forked from epics_driver_modules/motorBase
New version of driver that uses asynMotorDriver and asynPortDriver base classes
This commit is contained in:
MarkRivers
@@ -0,0 +1,587 @@
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/*
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FILENAME... motorSimController.cpp
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USAGE... Simulated Motor Support.
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Based on drvMotorSim.c
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Mark Rivers
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December 13, 2009
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*/
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#include <math.h>
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#include <stdio.h>
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#include <string.h>
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#include <stdlib.h>
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#include <epicsTime.h>
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#include <epicsThread.h>
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#include <epicsString.h>
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#include <epicsMutex.h>
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#include <ellLib.h>
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#include <iocsh.h>
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#include <epicsExport.h>
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#include "asynMotorDriver.h"
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#include "route.h"
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#define DEFAULT_LOW_LIMIT -10000
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#define DEFAULT_HI_LIMIT 10000
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#define DEFAULT_HOME 0
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#define DEFAULT_START 0
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#define NUM_SIM_CONTROLLER_PARAMS 0
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static const char *driverName = "motorSimDriver";
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class motorSimAxis
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{
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public:
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motorSimAxis(class motorSimController *pController, int axis, double lowLimit, double hiLimit, double home, double start);
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asynStatus velocity(double velocity, double acceleration);
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class motorSimController *pController;
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int axis;
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ROUTE_ID route;
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route_reroute_t reroute;
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route_demand_t endpoint;
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route_demand_t nextpoint;
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double lowHardLimit;
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double hiHardLimit;
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double enc_offset;
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double home;
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int homing;
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epicsTimeStamp tLast;
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double deferred_position;
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int deferred_move;
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int deferred_relative;
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friend class motorSimController;
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};
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class motorSimController : asynMotorDriver {
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public:
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motorSimController(const char *portName, int numAxes, int priority, int stackSize);
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asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
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void report(FILE *fp, int level);
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asynStatus moveAxis(asynUser *pasynUser, double position, int relative, double min_velocity, double max_velocity, double acceleration);
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asynStatus moveVelocityAxis(asynUser *pasynUser, double min_velocity, double max_velocity, double acceleration);
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asynStatus homeAxis(asynUser *pasynUser, double min_velocity, double max_velocity, double acceleration, int forwards);
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asynStatus stopAxis(asynUser *pasynUser, double acceleration);
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asynStatus profileMove(asynUser *pasynUser, int npoints, double positions[], double times[], int relative, int trigger);
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asynStatus triggerProfile(asynUser *pasynUser);
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asynStatus configAxis(int axis, int hiHardLimit, int lowHardLimit, int home, int start);
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void motorSimTask(); // Should be pivate, but called from non-member function
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private:
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motorSimAxis* getAxis(asynUser *pasynUser);
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void process(motorSimAxis *pAxis, double delta );
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epicsThreadId motorThread;
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epicsTimeStamp now;
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int movesDeferred;
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int numAxes;
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asynStatus processDeferredMoves();
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motorSimAxis** pAxes;
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};
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typedef struct motorSimControllerNode {
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ELLNODE node;
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const char *portName;
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motorSimController *pController;
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} motorSimControllerNode;
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static ELLLIST motorSimControllerList;
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static int motorSimControllerListInitialized = 0;
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void motorSimController::report(FILE *fp, int level)
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{
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int axis;
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motorSimAxis *pAxis;
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for (axis=0; axis<this->numAxes; axis++) {
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pAxis = this->pAxes[axis];
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fprintf(fp, "Found driver for motorSim axis %d\n",
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pAxis->axis);
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if (level > 0)
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{
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double lowSoftLimit=0.0;
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double hiSoftLimit=0.0;
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fprintf(fp, "Current position = %f, velocity = %f at current time: %f\n",
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pAxis->nextpoint.axis[0].p,
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pAxis->nextpoint.axis[0].v,
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pAxis->nextpoint.T);
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fprintf(fp, "Destination posn = %f, velocity = %f at desination time: %f\n",
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pAxis->endpoint.axis[0].p,
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pAxis->endpoint.axis[0].v,
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pAxis->endpoint.T);
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fprintf(fp, "Hard limits: %f, %f\n", pAxis->lowHardLimit, pAxis->hiHardLimit);
