UDP server in model 3 motor driver

[Lee Hudson via Tech-talk <tech-talk@aps.anl.gov>]

Hi,

I'm currently writing a motor driver and I'm not sure on the best way to implement a particular aspect of it. The main control link to the hardware is via TCP/IP, on startup the driver registers parameters of interest on the controller and the controller then sends all subscribed information out via UDP broadcasts. I think I need to create a udp server on the IOC, so far I am doing the following:

IOC boot script:

#TCP port for control, this works

drvAsynIPPortConfigure("PCS1_CTRL", "192.168.113.10:51512", 100, 0, 0)
asynOctetSetInputEos("PCS1_CTRL", 0, "\r\n")
asynOctetSetOutputEos("PCS1_CTRL", 0, "\r\n")

# Configure UDP port for Walter and Bai streams
drvAsynIPServerPortConfigure(PCS1_UDP,"192.168.113.12:51513 udp", 10, 0, 0, 0)
# Configure Walter and Bai PCS8000 controller
pcsControllerConfig(PCS1, 0, 2, 20, 20)

# Configure Walter and Bai PCS8000 Axis
pcsAxisConfig(PCS1, 1)

# Configure Walter and Bai PCS8000 Axis
pcsAxisConfig(PCS1, 2)

Driver constructor(class pcsController: public asynMotorController ):

    /* Connect to pcsController controller TCP for control */
    status = pasynOctetSyncIO->connect(lowLevelPortName, 0, &pasynUserController_, NULL);

    pasynUserUDPStream = pasynManager->createAsynUser(0,0);
    status = pasynManager->connectDevice(pasynUserUDPStream, streamPortName,0);
    pasynInterface = pasynManager->findInterface(pasynUserUDPStream, asynOctetType, 1);

    pasynOctet = (asynOctet *) pasynInterface->pinterface;
    octetPvt=pasynInterface->drvPvt;

Driver poll():

status = pasynOctet->read(octetPvt, pasynUserUDPStream, rxBuffer, 65535 - 1,
                              &nBytesIn, &eomReason);

In the poll() method or perhaps a separate thread elsewhere I know I will have to update the asyn parameters manually and call callParamCallbacks() to get the record to update. Am I going about this the right way?

Thanks in advance

Lee

 

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