forked from epics_driver_modules/motorBase
Added xpsSlave.st
This commit is contained in:
kmpeters
@@ -185,6 +185,10 @@ Modification Log for R6-8
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Files modified: motorApp/NewportSrc/drvXPSAsyn.c
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motorApp/NewportSrc/drvXPSAsyn.h
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5) Added xpsSlave.st to motorApp/NewportSrc to allow master/slave mode to be
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used with any version of the XPS support.
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Modification Log for R6-7
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=========================
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@@ -0,0 +1,41 @@
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record(longout, "$(P)$(R):debug")
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{
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field(DESC, "Debug level")
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field(VAL, "5")
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field(PINI, "YES")
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}
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record(bo, "$(P)$(R):ok")
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{
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field(DESC, "Slave mode ok?")
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field(ZNAM, "No")
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field(ONAM, "Yes")
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field(VAL, "0")
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}
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record(bo, "$(P)$(R):init")
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{
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field(DESC, "Initialize")
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field(ZNAM, "Done")
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field(ONAM, "Initializing")
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field(VAL, "0")
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}
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record(bo, "$(P)$(R):on")
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{
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field(DESC, "Slave mode")
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field(ZNAM, "Off")
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field(ONAM, "On")
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field(VAL, "0")
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}
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record(ao, "$(P)$(R):ratio")
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{
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field(DESC, "Gear ratio")
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field(VAL, "1")
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}
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record(ao, "$(P)$(R):ratioRdbk")
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{
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field(DESC, "Gear ratio")
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field(VAL, "1")
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}
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@@ -54,6 +54,7 @@ Newport_SRCS += XPSController.cpp
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Newport_SRCS += XPSAxis.cpp
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ifdef SNCSEQ
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Newport_SRCS += XPS_trajectoryScan.st
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Newport_SRCS += xpsSlave.st
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endif
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#
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Newport_SRCS += hxp_drivers.cpp
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@@ -20,6 +20,7 @@ registrar(AG_UCRegister)
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registrar(AG_CONEXRegister)
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registrar(MM4005_trajectoryScanRegistrar)
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registrar(XPS_trajectoryScanRegistrar)
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registrar(xpsSlaveRegistrar)
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registrar(SMC100Register)
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#variable(devXPSC8Debug)
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#variable(drvXPSC8Debug)
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Executable
+245
@@ -0,0 +1,245 @@
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/*================================================================
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*
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* seqPVmacros.h -- PV-related macros for EPICS State Notation
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* Language (SNL) code development
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*
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* 2004-May-19 [jemian] merged all DEBUG_PRINTn macros into one macro
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* 2003-Oct-01 [jemian] changed errlogPrintf to printf (can't use in interrupts)
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* 2003-Mar-20 [jemian] changed pvSet to PVPUT (and pvSetStr to PVPUTSTR)
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* 2003-Mar-19 [jemian] changed printf to errlogPrintf
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* 2002-Sep-24 [tischler] added pvSetStr and DEBUG_PRINT (a la Jemian)
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* 2002-Jun-04 [lazmo] renamed to seqPVmacros.h
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* 2002-Mar-08 [lazmo] added pvSet()
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* 2002-Feb-21 [lazmo] fixed comments
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* 2001-Nov-24 [lazmo] added PVA & PVAA
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* 2001-Oct-18 [lazmo] original
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*
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* Author:
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* M. Laznovsky -- lazmo_at_slac.stanford.edu
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*
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*================================================================
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*/
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/*----------------------------------------------------------------
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* PV() -- declare a variable and the EPICS PV it's assigned to, with
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* optional monitor & event flag. One line takes the place of
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* the usual:
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*
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* int blah;
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* assign blah ...
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* monitor blah;
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* evflag blahFLag;
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* sync blah ...
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*
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* Format:
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*
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* PV( varType, varName, pvName, other )
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*
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* Where:
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*
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* varType is int, short, float, etc.
