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Many changes to implement profile moves and readbacks

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This commit is contained in:
MarkRivers
2011-04-07 03:35:42 +00:00
parent 3b2862c045
commit 9cc57ec1c7
1 changed files with 397 additions and 72 deletions
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motorApp/NewportSrc/XPSController.cpp
+397 -72
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@@ -96,6 +96,8 @@ Versions: Release 4-5 and higher.
static const char *driverName = "XPSController";
static void XPSProfileThreadC(void *pPvt);
/** Struct for a list of strings describing the different corrector types possible on the XPS.*/
typedef struct {
char *PIPosition;
@@ -115,16 +117,16 @@ const static CorrectorTypes_t CorrectorTypes = {
/* Constants used for FTP to the XPS */
#define TRAJECTORY_DIRECTORY "/Admin/public/Trajectories"
#define MAX_FILENAME_LEN 256
#define MAX_MESSAGE_LEN 256
#define MAX_GROUPNAME_LEN 64
#define MAX_FILENAME_LEN 256
#define MAX_MESSAGE_LEN 256
#define MAX_GROUPNAME_LEN 64
/* The maximum size of the item names in gathering, e.g. "GROUP2.POSITIONER1.CurrentPosition" */
#define MAX_GATHERING_AXIS_STRING 60
/* Number of items per axis */
#define NUM_GATHERING_ITEMS 2
/* Total length of gathering configuration string */
#define MAX_GATHERING_STRING MAX_GATHERING_AXIS_STRING * NUM_GATHERING_ITEMS * MAX_AXES
#define MAX_GATHERING_STRING MAX_GATHERING_AXIS_STRING * NUM_GATHERING_ITEMS * XPS_MAX_AXES
// Maximum number of bytes that GatheringDataMultipleLinesGet() can return
#define GATHERING_MAX_READ_LEN 65536
@@ -136,8 +138,8 @@ XPSController::XPSController(const char *portName, const char *IPAddress, int IP
int numAxes, double movingPollPeriod, double idlePollPeriod,
int enableSetPosition, double setPositionSettlingTime)
: asynMotorController(portName, numAxes, NUM_XPS_PARAMS,
asynInt32Mask | asynFloat64Mask | asynUInt32DigitalMask,
asynInt32Mask | asynFloat64Mask | asynUInt32DigitalMask,
0, // No additional interfaces
0, // No addition interrupt interfaces
ASYN_CANBLOCK | ASYN_MULTIDEVICE,
1, // autoconnect
0, 0), // Default priority and stack size
@@ -162,7 +164,7 @@ XPSController::XPSController(const char *portName, const char *IPAddress, int IP
createParam(XPSStatusString, asynParamInt32, &XPSStatus_);
// This socket is used for polling by the controller and all axes
pollSocket_ = TCP_ConnectToServer((char *)IPAddress, IPPort, TCP_TIMEOUT);
pollSocket_ = TCP_ConnectToServer((char *)IPAddress, IPPort, XPS_POLL_TIMEOUT);
if (pollSocket_ < 0) {
printf("%s:%s: error calling TCP_ConnectToServer for pollSocket\n",
driverName, functionName);
@@ -170,7 +172,7 @@ XPSController::XPSController(const char *portName, const char *IPAddress, int IP
// This socket is used for moving motors during profile moves
// Each axis also has its own moveSocket
moveSocket_ = TCP_ConnectToServer((char *)IPAddress, IPPort, TCP_TIMEOUT);
moveSocket_ = TCP_ConnectToServer((char *)IPAddress, IPPort, XPS_MOVE_TIMEOUT);
if (moveSocket_ < 0) {
printf("%s:%s: error calling TCP_ConnectToServer for moveSocket\n",
