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Initial go port of epics

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This commit is contained in:
Martino Ferrari
2026-04-28 00:09:22 +02:00
parent 47e481a461
commit 6e51ffc5e1
28 changed files with 5634 additions and 178 deletions
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Makefile
+25 -105
View File
@@ -1,4 +1,4 @@
.PHONY: all frontend backend backend-epics backend-debug release release-epics test bench race lint clean run
.PHONY: all frontend backend backend-debug release catools test bench race lint clean run
# --------------------------------------------------------------------------- #
# Sources — adding any file here triggers a frontend or backend rebuild #
@@ -8,7 +8,9 @@ FRONTEND_SRCS := $(shell find web/src -name '*.tsx' -o -name '*.ts' -o -name '*.
$(wildcard web/vendor/*.mjs web/vendor/*.js web/vendor/*.css) \
tools/buildfrontend/main.go
GO_SRCS := $(shell find cmd internal -name '*.go') web/embed.go go.mod go.sum
GO_SRCS := $(shell find cmd internal -name '*.go') \
$(shell find pkg/ca -name '*.go') \
web/embed.go go.mod go.sum go.work
# --------------------------------------------------------------------------- #
# Outputs #
@@ -16,16 +18,17 @@ GO_SRCS := $(shell find cmd internal -name '*.go') web/embed.go go.mod go.sum
FRONTEND_OUT := web/dist/main.js
BINARY := dist/uopi
CATOOLS := dist/catools
# --------------------------------------------------------------------------- #
# Top-level targets #
# --------------------------------------------------------------------------- #
all: $(BINARY)
all: $(BINARY) $(CATOOLS)
frontend: $(FRONTEND_OUT)
backend: $(BINARY)
backend: $(BINARY) $(CATOOLS)
# --------------------------------------------------------------------------- #
# Build rules #
@@ -36,127 +39,40 @@ $(FRONTEND_OUT): $(FRONTEND_SRCS)
@mkdir -p web/dist
go run ./tools/buildfrontend/main.go
# Compile the self-contained binary (embeds web/dist at build time)
# Compile the self-contained binary (embeds web/dist at build time).
# Pure-Go CA client (pkg/ca) is always used; CGO_ENABLED=0 produces a fully
# static binary with no external library dependencies.
$(BINARY): $(GO_SRCS) $(FRONTEND_OUT)
@mkdir -p dist
go build -ldflags="-s -w" -o $(BINARY) ./cmd/uopi
CGO_ENABLED=0 go build -ldflags="-s -w" -o $(BINARY) ./cmd/uopi
# Build with EPICS Channel Access support.
#
# Auto-detection: if EPICS_BASE is set in the environment, CGO flags are
# derived automatically. Override any variable on the command line:
#
# make backend-epics EPICS_BASE=/path/to/epics/base EPICS_ARCH=linux-x86_64
#
# If EPICS_BASE is not set, set it to the directory that contains
# include/cadef.h and lib/<arch>/libca.so.
EPICS_BASE ?= $(EPICS_BASE)
# Detect host arch from EPICS startup script if not provided.
EPICS_ARCH ?= $(shell \
if [ -x "$(EPICS_BASE)/startup/EpicsHostArch" ]; then \
"$(EPICS_BASE)/startup/EpicsHostArch"; \
elif [ -x "$(EPICS_BASE)/lib" ]; then \
ls "$(EPICS_BASE)/lib" | grep linux | head -1; \
else \
echo "linux-x86_64"; \
fi)
EPICS_CGO_CFLAGS ?= -I$(EPICS_BASE)/include -I$(EPICS_BASE)/include/os/Linux -I$(EPICS_BASE)/include/compiler/gcc
EPICS_CGO_LDFLAGS ?= -L$(EPICS_BASE)/lib/$(EPICS_ARCH) -lca -lCom -Wl,-rpath,$(EPICS_BASE)/lib/$(EPICS_ARCH)
backend-epics: $(FRONTEND_OUT)
@if [ -z "$(EPICS_BASE)" ]; then \
echo "ERROR: EPICS_BASE is not set."; \
echo " export EPICS_BASE=/path/to/epics/base"; \
echo " then re-run: make backend-epics"; \
exit 1; \
fi
@echo "Building with EPICS support"
@echo " EPICS_BASE = $(EPICS_BASE)"
@echo " EPICS_ARCH = $(EPICS_ARCH)"
# CA diagnostic tools (caget/caput/cainfo/camonitor equivalents)
$(CATOOLS): $(GO_SRCS)
@mkdir -p dist
CGO_ENABLED=1 \
CGO_CFLAGS="$(EPICS_CGO_CFLAGS)" \
CGO_LDFLAGS="$(EPICS_CGO_LDFLAGS)" \
go build -tags epics -ldflags="-s -w" -o $(BINARY) ./cmd/uopi
@echo "Built: $(BINARY) (EPICS CA enabled)"
CGO_ENABLED=0 go build -ldflags="-s -w" -o $(CATOOLS) ./cmd/catools
# Unstripped binary for debugging
# Unstripped binary for debugging (pure-Go CA, CGO_ENABLED=0)
backend-debug: $(FRONTEND_OUT)
@mkdir -p dist
go build -o $(BINARY) ./cmd/uopi
CGO_ENABLED=0 go build -o $(BINARY) ./cmd/uopi
CGO_ENABLED=0 go build -o $(CATOOLS) ./cmd/catools
# --------------------------------------------------------------------------- #
# Portable release targets #
# Release #
# --------------------------------------------------------------------------- #
#
# Two flavours depending on whether EPICS is needed:
#
# make release — pure-Go, CGO_ENABLED=0, 100 % static binary.
# No EPICS; works anywhere without extra libs.
#
# make release-epics — CGO build with EPICS CA.
# Tries to link libca/libCom statically (if .a
# archives are present in $(EPICS_LIBDIR)).
# Falls back to bundled shared libs + $ORIGIN
# rpath when only .so files are available.
# The output directory (dist/release/) contains
# everything needed to run on the target machine.
#
# Cross-compilation (no-EPICS only): override RELEASE_OS / RELEASE_ARCH.
# make release RELEASE_OS=linux RELEASE_ARCH=arm64
# Fully static, pure-Go CA client, no external library dependencies.
# Cross-compile: make release RELEASE_OS=linux RELEASE_ARCH=arm64
RELEASE_OS ?= linux
RELEASE_ARCH ?= amd64
RELEASE_DIR := dist/release
EPICS_LIBDIR := $(EPICS_BASE)/lib/$(EPICS_ARCH)
# Fully static, no CGO — the most portable build possible.
release: $(FRONTEND_OUT)
@mkdir -p $(RELEASE_DIR)
CGO_ENABLED=0 GOOS=$(RELEASE_OS) GOARCH=$(RELEASE_ARCH) \
go build -ldflags="-s -w" -o $(RELEASE_DIR)/uopi ./cmd/uopi
@echo "Built: $(RELEASE_DIR)/uopi (fully static, no EPICS)"
# EPICS release — maximum static linking.
# Strategy A (preferred): if libca.a + libCom.a exist, embed them directly
# → single self-contained binary, no extra files needed.
# Strategy B (fallback): copy the shared libs next to the binary and set an
# $ORIGIN rpath so the OS finds them regardless of installation prefix.
release-epics: $(FRONTEND_OUT)
@if [ -z "$(EPICS_BASE)" ]; then \
echo "ERROR: EPICS_BASE is not set."; \
echo " export EPICS_BASE=/path/to/epics/base"; \
exit 1; \
fi
@mkdir -p $(RELEASE_DIR)
@echo "Building portable EPICS release"
@echo " EPICS_BASE = $(EPICS_BASE)"
@echo " EPICS_ARCH = $(EPICS_ARCH)"
@if [ -f "$(EPICS_LIBDIR)/libca.a" ] && [ -f "$(EPICS_LIBDIR)/libCom.a" ]; then \
echo " Strategy A: static .a archives found — embedding libca + libCom"; \
CGO_ENABLED=1 GOOS=linux GOARCH=$(RELEASE_ARCH) \
CGO_CFLAGS="$(EPICS_CGO_CFLAGS)" \
CGO_LDFLAGS="-Wl,-Bstatic -L$(EPICS_LIBDIR) -lca -lCom -Wl,-Bdynamic -lm -lpthread -lrt -ldl" \
go build -tags epics \
-ldflags="-s -w -linkmode external" \
-o $(RELEASE_DIR)/uopi ./cmd/uopi; \
echo "Built: $(RELEASE_DIR)/uopi (EPICS statically embedded)"; \
else \
echo " Strategy B: no .a archives — bundling shared libs with \$$ORIGIN rpath"; \
CGO_ENABLED=1 GOOS=linux GOARCH=$(RELEASE_ARCH) \
CGO_CFLAGS="$(EPICS_CGO_CFLAGS)" \
CGO_LDFLAGS="-L$(EPICS_LIBDIR) -lca -lCom -Wl,-rpath,\$$ORIGIN" \
go build -tags epics \
-ldflags="-s -w" \
-o $(RELEASE_DIR)/uopi ./cmd/uopi; \
cp $(EPICS_LIBDIR)/libca.so* $(RELEASE_DIR)/; \
cp $(EPICS_LIBDIR)/libCom.so* $(RELEASE_DIR)/; \
echo "Built: $(RELEASE_DIR)/ (deploy the whole directory together)"; \
ls $(RELEASE_DIR)/; \
fi
@echo "Built: $(RELEASE_DIR)/uopi (static, pure-Go CA)"
# --------------------------------------------------------------------------- #
# Dev / CI #
@@ -164,10 +80,12 @@ release-epics: $(FRONTEND_OUT)
test:
go test ./...
cd pkg/ca && go test ./...
# Run tests with the race detector enabled.
race:
go test -race ./...
cd pkg/ca && go test -race ./...
# Run all benchmarks and print memory allocations.
bench:
@@ -179,5 +97,7 @@ lint:
run: $(BINARY)
$(BINARY)
catools: $(CATOOLS)
clean:
rm -rf dist/ web/dist/
cmd/catools/main.go
+336
View File
@@ -0,0 +1,336 @@
// Command catools provides caget/caput/camonitor/cainfo equivalents using
// the pure-Go goca CA client library.
//
// Usage:
//
// catools caget <pv> [pv...] # get current value(s)
// catools caput <pv> <value> # write a value
// catools cainfo <pv> [pv...] # print metadata (units, limits, type)
// catools camonitor <pv> [pv...] # stream live updates (Ctrl-C to stop)
//
// Environment:
//
// EPICS_CA_ADDR_LIST — space-separated CA server addresses
// EPICS_CA_AUTO_ADDR_LIST — set to "NO" to disable broadcast search
// UOPI_CA_DEBUG — set to "1" for CA protocol debug logging
package main
import (
"context"
"fmt"
"os"
"os/signal"
"strconv"
"strings"
"syscall"
"time"
ca "github.com/uopi/goca"
"github.com/uopi/goca/proto"
)
func usage() {
fmt.Fprintln(os.Stderr, `catools — pure-Go EPICS CA command-line tools
Commands:
caget <pv> [pv...] Get current value(s)
caput <pv> <value> Write a value
cainfo <pv> [pv...] Print metadata (type, units, limits)
camonitor <pv> [pv...] Stream live updates (Ctrl-C to stop)
Environment:
EPICS_CA_ADDR_LIST Space-separated CA server addresses
EPICS_CA_AUTO_ADDR_LIST Set to NO to disable broadcast search
UOPI_CA_DEBUG Set to 1 for CA protocol debug logging`)
os.Exit(1)
}
func main() {
if len(os.Args) < 2 {
usage()
}
cmd := os.Args[1]
args := os.Args[2:]
ctx, stop := signal.NotifyContext(context.Background(), os.Interrupt, syscall.SIGTERM)
defer stop()
cfg := ca.ConfigFromEnv()
cli, err := ca.NewClient(ctx, cfg)
if err != nil {
fatalf("connect: %v", err)
}
switch cmd {
case "caget":
if len(args) == 0 {
fatalf("caget: no PV names specified")
}
runCaget(ctx, cli, args)
case "caput":
if len(args) < 2 {
fatalf("caput: usage: catools caput <pv> <value>")
}
runCaput(ctx, cli, args[0], args[1])
case "cainfo":
if len(args) == 0 {
fatalf("cainfo: no PV names specified")
}
runCainfo(ctx, cli, args)
case "camonitor":
if len(args) == 0 {
fatalf("camonitor: no PV names specified")
}
runCamonitor(ctx, cli, args)
default:
fatalf("unknown command %q — use caget, caput, cainfo, or camonitor", cmd)
}
}
// -------------------------------------------------------------------------- //
// caget //
// -------------------------------------------------------------------------- //
func runCaget(ctx context.Context, cli *ca.Client, pvs []string) {
tctx, cancel := context.WithTimeout(ctx, 30*time.Second)
defer cancel()
for _, pv := range pvs {
tv, err := cli.Get(tctx, pv)
if err != nil {
fmt.Fprintf(os.Stderr, "%s: error: %v\n", pv, err)
continue
}
fmt.Printf("%-30s %s\n", pv, formatValue(tv))
}
}
// -------------------------------------------------------------------------- //
// caput //
// -------------------------------------------------------------------------- //
func runCaput(ctx context.Context, cli *ca.Client, pv, valueStr string) {
tctx, cancel := context.WithTimeout(ctx, 30*time.Second)
defer cancel()
// First get metadata to determine the right type.
ci, err := cli.GetCtrl(tctx, pv)
if err != nil {
fatalf("%s: get metadata: %v", pv, err)
}
var value any
switch ci.DBFType {
case proto.DBFString:
value = valueStr
case proto.DBFEnum:
// Try numeric first, then string.
if n, err := strconv.ParseInt(valueStr, 10, 32); err == nil {
value = int32(n)
} else {
// Search enum strings.
if ci.Enum != nil {
for i, s := range ci.Enum.Strings {
if strings.EqualFold(s, valueStr) {
value = int32(i)
break
}
}
}
if value == nil {
fatalf("%s: unknown enum value %q", pv, valueStr)
}
}
default:
if n, err := strconv.ParseFloat(valueStr, 64); err == nil {
value = n
} else if n, err := strconv.ParseInt(valueStr, 10, 64); err == nil {
value = int64(n)
} else {
value = valueStr
}
}
if err := cli.Put(tctx, pv, value); err != nil {
fatalf("%s: put: %v", pv, err)
}
// Read back the new value.
tv, err := cli.Get(tctx, pv)
if err != nil {
fmt.Printf("Old: ?\nNew: %s (write sent, readback failed: %v)\n", valueStr, err)
return
}
fmt.Printf("%-30s %s\n", pv, formatValue(tv))
}
// -------------------------------------------------------------------------- //
// cainfo //
// -------------------------------------------------------------------------- //
func runCainfo(ctx context.Context, cli *ca.Client, pvs []string) {
tctx, cancel := context.WithTimeout(ctx, 30*time.Second)
defer cancel()
for _, pv := range pvs {
ci, err := cli.GetCtrl(tctx, pv)
if err != nil {
fmt.Fprintf(os.Stderr, "%s: error: %v\n", pv, err)
continue
}
printInfo(pv, ci)
fmt.Println()
}
}
func printInfo(pv string, ci ca.CtrlInfo) {
fmt.Printf("Name : %s\n", pv)
fmt.Printf("DBF type : %s (%d)\n", dbfTypeName(ci.DBFType), ci.DBFType)
fmt.Printf("Count : %d\n", ci.Count)
writable := "No"
if ci.Access&proto.AccessWrite != 0 {
writable = "Yes"
}
fmt.Printf("Writable : %s\n", writable)
switch {
case ci.Double != nil:
d := ci.Double
fmt.Printf("Units : %s\n", d.Units)
fmt.Printf("Disp range : [%g, %g]\n", d.LowerDispLimit, d.UpperDispLimit)
fmt.Printf("Ctrl range : [%g, %g]\n", d.LowerCtrlLimit, d.UpperCtrlLimit)
fmt.Printf("Alarm LOLO : %g HIHI: %g\n", d.LowerAlarmLimit, d.UpperAlarmLimit)
fmt.Printf("Warn LOW : %g HIGH: %g\n", d.LowerWarnLimit, d.UpperWarnLimit)
case ci.Long != nil:
l := ci.Long
fmt.Printf("Units : %s\n", l.Units)
fmt.Printf("Disp range : [%d, %d]\n", l.LowerDispLimit, l.UpperDispLimit)
fmt.Printf("Ctrl range : [%d, %d]\n", l.LowerCtrlLimit, l.UpperCtrlLimit)
fmt.Printf("Alarm LOLO : %d HIHI: %d\n", l.LowerAlarmLimit, l.UpperAlarmLimit)
fmt.Printf("Warn LOW : %d HIGH: %d\n", l.LowerWarnLimit, l.UpperWarnLimit)
case ci.Enum != nil:
fmt.Printf("Enum states: %d\n", len(ci.Enum.Strings))
for i, s := range ci.Enum.Strings {
fmt.Printf(" [%d] %s\n", i, s)
}
case ci.Str != nil:
fmt.Printf("Type : string\n")
}
}
// -------------------------------------------------------------------------- //
// camonitor //
// -------------------------------------------------------------------------- //
func runCamonitor(ctx context.Context, cli *ca.Client, pvs []string) {
type entry struct {
pv string
ch chan proto.TimeValue
can context.CancelFunc
}
entries := make([]*entry, 0, len(pvs))
tctx, cancel := context.WithTimeout(ctx, 30*time.Second)
defer cancel()
for _, pv := range pvs {
ch := make(chan proto.TimeValue, 32)
cancelFn, err := cli.Subscribe(tctx, pv, ch)
if err != nil {
fmt.Fprintf(os.Stderr, "%s: subscribe error: %v\n", pv, err)
continue
}
entries = append(entries, &entry{pv: pv, ch: ch, can: cancelFn})
fmt.Printf("Monitoring %s — press Ctrl-C to stop\n", pv)
}
if len(entries) == 0 {
return
}
// Fan out: one goroutine per PV, print to stdout.
done := make(chan struct{})
for _, e := range entries {
go func(e *entry) {
for {
select {
case tv, ok := <-e.ch:
if !ok {
return
}
ts := tv.Timestamp.Local().Format("15:04:05.000")
fmt.Printf("%s %-30s %s\n", ts, e.pv, formatValue(tv))
case <-ctx.Done():
return
}
}
}(e)
}
<-ctx.Done()
close(done)
for _, e := range entries {
e.can()
}
}
// -------------------------------------------------------------------------- //
// Formatting helpers //
// -------------------------------------------------------------------------- //
func formatValue(tv proto.TimeValue) string {
var val string
switch {
case tv.Doubles != nil:
parts := make([]string, len(tv.Doubles))
for i, v := range tv.Doubles {
parts[i] = strconv.FormatFloat(v, 'g', -1, 64)
}
val = "[" + strings.Join(parts, " ") + "]"
case tv.Str != "":
val = tv.Str
default:
val = strconv.FormatFloat(tv.Double, 'g', -1, 64)
}
severity := ""
switch tv.Severity {
case proto.SeverityMinor:
severity = " MINOR"
case proto.SeverityMajor:
severity = " MAJOR"
case proto.SeverityInvalid:
severity = " INVALID"
}
ts := tv.Timestamp.Local().Format("2006-01-02 15:04:05.000")
return fmt.Sprintf("%s%s [%s]", val, severity, ts)
}
func dbfTypeName(t int) string {
switch t {
case proto.DBFString:
return "DBF_STRING"
case proto.DBFShort:
return "DBF_SHORT"
case proto.DBFFloat:
return "DBF_FLOAT"
case proto.DBFEnum:
return "DBF_ENUM"
case proto.DBFChar:
return "DBF_CHAR"
case proto.DBFLong:
return "DBF_LONG"
case proto.DBFDouble:
return "DBF_DOUBLE"
default:
return "DBF_UNKNOWN"
}
}
func fatalf(format string, args ...any) {
fmt.Fprintf(os.Stderr, "catools: "+format+"\n", args...)
os.Exit(1)
}
cmd/uopi/main.go
+4 -3
View File
@@ -83,10 +83,11 @@ func main() {
}
}
// EPICS Channel Access data source (requires -tags epics build).
// epics.Available() returns false when built without the tag.
// EPICS Channel Access data source.
// The pure-Go implementation is used by default (no CGo required).
// Build with -tags epics to use the CGo-based libca implementation instead.
if cfg.Datasource.EPICS.Enabled && epics.Available() {
ds := epics.New(cfg.Datasource.EPICS.CAAddrList, cfg.Datasource.EPICS.ArchiveURL)
ds := epics.New(cfg.Datasource.EPICS.CAAddrList, cfg.Datasource.EPICS.ArchiveURL, cfg.Datasource.EPICS.PVNames)
if err := ds.Connect(ctx); err != nil {
log.Error("epics connect", "err", err)
} else {
go.work
+6
View File
@@ -0,0 +1,6 @@
go 1.26.2
use (
.