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getDoubleParam(pAxis->axis, pAxis->pController->motorHighLim, &hiSoftLimit);
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getDoubleParam(pAxis->axis, pAxis->pController->motorLowLim, &lowSoftLimit);
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fprintf(fp, "Soft limits: %f, %f\n", lowSoftLimit, hiSoftLimit );
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if (pAxis->homing) fprintf(fp, "Currently homing axis\n" );
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}
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}
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// Call the base class method
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asynMotorDriver::report(fp, level);
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}
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motorSimAxis * motorSimController::getAxis(asynUser *pasynUser)
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{
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int axis;
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motorSimAxis *pAxis;
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getAddress(pasynUser, "motorSimController::getAxis", &axis);
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pAxis = this->pAxes[axis];
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return(pAxis);
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}
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asynStatus motorSimController::processDeferredMoves()
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{
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asynStatus status = asynError;
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double position = 0.0;
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int axis;
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motorSimAxis *pAxis;
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for (axis=0; axis<this->numAxes; axis++)
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{
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pAxis = this->pAxes[axis];
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if (pAxis->deferred_move) {
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position = pAxis->deferred_position;
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/* Check to see if in hard limits */
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if ((pAxis->nextpoint.axis[0].p >= pAxis->hiHardLimit && position > pAxis->nextpoint.axis[0].p) ||
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(pAxis->nextpoint.axis[0].p <= pAxis->lowHardLimit && position < pAxis->nextpoint.axis[0].p) ) return asynError;
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pAxis->endpoint.axis[0].p = position - pAxis->enc_offset;
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pAxis->endpoint.axis[0].v = 0.0;
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setIntegerParam(axis, motorStatusDone, 0);
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pAxis->deferred_move = 0;
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}
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}
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return status;
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}
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asynStatus motorSimController::writeInt32(asynUser *pasynUser, epicsInt32 value)
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{
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int function = pasynUser->reason;
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asynStatus status = asynSuccess;
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motorSimAxis *pAxis = this->getAxis(pasynUser);
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static const char *functionName = "writeInt32";
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/* Set the parameter and readback in the parameter library. This may be overwritten when we read back the
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* status at the end, but that's OK */
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status = setIntegerParam(pAxis->axis, function, value);
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if (function == motorPosition)
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{
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pAxis->enc_offset = (double) value - pAxis->nextpoint.axis[0].p;
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asynPrint(pasynUser, ASYN_TRACE_FLOW,
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"%s:%s: Set axis %d to position %d",
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driverName, functionName, pAxis->axis, value);
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} else if (function == motorDeferMoves)
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{
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asynPrint(pasynUser, ASYN_TRACE_FLOW,
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"%s:%s: %sing Deferred Move flag on driver %s\n",
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value != 0.0?"Sett":"Clear",
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driverName, functionName, this->portName);
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if (value == 0.0 && this->movesDeferred != 0)
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{
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processDeferredMoves();
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}
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this->movesDeferred = value;
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} else {
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/* Call base class call its method (if we have our parameters check this here) */
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status = asynMotorDriver::writeInt32(pasynUser, value);
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}
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/* Do callbacks so higher layers see any changes */
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callParamCallbacks(pAxis->axis, pAxis->axis);
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if (status)
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asynPrint(pasynUser, ASYN_TRACE_ERROR,
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"%s:%s: error, status=%d function=%d, value=%f\n",
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driverName, functionName, status, function, value);
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else
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asynPrint(pasynUser, ASYN_TRACEIO_DRIVER,
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"%s:%s: function=%d, value=%f\n",
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driverName, functionName, function, value);
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return status;
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}
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asynStatus motorSimController::moveAxis(asynUser*pasynUser, double position, int relative, double min_velocity, double max_velocity, double acceleration)
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{
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motorSimAxis *pAxis = this->getAxis(pasynUser);
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route_pars_t pars;
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static const char *functionName = "moveAxis";
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if (relative) position += pAxis->endpoint.axis[0].p + pAxis->enc_offset;
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/* Check to see if in hard limits */
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if ((pAxis->nextpoint.axis[0].p >= pAxis->hiHardLimit && position > pAxis->nextpoint.axis[0].p) ||
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(pAxis->nextpoint.axis[0].p <= pAxis->lowHardLimit && position < pAxis->nextpoint.axis[0].p) ) return asynError;
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if (this->movesDeferred == 0) { /*Normal move.*/
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pAxis->endpoint.axis[0].p = position - pAxis->enc_offset;
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pAxis->endpoint.axis[0].v = 0.0;
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} else { /*Deferred moves.*/
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pAxis->deferred_position = position;
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pAxis->deferred_move = 1;
