Lift and angle axis now move simultaneously

Fixed a bug which caused the axes not to move in parallel, but after
each other.

.gitea/workflows/action.yaml

@@ -0,0 +1,30 @@
+name: Test And Build
+on: [push]
+
+jobs:
+  Lint:
+    runs-on: linepics
+    steps:
+      - name: checkout repo
+        uses: actions/checkout@v4
+      - name: cppcheck
+        run: cppcheck --std=c++17 --addon=cert --addon=misc --error-exitcode=1 src/*.cpp
+      - name: formatting
+        run: clang-format --style=file --Werror --dry-run src/*.cpp src/*.h
+  Build:
+    runs-on: linepics
+    steps:
+      - name: checkout repo
+        uses: actions/checkout@v4
+        with:
+          submodules: 'true'
+      - run: |
+          pushd turboPmac
+          sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
+          echo -e "\nIGNORE_SUBMODULES += sinqmotor" >> Makefile
+          make install
+          popd
+      - run: |
+          sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
+          echo -e "\nIGNORE_SUBMODULES += turboPmac" >> Makefile
+          make install

.gitlab-ci.yml

@@ -1,58 +0,0 @@
-default:
-  image: docker.psi.ch:5000/sinqdev/sinqepics:latest
-
-stages:
-  - lint
-  - build
-  - test
-
-cppcheck:
-  stage: lint
-  script:
-    - cppcheck --std=c++17 --addon=cert --addon=misc --error-exitcode=1 src/*.cpp
-  artifacts:
-    expire_in: 1 week
-  tags:
-    - sinq
-
-formatting:
-  stage: lint
-  script:
-    - clang-format --style=file --Werror --dry-run src/*.cpp
-  artifacts:
-    expire_in: 1 week
-  tags:
-    - sinq
-
-# clangtidy:
-#   stage: lint
-#   script:
-#     - curl https://docker.psi.ch:5000/v2/_catalog
-# #     - dnf update -y
-# #     - dnf install -y clang-tools-extra
-# #     - clang-tidy sinqEPICSApp/src/*.cpp sinqEPICSApp/src/*.c sinqEPICSApp/src/*.h -checks=cppcoreguidelines-*,cert-*
-# #   tags:
-# #     - sinq
-
-build_module:
-  stage: build
-  script:
-    - export TURBOPMAC_VERSION="$(grep 'turboPmac_VERSION=' Makefile | cut -d= -f2)"
-    - git clone --depth 1 --branch "${TURBOPMAC_VERSION}" https://gitlab-ci-token:${CI_JOB_TOKEN}@git.psi.ch/sinq-epics-modules/sinqmotor.git
-    - pushd sinqmotor
-    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
-    - echo "LIBVERSION=${TURBOPMAC_VERSION}" >> Makefile
-    - make install
-    - popd
-    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
-    - echo "LIBVERSION=${CI_COMMIT_TAG:-0.0.1}" >> Makefile
-    - make install
-    - cp -rT "/ioc/modules/detectorTower/$(ls -U /ioc/modules/detectorTower/ | head -1)" "./detectorTower-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
-  artifacts:
-    name: "detectorTower-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
-    paths:
-      - "detectorTower-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}/*"
-    expire_in: 1 week
-  when: always
-  tags:
-    - sinq

Makefile

@@ -42,4 +42,4 @@ DBDS += turboPmac/sinqMotor/src/sinqMotor.dbd
 DBDS += turboPmac/src/turboPmac.dbd
 DBDS += src/detectorTower.dbd
 
-USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wextra -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings
+USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wextra -Werror -fvisibility=hidden # -Wpedantic // Does not work because EPICS macros trigger warnings

db/detectorTower.db

@@ -58,7 +58,6 @@ record(ai, "$(INSTR)$(M):Origin") {
     field(INP, "@asyn($(CONTROLLER),$(AXIS)) MOTOR_ORIGIN")
     field(SCAN, "I/O Intr")
     field(PINI, "NO")
-    field(VAL, "0")
 }
 
