final use of c libepics
This commit is contained in:
Martino Ferrari
@@ -1,4 +1,4 @@
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.PHONY: all frontend backend backend-epics backend-debug test bench race lint clean run
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.PHONY: all frontend backend backend-epics backend-debug release release-epics test bench race lint clean run
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# --------------------------------------------------------------------------- #
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# Sources — adding any file here triggers a frontend or backend rebuild #
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@@ -88,6 +88,76 @@ backend-debug: $(FRONTEND_OUT)
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@mkdir -p dist
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go build -o $(BINARY) ./cmd/uopi
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# --------------------------------------------------------------------------- #
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# Portable release targets #
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# --------------------------------------------------------------------------- #
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#
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# Two flavours depending on whether EPICS is needed:
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#
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# make release — pure-Go, CGO_ENABLED=0, 100 % static binary.
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# No EPICS; works anywhere without extra libs.
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#
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# make release-epics — CGO build with EPICS CA.
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# Tries to link libca/libCom statically (if .a
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# archives are present in $(EPICS_LIBDIR)).
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# Falls back to bundled shared libs + $ORIGIN
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# rpath when only .so files are available.
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# The output directory (dist/release/) contains
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# everything needed to run on the target machine.
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#
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# Cross-compilation (no-EPICS only): override RELEASE_OS / RELEASE_ARCH.
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# make release RELEASE_OS=linux RELEASE_ARCH=arm64
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RELEASE_OS ?= linux
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RELEASE_ARCH ?= amd64
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RELEASE_DIR := dist/release
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EPICS_LIBDIR := $(EPICS_BASE)/lib/$(EPICS_ARCH)
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# Fully static, no CGO — the most portable build possible.
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release: $(FRONTEND_OUT)
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@mkdir -p $(RELEASE_DIR)
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CGO_ENABLED=0 GOOS=$(RELEASE_OS) GOARCH=$(RELEASE_ARCH) \
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go build -ldflags="-s -w" -o $(RELEASE_DIR)/uopi ./cmd/uopi
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@echo "Built: $(RELEASE_DIR)/uopi (fully static, no EPICS)"
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# EPICS release — maximum static linking.
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# Strategy A (preferred): if libca.a + libCom.a exist, embed them directly
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# → single self-contained binary, no extra files needed.
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# Strategy B (fallback): copy the shared libs next to the binary and set an
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# $ORIGIN rpath so the OS finds them regardless of installation prefix.
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release-epics: $(FRONTEND_OUT)
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@if [ -z "$(EPICS_BASE)" ]; then \
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echo "ERROR: EPICS_BASE is not set."; \
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echo " export EPICS_BASE=/path/to/epics/base"; \
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exit 1; \
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fi
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@mkdir -p $(RELEASE_DIR)
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@echo "Building portable EPICS release"
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@echo " EPICS_BASE = $(EPICS_BASE)"
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@echo " EPICS_ARCH = $(EPICS_ARCH)"
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@if [ -f "$(EPICS_LIBDIR)/libca.a" ] && [ -f "$(EPICS_LIBDIR)/libCom.a" ]; then \
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echo " Strategy A: static .a archives found — embedding libca + libCom"; \
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CGO_ENABLED=1 GOOS=linux GOARCH=$(RELEASE_ARCH) \
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CGO_CFLAGS="$(EPICS_CGO_CFLAGS)" \
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CGO_LDFLAGS="-Wl,-Bstatic -L$(EPICS_LIBDIR) -lca -lCom -Wl,-Bdynamic -lm -lpthread -lrt -ldl" \
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go build -tags epics \
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-ldflags="-s -w -linkmode external" \
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-o $(RELEASE_DIR)/uopi ./cmd/uopi; \
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echo "Built: $(RELEASE_DIR)/uopi (EPICS statically embedded)"; \
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else \
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echo " Strategy B: no .a archives — bundling shared libs with \$$ORIGIN rpath"; \
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CGO_ENABLED=1 GOOS=linux GOARCH=$(RELEASE_ARCH) \
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CGO_CFLAGS="$(EPICS_CGO_CFLAGS)" \
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CGO_LDFLAGS="-L$(EPICS_LIBDIR) -lca -lCom -Wl,-rpath,\$$ORIGIN" \
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go build -tags epics \
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-ldflags="-s -w" \
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-o $(RELEASE_DIR)/uopi ./cmd/uopi; \
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cp $(EPICS_LIBDIR)/libca.so* $(RELEASE_DIR)/; \
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cp $(EPICS_LIBDIR)/libCom.so* $(RELEASE_DIR)/; \
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echo "Built: $(RELEASE_DIR)/ (deploy the whole directory together)"; \
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ls $(RELEASE_DIR)/; \
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fi
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# --------------------------------------------------------------------------- #
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# Dev / CI #
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# --------------------------------------------------------------------------- #
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@@ -444,41 +444,105 @@ func (e *EPICS) ListSignals(_ context.Context) ([]datasource.Metadata, error) {
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}
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// Write puts a new value onto a CA channel.
