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Added time stamps to debugging messages

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This commit is contained in:
MarkRivers
2010-02-19 20:37:07 +00:00
parent 2bc018d1e3
commit fe4be115e1
1 changed files with 69 additions and 49 deletions
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motorApp/NewportSrc/XPS_trajectoryScan.st
+69 -49
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@@ -19,6 +19,7 @@ program XPS_trajectoryScan("P=13BMC:,R=traj1,IPADDR=164.54.160.34,PORT=5001,"
%% #include <string.h>
%% #include <stdio.h>
%% #include <math.h>
%% #include <stdarg.h>
%% #include "XPS_C8_drivers.h"
%% #include "Socket.h"
%% #include "xps_ftp.h"
@@ -135,6 +136,7 @@ unsigned long startTime;
%% static int getGroupStatus(SS_ID ssId, struct UserVar *pVar);
%% static void readGathering(SS_ID ssId, struct UserVar *pVar);
%% static int trajectoryAbort(SS_ID ssId, struct UserVar *pVar);
%% static void printMessage(const char *pformat, ...);
ss xpsTrajectoryScan {
@@ -204,7 +206,7 @@ ss xpsTrajectoryScan {
state monitor_inputs {
entry {
if (debugLevel > 0) {
printf("XPS_trajectoryScan: ss xpsTrajectoryScan: state monitor_inputs:"
printMessage("XPS_trajectoryScan: ss xpsTrajectoryScan: state monitor_inputs:"
" entry\n");
}
}
@@ -237,7 +239,7 @@ ss xpsTrajectoryScan {
state build {
entry {
if (debugLevel > 0) {
printf("XPS_trajectoryScan: ss xpsTrajectoryScan: state build:"
printMessage("XPS_trajectoryScan: ss xpsTrajectoryScan: state build:"
" entry\n");
}
}
@@ -294,7 +296,7 @@ ss xpsTrajectoryScan {
state execute {
entry {
if (debugLevel > 0) {
printf("XPS_trajectoryScan: ss xpsTrajectoryScan: state execute:"
printMessage("XPS_trajectoryScan: ss xpsTrajectoryScan: state execute:"
" entry\n");
}
%%waitMotors(ssId, pVar);
@@ -374,7 +376,7 @@ ss xpsTrajectoryScan {
/* Clear execute command, post. This is a "busy" record, don't
* want to do this until execution is complete. */
if (debugLevel > 0) {
printf("XPS_trajectoryScan: ss xpsTrajectoryScan: state execute:"
printMessage("XPS_trajectoryScan: ss xpsTrajectoryScan: state execute:"
" execStatus = STATUS_FAILURE\n");
}
execute=0;
@@ -386,7 +388,7 @@ ss xpsTrajectoryScan {
%%pVar->xpsStatus = getGroupStatus(ssId, pVar);
/* Setting execState here will cause the xpsTrajectoryRun SS to wake up */
if (debugLevel > 0) {
printf("XPS_trajectoryScan: ss xpsTrajectoryScan: state execute:"
printMessage("XPS_trajectoryScan: ss xpsTrajectoryScan: state execute:"
" setting execState = EXECUTE_STATE_MOVE_START\n");
}
execState = EXECUTE_STATE_MOVE_START;
@@ -428,13 +430,13 @@ ss xpsTrajectoryScan {
state wait_execute {
entry {
if (debugLevel > 0) {
printf("XPS_trajectoryScan: ss xpsTrajectoryScan: state wait_execute:"
printMessage("XPS_trajectoryScan: ss xpsTrajectoryScan: state wait_execute:"
" entry\n");
}
}
when (execStatus == STATUS_ABORT) {
if (debugLevel > 0) {
printf("XPS_trajectoryScan: ss xpsTrajectoryScan: state wait_execute:"
printMessage("XPS_trajectoryScan: ss xpsTrajectoryScan: state wait_execute:"
" execStatus = STATUS_ABORT\n");
}
/* The trajectory_abort state set has detected an abort. It has
@@ -482,7 +484,7 @@ ss xpsTrajectoryScan {
when (execState==EXECUTE_STATE_FLYBACK) {
