Fully working version of SeleneGuide
This commit is the first fully working version of the selene guide driver.
This commit is contained in:
18
Makefile
18
Makefile
@ -1,31 +1,39 @@
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# Use the PSI build system
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include /ioc/tools/driver.makefile
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MODULE=turboPmac
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MODULE=seleneGuide
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BUILDCLASSES=Linux
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EPICS_VERSIONS=7.0.7
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ARCH_FILTER=RHEL%
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# Additional module dependencies
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REQUIRED+=motorBase
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REQUIRED+=sinqMotor
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# Specify the version of motorBase we want to build against
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motorBase_VERSION=7.2.2
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# Specify the version of sinqMotor we want to build against
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sinqMotor_VERSION=mathis_s
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sinqMotor_VERSION=0.11.0
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# Specify the version of turboPmac we want to build against
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turboPmac_VERSION=mathis_s
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turboPmac_VERSION=0.10.0
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# These headers allow to depend on this library for derived drivers.
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HEADERS += src/seleneGuideController.h
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HEADERS += src/seleneLiftAxis.h
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HEADERS += src/seleneAngleAxis.h
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HEADERS += src/seleneOffsetAxis.h
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# Source files to build
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SOURCES += src/seleneGuideController.cpp
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SOURCES += src/seleneLiftAxis.cpp
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SOURCES += src/seleneAngleAxis.cpp
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SOURCES += src/seleneOffsetAxis.cpp
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# Store the record files
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TEMPLATES += db/seleneGuide.db
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# This file registers the motor-specific functions in the IOC shell.
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DBDS += src/seleneLift.dbd
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DBDS += src/seleneGuide.dbd
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USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wextra -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings
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275
README.md
275
README.md
@ -1,31 +1,58 @@
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# turboPmac
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## <span style="color:red">Please read the documentation of sinqMotor first: https://git.psi.ch/sinq-epics-modules/sinqmotor</span>
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## Overview
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This is a driver for the Turbo PMAC motion controller with the SINQ communication protocol. It is based on the sinqMotor shared library (https://git.psi.ch/sinq-epics-modules/sinqmotor). The header files contain detailed documentation for all public functions. The headers themselves are exported when building the library to allow other drivers to depend on this one.
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This is a driver for the Selene guide which consists of three beams supported by two linear axes each. These six physical axes are transformed into 8 virtual axes:
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- A virtual "lift axis" which represents the general elevation of the entire guide
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- A virtual "angle axis" which represents the general tilt of the entire guide
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- Six "offset axes" which represent deviations of individual axes from the general guide elevation and tilt.
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The image below shows the used coordinate systems and the axes:
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The dash-dotted line represents the guide, from which the individual grey beams may deviate due to an offset. The horizontal positions of the individual axes are defined such that axis 1 has the position 0, while the other axes have a position larger than zero. The x-position of the lift and angle axes is at half the distance between axis 1 and axis 6. These position values can be defined [in the axes constructors in the IOC shell](#usage-in-ioc-shell). The z-origins of the individual axes are transformed to a common baseline so that their individual position value is zero when both lift and angle axis position are also zero.
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These definitions shall be illustrated by analyzing the example image: lift ($z_{lift}$) and angle axis ($\alpha$) both have a value smaller zero, offset axis 1 has a positive value $\Delta z_1$, offset axis 2 a smaller negative value $\Delta z_2$. The offset axes 3 ($\Delta z_3$) and 4 ($\Delta z_4$) are both zero, while 5 ($\Delta z_5$) and 6 ($\Delta z_6$) have a positive value.
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Since we have 8 independent virtual axes, but only 6 underlying physical ones, the entire system is overdefined (different position values for individual axes can lead to the same resulting positions). In order to make the system well defined, the following "normalization" procedure is used: The offsets of axis 3 and 4 are defined to be zero and all other axis positions are calculated depending on this definition. In particular, this means that the lift and angle position are calculated as:
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$z_{lift} = 0.5 \cdot (z_3 + z_4)$
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$\alpha_{angle} = \arctan((z_4 - z_3) / (x_4 - x_3))$
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The other offsets are then calculated as:
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$z_i = z_{lift} + \tan(\alpha_{angle}) \cdot (x_i - x_{lift})$
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This normalization procedure can be triggered from a special EPICS PV (see section [user guide](#user-guide)).
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This driver is based on the sinqMotor shared library (https://git.psi.ch/sinq-epics-modules/sinqmotor). The header files contain detailed documentation for all public functions. The headers themselves are exported when building the library to allow other drivers to depend on this one.
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## User guide
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This driver is a standard sinqMotor-derived driver and does not need any specific configuration. For the general configuration, please see https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
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As discussed in the overview section, the selene guide is represented by the six offset axes, the lift and the angle axes. To use the selene guide, all eight axes need to be initialized in EPICS. From the NICOS side, the axes can be treated as "normal" motor record axes (see section [NICOS setup](#nicos-setup)).
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The folder "utils" contains utility scripts for working with pmac motor controllers. To read their manual, run the scripts without any arguments.
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- writeRead.py: Allows sending commands to and receiving commands from a pmac controller over an ethernet connection.
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- analyzeTcpDump.py: Parse the TCP communication between an IOC and a MCU and format it into a dictionary. "demo.py" shows how this data can be easily visualized for analysis.
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## Developer guide
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Two additional PVs are provided in `db/seleneGuide.db`:
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- `<motor PV>:AbsolutePositionRBV`: Holds the absolute position of the offset axes as reported from the encoder. For lift and angle axis, its value is undefined and should not be relied on.
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- `<motor PV>:Normalize`: Setting this to 1 triggers a normalization (even if the PV already has the value 1). Note that this does not move the motors, it is just a mathematical operation and therefore does not change the absolute motor positions.
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### Usage in IOC shell
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turboPmac exports the following IOC shell functions:
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- `turboPmacController`: Create a new controller object.
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- `turboPmacAxis`: Create a new axis object.
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seleneGuide exports the following IOC shell functions:
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- `seleneGuideController`: Create a new controller object. This object is essentially a `turboPmacController` object from the standard [Turbo PMAC driver](https://git.psi.ch/sinq-epics-modules/turboPmac), but it supports the additional motor PVs for absolute position and normalization. This means that it can be used with "normal" `turboPmacAxis` as well.
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- `seleneOffsetAxis`: Create a new offset axis object with the specified x- and z-offset from an arbitrary origin in mm.
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- `seleneVirtualAxes`: Create the virtual lift and the angle axes.