./pkg/ca
)
internal/config/config.go
+1
View File
@@ -33,6 +33,7 @@ type EPICSConfig struct {
CAAddrList string `toml:"ca_addr_list"`
ArchiveURL string `toml:"archive_url"`
ChannelFinderURL string `toml:"channel_finder_url"`
PVNames []string `toml:"pv_names"`
}
type SyntheticConfig struct {
internal/config/config_test.go
+124
View File
@@ -0,0 +1,124 @@
package config_test
import (
"os"
"path/filepath"
"testing"
"github.com/uopi/uopi/internal/config"
)
func TestDefault(t *testing.T) {
cfg := config.Default()
if cfg.Server.Listen == "" {
t.Error("Default Listen must not be empty")
}
if cfg.Server.StorageDir == "" {
t.Error("Default StorageDir must not be empty")
}
if !cfg.Datasource.Stub.Enabled {
t.Error("Stub should be enabled by default")
}
if !cfg.Datasource.EPICS.Enabled {
t.Error("EPICS should be enabled by default")
}
if !cfg.Datasource.Synthetic.Enabled {
t.Error("Synthetic should be enabled by default")
}
}
func TestLoadEmptyPath(t *testing.T) {
// Empty path should return defaults without error.
cfg, err := config.Load("")
if err != nil {
t.Fatalf("Load with empty path: %v", err)
}
if cfg.Server.Listen != config.Default().Server.Listen {
t.Errorf("Listen = %q, want default %q", cfg.Server.Listen, config.Default().Server.Listen)
}
}
func TestLoadTOML(t *testing.T) {
toml := `
[server]
listen = ":9090"
storage_dir = "/tmp/uopi-test"
[datasource.stub]
enabled = false
[datasource.epics]
enabled = false
ca_addr_list = "192.168.1.1"
`
f := filepath.Join(t.TempDir(), "uopi.toml")
if err := os.WriteFile(f, []byte(toml), 0o644); err != nil {
t.Fatal(err)
}
cfg, err := config.Load(f)
if err != nil {
t.Fatalf("Load: %v", err)
}
if cfg.Server.Listen != ":9090" {
t.Errorf("Listen = %q, want :9090", cfg.Server.Listen)
}
if cfg.Server.StorageDir != "/tmp/uopi-test" {
t.Errorf("StorageDir = %q", cfg.Server.StorageDir)
}
if cfg.Datasource.Stub.Enabled {
t.Error("Stub.Enabled should be false")
}
if cfg.Datasource.EPICS.Enabled {
t.Error("EPICS.Enabled should be false")
}
if cfg.Datasource.EPICS.CAAddrList != "192.168.1.1" {
t.Errorf("CAAddrList = %q", cfg.Datasource.EPICS.CAAddrList)
}
}
func TestLoadBadPath(t *testing.T) {
_, err := config.Load("/no/such/file.toml")
if err == nil {
t.Error("expected error for missing file")
}
}
func TestEnvOverrides(t *testing.T) {
t.Setenv("UOPI_SERVER_LISTEN", ":7777")
t.Setenv("UOPI_SERVER_STORAGE_DIR", "/env/storage")
t.Setenv("UOPI_EPICS_CA_ADDR_LIST", "10.0.0.1 10.0.0.2")
t.Setenv("UOPI_EPICS_ARCHIVE_URL", "http://archive/")
t.Setenv("UOPI_EPICS_CHANNEL_FINDER_URL", "http://cf/")
cfg, err := config.Load("")
if err != nil {
t.Fatalf("Load: %v", err)
}
if cfg.Server.Listen != ":7777" {
t.Errorf("Listen = %q, want :7777", cfg.Server.Listen)
}
if cfg.Server.StorageDir != "/env/storage" {
t.Errorf("StorageDir = %q", cfg.Server.StorageDir)
}
if cfg.Datasource.EPICS.CAAddrList != "10.0.0.1 10.0.0.2" {
t.Errorf("CAAddrList = %q", cfg.Datasource.EPICS.CAAddrList)
}
if cfg.Datasource.EPICS.ArchiveURL != "http://archive/" {
t.Errorf("ArchiveURL = %q", cfg.Datasource.EPICS.ArchiveURL)
}
if cfg.Datasource.EPICS.ChannelFinderURL != "http://cf/" {
t.Errorf("ChannelFinderURL = %q", cfg.Datasource.EPICS.ChannelFinderURL)
}
}
func TestEnvTrimsWhitespace(t *testing.T) {
t.Setenv("UOPI_SERVER_LISTEN", " :8888 ")
cfg, err := config.Load("")
if err != nil {
t.Fatalf("Load: %v", err)
}
if cfg.Server.Listen != ":8888" {
t.Errorf("Listen = %q, expected whitespace trimmed", cfg.Server.Listen)
}
}
internal/datasource/epics/archive.go
-2
View File
@@ -1,5 +1,3 @@
//go:build epics
package epics
import (
internal/datasource/epics/epics.go
+3 -1
View File
@@ -85,7 +85,9 @@ type EPICS struct {
// caAddrList is used to set EPICS_CA_ADDR_LIST at runtime (may be empty to
// rely on the environment). archiveURL is the base URL of an EPICS Archive
// Appliance instance for history queries (may be empty).
func New(caAddrList, archiveURL string) datasource.DataSource {
// pvNames is accepted for API compatibility with the pure-Go build but ignored
// in the CGo build (the CGo implementation populates ListSignals via callbacks).
func New(caAddrList, archiveURL string, pvNames []string) datasource.DataSource {
return &EPICS{
caAddrList: caAddrList,
archiveURL: archiveURL,
internal/datasource/epics/epics_purego_test.go
+350
View File
@@ -0,0 +1,350 @@
//go:build !epics
// Integration tests for the pure-Go EPICS datasource adapter.
// These tests use the in-process fake CA server from the goca testca package
// and therefore do not require a real EPICS installation.
package epics_test
import (
"context"
"math"
"testing"
"time"
"github.com/uopi/goca/proto"
"github.com/uopi/goca/testca"
"github.com/uopi/uopi/internal/datasource"
"github.com/uopi/uopi/internal/datasource/epics"
)
// newTestDS creates a datasource.DataSource backed by a fake CA server.
func newTestDS(t *testing.T, pvs []testca.PVSpec) (datasource.DataSource, *testca.Server) {
t.Helper()
srv, err := testca.New(pvs)
if err != nil {
t.Fatalf("testca.New: %v", err)
}
t.Cleanup(srv.Close)
ds := epics.New(srv.UDPAddr(), "", nil)
ctx, cancel := context.WithTimeout(context.Background(), 10*time.Second)
t.Cleanup(cancel)
if err := ds.Connect(ctx); err != nil {
t.Fatalf("Connect: %v", err)
}
return ds, srv
}
// -------------------------------------------------------------------------- //
// GetMetadata //
// -------------------------------------------------------------------------- //
func TestPureGo_GetMetadataDouble(t *testing.T) {
ds, _ := newTestDS(t, []testca.PVSpec{
{Name: "DS:DOUBLE", DBFType: proto.DBFDouble, Count: 1, Value: 1.0},
})
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
meta, err := ds.GetMetadata(ctx, "DS:DOUBLE")
if err != nil {
t.Fatalf("GetMetadata: %v", err)
}
if meta.Name != "DS:DOUBLE" {
t.Errorf("Name = %q, want %q", meta.Name, "DS:DOUBLE")
}
if meta.Type != datasource.TypeFloat64 {
t.Errorf("Type = %v, want TypeFloat64", meta.Type)
}
if !meta.Writable {
t.Error("expected Writable=true")
}
}
func TestPureGo_GetMetadataString(t *testing.T) {
ds, _ := newTestDS(t, []testca.PVSpec{
{Name: "DS:STR", DBFType: proto.DBFString, Count: 1, Value: "hello"},
})
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
meta, err := ds.GetMetadata(ctx, "DS:STR")
if err != nil {
t.Fatalf("GetMetadata: %v", err)
}
if meta.Type != datasource.TypeString {
t.Errorf("Type = %v, want TypeString", meta.Type)
}
}
func TestPureGo_GetMetadataEnum(t *testing.T) {
ds, _ := newTestDS(t, []testca.PVSpec{
{Name: "DS:ENUM", DBFType: proto.DBFEnum, Count: 1, Value: int16(0)},
})
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
meta, err := ds.GetMetadata(ctx, "DS:ENUM")
if err != nil {
t.Fatalf("GetMetadata: %v", err)
}
if meta.Type != datasource.TypeEnum {
t.Errorf("Type = %v, want TypeEnum", meta.Type)
}
}
func TestPureGo_GetMetadataReadOnly(t *testing.T) {
ds, _ := newTestDS(t, []testca.PVSpec{
{Name: "DS:RO", DBFType: proto.DBFDouble, Count: 1, Value: 0.0,
Access: proto.AccessRead},
})
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
meta, err := ds.GetMetadata(ctx, "DS:RO")
if err != nil {
t.Fatalf("GetMetadata: %v", err)
}
if meta.Writable {
t.Error("expected Writable=false for read-only PV")
}
}
func TestPureGo_GetMetadataCached(t *testing.T) {
ds, _ := newTestDS(t, []testca.PVSpec{
{Name: "DS:CACHED", DBFType: proto.DBFDouble, Count: 1, Value: 1.0},
})
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
m1, err := ds.GetMetadata(ctx, "DS:CACHED")
if err != nil {
t.Fatalf("first GetMetadata: %v", err)
}
m2, err := ds.GetMetadata(ctx, "DS:CACHED")
if err != nil {
t.Fatalf("second GetMetadata: %v", err)
}
if m1.Name != m2.Name || m1.Type != m2.Type {
t.Error("second GetMetadata returned different result from cache")
}
}
// -------------------------------------------------------------------------- //
// Subscribe //
// -------------------------------------------------------------------------- //
func TestPureGo_SubscribeInitialValue(t *testing.T) {
ds, _ := newTestDS(t, []testca.PVSpec{
{Name: "DS:SUB", DBFType: proto.DBFDouble, Count: 1, Value: 7.5},
})
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
ch := make(chan datasource.Value, 16)
unsub, err := ds.Subscribe(ctx, "DS:SUB", ch)
if err != nil {
t.Fatalf("Subscribe: %v", err)
}
defer unsub()
// Drain MetaUpdate and value frames — first numeric value wins.
deadline := time.After(5 * time.Second)
for {
select {
case v := <-ch:
if v.MetaUpdate {
continue
}
f, ok := v.Data.(float64)
if !ok {
t.Fatalf("Data type = %T, want float64", v.Data)
}
if math.Abs(f-7.5) > 1e-6 {
t.Errorf("Data = %g, want 7.5", f)
}
return
case <-deadline:
t.Fatal("timeout waiting for initial value")
}
}
}
func TestPureGo_SubscribeUpdates(t *testing.T) {
ds, srv := newTestDS(t, []testca.PVSpec{
{Name: "DS:UPD", DBFType: proto.DBFDouble, Count: 1, Value: 1.0},
})
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
ch := make(chan datasource.Value, 16)
unsub, err := ds.Subscribe(ctx, "DS:UPD", ch)
if err != nil {
t.Fatalf("Subscribe: %v", err)
}
defer unsub()
// Drain initial frames.
deadline := time.After(3 * time.Second)
drainLoop:
for {
select {
case v := <-ch:
if !v.MetaUpdate {
break drainLoop
}
case <-deadline:
t.Fatal("timeout draining initial frames")
}
}
// Push new value via server.
srv.SetValue("DS:UPD", 99.9)
deadline = time.After(3 * time.Second)
for {
select {
case v := <-ch:
if v.MetaUpdate {
continue
}
f, ok := v.Data.(float64)
if !ok {
t.Fatalf("Data type = %T, want float64", v.Data)
}
if math.Abs(f-99.9) > 1e-6 {
t.Errorf("Data = %g, want 99.9", f)
}
return
case <-deadline:
t.Fatal("timeout waiting for updated value")
}
}
}
// -------------------------------------------------------------------------- //
// Write //
// -------------------------------------------------------------------------- //
func TestPureGo_WriteDouble(t *testing.T) {
ds, _ := newTestDS(t, []testca.PVSpec{
{Name: "DS:W", DBFType: proto.DBFDouble, Count: 1, Value: 0.0},
})
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
ch := make(chan datasource.Value, 16)
unsub, err := ds.Subscribe(ctx, "DS:W", ch)
if err != nil {
t.Fatalf("Subscribe: %v", err)
}
defer unsub()
// Drain initial.
deadline := time.After(3 * time.Second)
drainLoop:
for {
select {
case v := <-ch:
if !v.MetaUpdate {
break drainLoop
}
case <-deadline:
t.Fatal("timeout draining initial frames")
}
}
if err := ds.Write(ctx, "DS:W", float64(3.14)); err != nil {
t.Fatalf("Write: %v", err)
}
deadline = time.After(3 * time.Second)
for {
select {
case v := <-ch:
if v.MetaUpdate {
continue
}
f, ok := v.Data.(float64)
if !ok {
continue
}
if math.Abs(f-3.14) > 1e-6 {
t.Errorf("post-write Data = %g, want 3.14", f)
}
return
case <-deadline:
t.Fatal("timeout waiting for post-write monitor update")
}
}
}
func TestPureGo_WriteReadOnly(t *testing.T) {
ds, _ := newTestDS(t, []testca.PVSpec{
{Name: "DS:WRO", DBFType: proto.DBFDouble, Count: 1, Value: 0.0,
Access: proto.AccessRead},
})
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
err := ds.Write(ctx, "DS:WRO", float64(1.0))
if err == nil {
t.Fatal("expected error writing to read-only PV")
}
}
// -------------------------------------------------------------------------- //
// ListSignals //
// -------------------------------------------------------------------------- //
func TestPureGo_ListSignals(t *testing.T) {
ds, _ := newTestDS(t, []testca.PVSpec{
{Name: "DS:LS1", DBFType: proto.DBFDouble, Count: 1, Value: 0.0},
{Name: "DS:LS2", DBFType: proto.DBFDouble, Count: 1, Value: 0.0},
})
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
// GetMetadata for each PV to populate the cache.
for _, name := range []string{"DS:LS1", "DS:LS2"} {
if _, err := ds.GetMetadata(ctx, name); err != nil {
t.Fatalf("GetMetadata(%q): %v", name, err)
}
}
sigs, err := ds.ListSignals(ctx)
if err != nil {
t.Fatalf("ListSignals: %v", err)
}
if len(sigs) < 2 {
t.Errorf("ListSignals returned %d signals, want ≥ 2", len(sigs))
}
}
// -------------------------------------------------------------------------- //
// History //
// -------------------------------------------------------------------------- //
func TestPureGo_HistoryUnavailable(t *testing.T) {
ds, _ := newTestDS(t, []testca.PVSpec{
{Name: "DS:HIST", DBFType: proto.DBFDouble, Count: 1, Value: 0.0},
})
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
_, err := ds.History(ctx, "DS:HIST", time.Now().Add(-time.Hour), time.Now(), 100)
if err != datasource.ErrHistoryUnavailable {
t.Errorf("History with no archiveURL: want ErrHistoryUnavailable, got %v", err)
}
}
internal/datasource/epics/noop.go
+305 -11
View File
@@ -1,17 +1,311 @@
//go:build !epics
// Package epics provides an EPICS Channel Access data source.
// When built without the "epics" build tag (i.e. without CGo and EPICS Base),
// this stub is compiled instead, so that the rest of the codebase can call
// epics.Available() to decide whether to register the data source.
// Package epics provides an EPICS Channel Access data source for uopi using a
// pure-Go CA implementation (no CGo, no EPICS Base installation required).
// When built WITH the "epics" build tag, the CGo-based implementation in
// epics.go is used instead; that version requires CGo and a working EPICS Base.
package epics
import "github.com/uopi/uopi/internal/datasource"
import (
"context"
"fmt"
"log/slog" //nolint:depguard
"strings"
"sync"
"time"
// Available reports whether the EPICS Channel Access data source is compiled in.
// It always returns false when built without the "epics" build tag.
func Available() bool { return false }
ca "github.com/uopi/goca"
"github.com/uopi/goca/proto"
"github.com/uopi/uopi/internal/datasource"
)
// New is a placeholder that returns nil when EPICS support is not compiled in.
// Callers must check Available() before calling New().
func New(caAddrList, archiveURL string) datasource.DataSource { return nil }
// Available always returns true for the pure-Go build.
func Available() bool { return true }
// -------------------------------------------------------------------------- //
// EPICS data source (pure-Go implementation) //
// -------------------------------------------------------------------------- //
// EPICS is the pure-Go Channel Access data source.
type EPICS struct {
caAddrList string
archiveURL string
pvNames []string // pre-fetched at connect time for ListSignals
client *ca.Client
mu sync.RWMutex
metadata map[string]datasource.Metadata
}
// New creates a new EPICS Channel Access data source.
//
// caAddrList is the EPICS_CA_ADDR_LIST value (space-separated addresses).
// Leave empty to use the environment variable.
// archiveURL is the base URL of an EPICS Archive Appliance instance; leave
// empty to disable history queries.
// pvNames is an optional list of PV names whose metadata will be pre-fetched
// at connect time so they appear in ListSignals immediately (useful for the
// edit-mode signal tree).
func New(caAddrList, archiveURL string, pvNames []string) datasource.DataSource {
return &EPICS{
caAddrList: caAddrList,
archiveURL: archiveURL,
pvNames: pvNames,
metadata: make(map[string]datasource.Metadata),
}
}
// Name implements datasource.DataSource.
func (e *EPICS) Name() string { return "epics" }
// Connect creates the CA client and starts background I/O goroutines.
// ctx governs the lifetime of the client; cancel it to shut everything down.
func (e *EPICS) Connect(ctx context.Context) error {
cfg := ca.ConfigFromEnv()
if e.caAddrList != "" {
cfg.AddrList = strings.Fields(e.caAddrList)
cfg.AutoAddrList = false
}
slog.Info("epics: connecting CA client", "addrs", cfg.AddrList, "auto_addr", cfg.AutoAddrList)
cli, err := ca.NewClient(ctx, cfg)
if err != nil {
return fmt.Errorf("epics: %w", err)
}
e.client = cli
slog.Info("epics: CA client started", "addrs", cfg.AddrList)
// Pre-fetch metadata for any configured PV names so they appear in
// ListSignals as soon as the datasource is ready. We open a short-lived
// subscription (which drives channel connection) and then fetch CTRL info.
if len(e.pvNames) > 0 {
go func() {
for _, pv := range e.pvNames {
if ctx.Err() != nil {
return
}
func() {
tvCh := make(chan proto.TimeValue, 1)
subCtx, subCancel := context.WithTimeout(ctx, 15*time.Second)
defer subCancel()
cancel, err := e.client.Subscribe(subCtx, pv, tvCh)
if err != nil {
return
}
defer cancel()
// Channel is now connected; fetch CTRL metadata.
mctx, mcancel := context.WithTimeout(ctx, 5*time.Second)
defer mcancel()
_, _ = e.GetMetadata(mctx, pv)
}()
}
}()
}
return nil
}
// -------------------------------------------------------------------------- //
// Subscribe //
// -------------------------------------------------------------------------- //
// Subscribe registers ch to receive live value updates for signal.
// It blocks until the CA channel is connected (or ctx expires).
// A background goroutine forwards proto.TimeValue updates to ch as
// datasource.Value. Call the returned CancelFunc to unsubscribe.
func (e *EPICS) Subscribe(ctx context.Context, signal string, ch chan<- datasource.Value) (datasource.CancelFunc, error) {
slog.Info("epics: subscribing", "pv", signal)
tvCh := make(chan proto.TimeValue, 16)
clientCancel, err := e.client.Subscribe(ctx, signal, tvCh)
if err != nil {
slog.Error("epics: subscribe failed", "pv", signal, "err", err)
return nil, fmt.Errorf("epics: subscribe %q: %w", signal, err)
}
slog.Info("epics: subscribed OK", "pv", signal)
// Fetch and cache metadata now that the channel is connected.
// Send MetaUpdate so the dispatcher re-broadcasts metadata to clients.
go func() {
// Small delay gives ACCESS_RIGHTS message time to arrive before GetCtrl.
time.Sleep(50 * time.Millisecond)
mctx, mcancel := context.WithTimeout(ctx, 5*time.Second)
defer mcancel()
if _, err := e.GetMetadata(mctx, signal); err == nil {
select {
case ch <- datasource.Value{MetaUpdate: true}:
default:
}
}
}()
done := make(chan struct{})
// Forward goroutine: convert proto.TimeValue → datasource.Value.
go func() {
for {
select {
case tv := <-tvCh:
slog.Debug("epics: value received", "pv", signal, "double", tv.Double, "severity", tv.Severity)
val := e.timeValueToDS(signal, tv)
select {
case ch <- val:
default: // drop if consumer is slow
}
case <-done:
return
}
}
}()
cancel := func() {
clientCancel()
close(done)
}
return datasource.CancelFunc(cancel), nil
}
// timeValueToDS converts a proto.TimeValue to a datasource.Value.
func (e *EPICS) timeValueToDS(signal string, tv proto.TimeValue) datasource.Value {
var data any
if tv.Doubles != nil {
data = tv.Doubles
} else if tv.Str != "" {
data = tv.Str
} else {
// Use cached metadata type for correct int64 / float64 distinction.
e.mu.RLock()
meta, hasMeta := e.metadata[signal]
e.mu.RUnlock()
if hasMeta && (meta.Type == datasource.TypeInt64 || meta.Type == datasource.TypeEnum) {
data = int64(tv.Long)
} else {
data = tv.Double
}
}
quality := datasource.QualityGood
switch tv.Severity {
case proto.SeverityMinor:
quality = datasource.QualityUncertain
case proto.SeverityMajor, proto.SeverityInvalid:
quality = datasource.QualityBad
}
return datasource.Value{
Timestamp: tv.Timestamp,
Data: data,
Quality: quality,
}
}
// -------------------------------------------------------------------------- //
// GetMetadata //
// -------------------------------------------------------------------------- //
// GetMetadata returns metadata for signal, using a cached value when available.
// On the first call for a signal it performs a DBR_CTRL_* GET to retrieve
// units, display limits, enum strings, and access rights.
func (e *EPICS) GetMetadata(ctx context.Context, signal string) (datasource.Metadata, error) {
e.mu.RLock()
if m, ok := e.metadata[signal]; ok {
e.mu.RUnlock()
return m, nil
}
e.mu.RUnlock()
slog.Info("epics: fetching metadata", "pv", signal)
ci, err := e.client.GetCtrl(ctx, signal)
if err != nil {
slog.Error("epics: GetMetadata failed", "pv", signal, "err", err)
return datasource.Metadata{}, fmt.Errorf("epics: GetMetadata %q: %w", signal, err)
}
m := e.ctrlToMeta(signal, ci)
slog.Info("epics: metadata fetched", "pv", signal, "type", m.Type, "unit", m.Unit, "writable", m.Writable)
e.mu.Lock()
e.metadata[signal] = m
e.mu.Unlock()
return m, nil
}
// ctrlToMeta converts a ca.CtrlInfo to a datasource.Metadata.
func (e *EPICS) ctrlToMeta(name string, ci ca.CtrlInfo) datasource.Metadata {
m := datasource.Metadata{
Name: name,
Writable: ci.Access&proto.AccessWrite != 0,
}
switch {
case ci.Double != nil:
m.Type = datasource.TypeFloat64
if ci.Count > 1 {
m.Type = datasource.TypeFloat64Array
}
m.Unit = ci.Double.Units
m.DisplayLow = ci.Double.LowerDispLimit
m.DisplayHigh = ci.Double.UpperDispLimit
m.DriveLow = ci.Double.LowerCtrlLimit
m.DriveHigh = ci.Double.UpperCtrlLimit
case ci.Long != nil:
m.Type = datasource.TypeInt64
m.Unit = ci.Long.Units
m.DisplayLow = float64(ci.Long.LowerDispLimit)
m.DisplayHigh = float64(ci.Long.UpperDispLimit)
m.DriveLow = float64(ci.Long.LowerCtrlLimit)
m.DriveHigh = float64(ci.Long.UpperCtrlLimit)
case ci.Enum != nil:
m.Type = datasource.TypeEnum
m.EnumStrings = ci.Enum.Strings
case ci.Str != nil:
m.Type = datasource.TypeString
}
return m
}
// -------------------------------------------------------------------------- //
// ListSignals //
// -------------------------------------------------------------------------- //
// ListSignals returns metadata for all signals with cached information.
func (e *EPICS) ListSignals(_ context.Context) ([]datasource.Metadata, error) {
e.mu.RLock()
defer e.mu.RUnlock()
out := make([]datasource.Metadata, 0, len(e.metadata))
for _, m := range e.metadata {
out = append(out, m)
}
return out, nil
}
// -------------------------------------------------------------------------- //
// Write //
// -------------------------------------------------------------------------- //
// Write puts a new value onto the named CA channel.
