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Updated turboPmac version

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This commit is contained in:
mathis_s
2025-06-17 16:51:08 +02:00
parent 6e99b37ed2
commit cf6f836416
7 changed files with 105 additions and 467 deletions
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144
src/detectorTowerAngleAxis.cpp
View File

@ -157,17 +157,8 @@ asynStatus detectorTowerAngleAxis::init() {
}
// Initialize the motorStatusMoving flag
status = setIntegerParam(pC_->motorStatusMoving(), 0);
if (status != asynSuccess) {
return pC_->paramLibAccessFailed(status, "motorStatusMoving_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
status = setIntegerParam(pC_->changeStateRBV(), positionState == 2);
if (status != asynSuccess) {
return pC_->paramLibAccessFailed(status, "changeStateRBV", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
setAxisParamChecked(this, motorStatusMoving, false);
setAxisParamChecked(this, changeStateRBV, positionState == 2);
return callParamCallbacks();
}
@ -181,13 +172,7 @@ asynStatus detectorTowerAngleAxis::poll(bool *moving) {
if (axisNo() < liftAxis()->axisNo() && axisNo() < supportAxis()->axisNo()) {
status = pC_->pollDetectorAxes(moving, this, liftAxis(), supportAxis());
} else {
status = pC_->getIntegerParam(axisNo(), pC_->motorStatusMoving(),
(int *)moving);
if (status != asynSuccess) {
return pC_->paramLibAccessFailed(status, "motorStatusMoving",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
getAxisParamChecked(this, motorStatusMoving, &moving);
}
setWasMoving(*moving);
return status;
@ -206,13 +191,7 @@ asynStatus detectorTowerAngleAxis::doMove(double position, int relative,
double max_velocity,
double acceleration) {
double motorRecResolution = 0.0;
asynStatus plStatus = pC_->getDoubleParam(
axisNo_, pC_->motorRecResolution(), &motorRecResolution);
if (plStatus != asynSuccess) {
return pC_->paramLibAccessFailed(plStatus, "motorRecResolution_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
// Signal to the deferredMovementCollectorLoop that a movement should be
// started to the defined target position.
@ -237,12 +216,7 @@ asynStatus detectorTowerAngleAxis::startCombinedMove() {
// =========================================================================
plStatus =
pC_->getIntegerParam(axisNo_, pC_->positionStateRBV(), &positionState);
if (plStatus != asynSuccess) {
return pC_->paramLibAccessFailed(plStatus, "positionStateRBV_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
getAxisParamChecked(this, positionStateRBV, &positionState);
// If the axis is in changer position, it must be moved into working
// position before any move can be started.
@ -259,20 +233,9 @@ asynStatus detectorTowerAngleAxis::startCombinedMove() {
pC_->getMsgPrintControl().getSuffix());
}
if (isInChangerPos) {
plStatus = setStringParam(pC_->motorMessageText(),
setAxisParamChecked(this, motorMessageText,
"Move the axis to working state first.");
if (plStatus != asynSuccess) {
return pC_->paramLibAccessFailed(plStatus, "motorMessageText",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
plStatus = setIntegerParam(pC_->motorStatusProblem(), true);
if (plStatus != asynSuccess) {
return pC_->paramLibAccessFailed(plStatus, "motorStatusProblem_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
setAxisParamChecked(this, motorStatusProblem, true);
callParamCallbacks();
startingDeferredMovement_ = false;
@ -301,12 +264,7 @@ asynStatus detectorTowerAngleAxis::startCombinedMove() {
"target position %lf failed.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
motorCoordinatesPosition);
plStatus = setIntegerParam(pC_->motorStatusProblem(), true);
if (plStatus != asynSuccess) {
return pC_->paramLibAccessFailed(plStatus, "motorStatusProblem_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
setAxisParamChecked(this, motorStatusProblem, true);
callParamCallbacks();
}
@ -334,12 +292,7 @@ asynStatus detectorTowerAngleAxis::stop(double acceleration) {
"failed.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
plStatus = setIntegerParam(pC_->motorStatusProblem(), true);
