From 26da4bf2645b72c4df32fed17a46978ea3bce022 Mon Sep 17 00:00:00 2001
From: Anders Blomdell <anders.blomdell@control.lth.se>
Date: Mon, 11 Mar 2019 21:29:02 +0100
Subject: [PATCH] Rework of error handling, added license
---
COPYING | 674 ++++++++++++++++++
Makefile | 4 +
.../se_lth_control_realtime_moberg_Moberg.c | 20 +-
adaptors/matlab/analogin.c | 6 +-
adaptors/matlab/moberg4simulink.c | 51 +-
adaptors/matlab/moberg4simulink.h | 21 +
moberg.c | 261 +++++--
moberg.h | 121 +++-
moberg.spec.template | 3 +-
moberg_channel.h | 39 +-
moberg_config.c | 45 +-
moberg_config.h | 33 +-
moberg_device.c | 89 ++-
moberg_device.h | 62 +-
moberg_inline.h | 60 ++
moberg_module.h | 23 +-
moberg_parser.c | 113 +--
moberg_parser.h | 21 +
plugins/comedi/Makefile | 5 +
plugins/comedi/comedi.c | 462 ++++++------
plugins/serial2002/serial2002.c | 204 +++---
test/Makefile | 1 +
test/test_c.c | 9 -
test/test_io.c | 8 +-
24 files changed, 1755 insertions(+), 580 deletions(-)
create mode 100644 COPYING
create mode 100644 moberg_inline.h
delete mode 100644 test/test_c.c
diff --git a/COPYING b/COPYING
new file mode 100644
index 0000000..f288702
--- /dev/null
+++ b/COPYING
@@ -0,0 +1,674 @@
+ GNU GENERAL PUBLIC LICENSE
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+later version.
+
+ 15. Disclaimer of Warranty.
+
+ THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+ 16. Limitation of Liability.
+
+ IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<https://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<https://www.gnu.org/licenses/why-not-lgpl.html>.
diff --git a/Makefile b/Makefile
index bca7042..e934c54 100644
--- a/Makefile
+++ b/Makefile
@@ -71,3 +71,7 @@ build/libmoberg.so: build/lib/moberg_config.o
build/libmoberg.so: build/lib/moberg_device.o
build/libmoberg.so: build/lib/moberg_parser.o
build/lib/%.o: %.h
+build/lib/%.o: moberg_inline.h
+build/lib/moberg.o: moberg_config.h
+build/lib/moberg.o: moberg_module.h
+build/lib/moberg.o: moberg_parser.h
diff --git a/adaptors/java/src/se_lth_control_realtime_moberg_Moberg.c b/adaptors/java/src/se_lth_control_realtime_moberg_Moberg.c
index 9363df3..fe658b8 100644
--- a/adaptors/java/src/se_lth_control_realtime_moberg_Moberg.c
+++ b/adaptors/java/src/se_lth_control_realtime_moberg_Moberg.c
@@ -25,6 +25,11 @@
#include <string.h>
#include <moberg.h>
+static inline int OK(struct moberg_status status)
+{
+ return moberg_OK(status);
+}
+
static void throwMoberg(JNIEnv *env, int chan, char *exceptionName)
{
jclass exceptionClass = 0;
@@ -182,7 +187,8 @@ Java_se_lth_control_realtime_moberg_Moberg_analogInOpen(
if (! channel_up(&analog_in, index)) {
struct channel channel;
up();
- if (! moberg_analog_in_open(g_moberg.moberg, index, &channel.analog_in)) {
+ if (! OK(moberg_analog_in_open(g_moberg.moberg, index,
+ &channel.analog_in))) {
down();
throwMobergDeviceDoesNotExistException(env, index);
} else {
@@ -230,7 +236,8 @@ Java_se_lth_control_realtime_moberg_Moberg_analogOutOpen(
if (! channel_up(&analog_out, index)) {
struct channel channel;
up();
- if (! moberg_analog_out_open(g_moberg.moberg, index, &channel.analog_out)) {
+ if (! OK(moberg_analog_out_open(g_moberg.moberg, index,
+ &channel.analog_out))) {
down();
throwMobergDeviceDoesNotExistException(env, index);
} else {
@@ -275,7 +282,8 @@ Java_se_lth_control_realtime_moberg_Moberg_digitalInOpen(
if (! channel_up(&digital_in, index)) {
struct channel channel;
up();
- if (! moberg_digital_in_open(g_moberg.moberg, index, &channel.digital_in)) {
+ if (! OK(moberg_digital_in_open(g_moberg.moberg, index,
+ &channel.digital_in))) {
down();
throwMobergDeviceDoesNotExistException(env, index);
} else {
@@ -322,7 +330,8 @@ Java_se_lth_control_realtime_moberg_Moberg_digitalOutOpen(
if (! channel_up(&digital_out, index)) {
struct channel channel;
up();
- if (! moberg_digital_out_open(g_moberg.moberg, index, &channel.digital_out)) {
+ if (! OK(moberg_digital_out_open(g_moberg.moberg, index,
+ &channel.digital_out))) {
down();
throwMobergDeviceDoesNotExistException(env, index);
} else {
@@ -366,7 +375,8 @@ Java_se_lth_control_realtime_moberg_Moberg_encoderInOpen(
if (! channel_up(&encoder_in, index)) {
struct channel channel;
up();
- if (! moberg_encoder_in_open(g_moberg.moberg, index, &channel.encoder_in)) {
+ if (! OK(moberg_encoder_in_open(g_moberg.moberg, index,
+ &channel.encoder_in))) {
down();
throwMobergDeviceDoesNotExistException(env, index);
} else {
diff --git a/adaptors/matlab/analogin.c b/adaptors/matlab/analogin.c
index 6c8d6c5..32ae342 100644
--- a/adaptors/matlab/analogin.c
+++ b/adaptors/matlab/analogin.c
@@ -135,7 +135,11 @@ static void mdlOutputs(SimStruct *S, int_T tid)
for (i = 0 ; i < ssGetNumPWork(S) ; i++) {
struct moberg_analog_in *ain = (struct moberg_analog_in*)pwork[i];
- ain->read(ain->context, &y[i]);
+ if (! ain->read(ain->context, &y[i])) {
+ static char error[256];
+ sprintf(error, "Failed to read analogin #%d", (int)channel[i]);
+ ssSetErrorStatus(S, error);
+ }
}
}
}
diff --git a/adaptors/matlab/moberg4simulink.c b/adaptors/matlab/moberg4simulink.c
index 736edd0..26a546d 100644
--- a/adaptors/matlab/moberg4simulink.c
+++ b/adaptors/matlab/moberg4simulink.c
@@ -1,9 +1,35 @@
+/*
+ moberg4simulink.c -- moberg interface for simulink MEX functions
+
+ Copyright (C) 2019 Anders Blomdell <anders.blomdell@gmail.com>
+
+ This file is part of Moberg.
+
+ Moberg is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+*/
+
#include <stdio.h>
#include <stdlib.h>
#include <stddef.h>
#include <moberg.h>
#include <moberg4simulink.h>
+static int inline OK(struct moberg_status status)
+{
+ return moberg_OK(status);
+}
+
static struct channel {
struct channel *next;
struct channel *prev;
@@ -68,12 +94,13 @@ struct moberg_analog_in *moberg4simulink_analog_in_open(int index)
{
up();
struct channel *result = malloc(sizeof(*result));
- if (result && moberg_analog_in_open(g_moberg.moberg, index,
- &result->analog_in)) {
+ if (result && OK(moberg_analog_in_open(g_moberg.moberg, index,
+ &result->analog_in))) {
list_insert(&analog_in_list, result);
return &result->analog_in;
} else {
down();
+ if (result) { free(result); }
return NULL;
}
}
@@ -93,12 +120,13 @@ struct moberg_analog_out *moberg4simulink_analog_out_open(int index)
{
up();
struct channel *result = malloc(sizeof(*result));
- if (result && moberg_analog_out_open(g_moberg.moberg, index,
- &result->analog_out)) {
+ if (result && OK(moberg_analog_out_open(g_moberg.moberg, index,
+ &result->analog_out))) {
list_insert(&analog_out_list, result);
return &result->analog_out;
} else {
down();
+ if (result) { free(result); }
return NULL;
}
}
@@ -118,12 +146,13 @@ struct moberg_digital_in *moberg4simulink_digital_in_open(int index)
{
up();
struct channel *result = malloc(sizeof(*result));
- if (result && moberg_digital_in_open(g_moberg.moberg, index,
- &result->digital_in)) {
+ if (result && OK(moberg_digital_in_open(g_moberg.moberg, index,
+ &result->digital_in))) {
list_insert(&digital_in_list, result);
return &result->digital_in;
} else {
down();
+ if (result) { free(result); }
return NULL;
}
}
@@ -144,12 +173,13 @@ struct moberg_digital_out *moberg4simulink_digital_out_open(int index)
{
up();
struct channel *result = malloc(sizeof(*result));
- if (result && moberg_digital_out_open(g_moberg.moberg, index,
- &result->digital_out)) {
+ if (result && OK(moberg_digital_out_open(g_moberg.moberg, index,
+ &result->digital_out))) {
list_insert(&digital_out_list, result);
return &result->digital_out;
} else {
down();
+ if (result) { free(result); }
return NULL;
}
}
@@ -170,12 +200,13 @@ struct moberg_encoder_in *moberg4simulink_encoder_in_open(int index)
{
up();
struct channel *result = malloc(sizeof(*result));
- if (result && moberg_encoder_in_open(g_moberg.moberg, index,
- &result->encoder_in)) {
+ if (result && OK(moberg_encoder_in_open(g_moberg.moberg, index,
+ &result->encoder_in))) {
list_insert(&encoder_in_list, result);
return &result->encoder_in;
} else {
down();
+ if (result) { free(result); }
return NULL;
}
}
diff --git a/adaptors/matlab/moberg4simulink.h b/adaptors/matlab/moberg4simulink.h
index 2b26a67..9374697 100644
--- a/adaptors/matlab/moberg4simulink.h
+++ b/adaptors/matlab/moberg4simulink.h
@@ -1,3 +1,24 @@
+/*
+ moberg4simulink.h -- moberg interface for simulink MEX functions
+
+ Copyright (C) 2019 Anders Blomdell <anders.blomdell@gmail.com>
+
+ This file is part of Moberg.