if (debugLevel > 0) {
printf("XPS_trajectoryScan: ss xpsTrajectoryScan: state wait_execute:"
printMessage("XPS_trajectoryScan: ss xpsTrajectoryScan: state wait_execute:"
" execStatus = EXECUTE_STATE_FLYBACK\n");
}
/* Stop the detector */
@@ -522,7 +524,7 @@ ss xpsTrajectoryScan {
state readback {
entry {
if (debugLevel > 0) {
printf("XPS_trajectoryScan: ss xpsTrajectoryScan: state readback:"
printMessage("XPS_trajectoryScan: ss xpsTrajectoryScan: state readback:"
" entry\n");
}
}
@@ -578,7 +580,7 @@ ss xpsTrajectoryAbort {
execStatus = STATUS_ABORT;
if (debugLevel > 0) {
printf("XPS_trajectoryScan: ss xpsTrajectoryAbort: state monitorAbort:"
printMessage("XPS_trajectoryScan: ss xpsTrajectoryAbort: state monitorAbort:"
" setting execStatus = STATUS_ABORT\n");
}
pvPut(execStatus);
@@ -603,7 +605,7 @@ ss xpsTrajectoryRun {
when (efTestAndClear(execStateMon) && (execState == EXECUTE_STATE_MOVE_START)) {
/*%%pVar->xpsStatus = getGroupStatus(ssId, pVar);*/
if (debugLevel > 0) {
printf("XPS_trajectoryScan: ss xpsTrajectoryRun: state asyncExecute:"
printMessage("XPS_trajectoryScan: ss xpsTrajectoryRun: state asyncExecute:"
" setting execState = EXECUTE_STATE_EXECUTING\n");
}
execState = EXECUTE_STATE_EXECUTING;
@@ -657,7 +659,7 @@ static int getMotorPositions(SS_ID ssId, struct UserVar *pVar, double *pos)
status = GroupPositionCurrentGet(pVar->positionSocket,
pVar->groupName,pVar->numAxes,pos);
if (status != 0)
printf("Error performing GroupPositionCurrentGet%i\n", status);
printMessage("Error performing GroupPositionCurrentGet%i\n", status);
/* Convert from XPS units (which are EPICS motor dial units) to user units */
for (j=0; j<pVar->numAxes; j++) {
if (pVar->epicsMotorDir[j] == 0) dir=1; else dir=-1;
@@ -679,7 +681,7 @@ static int getMotorMoving(SS_ID ssId, struct UserVar *pVar)
status = GroupStatusGet(pVar->pollSocket,pVar->groupName,&groupStatus);
if (status != 0)
printf("Error performing GroupStatusGet %i\n",status);
printMessage("Error performing GroupStatusGet %i\n",status);
if (groupStatus > 42)
moving = 1;
@@ -752,7 +754,7 @@ static int getSocket(SS_ID ssId, struct UserVar *pVar, double timeout)
sock = TCP_ConnectToServer(pVar->xpsAddress, pVar->xpsPort, timeout);
if (sock < 0)
printf("Error TCP_ConnectToServer, status=%d\n",sock);
printMessage("Error TCP_ConnectToServer, status=%d\n",sock);
return (sock);
}
@@ -766,19 +768,19 @@ static void trajectoryExecute(SS_ID ssId, struct UserVar *pVar)
int eventId;
if (pVar->debugLevel > 0) {
printf("XPS_trajectoryScan: trajectoryExecute:"
printMessage("XPS_trajectoryScan: trajectoryExecute:"
" entry\n");
}
/* Configure Gathering */
/* Reset gathering.
* This must be done because GatheringOneData just appends to in-memory list */
if (pVar->debugLevel > 0) {
printf("XPS_trajectoryScan: trajectoryExecute:"
printMessage("XPS_trajectoryScan: trajectoryExecute:"
" calling GatheringReset(%d)\n", pVar->pollSocket);
}
status = GatheringReset(pVar->pollSocket);
if (status != 0) {
printf("Error performing GatheringReset, status=%d\n",status);
printMessage("Error performing GatheringReset, status=%d\n",status);
return;
}
@@ -795,14 +797,14 @@ static void trajectoryExecute(SS_ID ssId, struct UserVar *pVar)
/* Define what is to be saved in the GatheringExternal.dat.