if (plStatus != asynSuccess) {
return pC_->paramLibAccessFailed(plStatus, "motorStatusProblem_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
setAxisParamChecked(this, motorStatusProblem, true);
return asynError;
}
@ -352,11 +305,7 @@ asynStatus detectorTowerAngleAxis::stop(double acceleration) {
// The detector tower axis uses absolute encoders
asynStatus detectorTowerAngleAxis::readEncoderType() {
asynStatus status = setStringParam(pC_->encoderType(), AbsoluteEncoder);
if (status != asynSuccess) {
return pC_->paramLibAccessFailed(status, "encoderType_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
setAxisParamChecked(this, encoderType, AbsoluteEncoder);
return asynSuccess;
}
@ -368,9 +317,6 @@ detectorTowerAngleAxis::toggleWorkingChangerState(bool toChangingPosition) {
// Status of read-write-operations of ASCII commands to the controller
asynStatus rwStatus = asynSuccess;
// Status of parameter library operations
asynStatus plStatus = asynSuccess;
bool moving = false;
int positionState = 0;
@ -381,12 +327,7 @@ detectorTowerAngleAxis::toggleWorkingChangerState(bool toChangingPosition) {
return rwStatus;
}
plStatus =
pC_->getIntegerParam(axisNo_, pC_->positionStateRBV(), &positionState);
if (plStatus != asynSuccess) {
return pC_->paramLibAccessFailed(plStatus, "positionStateRBV_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
getAxisParamChecked(this, positionStateRBV, &positionState);
if (moving) {
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
@ -396,21 +337,10 @@ detectorTowerAngleAxis::toggleWorkingChangerState(bool toChangingPosition) {
toChangingPosition ? "changer" : "working",
pC_->getMsgPrintControl().getSuffix());
plStatus = setStringParam(
pC_->motorMessageText(),
setAxisParamChecked(
this, motorMessageText,
"Axis cannot be moved to changer position while it is moving.");
if (plStatus != asynSuccess) {
return pC_->paramLibAccessFailed(plStatus, "motorMessageText_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
plStatus = setIntegerParam(pC_->changeStateRBV(), !toChangingPosition);
if (plStatus != asynSuccess) {
return pC_->paramLibAccessFailed(plStatus, "changeStateRBV",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
setAxisParamChecked(this, changeStateRBV, !toChangingPosition);
return asynError;
}
@ -428,12 +358,7 @@ detectorTowerAngleAxis::toggleWorkingChangerState(bool toChangingPosition) {
pC_->getMsgPrintControl().getSuffix());
// Update the PV anyway, even though nothing changed.
plStatus = setIntegerParam(pC_->changeStateRBV(), toChangingPosition);
if (plStatus != asynSuccess) {
return pC_->paramLibAccessFailed(plStatus, "changeStateRBV",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
setAxisParamChecked(this, changeStateRBV, toChangingPosition);
return asynSuccess;
}
@ -445,22 +370,8 @@ detectorTowerAngleAxis::toggleWorkingChangerState(bool toChangingPosition) {
rwStatus = pC_->writeRead(axisNo_, "P350=3", response, 0);
}
if (plStatus != asynSuccess) {
plStatus = setIntegerParam(pC_->changeStateRBV(), !toChangingPosition);
if (plStatus != asynSuccess) {
return pC_->paramLibAccessFailed(plStatus, "changeStateRBV",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
}
plStatus = setIntegerParam(pC_->changeStateRBV(), toChangingPosition);
if (plStatus != asynSuccess) {
return pC_->paramLibAccessFailed(plStatus, "changeStateRBV", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
return rwStatus;
setAxisParamChecked(this, changeStateRBV, toChangingPosition);
return asynSuccess;
}
asynStatus detectorTowerAngleAxis::adjustOrigin(double newOrigin) {
@ -472,12 +383,7 @@ asynStatus detectorTowerAngleAxis::adjustOrigin(double newOrigin) {
// =========================================================================
status =
pC_->getIntegerParam(axisNo_, pC_->positionStateRBV(), &positionState);
if (status != asynSuccess) {
return pC_->paramLibAccessFailed(status, "positionStateRBV_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
getAxisParamChecked(this, positionStateRBV, &positionState);
// If the axis is in changer position, it must be moved into working
// position before any move can be started.
