lin-epics-modules/motorBase
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cleanup, no change in function

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This commit is contained in:
timmmooney
2013-11-18 16:07:32 +00:00
parent 8a99070ad6
commit 24ae9139a9
1 changed files with 19 additions and 37 deletions
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motorApp/AerotechSrc/EnsembleTrajectoryScan.st
+19 -37
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@@ -6,6 +6,10 @@ program EnsembleTrajectoryScan("P=13IDC:,R=traj1,M1=M1,M2=M2,M3=M3,M4=M4,M5=M5,M
* iocInit()
* ...
* seq &EnsembleTrajectoryScan, "P=xxx:,R=traj1:,M1=m1,M2=m2,M3=m3,M4=m4,M5=m5,M6=m6,M7=m7,M8=m8,PORT=none"
*
* NAXES must be less than or equal to the value of MAX_AXES specified in EnsembleTrajectoryScan.h
* NELM must be less than or equal to the value of MAX_ELEMENTS specified below
* NPULSE must be less than or equal to the value of MAX_AXES specified below
*/
/* This sequencer program works with trajectoryScan.db. It implements
@@ -65,7 +69,6 @@ option +r;
#define READ_INTERVAL (1/10.)
char stringOut[MAX_MESSAGE_STRING];
char sbuf[MAX_MESSAGE_STRING];
char stringIn[MAX_MESSAGE_STRING];
char stringLast[MAX_MESSAGE_STRING];
char abortCommand[MAX_MESSAGE_STRING];
@@ -130,7 +133,6 @@ double position[MAX_AXES][MAX_ELEMENTS];
double velocity[MAX_AXES][MAX_ELEMENTS];
double motorStart[MAX_AXES];
double motorCurr[MAX_AXES];
double dbuf[MAX_PULSES];
/* variables for constructing trajectory commands */
int movingMask;
@@ -280,10 +282,6 @@ ss EnsembleTrajectoryScan {
endPulses = nelements;
pvPut(endPulses);
} state monitor_inputs
when(efTestAndClear(motorMDVSMon)) {
/* We don't use this. */
} state monitor_inputs
}
/* Build trajectory */
@@ -297,7 +295,6 @@ ss EnsembleTrajectoryScan {
epicsSnprintf(buildMessage, MSGSIZE, "Building...");
pvPut(buildMessage);
buildStatus = STATUS_SUCCESS; /* presume we'll be successful */
/* Initialize new trajectory */
/* If time mode is TIME_MODE_TOTAL then construct timeTrajectory and post it */
@@ -314,7 +311,7 @@ ss EnsembleTrajectoryScan {
npoints = nelements;
/* calculate time at which motor should reach each trajectory point */
/* calculate time from beginning of motion at which motor should reach each trajectory point */
realTimeTrajectory[0] = 0.;
for (i=1; i<npoints; i++) {
realTimeTrajectory[i] = realTimeTrajectory[i-1] + timeTrajectory[i];
@@ -374,7 +371,6 @@ ss EnsembleTrajectoryScan {
}
}
}
if (limitViolation) {
buildStatus = STATUS_FAILURE;
}
@@ -400,11 +396,9 @@ ss EnsembleTrajectoryScan {
state execute {
when () {
/* Set busy flag */
execState = EXECUTE_STATE_MOVE_START;
pvPut(execState);
abortState = ABORT_STATE_NONE;
/* Set status to INVALID */
execStatus = STATUS_UNDEFINED;
pvPut(execStatus);
/* Erase the readback and error arrays */
@@ -542,19 +536,6 @@ ss EnsembleTrajectoryScan {
strcpy(stringOut, "PSOCONTROL @0 OFF");
%%pVar->status = writeRead(ssId, pVar, pVar->stringOut, pVar->stringIn);
}
#if 0
/* Get the current motor positions, post them */
%%getMotorPositions(ssId, pVar, pVar->motorCurrent);
