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Clear homing and jog request buttons after error.

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This commit is contained in:
Ron Sluiter
2005-05-10 16:28:33 +00:00
parent 869b17790c
commit e3d29547e6
1 changed files with 65 additions and 20 deletions
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motorApp/MotorSrc/motorRecord.cc
+65 -20
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.cc
USAGE... Motor Record Support.
Version: $Revision: 1.22 $
Version: $Revision: 1.23 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2005-03-18 22:36:36 $
Last Modified: $Date: 2005-05-10 16:28:33 $
*/
/*
@@ -70,9 +70,10 @@ Last Modified: $Date: 2005-03-18 22:36:36 $
* compatibility.
* .20 12-02-04 rls - fixed incorrect slew acceleration calculation.
* .21 03-13-05 rls - Removed record level round-up position code in do_work().
* .22 04-04-05 rls - Clear homing and jog request after LS or travel limit error.
*/
#define VERSION 5.6
#define VERSION 5.7
#include <stdlib.h>
#include <string.h>
@@ -123,6 +124,7 @@ static void set_dial_highlimit(motorRecord *, struct motor_dset *);
static void set_dial_lowlimit(motorRecord *, struct motor_dset *);
static void set_userlimits(motorRecord *);
static void range_check(motorRecord *, float *, double, double);
static void clear_buttons(motorRecord *);
/*** Record Support Entry Table (RSET) functions. ***/
@@ -212,7 +214,7 @@ field to all listeners. monitor() does this.
/* Bit field for "mmap". */
typedef union
{
unsigned long All;
epicsUInt32 All;
struct
{
unsigned int M_VAL :1;
@@ -253,7 +255,7 @@ typedef union
/* Bit field for "nmap". */
typedef union
{
unsigned long All;
epicsUInt32 All;
struct
{
unsigned int M_S :1;
@@ -268,6 +270,10 @@ typedef union
unsigned int M_ACCL :1;
unsigned int M_BACC :1;
unsigned int M_STUP :1;
unsigned int M_JOGF :1;
unsigned int M_JOGR :1;
unsigned int M_HOMF :1;
unsigned int M_HOMR :1;
} Bits;
} nmap_field;
@@ -662,6 +668,9 @@ static long postProcess(motorRecord * pmr)
WRITE_MSG(GO, NULL);
SEND_MSG();
pmr->pp = TRUE;
pmr->cdir = (pmr->mip & MIP_HOMF) ? 1 : 0;
if (pmr->mres < 0.0)
pmr->cdir = !pmr->cdir;
}
else
{
@@ -669,14 +678,14 @@ static long postProcess(motorRecord * pmr)
{
pmr->mip &= ~MIP_HOMF;
pmr->homf = 0;
db_post_events(pmr, &pmr->homf, DBE_VAL_LOG);
MARK_AUX(M_HOMF);
}
else if (pmr->mip & MIP_HOMR)
{
pmr->mip &= ~MIP_HOMR;
pmr->homr = 0;
db_post_events(pmr, &pmr->homr, DBE_VAL_LOG);
MARK_AUX(M_HOMR);
}
}
}
@@ -1197,8 +1206,7 @@ enter_do_work:
if (pmr->lvio && !pmr->set)
{
pmr->stop = 1;
/* Clear all the buttons that cause motion. */
pmr->jogf = pmr->jogr = pmr->homf = pmr->homr = 0;
clear_buttons(pmr);
}
}
/* Do we need to examine the record to figure out what work to perform? */
@@ -1537,7 +1545,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
else if (pmr->movn)
{
pmr->pp = TRUE; /* Do when motor stops. */
pmr->jogf = pmr->jogr = 0;
clear_buttons(pmr);
}
else
{
@@ -1550,16 +1558,9 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
}
}
/* Cancel any operations. */
if (pmr->mip & MIP_HOMF)
{
pmr->homf = 0;
db_post_events(pmr, &pmr->homf, DBE_VAL_LOG);
}
else if (pmr->mip & MIP_HOMR)
{
pmr->homr = 0;
db_post_events(pmr, &pmr->homr, DBE_VAL_LOG);
}
if (pmr->mip & MIP_HOME)
clear_buttons(pmr);
pmr->mip = MIP_STOP;
MARK(M_MIP);
INIT_MSG();
@@ -1729,6 +1730,9 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
MARK(M_DMOV);
pmr->rcnt = 0;
MARK(M_RCNT);
pmr->cdir = (pmr->mip & MIP_HOMF) ? 1 : 0;
if (pmr->mres < 0.0)
pmr->cdir = !pmr->cdir;
}
return(OK);
}
@@ -3105,6 +3109,14 @@ static void post_MARKed_fields(motorRecord * pmr, unsigned short mask)
db_post_events(pmr, &pmr->dmov, local_mask);
if ((local_mask = mask | (MARKED_AUX(M_STUP) ? DBE_VAL_LOG : 0)))
db_post_events(pmr, &pmr->stup, local_mask);
if ((local_mask = mask | (MARKED_AUX(M_JOGF) ? DBE_VAL_LOG : 0)))
db_post_events(pmr, &pmr->jogf, local_mask);
if ((local_mask = mask | (MARKED_AUX(M_JOGR) ? DBE_VAL_LOG : 0)))
db_post_events(pmr, &pmr->jogr, local_mask);
if ((local_mask = mask | (MARKED_AUX(M_HOMF) ? DBE_VAL_LOG : 0)))
db_post_events(pmr, &pmr->homf, local_mask);
if ((local_mask = mask | (MARKED_AUX(M_HOMR) ? DBE_VAL_LOG : 0)))
db_post_events(pmr, &pmr->homr, local_mask);
UNMARK_ALL;
}
@@ -3176,7 +3188,11 @@ static void
/* Get motor-now-moving indicator. */
if (ls_active == true || msta.Bits.RA_DONE || msta.Bits.RA_PROBLEM)
{
pmr->movn = 0;
if (ls_active == true)
clear_buttons(pmr);
}
else
pmr->movn = 1;
if (pmr->movn != old_movn)
@@ -3567,3 +3583,32 @@ static void range_check(motorRecord *pmr, float *parm_ptr, double min, double ma
}
}
/*
FUNCTION... void clear_buttons(motorRecord *)
USAGE... Clear all motion request buttons.
*/
static void clear_buttons(motorRecord *pmr)
{
if (pmr->jogf)
{
pmr->jogf = 0;
MARK_AUX(M_JOGF);
}
if (pmr->jogr)
{
pmr->jogr = 0;
MARK_AUX(M_JOGR);
}
if (pmr->homf)
{
pmr->homf = 0;
MARK_AUX(M_HOMF);
}
if (pmr->homr)
{
pmr->homr = 0;
MARK_AUX(M_HOMR);
}
}