Initial version for the detector tower driver
This commit is contained in:
58
.gitlab-ci.yml
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58
.gitlab-ci.yml
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@ -0,0 +1,58 @@
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default:
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image: docker.psi.ch:5000/sinqdev/sinqepics:latest
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stages:
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- lint
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- build
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- test
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cppcheck:
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stage: lint
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script:
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- cppcheck --std=c++17 --addon=cert --addon=misc --error-exitcode=1 src/*.cpp
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artifacts:
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expire_in: 1 week
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tags:
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- sinq
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formatting:
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stage: lint
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script:
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- clang-format --style=file --Werror --dry-run src/*.cpp
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artifacts:
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expire_in: 1 week
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tags:
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- sinq
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# clangtidy:
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# stage: lint
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# script:
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# - curl https://docker.psi.ch:5000/v2/_catalog
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# # - dnf update -y
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# # - dnf install -y clang-tools-extra
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# # - clang-tidy sinqEPICSApp/src/*.cpp sinqEPICSApp/src/*.c sinqEPICSApp/src/*.h -checks=cppcoreguidelines-*,cert-*
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# # tags:
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# # - sinq
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build_module:
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stage: build
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script:
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- export TURBOPMAC_VERSION="$(grep 'turboPmac_VERSION=' Makefile | cut -d= -f2)"
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- git clone --depth 1 --branch "${TURBOPMAC_VERSION}" https://gitlab-ci-token:${CI_JOB_TOKEN}@git.psi.ch/sinq-epics-modules/sinqmotor.git
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- pushd sinqmotor
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- sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
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- echo "LIBVERSION=${TURBOPMAC_VERSION}" >> Makefile
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- make install
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- popd
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- sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
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- echo "LIBVERSION=${CI_COMMIT_TAG:-0.0.1}" >> Makefile
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- make install
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- cp -rT "/ioc/modules/detectorTower/$(ls -U /ioc/modules/detectorTower/ | head -1)" "./detectorTower-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
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artifacts:
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name: "detectorTower-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
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paths:
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- "detectorTower-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}/*"
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expire_in: 1 week
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when: always
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tags:
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- sinq
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33
Makefile
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33
Makefile
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# Use the PSI build system
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include /ioc/tools/driver.makefile
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MODULE=detectorTower
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BUILDCLASSES=Linux
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EPICS_VERSIONS=7.0.7
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ARCH_FILTER=RHEL%
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# Additional module dependencies
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REQUIRED+=motorBase
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REQUIRED+=turboPmac
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# Specify the version of motorBase we want to build against
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motorBase_VERSION=7.2.2
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# Specify the version of turboPmac we want to build against
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turboPmac_VERSION=mathis_s
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# These headers allow to depend on this library for derived drivers.
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HEADERS += src/detectorTowerAxis.h
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HEADERS += src/detectorTowerController.h
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# Source files to build
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SOURCES += src/detectorTowerAxis.cpp
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SOURCES += src/detectorTowerController.cpp
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# Store the record files
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TEMPLATES += db/detectorTower.db
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# This file registers the motor-specific functions in the IOC shell.
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DBDS += src/detectorTower.dbd
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USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wextra -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings
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47
README.md
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47
README.md
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# detectorTower
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## Overview
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This is a driver for the Turbo PMAC motion controller with the SINQ communication protocol. It is based on the sinqMotor shared library (https://git.psi.ch/sinq-epics-modules/sinqmotor). The header files contain detailed documentation for all public functions. The headers themselves are exported when building the library to allow other drivers to depend on this one.
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## User guide
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This driver is a standard sinqMotor-derived driver and does not need any specific configuration. For the general configuration, please see https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
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The folder "utils" contains utility scripts for working with pmac motor controllers. To read their manual, run the scripts without any arguments.
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- writeRead.py: Allows sending commands to and receiving commands from a pmac controller over an ethernet connection.
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- analyzeTcpDump.py: Parse the TCP communication between an IOC and a MCU and format it into a dictionary. "demo.py" shows how this data can be easily visualized for analysis.
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## Developer guide
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### Usage in IOC shell
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turboPmac exposes the following IOC shell functions (all in turboPmacController.cpp):
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- `turboPmacController`: Create a new controller object.
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- `turboPmacAxis`: Create a new axis object.
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These functions are parametrized as follows:
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```
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turboPmacController(
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"$(NAME)", # Name of the MCU, e.g. mcu1. This parameter should be provided by an environment variable.
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"$(ASYN_PORT)", # IP-Port of the MCU. This parameter should be provided by an environment variable.
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8, # Maximum number of axes
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0.05, # Busy poll period in seconds
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1, # Idle poll period in seconds
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0.05 # Communication timeout in seconds
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);
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```
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```
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turboPmacAxis(
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"$(NAME)", # Name of the associated MCU, e.g. mcu1. This parameter should be provided by an environment variable.
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1 # Index of the axis.
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);
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```
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### Versioning
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Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
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### How to build it
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Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
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70
db/amorDetector.db
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70
db/amorDetector.db
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# Reset any errors of the virtual axis.
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# This record is coupled to the parameter library via reset_ -> RESET.
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record(longout, "$(INSTR)$(M):Reset") {
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field(DTYP, "asynInt32")
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field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) RESET")
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field(PINI, "NO")
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}
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# Read the position state of the axis:
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# 0 = not ready
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# 1 = ready (in working position)
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# 2 = ready (in changer position)
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record(longout, "$(INSTR)$(M):PositionState")
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{
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field(DTYP, "asynInt32")
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field(INP, "@asyn($(CONTROLLER),$(AXIS)) POSITION_STATE")
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field(SCAN, "I/O Intr")
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}
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# Set the target position for the offset of the lift (motor COZ)
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# This record is coupled to the parameter library via liftOffset_ -> LIFT_OFFSET.
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record(ao, "$(INSTR)$(M):LiftOffset") {
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field(DTYP, "asynFloat64")
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field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) LIFT_OFFSET")
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field(PINI, "NO")
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}
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# Set the target position for the offset of the lift (motor COZ)
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# This record is coupled to the parameter library via liftOffset_ -> LIFT_OFFSET.
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record(ao, "$(INSTR)$(M):LiftOffset") {
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field(DTYP, "asynFloat64")
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field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) LIFT_OFFSET")
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field(PINI, "NO")
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}
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# Read the lower and upper limits for the lift offset
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record(ai, "$(INSTR)$(M):LiftOffsetLowLimitRBV")
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{
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field(DTYP, "asynFloat64")
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field(INP, "@asyn($(CONTROLLER),$(AXIS)) LIFT_OFFSET_LOW_LIMIT")
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field(SCAN, "I/O Intr")
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}
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record(ai, "$(INSTR)$(M):LiftOffsetHighLimitRBV")
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{
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field(DTYP, "asynFloat64")
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field(INP, "@asyn($(CONTROLLER),$(AXIS)) LIFT_OFFSET_HIGH_LIMIT")
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field(SCAN, "I/O Intr")
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}
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# Set the target position for the offset of the detector tilt (motor COX)
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# This record is coupled to the parameter library via tiltOffset_ -> TILT_OFFSET.
