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motorBase/motorApp/MotorSimSrc/motorSimDriver.cpp
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/*
FILENAME... motorSimController.cpp
USAGE... Simulated Motor Support.
Based on drvMotorSim.c
Mark Rivers
December 13, 2009
*/
#include <math.h>
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <epicsTime.h>
#include <epicsThread.h>
#include <epicsString.h>
#include <epicsMutex.h>
#include <ellLib.h>
#include <iocsh.h>
#include "asynMotorDriver.h"
#include <epicsExport.h>
#include "route.h"
#define DEFAULT_LOW_LIMIT -10000
#define DEFAULT_HI_LIMIT 10000
#define DEFAULT_HOME 0
#define DEFAULT_START 0
#define NUM_SIM_CONTROLLER_PARAMS 0
static const char *driverName = "motorSimDriver";
class motorSimAxis
{
public:
motorSimAxis(class motorSimController *pController, int axis, double lowLimit, double hiLimit, double home, double start);
asynStatus velocity(double velocity, double acceleration);
class motorSimController *pController;
int axis;
ROUTE_ID route;
route_reroute_t reroute;
route_demand_t endpoint;
route_demand_t nextpoint;
double lowHardLimit;
double hiHardLimit;
double enc_offset;
double home;
int homing;
epicsTimeStamp tLast;
double deferred_position;
int deferred_move;
int deferred_relative;
friend class motorSimController;
};
class motorSimController : asynMotorDriver {
public:
motorSimController(const char *portName, int numAxes, int priority, int stackSize);
asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);
void report(FILE *fp, int level);
asynStatus moveAxis(asynUser *pasynUser, double position, int relative, double min_velocity, double max_velocity, double acceleration);
asynStatus moveVelocityAxis(asynUser *pasynUser, double min_velocity, double max_velocity, double acceleration);
asynStatus homeAxis(asynUser *pasynUser, double min_velocity, double max_velocity, double acceleration, int forwards);
asynStatus stopAxis(asynUser *pasynUser, double acceleration);
asynStatus profileMove(asynUser *pasynUser, int npoints, double positions[], double times[], int relative, int trigger);
asynStatus triggerProfile(asynUser *pasynUser);
asynStatus configAxis(int axis, int hiHardLimit, int lowHardLimit, int home, int start);
void motorSimTask(); // Should be pivate, but called from non-member function
private:
motorSimAxis* getAxis(asynUser *pasynUser);
void process(motorSimAxis *pAxis, double delta );
epicsThreadId motorThread;
epicsTimeStamp now;
int movesDeferred;
int numAxes;
asynStatus processDeferredMoves();
motorSimAxis** pAxes;
};
typedef struct motorSimControllerNode {
ELLNODE node;
const char *portName;
motorSimController *pController;
} motorSimControllerNode;
static ELLLIST motorSimControllerList;
static int motorSimControllerListInitialized = 0;
void motorSimController::report(FILE *fp, int level)
{
int axis;
motorSimAxis *pAxis;
fprintf(fp, "Simulation motor driver %s, numAxes=%d\n",
this->portName, this->numAxes);
for (axis=0; axis<this->numAxes; axis++) {
pAxis = this->pAxes[axis];
fprintf(fp, " axis %d\n",
pAxis->axis);
if (level > 0)
{
double lowSoftLimit=0.0;
double hiSoftLimit=0.0;
fprintf(fp, " Current position = %f, velocity = %f at current time: %f\n",
pAxis->nextpoint.axis[0].p,
pAxis->nextpoint.axis[0].v,