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pAxis->deferred_relative = relative;
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}
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routeGetParams(pAxis->route, &pars);
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if (max_velocity != 0) pars.axis[0].Vmax = fabs(max_velocity);
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if (acceleration != 0) pars.axis[0].Amax = fabs(acceleration);
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routeSetParams( pAxis->route, &pars );
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setIntegerParam(pAxis->axis, motorStatusDone, 0);
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callParamCallbacks(pAxis->axis, pAxis->axis);
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asynPrint(pasynUser, ASYN_TRACE_FLOW,
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"%s:%s: Set driver %s, axis %d move to %f, min vel=%f, max_vel=%f, accel=%f",
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driverName, functionName, this->portName, pAxis->axis, position, min_velocity, max_velocity, acceleration );
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return asynSuccess;
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}
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asynStatus motorSimAxis::velocity(double velocity, double acceleration )
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{
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route_pars_t pars;
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double deltaV = velocity - this->nextpoint.axis[0].v;
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double time;
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/* Check to see if in hard limits */
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if ((this->nextpoint.axis[0].p > this->hiHardLimit && velocity > 0) ||
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(this->nextpoint.axis[0].p < this->lowHardLimit && velocity < 0) ) return asynError;
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routeGetParams( this->route, &pars );
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if (acceleration != 0) pars.axis[0].Amax = fabs(acceleration);
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routeSetParams( this->route, &pars );
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time = fabs( deltaV / pars.axis[0].Amax );
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this->endpoint.axis[0].v = velocity;
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this->endpoint.axis[0].p = ( this->nextpoint.axis[0].p +
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time * ( this->nextpoint.axis[0].v + 0.5 * deltaV ));
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this->reroute = ROUTE_NEW_ROUTE;
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return asynSuccess;
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}
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asynStatus motorSimController::homeAxis(asynUser *pasynUser, double min_velocity, double max_velocity, double acceleration, int forwards )
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{
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asynStatus status = asynError;
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motorSimAxis *pAxis = this->getAxis(pasynUser);
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static const char *functionName = "moveAxis";
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status = pAxis->velocity((forwards? max_velocity: -max_velocity), acceleration );
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pAxis->homing = 1;
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setIntegerParam(pAxis->axis, motorStatusDone, 0 );
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callParamCallbacks(pAxis->axis, pAxis->axis);
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asynPrint(pasynUser, ASYN_TRACE_FLOW,
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"%s:%s: Set dirver %s, axis %d to home %s, min vel=%f, max_vel=%f, accel=%f",
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driverName, functionName, this->portName, pAxis->axis, (forwards?"FORWARDS":"REVERSE"), min_velocity, max_velocity, acceleration );
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return status;
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}
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asynStatus motorSimController::moveVelocityAxis(asynUser *pasynUser, double min_velocity, double velocity, double acceleration )
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{
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asynStatus status = asynError;
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motorSimAxis *pAxis = this->getAxis(pasynUser);
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static const char *functionName = "moveVelocityAxis";
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status = pAxis->velocity(velocity, acceleration );
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setIntegerParam(pAxis->axis, motorStatusDone, 0);
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callParamCallbacks(pAxis->axis, pAxis->axis);
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asynPrint(pasynUser, ASYN_TRACE_FLOW,
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"%s:%s: Set port %s, axis %d move with velocity of %f, accel=%f",
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driverName, functionName, this->portName, pAxis->axis, velocity, acceleration );
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return status;
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}
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asynStatus motorSimController::profileMove(asynUser *pasynUser, int npoints, double positions[], double times[], int relative, int trigger )
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{
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return asynError;
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}
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asynStatus motorSimController::triggerProfile(asynUser *pasynUser)
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{
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return asynError;
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}
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asynStatus motorSimController::stopAxis(asynUser *pasynUser, double acceleration )
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{
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motorSimAxis *pAxis = this->getAxis(pasynUser);
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static const char *functionName = "moveVelocityAxis";
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pAxis->velocity(0.0, acceleration );
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pAxis->deferred_move = 0;
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asynPrint(pasynUser, ASYN_TRACE_FLOW,
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"%s:%s: Set axis %d to stop with accel=%f",
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driverName, functionName, pAxis->axis, acceleration );
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return asynSuccess;
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}
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asynStatus motorSimController::configAxis(int axis, int hiHardLimit, int lowHardLimit, int home, int start)
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{
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motorSimAxis *pAxis = this->pAxes[axis];
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pAxis->hiHardLimit = hiHardLimit;
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pAxis->lowHardLimit = lowHardLimit;
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pAxis->home = home;
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setIntegerParam(axis, motorPosition, start);
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return(asynSuccess);
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}
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/**\defgroup motorSimTask Routines to implement the motor axis simulation task
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@{
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*/
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/** Process one iteration of an axis
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This routine takes a single axis and propogates its motion forward a given amount
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of time.