@ -506,12 +412,7 @@ asynStatus detectorTowerAngleAxis::adjustOrigin(double newOrigin) {
"angle origin %lf failed.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
newOrigin);
status = setIntegerParam(pC_->motorStatusProblem(), true);
if (status != asynSuccess) {
return pC_->paramLibAccessFailed(status, "motorStatusProblem_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
setAxisParamChecked(this, motorStatusProblem, true);
}
return status;
@ -523,12 +424,7 @@ asynStatus detectorTowerAngleAxis::doReset() {
asynStatus plStatus = asynSuccess;
int positionState = 0;
plStatus =
pC_->getIntegerParam(axisNo_, pC_->positionStateRBV(), &positionState);
if (plStatus != asynSuccess) {
return pC_->paramLibAccessFailed(plStatus, "positionStateRBV_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
getAxisParamChecked(this, positionStateRBV, &positionState);
// Reset the deferred movement flags
startingDeferredMovement_ = false;

7
src/detectorTowerAngleAxis.h
View File

@ -1,12 +1,12 @@
#ifndef detectorTowerAngleAxis_H
#define detectorTowerAngleAxis_H
#include "detectorTowerController.h"
#include "turboPmacAxis.h"
#include <errlog.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 detectorTowerLiftAxis;
class detectorTowerSupportAxis;
@ -164,6 +164,11 @@ class detectorTowerAngleAxis : public turboPmacAxis {
*/
int error_;
/**
* @brief Return a pointer to the axis controller
*/
virtual detectorTowerController *pController() override { return pC_; };
protected:
detectorTowerController *pC_;
detectorTowerLiftAxis *liftAxis_;

315
src/detectorTowerController.cpp
View File

@ -336,37 +336,13 @@ asynStatus detectorTowerController::pollDetectorAxes(
The motorStatusProblem_ field changes the motor record fields SEVR and STAT.
*/
plStatus = angleAxis->setIntegerParam(motorStatusProblem(), false);
if (plStatus != asynSuccess) {
paramLibAccessFailed(plStatus, "motorStatusProblem_", angleAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
plStatus = liftAxis->setIntegerParam(motorStatusProblem(), false);
if (plStatus != asynSuccess) {
paramLibAccessFailed(plStatus, "motorStatusProblem_", liftAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
plStatus = supportAxis->setIntegerParam(motorStatusProblem(), false);
if (plStatus != asynSuccess) {
paramLibAccessFailed(plStatus, "motorStatusProblem_", supportAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
setAxisParamChecked(angleAxis, motorStatusProblem, false);
setAxisParamChecked(liftAxis, motorStatusProblem, false);
setAxisParamChecked(supportAxis, motorStatusProblem, false);
plStatus = angleAxis->setIntegerParam(motorStatusCommsError(), false);
if (plStatus != asynSuccess) {
paramLibAccessFailed(plStatus, "motorStatusCommsError_", angleAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
plStatus = liftAxis->setIntegerParam(motorStatusCommsError(), false);
if (plStatus != asynSuccess) {
paramLibAccessFailed(plStatus, "motorStatusCommsError_", liftAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
plStatus = supportAxis->setIntegerParam(motorStatusCommsError(), false);
if (plStatus != asynSuccess) {
paramLibAccessFailed(plStatus, "motorStatusCommsError_", supportAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
setAxisParamChecked(angleAxis, motorStatusCommsError, false);
setAxisParamChecked(liftAxis, motorStatusCommsError, false);
setAxisParamChecked(supportAxis, motorStatusCommsError, false);
// Read the previous motor positions
plStatus = angleAxis->motorPosition(&prevAngle);
@ -427,20 +403,12 @@ asynStatus detectorTowerController::pollDetectorAxes(
*/
// Angle
plStatus = getDoubleParam(angleAxisNo, motorLimitsOffset(), &limitsOffset);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorLimitsOffset_", angleAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
getAxisParamChecked(angleAxis, motorLimitsOffset, &limitsOffset);
angleHighLimit = angleHighLimit - limitsOffset;
angleLowLimit = angleLowLimit + limitsOffset;
// Lift
