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Merge pull request #129 from epics-modules/hxp-devel

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Moved the polling from HXPAxis::poll to HXPController::poll to allow HXP support to work with newer firmware.

Issue 124 description:

Older versions of the HXP firmware (v2.1.0 and earlier) are able to query the positions of the virtual axes independently using the virtual group names. Newer versions of the firmware (confirmed with v3.1.0) return an error (-19: GroupName doesn't exist or unknown command). Querying the positions of all six virtual axes simultaneously works on both v2.1.0 and v3.1.0.

Fixes #124
This commit is contained in:
Kevin Peterson
2019-03-19 15:30:38 -05:00
committed by GitHub
parent d7bc85109d b98da5402b
commit 5cebc48ba8
2 changed files with 104 additions and 72 deletions
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motorApp/NewportSrc/HXPDriver.cpp
+98 -71
View File
@@ -364,6 +364,100 @@ void HXPController::postError(HXPAxis *pAxis, int status)
return;
}
/** Polls the controller.
* This function reads the motor position, the limit status, the home status, the moving status,
* and the drive power-on status.
* It calls setIntegerParam() and setDoubleParam() for each item that it polls,
* and then calls callParamCallbacks() at the end.
* \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
asynStatus HXPController::poll()
{
int status;
//char readResponse[25];
static const char *functionName = "HXPController::poll";
status = HXPGroupStatusGet(pollSocket_,
GROUP,
&groupStatus_);
if (status) {
asynPrint(pasynUserSelf, ASYN_TRACE_ERROR,
"%s:%s: [%s]: error calling GroupStatusGet status=%d; pollSocket=%d\n",
driverName, functionName, portName, status, pollSocket_);
goto done;
}
asynPrint(pasynUserSelf, ASYN_TRACE_FLOW,
"%s:%s: [%s]: %s groupStatus=%d\n",
driverName, functionName, portName, GROUP, groupStatus_);
/* Set the status */
setIntegerParam(HXPStatus_, groupStatus_);
/* If the group is not moving then the axis is not moving */
if ((groupStatus_ < 43) || (groupStatus_ > 48))
moving_ = false;
else
moving_ = true;
/* Set the motor done parameter */
setIntegerParam(motorStatusDone_, moving_?0:1);
/*Test for states that mean we cannot move an axis (disabled, uninitialised, etc.)
and set problem bit in MSTA.*/
if ((groupStatus_ < 10) || ((groupStatus_ >= 20) && (groupStatus_ <= 42)) ||
(groupStatus_ == 50) || (groupStatus_ == 64))
{
/* Don't consider a normal disabled status to be a problem */
if ( groupStatus_==20 )
{
setIntegerParam(motorStatusProblem_, 0);
}
else
{
asynPrint(pasynUserSelf, ASYN_TRACE_FLOW,
"%s:%s: [%s]: in unintialised/disabled/not referenced. XPS State Code: %d\n",
driverName, functionName, portName, groupStatus_);
setIntegerParam(motorStatusProblem_, 1);
}
/* Group status indicates power is off */
setIntegerParam(motorStatusPowerOn_, 0);
}
else
{
setIntegerParam(motorStatusProblem_, 0);
setIntegerParam(motorStatusPowerOn_, 1);
}
status = HXPGroupPositionCurrentGet(pollSocket_,
GROUP,
MAX_HXP_AXES,
encoderPosition_);
if (status) {
asynPrint(pasynUserSelf, ASYN_TRACE_ERROR,
"%s:%s: [%s]: error calling GroupPositionCurrentGet status=%d\n",
driverName, functionName, portName, status);
goto done;
}
status = HXPGroupPositionSetpointGet(pollSocket_,
GROUP,
MAX_HXP_AXES,
setpointPosition_);
if (status) {
asynPrint(pasynUserSelf, ASYN_TRACE_ERROR,
"%s:%s: [%s]: error calling GroupPositionSetpointGet status=%d\n",
driverName, functionName, portName, status);
goto done;
}
done:
setIntegerParam(motorStatusProblem_, status ? 1:0);
callParamCallbacks();
return status ? asynError : asynSuccess;
}
// These are the HXPAxis methods
/** Creates a new HXPAxis object.
