forked from epics_driver_modules/motorBase
Revert "Merge branch 'master' into master"
This reverts commit3ec6ec433c, reversing changes made to8966aeabf2.
This commit is contained in:
kpetersn
@@ -37,9 +37,6 @@ EPICS_BASE=
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# Recommended IPAC release: R2-12
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IPAC=$(SUPPORT)/ipac/R2-12
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# Script module needed to build ScriptMotorController
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#!SCRIPT=$(SUPPORT)/script
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# The following is only needed for the motor examples in iocBoot.
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#!MOTOR=$(TOP)
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@@ -1,15 +0,0 @@
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file "$(TOP)/db/asyn_motor.db"
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{
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pattern
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{P, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VMAX, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM, INIT}
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{IOC:, m1, "asynMotor", VMC_MOTOR, 0, "VMCMotor", mm, Pos, 15., 3., .05, .5, 0, 1.0, 2, .025, 5, 0, 0, ""}
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{IOC:, m2, "asynMotor", SOFT_MOTOR, 0, "SoftMotor", mm, Pos, 15., 3., .05, .5, 0, 1.0, 2, .025, 5, 0, 0, ""}
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}
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file "$(TOP)/db/ScriptMotorReload.db"
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{
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pattern
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{P, PORT}
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{IOC:, SOFT_MOTOR}
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{IOC:, VMC_MOTOR}
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}
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@@ -1,67 +0,0 @@
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IdlePollPeriod = 1.00
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MovingPollPeriod = 0.25
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lastPos = 0
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targetPos = 0
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function move(position, relative, minVel, maxVel, accel)
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local MRES = asyn.getDoubleParam( DRIVER, AXIS, "MOTOR_REC_RESOLUTION")
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if (relative) then
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local prev = asyn.getDoubleParam( DRIVER, AXIS, "MOTOR_POSITION")
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targetPos = prev + (position * MRES)
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else
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targetPos = (position * MRES)
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end
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epics.put(DRIVE_PV, targetPos)
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if (position > 0) then
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asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_DIRECTION", 1)
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else
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asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_DIRECTION", 0)
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end
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asyn.callParamCallbacks(DRIVER, AXIS)
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end
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function poll()
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local MRES = asyn.getDoubleParam( DRIVER, AXIS, "MOTOR_REC_RESOLUTION")
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if (MRES == 0.0) then
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return true
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end
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local curr = epics.get(READBACK_PV)
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asyn.setDoubleParam( DRIVER, AXIS, "MOTOR_POSITION", curr / MRES)
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local done = 0
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local moving = 1
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if (curr == targetPos) then
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done = 1
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moving = 0
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elseif (math.abs(curr - targetPos) <= MRES and lastPos == curr) then
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done = 1
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moving = 0
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end
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lastPos = curr
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asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_DONE", done)
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asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_MOVING", moving)
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asyn.callParamCallbacks(DRIVER, AXIS)
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return (done ~= 1)
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end
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function stop(acceleration)
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local curr = asyn.getDoubleParam( DRIVER, AXIS, "MOTOR_POSITION")
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epics.put(DRIVE_PV, curr)
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targetPos = curr
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end
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@@ -1,66 +0,0 @@
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IdlePollPeriod = 1.0
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MovingPollPeriod = 0.25
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ForcedFastPolls = 2
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InTerminator = "\r\n"
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OutTerminator = "\r\n"
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function sendAccelAndVelocity(minVel, maxVel, accel)
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asyn.writeread( string.format( "%d BAS %f", AXIS + 1, minVel) , PORT);
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asyn.writeread( string.format( "%d VEL %f", AXIS + 1, maxVel) , PORT);
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asyn.writeread( string.format( "%d ACC %f", AXIS + 1, accel ) , PORT);
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end
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function move(position, relative, minVel, maxVel, accel)
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sendAccelAndVelocity( minVel, maxVel, accel)
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if (relative) then
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asyn.writeread( string.format( "%d MR %d", AXIS + 1, math.floor(position) ) , PORT)
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else
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asyn.writeread( string.format( "%d MV %d", AXIS + 1, math.floor(position) ) , PORT)
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end
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end
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function moveVelocity(minVel, maxVel, accel)
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sendAccelAndVelocity( minVel, maxVel, accel)
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asyn.writeread( string.format( "%d JOG %f", AXIS + 1, maxVel) , PORT);
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end
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function poll()
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asyn.write( string.format( "%d POS?", AXIS + 1) , PORT)
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asyn.setDoubleParam( DRIVER, AXIS, "MOTOR_POSITION", tonumber( asyn.read(PORT) ) )
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asyn.write( string.format( "%d ST?", AXIS + 1) , PORT)
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local status = tonumber( asyn.read(PORT) )
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local direction = (status & 1)
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local done = (status & 2) >> 1
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local limit_high = (status & 8) >> 3
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local limit_low = (status & 16) >> 4
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asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_DIRECTION", direction)
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asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_DONE", done)
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asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_MOVING", done ~ 1)
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asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_HIGH_LIMIT", limit_high)
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asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_LOW_LIMIT", limit_low)
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asyn.callParamCallbacks(DRIVER, AXIS)
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return (done ~= 1)
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end
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function stop(acceleration)
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asyn.writeread( string.format( "%d AB", AXIS + 1) , PORT);
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end
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function setPosition(position)
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asyn.writeread( string.format( "%d POS %d", AXIS + 1, math.floor(position) ) , PORT);
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end
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@@ -1,18 +0,0 @@
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< envPaths