driverName, functionName);
@@ -181,6 +183,16 @@ XPSController::XPSController(const char *portName, const char *IPAddress, int IP
/* Create the poller thread for this controller
* NOTE: at this point the axis objects don't yet exist, but the poller tolerates this */
startPoller(movingPollPeriod, idlePollPeriod, 10);
// Create the event that wakes up the thread for profile moves
profileExecuteEvent_ = epicsEventMustCreate(epicsEventEmpty);
// Create the thread that will execute profile moves
epicsThreadCreate("XPSProfile",
epicsThreadPriorityLow,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC)XPSProfileThreadC, (void *)this);
}
void XPSController::report(FILE *fp, int level)
@@ -344,10 +356,13 @@ asynStatus XPSController::writeFloat64(asynUser *pasynUser, epicsFloat64 value)
{
int function = pasynUser->reason;
int status = asynSuccess;
XPSAxis *pAxis = this->getAxis(pasynUser);
XPSAxis *pAxis;
double deviceValue;
static const char *functionName = "writeFloat64";
pAxis = this->getAxis(pasynUser);
if (!pAxis) return asynError;
/* Set the parameter and readback in the parameter library. */
status = pAxis->setDoubleParam(function, value);
@@ -434,9 +449,12 @@ asynStatus XPSController::writeInt32(asynUser *pasynUser, epicsInt32 value)
{
int function = pasynUser->reason;
int status = asynSuccess;
XPSAxis *pAxis = this->getAxis(pasynUser);
XPSAxis *pAxis;
static const char *functionName = "writeInt32";
pAxis = this->getAxis(pasynUser);
if (!pAxis) return asynError;
/* Set the parameter and readback in the parameter library. This may be overwritten when we read back the
* status at the end, but that's OK */
status = pAxis->setIntegerParam(function, value);
@@ -513,6 +531,22 @@ XPSAxis* XPSController::getAxis(int axisNo)
}
asynStatus XPSController::waitMotors()
{
bool moving, anyMoving=true;
int j;
while (anyMoving) {
anyMoving = false;
for (j=0; j<numAxes_; j++) {
pAxes_[j]->poll(&moving);
if (moving) anyMoving = true;
}
epicsThreadSleep(0.1);
}
return asynSuccess;
}
/* Function to initialize profile */
asynStatus XPSController::initializeProfile(size_t maxPoints, const char* ftpUsername, const char* ftpPassword)
@@ -531,7 +565,7 @@ asynStatus XPSController::buildProfile()
FILE *trajFile;
int i, j;
int status;
bool buildOK=false;
bool buildOK=true;
bool verifyOK=true;
int nPoints;
int nElements;
@@ -540,7 +574,7 @@ asynStatus XPSController::buildProfile()
int ftpSocket;
char fileName[MAX_FILENAME_LEN];
char groupName[MAX_GROUPNAME_LEN];
char buildMessage[MAX_MESSAGE_LEN];
char message[MAX_MESSAGE_LEN];
int buildStatus;
double distance;
double maxVelocity;
@@ -565,9 +599,10 @@ asynStatus XPSController::buildProfile()
// Call the base class method which will build the time array if needed
asynMotorController::buildProfile();
strcpy(message, "");
setStringParam(profileBuildMessage_, message);
setIntegerParam(profileBuildState_, PROFILE_BUILD_BUSY);
setIntegerParam(profileBuildStatus_, PROFILE_STATUS_UNDEFINED);
strcpy(buildMessage, "");
callParamCallbacks();
/* We create trajectories with an extra element at the beginning and at the end.