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record(ao, "$(INSTR)$(M):TiltOffset") {
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field(DTYP, "asynFloat64")
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field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) TILT_OFFSET")
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field(PINI, "NO")
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}
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# Read the lower and upper limits for the detector tilt offset
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record(ai, "$(INSTR)$(M):TiltOffsetLowLimitRBV")
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{
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field(DTYP, "asynFloat64")
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field(INP, "@asyn($(CONTROLLER),$(AXIS)) TILT_OFFSET_LOW_LIMIT")
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field(SCAN, "I/O Intr")
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}
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record(ai, "$(INSTR)$(M):TiltOffsetHighLimitRBV")
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{
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field(DTYP, "asynFloat64")
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field(INP, "@asyn($(CONTROLLER),$(AXIS)) TILT_OFFSET_HIGH_LIMIT")
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field(SCAN, "I/O Intr")
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}
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2
src/detectorTower.dbd
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2
src/detectorTower.dbd
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registrar(detectorTowerControllerRegister)
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registrar(detectorTowerAxisRegister)
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932
src/detectorTowerAxis.cpp
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932
src/detectorTowerAxis.cpp
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#include "detectorTowerAxis.h"
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#include "turboPmacController.h"
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#include <epicsExport.h>
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#include <errlog.h>
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#include <iocsh.h>
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detectorTowerAxis::detectorTowerAxis(detectorTowerController *pC, int axisNo)
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: sinqAxis(pC, axisNo), pC_(pC) {
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asynStatus status = asynSuccess;
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/*
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The superclass constructor sinqAxis calls in turn its superclass constructor
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asynMotorAxis. In the latter, a pointer to the constructed object this is
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stored inside the array pAxes_:
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pC->pAxes_[axisNo] = this;
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Therefore, the axes are managed by the controller pC. If axisNo is out of
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bounds, asynMotorAxis prints an error (see
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https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/asynMotorAxis.cpp,
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line 40). However, we want the IOC creation to stop completely, since this
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||||||
|
is a configuration error.
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||||||
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*/
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if (axisNo >= pC->numAxes_) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"Controller \"%s\", axis %d => %s, line %d: FATAL ERROR: "
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"Axis index %d must be smaller than the total number of axes "
|
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"%d",
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pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
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||||||
|
axisNo_, pC->numAxes_);
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||||||
|
exit(-1);
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||||||
|
}
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||||||
|
|
||||||
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// Initialize all member variables
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// Assumed to be not ready by default, this is overwritten in the next poll
|
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error_ = 0;
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scheduleMoveFromParamLib_ = false;
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|
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// Speed cannot be changed
|
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status = pC_->setIntegerParam(axisNo_, pC_->motorCanSetSpeed_, 0);
|
||||||
|
if (status != asynSuccess) {
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||||||
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asynPrint(
|
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|
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
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|
"Controller \"%s\", axis %d => %s, line %d\nFATAL ERROR "
|
||||||
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"(setting a parameter value failed with %s)\n. Terminating IOC",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
|
||||||
|
pC_->stringifyAsynStatus(status));
|
||||||
|
exit(-1);
|
||||||
|
}
|
||||||
|
|
||||||
|
status = pC_->setIntegerParam(axisNo_, pC_->positionState_, 1);
|
||||||
|
if (status != asynSuccess) {
|
||||||
|
asynPrint(
|
||||||
|
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nFATAL ERROR "
|
||||||
|
"(setting a parameter value failed with %s)\n. Terminating IOC",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
|
||||||
|
pC_->stringifyAsynStatus(status));
|
||||||
|
exit(-1);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Perform the actual poll
|
||||||
|
asynStatus detectorTowerAxis::doPoll(bool *moving) {
|
||||||
|
|
||||||
|
// Return value for the poll
|
||||||
|
asynStatus poll_status = asynSuccess;
|
||||||
|
|
||||||
|
// Status of read-write-operations of ASCII commands to the controller
|
||||||
|
asynStatus rw_status = asynSuccess;
|
||||||
|
|
||||||
|
// Status of parameter library operations
|
||||||
|
asynStatus pl_status = asynSuccess;
|
||||||
|
|
||||||
|
char response[pC_->MAXBUF_], userMessage[pC_->MAXBUF_];
|
||||||
|
int nvals = 0;
|
||||||
|
|
||||||
|
int direction = 0;
|
||||||
|
int error = 0;
|
||||||
|
int positionState = 0;
|
||||||
|
int inPosition = 0;
|
||||||
|
double beamTiltAngle = 0.0;
|
||||||
|
double previousBeamTiltAngle = 0.0;
|
||||||
|
double motorRecResolution = 0.0;
|
||||||
|
double limitsOffset = 0.0;
|
||||||
|
double highLimit = 0.0;
|
||||||
|
double lowLimit = 0.0;
|
||||||
|
double liftOffsetHighLimit = 0.0;
|
||||||
|
double liftOffsetLowLimit = 0.0;
|
||||||
|
double tiltOffsetHighLimit = 0.0;
|
||||||
|
double tiltOffsetLowLimit = 0.0;
|
||||||
|
|
||||||
|
// =========================================================================
|
||||||
|
|
||||||
|
// Motor resolution from parameter library
|
||||||
|
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
|
||||||
|
&motorRecResolution);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Read the previous motor position
|
||||||
|
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorPosition_,
|
||||||
|
&previousBeamTiltAngle);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
|
||||||
|
__PRETTY_FUNCTION__, __LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Transform from EPICS to motor coordinates (see comment in
|
||||||
|
// turboPmacAxis::atFirstPoll)
|
||||||
|
previousBeamTiltAngle = previousBeamTiltAngle * motorRecResolution;
|
||||||
|
|
||||||
|
/*
|
||||||
|
Query the following information:
|
||||||
|
- In-position flag
|
||||||
|
- Position state
|
||||||
|
- Axis error
|
||||||
|
- Beam tilt angle
|
||||||
|
- Beam tilt angle limits
|
||||||
|
- Beam lift offset limits
|
||||||
|
- Detector tilt offset limits
|
||||||
|
*/
|
||||||
|
char command[] = "P354 P358 P359 Q510 Q513 Q514 Q353 Q354 Q553 Q554";
|
||||||
|
rw_status = pC_->writeRead(axisNo_, command, response, 10);
|
||||||
|
if (rw_status != asynSuccess) {
|
||||||
|
return rw_status;
|
||||||
|
}
|
||||||
|
|
||||||
|
nvals =
|
||||||
|
sscanf(response, "%d %d %lf %d %lf %lf %lf %lf %lf %lf", &inPosition,
|
||||||
|
&positionState, &beamTiltAngle, &error, &highLimit, &lowLimit,
|
||||||
|
&liftOffsetHighLimit, &liftOffsetLowLimit, &tiltOffsetHighLimit,
|
||||||
|
&tiltOffsetLowLimit);
|
||||||
|
if (nvals != 10) {
|
||||||
|
return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
|
||||||
|
__PRETTY_FUNCTION__, __LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
The axis limits are set as: ({[]})
|
||||||
|
where [] are the positive and negative limits set in EPICS/NICOS, {} are the
|
||||||
|
software limits set on the MCU and () are the hardware limit switches. In
|
||||||
|
other words, the EPICS/NICOS limits should be stricter than the software
|
||||||
|
limits on the MCU which in turn should be stricter than the hardware limit
|
||||||
|
switches. For example, if the hardware limit switches are at [-10, 10], the
|
||||||
|
software limits could be at [-9, 9] and the EPICS / NICOS limits could be at
|
||||||
|
[-8, 8]. Therefore, we cannot use the software limits read from the MCU
|
||||||
|
directly, but need to shrink them a bit. In this case, we're shrinking them
|
||||||
|
by limitsOffset on both sides.