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\param pAxis [in] Pointer to axis information.
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\param delta [in] Time in seconds to propogate motion forwards.
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\return Integer indicating 0 (asynSuccess) for success or non-zero for failure.
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*/
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void motorSimController::process(motorSimAxis *pAxis, double delta )
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{
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double lastpos;
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int done = 0;
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lastpos = pAxis->nextpoint.axis[0].p;
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pAxis->nextpoint.T += delta;
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routeFind( pAxis->route, pAxis->reroute, &(pAxis->endpoint), &(pAxis->nextpoint) );
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/* if (pAxis->reroute == ROUTE_NEW_ROUTE) routePrint( pAxis->route, pAxis->reroute, &(pAxis->endpoint), &(pAxis->nextpoint), stdout ); */
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pAxis->reroute = ROUTE_CALC_ROUTE;
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/* No, do a limits check */
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if (pAxis->homing &&
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((lastpos - pAxis->home) * (pAxis->nextpoint.axis[0].p - pAxis->home)) <= 0)
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{
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/* Homing and have crossed the home sensor - return to home */
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pAxis->homing = 0;
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pAxis->reroute = ROUTE_NEW_ROUTE;
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pAxis->endpoint.axis[0].p = pAxis->home;
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pAxis->endpoint.axis[0].v = 0.0;
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}
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if ( pAxis->nextpoint.axis[0].p > pAxis->hiHardLimit && pAxis->nextpoint.axis[0].v > 0 )
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{
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if (pAxis->homing) pAxis->velocity(-pAxis->endpoint.axis[0].v, 0.0 );
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else
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{
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pAxis->reroute = ROUTE_NEW_ROUTE;
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pAxis->endpoint.axis[0].p = pAxis->hiHardLimit;
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pAxis->endpoint.axis[0].v = 0.0;
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}
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}
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else if (pAxis->nextpoint.axis[0].p < pAxis->lowHardLimit && pAxis->nextpoint.axis[0].v < 0)
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{
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if (pAxis->homing) pAxis->velocity(-pAxis->endpoint.axis[0].v, 0.0 );
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else
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{
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pAxis->reroute = ROUTE_NEW_ROUTE;
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pAxis->endpoint.axis[0].p = pAxis->lowHardLimit;
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pAxis->endpoint.axis[0].v = 0.0;
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}
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}
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if (pAxis->nextpoint.axis[0].v == 0) {
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if (!pAxis->deferred_move) {
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done = 1;
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}
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} else {
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done = 0;
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}
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setDoubleParam( pAxis->axis, this->motorPosition, (pAxis->nextpoint.axis[0].p+pAxis->enc_offset) );