@@ -599,7 +634,8 @@ asynStatus XPSController::buildProfile()
&maxVelocity, &maxAcceleration,
&minJerkTime, &maxJerkTime);
if (status) {
sprintf(buildMessage, "Error calling positionerSGammaParametersSet, status=%d\n", status);
buildOK = false;
sprintf(message, "Error calling positionerSGammaParametersSet, status=%d\n", status);
goto done;
}
@@ -627,6 +663,9 @@ asynStatus XPSController::buildProfile()
for (j=0; j<numAxes_; j++) {
preDistance[j] = 0.5 * preVelocity[j] * preTimeMax;
postDistance[j] = 0.5 * postVelocity[j] * postTimeMax;
// Save these distances, they are needed to start and complete the profile move
pAxes_[j]->profilePreDistance_ = preDistance[j];
pAxes_[j]->profilePostDistance_ = postDistance[j];
}
/* Create the profile file */
@@ -680,25 +719,28 @@ asynStatus XPSController::buildProfile()
/* FTP the trajectory file from the local directory to the XPS */
status = ftpConnect(IPAddress_, ftpUsername_, ftpPassword_, &ftpSocket);
if (status) {
sprintf(buildMessage, "Error calling ftpConnect, status=%d\n", status);
buildOK = false;
sprintf(message, "Error calling ftpConnect, status=%d\n", status);
goto done;
}
status = ftpChangeDir(ftpSocket, TRAJECTORY_DIRECTORY);
if (status) {
sprintf(buildMessage, "Error calling ftpChangeDir, status=%d\n", status);
buildOK = false;
sprintf(message, "Error calling ftpChangeDir, status=%d\n", status);
goto done;
}
status = ftpStoreFile(ftpSocket, fileName);
if (status) {
sprintf(buildMessage, "Error calling ftpStoreFile, status=%d\n", status);
buildOK = false;
sprintf(message, "Error calling ftpStoreFile, status=%d\n", status);
goto done;
}
status = ftpDisconnect(ftpSocket);
if (status) {
sprintf(buildMessage, "Error calling ftpDisconnect, status=%d\n", status);
buildOK = false;
sprintf(message, "Error calling ftpDisconnect, status=%d\n", status);
goto done;
}
buildOK = true;
/* Verify trajectory */
asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
@@ -708,22 +750,22 @@ asynStatus XPSController::buildProfile()
if (status) verifyOK = false;
switch (-status) {
case 0:
strcpy(buildMessage, " ");
strcpy(message, " ");
break;
case 69:
strcpy(buildMessage, "Acceleration Too High");
strcpy(message, "Acceleration Too High");
break;
case 68:
strcpy(buildMessage, "Velocity Too High");
strcpy(message, "Velocity Too High");
break;
case 70:
strcpy(buildMessage, "Final Velocity Non Zero");
strcpy(message, "Final Velocity Non Zero");
break;
case 75:
strcpy(buildMessage, "Negative or Null Delta Time");
strcpy(message, "Negative or Null Delta Time");
break;
default:
sprintf(buildMessage, "Unknown trajectory verify error=%d", status);
sprintf(message, "Unknown trajectory verify error=%d", status);
break;
}
@@ -740,9 +782,9 @@ asynStatus XPSController::buildProfile()
pAxes_[j]->setDoubleParam(XPSProfileMaxVelocity_, maxVelocityActual);
pAxes_[j]->setDoubleParam(XPSProfileMaxAcceleration_, maxAccelerationActual);
if (status) {
sprintf(buildMessage, "MultipleAxesPVTVerificationResultGet error for axis %s, status=%d\n",
pAxes_[j]->positionerName_, status);
verifyOK = false;
sprintf(message, "MultipleAxesPVTVerificationResultGet error for axis %s, status=%d\n",
pAxes_[j]->positionerName_, status);
}
/* Check that the trajectory won't exceed the software limits
* The XPS does not check this because the trajectory is defined in relative moves and it does
@@ -753,27 +795,25 @@ asynStatus XPSController::buildProfile()
&highLimit);
minProfile = pAxes_[j]->profilePositions_[0] + minPositionActual;
if (minProfile < lowLimit) {
status = 1;
sprintf(buildMessage, "Low soft limit violation for axis %s, position=%f, limit=%f\n",
pAxes_[j]->positionerName_, minProfile, lowLimit);
verifyOK = false;