// value must be one of: float64, float32, int64, int32, int, int16, string, bool.
func (e *EPICS) Write(ctx context.Context, signal string, value any) error {
if err := e.client.Put(ctx, signal, value); err != nil {
return fmt.Errorf("epics: write %q: %w", signal, err)
}
return nil
}
// -------------------------------------------------------------------------- //
// History //
// -------------------------------------------------------------------------- //
// History delegates to the Archive Appliance client, or returns
// ErrHistoryUnavailable if no archive URL is configured.
func (e *EPICS) History(ctx context.Context, signal string, start, end time.Time, maxPoints int) ([]datasource.Value, error) {
if e.archiveURL == "" {
return nil, datasource.ErrHistoryUnavailable
}
return fetchArchiveHistory(ctx, e.archiveURL, signal, start, end, maxPoints)
}
internal/datasource/stub/stub_test.go
+210
View File
@@ -0,0 +1,210 @@
package stub_test
import (
"context"
"testing"
"time"
"github.com/uopi/uopi/internal/datasource"
"github.com/uopi/uopi/internal/datasource/stub"
)
func newStub(t *testing.T) *stub.Stub {
t.Helper()
s := stub.New()
if err := s.Connect(context.Background()); err != nil {
t.Fatalf("Connect: %v", err)
}
return s
}
func TestName(t *testing.T) {
if stub.New().Name() != "stub" {
t.Error("Name() should return 'stub'")
}
}
func TestListSignals(t *testing.T) {
s := newStub(t)
sigs, err := s.ListSignals(context.Background())
if err != nil {
t.Fatalf("ListSignals: %v", err)
}
if len(sigs) == 0 {
t.Fatal("expected at least one signal")
}
names := make(map[string]bool)
for _, m := range sigs {
names[m.Name] = true
}
for _, want := range []string{"sine_1hz", "ramp_10s", "toggle_1hz", "noise", "setpoint"} {
if !names[want] {
t.Errorf("signal %q not in ListSignals", want)
}
}
}
func TestGetMetadata(t *testing.T) {
s := newStub(t)
m, err := s.GetMetadata(context.Background(), "sine_1hz")
if err != nil {
t.Fatalf("GetMetadata: %v", err)
}
if m.Type != datasource.TypeFloat64 {
t.Errorf("Type = %v, want TypeFloat64", m.Type)
}
if m.Unit == "" {
t.Error("expected non-empty Unit")
}
}
func TestGetMetadataNotFound(t *testing.T) {
s := newStub(t)
_, err := s.GetMetadata(context.Background(), "no:such:pv")
if err != datasource.ErrNotFound {
t.Errorf("want ErrNotFound, got %v", err)
}
}
func TestSubscribeReceivesValues(t *testing.T) {
s := newStub(t)
ctx, cancel := context.WithTimeout(context.Background(), 3*time.Second)
defer cancel()
ch := make(chan datasource.Value, 4)
stop, err := s.Subscribe(ctx, "sine_1hz", ch)
if err != nil {
t.Fatalf("Subscribe: %v", err)
}
defer stop()
select {
case v := <-ch:
if v.Quality != datasource.QualityGood {
t.Errorf("Quality = %v, want Good", v.Quality)
}
if _, ok := v.Data.(float64); !ok {
t.Errorf("Data type = %T, want float64", v.Data)
}
if v.Timestamp.IsZero() {
t.Error("Timestamp is zero")
}
case <-ctx.Done():
t.Fatal("timeout waiting for first value")
}
}
func TestSubscribeUnknown(t *testing.T) {
s := newStub(t)
_, err := s.Subscribe(context.Background(), "no:such", make(chan datasource.Value, 1))
if err != datasource.ErrNotFound {
t.Errorf("want ErrNotFound, got %v", err)
}
}
func TestSubscribeCancel(t *testing.T) {
s := newStub(t)
ctx, cancel := context.WithTimeout(context.Background(), 3*time.Second)
defer cancel()
ch := make(chan datasource.Value, 4)
stop, err := s.Subscribe(ctx, "ramp_10s", ch)
if err != nil {
t.Fatalf("Subscribe: %v", err)
}
// Drain one value to confirm it's running.
select {
case <-ch:
case <-ctx.Done():
t.Fatal("timeout waiting for first value")
}
stop() // cancel subscription
// Drain remaining buffered values then confirm channel goes quiet.
time.Sleep(200 * time.Millisecond)
for len(ch) > 0 {
<-ch
}
time.Sleep(300 * time.Millisecond)
if len(ch) > 0 {
t.Error("channel still receiving after stop()")
}
}
func TestWriteSetpoint(t *testing.T) {
s := newStub(t)
ctx, cancel := context.WithTimeout(context.Background(), 3*time.Second)
defer cancel()
if err := s.Write(context.Background(), "setpoint", float64(99.0)); err != nil {
t.Fatalf("Write: %v", err)
}
ch := make(chan datasource.Value, 4)
stop, err := s.Subscribe(ctx, "setpoint", ch)
if err != nil {
t.Fatalf("Subscribe: %v", err)
}
defer stop()
select {
case v := <-ch:
f, ok := v.Data.(float64)
if !ok {
t.Fatalf("Data type = %T, want float64", v.Data)
}
if f != 99.0 {
t.Errorf("setpoint value = %g, want 99.0", f)
}
case <-ctx.Done():
t.Fatal("timeout waiting for setpoint value")
}
}
func TestWriteReadOnly(t *testing.T) {
s := newStub(t)
err := s.Write(context.Background(), "sine_1hz", float64(0))
if err != datasource.ErrNotWritable {
t.Errorf("want ErrNotWritable, got %v", err)
}
}
func TestWriteNotFound(t *testing.T) {
s := newStub(t)
err := s.Write(context.Background(), "no:such", float64(0))
if err != datasource.ErrNotFound {
t.Errorf("want ErrNotFound, got %v", err)
}
}
func TestHistory(t *testing.T) {
s := newStub(t)
_, err := s.History(context.Background(), "sine_1hz", time.Now().Add(-time.Hour), time.Now(), 100)
if err != datasource.ErrHistoryUnavailable {
t.Errorf("want ErrHistoryUnavailable, got %v", err)
}
}
func TestToggleBool(t *testing.T) {
s := newStub(t)
ctx, cancel := context.WithTimeout(context.Background(), 3*time.Second)
defer cancel()
ch := make(chan datasource.Value, 4)
stop, err := s.Subscribe(ctx, "toggle_1hz", ch)
if err != nil {
t.Fatalf("Subscribe: %v", err)
}
defer stop()
select {
case v := <-ch:
if _, ok := v.Data.(bool); !ok {
t.Errorf("toggle_1hz Data type = %T, want bool", v.Data)
}
case <-ctx.Done():
t.Fatal("timeout")
}
}
internal/metrics/metrics_test.go
+69
View File
@@ -0,0 +1,69 @@
package metrics_test
import (
"net/http"
"net/http/httptest"
"strings"
"testing"
"github.com/uopi/uopi/internal/metrics"
)
func TestCounters(t *testing.T) {
// Counters are package-level atomics; exercise each Inc function.
metrics.IncWsConns()
metrics.IncWsConns()
metrics.DecWsConns()
metrics.IncMsgIn()
metrics.IncMsgOut()
metrics.IncWrites()
metrics.IncHistoryReqs()
// No panic = pass; values are additive across tests but that's fine.
}
func TestHandlerFormat(t *testing.T) {
handler := metrics.Handler(func() int { return 42 })
req := httptest.NewRequest(http.MethodGet, "/metrics", nil)
rec := httptest.NewRecorder()
handler(rec, req)
body := rec.Body.String()
// Must contain all metric names.
required := []string{
"uopi_uptime_seconds",
"uopi_ws_connections",
"uopi_signal_subscriptions",
"uopi_ws_messages_in_total",
"uopi_ws_messages_out_total",
"uopi_write_ops_total",
"uopi_history_requests_total",
}
for _, name := range required {
if !strings.Contains(body, name) {
t.Errorf("metric %q not found in response body", name)
}
}
// Content-Type must be set for Prometheus scrapers.
ct := rec.Header().Get("Content-Type")
if !strings.Contains(ct, "text/plain") {
t.Errorf("Content-Type = %q, want text/plain", ct)
}
// activeSubs value 42 must appear.
if !strings.Contains(body, "42") {
t.Error("activeSubs value 42 not found in body")
}
}
func TestHandlerNilActiveSubs(t *testing.T) {
handler := metrics.Handler(nil)
req := httptest.NewRequest(http.MethodGet, "/metrics", nil)
rec := httptest.NewRecorder()
handler(rec, req) // must not panic
if rec.Code != http.StatusOK {
t.Errorf("status = %d, want 200", rec.Code)
}
}
internal/storage/store_test.go
+232
View File
@@ -0,0 +1,232 @@
package storage_test
import (
"errors"
"testing"
"github.com/uopi/uopi/internal/storage"
)
const sampleXML = `<interface id="test-if" name="Test Interface" version="1"><widget/></interface>`
func newStore(t *testing.T) *storage.Store {
t.Helper()
s, err := storage.New(t.TempDir())
if err != nil {
t.Fatalf("New: %v", err)
}
return s
}
// -------------------------------------------------------------------------- //
// List //
// -------------------------------------------------------------------------- //
func TestListEmpty(t *testing.T) {
s := newStore(t)
list, err := s.List()
if err != nil {
t.Fatalf("List: %v", err)
}
if len(list) != 0 {
t.Errorf("expected empty list, got %d items", len(list))
}
}
func TestListAfterCreate(t *testing.T) {
s := newStore(t)
if _, err := s.Create([]byte(sampleXML)); err != nil {
t.Fatalf("Create: %v", err)
}
list, err := s.List()
if err != nil {
t.Fatalf("List: %v", err)
}
if len(list) != 1 {
t.Fatalf("expected 1 item, got %d", len(list))
}
if list[0].Name != "Test Interface" {
t.Errorf("Name = %q, want %q", list[0].Name, "Test Interface")
}
if list[0].Version != 1 {
t.Errorf("Version = %d, want 1", list[0].Version)
}
}
// -------------------------------------------------------------------------- //
// Create + Get //
// -------------------------------------------------------------------------- //
func TestCreateAndGet(t *testing.T) {
s := newStore(t)
id, err := s.Create([]byte(sampleXML))
if err != nil {
t.Fatalf("Create: %v", err)
}
if id == "" {
t.Fatal("Create returned empty ID")
}
data, err := s.Get(id)
if err != nil {
t.Fatalf("Get(%q): %v", id, err)
}
if string(data) != sampleXML {
t.Errorf("Get returned %q, want %q", data, sampleXML)
}
}
func TestCreateUsesEmbeddedID(t *testing.T) {
s := newStore(t)
id, err := s.Create([]byte(sampleXML))
if err != nil {
t.Fatalf("Create: %v", err)
}
// ID derived from xml id attr or name slug.
if id == "" {
t.Error("ID should not be empty")
}
}
func TestCreateDuplicateGetsUniqueID(t *testing.T) {
s := newStore(t)
id1, err := s.Create([]byte(sampleXML))
if err != nil {
t.Fatalf("first Create: %v", err)
}
id2, err := s.Create([]byte(sampleXML))
if err != nil {
t.Fatalf("second Create: %v", err)
}
if id1 == id2 {
t.Errorf("duplicate Create returned same ID %q", id1)
}
}
func TestCreateInvalidXML(t *testing.T) {
s := newStore(t)
_, err := s.Create([]byte("not xml"))
if err == nil {
t.Error("expected error for invalid XML")
}
}
// -------------------------------------------------------------------------- //
// Get errors //
// -------------------------------------------------------------------------- //
func TestGetNotFound(t *testing.T) {
s := newStore(t)
_, err := s.Get("does-not-exist")
if !errors.Is(err, storage.ErrNotFound) {
t.Errorf("Get missing: want ErrNotFound, got %v", err)
}
}
func TestGetInvalidID(t *testing.T) {
s := newStore(t)
_, err := s.Get("../traversal")
if !errors.Is(err, storage.ErrNotFound) {
t.Errorf("Get path-traversal ID: want ErrNotFound, got %v", err)
}
}
func TestGetEmptyID(t *testing.T) {
s := newStore(t)
_, err := s.Get("")
if !errors.Is(err, storage.ErrNotFound) {
t.Errorf("Get empty ID: want ErrNotFound, got %v", err)
}
}
// -------------------------------------------------------------------------- //
// Update //
// -------------------------------------------------------------------------- //
func TestUpdate(t *testing.T) {
s := newStore(t)
id, err := s.Create([]byte(sampleXML))
if err != nil {
t.Fatalf("Create: %v", err)
}
updated := `<interface id="test-if" name="Updated" version="2"><widget/></interface>`
if err := s.Update(id, []byte(updated)); err != nil {
t.Fatalf("Update: %v", err)
}
data, err := s.Get(id)
if err != nil {
t.Fatalf("Get after update: %v", err)
}
if string(data) != updated {
t.Errorf("post-update content mismatch")
}
}
func TestUpdateNotFound(t *testing.T) {
s := newStore(t)
err := s.Update("no-such-id", []byte(sampleXML))
if !errors.Is(err, storage.ErrNotFound) {
t.Errorf("Update missing: want ErrNotFound, got %v", err)
}
}
// -------------------------------------------------------------------------- //
// Delete //
// -------------------------------------------------------------------------- //
func TestDelete(t *testing.T) {
s := newStore(t)
id, err := s.Create([]byte(sampleXML))
if err != nil {
t.Fatalf("Create: %v", err)
}
if err := s.Delete(id); err != nil {
t.Fatalf("Delete: %v", err)
}
_, err = s.Get(id)
if !errors.Is(err, storage.ErrNotFound) {
t.Errorf("Get after delete: want ErrNotFound, got %v", err)
}
}
func TestDeleteNotFound(t *testing.T) {
s := newStore(t)
err := s.Delete("ghost")
if !errors.Is(err, storage.ErrNotFound) {
t.Errorf("Delete missing: want ErrNotFound, got %v", err)
}
}
// -------------------------------------------------------------------------- //
// Clone //
// -------------------------------------------------------------------------- //
func TestClone(t *testing.T) {
s := newStore(t)
id, err := s.Create([]byte(sampleXML))
if err != nil {
t.Fatalf("Create: %v", err)
}
newID, err := s.Clone(id)
if err != nil {
t.Fatalf("Clone: %v", err)
}
if newID == id {
t.Error("Clone should produce a different ID")
}
orig, _ := s.Get(id)
copy, _ := s.Get(newID)
if string(orig) != string(copy) {
t.Error("Clone content should match original")
}
}
func TestCloneNotFound(t *testing.T) {
s := newStore(t)
_, err := s.Clone("ghost")
if !errors.Is(err, storage.ErrNotFound) {
t.Errorf("Clone missing: want ErrNotFound, got %v", err)
}
}
pkg/ca/client.go
+421
View File
@@ -0,0 +1,421 @@
package ca
import (
"context"
"fmt"
"os"
"path/filepath"
"strings"
"sync"
"github.com/uopi/goca/proto"
)
// -------------------------------------------------------------------------- //
// Config //
// -------------------------------------------------------------------------- //
// Config holds the configuration for a Client.
// All fields are optional; sensible defaults are applied by NewClient.
type Config struct {
// AddrList is the list of CA server addresses ("host" or "host:port").
// Corresponds to EPICS_CA_ADDR_LIST.
AddrList []string
// AutoAddrList, when true, appends the IPv4 broadcast address of every
// local network interface to AddrList. Defaults to true.
// Corresponds to EPICS_CA_AUTO_ADDR_LIST.
AutoAddrList bool
// ClientName is announced to every CA server in the CLIENT_NAME message.
// Defaults to the executable base name.
ClientName string
// HostName is announced to every CA server in the HOST_NAME message.
// Defaults to the OS hostname.
HostName string
}
// ConfigFromEnv reads the standard EPICS CA environment variables and returns
// a ready-to-use Config.
//
// EPICS_CA_ADDR_LIST — space-separated list of server addresses
// EPICS_CA_AUTO_ADDR_LIST — "NO" disables automatic broadcast addresses
func ConfigFromEnv() Config {
name := filepath.Base(os.Args[0])
host, _ := os.Hostname()
cfg := Config{
AutoAddrList: true,
ClientName: name,
HostName: host,
}
if v := os.Getenv("EPICS_CA_ADDR_LIST"); v != "" {
cfg.AddrList = strings.Fields(v)
}
if strings.EqualFold(os.Getenv("EPICS_CA_AUTO_ADDR_LIST"), "no") {
cfg.AutoAddrList = false
}
return cfg
}
// -------------------------------------------------------------------------- //
// Client //
// -------------------------------------------------------------------------- //
// Client is a thread-safe EPICS Channel Access client.
//
// A single Client should serve an entire application. It maintains a pool of
// persistent TCP circuits (one per IOC) and a shared UDP search engine.
// Channels and subscriptions survive IOC restarts automatically.
//
// Usage:
//
// cli, err := ca.NewClient(ctx, ca.ConfigFromEnv())
// defer cli.Close()
//
// ch := make(chan proto.TimeValue, 16)
// cancel, err := cli.Subscribe(ctx, "MY:PV", ch)
// defer cancel()
//
// for tv := range ch { fmt.Println(tv.Double) }
type Client struct {
cfg Config
ctx context.Context
cancel context.CancelFunc
search *searchEngine
mu sync.Mutex
circuits map[string]*circuit // IOC TCP addr → circuit
}
// NewClient creates a new CA client and starts background I/O.
// ctx governs the lifetime of the client; cancelling it is equivalent to
// calling Close.
//
// Returns an error only if no search addresses can be derived from cfg.
func NewClient(ctx context.Context, cfg Config) (*Client, error) {
addrs := resolveAddrs(cfg.AddrList, proto.DefaultPort)
if cfg.AutoAddrList {
addrs = append(addrs, localBroadcastAddrs(proto.DefaultPort)...)
}
if len(addrs) == 0 {
return nil, fmt.Errorf("ca: no search addresses (set EPICS_CA_ADDR_LIST or enable AutoAddrList)")
}
if cfg.ClientName == "" {
cfg.ClientName = filepath.Base(os.Args[0])
}
if cfg.HostName == "" {
cfg.HostName, _ = os.Hostname()
}
cctx, cancel := context.WithCancel(ctx)
se := newSearchEngine(addrs)
if err := se.start(cctx); err != nil {
cancel()
return nil, err
}
return &Client{
cfg: cfg,
ctx: cctx,
cancel: cancel,
search: se,
circuits: make(map[string]*circuit),
}, nil
}
// Close shuts down all circuits and background goroutines.
// Any in-flight Subscribe, Get, or Put calls will unblock with an error.
func (c *Client) Close() {
c.cancel()
}
// -------------------------------------------------------------------------- //
// Internal helpers //
// -------------------------------------------------------------------------- //
// getOrCreateCircuit returns the circuit for addr, creating one if necessary.
func (c *Client) getOrCreateCircuit(addr string) *circuit {
c.mu.Lock()
defer c.mu.Unlock()
if circ, ok := c.circuits[addr]; ok {
return circ
}
circ := newCircuit(c.ctx, addr, c.cfg.ClientName, c.cfg.HostName)
c.circuits[addr] = circ
return circ
}
// resolve finds the IOC for pvName via UDP search, then waits for the TCP
// channel to be fully established. Returns (circuit, chanState) on success.
func (c *Client) resolve(ctx context.Context, pvName string) (*circuit, *chanState, error) {
addr, err := c.search.lookup(ctx, pvName)
if err != nil {
return nil, nil, err
}
circ := c.getOrCreateCircuit(addr)
cs := circ.getOrCreateChannel(pvName)
if err := cs.waitReady(ctx); err != nil {
return nil, nil, fmt.Errorf("ca: %q: %w", pvName, err)
}
return circ, cs, nil
}
// -------------------------------------------------------------------------- //
// Public API //
// -------------------------------------------------------------------------- //
// Subscribe registers ch to receive live monitor updates for pvName.
//
// Values are pushed as proto.TimeValue structs (DBR_TIME_* encoding).
// ch should be buffered; slow consumers will have updates silently dropped.
//
// The returned CancelFunc unsubscribes from the PV and must always be called
// to avoid leaking resources.
//
// Subscribe blocks until the channel is connected or ctx expires.
func (c *Client) Subscribe(ctx context.Context, pvName string, ch chan<- proto.TimeValue) (context.CancelFunc, error) {
circ, cs, err := c.resolve(ctx, pvName)
if err != nil {
return nil, err
}
cs.mu.RLock()
dbfType := cs.dbfType
count := cs.count
cs.mu.RUnlock()
ms := &monState{
subID: circ.nextID(),
dbrType: proto.NativeTimeType(dbfType, int(count)),
count: count,
ch: ch,
}
circ.addMonitor(cs, ms)
return func() { circ.removeMonitor(cs, ms.subID) }, nil
}
// Get performs a one-shot READ_NOTIFY for pvName and returns its current value.
// It blocks until the reply arrives or ctx expires.
func (c *Client) Get(ctx context.Context, pvName string) (proto.TimeValue, error) {
circ, cs, err := c.resolve(ctx, pvName)
if err != nil {
return proto.TimeValue{}, err
}
cs.mu.RLock()
dbfType := cs.dbfType
count := cs.count
cs.mu.RUnlock()
dbrType := proto.NativeTimeType(dbfType, int(count))
return circ.get(ctx, cs, dbrType, count)
}
// Put writes value to pvName using CA_PROTO_WRITE (fire-and-forget).
//
// value is automatically encoded to match the PV's native field type.
// Supported Go types: float64, float32, int64, int32, int, int16, string, bool.
//
// Put blocks only until the message is queued; it does not wait for an IOC
// acknowledgement. Use a timeout context to bound the wait for connection.
func (c *Client) Put(ctx context.Context, pvName string, value any) error {
circ, cs, err := c.resolve(ctx, pvName)
if err != nil {
return err
}
cs.mu.RLock()
dbfType := cs.dbfType
cs.mu.RUnlock()
dbrType, payload, err := encodePut(dbfType, value)
if err != nil {
return fmt.Errorf("ca: put %q: %w", pvName, err)
}
return circ.put(ctx, cs, dbrType, payload)
}
// -------------------------------------------------------------------------- //
// Control metadata //
// -------------------------------------------------------------------------- //
// CtrlInfo holds the full control-block metadata for a PV.
// Exactly one of the Double, Long, Enum, Str pointer fields is non-nil,
// depending on the PV's native field type.
type CtrlInfo struct {
DBFType int // proto.DBF* constant
Count uint32 // element count
Access uint32 // proto.AccessRead | proto.AccessWrite bitmask
Double *proto.CtrlDouble // non-nil for DBFDouble / DBFFloat
Long *proto.CtrlLong // non-nil for DBFLong / DBFShort / DBFChar
Enum *proto.CtrlEnum // non-nil for DBFEnum
Str *proto.CtrlString // non-nil for DBFString
}
// GetCtrl performs a READ_NOTIFY with a DBR_CTRL_* type and returns the full
// control-block metadata (units, display limits, enum strings, etc.) for pvName.
