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Adjusted driver with auxiliary axes offsets

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mathis_s
2025-04-17 16:30:33 +02:00
parent 67280f2666
commit d837a8545b
10 changed files with 534 additions and 145 deletions
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9
Makefile
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@ -13,15 +13,18 @@ REQUIRED+=motorBase
motorBase_VERSION=7.2.2
# Specify the version of turboPmac we want to build against
turboPmac_VERSION=0.10.0
sinqMotor_VERSION=mathis_s
# Specify the version of turboPmac we want to build against
turboPmac_VERSION=mathis_s
# These headers allow to depend on this library for derived drivers.
HEADERS += src/auxiliaryAxis.h
HEADERS += src/detectorTowerAuxiliaryAxis.h
HEADERS += src/detectorTowerAxis.h
HEADERS += src/detectorTowerController.h
# Source files to build
SOURCES += src/auxiliaryAxis.cpp
SOURCES += src/detectorTowerAuxiliaryAxis.cpp
SOURCES += src/detectorTowerAxis.cpp
SOURCES += src/detectorTowerController.cpp

8
README.md
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@ -7,15 +7,17 @@
This is a driver for the detector tower which is based on the Turbo PMAC driver (https://git.psi.ch/sinq-epics-modules/turboPmac). It consists of the following three objects:
- `detectorTowerAxis`: This is a virtual axis which controls multiple physical motors in order to provide a synchronized movement.
- `detectorTowerController`: This is an expanded variant of `turboPmacController` provided by the Turbo PMAC library linked above.It is needed to operate a `detectorTowerAxis`, but it can also be used to operate a "normal" `turboPmacAxis`.
- `auxiliaryAxis`: This is an auxiliary axis type attached to the main detector axis. Multiple instances of these axes are constructed automatically when creating a `detectorTowerAxis`.
- `detectorTowerAuxiliaryAxis`: This is an auxiliary axis type attached to the main detector axis. Multiple instances of these axes are constructed automatically when creating a `detectorTowerAxis`.
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.
## User guide
The centerpiece of this driver is the `detectorTowerAxis`, which controls the angle of the detector flight tube. Creating an instance of this axis type also creates multiple so-called `auxiliaryAxis`, which are used to perform secondary movements.
The centerpiece of this driver is the `detectorTowerAxis`, which controls the angle of the detector flight tube. Creating an instance of this axis type also creates multiple so-called `detectorTowerAuxiliaryAxis`, which are used to perform secondary movements.
The utilities provided in the `utils` folder of https://git.psi.ch/sinq-epics-modules/turboPmac work with this driver as well.
TODO: How to start combined movement
### Usage in IOC shell
detectorTower exports the following IOC shell functions:
@ -99,7 +101,7 @@ Note that the speed of the detector tower axes 1, 2 and 3 cannot be set. Setting
The code is designed around the `detectorTowerAxis`, which controls the angle of the beam guide and acts as a "master" axis. Other movements are realized as auxiliary axes (e.g. for the vertical lift offset and the tilt offset). The `detectorTowerAxis` has pointers to all associated auxiliary axes and (as described above) its IOC shell constructor also builds the associated auxiliary axes.
The `doPoll` implementation for `detectorTowerAxis` queries the status of both the `detectorTowerAxis` itself and all associated auxiliary axes. If any of the axes is moving, the `detectorTowerAxis` is set to "moving" as well. In turn, the `doPoll` implementation of a `auxiliaryAxis` checks if its associated `detectorTowerAxis` is moving and sets its own movement status accordingly.
The `doPoll` implementation for `detectorTowerAxis` queries the status of both the `detectorTowerAxis` itself and all associated auxiliary axes. If any of the axes is moving, the `detectorTowerAxis` is set to "moving" as well. In turn, the `doPoll` implementation of a `detectorTowerAuxiliaryAxis` checks if its associated `detectorTowerAxis` is moving and sets its own movement status accordingly.
The `detectorTowerController` is a thin wrapper around a `turboPmacController` which overwrites the `readInt32` and `writeInt32` in order to support the PVs "$(INSTR)$(M):ChangeState", "$(INSTR)$(M):PositionStateRBV" and "$(INSTR)$(M):ChangingStateRBV". Any calls to these two methods not concerning the aforementioned PVs are directly forwarded to `turboPmacController::readInt32` / `turboPmacController::writeInt32`.