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dbLoadDatabase("$(TOP)/dbd/WithAsyn.dbd")
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WithAsyn_registerRecordDeviceDriver(pdbbase)
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epicsEnvSet("LUA_SCRIPT_PATH", "./scripts")
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# Connect to virtual motor controller server
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drvAsynIPPortConfigure("VMC","127.0.0.1:31337", 0, 0, 0)
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#ScriptControllerConfig( "PORT_NAME", num_axes, "lua_script", "PARAMS=")
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ScriptControllerConfig("VMC_MOTOR", 1, "vmc.lua", "PORT=VMC")
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ScriptControllerConfig("SOFT_MOTOR", 1, "softMotor.lua", "DRIVE_PV='IOC:m1.VAL', READBACK_PV='IOC:m1.RBV'")
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dbLoadTemplate("motor.substitutions.script")
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iocInit
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@@ -46,7 +46,6 @@ DB += profileMoveAxisXPS.template
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DB += PI_Support.db PI_SupportCtrl.db
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DB += Phytron_motor.db Phytron_I1AM01.db Phytron_MCM01.db
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DB += asyn_auto_power.db
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DB += ScriptMotorReload.db
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#----------------------------------------------------
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# Declare template files which do not show up in DB
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@@ -1,9 +0,0 @@
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record(bo, "$(P)$(PORT):ScriptReload")
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{
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field(DESC, "$(PORT) Script Reload")
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field(DTYP, "asynInt32")
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field(OUT, "@asyn($(PORT), 0, 0)RELOAD_SCRIPT")
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field(ZNAM, "Loaded")
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field(ONAM, "Reload")
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}
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@@ -108,12 +108,6 @@ PhytronSrc_DEPEND_DIRS = MotorSrc
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DIRS += AMCISrc
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AMCISrc_DEPEND_DIRS = MotorSrc
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# The Script motor support requires the lua scripting module
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ifdef SCRIPT
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DIRS += ScriptMotorSrc
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ScriptMotorSrc_DEPEND_DIRS = MotorSrc
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endif
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endif
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# Install the edl files
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@@ -1,30 +0,0 @@
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# Makefile
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TOP=../..
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include $(TOP)/configure/CONFIG
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#----------------------------------------
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# ADD MACRO DEFINITIONS AFTER THIS LINE
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#=============================
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#==================================================
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# Build an IOC support library
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LIBRARY_IOC = ScriptMotor
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# motorRecord.h will be created from motorRecord.dbd
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# install devMotorSoft.dbd into <top>/dbd
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DBD += ScriptMotorDriver.dbd
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INC += ScriptMotorDriver.h
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# The following are compiled and added to the Support library
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ScriptMotor_SRCS += ScriptMotorDriver.cpp
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ScriptMotor_LIBS += motor
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ScriptMotor_LIBS += asyn
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ScriptMotor_LIBS += script
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ScriptMotor_LIBS += $(EPICS_BASE_IOC_LIBS)
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include $(TOP)/configure/RULES
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#----------------------------------------
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# ADD RULES AFTER THIS LINE
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@@ -1,859 +0,0 @@
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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 <math.h>
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#include <string>
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#include <iocsh.h>
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#include <epicsThread.h>
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#include <asynOctetSyncIO.h>
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#include "asynMotorController.h"
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#include "asynMotorAxis.h"
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#include <epicsExport.h>
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#include "ScriptMotorDriver.h"
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#define NINT(f) (int)((f)>0 ? (f)+0.5 : (f)-0.5)
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/************************************************
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* These are the ScriptMotorController methods *
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||||
************************************************/
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/** Creates a new ScriptMotorController object.
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* \param[in] asyn_port The name of the asyn port that will be created for this driver
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* \param[in] serial_port The name of the drvAsynSerialPort that was created previously to connect to the VirtualMotor controller
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* \param[in] max_axes The number of axes that this controller supports
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* \param[in] script_file
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* \param[in] params
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*/
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ScriptMotorController::ScriptMotorController(const char* asyn_port,
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int max_axes,
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const char* script_file,
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||||
const char* params)
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: asynMotorController(asyn_port,
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max_axes,
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1, // No. ScriptMotorController asyn parameters
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0, // No. additional interfaces beyond those in base class
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0, // No. additional callback interfaces beyond those in base class
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ASYN_CANBLOCK | ASYN_MULTIDEVICE,
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1, // autoconnect
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0, // Default priority
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0) // Default stack size
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{
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this->script = std::string(script_file);
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if (params) { this->init_params = std::string(params); }
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else { this->init_params = std::string(""); }
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||||
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this->createParam("RELOAD_SCRIPT", asynParamInt32, &this->ScriptMotorReload);
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for (int axis = 0; axis < max_axes; axis += 1)
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{
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new ScriptMotorAxis(this, axis, script_file, params);
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}
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this->startPoller(this->movingPollPeriod_, this->idlePollPeriod_, this->forcedFastPolls_);
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}
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void ScriptMotorController::reload()
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{
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this->lock();
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for (int index = 0; index < this->numAxes_; index += 1)
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{
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||||
ScriptMotorAxis* axis = this->getAxis(index);
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axis->reload(this->script.c_str(), this->init_params.c_str());
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}
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this->unlock();
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||||
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||||
printf("Controller %s reloaded %s.\n", this->portName, this->script.c_str());
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}
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/** Creates a new ScriptMotorController object.