|
||||||
|
*/
|
||||||
|
pl_status =
|
||||||
|
pC_->getDoubleParam(axisNo_, pC_->motorLimitsOffset_, &limitsOffset);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorLimitsOffset_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
highLimit = highLimit - limitsOffset;
|
||||||
|
lowLimit = lowLimit + limitsOffset;
|
||||||
|
|
||||||
|
// Store the axis status
|
||||||
|
error_ = error;
|
||||||
|
|
||||||
|
// Update the enablement PV
|
||||||
|
pl_status = setIntegerParam(pC_->motorEnableRBV_, (positionState != 2));
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorEnableRBV_", axisNo_,
|
||||||
|
__PRETTY_FUNCTION__, __LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Check if the motor is moving
|
||||||
|
if (inPosition == 0) {
|
||||||
|
*moving = false;
|
||||||
|
} else {
|
||||||
|
*moving = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Intepret the position state
|
||||||
|
switch (positionState) {
|
||||||
|
case 0:
|
||||||
|
asynPrint(
|
||||||
|
pC_->pasynUserSelf, ASYN_TRACE_FLOW,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nAxis not ready\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
break;
|
||||||
|
case 1:
|
||||||
|
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nAxis ready\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
break;
|
||||||
|
case 2:
|
||||||
|
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nAxis in change "
|
||||||
|
"position\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
*moving = false;
|
||||||
|
snprintf(userMessage, sizeof(userMessage),
|
||||||
|
"No air cushion feedback before movement start (P%2.2d01 = "
|
||||||
|
"%d). Please call the support.",
|
||||||
|
axisNo_, error);
|
||||||
|
|
||||||
|
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nReached unknown "
|
||||||
|
"state P354 = %d\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
|
||||||
|
positionState);
|
||||||
|
snprintf(userMessage, sizeof(userMessage),
|
||||||
|
"Unknown state P354 = %d has been reached. Please call "
|
||||||
|
"the support.",
|
||||||
|
positionState);
|
||||||
|
pl_status = setStringParam(pC_->motorMessageText_, userMessage);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (*moving) {
|
||||||
|
// If the axis is moving, evaluate the movement direction
|
||||||
|
if ((beamTiltAngle - previousBeamTiltAngle) > 0) {
|
||||||
|
direction = 1;
|
||||||
|
} else {
|
||||||
|
direction = 0;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Error handling
|
||||||
|
switch (error) {
|
||||||
|
case 0:
|
||||||
|
// No error
|
||||||
|
break;
|
||||||
|
case 1:
|
||||||
|
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nBrake COZ not "
|
||||||
|
"released (P359=1).\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, error);
|
||||||
|
|
||||||
|
pl_status =
|
||||||
|
setStringParam(pC_->motorMessageText_,
|
||||||
|
"Brake COZ not released. Try resetting the axis. "
|
||||||
|
"If the problem persists, please call the support.");
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
poll_status = asynError;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case 2:
|
||||||
|
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nMove command "
|
||||||
|
"rejected because axis is already moving.\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
|
||||||
|
pl_status = setStringParam(pC_->motorMessageText_,
|
||||||
|
"Move command rejected because axis is "
|
||||||
|
"already moving. Please call the support");
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
poll_status = asynError;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case 3:
|
||||||
|
asynPrint(
|
||||||
|
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nError motor FTZ.\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
|
||||||
|
pl_status =
|
||||||
|
setStringParam(pC_->motorMessageText_,
|
||||||
|
"Error in motor FTZ. Try resetting the axis. If "
|
||||||
|
"the problem persists, please call the support");
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
poll_status = asynError;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case 4:
|
||||||
|
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nAxis stopped "
|
||||||
|
"unexpectedly.\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
|
||||||
|
pl_status =
|
||||||
|
setStringParam(pC_->motorMessageText_,
|
||||||
|
"Axis stopped unexpectedly. Try resetting the axis "
|
||||||
|
"and issue the move command again. If the problem "
|
||||||
|
"persists, please call the support.");
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
poll_status = asynError;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case 5:
|
||||||
|
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nRelease removed "
|
||||||
|
"while moving.\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
|
||||||
|
pl_status = setStringParam(
|
||||||
|
pC_->motorMessageText_,
|
||||||
|
"Axis release was removed while moving. Try resetting the axis "
|
||||||
|
"and issue the move command again. If the problem persists, please "
|
||||||
|
"call the support.");
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
poll_status = asynError;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case 6:
|
||||||
|
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nEmergency stop "
|
||||||
|
"activated.\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
|
||||||
|
pl_status =
|
||||||
|
setStringParam(pC_->motorMessageText_, "Emergency stop activate");
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
poll_status = asynError;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case 7:
|
||||||
|
asynPrint(
|
||||||
|
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nError motor COZ.\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
|
||||||
|
pl_status =
|
||||||
|
setStringParam(pC_->motorMessageText_,
|
||||||
|
"Error in motor COZ. Try resetting the axis. If "
|
||||||
|
"the problem persists, please call the support");
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
poll_status = asynError;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case 8:
|
||||||
|
asynPrint(
|
||||||
|
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nError motor COM.\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
|
||||||
|
pl_status =
|
||||||
|
setStringParam(pC_->motorMessageText_,
|
||||||
|
"Error in motor COM. Try resetting the axis. If "
|
||||||
|
"the problem persists, please call the support");
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
poll_status = asynError;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case 9:
|
||||||
|
asynPrint(
|
||||||
|
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nError motor COX.\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
|
||||||
|
pl_status =
|
||||||
|
setStringParam(pC_->motorMessageText_,
|
||||||
|
"Error in motor COX. Try resetting the axis. If "
|
||||||
|
"the problem persists, please call the support");
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
poll_status = asynError;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case 10:
|
||||||
|
asynPrint(
|
||||||
|
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nHit end switch FTZ.\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
|
||||||
|
pl_status =
|
||||||
|
setStringParam(pC_->motorMessageText_, "Hit end switch FTZ");
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
poll_status = asynError;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case 11:
|
||||||
|
// Following error
|
||||||
|
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nMaximum allowed "
|
||||||
|
"following error FTZ exceeded.\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
|
||||||
|
snprintf(userMessage, sizeof(userMessage),
|
||||||
|
"Maximum allowed following error exceeded (P359 = %d). "
|
||||||
|
"Check if movement range is blocked. "
|
||||||
|
"Otherwise please call the support.",
|
||||||
|
axisNo_, error);
|
||||||
|
pl_status = setStringParam(pC_->motorMessageText_, userMessage);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
poll_status = asynError;
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nUnknown error "
|
||||||
|
"P359 = %d.\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, error);
|
||||||
|
|
||||||
|
snprintf(userMessage, sizeof(userMessage),
|
||||||
|
"Unknown error P359 = %d. Please call the support.", error);
|
||||||
|
pl_status = setStringParam(pC_->motorMessageText_, userMessage);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
poll_status = asynError;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Update the parameter library
|
||||||
|
if (error != 0) {
|
||||||
|
pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (*moving == false) {
|
||||||
|
pl_status = setIntegerParam(pC_->motorMoveToHome_, 0);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorMoveToHome_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
pl_status = setIntegerParam(pC_->motorStatusMoving_, *moving);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorStatusMoving_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
pl_status = setIntegerParam(pC_->motorStatusDone_, !(*moving));
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorStatusDone_", axisNo_,
|
||||||
|
__PRETTY_FUNCTION__, __LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
pl_status = setIntegerParam(pC_->motorStatusDirection_, direction);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorStatusDirection_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
pl_status =
|
||||||
|
pC_->setDoubleParam(axisNo_, pC_->motorHighLimitFromDriver_, highLimit);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorHighLimitFromDriver_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
pl_status =
|
||||||
|
pC_->setDoubleParam(axisNo_, pC_->motorLowLimitFromDriver_, lowLimit);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorLowLimit_", axisNo_,
|
||||||
|
__PRETTY_FUNCTION__, __LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
pl_status = pC_->setDoubleParam(axisNo_, pC_->liftOffsetHighLimit_,
|
||||||
|
liftOffsetHighLimit);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "liftOffsetHighLimit_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
pl_status = pC_->setDoubleParam(axisNo_, pC_->liftOffsetLowLimit_,
|
||||||
|
liftOffsetLowLimit);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "liftOffsetLowLimit_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
pl_status = pC_->setDoubleParam(axisNo_, pC_->tiltOffsetHighLimit_,
|
||||||
|
tiltOffsetHighLimit);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "tiltOffsetHighLimit_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
pl_status = pC_->setDoubleParam(axisNo_, pC_->tiltOffsetLowLimit_,
|
||||||
|
tiltOffsetLowLimit);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "tiltOffsetLowLimit_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Transform from motor to EPICS coordinates (see comment in
|
||||||
|
// turboPmacAxis::init())
|
||||||
|
beamTiltAngle = beamTiltAngle / motorRecResolution;
|
||||||
|
|
||||||
|
pl_status = setDoubleParam(pC_->motorPosition_, beamTiltAngle);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
|
||||||
|
__PRETTY_FUNCTION__, __LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
pl_status = setIntegerParam(pC_->positionState_, positionState);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "positionState_", axisNo_,
|
||||||
|
__PRETTY_FUNCTION__, __LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
// If a movement is scheduled and the axis is not moving anymore, start the
|
||||||
|
// scheduled movement. This replaces the original motor record movement
|
||||||
|
// control loop functionality.