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The full mcu.cmd file looks like this:
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The full `seleneGuide.cmd` file looks like this:
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```
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# Define the name of the controller and the corresponding port
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epicsEnvSet("NAME","mcu")
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epicsEnvSet("NAME","turboPmac1")
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epicsEnvSet("ASYN_PORT","p$(NAME)")
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# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name
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@ -33,31 +60,225 @@ drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
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# Create the controller object with the defined name and connect it to the socket via the port name.
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# The other parameters are as follows:
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# 8: Maximum number of axes
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# 10: Maximum number of axes
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# 0.05: Busy poll period in seconds
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# 1: Idle poll period in seconds
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# 1: Socket communication timeout in seconds
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turboPmacController("$(NAME)", "$(ASYN_PORT)", 8, 0.05, 1, 1);
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# 0.3: Socket communication timeout in seconds
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seleneGuideController("$(NAME)", "$(ASYN_PORT)", 10, 0.05, 1, 0.3);
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# Define some axes for the specified MCU at the given slot (1, 2 and 5). No slot may be used twice!
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turboPmacAxis("$(NAME)",1);
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turboPmacAxis("$(NAME)",2);
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turboPmacAxis("$(NAME)",5);
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# Create the selene offset axes with indices 1 to 6 and the specified x- and
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# z-offsets from axis 1 (therefore axis 1 has zero in both entries) in mm.
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# The coordinate system of the second axis then has an x-offset from 1.5 m and
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# a z-offset of 0 m. The other axes are positioned accordingly.
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seleneOffsetAxis("$(NAME)",1, 0.0, 0.0);
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seleneOffsetAxis("$(NAME)",2, 1529.43329, 0.0);
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seleneOffsetAxis("$(NAME)",3, 2966.59203, 0.0);
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seleneOffsetAxis("$(NAME)",4, 4496.35897, 0.0);
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seleneOffsetAxis("$(NAME)",5, 5933.99477, 0.0);
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seleneOffsetAxis("$(NAME)",6, 7463.87259, 0.0);
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# Set the number of subsequent timeouts
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setMaxSubsequentTimeouts("$(NAME)", 20);
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# These are two "normal" PMAC axes which work the same way they would with a turboPmacController.
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turboPmacAxis("$(NAME)",7);
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turboPmacAxis("$(NAME)",8);
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# Configure the timeout frequency watchdog:
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setThresholdComTimeout("$(NAME)", 100, 1);
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# This function call creates the lift and the angle axes.
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# The arguments on position 2 to 7 are the axis indices of the offset axes
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# belonging to the virtual axes. The 8th index "9" is the index of the lift axis,
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# the 9th index "10" is the index of the angle axis.
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seleneVirtualAxes("$(NAME)", 1, 2, 3, 4, 5, 6, 9, 10);
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# Parametrize the EPICS record database with the substitution file named after the MCU.
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# Parametrize the EPICS record database with the substitution file named after the motor controller.
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# In order to provide the PVs for absolute position and normalization, the
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# corresponding `seleneGuide.db` file is loaded here as well.
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epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
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dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
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dbLoadTemplate("$(TOP)/motors/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
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epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/turboPmac.db")
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dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
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dbLoadTemplate("$(TOP)/motors/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
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epicsEnvSet("SINQDBPATH","$(seleneGuide_DB)/seleneGuide.db")
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dbLoadTemplate("$(TOP)/motors/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
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dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
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```
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### Substitution file
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Since the position value of the offset axes is relative to those of lift axis and angle axis, the limits are relative as well. Therefore they need to specified manually in the substitution file. As described in the [limit calculation section for offset axes](#offset-axes), these limits are shrunken accordingly if they would exceed the physical limits of the underlying physical axes.
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The relative limits for the offset axes are specified via the DHLM and DLLM fields in engineering units EGU. Lift and angle axis are absolute axes and their limits get calculated directly from the physical axes limits, therefore any values set into the DHLM and DLLM columns get overwritten during IOC initialization as well as during each poll.
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```
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file $(SINQDBPATH)
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{
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pattern
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{ AXIS, M, EGU, DIR, MRES, ENABLEMOVWATCHDOG, LIMITSOFFSET, DHLM, DLLM }
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{ 1, "offsetAxis1", mm, Pos, 0.000001, 0, 0.0, 1.5, -1.5 }
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{ 2, "offsetAxis2", mm, Pos, 0.000001, 0, 0.0, 1.5, -1.5 }
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{ 3, "offsetAxis3", mm, Pos, 0.000001, 0, 0.0, 1.5, -1.5 }
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{ 4, "offsetAxis4", mm, Pos, 0.000001, 0, 0.0, 1.5, -1.5 }
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{ 5, "offsetAxis5", mm, Pos, 0.000001, 0, 0.0, 1.5, -1.5 }
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{ 6, "offsetAxis6", mm, Pos, 0.000001, 0, 0.0, 1.5, -1.5 }
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{ 7, "mot1", mm, Pos, 0.001, 1, 0.001, 0.0, 0.0 } # DHLM and DLLM get overwritten anyway
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{ 8, "mot2", mm, Pos, 0.001, 1, 0.001, 0.0, 0.0 } # DHLM and DLLM get overwritten anyway
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{ 9, "liftAxis", mm, Pos, 0.000001, 0, 0.0, 0.0, 0.0 } # DHLM and DLLM get overwritten anyway
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{ 10, "angleAxis", degree, Pos, 0.000001, 0, 0.0, 0.0, 0.0 } # DHLM and DLLM get overwritten anyway
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}
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```
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### NICOS setup
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The code block below shows the Selene guide setup in NICOS in a simplified for the substitution file given above:
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```python
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description = 'Selene support stages'
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display_order = 36
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# Controller PV
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pvprefix = '<controller PV name in EPICS>'
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devices = dict(
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# Offset motors are normal SinqMotor devices and are therefore configured
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# in the same manner.
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offsetMot1 = device('nicos_sinq.devices.epics.motor.SinqMotor',
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motorpv = pvprefix + 'offsetAxis1',
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unit='mm',
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),
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# The absolute positions are simple EpicsReadable devices which use the
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# AbsolutePositionRBV PV from the associated axis. It is recommended to add
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# a small pollinterval, because otherwise the absolute values will not be
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# updated fast enough when moving the motor.
