lin-epics-modules/detectortower
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WIP version with offset RBV (integration from hardware currently

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missing)
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mathis_s
2025-03-06 09:14:30 +01:00
parent 747d08c52a
commit bb492e678b
8 changed files with 491 additions and 465 deletions
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170
src/detectorTowerController.cpp
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@@ -27,105 +27,6 @@ detectorTowerController::detectorTowerController(
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_MOVE", asynParamFloat64, &liftOffsetMove_);
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_MOVE", asynParamFloat64, &tiltOffsetMove_);
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("BEAM_ANGLE", asynParamFloat64, &beamAngle_);
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,
@@ -136,16 +37,6 @@ detectorTowerController::detectorTowerController(
exit(-1);
}
status = createParam("START", asynParamInt32, &start_);
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("MOVE_TO_WORKING_POSITION", asynParamInt32,
&moveToWorkingPosition_);
if (status != asynSuccess) {
@@ -174,7 +65,7 @@ asynStatus detectorTowerController::readInt32(asynUser *pasynUser,
// Check if the axis is a detectorTowerAxis
detectorTowerAxis *axis = getDetectorTowerAxis(pasynUser);
if (axis == nullptr) {
// This is apparently a "normal" turboPmacAxis
// This is apparently a "normal" turboPmacAxis or an offsetAxis
return turboPmacController::readInt32(pasynUser, value);
} else {
// The detector tower cannot be disabled
@@ -196,31 +87,10 @@ asynStatus detectorTowerController::writeInt32(asynUser *pasynUser,
detectorTowerAxis *axis = getDetectorTowerAxis(pasynUser);
if (axis == nullptr) {
// This is apparently a "normal" turboPmacAxis
// This is apparently a "normal" turboPmacAxis or an offsetAxis
return turboPmacController::writeInt32(pasynUser, value);
} else {
// Handle custom PVs
if (function == start_) {
// Start the movement, if the axis is not already moving.
// Otherwise stop it and schedule a movement.
int done = 0;
asynStatus status =
getIntegerParam(axis->axisNo_, motorStatusDone_, &done);
if (status != asynSuccess) {
return paramLibAccessFailed(status, "motorStatusDone_",
axis->axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
if (done == 1) {
return axis->moveFromParamLib();
} else {
axis->scheduleMoveFromParamLib_ = true;
return axis->stop(0.0);
}
} else if (function == moveToWorkingPosition_) {
if (function == moveToWorkingPosition_) {
return axis->moveToWorkingPosition(value != 0);
} else if (function == resetError_) {
return axis->reset();
@@ -230,40 +100,6 @@ asynStatus detectorTowerController::writeInt32(asynUser *pasynUser,
}
}
asynStatus detectorTowerController::writeFloat64(asynUser *pasynUser,
epicsFloat64 value) {
int function = pasynUser->reason;
detectorTowerAxis *axis = getDetectorTowerAxis(pasynUser);
if (axis == nullptr) {
// This is apparently a "normal" turboPmacAxis
return turboPmacController::writeFloat64(pasynUser, value);
} else {
if (function == liftOffsetMove_) {
asynStatus status =
setDoubleParam(axis->axisNo_, liftOffset_, value);
if (status != asynSuccess) {
return paramLibAccessFailed(status, "liftOffset_",
axis->axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
return axis->moveFromParamLib();
} else if (function == tiltOffsetMove_) {
asynStatus status =
setDoubleParam(axis->axisNo_, tiltOffset_, value);
if (status != asynSuccess) {
return paramLibAccessFailed(status, "tiltOffset_",
axis->axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
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