lin-epics-modules/motorBase
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Added the ability to move all hexapod motors to new target positions (not using deferred moves).

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This commit is contained in:
kmpeters
2013-06-14 20:50:47 +00:00
parent 442e1b10fd
commit eea6efa880
6 changed files with 1849 additions and 21 deletions
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README
+1
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@@ -220,6 +220,7 @@ Modification Log for R6-8
motorApp/NewportSrc/HXPDriver.{cpp,h}
motorApp/NewportSrc/hxp_drivers.{cpp,h}
motorApp/NewportSrc/hxp_error.h
motorApp/op/adl/HXP_{extra,motors,moveAll}.adl
Modification Log for R6-7
iocBoot/iocWithAsyn/motor.cmd.hxp
+5
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@@ -1,6 +1,11 @@
dbLoadTemplate("motor.substitutions.hxp")
HXPCreateController("HXP1", "192.168.1.42", 5001, 200, 1000)
# A shorter, idle-poll period is desirable if the motors
# are moved using HXP_moveAll.adl, since this period determines
# how long it takes for the motor records to see that an
# external move has been initiated.
#!HXPCreateController("HXP1", "192.168.1.42", 5001, 200, 200)
#asynSetTraceIOMask("HXP1", 0, 2)
#asynSetTraceMask("HXP1", 0, 255)
motorApp/Db/HXP_extra.db
+77 -14
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@@ -1,35 +1,98 @@
record(mbbo,"$(P)$(R)CS") {
field(DESC,"Coordinate System")
field(DTYP, "asynInt32")
field(OUT,"@asynMask($(PORT) 0 0xFFFF)HXP_MOVE_COORD_SYS")
field(DTYP,"asynInt32")
field(OUT, "@asynMask($(PORT) 0 0xFFFF)HXP_MOVE_COORD_SYS")
field(ZRVL,"0")
field(ZRST,"Work")
field(ONVL,"1")
field(ONST,"Tool")
field(VAL, "0")
field(PINI, "YES")
field(PINI,"YES")
}
record(ai,"$(P)$(R)STATUS") {
field(DESC,"HXP Group Status")
field(DTYP, "asynInt32")
field(PINI, "1")
field(DTYP,"asynInt32")
field(PINI,"1")
field(PREC,"0")
field(SCAN, "I/O Intr")
field(INP,"@asyn($(PORT),0)HXP_STATUS")
field(SCAN,"I/O Intr")
field(INP, "@asyn($(PORT),0)HXP_STATUS")
}
record(ai,"$(P)$(R)ERROR") {
field(DESC,"HXP Group Error")
field(DTYP, "asynInt32")
field(DTYP,"asynInt32")
field(PREC,"0")
field(SCAN, "I/O Intr")
field(INP,"@asyn($(PORT),0)HXP_ERROR")
field(SCAN,"I/O Intr")
field(INP, "@asyn($(PORT),0)HXP_ERROR")
}
record(stringin, "$(P)$(R)ERR_DESC") {
field(DESC, "Error Description")
field(DTYP, "asynOctetRead")
field(SCAN, "I/O Intr")
field(INP, "@asyn($(PORT),0)HXP_ERROR_DESC")
field(DESC,"Error Description")
field(DTYP,"asynOctetRead")
field(SCAN,"I/O Intr")
field(INP, "@asyn($(PORT),0)HXP_ERROR_DESC")
}
record(bo,"$(P)$(R)MOVE_ALL") {
field(DESC,"Move all motors")
field(DTYP,"asynInt32")
field(ZNAM,"Off")
field(ONAM,"On")
field(OUT, "@asyn($(PORT),0)HXP_MOVE_ALL")
}
record(ao,"$(P)$(R)T1") {
field(DESC,"X target pos")
field(DTYP,"asynFloat64")
field(OUT, "@asyn($(PORT),0)HXP_MOVE_ALL_TARGET_X")
field(PREC,"5")
field(VAL, "0.0")