+
+ Moberg is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+*/
+
#ifndef __MOBERG4SIMULINK_H__
#define __MOBERG4SIMULINK_H__
diff --git a/moberg.c b/moberg.c
index 34c0c41..61d4be5 100644
--- a/moberg.c
+++ b/moberg.c
@@ -1,3 +1,23 @@
+/*
+ moberg.c -- interface to moberg I/O system
+
+ Copyright (C) 2019 Anders Blomdell <anders.blomdell@gmail.com>
+
+ This file is part of Moberg.
+
+ Moberg is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+*/
#define _POSIX_C_SOURCE 200809L
#define _GNU_SOURCE /* scandirat */
@@ -10,10 +30,12 @@
#include <stdio.h>
#include <dirent.h>
#include <string.h>
+#include <errno.h>
#include <moberg.h>
#include <moberg_config.h>
-#include <moberg_parser.h>
+#include <moberg_inline.h>
#include <moberg_module.h>
+#include <moberg_parser.h>
struct moberg {
struct moberg_config *config;
@@ -144,10 +166,11 @@ static void parse_config_dir_at(
}
-static int install_channel(struct moberg *moberg,
- int index,
- struct moberg_device* device,
- struct moberg_channel *channel)
+static struct moberg_status install_channel(
+ struct moberg *moberg,
+ int index,
+ struct moberg_device* device,
+ struct moberg_channel *channel)
{
if (channel) {
struct moberg_channel *old = NULL;
@@ -201,9 +224,9 @@ static int install_channel(struct moberg *moberg,
break;
}
}
- return 1;
+ return MOBERG_OK;
err:
- return 0;
+ return MOBERG_ERRNO(ENOMEM);
}
static int install_config(struct moberg *moberg)
@@ -220,6 +243,11 @@ static int install_config(struct moberg *moberg)
}
}
+int moberg_OK(struct moberg_status status)
+{
+ return status.result == 0;
+}
+
struct moberg *moberg_new()
{
struct moberg *result = malloc(sizeof(*result));
@@ -283,146 +311,221 @@ void moberg_free(struct moberg *moberg)
/* Input/output */
-int moberg_analog_in_open(struct moberg *moberg,
- int index,
- struct moberg_analog_in *analog_in)
+struct moberg_status moberg_analog_in_open(
+ struct moberg *moberg,
+ int index,
+ struct moberg_analog_in *analog_in)
{
+ if (! analog_in) {
+ return MOBERG_ERRNO(EINVAL);
+ }
struct moberg_channel *channel = NULL;
channel_list_get(&moberg->analog_in, index, &channel);
- if (channel) {
- channel->open(channel);
- *analog_in = channel->action.analog_in;
- return 1;
+ if (! channel) {
+ return MOBERG_ERRNO(ENODEV);
+ }
+ struct moberg_status result = channel->open(channel);
+ if (! OK(result)) {
+ return result;
}
- return 0;
+ *analog_in = channel->action.analog_in;
+ return MOBERG_OK;
}
-int moberg_analog_in_close(struct moberg *moberg,
- int index,
- struct moberg_analog_in analog_in)
+struct moberg_status moberg_analog_in_close(
+ struct moberg *moberg,
+ int index,
+ struct moberg_analog_in analog_in)
{
struct moberg_channel *channel = NULL;
channel_list_get(&moberg->analog_in, index, &channel);
- if (channel && channel->action.analog_in.context == analog_in.context) {
- channel->close(channel);
+ if (! channel) {
+ return MOBERG_ERRNO(ENODEV);
}
- return 1;
+ if (channel->action.analog_in.context != analog_in.context) {
+ return MOBERG_ERRNO(EINVAL);
+ }
+ struct moberg_status result = channel->close(channel);
+ if (! OK(result)) {
+ return result;
+ }
+ return MOBERG_OK;
}
-int moberg_analog_out_open(struct moberg *moberg,
- int index,
- struct moberg_analog_out *analog_out)
+struct moberg_status moberg_analog_out_open(
+ struct moberg *moberg,
+ int index,
+ struct moberg_analog_out *analog_out)
{
+ if (! analog_out) {
+ return MOBERG_ERRNO(EINVAL);
+ }
struct moberg_channel *channel = NULL;
channel_list_get(&moberg->analog_out, index, &channel);
- if (channel) {
- channel->open(channel);
- *analog_out = channel->action.analog_out;
- return 1;
+ if (! channel) {
+ return MOBERG_ERRNO(ENODEV);
+ }
+ struct moberg_status result = channel->open(channel);
+ if (! OK(result)) {
+ return result;
}
- return 0;
+ *analog_out = channel->action.analog_out;
+ return MOBERG_OK;
}
-int moberg_analog_out_close(struct moberg *moberg,
- int index,
- struct moberg_analog_out analog_out)
+struct moberg_status moberg_analog_out_close(
+ struct moberg *moberg,
+ int index,
+ struct moberg_analog_out analog_out)
{
struct moberg_channel *channel = NULL;
channel_list_get(&moberg->analog_out, index, &channel);
- if (channel && channel->action.analog_out.context == analog_out.context) {
- channel->close(channel);
+ if (! channel) {
+ return MOBERG_ERRNO(ENODEV);
+ }
+ if (channel->action.analog_out.context != analog_out.context) {
+ return MOBERG_ERRNO(EINVAL);
}
- return 1;
+ struct moberg_status result = channel->close(channel);
+ if (! OK(result)) {
+ return result;
+ }
+ return MOBERG_OK;
}
-int moberg_digital_in_open(struct moberg *moberg,
- int index,
- struct moberg_digital_in *digital_in)
+struct moberg_status moberg_digital_in_open(
+ struct moberg *moberg,
+ int index,
+ struct moberg_digital_in *digital_in)
{
+ if (! digital_in) {
+ return MOBERG_ERRNO(EINVAL);
+ }
struct moberg_channel *channel = NULL;
channel_list_get(&moberg->digital_in, index, &channel);
- if (channel) {
- channel->open(channel);
- *digital_in = channel->action.digital_in;
- return 1;
+ if (! channel) {
+ return MOBERG_ERRNO(ENODEV);
+ }
+ struct moberg_status result = channel->open(channel);
+ if (! OK(result)) {
+ return result;
}
- return 0;
+ *digital_in = channel->action.digital_in;
+ return MOBERG_OK;
}
-int moberg_digital_in_close(struct moberg *moberg,
- int index,
- struct moberg_digital_in digital_in)
+struct moberg_status moberg_digital_in_close(
+ struct moberg *moberg,
+ int index,
+ struct moberg_digital_in digital_in)
{
struct moberg_channel *channel = NULL;
channel_list_get(&moberg->digital_in, index, &channel);
- if (channel && channel->action.digital_in.context == digital_in.context) {
- channel->close(channel);
+ if (! channel) {
+ return MOBERG_ERRNO(ENODEV);
+ }
+ if (channel->action.digital_in.context != digital_in.context) {
+ return MOBERG_ERRNO(EINVAL);
}
- return 1;
+ struct moberg_status result = channel->close(channel);
+ if (! OK(result)) {
+ return result;
+ }
+ return MOBERG_OK;
}
-int moberg_digital_out_open(struct moberg *moberg,
- int index,
- struct moberg_digital_out *digital_out)
+struct moberg_status moberg_digital_out_open(
+ struct moberg *moberg,
+ int index,
+ struct moberg_digital_out *digital_out)
{
+ if (! digital_out) {
+ return MOBERG_ERRNO(EINVAL);
+ }
struct moberg_channel *channel = NULL;
channel_list_get(&moberg->digital_out, index, &channel);
- if (channel) {
- channel->open(channel);
- *digital_out = channel->action.digital_out;
- return 1;
+ if (! channel) {
+ return MOBERG_ERRNO(ENODEV);
+ }
+ struct moberg_status result = channel->open(channel);
+ if (! OK(result)) {
+ return result;
}
- return 0;
+ *digital_out = channel->action.digital_out;
+ return MOBERG_OK;
}
-int moberg_digital_out_close(struct moberg *moberg,
- int index,
- struct moberg_digital_out digital_out)
+struct moberg_status moberg_digital_out_close(
+ struct moberg *moberg,
+ int index,
+ struct moberg_digital_out digital_out)
{
struct moberg_channel *channel = NULL;
channel_list_get(&moberg->digital_out, index, &channel);
- if (channel && channel->action.digital_out.context == digital_out.context) {
- channel->close(channel);
+ if (! channel) {
+ return MOBERG_ERRNO(ENODEV);
+ }
+ if (channel->action.digital_out.context != digital_out.context) {
+ return MOBERG_ERRNO(EINVAL);
}
- return 1;
+ struct moberg_status result = channel->close(channel);
+ if (! OK(result)) {
+ return result;
+ }
+ return MOBERG_OK;
}
-int moberg_encoder_in_open(struct moberg *moberg,
- int index,
- struct moberg_encoder_in *encoder_in)
+struct moberg_status moberg_encoder_in_open(
+ struct moberg *moberg,
+ int index,
+ struct moberg_encoder_in *encoder_in)
{
+ if (! encoder_in) {
+ return MOBERG_ERRNO(EINVAL);
+ }
struct moberg_channel *channel = NULL;
channel_list_get(&moberg->encoder_in, index, &channel);
- if (channel) {
- channel->open(channel);
- *encoder_in = channel->action.encoder_in;
- return 1;
+ if (! channel) {
+ return MOBERG_ERRNO(ENODEV);
+ }
+ struct moberg_status result = channel->open(channel);
+ if (! OK(result)) {
+ return result;
}
- return 0;
+ *encoder_in = channel->action.encoder_in;
+ return MOBERG_OK;
}
-int moberg_encoder_in_close(struct moberg *moberg,
- int index,
- struct moberg_encoder_in encoder_in)
+struct moberg_status moberg_encoder_in_close(
+ struct moberg *moberg,
+ int index,
+ struct moberg_encoder_in encoder_in)
{
struct moberg_channel *channel = NULL;
channel_list_get(&moberg->encoder_in, index, &channel);
- if (channel && channel->action.encoder_in.context == encoder_in.context) {
- channel->close(channel);
+ if (! channel) {
+ return MOBERG_ERRNO(ENODEV);
+ }
+ if (channel->action.encoder_in.context != encoder_in.context) {
+ return MOBERG_ERRNO(EINVAL);
+ }
+ struct moberg_status result = channel->close(channel);
+ if (! OK(result)) {
+ return result;
}
- return 1;
+ return MOBERG_OK;
}
/* System init functionality (systemd/init/...) */
-int moberg_start(
+struct moberg_status moberg_start(
struct moberg *moberg,
FILE *f)
{
return moberg_config_start(moberg->config, f);
}
-int moberg_stop(
+struct moberg_status moberg_stop(
struct moberg *moberg,
FILE *f)
{
diff --git a/moberg.h b/moberg.h
index 63812d4..f320d55 100644
--- a/moberg.h
+++ b/moberg.h
@@ -1,3 +1,24 @@
+/*
+ moberg.h -- interface to moberg I/O system
+
+ Copyright (C) 2019 Anders Blomdell <anders.blomdell@gmail.com>
+
+ This file is part of Moberg.