//
// GetCtrl blocks until the reply arrives or ctx expires.
func (c *Client) GetCtrl(ctx context.Context, pvName string) (CtrlInfo, error) {
circ, cs, err := c.resolve(ctx, pvName)
if err != nil {
return CtrlInfo{}, err
}
cs.mu.RLock()
dbfType := cs.dbfType
count := cs.count
access := cs.access
cs.mu.RUnlock()
ctrlType := proto.NativeCtrlType(dbfType)
_, payload, err := circ.getRaw(ctx, cs, ctrlType, count)
if err != nil {
return CtrlInfo{}, err
}
ci := CtrlInfo{DBFType: dbfType, Count: count, Access: access}
switch ctrlType {
case proto.DBRCtrlDouble:
cd, ok := proto.DecodeCtrlDouble(payload)
if !ok {
return CtrlInfo{}, fmt.Errorf("ca: %q: DecodeCtrlDouble failed (payload len %d)", pvName, len(payload))
}
ci.Double = &cd
case proto.DBRCtrlLong:
cl, ok := proto.DecodeCtrlLong(payload)
if !ok {
return CtrlInfo{}, fmt.Errorf("ca: %q: DecodeCtrlLong failed (payload len %d)", pvName, len(payload))
}
ci.Long = &cl
case proto.DBRCtrlEnum:
ce, ok := proto.DecodeCtrlEnum(payload)
if !ok {
return CtrlInfo{}, fmt.Errorf("ca: %q: DecodeCtrlEnum failed (payload len %d)", pvName, len(payload))
}
ci.Enum = &ce
case proto.DBRCtrlString:
cs2, ok := proto.DecodeCtrlString(payload)
if !ok {
return CtrlInfo{}, fmt.Errorf("ca: %q: DecodeCtrlString failed (payload len %d)", pvName, len(payload))
}
ci.Str = &cs2
default:
return CtrlInfo{}, fmt.Errorf("ca: %q: unhandled ctrl type %d", pvName, ctrlType)
}
return ci, nil
}
// -------------------------------------------------------------------------- //
// Value encoding for Put //
// -------------------------------------------------------------------------- //
// encodePut converts a Go value to a DBR wire payload matching the PV's
// native field type.
func encodePut(dbfType int, value any) (dbrType uint16, payload []byte, err error) {
switch dbfType {
case proto.DBFDouble, proto.DBFFloat:
f, e := toFloat64(value)
if e != nil {
return 0, nil, e
}
return proto.DBRDouble, proto.EncodeDouble(f), nil
case proto.DBFLong:
n, e := toInt32(value)
if e != nil {
return 0, nil, e
}
return proto.DBRLong, proto.EncodeLong(n), nil
case proto.DBFShort, proto.DBFChar, proto.DBFEnum:
n, e := toInt32(value)
if e != nil {
return 0, nil, e
}
return proto.DBRShort, proto.EncodeShort(int16(n)), nil
case proto.DBFString:
s, e := toString(value)
if e != nil {
return 0, nil, e
}
return proto.DBRString, proto.EncodeString(s), nil
default:
return 0, nil, fmt.Errorf("unsupported DBF type %d", dbfType)
}
}
func toFloat64(v any) (float64, error) {
switch x := v.(type) {
case float64:
return x, nil
case float32:
return float64(x), nil
case int:
return float64(x), nil
case int64:
return float64(x), nil
case int32:
return float64(x), nil
case int16:
return float64(x), nil
case uint64:
return float64(x), nil
case uint32:
return float64(x), nil
case bool:
if x {
return 1, nil
}
return 0, nil
default:
return 0, fmt.Errorf("cannot convert %T to float64", v)
}
}
func toInt32(v any) (int32, error) {
switch x := v.(type) {
case int:
return int32(x), nil
case int64:
return int32(x), nil
case int32:
return x, nil
case int16:
return int32(x), nil
case float64:
return int32(x), nil
case float32:
return int32(x), nil
case bool:
if x {
return 1, nil
}
return 0, nil
default:
return 0, fmt.Errorf("cannot convert %T to int32", v)
}
}
func toString(v any) (string, error) {
switch x := v.(type) {
case string:
return x, nil
case []byte:
return string(x), nil
default:
return fmt.Sprintf("%v", x), nil
}
}
pkg/ca/client_test.go
+397
View File
@@ -0,0 +1,397 @@
package ca_test
import (
"context"
"math"
"testing"
"time"
"github.com/uopi/goca"
"github.com/uopi/goca/testca"
"github.com/uopi/goca/proto"
)
// newTestClient creates a Client pointing only at the fake server's addresses.
func newTestClient(t *testing.T, srv *testca.Server) *ca.Client {
t.Helper()
cfg := ca.Config{
AddrList: []string{srv.UDPAddr()},
AutoAddrList: false,
ClientName: "testclient",
HostName: "localhost",
}
cli, err := ca.NewClient(context.Background(), cfg)
if err != nil {
t.Fatalf("NewClient: %v", err)
}
t.Cleanup(cli.Close)
return cli
}
// newTestServer creates a fake CA server with standard test PVs.
func newTestServer(t *testing.T) *testca.Server {
t.Helper()
srv, err := testca.New([]testca.PVSpec{
{Name: "TEST:DOUBLE", DBFType: proto.DBFDouble, Count: 1, Value: 3.14},
{Name: "TEST:LONG", DBFType: proto.DBFLong, Count: 1, Value: int32(42)},
{Name: "TEST:STRING", DBFType: proto.DBFString, Count: 1, Value: "hello"},
{Name: "TEST:ENUM", DBFType: proto.DBFEnum, Count: 1, Value: int16(1)},
{Name: "TEST:READONLY", DBFType: proto.DBFDouble, Count: 1, Value: 1.0,
Access: proto.AccessRead},
})
if err != nil {
t.Fatalf("testca.New: %v", err)
}
t.Cleanup(srv.Close)
return srv
}
// -------------------------------------------------------------------------- //
// Get tests //
// -------------------------------------------------------------------------- //
func TestGetDouble(t *testing.T) {
srv := newTestServer(t)
cli := newTestClient(t, srv)
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
tv, err := cli.Get(ctx, "TEST:DOUBLE")
if err != nil {
t.Fatalf("Get: %v", err)
}
if math.Abs(tv.Double-3.14) > 1e-6 {
t.Errorf("Double = %g, want ~3.14", tv.Double)
}
if tv.Timestamp.IsZero() {
t.Error("Timestamp is zero")
}
}
func TestGetLong(t *testing.T) {
srv := newTestServer(t)
cli := newTestClient(t, srv)
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
tv, err := cli.Get(ctx, "TEST:LONG")
if err != nil {
t.Fatalf("Get: %v", err)
}
if tv.Long != 42 {
t.Errorf("Long = %d, want 42", tv.Long)
}
}
func TestGetString(t *testing.T) {
srv := newTestServer(t)
cli := newTestClient(t, srv)
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
tv, err := cli.Get(ctx, "TEST:STRING")
if err != nil {
t.Fatalf("Get: %v", err)
}
if tv.Str != "hello" {
t.Errorf("Str = %q, want %q", tv.Str, "hello")
}
}
func TestGetNotFound(t *testing.T) {
srv := newTestServer(t)
cli := newTestClient(t, srv)
ctx, cancel := context.WithTimeout(context.Background(), 500*time.Millisecond)
defer cancel()
_, err := cli.Get(ctx, "NO:SUCH:PV")
if err == nil {
t.Fatal("expected error for missing PV, got nil")
}
}
// -------------------------------------------------------------------------- //
// Subscribe tests //
// -------------------------------------------------------------------------- //
func TestSubscribeReceivesInitialValue(t *testing.T) {
srv := newTestServer(t)
cli := newTestClient(t, srv)
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
ch := make(chan proto.TimeValue, 8)
unsub, err := cli.Subscribe(ctx, "TEST:DOUBLE", ch)
if err != nil {
t.Fatalf("Subscribe: %v", err)
}
defer unsub()
select {
case tv := <-ch:
if math.Abs(tv.Double-3.14) > 1e-6 {
t.Errorf("initial Double = %g, want ~3.14", tv.Double)
}
case <-ctx.Done():
t.Fatal("timeout waiting for initial monitor value")
}
}
func TestSubscribeReceivesUpdates(t *testing.T) {
srv := newTestServer(t)
cli := newTestClient(t, srv)
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
ch := make(chan proto.TimeValue, 8)
unsub, err := cli.Subscribe(ctx, "TEST:DOUBLE", ch)
if err != nil {
t.Fatalf("Subscribe: %v", err)
}
defer unsub()
// Drain initial value.
select {
case <-ch:
case <-ctx.Done():
t.Fatal("timeout waiting for initial value")
}
// Push a new value from the server side.
if err := srv.SetValue("TEST:DOUBLE", 99.9); err != nil {
t.Fatalf("SetValue: %v", err)
}
select {
case tv := <-ch:
if math.Abs(tv.Double-99.9) > 1e-6 {
t.Errorf("updated Double = %g, want ~99.9", tv.Double)
}
case <-ctx.Done():
t.Fatal("timeout waiting for updated monitor value")
}
}
func TestUnsubscribeStopsUpdates(t *testing.T) {
srv := newTestServer(t)
cli := newTestClient(t, srv)
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
ch := make(chan proto.TimeValue, 8)
unsub, err := cli.Subscribe(ctx, "TEST:DOUBLE", ch)
if err != nil {
t.Fatalf("Subscribe: %v", err)
}
// Drain initial value.
select {
case <-ch:
case <-ctx.Done():
t.Fatal("timeout waiting for initial value")
}
unsub() // unsubscribe
// Give the EVENT_CANCEL message time to be delivered.
time.Sleep(50 * time.Millisecond)
// Push a value; channel should NOT receive it.
srv.SetValue("TEST:DOUBLE", 777.0)
select {
case tv := <-ch:
// It's possible one update slipped through before cancel was processed.
// Accept it, but not a second one.
t.Logf("received one update after unsub (value=%g), checking for second...", tv.Double)
select {
case <-ch:
t.Error("received second update after unsubscribe")
case <-time.After(100 * time.Millisecond):
// Good — no second update.
}
case <-time.After(150 * time.Millisecond):
// No update received — correct.
}
}
// -------------------------------------------------------------------------- //
// Put tests //
// -------------------------------------------------------------------------- //
func TestPutDouble(t *testing.T) {
srv := newTestServer(t)
cli := newTestClient(t, srv)
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
// Subscribe to observe the effect of Put.
ch := make(chan proto.TimeValue, 8)
unsub, err := cli.Subscribe(ctx, "TEST:DOUBLE", ch)
if err != nil {
t.Fatalf("Subscribe: %v", err)
}
defer unsub()
// Drain initial value.
select {
case <-ch:
case <-ctx.Done():
t.Fatal("timeout waiting for initial value")
}
if err := cli.Put(ctx, "TEST:DOUBLE", float64(2.718)); err != nil {
t.Fatalf("Put: %v", err)
}
select {
case tv := <-ch:
if math.Abs(tv.Double-2.718) > 1e-6 {
t.Errorf("post-put Double = %g, want ~2.718", tv.Double)
}
case <-ctx.Done():
t.Fatal("timeout waiting for post-put monitor value")
}
}
func TestPutLong(t *testing.T) {
srv := newTestServer(t)
cli := newTestClient(t, srv)
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
ch := make(chan proto.TimeValue, 8)
unsub, err := cli.Subscribe(ctx, "TEST:LONG", ch)
if err != nil {
t.Fatalf("Subscribe: %v", err)
}
defer unsub()
<-ch // drain initial
if err := cli.Put(ctx, "TEST:LONG", int(100)); err != nil {
t.Fatalf("Put: %v", err)
}
select {
case tv := <-ch:
if tv.Long != 100 {
t.Errorf("post-put Long = %d, want 100", tv.Long)
}
case <-ctx.Done():
t.Fatal("timeout waiting for post-put value")
}
}
func TestPutString(t *testing.T) {
srv := newTestServer(t)
cli := newTestClient(t, srv)
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
ch := make(chan proto.TimeValue, 8)
unsub, err := cli.Subscribe(ctx, "TEST:STRING", ch)
if err != nil {
t.Fatalf("Subscribe: %v", err)
}
defer unsub()
<-ch // drain initial
if err := cli.Put(ctx, "TEST:STRING", "world"); err != nil {
t.Fatalf("Put: %v", err)
}
select {
case tv := <-ch:
if tv.Str != "world" {
t.Errorf("post-put Str = %q, want %q", tv.Str, "world")
}
case <-ctx.Done():
t.Fatal("timeout waiting for post-put value")
}
}
func TestPutReadOnly(t *testing.T) {
srv := newTestServer(t)
cli := newTestClient(t, srv)
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
err := cli.Put(ctx, "TEST:READONLY", float64(1.0))
if err == nil {
t.Fatal("expected error writing to read-only PV")
}
}
// -------------------------------------------------------------------------- //
// Multiple subscribers on the same PV //
// -------------------------------------------------------------------------- //
func TestMultipleSubscribers(t *testing.T) {
srv := newTestServer(t)
cli := newTestClient(t, srv)
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
const n = 3
chs := make([]chan proto.TimeValue, n)
for i := range chs {
chs[i] = make(chan proto.TimeValue, 8)
unsub, err := cli.Subscribe(ctx, "TEST:DOUBLE", chs[i])
if err != nil {
t.Fatalf("Subscribe[%d]: %v", i, err)
}
defer unsub()
}
// Drain initial values.
for i, ch := range chs {
select {
case <-ch:
case <-ctx.Done():
t.Fatalf("timeout waiting for initial value on subscriber %d", i)
}
}
// Push a new value.
srv.SetValue("TEST:DOUBLE", 55.5)
for i, ch := range chs {
select {
case tv := <-ch:
if math.Abs(tv.Double-55.5) > 1e-6 {
t.Errorf("subscriber %d: Double = %g, want 55.5", i, tv.Double)
}
case <-ctx.Done():
t.Fatalf("timeout waiting for update on subscriber %d", i)
}
}
}
// -------------------------------------------------------------------------- //
// Context cancellation //
// -------------------------------------------------------------------------- //
func TestGetContextCancelled(t *testing.T) {
srv := newTestServer(t)
cli := newTestClient(t, srv)
ctx, cancel := context.WithCancel(context.Background())
cancel() // already cancelled
_, err := cli.Get(ctx, "TEST:DOUBLE")
if err == nil {
t.Fatal("expected error with cancelled context")
}
}
pkg/ca/conn.go
+743
View File
@@ -0,0 +1,743 @@
package ca
import (
"context"
"fmt"
"io"
"net"
"sync"
"sync/atomic"
"time"
"github.com/uopi/goca/proto"
)
const (
writeQueueDepth = 256
echoInterval = 15 * time.Second
connectTimeout = 5 * time.Second
maxReconnDelay = 60 * time.Second
)
// -------------------------------------------------------------------------- //
// reply — async GET callback payload //
// -------------------------------------------------------------------------- //
// reply is delivered to a pending GET waiter via a buffered channel.
// If ok is false the circuit died before the reply arrived.
type reply struct {
hdr proto.Header
payload []byte
ok bool
}
// -------------------------------------------------------------------------- //
// monState — one active EVENT_ADD subscription //
// -------------------------------------------------------------------------- //
// monState survives reconnections; the circuit re-sends EVENT_ADD with the
// new SID each time a CREATE_CHAN reply is received.
type monState struct {
subID uint32
dbrType uint16
count uint32
ch chan<- proto.TimeValue // caller-owned, never closed here
}
// -------------------------------------------------------------------------- //
// chanState — one CA channel (persists across reconnections) //
// -------------------------------------------------------------------------- //
// chanState field invariants:
// - cid, pvName: immutable after construction.
// - sid, dbfType, count, access: valid only while readyC is closed.
// - readyC: closed when CREATE_CHAN reply received; replaced on reconnect.
// - monitors: append-only (except removeMonitor); never cleared on reconnect.
// - pending: ioid → GET reply channel; drained (channels closed) on reconnect.
type chanState struct {
cid uint32
pvName string
mu sync.RWMutex
sid uint32 // server-assigned channel ID (0 until CREATE_CHAN reply)
dbfType int // native DBF field type
count uint32 // element count
access uint32 // AccessRead | AccessWrite bitmask
readyC chan struct{} // closed once CREATE_CHAN reply is received
monitors []*monState // active subscriptions
pending map[uint32]chan reply // ioid → one-shot GET callback
}
func newChanState(cid uint32, pvName string) *chanState {
return &chanState{
cid: cid,
pvName: pvName,
readyC: make(chan struct{}),
pending: make(map[uint32]chan reply),
}
}
// resetForReconnect prepares cs for a new TCP connection.
// It closes the current readyC (waking any waitReady callers so they can
// re-wait on the fresh channel) and then replaces it.
// Must be called before the circuit sends CREATE_CHAN on the new conn.
func (cs *chanState) resetForReconnect() {
cs.mu.Lock()
cs.sid = 0
old := cs.readyC
cs.readyC = make(chan struct{})
// Drain pending GETs — they will receive zero reply (ok=false).
for id, ch := range cs.pending {
close(ch)
delete(cs.pending, id)
}
cs.mu.Unlock()
// Close the old readyC outside the lock to avoid deadlock with waitReady.
select {
case <-old:
// Already closed (CmdCreateFail path or double-reset guard).
default:
close(old)
}
}
// waitReady blocks until sid != 0 (CREATE_CHAN reply received for the current
// connection) or ctx expires. It loops through reconnections automatically:
// when resetForReconnect closes the current readyC the goroutine wakes, sees
// sid == 0, and waits on the freshly created channel.
func (cs *chanState) waitReady(ctx context.Context) error {
for {
cs.mu.RLock()
sid := cs.sid
ready := cs.readyC
cs.mu.RUnlock()
if sid != 0 {
return nil
}
select {
case <-ready:
// State changed — either CREATE_CHAN reply (sid set) or reconnect
// started (sid cleared, new readyC installed). Loop to check.
case <-ctx.Done():
return ctx.Err()
}
}
}
// -------------------------------------------------------------------------- //
// circuit — persistent TCP connection to one CA server //
// -------------------------------------------------------------------------- //
// circuit manages a persistent, auto-reconnecting TCP connection to a single
// CA server. All channels and monitors created on a circuit survive
// reconnections; the circuit re-creates them transparently.
//
// Goroutine model:
// - run() goroutine: reconnect loop; drives the write loop for each conn.
// - readLoop() goroutine: one per active conn; dispatches inbound messages.
//
// Lock ordering: circuit.mu → chanState.mu (never the reverse).
type circuit struct {
addr string
clientName string
hostName string
ctx context.Context
cancel context.CancelFunc
mu sync.RWMutex
channels []*chanState // append-only; survive reconnect
byCID map[uint32]*chanState // cid → chanState (fast lookup)
bySubID map[uint32]*monState // subID → monState (fast event dispatch)
writeQ chan []byte // serialised outbound message queue
seq atomic.Uint32 // shared ID sequence (cid, ioid, subID)
}
func newCircuit(ctx context.Context, addr, clientName, hostName string) *circuit {
cctx, cancel := context.WithCancel(ctx)
c := &circuit{
addr: addr,
clientName: clientName,
hostName: hostName,
ctx: cctx,
cancel: cancel,
byCID: make(map[uint32]*chanState),
bySubID: make(map[uint32]*monState),
writeQ: make(chan []byte, writeQueueDepth),
}
go c.run()
return c
}
func (c *circuit) close() { c.cancel() }
func (c *circuit) nextID() uint32 { return c.seq.Add(1) }
// -------------------------------------------------------------------------- //
// Reconnect loop //
// -------------------------------------------------------------------------- //
func (c *circuit) run() {
delay := time.Second
for {
if c.ctx.Err() != nil {
return
}
dbg("CA circuit connecting", "addr", c.addr)
conn, err := c.dial()
if err != nil {
dbg("CA circuit dial failed", "addr", c.addr, "err", err)
select {
case <-time.After(delay):
case <-c.ctx.Done():
return
}
delay = min(delay*2, maxReconnDelay)
continue
}
dbg("CA circuit connected", "addr", c.addr)
delay = time.Second // reset back-off on successful connect
// Snapshot channels and reset their per-connection state.
c.mu.Lock()
for _, cs := range c.channels {
cs.resetForReconnect()
}
chs := make([]*chanState, len(c.channels))
copy(chs, c.channels)
c.mu.Unlock()
// Drain stale messages from the write queue (they carry old SIDs).
for len(c.writeQ) > 0 {
<-c.writeQ
}
// Send VERSION + HOST_NAME + CLIENT_NAME.
if err := c.sendHandshake(conn); err != nil {
conn.Close()
continue
}
// Re-create all known channels on the new connection.
setupOK := true
for _, cs := range chs {
if _, err := conn.Write(buildCreateChanMsg(cs.cid, cs.pvName)); err != nil {
setupOK = false
break
}
}
if !setupOK {
conn.Close()
continue
}
dbg("CA handshake sent", "addr", c.addr, "channels", len(chs))
// Start read loop.
readDone := make(chan struct{})
go func() {
c.readLoop(conn)
dbg("CA read loop exited", "addr", c.addr)
close(readDone)
}()
// Write loop (run goroutine acts as the write pump).
c.writeLoop(conn, readDone)
conn.Close()
<-readDone // drain read goroutine before reconnecting
if c.ctx.Err() != nil {
return
}
select {
case <-time.After(delay):
case <-c.ctx.Done():
return
}
delay = min(delay*2, maxReconnDelay)
}
}
func (c *circuit) writeLoop(conn net.Conn, readDone <-chan struct{}) {
ticker := time.NewTicker(echoInterval)
defer ticker.Stop()
for {
select {
case msg := <-c.writeQ:
if _, err := conn.Write(msg); err != nil {
return
}
case <-ticker.C:
// Periodic heartbeat; server echoes it back.
hb := proto.BuildMessage(proto.Header{Command: proto.CmdEcho}, nil)
if _, err := conn.Write(hb); err != nil {
return
}
case <-readDone:
return
case <-c.ctx.Done():
return
}
}
}
// -------------------------------------------------------------------------- //
// Dial + handshake //
// -------------------------------------------------------------------------- //
func (c *circuit) dial() (net.Conn, error) {
d := net.Dialer{Timeout: connectTimeout}
conn, err := d.DialContext(c.ctx, "tcp4", c.addr)
if err != nil {
return nil, fmt.Errorf("ca: dial %s: %w", c.addr, err)
}
return conn, nil
}
func (c *circuit) sendHandshake(conn net.Conn) error {
ver := proto.BuildMessage(proto.Header{
Command: proto.CmdVersion,
DataCount: proto.MinorVersion,
}, nil)
host := proto.BuildMessage(
proto.Header{Command: proto.CmdHostName},
proto.BuildStringPayload(c.hostName),
)
client := proto.BuildMessage(
proto.Header{Command: proto.CmdClientName},
proto.BuildStringPayload(c.clientName),
)
out := make([]byte, 0, len(ver)+len(host)+len(client))
out = append(out, ver...)
out = append(out, host...)
out = append(out, client...)