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offsetMotAbs1 = device('nicos.devices.epics.pyepics.pyepics.EpicsReadable',
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readpv = pvprefix + 'offsetAxis1:AbsolutePositionRBV',
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pollinterval = 0.5,
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unit='mm',
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),
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offsetMot2 = device('nicos_sinq.devices.epics.motor.SinqMotor',
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motorpv = pvprefix + 'offsetAxis2',
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unit='mm',
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),
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offsetMotAbs2 = device('nicos.devices.epics.pyepics.pyepics.EpicsReadable',
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readpv = pvprefix + 'offsetAxis2:AbsolutePositionRBV',
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pollinterval = 0.5,
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unit='mm',
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),
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offsetMot3 = device('nicos_sinq.devices.epics.motor.SinqMotor',
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motorpv = pvprefix + 'offsetAxis3',
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unit='mm',
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),
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offsetMotAbs3 = device('nicos.devices.epics.pyepics.pyepics.EpicsReadable',
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readpv = pvprefix + 'offsetAxis3:AbsolutePositionRBV',
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pollinterval = 0.5,
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unit='mm',
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),
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offsetMot4 = device('nicos_sinq.devices.epics.motor.SinqMotor',
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motorpv = pvprefix + 'offsetAxis4',
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unit='mm',
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),
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offsetMotAbs4 = device('nicos.devices.epics.pyepics.pyepics.EpicsReadable',
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readpv = pvprefix + 'offsetAxis4:AbsolutePositionRBV',
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pollinterval = 0.5,
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unit='mm',
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),
|
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offsetMot5 = device('nicos_sinq.devices.epics.motor.SinqMotor',
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motorpv = pvprefix + 'offsetAxis5',
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unit='mm',
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),
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offsetMotAbs5 = device('nicos.devices.epics.pyepics.pyepics.EpicsReadable',
|
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readpv = pvprefix + 'offsetAxis5:AbsolutePositionRBV',
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pollinterval = 0.5,
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unit='mm',
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||||
),
|
||||
offsetMot6 = device('nicos_sinq.devices.epics.motor.SinqMotor',
|
||||
motorpv = pvprefix + 'offsetAxis6',
|
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unit='mm',
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),
|
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offsetMotAbs6 = device('nicos.devices.epics.pyepics.pyepics.EpicsReadable',
|
||||
readpv = pvprefix + 'offsetAxis6:AbsolutePositionRBV',
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pollinterval = 0.5,
|
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unit='mm',
|
||||
),
|
||||
# Configuration of the lift axis. Again, since this is a "normal" motor
|
||||
# record, it can be controlled with the normal SinqMotor device from NICOS.
|
||||
liftAxis = device('nicos_sinq.devices.epics.motor.SinqMotor',
|
||||
motorpv = pvprefix + 'liftAxis',
|
||||
unit='mm',
|
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),
|
||||
# Configuration of the angle axis. Again, since this is a "normal" motor
|
||||
# record, it can be controlled with the normal SinqMotor device from NICOS.
|
||||
angleAxis = device('nicos_sinq.devices.epics.motor.SinqMotor',
|
||||
motorpv = pvprefix + 'angleAxis',
|
||||
unit='degree',
|
||||
),
|
||||
# This device writes to the "Normalize" PV in order to trigger a
|
||||
# normalization. Since we want to offer the user a descriptive button, this
|
||||
# device is hidden and used as the backend of a Switcher device.
|
||||
normalize_num = device('nicos.devices.epics.pyepics.pyepics.EpicsDigitalMoveable',
|
||||
readpv = pvprefix + 'liftAxis:Normalize',
|
||||
writepv = pvprefix + 'liftAxis:Normalize',
|
||||
visibility=(),
|
||||
),
|
||||
# This switcher is the frontend for the normalize_num device. It offers a
|
||||
# single button "Normalize offsets" which upon pressing it sets the
|
||||
# Normalize PV to 1 and therefore triggers a normalization.
|
||||
normalize = device('nicos.devices.generic.switcher.Switcher',
|
||||
moveable = 'normalize_num',
|
||||
mapping = {
|
||||
'Normalize offsets': 1,
|
||||
},
|
||||
precision = 0,
|
||||
),
|
||||
)
|
||||
```
|
||||
|
||||
## Developer guide
|
||||
|
||||
### Limit calculation
|
||||
|
||||
#### Offset axes
|
||||
|
||||
|
||||
|
||||
As mentioned in the user guide, the limits of the offset axes are specified in the substitution file and depending on the physical limits further shrunken down if the relative limits would exceed the absolute limits. In the image given above, this is the case for axis 6. If an axis moves, the limits move accordingly:
|
||||
|
||||
$z_{iH} = z_i + \mathrm{DHLM}_i$
|
||||
|
||||
$z_{iL} = z_i + \mathrm{DLLM}_i$
|
||||
|
||||
If $z_{iH} would exceed the corresponding absolute high limit $z_{iH,abs}$, it is set to $z_{iH,abs}$. The same holds true for the lower limits.
|
||||
|
||||
#### Lift axis
|
||||
|
||||
|
||||
|
||||
For the lift axis, the limits are calculated by evaluating the available track length in both directions for each axis (see image)
|
||||
and finding the shortest value for the distance to high and low limit (distances are always positive). In the example image, these values are $\Delta z_{1L}$
|
||||
and $\Delta z_{6H}$ respectively. The limits of the lift axis are then calculated as:
|
||||
|
||||
$z_H = z + \Delta z_{6H}$
|
||||
|
||||
$z_L = z - \Delta z_{1L}$
|
||||
|
||||
#### Angle axis
|
||||
|
||||
|
||||
|
||||
The angle limits are also calculated by looping through each axis and deriving the limits individually, then selecting the smallest value for both upper and lower limit.
|
||||
|
||||
In order to derive the corresponding equations, let's take axis 1 as an example. Since the motor has an offset $\Delta z_1$, the guide may be rotated in positive direction up to the green dashed line, which crosses the axis position $x_1$ at the height $z_{1H} - \Delta z_1$. The corresponding angle $\alpha_{1H}$ can then be calculated from the corresponding triangle as:
|
||||
|
||||
$\alpha_{1H} = -\arctan((z_{1H} - z_{guide} - \Delta z_1) / (x_1 - x_{guide}))$
|
||||
|
||||
In the same manner, the lower limit is calculated as
|
||||
|
||||
$\alpha_{1L} = -\arctan((z_{1L} - z_{guide} - \Delta z_1) / (x_1 - x_{guide}))$
|
||||
|
||||
The minus signs result from the convention of the angle coordinate system, which is mathematically negative (hence we need to invert the limits as well).