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* varName is the variable name, e.g. foo
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* pvName is the associated PV, e.g. "XYZ:ETC:FOO"
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* other is one of the following:
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* NoMon
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* Monitor
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* EvFlag
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*
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* Examples:
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*
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* PV (int, gui_goo, "{STN}:GUI:GOO", NoMon); <-- no monitor
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* PV (float, gui_fudge, "{STN}:GUI:FUDGE", Monitor); <-- w/monitor
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* PV (short, gui_run, "{STN}:GUI:RUN", EvFlag); <-- w/monitor & event flag
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*
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*----------------------------------------------------------------
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*/
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#define PV(_TYPE_,_VAR_,_PV_,_OTHER_) \
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_TYPE_ _VAR_; \
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assign _VAR_ to _PV_ \
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_OTHER_ (_VAR_)
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/*----------------------------------------------------------------
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* PVA(), for single waveform rec or array of PVs
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*
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* "varName" becomes array of <varType>; 3rd arg is number of elements
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*
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* examples:
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*
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* single waveform record:
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*
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* PVA (short, plot_x0, 32, "{STN}:DATA:PLOT:X0", NoMon);
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*
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* array of PVs:
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*
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* #define PVA_zap { \
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* "{STN}:GUI:ZAP1", \
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* "{STN}:GUI:ZAP2", \
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* "{STN}:GUI:ZAP3" \
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* }
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* PVA (int, zap, 3, PVA_zap, EvFlag);
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*
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*----------------------------------------------------------------
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*/
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#define PVA(_TYPE_,_VAR_,_NELEM_,_PV_,_OTHER_) \
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_TYPE_ _VAR_ [ _NELEM_ ]; \
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assign _VAR_ to _PV_ \
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_OTHER_ (_VAR_)
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/*----------------------------------------------------------------
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* PVAA(), for arrays of waveform records
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*
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* "varName" becomes double-dimensioned array of <varType>
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* 3rd arg is number of waveform records
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* 4th arg is number of elements per record
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* Need to define another macro first for "_PV_"
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*
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* example:
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*
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* #define PVAA_plotx { \
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* "{STN}:DATA:PLOT:X1", \
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* "{STN}:DATA:PLOT:X2", \
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* "{STN}:DATA:PLOT:X3" \
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* }
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* PVAA (short, plotx, 3, 500, PVAA_plotx, NoMon);
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*
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*----------------------------------------------------------------
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*/
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#define PVAA(_TYPE_,_VAR_,_NREC_,_NELEM_,_PV_,_OTHER_) \
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_TYPE_ _VAR_ [ _NREC_ ] [ _NELEM_ ]; \
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assign _VAR_ to _PV_ \
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_OTHER_ (_VAR_)
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/*----------------------------------------------------------------
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* macros for last arg of PV* ("_OTHER_")
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*----------------------------------------------------------------
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*/
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/*
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* no monitor
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*/
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#define NoMon(_VAR_) /* this macro intentionally left blank :P */
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/*
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* monitor
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*/
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#define Monitor(_VAR_) ; monitor _VAR_
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/*
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* monitor & event flag; flag var will be named "<var>_EvFlag"
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*/
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#define EvFlag(_VAR_) \
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Monitor (_VAR_); \
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evflag _VAR_##_mon; \
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sync _VAR_ _VAR_##_mon
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/*================================================================*/
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/*================================================================*/
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/*----------------------------------------------------------------
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* PVPUT() -- variable assign and pvPut() in one
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*
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* Format:
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*
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* PVPUT( varName, expr )
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*
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* Where:
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*
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* varName is the variable name, e.g. foo
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* expr is any C expression
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*
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* Examples:
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*
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* PVPUT (foo, 3);
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* expands to:
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* foo = 3;
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* pvPut(foo);
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*
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* PVPUT (bar, xyz + 2);
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* expands to:
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* bar = xyz + 2;
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* pvPut(bar);
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*
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*----------------------------------------------------------------
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*/
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#define PVPUT(_VAR_,_EXPR_) \
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{ \
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_VAR_ = ( _EXPR_ ); \
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pvPut(_VAR_); \
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}
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/*----------------------------------------------------------------
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* PVPUTSTR() -- string assign and pvPut() in one
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*
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* Format:
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*
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* PVPUTSTR( strName, string expr )
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*
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* Where:
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*
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* strName is the variable name, e.g. foo
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* string expr is any C expression that points to a string
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*
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* Example:
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*
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* PVPUTSTR (foo, "error message");
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* expands to:
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* strcpy(foo,"error message");
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* pvPut(foo);
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*
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*----------------------------------------------------------------
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*/
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#define PVPUTSTR(_STR_,_EXPR_) \
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{ \
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strcpy(_STR_,_EXPR_); \
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pvPut(_STR_); \
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}
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/*================================================================*/
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/*================================================================*/
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/*----------------------------------------------------------------