pAxis->nextpoint.T);
fprintf(fp, " Destination posn = %f, velocity = %f at desination time: %f\n",
pAxis->endpoint.axis[0].p,
pAxis->endpoint.axis[0].v,
pAxis->endpoint.T);
fprintf(fp, " Hard limits: %f, %f\n", pAxis->lowHardLimit, pAxis->hiHardLimit);
fprintf(fp, " Home: %f\n", pAxis->home);
fprintf(fp, " Enc. offset: %f\n", pAxis->enc_offset);
getDoubleParam(pAxis->axis, pAxis->pController->motorHighLim, &hiSoftLimit);
getDoubleParam(pAxis->axis, pAxis->pController->motorLowLim, &lowSoftLimit);
fprintf(fp, " Soft limits: %f, %f\n", lowSoftLimit, hiSoftLimit );
if (pAxis->homing) fprintf(fp, " Currently homing axis\n" );
}
}
// Call the base class method
asynMotorDriver::report(fp, level);
}
motorSimAxis * motorSimController::getAxis(asynUser *pasynUser)
{
int axis;
motorSimAxis *pAxis;
getAddress(pasynUser, &axis);
pAxis = this->pAxes[axis];
return(pAxis);
}
asynStatus motorSimController::processDeferredMoves()
{
asynStatus status = asynError;
double position = 0.0;
int axis;
motorSimAxis *pAxis;
for (axis=0; axis<this->numAxes; axis++)
{
pAxis = this->pAxes[axis];
if (pAxis->deferred_move) {
position = pAxis->deferred_position;
/* Check to see if in hard limits */
if ((pAxis->nextpoint.axis[0].p >= pAxis->hiHardLimit && position > pAxis->nextpoint.axis[0].p) ||
(pAxis->nextpoint.axis[0].p <= pAxis->lowHardLimit && position < pAxis->nextpoint.axis[0].p) ) return asynError;
pAxis->endpoint.axis[0].p = position - pAxis->enc_offset;
pAxis->endpoint.axis[0].v = 0.0;
setIntegerParam(axis, motorStatusDone, 0);
pAxis->deferred_move = 0;
}
}
return status;
}
asynStatus motorSimController::writeInt32(asynUser *pasynUser, epicsInt32 value)
{
int function = pasynUser->reason;
asynStatus status = asynSuccess;
motorSimAxis *pAxis = this->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->axis, function, value);
if (function == motorDeferMoves)
{
asynPrint(pasynUser, ASYN_TRACE_FLOW,
"%s:%s: %sing Deferred Move flag on driver %s\n",
value != 0.0?"Sett":"Clear",
driverName, functionName, this->portName);
if (value == 0.0 && this->movesDeferred != 0)
{
processDeferredMoves();
}
this->movesDeferred = value;
} else {
/* Call base class call its method (if we have our parameters check this here) */
status = asynMotorDriver::writeInt32(pasynUser, value);
}
/* Do callbacks so higher layers see any changes */
callParamCallbacks(pAxis->axis, pAxis->axis);
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;
}
asynStatus motorSimController::writeFloat64(asynUser *pasynUser, epicsFloat64 value)
{
int function = pasynUser->reason;
asynStatus status = asynSuccess;
motorSimAxis *pAxis = this->getAxis(pasynUser);
static const char *functionName = "writeFloat64";
/* 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 = setDoubleParam(pAxis->axis, function, value);
if (function == motorPosition)
{
pAxis->enc_offset = (double) value - pAxis->nextpoint.axis[0].p;
asynPrint(pasynUser, ASYN_TRACE_FLOW,
"%s:%s: Set axis %d to position %d",
driverName, functionName, pAxis->axis, value);
} else {
/* Call base class call its method (if we have our parameters check this here) */
status = asynMotorDriver::writeFloat64(pasynUser, value);
}
/* Do callbacks so higher layers see any changes */
callParamCallbacks(pAxis->axis, pAxis->axis);
if (status)