 # Shift the origin of the corresponding axis by the given value. The axis will move to this 
@@ -69,16 +68,28 @@ record(ao, "$(INSTR)$(M):AdjustOrigin") {
     field(PINI, "NO")
     field(FLNK, "$(INSTR)$(M):ResetAO")
     field(VAL, "0")
+    field(UDF, "0")
+    field(SCAN, "Passive")
+}
+
+# Only forward nonzero inputs for the origin adjustment
+record(calcout, "$(INSTR)$(M):GateOrigin") {
+    field(CALC, "A!=0?A:0")
+    field(INPA, "$(INSTR)$(M):AdjustOrigin")
+    field(OUT, "$(INSTR)$(M):WriteAO.VAL PP") # Forward the value to the driver
+    field(PINI, "NO")
+    field(SCAN, "Passive")
 }
 
 # Reset the PV $(INSTR)$(M):AdjustOrigin to zero after it has been written to and
 # forward the value to $(INSTR)$(M):WriteAO which does the actual writing.
 record(seq, "$(INSTR)$(M):ResetAO") {
     field(DESC, "Write value to hardware then reset to 0")
-    field(DOL1, "$(INSTR)$(M):AdjustOrigin") 
-    field(LNK1, "$(INSTR)$(M):WriteAO.VAL PP")   # Perform write to hardware
+    field(DOL1, "1") # Dummy value which is only here to trigger processing of LNK1
+    field(LNK1, "$(INSTR)$(M):GateOrigin.PROC PP")
     field(DOL2, "0.0") 
     field(LNK2, "$(INSTR)$(M):AdjustOrigin.VAL PP")   # Reset to zero
+    field(UDF, "0")
 }
 
 # This record forwards the adjustment of the origin to the asyn driver.

src/detectorTowerAngleAxis.cpp

@@ -34,17 +34,16 @@ static void deferredMovementCollectorLoop(void *drvPvt) {
     detectorTowerAngleAxis *axis = (detectorTowerAngleAxis *)drvPvt;
     while (1) {
         if (axis->receivedTarget_) {
-            // Wait for 100 ms and then start the movement with the information
-            // available
-            axis->startingDeferredMovement_ = true;
+            // Wait for the time span defined in deferredMovementWait_ and then
+            // start the movement with the information available
             epicsThreadSleep(axis->deferredMovementWait_);
             axis->startCombinedMove();
 
             // After the movement command has been send, reset the flag
             axis->receivedTarget_ = false;
         }
-        // Limit this loop to an idle frequency of 1 kHz
-        epicsThreadSleep(0.001);
+        // Limit this loop to an idle frequency of 10 kHz
+        epicsThreadSleep(0.01);
     }
 }
 
@@ -76,11 +75,10 @@ detectorTowerAngleAxis::detectorTowerAngleAxis(detectorTowerController *pC,
     }
 
     // Initialize all member variables
-    // Assumed to be not ready by default, this is overwritten in the next poll
     error_ = 0;
+    waitingForStart_ = false;
     receivedTarget_ = false;
-    startingDeferredMovement_ = false;
-    deferredMovementWait_ = 0.1; // seconds
+    deferredMovementWait_ = 0.5; // seconds
 
     // Will be populated in the init() method
     beamRadius_ = 0.0;
@@ -199,7 +197,7 @@ asynStatus detectorTowerAngleAxis::doMove(double position, int relative,
     // started to the defined target position.
     setTargetPosition(position * motorRecResolution);
     receivedTarget_ = true;
-
+    waitingForStart_ = true;
     return asynSuccess;
 }
 
@@ -237,7 +235,6 @@ asynStatus detectorTowerAngleAxis::startCombinedMove() {
         setAxisParamChecked(this, motorStatusProblem, true);
 
         callParamCallbacks();
-        startingDeferredMovement_ = false;
         return asynError;
     }
 
@@ -293,9 +290,9 @@ asynStatus detectorTowerAngleAxis::stop(double acceleration) {
     }
 
     // Reset the deferred movement flags
-    startingDeferredMovement_ = false;
-    deferredMovementWait_ = false;
-
+    receivedTarget_ = false;
+    waitingForStart_ = false;
+    liftAxis()->waitingForStart_ = false;
     return status;
 }
 