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* Configuration command, called directly or from iocsh
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||||
* \param[in] asyn_port The name of the asyn port that will be created for this driver
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||||
* \param[in] max_axes The number of axes that this controller supports
|
||||
* \param[in] script_file
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||||
* \param[in] params
|
||||
*/
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||||
extern "C" int ScriptControllerConfig(const char* asyn_port,
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||||
int max_axes,
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||||
const char* script_file,
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||||
const char* params)
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||||
{
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||||
new ScriptMotorController(asyn_port, max_axes, script_file, params);
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return(asynSuccess);
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||||
}
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||||
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||||
/** Reports on status of the driver
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||||
* \param[in] fp The file pointer on which report information will be written
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||||
* \param[in] level The level of report detail desired
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||||
*
|
||||
* If details > 0 then information is printed about each axis.
|
||||
* After printing controller-specific information it calls asynMotorController::report()
|
||||
*/
|
||||
void ScriptMotorController::report(FILE *fp, int level)
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||||
{
|
||||
fprintf(fp, "Script Motor Controller driver %s\n", this->portName);
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||||
fprintf(fp, " numAxes=%d\n", numAxes_);
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||||
fprintf(fp, " moving poll period=%f\n", movingPollPeriod_);
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||||
fprintf(fp, " idle poll period=%f\n", idlePollPeriod_);
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||||
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||||
// Call the base class method
|
||||
asynMotorController::report(fp, level);
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||||
}
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||||
|
||||
asynStatus ScriptMotorController::writeInt32(asynUser *pasynUser, epicsInt32 value)
|
||||
{
|
||||
int function = pasynUser->reason;
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||||
|
||||
if (function == this->ScriptMotorReload)
|
||||
{
|
||||
if (value == 1) { this->reload(); }
|
||||
return asynSuccess;
|
||||
}
|
||||
else
|
||||
{
|
||||
return asynMotorController::writeInt32(pasynUser, value);
|
||||
}
|
||||
}
|
||||
|
||||
asynStatus ScriptMotorController::setIntegerParam(int list, int function, int value)
|
||||
{
|
||||
if (function >= this->motorStatusDirection_ && function <= this->motorStatusHomed_)
|
||||
{
|
||||
ScriptMotorAxis* axis = (ScriptMotorAxis*) this->getAxis(list);
|
||||
epicsUInt32 status = axis->setStatusParam(function, value);
|
||||
asynMotorController::setIntegerParam(list, this->motorStatus_, status);
|
||||
}
|
||||
|
||||
return asynMotorController::setIntegerParam(list, function, value);
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||||
}
|
||||
|
||||
asynStatus ScriptMotorController::setDoubleParam(int list, int function, double value)
|
||||
{
|
||||
if (function == this->motorPosition_ || function == this->motorEncoderPosition_)
|
||||
{
|
||||
ScriptMotorAxis* axis = (ScriptMotorAxis*) this->getAxis(list);
|
||||
axis->setPositionParam(function, value);
|
||||
}
|
||||
|
||||
return asynMotorController::setDoubleParam(list, function, value);
|
||||
}
|
||||
|
||||
void ScriptMotorController::configAxis(int axisNo, const char* params)
|
||||
{
|
||||
ScriptMotorAxis* axis = this->getAxis(axisNo);
|
||||
|
||||
if (params) { axis->params = std::string(params); }
|
||||
else { axis->params = std::string(""); }
|
||||
|
||||
axis->config(params);
|
||||
}
|
||||
|
||||
/** Returns a pointer to an ScriptMotorAxis object.
|
||||
* Returns NULL if the axis number encoded in pasynUser is invalid.
|
||||
* \param[in] pasynUser asynUser structure that encodes the axis index number. */
|
||||
ScriptMotorAxis* ScriptMotorController::getAxis(asynUser *pasynUser)
|
||||
{
|
||||
return static_cast<ScriptMotorAxis*>(asynMotorController::getAxis(pasynUser));
|
||||
}
|
||||
|
||||
|
||||
/** Returns a pointer to an ScriptMotorAxis object.
|
||||
* Returns NULL if the axis number encoded in pasynUser is invalid.
|
||||
* \param[in] axisNo Axis index number. */
|
||||
ScriptMotorAxis* ScriptMotorController::getAxis(int axisNo)
|
||||
{
|
||||
return static_cast<ScriptMotorAxis*>(asynMotorController::getAxis(axisNo));
|
||||
}
|
||||
|
||||
|
||||
/******************************************
|
||||
* These are the ScriptMotorAxis methods *
|
||||
******************************************/
|
||||
|
||||
|
||||
/** Creates a new ScriptMotorAxis object.
|
||||
* \param[in] pC Pointer to the ScriptMotorController to which this axis belongs.
|
||||
* \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
|
||||
*
|
||||
* Initializes register numbers, etc.
|
||||
*/
|
||||
ScriptMotorAxis::ScriptMotorAxis(ScriptMotorController *pC, int axisNo, const char* script_file, const char* params)
|
||||
: asynMotorAxis(pC, axisNo),
|
||||
pC_(pC)
|
||||
{
|
||||
this->initState(script_file);
|
||||
this->config(params);
|
||||
|
||||
int isnum;
|
||||
|
||||
lua_getglobal(this->state, "MovingPollPeriod");
|
||||
double MovingPollPeriod = lua_tonumberx(this->state, -1, &isnum);
|
||||
if (isnum) { pC->movingPollPeriod_ = MovingPollPeriod; }
|
||||
lua_remove(this->state, -1);
|
||||
|
||||
lua_getglobal(this->state, "IdlePollPeriod");
|
||||
double IdlePollPeriod = lua_tonumberx(this->state, -1, &isnum);