9
db/detectorTower.db
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@ -36,3 +36,12 @@ record(longout, "$(INSTR)$(M):ChangingStateRBV_int") {
field(DOL, "$(INSTR)$(M):ChangingStateRBV CP")
field(OMSL, "closed_loop")
}
# Set an additional offset to the target position of an auxiliary axis
# For all other axis types, writing to this parameter does nothing.
record(ao, "$(INSTR)$(M):TargetOffset") {
field(DTYP, "asynFloat64")
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_TARGET_OFFSET")
field(PINI, "YES")
field(VAL, "0")
}

45
src/auxiliaryAxis.cpp → src/detectorTowerAuxiliaryAxis.cpp
View File

@ -1,4 +1,4 @@
#include "auxiliaryAxis.h"
#include "detectorTowerAuxiliaryAxis.h"
#include "detectorTowerAxis.h"
#include "detectorTowerController.h"
#include "turboPmacController.h"
@ -7,10 +7,10 @@
#include <iocsh.h>
/*
Contains all instances of auxiliaryAxis which have been created and is used
in the initialization hook function.
Contains all instances of detectorTowerAuxiliaryAxis which have been created and
is used in the initialization hook function.
*/
static std::vector<auxiliaryAxis *> axes;
static std::vector<detectorTowerAuxiliaryAxis *> axes;
/**
* @brief Hook function to perform certain actions during the IOC initialization
@ -21,15 +21,17 @@ static void epicsInithookFunction(initHookState iState) {
if (iState == initHookAfterDatabaseRunning) {
// Iterate through all axes of each and call the initialization method
// on each one of them.
for (std::vector<auxiliaryAxis *>::iterator itA = axes.begin();
for (std::vector<detectorTowerAuxiliaryAxis *>::iterator itA =
axes.begin();
itA != axes.end(); ++itA) {
auxiliaryAxis *axis = *itA;
detectorTowerAuxiliaryAxis *axis = *itA;
axis->init();
}
}
}
auxiliaryAxis::auxiliaryAxis(detectorTowerController *pC, int axisNo)
detectorTowerAuxiliaryAxis::detectorTowerAuxiliaryAxis(
detectorTowerController *pC, int axisNo)
: turboPmacAxis(pC, axisNo, false), pC_(pC) {
/*
@ -46,7 +48,7 @@ auxiliaryAxis::auxiliaryAxis(detectorTowerController *pC, int axisNo)
is a configuration error.
*/
if (axisNo >= pC->numAxes()) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d: FATAL ERROR: "
"Axis index %d must be smaller than the total number of axes "
"%d",
@ -65,12 +67,12 @@ auxiliaryAxis::auxiliaryAxis(detectorTowerController *pC, int axisNo)
axes.push_back(this);
}
auxiliaryAxis::~auxiliaryAxis(void) {
detectorTowerAuxiliaryAxis::~detectorTowerAuxiliaryAxis(void) {
// Since the controller memory is managed somewhere else, we don't need to
// clean up the pointer pC here.
}
asynStatus auxiliaryAxis::init() {
asynStatus detectorTowerAuxiliaryAxis::init() {
// Local variable declaration
asynStatus status = asynSuccess;
@ -85,7 +87,7 @@ asynStatus auxiliaryAxis::init() {
&motorRecResolution);
if (status == asynParamUndefined) {
if (now + maxInitTime < time(NULL)) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line "
"%d\nInitializing the parameter library failed.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__,
@ -104,7 +106,7 @@ asynStatus auxiliaryAxis::init() {
}
// Perform the actual poll
asynStatus auxiliaryAxis::doPoll(bool *moving) {
asynStatus detectorTowerAuxiliaryAxis::doPoll(bool *moving) {
// Return value for the poll
asynStatus poll_status = asynSuccess;
@ -167,8 +169,8 @@ asynStatus auxiliaryAxis::doPoll(bool *moving) {
bool wantToPrint = pl_status != asynSuccess;
if (pC_->getMsgPrintControl().shouldBePrinted(
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, wantToPrint,
pC_->asynUserSelf())) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
pC_->pasynUser())) {
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line "
"%d:\ncallParamCallbacks failed with %s.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -184,9 +186,10 @@ asynStatus auxiliaryAxis::doPoll(bool *moving) {
return poll_status;
}
asynStatus auxiliaryAxis::doMove(double position, int relative,
double min_velocity, double max_velocity,
double acceleration) {
asynStatus detectorTowerAuxiliaryAxis::doMove(double position, int relative,
double min_velocity,
double max_velocity,
double acceleration) {
double motorRecResolution = 0.0;
asynStatus pl_status = pC_->getDoubleParam(
@ -205,7 +208,7 @@ asynStatus auxiliaryAxis::doMove(double position, int relative,
return asynSuccess;
}
asynStatus auxiliaryAxis::stop(double acceleration) {
asynStatus detectorTowerAuxiliaryAxis::stop(double acceleration) {
// Status of read-write-operations of ASCII commands to the controller
asynStatus rw_status = asynSuccess;
@ -213,7 +216,7 @@ asynStatus auxiliaryAxis::stop(double acceleration) {
// Status of parameter library operations
asynStatus pl_status = asynSuccess;
char response[pC_->MAXBUF_];
char response[pC_->MAXBUF_] = {0};
// =========================================================================
@ -221,7 +224,7 @@ asynStatus auxiliaryAxis::stop(double acceleration) {
if (rw_status != asynSuccess) {
asynPrint(
pC_->asynUserSelf(), ASYN_TRACE_ERROR,
pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nStopping the movement "
"failed.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
@ -238,4 +241,4 @@ asynStatus auxiliaryAxis::stop(double acceleration) {
return rw_status;
}
asynStatus auxiliaryAxis::reset() { return dTA_->reset(); };
asynStatus detectorTowerAuxiliaryAxis::reset() { return dTA_->reset(); };