_, err := conn.Write(out)
return err
}
// -------------------------------------------------------------------------- //
// Read loop + message dispatch //
// -------------------------------------------------------------------------- //
func (c *circuit) readLoop(conn net.Conn) {
for {
hdr, _, err := proto.DecodeHeader(conn)
if err != nil {
if c.ctx.Err() == nil {
dbg("CA read loop error (header)", "addr", c.addr, "err", err)
}
return
}
dbg("CA recv", "addr", c.addr, "cmd", hdr.Command, "dataType", hdr.DataType,
"dataCount", hdr.DataCount, "payloadSize", hdr.PayloadSize,
"p1", hdr.Parameter1, "p2", hdr.Parameter2)
var payload []byte
if hdr.PayloadSize > 0 {
payload = make([]byte, hdr.PayloadSize)
if _, err = io.ReadFull(conn, payload); err != nil {
if c.ctx.Err() == nil {
dbg("CA read loop error (payload)", "addr", c.addr,
"cmd", hdr.Command, "wantBytes", hdr.PayloadSize, "err", err)
}
return
}
}
c.dispatch(conn, hdr, payload)
}
}
// dispatch handles one inbound CA message.
func (c *circuit) dispatch(conn net.Conn, hdr proto.Header, payload []byte) {
switch hdr.Command {
case proto.CmdVersion:
// Server version negotiation reply — nothing to do.
case proto.CmdCreateChan:
// Parameter1 = cid (echoed), Parameter2 = SID assigned by server.
c.mu.RLock()
cs, ok := c.byCID[hdr.Parameter1]
c.mu.RUnlock()
if !ok {
return
}
cs.mu.Lock()
cs.sid = hdr.Parameter2
cs.dbfType = int(hdr.DataType)
cs.count = hdr.DataCount
ready := cs.readyC
// Snapshot monitors for EVENT_ADD re-subscription.
mons := make([]*monState, len(cs.monitors))
copy(mons, cs.monitors)
cs.mu.Unlock()
dbg("CA CREATE_CHAN reply", "pv", cs.pvName, "sid", hdr.Parameter2,
"dbfType", hdr.DataType, "count", hdr.DataCount, "monitors", len(mons))
// Re-subscribe all monitors with the new SID.
for _, ms := range mons {
msg := buildEventAddMsg(ms.subID, hdr.Parameter2, ms.dbrType, ms.count)
dbg("CA EVENT_ADD sent", "pv", cs.pvName, "subID", ms.subID,
"sid", hdr.Parameter2, "dbrType", ms.dbrType, "count", ms.count)
select {
case c.writeQ <- msg:
default:
}
}
close(ready) // unblock waitReady callers
case proto.CmdCreateFail:
// Server does not host this PV (or quota exceeded).
c.mu.RLock()
cs, ok := c.byCID[hdr.Parameter1]
c.mu.RUnlock()
if !ok {
return
}
dbg("CA CREATE_FAIL", "pv", cs.pvName, "cid", hdr.Parameter1)
cs.mu.RLock()
ready := cs.readyC
cs.mu.RUnlock()
// readyC is only closed once per connection cycle by this goroutine,
// so the select here is safe (no concurrent close).
select {
case <-ready:
// Already closed (shouldn't happen, but guard against it).
default:
close(ready)
}
case proto.CmdAccessRights:
// Parameter1 = cid, Parameter2 = access bitmask.
c.mu.RLock()
cs, ok := c.byCID[hdr.Parameter1]
c.mu.RUnlock()
if ok {
cs.mu.Lock()
cs.access = hdr.Parameter2
cs.mu.Unlock()
}
case proto.CmdEventAdd:
// Monitor update: Parameter1 = subscriptionID.
c.mu.RLock()
ms, ok := c.bySubID[hdr.Parameter1]
c.mu.RUnlock()
if !ok {
dbg("CA EVENT_ADD for unknown subID", "subID", hdr.Parameter1)
return
}
tv, ok := proto.DecodeTimeValue(hdr.DataType, hdr.DataCount, payload)
if !ok {
dbg("CA EVENT_ADD decode failed", "subID", hdr.Parameter1,
"dbrType", hdr.DataType, "count", hdr.DataCount, "payloadLen", len(payload))
return
}
dbg("CA EVENT_ADD value", "subID", hdr.Parameter1, "dbrType", hdr.DataType,
"double", tv.Double, "severity", tv.Severity)
select {
case ms.ch <- tv:
default: // drop if consumer is slow
}
case proto.CmdReadNotify:
// GET reply: Parameter1 = ioid.
ioid := hdr.Parameter1
c.mu.RLock()
var replyCh chan reply
var found bool
for _, cs := range c.channels {
cs.mu.Lock()
if ch, exists := cs.pending[ioid]; exists {
delete(cs.pending, ioid)
replyCh = ch
found = true
}
cs.mu.Unlock()
if found {
break
}
}
c.mu.RUnlock()
if found {
select {
case replyCh <- reply{hdr: hdr, payload: payload, ok: true}:
default:
}
}
case proto.CmdEcho:
// Server heartbeat — no response needed (client sends its own echoes).
case proto.CmdServerDisc:
// Server is shutting down — close conn to trigger reconnect.
conn.Close()
}
}
// -------------------------------------------------------------------------- //
// Message builders //
// -------------------------------------------------------------------------- //
func buildCreateChanMsg(cid uint32, pvName string) []byte {
return proto.BuildMessage(proto.Header{
Command: proto.CmdCreateChan,
Parameter1: cid,
Parameter2: proto.MinorVersion,
}, proto.BuildStringPayload(pvName))
}
func buildEventAddMsg(subID, sid uint32, dbrType uint16, count uint32) []byte {
return proto.BuildMessage(proto.Header{
Command: proto.CmdEventAdd,
DataType: dbrType,
DataCount: count,
Parameter1: sid, // m_cid = channel SID (per CA spec)
Parameter2: subID, // m_available = client subscription ID
}, proto.EncodeEventMask(proto.DBEDefault))
}
func buildEventCancelMsg(subID, sid uint32, dbrType uint16) []byte {
return proto.BuildMessage(proto.Header{
Command: proto.CmdEventCancel,
DataType: dbrType,
Parameter1: sid, // m_cid = channel SID
Parameter2: subID, // m_available = client subscription ID
}, nil)
}
// -------------------------------------------------------------------------- //
// Channel and monitor management //
// -------------------------------------------------------------------------- //
// getOrCreateChannel returns the chanState for pvName, creating it if needed.
// If the circuit is currently connected, CREATE_CHAN is queued immediately;
// otherwise the reconnect loop will send it when it next connects.
func (c *circuit) getOrCreateChannel(pvName string) *chanState {
c.mu.Lock()
defer c.mu.Unlock()
for _, cs := range c.channels {
if cs.pvName == pvName {
return cs
}
}
cid := c.nextID()
cs := newChanState(cid, pvName)
c.channels = append(c.channels, cs)
c.byCID[cid] = cs
// Best-effort: deliver CREATE_CHAN if circuit is up.
msg := buildCreateChanMsg(cid, pvName)
select {
case c.writeQ <- msg:
default:
}
return cs
}
// addMonitor registers ms on cs and queues EVENT_ADD if the channel is ready.
// If the channel is not yet ready the CREATE_CHAN reply handler will send
// EVENT_ADD when the connection is established.
func (c *circuit) addMonitor(cs *chanState, ms *monState) {
c.mu.Lock()
c.bySubID[ms.subID] = ms
c.mu.Unlock()
cs.mu.Lock()
cs.monitors = append(cs.monitors, ms)
sid := cs.sid
cs.mu.Unlock()
if sid != 0 {
dbg("CA EVENT_ADD sent (addMonitor)", "pv", cs.pvName, "subID", ms.subID,
"sid", sid, "dbrType", ms.dbrType, "count", ms.count)
msg := buildEventAddMsg(ms.subID, sid, ms.dbrType, ms.count)
select {
case c.writeQ <- msg:
default:
}
}
}
// removeMonitor unregisters a monitor and queues EVENT_CANCEL if connected.
func (c *circuit) removeMonitor(cs *chanState, subID uint32) {
c.mu.Lock()
delete(c.bySubID, subID)
c.mu.Unlock()
cs.mu.Lock()
var dbrType uint16
remaining := cs.monitors[:0:0] // fresh backing array
for _, ms := range cs.monitors {
if ms.subID == subID {
dbrType = ms.dbrType
} else {
remaining = append(remaining, ms)
}
}
cs.monitors = remaining
sid := cs.sid
cs.mu.Unlock()
if sid != 0 {
msg := buildEventCancelMsg(subID, sid, dbrType)
select {
case c.writeQ <- msg:
default:
}
}
}
// -------------------------------------------------------------------------- //
// Channel operations: get and put //
// -------------------------------------------------------------------------- //
// getRaw performs a READ_NOTIFY and returns the undecoded header + payload.
// Use this when you need to decode a type that get() does not handle
// (e.g. DBR_CTRL_* for metadata retrieval).
func (c *circuit) getRaw(ctx context.Context, cs *chanState, dbrType uint16, count uint32) (proto.Header, []byte, error) {
if err := cs.waitReady(ctx); err != nil {
return proto.Header{}, nil, fmt.Errorf("ca: %q: %w", cs.pvName, err)
}
cs.mu.RLock()
sid := cs.sid
cs.mu.RUnlock()
if sid == 0 {
return proto.Header{}, nil, fmt.Errorf("ca: %q: channel not connected", cs.pvName)
}
ioid := c.nextID()
replyCh := make(chan reply, 1)
cs.mu.Lock()
cs.pending[ioid] = replyCh
cs.mu.Unlock()
msg := proto.BuildMessage(proto.Header{
Command: proto.CmdReadNotify,
DataType: dbrType,
DataCount: count,
Parameter1: sid, // m_cid = channel SID (per CA spec)
Parameter2: ioid, // m_available = request IOId
}, nil)
select {
case c.writeQ <- msg:
case <-ctx.Done():
cs.mu.Lock()
delete(cs.pending, ioid)
cs.mu.Unlock()
return proto.Header{}, nil, ctx.Err()
}
select {
case r := <-replyCh:
if !r.ok {
return proto.Header{}, nil, fmt.Errorf("ca: %q: circuit disconnected", cs.pvName)
}
return r.hdr, r.payload, nil
case <-ctx.Done():
cs.mu.Lock()
delete(cs.pending, ioid)
cs.mu.Unlock()
return proto.Header{}, nil, ctx.Err()
}
}
// get performs a READ_NOTIFY (async GET) and returns the decoded value.
// It blocks until the reply arrives, the channel is not yet ready, or ctx expires.
func (c *circuit) get(ctx context.Context, cs *chanState, dbrType uint16, count uint32) (proto.TimeValue, error) {
if err := cs.waitReady(ctx); err != nil {
return proto.TimeValue{}, fmt.Errorf("ca: %q: %w", cs.pvName, err)
}
cs.mu.RLock()
sid := cs.sid
cs.mu.RUnlock()
if sid == 0 {
return proto.TimeValue{}, fmt.Errorf("ca: %q: channel not connected", cs.pvName)
}
ioid := c.nextID()
replyCh := make(chan reply, 1)
cs.mu.Lock()
cs.pending[ioid] = replyCh
cs.mu.Unlock()
msg := proto.BuildMessage(proto.Header{
Command: proto.CmdReadNotify,
DataType: dbrType,
DataCount: count,
Parameter1: sid, // m_cid = channel SID (per CA spec)
Parameter2: ioid, // m_available = request IOId
}, nil)
select {
case c.writeQ <- msg:
case <-ctx.Done():
cs.mu.Lock()
delete(cs.pending, ioid)
cs.mu.Unlock()
return proto.TimeValue{}, ctx.Err()
}
select {
case r := <-replyCh:
if !r.ok {
return proto.TimeValue{}, fmt.Errorf("ca: %q: circuit disconnected during GET", cs.pvName)
}
tv, ok := proto.DecodeTimeValue(r.hdr.DataType, r.hdr.DataCount, r.payload)
if !ok {
return proto.TimeValue{}, fmt.Errorf("ca: %q: failed to decode GET reply", cs.pvName)
}
return tv, nil
case <-ctx.Done():
cs.mu.Lock()
delete(cs.pending, ioid)
cs.mu.Unlock()
return proto.TimeValue{}, ctx.Err()
}
}
// put queues a CA_PROTO_WRITE (fire-and-forget put).
// It waits for the channel to be ready and access rights to be confirmed.
func (c *circuit) put(ctx context.Context, cs *chanState, dbrType uint16, payload []byte) error {
if err := cs.waitReady(ctx); err != nil {
return fmt.Errorf("ca: %q: %w", cs.pvName, err)
}
cs.mu.RLock()
sid := cs.sid
access := cs.access
cs.mu.RUnlock()
if sid == 0 {
return fmt.Errorf("ca: %q: channel not connected", cs.pvName)
}
if access&proto.AccessWrite == 0 {
return fmt.Errorf("ca: %q: read-only", cs.pvName)
}
// CA_PROTO_WRITE: DataType=dbrType, DataCount=1, Parameter1=SID, Parameter2=0 (no ioid).
msg := proto.BuildMessage(proto.Header{
Command: proto.CmdWrite,
DataType: dbrType,
DataCount: 1,
Parameter1: sid,
Parameter2: 0,
}, payload)
select {
case c.writeQ <- msg:
return nil
case <-ctx.Done():
return ctx.Err()
}
}
pkg/ca/debug.go
+26
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@@ -0,0 +1,26 @@
package ca
import (
"log/slog"
"os"
)
// calog is the package-level debug logger.
// It is active only when the environment variable UOPI_CA_DEBUG is set to a
// non-empty value at program startup. All output goes to stderr.
var calog *slog.Logger
func init() {
if os.Getenv("UOPI_CA_DEBUG") != "" {
calog = slog.New(slog.NewTextHandler(os.Stderr, &slog.HandlerOptions{
Level: slog.LevelDebug,
}))
}
}
// dbg emits a DEBUG log if UOPI_CA_DEBUG is set. It is a no-op otherwise.
func dbg(msg string, args ...any) {
if calog != nil {
calog.Debug(msg, args...)
}
}
pkg/ca/doc.go
+65
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@@ -0,0 +1,65 @@
// Package ca implements an EPICS Channel Access (CA) client in pure Go.
//
// It requires no CGo, no libca, and no EPICS installation on the build machine.
// A single [Client] manages connections to one or more IOCs, multiplexing
// channels over shared TCP virtual circuits that survive IOC restarts.
//
// # Quick start
//
// // Configure from standard EPICS environment variables.
// cli, err := ca.NewClient(ctx, ca.ConfigFromEnv())
// if err != nil { ... }
// defer cli.Close()
//
// // Subscribe to live monitor updates.
// ch := make(chan proto.TimeValue, 16)
// cancel, err := cli.Subscribe(ctx, "MY:PV", ch)
// if err != nil { ... }
// defer cancel()
// for tv := range ch {
// fmt.Println(tv.Timestamp, tv.Double)
// }
//
// // One-shot read (current value).
// tv, err := cli.Get(ctx, "MY:PV")
//
// // Retrieve full control-block metadata (units, display limits, enum strings).
// ci, err := cli.GetCtrl(ctx, "MY:PV")
// if ci.Double != nil {
// fmt.Println(ci.Double.Units, ci.Double.UpperDispLimit)
// }
//
// // Write a new value (fire-and-forget).
// err = cli.Put(ctx, "MY:PV", 42.0)
//
// # Configuration
//
// [ConfigFromEnv] reads the standard EPICS CA environment variables:
//
// EPICS_CA_ADDR_LIST space-separated list of server addresses
// EPICS_CA_AUTO_ADDR_LIST set to "NO" to disable local broadcast
//
// Alternatively, construct [Config] directly and pass to [NewClient].
//
// # Protocol
//
// The library speaks Channel Access protocol version 4.13 over UDP (search,
// port 5064) and TCP (data, port 5064). It does not use the CA Repeater;
// it sends search requests directly to the addresses in [Config.AddrList].
//
// UDP search uses exponential back-off (100 ms → 30 s) and retries until the
// PV is found or the context is cancelled.
//
// # Reconnection
//
// When an IOC restarts, the library detects the broken TCP connection and
// reconnects automatically. All active subscriptions are re-established
// transparently after the new CREATE_CHAN handshake completes.
// Callers blocked in [Client.Get] or [Client.Put] during a reconnect will
// receive an error and should retry.
//
// # Thread safety
//
// All exported methods are safe for concurrent use from multiple goroutines.
// A single [Client] can be shared across the entire application.
package ca
pkg/ca/go.mod
+3
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@@ -0,0 +1,3 @@
module github.com/uopi/goca
go 1.26
pkg/ca/proto/dbr.go
+441
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@@ -0,0 +1,441 @@
package proto
import (
"encoding/binary"
"math"
"strings"
"time"
)
// epicsEpochOffset is the number of Unix seconds between the Unix epoch
// (1970-01-01 00:00:00 UTC) and the EPICS epoch (1990-01-01 00:00:00 UTC).
const epicsEpochOffset = 631152000
// maxStringSize is the fixed size of a CA string value (MAX_STRING_SIZE).
const maxStringSize = 40
// maxEnumStates is the maximum number of enum strings (MAX_ENUM_STATES).
const maxEnumStates = 16
// maxEnumStringSize is the fixed size of each enum string (MAX_ENUM_STRING_SIZE).
const maxEnumStringSize = 26
// -------------------------------------------------------------------------- //
// Alarm types //
// -------------------------------------------------------------------------- //
// AlarmSeverity mirrors epicsAlarmSeverity.
type AlarmSeverity int
const (
SeverityNone AlarmSeverity = 0
SeverityMinor AlarmSeverity = 1
SeverityMajor AlarmSeverity = 2
SeverityInvalid AlarmSeverity = 3
)
func (s AlarmSeverity) String() string {
switch s {
case SeverityNone:
return "NO_ALARM"
case SeverityMinor:
return "MINOR"
case SeverityMajor:
return "MAJOR"
case SeverityInvalid:
return "INVALID"
default:
return "UNKNOWN"
}
}
// -------------------------------------------------------------------------- //
// TimeValue — decoded DBR_TIME_* payload //
// -------------------------------------------------------------------------- //
// TimeValue is the decoded form of any DBR_TIME_* payload.
// Exactly one of the value fields is populated based on the DBR type.
type TimeValue struct {
Timestamp time.Time
Status int16
Severity AlarmSeverity
// Value fields — only one is set.
Double float64
Float float32
Long int32
Short int16
Enum uint16
Char uint8
Str string
// Waveform values (when element count > 1).
Doubles []float64
}
// decodeTimestamp converts EPICS secPastEpoch+nsec to a Go time.Time.
func decodeTimestamp(secPastEpoch, nsec uint32) time.Time {
return time.Unix(int64(secPastEpoch)+epicsEpochOffset, int64(nsec)).UTC()
}
// caString extracts a null-terminated string from a fixed-size byte slice.
func caString(b []byte) string {
idx := strings.IndexByte(string(b), 0)
if idx < 0 {
return string(b)
}
return string(b[:idx])
}
// DBR_TIME_* wire layouts (all big-endian):
//
// Common header (12 bytes):
// [0:2] int16 status
// [2:4] int16 severity
// [4:8] uint32 secPastEpoch
// [8:12] uint32 nsec
//
// DBR_TIME_DOUBLE (type 25): 4-byte RISC pad at [12:16], float64 at [16:24]. Total=24.
// DBR_TIME_FLOAT (type 20): float32 at [12:16]. Total=16.
// DBR_TIME_LONG (type 22): int32 at [12:16]. Total=16.
// DBR_TIME_SHORT (type 19): int16 at [12:14], 2-byte pad [14:16]. Total=16.
// DBR_TIME_ENUM (type 23): uint16 at [12:14], 2-byte pad [14:16]. Total=16.
// DBR_TIME_CHAR (type 24): uint8 at [12:13], 3-byte pad [13:16]. Total=16.
// DBR_TIME_STRING (type 21): [40]byte at [12:52]. Total=52.
// DecodeTimeValue decodes a DBR_TIME_* payload.
// dbrType is one of the DBRTime* constants; payload is the full message payload
// (may include multiple elements for waveforms; count is the element count).
func DecodeTimeValue(dbrType uint16, count uint32, payload []byte) (TimeValue, bool) {
if len(payload) < 12 {
return TimeValue{}, false
}
status := int16(binary.BigEndian.Uint16(payload[0:]))
severity := AlarmSeverity(binary.BigEndian.Uint16(payload[2:]))
sec := binary.BigEndian.Uint32(payload[4:])
nsec := binary.BigEndian.Uint32(payload[8:])
tv := TimeValue{
Timestamp: decodeTimestamp(sec, nsec),
Status: status,
Severity: severity,
}
switch dbrType {
case DBRTimeDouble:
// 4-byte RISC pad at [12:16], value at [16:24]
if count > 1 {
if len(payload) < 16+int(count)*8 {
return TimeValue{}, false
}
vals := make([]float64, count)
for i := range vals {
bits := binary.BigEndian.Uint64(payload[16+i*8:])
vals[i] = math.Float64frombits(bits)
}
tv.Doubles = vals
tv.Double = vals[0]
} else {
if len(payload) < 24 {
return TimeValue{}, false
}
bits := binary.BigEndian.Uint64(payload[16:])
tv.Double = math.Float64frombits(bits)
}
case DBRTimeFloat:
if len(payload) < 16 {
return TimeValue{}, false
}
bits := binary.BigEndian.Uint32(payload[12:])
tv.Float = math.Float32frombits(bits)
tv.Double = float64(tv.Float)
case DBRTimeLong:
if len(payload) < 16 {
return TimeValue{}, false
}
tv.Long = int32(binary.BigEndian.Uint32(payload[12:]))
tv.Double = float64(tv.Long)
case DBRTimeShort:
if len(payload) < 16 {
return TimeValue{}, false
}
tv.Short = int16(binary.BigEndian.Uint16(payload[12:]))
tv.Double = float64(tv.Short)
case DBRTimeEnum:
if len(payload) < 16 {
return TimeValue{}, false
}
tv.Enum = binary.BigEndian.Uint16(payload[12:])
tv.Double = float64(tv.Enum)
case DBRTimeChar:
if len(payload) < 16 {
return TimeValue{}, false
}
tv.Char = payload[12]
tv.Double = float64(tv.Char)
case DBRTimeString:
if len(payload) < 12+maxStringSize {
return TimeValue{}, false
}
tv.Str = caString(payload[12 : 12+maxStringSize])
tv.Double = 0
default:
return TimeValue{}, false
}
return tv, true
}
// -------------------------------------------------------------------------- //
// CtrlDouble — decoded DBR_CTRL_DOUBLE payload (type 34) //
// -------------------------------------------------------------------------- //
//
// Wire layout (88 bytes total, all big-endian):
//
// [0:2] int16 status
// [2:4] int16 severity
// [4:6] int16 precision
// [6:8] uint16 RISC_pad0
// [8:16] [8]byte units
// [16:24] float64 upper_disp_limit
// [24:32] float64 lower_disp_limit
// [32:40] float64 upper_alarm_limit
// [40:48] float64 upper_warning_limit
// [48:56] float64 lower_warning_limit
// [56:64] float64 lower_alarm_limit
// [64:72] float64 upper_ctrl_limit
// [72:80] float64 lower_ctrl_limit
// [80:88] float64 value
// CtrlDouble is the decoded form of a DBR_CTRL_DOUBLE payload.
type CtrlDouble struct {
Status int16
Severity AlarmSeverity
Precision int16
Units string
UpperDispLimit float64
LowerDispLimit float64
UpperAlarmLimit float64
UpperWarnLimit float64
LowerWarnLimit float64
LowerAlarmLimit float64
UpperCtrlLimit float64
LowerCtrlLimit float64
Value float64
}
// DecodeCtrlDouble decodes a DBR_CTRL_DOUBLE payload (minimum 88 bytes).
func DecodeCtrlDouble(p []byte) (CtrlDouble, bool) {
if len(p) < 88 {
return CtrlDouble{}, false
}
f64 := func(off int) float64 {
return math.Float64frombits(binary.BigEndian.Uint64(p[off:]))
}
return CtrlDouble{
Status: int16(binary.BigEndian.Uint16(p[0:])),
Severity: AlarmSeverity(binary.BigEndian.Uint16(p[2:])),
Precision: int16(binary.BigEndian.Uint16(p[4:])),
Units: caString(p[8:16]),
UpperDispLimit: f64(16),
LowerDispLimit: f64(24),
UpperAlarmLimit: f64(32),
UpperWarnLimit: f64(40),
LowerWarnLimit: f64(48),
LowerAlarmLimit: f64(56),
UpperCtrlLimit: f64(64),
LowerCtrlLimit: f64(72),
Value: f64(80),
}, true
}
// -------------------------------------------------------------------------- //
// CtrlLong — decoded DBR_CTRL_LONG payload (type 33) //
// -------------------------------------------------------------------------- //
//
// Wire layout (48 bytes total):
//
// [0:2] int16 status
// [2:4] int16 severity
// [4:12] [8]byte units
// [12:16] int32 upper_disp_limit
// [16:20] int32 lower_disp_limit
// [20:24] int32 upper_alarm_limit
// [24:28] int32 upper_warning_limit
// [28:32] int32 lower_warning_limit
// [32:36] int32 lower_alarm_limit
// [36:40] int32 upper_ctrl_limit
// [40:44] int32 lower_ctrl_limit
// [44:48] int32 value
// CtrlLong is the decoded form of a DBR_CTRL_LONG payload.