|
||||||
|
if (scheduleMoveFromParamLib_ && !moving && poll_status == asynSuccess) {
|
||||||
|
scheduleMoveFromParamLib_ = false;
|
||||||
|
return moveFromParamLib();
|
||||||
|
} else {
|
||||||
|
return poll_status;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
asynStatus detectorTowerAxis::moveFromParamLib() {
|
||||||
|
|
||||||
|
// Status of read-write-operations of ASCII commands to the controller
|
||||||
|
asynStatus rw_status = asynSuccess;
|
||||||
|
|
||||||
|
// Status of parameter library operations
|
||||||
|
asynStatus pl_status = asynSuccess;
|
||||||
|
|
||||||
|
char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
|
||||||
|
double motorTargetPosition = 0.0;
|
||||||
|
double motorCoordinatesPosition = 0.0;
|
||||||
|
double motorRecResolution = 0.0;
|
||||||
|
double liftOffset = 0.0;
|
||||||
|
double tiltOffset = 0.0;
|
||||||
|
double motorVelocity = 0.0;
|
||||||
|
int motorCanSetSpeed = 0;
|
||||||
|
int writeOffset = 0;
|
||||||
|
int positionState = 0;
|
||||||
|
|
||||||
|
// =========================================================================
|
||||||
|
|
||||||
|
pl_status =
|
||||||
|
pC_->getIntegerParam(axisNo_, pC_->positionState_, &positionState);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "positionState_", axisNo_,
|
||||||
|
__PRETTY_FUNCTION__, __LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
// If the axis is in changer position, it must be moved into working
|
||||||
|
// position before any move can be started.
|
||||||
|
if (positionState == 2) {
|
||||||
|
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nAxis cannot be "
|
||||||
|
"moved because it is in changer "
|
||||||
|
"position. Move it to working position first.\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Read the target values from the parameter library
|
||||||
|
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorTargetPosition_,
|
||||||
|
&motorTargetPosition);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorTargetPosition_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
pl_status = pC_->getDoubleParam(axisNo_, pC_->liftOffset_, &liftOffset);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "liftOffset_", axisNo_,
|
||||||
|
__PRETTY_FUNCTION__, __LINE__);
|
||||||
|
}
|
||||||
|
pl_status = pC_->getDoubleParam(axisNo_, pC_->tiltOffset_, &tiltOffset);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "tiltOffset_", axisNo_,
|
||||||
|
__PRETTY_FUNCTION__, __LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
|
||||||
|
&motorRecResolution);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Set the target positions for beam tilt, detector tilt offset and lift
|
||||||
|
// offset
|
||||||
|
snprintf(&command[writeOffset], sizeof(command) - writeOffset,
|
||||||
|
"Q451=%lf Q454=%lf Qxxx=%lf P350=1", motorTargetPosition,
|
||||||
|
liftOffset, tiltOffset);
|
||||||
|
|
||||||
|
// We don't expect an answer
|
||||||
|
rw_status = pC_->writeRead(axisNo_, command, response, 0);
|
||||||
|
if (rw_status != asynSuccess) {
|
||||||
|
|
||||||
|
asynPrint(
|
||||||
|
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nStarting movement to "
|
||||||
|
"target position %lf failed.\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
|
||||||
|
motorCoordinatesPosition);
|
||||||
|
pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return rw_status;
|
||||||
|
}
|
||||||
|
|
||||||
|
asynStatus detectorTowerAxis::stop(double acceleration) {
|
||||||
|
|
||||||
|
// Status of read-write-operations of ASCII commands to the controller
|
||||||
|
asynStatus rw_status = asynSuccess;
|
||||||
|
|
||||||
|
// Status of parameter library operations
|
||||||
|
asynStatus pl_status = asynSuccess;
|
||||||
|
|
||||||
|
char response[pC_->MAXBUF_];
|
||||||
|
|
||||||
|
// =========================================================================
|
||||||
|
|
||||||
|
rw_status = pC_->writeRead(axisNo_, "P350=8", response, 0);
|
||||||
|
|
||||||
|
if (rw_status != asynSuccess) {
|
||||||
|
asynPrint(
|
||||||
|
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nStopping the movement "
|
||||||
|
"failed.\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
|
||||||
|
pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return rw_status;
|
||||||
|
}
|
||||||
|
|
||||||
|
// The AMOR detector axis uses absolute encoders
|
||||||
|
asynStatus detectorTowerAxis::readEncoderType() {
|
||||||
|
asynStatus status = setStringParam(pC_->encoderType_, AbsoluteEncoder);
|
||||||
|
|
||||||
|
if (status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(status, "encoderType_", axisNo_,
|
||||||
|
__PRETTY_FUNCTION__, __LINE__);
|
||||||
|
}
|
||||||
|
return asynSuccess;
|
||||||
|
}
|
||||||
|
|
||||||
|
asynStatus detectorTowerAxis::moveToWorkingPosition(bool toWorkingPosition) {
|
||||||
|
|
||||||
|
int timeout_enable_disable = 2;
|
||||||
|
char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
|
||||||
|
int nvals = 0;
|
||||||
|
|
||||||
|
// Status of read-write-operations of ASCII commands to the controller
|
||||||
|
asynStatus rw_status = asynSuccess;
|
||||||
|
|
||||||
|
// Status of parameter library operations
|
||||||
|
asynStatus pl_status = asynSuccess;
|
||||||
|
|
||||||
|
bool moving = false;
|
||||||
|
int positionState = 0;
|
||||||
|
|
||||||
|
// =========================================================================
|
||||||
|
|
||||||
|
doPoll(&moving);
|
||||||
|
|
||||||
|
pl_status =
|
||||||
|
pC_->getIntegerParam(axisNo_, pC_->positionState_, &positionState);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "positionState_", axisNo_,
|
||||||
|
__PRETTY_FUNCTION__, __LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
// If the axis is currently moving, it cannot be disabled. Ignore the
|
||||||
|
// command and inform the user. We check the last known status of the axis
|
||||||
|
// instead of "moving", since status -6 is also moving, but the motor can
|
||||||
|
// actually be disabled in this state!
