Updated sinqMotor to new 1.6.0

Makefile

@@ -7,7 +7,9 @@ EPICS_VERSIONS=7.0.7
 ARCH_FILTER=RHEL%
 
 # Specify the version of asynMotor we want to build against
-motorBase_VERSION=7.3.2
+motorBase_VERSION=7.2.2
+
+LIBVERSION=homeerror
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/masterMacsAxis.h

src/masterMacsAxis.cpp

@@ -11,11 +11,6 @@
 #include <string.h>
 #include <unistd.h>
 
-enum moveMode {
-    positionMode,
-    velocityMode,
-};
-
 struct masterMacsAxisImpl {
     /*
     The axis status and axis error of MasterMACS are given as an integer from
@@ -29,7 +24,6 @@ struct masterMacsAxisImpl {
     bool needInit = true;
     bool targetReachedUninitialized;
     bool dynamicLimits;
-    moveMode lastMoveCommand;
 };
 
 /*
@@ -100,7 +94,6 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
           .timeAtHandshake = 0,
           .targetReachedUninitialized = true,
           .dynamicLimits = false,
-          .lastMoveCommand = positionMode,
       })) {
 
     asynStatus status = asynSuccess;
@@ -267,7 +260,7 @@ asynStatus masterMacsAxis::init() {
                                           __PRETTY_FUNCTION__, __LINE__);
     }
 
-    status = setVeloFields(abs(motVelocity), 0.0, motVmax);
+    status = setVeloFields(motVelocity, 0.0, motVmax);
     if (status != asynSuccess) {
         return status;
     }
@@ -393,7 +386,10 @@ asynStatus masterMacsAxis::readLimits() {
     highLimit = highLimit - limitsOffset;
     lowLimit = lowLimit + limitsOffset;
 
-    return setLimits(highLimit, lowLimit);
+    setAxisParamChecked(this, motorHighLimitFromDriver, highLimit);
+    setAxisParamChecked(this, motorLowLimitFromDriver, lowLimit);
+
+    return status;
 }
 
 // Perform the actual poll
@@ -403,10 +399,10 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     asynStatus poll_status = asynSuccess;
 
     // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rwStatus = asynSuccess;
+    asynStatus rw_status = asynSuccess;
 
     // Status of parameter library operations
-    asynStatus plStatus = asynSuccess;
+    asynStatus pl_status = asynSuccess;
 
     char response[pC_->MAXBUF_] = {0};
     int nvals = 0;
@@ -455,8 +451,8 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
 
         pC_->read(axisNo_, 86, response);
-        if (rwStatus != asynSuccess) {
+        if (rw_status != asynSuccess) {
-            return rwStatus;
+            return rw_status;
         }
 
         nvals = sscanf(response, "%lf", &handshakePerformed);
@@ -482,20 +478,38 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
     // Read the previous motor position
-    plStatus = motorPosition(&previousPosition);
+    pl_status = motorPosition(&previousPosition);
-    if (plStatus != asynSuccess) {
+    if (pl_status != asynSuccess) {
-        return plStatus;
+        return pl_status;
     }
 
     // Update the axis status
-    rwStatus = readAxisStatus();
+    rw_status = readAxisStatus();
-    if (rwStatus != asynSuccess) {
+    if (rw_status != asynSuccess) {
-        return rwStatus;
+        return rw_status;
     }
 
-    rwStatus = pC_->read(axisNo_, 12, response);
+    // If we wait for a handshake, but the motor was moving in its last poll
-    if (rwStatus != asynSuccess) {
+    // cycle and has reached its target, it is not moving. Otherwise it is
-        return rwStatus;
+    // considered moving, even if we're still waiting for the handshake.
+    if (pMasterMacsA_->targetReachedUninitialized) {
+        *moving = false;
+    } else {
+        if (targetReached() || !switchedOn()) {
+            *moving = false;
+        } else {
+            *moving = true;
+        }
+    }
+
+    if (targetReached()) {
+        pMasterMacsA_->targetReachedUninitialized = false;
+    }
+
+    // Read the current position
+    rw_status = pC_->read(axisNo_, 12, response);
+    if (rw_status != asynSuccess) {
+        return rw_status;
     }
     nvals = sscanf(response, "%lf", &currentPosition);
     if (nvals != 1) {
@@ -503,59 +517,12 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                                           __PRETTY_FUNCTION__, __LINE__);
     }
 
-    plStatus = setMotorPosition(currentPosition);
-    if (plStatus != asynSuccess) {
-        return plStatus;
-    }
-    setAxisParamChecked(this, motorEncoderPosition, currentPosition);
-
-    if (pMasterMacsA_->lastMoveCommand == velocityMode && !speedEqualZero()) {
-        double actualVelocity = 0.0;
-
-        rwStatus = pC_->read(axisNo_, 14, response);
-        if (rwStatus != asynSuccess) {
-            return rwStatus;
-        }
-        nvals = sscanf(response, "%lf", &actualVelocity);
-        if (nvals != 1) {
-            return pC_->couldNotParseResponse("R14", response, axisNo_,
-                                              __PRETTY_FUNCTION__, __LINE__);
-        }
-
-        // Writes the actual speed in steps per second to the paramLib. This
-        // value is then returned by the RVEL field of the motor record.
-        setAxisParamChecked(this, motorVelocity,
-                            actualVelocity / motorRecResolution);
-
-        // Motor is moving in velocity mode
-        *moving = true;
-
-    } else {
-
-        // If we wait for a handshake, but the motor was moving in its last poll
-        // cycle and has reached its target, it is not moving. Otherwise it is
-        // considered moving, even if we're still waiting for the handshake.
-        if (pMasterMacsA_->targetReachedUninitialized) {
-            *moving = false;
-        } else {
-            if (targetReached() || !switchedOn()) {
-                *moving = false;
-            } else {
-                *moving = true;
-            }
-        }
-
-        if (targetReached()) {
-            pMasterMacsA_->targetReachedUninitialized = false;
-        }
-    }
-
     /*
-    Read out the error if either a fault condition status flag has been set
+    Read out the error if either a fault condition status flag has been set or
-    or if a movement has just ended.
+    if a movement has just ended.
      */
     if (faultConditionSet() || !(*moving)) {
-        rwStatus = readAxisError();
+        rw_status = readAxisError();
     }
 