plStatus = getDoubleParam(liftAxisNo, motorLimitsOffset(), &limitsOffset);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorLimitsOffset_", liftAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
getAxisParamChecked(liftAxis, motorLimitsOffset, &limitsOffset);
liftHighLimit = liftHighLimit - limitsOffset;
liftLowLimit = liftLowLimit + limitsOffset;
@ -812,258 +780,84 @@ asynStatus detectorTowerController::pollDetectorAxes(
Does the paramLib already contain an error message? If either this is the
case or if error != 0, report a status problem for all axes.
*/
getStringParam(angleAxisNo, motorMessageText(), sizeof(waitingErrorMessage),
waitingErrorMessage);
getAxisParamChecked(angleAxis, motorMessageText, &waitingErrorMessage);
if (error != 0 || errorMessage[0] != '\0' ||
waitingErrorMessage[0] != '\0') {
plStatus = angleAxis->setIntegerParam(motorStatusProblem(), true);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorStatusProblem_",
angleAxisNo, __PRETTY_FUNCTION__,
__LINE__);
}
plStatus = liftAxis->setIntegerParam(motorStatusProblem(), true);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorStatusProblem_",
liftAxisNo, __PRETTY_FUNCTION__,
__LINE__);
}
plStatus = supportAxis->setIntegerParam(motorStatusProblem(), true);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorStatusProblem_",
supportAxisNo, __PRETTY_FUNCTION__,
__LINE__);
}
setAxisParamChecked(angleAxis, motorStatusProblem, true);
setAxisParamChecked(liftAxis, motorStatusProblem, true);
setAxisParamChecked(supportAxis, motorStatusProblem, true);
}
// Update the error message text with the one created in this poll (in case
// it is not empty).
if (errorMessage[0] != '\0') {
plStatus = angleAxis->setStringParam(motorMessageText(), errorMessage);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorMessageText_",
angleAxisNo, __PRETTY_FUNCTION__,
__LINE__);
}
plStatus = liftAxis->setStringParam(motorMessageText(), errorMessage);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorMessageText_",
liftAxisNo, __PRETTY_FUNCTION__,
__LINE__);
}
plStatus =
supportAxis->setStringParam(motorMessageText(), errorMessage);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorMessageText_",
supportAxisNo, __PRETTY_FUNCTION__,
__LINE__);
}
setAxisParamChecked(angleAxis, motorMessageText, errorMessage);
setAxisParamChecked(liftAxis, motorMessageText, errorMessage);
setAxisParamChecked(supportAxis, motorMessageText, errorMessage);
}
// Update the working position state PV
plStatus = angleAxis->setIntegerParam(positionStateRBV(), positionState);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "positionStateRBV_", angleAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
plStatus = liftAxis->setIntegerParam(positionStateRBV(), positionState);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "positionStateRBV_", liftAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
plStatus = supportAxis->setIntegerParam(positionStateRBV(), positionState);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "positionStateRBV_",
supportAxisNo, __PRETTY_FUNCTION__,
__LINE__);
}
setAxisParamChecked(angleAxis, positionStateRBV, positionState);
setAxisParamChecked(liftAxis, positionStateRBV, positionState);
setAxisParamChecked(supportAxis, positionStateRBV, positionState);
// The axes are always enabled
plStatus = angleAxis->setIntegerParam(motorEnableRBV(), 1);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorEnableRBV_", angleAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
plStatus = liftAxis->setIntegerParam(motorEnableRBV(), 1);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorEnableRBV_", liftAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
plStatus = supportAxis->setIntegerParam(motorEnableRBV(), 1);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorEnableRBV_", supportAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
setAxisParamChecked(angleAxis, motorEnableRBV, true);
setAxisParamChecked(liftAxis, motorEnableRBV, true);
setAxisParamChecked(supportAxis, motorEnableRBV, true);
// Are the axes currently moving?