|
||||
|
||||
For axes which are located behind the center of rotation (lever arm $x_i - x_{guide}$ is positive), the roles of the axes high and low limits in the calculation change. For example, the equations for axis 6 (orange) are:
|
||||
|
||||
$\alpha_{6H} = -\arctan((z_{6L} - z_{guide} - \Delta z_6) / (x_6 - x_{guide}))$
|
||||
|
||||
$\alpha_{6L} = -\arctan((z_{6H} - z_{guide} - \Delta z_6) / (x_6 - x_{guide}))$
|
||||
|
||||
### Versioning
|
||||
|
||||
Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
|
||||
|
||||
24
db/seleneGuide.db
Normal file
24
db/seleneGuide.db
Normal file
@ -0,0 +1,24 @@
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||||
# The fields "RBV" of the "seleneOffsetAxis" motor record are relative positions
|
||||
# (see README.md). THis PV provides in addition the "raw" encoder value read
|
||||
# directly from the motor controller. Due to the way the motor record and asyn
|
||||
# motor code is architectured, this PV is also provided for the virtual
|
||||
# "seleneLiftAxis" and "seleneAngleAxis". However, it has no meaning for these
|
||||
# two axes, hence the record value is undefined.
|
||||
record(ai, "$(INSTR)$(M):AbsolutePositionRBV")
|
||||
{
|
||||
field(DTYP, "asynFloat64")
|
||||
field(INP, "@asyn($(CONTROLLER),$(AXIS)) MOTOR_ABSOLUTE_POSITION_RBV")
|
||||
field(SCAN, "I/O Intr")
|
||||
}
|
||||
|
||||
# Setting this PV to "1" causes a "normalization" of the virtual and offset axes:
|
||||
# Lift and angle are recalculated based on the position of the central offset
|
||||
# axes 3 and 4 (whose value is then correspondingly set to 0) and the other offset
|
||||
# axes positions are recalculated accordingly. The normalization can be triggered
|
||||
# from any of the offset or the lift or the angle axis.
|
||||
record(longout, "$(INSTR)$(M):Normalize") {
|
||||
field(DTYP, "asynInt32")
|
||||
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) NORMALIZE")
|
||||
field(VAL, "1")
|
||||
field(PINI, "NO")
|
||||
}
|
||||
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Normal file
BIN
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Normal file
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Normal file
1358
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Normal file
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Load Diff
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Normal file
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After Width: | Height: | Size: 60 KiB |
@ -1,9 +0,0 @@
|
||||
#include "offsetAxis.h"
|
||||
|
||||
asynStatus offsetAxis::doPoll(bool *moving) {
|
||||
// Perform the "normal" poll of a normal turboPmac
|
||||
asynStatus status = turboPmac::doPoll(moving);
|
||||
|
||||
// Convert the motorPosition_ value in the parameter library from an
|
||||
// absolute value to an offset
|
||||
}
|
||||
@ -1,21 +0,0 @@
|
||||
#include "seleneLiftAxis.h"
|
||||
#include "turboPmacAxis.h"
|
||||
|
||||
class offsetAxis : public turboPmacAxis {
|
||||
public:
|
||||
offsetAxis(turboPmacController *pController, int axisNo,
|
||||
seleneLiftAxis *liftAxis);
|
||||
|
||||
/**
|
||||
* @brief Implementation of the `doPoll` function from sinqAxis. The
|
||||
* parameters are described in the documentation of `sinqAxis::doPoll`.
|
||||
*
|
||||
* @param moving
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus doPoll(bool *moving);
|
||||
|
||||
private:
|
||||
double targetPosition_;
|
||||
seleneLiftAxis liftAxis_;
|
||||
}
|
||||
@ -1,12 +1,234 @@
|
||||
#include "seleneAngleAxis.h"
|
||||
#include "seleneGuideController.h"
|
||||
#include "seleneLiftAxis.h"
|
||||
#include "turboPmacController.h"
|
||||
#include <limits>
|
||||
#include <math.h>
|
||||
|
||||
seleneAngleAxis::seleneAngleAxis(seleneGuideController *pController, int axisNo,
|
||||
seleneLiftAxis *axis)
|
||||
: turboPmacAxis(pController, axisNo, false), pC_(pController) {
|
||||
|
||||
asynStatus status = asynSuccess;
|
||||
|
||||
seleneAngleAxis::seleneAngleAxis(turboPmacController *pController, int axisNo) {
|
||||
// Initialize the associated lift axis as a nullptr. It is populated in the
|
||||
// constructor of seleneLiftAxis.
|
||||
liftAxis_ = nullptr;
|
||||
liftAxis_ = axis;
|
||||
targetSet_ = false;
|
||||
|
||||
// Selene guide motors cannot be disabled
|
||||
status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable(), 0);
|
||||
if (status != asynSuccess) {
|
||||
pC_->paramLibAccessFailed(status, "motorCanDisable", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
}
|
||||
|
||||
asynStatus seleneAngleAxis::stop(double acceleration) {
|
||||
return liftAxis_->stop(acceleration);
|
||||
}
|
||||
|
||||
asynStatus seleneAngleAxis::doMove(double position, int relative,
|
||||
double min_velocity, double max_velocity,
|
||||
double acceleration) {
|
||||
double motorRecResolution = 0.0;
|
||||
|
||||
asynStatus pl_status = pC_->getDoubleParam(
|
||||
axisNo_, pC_->motorRecResolution(), &motorRecResolution);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
|
||||
axisNo_, __PRETTY_FUNCTION__,
|
||||
__LINE__);
|
||||
}
|
||||
targetPosition_ = position * motorRecResolution;
|
||||
targetSet_ = true;
|
||||
return liftAxis_->startCombinedMoveFromVirtualAxis();
|
||||
targetSet_ = false;
|
||||
}
|
||||
|
||||
asynStatus seleneAngleAxis::targetPosition(double *targetPosition) {
|
||||
asynStatus status = asynSuccess;
|
||||
|
||||
if (targetSet_) {
|
||||
*targetPosition = targetPosition_;
|
||||
} else {
|
||||
status = motorPosition(targetPosition);
|
||||
}
|
||||
return status;
|
||||
}
|
||||
|
||||
asynStatus seleneAngleAxis::doPoll(bool *moving) {
|
||||
|
||||
char userMessage[pC_->MAXBUF_] = {0};
|
||||
|
||||
// In the doPoll method of `seleneLiftAxis`, the parameters
|
||||
// `motorStatusMoving` and `motorStatusDone` of this axis have already been
|
||||
// set accordingly.