+
+ Moberg is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+*/
+
#ifndef __MOBERG_H__
#define __MOBERG_H__
@@ -5,6 +26,17 @@
struct moberg;
+/* Error reporting */
+
+struct moberg_status {
+ int result; /* == 0 -> OK
+ < 0 -> moberg specific error
+ > 0 -> system error (see errno.h */
+ struct moberg_error *error;
+};
+
+int moberg_OK(struct moberg_status);
+
/* Creation & free */
struct moberg *moberg_new();
@@ -15,76 +47,91 @@ void moberg_free(struct moberg *moberg);
struct moberg_analog_in {
struct moberg_channel_analog_in *context;
- int (*read)(struct moberg_channel_analog_in *, double *value);
+ struct moberg_status (*read)(struct moberg_channel_analog_in *,
+ double *value);
};
struct moberg_analog_out {
struct moberg_channel_analog_out *context;
- int (*write)(struct moberg_channel_analog_out *, double value);
+ struct moberg_status (*write)(struct moberg_channel_analog_out *,
+ double value);
};
struct moberg_digital_in {
struct moberg_channel_digital_in *context;
- int (*read)(struct moberg_channel_digital_in *, int *value);
+ struct moberg_status (*read)(struct moberg_channel_digital_in *,
+ int *value);
};
struct moberg_digital_out {
struct moberg_channel_digital_out *context;
- int (*write)(struct moberg_channel_digital_out *, int value);
+ struct moberg_status (*write)(struct moberg_channel_digital_out *,
+ int value);
};
struct moberg_encoder_in {
struct moberg_channel_encoder_in *context;
- int (*read)(struct moberg_channel_encoder_in *, long *value);
+ struct moberg_status (*read)(struct moberg_channel_encoder_in *,
+ long *value);
};
-int moberg_analog_in_open(struct moberg *moberg,
- int index,
- struct moberg_analog_in *analog_in);
+struct moberg_status moberg_analog_in_open(
+ struct moberg *moberg,
+ int index,
+ struct moberg_analog_in *analog_in);
-int moberg_analog_in_close(struct moberg *moberg,
- int index,
- struct moberg_analog_in analog_in);
+struct moberg_status moberg_analog_in_close(
+ struct moberg *moberg,
+ int index,
+ struct moberg_analog_in analog_in);
-int moberg_analog_out_open(struct moberg *moberg,
- int index,
- struct moberg_analog_out *analog_out);
+struct moberg_status moberg_analog_out_open(
+ struct moberg *moberg,
+ int index,
+ struct moberg_analog_out *analog_out);
-int moberg_analog_out_close(struct moberg *moberg,
- int index,
- struct moberg_analog_out analog_out);
+struct moberg_status moberg_analog_out_close(
+ struct moberg *moberg,
+ int index,
+ struct moberg_analog_out analog_out);
-int moberg_digital_in_open(struct moberg *moberg,
- int index,
- struct moberg_digital_in *digital_in);
+struct moberg_status moberg_digital_in_open(
+ struct moberg *moberg,
+ int index,
+ struct moberg_digital_in *digital_in);
-int moberg_digital_in_close(struct moberg *moberg,
- int index,
- struct moberg_digital_in digital_in);
+struct moberg_status moberg_digital_in_close(
+ struct moberg *moberg,
+ int index,
+ struct moberg_digital_in digital_in);
-int moberg_digital_out_open(struct moberg *moberg,
- int index,
- struct moberg_digital_out *digital_out);
+struct moberg_status moberg_digital_out_open(
+ struct moberg *moberg,
+ int index,
+ struct moberg_digital_out *digital_out);
-int moberg_digital_out_close(struct moberg *moberg,
- int index,
- struct moberg_digital_out digital_out);
+struct moberg_status moberg_digital_out_close(
+ struct moberg *moberg,
+ int index,
+ struct moberg_digital_out digital_out);
-int moberg_encoder_in_open(struct moberg *moberg,
- int index,
- struct moberg_encoder_in *encoder_in);
+struct moberg_status moberg_encoder_in_open(
+ struct moberg *moberg,
+ int index,
+ struct moberg_encoder_in *encoder_in);
-int moberg_encoder_in_close(struct moberg *moberg,
- int index,
- struct moberg_encoder_in encoder_in);
+struct moberg_status moberg_encoder_in_close(
+ struct moberg *moberg,
+ int index,
+ struct moberg_encoder_in encoder_in);
/* System init functionality (systemd/init/...) */
-int moberg_start(
+struct moberg_status moberg_start(
struct moberg *moberg,
FILE *f);
-int moberg_stop(
+struct moberg_status moberg_stop(
struct moberg *moberg,
FILE *f);
diff --git a/moberg.spec.template b/moberg.spec.template
index 6e3546e..a0300cf 100644
--- a/moberg.spec.template
+++ b/moberg.spec.template
@@ -80,6 +80,7 @@ cp adaptors/matlab/Makefile.mex ${RPM_BUILD_ROOT}/opt/matlab/src/moberg/Makefile
%files
%defattr(-,root,root,-)
+%{_includedir}/moberg.h
%{_libdir}/libmoberg.so
%{_libdir}/libmoberg_serial2002.so
@@ -89,7 +90,7 @@ cp adaptors/matlab/Makefile.mex ${RPM_BUILD_ROOT}/opt/matlab/src/moberg/Makefile
%files devel
%defattr(-,root,root,-)
-%{_includedir}/moberg.h
+%{_includedir}/moberg_inline.h
%files java
%defattr(-,root,root,-)
diff --git a/moberg_channel.h b/moberg_channel.h
index dab6355..2a16841 100644
--- a/moberg_channel.h
+++ b/moberg_channel.h
@@ -1,3 +1,24 @@
+/*
+ moberg_channel.h -- moberg channel interface
+
+ Copyright (C) 2019 Anders Blomdell <anders.blomdell@gmail.com>
+
+ This file is part of Moberg.
+
+ Moberg is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+*/
+
#ifndef __MOBERG_CHANNEL_H__
#define __MOBERG_CHANNEL_H__
@@ -19,8 +40,8 @@ struct moberg_channel {
int (*down)(struct moberg_channel *channel);
/* Channel open and close */
- int (*open)(struct moberg_channel *channel);
- int (*close)(struct moberg_channel *channel);
+ struct moberg_status (*open)(struct moberg_channel *channel);
+ struct moberg_status (*close)(struct moberg_channel *channel);
/* I/O operations */
enum moberg_channel_kind kind;
@@ -35,18 +56,16 @@ struct moberg_channel {
struct moberg_channel_map {
struct moberg_device *device;
- int (*map)(struct moberg_device* device,
- struct moberg_channel *channel);
+ struct moberg_status (*map)(struct moberg_device* device,
+ struct moberg_channel *channel);
};
struct moberg_channel_install {
struct moberg *context;
- int (*channel)(struct moberg *context,
- int index,
- struct moberg_device* device,
- struct moberg_channel *channel);
+ struct moberg_status (*channel)(struct moberg *context,
+ int index,
+ struct moberg_device* device,
+ struct moberg_channel *channel);
};
-
-
#endif
diff --git a/moberg_config.c b/moberg_config.c
index e4f467d..b332483 100644
--- a/moberg_config.c
+++ b/moberg_config.c
@@ -1,6 +1,30 @@
+/*
+ moberg_config.c -- moberg configuration handling
+
+ Copyright (C) 2019 Anders Blomdell <anders.blomdell@gmail.com>
+
+ This file is part of Moberg.