for (j=0; j<numAxes; j++) pvPut(motorCurrent[j]);
for (j=0; j<numAxes; j++) {
if (moveAxis[j]) {
epicsMotorPos[j] = motorCurrent[j];
pvPut(epicsMotorPos[j]);
}
}
%%waitEpicsMotors(ssId, pVar);
if (debugLevel) printf("\n...flyback done\n");
#endif
execState = EXECUTE_STATE_DONE;
pvPut(execState);
/* Clear execute command, post. This is a "busy" record, don't
@@ -619,7 +600,7 @@ ss EnsembleTrajectoryScan {
motorError[0][i] = 0;
}
%%pVar->d = trajEval(ssId, pVar, pVar->motorReadbacks[0], pVar->scopeDataIntervalMS, pVar->nScopeDataPoints,
%% pVar->motorTrajectory[0], pVar->realTimeTrajectory, pVar->npoints, pVar->motorError[0]);
%%pVar->motorTrajectory[0], pVar->realTimeTrajectory, pVar->npoints, pVar->motorError[0]);
#endif
#if USE_DATAACQ
@@ -948,7 +929,7 @@ static double rawToUser(int raw, double off, int dir, double res) {
*/
int sendReceiveCommand(SS_ID ssId, struct UserVar *pVar, char *cmd, char *callerReply, int checkProgram) {
int i, i1, i2, i3, i4, cmdNum;
double d, d1, d2, d3, d4, d5, d6, d7, d8, d9;
double d1, d2, d3;
char stringOut[MAX_MESSAGE_STRING], reply[MAX_MESSAGE_STRING];
int status, saveDebug;
@@ -1001,6 +982,7 @@ int sendReceiveCommand(SS_ID ssId, struct UserVar *pVar, char *cmd, char *caller
saveDebug = pVar->debugLevel;
pVar->debugLevel = MAX(0, pVar->debugLevel - 1);
cmdNum = cmdDONE;
if (strncmp(cmd, "VELOCITY ON", strlen("VELOCITY ON")) == 0) {
cmdNum = cmdVELOCITY_ON;
sprintf(stringOut, "IGLOBAL(%d) = %d", cmdVar, cmdVELOCITY_ON);
@@ -1223,14 +1205,22 @@ int writeIntAndCheck(SS_ID ssId, struct UserVar *pVar, int n, int ival) {
}
/* Not all Ensemble controllers support PSOARRAY commands. There doesn't seem to be a command
* that allows software to determine whether or not PSOARRAY commands are supported.
*/
#define PSO_DISTANCE_ARRAY 1
/* For trajectories of unlimited length, PVT commands can be executed via sendReceiveCommand(),
* but this has not been reliable enough, so if PVT_BY_CONTROLLER, we send the whole trajectory
* to the controller via DGLOBAL variables.
*/
#define PVT_BY_CONTROLLER 1
/**************************************************************************************/
static int loadTrajectory(SS_ID ssId, struct UserVar *pVar) {
int i, j, k, n, status;
int i, j, n, status;
char stringOut[MAX_MESSAGE_STRING], reply[MAX_MESSAGE_STRING];
double position, p, v, t, dp, dt, dtime;
int dir;
double position, p, v, t, dp, dtime;
int iGlobalIndex;
int nPulses = 1 + pVar->endPulses - pVar->startPulses;
int intPosition;
@@ -1343,14 +1333,6 @@ static int loadTrajectory(SS_ID ssId, struct UserVar *pVar) {
/* Program SCOPE commands */
pVar->nScopeDataPoints = pVar->npoints * 2.2;
if (pVar->nScopeDataPoints > MAX_PULSES) pVar->nScopeDataPoints = MAX_PULSES;
for (j=0, dt=-1.; j<MAX_AXES; j++) {
if (pVar->moveAxis[j]) {
if (pVar->epicsMotorACCL[j] > dt) {
dt = pVar->epicsMotorACCL[j];
break;
}
}
}
pVar->scopeDataIntervalMS = NINT(1000 * (pVar->time*1.1)/pVar->nScopeDataPoints);
if (pVar->scopeDataIntervalMS < 1) pVar->scopeDataIntervalMS = 1;
sprintf(stringOut, "SCOPEBUFFER %d", pVar->nScopeDataPoints);