sprintf(message, "Low soft limit violation for axis %s, position=%f, limit=%f\n",
pAxes_[j]->positionerName_, minProfile, lowLimit);
}
maxProfile = pAxes_[j]->profilePositions_[0] + maxPositionActual;
if (maxProfile > highLimit) {
status = 1;
sprintf(buildMessage, "High soft limit violation for axis %s, position=%f, limit=%f\n",
pAxes_[j]->positionerName_, maxProfile, highLimit);
verifyOK = false;
sprintf(message, "High soft limit violation for axis %s, position=%f, limit=%f\n",
pAxes_[j]->positionerName_, maxProfile, highLimit);
}
}
done:
buildStatus = (buildOK && verifyOK) ? PROFILE_STATUS_SUCCESS : PROFILE_STATUS_FAILURE;
setIntegerParam(profileBuildStatus_, buildStatus);
setStringParam(profileBuildMessage_, buildMessage);
if (status) {
setStringParam(profileBuildMessage_, message);
if (buildStatus != PROFILE_STATUS_SUCCESS) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"%s:%s: %s\n",
driverName, functionName, buildMessage);
driverName, functionName, message);
}
/* Clear build command. This is a "busy" record, don't want to do this until build is complete. */
setIntegerParam(profileBuild_, 0);
@@ -785,13 +825,306 @@ asynStatus XPSController::buildProfile()
/* Function to execute trajectory */
asynStatus XPSController::executeProfile()
{
epicsEventSignal(profileExecuteEvent_);
return asynSuccess;
}
/* C Function which runs the profile thread */
static void XPSProfileThreadC(void *pPvt)
{
XPSController *pC = (XPSController*)pPvt;
pC->profileThread();
}
/* Function which runs in its own thread to execute profiles */
void XPSController::profileThread()
{
while (true) {
epicsEventWait(profileExecuteEvent_);
runProfile();
}
}
/* Function to run trajectory. It runs in a dedicated thread, so it's OK to block.
* It needs to lock and unlock when it accesses class data. */
asynStatus XPSController::runProfile()
{
int status;
bool executeOK=true;
bool aborted=false;
int j;
int startPulses, endPulses;
int numPoints, numPulses;
int executeStatus;
double pulsePeriod;
double position;
double time;
int i;
char message[MAX_MESSAGE_LEN];
char buffer[MAX_GATHERING_STRING];
char fileName[MAX_FILENAME_LEN];
char groupName[MAX_GROUPNAME_LEN];
int eventId;
int useAxis[XPS_MAX_AXES];
XPSAxis *pAxis;
static const char *functionName = "runProfile";
lock();
getStringParam(XPSTrajectoryFile_, (int)sizeof(fileName), fileName);
getStringParam(XPSProfileGroupName_, (int)sizeof(groupName), groupName);
getIntegerParam(profileStartPulses_, &startPulses);
getIntegerParam(profileEndPulses_, &endPulses);
getIntegerParam(profileNumPoints_, &numPoints);
getIntegerParam(profileNumPulses_, &numPulses);
for (j=0; j<numAxes_; j++) {
getIntegerParam(j, profileUseAxis_, &useAxis[j]);
}
strcpy(message, " ");
setStringParam(profileExecuteMessage_, message);
setIntegerParam(profileExecuteState_, PROFILE_EXECUTE_MOVE_START);
setIntegerParam(profileExecuteStatus_, PROFILE_STATUS_UNDEFINED);
callParamCallbacks();
unlock();
// Move the motors to the start position
for (j=0; j<numAxes_; j++) {
if (!useAxis[j]) continue;
pAxis = getAxis(j);
position = pAxis->profilePositions_[numPoints-1] - pAxis->profilePreDistance_;
status = GroupMoveAbsolute(pAxis->moveSocket_,
pAxis->positionerName_,
1,
&position);
}
// Wait for the motors to get there
wakeupPoller();
waitMotors();
lock();
setIntegerParam(profileExecuteState_, PROFILE_EXECUTE_EXECUTING);
callParamCallbacks();
unlock();
/* Configure Gathering */
/* Reset gathering.
* This must be done because GatheringOneData just appends to in-memory list */
status = GatheringReset(pollSocket_);
if (status != 0) {
executeOK = false;
sprintf(message, "Error performing GatheringReset, status=%d",status);
goto done;
}
/* Write list of gathering parameters.