plStatus = angleAxis->setIntegerParam(motorStatusMoving(), *moving);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorStatusMoving_", angleAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
plStatus = liftAxis->setIntegerParam(motorStatusMoving(), *moving);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorStatusMoving_", liftAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
plStatus = supportAxis->setIntegerParam(motorStatusMoving(), *moving);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorStatusMoving_",
supportAxisNo, __PRETTY_FUNCTION__,
__LINE__);
}
setAxisParamChecked(angleAxis, motorStatusMoving, *moving);
setAxisParamChecked(liftAxis, motorStatusMoving, *moving);
setAxisParamChecked(supportAxis, motorStatusMoving, *moving);
// Is the axis movement done?
plStatus = angleAxis->setIntegerParam(motorStatusDone(), !(*moving));
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorStatusDone_", angleAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
plStatus = liftAxis->setIntegerParam(motorStatusDone(), !(*moving));
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorStatusDone_", liftAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
plStatus = supportAxis->setIntegerParam(motorStatusDone(), !(*moving));
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorStatusDone_", supportAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
setAxisParamChecked(angleAxis, motorStatusDone, !(*moving));
setAxisParamChecked(liftAxis, motorStatusDone, !(*moving));
setAxisParamChecked(supportAxis, motorStatusDone, !(*moving));
// In which direction are the axes currently moving?
plStatus = angleAxis->setIntegerParam(motorStatusDirection(), angleDir);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorStatusDirection_",
angleAxisNo, __PRETTY_FUNCTION__, __LINE__);
}
plStatus = liftAxis->setIntegerParam(motorStatusDirection(), liftDir);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorStatusDirection_",
liftAxisNo, __PRETTY_FUNCTION__, __LINE__);
}
setAxisParamChecked(angleAxis, motorStatusDirection, angleDir);
setAxisParamChecked(liftAxis, motorStatusDirection, liftDir);
// Using the lift direction for the support axis is done on purpose!
plStatus = supportAxis->setIntegerParam(motorStatusDirection(), liftDir);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorStatusDirection_",
supportAxisNo, __PRETTY_FUNCTION__,
__LINE__);
}
setAxisParamChecked(supportAxis, motorStatusDirection, liftDir);
// High limits from hardware
plStatus =
setDoubleParam(angleAxisNo, motorHighLimitFromDriver(), angleHighLimit);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorHighLimitFromDriver",
angleAxisNo, __PRETTY_FUNCTION__, __LINE__);
}
plStatus =
setDoubleParam(liftAxisNo, motorHighLimitFromDriver(), liftHighLimit);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorHighLimitFromDriver",
liftAxisNo, __PRETTY_FUNCTION__, __LINE__);
}
setAxisParamChecked(angleAxis, motorHighLimitFromDriver, angleHighLimit);
setAxisParamChecked(liftAxis, motorHighLimitFromDriver, liftHighLimit);
// Using the lift high limit for the support axis is done on purpose!
