Power PMAC Comms Library Manual
Contents
1. 31 March 2015 12 Delta Tau Power PMAC Communications Library Manual V1 3 If the libssh2 files are moved these environment variables should be defined appropriately before Visual Studio is started Instructions for this operation are given in the Appendix 8 3 Communications Library Build and Install Start Visual Studio C and select the desired solution file called libPowerPMACcontrol This will be found in the folder msvc 10 0 The solution file contains 3 projects 1 Project libPowerPMACcontrol_Shared This project builds the Power PMAC communications library as a DLL shared library The output binary file is libPowerPMACcontrol dll 2 Project PowerPMACShell This project builds the Power PMAC command shell test application The output executable file is PowerPMACShell exe 3 Project testPowerPMACcontrolLib This project builds the Power PMAC communications library test application The output executable file is testPowerPMACcontrolLib exe Using Visual Studio C each project is built by selecting the Build option from the pull down menu The Visual Studio Output pane should show successful builds The DLL should be built first before the executables 31 March 2015 13 Delta Tau Power PMAC Communications Library Manual V1 3 9 Running the Test Applications Once the system has successfully built the test applications can be used to ensure a connection to the Power PMAC can be made and that commands2. 10 0 8 2 Using libssh2 The Power PMAC communications library uses the libssh2 library to provide connections using the SSH protocol Building libssh2 from source using Visual Studio can be a complex procedure and is not described here Only a limited set of libssh2 pre built Windows binaries are available on the Internet and the required version 1 4 3 is not currently provided To avoid having to build libssh2 locally prebuilt DLLs and include file for libssh2 V1 4 3 are provided for the convenience of Windows users The files are provided in the folder libssh2 Sub folders are e dll DLLs and import library lib files for libssh2 Note that 3 DLLs are required to use libssh2 libssh2 libeay32 zlibl e include libssh2 header file libssh2 h These files are used by Visual Studio during builds The compiler and linker will search for these files in the location in which they are supplied so if they are not moved no additional configuration is required However these files may be moved to a different location if desired for example it might be convenient if the DLL and library files are located in a folder on the Windows standard search path for DLLs e g the Windows system directory In this case Windows environment variables are used to define the location of these files as follows SSH2 INCLUDE The folder containing the file libssh2 h SSH2 LIB The folder containing the DLL and associated import library lib files
3. are correctly executed The test application executables are located in the main directory on Linux or on Windows in the folder bin msvc 10 0 Under Windows running the test applications requires the DLLs to be in your DLL search path The DLLs are PowerPMACcontrolLib libssh2 libeay32 and zlibl This may require modifying the Path environment variable to add the paths to the DLL location folder s Please see the Appendix for a guide to editing environment variables The test applications are as follows 1 PowerPMACShell This is a simple console application which provides a command prompt at which any Power PMAC command can be sent as a string The reply received if any from the power PMAC is displayed Type quit to exit 2 testPowerPMACcontrolLib This is a simple console application which allows all functions in the Power PMAC communications library to be tested Two terminal based menus are displayed selected at the initial prompt 1 for Controller oriented functions and 2 for axis Co ordinate system oriented functions The desired function from that menu is selected by entering the appropriate number Any required parameters are prompted for Hit Enter to re display the menu after a function test Exit the program by entering your selection as 0 Both of these applications accept the following command line arguments Argument Description Default value ip IP ADDRESS Attempt to connect to
4. as 7 5 2 Windows Operating Systems ae eee tees idees tuae Fera e oap ee oeuvre edo Pee lee og 7 6 Source Code e en in HO ted deco uite SaS 8 T 4 Erg clue ee xS 9 7 1 libsshZ Install from Source qus obses tb uos tutto s pd abi tva du sce tae 9 7 1 1 libssh2 Install using Linux Package Manager eee 9 7 2 Communications Library Build and Install sees 10 7 3 Additional Test Applications for Linux Operating Systems 10 8 AMandows InstallattONi auci eoo Peetio ects con deo betae EE ESTES apei 12 8 1 Fil s provided Sos etus Susi oe i ete diva pd adiuti etu nfi sabia doi edo x TS 12 8 2 Using NDSSD2 sc aciveasscceessecstiscasnsiaversasaishaveisaavasaceisdecaeea EE A TES ATS 12 8 3 Communications Library Build and Install sess 13 9 Running the Test Agia CA ONS o4 d radi oon ety dioe e ess esos 14 10 Detailed Library Documentation essere enne 15 Appendix Editing Windows Environment Variables ees 15 31 March 2015 3 Delta Tau Power PMAC Communications Library Manual V1 3 1 Scope This document describes the installation and use of the Communications software library for the Delta Tau Power PMAC motion controller It includes a description of the hardware and software environments with which the library can be used It does not include detailed descriptions of the individual func
