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Improve XPS error reporting by adding axis and card numbers

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This commit is contained in:
Peter Denison
2007-11-02 10:13:18 +00:00
parent 547f761a6a
commit 936d0c376b
1 changed files with 39 additions and 39 deletions
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motorApp/NewportSrc/drvXPSAsyn.c
+39 -39
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@@ -234,7 +234,7 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
{
case motorAxisPosition:
{
PRINT(pAxis->logParam, ERROR, "motorAxisSetDouble: XPS does not support setting position\n");
PRINT(pAxis->logParam, ERROR, "motorAxisSetDouble[%d,%d]: XPS does not support setting position\n", pAxis->card, pAxis->axis);
break;
}
case motorAxisEncoderRatio:
@@ -256,15 +256,15 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
pAxis->positionerName,
&pAxis->lowLimit, &pAxis->highLimit);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "motorAxisSetDouble: error performing PositionerUserTravelLimitsGet "
"for high limit=%f, status=%d\n", deviceValue, status);
PRINT(pAxis->logParam, ERROR, "motorAxisSetDouble[%d,%d]: error performing PositionerUserTravelLimitsGet "
"for high limit=%f, status=%d\n", pAxis->card, pAxis->axis, deviceValue, status);
}
status = PositionerUserTravelLimitsSet(pAxis->pollSocket,
pAxis->positionerName,
deviceValue, pAxis->highLimit);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "motorAxisSetDouble: error performing PositionerUserTravelLimitsSet "
"for low limit=%f, status=%d\n", deviceValue, status);
PRINT(pAxis->logParam, ERROR, "motorAxisSetDouble[%d,%d]: error performing PositionerUserTravelLimitsSet "
"for low limit=%f, status=%d\n", pAxis->card, pAxis->axis, deviceValue, status);
} else {
pAxis->lowLimit = deviceValue;
PRINT(pAxis->logParam, FLOW, "Set card %d, axis %d low limit to %f\n", pAxis->card, pAxis->axis, deviceValue);
@@ -280,15 +280,15 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
pAxis->positionerName,
&pAxis->lowLimit, &pAxis->highLimit);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "motorAxisSetDouble: error performing PositionerUserTravelLimitsGet "
"for high limit=%f, status=%d\n", deviceValue, status);
PRINT(pAxis->logParam, ERROR, "motorAxisSetDouble[%d,%d]: error performing PositionerUserTravelLimitsGet "
"for high limit=%f, status=%d\n", pAxis->card, pAxis->axis, deviceValue, status);
}
status = PositionerUserTravelLimitsSet(pAxis->pollSocket,
pAxis->positionerName,
pAxis->lowLimit, deviceValue);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "motorAxisSetDouble: error performing PositionerUserTravelLimitsSet "
"for high limit=%f, status=%d\n", deviceValue, status);
PRINT(pAxis->logParam, ERROR, "motorAxisSetDouble[%d,%d]: error performing PositionerUserTravelLimitsSet "
"for high limit=%f, status=%d\n", pAxis->card, pAxis->axis, deviceValue, status);
} else {
pAxis->highLimit = deviceValue;
PRINT(pAxis->logParam, FLOW, "Set card %d, axis %d high limit to %f\n", pAxis->card, pAxis->axis, deviceValue);
@@ -329,7 +329,7 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
break;
}
default:
PRINT(pAxis->logParam, ERROR, "motorAxisSetDouble: unknown function %d\n", function);
PRINT(pAxis->logParam, ERROR, "motorAxisSetDouble[%d,%d]: unknown function %d\n", pAxis->card, pAxis->axis, function);
break;
}
}
@@ -349,8 +349,8 @@ static int motorAxisSetInteger(AXIS_HDL pAxis, motorAxisParam_t function, int va
if (value) {
status = GroupMotionEnable(pAxis->pollSocket, pAxis->groupName);
if (status) {
PRINT(pAxis->logParam, ERROR, "motorAxisSetInteger: error calling GroupMotionEnable status=%d\n",
status);
PRINT(pAxis->logParam, ERROR, "motorAxisSetInteger[%d,%d]: error calling GroupMotionEnable status=%d\n",
pAxis->card, pAxis->axis, status);
} else {
PRINT(pAxis->logParam, FLOW, "motorAxisSetInteger set card %d, axis %d closed loop enable\n",
pAxis->card, pAxis->axis);
@@ -359,8 +359,8 @@ static int motorAxisSetInteger(AXIS_HDL pAxis, motorAxisParam_t function, int va
} else {
status = GroupMotionDisable(pAxis->pollSocket, pAxis->groupName);
if (status) {
PRINT(pAxis->logParam, ERROR, "motorAxisSetInteger: error calling GroupMotionDisable status=%d\n",
status);
PRINT(pAxis->logParam, ERROR, "motorAxisSetInteger[%d,%d]: error calling GroupMotionDisable status=%d\n",
pAxis->card, pAxis->axis, status);
} else {
PRINT(pAxis->logParam, FLOW, "motorAxisSetInteger set card %d, axis %d closed loop disable\n",
pAxis->card, pAxis->axis);
@@ -369,7 +369,7 @@ static int motorAxisSetInteger(AXIS_HDL pAxis, motorAxisParam_t function, int va
}
break;
default:
PRINT(pAxis->logParam, ERROR, "motorAxisSetInteger: unknown function %d\n", function);
PRINT(pAxis->logParam, ERROR, "motorAxisSetInteger[%d,%d]: unknown function %d\n", pAxis->card, pAxis->axis, function);
break;
}
if (ret_status != MOTOR_AXIS_ERROR) status = motorParam->setInteger(pAxis->params, function, value);
@@ -393,7 +393,7 @@ static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
if (pAxis->axisStatus >= 20 && pAxis->axisStatus <= 36) {
status = GroupMotionEnable(pAxis->pollSocket, pAxis->groupName);
if (status) {
PRINT(pAxis->logParam, ERROR, "motorAxisMove: error performing GroupMotionEnable %d\n",status);
PRINT(pAxis->logParam, ERROR, "motorAxisMove[%d,%d]: error performing GroupMotionEnable %d\n",pAxis->card, pAxis->axis, status);
/* Error -27 is caused when the motor record changes dir i.e. when it aborts a move!*/
return MOTOR_AXIS_ERROR;
}
@@ -406,8 +406,8 @@ static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
pAxis->maxJerkTime);
if (status != 0) {
ErrorStringGet(pAxis->pollSocket, status, errorString);
PRINT(pAxis->logParam, ERROR, " Error performing PositionerSGammaParametersSet %d: %s\n",
status, errorString);
PRINT(pAxis->logParam, ERROR, " Error performing PositionerSGammaParametersSet[%d,%d] %d: %s\n",
pAxis->card, pAxis->axis, status, errorString);
return MOTOR_AXIS_ERROR;
}
@@ -418,7 +418,7 @@ static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
1,
&deviceUnits);
if (status != 0 && status != -27) {
PRINT(pAxis->logParam, ERROR, " Error performing GroupMoveRelative %d\n",status);
PRINT(pAxis->logParam, ERROR, " Error performing GroupMoveRelative[%d,%d] %d\n", pAxis->card, pAxis->axis, status);
/* Error -27 is caused when the motor record changes dir i.e. when it aborts a move!*/
return MOTOR_AXIS_ERROR;
}
@@ -428,7 +428,7 @@ static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
1,
&deviceUnits);
if (status != 0 && status != -27) {
PRINT(pAxis->logParam, ERROR, " Error performing GroupMoveAbsolute %d\n",status);
PRINT(pAxis->logParam, ERROR, " Error performing GroupMoveAbsolute[%d,%d] %d\n",pAxis->card, pAxis->axis, status);
/* Error -27 is caused when the motor record changes dir i.e. when it aborts a move!*/
return MOTOR_AXIS_ERROR;
}
@@ -456,8 +456,8 @@ static int motorAxisHome(AXIS_HDL pAxis, double min_velocity, double max_velocit
if (groupStatus >= 10 && groupStatus <= 18) {
status = GroupKill(pAxis->pollSocket, pAxis->groupName);
if (status) {
PRINT(pAxis->logParam, ERROR, "motorAxisHome: error calling GroupKill error=%s\n",
getXPSError(pAxis, status, errorBuffer));
PRINT(pAxis->logParam, ERROR, "motorAxisHome[%d,%d]: error calling GroupKill error=%s\n",
pAxis->card, pAxis->axis, getXPSError(pAxis, status, errorBuffer));
return MOTOR_AXIS_ERROR;
}
}
@@ -466,15 +466,15 @@ static int motorAxisHome(AXIS_HDL pAxis, double min_velocity, double max_velocit
if (groupStatus >= 0 && groupStatus <= 9) {
status = GroupInitialize(pAxis->pollSocket, pAxis->groupName);
if (status) {
PRINT(pAxis->logParam, ERROR, "motorAxisHome: error calling GroupInitialize error=%s\n",
getXPSError(pAxis, status, errorBuffer));
PRINT(pAxis->logParam, ERROR, "motorAxisHome[%d,%d]: error calling GroupInitialize error=%s\n",
pAxis->card, pAxis->axis, getXPSError(pAxis, status, errorBuffer));
return MOTOR_AXIS_ERROR;
}
}
status = GroupHomeSearch(pAxis->moveSocket, pAxis->groupName);
if (status) {
PRINT(pAxis->logParam, ERROR, "motorAxisHome: error calling GroupInitialize error=%s\n",
getXPSError(pAxis, status, errorBuffer));
PRINT(pAxis->logParam, ERROR, "motorAxisHome[%d,%d]: error calling GroupHomeSearch error=%s\n",
pAxis->card, pAxis->axis, getXPSError(pAxis, status, errorBuffer));
return MOTOR_AXIS_ERROR;
}
@@ -497,16 +497,16 @@ static int motorAxisVelocityMove(AXIS_HDL pAxis, double min_velocity, double vel
if (pAxis == NULL) return(status);
status = GroupJogModeEnable(pAxis->pollSocket, pAxis->groupName);
if (status) {
PRINT(pAxis->logParam, ERROR, "motorAxisVelocityMove: error calling GroupJogModeEnable=%d\n",
status);
PRINT(pAxis->logParam, ERROR, "motorAxisVelocityMove[%d,%d]: error calling GroupJogModeEnable=%d\n",
pAxis->card, pAxis->axis, status);
return MOTOR_AXIS_ERROR;
}
deviceVelocity = velocity * pAxis->stepSize;
deviceAcceleration = acceleration * pAxis->stepSize;
status = GroupJogParametersSet(pAxis->moveSocket, pAxis->positionerName, 1, &deviceVelocity, &deviceAcceleration);
if (status) {
PRINT(pAxis->logParam, ERROR, "motorAxisVelocityMove: error calling GroupJogParametersSet=%d\n",
status);
PRINT(pAxis->logParam, ERROR, "motorAxisVelocityMove[%d,%d]: error calling GroupJogParametersSet=%d\n",
pAxis->card, pAxis->axis, status);
return MOTOR_AXIS_ERROR;
}
/* Tell paramLib that the motor is moving.