11
src/auxiliaryAxis.h → src/detectorTowerAuxiliaryAxis.h
View File

@ -1,5 +1,5 @@
#ifndef auxiliaryAxis_H
#define auxiliaryAxis_H
#ifndef detectorTowerAuxiliaryAxis_H
#define detectorTowerAuxiliaryAxis_H
#include "turboPmacAxis.h"
// Forward declaration of the controller class to resolve the cyclic dependency
@ -8,7 +8,7 @@
class detectorTowerController;
class detectorTowerAxis;
class auxiliaryAxis : public turboPmacAxis {
class detectorTowerAuxiliaryAxis : public turboPmacAxis {
public:
/**
* @brief Construct a new detectorTowerAxis
@ -16,13 +16,14 @@ class auxiliaryAxis : public turboPmacAxis {
* @param pController Pointer to the associated controller
* @param axisNo Index of the axis
*/
auxiliaryAxis(detectorTowerController *pController, int axisNo);
detectorTowerAuxiliaryAxis(detectorTowerController *pController,
int axisNo);
/**
* @brief Destroy the turboPmacAxis
*
*/
virtual ~auxiliaryAxis();
virtual ~detectorTowerAuxiliaryAxis();
/**
* @brief Readout of some values from the controller at IOC startup

209
src/detectorTowerAxis.cpp
View File

@ -47,9 +47,10 @@ static void deferredMovementCollectorLoop(void *drvPvt) {
}
}
detectorTowerAxis::detectorTowerAxis(detectorTowerController *pC, int axisNo,
auxiliaryAxis *liftOffsetAxis,
auxiliaryAxis *tiltOffsetAxis)
detectorTowerAxis::detectorTowerAxis(
detectorTowerController *pC, int axisNo,
detectorTowerAuxiliaryAxis *liftZeroCorrAxis,
detectorTowerAuxiliaryAxis *tiltZeroCorrAxis)
: turboPmacAxis(pC, axisNo, false), pC_(pC) {
/*
@ -66,7 +67,7 @@ detectorTowerAxis::detectorTowerAxis(detectorTowerController *pC, int axisNo,
is a configuration error.
*/
if (axisNo >= pC->numAxes()) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d: FATAL ERROR: "
"Axis index %d must be smaller than the total number of axes "
"%d",
@ -81,10 +82,13 @@ detectorTowerAxis::detectorTowerAxis(detectorTowerController *pC, int axisNo,
receivedTarget_ = false;
startingDeferredMovement_ = false;
deferredMovementWait_ = 0.1; // seconds
liftOffsetAxis_ = liftOffsetAxis;
tiltOffsetAxis_ = tiltOffsetAxis;
liftOffsetAxis->dTA_ = this;
tiltOffsetAxis->dTA_ = this;
liftZeroCorrAxis_ = liftZeroCorrAxis;
tiltZeroCorrAxis_ = tiltZeroCorrAxis;
liftZeroCorrAxis->dTA_ = this;
tiltZeroCorrAxis->dTA_ = this;
// Will be populated in the init() method
beamRadius_ = 0.0;
// Register the hook function during construction of the first axis object
if (axes.empty()) {
@ -116,6 +120,8 @@ asynStatus detectorTowerAxis::init() {
// Local variable declaration
asynStatus status = asynSuccess;
double motorRecResolution = 0.0;
char response[pC_->MAXBUF_] = {0};
int nvals = 0;
// The parameter library takes some time to be initialized. Therefore we
// wait until the status is not asynParamUndefined anymore.
@ -126,7 +132,7 @@ asynStatus detectorTowerAxis::init() {
&motorRecResolution);
if (status == asynParamUndefined) {
if (now + maxInitTime < time(NULL)) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis "
"%ddeferredMovementCollectorLoop => %s, line "
"%d\nInitializing the parameter library failed.\n",
@ -143,10 +149,22 @@ asynStatus detectorTowerAxis::init() {
}
}
// Read the detector radius
const char *command = "RADIUS";
status = pC_->writeRead(axisNo_, command, response, 10);
if (status != asynSuccess) {
return status;
}
nvals = sscanf(response, "%lf", &beamRadius_);
if (nvals != 1) {
return pC_->couldNotParseResponse(command, response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
return status;
}
// Perform the actual poll
asynStatus detectorTowerAxis::doPoll(bool *moving) {
// Return value for the poll
@ -158,7 +176,8 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
// Status of parameter library operations
asynStatus pl_status = asynSuccess;
char response[pC_->MAXBUF_], userMessage[pC_->MAXBUF_];
char userMessage[pC_->MAXBUF_] = {0};
char response[pC_->MAXBUF_] = {0};
int nvals = 0;
int direction = 0;
@ -172,11 +191,10 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
double highLimit = 0.0;
double lowLimit = 0.0;
double detectorHeight = 0.0;
double detectorRadius = 0.0;
double liftOffsetHighLimit = 0.0;
double liftOffsetLowLimit = 0.0;
double tiltOffsetHighLimit = 0.0;
double tiltOffsetLowLimit = 0.0;
double liftZeroCorrHighLimit = 0.0;
double liftZeroCorrLowLimit = 0.0;
double tiltZeroCorrHighLimit = 0.0;
double tiltZeroCorrLowLimit = 0.0;
// =========================================================================
@ -202,23 +220,25 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
- Axis error
- Beam tilt angle
- Beam tilt angle limits
- Beam lift position
- Beam lift offset limits
- Detector tilt offset limits
*/
const char *command = "P354 P358 P359 Q510 Q513 Q514 Q353 Q354 Q553 Q554";