type CtrlLong struct {
Status int16
Severity AlarmSeverity
Units string
UpperDispLimit int32
LowerDispLimit int32
UpperAlarmLimit int32
UpperWarnLimit int32
LowerWarnLimit int32
LowerAlarmLimit int32
UpperCtrlLimit int32
LowerCtrlLimit int32
Value int32
}
// DecodeCtrlLong decodes a DBR_CTRL_LONG payload (minimum 48 bytes).
func DecodeCtrlLong(p []byte) (CtrlLong, bool) {
if len(p) < 48 {
return CtrlLong{}, false
}
i32 := func(off int) int32 {
return int32(binary.BigEndian.Uint32(p[off:]))
}
return CtrlLong{
Status: int16(binary.BigEndian.Uint16(p[0:])),
Severity: AlarmSeverity(binary.BigEndian.Uint16(p[2:])),
Units: caString(p[4:12]),
UpperDispLimit: i32(12),
LowerDispLimit: i32(16),
UpperAlarmLimit: i32(20),
UpperWarnLimit: i32(24),
LowerWarnLimit: i32(28),
LowerAlarmLimit: i32(32),
UpperCtrlLimit: i32(36),
LowerCtrlLimit: i32(40),
Value: i32(44),
}, true
}
// -------------------------------------------------------------------------- //
// CtrlEnum — decoded DBR_CTRL_ENUM payload (type 31) //
// -------------------------------------------------------------------------- //
//
// Wire layout (424 bytes total):
//
// [0:2] int16 status
// [2:4] int16 severity
// [4:6] int16 no_str (number of valid enum strings, max 16)
// [6:422] [16][26]byte strs (enum string table)
// [422:424] uint16 value
// CtrlEnum is the decoded form of a DBR_CTRL_ENUM payload.
type CtrlEnum struct {
Status int16
Severity AlarmSeverity
Strings []string // len == no_str
Value uint16
}
const ctrlEnumSize = 2 + 2 + 2 + maxEnumStates*maxEnumStringSize + 2 // 424
// DecodeCtrlEnum decodes a DBR_CTRL_ENUM payload (minimum 424 bytes).
func DecodeCtrlEnum(p []byte) (CtrlEnum, bool) {
if len(p) < ctrlEnumSize {
return CtrlEnum{}, false
}
noStr := int(binary.BigEndian.Uint16(p[4:]))
noStr = min(noStr, maxEnumStates)
strs := make([]string, noStr)
for i := range strs {
off := 6 + i*maxEnumStringSize
strs[i] = caString(p[off : off+maxEnumStringSize])
}
return CtrlEnum{
Status: int16(binary.BigEndian.Uint16(p[0:])),
Severity: AlarmSeverity(binary.BigEndian.Uint16(p[2:])),
Strings: strs,
Value: binary.BigEndian.Uint16(p[422:]),
}, true
}
// -------------------------------------------------------------------------- //
// CtrlString — decoded DBR_CTRL_STRING payload (type 28) //
// -------------------------------------------------------------------------- //
//
// Wire layout (44 bytes):
//
// [0:2] int16 status
// [2:4] int16 severity
// [4:44] [40]byte value
// CtrlString is the decoded form of a DBR_CTRL_STRING payload.
type CtrlString struct {
Status int16
Severity AlarmSeverity
Value string
}
// DecodeCtrlString decodes a DBR_CTRL_STRING payload (minimum 44 bytes).
func DecodeCtrlString(p []byte) (CtrlString, bool) {
if len(p) < 4+maxStringSize {
return CtrlString{}, false
}
return CtrlString{
Status: int16(binary.BigEndian.Uint16(p[0:])),
Severity: AlarmSeverity(binary.BigEndian.Uint16(p[2:])),
Value: caString(p[4 : 4+maxStringSize]),
}, true
}
// -------------------------------------------------------------------------- //
// Put payload encoders //
// -------------------------------------------------------------------------- //
// EncodeDouble encodes a float64 value as a big-endian DBR_DOUBLE payload
// padded to 8 bytes.
func EncodeDouble(v float64) []byte {
b := make([]byte, 8)
binary.BigEndian.PutUint64(b, math.Float64bits(v))
return b
}
// EncodeLong encodes an int32 value as a big-endian DBR_LONG payload
// padded to 8 bytes.
func EncodeLong(v int32) []byte {
b := make([]byte, 8) // 4 bytes value + 4 bytes pad
binary.BigEndian.PutUint32(b, uint32(v))
return b
}
// EncodeShort encodes an int16 value as a big-endian DBR_SHORT payload
// padded to 8 bytes.
func EncodeShort(v int16) []byte {
b := make([]byte, 8)
binary.BigEndian.PutUint16(b, uint16(v))
return b
}
// EncodeString encodes a string as a null-terminated, 8-byte padded
// DBR_STRING payload (capped at maxStringSize characters).
func EncodeString(v string) []byte {
if len(v) >= maxStringSize {
v = v[:maxStringSize-1]
}
b := make([]byte, maxStringSize)
copy(b, v)
return PadBytes(b)
}
// EncodeEventMask builds the 16-byte payload for a CA_PROTO_EVENT_ADD request.
// mask is typically DBEDefault (DBEValue | DBEAlarm).
//
// Wire layout (16 bytes, all big-endian):
//
// [0:4] float32 m_lval (not used, zero)
// [4:8] float32 p_delta (delta trigger, zero = disabled)
// [8:12] float32 p_final (final trigger, zero = disabled)
// [12:14] int16 p_count (element count, zero = use PV's count)
// [14:16] int16 m_mask (DBE_VALUE | DBE_ALARM | ...)
func EncodeEventMask(mask uint16) []byte {
b := make([]byte, 16)
binary.BigEndian.PutUint16(b[14:], mask) // m_mask is at offset 14, not 12
return b
}
pkg/ca/proto/header.go
+108
View File
@@ -0,0 +1,108 @@
package proto
import (
"encoding/binary"
"fmt"
"io"
)
// Header is the decoded form of a 16-byte CA message header.
// All integer fields are stored in host byte order after decoding.
type Header struct {
Command uint16
PayloadSize uint32 // actual payload size (resolved from extended form if needed)
DataType uint16
DataCount uint32 // actual element count (resolved from extended form if needed)
Parameter1 uint32
Parameter2 uint32
}
// HeaderSize is the wire size of a standard CA header.
const HeaderSize = 16
// Encode writes the header to buf (must be at least HeaderSize bytes).
// If PayloadSize > 0xFFFE or DataCount > 0xFFFF the extended encoding is used
// and the caller must prepend an extra 8 bytes; use EncodeExtended instead.
func (h Header) Encode(buf []byte) {
binary.BigEndian.PutUint16(buf[0:], h.Command)
binary.BigEndian.PutUint16(buf[2:], uint16(h.PayloadSize))
binary.BigEndian.PutUint16(buf[4:], h.DataType)
binary.BigEndian.PutUint16(buf[6:], uint16(h.DataCount))
binary.BigEndian.PutUint32(buf[8:], h.Parameter1)
binary.BigEndian.PutUint32(buf[12:], h.Parameter2)
}
// Bytes returns the 16-byte wire encoding of h.
func (h Header) Bytes() []byte {
buf := make([]byte, HeaderSize)
h.Encode(buf)
return buf
}
// DecodeHeader reads exactly one CA header from r, handling the extended
// encoding (payload_size == 0xFFFF) transparently.
// Returns the decoded Header and the number of bytes read (16 or 24).
func DecodeHeader(r io.Reader) (Header, int, error) {
var raw [HeaderSize]byte
if _, err := io.ReadFull(r, raw[:]); err != nil {
return Header{}, 0, fmt.Errorf("ca: read header: %w", err)
}
h := Header{
Command: binary.BigEndian.Uint16(raw[0:]),
DataType: binary.BigEndian.Uint16(raw[4:]),
Parameter1: binary.BigEndian.Uint32(raw[8:]),
Parameter2: binary.BigEndian.Uint32(raw[12:]),
}
rawPayload := binary.BigEndian.Uint16(raw[2:])
rawCount := binary.BigEndian.Uint16(raw[6:])
// Extended message: payload_size == 0xFFFF means real sizes are in the
// next 8 bytes (parameter1 = real payload size, parameter2 = real count).
if rawPayload == 0xFFFF && rawCount == 0x0000 {
var ext [8]byte
if _, err := io.ReadFull(r, ext[:]); err != nil {
return Header{}, 16, fmt.Errorf("ca: read extended header: %w", err)
}
h.PayloadSize = binary.BigEndian.Uint32(ext[0:])
h.DataCount = binary.BigEndian.Uint32(ext[4:])
// Note: parameter1/2 in the base header are overwritten by the extended values.
// In practice, the original parameter1/2 are still valid — the extended header
// only carries sizes, not the original parameters. We already decoded parameter1/2
// above from the base header.
return h, 24, nil
}
h.PayloadSize = uint32(rawPayload)
h.DataCount = uint32(rawCount)
return h, 16, nil
}
// PadTo8 returns n rounded up to the nearest multiple of 8.
// CA requires all message payloads to be padded to 8-byte boundaries.
func PadTo8(n int) int {
return (n + 7) &^ 7
}
// PadBytes appends zero bytes to b until len(b) is a multiple of 8.
func PadBytes(b []byte) []byte {
need := PadTo8(len(b)) - len(b)
return append(b, make([]byte, need)...)
}
// BuildMessage assembles a complete CA message (header + payload).
// payload may be nil for zero-length messages.
func BuildMessage(h Header, payload []byte) []byte {
h.PayloadSize = uint32(len(payload))
msg := make([]byte, HeaderSize+len(payload))
h.Encode(msg)
copy(msg[HeaderSize:], payload)
return msg
}
// BuildStringPayload encodes a string as a null-terminated, 8-byte padded payload.
func BuildStringPayload(s string) []byte {
b := append([]byte(s), 0) // null terminator
return PadBytes(b)
}
pkg/ca/proto/opcodes.go
+139
View File
@@ -0,0 +1,139 @@
// Package proto contains the low-level Channel Access wire-protocol constants,
// header codec, and DBR type decode functions. All types are big-endian as
// required by the CA specification.
package proto
// CA command opcodes (uint16, first field of every message header).
const (
CmdVersion = 0 // version negotiation (first message on every TCP connection)
CmdEventAdd = 1 // subscribe to value updates / server event push
CmdEventCancel = 2 // cancel subscription
CmdWrite = 4 // put value (fire-and-forget, no server reply)
CmdSearch = 6 // UDP: locate IOC hosting a PV
CmdNotFound = 14 // UDP: IOC does not host the requested PV
CmdReadNotify = 15 // get value with callback (async GET)
CmdCreateChan = 18 // create channel on TCP circuit
CmdWriteNotify = 19 // put value with acknowledgement
CmdClientName = 20 // announce client username (sent after VERSION)
CmdHostName = 21 // announce client hostname (sent after VERSION)
CmdAccessRights = 22 // server → client: access rights bitmask
CmdEcho = 23 // heartbeat ping/pong
CmdCreateFail = 26 // server → client: CREATE_CHAN failed
CmdServerDisc = 27 // server → client: server shutting down
)
// CA minor protocol revision announced during the VERSION handshake.
// Corresponds to CA 4.13, supported by EPICS 3.14+ and all EPICS 7 servers.
const MinorVersion = 13
// Default CA port (TCP and UDP).
const DefaultPort = 5064
// Search reply data_type values.
const (
SearchReply = 10 // DO_REPLY: ask server to respond
SearchNoReply = 5 // DONT_REPLY: suppress response (used by repeater)
)
// AccessRights bitmask values (parameter2 of CmdAccessRights message).
const (
AccessRead = 1 << 0
AccessWrite = 1 << 1
)
// DBE event mask bits used in the 16-byte EVENT_ADD payload.
const (
DBEValue = 0x01 // trigger on any value change
DBEAlarm = 0x04 // trigger on alarm state change
DBEDefault = DBEValue | DBEAlarm
)
// ---- DBF field types (native IOC field type, reported in CREATE_CHAN reply) ----
const (
DBFString = 0
DBFShort = 1 // also DBFInt
DBFFloat = 2
DBFEnum = 3
DBFChar = 4
DBFLong = 5
DBFDouble = 6
)
// ---- DBR request types ----
// Plain value types (used in WRITE).
const (
DBRString = 0
DBRShort = 1
DBRFloat = 2
DBREnum = 3
DBRChar = 4
DBRLong = 5
DBRDouble = 6
)
// DBR_TIME_* types (value + timestamp + alarm status; used in EVENT_ADD).
const (
DBRTimeString = 21
DBRTimeShort = 19
DBRTimeFloat = 20
DBRTimeEnum = 23
DBRTimeChar = 24
DBRTimeLong = 22
DBRTimeDouble = 25
)
// DBR_CTRL_* types (full control info: units, limits, enum strings; used in READ_NOTIFY).
const (
DBRCtrlString = 28
DBRCtrlShort = 29
DBRCtrlFloat = 30
DBRCtrlEnum = 31
DBRCtrlChar = 32
DBRCtrlLong = 33
DBRCtrlDouble = 34
)
// NativeTimeType maps a DBF field type to the corresponding DBR_TIME_* type
// that should be used for monitor subscriptions.
func NativeTimeType(dbfType int, elementCount int) uint16 {
switch dbfType {
case DBFDouble:
return DBRTimeDouble
case DBFFloat:
return DBRTimeFloat
case DBFLong:
return DBRTimeLong
case DBFShort:
return DBRTimeShort
case DBFEnum:
return DBRTimeEnum
case DBFString:
return DBRTimeString
case DBFChar:
if elementCount > 1 {
return DBRTimeString // waveform of chars treated as string
}
return DBRTimeChar
default:
return DBRTimeDouble
}
}
// NativeCtrlType maps a DBF field type to the corresponding DBR_CTRL_* type
// that should be used for metadata gets.
func NativeCtrlType(dbfType int) uint16 {
switch dbfType {
case DBFDouble, DBFFloat:
return DBRCtrlDouble
case DBFLong, DBFShort, DBFChar:
return DBRCtrlLong
case DBFEnum:
return DBRCtrlEnum
case DBFString:
return DBRCtrlString
default:
return DBRCtrlDouble
}
}
pkg/ca/proto/proto_test.go
+387
View File
@@ -0,0 +1,387 @@
package proto_test
import (
"bytes"
"encoding/binary"
"math"
"testing"
"time"
"github.com/uopi/goca/proto"
)
// -------------------------------------------------------------------------- //
// Header round-trip //
// -------------------------------------------------------------------------- //
func TestHeaderRoundTrip(t *testing.T) {
h := proto.Header{
Command: proto.CmdCreateChan,
PayloadSize: 16,
DataType: proto.DBFDouble,
DataCount: 1,
Parameter1: 0xDEAD,
Parameter2: 0xBEEF,
}
wire := h.Bytes()
if len(wire) != proto.HeaderSize {
t.Fatalf("Bytes() len = %d, want %d", len(wire), proto.HeaderSize)
}
got, n, err := proto.DecodeHeader(bytes.NewReader(wire))
if err != nil {
t.Fatalf("DecodeHeader: %v", err)
}
if n != proto.HeaderSize {
t.Errorf("bytes consumed = %d, want %d", n, proto.HeaderSize)
}
if got.Command != h.Command {
t.Errorf("Command = %d, want %d", got.Command, h.Command)
}
if got.DataType != h.DataType {
t.Errorf("DataType = %d, want %d", got.DataType, h.DataType)
}
if got.Parameter1 != h.Parameter1 {
t.Errorf("Parameter1 = %d, want %d", got.Parameter1, h.Parameter1)
}
if got.Parameter2 != h.Parameter2 {
t.Errorf("Parameter2 = %d, want %d", got.Parameter2, h.Parameter2)
}
}
func TestBuildMessage(t *testing.T) {
payload := []byte("hello\x00\x00\x00") // 8 bytes (padded)
h := proto.Header{Command: proto.CmdHostName, PayloadSize: 0}
msg := proto.BuildMessage(h, payload)
if len(msg) != proto.HeaderSize+len(payload) {
t.Fatalf("len(msg) = %d, want %d", len(msg), proto.HeaderSize+len(payload))
}
// PayloadSize in wire should equal len(payload).
wireSize := binary.BigEndian.Uint16(msg[2:4])
if int(wireSize) != len(payload) {
t.Errorf("wire PayloadSize = %d, want %d", wireSize, len(payload))
}
}
func TestPadTo8(t *testing.T) {
cases := [][2]int{{0, 0}, {1, 8}, {7, 8}, {8, 8}, {9, 16}, {16, 16}, {17, 24}}
for _, c := range cases {
if got := proto.PadTo8(c[0]); got != c[1] {
t.Errorf("PadTo8(%d) = %d, want %d", c[0], got, c[1])
}
}
}
func TestBuildStringPayload(t *testing.T) {
p := proto.BuildStringPayload("TEST")
if len(p)%8 != 0 {
t.Errorf("payload length %d not padded to 8", len(p))
}
if p[4] != 0 {
t.Errorf("expected null terminator at index 4, got %d", p[4])
}
}
// -------------------------------------------------------------------------- //
// DBR_TIME_* decoding //
// -------------------------------------------------------------------------- //
// buildTimeHeader builds the 12-byte common DBR_TIME header.
func buildTimeHeader(status, severity int16, sec, nsec uint32) []byte {
b := make([]byte, 12)
binary.BigEndian.PutUint16(b[0:], uint16(status))
binary.BigEndian.PutUint16(b[2:], uint16(severity))
binary.BigEndian.PutUint32(b[4:], sec)
binary.BigEndian.PutUint32(b[8:], nsec)
return b
}
func TestDecodeTimeDouble(t *testing.T) {
const sec = 1_000_000
const nsec = 500_000_000
const want = 3.14159
hdr := buildTimeHeader(0, 0, sec, nsec)
pad := make([]byte, 4) // RISC pad
val := make([]byte, 8)
binary.BigEndian.PutUint64(val, math.Float64bits(want))
payload := append(append(hdr, pad...), val...)
tv, ok := proto.DecodeTimeValue(proto.DBRTimeDouble, 1, payload)
if !ok {
t.Fatal("DecodeTimeValue returned false")
}
if math.Abs(tv.Double-want) > 1e-10 {
t.Errorf("Double = %g, want %g", tv.Double, want)
}
// EPICS epoch offset: 1990-01-01 00:00:00 UTC = Unix 631152000.
wantUnix := int64(sec) + 631152000
if tv.Timestamp.Unix() != wantUnix {
t.Errorf("Timestamp.Unix() = %d, want %d", tv.Timestamp.Unix(), wantUnix)
}
if tv.Timestamp.Nanosecond() != int(nsec) {
t.Errorf("Timestamp.Nanosecond() = %d, want %d", tv.Timestamp.Nanosecond(), nsec)
}
}
func TestDecodeTimeLong(t *testing.T) {
hdr := buildTimeHeader(0, 1, 0, 0)
val := make([]byte, 4)
binary.BigEndian.PutUint32(val, 0xFFFFFFD6) // -42 as two's complement
payload := append(hdr, val...)
tv, ok := proto.DecodeTimeValue(proto.DBRTimeLong, 1, payload)
if !ok {
t.Fatal("DecodeTimeValue returned false")
}
if tv.Long != -42 {
t.Errorf("Long = %d, want -42", tv.Long)
}
if tv.Severity != proto.SeverityMinor {
t.Errorf("Severity = %v, want Minor", tv.Severity)
}
}
func TestDecodeTimeString(t *testing.T) {
hdr := buildTimeHeader(0, 0, 0, 0)
str := make([]byte, 40)
copy(str, "hello")
payload := append(hdr, str...)
tv, ok := proto.DecodeTimeValue(proto.DBRTimeString, 1, payload)
if !ok {
t.Fatal("DecodeTimeValue returned false")
}
if tv.Str != "hello" {
t.Errorf("Str = %q, want %q", tv.Str, "hello")
}
}
func TestDecodeTimeEnum(t *testing.T) {
hdr := buildTimeHeader(0, 0, 0, 0)
val := []byte{0x00, 0x03, 0x00, 0x00} // enum=3 + 2-byte pad
payload := append(hdr, val...)
tv, ok := proto.DecodeTimeValue(proto.DBRTimeEnum, 1, payload)
if !ok {
t.Fatal("DecodeTimeValue returned false")
}
if tv.Enum != 3 {
t.Errorf("Enum = %d, want 3", tv.Enum)
}
}
func TestDecodeTimeWaveform(t *testing.T) {
hdr := buildTimeHeader(0, 0, 0, 0)
pad := make([]byte, 4)
vals := []float64{1.0, 2.5, -0.5}
valbytes := make([]byte, len(vals)*8)
for i, v := range vals {
binary.BigEndian.PutUint64(valbytes[i*8:], math.Float64bits(v))
}
payload := append(append(hdr, pad...), valbytes...)
tv, ok := proto.DecodeTimeValue(proto.DBRTimeDouble, 3, payload)
if !ok {
t.Fatal("DecodeTimeValue returned false")
}
if len(tv.Doubles) != 3 {
t.Fatalf("len(Doubles) = %d, want 3", len(tv.Doubles))
}
for i, want := range vals {
if math.Abs(tv.Doubles[i]-want) > 1e-12 {
t.Errorf("Doubles[%d] = %g, want %g", i, tv.Doubles[i], want)
}
}
}
func TestDecodeTimeTooShort(t *testing.T) {
_, ok := proto.DecodeTimeValue(proto.DBRTimeDouble, 1, []byte{0, 1, 2})
if ok {
t.Error("expected false for short payload")
}
}
// -------------------------------------------------------------------------- //
// DBR_CTRL_DOUBLE decoding //
// -------------------------------------------------------------------------- //
func TestDecodeCtrlDouble(t *testing.T) {
p := make([]byte, 88)
// status=0, severity=0, precision=3, pad=0, units="mA\0..."