@@ -422,8 +419,9 @@ asynStatus detectorTowerAngleAxis::doReset() {
     getAxisParamChecked(this, positionStateRBV, &positionState);
 
     // Reset the deferred movement flags
-    startingDeferredMovement_ = false;
-    deferredMovementWait_ = false;
+    receivedTarget_ = false;
+    waitingForStart_ = false;
+    liftAxis()->waitingForStart_ = false;
 
     /*
     Check which action should be performed:
@@ -552,11 +550,12 @@ static void configDetectorTowerCreateAxisCallFunc(const iocshArgBuf *args) {
 // =============================================================================
 
 /**
- * @brief Set the setDeferredMovementWait (FFI implementation)
+ * @brief Set the setDeferredMovementWait time (FFI implementation)
  *
  * @param portName                Name of the controller
  * @param axisNo                  Axis number
- * @param scaleMovTimeout         Scaling factor (in seconds)
+ * @param deferredMovementWait    Time (in seconds) the driver waits to collect
+ * all movement commands from the different axes
  * @return asynStatus
  */
 asynStatus setDeferredMovementWait(const char *portName, int axisNo,

src/detectorTowerAngleAxis.h

@@ -3,7 +3,7 @@
 #include "detectorTowerController.h"
 #include "turboPmacAxis.h"
 
-class detectorTowerAngleAxis : public turboPmacAxis {
+class HIDDEN detectorTowerAngleAxis : public turboPmacAxis {
   public:
     /**
      * @brief Construct a new detectorTowerAngleAxis
@@ -136,15 +136,15 @@ class detectorTowerAngleAxis : public turboPmacAxis {
      */
     detectorTowerSupportAxis *supportAxis() { return supportAxis_; }
 
+    /**
+     * @brief Return a pointer to the axis controller
+     */
+    virtual detectorTowerController *pController() override { return pC_; };
+
     // If true, either this axis or one of the detectorTowerLiftAxis
     // attached to it received a movement command.
     bool receivedTarget_;
 
-    // If set to true, the virtual axis is about to start a deferred movement
-    // (but is currently still collecting movement commands from its component
-    // axes)
-    bool startingDeferredMovement_;
-
     /*
     The collector cycle waits until this time in seconds has passed before
     starting a deferred movement
@@ -157,10 +157,9 @@ class detectorTowerAngleAxis : public turboPmacAxis {
      */
     int error_;
 
-    /**
-     * @brief Return a pointer to the axis controller
-     */
-    virtual detectorTowerController *pController() override { return pC_; };
+    // True, if this axis has received a move command and the driver is
+    // currently starting a deferred movement.
+    bool waitingForStart_;
 
   protected:
     detectorTowerController *pC_;

src/detectorTowerController.cpp

@@ -418,15 +418,14 @@ asynStatus detectorTowerController::pollDetectorAxes(
 
     // Check if the tower is moving
     if (notInPosition == 1 || positionState > 2) {
-        // By now, the controller has actually started the movement
-        angleAxis->startingDeferredMovement_ = false;
         *moving = true;
+
+        // Since the tower is now moving, the axis by definition do not wait for
+        // movement start anymore.
+        liftAxis->waitingForStart_ = false;
+        angleAxis->waitingForStart_ = false;
     } else {
-        if (angleAxis->startingDeferredMovement_) {
-            *moving = true;
-        } else {
-            *moving = false;
-        }
+        *moving = false;
     }
 
     // Calculate the lift position /w consideration of the angle
@@ -809,14 +808,26 @@ asynStatus detectorTowerController::pollDetectorAxes(
     setAxisParamChecked(liftAxis, motorEnableRBV, true);
     setAxisParamChecked(supportAxis, motorEnableRBV, true);
 
-    // Are the axes currently moving?
-    setAxisParamChecked(angleAxis, motorStatusMoving, *moving);
-    setAxisParamChecked(liftAxis, motorStatusMoving, *moving);
-    setAxisParamChecked(supportAxis, motorStatusMoving, *moving);
+    // If the axis is starting a movement, mark it as moving. Otherwise use the
+    // moving parameter.
+    if (angleAxis->waitingForStart_) {
+        setAxisParamChecked(angleAxis, motorStatusMoving, true);
+        setAxisParamChecked(angleAxis, motorStatusDone, false);
+    } else {
+        setAxisParamChecked(angleAxis, motorStatusMoving, *moving);
+        setAxisParamChecked(angleAxis, motorStatusDone, !(*moving));
+    }
 