* Note that there must be NUM_GATHERING_ITEMS per axis in this list. */
strcpy(buffer, "");
for (j=0; j<numAxes_; j++) {
strcat (buffer, pAxes_[j]->positionerName_);
strcat (buffer, ".SetpointPosition;");
strcat (buffer, pAxes_[j]->positionerName_);
strcat (buffer, ".CurrentPosition;");
}
/* Define what is to be saved in the GatheringExternal.dat.
* 3 pieces of information per axis. */
status = GatheringConfigurationSet(pollSocket_,
numAxes_*NUM_GATHERING_ITEMS, buffer);
if (status != 0) {
executeOK = false;
sprintf(message, "Error performing GatheringConfigurationSet, status=%d, buffer=%s",
status, buffer);
goto done;
}
// Check valid range of start and end pulses; these start at 1, not 0
if ((startPulses < 1) || (startPulses > numPoints) ||
(endPulses < startPulses) || (endPulses > numPoints)) {
executeOK = false;
sprintf(message, "Error: start or end pulses outside valid range");
goto done;
}
// The XPS can only output pulses at a fixed period, not a fixed distance along the trajectory.
// The trajectory elements where pulses start and stop are defined by startPulses and endPulses.
// Compute the time between pulses as the total time over which pulses should be output divided
// by the number of pulses to be output. */
time = 0;
for (i=startPulses; i<=endPulses; i++) {
time += profileTimes_[i-1];
}
if (numPulses != 0)
pulsePeriod = time / numPulses;
else
pulsePeriod = 0;
/* Define trajectory output pulses.
* startPulses and endPulses are defined as 1=first real element, need to add
* 1 to each to skip the acceleration element.
* The XPS is told the element to stop outputting pulses, and it seems to stop
* outputting at the start of that element. So we need to have that element be
* the decceleration endPulses is the element, which means adding another +1. */
status = MultipleAxesPVTPulseOutputSet(pollSocket_, groupName,
startPulses+1,
endPulses+1,
pulsePeriod);
/* Define trigger */
sprintf(buffer, "Always;%s.PVT.TrajectoryPulse", groupName);
status = EventExtendedConfigurationTriggerSet(pollSocket_, 2, buffer,
"", "", "", "");
if (status != 0) {
executeOK = false;
sprintf(message, "Error performing EventExtendedConfigurationTriggerSet, status=%d, buffer=%s",
status, buffer);
goto done;
}
/* Define action */
status = EventExtendedConfigurationActionSet(pollSocket_, 1,
"GatheringOneData",
"", "", "", "");
if (status != 0) {
executeOK = false;
sprintf(message, "Error performing EventExtendedConfigurationActionSet, status=%d",
status);
goto done;
}
/* Start gathering */
status= EventExtendedStart(pollSocket_, &eventId);
if (status != 0) {
executeOK = false;
sprintf(message, "Error performing EventExtendedStart, status=%d",
status);
goto done;
}
wakeupPoller();
/* We call the command to run the trajectory on the moveSocket which does not
* wait for a reply. Thus this routine returns immediately without a meaningful
* status */
status = MultipleAxesPVTExecution(moveSocket_, groupName,
fileName, 1);
/* status -27 means the trajectory was aborted */
if (status == -27) {
executeOK = false;
aborted = true;
sprintf(message, "MultipleAxesPVTExecution aborted");
}
else if (status != 0) {
executeOK = false;
sprintf(message, "Error performing MultipleAxesPVTExecution, status=%d",
status);
}
/* Remove the event */
status = EventExtendedRemove(pollSocket_, eventId);
if (status != 0) {
executeOK = false;
sprintf(message, "Error performing ExtendedEventRemove, status=%d",
status);
}
/* Stop the gathering */
status = GatheringStop(pollSocket_);