|
||||
if (isnum) { pC->idlePollPeriod_ = IdlePollPeriod; }
|
||||
lua_remove(this->state, -1);
|
||||
|
||||
lua_getglobal(this->state, "ForcedFastPolls");
|
||||
double ForcedFastPolls = lua_tonumberx(this->state, -1, &isnum);
|
||||
if (isnum) { pC->forcedFastPolls_ = ForcedFastPolls; }
|
||||
lua_remove(this->state, -1);
|
||||
|
||||
// Zero the encoder position (this only appears to be a problem on windows)
|
||||
setDoubleParam(pC_->motorEncoderPosition_, 0.0);
|
||||
|
||||
// Make the changed parameters take effect
|
||||
callParamCallbacks();
|
||||
}
|
||||
|
||||
void ScriptMotorAxis::initState(const char* script_file)
|
||||
{
|
||||
this->state = luaL_newstate();
|
||||
int status = luaLoadScript(this->state, script_file);
|
||||
|
||||
if (status) { printf("Error compiling script file: %s\n", script_file); }
|
||||
|
||||
lua_pushstring(this->state, (const char*) this->pC_->portName);
|
||||
lua_setglobal(this->state, "DRIVER");
|
||||
|
||||
lua_pushnumber(this->state, axisNo_);
|
||||
lua_setglobal(this->state, "AXIS");
|
||||
}
|
||||
|
||||
void ScriptMotorAxis::reload(const char* script_file, const char* controller_params)
|
||||
{
|
||||
this->initState(script_file);
|
||||
this->config(controller_params);
|
||||
this->config(this->params.c_str());
|
||||
}
|
||||
|
||||
epicsUInt32 ScriptMotorAxis::setStatusParam(int index, int value)
|
||||
{
|
||||
if (index >= pC_->motorStatusDirection_ && index <= pC_->motorStatusHomed_)
|
||||
{
|
||||
epicsUInt32 status = status_.status;
|
||||
int mask = 1 << (index - pC_->motorStatusDirection_);
|
||||
|
||||
if (value) { status |= mask; }
|
||||
else { status &= ~mask; }
|
||||
|
||||
if (status != status_.status)
|
||||
{
|
||||
status_.status = status;
|
||||
statusChanged_ = 1;
|
||||
}
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void ScriptMotorAxis::setPositionParam(int index, double value)
|
||||
{
|
||||
if (index == pC_->motorPosition_)
|
||||
{
|
||||
if (value != status_.position)
|
||||
{
|
||||
statusChanged_ = 1;
|
||||
status_.position = value;
|
||||
}
|
||||
}
|
||||
else if (index == pC_->motorEncoderPosition_)
|
||||
{
|
||||
if (value != status_.encoderPosition)
|
||||
{
|
||||
statusChanged_ = 1;
|
||||
status_.encoderPosition = value;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
*
|
||||
*/
|
||||
extern "C" int ScriptAxisConfig(const char* ScriptMotorName, int axisNo, const char* params)
|
||||
{
|
||||
static const char *functionName = "VirtualMotorCreateAxis";
|
||||
|
||||
ScriptMotorController *pC = (ScriptMotorController*) findAsynPortDriver(ScriptMotorName);
|
||||
if (!pC)
|
||||
{
|
||||
printf("Error port %s not found\n", ScriptMotorName);
|
||||
return asynError;
|
||||
}
|
||||
|
||||
pC->lock();
|
||||
pC->configAxis(axisNo, params);
|
||||
pC->unlock();
|
||||
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
|
||||
/** Reports on status of the axis
|
||||
* \param[in] fp The file pointer on which report information will be written
|
||||
* \param[in] level The level of report detail desired
|
||||
*
|
||||
* After printing device-specific information calls asynMotorAxis::report()
|
||||
*/
|
||||
void ScriptMotorAxis::report(FILE *fp, int level)
|
||||
{
|
||||
if (level > 0) {
|
||||
fprintf(fp, " Axis #%d\n", axisNo_);
|
||||
fprintf(fp, " axisIndex_=%d\n", axisIndex_);
|
||||
}
|
||||
|
||||
// Call the base class method
|
||||
asynMotorAxis::report(fp, level);
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* move() is called by asynMotor device support when an absolute or a relative move is requested.
|
||||
* It can be called multiple times if BDST > 0 or RTRY > 0.
|
||||
*
|
||||
* Arguments in terms of motor record fields:
|
||||
* position (steps) = RVAL = DVAL / MRES
|
||||
* baseVelocity (steps/s) = VBAS / abs(MRES)
|
||||
* velocity (step/s) = VELO / abs(MRES)
|
||||
* acceleration (step/s/s) = (velocity - baseVelocity) / ACCL
|
||||
*/
|
||||
asynStatus ScriptMotorAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
|
||||
{
|
||||
asynStatus status;
|
||||
// static const char *functionName = "ScriptMotorAxis::move";
|
||||
|
||||
int result = lua_getglobal(this->state, "move");
|
||||
if (result != LUA_TFUNCTION)
|
||||
{
|
||||
// No function in script
|
||||
}
|
||||
else
|
||||
{
|
||||
lua_pushnumber(this->state, position);
|
||||
lua_pushboolean(this->state, relative);
|
||||
lua_pushnumber(this->state, minVelocity);
|
||||
lua_pushnumber(this->state, maxVelocity);
|
||||
lua_pushnumber(this->state, acceleration);
|
||||
|
||||
if (lua_pcall(this->state, 5, 1, 0))
|
||||
{
|
||||
this->logError();
|
||||
return asynError;
|
||||
}
|
||||
|
||||
int rettype = lua_type(this->state, -1);
|
||||
|
||||
// Do something with returned value
|
||||
|
||||
lua_pop(this->state, 1);
|
||||
}
|
||||
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* home() is called by asynMotor device support when a home is requested.
|
||||
* Note: forwards is set by device support, NOT by the motor record.
|
||||
*
|
||||
* Arguments in terms of motor record fields:
|
||||
* minVelocity (steps/s) = VBAS / abs(MRES)
|
||||
* maxVelocity (step/s) = HVEL / abs(MRES)
|
||||
* acceleration (step/s/s) = (maxVelocity - minVelocity) / ACCL
|
||||
* forwards = 1 if HOMF was pressed, 0 if HOMR was pressed
|
||||
*/
|
||||
|
||||
asynStatus ScriptMotorAxis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
|
||||
{
|
||||
int result = lua_getglobal(this->state, "home");
|
||||
if (result != LUA_TFUNCTION)
|
||||
{
|
||||
// No function in script
|
||||
}
|
||||
else
|
||||
{
|
||||
lua_pushnumber(this->state, minVelocity);
|
||||
lua_pushnumber(this->state, maxVelocity);
|
||||
lua_pushnumber(this->state, acceleration);
|
||||
lua_pushboolean(this->state, forwards);
|
||||
|
||||
if (lua_pcall(this->state, 4, 1, 0))
|
||||
{
|
||||
this->logError();
|
||||
return asynError;
|
||||
}
|
||||
|
||||
int rettype = lua_type(this->state, -1);
|
||||
|
||||
// Do something with returned value
|
||||
|
||||
lua_pop(this->state, 1);
|
||||
}
|
||||
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* moveVelocity() is called by asynMotor device support when a jog is requested.