     msgPrintControlKey keyError = msgPrintControlKey(
@@ -776,9 +743,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     // Read out the limits, if the motor is not moving and if the limits are
     // dynamic
     if (pMasterMacsA_->dynamicLimits && !(*moving)) {
-        rwStatus = readLimits();
+        rw_status = readLimits();
-        if (rwStatus != asynSuccess) {
+        if (rw_status != asynSuccess) {
-            return rwStatus;
+            return rw_status;
         }
     }
 
@@ -803,11 +770,16 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     setAxisParamChecked(this, motorStatusDone, !(*moving));
     setAxisParamChecked(this, motorStatusDirection, direction);
 
+    pl_status = setMotorPosition(currentPosition);
+    if (pl_status != asynSuccess) {
+        return pl_status;
+    }
     return poll_status;
 }
 
-asynStatus masterMacsAxis::moveVelocity(double minVelocity, double maxVelocity,
+asynStatus masterMacsAxis::doMoveVelocity(double minVelocity,
-                                        double acceleration) {
+                                          double maxVelocity,
+                                          double acceleration) {
     // Suppress unused variable warning
     (void)minVelocity;
     (void)acceleration;
@@ -858,14 +830,7 @@ asynStatus masterMacsAxis::moveVelocity(double minVelocity, double maxVelocity,
 
     // Start the move. We do not use the MovTimeout watchdog here, because the
     // motor can move for any time in velocity mode.
-    status = pC_->write(axisNo_, 00, "3", timeout);
+    return pC_->write(axisNo_, 00, "3", timeout);
-    if (status != asynSuccess) {
-        return status;
-    }
-
-    // Cache the information that the current movement is in velocity mode
-    pMasterMacsA_->lastMoveCommand = velocityMode;
-    return status;
 }
 
 asynStatus masterMacsAxis::doMove(double position, int relative,
@@ -973,8 +938,6 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
         return asynError;
     }
 
-    // Cache the information that the current movement is in position mode
-    pMasterMacsA_->lastMoveCommand = positionMode;
     return status;
 }
 
@@ -1275,8 +1238,8 @@ asynStatus masterMacsAxis::readAxisStatus() {
 
     // =========================================================================
 
-    asynStatus rwStatus = pC_->read(axisNo_, 10, response);
+    asynStatus rw_status = pC_->read(axisNo_, 10, response);
-    if (rwStatus == asynSuccess) {
+    if (rw_status == asynSuccess) {
 
         float axisStatus = 0;
         int nvals = sscanf(response, "%f", &axisStatus);
@@ -1288,7 +1251,7 @@ asynStatus masterMacsAxis::readAxisStatus() {
         pMasterMacsA_->axisStatus = toBitset(axisStatus);
     }
 
-    return rwStatus;
+    return rw_status;
 }
 
 asynStatus masterMacsAxis::readAxisError() {
@@ -1296,8 +1259,8 @@ asynStatus masterMacsAxis::readAxisError() {
 
     // =========================================================================
 
-    asynStatus rwStatus = pC_->read(axisNo_, 11, response);
+    asynStatus rw_status = pC_->read(axisNo_, 11, response);
-    if (rwStatus == asynSuccess) {
+    if (rw_status == asynSuccess) {
 
         float axisError = 0;
         int nvals = sscanf(response, "%f", &axisError);
@@ -1307,7 +1270,7 @@ asynStatus masterMacsAxis::readAxisError() {
         }
         pMasterMacsA_->axisError = toBitset(axisError);
     }
-    return rwStatus;
+    return rw_status;
 }
 
 bool masterMacsAxis::readyToBeSwitchedOn() {
@@ -1334,8 +1297,6 @@ bool masterMacsAxis::remoteMode() { return pMasterMacsA_->axisStatus[9]; }
 
 bool masterMacsAxis::targetReached() { return pMasterMacsA_->axisStatus[10]; }
 
-bool masterMacsAxis::speedEqualZero() { return pMasterMacsA_->axisStatus[12]; }
-
 bool masterMacsAxis::internalLimitActive() {
     return pMasterMacsA_->axisStatus[11];
 }

src/masterMacsAxis.h

@@ -52,15 +52,17 @@ class HIDDEN masterMacsAxis : public sinqAxis {
     asynStatus doPoll(bool *moving);
 
     /**
-     * @brief TODO
+     * @brief Implementation of the `doMoveVelocity` function from sinqAxis. The
+     * parameters are described in the documentation of
+     * `sinqAxis::doMoveVelocity`.
      *
      * @param minVelocity
      * @param maxVelocity
      * @param acceleration
      * @return asynStatus
      */
-    asynStatus moveVelocity(double minVelocity, double maxVelocity,
+    asynStatus doMoveVelocity(double minVelocity, double maxVelocity,
-                            double acceleration);
+                              double acceleration);
 
     /**
      * @brief Implementation of the `doMove` function from sinqAxis. The
@@ -250,12 +252,6 @@ class HIDDEN masterMacsAxis : public sinqAxis {
      */
     bool internalLimitActive();
 
-    /**
-     * @brief Read the property from axisStatus (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
-     */
-    bool speedEqualZero();
-
     // Bits 12 and 13 are unused
 
     /**