asynPrint(pasynUser, ASYN_TRACE_ERROR,
"%s:%s: error, status=%d function=%d, value=%f\n",
driverName, functionName, status, function, value);
else
asynPrint(pasynUser, ASYN_TRACEIO_DRIVER,
"%s:%s: function=%d, value=%f\n",
driverName, functionName, function, value);
return status;
}
asynStatus motorSimController::moveAxis(asynUser*pasynUser, double position, int relative, double min_velocity, double max_velocity, double acceleration)
{
motorSimAxis *pAxis = this->getAxis(pasynUser);
route_pars_t pars;
static const char *functionName = "moveAxis";
if (relative) position += pAxis->endpoint.axis[0].p + pAxis->enc_offset;
/* Check to see if in hard limits */
if ((pAxis->nextpoint.axis[0].p >= pAxis->hiHardLimit && position > pAxis->nextpoint.axis[0].p) ||
(pAxis->nextpoint.axis[0].p <= pAxis->lowHardLimit && position < pAxis->nextpoint.axis[0].p) ) return asynError;
if (this->movesDeferred == 0) { /*Normal move.*/
pAxis->endpoint.axis[0].p = position - pAxis->enc_offset;
pAxis->endpoint.axis[0].v = 0.0;
} else { /*Deferred moves.*/
pAxis->deferred_position = position;
pAxis->deferred_move = 1;
pAxis->deferred_relative = relative;
}
routeGetParams(pAxis->route, &pars);
if (max_velocity != 0) pars.axis[0].Vmax = fabs(max_velocity);
if (acceleration != 0) pars.axis[0].Amax = fabs(acceleration);
routeSetParams( pAxis->route, &pars );
setIntegerParam(pAxis->axis, motorStatusDone, 0);
callParamCallbacks(pAxis->axis, pAxis->axis);
asynPrint(pasynUser, ASYN_TRACE_FLOW,
"%s:%s: Set driver %s, axis %d move to %f, min vel=%f, max_vel=%f, accel=%f",
driverName, functionName, this->portName, pAxis->axis, position, min_velocity, max_velocity, acceleration );
return asynSuccess;
}
asynStatus motorSimAxis::velocity(double velocity, double acceleration )
{
route_pars_t pars;
double deltaV = velocity - this->nextpoint.axis[0].v;
double time;
/* Check to see if in hard limits */
if ((this->nextpoint.axis[0].p > this->hiHardLimit && velocity > 0) ||
(this->nextpoint.axis[0].p < this->lowHardLimit && velocity < 0) ) return asynError;
routeGetParams( this->route, &pars );
if (acceleration != 0) pars.axis[0].Amax = fabs(acceleration);
routeSetParams( this->route, &pars );
time = fabs( deltaV / pars.axis[0].Amax );
this->endpoint.axis[0].v = velocity;
this->endpoint.axis[0].p = ( this->nextpoint.axis[0].p +
time * ( this->nextpoint.axis[0].v + 0.5 * deltaV ));
this->reroute = ROUTE_NEW_ROUTE;
return asynSuccess;
}
asynStatus motorSimController::homeAxis(asynUser *pasynUser, double min_velocity, double max_velocity, double acceleration, int forwards )
{
asynStatus status = asynError;
motorSimAxis *pAxis = this->getAxis(pasynUser);
static const char *functionName = "moveAxis";
status = pAxis->velocity((forwards? max_velocity: -max_velocity), acceleration );
pAxis->homing = 1;
setIntegerParam(pAxis->axis, motorStatusDone, 0 );
callParamCallbacks(pAxis->axis, pAxis->axis);
asynPrint(pasynUser, ASYN_TRACE_FLOW,
"%s:%s: Set dirver %s, axis %d to home %s, min vel=%f, max_vel=%f, accel=%f",
driverName, functionName, this->portName, pAxis->axis, (forwards?"FORWARDS":"REVERSE"), min_velocity, max_velocity, acceleration );
return status;
}
asynStatus motorSimController::moveVelocityAxis(asynUser *pasynUser, double min_velocity, double velocity, double acceleration )