|
||||
int isMoving = 0;
|
||||
|
||||
asynStatus pl_status =
|
||||
pC_->getIntegerParam(axisNo(), pC_->motorStatusMoving(), &isMoving);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorStatusMoving",
|
||||
axisNo(), __PRETTY_FUNCTION__,
|
||||
__LINE__);
|
||||
}
|
||||
*moving = (isMoving != 0);
|
||||
|
||||
double motPos = 0.0;
|
||||
pl_status = motorPosition(&motPos);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pl_status;
|
||||
}
|
||||
|
||||
/*
|
||||
Calculating the limits for the angle is rather involved. Consider the
|
||||
following example:
|
||||
|
||||
| *
|
||||
| |
|
||||
* |
|
||||
| |
|
||||
1 2
|
||||
|
||||
where "*" is the position of the motor and "|" shows the available drive
|
||||
train. The center of rotation is in between axis "1" and axis "2" at
|
||||
position 0.5 (with axis 1 being at 0.0 and axis 2 being at 1.0). The guide
|
||||
between the two "*" has an elevation of 3 and a negative angle (by
|
||||
definition).
|
||||
|
||||
Since axis 2 is at its limit, the angle clearly can't get smaller. When we
|
||||
want to increase the angle (moving axis 1 up and 2 down), axis 1 will hit
|
||||
its limits before axis 2. At the selene guide, we have 6 axes in total,
|
||||
meaning that we have to take into consideration each one of them.
|
||||
|
||||
In order to do that, we loop through each axis and calculate the minimum
|
||||
(low limit) and maximum (high limit) absolute rotation angle allowed by this
|
||||
particular axis at its current position. We then select the smallest value
|
||||
for both low and high limit as the current axis limits. See README.md for
|
||||
the kinematic equations.
|
||||
*/
|
||||
double smallestHighLimit = std::numeric_limits<double>::infinity();
|
||||
double smallestLowLimit = std::numeric_limits<double>::infinity();
|
||||
double liftPosition = 0.0;
|
||||
pl_status = liftAxis_->motorPosition(&liftPosition);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pl_status;
|
||||
}
|
||||
|
||||
for (int i = 0; i < liftAxis_->numAxes_; i++) {
|
||||
seleneOffsetAxis *oAxis = liftAxis_->offsetAxis(i);
|
||||
|
||||
double leverArm = oAxis->xOffset() - liftAxis_->xPos();
|
||||
|
||||
double motPos = 0.0;
|
||||
pl_status = oAxis->motorPosition(&motPos);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pl_status;
|
||||
}
|
||||
|
||||
/*
|
||||
If we are before the rotation center, the high limit of the offset axis
|
||||
must be used to calculate the high angle limit. If we are behind the
|
||||
rotation center (positive lever arm), the low limit of the offset axis
|
||||
must be used to calcate the high angle limit.
|
||||
*/
|
||||
double calcHighLimit = 0.0;
|
||||
double calcLowLimit = 0.0;
|
||||
if (leverArm > 0) {
|
||||
calcHighLimit = oAxis->absoluteLowLimitLiftCS();
|
||||
calcLowLimit = oAxis->absoluteHighLimitLiftCS();
|
||||
} else {
|
||||
calcHighLimit = oAxis->absoluteHighLimitLiftCS();
|
||||
calcLowLimit = oAxis->absoluteLowLimitLiftCS();
|
||||
}
|
||||
|
||||
// Since the angle coordinate system is inverted, we need to invert the
|
||||
// limits as well (minus sign).
|
||||
double angleHighLimit =
|
||||
-atan((calcHighLimit - liftPosition - motPos) / leverArm) * 180.0 /
|
||||
std::numbers::pi;
|
||||
double angleLowLimit =
|
||||
-atan((calcLowLimit - liftPosition - motPos) / leverArm) * 180.0 /
|
||||
std::numbers::pi;
|
||||
|
||||
// We are interested in the absolute smallest limits
|
||||
if (std::abs(smallestHighLimit) > std::abs(angleHighLimit)) {
|
||||
smallestHighLimit = angleHighLimit;
|
||||
}
|
||||
if (std::abs(smallestLowLimit) > std::abs(angleLowLimit)) {
|
||||
smallestLowLimit = angleLowLimit;
|
||||
}
|
||||
}
|
||||
|
||||
pl_status = pC_->setDoubleParam(axisNo_, pC_->motorHighLimitFromDriver(),
|
||||
smallestHighLimit);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorHighLimitFromDriver",
|
||||
axisNo_, __PRETTY_FUNCTION__,
|
||||
__LINE__);
|
||||
}
|
||||
|
||||
pl_status = pC_->setDoubleParam(axisNo_, pC_->motorLowLimitFromDriver(),
|
||||
smallestLowLimit);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorLowLimitFromDriver",
|
||||
axisNo_, __PRETTY_FUNCTION__,
|
||||
__LINE__);
|
||||
}
|
||||
|
||||
// This axis should always be seen as enabled, since it is automatically
|
||||
// enabled before each movement and disabled afterwards
|
||||
pl_status = setIntegerParam(pC_->motorEnableRBV(), 1);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorEnableRBV_", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
|
||||
// If an error message is set in the liftAxis_, copy this message into this
|
||||
// axis.
|
||||
pl_status =
|
||||
pC_->getStringParam(liftAxis_->axisNo(), pC_->motorMessageText(),
|
||||
sizeof(userMessage), userMessage);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorMessageText",
|
||||
liftAxis_->axisNo(),
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
|
||||
if (strlen(userMessage) != 0) {
|
||||
pl_status = setStringParam(pC_->motorMessageText(), userMessage);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
|
||||
axisNo_, __PRETTY_FUNCTION__,
|
||||
__LINE__);
|
||||
}
|
||||
return asynError;
|
||||
}
|
||||
|
||||
return pl_status;
|
||||
}
|
||||
|
||||
asynStatus seleneAngleAxis::doReset() { return liftAxis_->reset(); }
|
||||
|
||||
asynStatus seleneAngleAxis::enable(bool on) { return liftAxis_->enable(on); }
|
||||
|
||||
asynStatus seleneAngleAxis::readEncoderType() {
|
||||
asynStatus pl_status =
|
||||
setStringParam(pC_->encoderType(), IncrementalEncoder);
|
||||
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "encoderType_", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
asynStatus seleneAngleAxis::doHome(double minVelocity, double maxVelocity,
|
||||
double acceleration, int forwards) {
|
||||
return liftAxis_->doHome(minVelocity, maxVelocity, acceleration, forwards);
|
||||
}
|
||||
|
||||
asynStatus seleneAngleAxis::normalizePositions() {
|
||||
return liftAxis_->normalizePositions();
|
||||
}
|
||||
@ -1,27 +1,42 @@
|
||||
#ifndef seleneAngleAxis_H
|
||||
#define seleneAngleAxis_H
|
||||
#include "turboPmacAxis.h"
|
||||
#include "turboPmacController.h"
|
||||
|
||||
// Forward declaration of the seleneLiftAxis class to resolve the cyclic
|
||||
// dependency between the seleneLiftAxis and the seleneAngleAxis .h-file.