plStatus = setDoubleParam(supportAxisNo, motorHighLimitFromDriver(),
liftHighLimit);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorHighLimitFromDriver",
supportAxisNo, __PRETTY_FUNCTION__,
__LINE__);
}
setAxisParamChecked(supportAxis, motorHighLimitFromDriver, liftHighLimit);
// Low limits from hardware
plStatus =
setDoubleParam(angleAxisNo, motorLowLimitFromDriver(), angleLowLimit);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorLowLimitFromDriver",
angleAxisNo, __PRETTY_FUNCTION__, __LINE__);
}
plStatus =
setDoubleParam(liftAxisNo, motorLowLimitFromDriver(), liftLowLimit);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorLowLimitFromDriver",
liftAxisNo, __PRETTY_FUNCTION__, __LINE__);
}
setAxisParamChecked(angleAxis, motorLowLimitFromDriver, angleLowLimit);
setAxisParamChecked(liftAxis, motorLowLimitFromDriver, liftLowLimit);
// Using the lift low limit for the support axis is done on purpose!
plStatus =
setDoubleParam(supportAxisNo, motorLowLimitFromDriver(), liftLowLimit);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorLowLimitFromDriver",
supportAxisNo, __PRETTY_FUNCTION__,
__LINE__);
}
setAxisParamChecked(supportAxis, motorLowLimitFromDriver, liftLowLimit);
// Write the motor origin
plStatus = setDoubleParam(angleAxisNo, motorOrigin(), angleOrigin);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorOrigin", angleAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
plStatus = setDoubleParam(liftAxisNo, motorOrigin(), liftOrigin);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorOrigin", liftAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
plStatus = setDoubleParam(supportAxisNo, motorOrigin(), supportOrigin);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "supportOrigin", supportAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
setAxisParamChecked(angleAxis, motorOrigin, angleOrigin);
setAxisParamChecked(liftAxis, motorOrigin, liftOrigin);
setAxisParamChecked(supportAxis, motorOrigin, supportOrigin);
// Origin adjustment high limit
plStatus =
setDoubleParam(angleAxisNo, motorAdjustOriginHighLimitFromDriver(),
setAxisParamChecked(angleAxis, motorAdjustOriginHighLimitFromDriver,
angleAdjustOriginHighLimit);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorOriginHighLimitFromDriver",
angleAxisNo, __PRETTY_FUNCTION__, __LINE__);
}
plStatus =
setDoubleParam(liftAxisNo, motorAdjustOriginHighLimitFromDriver(),
setAxisParamChecked(liftAxis, motorAdjustOriginHighLimitFromDriver,
liftAdjustOriginHighLimit);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorOriginHighLimitFromDriver",
liftAxisNo, __PRETTY_FUNCTION__, __LINE__);
}
// Using the lift high limit for the support axis is done on purpose!
plStatus =
setDoubleParam(supportAxisNo, motorAdjustOriginHighLimitFromDriver(),
setAxisParamChecked(supportAxis, motorAdjustOriginHighLimitFromDriver,
liftAdjustOriginHighLimit);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorOriginHighLimitFromDriver",
supportAxisNo, __PRETTY_FUNCTION__,
__LINE__);
}
// Origin adjustment low limit
plStatus =
setDoubleParam(angleAxisNo, motorAdjustOriginLowLimitFromDriver(),
setAxisParamChecked(angleAxis, motorAdjustOriginLowLimitFromDriver,
angleAdjustOriginLowLimit);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus,
"motorAdjustOriginLowLimitFromDriver",
angleAxisNo, __PRETTY_FUNCTION__, __LINE__);
}
plStatus = setDoubleParam(liftAxisNo, motorAdjustOriginLowLimitFromDriver(),
setAxisParamChecked(liftAxis, motorAdjustOriginLowLimitFromDriver,
liftAdjustOriginLowLimit);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus,
"motorAdjustOriginLowLimitFromDriver",
liftAxisNo, __PRETTY_FUNCTION__, __LINE__);
}
// Using the lift low limit for the support axis is done on purpose!
plStatus =
setDoubleParam(supportAxisNo, motorAdjustOriginLowLimitFromDriver(),
setAxisParamChecked(supportAxis, motorAdjustOriginLowLimitFromDriver,
liftAdjustOriginLowLimit);
if (plStatus != asynSuccess) {
return paramLibAccessFailed(
plStatus, "motorAdjustOriginLowLimitFromDriver", supportAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
// Axes positions
plStatus = angleAxis->setMotorPosition(angle);
@ -1137,22 +931,9 @@ asynStatus detectorTowerController::pollDetectorAxes(
one poll cycle, but are cleared afterwards. Persisting error messages will
be recreated during each poll.
