forked from epics_driver_modules/motorBase
Torsten Bögershausen
532afdc5a0
They have no meaning in Git, are not updated and may cause unwanted diffs when otherwise nothing is changed in a file
454 lines
11 KiB
C++
454 lines
11 KiB
C++
/*
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FILENAME... PIHexapodController.cpp
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*************************************************************************
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* Copyright (c) 2011-2013 Physik Instrumente (PI) GmbH & Co. KG
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* This file is distributed subject to the EPICS Open License Agreement
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* found in the file LICENSE that is included with this distribution.
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*************************************************************************
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Original Author: Steffen Rau
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*/
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#include "PIHexapodController.h"
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#include "PIasynAxis.h"
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#include "PIInterface.h"
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#include <stdlib.h>
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#include <epicsThread.h>
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//#undef asynPrint
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//#define asynPrint(user,reason,format...) 0
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asynStatus PIHexapodController::init(void)
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{
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asynStatus status = PIGCSController::init();
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if (status != asynSuccess)
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{
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return status;
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}
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// Try to find out if #4 is supported
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char buf[200];
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status = m_pInterface->sendAndReceive(char(4), buf, 199);
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if (status == asynSuccess)
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{
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m_bCanReadStatusWithChar4 = true;
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}
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else if (status == asynTimeout)
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{
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m_bCanReadStatusWithChar4 = false;
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getGCSError(); // clear error UNKNOWN COMMAND
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}
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status = m_pInterface->sendAndReceive(char(3), buf, 199);
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if (status == asynSuccess)
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{
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m_bCanReadPosWithChar3 = true;
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}
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else if (status == asynTimeout)
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{
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m_bCanReadPosWithChar3 = false;
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getGCSError(); // clear error UNKNOWN COMMAND
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}
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m_bHoming = false;
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ReadPivotSettings();
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return status;
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}
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asynStatus PIHexapodController::getGlobalState(asynMotorAxis** pAxes, int numAxes)
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{
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// do not call moving here, at least simulation software does return
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// values != 0 with bit 1 not set (e.g. "2")
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char buf[255];
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asynStatus status = m_pInterface->sendAndReceive(char(5), buf, 99);;
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if (status != asynSuccess)
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{
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printf("PIGCSController::getGlobalState() failed, status %d", status);
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return status;
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}
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char* pStr;
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long moving = strtol(buf, &pStr, 16);
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m_bAnyAxisMoving = (moving != 0);
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if (m_bHoming && (moving == 0))
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{
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m_bHoming = false;
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}
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for(int i=0; i<numAxes; i++)
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{
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((PIasynAxis*)pAxes[i])->m_bMoving = (moving != 0);
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}
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return asynSuccess;
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}
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asynStatus PIHexapodController::getStatus(PIasynAxis* pAxis, int& homing, int& moving, int& negLimit, int& posLimit, int& servoControl)
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{
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negLimit = 0;
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posLimit = 0;
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homing = m_bHoming ? 1:0;
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moving = pAxis->m_bMoving || pAxis->deferred_move;
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return asynSuccess;
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}
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asynStatus PIHexapodController::findConnectedAxes()
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{
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for (size_t i=0; i<MAX_NR_AXES; i++)
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{
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m_axesIDs[i] = NULL;
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}
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sprintf(m_allAxesIDs, "X\nY\nZ\nU\nV\nW");
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char* szAxis = strtok(m_allAxesIDs, "\n");
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while (szAxis != NULL)
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{
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int i=strlen(szAxis)-1;
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while (szAxis[i] == ' ')
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{
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szAxis[i] = '\0';
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i--;
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}
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if (MAX_NR_AXES <= m_nrFoundAxes)
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{
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return asynError;
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}
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m_axesIDs[m_nrFoundAxes] = szAxis;
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m_nrFoundAxes++;
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szAxis = strtok(NULL, "\n");
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}
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return asynSuccess;
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}
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asynStatus PIHexapodController::initAxis(PIasynAxis* pAxis)
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{
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pAxis->m_movingStateMask = 1;
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return setServo(pAxis, 1);
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}
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asynStatus PIHexapodController::getReferencedState(PIasynAxis* pAxis)
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{
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if (!m_bCanReadStatusWithChar4)
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{
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pAxis->m_homed = 1;
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return asynSuccess;
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}
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char buf[255];
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asynStatus status = m_pInterface->sendAndReceive(char(4), buf, 99);
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if (status != asynSuccess)
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{
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return status;
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}