* 3 pieces of information per axis. */
if (pVar->debugLevel > 0) {
printf("XPS_trajectoryScan: trajectoryExecute:"
printMessage("XPS_trajectoryScan: trajectoryExecute:"
" calling GatheringConfigurationSet(%d, %d, %s)\n",
pVar->pollSocket, pVar->numAxes*NUM_GATHERING_ITEMS, buffer);
}
status = GatheringConfigurationSet(pVar->pollSocket,
pVar->numAxes*NUM_GATHERING_ITEMS, buffer);
if (status != 0)
printf("Error performing GatheringConfigurationSet, status=%d, buffer=%p\n",
printMessage("Error performing GatheringConfigurationSet, status=%d, buffer=%p\n",
status, buffer);
/* Define trajectory output pulses.
@@ -813,7 +815,7 @@ static void trajectoryExecute(SS_ID ssId, struct UserVar *pVar)
* the decceleration endPulses is the element, which means adding another +1. */
if (pVar->debugLevel > 0) {
printf("XPS_trajectoryScan: trajectoryExecute:"
printMessage("XPS_trajectoryScan: trajectoryExecute:"
" calling MultipleAxesPVTPulseOutputSet(%d, %s, %d, %d, %f)\n",
pVar->pollSocket, pVar->groupName,
pVar->startPulses+1,
@@ -828,7 +830,7 @@ static void trajectoryExecute(SS_ID ssId, struct UserVar *pVar)
/* Define trigger */
sprintf(buffer, "Always;%s.PVT.TrajectoryPulse", pVar->groupName);
if (pVar->debugLevel > 0) {
printf("XPS_trajectoryScan: trajectoryExecute:"
printMessage("XPS_trajectoryScan: trajectoryExecute:"
" calling EventExtendedConfigurationTriggerSet(%d, %d, %s, %s, %s, %s, %s)\n",
pVar->pollSocket, 2, buffer,
"", "", "", "");
@@ -836,14 +838,14 @@ static void trajectoryExecute(SS_ID ssId, struct UserVar *pVar)
status = EventExtendedConfigurationTriggerSet(pVar->pollSocket, 2, buffer,
"", "", "", "");
if (status != 0) {
printf("Error performing EventExtendedConfigurationTriggerSet, status=%d, buffer=%s\n",
printMessage("Error performing EventExtendedConfigurationTriggerSet, status=%d, buffer=%s\n",
status, buffer);
return;
}
/* Define action */
if (pVar->debugLevel > 0) {
printf("XPS_trajectoryScan: trajectoryExecute:"
printMessage("XPS_trajectoryScan: trajectoryExecute:"
" calling EventExtendedConfigurationActionSet(%d, %d, %s, %s, %s, %s, %s)\n",
pVar->pollSocket, 1,
"GatheringOneData",
@@ -853,25 +855,25 @@ static void trajectoryExecute(SS_ID ssId, struct UserVar *pVar)
"GatheringOneData",
"", "", "", "");
if (status != 0) {
printf("Error performing EventExtendedConfigurationActionSet, status=%d\n",
printMessage("Error performing EventExtendedConfigurationActionSet, status=%d\n",
status);
return;
}
/* Start gathering */
if (pVar->debugLevel > 0) {
printf("XPS_trajectoryScan: trajectoryExecute:"
printMessage("XPS_trajectoryScan: trajectoryExecute:"
" calling EventExtendedStart(%d, %p)\n",
pVar->pollSocket, &eventId);
}
status= EventExtendedStart(pVar->pollSocket, &eventId);
if (status != 0) {
printf("Error performing EventExtendedStart, status=%d\n",status);
printMessage("Error performing EventExtendedStart, status=%d\n",status);
return;
}
if (pVar->debugLevel > 0) {
printf("XPS_trajectoryScan: trajectoryExecute:"
printMessage("XPS_trajectoryScan: trajectoryExecute:"
" calling MultipleAxesPVTExecution(%d, %s, %s, %d)\n",
pVar->driveSocket, pVar->groupName,
TRAJECTORY_FILE, 1);
@@ -880,22 +882,22 @@ static void trajectoryExecute(SS_ID ssId, struct UserVar *pVar)
TRAJECTORY_FILE, 1);
/* status -27 means the trajectory was aborted */