5. the Power 192 168 0 48 PMAC at IP address IP_ADDRESS user USERNAME Log in to the Power PMAC with user root name USERNAME passw PASSWORD Login password for user USERNAME deltatau on the Power PMAC port SSH PORT Attempt to connect to port PORT on 22 the Power PMAC nominus2 When this argument is used gpascil 2 communication with the Power will be sent PMAC will be started with the command gpascii Otherwise the command gpascii 2 will be used 31 March 2015 14 Delta Tau Power PMAC Communications Library Manual V1 3 10 Detailed Library Documentation Detailed documentation for the library including a description of all methods in the class PowerPMACcontrol can be automatically generated by running the Doxygen utility under Linux or Windows The generated documentation files in html format will be created in the folder called html The file index html contains the main page Appendix Editing Windows Environment Variables This section describes how to add an environment variable in Windows 7 e g variable named Path 1 To open the Environment Variables dialog a Click on the Start menu right click on Computer and select Properties The System window opens b From the menu on the left hand side select Advanced System Settings This opens the System Properties dialog at the Advanced tab c From the bottom of this dialog click the button labelled Environment Variables to open the Environmen
6. CControl class which provides the library functions to communicate with the Power PMAC libssh2Driver Header file h and C code cpp Provides a set of functions to connect read and write using the SSH protocol This is a wrapper for the low level libssh2 library powerPMACShell C code cpp This application provides a simple command shell for a Power PMAC This enables any command to be sent to a Power PMAC from a remote terminal testPowerPMACcontrolLib C code cpp This command line test application enables testing of any of the functions in the Power PMAC control library Simple terminal based menus provide a way to select the function to be used with interactive input prompted for required parameters argParser Header file h and C code cpp Provides common functions enabling the test programs to accept command line arguments for the Power PMAC connection parameters as described in Section 9 Doxyfile Configuration file used with the Doxygen utility to automatically create documentation 31 March 2015 8 Delta Tau Power PMAC Communications Library Manual V1 3 7 Linux Installation This section covers building and installation of the communications library for the Power PMAC on a Linux operating system 7 1 libssh2 Install from Source The lower level driver class provided called libssh2Driver requires an external library to be installed on the system to handle SSH encry
7. MAC Communications Library Manual V1 3 test isConnected_test C code cpp A small test program which calls powerPMACcontrol_isConnected at 1 Hz in order to test the effect on this function of disrupting the SSH connection isConnected test accepts the command line arguments described in Section 9 test timeout test C code cpp A small test program to check the correct operation of the functions which get and set the length of the communications timeout for the library A number of test cases are checked for the expected outcome timeout test accepts the command line arguments described in Section 9 31 March 2015 11 Delta Tau Power PMAC Communications Library Manual V1 3 8 Windows Installation This section covers building and installation of the communications library for the Power PMAC on a Windows 7 operating system using Visual Studio C 2010 8 1 Files provided The released package is provided as a Zip archive file The files should be extracted from this archive and placed into a suitable directory In the top level directory you will see the files as described in the table in Section 6 above The following folders are additionally provided to enable building under Windows using Visual Studio C Folder name Description lilbssh2 DLLs and include files for libssh2 See Section 8 2 below msvc Contains Visual Studio project files for Visual Studio 2010 in the subfolder named