+
+ Moberg is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+*/
+
#include <stdlib.h>
#include <string.h>
+#include <errno.h>
+#include <moberg.h>
#include <moberg_config.h>
+#include <moberg_inline.h>
struct moberg_config
{
@@ -55,20 +79,21 @@ int moberg_config_join(struct moberg_config *dest,
return 0;
}
-int moberg_config_add_device(struct moberg_config *config,
- struct moberg_device *device)
+struct moberg_status moberg_config_add_device(struct moberg_config *config,
+ struct moberg_device *device)
{
struct device_entry *entry = malloc(sizeof(*entry));
if (! entry) { goto err; }
entry->next = NULL;
entry->device = device;
+ /* TODO_ entry->started = 0; */
*config->device_tail = entry;
config->device_tail = &entry->next;
- return 1;
+ return MOBERG_OK;
err:
- return 0;
+ return MOBERG_ERRNO(ENOMEM);
}
int moberg_config_install_channels(struct moberg_config *config,
@@ -95,21 +120,21 @@ int moberg_config_install_channels(struct moberg_config *config,
return result;
}
-int moberg_config_start(struct moberg_config *config,
- FILE *f)
+struct moberg_status moberg_config_start(struct moberg_config *config,
+ FILE *f)
{
for (struct device_entry *d = config->device_head ; d ; d = d->next) {
moberg_device_start(d->device, f);
}
- return 1;
+ return MOBERG_OK;
}
-int moberg_config_stop(struct moberg_config *config,
- FILE *f)
+struct moberg_status moberg_config_stop(struct moberg_config *config,
+ FILE *f)
{
for (struct device_entry *d = config->device_head ; d ; d = d->next) {
moberg_device_stop(d->device, f);
}
- return 1;
+ return MOBERG_OK;
}
diff --git a/moberg_config.h b/moberg_config.h
index a107d8a..986b8a5 100644
--- a/moberg_config.h
+++ b/moberg_config.h
@@ -1,3 +1,24 @@
+/*
+ moberg_config.h -- moberg configuration handling
+
+ Copyright (C) 2019 Anders Blomdell <anders.blomdell@gmail.com>
+
+ This file is part of Moberg.
+
+ Moberg is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+*/
+
#ifndef __MOBERG_CONFIG_H__
#define __MOBERG_CONFIG_H__
@@ -11,16 +32,16 @@ void moberg_config_free(struct moberg_config *config);
int moberg_config_join(struct moberg_config *dest,
struct moberg_config *src);
-int moberg_config_add_device(struct moberg_config *config,
- struct moberg_device *device);
+struct moberg_status moberg_config_add_device(struct moberg_config *config,
+ struct moberg_device *device);
int moberg_config_install_channels(struct moberg_config *config,
struct moberg_channel_install *install);
-int moberg_config_start(struct moberg_config *config,
- FILE *f);
+struct moberg_status moberg_config_start(struct moberg_config *config,
+ FILE *f);
-int moberg_config_stop(struct moberg_config *config,
- FILE *f);
+struct moberg_status moberg_config_stop(struct moberg_config *config,
+ FILE *f);
#endif
diff --git a/moberg_device.c b/moberg_device.c
index a85c71b..850d76e 100644
--- a/moberg_device.c
+++ b/moberg_device.c
@@ -1,10 +1,33 @@
+/*
+ moberg_device.c -- moberg device driver interface
+
+ Copyright (C) 2019 Anders Blomdell <anders.blomdell@gmail.com>
+
+ This file is part of Moberg.
+
+ Moberg is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+*/
+
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <dlfcn.h>
+#include <errno.h>
+#include <moberg_channel.h>
#include <moberg_config.h>
#include <moberg_device.h>
-#include <moberg_channel.h>
+#include <moberg_inline.h>
struct moberg_device {
struct moberg_device_driver driver;
@@ -97,16 +120,18 @@ int moberg_device_in_use(struct moberg_device *device)
return use > 1;
}
-int moberg_device_parse_config(struct moberg_device *device,
- struct moberg_parser_context *parser)
+struct moberg_status moberg_device_parse_config(
+ struct moberg_device *device,
+ struct moberg_parser_context *parser)
{
return device->driver.parse_config(device->device_context, parser);
}
-static int add_channel(struct moberg_device* device,
- enum moberg_channel_kind kind,
- int index,
- union channel channel)
+static struct moberg_status add_channel(
+ struct moberg_device* device,
+ enum moberg_channel_kind kind,
+ int index,
+ union channel channel)
{
struct channel_list *element = malloc(sizeof(*element));
if (! element) { goto err; }
@@ -116,33 +141,41 @@ static int add_channel(struct moberg_device* device,
element->u = channel;
*device->channel_tail = element;
device->channel_tail = &element->next;
- return 1;
+ return MOBERG_OK;
err:
- return 0;
+ return MOBERG_ERRNO(ENOMEM);
}
-static int map(struct moberg_device* device,
- struct moberg_channel *channel)
+static struct moberg_status map(
+ struct moberg_device* device,
+ struct moberg_channel *channel)
{
- int result = 0;
+ struct moberg_status result = MOBERG_ERRNO(EINVAL);
- if (device->range->kind == channel->kind &&
- device->range->min <= device->range->max) {
- result = add_channel(device, device->range->kind, device->range->min,
- (union channel) { .channel=channel });
- device->range->min++;
+ if (device->range->kind != channel->kind) {
+ return MOBERG_ERRNO(EINVAL);
}
- return result;
+ if (device->range->min > device->range->max) {
+ return MOBERG_ERRNO(ENOSPC);
+ }
+ result = add_channel(device, device->range->kind, device->range->min,
+ (union channel) { .channel=channel });
+ if (! OK(result)) {
+ return result;
+ }
+ device->range->min++;
+ return MOBERG_OK;
}
-int moberg_device_parse_map(struct moberg_device* device,
- struct moberg_parser_context *parser,
- enum moberg_channel_kind kind,
- int min,
- int max)
+struct moberg_status moberg_device_parse_map(
+ struct moberg_device* device,
+ struct moberg_parser_context *parser,
+ enum moberg_channel_kind kind,
+ int min,
+ int max)
{
- int result;
+ struct moberg_status result;
struct map_range r = {
.device=device,
.kind=kind,
@@ -178,14 +211,14 @@ int moberg_device_install_channels(struct moberg_device *device,
return 1;
}
-int moberg_device_start(struct moberg_device *device,
- FILE *f)
+struct moberg_status moberg_device_start(struct moberg_device *device,
+ FILE *f)
{
return device->driver.start(device->device_context, f);
}
-int moberg_device_stop(struct moberg_device *device,
- FILE *f)
+struct moberg_status moberg_device_stop(struct moberg_device *device,
+ FILE *f)
{
return device->driver.stop(device->device_context, f);
}
diff --git a/moberg_device.h b/moberg_device.h
index 449e243..954f694 100644
--- a/moberg_device.h
+++ b/moberg_device.h
@@ -1,3 +1,24 @@
+/*
+ moberg_device.h -- moberg device driver interface
+
+ Copyright (C) 2019 Anders Blomdell <anders.blomdell@gmail.com>
+
+ This file is part of Moberg.
+
+ Moberg is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+*/
+
#ifndef __MOBERG_DEVICE_H__
#define __MOBERG_DEVICE_H__
@@ -21,20 +42,20 @@ struct moberg_device_driver {
int (*down)(struct moberg_device_context *context);
/* Parse driver dependent parts of config file */
- int (*parse_config)(
+ struct moberg_status (*parse_config)(
struct moberg_device_context *device,
struct moberg_parser_context *parser);
- int (*parse_map)(
+ struct moberg_status (*parse_map)(
struct moberg_device_context *device,
struct moberg_parser_context *parser,
enum moberg_channel_kind kind,
struct moberg_channel_map *map);
- /* Shell commands for starting and stopping */
- int (*start)(
+ /* Write shell commands for starting and stopping to FILE *f */
+ struct moberg_status (*start)(
struct moberg_device_context *device,
FILE *f);
- int (*stop)(
+ struct moberg_status (*stop)(
struct moberg_device_context *device,
FILE *f);
@@ -49,23 +70,28 @@ void moberg_device_free(struct moberg_device *device);
int moberg_device_in_use(struct moberg_device *device);
-int moberg_device_parse_config(struct moberg_device* device,
- struct moberg_parser_context *context);
+struct moberg_status moberg_device_parse_config(
+ struct moberg_device* device,
+ struct moberg_parser_context *context);
-int moberg_device_parse_map(struct moberg_device* device,
- struct moberg_parser_context *parser,
- enum moberg_channel_kind kind,
- int min,
- int max);
+struct moberg_status moberg_device_parse_map(
+ struct moberg_device* device,
+ struct moberg_parser_context *parser,
+ enum moberg_channel_kind kind,
+ int min,
+ int max);
-int moberg_device_install_channels(struct moberg_device *device,
- struct moberg_channel_install *install);
+int moberg_device_install_channels(
+ struct moberg_device *device,
+ struct moberg_channel_install *install);
-int moberg_device_start(struct moberg_device *device,
- FILE *f);
+struct moberg_status moberg_device_start(
+ struct moberg_device *device,
+ FILE *f);
-int moberg_device_stop(struct moberg_device *device,
- FILE *f);
+struct moberg_status moberg_device_stop(
+ struct moberg_device *device,
+ FILE *f);
diff --git a/moberg_inline.h b/moberg_inline.h
new file mode 100644
index 0000000..513a9ad
--- /dev/null
+++ b/moberg_inline.h
@@ -0,0 +1,60 @@
+/*
+ moberg_inline.h -- useful short names for moberg implementation
+
+ Copyright (C) 2019 Anders Blomdell <anders.blomdell@gmail.com>
+
+ This file is part of Moberg.