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* DEBUG_PRINT() -- print a debug string for a particular debug level
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*
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* Format:
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*
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* DEBUG_PRINT( debug_level, string format, v1, v2, v3, v4 )
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*
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* Where:
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*
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* debug_level is the debugging level, ie 3
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* string format is an sprintf format specifier
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* v1, v2, v3, v4 are optional arguments for the sprintf format
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*
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* Example:
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*
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* DEBUG_PRINT (1, "ERROR, how did I get here?", 0, 0, 0, 0 );
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*
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*----------------------------------------------------------------
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*/
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#if defined(NO_DEBUGGING_OUTPUT)
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#define DEBUG_PRINT(DEBUG_LEVEL, FMT,V1,V2,V3,V4) ;
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#else
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#define DEBUG_PRINT(DEBUG_LEVEL,FMT,V1,V2,V3,V4) \
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if (debug_flag >= DEBUG_LEVEL) { \
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printf("<%s,%d,%s,%d> ", \
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__FILE__, __LINE__, \
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SNLtaskName, DEBUG_LEVEL); \
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printf(FMT,V1,V2,V3,V4); \
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printf("\n"); \
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}
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#endif
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/*================================================================*/
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/*================================================================*/
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/*================================================================*/
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/* end */
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@@ -0,0 +1,136 @@
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program xpsSlave("name=xpsSlave,P=xxx:,R=xps:slave,IP=192.168.1.11,M=GROUP1.POSITIONER,S=GROUP2")
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/* Turn on run-time debug messages */
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option +d;
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/* Make the generated code reentrant */
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option +r;
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/* Suppress SNC warnings */
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/*option -w;*/
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#include "seqPVmacros.h"
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%%#include "XPS_C8_drivers.h"
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#define PORT 5001
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#define TIMEOUT 100.0
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char* SNLtaskName;
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char* ip;
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char* master;
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char* slave;
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%%int xps_socket;
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int val;
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char* masterRdbk;
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double ratioRdbk;
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/* PV definitions */
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PV(int, debug_flag, "{P}{R}:debug.VAL", Monitor);
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/* the ok PV is an indicator that slave mode has been configured. it should only be false after a power-cycle before initializing */
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PV(int, ok_pv, "{P}{R}:ok.VAL", NoMon);
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PV(int, on_pv, "{P}{R}:on.VAL", EvFlag);
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PV(int, init_pv, "{P}{R}:init.VAL", EvFlag);
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PV(double, ratio_pv, "{P}{R}:ratio.VAL", Monitor);
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PV(double, ratioRdbk_pv, "{P}{R}:ratioRdbk.VAL", NoMon);
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ss slave_main
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{
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state init
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{
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when ()
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{
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/* get macros */
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ip = macValueGet("IP");
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master = macValueGet("M");
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slave = macValueGet("S");
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SNLtaskName = macValueGet("name");
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/* Connect to the XPS controller (save the xps_socket ID) */
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%%xps_socket = TCP_ConnectToServer(pVar->ip, PORT, TIMEOUT);
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DEBUG_PRINT(2, "init -> update", 0, 0, 0, 0);
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efClear(init_pv_mon);
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efClear(on_pv_mon);
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} state update
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}
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state update
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{
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when ()
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{
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/* Check if slave mode is on and set the on_pv appropriately */
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%%pVar->val = SingleAxisSlaveParametersGet(xps_socket, pVar->slave, pVar->masterRdbk, &pVar->ratioRdbk);
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DEBUG_PRINT(2, "update(): val = %i, masterRdbk = %s, ratioRdbk = %f", val, masterRdbk, ratioRdbk, 0);
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/* Set the ok indictor to 1 if slave parameters exist */
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if (val == 0)
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{
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PVPUT(ok_pv, 1);
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}
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else
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{
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PVPUT(ok_pv, 0);
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}
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/* what is the initial value if the first poll fails? */
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/* display the ratio */
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PVPUT(ratioRdbk_pv, ratioRdbk);
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DEBUG_PRINT(2, "update -> idle", 0, 0, 0, 0);
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} state idle
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}
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state modeChange
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{
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when ()
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{
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if (on_pv == 1)
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{
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%%pVar->val = SingleAxisSlaveModeEnable(xps_socket, pVar->slave);
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DEBUG_PRINT(2, "on_pv == 1", 0, 0, 0, 0);
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}
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else
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{
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%%pVar->val = SingleAxisSlaveModeDisable(xps_socket, pVar->slave);
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DEBUG_PRINT(2, "on_pv != 1", 0, 0, 0, 0);
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}
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DEBUG_PRINT(2, "modeChange -> idle", 0, 0, 0, 0);
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} state idle
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}
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/* Should reinit wait until a move is done before changing the gear ratio? */
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state reinit
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{
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when ()
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{
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%%pVar->val = SingleAxisSlaveParametersSet(xps_socket, pVar->slave, pVar->master, pVar->ratio_pv);
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DEBUG_PRINT(2, "reinit(): val = %i", val, 0, 0, 0);
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/* reset the init PV */
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PVPUT(init_pv, 0);
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efClear(init_pv_mon);
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DEBUG_PRINT(2, "reinit -> update", 0, 0, 0, 0);
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} state update
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}
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state idle
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{
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when ( efTestAndClear(on_pv_mon) && ok_pv == 1 )
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{
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/* A mode toggle has been requested */
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DEBUG_PRINT(2, "idle -> modeChange", 0, 0, 0, 0);
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} state modeChange
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when ( efTest(init_pv_mon) )
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{
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/* A reinit has been requested */
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DEBUG_PRINT(2, "idle -> reinit", 0, 0, 0, 0);
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} state reinit
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}
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}
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Reference in New Issue
Block a user