-    // Is the axis movement done?
-    setAxisParamChecked(angleAxis, motorStatusDone, !(*moving));
-    setAxisParamChecked(liftAxis, motorStatusDone, !(*moving));
+    if (liftAxis->waitingForStart_) {
+        setAxisParamChecked(liftAxis, motorStatusMoving, true);
+        setAxisParamChecked(liftAxis, motorStatusDone, false);
+    } else {
+        setAxisParamChecked(liftAxis, motorStatusMoving, *moving);
+        setAxisParamChecked(liftAxis, motorStatusDone, !(*moving));
+    }
+
+    // Support axis status is solely deduced from system movement state
+    setAxisParamChecked(supportAxis, motorStatusMoving, *moving);
     setAxisParamChecked(supportAxis, motorStatusDone, !(*moving));
 
     // In which direction are the axes currently moving?

src/detectorTowerController.h

@@ -13,11 +13,11 @@
 // Forward declaration of the axis classes to resolve the cyclic dependency
 // between the controller and the axis .h-file. See
 // https://en.cppreference.com/w/cpp/language/class.
-class detectorTowerAngleAxis;
-class detectorTowerLiftAxis;
-class detectorTowerSupportAxis;
+class HIDDEN detectorTowerAngleAxis;
+class HIDDEN detectorTowerLiftAxis;
+class HIDDEN detectorTowerSupportAxis;
 
-class detectorTowerController : public turboPmacController {
+class HIDDEN detectorTowerController : public turboPmacController {
 
   public:
     /**

src/detectorTowerLiftAxis.cpp

@@ -70,6 +70,9 @@ detectorTowerLiftAxis::detectorTowerLiftAxis(detectorTowerController *pC,
 
     angleAxis_ = angleAxis;
     angleAxis->liftAxis_ = this;
+
+    // Initialize the flag to false
+   waitingForStart_ = false;
 }
 
 detectorTowerLiftAxis::~detectorTowerLiftAxis(void) {
@@ -157,7 +160,6 @@ asynStatus detectorTowerLiftAxis::doMove(double position, int relative,
                                          double min_velocity,
                                          double max_velocity,
                                          double acceleration) {
-
     double motorRecResolution = 0.0;
     getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
@@ -166,7 +168,7 @@ asynStatus detectorTowerLiftAxis::doMove(double position, int relative,
     // defined target position.
     setTargetPosition(position * motorRecResolution);
     angleAxis_->receivedTarget_ = true;
-
+    waitingForStart_ = true;
     return asynSuccess;
 }
 
@@ -222,4 +224,4 @@ asynStatus detectorTowerLiftAxis::adjustOrigin(double newOrigin) {
     }
 
     return status;
-}
+}

src/detectorTowerLiftAxis.h

@@ -3,7 +3,7 @@
 #include "detectorTowerController.h"
 #include "turboPmacAxis.h"
 
-class detectorTowerLiftAxis : public turboPmacAxis {
+class HIDDEN detectorTowerLiftAxis : public turboPmacAxis {
   public:
     /**
      * @brief Construct a new detectorTowerAngleAxis
@@ -110,6 +110,10 @@ class detectorTowerLiftAxis : public turboPmacAxis {
      */
     virtual detectorTowerController *pController() override { return pC_; };
 
+    // True, if this axis has received a move command and the driver is
+    // currently starting a deferred movement.
+    bool waitingForStart_;
+
   protected:
     detectorTowerController *pC_;
     detectorTowerAngleAxis *angleAxis_;

src/detectorTowerSupportAxis.h

@@ -7,7 +7,7 @@
  * @brief Passive axis which is mostly controlled indirectly by the hardware
  *
  */
-class detectorTowerSupportAxis : public turboPmacAxis {
+class HIDDEN detectorTowerSupportAxis : public turboPmacAxis {
   public:
     /**
      * @brief Construct a new detectorTowerSupportAxis