} // nothing to do
    void destroy() {} //nothing to do
    void initialize()
    {
        // make sure we can access a16
    }
    void connect() {connected = true}
    void disconnect() {connected = false}
    
    // LinkInt32 methods
    LinkResult get(Callback callback, Int data)
    {
        data = (Int)VME.getShort(vmeaddr);
        return linkNoop;
    }
    LinkResult put(Callback callback, int data)
    {
        throw CantWriteAdc;
    }
    void getBounds(Int low, Int high) 
    {
        // assume 16 bit unipolor adc
        low = 0; high = 0xffff;
    }
    private:
        VME addr;
        int vmeaddr;
        int channel;
        boolean connected;
    }

Additional requirements for link support

Overview

The following are two important requirements:

  • analog I/O
    • link support can return raw value. Support must convert to engineering units.
    • link support can return engineering units
  • output records
    • If possible link support should provide initial value during initialization
    • If output can be modified other than by record itself than the records balue should be modified without causing a new output

Lets consider each of these separately.

Analog I/O

In V3 the aiRecord and aoRecords are responsible for conversion between raw values and engineering units. Raw values are 32 bit integers. Device support is responsible for setting the slope and intercept fields of the record. recordSupport takes care of the actual conversions. Device support can tell recordSupport that it set the engineering units rather than a raw value by a different return value.

For V4 the following is done:

aiRecord and aoRecord both have the following fields:

    menu(menuConvert) {
        choice(menuConvertRaw, "None")
        choice(menuConvertLinear, "Linear")
        choice(menuConvertTable, "Table")
    }
    struct(LinearConvert) {
        field(engUnitsHigh,float64)
        field(engUnitsLow,float64)
        field(slope,float64)
        field(intercept,float64)
    }


    ...
    field(convert, menu(menuConvert))
    field(linearConvert, struct(LinearConvert))
    field(convertTable,string);
    field(units, string)

NOTE This section is written as though record support itself does the conversions. Most record support would call the standard support for LinearConvert.


If a record instance has convert set to None then recordSupport does the following.

  • if link support implements LinkFloat64 it just calls this to obtain an engineering units value
  • otherwise it gets a value via interface LinkInt32 and converts the value from in int32 to a float64.

If a record instance has convert linear

  • if link support implements LinkInt32 it uses LinkInt32 otherwise it uses LinkFloat64
  • it uses slope and interccept to convert from raw to engineering units


LinkInt32 is defined as:

    interface LinkInt32 {
        LinkResult get(Callback callback,Int32 data);
        LinkResult put(Callback callback,Int32 data);
        boolean getBounds(Int32 low, Int32 high);
    }

If convert is linear and getBounds returns true than recordSupport uses the returned value to compute slope and intercept. In all other cases recordSupport just uses whatever values they have.

For example support for a 16 bit unipolar ADC would set low=0, high=65535, and return true. If link support can not determine the bounds then getBounds returns false.


NOTE:The interface implemented by breakpoint tables must be defined. It will support the same semantics as the V3 breakpoint tables.

Output Records

The following are two features that link support should implement whenever possible:

  1. When a record is initalized provide the current value of the output
  2. If the actual output is changed by something other than the output record than the output record should also be modified to reflect the new output value.

The first feature is especially desirable when an IOC is rebooted. If a hardware output can survive a reboot this is a very desirable feature. If the output is to a field bus, a PLC, or to a record in another IOC it is often possible for the link support to determine the current value.

The second feature is something that was often asked for in V3 but only implemented for some special cases. This is especially desirable when the output is connected to a system that can have multiple sources of control. Examples are GPIB devices with front pannel controls, PLC systems that have manual controls or non-epics network access.

For V3 some of the hardware , but none of the soft, support implemented the first feature but by modifying actual fields in the record. V3 did not implement the second feature. Some special device support, not part of base, was implemented to support this feature.

For V4 these features are supported as follows:

record initialization

The link support implements an interface that has a put and a get method. For example:

    interface LinkInt32 {
        LinkResult get(Callback callback,Int32 data);
        LinkResult put(Callback callback,Int32 data);
        boolean getBounds(Int32 low, Int32 high);
    }

If the link support can support readbacks then it implements get and returns linkNoop. If it does not support readbacks then it implements get by just returning linkNoop.

monitors for outputs

If output link support can detect when something besides the link support itself modifies the output then it implements interface MonitorLink

    interface SupportMonitor {
        void addMonitor(Callback callback);
        void removeMonitor();
    }

At initialization recordSupport looks for this interface and if found it calls addMonitor. The link support calls the callback whenever it detects a change in the output that it did not cause. recordSupport causes itself to be processed without making a new call to the link support. ---