|
||||
* If a controller doesn't have a jog command (or jog commands), this a jog can be simulated here.
|
||||
*
|
||||
* Arguments in terms of motor record fields:
|
||||
* minVelocity (steps/s) = VBAS / abs(MRES)
|
||||
* maxVelocity (step/s) = (jog_direction == forward) ? JVEL * DIR / MRES : -1 * JVEL * DIR / MRES
|
||||
* acceleration (step/s/s) = JAR / abs(EGU)
|
||||
*/
|
||||
asynStatus ScriptMotorAxis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
|
||||
{
|
||||
int result = lua_getglobal(this->state, "moveVelocity");
|
||||
if (result != LUA_TFUNCTION)
|
||||
{
|
||||
// No function in script
|
||||
}
|
||||
else
|
||||
{
|
||||
lua_pushnumber(this->state, minVelocity);
|
||||
lua_pushnumber(this->state, maxVelocity);
|
||||
lua_pushnumber(this->state, acceleration);
|
||||
|
||||
if (lua_pcall(this->state, 3, 1, 0))
|
||||
{
|
||||
this->logError();
|
||||
return asynError;
|
||||
}
|
||||
|
||||
int rettype = lua_type(this->state, -1);
|
||||
|
||||
// Do something with returned value
|
||||
|
||||
lua_pop(this->state, 1);
|
||||
}
|
||||
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* stop() is called by asynMotor device support whenever a user presses the stop button.
|
||||
* It is also called when the jog button is released.
|
||||
*
|
||||
* Arguments in terms of motor record fields:
|
||||
* acceleration = ???
|
||||
*/
|
||||
asynStatus ScriptMotorAxis::stop(double acceleration)
|
||||
{
|
||||
int result = lua_getglobal(this->state, "stop");
|
||||
if (result != LUA_TFUNCTION)
|
||||
{
|
||||
// No function in script
|
||||
}
|
||||
else
|
||||
{
|
||||
lua_pushnumber(this->state, acceleration);
|
||||
|
||||
if (lua_pcall(this->state, 1, 1, 0))
|
||||
{
|
||||
this->logError();
|
||||
return asynError;
|
||||
}
|
||||
|
||||
int rettype = lua_type(this->state, -1);
|
||||
|
||||
// Do something with returned value
|
||||
|
||||
lua_pop(this->state, 1);
|
||||
}
|
||||
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* setPosition() is called by asynMotor device support when a position is redefined.
|
||||
* It is also required for autosave to restore a position to the controller at iocInit.
|
||||
*
|
||||
* Arguments in terms of motor record fields:
|
||||
* position (steps) = DVAL / MRES = RVAL
|
||||
*/
|
||||
asynStatus ScriptMotorAxis::setPosition(double position)
|
||||
{
|
||||
int result = lua_getglobal(this->state, "setPosition");
|
||||
if (result != LUA_TFUNCTION)
|
||||
{
|
||||
// No function in script
|
||||
}
|
||||
else
|
||||
{
|
||||
lua_pushnumber(this->state, position);
|
||||
|
||||
if (lua_pcall(this->state, 1, 1, 0))
|
||||
{
|
||||
this->logError();
|
||||
return asynError;
|
||||
}
|
||||
|
||||
int rettype = lua_type(this->state, -1);
|
||||
|
||||
// Do something with returned value
|
||||
|
||||
lua_pop(this->state, 1);
|
||||
}
|
||||
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
asynStatus ScriptMotorAxis::setEncoderPosition(double position)
|
||||
{
|
||||
int result = lua_getglobal(this->state, "setEncoderPosition");
|
||||
if (result != LUA_TFUNCTION)
|
||||
{
|
||||
// No function in script
|
||||
}
|
||||
else
|
||||
{
|
||||
lua_pushnumber(this->state, position);
|
||||
|
||||
if (lua_pcall(this->state, 1, 1, 0))
|
||||
{
|
||||
this->logError();
|
||||
return asynError;
|
||||
}
|
||||
|
||||
int rettype = lua_type(this->state, -1);
|
||||
|
||||
// Do something with returned value
|
||||
|
||||
lua_pop(this->state, 1);
|
||||
}
|
||||
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
asynStatus ScriptMotorAxis::setHighLimit(double highLimit)
|
||||
{
|
||||
int result = lua_getglobal(this->state, "setHighLimit");
|
||||
if (result != LUA_TFUNCTION)
|
||||
{
|
||||
// No function in script
|
||||
}
|
||||
else
|
||||
{
|
||||
lua_pushnumber(this->state, highLimit);
|
||||
|
||||
if (lua_pcall(this->state, 1, 1, 0))
|
||||
{
|
||||
this->logError();
|
||||
return asynError;
|
||||
}
|
||||
|
||||
int rettype = lua_type(this->state, -1);
|
||||
|
||||
// Do something with returned value
|
||||
|
||||
lua_pop(this->state, 1);
|
||||
}
|
||||
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