|
||||||
|
if (moving) {
|
||||||
|
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nAxis is not "
|
||||||
|
"idle and can therefore not be moved to changer position.\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
|
||||||
|
pl_status = setStringParam(
|
||||||
|
pC_->motorMessageText_,
|
||||||
|
"Axis cannot be moved to changer position while it is moving.");
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
return asynError;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Axis is already enabled / disabled and a new enable / disable command
|
||||||
|
// was sent => Do nothing
|
||||||
|
if ((toWorkingPosition == true && positionState == 1) ||
|
||||||
|
(toWorkingPosition == false && positionState == 2)) {
|
||||||
|
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_WARNING,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nAxis is already "
|
||||||
|
"in %s position.\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
|
||||||
|
toWorkingPosition ? "working" : "changer");
|
||||||
|
return asynSuccess;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Move the axis into changer or working position
|
||||||
|
if (toWorkingPosition) {
|
||||||
|
rw_status = pC_->writeRead(axisNo_, "P350=3", response, 0);
|
||||||
|
pl_status = setStringParam(pC_->motorMessageText_,
|
||||||
|
"Moving to working position ...");
|
||||||
|
} else {
|
||||||
|
rw_status = pC_->writeRead(axisNo_, "P350=2", response, 0);
|
||||||
|
pl_status = setStringParam(pC_->motorMessageText_,
|
||||||
|
"Moving to changer position ...");
|
||||||
|
}
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
|
||||||
|
axisNo_, __PRETTY_FUNCTION__,
|
||||||
|
__LINE__);
|
||||||
|
}
|
||||||
|
return pC_->writeRead(axisNo_, command, response, 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
asynStatus detectorTowerAxis::reset() {
|
||||||
|
|
||||||
|
char response[pC_->MAXBUF_];
|
||||||
|
asynStatus pl_status = asynSuccess;
|
||||||
|
int positionState = 0;
|
||||||
|
|
||||||
|
pl_status =
|
||||||
|
pC_->getIntegerParam(axisNo_, pC_->positionState_, &positionState);
|
||||||
|
if (pl_status != asynSuccess) {
|
||||||
|
return pC_->paramLibAccessFailed(pl_status, "positionState_", axisNo_,
|
||||||
|
__PRETTY_FUNCTION__, __LINE__);
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
Check which action should be performed:
|
||||||
|
- If positionState_ == 0 (not ready): P352 = 1 (Set axis in closed-loop
|
||||||
|
mode)
|
||||||
|
- If error_ == 10 or 11 (FTZ motor error): P352 = 3 (Recover FTZ)
|
||||||
|
- If any other error: P352 = 2 (Reset error)
|
||||||
|
*/
|
||||||
|
if (positionState == 0) {
|
||||||
|
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nSetting axis in "
|
||||||
|
"closed-loop mode.\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
|
||||||
|
return pC_->writeRead(axisNo_, "P352=1", response, 0);
|
||||||
|
} else if (error_ == 10 || error_ == 11) {
|
||||||
|
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nResetting FTZ "
|
||||||
|
"motor error.\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
|
||||||
|
return pC_->writeRead(axisNo_, "P352=3", response, 0);
|
||||||
|
} else if (error_ != 0) {
|
||||||
|
asynPrint(
|
||||||
|
pC_->pasynUserSelf, ASYN_TRACE_FLOW,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nResetting error.\n",
|
||||||
|
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
|
||||||
|
return pC_->writeRead(axisNo_, "P352=2", response, 0);
|
||||||
|
} else {
|
||||||
|
return asynSuccess;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/*************************************************************************************/
|
||||||
|
/** The following functions are C-wrappers, and can be called directly from
|
||||||
|
* iocsh */
|
||||||
|
|
||||||
|
extern "C" {
|
||||||
|
|
||||||
|
/*
|
||||||
|
C wrapper for the axis constructor. Please refer to the detectorTower
|
||||||
|
constructor documentation. The controller is read from the portName.
|
||||||
|
*/
|
||||||
|
asynStatus detectorTowerCreateAxis(const char *portName, int axis) {
|
||||||
|
|
||||||
|
/*
|
||||||
|
findAsynPortDriver is a asyn library FFI function which uses the C ABI.
|
||||||
|
Therefore it returns a void pointer instead of e.g. a pointer to a
|
||||||
|
superclass of the controller such as asynPortDriver. Type-safe upcasting
|
||||||
|
via dynamic_cast is therefore not possible directly. However, we do know
|
||||||
|
that the void pointer is either a pointer to asynPortDriver (if a driver
|
||||||
|
with the specified name exists) or a nullptr. Therefore, we first do a
|
||||||
|
nullptr check, then a cast to asynPortDriver and lastly a (typesafe)
|
||||||
|
dynamic_upcast to Controller
|
||||||
|
https://stackoverflow.com/questions/70906749/is-there-a-safe-way-to-cast-void-to-class-pointer-in-c
|
||||||
|
*/
|
||||||
|
void *ptr = findAsynPortDriver(portName);
|
||||||
|
if (ptr == nullptr) {
|
||||||
|
/*
|
||||||
|
We can't use asynPrint here since this macro would require us
|
||||||
|
to get a lowLevelPortUser_ from a pointer to an asynPortDriver.
|
||||||
|
However, the given pointer is a nullptr and therefore doesn't
|
||||||
|
have a lowLevelPortUser_! printf is an EPICS alternative which
|
||||||
|
works w/o that, but doesn't offer the comfort provided
|
||||||
|
by the asynTrace-facility
|
||||||
|
*/
|
||||||
|
errlogPrintf("Controller \"%s\" => %s, line %d\nPort not found.",
|
||||||
|
portName, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
return asynError;
|
||||||
|
}
|
||||||
|
// Unsafe cast of the pointer to an asynPortDriver
|
||||||
|
asynPortDriver *apd = (asynPortDriver *)(ptr);
|
||||||
|
|
||||||
|
// Safe downcast
|
||||||
|
detectorTowerController *pC = dynamic_cast<detectorTowerController *>(apd);
|
||||||
|
if (pC == nullptr) {
|
||||||
|
errlogPrintf("Controller \"%s\" => %s, line %d\nController "
|
||||||
|
"is not a turboPmacController.",
|
||||||
|
portName, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
return asynError;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Prevent manipulation of the controller from other threads while we
|
||||||
|
// create the new axis.
|
||||||
|
pC->lock();
|
||||||
|
|
||||||
|
/*
|
||||||
|
We create a new instance of the axis, using the "new" keyword to
|
||||||
|
allocate it on the heap while avoiding RAII.
|
||||||
|
https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/asynMotorController.cpp
|
||||||
|
https://github.com/epics-modules/asyn/blob/master/asyn/asynPortDriver/asynPortDriver.cpp
|
||||||
|
|
||||||
|
The created object is registered in EPICS in its constructor and can safely
|
||||||
|
be "leaked" here.
|
||||||
|
*/
|
||||||
|
#pragma GCC diagnostic ignored "-Wunused-but-set-variable"
|
||||||
|
#pragma GCC diagnostic ignored "-Wunused-variable"
|
||||||
|
detectorTowerAxis *pAxis = new detectorTowerAxis(pC, axis);
|
||||||
|
|
||||||
|
// Allow manipulation of the controller again
|
||||||
|
pC->unlock();
|
||||||
|
return asynSuccess;
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
Same procedure as for the CreateController function, but for the axis
|
||||||
|
itself.
|
||||||
|
*/
|
||||||
|
static const iocshArg CreateAxisArg0 = {"Controller name (e.g. mcu1)",
|
||||||
|
iocshArgString};
|
||||||
|
static const iocshArg CreateAxisArg1 = {"Axis number", iocshArgInt};
|
||||||
|
static const iocshArg *const CreateAxisArgs[] = {&CreateAxisArg0,
|
||||||
|
&CreateAxisArg1};
|
||||||
|
static const iocshFuncDef configDetectorTowerCreateAxis = {"detectorTowerAxis",
|
||||||
|
2, CreateAxisArgs};
|
||||||
|
static void configDetectorTowerCreateAxisCallFunc(const iocshArgBuf *args) {
|
||||||
|
detectorTowerCreateAxis(args[0].sval, args[1].ival);
|
||||||
|
}
|
||||||
|
|
||||||
|
// This function is made known to EPICS in detectorTower.dbd and is called by
|
||||||
|
// EPICS in order to register both functions in the IOC shell
|
||||||
|
static void detectorTowerAxisRegister(void) {
|
||||||
|
iocshRegister(&configDetectorTowerCreateAxis,
|
||||||
|
configDetectorTowerCreateAxisCallFunc);
|
||||||
|
}
|
||||||
|
epicsExportRegistrar(detectorTowerAxisRegister);
|
||||||
|
|
||||||
|
} // extern "C"
|
||||||
122
src/detectorTowerAxis.h
Normal file
122
src/detectorTowerAxis.h
Normal file
@ -0,0 +1,122 @@
|
|||||||
|
#ifndef detectorTowerAXIS_H
|
||||||
|
#define detectorTowerAXIS_H
|
||||||
|
#include "detectorTowerController.h"
|
||||||
|
#include "sinqAxis.h"
|
||||||
|
|
||||||
|
// Forward declaration of the controller class to resolve the cyclic dependency
|
||||||
|
// between the controller and the axis .h-file. See
|
||||||
|
// https://en.cppreference.com/w/cpp/language/class.