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long mask = strtol(buf, NULL, 10);
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pAxis->m_homed = (mask & 0x10000) ? 1 : 0;
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return status;
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}
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asynStatus PIHexapodController::moveCts( PIasynAxis* pAxis, int targetCts )
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{
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// printf("PIHexapodController::moveCts(,%d)...\n",targetCts);
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asynStatus status;
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char cmd[100];
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double target = double(targetCts) * pAxis->m_CPUdenominator / pAxis->m_CPUnumerator;
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sprintf(cmd,"MOV %s %f", pAxis->m_szAxisName, target);
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status = m_pInterface->sendOnly(cmd);
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if (asynSuccess != status)
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{
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return status;
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}
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epicsThreadSleep( 0.2 ); // TODO test if we do need this
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asynMotorAxis* pAsynAxis = (asynMotorAxis*)pAxis;
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status = getGlobalState(&pAsynAxis, 1);
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if (asynSuccess != status)
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{
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// printf("PIHexapodController::moveCts(,%d) - getGlobalState() failed, status=%d\n", targetCts, status);
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return status;
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}
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if (!pAxis->m_bMoving)
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{
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int errorCode = getGCSError();
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// printf("PIHexapodController::moveCts(,%d) - not moving after MOV() gcserror=%d\n",targetCts, errorCode);
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if (errorCode != 0)
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{
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asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_FLOW|ASYN_TRACE_ERROR,
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"PIHexapodController::moveCts() failed, GCS error %d\n", errorCode);
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return asynError;
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}
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}
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m_bAnyAxisMoving = true;
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pAxis->m_lastDirection = (targetCts > pAxis->m_positionCts) ? 1 : 0;
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printf("PIHexapodController::moveCts(,%d) - OK!\n",targetCts);
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return status;
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}
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asynStatus PIHexapodController::moveCts( PIasynAxis** pAxesArray, int* pTargetCtsArray, int numAxes)
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{
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asynStatus status;
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char cmd[1000] = "MOV";
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char subCmd[100];
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for (int axis = 0; axis <numAxes; axis++)
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{
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PIasynAxis* pAxis = pAxesArray[axis];
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double target = double(pTargetCtsArray[axis]) * pAxis->m_CPUdenominator / pAxis->m_CPUnumerator;
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sprintf(subCmd," %s %f", pAxis->m_szAxisName, target);
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strcat(cmd, subCmd);
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pAxis->m_lastDirection = (pTargetCtsArray[axis] > pAxis->m_positionCts) ? 1 : 0;
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}
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status = m_pInterface->sendOnly(cmd);
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if (asynSuccess != status)
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{
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return status;
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}
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epicsThreadSleep(0.2);
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status = getGlobalState((asynMotorAxis**)pAxesArray, numAxes);
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if (asynSuccess != status)
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{
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return status;
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}
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if (!pAxesArray[0]->m_bMoving)
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{
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int errorCode = getGCSError();
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if (errorCode != 0)
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{
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asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_FLOW|ASYN_TRACE_ERROR,
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"PIHexapodController::moveCts() failed, GCS error %d\n", errorCode);
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return asynError;
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}
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}
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m_bAnyAxisMoving = true;
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return status;
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}
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asynStatus PIHexapodController::getAxisPosition(PIasynAxis* pAxis, double& position)
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{
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//m_pInterface->m_pCurrentLogSink = m_pInterface;
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if (!m_bAnyAxisMoving)
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{
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return PIGCSController::getAxisPosition(pAxis, position);
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}
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if (m_bCanReadPosWithChar3)
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{
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char buf[255];
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asynStatus status = m_pInterface->sendAndReceive(char(3), buf, 99);
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if (status != asynSuccess)
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{
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return status;
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}
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char *pStart = buf;
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for(;;)
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{
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bool bEnd = false;
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while(*pStart == ' ') pStart++;
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char *pLF = strstr(pStart, "\n");
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if (pLF != NULL)
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{
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*pLF = '\0';
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}
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else
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{
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bEnd = true;
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}
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// single line will look like "X = 1.0 \n"
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if (pStart[0] == pAxis->m_szAxisName[0] )
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{
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double value;
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if (!getValue(pStart, value))
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{
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return asynError;
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}
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position = value;
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return status;
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}
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if (bEnd)
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{
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break;
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}
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pStart = pLF + 1;
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if (*pStart == '\0')
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{
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break;
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}
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}
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// should not come here!
