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Bug fix for another 'invalid state' scenario (see README #1).

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This commit is contained in:
Ron Sluiter
2002-10-24 18:03:32 +00:00
parent 66ebc16e5c
commit cc676a4f49
1 changed files with 27 additions and 17 deletions
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motorApp/MotorSrc/motorRecord.cc
+27 -17
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.cc
USAGE... Motor Record Support.
Version: $Revision: 1.1 $
Version: $Revision: 1.2 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2002-10-21 21:06:03 $
Last Modified: $Date: 2002-10-24 18:03:32 $
*/
/*
@@ -649,11 +649,18 @@ LOGIC:
ELSE IF done homing.
...
...
ELSE IF done stopping after jog.
Clear DMOV and JOG_STOP state in MIP.
ELSE IF done stopping after jog, OR, done with move.
IF |backlash distance| > |motor resolution|.
Do backlasth correction.
ELSE
Set MIP to DONE.
IF there is a jog request and the corresponding LS is off.
Set jog requesst on in MIP.
ENDIF
ENDIF
...
...
ELSE IF done with backlash after jog.
ELSE IF done with jog or move backlash.
Clear MIP.
IF (JOGF field true, AND, Hard High limit false), OR,
(JOGR field true, AND, Hard Low limit false)
@@ -966,10 +973,9 @@ LOGIC:
IF function was invoked by a callback, OR, process delay acknowledged is true?
Set process reason indicator to CALLBACK_DATA.
Call process_motor_info().
IF DMOV is TRUE.
GOTO Exit.
IF motor-in-motion indicator (MOVN) is true.
IF [Sign of RDIF is NOT the same as sign of CDIR], AND,
IF new target position in opposite direction of current motion.
[Sign of RDIF is NOT the same as sign of CDIR], AND,
[Dist. to target {DIFF} > 2 x (|Backlash Dist.| + Retry Deadband)], AND,
[MIP indicates this move is either (a result of a retry),OR,
(not from a Jog* or Hom*)]
@@ -983,7 +989,11 @@ LOGIC:
Set the Post Process field to TRUE.
ENDIF
IF the Post Process field is TRUE.
Call postProcess().
IF target position has changed (VAL != LVAL).
Set MIP to DONE.
ELSE
Call postProcess().
ENDIF
ENDIF
IF the Done Moving field (DMOV) is TRUE.
Initialize delay ticks.
@@ -1089,13 +1099,8 @@ STATIC long process(dbCommon *arg)
{
int sign_rdif = (pmr->rdif < 0) ? 0 : 1;
/* This is a motor-in-motion update from device support. */
/*
* Are we going in the wrong direction? (Don't be fooled by a
* backlash correction into saying "yes". 'Jog*' and 'Hom*' motions
* don't get midcourse corrections since we don't know their
* destinations.) v3.2: Don't do this check with an encoder or
* readback device.
/* Test for new target position in opposite direction of current
motion.
*/
if ((sign_rdif != pmr->cdir) &&
(fabs(pmr->diff) > 2 * (fabs(pmr->bdst) + pmr->rdbd)) &&
@@ -1136,7 +1141,12 @@ STATIC long process(dbCommon *arg)
}
if (pmr->pp)
status = postProcess(pmr);
{
if (pmr->val != pmr->lval)
pmr->mip = MIP_DONE;
else
status = postProcess(pmr);
}
/* Are we "close enough" to desired position? */
if (pmr->dmov && !(pmr->rhls || pmr->rlls))