|
||||
// See https://en.cppreference.com/w/cpp/language/class.
|
||||
class seleneLiftAxis;
|
||||
|
||||
// Forward declaration of the seleneGuideController class to resolve the cyclic
|
||||
// dependency. See https://en.cppreference.com/w/cpp/language/class.
|
||||
class seleneGuideController;
|
||||
|
||||
/**
|
||||
* @brief Virtual axis for setting the angle of a Selene guide
|
||||
* @brief Virtual axis for setting the angle of the Selene guide
|
||||
*
|
||||
* Please see README.md for a detailed explanation.
|
||||
*/
|
||||
class seleneAngleAxis : public turboPmacAxis {
|
||||
public:
|
||||
/**
|
||||
* @brief Destroy the turboPmacAxis
|
||||
* @brief Construct a new seleneAngleAxis.
|
||||
*
|
||||
* This function should not be called directly. Instead use the constructor
|
||||
* of seleneLiftAxis, which creates a seleneAngleAxis and stores a pointer
|
||||
* to it.
|
||||
*
|
||||
* @param pController Pointer to the associated controller
|
||||
* @param axisNo Index of the axis
|
||||
* @param liftAxis Pointer to the associated lift axis
|
||||
*/
|
||||
virtual ~seleneAngleAxis();
|
||||
seleneAngleAxis(seleneGuideController *pController, int axisNo,
|
||||
seleneLiftAxis *liftAxis);
|
||||
|
||||
/**
|
||||
* @brief Implementation of the `stop` function from asynMotorAxis
|
||||
*
|
||||
* Stops all underlying physical axes at once
|
||||
*
|
||||
* @param acceleration Acceleration ACCEL from the motor record. This
|
||||
* value is currently not used.
|
||||
* @return asynStatus
|
||||
@ -29,17 +44,8 @@ class seleneAngleAxis : public turboPmacAxis {
|
||||
asynStatus stop(double acceleration);
|
||||
|
||||
/**
|
||||
* @brief This function does (almost) nothing, since the poll is done
|
||||
* directly in seleneLiftAxis::doPoll(). It justs sets *moving.
|
||||
*
|
||||
* @param moving
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus poll(bool *moving);
|
||||
|
||||
/**
|
||||
* @brief Set the target value for the guide angle and trigger a position
|
||||
* collection cycle
|
||||
* @brief Rotate the guide around its current lift center to the specified
|
||||
* position.
|
||||
*
|
||||
* @param position
|
||||
* @param relative
|
||||
@ -52,27 +58,28 @@ class seleneAngleAxis : public turboPmacAxis {
|
||||
double maxOffset_velocity, double acceleration);
|
||||
|
||||
/**
|
||||
* @brief Readout of some values from the controller at IOC startup
|
||||
* @brief Implementation of the `doPoll` function from sinqAxis.
|
||||
*
|
||||
* The following steps are performed:
|
||||
* - Read out the motor status, motor position, velocity and acceleration
|
||||
* from the MCU and store this information in the parameter library.
|
||||
* - Set the enable PV according to the initial status of the axis.
|
||||
* Some paramLib entries of this axis are set in the `doPoll` function of
|
||||
* `seleneLiftAxis` for convenience (e.g. whether this axis is moving or
|
||||
* not).
|
||||
*
|
||||
* @param moving
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus init();
|
||||
asynStatus doPoll(bool *moving);
|
||||
|
||||
/**
|
||||
* @brief Reset the error(s) of both physical motors
|
||||
* @brief Reset all errors of the underlying physical axes.
|
||||
*
|
||||
* @param on
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus reset();
|
||||
asynStatus doReset();
|
||||
|
||||
/**
|
||||
* @brief Call the stop() method of the associated liftAxis.
|
||||
* @brief This function does nothing, since this axis cannot be enabled /
|
||||
* disabled
|
||||
*
|
||||
* @param on
|
||||
* @return asynStatus
|
||||
@ -80,38 +87,66 @@ class seleneAngleAxis : public turboPmacAxis {
|
||||
asynStatus enable(bool on);
|
||||
|
||||
/**
|
||||
* @brief The encoder of both physical motors is absolute, hence the encoder
|
||||
* of the virtual axis is also absolute
|
||||
* @brief "Home" the virtual axes by driving all underlying real axes to
|
||||
* position 0.
|
||||
*
|
||||
* @param minVelocity
|
||||
* @param maxVelocity
|
||||
* @param acceleration
|
||||
* @param forwards
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus doHome(double minVelocity, double maxVelocity,
|
||||
double acceleration, int forwards);
|
||||
|
||||
/**
|
||||
* @brief Read the target position from the axis and write it into the
|
||||
* provided pointer.
|
||||
*
|
||||
* @param targetPosition
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus targetPosition(double *targetPosition);
|
||||
|
||||
/**
|
||||
* @brief Set the offsets of axis 3 and 4 to zero and recalculate all other
|
||||
* axes positions based on it.
|
||||
*
|
||||
* Calling this function "normalizes" the lift axis, the angle axis and the
|
||||
* offset axes by performing a "normalization" operation. For details, see
|
||||
* README.md. This function does not communicate with the controller.
|
||||
*
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus normalizePositions();
|
||||
|
||||
/**
|
||||
* @brief Write the encoder type in the corresponding PV
|
||||
*
|
||||
* Since this axis is a virtual one, it does not have an encoder. In order
|
||||
* to enable reference drives (which in case of this axis simply sets all
|
||||
* physical axes to their respective physical position zero), this function
|
||||
* sets the encoder type to "Incremental Encoder".
|
||||
*
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus readEncoderType();
|
||||
|
||||
/**
|
||||
* @brief Trigger a rereading of the encoder position of both physical
|
||||
* motors
|
||||
* @brief This function does nothing, since this axis does not have an
|
||||
* encoder.