+
+ Moberg is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+*/
+
+#ifndef __MOBERG_INLINE_H__
+#define __MOBERG_INLINE_H__
+
+#include <moberg.h>
+#include <moberg_module.h>
+
+/* Error handling */
+
+#define MOBERG_OK (struct moberg_status){ .result=0, .error=NULL }
+#define MOBERG_ERRNO(errno) (struct moberg_status){ .result=errno, .error=NULL }
+
+static int inline OK(struct moberg_status status)
+{
+ return moberg_OK(status);
+}
+
+/* Config file parsing */
+
+typedef enum moberg_parser_token_kind kind_t;
+typedef struct moberg_parser_token token_t;
+typedef struct moberg_parser_ident ident_t;
+typedef struct moberg_parser_context context_t;
+
+static inline int acceptsym(context_t *c,
+ kind_t kind,
+ token_t *token)
+{
+ return moberg_parser_acceptsym(c, kind, token);
+}
+
+static inline int acceptkeyword(context_t *c,
+ const char *keyword)
+{
+ return moberg_parser_acceptkeyword(c, keyword);
+}
+
+#endif
+
+
diff --git a/moberg_module.h b/moberg_module.h
index e3bf1b1..c552717 100644
--- a/moberg_module.h
+++ b/moberg_module.h
@@ -1,3 +1,24 @@
+/*
+ moberg_module.h -- moberg module interface to parser
+
+ Copyright (C) 2019 Anders Blomdell <anders.blomdell@gmail.com>
+
+ This file is part of Moberg.
+
+ Moberg is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+*/
+
#ifndef __MOBERG_MODULE_H__
#define __MOBERG_MODULE_H__
@@ -50,7 +71,7 @@ int moberg_parser_acceptkeyword(
struct moberg_parser_context *c,
const char *keyword);
-void moberg_parser_failed(
+struct moberg_status moberg_parser_failed(
struct moberg_parser_context *c,
FILE *f);
diff --git a/moberg_parser.c b/moberg_parser.c
index 9ce96cc..fb2aa76 100644
--- a/moberg_parser.c
+++ b/moberg_parser.c
@@ -1,3 +1,24 @@
+/*
+ moberg_parser.c -- moberg parser interface
+
+ Copyright (C) 2019 Anders Blomdell <anders.blomdell@gmail.com>
+
+ This file is part of Moberg.
+
+ Moberg is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+*/
+
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
@@ -5,15 +26,14 @@
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
+#include <errno.h>
+#include <moberg.h>
+#include <moberg_inline.h>
#include <moberg_config.h>
#include <moberg_parser.h>
#include <moberg_module.h>
#include <moberg_device.h>
-typedef enum moberg_parser_token_kind kind_t;
-typedef struct moberg_parser_token token_t;
-typedef struct moberg_parser_ident ident_t;
-
#define MAX_EXPECTED 10
typedef struct moberg_parser_context {
@@ -28,19 +48,6 @@ typedef struct moberg_parser_context {
} context_t;
-static inline int acceptsym(context_t *c,
- kind_t kind,
- token_t *token)
-{
- return moberg_parser_acceptsym(c, kind, token);
-}
-
-static inline int acceptkeyword(context_t *c,
- const char *keyword)
-{
- return moberg_parser_acceptkeyword(c, keyword);
-}
-
static const void nextsym_ident(context_t *c)
{
c->token.kind = tok_IDENT;
@@ -247,7 +254,7 @@ int moberg_parser_acceptkeyword(context_t *c,
return 0;
}
-void moberg_parser_failed(
+struct moberg_status moberg_parser_failed(
struct moberg_parser_context *c,
FILE *f)
{
@@ -285,6 +292,7 @@ void moberg_parser_failed(
break;
}
fprintf(f, "\n%s\n", c->p);
+ return MOBERG_ERRNO(EINVAL);
}
@@ -314,8 +322,8 @@ err:
return 0;
}
-static int parse_map(context_t *c,
- struct moberg_device *device)
+static struct moberg_status parse_map(context_t *c,
+ struct moberg_device *device)
{
enum moberg_channel_kind kind;
int min, max;
@@ -328,42 +336,45 @@ static int parse_map(context_t *c,
else { goto syntax_err; }
if (! parse_map_range(c, &min, &max)) { goto syntax_err; }
if (! acceptsym(c, tok_EQUAL, NULL)) { goto syntax_err; }
- if (! moberg_device_parse_map(device, c, kind, min, max)) {
- goto err;
- }
+ struct moberg_status result = moberg_device_parse_map(device, c,
+ kind, min, max);
+ if (! OK(result)) { return result; }
if (! acceptsym(c, tok_SEMICOLON, NULL)) { goto syntax_err; }
- return 1;
+ return MOBERG_OK;
syntax_err:
- moberg_parser_failed(c, stderr);
-err:
- return 0;
+ return moberg_parser_failed(c, stderr);
}
-static int parse_device(context_t *c,
- struct moberg_device *device)
+static struct moberg_status parse_device(context_t *c,
+ struct moberg_device *device)
{
if (! acceptsym(c, tok_LBRACE, NULL)) { goto syntax_err; }
for (;;) {
if (acceptkeyword(c, "config")) {
- moberg_device_parse_config(device, c);
+ struct moberg_status result = moberg_device_parse_config(device, c);
+ if (! OK(result)) {
+ return result;
+ }
} else if (acceptkeyword(c, "map")) {
- if (! parse_map(c, device)) { goto err; }
+ struct moberg_status result = parse_map(c, device);
+ if (! OK(result)) {
+ return result;
+ }
} else if (acceptsym(c, tok_RBRACE, NULL)) {
break;
} else {
goto syntax_err;
}
}
- return 1;
+ return MOBERG_OK;
syntax_err:
- moberg_parser_failed(c, stderr);
-err:
- return 0;
+ return moberg_parser_failed(c, stderr);
}
-static int parse(struct moberg *moberg,
- context_t *c)
+static struct moberg_status parse(struct moberg *moberg,
+ context_t *c)
{
+ struct moberg_status result = MOBERG_OK;
for (;;) {
if (acceptsym(c, tok_EOF, NULL)) {
break;
@@ -380,30 +391,34 @@ static int parse(struct moberg *moberg,
if (! name) {
fprintf(stderr, "Failed to allocate driver name '%.*s'\n",
t.u.idstr.length, t.u.idstr.value);
- goto err;
+ result = MOBERG_ERRNO(ENOMEM);
+ goto err_result;
}
device = moberg_device_new(moberg, name);
free(name);
- if (! device) { goto err; }
-
- if (! parse_device(c, device)) {
+ if (! device) {
+ result = MOBERG_ERRNO(ENOMEM);
+ goto err_result;
+ }
+ result = parse_device(c, device);
+ if (! OK(result)) {
goto device_free;
}
- if (! moberg_config_add_device(c->config, device)) {
+ result = moberg_config_add_device(c->config, device);
+ if (! OK(result)) {
goto device_free;
}
continue;
device_free:
moberg_device_free(device);
- goto err;
+ goto err_result;
}
}
- return 1;
+ return MOBERG_OK;
+err_result:
+ return result;
syntax_err:
- moberg_parser_failed(c, stderr);
- goto err;
-err:
- return 0;
+ return moberg_parser_failed(c, stderr);
}
struct moberg_config *moberg_parse(struct moberg *moberg,
@@ -417,7 +432,7 @@ struct moberg_config *moberg_parse(struct moberg *moberg,
context.buf = buf;
context.p = context.buf;
nextsym(&context);
- if (! parse(moberg, &context)) {
+ if (! OK(parse(moberg, &context))) {
moberg_config_free(context.config);
context.config = NULL;
}
diff --git a/moberg_parser.h b/moberg_parser.h
index 575f845..721c42b 100644
--- a/moberg_parser.h
+++ b/moberg_parser.h
@@ -1,3 +1,24 @@
+/*
+ moberg_parser.h -- moberg parser interface
+
+ Copyright (C) 2019 Anders Blomdell <anders.blomdell@gmail.com>
+
+ This file is part of Moberg.
+
+ Moberg is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+*/
+
#ifndef __MOBERG_PARSER_H__
#define __MOBERG_PARSER_H__
diff --git a/plugins/comedi/Makefile b/plugins/comedi/Makefile
index 5aa40f2..7a574ae 100644
--- a/plugins/comedi/Makefile
+++ b/plugins/comedi/Makefile
@@ -6,4 +6,9 @@ all: $(LIBRARIES:%=../../build/%)
../../build/libmoberg_comedi.so: comedi.c Makefile
$(CC) -o $@ $(CCFLAGS) -shared -fPIC -lcomedi -L../../build -lmoberg $<
+../../build/libmoberg_comedi.so: ../../moberg.h
+../../build/libmoberg_comedi.so: ../../moberg_config.h
+../../build/libmoberg_comedi.so: ../../moberg_device.h
+../../build/libmoberg_comedi.so: ../../moberg_inline.h
../../build/libmoberg_comedi.so: ../../moberg_module.h
+../../build/libmoberg_comedi.so: ../../moberg_parser.h
diff --git a/plugins/comedi/comedi.c b/plugins/comedi/comedi.c
index 8af55cf..423d377 100644
--- a/plugins/comedi/comedi.c
+++ b/plugins/comedi/comedi.c
@@ -1,16 +1,35 @@
-#include <moberg_config.h>
-#include <moberg_parser.h>
-#include <moberg_module.h>
-#include <moberg_device.h>
+/*
+ comedi.c -- comedi plugin for moberg
+
+ Copyright (C) 2019 Anders Blomdell <anders.blomdell@gmail.com>
+
+ This file is part of Moberg.