|
||||||
|
class detectorTowerController;
|
||||||
|
|
||||||
|
class detectorTowerAxis : public sinqAxis {
|
||||||
|
public:
|
||||||
|
/**
|
||||||
|
* @brief Construct a new turboPmacAxis
|
||||||
|
*
|
||||||
|
* @param pController Pointer to the associated controller
|
||||||
|
* @param axisNo Index of the axis
|
||||||
|
*/
|
||||||
|
detectorTowerAxis(detectorTowerController *pController, int axisNo);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Destroy the turboPmacAxis
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
virtual ~detectorTowerAxis();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Readout of some values from the controller at IOC startup
|
||||||
|
*
|
||||||
|
* @return asynStatus
|
||||||
|
*/
|
||||||
|
asynStatus init();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Implementation of the `stop` function from asynMotorAxis
|
||||||
|
*
|
||||||
|
* @param acceleration Acceleration ACCEL from the motor record. This
|
||||||
|
* value is currently not used.
|
||||||
|
* @return asynStatus
|
||||||
|
*/
|
||||||
|
asynStatus stop(double acceleration);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Implementation of the `doPoll` function from sinqAxis. The
|
||||||
|
* parameters are described in the documentation of `sinqAxis::doPoll`.
|
||||||
|
*
|
||||||
|
* @param moving
|
||||||
|
* @return asynStatus
|
||||||
|
*/
|
||||||
|
asynStatus doPoll(bool *moving);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Empty dummy for the move method which is called by the EPICS
|
||||||
|
* movement control loop
|
||||||
|
*
|
||||||
|
* For the detector tower, we want to start movements manually without
|
||||||
|
* using the EPICS control loop. Therefore, we call the `move` function of
|
||||||
|
* sinqMotor directly whenever a new value is written to the PV
|
||||||
|
* $(INSTR)$(M):TargetPosition". The reason is that we want to start a
|
||||||
|
* movement even if the VAL field of the motor record equals its RBV field
|
||||||
|
* because either the lift offset or the detector tilt offset might have
|
||||||
|
* changed.
|
||||||
|
*
|
||||||
|
* @param position
|
||||||
|
* @param relative
|
||||||
|
* @param min_velocity
|
||||||
|
* @param max_velocity
|
||||||
|
* @param acceleration
|
||||||
|
* @return asynStatus
|
||||||
|
*/
|
||||||
|
asynStatus move(double position, int relative, double min_velocity,
|
||||||
|
double max_velocity, double acceleration) {
|
||||||
|
return asynSuccess;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Start a movement based on the parameter library values for
|
||||||
|
* motorTargetPosition_, liftOffset_ and tiltOffset_
|
||||||
|
*
|
||||||
|
* @return asynStatus
|
||||||
|
*/
|
||||||
|
asynStatus moveFromParamLib();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Read the encoder type (incremental or absolute) for this axis from
|
||||||
|
* the MCU and store the information in the PV ENCODER_TYPE.
|
||||||
|
*
|
||||||
|
* @return asynStatus
|
||||||
|
*/
|
||||||
|
asynStatus readEncoderType();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief If the input value is true, move the axis into working position,
|
||||||
|
* otherwise into changer position.
|
||||||
|
*
|
||||||
|
* @return asynStatus
|
||||||
|
*/
|
||||||
|
asynStatus moveToWorkingPosition(bool toWorkingPosition);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Reset the axis error
|
||||||
|
*
|
||||||
|
* @param on
|
||||||
|
* @return asynStatus
|
||||||
|
*/
|
||||||
|
asynStatus reset();
|
||||||
|
|
||||||
|
protected:
|
||||||
|
detectorTowerController *pC_;
|
||||||
|
|
||||||
|
bool scheduleMoveFromParamLib_;
|
||||||
|
bool waitForHandshake_;
|
||||||
|
time_t timeAtHandshake_;
|
||||||
|
bool inChangerPosition_;
|
||||||
|
|
||||||
|
int error_;
|
||||||
|
|
||||||
|
private:
|
||||||
|
friend class detectorTowerController;
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif
|
||||||
295
src/detectorTowerController.cpp
Normal file
295
src/detectorTowerController.cpp
Normal file
@ -0,0 +1,295 @@
|
|||||||
|
#include "detectorTowerController.h"
|
||||||
|
#include "turboPmacController.h"
|
||||||
|
#include <epicsExport.h>
|
||||||
|
#include <iocsh.h>
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Construct a new turboPmacController::turboPmacController object
|
||||||
|
*
|
||||||
|
* @param portName See documentation of sinqController
|
||||||
|
* @param ipPortConfigName See documentation of sinqController
|
||||||
|
* @param numAxes See documentation of sinqController
|
||||||
|
* @param movingPollPeriod See documentation of sinqController
|
||||||
|
* @param idlePollPeriod See documentation of sinqController
|
||||||
|
* @param comTimeout Time after which a communication timeout error
|
||||||
|
* is declared in writeRead (in seconds)
|
||||||
|
* @param extraParams See documentation of sinqController
|
||||||
|
*/
|
||||||
|
detectorTowerController::detectorTowerController(
|
||||||
|
const char *portName, const char *ipPortConfigName, int numAxes,
|
||||||
|
double movingPollPeriod, double idlePollPeriod, double comTimeout)
|
||||||
|
: turboPmacController(portName, ipPortConfigName, numAxes, movingPollPeriod,
|
||||||
|
idlePollPeriod, NUM_detectorTower_DRIVER_PARAMS)
|
||||||
|
|
||||||
|
{
|
||||||
|
|
||||||
|
asynStatus status = asynSuccess;
|
||||||
|
|
||||||
|
// =========================================================================
|
||||||
|
// Create additional parameter library entries
|
||||||
|
|
||||||
|
status = createParam("LIFT_OFFSET", asynParamFloat64, &liftOffset_);
|
||||||
|
if (status != asynSuccess) {
|
||||||
|
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
|
||||||
|
"parameter failed with %s).\nTerminating IOC",
|
||||||
|
portName, __PRETTY_FUNCTION__, __LINE__,
|
||||||
|
stringifyAsynStatus(status));
|
||||||
|
exit(-1);
|
||||||
|
}
|
||||||
|
|
||||||
|
status = createParam("LIFT_OFFSET_LOW_LIMIT", asynParamFloat64,
|
||||||
|
&liftOffsetLowLimit_);
|
||||||
|
if (status != asynSuccess) {
|
||||||
|
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
|
||||||
|
"parameter failed with %s).\nTerminating IOC",
|
||||||
|
portName, __PRETTY_FUNCTION__, __LINE__,
|
||||||
|
stringifyAsynStatus(status));
|
||||||
|
exit(-1);
|
||||||
|
}
|
||||||
|
|
||||||
|
status = createParam("LIFT_OFFSET_HIGH_LIMIT", asynParamFloat64,
|
||||||
|
&liftOffsetHighLimit_);
|
||||||
|
if (status != asynSuccess) {
|
||||||
|
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
|
||||||
|
"parameter failed with %s).\nTerminating IOC",
|
||||||
|
portName, __PRETTY_FUNCTION__, __LINE__,
|
||||||
|
stringifyAsynStatus(status));
|
||||||
|
exit(-1);
|
||||||
|
}
|
||||||
|
|
||||||
|
status = createParam("TILT_OFFSET", asynParamFloat64, &tiltOffset_);
|
||||||
|
if (status != asynSuccess) {
|
||||||
|
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
|
||||||
|
"parameter failed with %s).\nTerminating IOC",
|