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setDoubleParam( pAxis->axis, this->motorEncoderPosition, (pAxis->nextpoint.axis[0].p+pAxis->enc_offset) );
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setIntegerParam( pAxis->axis, this->motorStatusDirection, (pAxis->nextpoint.axis[0].v > 0) );
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setIntegerParam( pAxis->axis, this->motorStatusDone, done );
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setIntegerParam( pAxis->axis, this->motorStatusHighLimit, (pAxis->nextpoint.axis[0].p >= pAxis->hiHardLimit) );
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setIntegerParam( pAxis->axis, this->motorStatusHome, (pAxis->nextpoint.axis[0].p == pAxis->home) );
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setIntegerParam( pAxis->axis, this->motorStatusMoving, !done );
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setIntegerParam( pAxis->axis, this->motorStatusLowLimit, (pAxis->nextpoint.axis[0].p <= pAxis->lowHardLimit) );
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}
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static void motorSimTaskC(void *drvPvt)
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{
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motorSimController *pController = (motorSimController*)drvPvt;
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pController->motorSimTask();
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}
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#define DELTA 0.1
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void motorSimController::motorSimTask()
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{
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epicsTimeStamp now;
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double delta;
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int axis;
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motorSimAxis *pAxis;
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while ( 1 )
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{
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/* Get a new timestamp */
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epicsTimeGetCurrent( &now );
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delta = epicsTimeDiffInSeconds( &now, &(this->now) );
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this->now = now;
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if ( delta > (DELTA/4.0) && delta <= (4.0*DELTA) )
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{
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/* A reasonable time has elapsed, it's not a time step in the clock */
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for (axis=0; axis<this->numAxes; axis++)
|
||||
{
|
||||
this->lock();
|
||||
pAxis = this->pAxes[axis];
|
||||
this->process(pAxis, delta );
|
||||
callParamCallbacks(axis, axis);
|
||||
}
|
||||
}
|
||||
epicsThreadSleep( DELTA );
|
||||
}
|
||||
}
|
||||
|
||||
motorSimAxis::motorSimAxis(motorSimController *pController, int axis, double lowHardLimit, double hiHardLimit, double home, double start )
|
||||
: pController(pController), axis(axis), lowHardLimit(lowHardLimit), hiHardLimit(hiHardLimit), home(home)
|
||||
{
|
||||
route_pars_t pars;
|
||||
|
||||
pars.numRoutedAxes = 1;
|
||||
pars.routedAxisList[0] = 1;
|
||||
pars.Tsync = 0.0;
|
||||
pars.Tcoast = 0.0;
|
||||
pars.axis[0].Amax = 1.0;
|
||||
pars.axis[0].Vmax = 1.0;
|
||||
|
||||
this->endpoint.T = 0;
|
||||
this->endpoint.axis[0].p = start;
|
||||
this->endpoint.axis[0].v = 0;
|
||||
this->nextpoint.axis[0].p = start;
|
||||
this->route = routeNew( &(this->endpoint), &pars );
|
||||
}
|
||||
|
||||
|
||||
motorSimController::motorSimController(const char *portName, int numAxes, int priority, int stackSize)
|
||||
: asynMotorDriver(portName, numAxes, NUM_SIM_CONTROLLER_PARAMS,
|
||||
asynInt32Mask | asynFloat64Mask,
|
||||
asynInt32Mask | asynFloat64Mask,
|
||||
ASYN_CANBLOCK | ASYN_MULTIDEVICE,
|
||||
1, // autoconnect
|
||||
priority, stackSize)
|
||||
{
|
||||
int axis;
|
||||
motorSimAxis *pAxis;
|
||||
motorSimControllerNode *pNode;
|
||||
|
||||
if (motorSimControllerListInitialized) {
|
||||
motorSimControllerListInitialized = 1;
|
||||
ellInit(&motorSimControllerList);
|
||||
}
|
||||
|
||||