+
+ Moberg is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+*/
+
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
+#include <errno.h>
#include <comedilib.h>
-
-typedef enum moberg_parser_token_kind kind_t;
-typedef struct moberg_parser_token token_t;
-typedef struct moberg_parser_ident ident_t;
-typedef struct moberg_parser_context context_t;
+#include <moberg.h>
+#include <moberg_config.h>
+#include <moberg_device.h>
+#include <moberg_inline.h>
+#include <moberg_module.h>
+#include <moberg_parser.h>
struct moberg_device_context {
struct moberg *moberg;
@@ -70,26 +89,31 @@ struct moberg_channel_encoder_in {
struct moberg_channel_context channel_context;
};
-static int analog_in_read(struct moberg_channel_analog_in *analog_in,
- double *value)
+static struct moberg_status analog_in_read(
+ struct moberg_channel_analog_in *analog_in,
+ double *value)
{
- if (! value) { goto err; }
+ if (! value) { goto err_einval; }
struct channel_descriptor descriptor = analog_in->channel_context.descriptor;
lsampl_t data;
- comedi_data_read(analog_in->channel_context.device->comedi.handle,
- descriptor.subdevice,
- descriptor.subchannel,
- 0, 0, &data);
+ if (0 > comedi_data_read(analog_in->channel_context.device->comedi.handle,
+ descriptor.subdevice,
+ descriptor.subchannel,
+ 0, 0, &data)) {
+ goto err_errno;
+ }
*value = descriptor.min + data * descriptor.delta;
- return 1;
-err:
- return 0;
+ return MOBERG_OK;
+err_einval:
+ return MOBERG_ERRNO(EINVAL);
+err_errno:
+ return MOBERG_ERRNO(comedi_errno());
}
-static int analog_out_write(struct moberg_channel_analog_out *analog_out,
- double value)
+static struct moberg_status analog_out_write(
+ struct moberg_channel_analog_out *analog_out,
+ double value)
{
- if (! value) { goto err; }
struct channel_descriptor descriptor = analog_out->channel_context.descriptor;
lsampl_t data;
if (value < descriptor.min) {
@@ -104,60 +128,73 @@ static int analog_out_write(struct moberg_channel_analog_out *analog_out,
} else if (data > descriptor.maxdata) {
data = descriptor.maxdata;
}
- comedi_data_write(analog_out->channel_context.device->comedi.handle,
- descriptor.subdevice,
- descriptor.subchannel,
- 0, 0, data);
- return 1;
-err:
- return 0;
+ if (0 > comedi_data_write(analog_out->channel_context.device->comedi.handle,
+ descriptor.subdevice,
+ descriptor.subchannel,
+ 0, 0, data)) {
+ goto err_errno;
+ }
+ return MOBERG_OK;
+err_errno:
+ return MOBERG_ERRNO(comedi_errno());
}
-static int digital_in_read(struct moberg_channel_digital_in *digital_in,
- int *value)
+static struct moberg_status digital_in_read(
+ struct moberg_channel_digital_in *digital_in,
+ int *value)
{
- if (! value) { goto err; }
+ if (! value) { goto err_einval; }
struct channel_descriptor descriptor = digital_in->channel_context.descriptor;
lsampl_t data;
- comedi_data_read(digital_in->channel_context.device->comedi.handle,
- descriptor.subdevice,
- descriptor.subchannel,
- 0, 0, &data);
+ if (0 > comedi_data_read(digital_in->channel_context.device->comedi.handle,
+ descriptor.subdevice,
+ descriptor.subchannel,
+ 0, 0, &data)) {
+ goto err_errno;
+ }
*value = data;
- return 1;
-err:
- return 0;
+ return MOBERG_OK;
+err_einval:
+ return MOBERG_ERRNO(EINVAL);
+err_errno:
+ return MOBERG_ERRNO(comedi_errno());
}
-static int digital_out_write(struct moberg_channel_digital_out *digital_out,
- int value)
+static struct moberg_status digital_out_write(
+ struct moberg_channel_digital_out *digital_out,
+ int value)
{
- if (! value) { goto err; }
struct channel_descriptor descriptor = digital_out->channel_context.descriptor;
lsampl_t data = value==0?0:1;
- comedi_data_write(digital_out->channel_context.device->comedi.handle,
- descriptor.subdevice,
- descriptor.subchannel,
- 0, 0, data);
- return 1;
-err:
- return 0;
+ if (0 > comedi_data_write(digital_out->channel_context.device->comedi.handle,
+ descriptor.subdevice,
+ descriptor.subchannel,
+ 0, 0, data)) {
+ goto err_errno;
+ }
+ return MOBERG_OK;
+err_errno:
+ return MOBERG_ERRNO(comedi_errno());
}
-static int encoder_in_read(struct moberg_channel_encoder_in *encoder_in,
+static struct moberg_status encoder_in_read(struct moberg_channel_encoder_in *encoder_in,
long *value)
{
- if (! value) { goto err; }
+ if (! value) { goto err_einval; }
struct channel_descriptor descriptor = encoder_in->channel_context.descriptor;
lsampl_t data;
- comedi_data_read(encoder_in->channel_context.device->comedi.handle,
- descriptor.subdevice,
- descriptor.subchannel,
- 0, 0, &data);
+ if (0 > comedi_data_read(encoder_in->channel_context.device->comedi.handle,
+ descriptor.subdevice,
+ descriptor.subchannel,
+ 0, 0, &data)) {
+ goto err_errno;
+ }
*value = data - descriptor.maxdata / 2;
- return 1;
-err:
- return 0;
+ return MOBERG_OK;
+err_einval:
+ return MOBERG_ERRNO(EINVAL);
+err_errno:
+ return MOBERG_ERRNO(comedi_errno());
}
static struct moberg_device_context *new_context(struct moberg *moberg,
@@ -214,29 +251,32 @@ static int device_down(struct moberg_device_context *device)
return result;
}
-static int device_open(struct moberg_device_context *device)
+static struct moberg_status device_open(struct moberg_device_context *device)
{
if (device->comedi.count == 0) {
device->comedi.handle = comedi_open(device->name);
if (device->comedi.handle == NULL) {
- goto err;
+ goto err_errno;
}
}
device->comedi.count++;
- return 1;
-err:
+ return MOBERG_OK;
+err_errno:
fprintf(stderr, "Failed to open %s\n", device->name);
- return 0;
+ return MOBERG_ERRNO(errno);
}
-static int device_close(struct moberg_device_context *device)
+static struct moberg_status device_close(struct moberg_device_context *device)
{
device->comedi.count--;
if (device->comedi.count == 0) {
- comedi_close(device->comedi.handle);
+ if (comedi_close(device->comedi.handle)) {
+ goto err_errno;
+ }
}
-
- return 1;
+ return MOBERG_OK;
+err_errno:
+ return MOBERG_ERRNO(errno);
}
static int channel_up(struct moberg_channel *channel)
@@ -257,10 +297,11 @@ static int channel_down(struct moberg_channel *channel)
return channel->context->use_count;
}
-static int channel_open(struct moberg_channel *channel)
+static struct moberg_status channel_open(struct moberg_channel *channel)
{
+ struct moberg_status result = device_open(channel->context->device);
+ if (! OK(result)) { goto err_result; }
channel_up(channel);
- if (! device_open(channel->context->device)) { goto err; }
lsampl_t maxdata;
comedi_range *range;
@@ -277,29 +318,33 @@ static int channel_open(struct moberg_channel *channel)
channel->context->device->name,
channel->context->descriptor.subdevice,
channel->context->descriptor.subchannel);
- goto err;
+ goto err_enodata;
}
if (! range) {
fprintf(stderr, "Failed to get range for %s[%d][%d]\n",
channel->context->device->name,
channel->context->descriptor.subdevice,
channel->context->descriptor.subchannel);
- goto err;
+ goto err_enodata;
}
channel->context->descriptor.maxdata = maxdata;
channel->context->descriptor.min = range->min;
channel->context->descriptor.max = range->max;
channel->context->descriptor.delta = (range->max - range->min) / maxdata;
if (channel->kind == chan_DIGITALIN) {
- comedi_dio_config(channel->context->device->comedi.handle,
- channel->context->descriptor.subdevice,
- channel->context->descriptor.subchannel,
- 0);
+ if (comedi_dio_config(channel->context->device->comedi.handle,
+ channel->context->descriptor.subdevice,
+ channel->context->descriptor.subchannel,
+ 0)) {
+ goto err_errno;
+ }
} else if (channel->kind == chan_DIGITALOUT) {
- comedi_dio_config(channel->context->device->comedi.handle,
- channel->context->descriptor.subdevice,
- channel->context->descriptor.subchannel,
- 1);
+ if(comedi_dio_config(channel->context->device->comedi.handle,
+ channel->context->descriptor.subdevice,
+ channel->context->descriptor.subchannel,
+ 1)) {
+ goto err_errno;
+ }
}
if (channel->context->descriptor.route != -1) {
comedi_insn insn;
@@ -312,18 +357,27 @@ static int channel_open(struct moberg_channel *channel)
insn.n = sizeof(data) / sizeof(data[0]);
data[0] = INSN_CONFIG_SET_ROUTING;
data[1] = channel->context->descriptor.route;
- comedi_do_insn(channel->context->device->comedi.handle, &insn);
+ if (comedi_do_insn(channel->context->device->comedi.handle, &insn)) {
+ goto err_errno;
+ }
}
- return 1;
-err:
- return 0;
+ return MOBERG_OK;
+err_errno:
+ return MOBERG_ERRNO(errno);
+err_enodata:
+ return MOBERG_ERRNO(ENODATA);
+err_result:
+ return result;
}
-static int channel_close(struct moberg_channel *channel)
+static struct moberg_status channel_close(struct moberg_channel *channel)
{
- device_close(channel->context->device);
channel_down(channel);
- return 1;
+ struct moberg_status result = device_close(channel->context->device);
+ if (! OK(result)) { goto err_result; }
+ return MOBERG_OK;
+err_result:
+ return result;
}
static void init_channel(struct moberg_channel *channel,
@@ -348,57 +402,47 @@ static void init_channel(struct moberg_channel *channel,
channel->action = action;
};
-static inline int acceptsym(context_t *c,
- kind_t kind,
- token_t *token)
-{
- return moberg_parser_acceptsym(c, kind, token);
-}
-
-static inline int acceptkeyword(context_t *c,
- const char *keyword)
-{
- return moberg_parser_acceptkeyword(c, keyword);
-}
-
-static int append_modprobe(struct moberg_device_context *device,
- token_t token)
+static struct moberg_status append_modprobe(
+ struct moberg_device_context *device,
+ token_t token)
{