binary.BigEndian.PutUint16(p[4:], 3) // precision
copy(p[8:], "mA")
f64 := func(off int, v float64) {
binary.BigEndian.PutUint64(p[off:], math.Float64bits(v))
}
f64(16, 100.0) // upper_disp
f64(24, 0.0) // lower_disp
f64(32, 90.0) // upper_alarm
f64(40, 80.0) // upper_warn
f64(48, 20.0) // lower_warn
f64(56, 10.0) // lower_alarm
f64(64, 95.0) // upper_ctrl
f64(72, 5.0) // lower_ctrl
f64(80, 55.5) // value
cd, ok := proto.DecodeCtrlDouble(p)
if !ok {
t.Fatal("DecodeCtrlDouble returned false")
}
if cd.Units != "mA" {
t.Errorf("Units = %q, want %q", cd.Units, "mA")
}
if cd.Precision != 3 {
t.Errorf("Precision = %d, want 3", cd.Precision)
}
if math.Abs(cd.Value-55.5) > 1e-10 {
t.Errorf("Value = %g, want 55.5", cd.Value)
}
if math.Abs(cd.UpperDispLimit-100.0) > 1e-10 {
t.Errorf("UpperDispLimit = %g, want 100.0", cd.UpperDispLimit)
}
}
func TestDecodeCtrlEnum(t *testing.T) {
p := make([]byte, 424)
binary.BigEndian.PutUint16(p[4:], 3) // no_str = 3
strs := []string{"OFF", "ON", "FAULT"}
for i, s := range strs {
copy(p[6+i*26:], s)
}
binary.BigEndian.PutUint16(p[422:], 1) // value = 1
ce, ok := proto.DecodeCtrlEnum(p)
if !ok {
t.Fatal("DecodeCtrlEnum returned false")
}
if len(ce.Strings) != 3 {
t.Fatalf("len(Strings) = %d, want 3", len(ce.Strings))
}
if ce.Strings[2] != "FAULT" {
t.Errorf("Strings[2] = %q, want FAULT", ce.Strings[2])
}
if ce.Value != 1 {
t.Errorf("Value = %d, want 1", ce.Value)
}
}
// -------------------------------------------------------------------------- //
// Put payload encoders //
// -------------------------------------------------------------------------- //
func TestEncodeDouble(t *testing.T) {
b := proto.EncodeDouble(3.14)
if len(b) != 8 {
t.Fatalf("len = %d, want 8", len(b))
}
got := math.Float64frombits(binary.BigEndian.Uint64(b))
if math.Abs(got-3.14) > 1e-15 {
t.Errorf("decoded = %g, want 3.14", got)
}
}
func TestEncodeLong(t *testing.T) {
b := proto.EncodeLong(-1)
if len(b) != 8 {
t.Fatalf("len = %d, want 8", len(b))
}
got := int32(binary.BigEndian.Uint32(b))
if got != -1 {
t.Errorf("decoded = %d, want -1", got)
}
}
func TestEncodeString(t *testing.T) {
b := proto.EncodeString("hello")
if len(b)%8 != 0 {
t.Errorf("len %d not padded to 8", len(b))
}
if string(b[:5]) != "hello" {
t.Errorf("content = %q, want %q", b[:5], "hello")
}
}
func TestEncodeEventMask(t *testing.T) {
b := proto.EncodeEventMask(proto.DBEDefault)
if len(b) != 16 {
t.Fatalf("len = %d, want 16", len(b))
}
// m_mask is at offset 14 (after m_lval[0:4], p_delta[4:8], p_final[8:12], p_count[12:14]).
mask := binary.BigEndian.Uint16(b[14:])
if mask != proto.DBEDefault {
t.Errorf("mask = 0x%02X, want 0x%02X", mask, proto.DBEDefault)
}
// p_count at [12:14] must be zero.
if pc := binary.BigEndian.Uint16(b[12:]); pc != 0 {
t.Errorf("p_count = %d, want 0", pc)
}
}
// -------------------------------------------------------------------------- //
// NativeTimeType / NativeCtrlType //
// -------------------------------------------------------------------------- //
func TestNativeTimeType(t *testing.T) {
cases := []struct {
dbf int
n int
want uint16
}{
{proto.DBFDouble, 1, proto.DBRTimeDouble},
{proto.DBFFloat, 1, proto.DBRTimeFloat},
{proto.DBFLong, 1, proto.DBRTimeLong},
{proto.DBFShort, 1, proto.DBRTimeShort},
{proto.DBFEnum, 1, proto.DBRTimeEnum},
{proto.DBFString, 1, proto.DBRTimeString},
{proto.DBFChar, 1, proto.DBRTimeChar},
{proto.DBFChar, 10, proto.DBRTimeString}, // char waveform → string
}
for _, c := range cases {
got := proto.NativeTimeType(c.dbf, c.n)
if got != c.want {
t.Errorf("NativeTimeType(%d,%d) = %d, want %d", c.dbf, c.n, got, c.want)
}
}
}
// -------------------------------------------------------------------------- //
// AlarmSeverity.String //
// -------------------------------------------------------------------------- //
func TestAlarmSeverityString(t *testing.T) {
cases := []struct {
s proto.AlarmSeverity
want string
}{
{proto.SeverityNone, "NO_ALARM"},
{proto.SeverityMinor, "MINOR"},
{proto.SeverityMajor, "MAJOR"},
{proto.SeverityInvalid, "INVALID"},
}
for _, c := range cases {
if got := c.s.String(); got != c.want {
t.Errorf("Severity(%d).String() = %q, want %q", c.s, got, c.want)
}
}
}
// -------------------------------------------------------------------------- //
// Timestamp sanity check //
// -------------------------------------------------------------------------- //
func TestEPICSEpoch(t *testing.T) {
// secPastEpoch=0 should decode to 1990-01-01 00:00:00 UTC.
hdr := buildTimeHeader(0, 0, 0, 0)
val := make([]byte, 8)
payload := append(append(hdr, make([]byte, 4)...), val...)
tv, ok := proto.DecodeTimeValue(proto.DBRTimeDouble, 1, payload)
if !ok {
t.Fatal("DecodeTimeValue returned false")
}
want := time.Date(1990, 1, 1, 0, 0, 0, 0, time.UTC)
if !tv.Timestamp.Equal(want) {
t.Errorf("timestamp = %v, want %v", tv.Timestamp, want)
}
}
pkg/ca/search.go
+395
View File
@@ -0,0 +1,395 @@
package ca
import (
"context"
"encoding/binary"
"fmt"
"net"
"sync"
"sync/atomic"
"time"
"github.com/uopi/goca/proto"
)
// searchResult is returned to a waiter when a search succeeds.
type searchResult struct {
addr string // "ip:port" TCP address of the IOC
}
// searchWaiter tracks an outstanding PV search request.
type searchWaiter struct {
pvName string
ch chan searchResult // closed or sent to exactly once
}
// searchEngine performs UDP-based PV name → IOC address resolution.
// It sends CA_PROTO_SEARCH datagrams to all configured server addresses and
// listens for replies, matching them to pending waiters via a searchID.
type searchEngine struct {
addrs []string // "ip:port" strings to search
mu sync.Mutex
waiters map[uint32]*searchWaiter // searchID → waiter
idSeq atomic.Uint32
conn *net.UDPConn // shared UDP socket (nil if not started)
}
func newSearchEngine(addrs []string) *searchEngine {
return &searchEngine{
addrs: addrs,
waiters: make(map[uint32]*searchWaiter),
}
}
// start opens the shared UDP socket and launches the receive goroutine.
// ctx cancellation stops the receive loop and closes the socket.
func (se *searchEngine) start(ctx context.Context) error {
conn, err := net.ListenUDP("udp4", &net.UDPAddr{})
if err != nil {
return fmt.Errorf("ca search: open UDP socket: %w", err)
}
se.conn = conn
go se.recvLoop(ctx)
return nil
}
// lookup resolves pvName to an IOC TCP address.
// It retries with exponential back-off until ctx is cancelled or done.
func (se *searchEngine) lookup(ctx context.Context, pvName string) (string, error) {
id := se.idSeq.Add(1)
w := &searchWaiter{
pvName: pvName,
ch: make(chan searchResult, 1),
}
se.mu.Lock()
se.waiters[id] = w
se.mu.Unlock()
defer func() {
se.mu.Lock()
delete(se.waiters, id)
se.mu.Unlock()
}()
delay := 100 * time.Millisecond
const maxDelay = 30 * time.Second
for {
if err := se.sendSearch(id, pvName); err != nil {
return "", err
}
select {
case res := <-w.ch:
return res.addr, nil
case <-time.After(delay):
delay *= 2
if delay > maxDelay {
delay = maxDelay
}
case <-ctx.Done():
return "", fmt.Errorf("ca search %q: %w", pvName, ctx.Err())
}
}
}
// sendSearch sends a CA_PROTO_VERSION + CA_PROTO_SEARCH burst to all addresses.
// The CA protocol requires both messages to be in the same UDP datagram.
func (se *searchEngine) sendSearch(id uint32, pvName string) error {
payload := proto.BuildStringPayload(pvName)
// VERSION message (no payload).
verHdr := proto.Header{
Command: proto.CmdVersion,
DataCount: proto.MinorVersion,
}
// SEARCH message.
searchHdr := proto.Header{
Command: proto.CmdSearch,
DataType: proto.SearchReply,
DataCount: proto.MinorVersion,
Parameter1: id,
Parameter2: id,
}
searchMsg := proto.BuildMessage(searchHdr, payload)
// Bundle into a single datagram — softIoc (and the CA Repeater) require
// VERSION and SEARCH to arrive together in one UDP packet.
pkt := make([]byte, 0, proto.HeaderSize+len(searchMsg))
pkt = append(pkt, verHdr.Bytes()...)
pkt = append(pkt, searchMsg...)
for _, addr := range se.addrs {
udpAddr, err := net.ResolveUDPAddr("udp4", addr)
if err != nil {
continue
}
_, _ = se.conn.WriteTo(pkt, udpAddr)
dbg("CA search sent", "pv", pvName, "id", id, "dst", udpAddr)
}
return nil
}
// recvLoop reads UDP datagrams and dispatches search replies.
func (se *searchEngine) recvLoop(ctx context.Context) {
buf := make([]byte, 65536)
for {
// Use a short read deadline so we can check ctx.Done() periodically.
_ = se.conn.SetReadDeadline(time.Now().Add(500 * time.Millisecond))
n, srcAddr, err := se.conn.ReadFromUDP(buf)
if err != nil {
if ctx.Err() != nil {
return
}
if netErr, ok := err.(net.Error); ok && netErr.Timeout() {
continue
}
continue
}
dbg("CA UDP datagram received", "src", srcAddr, "bytes", n)
se.parseReply(buf[:n], srcAddr)
}
}
// parseReply scans a UDP datagram for CA_PROTO_SEARCH response messages and
// wakes the matching waiter.
func (se *searchEngine) parseReply(data []byte, src *net.UDPAddr) {
for len(data) >= proto.HeaderSize {
h, n, err := proto.DecodeHeader(newBytesReader(data))
if err != nil {
return
}
payloadEnd := n + int(h.PayloadSize)
if payloadEnd > len(data) {
return
}
payload := data[n:payloadEnd]
data = data[payloadEnd:]
if h.Command != proto.CmdSearch {
continue
}
// data_type field = TCP port of the CA server.
tcpPort := int(h.DataType)
searchID := h.Parameter2
// Resolve server IP.
//
// Two payload formats exist in the wild:
//
// New (≥ CA 4.9): [IP(4)][pad(4)]
// Old (< CA 4.9): [minor_version(2)][pad(2)][IP(4)]
//
// The old format is identified by payload[0] == 0x00 (the high byte of a
// uint16 minor version is always zero for CA versions ≤ 255, whereas a
// real IPv4 address never starts with 0x00).
//
// In both formats, 0xFFFFFFFF in the IP position means "use sender IP".
var serverIP net.IP
if len(payload) >= 8 && payload[0] == 0x00 {
// Old format: minor version at [0:2], IP at [4:8].
ipSlice := payload[4:8]
if useSenderIP(ipSlice) {
serverIP = src.IP
} else {
ip := make(net.IP, 4)
copy(ip, ipSlice)
serverIP = ip
}
} else if len(payload) >= 4 {
// New format: IP at [0:4].
if useSenderIP(payload[:4]) {
serverIP = src.IP
} else {
ip := make(net.IP, 4)
copy(ip, payload[:4])
serverIP = ip
}
} else {
serverIP = src.IP
}
tcpAddr := fmt.Sprintf("%s:%d", serverIP.String(), tcpPort)
dbg("CA search reply", "searchID", searchID, "tcpAddr", tcpAddr, "src", src)
se.mu.Lock()
w, ok := se.waiters[searchID]
if ok {
delete(se.waiters, searchID)
}
se.mu.Unlock()
if ok {
dbg("CA search matched", "pv", w.pvName, "ioc", tcpAddr)
select {
case w.ch <- searchResult{addr: tcpAddr}:
default:
}
} else {
dbg("CA search reply unmatched", "searchID", searchID, "known_waiters", func() int {
se.mu.Lock()
defer se.mu.Unlock()
return len(se.waiters)
}())
}
}
}
// useSenderIP reports whether an IP field in a CA search reply means
// "use the sender's address". Both 0.0.0.0 (all-zeros) and 255.255.255.255
// (all-ones / 0xFFFFFFFF) are used by different EPICS Base versions.
func useSenderIP(b []byte) bool {
allFF := true
allZero := true
for _, v := range b {
if v != 0xFF {
allFF = false
}
if v != 0x00 {
allZero = false
}
}
return allFF || allZero
}
func isAllFF(b []byte) bool {
for _, v := range b {
if v != 0xFF {
return false
}
}
return true
}
// -------------------------------------------------------------------------- //
// Address list helpers //
// -------------------------------------------------------------------------- //
// resolveAddrs converts a list of "host" or "host:port" strings to
// "host:port" strings using defaultPort when no port is specified.
func resolveAddrs(addrs []string, defaultPort int) []string {
out := make([]string, 0, len(addrs))
for _, a := range addrs {
if a == "" {
continue
}
_, _, err := net.SplitHostPort(a)
if err != nil {
// No port specified; append default.
a = fmt.Sprintf("%s:%d", a, defaultPort)
}
out = append(out, a)
}
return out
}
// localBroadcastAddrs returns broadcast addresses for all local network
// interfaces, used when AutoAddrList is true.
func localBroadcastAddrs(port int) []string {
ifaces, err := net.Interfaces()
if err != nil {
return nil
}
var out []string
for _, iface := range ifaces {
if iface.Flags&net.FlagBroadcast == 0 {
continue
}
addrs, err := iface.Addrs()
if err != nil {
continue
}
for _, a := range addrs {
ipNet, ok := a.(*net.IPNet)
if !ok {
continue
}
ip4 := ipNet.IP.To4()
if ip4 == nil {
continue
}
// Compute broadcast: IP | ^mask
mask := ipNet.Mask
bcast := make(net.IP, 4)
for i := range bcast {
bcast[i] = ip4[i] | ^mask[i]
}
out = append(out, fmt.Sprintf("%s:%d", bcast.String(), port))
}
}
return out
}
// -------------------------------------------------------------------------- //
// Minimal bytes.Reader-like for proto.DecodeHeader //
// -------------------------------------------------------------------------- //
type bytesReader struct {
b []byte
i int
}
func newBytesReader(b []byte) *bytesReader { return &bytesReader{b: b} }
func (r *bytesReader) Read(p []byte) (int, error) {
if r.i >= len(r.b) {
return 0, fmt.Errorf("EOF")
}
n := copy(p, r.b[r.i:])
r.i += n
return n, nil
}
// -------------------------------------------------------------------------- //
// searchAddrFromReply extracts server IP from a CA_PROTO_SEARCH response. //
// Exported for testability. //
// -------------------------------------------------------------------------- //
// EncodedSearchPair builds the VERSION + SEARCH UDP datagram pair for pvName
// with the given searchID. Exported for use in tests.
func EncodedSearchPair(pvName string, searchID uint32) []byte {
verHdr := proto.Header{
Command: proto.CmdVersion,
DataCount: proto.MinorVersion,
}
payload := proto.BuildStringPayload(pvName)
searchHdr := proto.Header{
Command: proto.CmdSearch,
DataType: proto.SearchReply,
DataCount: proto.MinorVersion,
Parameter1: searchID,
Parameter2: searchID,
}
searchMsg := proto.BuildMessage(searchHdr, payload)
out := make([]byte, 0, proto.HeaderSize+len(searchMsg))
out = append(out, verHdr.Bytes()...)
out = append(out, searchMsg...)
return out
}
// EncodeSearchReply builds a CA_PROTO_SEARCH UDP reply.
// serverIP may be nil to use 0xFFFFFFFF (sender IP). port is the CA TCP port.
func EncodeSearchReply(searchID uint32, serverIP net.IP, port int) []byte {
var payload []byte
if serverIP != nil {
payload = make([]byte, 8)
copy(payload[:4], serverIP.To4())
binary.BigEndian.PutUint32(payload[4:], 0)
} else {
payload = []byte{0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00}
}
h := proto.Header{
Command: proto.CmdSearch,
DataType: uint16(port),
Parameter1: proto.MinorVersion,
Parameter2: searchID,
}
return proto.BuildMessage(h, payload)
}
pkg/ca/search_test.go
+137
View File
@@ -0,0 +1,137 @@
package ca
import (
"net"
"testing"
"github.com/uopi/goca/proto"
)
// buildOldSearchReply builds a CA_PROTO_SEARCH UDP reply using the old
// payload format (CA < 4.9): [minor_version(2)][pad(2)][IP(4)].
// When ip is nil, the IP field is 0xFFFFFFFF (use-sender convention).
func buildOldSearchReply(searchID uint32, serverIP net.IP, port int) []byte {
payload := make([]byte, 8)
payload[0] = 0x00
payload[1] = proto.MinorVersion // e.g. 0x0D = 13
// payload[2:4] = 0x00 0x00 (pad)
if serverIP == nil {
payload[4] = 0xFF
payload[5] = 0xFF
payload[6] = 0xFF
payload[7] = 0xFF
} else {
copy(payload[4:], serverIP.To4())
}
h := proto.Header{
Command: proto.CmdSearch,
DataType: uint16(port),
Parameter1: proto.MinorVersion,
Parameter2: searchID,
}
return proto.BuildMessage(h, payload)
}
// TestParseReplyOldFormatAllFF verifies the old format with 0xFFFFFFFF IP.
func TestParseReplyOldFormatAllFF(t *testing.T) {
se := &searchEngine{waiters: make(map[uint32]*searchWaiter)}
const searchID = uint32(42)
result := make(chan searchResult, 1)
se.mu.Lock()
se.waiters[searchID] = &searchWaiter{pvName: "TEST:PV", ch: result}
se.mu.Unlock()
pkt := buildOldSearchReply(searchID, nil, 5064) // nil → 0xFFFFFFFF
src := &net.UDPAddr{IP: net.ParseIP("127.0.0.1"), Port: 5064}
se.parseReply(pkt, src)
select {
case r := <-result:
if r.addr != "127.0.0.1:5064" {
t.Errorf("addr = %q, want 127.0.0.1:5064", r.addr)
}
default:
t.Fatal("parseReply did not deliver a result")
}
}
// TestParseReplyOldFormatAllZero verifies the old format with 0.0.0.0 IP
// (used by some EPICS Base versions to also mean "use sender IP").
func TestParseReplyOldFormatAllZero(t *testing.T) {
se := &searchEngine{waiters: make(map[uint32]*searchWaiter)}
const searchID = uint32(43)
result := make(chan searchResult, 1)
se.mu.Lock()
se.waiters[searchID] = &searchWaiter{pvName: "TEST:PV", ch: result}
se.mu.Unlock()
pkt := buildOldSearchReply(searchID, net.IPv4(0, 0, 0, 0).To4(), 5064)
src := &net.UDPAddr{IP: net.ParseIP("127.0.0.1"), Port: 5064}
se.parseReply(pkt, src)
select {
case r := <-result:
if r.addr != "127.0.0.1:5064" {
t.Errorf("addr = %q, want 127.0.0.1:5064", r.addr)
}
default:
t.Fatal("parseReply did not deliver a result")
}
}
// TestParseReplyOldFormatExplicitIP verifies that an explicit server IP in
// the old payload format is read from the correct offset (bytes [4:8]).
func TestParseReplyOldFormatExplicitIP(t *testing.T) {
se := &searchEngine{
waiters: make(map[uint32]*searchWaiter),
}
const searchID = uint32(7)
result := make(chan searchResult, 1)
se.mu.Lock()
se.waiters[searchID] = &searchWaiter{pvName: "TEST:PV2", ch: result}
se.mu.Unlock()
explicitIP := net.ParseIP("10.0.0.5").To4()
pkt := buildOldSearchReply(searchID, explicitIP, 5064)
src := &net.UDPAddr{IP: net.ParseIP("10.0.0.5"), Port: 5064}
se.parseReply(pkt, src)
select {
case r := <-result:
if r.addr != "10.0.0.5:5064" {
t.Errorf("addr = %q, want 10.0.0.5:5064", r.addr)
}
default:
t.Fatal("parseReply did not deliver a result")
}
}
// TestParseReplyNewFormat verifies the new payload format (IP at [0:4]).
func TestParseReplyNewFormat(t *testing.T) {
se := &searchEngine{
waiters: make(map[uint32]*searchWaiter),
}
const searchID = uint32(99)
result := make(chan searchResult, 1)
se.mu.Lock()
se.waiters[searchID] = &searchWaiter{pvName: "TEST:PV3", ch: result}
se.mu.Unlock()
// New format: IP = 0xFFFFFFFF at [0:4].
pkt := EncodeSearchReply(searchID, nil, 5064)
src := &net.UDPAddr{IP: net.ParseIP("192.168.1.10"), Port: 5064}
se.parseReply(pkt, src)
select {
case r := <-result:
if r.addr != "192.168.1.10:5064" {
t.Errorf("addr = %q, want 192.168.1.10:5064", r.addr)
}
default:
t.Fatal("parseReply did not deliver a result")
}
}
pkg/ca/testca/server.go
+601
View File
@@ -0,0 +1,601 @@
// Package testca provides an in-process fake CA server for use in tests.