{
asynStatus status = asynError;
motorSimAxis *pAxis = this->getAxis(pasynUser);
static const char *functionName = "moveVelocityAxis";
status = pAxis->velocity(velocity, acceleration );
setIntegerParam(pAxis->axis, motorStatusDone, 0);
callParamCallbacks(pAxis->axis, pAxis->axis);
asynPrint(pasynUser, ASYN_TRACE_FLOW,
"%s:%s: Set port %s, axis %d move with velocity of %f, accel=%f",
driverName, functionName, this->portName, pAxis->axis, velocity, acceleration );
return status;
}
asynStatus motorSimController::profileMove(asynUser *pasynUser, int npoints, double positions[], double times[], int relative, int trigger )
{
return asynError;
}
asynStatus motorSimController::triggerProfile(asynUser *pasynUser)
{
return asynError;
}
asynStatus motorSimController::stopAxis(asynUser *pasynUser, double acceleration )
{
motorSimAxis *pAxis = this->getAxis(pasynUser);
static const char *functionName = "moveVelocityAxis";
pAxis->velocity(0.0, acceleration );
pAxis->deferred_move = 0;
asynPrint(pasynUser, ASYN_TRACE_FLOW,
"%s:%s: Set axis %d to stop with accel=%f",
driverName, functionName, pAxis->axis, acceleration );
return asynSuccess;
}
asynStatus motorSimController::configAxis(int axis, int hiHardLimit, int lowHardLimit, int home, int start)
{
motorSimAxis *pAxis = this->pAxes[axis];
pAxis->hiHardLimit = hiHardLimit;
pAxis->lowHardLimit = lowHardLimit;
pAxis->home = home;
pAxis->enc_offset = start;
return(asynSuccess);
}
/**\defgroup motorSimTask Routines to implement the motor axis simulation task
@{
*/
/** Process one iteration of an axis
This routine takes a single axis and propogates its motion forward a given amount
of time.
\param pAxis [in] Pointer to axis information.
\param delta [in] Time in seconds to propogate motion forwards.
\return Integer indicating 0 (asynSuccess) for success or non-zero for failure.
*/
void motorSimController::process(motorSimAxis *pAxis, double delta )
{
double lastpos;
int done = 0;
lastpos = pAxis->nextpoint.axis[0].p;
pAxis->nextpoint.T += delta;
routeFind( pAxis->route, pAxis->reroute, &(pAxis->endpoint), &(pAxis->nextpoint) );
/* if (pAxis->reroute == ROUTE_NEW_ROUTE) routePrint( pAxis->route, pAxis->reroute, &(pAxis->endpoint), &(pAxis->nextpoint), stdout ); */
pAxis->reroute = ROUTE_CALC_ROUTE;
/* No, do a limits check */
if (pAxis->homing &&
((lastpos - pAxis->home) * (pAxis->nextpoint.axis[0].p - pAxis->home)) <= 0)
{
/* Homing and have crossed the home sensor - return to home */
pAxis->homing = 0;
pAxis->reroute = ROUTE_NEW_ROUTE;
pAxis->endpoint.axis[0].p = pAxis->home;
pAxis->endpoint.axis[0].v = 0.0;
}
if ( pAxis->nextpoint.axis[0].p > pAxis->hiHardLimit && pAxis->nextpoint.axis[0].v > 0 )
{
if (pAxis->homing) pAxis->velocity(-pAxis->endpoint.axis[0].v, 0.0 );
else
{
pAxis->reroute = ROUTE_NEW_ROUTE;
pAxis->endpoint.axis[0].p = pAxis->hiHardLimit;
pAxis->endpoint.axis[0].v = 0.0;
}
}
else if (pAxis->nextpoint.axis[0].p < pAxis->lowHardLimit && pAxis->nextpoint.axis[0].v < 0)
{
if (pAxis->homing) pAxis->velocity(-pAxis->endpoint.axis[0].v, 0.0 );
else
{
pAxis->reroute = ROUTE_NEW_ROUTE;
pAxis->endpoint.axis[0].p = pAxis->lowHardLimit;
pAxis->endpoint.axis[0].v = 0.0;
}
}
if (pAxis->nextpoint.axis[0].v == 0) {
if (!pAxis->deferred_move) {
done = 1;
}