const char *command =
"P354 P358 P359 Q510 Q513 Q514 Q310 Q353 Q354 Q553 Q554";
rw_status = pC_->writeRead(axisNo_, command, response, 10);
if (rw_status != asynSuccess) {
return rw_status;
}
nvals =
sscanf(response, "%d %d %d %lf %lf %lf %lf %lf %lf %lf", &inPosition,
&positionState, &error, &beamTiltAngle, &highLimit, &lowLimit,
&liftOffsetHighLimit, &liftOffsetLowLimit, &tiltOffsetHighLimit,
&tiltOffsetLowLimit);
nvals = sscanf(response, "%d %d %d %lf %lf %lf %lf %lf %lf %lf %lf",
&inPosition, &positionState, &error, &beamTiltAngle,
&highLimit, &lowLimit, &detectorHeight,
&liftZeroCorrHighLimit, &liftZeroCorrLowLimit,
&tiltZeroCorrHighLimit, &tiltZeroCorrLowLimit);
if (nvals != 10) {
return pC_->couldNotParseResponse(command, response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
__PRETTY_FUNCTION__, __LINE__);
}
/*
@ -300,9 +320,9 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
default:
if (pC_->getMsgPrintControl().shouldBePrinted(keyPosState, true,
pC_->asynUserSelf())) {
pC_->pasynUser())) {
asynPrint(
pC_->asynUserSelf(), ASYN_TRACE_ERROR,
pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nReached unknown "
"state P354 = %d.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -323,7 +343,7 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
}
if (resetCountPosState) {
pC_->getMsgPrintControl().resetCount(keyPosState, pC_->asynUserSelf());
pC_->getMsgPrintControl().resetCount(keyPosState, pC_->pasynUser());
}
if (*moving) {
@ -348,9 +368,9 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
break;
case 1:
if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
pC_->asynUserSelf())) {
pC_->pasynUser())) {
asynPrint(
pC_->asynUserSelf(), ASYN_TRACE_ERROR,
pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nBrake COZ not "
"released (P359=1).%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -373,9 +393,9 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
case 2:
if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
pC_->asynUserSelf())) {
pC_->pasynUser())) {
asynPrint(
pC_->asynUserSelf(), ASYN_TRACE_ERROR,
pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nMove command "
"rejected because axis is already moving.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -397,8 +417,8 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
case 3:
if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
pC_->asynUserSelf())) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
pC_->pasynUser())) {
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nError motor "
"FTZ.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -421,9 +441,9 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
case 4:
if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
pC_->asynUserSelf())) {
pC_->pasynUser())) {
asynPrint(
pC_->asynUserSelf(), ASYN_TRACE_ERROR,
pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nAxis stopped "
"unexpectedly.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -447,9 +467,9 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
case 5:
if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
pC_->asynUserSelf())) {
pC_->pasynUser())) {
asynPrint(
pC_->asynUserSelf(), ASYN_TRACE_ERROR,
pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nRelease removed "
"while moving.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -473,9 +493,9 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
case 6:
if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
pC_->asynUserSelf())) {
pC_->pasynUser())) {
asynPrint(
pC_->asynUserSelf(), ASYN_TRACE_ERROR,
pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nEmergency stop "
"activated.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -496,8 +516,8 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
case 7:
if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
pC_->asynUserSelf())) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
pC_->pasynUser())) {
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nError motor "
"COZ.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -520,8 +540,8 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
case 8:
if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
pC_->asynUserSelf())) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
pC_->pasynUser())) {
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nError motor "
"COM.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -544,8 +564,8 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
case 9:
if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
pC_->asynUserSelf())) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
pC_->pasynUser())) {
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nError motor "