||||||
|
portName, __PRETTY_FUNCTION__, __LINE__,
|
||||||
|
stringifyAsynStatus(status));
|
||||||
|
exit(-1);
|
||||||
|
}
|
||||||
|
|
||||||
|
status = createParam("TILT_OFFSET_LOW_LIMIT", asynParamFloat64,
|
||||||
|
&tiltOffsetLowLimit_);
|
||||||
|
if (status != asynSuccess) {
|
||||||
|
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
|
||||||
|
"parameter failed with %s).\nTerminating IOC",
|
||||||
|
portName, __PRETTY_FUNCTION__, __LINE__,
|
||||||
|
stringifyAsynStatus(status));
|
||||||
|
exit(-1);
|
||||||
|
}
|
||||||
|
|
||||||
|
status = createParam("TILT_OFFSET_HIGH_LIMIT", asynParamFloat64,
|
||||||
|
&tiltOffsetHighLimit_);
|
||||||
|
if (status != asynSuccess) {
|
||||||
|
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
|
||||||
|
"parameter failed with %s).\nTerminating IOC",
|
||||||
|
portName, __PRETTY_FUNCTION__, __LINE__,
|
||||||
|
stringifyAsynStatus(status));
|
||||||
|
exit(-1);
|
||||||
|
}
|
||||||
|
|
||||||
|
status = createParam("POSITION_STATE", asynParamInt32, &positionState_);
|
||||||
|
if (status != asynSuccess) {
|
||||||
|
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
|
||||||
|
"parameter failed with %s).\nTerminating IOC",
|
||||||
|
portName, __PRETTY_FUNCTION__, __LINE__,
|
||||||
|
stringifyAsynStatus(status));
|
||||||
|
exit(-1);
|
||||||
|
}
|
||||||
|
|
||||||
|
status = createParam("RESET", asynParamInt32, &reset_);
|
||||||
|
if (status != asynSuccess) {
|
||||||
|
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
|
||||||
|
"parameter failed with %s).\nTerminating IOC",
|
||||||
|
portName, __PRETTY_FUNCTION__, __LINE__,
|
||||||
|
stringifyAsynStatus(status));
|
||||||
|
exit(-1);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
asynStatus detectorTowerController::readInt32(asynUser *pasynUser,
|
||||||
|
epicsInt32 *value) {
|
||||||
|
// The detector tower cannot be disabled
|
||||||
|
if (pasynUser->reason == motorCanDisable_) {
|
||||||
|
*value = 0;
|
||||||
|
return asynSuccess;
|
||||||
|
} else {
|
||||||
|
return turboPmacController::readInt32(pasynUser, value);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
asynStatus detectorTowerController::writeInt32(asynUser *pasynUser,
|
||||||
|
epicsInt32 value) {
|
||||||
|
int function = pasynUser->reason;
|
||||||
|
|
||||||
|
// =====================================================================
|
||||||
|
|
||||||
|
detectorTowerAxis *axis = getVirtualAxis(pasynUser);
|
||||||
|
if (axis == nullptr) {
|
||||||
|
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d:\nAxis is not an "
|
||||||
|
"instance of sinqAxis",
|
||||||
|
portName, axis->axisNo_, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
return asynError;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Handle custom PVs
|
||||||
|
if (function == motorEnable_) {
|
||||||
|
return axis->enable(value);
|
||||||
|
} else if (function == reset_) {
|
||||||
|
return axis->reset();
|
||||||
|
} else {
|
||||||
|
return turboPmacController::writeInt32(pasynUser, value);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
asynStatus detectorTowerController::writeFloat64(asynUser *pasynUser,
|
||||||
|
epicsFloat64 value) {
|
||||||
|
int function = pasynUser->reason;
|
||||||
|
|
||||||
|
// =====================================================================
|
||||||
|
|
||||||
|
detectorTowerAxis *axis = getVirtualAxis(pasynUser);
|
||||||
|
if (axis == nullptr) {
|
||||||
|
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d:\nAxis is not an "
|
||||||
|
"instance of sinqAxis",
|
||||||
|
portName, axis->axisNo_, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
return asynError;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (function == motorTargetPosition_) {
|
||||||
|
// Start the movement, if the axis is not already moving. Otherwise stop
|
||||||
|
// it and schedule a movement.
|
||||||
|
bool moving = false;
|
||||||
|
axis->poll(&moving);
|
||||||
|
if (moving) {
|
||||||
|
axis->scheduleMoveFromParamLib_ = true;
|
||||||
|
return axis->stop(0.0);
|
||||||
|
} else {
|
||||||
|
return axis->moveFromParamLib();
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
return turboPmacController::writeFloat64(pasynUser, value);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
Access one of the axes of the controller via the axis adress stored in asynUser.
|
||||||
|
If the axis does not exist or is not a Axis, a nullptr is returned and an
|
||||||
|
error is emitted.
|
||||||
|
*/
|
||||||
|
detectorTowerAxis *
|
||||||
|
detectorTowerController::getVirtualAxis(asynUser *pasynUser) {
|
||||||
|
asynMotorAxis *asynAxis = asynMotorController::getAxis(pasynUser);
|
||||||
|
return detectorTowerController::castToVirtualAxis(asynAxis);
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
Access one of the axes of the controller via the axis index.
|
||||||
|
If the axis does not exist or is not a Axis, the function must return Null
|
||||||
|
*/
|
||||||
|
detectorTowerAxis *detectorTowerController::getVirtualAxis(int axisNo) {
|
||||||
|
asynMotorAxis *asynAxis = asynMotorController::getAxis(axisNo);
|
||||||
|
return detectorTowerController::castToVirtualAxis(asynAxis);
|
||||||
|
}
|
||||||
|
|
||||||
|
detectorTowerAxis *
|
||||||
|
detectorTowerController::castToVirtualAxis(asynMotorAxis *asynAxis) {
|
||||||
|
|
||||||
|
// =========================================================================
|
||||||
|
|
||||||
|
// If the axis slot of the pAxes_ array is empty, a nullptr must be returned
|
||||||
|
if (asynAxis == nullptr) {
|
||||||
|
return nullptr;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Here, an error is emitted since asyn_axis is not a nullptr but also not
|
||||||
|
// an instance of Axis
|
||||||
|
detectorTowerAxis *axis = dynamic_cast<detectorTowerAxis *>(asynAxis);
|
||||||
|
if (axis == nullptr) {
|
||||||
|
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||||
|
"Controller \"%s\", axis %d => %s, line %d\nAxis is not "
|
||||||
|
"an instance of turboPmacAxis",
|
||||||
|
portName, axis->axisNo_, __PRETTY_FUNCTION__, __LINE__);
|
||||||
|
}
|
||||||
|
return axis;
|
||||||
|
}
|
||||||
|
|
||||||
|
/*************************************************************************************/
|
||||||
|
/** The following functions are C-wrappers, and can be called directly from
|
||||||
|
* iocsh */
|
||||||
|
|
||||||
|
extern "C" {
|
||||||
|
|
||||||
|
/*
|
||||||
|
C wrapper for the controller constructor. Please refer to the
|
||||||
|
detectorTowerController constructor documentation.
|
||||||
|
*/
|
||||||
|
asynStatus detectorTowerCreateController(const char *portName,
|
||||||
|
const char *ipPortConfigName,
|
||||||
|
int numAxes, double movingPollPeriod,
|
||||||
|
double idlePollPeriod,
|
||||||
|
double comTimeout) {
|
||||||
|
/*
|
||||||
|
We create a new instance of the controller, using the "new" keyword to
|
||||||
|
allocate it on the heap while avoiding RAII.