} else {
done = 0;
}
setDoubleParam( pAxis->axis, this->motorPosition, (pAxis->nextpoint.axis[0].p+pAxis->enc_offset) );
setDoubleParam( pAxis->axis, this->motorEncoderPosition, (pAxis->nextpoint.axis[0].p+pAxis->enc_offset) );
setIntegerParam( pAxis->axis, this->motorStatusDirection, (pAxis->nextpoint.axis[0].v > 0) );
setIntegerParam( pAxis->axis, this->motorStatusDone, done );
setIntegerParam( pAxis->axis, this->motorStatusHighLimit, (pAxis->nextpoint.axis[0].p >= pAxis->hiHardLimit) );
setIntegerParam( pAxis->axis, this->motorStatusHome, (pAxis->nextpoint.axis[0].p == pAxis->home) );
setIntegerParam( pAxis->axis, this->motorStatusMoving, !done );
setIntegerParam( pAxis->axis, this->motorStatusLowLimit, (pAxis->nextpoint.axis[0].p <= pAxis->lowHardLimit) );
}
static void motorSimTaskC(void *drvPvt)
{
motorSimController *pController = (motorSimController*)drvPvt;
pController->motorSimTask();
}
#define DELTA 0.1
void motorSimController::motorSimTask()
{
epicsTimeStamp now;
double delta;
int axis;
motorSimAxis *pAxis;
while ( 1 )
{
/* Get a new timestamp */
epicsTimeGetCurrent( &now );
delta = epicsTimeDiffInSeconds( &now, &(this->now) );
this->now = now;
if ( delta > (DELTA/4.0) && delta <= (4.0*DELTA) )
{
/* A reasonable time has elapsed, it's not a time step in the clock */
for (axis=0; axis<this->numAxes; axis++)
{
this->lock();
pAxis = this->pAxes[axis];
this->process(pAxis, delta );
callParamCallbacks(axis, axis);
this->unlock();
}
}
epicsThreadSleep( DELTA );
}
}
motorSimAxis::motorSimAxis(motorSimController *pController, int axis, double lowHardLimit, double hiHardLimit, double home, double start )
: pController(pController), axis(axis), lowHardLimit(lowHardLimit), hiHardLimit(hiHardLimit), home(home)
{
route_pars_t pars;
pars.numRoutedAxes = 1;
pars.routedAxisList[0] = 1;
pars.Tsync = 0.0;
pars.Tcoast = 0.0;
pars.axis[0].Amax = 1.0;
pars.axis[0].Vmax = 1.0;
this->endpoint.T = 0;
this->endpoint.axis[0].p = start;
this->endpoint.axis[0].v = 0;
this->nextpoint.axis[0].p = start;
this->route = routeNew( &(this->endpoint), &pars );
}
motorSimController::motorSimController(const char *portName, int numAxes, int priority, int stackSize)
: asynMotorDriver(portName, numAxes, NUM_SIM_CONTROLLER_PARAMS,
asynInt32Mask | asynFloat64Mask,
asynInt32Mask | asynFloat64Mask,
ASYN_CANBLOCK | ASYN_MULTIDEVICE,
1, // autoconnect
priority, stackSize)
{
int axis;
motorSimAxis *pAxis;
motorSimControllerNode *pNode;
if (!motorSimControllerListInitialized) {
motorSimControllerListInitialized = 1;
ellInit(&motorSimControllerList);
}
// We should make sure this portName is not already in the list */
pNode = (motorSimControllerNode*) calloc(1, sizeof(motorSimControllerNode));
pNode->portName = epicsStrDup(portName);
pNode->pController = this;
ellAdd(&motorSimControllerList, (ELLNODE *)pNode);
if (numAxes < 1 ) numAxes = 1;
this->numAxes = numAxes;
this->pAxes = (motorSimAxis**) calloc(numAxes, sizeof(motorSimAxis*));
for (axis=0; axis<numAxes; axis++) {
pAxis = new motorSimAxis(this, axis, DEFAULT_LOW_LIMIT, DEFAULT_HI_LIMIT, DEFAULT_HOME, DEFAULT_START);
this->pAxes[axis] = pAxis;
setDoubleParam(axis, this->motorPosition, DEFAULT_START);
}
this->motorThread = epicsThreadCreate( "motorSimThread",