/* status -30 means gathering not started i.e. aborted before the end of
1 trajectory element */
if ((status != 0) && (status != -30)) {
executeOK = false;
sprintf(message, "Error performing GatheringStop, status=%d",
status);
}
done:
lock();
setIntegerParam(profileExecuteState_, PROFILE_EXECUTE_FLYBACK);
callParamCallbacks();
unlock();
// Move the motors to the end position
for (j=0; j<numAxes_; j++) {
if (!useAxis[j]) continue;
pAxis = getAxis(j);
position = pAxis->profilePositions_[numPoints-1] + pAxis->profilePostDistance_;
status = GroupMoveAbsolute(pAxis->moveSocket_,
pAxis->positionerName_,
1,
&position);
}
// Wait for the motors to get there
wakeupPoller();
waitMotors();
lock();
if (executeOK) executeStatus = PROFILE_STATUS_SUCCESS;
else if (aborted) executeStatus = PROFILE_STATUS_ABORT;
else executeStatus = PROFILE_STATUS_FAILURE;
setIntegerParam(profileExecuteStatus_, executeStatus);
setStringParam(profileExecuteMessage_, message);
if (!executeOK) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"%s:%s: %s\n",
driverName, functionName, message);
}
/* Clear execute command. This is a "busy" record, don't want to do this until build is complete. */
setIntegerParam(profileExecute_, 0);
setIntegerParam(profileExecuteState_, PROFILE_EXECUTE_DONE);
callParamCallbacks();
unlock();
return executeOK ? asynSuccess : asynError;
}
/** Polls the controller, rather than individual axis
* Used during profile moves */
asynStatus XPSController::poll()
{
int executeState;
int status;
int number;
char fileName[MAX_FILENAME_LEN];
char groupName[MAX_GROUPNAME_LEN];
getIntegerParam(profileExecuteState_, &executeState);
if (executeState != PROFILE_EXECUTE_EXECUTING) return asynSuccess;
getStringParam(XPSTrajectoryFile_, (int)sizeof(fileName), fileName);
getStringParam(XPSProfileGroupName_, (int)sizeof(groupName), groupName);
status = MultipleAxesPVTParametersGet(pollSocket_, groupName, fileName, &number);
if (status) return asynError;
setIntegerParam(profileCurrentPoint_, number);
callParamCallbacks();
return asynSuccess;
}
asynStatus XPSController::abortProfile()
{
int status;
char groupName[MAX_GROUPNAME_LEN];
static const char *functionName = "abortProfile";
getStringParam(XPSProfileGroupName_, (int)sizeof(groupName), groupName);
status = GroupMoveAbort(pollSocket_, groupName);
if (status != 0) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"%s:%s: Error performing GroupMoveAbort, status=%d\n",
driverName, functionName, status);
return asynError;
}
return asynSuccess;
}
/* Function to readback trajectory */
asynStatus XPSController::readbackProfile()
{
char readbackMessage[MAX_MESSAGE_LEN];
char message[MAX_MESSAGE_LEN];
bool readbackOK=true;
int numPulses;
char* buffer=NULL;
char* bptr, *tptr;
@@ -809,28 +1142,34 @@ asynStatus XPSController::readbackProfile()
"%s:%s: entry\n",
driverName, functionName);
setIntegerParam(profileBuildState_, PROFILE_BUILD_BUSY);
setIntegerParam(profileBuildStatus_, PROFILE_STATUS_UNDEFINED);
strcpy(readbackMessage, "");
for (j=0; j<numAxes_; j++) {
getIntegerParam(j, profileUseAxis_, &useAxis[j]);
}
strcpy(message, "");
setStringParam(profileReadbackMessage_, message);
setIntegerParam(profileReadbackState_, PROFILE_READBACK_BUSY);
setIntegerParam(profileReadbackStatus_, PROFILE_STATUS_UNDEFINED);
callParamCallbacks();
status = getIntegerParam(profileNumPulses_, &numPulses);
/* Erase the readback and error arrays */
for (j=0; j<numAxes_; j++) {
if (!useAxis[j]) continue;
memset(pAxes_[j]->profileReadbacks_, 0, maxProfilePoints_*sizeof(double));