"COX.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -568,8 +588,8 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
case 10:
if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
pC_->asynUserSelf())) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
pC_->pasynUser())) {
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nHit end "
"switch FTZ.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -591,9 +611,9 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
case 11:
// Following error
if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
pC_->asynUserSelf())) {
pC_->pasynUser())) {
asynPrint(
pC_->asynUserSelf(), ASYN_TRACE_ERROR,
pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nMaximum allowed "
"following error FTZ exceeded.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -618,9 +638,9 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
default:
if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
pC_->asynUserSelf())) {
pC_->pasynUser())) {
asynPrint(
pC_->asynUserSelf(), ASYN_TRACE_ERROR,
pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nUnknown error "
"P359 = %d.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, error,
@ -642,7 +662,7 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
}
if (resetError) {
pC_->getMsgPrintControl().resetCount(keyError, pC_->asynUserSelf());
pC_->getMsgPrintControl().resetCount(keyError, pC_->pasynUser());
}
// Update the parameter library
@ -701,46 +721,46 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
}
// Set the values for the offset axes
int liftAxisNo = liftOffsetAxis_->axisNo_;
double liftOffsetPosition =
detectorHeight + detectorRadius * sin(beamTiltAngle);
int liftAxisNo = liftZeroCorrAxis_->axisNo_;
double liftZeroCorrPosition =
detectorHeight + beamRadius_ * sin(beamTiltAngle);
pl_status = setMotorPosition(liftOffsetPosition);
pl_status = setMotorPosition(liftZeroCorrPosition);
if (pl_status != asynSuccess) {
return pl_status;
}
pl_status = pC_->setDoubleParam(liftAxisNo, pC_->motorHighLimitFromDriver(),
liftOffsetHighLimit);
liftZeroCorrHighLimit);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorHighLimitFromDriver_",
liftAxisNo, __PRETTY_FUNCTION__,
__LINE__);
}
pl_status = pC_->setDoubleParam(liftAxisNo, pC_->motorLowLimitFromDriver(),
liftOffsetLowLimit);
liftZeroCorrLowLimit);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorLowLimitFromDriver_",
liftAxisNo, __PRETTY_FUNCTION__,
__LINE__);
}
int tiltAxisNo = tiltOffsetAxis_->axisNo_;
int tiltAxisNo = tiltZeroCorrAxis_->axisNo_;
// There exists no readback value for tiltOffsetAxis_, hence we just set the
// current position to the target position.
tiltOffsetAxis_->setMotorPosition(tiltOffsetAxis_->targetPosition_);
// There exists no readback value for tiltZeroCorrAxis_, hence we just set
// the current position to the target position.
tiltZeroCorrAxis_->setMotorPosition(tiltZeroCorrAxis_->targetPosition_);
if (pl_status != asynSuccess) {
return pl_status;
}
pl_status = pC_->setDoubleParam(tiltAxisNo, pC_->motorHighLimitFromDriver(),
tiltOffsetHighLimit);
tiltZeroCorrHighLimit);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorHighLimitFromDriver_",
tiltAxisNo, __PRETTY_FUNCTION__,
__LINE__);
}
pl_status = pC_->setDoubleParam(tiltAxisNo, pC_->motorLowLimitFromDriver(),
tiltOffsetLowLimit);
tiltZeroCorrLowLimit);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorLowLimitFromDriver_",
tiltAxisNo, __PRETTY_FUNCTION__,
@ -792,8 +812,11 @@ asynStatus detectorTowerAxis::startCombinedMove() {
// Status of parameter library operations
asynStatus pl_status = asynSuccess;
char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
char command[pC_->MAXBUF_] = {0};
char response[pC_->MAXBUF_] = {0};
double motorCoordinatesPosition = 0.0;
double offsetliftZeroCorr = 0.0;
double offsettiltZeroCorr = 0.0;
int positionState = 0;
// =========================================================================
@ -803,8 +826,8 @@ asynStatus detectorTowerAxis::startCombinedMove() {
bool isInChangerPos = positionState == 2 || positionState == 3;
if (pC_->getMsgPrintControl().shouldBePrinted(
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
isInChangerPos, pC_->asynUserSelf())) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
isInChangerPos, pC_->pasynUser())) {
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nAxis cannot be "
"moved because it is moving from working to changer "
"position, is in changer position or is moving from changer "
@ -817,11 +840,30 @@ asynStatus detectorTowerAxis::startCombinedMove() {
return asynError;
}
// Read out any offsets for the zero correction axes
pl_status =
pC_->getDoubleParam(tiltZeroCorrAxis_->axisNo(),