asynStatus ScriptMotorAxis::setLowLimit(double lowLimit)
|
||||
{
|
||||
int result = lua_getglobal(this->state, "setLowLimit");
|
||||
if (result != LUA_TFUNCTION)
|
||||
{
|
||||
// No function in script
|
||||
}
|
||||
else
|
||||
{
|
||||
lua_pushnumber(this->state, lowLimit);
|
||||
|
||||
if (lua_pcall(this->state, 1, 1, 0))
|
||||
{
|
||||
this->logError();
|
||||
return asynError;
|
||||
}
|
||||
|
||||
int rettype = lua_type(this->state, -1);
|
||||
|
||||
// Do something with returned value
|
||||
|
||||
lua_pop(this->state, 1);
|
||||
}
|
||||
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
|
||||
asynStatus ScriptMotorAxis::setPGain(double PGain)
|
||||
{
|
||||
int result = lua_getglobal(this->state, "setPGain");
|
||||
if (result != LUA_TFUNCTION)
|
||||
{
|
||||
// No function in script
|
||||
}
|
||||
else
|
||||
{
|
||||
lua_pushnumber(this->state, PGain);
|
||||
|
||||
if (lua_pcall(this->state, 1, 1, 0))
|
||||
{
|
||||
this->logError();
|
||||
return asynError;
|
||||
}
|
||||
|
||||
int rettype = lua_type(this->state, -1);
|
||||
|
||||
// Do something with returned value
|
||||
|
||||
lua_pop(this->state, 1);
|
||||
}
|
||||
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
asynStatus ScriptMotorAxis::setIGain(double IGain)
|
||||
{
|
||||
int result = lua_getglobal(this->state, "setIGain");
|
||||
if (result != LUA_TFUNCTION)
|
||||
{
|
||||
// No function in script
|
||||
}
|
||||
else
|
||||
{
|
||||
lua_pushnumber(this->state, IGain);
|
||||
|
||||
if (lua_pcall(this->state, 1, 1, 0))
|
||||
{
|
||||
this->logError();
|
||||
return asynError;
|
||||
}
|
||||
|
||||
int rettype = lua_type(this->state, -1);
|
||||
|
||||
// Do something with returned value
|
||||
|
||||
lua_pop(this->state, 1);
|
||||
}
|
||||
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
asynStatus ScriptMotorAxis::setDGain(double DGain)
|
||||
{
|
||||
int result = lua_getglobal(this->state, "setDGain");
|
||||
if (result != LUA_TFUNCTION)
|
||||
{
|
||||
// No function in script
|
||||
}
|
||||
else
|
||||
{
|
||||
lua_pushnumber(this->state, DGain);
|
||||
|
||||
if (lua_pcall(this->state, 1, 1, 0))
|
||||
{
|
||||
this->logError();
|
||||
return asynError;
|
||||
}
|
||||
|
||||
int rettype = lua_type(this->state, -1);
|
||||
|
||||
// Do something with returned value
|
||||
|
||||
lua_pop(this->state, 1);
|
||||
}
|
||||
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
/*
|
||||
* setClosedLoop() is called by asynMotor device support when a user enables or disables torque,
|
||||
* usually from the motorx_all.adl, but only for drivers that set the following params to 1:
|
||||
* pC->motorStatusGainSupport_
|
||||
* pC->motorStatusHasEncoder_
|
||||
* What is actually implemented here varies greatly based on the specfics of the controller.
|
||||
*
|
||||
* Arguments in terms of motor record fields:
|
||||
* closedLoop = CNEN
|
||||
*/
|
||||
|
||||
asynStatus ScriptMotorAxis::setClosedLoop(bool closedLoop)
|
||||
{
|
||||
int result = lua_getglobal(this->state, "setClosedLoop");
|
||||
if (result != LUA_TFUNCTION)
|
||||
{
|
||||
// No function in script
|
||||
}
|
||||
else
|
||||
{
|
||||
lua_pushboolean(this->state, (int) closedLoop);
|
||||
|
||||
if (lua_pcall(this->state, 1, 1, 0))
|
||||
{
|
||||
this->logError();
|
||||
return asynError;
|
||||
}
|
||||
|
||||
int rettype = lua_type(this->state, -1);
|
||||
|
||||
// Do something with returned value
|
||||
|
||||
lua_pop(this->state, 1);
|
||||
}
|
||||
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
asynStatus ScriptMotorAxis::setEncoderRatio(double EncoderRatio)
|
||||
{
|
||||
int result = lua_getglobal(this->state, "setEncoderRatio");
|
||||
if (result != LUA_TFUNCTION)
|
||||
{
|
||||
// No function in script
|
||||
}
|
||||
else
|
||||
{
|
||||
lua_pushnumber(this->state, EncoderRatio);
|
||||
|
||||
if (lua_pcall(this->state, 1, 1, 0))
|
||||
{
|
||||
this->logError();
|
||||
return asynError;
|
||||
}
|
||||
|
||||
int rettype = lua_type(this->state, -1);
|
||||
|
||||
// Do something with returned value
|
||||
|
||||
lua_pop(this->state, 1);
|
||||
}
|
||||
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/** Polls the axis.