8. TA ga TAU Delta Tau Power PMAC Communications Library Manual Issue 1 3 Date 31 March 2015 SIGNATURE Prepared by Philip Taylor Observatory Sciences Ltd 21 March 2013 7 b leg hi uw e Andrew Wilson Observatory Sciences Ltd 10 September 2014 y ideeve Wi son Checked by Alastair Borrowman Que Observatory Sciences Ltd 10 September 2014 F amp Released by Andrew Wilson Observatory Sciences Ltd 10 September 2014 Delta Tau Power PMAC Communications Library Manual V1 3 Revision History Remon Authors Date Reason for Issue Description of Changes Number 1 0 PBT AAW 10 Sep 2014 Initial release L1 AAW 17 Feb 2015 Library release 1 1 Describe command line arguments for test applications 1 2 AAW 17 Mar 2015 Library release 1 2 13 AAW 31 Mar 2015 Update for library release 1 3 describe Linux test programs 31 March 2015 2 Delta Tau Power PMAC Communications Library Manual V1 3 TABLE OF CONTENTS PSCC sie Sars on te iereeaaasavs atttem utt MS Sete teca OD DM ae ee 4 2 Reference Documents siue ie ania aaa cena 4 J Introduct oir cuo i e e ee dee 5 PURSUITS mellis ac chup eot eb atus keomo coe ec Ut E EE me bae d 6 4 1 Hardware Requirements ee atn er ii esa e RES dde 6 4 2 Software Require mmebllss ode coit Oi isis Sae ini a nd bu Eee E aug 6 3 Supported Platf orse eeen Aa creed ten cadeau ote quete Os 7 5 1 Lunix Operating Systems ee aod e
9. and line to build the Power PMAC communication library and the two test applications The library and test application executables will be created in the main directory Two library files will be created the static a file and shared library SO file If you wish to install the library and include files into a different system area then issue the command make install The default install location is usr local so the command will have to be issued as the superuser This will install the library a and so and h files in the lib and include directory below that defined as INSTALL DIR in the Makefile Edit the Makefile definition if you wish to install to a different location to the specified default usr local 7 3 Additional Test Applications for Linux Operating Systems The following applications test certain properties of the communications library on Linux operating systems They may be compiled by entering make test at the command line in the library s main source directory Filename Description test multi thread test C code cpp A utility for testing multithreading performance of the library on Linux operating systems Several concurrent threads execute library functions and the outcome of those functions is displayed Connection information must be set in the macro definitions of IPADDR USER and PASSW at the beginning of the source file before compiling 31 March 2015 10 Delta Tau Power P
10. ption and connections The Open Source software library libssh2 http www libssh2 org should be downloaded and installed The version of libssh2 that was used during development and testing is 1 4 3 and it is recommended that this version be used The following section illustrates building libssh2 version 1 4 3 from source First download a compressed tar archive tar gz file containing the source code using a download link provided on the libssh2 website or from a command line download using wget wget http www libssh2 org download libssh2 1 4 3 tar gz Uncompress and unpack the archive to a suitable location configure build and install gunzip libssh2 1 4 3 tar gz tar xvf libssh2 1 4 3 tar cd libssh2 1 4 3 configure make su make install Heo X X ox Nn WN The libraries are by default installed in usr local lib Note that installation in this default location requires root access It may be necessary to install some extra packages OpenSSL and Libgcrypt libraries On Debian this can be done as follows apt get install build essential apt get install openssl apt get install libgcrypt dev Note that a libssh2 Debian package already exists but the current package version is not compatible with this module 7 1 1 libssh2 Install using Linux Package Manager The libssh2 library could be installed directly on the Linux PC using the appropriate package manager utility yum on Cen
11. se low level library providing support for the SSH communications protocol It is freely available for most platforms under an Open Source software licence See installation instructions below Pre built libssh2 binaries are provided for use with Windows 31 March 2015 6 Delta Tau Power PMAC Communications Library Manual V1 3 5 Supported Platforms The communications library has been built from source and tested under the following software environments 5 1 Linux Operating Systems The library has been built and tested under the CentOS operating system The standard Linux build system make is used with a Makefile provided The version of software utilities and libraries used is shown in the table below Note that CentOS is effectively identical to the corresponding Red Hat Enterprise Linux release Linux gcc make CentOS 6 5 2 6 32 431 4 4 7 3 81 5 2 Windows Operating Systems aS Development Environment libssh2 version Windows 7 Microsoft Visual Studio C 2010 143 version 10 0 31 March 2015 7 Delta Tau Power PMAC Communications Library Manual V1 3 6 Source Code Source code is provided for the library The table below summarizes the files provided that are relevant to both Linux and Windows platforms Additional platform specific files are described in the appropriate section below Filename Description powerPMACControl Header file h and C code cpp This implements the main PowerPMA