if ((status != 0) && (status != -27))
printf("Error performing MultipleAxesPVTExecution, status=%d\n", status);
printMessage("Error performing MultipleAxesPVTExecution, status=%d\n", status);
/* Remove the event */
if (pVar->debugLevel > 0) {
printf("XPS_trajectoryScan: trajectoryExecute:"
printMessage("XPS_trajectoryScan: trajectoryExecute:"
" calling EventExtendedRemove(%d, %d)\n", pVar->pollSocket, eventId);
}
status = EventExtendedRemove(pVar->pollSocket, eventId);
if (status != 0) {
printf("Error performing ExtendedEventRemove, status=%d\n",status);
printMessage("Error performing ExtendedEventRemove, status=%d\n",status);
return;
}
/* Save the gathered data to a file */
if (pVar->debugLevel > 0) {
printf("XPS_trajectoryScan: trajectoryExecute:"
printMessage("XPS_trajectoryScan: trajectoryExecute:"
" calling GatheringStopAndSave(%d)\n", pVar->pollSocket);
}
status = GatheringStopAndSave(pVar->pollSocket);
@@ -903,7 +905,7 @@ static void trajectoryExecute(SS_ID ssId, struct UserVar *pVar)
/* status -30 means gathering not started i.e. aborted before the end of
1 trajectory element */
if ((status != 0) && (status != -30))
printf("Error performing GatheringStopAndSave, status=%d\n", status);
printMessage("Error performing GatheringStopAndSave, status=%d\n", status);
return;
}
@@ -928,7 +930,7 @@ static void buildAndVerify(SS_ID ssId, struct UserVar *pVar)
int dir[MAX_AXES];
if (pVar->debugLevel > 0) {
printf("XPS_trajectoryScan: buildAndVerify:"
printMessage("XPS_trajectoryScan: buildAndVerify:"
" entry\n");
}
/* We create trajectories with an extra element at the beginning and at the end.
@@ -954,7 +956,7 @@ static void buildAndVerify(SS_ID ssId, struct UserVar *pVar)
&maxVelocity[j], &maxAcceleration[j],
&minJerkTime[j], &maxJerkTime[j]);
if (status != 0) {
printf("Error calling positionerSGammaParametersSet, status=%d\n",
printMessage("Error calling positionerSGammaParametersSet, status=%d\n",
status);
}
/* The calculation using maxAcceleration read from controller below
@@ -1056,28 +1058,28 @@ static void buildAndVerify(SS_ID ssId, struct UserVar *pVar)
/* FTP the trajectory file from the local directory to the XPS */
status = ftpConnect(pVar->xpsAddress, pVar->userName, pVar->password, &ftpSocket);
if (status != 0) {
printf("Error calling ftpConnect, status=%d\n", status);
printMessage("Error calling ftpConnect, status=%d\n", status);
return;
}
status = ftpChangeDir(ftpSocket, TRAJECTORY_DIRECTORY);
if (status != 0) {
printf("Error calling ftpChangeDir, status=%d\n", status);
printMessage("Error calling ftpChangeDir, status=%d\n", status);
return;
}
status = ftpStoreFile(ftpSocket, TRAJECTORY_FILE);
if (status != 0) {
printf("Error calling ftpStoreFile, status=%d\n", status);
printMessage("Error calling ftpStoreFile, status=%d\n", status);
return;
}
status = ftpDisconnect(ftpSocket);
if (status != 0) {
printf("Error calling ftpDisconnect, status=%d\n", status);
printMessage("Error calling ftpDisconnect, status=%d\n", status);
return;
}
/* Verify trajectory */
if (pVar->debugLevel > 0) {
printf("XPS_trajectoryScan: buildAndVerify:"
printMessage("XPS_trajectoryScan: buildAndVerify:"
" calling MultipleAxesPVTVerification(%d, %s, %s)\n",
pVar->pollSocket, pVar->groupName, TRAJECTORY_FILE);
}