|
||||
* 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 ScriptMotorAxis::poll(bool *moving)
|
||||
{
|
||||
int result = lua_getglobal(this->state, "poll");
|
||||
if (result != LUA_TFUNCTION)
|
||||
{
|
||||
// No function in script
|
||||
}
|
||||
else
|
||||
{
|
||||
if (lua_pcall(this->state, 0, 1, 0))
|
||||
{
|
||||
this->logError();
|
||||
return asynError;
|
||||
}
|
||||
|
||||
int rettype = lua_type(this->state, -1);
|
||||
|
||||
if (rettype == LUA_TBOOLEAN)
|
||||
{
|
||||
if (lua_toboolean(this->state, -1)) { *moving = true; }
|
||||
else { *moving = false; }
|
||||
}
|
||||
|
||||
lua_pop(this->state, 1);
|
||||
}
|
||||
|
||||
this->callParamCallbacks();
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
void ScriptMotorAxis::config(const char* params)
|
||||
{
|
||||
luaLoadMacros(this->state, params);
|
||||
}
|
||||
|
||||
void ScriptMotorAxis::logError()
|
||||
{
|
||||
std::string err(lua_tostring(this->state, -1));
|
||||
lua_pop(this->state, 1);
|
||||
|
||||
printf("%s\n", err.c_str());
|
||||
}
|
||||
|
||||
void ScriptMotorReload(const char* port)
|
||||
{
|
||||
ScriptMotorController* controller = (ScriptMotorController*) findAsynPortDriver(port);
|
||||
|
||||
if (controller != NULL) { controller->reload(); }
|
||||
}
|
||||
|
||||
|
||||
/** Code for iocsh registration */
|
||||
static const iocshArg ScriptMotorReloadArg0 = {"Motor Port name", iocshArgString};
|
||||
|
||||
static const iocshArg* const ScriptMotorReloadArgs[] = {&ScriptMotorReloadArg0};
|
||||
|
||||
static const iocshFuncDef ScriptMotorReloadDef = {"ScriptMotorReload", 1, ScriptMotorReloadArgs};
|
||||
|
||||
static void ScriptMotorReloadCallFunc(const iocshArgBuf *args)
|
||||
{
|
||||
ScriptMotorReload(args[0].sval);
|
||||
}
|
||||
|
||||
|
||||
static const iocshArg ScriptMotorCreateControllerArg0 = {"Motor Port name", iocshArgString};
|
||||
static const iocshArg ScriptMotorCreateControllerArg1 = {"Number of axes", iocshArgInt};
|
||||
static const iocshArg ScriptMotorCreateControllerArg2 = {"Control Script", iocshArgString};
|
||||
static const iocshArg ScriptMotorCreateControllerArg3 = {"Parameters", iocshArgString};
|
||||
static const iocshArg * const ScriptMotorCreateControllerArgs[] = {&ScriptMotorCreateControllerArg0,
|
||||
&ScriptMotorCreateControllerArg1,
|
||||
&ScriptMotorCreateControllerArg2,
|
||||
&ScriptMotorCreateControllerArg3};
|
||||
static const iocshFuncDef ScriptMotorCreateControllerDef = {"ScriptControllerConfig", 4, ScriptMotorCreateControllerArgs};
|
||||
static void ScriptMotorCreateContollerCallFunc(const iocshArgBuf *args)
|
||||
{
|
||||
ScriptControllerConfig(args[0].sval, args[1].ival, args[2].sval, args[3].sval);
|
||||
}
|
||||
|
||||
|
||||
static const iocshArg ScriptMotorCreateAxisArg0 = {"Controller port name", iocshArgString};
|
||||
static const iocshArg ScriptMotorCreateAxisArg1 = {"Axis number", iocshArgInt};
|
||||
static const iocshArg ScriptMotorCreateAxisArg2 = {"Parameters", iocshArgString};
|
||||
|
||||
static const iocshArg * const ScriptMotorCreateAxisArgs[] = {&ScriptMotorCreateAxisArg0,
|
||||
&ScriptMotorCreateAxisArg1,
|
||||
&ScriptMotorCreateAxisArg2};
|
||||
|
||||
static const iocshFuncDef ScriptMotorCreateAxisDef = {"ScriptAxisConfig", 3, ScriptMotorCreateAxisArgs};
|
||||
static void ScriptMotorCreateAxisCallFunc(const iocshArgBuf *args)
|
||||
{
|
||||
ScriptAxisConfig(args[0].sval, args[1].ival, args[2].sval);
|
||||
}
|
||||
|
||||
|
||||
|
||||
static void ScriptMotorRegister(void)
|
||||
{
|
||||
iocshRegister(&ScriptMotorReloadDef, ScriptMotorReloadCallFunc);
|
||||
iocshRegister(&ScriptMotorCreateControllerDef, ScriptMotorCreateContollerCallFunc);
|
||||
iocshRegister(&ScriptMotorCreateAxisDef, ScriptMotorCreateAxisCallFunc);
|
||||
}
|
||||
|
||||
|
||||
extern "C" {
|
||||
epicsExportRegistrar(ScriptMotorRegister);
|
||||
}
|
||||
@@ -1 +0,0 @@
|
||||
registrar(ScriptMotorRegister)
|
||||
@@ -1,76 +0,0 @@
|
||||
#include "asynMotorController.h"
|
||||
#include "asynMotorAxis.h"
|
||||
|
||||
#include <string>
|
||||
#include "epicsScript.h"
|
||||
|
||||
class epicsShareClass ScriptMotorAxis : public asynMotorAxis
|
||||
{
|
||||
public:
|
||||
/* These are the methods we override from the base class */
|
||||
ScriptMotorAxis(class ScriptMotorController *pC, int axisNo, const char* script_file, const char* params);
|
||||
|
||||
void reload(const char* script, const char* params);
|
||||
|
||||
void report(FILE *fp, int level);
|
||||
|
||||
asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
|
||||
asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
|
||||
asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
|
||||
asynStatus stop(double acceleration);
|
||||
asynStatus poll(bool *moving);
|
||||