// It supports a small, fixed set of PVs and is compatible with the goca Client.
package testca
import (
"encoding/binary"
"fmt"
"io"
"math"
"net"
"sync"
"time"
"github.com/uopi/goca/proto"
)
// PVSpec describes one test PV hosted by the fake server.
type PVSpec struct {
Name string
DBFType int // proto.DBF* constant
Count uint32 // element count (1 for scalars)
Value any // initial value
Access uint32 // proto.AccessRead | proto.AccessWrite
}
// Server is an in-process fake CA server. It listens on a random TCP port and
// an ephemeral UDP port. Use Addr() to get the addresses for client config.
type Server struct {
tcpLn net.Listener
udpCn *net.UDPConn
mu sync.RWMutex
pvs map[string]*serverPV
subs map[uint32]*serverSub // subID → sub
done chan struct{}
}
type serverPV struct {
spec PVSpec
mu sync.RWMutex
val any
}
type serverSub struct {
pvName string
subID uint32
cid uint32
sid uint32
conn net.Conn
dbrType uint16
count uint32
}
// New creates and starts a fake CA server hosting the given PVs.
func New(pvs []PVSpec) (*Server, error) {
tcpLn, err := net.Listen("tcp4", "127.0.0.1:0")
if err != nil {
return nil, fmt.Errorf("testca: tcp listen: %w", err)
}
udpCn, err := net.ListenUDP("udp4", &net.UDPAddr{IP: net.ParseIP("127.0.0.1")})
if err != nil {
tcpLn.Close()
return nil, fmt.Errorf("testca: udp listen: %w", err)
}
s := &Server{
tcpLn: tcpLn,
udpCn: udpCn,
pvs: make(map[string]*serverPV, len(pvs)),
subs: make(map[uint32]*serverSub),
done: make(chan struct{}),
}
for _, spec := range pvs {
s.pvs[spec.Name] = &serverPV{spec: spec, val: spec.Value}
}
go s.acceptLoop()
go s.udpLoop()
return s, nil
}
// TCPAddr returns the TCP "host:port" address clients should connect to.
func (s *Server) TCPAddr() string { return s.tcpLn.Addr().String() }
// UDPAddr returns the UDP "host:port" address clients should search against.
func (s *Server) UDPAddr() string { return s.udpCn.LocalAddr().String() }
// Close shuts down the server.
func (s *Server) Close() {
close(s.done)
s.tcpLn.Close()
s.udpCn.Close()
}
// SetValue updates a PV's value and pushes a monitor event to all subscribers.
func (s *Server) SetValue(pvName string, val any) error {
s.mu.RLock()
pv, ok := s.pvs[pvName]
s.mu.RUnlock()
if !ok {
return fmt.Errorf("testca: unknown PV %q", pvName)
}
pv.mu.Lock()
pv.val = val
pv.mu.Unlock()
// Push to all subscribers of this PV.
s.mu.RLock()
for _, sub := range s.subs {
if sub.pvName == pvName {
if msg := s.buildEventMsg(sub, pv); msg != nil {
_, _ = sub.conn.Write(msg)
}
}
}
s.mu.RUnlock()
return nil
}
// -------------------------------------------------------------------------- //
// UDP search loop //
// -------------------------------------------------------------------------- //
func (s *Server) udpLoop() {
buf := make([]byte, 65536)
for {
_ = s.udpCn.SetReadDeadline(time.Now().Add(200 * time.Millisecond))
n, src, err := s.udpCn.ReadFromUDP(buf)
if err != nil {
select {
case <-s.done:
return
default:
continue
}
}
s.handleUDP(buf[:n], src)
}
}
func (s *Server) handleUDP(data []byte, src *net.UDPAddr) {
for len(data) >= proto.HeaderSize {
hdr, n, err := proto.DecodeHeader(newBytesReader(data))
if err != nil {
return
}
payEnd := n + int(hdr.PayloadSize)
if payEnd > len(data) {
return
}
payload := data[n:payEnd]
data = data[payEnd:]
if hdr.Command != proto.CmdSearch {
continue
}
// Extract PV name from payload (null-terminated).
pvName := nullStr(payload)
s.mu.RLock()
_, ok := s.pvs[pvName]
s.mu.RUnlock()
if !ok {
continue
}
// Reply: data_type = TCP port, parameter2 = searchID.
tcpPort := s.tcpLn.Addr().(*net.TCPAddr).Port
// Use 0xFFFFFFFF IP to tell client to use sender's IP.
reply := buildSearchReply(hdr.Parameter2, tcpPort)
_, _ = s.udpCn.WriteToUDP(reply, src)
}
}
func buildSearchReply(searchID uint32, port int) []byte {
payload := []byte{0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00}
h := proto.Header{
Command: proto.CmdSearch,
DataType: uint16(port),
Parameter1: proto.MinorVersion,
Parameter2: searchID,
}
return proto.BuildMessage(h, payload)
}
// -------------------------------------------------------------------------- //
// TCP accept + per-connection handler //
// -------------------------------------------------------------------------- //
func (s *Server) acceptLoop() {
for {
conn, err := s.tcpLn.Accept()
if err != nil {
select {
case <-s.done:
return
default:
continue
}
}
go s.handleConn(conn)
}
}
func (s *Server) handleConn(conn net.Conn) {
defer conn.Close()
// Track CID → (pvName, SID).
type chanInfo struct {
pvName string
sid uint32
}
sidSeq := uint32(1000)
channels := make(map[uint32]*chanInfo) // cid → info
for {
hdr, _, err := proto.DecodeHeader(conn)
if err != nil {
return
}
var payload []byte
if hdr.PayloadSize > 0 {
payload = make([]byte, hdr.PayloadSize)
if _, err = io.ReadFull(conn, payload); err != nil {
return
}
}
switch hdr.Command {
case proto.CmdVersion:
// Respond with VERSION.
reply := proto.BuildMessage(proto.Header{
Command: proto.CmdVersion,
DataCount: proto.MinorVersion,
}, nil)
conn.Write(reply)
case proto.CmdHostName, proto.CmdClientName:
// Ignore client identity.
case proto.CmdCreateChan:
cid := hdr.Parameter1
pvName := nullStr(payload)
s.mu.RLock()
pv, ok := s.pvs[pvName]
s.mu.RUnlock()
if !ok {
// CREATE_FAIL
fail := proto.BuildMessage(proto.Header{
Command: proto.CmdCreateFail,
Parameter1: cid,
}, nil)
conn.Write(fail)
continue
}
sid := sidSeq
sidSeq++
channels[cid] = &chanInfo{pvName: pvName, sid: sid}
// CREATE_CHAN reply: DataType=dbfType, DataCount=count, p1=cid, p2=sid.
pv.mu.RLock()
dbfType := pv.spec.DBFType
count := pv.spec.Count
pv.mu.RUnlock()
reply := proto.BuildMessage(proto.Header{
Command: proto.CmdCreateChan,
DataType: uint16(dbfType),
DataCount: count,
Parameter1: cid,
Parameter2: sid,
}, nil)
conn.Write(reply)
// ACCESS_RIGHTS: p1=cid, p2=access.
access := pv.spec.Access
if access == 0 {
access = proto.AccessRead | proto.AccessWrite
}
ar := proto.BuildMessage(proto.Header{
Command: proto.CmdAccessRights,
Parameter1: cid,
Parameter2: access,
}, nil)
conn.Write(ar)
case proto.CmdEventAdd:
// p1=SID (channel), p2=subscriptionID (client-assigned).
sid := hdr.Parameter1
subID := hdr.Parameter2
// Find channel by SID.
var pvName string
for _, info := range channels {
if info.sid == sid {
pvName = info.pvName
break
}
}
if pvName == "" {
continue
}
s.mu.Lock()
sub := &serverSub{
pvName: pvName,
subID: subID,
sid: sid,
conn: conn,
dbrType: hdr.DataType,
count: hdr.DataCount,
}
s.subs[subID] = sub
s.mu.Unlock()
// Send initial value.
s.mu.RLock()
pv := s.pvs[pvName]
s.mu.RUnlock()
if msg := s.buildEventMsg(sub, pv); msg != nil {
conn.Write(msg)
}
case proto.CmdEventCancel:
// p1=SID, p2=subscriptionID.
subID := hdr.Parameter2
s.mu.Lock()
delete(s.subs, subID)
s.mu.Unlock()
case proto.CmdReadNotify:
// p1=SID, p2=ioid (per CA spec).
sid := hdr.Parameter1
ioid := hdr.Parameter2
var pvName string
for _, info := range channels {
if info.sid == sid {
pvName = info.pvName
break
}
}
if pvName == "" {
continue
}
s.mu.RLock()
pv := s.pvs[pvName]
s.mu.RUnlock()
pv.mu.RLock()
val := pv.val
pv.mu.RUnlock()
var replyPayload []byte
switch hdr.DataType {
case proto.DBRCtrlDouble, proto.DBRCtrlLong, proto.DBRCtrlEnum, proto.DBRCtrlString,
proto.DBRCtrlFloat, proto.DBRCtrlShort, proto.DBRCtrlChar:
replyPayload = s.encodeCtrlValue(hdr.DataType, pv)
default:
replyPayload = s.encodeTimeValue(hdr.DataType, hdr.DataCount, val)
}
reply := proto.BuildMessage(proto.Header{
Command: proto.CmdReadNotify,
DataType: hdr.DataType,
DataCount: hdr.DataCount,
Parameter1: ioid,
}, replyPayload)
conn.Write(reply)
case proto.CmdWrite:
// p1=SID, p2=0.
sid := hdr.Parameter1
var pvName string
for _, info := range channels {
if info.sid == sid {
pvName = info.pvName
break
}
}
if pvName == "" {
continue
}
s.mu.RLock()
pv := s.pvs[pvName]
s.mu.RUnlock()
val := decodeWritePayload(hdr.DataType, payload)
if val == nil {
continue
}
pv.mu.Lock()
pv.val = val
pv.mu.Unlock()
// Push update to all subscribers.
s.mu.RLock()
for _, sub := range s.subs {
if sub.pvName == pvName {
if msg := s.buildEventMsg(sub, pv); msg != nil {
sub.conn.Write(msg)
}
}
}
s.mu.RUnlock()
case proto.CmdEcho:
// No response needed (server echoes are optional).
}
}
}
// -------------------------------------------------------------------------- //
// Value encoding helpers //
// -------------------------------------------------------------------------- //
func (s *Server) buildEventMsg(sub *serverSub, pv *serverPV) []byte {
pv.mu.RLock()
val := pv.val
pv.mu.RUnlock()
payload := s.encodeTimeValue(sub.dbrType, sub.count, val)
if payload == nil {
return nil
}
return proto.BuildMessage(proto.Header{
Command: proto.CmdEventAdd,
DataType: sub.dbrType,
DataCount: sub.count,
Parameter1: sub.subID,
}, payload)
}
// encodeTimeValue builds a DBR_TIME_* payload for val.
func (s *Server) encodeTimeValue(dbrType uint16, _ uint32, val any) []byte {
now := time.Now().UTC()
sec := uint32(now.Unix() - 631152000) // EPICS epoch offset
nsec := uint32(now.Nanosecond())
hdr := make([]byte, 12)
// status=0, severity=0
binary.BigEndian.PutUint32(hdr[4:], sec)
binary.BigEndian.PutUint32(hdr[8:], nsec)
var body []byte
switch dbrType {
case proto.DBRTimeDouble:
body = make([]byte, 12) // 4 pad + 8 value
f := toF64(val)
binary.BigEndian.PutUint64(body[4:], math.Float64bits(f))
case proto.DBRTimeFloat:
body = make([]byte, 4)
binary.BigEndian.PutUint32(body, math.Float32bits(float32(toF64(val))))
case proto.DBRTimeLong:
body = make([]byte, 4)
binary.BigEndian.PutUint32(body, uint32(int32(toF64(val))))
case proto.DBRTimeShort, proto.DBRTimeEnum:
body = make([]byte, 4) // 2 value + 2 pad
binary.BigEndian.PutUint16(body, uint16(int16(toF64(val))))
case proto.DBRTimeChar:
body = make([]byte, 4) // 1 value + 3 pad
body[0] = byte(uint8(toF64(val)))
case proto.DBRTimeString:
body = make([]byte, 40)
if str, ok := val.(string); ok {
copy(body, str)
}
default:
return nil
}
return append(hdr, body...)
}
// encodeCtrlValue builds a DBR_CTRL_* payload for a GET reply.
// The fake server returns minimal but structurally correct payloads so that
// the client-side decode functions succeed.
func (s *Server) encodeCtrlValue(dbrType uint16, pv *serverPV) []byte {
pv.mu.RLock()
val := pv.val
access := pv.spec.Access
pv.mu.RUnlock()
switch dbrType {
case proto.DBRCtrlDouble: // 88 bytes
p := make([]byte, 88)
if access == proto.AccessRead {
// status=0, severity=0 (read-only signalled via ACCESS_RIGHTS, not here)
}
// units at [8:16] (empty string = "")
// value at [80:88]
binary.BigEndian.PutUint64(p[80:], math.Float64bits(toF64(val)))
return p
case proto.DBRCtrlFloat, proto.DBRCtrlShort, proto.DBRCtrlChar: // map to Long-style
// Treat as CtrlLong (48 bytes); caller asked for these types but our
// NativeCtrlType maps them to Double/Long anyway. Return a valid stub.
p := make([]byte, 48)
binary.BigEndian.PutUint32(p[44:], uint32(int32(toF64(val))))
return p
case proto.DBRCtrlLong: // 48 bytes
p := make([]byte, 48)
binary.BigEndian.PutUint32(p[44:], uint32(int32(toF64(val))))
return p
case proto.DBRCtrlEnum: // 424 bytes
p := make([]byte, 424)
// no_str at [4:6] = 0 (no enum strings in fake server)
binary.BigEndian.PutUint16(p[422:], uint16(int16(toF64(val))))
return p
case proto.DBRCtrlString: // 44 bytes: status(2)+severity(2)+value[40]
p := make([]byte, 44)
if str, ok := val.(string); ok {
copy(p[4:], str)
}
return p
default:
return nil
}
}
func decodeWritePayload(dbrType uint16, payload []byte) any {
switch dbrType {
case proto.DBRDouble:
if len(payload) < 8 {
return nil
}
return math.Float64frombits(binary.BigEndian.Uint64(payload))
case proto.DBRLong:
if len(payload) < 4 {
return nil
}
return int32(binary.BigEndian.Uint32(payload))
case proto.DBRShort, proto.DBREnum:
if len(payload) < 2 {
return nil
}
return int16(binary.BigEndian.Uint16(payload))
case proto.DBRString:
return nullStr(payload)
default:
return nil
}
}
func toF64(v any) float64 {
switch x := v.(type) {
case float64:
return x
case float32:
return float64(x)
case int:
return float64(x)
case int32:
return float64(x)
case int16:
return float64(x)
case int64:
return float64(x)
default:
return 0
}
}
func nullStr(b []byte) string {
for i, c := range b {
if c == 0 {
return string(b[:i])
}
}
return string(b)
}
// -------------------------------------------------------------------------- //
// Minimal io.Reader for proto.DecodeHeader //
// -------------------------------------------------------------------------- //
type bytesReader struct{ b []byte; i int }
func newBytesReader(b []byte) *bytesReader { return &bytesReader{b: b} }
func (r *bytesReader) Read(p []byte) (int, error) {
if r.i >= len(r.b) {
return 0, io.EOF
}
n := copy(p, r.b[r.i:])
r.i += n
return n, nil
}
workspace/run.sh
+63 -49
View File
@@ -5,9 +5,11 @@
# bash workspace/run.sh
#
# Requirements:
# • EPICS Base installed (EPICS_BASE set, or auto-detected below)
# • softIoc binary available
# • uopi built with EPICS support (script builds it if missing)
# • EPICS Base installed (softIoc binary available in PATH or EPICS_BASE)
# • uopi built (script builds it if missing)
#
# uopi connects to EPICS via its built-in pure-Go CA client — no libca needed.
# Set UOPI_CA_DEBUG=1 (default below) to enable CA-level debug logging.
set -euo pipefail
@@ -15,32 +17,24 @@ PROJECT_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
WORKSPACE="$PROJECT_ROOT/workspace"
BINARY="$PROJECT_ROOT/dist/uopi"
# ── Locate EPICS Base ─────────────────────────────────────────────────────────
# ── Locate EPICS tools ────────────────────────────────────────────────────────
if [ -z "${EPICS_BASE:-}" ]; then
for candidate in \
/usr/lib/epics \
/usr/local/epics \
/opt/epics/base \
/opt/epics; do
if [ -f "$candidate/include/cadef.h" ]; then
export EPICS_BASE="$candidate"
break
# If EPICS_BASE is set, add its bin directory to PATH automatically.
if [ -n "${EPICS_BASE:-}" ]; then
if [ -z "${EPICS_ARCH:-}" ]; then
EPICS_ARCH="$(ls "$EPICS_BASE/bin" 2>/dev/null | grep -i linux | head -1 || true)"
EPICS_ARCH="${EPICS_ARCH:-linux-x86_64}"
fi
done
export PATH="$EPICS_BASE/bin/$EPICS_ARCH:$PATH"
echo "EPICS_BASE=$EPICS_BASE EPICS_ARCH=$EPICS_ARCH"
fi
if [ -z "${EPICS_BASE:-}" ]; then
echo "ERROR: EPICS_BASE is not set and could not be auto-detected."
echo " export EPICS_BASE=/path/to/epics/base"
if ! command -v softIoc &>/dev/null; then
echo "ERROR: softIoc not found in PATH."
echo " Set EPICS_BASE=/path/to/epics/base, or add softIoc to your PATH."
exit 1
fi
# Detect architecture
EPICS_ARCH="${EPICS_ARCH:-$(ls "$EPICS_BASE/lib" | grep linux | head -1)}"
if [ -z "$EPICS_ARCH" ]; then
EPICS_ARCH="linux-x86_64"
fi
echo "softIoc: $(command -v softIoc)"
# ── Environment ───────────────────────────────────────────────────────────────
@@ -48,24 +42,17 @@ fi
export EPICS_CA_ADDR_LIST="127.0.0.1"
export EPICS_CA_AUTO_ADDR_LIST="NO"
# Ensure the EPICS shared libraries are found at runtime.
export LD_LIBRARY_PATH="$EPICS_BASE/lib/$EPICS_ARCH${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}"
# Make EPICS tools (softIoc, caget, caput…) available.
export PATH="$EPICS_BASE/bin/$EPICS_ARCH:$PATH"
# ── Locate softIoc ────────────────────────────────────────────────────────────
if ! command -v softIoc &>/dev/null; then
echo "ERROR: softIoc not found in $EPICS_BASE/bin/$EPICS_ARCH or PATH."
exit 1
fi
# Enable CA-level debug logging in uopi (set to "" to disable).
export UOPI_CA_DEBUG="${UOPI_CA_DEBUG:-1}"
# ── Build uopi ────────────────────────────────────────────────────────────────
echo "Building uopi with EPICS support..."
echo "Building uopi + catools..."
cd "$PROJECT_ROOT"
make backend-epics 2>&1
make backend 2>&1
echo ""
echo " catools: $PROJECT_ROOT/dist/catools"
echo " Usage: dist/catools caget UOPI:TICK"
echo ""
# ── Cleanup handler ───────────────────────────────────────────────────────────
@@ -85,39 +72,66 @@ trap cleanup EXIT INT TERM
pkill -x softIoc 2>/dev/null || true
# Give the OS a moment to release the CA port (5064/tcp+udp).
sleep 0.3
sleep 0.5
# ── Start softIOC ─────────────────────────────────────────────────────────────
echo "Starting softIOC..."
echo " DB: $WORKSPACE/softioc/uopi_test.db"
echo " Log: $WORKSPACE/softioc.log"
softIoc -S -d "$WORKSPACE/softioc/uopi_test.db" \
>"$WORKSPACE/softioc.log" 2>&1 &
IOC_PID=$!
PIDS+=("$IOC_PID")
# Wait for the IOC to accept Channel Access connections (up to 10 s).
echo -n "Waiting for IOC to be ready"
# Wait for the IOC to start listening on TCP 5064 (up to 10 s).
# We probe with nc (netcat) first — no EPICS tools required.
echo -n "Waiting for IOC port 5064"
IOC_READY=0
for i in $(seq 1 20); do
if nc -z 127.0.0.1 5064 2>/dev/null; then
echo " OK (TCP 5064 open)"
IOC_READY=1
break
fi
echo -n "."
sleep 0.5
done
if [ "$IOC_READY" -eq 0 ]; then
echo ""
echo "ERROR: IOC port 5064 not open after 10 seconds."
echo "softIoc log:"
cat "$WORKSPACE/softioc.log" || true
exit 1
fi
# Optional deeper check with caget if it's available.
if command -v caget &>/dev/null; then
echo -n "Verifying UOPI:TICK with caget"
for i in $(seq 1 10); do
if caget -w 1 UOPI:TICK >/dev/null 2>&1; then
echo " OK"
break
fi
echo -n "."
sleep 0.5
if [ "$i" -eq 20 ]; then
echo ""
echo "ERROR: IOC did not become ready within 10 seconds."
echo "Check $WORKSPACE/softioc.log for details."
exit 1
if [ "$i" -eq 10 ]; then
echo " (timeout — continuing anyway)"
fi
done
done
else
echo "caget not in PATH — skipping PV check (softIoc assumed ready)"
sleep 1
fi
# ── Start uopi ────────────────────────────────────────────────────────────────
echo ""
echo "Starting uopi (http://localhost:8080)..."
echo " Open the browser, switch to Edit mode, load workspace/data/epics_test.xml"
echo " or select it from the interface list in View mode."
echo " Press Ctrl-C to stop."
echo " UOPI_CA_DEBUG=$UOPI_CA_DEBUG"
echo " Config: $WORKSPACE/uopi.toml"
echo " Log will appear below. Press Ctrl-C to stop."
echo ""
cd "$PROJECT_ROOT"
workspace/softioc.log
+36
View File
@@ -1,2 +1,38 @@
Starting iocInit
iocRun: All initialization complete
CAS: request from 127.0.0.1:56104 => bad resource ID
CAS: Request from 127.0.0.1:56104 => cmmd=1 cid=0x2 type=25 count=1 postsize=16
CAS: Request from 127.0.0.1:56104 => available=0x1 N=0 paddr=(nil)
CAS: forcing disconnect from 127.0.0.1:56104
CAS: request from 127.0.0.1:56106 => bad resource ID
CAS: Request from 127.0.0.1:56106 => cmmd=1 cid=0x5 type=25 count=1 postsize=16
CAS: Request from 127.0.0.1:56106 => available=0x3 N=0 paddr=(nil)
CAS: forcing disconnect from 127.0.0.1:56106
CAS: request from 127.0.0.1:56120 => bad resource ID
CAS: Request from 127.0.0.1:56120 => cmmd=1 cid=0x8 type=25 count=1 postsize=16
CAS: Request from 127.0.0.1:56120 => available=0x6 N=0 paddr=(nil)
CAS: forcing disconnect from 127.0.0.1:56120
CAS: request from 127.0.0.1:56126 => bad resource ID
CAS: Request from 127.0.0.1:56126 => cmmd=1 cid=0xb type=25 count=1 postsize=16
CAS: Request from 127.0.0.1:56126 => available=0xa N=0 paddr=(nil)
CAS: forcing disconnect from 127.0.0.1:56126
CAS: request from 127.0.0.1:56130 => no memory to add subscription to db
CAS: Request from 127.0.0.1:56130 => cmmd=1 cid=0xe type=25 count=1 postsize=16
CAS: Request from 127.0.0.1:56130 => available=0xf N=0 paddr=0x7fae3800d838
CAS: forcing disconnect from 127.0.0.1:56130
CAS: request from 127.0.0.1:56132 => no memory to add subscription to db
CAS: Request from 127.0.0.1:56132 => cmmd=1 cid=0x10 type=25 count=1 postsize=16
CAS: Request from 127.0.0.1:56132 => available=0x11 N=0 paddr=0x7fae3800d768
CAS: forcing disconnect from 127.0.0.1:56132
CAS: request from 127.0.0.1:56144 => bad resource ID
CAS: Request from 127.0.0.1:56144 => cmmd=1 cid=0x10 type=25 count=1 postsize=16
CAS: Request from 127.0.0.1:56144 => available=0x17 N=0 paddr=(nil)
CAS: forcing disconnect from 127.0.0.1:56144
CAS: request from 127.0.0.1:56148 => bad resource ID
CAS: Request from 127.0.0.1:56148 => cmmd=1 cid=0x10 type=25 count=1 postsize=16
CAS: Request from 127.0.0.1:56148 => available=0x1d N=0 paddr=(nil)
CAS: forcing disconnect from 127.0.0.1:56148
CAS: request from 127.0.0.1:60292 => bad resource ID
CAS: Request from 127.0.0.1:60292 => cmmd=1 cid=0x10 type=25 count=1 postsize=16
CAS: Request from 127.0.0.1:60292 => available=0x24 N=0 paddr=(nil)
CAS: forcing disconnect from 127.0.0.1:60292