@@ -541,16 +541,16 @@ static int motorAxisStop(AXIS_HDL pAxis, double acceleration)
status = GroupStatusGet(pAxis->pollSocket, pAxis->groupName, &pAxis->axisStatus);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, " Error performing GroupStatusGet status=%d%\n",\
status);
PRINT(pAxis->logParam, ERROR, " Error performing GroupStatusGet[%d,%d] status=%d%\n",\
pAxis->card, pAxis->axis, status);
return MOTOR_AXIS_ERROR;
}
if (pAxis->axisStatus == 47) {
deviceAcceleration = acceleration * pAxis->stepSize;
status = GroupJogParametersSet(pAxis->moveSocket, pAxis->positionerName, 1, &deviceVelocity, &deviceAcceleration);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, " Error performing GroupJogParametersSet status=%d\n",\
status);
PRINT(pAxis->logParam, ERROR, " Error performing GroupJogParametersSet[%d,%d] status=%d\n",\
pAxis->card, pAxis->axis, status);
return MOTOR_AXIS_ERROR;
}
}
@@ -606,7 +606,7 @@ static void XPSPoller(XPSController *pController)
pAxis->groupName,
&pAxis->axisStatus);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "XPSPoller: error calling GroupStatusGet, status=%d\n", status);
PRINT(pAxis->logParam, ERROR, "XPSPoller: error calling GroupStatusGet[%d,%d], status=%d\n", pAxis->card, pAxis->axis, status);
motorParam->setInteger(pAxis->params, motorAxisCommError, 1);
} else {
PRINT(pAxis->logParam, IODRIVER, "XPSPoller: %s axisStatus=%d\n", pAxis->positionerName, pAxis->axisStatus);
@@ -625,12 +625,12 @@ static void XPSPoller(XPSController *pController)
status = GroupJogParametersGet(pAxis->pollSocket, pAxis->positionerName, 1, &theoryVelocity, &acceleration);
status = GroupJogCurrentGet(pAxis->pollSocket, pAxis->positionerName, 1, &actualVelocity, &acceleration);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "XPSPoller: error calling GroupJogCurrentGet, status=%d\n");
PRINT(pAxis->logParam, ERROR, "XPSPoller: error calling GroupJogCurrentGet[%d,%d], status=%d\n", pAxis->card, pAxis->axis, status);
} else {
if (actualVelocity == 0. && theoryVelocity == 0.) {
status = GroupJogModeDisable(pAxis->pollSocket, pAxis->groupName);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "XPSPoller: error calling GroupJogModeDisable, status=%d\n", status);
PRINT(pAxis->logParam, ERROR, "XPSPoller: error calling GroupJogModeDisable[%d,%d], status=%d\n", pAxis->card, pAxis->axis, status);
/* In this mode must do a group kill? */
status = GroupKill(pAxis->pollSocket, pAxis->groupName);
PRINT(pAxis->logParam, ERROR, "XPSPoller: called GroupKill!\n");
@@ -664,7 +664,7 @@ static void XPSPoller(XPSController *pController)
1,
&pAxis->currentPosition);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "XPSPoller: error calling GroupPositionCurrentGet, status=%d\n");
PRINT(pAxis->logParam, ERROR, "XPSPoller: error calling GroupPositionCurrentGet[%d,%d], status=%d\n", pAxis->card, pAxis->axis, status);
motorParam->setInteger(pAxis->params, motorAxisCommError, 1);
} else {
motorParam->setInteger(pAxis->params, motorAxisCommError, 0);
@@ -676,7 +676,7 @@ static void XPSPoller(XPSController *pController)
pAxis->positionerName,
&pAxis->positionerError);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "XPSPoller: error calling PositionerErrorGet, status=%d\n");
PRINT(pAxis->logParam, ERROR, "XPSPoller: error calling PositionerErrorGet[%d,%d], status=%d\n", pAxis->card, pAxis->axis, status);
motorParam->setInteger(pAxis->params, motorAxisCommError, 1);
} else {
motorParam->setInteger(pAxis->params, motorAxisCommError, 0);