pC_->motorTargetOffset(), &offsettiltZeroCorr);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorTargetOffset",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
pl_status =
pC_->getDoubleParam(liftZeroCorrAxis_->axisNo(),
pC_->motorTargetOffset(), &offsetliftZeroCorr);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorTargetOffset",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
// Set the target positions for beam tilt, detector tilt offset and lift
// offset
snprintf(command, sizeof(command), "Q451=%lf Q454=%lf Q456=%lf P350=1",
targetPosition_, liftOffsetAxis_->targetPosition_,
tiltOffsetAxis_->targetPosition_);
targetPosition_,
liftZeroCorrAxis_->targetPosition_ + offsetliftZeroCorr,
tiltZeroCorrAxis_->targetPosition_ + offsettiltZeroCorr);
// Lock the access to the controller since this function runs in another
// thread than the poll method.
@ -835,7 +877,7 @@ asynStatus detectorTowerAxis::startCombinedMove() {
if (rw_status != asynSuccess) {
asynPrint(
pC_->asynUserSelf(), ASYN_TRACE_ERROR,
pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nStarting movement to "
"target position %lf failed.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -859,7 +901,7 @@ asynStatus detectorTowerAxis::stop(double acceleration) {
// Status of parameter library operations
asynStatus pl_status = asynSuccess;
char response[pC_->MAXBUF_];
char response[pC_->MAXBUF_] = {0};
// =========================================================================
@ -867,7 +909,7 @@ asynStatus detectorTowerAxis::stop(double acceleration) {
if (rw_status != asynSuccess) {
asynPrint(
pC_->asynUserSelf(), ASYN_TRACE_ERROR,
pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nStopping the movement "
"failed.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
@ -897,7 +939,7 @@ asynStatus detectorTowerAxis::readEncoderType() {
asynStatus
detectorTowerAxis::toggleWorkingChangerState(bool toChangingPosition) {
char response[pC_->MAXBUF_];
char response[pC_->MAXBUF_] = {0};
// Status of read-write-operations of ASCII commands to the controller
asynStatus rw_status = asynSuccess;
@ -921,7 +963,7 @@ detectorTowerAxis::toggleWorkingChangerState(bool toChangingPosition) {
}
if (moving) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nAxis is not "
"idle and can therefore not be moved to %s state.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -944,7 +986,7 @@ detectorTowerAxis::toggleWorkingChangerState(bool toChangingPosition) {
(toChangingPosition == true && positionState == 2);
if (isAlreadyThere) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_WARNING,
asynPrint(pC_->pasynUser(), ASYN_TRACE_WARNING,
"Controller \"%s\", axis %d => %s, line %d\nAxis is already "
"in %s position.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -973,7 +1015,7 @@ detectorTowerAxis::toggleWorkingChangerState(bool toChangingPosition) {
asynStatus detectorTowerAxis::doReset() {
char response[pC_->MAXBUF_];
char response[pC_->MAXBUF_] = {0};
asynStatus pl_status = asynSuccess;
int positionState = 0;
@ -1014,7 +1056,8 @@ 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 axisDetectorTower,
int liftOffsetaxisNo, int tiltOffsetaxisNo) {
int liftZeroCorraxisNo,
int tiltZeroCorraxisNo) {
/*
findAsynPortDriver is a asyn library FFI function which uses the C ABI.
@ -1053,9 +1096,9 @@ asynStatus detectorTowerCreateAxis(const char *portName, int axisDetectorTower,
}
// Assert that the three indices are different from each other
if (axisDetectorTower == liftOffsetaxisNo ||
axisDetectorTower == tiltOffsetaxisNo ||
tiltOffsetaxisNo == liftOffsetaxisNo) {
if (axisDetectorTower == liftZeroCorraxisNo ||
axisDetectorTower == tiltZeroCorraxisNo ||
tiltZeroCorraxisNo == liftZeroCorraxisNo) {
errlogPrintf("Controller \"%s\" => %s, line %d\nAll three axis indices "
"must be unique.",
portName, __PRETTY_FUNCTION__, __LINE__);
@ -1076,13 +1119,15 @@ asynStatus detectorTowerCreateAxis(const char *portName, int axisDetectorTower,
be "leaked" here.
*/
auxiliaryAxis *liftOffsetAxis = new auxiliaryAxis(pC, liftOffsetaxisNo);
auxiliaryAxis *tiltOffsetAxis = new auxiliaryAxis(pC, tiltOffsetaxisNo);
detectorTowerAuxiliaryAxis *liftZeroCorrAxis =
new detectorTowerAuxiliaryAxis(pC, liftZeroCorraxisNo);
detectorTowerAuxiliaryAxis *tiltZeroCorrAxis =
new detectorTowerAuxiliaryAxis(pC, tiltZeroCorraxisNo);
#pragma GCC diagnostic ignored "-Wunused-but-set-variable"
#pragma GCC diagnostic ignored "-Wunused-variable"
detectorTowerAxis *pAxis = new detectorTowerAxis(
pC, axisDetectorTower, liftOffsetAxis, tiltOffsetAxis);
pC, axisDetectorTower, liftZeroCorrAxis, tiltZeroCorrAxis);
// Allow manipulation of the controller again
pC->unlock();