field(PINI,"YES")
}
record(ao,"$(P)$(R)T2") {
field(DESC,"Y target pos")
field(DTYP,"asynFloat64")
field(OUT, "@asyn($(PORT),0)HXP_MOVE_ALL_TARGET_Y")
field(PREC,"5")
field(VAL, "0.0")
field(PINI,"YES")
}
record(ao,"$(P)$(R)T3") {
field(DESC,"Z target pos")
field(DTYP,"asynFloat64")
field(OUT, "@asyn($(PORT),0)HXP_MOVE_ALL_TARGET_Z")
field(PREC,"5")
field(VAL, "12.0")
field(PINI,"YES")
}
record(ao,"$(P)$(R)T4") {
field(DESC,"U target pos")
field(DTYP,"asynFloat64")
field(OUT, "@asyn($(PORT),0)HXP_MOVE_ALL_TARGET_U")
field(PREC,"5")
field(VAL, "0.0")
field(PINI,"YES")
}
record(ao,"$(P)$(R)T5") {
field(DESC,"V target pos")
field(DTYP,"asynFloat64")
field(OUT, "@asyn($(PORT),0)HXP_MOVE_ALL_TARGET_V")
field(PREC,"5")
field(VAL, "0.0")
field(PINI,"YES")
}
record(ao,"$(P)$(R)T6") {
field(DESC,"W target pos")
field(DTYP,"asynFloat64")
field(OUT, "@asyn($(PORT),0)HXP_MOVE_ALL_TARGET_W")
field(PREC,"5")
field(VAL, "0.0")
field(PINI,"YES")
}
motorApp/NewportSrc/HXPDriver.cpp
+109 -6
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@@ -54,10 +54,17 @@ HXPController::HXPController(const char *portName, const char *IPAddress, int IP
IPAddress_ = epicsStrDup(IPAddress);
IPPort_ = IPPort;
createParam(HXPMoveCoordSysString, asynParamInt32, &HXPMoveCoordSys_);
createParam(HXPStatusString, asynParamInt32, &HXPStatus_);
createParam(HXPErrorString, asynParamInt32, &HXPError_);
createParam(HXPErrorDescString, asynParamOctet, &HXPErrorDesc_);
createParam(HXPMoveCoordSysString, asynParamInt32, &HXPMoveCoordSys_);
createParam(HXPStatusString, asynParamInt32, &HXPStatus_);
createParam(HXPErrorString, asynParamInt32, &HXPError_);
createParam(HXPErrorDescString, asynParamOctet, &HXPErrorDesc_);
createParam(HXPMoveAllString, asynParamInt32, &HXPMoveAll_);
createParam(HXPMoveAllTargetXString, asynParamFloat64, &HXPMoveAllTargetX_);
createParam(HXPMoveAllTargetYString, asynParamFloat64, &HXPMoveAllTargetY_);
createParam(HXPMoveAllTargetZString, asynParamFloat64, &HXPMoveAllTargetZ_);
createParam(HXPMoveAllTargetUString, asynParamFloat64, &HXPMoveAllTargetU_);
createParam(HXPMoveAllTargetVString, asynParamFloat64, &HXPMoveAllTargetV_);
createParam(HXPMoveAllTargetWString, asynParamFloat64, &HXPMoveAllTargetW_);
// This socket is used for polling by the controller and all axes
pollSocket_ = HXPTCP_ConnectToServer((char *)IPAddress, IPPort, HXP_POLL_TIMEOUT);
@@ -131,6 +138,103 @@ HXPAxis* HXPController::getAxis(int axisNo)
}
/** Called when asyn clients call pasynInt32->write().
* Extracts the function and axis number from pasynUser.
* Sets the value in the parameter library.
* If the function is HXPMoveAll_ then it calls moves all motors with a single command
* For all other functions it calls asynMotorController::writeInt32.
* Calls any registered callbacks for this pasynUser->reason and address.
* \param[in] pasynUser asynUser structure that encodes the reason and address.