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func (e *EPICS) Write(_ context.Context, signal string, value any) error {
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// If the signal is not currently subscribed (e.g. a button in oneshot mode),
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// a temporary CA channel is created, used for the put, then torn down.
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func (e *EPICS) Write(ctx context.Context, signal string, value any) error {
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e.attachCAContext()
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// Resolve the chid: use an existing subscribed channel if available,
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// otherwise create a temporary one (mirrors GetMetadata's approach).
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e.mu.Lock()
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caCh, ok := e.channels[signal]
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e.mu.Unlock()
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if !ok {
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return datasource.ErrNotFound
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var chid C.chid
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tempChannel := false
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if ok {
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chid = caCh.chid
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} else {
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// Create a temporary channel for the put.
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handle := nextHandle()
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entry := &connEntry{connCh: make(chan struct{}, 1)}
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handleMu.Lock()
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connTable[handle] = entry
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handleMu.Unlock()
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pvName := C.CString(signal)
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defer C.free(unsafe.Pointer(pvName))
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status := C.caCreateChannel(pvName, C.uintptr_t(handle), &chid)
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if status != C.ECA_NORMAL {
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handleMu.Lock()
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delete(connTable, handle)
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handleMu.Unlock()
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return fmt.Errorf("epics: ca_create_channel(%q) failed: status %d", signal, int(status))
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}
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C.ca_flush_io()
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select {
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case <-entry.connCh:
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case <-time.After(5 * time.Second):
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C.ca_clear_channel(chid)
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handleMu.Lock()
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delete(connTable, handle)
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handleMu.Unlock()
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return fmt.Errorf("epics: timeout connecting to %q for write", signal)
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case <-ctx.Done():
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C.ca_clear_channel(chid)
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handleMu.Lock()
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delete(connTable, handle)
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handleMu.Unlock()
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return ctx.Err()
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}
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handleMu.Lock()
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delete(connTable, handle)
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handleMu.Unlock()
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tempChannel = true
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}
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var status C.int
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switch v := value.(type) {
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case float64:
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cv := C.double(v)
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status = C.caPut(C.DBR_DOUBLE, caCh.chid, unsafe.Pointer(&cv))
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status = C.caPut(C.DBR_DOUBLE, chid, unsafe.Pointer(&cv))
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case int64:
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cv := C.long(v)
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status = C.caPut(C.DBR_LONG, caCh.chid, unsafe.Pointer(&cv))
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status = C.caPut(C.DBR_LONG, chid, unsafe.Pointer(&cv))
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case string:
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cs := C.CString(v)
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defer C.free(unsafe.Pointer(cs))
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status = C.caPut(C.DBR_STRING, caCh.chid, unsafe.Pointer(cs))
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status = C.caPut(C.DBR_STRING, chid, unsafe.Pointer(cs))
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case bool:
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var iv C.short
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if v {
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iv = 1
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}
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status = C.caPut(C.DBR_SHORT, caCh.chid, unsafe.Pointer(&iv))
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status = C.caPut(C.DBR_SHORT, chid, unsafe.Pointer(&iv))
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default:
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if tempChannel {
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C.ca_clear_channel(chid)
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C.ca_flush_io()
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}
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return fmt.Errorf("epics: unsupported value type %T for Write", value)
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}
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if status != C.ECA_NORMAL {
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if tempChannel {
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C.ca_clear_channel(chid)
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C.ca_flush_io()
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}
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return fmt.Errorf("epics: ca_put(%q) failed: status %d", signal, int(status))
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}
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C.ca_flush_io()
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if tempChannel {
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C.ca_pend_io(3.0) // flush + wait for put completion before tearing down
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C.ca_clear_channel(chid)
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C.ca_flush_io()
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} else {
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C.ca_flush_io()
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}
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return nil
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}
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