@@ -1111,7 +1113,7 @@ static void buildAndVerify(SS_ID ssId, struct UserVar *pVar)
pVar->axisName[j], fileName, &pVar->motorMinPos[j], &pVar->motorMaxPos[j],
&pVar->motorMVA[j], &pVar->motorMAA[j]);
if (status != 0) {
printf("Error performing MultipleAxesPVTVerificationResultGet for axis %s, status=%d\n",
printMessage("Error performing MultipleAxesPVTVerificationResultGet for axis %s, status=%d\n",
pVar->axisName[j], status);
}
}
@@ -1136,7 +1138,7 @@ static int currentElement(SS_ID ssId, struct UserVar *pVar)
status = MultipleAxesPVTParametersGet(pVar->pollSocket,
pVar->groupName, fileName, &number);
if (status != 0)
printf("Error performing MultipleAxesPVTParametersGet, status=%d\n",
printMessage("Error performing MultipleAxesPVTParametersGet, status=%d\n",
status);
return (number);
}
@@ -1150,7 +1152,7 @@ static int getGroupStatus(SS_ID ssId, struct UserVar *pVar)
status = GroupStatusGet(pVar->pollSocket,pVar->groupName,&groupStatus);
if (status != 0)
printf("Error performing GroupStatusGet, status=%d\n", status);
printMessage("Error performing GroupStatusGet, status=%d\n", status);
return(groupStatus);
}
@@ -1170,28 +1172,28 @@ static void readGathering(SS_ID ssId, struct UserVar *pVar)
int dir;
if (pVar->debugLevel > 0) {
printf("XPS_trajectoryScan: readGathering:"
printMessage("XPS_trajectoryScan: readGathering:"
" entry\n");
}
/* FTP the gathering file from the XPS to the local directory */
status = ftpConnect(pVar->xpsAddress, pVar->userName, pVar->password, &ftpSocket);
if (status != 0) {
printf("Error calling ftpConnect, status=%d\n", status);
printMessage("Error calling ftpConnect, status=%d\n", status);
return;
}
status = ftpChangeDir(ftpSocket, GATHERING_DIRECTORY);
if (status != 0) {
printf("Error calling ftpChangeDir, status=%d\n", status);
printMessage("Error calling ftpChangeDir, status=%d\n", status);
return;
}
status = ftpRetrieveFile(ftpSocket, GATHERING_FILE);
if (status != 0) {
printf("Error calling ftpRetrieveFile, status=%d\n", status);
printMessage("Error calling ftpRetrieveFile, status=%d\n", status);
return;
}
status = ftpDisconnect(ftpSocket);
if (status != 0) {
printf("Error calling ftpDisconnect, status=%d\n", status);
printMessage("Error calling ftpDisconnect, status=%d\n", status);
return;
}
@@ -1218,7 +1220,7 @@ static void readGathering(SS_ID ssId, struct UserVar *pVar)
nitems = fscanf(gatheringFile, "%lf %lf ",
&setpointPosition, &actualPosition);
if (nitems != NUM_GATHERING_ITEMS) {
printf("Error reading Gathering.dat file, nitems=%d, should be %d\n",
printMessage("Error reading Gathering.dat file, nitems=%d, should be %d\n",
nitems, NUM_GATHERING_ITEMS);
goto done;
}
@@ -1243,9 +1245,27 @@ static int trajectoryAbort(SS_ID ssId, struct UserVar *pVar)
status = GroupMoveAbort(pVar->abortSocket,pVar->groupName);
if (status != 0)
printf("Error performing GroupMoveAbort, status=%d\n", status);
printMessage("Error performing GroupMoveAbort, status=%d\n", status);
return (0);
}
static void printMessage(const char *pformat, ...)
{
va_list pvar;
FILE *fp = stdout;
epicsTimeStamp now;
char nowText[40];
epicsTimeGetCurrent(&now);
nowText[0] = 0;
epicsTimeToStrftime(nowText,sizeof(nowText),
"%Y/%m/%d %H:%M:%S.%03f",&now);
fprintf(fp,"%s ",nowText);
va_start(pvar, pformat);
vfprintf(fp,pformat,pvar);
va_end(pvar);
fflush(fp);
}
}%