* \param[in] value Value to write. */
asynStatus HXPController::writeInt32(asynUser *pasynUser, epicsInt32 value)
{
int function = pasynUser->reason;
asynStatus status = asynSuccess;
HXPAxis *pAxis = getAxis(pasynUser);
static const char *functionName = "writeInt32";
/* 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 = setIntegerParam(pAxis->axisNo_, function, value);
if (function == HXPMoveAll_)
{
/* if value == 1: motors are moved
if value == 0: nothing is done and parameter is simply reset */
if (value == 1)
{
moveAll(pAxis);
}
}
else
{
/* Call base class method */
status = asynMotorController::writeInt32(pasynUser, value);
}
/* Do callbacks so higher layers see any changes */
callParamCallbacks(pAxis->axisNo_);
if (status)
asynPrint(pasynUser, ASYN_TRACE_ERROR,
"%s:%s: error, status=%d function=%d, value=%d\n",
driverName, functionName, status, function, value);
else
asynPrint(pasynUser, ASYN_TRACEIO_DRIVER,
"%s:%s: function=%d, value=%d\n",
driverName, functionName, function, value);
return status;
}
/**
* Moves all hexpod axes to new target positions
*/
int HXPController::moveAll(HXPAxis *pAxis)
{
int status;
double x, y, z, u, v, w;
getDoubleParam(0, HXPMoveAllTargetX_, &x);
getDoubleParam(0, HXPMoveAllTargetY_, &y);
getDoubleParam(0, HXPMoveAllTargetZ_, &z);
getDoubleParam(0, HXPMoveAllTargetU_, &u);
getDoubleParam(0, HXPMoveAllTargetV_, &v);
getDoubleParam(0, HXPMoveAllTargetW_, &w);
status = HXPHexapodMoveAbsolute(pAxis->moveSocket_, GROUP, "Work", x, y, z, u, v, w);
/* This is similar to what is done in HXPAxis::move() */
if (status < 0)
{
/* Set the error */
setIntegerParam(HXPError_, status);
/* Get the error string */
HXPErrorStringGet(pAxis->moveSocket_, status, pAxis->errorDescFull_);
/* Trim the error string */
strncpy(pAxis->errorDesc_, pAxis->errorDescFull_, 39);
pAxis->errorDesc_[39] = 0;
/* Set the error description */
setStringParam(HXPErrorDesc_, pAxis->errorDesc_);
}
else
{
/* Clear the error */
setIntegerParam(HXPError_, 0);
setStringParam(HXPErrorDesc_, "");
/* If there was a way to force the motor record to switch to the move poll rate,
this would be the place to do it. */
}
callParamCallbacks();
return status;
}
// These are the HXPAxis methods
/** Creates a new HXPAxis object.
@@ -263,7 +367,7 @@ asynStatus HXPAxis::move(double position, int relative, double baseVelocity, dou
strncpy(errorDesc_, errorDescFull_, 39);
errorDesc_[39] = 0;
/* */
/* Set the error description */
pC_->setStringParam(pC_->HXPErrorDesc_, errorDesc_);
}
@@ -374,7 +478,6 @@ asynStatus HXPAxis::poll(bool *moving)
/* Set the axis done parameter */
*moving = moving_;
//if (deferredMove_) *moving = true;
setIntegerParam(pC_->motorStatusDone_, *moving?0:1);
/*Test for states that mean we cannot move an axis (disabled, uninitialised, etc.)
motorApp/NewportSrc/HXPDriver.h
+21 -1
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@@ -16,6 +16,13 @@ USAGE... Motor driver support for the Newport Hexapod controller.
#define HXPStatusString "HXP_STATUS"
#define HXPErrorString "HXP_ERROR"
#define HXPErrorDescString "HXP_ERROR_DESC"
#define HXPMoveAllString "HXP_MOVE_ALL"
#define HXPMoveAllTargetXString "HXP_MOVE_ALL_TARGET_X"
#define HXPMoveAllTargetYString "HXP_MOVE_ALL_TARGET_Y"
#define HXPMoveAllTargetZString "HXP_MOVE_ALL_TARGET_Z"
#define HXPMoveAllTargetUString "HXP_MOVE_ALL_TARGET_U"
#define HXPMoveAllTargetVString "HXP_MOVE_ALL_TARGET_V"
#define HXPMoveAllTargetWString "HXP_MOVE_ALL_TARGET_W"
class HXPAxis : public asynMotorAxis
{
@@ -50,17 +57,30 @@ friend class HXPController;
class HXPController : public asynMotorController {
public:
HXPController(const char *portName, const char *HXPPortName, int numAxes, double movingPollPeriod, double idlePollPeriod);
/* These are the methods that we override from asynMotorDriver */
asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value); /* needed for implementation of moveAll */
void report(FILE *fp, int level);
HXPAxis* getAxis(asynUser *pasynUser);
HXPAxis* getAxis(int axisNo);
/* These are the methods that are new to this class */
int moveAll(HXPAxis* pAxis);
protected:
#define FIRST_HXP_PARAM HXPMoveCoordSys_
int HXPMoveCoordSys_;
int HXPStatus_;
int HXPError_;
int HXPErrorDesc_;
#define LAST_HXP_PARAM HXPErrorDesc_
int HXPMoveAll_;
int HXPMoveAllTargetX_;
int HXPMoveAllTargetY_;
int HXPMoveAllTargetZ_;
int HXPMoveAllTargetU_;
int HXPMoveAllTargetV_;
int HXPMoveAllTargetW_;
#define LAST_HXP_PARAM HXPMoveAllTargetW_
#define NUM_HXP_PARAMS ((int) (&LAST_HXP_PARAM - &FIRST_HXP_PARAM + 1))
motorApp/op/adl/HXP_moveAll.adl
+1636
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