asynStatus setPosition(double position);
|
||||
asynStatus setEncoderPosition(double position);
|
||||
asynStatus setHighLimit(double highLimit);
|
||||
asynStatus setLowLimit(double lowLimit);
|
||||
asynStatus setPGain(double pGain);
|
||||
asynStatus setIGain(double iGain);
|
||||
asynStatus setDGain(double dGain);
|
||||
asynStatus setClosedLoop(bool closedLoop);
|
||||
asynStatus setEncoderRatio(double ratio);
|
||||
|
||||
virtual epicsUInt32 setStatusParam(int index, int value);
|
||||
virtual void setPositionParam(int index, double value);
|
||||
|
||||
private:
|
||||
ScriptMotorController *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
|
||||
* Abbreviated because it is used very frequently */
|
||||
int axisIndex_;
|
||||
|
||||
std::string params;
|
||||
|
||||
lua_State* state;
|
||||
|
||||
void initState(const char* script_file);
|
||||
void config(const char* params);
|
||||
void logError();
|
||||
|
||||
friend class ScriptMotorController;
|
||||
};
|
||||
|
||||
class epicsShareClass ScriptMotorController : public asynMotorController {
|
||||
public:
|
||||
ScriptMotorController(const char *asyn_port, int max_axes, const char* script_file, const char* params);
|
||||
|
||||
virtual asynStatus setIntegerParam(int list, int function, int value);
|
||||
virtual asynStatus setDoubleParam(int list, int function, double value);
|
||||
|
||||
virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
|
||||
|
||||
void report(FILE *fp, int level);
|
||||
ScriptMotorAxis* getAxis(asynUser *pasynUser);
|
||||
ScriptMotorAxis* getAxis(int axisNo);
|
||||
|
||||
void configAxis(int axisNo, const char* params);
|
||||
|
||||
void reload();
|
||||
|
||||
protected:
|
||||
int ScriptMotorReload;
|
||||
|
||||
private:
|
||||
std::string script;
|
||||
std::string init_params;
|
||||
|
||||
friend class ScriptMotorAxis;
|
||||
};
|
||||
@@ -1,140 +0,0 @@
|
||||
|
||||
file {
|
||||
name="/home/oxygen40/KLANG/Documents/Projects/Repository/git/motor/motorApp/op/adl/ScriptMotorReload.adl"
|
||||
version=030107
|
||||
}
|
||||
display {
|
||||
object {
|
||||
x=663
|
||||
y=227
|
||||
width=220
|
||||
height=75
|
||||
}
|
||||
clr=14
|
||||
bclr=4
|
||||
cmap=""
|
||||
gridSpacing=5
|
||||
gridOn=0
|
||||
snapToGrid=0
|
||||
}
|
||||
"color map" {
|
||||
ncolors=65
|
||||
colors {
|
||||
ffffff,
|
||||
ececec,
|
||||
dadada,
|
||||
c8c8c8,
|
||||
bbbbbb,
|
||||
aeaeae,
|
||||
9e9e9e,
|
||||
919191,
|
||||
858585,
|
||||
787878,
|
||||
696969,
|
||||
5a5a5a,
|
||||
464646,
|
||||
2d2d2d,
|
||||
000000,
|
||||
00d800,
|
||||
1ebb00,
|
||||
339900,
|
||||
2d7f00,
|
||||
216c00,
|
||||
fd0000,
|
||||
de1309,
|
||||
be190b,
|
||||
a01207,
|
||||
820400,
|
||||
5893ff,
|
||||
597ee1,
|
||||
4b6ec7,
|
||||
3a5eab,
|
||||
27548d,
|
||||
fbf34a,
|
||||
f9da3c,
|
||||
eeb62b,
|
||||
e19015,
|
||||
cd6100,
|
||||
ffb0ff,
|
||||
d67fe2,
|
||||
ae4ebc,
|
||||
8b1a96,
|
||||
610a75,
|
||||
a4aaff,
|
||||
8793e2,
|
||||
6a73c1,
|
||||
4d52a4,
|
||||
343386,
|
||||
c7bb6d,
|
||||
b79d5c,
|
||||
a47e3c,
|
||||
7d5627,
|
||||
58340f,
|
||||
99ffff,
|
||||
73dfff,
|
||||
4ea5f9,
|
||||
2a63e4,
|
||||
0a00b8,
|
||||
ebf1b5,
|
||||
d4db9d,
|
||||
bbc187,
|
||||
a6a462,
|
||||
8b8239,
|
||||
73ff6b,
|
||||
52da3b,
|
||||
3cb420,
|
||||
289315,
|
||||
1a7309,
|
||||
}
|
||||
}
|
||||
rectangle {
|
||||
object {
|
||||
x=0
|
||||
y=0
|
||||
width=250
|
||||
height=25
|
||||
}
|
||||
"basic attribute" {
|
||||
clr=29
|
||||
}
|
||||
}
|
||||
"message button" {
|
||||
object {
|
||||
x=10
|
||||
y=35
|
||||
width=200
|
||||
height=30
|
||||
}
|
||||
control {
|
||||
chan="$(P)$(PORT):ScriptReload"
|
||||
clr=14
|
||||
bclr=62
|
||||
}
|
||||
label="Reload $(PORT)"
|
||||
press_msg="1"
|
||||
}
|
||||
rectangle {
|
||||
object {
|
||||
x=-7
|
||||
y=-7
|
||||
width=257
|
||||
height=32
|
||||
}
|
||||
"basic attribute" {
|
||||
clr=14
|
||||
fill="outline"
|
||||
width=3
|
||||
}
|
||||
}
|
||||
text {
|
||||
object {
|
||||
x=5
|
||||
y=3
|
||||
width=200
|
||||
height=20
|
||||
}
|
||||
"basic attribute" {
|
||||
clr=0
|
||||
}
|
||||
textix="Script Motor Reload"
|
||||
}
|
||||
@@ -39,9 +39,6 @@ ifdef BUSY
|
||||
endif
|
||||
COMMONDBDS += PI_GCS2Support.dbd
|
||||
COMMONDBDS += phytron.dbd
|
||||
ifdef SCRIPT
|
||||
COMMONDBDS += ScriptMotorDriver.dbd
|
||||
endif
|
||||
|
||||
DBD += WithAsyn.dbd
|
||||
WithAsyn_DBD += $(COMMONDBDS)
|
||||
@@ -86,10 +83,6 @@ COMMONLIBS += ACRMotor
|
||||
COMMONLIBS += PI_GCS2Support
|
||||
COMMONLIBS += phytronAxisMotor
|
||||
COMMONLIBS += motor
|
||||
ifdef SCRIPT
|
||||
COMMONLIBS += ScriptMotor
|
||||
COMMONLIBS += script
|
||||
endif
|
||||
|
||||
# Needed for Newport SNL programs
|
||||
WithAsyn_LIBS += $(COMMONLIBS)
|
||||
|
||||
Reference in New Issue
Block a user