|
||||||
|
https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/asynMotorController.cpp
|
||||||
|
https://github.com/epics-modules/asyn/blob/master/asyn/asynPortDriver/asynPortDriver.cpp
|
||||||
|
|
||||||
|
The created object is registered in EPICS in its constructor and can safely
|
||||||
|
be "leaked" here.
|
||||||
|
*/
|
||||||
|
#pragma GCC diagnostic ignored "-Wunused-but-set-variable"
|
||||||
|
#pragma GCC diagnostic ignored "-Wunused-variable"
|
||||||
|
detectorTowerController *pController = new detectorTowerController(
|
||||||
|
portName, ipPortConfigName, numAxes, movingPollPeriod, idlePollPeriod,
|
||||||
|
comTimeout);
|
||||||
|
|
||||||
|
return asynSuccess;
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
Define name and type of the arguments for the CreateController function
|
||||||
|
in the iocsh. This is done by creating structs with the argument names and
|
||||||
|
types and then providing "factory" functions
|
||||||
|
(configCreateControllerCallFunc). These factory functions are used to
|
||||||
|
register the constructors during compilation.
|
||||||
|
*/
|
||||||
|
static const iocshArg CreateControllerArg0 = {"Controller name (e.g. mcu1)",
|
||||||
|
iocshArgString};
|
||||||
|
static const iocshArg CreateControllerArg1 = {"Asyn IP port name (e.g. pmcu1)",
|
||||||
|
iocshArgString};
|
||||||
|
static const iocshArg CreateControllerArg2 = {"Number of axes", iocshArgInt};
|
||||||
|
static const iocshArg CreateControllerArg3 = {"Moving poll rate (s)",
|
||||||
|
iocshArgDouble};
|
||||||
|
static const iocshArg CreateControllerArg4 = {"Idle poll rate (s)",
|
||||||
|
iocshArgDouble};
|
||||||
|
static const iocshArg CreateControllerArg5 = {"Communication timeout (s)",
|
||||||
|
iocshArgDouble};
|
||||||
|
static const iocshArg *const CreateControllerArgs[] = {
|
||||||
|
&CreateControllerArg0, &CreateControllerArg1, &CreateControllerArg2,
|
||||||
|
&CreateControllerArg3, &CreateControllerArg4, &CreateControllerArg5};
|
||||||
|
static const iocshFuncDef configDetectorTowerCreateController = {
|
||||||
|
"detectorTowerController", 6, CreateControllerArgs};
|
||||||
|
static void
|
||||||
|
configDetectorTowerCreateControllerCallFunc(const iocshArgBuf *args) {
|
||||||
|
detectorTowerCreateController(args[0].sval, args[1].sval, args[2].ival,
|
||||||
|
args[3].dval, args[4].dval, args[5].dval);
|
||||||
|
}
|
||||||
|
|
||||||
|
// This function is made known to EPICS in turboPmac.dbd and is called by EPICS
|
||||||
|
// in order to register both functions in the IOC shell
|
||||||
|
static void detectorTowerControllerRegister(void) {
|
||||||
|
iocshRegister(&configDetectorTowerCreateController,
|
||||||
|
configDetectorTowerCreateControllerCallFunc);
|
||||||
|
}
|
||||||
|
epicsExportRegistrar(detectorTowerControllerRegister);
|
||||||
|
|
||||||
|
} // extern "C"
|
||||||
96
src/detectorTowerController.h
Normal file
96
src/detectorTowerController.h
Normal file
@ -0,0 +1,96 @@
|
|||||||
|
/********************************************
|
||||||
|
* detectorTowerController.h
|
||||||
|
*
|
||||||
|
* Detector tower controller driver based on the asynMotorController class
|
||||||
|
*
|
||||||
|
* Stefan Mathis, September 2024
|
||||||
|
********************************************/
|
||||||
|
|
||||||
|
#ifndef detectorTowerController_H
|
||||||
|
#define detectorTowerController_H
|
||||||
|
#include "detectorTowerAxis.h"
|
||||||
|
#include "turboPmacController.h"
|
||||||
|
|
||||||
|
class detectorTowerController : public turboPmacController {
|
||||||
|
|
||||||
|
public:
|
||||||
|
/**
|
||||||
|
* @brief Construct a new detectorTowerController object
|
||||||
|
*
|
||||||
|
* This controller object can handle both "normal" TurboPMAC axes created
|
||||||
|
with the turboPmacAxis constructor and the special detectorTowerAxis.
|
||||||
|
*
|
||||||
|
* @param portName See sinqController constructor
|
||||||
|
* @param ipPortConfigName See sinqController constructor
|
||||||
|
* @param numAxes See sinqController constructor
|
||||||
|
* @param movingPollPeriod See sinqController constructor
|
||||||
|
* @param idlePollPeriod See sinqController constructor
|
||||||
|
* @param comTimeout When trying to communicate with the device,
|
||||||
|
the underlying asynOctetSyncIO interface waits for a response until this
|
||||||
|
time (in seconds) has passed, then it declares a timeout.
|
||||||
|
*/
|
||||||
|
detectorTowerController(const char *portName, const char *ipPortConfigName,
|
||||||
|
int numAxes, double movingPollPeriod,
|
||||||
|
double idlePollPeriod, double comTimeout);
|
||||||
|
|
||||||
|
asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
|
||||||
|
|
||||||
|
asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Overloaded function of asynMotorController
|
||||||
|
*
|
||||||
|
* The function is overloaded to allow manual starting of an axis movement
|
||||||
|
*
|
||||||
|
* @param pasynUser Specify the axis via the asynUser
|
||||||
|
* @param value New value
|
||||||
|
* @return asynStatus
|
||||||
|
*/
|
||||||
|
virtual asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Get the axis object
|
||||||
|
*
|
||||||
|
* @param pasynUser Specify the axis via the asynUser
|
||||||
|
* @return detectorTowerAxis* If no axis could be found, this is a
|
||||||
|
* nullptr
|
||||||
|
*/
|
||||||
|
detectorTowerAxis *getVirtualAxis(asynUser *pasynUser);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Get the axis object
|
||||||
|
*
|
||||||
|
* @param axisNo Specify the axis via its index
|
||||||
|
* @return detectorTowerAxis* If no axis could be found, this is a
|
||||||
|
* nullptr
|
||||||
|
*/
|
||||||
|
detectorTowerAxis *getVirtualAxis(int axisNo);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Save cast of the given asynAxis pointer to a detectorTowerAxis
|
||||||
|
* pointer. If the cast fails, this function returns a nullptr.
|
||||||
|
*
|
||||||
|
* @param asynAxis
|
||||||
|
* @return detectorTowerAxis*
|
||||||
|
*/
|
||||||
|
detectorTowerAxis *castToVirtualAxis(asynMotorAxis *asynAxis);
|
||||||
|
|
||||||
|
private:
|
||||||
|
// Indices of additional PVs
|
||||||
|
#define FIRST_detectorTower_PARAM liftOffset_
|
||||||
|
int liftOffset_;
|
||||||
|
int liftOffsetLowLimit_;
|
||||||
|
int liftOffsetHighLimit_;
|
||||||
|
int tiltOffset_;
|
||||||
|
int tiltOffsetLowLimit_;
|
||||||
|
int tiltOffsetHighLimit_;
|
||||||
|
int positionState_;
|
||||||
|
int reset_;
|
||||||
|
#define LAST_detectorTower_PARAM reset_
|
||||||
|
|
||||||
|
friend class detectorTowerAxis;
|
||||||
|
};
|
||||||
|
#define NUM_detectorTower_DRIVER_PARAMS \
|
||||||
|
(&LAST_detectorTower_PARAM - &FIRST_detectorTower_PARAM + 1)
|
||||||
|
|
||||||
|
#endif /* detectorTowerController_H */
|
||||||
Reference in New Issue
Block a user