21
src/detectorTowerAxis.h
View File

@ -1,6 +1,6 @@
#ifndef detectorTowerAxis_H
#define detectorTowerAxis_H
#include "auxiliaryAxis.h"
#include "detectorTowerAuxiliaryAxis.h"
#include "turboPmacAxis.h"
// Forward declaration of the controller class to resolve the cyclic dependency
@ -15,14 +15,14 @@ class detectorTowerAxis : public turboPmacAxis {
*
* @param pController Pointer to the associated controller
* @param axisNo Index of the axis
* @param liftOffsetAxis Pointer to the attached axis which controls
* @param liftZeroCorrAxis Pointer to the attached axis which controls
* the lift offset
* @param tiltOffsetAxis Pointer to the attached axis which controls
* @param tiltZeroCorrAxis Pointer to the attached axis which controls
* the tilt offset
*/
detectorTowerAxis(detectorTowerController *pController, int axisNo,
auxiliaryAxis *liftOffsetAxis,
auxiliaryAxis *tiltOffsetAxis);
detectorTowerAuxiliaryAxis *liftZeroCorrAxis,
detectorTowerAuxiliaryAxis *tiltZeroCorrAxis);
/**
* @brief Destroy the detectorTowerAxis
@ -100,8 +100,8 @@ class detectorTowerAxis : public turboPmacAxis {
*/
asynStatus doReset();
// If true, either this axis or one of the auxiliaryAxis attached to it
// received a movement command.
// If true, either this axis or one of the detectorTowerAuxiliaryAxis
// attached to it received a movement command.
bool receivedTarget_;
// If set to true, the virtual axis is about to start a deferred movement
@ -118,11 +118,12 @@ class detectorTowerAxis : public turboPmacAxis {
protected:
detectorTowerController *pC_;
int error_;
auxiliaryAxis *tiltOffsetAxis_;
auxiliaryAxis *liftOffsetAxis_;
detectorTowerAuxiliaryAxis *tiltZeroCorrAxis_;
detectorTowerAuxiliaryAxis *liftZeroCorrAxis_;
double beamRadius_;
private:
friend class auxiliaryAxis;
friend class detectorTowerAuxiliaryAxis;
};
#endif