*/
plStatus = angleAxis->setStringParam(motorMessageText(), "");
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorMessageText_", angleAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
plStatus = liftAxis->setStringParam(motorMessageText(), "");
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorMessageText_", liftAxisNo,
__PRETTY_FUNCTION__, __LINE__);
}
plStatus = supportAxis->setStringParam(motorMessageText(), "");
if (plStatus != asynSuccess) {
return paramLibAccessFailed(plStatus, "motorMessageText_",
supportAxisNo, __PRETTY_FUNCTION__,
__LINE__);
}
setAxisParamChecked(angleAxis, motorMessageText, "");
setAxisParamChecked(liftAxis, motorMessageText, "");
setAxisParamChecked(supportAxis, motorMessageText, "");
return pollStatus;
}

42
src/detectorTowerLiftAxis.cpp
View File

@ -111,11 +111,7 @@ asynStatus detectorTowerLiftAxis::init() {
}
// Initialize the motorStatusMoving flag
status = setIntegerParam(pC_->motorStatusMoving(), 0);
if (status != asynSuccess) {
return pC_->paramLibAccessFailed(status, "motorStatusMoving_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
setAxisParamChecked(this, motorStatusMoving, false);
// Check if we are currently in the changer position and update the PV
// accordingly
@ -126,11 +122,7 @@ asynStatus detectorTowerLiftAxis::init() {
__PRETTY_FUNCTION__, __LINE__);
}
status = setIntegerParam(pC_->changeStateRBV(), positionState == 2);
if (status != asynSuccess) {
return pC_->paramLibAccessFailed(status, "changeStateRBV", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
setAxisParamChecked(this, changeStateRBV, positionState == 2);
return callParamCallbacks();
}
@ -146,13 +138,7 @@ asynStatus detectorTowerLiftAxis::poll(bool *moving) {
status = pC_->pollDetectorAxes(moving, angleAxis(), this,
angleAxis()->supportAxis());
} else {
status = pC_->getIntegerParam(axisNo(), pC_->motorStatusMoving(),
(int *)moving);
if (status != asynSuccess) {
return pC_->paramLibAccessFailed(status, "motorStatusMoving",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
getAxisParamChecked(this, motorStatusMoving, &moving);
}
setWasMoving(*moving);
return status;
@ -172,13 +158,7 @@ asynStatus detectorTowerLiftAxis::doMove(double position, int relative,
double acceleration) {
double motorRecResolution = 0.0;
asynStatus plStatus = pC_->getDoubleParam(
axisNo_, pC_->motorRecResolution(), &motorRecResolution);
if (plStatus != asynSuccess) {
return pC_->paramLibAccessFailed(plStatus, "motorRecResolution_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
// Signal to the deferredMovementCollectorLoop (of the
// detectorTowerAngleAxis) that a movement should be started to the
@ -208,12 +188,7 @@ asynStatus detectorTowerLiftAxis::adjustOrigin(double newOrigin) {
// =========================================================================
status =
pC_->getIntegerParam(axisNo_, pC_->positionStateRBV(), &positionState);
if (status != asynSuccess) {
return pC_->paramLibAccessFailed(status, "positionStateRBV_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
getAxisParamChecked(this, positionStateRBV, &positionState);
// If the axis is in changer position, it must be moved into working
// position before any move can be started.