|
||||
*
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus rereadEncoder();
|
||||
asynStatus rereadEncoder() { return asynSuccess; }
|
||||
|
||||
protected:
|
||||
turboPmacController *pC_;
|
||||
seleneGuideController *pC_;
|
||||
seleneLiftAxis *liftAxis_;
|
||||
|
||||
private:
|
||||
/**
|
||||
* @brief Construct a new seleneAngleAxis
|
||||
*
|
||||
* @param pController Pointer to the associated controller
|
||||
* @param axisNo Index of the axis
|
||||
*/
|
||||
seleneAngleAxis(turboPmacController *pController, int axisNo,
|
||||
seleneLiftAxis *liftAxis);
|
||||
|
||||
// The friend class declaration here is necessary so the
|
||||
// seleneLiftAxis cann call the constructor of seleneAngleAxis
|
||||
friend class seleneLiftAxis;
|
||||
// True, if a target has been set for this axis
|
||||
bool targetSet_;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
3
src/seleneGuide.dbd
Normal file
3
src/seleneGuide.dbd
Normal file
@ -0,0 +1,3 @@
|
||||
registrar(seleneVirtualAxesRegister)
|
||||
registrar(seleneOffsetAxisRegister)
|
||||
registrar(seleneGuideControllerRegister)
|
||||
157
src/seleneGuideController.cpp
Normal file
157
src/seleneGuideController.cpp
Normal file
@ -0,0 +1,157 @@
|
||||
#include "seleneGuideController.h"
|
||||
#include "turboPmacController.h"
|
||||
#include <epicsExport.h>
|
||||
#include <errlog.h>
|
||||
#include <iocsh.h>
|
||||
|
||||
/**
|
||||
* @brief Construct a new seleneGuideController object
|
||||
*
|
||||
* @param portName See documentation of sinqController
|
||||
* @param ipPortConfigName See documentation of sinqController
|
||||
* @param numAxes See documentation of sinqController
|
||||
* @param movingPollPeriod See documentation of sinqController
|
||||
* @param idlePollPeriod See documentation of sinqController
|
||||
* @param comTimeout Time after which a communication timeout error
|
||||
* is declared in writeRead (in seconds)
|
||||
* @param extraParams See documentation of sinqController
|
||||
*/
|
||||
seleneGuideController::seleneGuideController(
|
||||
const char *portName, const char *ipPortConfigName, int numAxes,
|
||||
double movingPollPeriod, double idlePollPeriod, double comTimeout)
|
||||
: turboPmacController(portName, ipPortConfigName, numAxes, movingPollPeriod,
|
||||
idlePollPeriod, NUM_seleneGuide_DRIVER_PARAMS)
|
||||
|
||||
{
|
||||
|
||||
asynStatus status = asynSuccess;
|
||||
|
||||
status = createParam("MOTOR_ABSOLUTE_POSITION_RBV", asynParamFloat64,
|
||||
&motorAbsolutePositionRBV_);
|
||||
if (status != asynSuccess) {
|
||||
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
"Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
|
||||
"parameter failed with %s).\nTerminating IOC",
|
||||
portName, __PRETTY_FUNCTION__, __LINE__,
|
||||
stringifyAsynStatus(status));
|
||||
exit(-1);
|
||||
}
|
||||
|
||||
status = createParam("NORMALIZE", asynParamInt32, &normalize_);
|
||||
if (status != asynSuccess) {
|
||||
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
"Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
|
||||
"parameter failed with %s).\nTerminating IOC",
|
||||
portName, __PRETTY_FUNCTION__, __LINE__,
|
||||
stringifyAsynStatus(status));
|
||||
exit(-1);
|
||||
}
|
||||
}
|
||||
|
||||
asynStatus seleneGuideController::writeInt32(asynUser *pasynUser,
|
||||
epicsInt32 value) {
|
||||
int function = pasynUser->reason;
|
||||
|
||||
// =====================================================================
|
||||
|
||||
asynMotorAxis *axis = getAxis(pasynUser);
|
||||
|
||||
// Check if the provided axis is one of the special selene guide axes
|
||||
if (function == normalize_) {
|
||||
|
||||
// During initialization of an IOC, the "normalize" PV is initialized to
|
||||
// zero, which triggers this function. We don't want to call
|
||||
// normalizePositions() during IOC initialization.
|
||||
if (value != 0) {
|
||||
seleneAngleAxis *aAxis = dynamic_cast<seleneAngleAxis *>(axis);
|
||||
if (aAxis != nullptr) {
|
||||
return aAxis->normalizePositions();
|
||||
}
|
||||
|
||||
seleneLiftAxis *lAxis = dynamic_cast<seleneLiftAxis *>(axis);
|
||||
if (lAxis != nullptr) {
|
||||
return lAxis->normalizePositions();
|
||||
}
|
||||
|
||||
seleneOffsetAxis *oAxis = dynamic_cast<seleneOffsetAxis *>(axis);
|
||||
if (oAxis != nullptr) {
|
||||
return oAxis->normalizePositions();
|
||||
}
|
||||
}
|
||||
|
||||
// Any other axis should just ignore an input to "Normalize"
|
||||
return asynSuccess;
|
||||
}
|
||||
return turboPmacController::writeInt32(pasynUser, value);
|
||||
}
|
||||
|
||||
/*************************************************************************************/
|
||||
/** The following functions are C-wrappers, and can be called directly from
|
||||
* iocsh */
|
||||
|
||||
extern "C" {
|
||||
|
||||
/*
|
||||
C wrapper for the controller constructor. Please refer to the
|
||||
seleneGuideController constructor documentation.
|
||||
*/
|
||||
asynStatus seleneGuideCreateController(const char *portName,
|
||||
const char *ipPortConfigName,
|
||||
int numAxes, double movingPollPeriod,
|
||||
double idlePollPeriod,
|
||||
double comTimeout) {
|
||||
/*
|
||||
We create a new instance of the controller, using the "new" keyword to
|
||||
allocate it on the heap while avoiding RAII.
|
||||
https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/asynMotorController.cpp
|
||||
https://github.com/epics-modules/asyn/blob/master/asyn/asynPortDriver/asynPortDriver.cpp
|
||||
|
||||
The created object is registered in EPICS in its constructor and can safely
|
||||
be "leaked" here.
|
||||
*/
|
||||
#pragma GCC diagnostic ignored "-Wunused-but-set-variable"
|
||||
#pragma GCC diagnostic ignored "-Wunused-variable"
|
||||
seleneGuideController *pController =
|
||||
new seleneGuideController(portName, ipPortConfigName, numAxes,
|
||||
movingPollPeriod, idlePollPeriod, comTimeout);
|
||||
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
/*
|
||||
Define name and type of the arguments for the CreateController function
|
||||
in the iocsh. This is done by creating structs with the argument names and
|
||||
types and then providing "factory" functions
|
||||
(configCreateControllerCallFunc). These factory functions are used to
|
||||
register the constructors during compilation.