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return asynError;
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}
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// return last position
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position = double(pAxis->m_positionCts) * double(pAxis->m_CPUdenominator) / double(pAxis->m_CPUnumerator);
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return asynSuccess;
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}
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asynStatus PIHexapodController::SetPivotX(double value)
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{
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if (NULL != m_pInterface->m_pCurrentLogSink)
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{
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asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_FLOW,
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"PIHexapodController::SetPivotX() value %f", value);
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}
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asynStatus status = SetPivot('R', value);
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if (status== asynSuccess)
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{
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m_PivotX = value;
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}
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return status;
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}
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asynStatus PIHexapodController::SetPivotY(double value)
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{
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if (NULL != m_pInterface->m_pCurrentLogSink)
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{
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asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_FLOW,
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"PIHexapodController::SetPivotY() value %f", value);
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}
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asynStatus status = SetPivot('S', value);
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if (status== asynSuccess)
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{
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m_PivotY = value;
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}
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return status;
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}
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asynStatus PIHexapodController::SetPivotZ(double value)
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{
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if (NULL != m_pInterface->m_pCurrentLogSink)
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{
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asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_FLOW,
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"PIHexapodController::SetPivotZ() value %f", value);
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}
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asynStatus status = SetPivot('T', value);
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if (status== asynSuccess)
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{
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m_PivotZ = value;
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}
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return status;
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}
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asynStatus PIHexapodController::SetPivot(char cAxis, double value)
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{
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if (m_bAnyAxisMoving)
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{
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if (NULL != m_pInterface->m_pCurrentLogSink)
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{
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asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_FLOW,
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"PIHexapodController::SetPivot() cannot change pivot point while platform is moving");
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}
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return asynError;
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}
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asynStatus status;
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char cmd[100];
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sprintf(cmd,"SPI %c %f", cAxis, value);
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status = m_pInterface->sendOnly(cmd);
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if (asynSuccess != status)
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{
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return status;
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}
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int errorCode = getGCSError();
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if (errorCode != 0)
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{
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asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_FLOW|ASYN_TRACE_ERROR,
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"PIHexapodController::SetPivot() failed, GCS error %d\n", errorCode);
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return asynError;
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}
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return status;
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}
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asynStatus PIHexapodController::ReadPivotSettings()
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{
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char buf[100];
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const char* cmd = GetReadPivotCommand();
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asynStatus status = m_pInterface->sendAndReceive(cmd, buf, 99);
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if (status != asynSuccess)
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{
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return status;
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}
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char* pStart = buf;
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bool bEnd = false;
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double px = 0.0;
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double py = 0.0;
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double pz = 0.0;
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for(;;)
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{
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while(*pStart == ' ') pStart++;
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char *pLF = strstr(pStart, "\n");
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if (pLF != NULL)
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{
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*pLF = '\0';
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}
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else
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{
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bEnd = true;
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}
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// single line will look like "R = 1.0 \n"
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double value;
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if (!getValue(pStart, value))
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{
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return asynError;
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}
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switch(pStart[0])
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{
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case'R': px = value; break;
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case'S': py = value; break;
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case'T': pz = value; break;
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}
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if (bEnd)
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{
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break;
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}
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pStart = pLF + 1;
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if (*pStart == '\0')
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{
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break;
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}
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}
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m_PivotX = px;
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m_PivotY = py;
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m_PivotZ = pz;
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return status;
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}
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asynStatus PIHexapodController::referenceVelCts( PIasynAxis* pAxis, double velocity, int forwards)
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{
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asynStatus status = m_pInterface->sendOnly("INI X");
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if (asynSuccess != status)
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{
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int errorCode = getGCSError();
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asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_ERROR,
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"PIHexapodController::referenceVelCts() failed\n");
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epicsSnprintf(pAxis->m_pasynUser->errorMessage,pAxis->m_pasynUser->errorMessageSize,
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"PIHexapodController::referenceVelCts() failed - GCS Error %d\n",errorCode);
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return status;
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}
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m_bHoming = true;
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return asynSuccess;
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}
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asynStatus PIHexapodController::haltAxis(PIasynAxis* pAxis)
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{
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asynStatus status = m_pInterface->sendOnly(char(24));
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if (status != asynSuccess)
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{
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return status;
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}
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//epicsThreadSleep(0.1); // TODO test value
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int err = getGCSError();
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// controller will set error code to PI_CNTR_STOP (10)
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if (err != PI_CNTR_STOP)
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{
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asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_FLOW|ASYN_TRACE_ERROR,
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"PIGCSController::haltAxis() failed, GCS error %d", err);
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return asynError;
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}
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return status;
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}
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