Merge pull request #160 from EuropeanSpallationSource/add-RSTM-field

Add field RSTM: Restore Mode

docs/motorRecord.html

@@ -889,6 +889,14 @@ below.
     <td><br>
     </td>
   </tr>
+  <tr>
+    <td><a href="#Fields_res">RSTM</a></td>
+    <td>R/W</td>
+    <td>Restory Mode</td>
+    <td>RECCHOICE</td>
+    <td>(0:"Never", 1:"Always", 2:"NearZero", 3:"Conditional")<br>
+    </td>
+  </tr>
   <tr>
     <td><a href="#Fields_motion">SPDB</a></td>
     <td>R/W</td>

motorApp/MotorSrc/devMotorAsyn.c

@@ -172,28 +172,53 @@ static void init_controller(struct motorRecord *pmr, asynUser *pasynUser )
     double rdbd = (fabs(pmr->rdbd) < fabs(pmr->mres) ? fabs(pmr->mres) : fabs(pmr->rdbd) );
     double encRatio[2] = {pmr->mres, pmr->eres};
     int use_rel = (pmr->rtry != 0 && pmr->rmod != motorRMOD_I && (pmr->ueip || pmr->urip));
+    int dval_non_zero_pos_near_zero = (fabs(pmr->dval) > rdbd) &&
+                                      (pmr->mres != 0) && (fabs(position * pmr->mres) < rdbd);
+    int initPos = 0;
 
     /*Before setting position, set the correct encoder ratio.*/
     start_trans(pmr);
     build_trans(SET_ENC_RATIO, encRatio, pmr);
     end_trans(pmr);
 
-    if ((use_rel != 0) ||
-        ((fabs(pmr->dval) > rdbd) && (pmr->mres != 0) && (fabs(position * pmr->mres) < rdbd))
-       )
+    switch (pmr->rstm) {
+        case motorRSTM_NearZero:
+            {
+                if (dval_non_zero_pos_near_zero)
+                    initPos = 1;
+
+            }
+            break;
+        case motorRSTM_Conditional:
+            {
+                if (use_rel || dval_non_zero_pos_near_zero)
+                    initPos = 1;
+            }
+            break;
+        case motorRSTM_Always:
+            initPos = 1;
+            break;
+    }
+    if (initPos)
     {
         double setPos = pmr->dval / pmr->mres;
         epicsEventId initEvent = epicsEventCreate( epicsEventEmpty );
+        RTN_STATUS rtnval;
 
         pPvt->initEvent = initEvent;
 
         start_trans(pmr);
-        build_trans(LOAD_POS, &setPos, pmr);
+        rtnval = build_trans(LOAD_POS, &setPos, pmr);
         end_trans(pmr);
-
-        asynPrint(pasynUser, ASYN_TRACE_FLOW,
-                  "devMotorAsyn::init_controller, %s set position to %f\n",
-                  pmr->name, setPos );
+        if (rtnval != OK)  {
+            asynPrint(pasynUser, ASYN_TRACE_ERROR,
+                      "devMotorAsyn::init_controller, %s failed to set position to %f\n",
+                      pmr->name, setPos );
+        } else {
+            asynPrint(pasynUser, ASYN_TRACE_FLOW,
+                      "devMotorAsyn::init_controller, %s set position to %f\n",
+                      pmr->name, setPos );
+        }
 
         if ( initEvent )
         {

motorApp/MotorSrc/motorRecord.dbd

@@ -69,6 +69,13 @@ menu(motorRMOD) {
         choice(motorRMOD_I,"In-Position")
 }
 
+menu(motorRSTM) {
+        choice(motorRSTM_Never,       "Never")
+        choice(motorRSTM_Always,      "Always")
+        choice(motorRSTM_NearZero,    "NearZero")
+        choice(motorRSTM_Conditional, "Conditional")
+}
+
 include "menuOmsl.dbd"
 
 recordtype(motor) {
@@ -798,4 +805,11 @@ recordtype(motor) {
 		prompt("Ignore SET field")
 		interest(2)
 	}
+        field(RSTM,DBF_MENU) {
+                initial("NearZero")
+                prompt("Restore Mode")
+                promptgroup(GUI_COMMON)
+                interest(2)
+                menu(motorRSTM)
+        }
 }

motorApp/MotorSrc/motordevCom.cc

@@ -152,9 +152,7 @@ LOGIC...
         Set local encoder ratio to unity.
     ENDIF
 
-    Set Initialize position indicator based on (Use Relative Moves indicator == TRUE, OR,
-        [|DVAL| > RDBD, AND, MRES != 0, AND, the above |"get_axis_info()" position| < RDBD)]
-        [NOTE: |controller position| >= RDBD takes precedence over save/restore position].
+    Set Initialize position indicator based on the RSTM field
     Set Command Primitive Initialization string indicator based on (non-NULL "init"
         pointer, AND, non-zero string length.
 
@@ -189,7 +187,7 @@ motor_init_record_com(struct motorRecord *mr, int brdcnt, struct driver_table *t
     struct motor_dset *pdset = (struct motor_dset *) (mr->dset);
     struct board_stat *brdptr;
     int card, signal;
-    bool initEncoder, initPos, initString, initPID;
+    bool initEncoder, initPos = false, initString, initPID;
     struct motor_trans *ptrans;
     MOTOR_AXIS_QUERY axis_query;
     struct mess_node *motor_call;
@@ -210,7 +208,7 @@ motor_init_record_com(struct motorRecord *mr, int brdcnt, struct driver_table *t
 
     /* Semaphore on private to record field data transfers */
     ptrans->lock = new epicsEvent(epicsEventFull);
-                                                        
+
     motor_call = &(ptrans->motor_call);
 
     callbackSetCallback((void (*)(struct callbackPvt *)) motor_callback,
@@ -288,9 +286,26 @@ motor_init_record_com(struct motorRecord *mr, int brdcnt, struct driver_table *t
     else
         ep_mp[0] = ep_mp[1] = 1.0;
 
-    initPos = ((use_rel == true) ||
-               (fabs(mr->dval) > mr->rdbd && mr->mres != 0 && fabs(axis_query.position * mr->mres) < mr->rdbd)
-              ) ? true : false;
+    bool dval_non_zero_pos_near_zero = fabs(mr->dval) > mr->rdbd && mr->mres != 0 &&
+                                       fabs(axis_query.position * mr->mres) < mr->rdbd;
+    switch (mr->rstm) {
+        case motorRSTM_NearZero:
+            {
+                if (dval_non_zero_pos_near_zero)
+                    initPos = 1;
+            }
+            break;
+        case motorRSTM_Conditional:
+            {
+                if (dval_non_zero_pos_near_zero || use_rel)
+                    initPos = true;
+            }
+            break;
+        case motorRSTM_Always:
+          initPos = true;
+          break;
+    }
+
     /* Test for command primitive initialization string. */
     initString = (mr->init != NULL && strlen(mr->init)) ? true : false;
     /* Test for PID support. */