87
src/detectorTowerController.cpp
View File

@ -47,45 +47,73 @@ detectorTowerController::detectorTowerController(
stringifyAsynStatus(status));
exit(-1);
}
status = createParam("MOTOR_OFFSET", asynParamFloat64, &motorTargetOffset_);
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) {
// Check if the axis is a detectorTowerAxis
detectorTowerAxis *axis = getDetectorTowerAxis(pasynUser);
if (axis == nullptr) {
// This is apparently a "normal" turboPmacAxis or an auxiliaryAxis
return turboPmacController::readInt32(pasynUser, value);
} else {
// The detector tower cannot be disabled
if (pasynUser->reason == motorCanDisable_) {
// The detector tower or its auxiliary axes cannot be disabled
if (pasynUser->reason == motorCanDisable_) {
detectorTowerAxis *dTAxis = getDetectorTowerAxis(pasynUser);
if (dTAxis != nullptr) {
*value = 0;
return asynSuccess;
}
detectorTowerAuxiliaryAxis *dTAAxis =
getDetectorTowerAuxiliaryAxis(pasynUser);
if (dTAAxis != nullptr) {
*value = 0;
return asynSuccess;
} else {
return turboPmacController::readInt32(pasynUser, value);
}
}
return turboPmacController::readInt32(pasynUser, value);
}
asynStatus detectorTowerController::writeInt32(asynUser *pasynUser,
epicsInt32 value) {
// =====================================================================
if (pasynUser->reason == motorCanDisable_) {
detectorTowerAxis *dTAxis = getDetectorTowerAxis(pasynUser);
if (dTAxis != nullptr) {
return dTAxis->toggleWorkingChangerState(value);
}
}
return turboPmacController::writeInt32(pasynUser, value);
}
asynStatus detectorTowerController::writeFloat64(asynUser *pasynUser,
epicsFloat64 value) {
int function = pasynUser->reason;
// =====================================================================
detectorTowerAxis *axis = getDetectorTowerAxis(pasynUser);
if (function == motorTargetOffset_) {
if (axis == nullptr) {
// This is apparently a "normal" turboPmacAxis or an auxiliaryAxis
return turboPmacController::writeInt32(pasynUser, value);
} else {
if (function == changeState_) {
return axis->toggleWorkingChangerState(value);
} else {
return turboPmacController::writeInt32(pasynUser, value);
// Write into the parameter library and trigger a movement cycle, if the
// writing succeeded
asynStatus status = turboPmacController::writeFloat64(pasynUser, value);
if (status == asynSuccess) {
detectorTowerAxis *dTAxis = getDetectorTowerAxis(pasynUser);
if (dTAxis != nullptr) {
dTAxis->receivedTarget_ = true;
}
}
return status;
}
return turboPmacController::writeFloat64(pasynUser, value);
}
/*
@ -108,6 +136,27 @@ detectorTowerAxis *detectorTowerController::getDetectorTowerAxis(int axisNo) {
return dynamic_cast<detectorTowerAxis *>(asynAxis);
}
/*
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.
*/
detectorTowerAuxiliaryAxis *
detectorTowerController::getDetectorTowerAuxiliaryAxis(asynUser *pasynUser) {
asynMotorAxis *asynAxis = asynMotorController::getAxis(pasynUser);
return dynamic_cast<detectorTowerAuxiliaryAxis *>(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
*/
detectorTowerAuxiliaryAxis *
detectorTowerController::getDetectorTowerAuxiliaryAxis(int axisNo) {
asynMotorAxis *asynAxis = asynMotorController::getAxis(axisNo);
return dynamic_cast<detectorTowerAuxiliaryAxis *>(asynAxis);
}
/*************************************************************************************/
/** The following functions are C-wrappers, and can be called directly from
* iocsh */

34
src/detectorTowerController.h
View File

@ -8,7 +8,7 @@
#ifndef detectorTowerController_H
#define detectorTowerController_H
#include "auxiliaryAxis.h"
#include "detectorTowerAuxiliaryAxis.h"
#include "detectorTowerAxis.h"
#include "turboPmacController.h"
@ -52,6 +52,15 @@ class detectorTowerController : public turboPmacController {
*/
asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
/**
* @brief Overloaded function of turboPmacController
*
* @param pasynUser Specify the axis via the asynUser
* @param value New value
* @return asynStatus
*/
asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);
/**
* @brief Get the axis object
*
@ -70,16 +79,37 @@ class detectorTowerController : public turboPmacController {
*/
detectorTowerAxis *getDetectorTowerAxis(int axisNo);
/**
* @brief Get the axis object
*
* @param pasynUser Specify the axis via the asynUser
* @return detectorTowerAuxiliaryAxis* If no axis could be found,
* this is a nullptr
*/
detectorTowerAuxiliaryAxis *
getDetectorTowerAuxiliaryAxis(asynUser *pasynUser);
/**
* @brief Get the axis object
*
* @param axisNo Specify the axis via its index
* @return detectorTowerAuxiliaryAxis* If no axis could be found,
* this is a nullptr
*/
detectorTowerAuxiliaryAxis *getDetectorTowerAuxiliaryAxis(int axisNo);
// Accessors for additional PVs
int positionStateRBV() { return positionStateRBV_; }
int changeState() { return changeState_; }
int motorTargetOffset() { return motorTargetOffset_; }
private:
// Indices of additional PVs
#define FIRST_detectorTower_PARAM positionStateRBV_
int positionStateRBV_;
int changeState_;
#define LAST_detectorTower_PARAM changeState_
int motorTargetOffset_;
#define LAST_detectorTower_PARAM motorTargetOffset_
};
#define NUM_detectorTower_DRIVER_PARAMS \
(&LAST_detectorTower_PARAM - &FIRST_detectorTower_PARAM + 1)