epicsThreadPriorityLow,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motorSimTaskC, (void *) this);
}
/** Configuration command, called directly or from iocsh */
extern "C" int motorSimCreateController(const char *portName, int numAxes, int priority, int stackSize)
{
motorSimController *pSimController
= new motorSimController(portName,numAxes, priority, stackSize);
pSimController = NULL;
return(asynSuccess);
}
extern "C" int motorSimConfigAxis(const char *portName, int axis, int hiHardLimit, int lowHardLimit, int home, int start)
{
motorSimControllerNode *pNode;
static const char *functionName = "motorSimConfigAxis";
// Find this controller
if (!motorSimControllerListInitialized) {
printf("%s:%s: ERROR, controller list not initialized\n",
driverName, functionName);
return(-1);
}
pNode = (motorSimControllerNode*)ellFirst(&motorSimControllerList);
while(pNode) {
if (strcmp(pNode->portName, portName) == 0) {
printf("%s:%s: configuring controller %s axis %d\n",
driverName, functionName, pNode->portName, axis);
pNode->pController->configAxis(axis, hiHardLimit, lowHardLimit, home, start);
return(0);
}
pNode = (motorSimControllerNode*)ellNext((ELLNODE*)pNode);
}
printf("Controller not found\n");
return(-1);
}
/** Code for iocsh registration */
static const iocshArg motorSimCreateControllerArg0 = {"Port name", iocshArgString};
static const iocshArg motorSimCreateControllerArg1 = {"Number of axes", iocshArgInt};
static const iocshArg motorSimCreateControllerArg2 = {"priority", iocshArgInt};
static const iocshArg motorSimCreateControllerArg3 = {"stackSize", iocshArgInt};
static const iocshArg * const motorSimCreateControllerArgs[] = {&motorSimCreateControllerArg0,
&motorSimCreateControllerArg1,
&motorSimCreateControllerArg2,
&motorSimCreateControllerArg3};
static const iocshFuncDef motorSimCreateControllerDef = {"motorSimCreateController", 4, motorSimCreateControllerArgs};
static void motorSimCreateContollerCallFunc(const iocshArgBuf *args)
{
motorSimCreateController(args[0].sval, args[1].ival, args[2].ival, args[3].ival);
}
static const iocshArg motorSimConfigAxisArg0 = { "Post name", iocshArgString};
static const iocshArg motorSimConfigAxisArg1 = { "Axis #", iocshArgInt};
static const iocshArg motorSimConfigAxisArg2 = { "High limit", iocshArgInt};
static const iocshArg motorSimConfigAxisArg3 = { "Low limit", iocshArgInt};
static const iocshArg motorSimConfigAxisArg4 = { "Home position", iocshArgInt};
static const iocshArg motorSimConfigAxisArg5 = { "Start posn", iocshArgInt};
static const iocshArg *const motorSimConfigAxisArgs[] = {
&motorSimConfigAxisArg0,
&motorSimConfigAxisArg1,
&motorSimConfigAxisArg2,
&motorSimConfigAxisArg3,
&motorSimConfigAxisArg4,
&motorSimConfigAxisArg5
};
static const iocshFuncDef motorSimConfigAxisDef ={"motorSimConfigAxis",6,motorSimConfigAxisArgs};
static void motorSimConfigAxisCallFunc(const iocshArgBuf *args)
{
motorSimConfigAxis(args[0].sval, args[1].ival, args[2].ival, args[3].ival, args[4].ival, args[5].ival);
}
static void motorSimDriverRegister(void)
{
iocshRegister(&motorSimCreateControllerDef, motorSimCreateContollerCallFunc);
iocshRegister(&motorSimConfigAxisDef, motorSimConfigAxisCallFunc);
}
extern "C" {
epicsExportRegistrar(motorSimDriverRegister);
}
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