// We should make sure this portName is not already in the list */
|
||||
pNode = (motorSimControllerNode*) calloc(1, sizeof(motorSimControllerNode));
|
||||
pNode->portName = epicsStrDup(portName);
|
||||
pNode->pController = this;
|
||||
ellAdd(&motorSimControllerList, (ELLNODE *)pNode);
|
||||
|
||||
if (numAxes < 1 ) numAxes = 1;
|
||||
this->numAxes = numAxes;
|
||||
|
||||
this->pAxes = (motorSimAxis**) calloc(numAxes, sizeof(motorSimAxis*));
|
||||
for (axis=0; axis<numAxes; axis++) {
|
||||
pAxis = new motorSimAxis(this, axis, DEFAULT_LOW_LIMIT, DEFAULT_HI_LIMIT, DEFAULT_HOME, DEFAULT_START);
|
||||
this->pAxes[axis] = pAxis;
|
||||
setIntegerParam(this->motorPosition, DEFAULT_START);
|
||||
}
|
||||
|
||||
this->motorThread = epicsThreadCreate( "motorSimThread",
|
||||
epicsThreadPriorityLow,
|
||||
epicsThreadGetStackSize(epicsThreadStackMedium),
|
||||
(EPICSTHREADFUNC) motorSimTaskC, (void *) this);
|
||||
}
|
||||
|
||||
/** Configuration command, called directly or from iocsh */
|
||||
extern "C" int motorSimCreateController(const char *portName, int numAxes, int priority, int stackSize)
|
||||
{
|
||||
motorSimController *pSimController
|
||||
= new motorSimController(portName,numAxes, priority, stackSize);
|
||||
pSimController = NULL;
|
||||
return(asynSuccess);
|
||||
}
|
||||
|
||||
extern "C" int motorSimConfigAxis(const char *portName, int axis, int hiHardLimit, int lowHardLimit, int home, int start)
|
||||
{
|
||||
motorSimControllerNode *pNode;
|
||||
|
||||
// Find this controller
|
||||
if (!motorSimControllerListInitialized) {
|
||||
return(-1);
|
||||
}
|
||||
pNode = (motorSimControllerNode*)ellFirst(&motorSimControllerList);
|
||||
while(pNode) {
|
||||
if (strcmp(pNode->portName, portName) == 0) {
|
||||
pNode->pController->configAxis(axis, hiHardLimit, lowHardLimit, home, start);
|
||||
return(0);
|
||||
}
|
||||
pNode = (motorSimControllerNode*)ellNext((ELLNODE*)pNode);
|
||||
}
|
||||
printf("Controller not found\n");
|
||||
return(-1);
|
||||
}
|
||||
|
||||
/** Code for iocsh registration */
|
||||
static const iocshArg motorSimCreateControllerArg0 = {"Port name", iocshArgString};
|
||||
static const iocshArg motorSimCreateControllerArg1 = {"Number of axes", iocshArgInt};
|
||||
static const iocshArg motorSimCreateControllerArg2 = {"priority", iocshArgInt};
|
||||
static const iocshArg motorSimCreateControllerArg3 = {"stackSize", iocshArgInt};
|
||||
static const iocshArg * const motorSimCreateControllerArgs[] = {&motorSimCreateControllerArg0,
|
||||
&motorSimCreateControllerArg1,
|
||||
&motorSimCreateControllerArg2,
|
||||
&motorSimCreateControllerArg3};
|
||||
static const iocshFuncDef motorSimCreateControllerDef = {"motorSimCreateController", 4, motorSimCreateControllerArgs};
|
||||
static void motorSimCreateContollerCallFunc(const iocshArgBuf *args)
|
||||
{
|
||||
motorSimCreateController(args[0].sval, args[1].ival, args[2].ival, args[3].ival);
|
||||
}
|
||||
|
||||
static const iocshArg motorSimConfigAxisArg0 = { "Post name", iocshArgString};
|
||||
static const iocshArg motorSimConfigAxisArg1 = { "Axis #", iocshArgInt};
|
||||
static const iocshArg motorSimConfigAxisArg2 = { "High limit", iocshArgInt};
|
||||
static const iocshArg motorSimConfigAxisArg3 = { "Low limit", iocshArgInt};
|
||||
static const iocshArg motorSimConfigAxisArg4 = { "Home position", iocshArgInt};
|
||||
static const iocshArg motorSimConfigAxisArg5 = { "Start posn", iocshArgInt};
|
||||
|
||||
static const iocshArg *const motorSimConfigAxisArgs[] = {
|
||||
&motorSimConfigAxisArg0,
|
||||
&motorSimConfigAxisArg1,
|
||||
&motorSimConfigAxisArg2,
|
||||
&motorSimConfigAxisArg3,
|
||||
&motorSimConfigAxisArg4,
|
||||
&motorSimConfigAxisArg5
|
||||
};
|
||||
static const iocshFuncDef motorSimConfigAxisDef ={"motorSimConfigAxis",6,motorSimConfigAxisArgs};
|
||||
|
||||
static void motorSimConfigAxisCallFunc(const iocshArgBuf *args)
|
||||
{
|
||||
motorSimConfigAxis(args[0].sval, args[1].ival, args[2].ival, args[3].ival, args[4].ival, args[5].ival);
|
||||
}
|
||||
|
||||
static void motorSimDriverRegister(void)
|
||||
{
|
||||
|
||||
iocshRegister(&motorSimCreateControllerDef, motorSimCreateContollerCallFunc);
|
||||
iocshRegister(&motorSimConfigAxisDef, motorSimConfigAxisCallFunc);
|
||||
}
|
||||
|
||||
extern "C" {
|
||||
epicsExportRegistrar(motorSimDriverRegister);
|
||||
}
|
||||
Reference in New Issue
Block a user