@@ -581,84 +675,19 @@ asynStatus HXPAxis::poll(bool *moving)
static const char *functionName = "HXPAxis::poll";
status = HXPGroupStatusGet(pollSocket_,
GROUP,
&axisStatus_);
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: [%s,%d]: error calling GroupStatusGet status=%d; pollSocket=%d\n",
driverName, functionName, pC_->portName, axisNo_, status, pollSocket_);
goto done;
}
asynPrint(pasynUser_, ASYN_TRACE_FLOW,
"%s:%s: [%s,%d]: %s axisStatus=%d\n",
driverName, functionName, pC_->portName, axisNo_, positionerName_, axisStatus_);
/* Set the status */
/* Note: there is only one status PV for the controller. Currently it reflects the status of axis 0.
It might be better to call pC_->setIntegerParam(pC_->HXPStatus_, axisStatus_); */
setIntegerParam(pC_->HXPStatus_, axisStatus_);
/* If the group is not moving then the axis is not moving */
if ((axisStatus_ < 43) || (axisStatus_ > 48))
moving_ = false;
else
moving_ = true;
moving_ = pC_->moving_;
/* Set the axis done parameter */
*moving = moving_;
setIntegerParam(pC_->motorStatusDone_, *moving?0:1);
/*Test for states that mean we cannot move an axis (disabled, uninitialised, etc.)
and set problem bit in MSTA.*/
if ((axisStatus_ < 10) || ((axisStatus_ >= 20) && (axisStatus_ <= 42)) ||
(axisStatus_ == 50) || (axisStatus_ == 64))
{
/* Don't consider a normal disabled status to be a problem */
if ( axisStatus_==20 )
{
setIntegerParam(pC_->motorStatusProblem_, 0);
}
else
{
asynPrint(pasynUser_, ASYN_TRACE_FLOW,
"%s:%s: [%s,%d]: in unintialised/disabled/not referenced. XPS State Code: %d\n",
driverName, functionName, pC_->portName, axisNo_, axisStatus_);
setIntegerParam(pC_->motorStatusProblem_, 1);
}
/* Group status indicates power is off */
setIntegerParam(pC_->motorStatusPowerOn_, 0);
}
else
{
setIntegerParam(pC_->motorStatusProblem_, 0);
setIntegerParam(pC_->motorStatusPowerOn_, 1);
}
encoderPosition_ = pC_->encoderPosition_[axisNo_];
setpointPosition_ = pC_->setpointPosition_[axisNo_];
status = HXPGroupPositionCurrentGet(pollSocket_,
positionerName_,
1,
&encoderPosition_);
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: [%s,%d]: error calling GroupPositionCurrentGet status=%d\n",
driverName, functionName, pC_->portName, axisNo_, status);
goto done;
}
//setDoubleParam(pC_->motorEncoderPosition_, (encoderPosition_/stepSize_));
setDoubleParam(pC_->motorEncoderPosition_, encoderPosition_ / MRES);
status = HXPGroupPositionSetpointGet(pollSocket_,
positionerName_,
1,
&setpointPosition_);
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: [%s,%d]: error calling GroupPositionSetpointGet status=%d\n",
driverName, functionName, pC_->portName, axisNo_, status);
goto done;
}
//setDoubleParam(pC_->motorPosition_, (setpointPosition_/stepSize_));
setDoubleParam(pC_->motorPosition_, setpointPosition_ / MRES);
@@ -666,10 +695,8 @@ asynStatus HXPAxis::poll(bool *moving)
// dir flag?
done:
setIntegerParam(pC_->motorStatusProblem_, status ? 1:0);
callParamCallbacks();
return status ? asynError : asynSuccess;
return asynSuccess;
}
/** Code for iocsh registration */
motorApp/NewportSrc/HXPDriver.h
+6 -1
View File
@@ -77,7 +77,7 @@ private:
double setpointPosition_;
int axisStatus_;
double mres_;
int moving_;
bool moving_;
friend class HXPController;
};
@@ -91,6 +91,7 @@ public:
void report(FILE *fp, int level);
HXPAxis* getAxis(asynUser *pasynUser);
HXPAxis* getAxis(int axisNo);
asynStatus poll();
/* These are the methods that are new to this class */
int moveAll(HXPAxis* pAxis);
@@ -150,6 +151,10 @@ private:
//int moveSocket_;
char firmwareVersion_[100];
char *axisNames_;
int groupStatus_;
double encoderPosition_[MAX_HXP_AXES];
double setpointPosition_[MAX_HXP_AXES];
bool moving_;
friend class HXPAxis;
};