@ -242,12 +217,7 @@ asynStatus detectorTowerLiftAxis::adjustOrigin(double newOrigin) {
"lift origin %lf failed.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
newOrigin);
status = setIntegerParam(pC_->motorStatusProblem(), true);
if (status != asynSuccess) {
return pC_->paramLibAccessFailed(status, "motorStatusProblem_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
setAxisParamChecked(this, motorStatusProblem, true);
}
return status;

7
src/detectorTowerLiftAxis.h
View File

@ -1,11 +1,11 @@
#ifndef detectorTowerLiftAxis_H
#define detectorTowerLiftAxis_H
#include "detectorTowerController.h"
#include "turboPmacAxis.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 detectorTowerAngleAxis;
class detectorTowerLiftAxis : public turboPmacAxis {
@ -110,6 +110,11 @@ class detectorTowerLiftAxis : public turboPmacAxis {
*/
asynStatus readEncoderType();
/**
* @brief Return a pointer to the axis controller
*/
virtual detectorTowerController *pController() override { return pC_; };
protected:
detectorTowerController *pC_;
detectorTowerAngleAxis *angleAxis_;

36
src/detectorTowerSupportAxis.cpp
View File

@ -111,11 +111,7 @@ asynStatus detectorTowerSupportAxis::init() {
}
// Initialize the motorStatusMoving flag
status = setIntegerParam(pC_->motorStatusMoving(), 0);
if (status != asynSuccess) {
return pC_->paramLibAccessFailed(status, "motorStatusMoving_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
setAxisParamChecked(this, motorStatusMoving, false);
// Check if we are currently in the changer position and update the PV
// accordingly
@ -126,12 +122,7 @@ asynStatus detectorTowerSupportAxis::init() {
__PRETTY_FUNCTION__, __LINE__);
}
status = setIntegerParam(pC_->changeStateRBV(), positionState == 2);
if (status != asynSuccess) {
return pC_->paramLibAccessFailed(status, "changeStateRBV", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
setAxisParamChecked(this, changeStateRBV, positionState == 2);
return callParamCallbacks();
}
@ -147,13 +138,7 @@ asynStatus detectorTowerSupportAxis::poll(bool *moving) {
status = pC_->pollDetectorAxes(moving, angleAxis(),
angleAxis()->liftAxis(), this);
} else {
status = pC_->getIntegerParam(axisNo(), pC_->motorStatusMoving(),
(int *)moving);
if (status != asynSuccess) {
return pC_->paramLibAccessFailed(status, "motorStatusMoving",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
getAxisParamChecked(this, motorStatusMoving, &moving);
}
setWasMoving(*moving);
return status;
@ -186,12 +171,7 @@ asynStatus detectorTowerSupportAxis::adjustOrigin(double newOrigin) {
// =========================================================================
status =
pC_->getIntegerParam(axisNo_, pC_->positionStateRBV(), &positionState);
if (status != asynSuccess) {
return pC_->paramLibAccessFailed(status, "positionStateRBV_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
getAxisParamChecked(this, positionStateRBV, &positionState);
// If the axis is in changer position, it must be moved into working
// position before any move can be started.
@ -220,12 +200,8 @@ asynStatus detectorTowerSupportAxis::adjustOrigin(double newOrigin) {
"lift origin %lf failed.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
newOrigin);
status = setIntegerParam(pC_->motorStatusProblem(), true);
if (status != asynSuccess) {
return pC_->paramLibAccessFailed(status, "motorStatusProblem_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
setAxisParamChecked(this, motorStatusProblem, true);
}
return status;

7
src/detectorTowerSupportAxis.h
View File

@ -1,11 +1,11 @@
#ifndef detectorTowerSupportAxis_H
#define detectorTowerSupportAxis_H
#include "detectorTowerController.h"
#include "turboPmacAxis.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 detectorTowerAngleAxis;
/**
@ -112,6 +112,11 @@ class detectorTowerSupportAxis : public turboPmacAxis {
*/
asynStatus readEncoderType();
/**
* @brief Return a pointer to the axis controller
*/
virtual detectorTowerController *pController() override { return pC_; };
protected:
detectorTowerController *pC_;
detectorTowerAngleAxis *angleAxis_;