Main movements implemented

Main movement of detector guide angle, angle offset and lift offset as
well as switch between working and changer position implemented.

src/auxiliaryAxis.cpp

@@ -127,8 +127,9 @@ asynStatus auxiliaryAxis::doPoll(bool *moving) {
     pl_status = pC_->getIntegerParam(dTA_->axisNo_, pC_->motorStatusMoving(),
                                      &isMoving);
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
+        return pC_->paramLibAccessFailed(pl_status, "motorStatusMoving_",
+                                         dTA_->axisNo_, __PRETTY_FUNCTION__,
+                                         __LINE__);
     }
     *moving = isMoving != 0;
 

src/auxiliaryAxis.h

@@ -50,10 +50,8 @@ class auxiliaryAxis : public turboPmacAxis {
     asynStatus doPoll(bool *moving);
 
     /**
-     * @brief Set the target value for the detector angle without starting a
-     * movement
-     *
-     * TODO
+     * @brief Set the target value for the detector angle and trigger a position
+     * collection cycle
      *
      * @param position
      * @param relative

src/detectorTowerAxis.cpp

@@ -36,7 +36,7 @@ static void deferredMovementCollectorLoop(void *drvPvt) {
             // Wait for 100 ms and then start the movement with the information
             // available
             axis->startingDeferredMovement_ = true;
-            epicsThreadSleep(0.1);
+            epicsThreadSleep(axis->deferredMovementWait_);
             axis->startCombinedMove();
 
             // After the movement command has been send, reset the flag
@@ -81,6 +81,7 @@ detectorTowerAxis::detectorTowerAxis(detectorTowerController *pC, int axisNo,
     targetPosition_ = 0.0;
     receivedTarget_ = false;
     startingDeferredMovement_ = false;
+    deferredMovementWait_ = 0.1; // seconds
     liftOffsetAxis_ = liftOffsetAxis;
     tiltOffsetAxis_ = tiltOffsetAxis;
     liftOffsetAxis->dTA_ = this;
@@ -297,28 +298,10 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
         // Axis ready
         break;
     case 2:
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyPosState, true,
-                                                      pC_->asynUserSelf())) {
-
-            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
-                      "Controller \"%s\", axis %d  => %s, line %d\nAxis moving "
-                      "to or in change "
-                      "position.%s\n",
-                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                      pC_->getMsgPrintControl().getSuffix());
-        }
-        resetCountPosState = false;
+        // Axis is moving to or in changing position
         break;
     case 3:
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyPosState, true,
-                                                      pC_->asynUserSelf())) {
-
-            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
-                      "Controller \"%s\", axis %d  => %s, line %d\nAxis moving "
-                      "to working position.%s\n",
-                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                      pC_->getMsgPrintControl().getSuffix());
-        }
+        // Axis is moving to working state
         resetCountPosState = false;
         break;
     default:
@@ -857,9 +840,6 @@ asynStatus detectorTowerAxis::startCombinedMove() {
              targetPosition_, liftOffsetAxis_->targetPosition_,
              tiltOffsetAxis_->targetPosition_);
 
-    // DEBUG
-    asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR, "%s\n", command);
-
     // Lock the access to the controller since this function runs in another
     // thread than the poll method.
     pC_->lock();
@@ -980,17 +960,13 @@ detectorTowerAxis::toggleWorkingChangerState(bool toChangingPosition) {
     bool isAlreadyThere = (toChangingPosition == false && positionState == 1) ||
                           (toChangingPosition == true && positionState == 2);
 
-    if (pC_->getMsgPrintControl().shouldBePrinted(
-            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-            isAlreadyThere, pC_->asynUserSelf())) {
+    if (isAlreadyThere) {
         asynPrint(pC_->asynUserSelf(), ASYN_TRACE_WARNING,
                   "Controller \"%s\", axis %d  => %s, line %d\nAxis is already "
                   "in %s position.%s\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                   toChangingPosition ? "changer" : "working",
                   pC_->getMsgPrintControl().getSuffix());
-    }
-    if (isAlreadyThere) {
         return asynSuccess;
     }
 
@@ -1155,11 +1131,66 @@ static void configDetectorTowerCreateAxisCallFunc(const iocshArgBuf *args) {
                             args[3].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
+// =============================================================================
+
+/**
+ * @brief Set the setDeferredMovementWait (FFI implementation)
+ *
+ * @param portName                Name of the controller
+ * @param axisNo                  Axis number
+ * @param scaleMovTimeout         Scaling factor (in seconds)
+ * @return asynStatus
+ */
+asynStatus setDeferredMovementWait(const char *portName, int axisNo,
+                                   double deferredMovementWait) {
+
+    sinqController *pC;
+    pC = (sinqController *)findAsynPortDriver(portName);
+    if (pC == nullptr) {
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nPort %s not found.",
+                     portName, __PRETTY_FUNCTION__, __LINE__, portName);
+        return asynError;
+    }
+
+    asynMotorAxis *asynAxis = pC->getAxis(axisNo);
+    detectorTowerAxis *axis = dynamic_cast<detectorTowerAxis *>(asynAxis);
+    if (axis == nullptr) {
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nAxis %d does not "
+                     "exist or is not an instance of detectorTowerAxis.",
+                     portName, __PRETTY_FUNCTION__, __LINE__, axisNo);
+        return asynError;
+    }
+
+    axis->deferredMovementWait_ = deferredMovementWait;
+    return asynSuccess;
+}
+
+static const iocshArg setDeferredMovementWaitArg0 = {"Controller port name",
+                                                     iocshArgString};
+static const iocshArg setDeferredMovementWaitArg1 = {"Axis number",
+                                                     iocshArgInt};
+static const iocshArg setDeferredMovementWaitArg2 = {
+    "Minimum time a deferred movement will be delayed in order to collect "
+    "commands in seconds",
+    iocshArgDouble};
+static const iocshArg *const setDeferredMovementWaitArgs[] = {
+    &setDeferredMovementWaitArg0, &setDeferredMovementWaitArg1,
+    &setDeferredMovementWaitArg2};
+static const iocshFuncDef setDeferredMovementWaitDef = {
+    "setDeferredMovementWait", 3, setDeferredMovementWaitArgs};
+
+static void setDeferredMovementWaitCallFunc(const iocshArgBuf *args) {
+    setDeferredMovementWait(args[0].sval, args[1].ival, args[2].dval);
+}
+
+// =============================================================================
+
+// 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);
+    iocshRegister(&setDeferredMovementWaitDef, setDeferredMovementWaitCallFunc);
 }
 epicsExportRegistrar(detectorTowerAxisRegister);
 

src/detectorTowerAxis.h

@@ -60,10 +60,8 @@ class detectorTowerAxis : public turboPmacAxis {
     asynStatus doPoll(bool *moving);
 
     /**
-     * @brief Set the target value for the detector angle without starting a
-     * movement
-     *
-     * TODO
+     * @brief Set the target value for the detector angle and trigger a position
+     * collection cycle
      *
      * @param position
      * @param relative
@@ -115,6 +113,12 @@ class detectorTowerAxis : public turboPmacAxis {
     // axes)
     bool startingDeferredMovement_;
 
+    /*
+    The collector cycle waits until this time in seconds has passed before
+    starting a deferred movement
+    */
+    double deferredMovementWait_;
+
   protected:
     detectorTowerController *pC_;
     double targetPosition_;