struct idstr *modprobe = malloc(sizeof(*modprobe));
- if (! modprobe) { goto err; }
+ if (! modprobe) { goto err_enomem; }
modprobe->value = strndup(token.u.idstr.value, token.u.idstr.length);
if (! modprobe->value) { goto free_modprobe; }
modprobe->prev = device->modprobe_list.prev;
modprobe->next = modprobe->prev->next;
modprobe->prev->next = modprobe;
modprobe->next->prev = modprobe;
- return 1;
+ return MOBERG_OK;
free_modprobe:
free(modprobe);
-err:
- return 0;
+err_enomem:
+ return MOBERG_ERRNO(ENOMEM);
}
-
-static int append_config(struct moberg_device_context *device,
- token_t token)
+
+static struct moberg_status append_config(
+ struct moberg_device_context *device,
+ token_t token)
{
struct idstr *config = malloc(sizeof(*config));
- if (! config) { goto err; }
+ if (! config) { goto err_enomem; }
config->value = strndup(token.u.idstr.value, token.u.idstr.length);
if (! config->value) { goto free_config; }
config->prev = device->config_list.prev;
config->next = config->prev->next;
config->prev->next = config;
config->next->prev = config;
- return 1;
+ return MOBERG_OK;
free_config:
free(config);
-err:
- return 0;
+err_enomem:
+ return MOBERG_ERRNO(ENOMEM);
}
-static int parse_config(struct moberg_device_context *device,
- struct moberg_parser_context *c)
+static struct moberg_status parse_config(
+ struct moberg_device_context *device,
+ struct moberg_parser_context *c)
{
if (! acceptsym(c, tok_LBRACE, NULL)) { goto syntax_err; }
for (;;) {
@@ -410,6 +454,7 @@ static int parse_config(struct moberg_device_context *device,
if (! acceptsym(c, tok_STRING, &name)) { goto syntax_err; }
if (! acceptsym(c, tok_SEMICOLON, NULL)) { goto syntax_err; }
device->name = strndup(name.u.idstr.value, name.u.idstr.length);
+ if (! device->name) { goto err_enomem; }
} else if (acceptkeyword(c, "config")) {
if (! acceptsym(c, tok_EQUAL, NULL)) { goto syntax_err; }
if (! acceptsym(c, tok_LBRACKET, NULL)) { goto syntax_err; }
@@ -444,33 +489,35 @@ static int parse_config(struct moberg_device_context *device,
goto syntax_err;
}
}
- return 1;
+ return MOBERG_OK;
+err_enomem:
+ return MOBERG_ERRNO(ENOMEM);
syntax_err:
- moberg_parser_failed(c, stderr);
- return 0;
+ return moberg_parser_failed(c, stderr);
}
-static int parse_map(struct moberg_device_context *device,
- struct moberg_parser_context *c,
- enum moberg_channel_kind kind,
- struct moberg_channel_map *map)
+static struct moberg_status parse_map(
+ struct moberg_device_context *device,
+ struct moberg_parser_context *c,
+ enum moberg_channel_kind kind,
+ struct moberg_channel_map *map)
{
token_t min, max, route={ .u.integer.value=-1 };
- if (! acceptsym(c, tok_LBRACE, NULL)) { goto err; }
+ if (! acceptsym(c, tok_LBRACE, NULL)) { goto syntax_err; }
for (;;) {
token_t subdevice;
- if (! acceptkeyword(c, "subdevice") != 0) { goto err; }
- if (! acceptsym(c, tok_LBRACKET, NULL)) { goto err; }
- if (! acceptsym(c, tok_INTEGER, &subdevice)) { goto err; }
- if (! acceptsym(c, tok_RBRACKET, NULL)) { goto err; }
+ if (! acceptkeyword(c, "subdevice") != 0) { goto syntax_err; }
+ if (! acceptsym(c, tok_LBRACKET, NULL)) { goto syntax_err; }
+ if (! acceptsym(c, tok_INTEGER, &subdevice)) { goto syntax_err; }
+ if (! acceptsym(c, tok_RBRACKET, NULL)) { goto syntax_err; }
if (acceptkeyword(c, "route")) {
- if (! acceptsym(c, tok_INTEGER, &route)) { goto err; }
+ if (! acceptsym(c, tok_INTEGER, &route)) { goto syntax_err; }
}
- if (! acceptsym(c, tok_LBRACKET, NULL)) { goto err; }
- if (! acceptsym(c, tok_INTEGER, &min)) { goto err; }
+ if (! acceptsym(c, tok_LBRACKET, NULL)) { goto syntax_err; }
+ if (! acceptsym(c, tok_INTEGER, &min)) { goto syntax_err; }
if (acceptsym(c, tok_COLON, NULL)) {
- if (! acceptsym(c, tok_INTEGER, &max)) { goto err; }
+ if (! acceptsym(c, tok_INTEGER, &max)) { goto syntax_err; }
} else {
max = min;
}
@@ -485,105 +532,96 @@ static int parse_map(struct moberg_device_context *device,
};
switch (kind) {
case chan_ANALOGIN: {
- struct moberg_channel_analog_in *channel =
- malloc(sizeof(*channel));
+ struct moberg_channel_analog_in *channel = malloc(sizeof(*channel));
- if (channel) {
- init_channel(&channel->channel,
- channel,
- &channel->channel_context,
- device,
- descriptor,
- kind,
- (union moberg_channel_action) {
- .analog_in.context=channel,
- .analog_in.read=analog_in_read });
- map->map(map->device, &channel->channel);
- }
+ if (! channel) { goto err_enomem; }
+ init_channel(&channel->channel,
+ channel,
+ &channel->channel_context,
+ device,
+ descriptor,
+ kind,
+ (union moberg_channel_action) {
+ .analog_in.context=channel,
+ .analog_in.read=analog_in_read });
+ map->map(map->device, &channel->channel);
} break;
case chan_ANALOGOUT: {
- struct moberg_channel_analog_out *channel =
- malloc(sizeof(*channel));
+ struct moberg_channel_analog_out *channel = malloc(sizeof(*channel));
- if (channel) {
- init_channel(&channel->channel,
- channel,
- &channel->channel_context,
- device,
- descriptor,
- kind,
- (union moberg_channel_action) {
- .analog_out.context=channel,
- .analog_out.write=analog_out_write });
- map->map(map->device, &channel->channel);
- }
+ if (! channel) { goto err_enomem; }
+ init_channel(&channel->channel,
+ channel,
+ &channel->channel_context,
+ device,
+ descriptor,
+ kind,
+ (union moberg_channel_action) {
+ .analog_out.context=channel,
+ .analog_out.write=analog_out_write });
+ map->map(map->device, &channel->channel);
} break;
case chan_DIGITALIN: {
- struct moberg_channel_digital_in *channel =
- malloc(sizeof(*channel));
+ struct moberg_channel_digital_in *channel = malloc(sizeof(*channel));
- if (channel) {
- init_channel(&channel->channel,
- channel,
- &channel->channel_context,
- device,
- descriptor,
- kind,
- (union moberg_channel_action) {
- .digital_in.context=channel,
- .digital_in.read=digital_in_read });
- map->map(map->device, &channel->channel);
- }
+ if (!channel) { goto err_enomem; }
+ init_channel(&channel->channel,
+ channel,
+ &channel->channel_context,
+ device,
+ descriptor,
+ kind,
+ (union moberg_channel_action) {
+ .digital_in.context=channel,
+ .digital_in.read=digital_in_read });
+ map->map(map->device, &channel->channel);
} break;
case chan_DIGITALOUT: {
- struct moberg_channel_digital_out *channel =
- malloc(sizeof(*channel));
+ struct moberg_channel_digital_out *channel = malloc(sizeof(*channel));
- if (channel) {
- init_channel(&channel->channel,
- channel,
- &channel->channel_context,
- device,
- descriptor,
- kind,
- (union moberg_channel_action) {
- .digital_out.context=channel,
- .digital_out.write=digital_out_write });
- map->map(map->device, &channel->channel);
- }
+ if (!channel) { goto err_enomem; }
+ init_channel(&channel->channel,
+ channel,
+ &channel->channel_context,
+ device,
+ descriptor,
+ kind,
+ (union moberg_channel_action) {
+ .digital_out.context=channel,
+ .digital_out.write=digital_out_write });
+ map->map(map->device, &channel->channel);
} break;
case chan_ENCODERIN: {
- struct moberg_channel_encoder_in *channel =
- malloc(sizeof(*channel));
+ struct moberg_channel_encoder_in *channel = malloc(sizeof(*channel));
- if (channel) {
- init_channel(&channel->channel,
- channel,
- &channel->channel_context,
- device,
- descriptor,
- kind,
- (union moberg_channel_action) {
- .encoder_in.context=channel,
- .encoder_in.read=encoder_in_read });
- map->map(map->device, &channel->channel);
- }
+ if (! channel) { goto err_enomem; }
+ init_channel(&channel->channel,
+ channel,
+ &channel->channel_context,
+ device,
+ descriptor,
+ kind,
+ (union moberg_channel_action) {
+ .encoder_in.context=channel,
+ .encoder_in.read=encoder_in_read });
+ map->map(map->device, &channel->channel);
} break;
}
}
- if (! acceptsym(c, tok_RBRACKET, NULL)) { goto err; }
+ if (! acceptsym(c, tok_RBRACKET, NULL)) { goto syntax_err; }
if (! acceptsym(c, tok_COMMA, NULL)) { break; }
}
- if (! acceptsym(c, tok_RBRACE, NULL)) { goto err; }
- return 1;
-err:
- moberg_parser_failed(c, stderr);
- return 0;
+ if (! acceptsym(c, tok_RBRACE, NULL)) { goto syntax_err; }
+ return MOBERG_OK;
+err_enomem:
+ return MOBERG_ERRNO(ENOMEM);
+syntax_err:
+ return moberg_parser_failed(c, stderr);
}
-static int start(struct moberg_device_context *device,
- FILE *f)
+static struct moberg_status start(struct moberg_device_context *device,
+ FILE *f)
{
for (struct idstr *e = device->modprobe_list.next ;
e != &device->modprobe_list ;
@@ -604,11 +642,11 @@ static int start(struct moberg_device_context *device,
}
fprintf(f, "\n");
- return 1;
+ return MOBERG_OK;
}
-static int stop(struct moberg_device_context *device,
- FILE *f)
+static struct moberg_status stop(struct moberg_device_context *device,
+ FILE *f)
{
fprintf(f, "comedi_config --remove %s\n", device->name);
for (struct idstr *e = device->modprobe_list.prev ;
@@ -616,7 +654,7 @@ static int stop(struct moberg_device_context *device,
e = e->prev) {
fprintf(f, "rmmod %s\n", e->value);
}
- return 1;
+ return MOBERG_OK;
}
struct moberg_device_driver moberg_device_driver = {
diff --git a/plugins/serial2002/serial2002.c b/plugins/serial2002/serial2002.c
index 5674770..06c8176 100644
--- a/plugins/serial2002/serial2002.c
+++ b/plugins/serial2002/serial2002.c
@@ -1,14 +1,34 @@
-#include <moberg_config.h>
-#include <moberg_parser.h>
-#include <moberg_module.h>
-#include <moberg_device.h>
+/*
+ serial2002.c -- serial2002 plugin for moberg
+
+ Copyright (C) 2019 Anders Blomdell <anders.blomdell@gmail.com>
+
+ This file is part of Moberg.