12. t Variables dialog d This dialog contains two lists Changes will be made in the upper list User variables for lt your username gt 2 If the required variable is already present in this list append the new path to any that it already contains a Select the variable from the list and click Edit b Append the desired path to the Variable value separate it from any existing paths using a semicolon For example to add the path C newpath to an environment variable already containing the path C existingpath the variable value field should read C existingpath C newpath c Click OK 3 If the required variable is not already present in this list click New and type the name in Variable name and the path in Variable value Click OK 4 Click OK in the Environment Variables dialog to save the changes The changes will take effect in Visual Studio the next time it is launched 31 March 2015 15
13. tOS or dpkg on Debian This is not recommended as the installed libssh2 will be the version provided by the package repository and this will probably be incompatible with the Power PMAC communications library 31 March 2015 9 Delta Tau Power PMAC Communications Library Manual V1 3 7 2 Communications Library Build and Install The released package is provided as either a Zip or Gzip archive file First create a suitable top level directory and place the archive file in this directory After extracting the archive the files will be placed in a directory named powerPMAC_ssh_V1 3 within the current directory Either extract the Zip archive using unzip powerPMAC ssh V1 3 zip or uncompress and unpack the Gzip archive using gunzip powerPMAC ssh V1 3 tar gz tar xvf powerPMAC ssh V1 3 tar Enter the directory containing the extracted files cd powerPMAC ssh V1 3 In the main directory you will see the files as described in the table in Section 6 above In addition a Makefile is provided to enable building under Linux using the standard make utility Before building the application it is necessary to check the locations of the libssh2 include file and library The supplied Makefile assumes the defaults which are usr local include and usr local lib If libssh2 has been installed in a different location then the Makefile will need to be edited to reflect this Simply type make from the comm
14. tions Library software module consists of a library providing a set of functions providing control and status for both the Delta Tau Power PMAC controller itself and individual axes The software distributed includes a lower level SSH driver library which performs basic I O to the Power PMAC The software has been written to be compatible with a variety of computer platforms OS and development environments Two test applications are also provided which can be used to communicate with the Power PMAC from a terminal shell and can be used to verify the SSH driver is functional and that the Power PMAC is responding as expected 31 March 2015 5 Delta Tau Power PMAC Communications Library Manual V1 3 4 Requirements This section details the hardware and software requirements for building and using the Power PMAC Communications Library software 4 1 Hardware Requirements The following hardware is required to use the communications library e Standard PC with an Ethernet port e Power PMAC present on the network For operation with the EPICS device support code the Power PMAC should be configured to have a static IP address and this address must be specified in the initial library call which connects to the hardware See RD1 for details of how to configure the Power PMAC IP address 4 2 Software Requirements The following software must be installed to build and run the communications library e libssh 2 library This is a general purpo
15. tions provided by the library These are provided in the form of Doxygen compatible documentation HTML format files which is automatically generated from the source code when the software is installed 2 Reference Documents RD1 Power PMAC User s Manual Delta Tau Document 050 PRPMAC 0UO Dated March 25 2014 RD2 Power PMAC Software Reference Manual Delta Tau Document 050 PRPMAC OSO Dated May 23 2014 31 March 2015 4 Delta Tau Power PMAC Communications Library Manual V1 3 3 Introduction The Power PMAC UMAC CPU is the most powerful and most flexible controller that Delta Tau presently offers It is intended to be used in a 3U UMAC Rack which is a modular rack format permitting the user to configure their rack with whatever I O servo control cards MACRO cards or any other accessory card Delta Tau offers for the UMAC Rack format to build a totally user customized system The Power PMAC UMAC CPU can control up to 256 axes whether through direct local control or distributed control over a MACRO fibre optic ring or over an EtherCat network It may be controlled through an Ethernet interface by writing commands and reading replies and status as text strings over an SSH protocol connection This document describes a communications software library written to monitor and control a Delta Tau Power PMAC over SSH The library can be built and used under both Linux and Windows Visual Studio C systems The Power PMAC Communica
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