memset(pAxes_[j]->profileFollowingErrors_, 0, maxProfilePoints_*sizeof(double));
getIntegerParam(j, profileUseAxis_, &useAxis[j]);
}
/* Read the number of lines of gathering */
status = GatheringCurrentNumberGet(pollSocket_, &currentSamples, &maxSamples);
if (status != 0) {
sprintf(readbackMessage, "Error calling GatherCurrentNumberGet, status=%d\n", status);
readbackOK = false;
sprintf(message, "Error calling GatherCurrentNumberGet, status=%d", status);
goto done;
}
if (currentSamples != numPulses) {
sprintf(readbackMessage, "Error, numPulses=%d, currentSamples=%d\n", numPulses, currentSamples);
goto done;
readbackOK = false;
sprintf(message, "Error, numPulses=%d, currentSamples=%d", numPulses, currentSamples);
//goto done;
}
buffer = (char *)calloc(GATHERING_MAX_READ_LEN, sizeof(char));
numInBuffer = 0;
@@ -847,7 +1186,8 @@ asynStatus XPSController::readbackProfile()
if (status) numInBuffer /= 2;
}
if (numInBuffer == 0) {
sprintf(readbackMessage, "Error reading gathering data, numInBuffer = 0\n");
readbackOK = false;
sprintf(message, "Error reading gathering data, numInBuffer = 0");
goto done;
}
bptr = buffer;
@@ -861,7 +1201,8 @@ asynStatus XPSController::readbackProfile()
&setpointPosition, &actualPosition, &numChars);
bptr += numChars+1;
if (nitems != NUM_GATHERING_ITEMS) {
sprintf(readbackMessage, "Error reading Gathering.dat file, nitems=%d, should be %d\n",
readbackOK = false;
sprintf(message, "Error reading Gathering.dat file, nitems=%d, should be %d",
nitems, NUM_GATHERING_ITEMS);
goto done;
}
@@ -876,43 +1217,27 @@ asynStatus XPSController::readbackProfile()
done:
if (buffer) free(buffer);
/* Call the base class method that converts from controller to user units and posts the arrays */
asynMotorController::readbackProfile();
readbackStatus = status ? PROFILE_STATUS_FAILURE : PROFILE_STATUS_SUCCESS;
setIntegerParam(profileReadbackStatus_, readbackStatus);
setStringParam(profileReadbackMessage_, readbackMessage);
setIntegerParam(profileActualPulses_, numRead);
setIntegerParam(profileNumReadbacks_, numRead);
if (status) {
/* Convert from controller to user units and post the arrays */
for (j=0; j<numAxes_; j++) {
pAxes_[j]->readbackProfile();
}
readbackStatus = readbackOK ? PROFILE_STATUS_SUCCESS : PROFILE_STATUS_FAILURE;
setIntegerParam(profileReadbackStatus_, readbackStatus);
setStringParam(profileReadbackMessage_, message);
if (!readbackOK) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"%s:%s: %s\n",
driverName, functionName, readbackMessage);
driverName, functionName, message);
}
/* Clear readback command. This is a "busy" record, don't want to do this until build is complete. */
/* Clear readback command. This is a "busy" record, don't want to do this until readback is complete. */
setIntegerParam(profileReadback_, 0);
setIntegerParam(profileReadbackState_, PROFILE_READBACK_DONE);
callParamCallbacks();
return status ? asynError : asynSuccess;
}
asynStatus XPSController::enableSetPosition(int enable)
{
enableSetPosition_ = enable;
return asynSuccess;
}
/**
* Function to set the seetling time used when setting the XPS position.
* The sleep is performed after the axes are initialised, to take account of any
* post initialisation wobble.
* @param settlingTime The time in seconds to sleep.
*/
asynStatus XPSController::setPositionSettlingTime(double settlingTime)
{
setPositionSettlingTime_ = settlingTime;
return asynSuccess;
}
/** The following functions have C linkage, and can be called directly or from iocsh */