+
+ Moberg is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+*/
+
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
-
-typedef enum moberg_parser_token_kind kind_t;
-typedef struct moberg_parser_token token_t;
-typedef struct moberg_parser_context context_t;
+#include <errno.h>
+#include <moberg.h>
+#include <moberg_config.h>
+#include <moberg_device.h>
+#include <moberg_inline.h>
+#include <moberg_module.h>
+#include <moberg_parser.h>
struct moberg_device_context {
struct moberg *moberg;
@@ -122,20 +142,7 @@ static void init_channel(
channel->action = action;
};
-static inline int acceptsym(context_t *c,
- kind_t kind,
- token_t *token)
-{
- return moberg_parser_acceptsym(c, kind, token);
-}
-
-static inline int acceptkeyword(context_t *c,
- const char *keyword)
-{
- return moberg_parser_acceptkeyword(c, keyword);
-}
-
-static int parse_config(
+static struct moberg_status parse_config(
struct moberg_device_context *device,
struct moberg_parser_context *c)
{
@@ -149,6 +156,7 @@ static int parse_config(
if (! acceptsym(c, tok_STRING, &name)) { goto syntax_err; }
if (! acceptsym(c, tok_SEMICOLON, NULL)) { goto syntax_err; }
device->name = strndup(name.u.idstr.value, name.u.idstr.length);
+ if (! device->name) { goto err_enomem; }
} else if (acceptkeyword(c, "baud")) {
token_t baud;
if (! acceptsym(c, tok_EQUAL, NULL)) { goto syntax_err; }
@@ -159,13 +167,14 @@ static int parse_config(
goto syntax_err;
}
}
- return 1;
+ return MOBERG_OK;
+err_enomem:
+ return MOBERG_ERRNO(ENOMEM);
syntax_err:
- moberg_parser_failed(c, stderr);
- return 0;
+ return moberg_parser_failed(c, stderr);
}
-static int parse_map(
+static struct moberg_status parse_map(
struct moberg_device_context *device,
struct moberg_parser_context *c,
enum moberg_channel_kind ignore,
@@ -191,103 +200,94 @@ static int parse_map(
for (int i = min.u.integer.value ; i <= max.u.integer.value ; i++) {
switch (kind) {
case chan_ANALOGIN: {
- struct moberg_channel_analog_in *channel =
- malloc(sizeof(*channel));
-
- if (channel) {
- init_channel(&channel->channel,
- channel,
- &channel->channel_context,
- device,
- kind,
- (union moberg_channel_action) {
- .analog_in.context=channel,
- .analog_in.read=NULL });
- map->map(map->device, &channel->channel);
- }
+ struct moberg_channel_analog_in *channel = malloc(sizeof(*channel));
+
+ if (! channel) { goto err_enomem; }
+ init_channel(&channel->channel,
+ channel,
+ &channel->channel_context,
+ device,
+ kind,
+ (union moberg_channel_action) {
+ .analog_in.context=channel,
+ .analog_in.read=NULL });
+ map->map(map->device, &channel->channel);
} break;
case chan_ANALOGOUT: {
- struct moberg_channel_analog_out *channel =
- malloc(sizeof(*channel));
+ struct moberg_channel_analog_out *channel = malloc(sizeof(*channel));
- if (channel) {
- init_channel(&channel->channel,
- channel,
- &channel->channel_context,
- device,
- kind,
- (union moberg_channel_action) {
- .analog_out.context=channel,
- .analog_out.write=NULL });
- map->map(map->device, &channel->channel);
- }
+ if (! channel) { goto err_enomem; }
+ init_channel(&channel->channel,
+ channel,
+ &channel->channel_context,
+ device,
+ kind,
+ (union moberg_channel_action) {
+ .analog_out.context=channel,
+ .analog_out.write=NULL });
+ map->map(map->device, &channel->channel);
} break;
case chan_DIGITALIN: {
- struct moberg_channel_digital_in *channel =
- malloc(sizeof(*channel));
-
- if (channel) {
- init_channel(&channel->channel,
- channel,
- &channel->channel_context,
- device,
- kind,
- (union moberg_channel_action) {
- .digital_in.context=channel,
+ struct moberg_channel_digital_in *channel = malloc(sizeof(*channel));
+
+ if (! channel) { goto err_enomem; }
+ init_channel(&channel->channel,
+ channel,
+ &channel->channel_context,
+ device,
+ kind,
+ (union moberg_channel_action) {
+ .digital_in.context=channel,
.digital_in.read=NULL });
- map->map(map->device, &channel->channel);
- }
+ map->map(map->device, &channel->channel);
} break;
case chan_DIGITALOUT: {
- struct moberg_channel_digital_out *channel =
- malloc(sizeof(*channel));
-
- if (channel) {
- init_channel(&channel->channel,
- channel,
- &channel->channel_context,
- device,
- kind,
- (union moberg_channel_action) {
- .digital_out.context=channel,
- .digital_out.write=NULL });
- map->map(map->device, &channel->channel);
- }
+ struct moberg_channel_digital_out *channel = malloc(sizeof(*channel));
+
+ if (! channel) { goto err_enomem; }
+ init_channel(&channel->channel,
+ channel,
+ &channel->channel_context,
+ device,
+ kind,
+ (union moberg_channel_action) {
+ .digital_out.context=channel,
+ .digital_out.write=NULL });
+ map->map(map->device, &channel->channel);
} break;
case chan_ENCODERIN: {
- struct moberg_channel_encoder_in *channel =
- malloc(sizeof(*channel));
+ struct moberg_channel_encoder_in *channel = malloc(sizeof(*channel));
- if (channel) {
- init_channel(&channel->channel,
- channel,
- &channel->channel_context,
- device,
- kind,
- (union moberg_channel_action) {
- .encoder_in.context=channel,
- .encoder_in.read=NULL });
- map->map(map->device, &channel->channel);
- }
+ if (! channel) { goto err_enomem; }
+ init_channel(&channel->channel,
+ channel,
+ &channel->channel_context,
+ device,
+ kind,
+ (union moberg_channel_action) {
+ .encoder_in.context=channel,
+ .encoder_in.read=NULL });
+ map->map(map->device, &channel->channel);
} break;
}
}
- return 1;
+ return MOBERG_OK;
+err_enomem:
+ return MOBERG_ERRNO(ENOMEM);
syntax_err:
- moberg_parser_failed(c, stderr);
- return 0;
+ return moberg_parser_failed(c, stderr);
}
-static int start(struct moberg_device_context *device,
- FILE *f)
+static struct moberg_status start(struct moberg_device_context *device,
+ FILE *f)
{
- return 1;
+ return MOBERG_OK;
}
-static int stop(struct moberg_device_context *device,
- FILE *f)
+static struct moberg_status stop(struct moberg_device_context *device,
+ FILE *f)
{
- return 1;
+ return MOBERG_OK;
}
struct moberg_device_driver moberg_device_driver = {
diff --git a/test/Makefile b/test/Makefile
index c8ff506..10abd01 100644
--- a/test/Makefile
+++ b/test/Makefile
@@ -24,3 +24,4 @@ build:
clean:
rm -f vgcore.* *~
+ rm -rf build
diff --git a/test/test_c.c b/test/test_c.c
deleted file mode 100644
index 0233e50..0000000
--- a/test/test_c.c
+++ /dev/null
@@ -1,9 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <moberg.h>
-
-int main(int argc, char *argv[])
-{
- const struct moberg_t *moberg = moberg_init();
- free((struct moberg_t*) moberg);
-}
diff --git a/test/test_io.c b/test/test_io.c
index 4e0def3..09ca9fe 100644
--- a/test/test_io.c
+++ b/test/test_io.c
@@ -6,8 +6,12 @@ int main(int argc, char *argv[])
struct moberg *moberg = moberg_new(NULL);
struct moberg_analog_in ai0;
double ai0_value;
- moberg_analog_in_open(moberg, 0, &ai0);
- ai0.read(ai0.context, &ai0_value);
+ if (! moberg_OK(moberg_analog_in_open(moberg, 0, &ai0))) {
+ fprintf(stderr, "OPEN failed\n");
+ }
+ if (! moberg_OK(ai0.read(ai0.context, &ai0_value))) {
+ fprintf(stderr, "READ failed\n");
+ }
fprintf(stderr, "READ ai0: %f\n", ai0_value);
moberg_analog_in_close(moberg, 0, ai0);
moberg_free(moberg);
--
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