|
||||
*/
|
||||
static const iocshArg CreateControllerArg0 = {"Controller name (e.g. mcu1)",
|
||||
iocshArgString};
|
||||
static const iocshArg CreateControllerArg1 = {"Asyn IP port name (e.g. pmcu1)",
|
||||
iocshArgString};
|
||||
static const iocshArg CreateControllerArg2 = {"Number of axes", iocshArgInt};
|
||||
static const iocshArg CreateControllerArg3 = {"Moving poll rate (s)",
|
||||
iocshArgDouble};
|
||||
static const iocshArg CreateControllerArg4 = {"Idle poll rate (s)",
|
||||
iocshArgDouble};
|
||||
static const iocshArg CreateControllerArg5 = {"Communication timeout (s)",
|
||||
iocshArgDouble};
|
||||
static const iocshArg *const CreateControllerArgs[] = {
|
||||
&CreateControllerArg0, &CreateControllerArg1, &CreateControllerArg2,
|
||||
&CreateControllerArg3, &CreateControllerArg4, &CreateControllerArg5};
|
||||
static const iocshFuncDef configSeleneGuideCreateController = {
|
||||
"seleneGuideController", 6, CreateControllerArgs};
|
||||
static void configSeleneGuideCreateControllerCallFunc(const iocshArgBuf *args) {
|
||||
seleneGuideCreateController(args[0].sval, args[1].sval, args[2].ival,
|
||||
args[3].dval, args[4].dval, args[5].dval);
|
||||
}
|
||||
|
||||
// This function is made known to EPICS in turboPmac.dbd and is called by EPICS
|
||||
// in order to register both functions in the IOC shell
|
||||
static void seleneGuideControllerRegister(void) {
|
||||
iocshRegister(&configSeleneGuideCreateController,
|
||||
configSeleneGuideCreateControllerCallFunc);
|
||||
}
|
||||
epicsExportRegistrar(seleneGuideControllerRegister);
|
||||
|
||||
} // extern "C"
|
||||
60
src/seleneGuideController.h
Normal file
60
src/seleneGuideController.h
Normal file
@ -0,0 +1,60 @@
|
||||
/********************************************
|
||||
* seleneGuideController.h
|
||||
*
|
||||
* Detector tower controller driver based on the asynMotorController class
|
||||
*
|
||||
* Stefan Mathis, September 2024
|
||||
********************************************/
|
||||
|
||||
#ifndef seleneGuideController_H
|
||||
#define seleneGuideController_H
|
||||
#include "seleneAngleAxis.h"
|
||||
#include "seleneLiftAxis.h"
|
||||
#include "seleneOffsetAxis.h"
|
||||
#include "turboPmacController.h"
|
||||
|
||||
class seleneGuideController : public turboPmacController {
|
||||
|
||||
public:
|
||||
/**
|
||||
* @brief Construct a new seleneGuideController object
|
||||
*
|
||||
* This controller object can handle both "normal" TurboPMAC axes created
|
||||
with the turboPmacAxis constructor as well as one or multiple selene axis
|
||||
assemblies consisting of offset axes, lift axis and angle axis.
|
||||
*
|
||||
* @param portName See turboPmacController constructor
|
||||
* @param ipPortConfigName See turboPmacController constructor
|
||||
* @param numAxes See turboPmacController constructor
|
||||
* @param movingPollPeriod See turboPmacController constructor
|
||||
* @param idlePollPeriod See turboPmacController constructor
|
||||
* @param comTimeout See turboPmacController constructor
|
||||
*/
|
||||
seleneGuideController(const char *portName, const char *ipPortConfigName,
|
||||
int numAxes, double movingPollPeriod,
|
||||
double idlePollPeriod, double comTimeout);
|
||||
|
||||
/**
|
||||
* @brief Overloaded function of turboPmacController
|
||||
*
|
||||
* @param pasynUser Specify the axis via the asynUser
|
||||
* @param value New value
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
|
||||
|
||||
// Accessors for the indices of the additional PVs
|
||||
int motorAbsolutePositionRBV() { return motorAbsolutePositionRBV_; }
|
||||
int normalize() { return normalize_; }
|
||||
|
||||
private:
|
||||
// Indices of additional PVs
|
||||
#define FIRST_seleneGuide_PARAM motorAbsolutePositionRBV_
|
||||
int motorAbsolutePositionRBV_;
|
||||
int normalize_;
|
||||
#define LAST_seleneGuide_PARAM normalize_
|
||||
};
|
||||
#define NUM_seleneGuide_DRIVER_PARAMS \
|
||||
(&LAST_seleneGuide_PARAM - &FIRST_seleneGuide_PARAM + 1)
|
||||
|
||||
#endif /* seleneGuideController_H */
|
||||
@ -1,5 +0,0 @@
|
||||
#---------------------------------------------
|
||||
# SINQ specific DB definitions
|
||||
#---------------------------------------------
|
||||
registrar(turboPmacControllerRegister)
|
||||
registrar(turboPmacAxisRegister)
|
||||
@ -2,7 +2,8 @@
|
||||
#include "asynOctetSyncIO.h"
|
||||
#include "epicsExport.h"
|
||||
#include "iocsh.h"
|
||||
#include "offserAxis.h"
|
||||
#include "seleneGuideController.h"
|
||||
#include "seleneOffsetAxis.h"
|
||||
#include "turboPmacController.h"
|
||||
#include <cmath>
|
||||
#include <errlog.h>
|
||||
@ -14,7 +15,7 @@
|
||||
#include <vector>
|
||||
|
||||
/*
|
||||
Contains all instances of turboPmacAxis which have been created and is used in
|
||||
Contains all instances of seleneLiftAxis which have been created and is used in
|
||||
the initialization hook function.
|
||||
*/
|
||||
static std::vector<seleneLiftAxis *> axes;
|
||||
@ -30,28 +31,54 @@ static void epicsInithookFunction(initHookState iState) {
|
||||
// on each one of them.
|
||||
for (std::vector<seleneLiftAxis *>::iterator itA = axes.begin();
|
||||
itA != axes.end(); ++itA) {
|
||||
turboPmacAxis *axis = *itA;
|
||||
seleneLiftAxis *axis = *itA;
|
||||
axis->init();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
seleneLiftAxis::seleneLiftAxis(turboPmacController *pC)
|
||||
: turboPmacAxis(pC, numAxes_ + 1, false), pC_(pC) {
|
||||
seleneLiftAxis::seleneLiftAxis(seleneGuideController *pC, int axis1No,
|
||||
int axis2No, int axis3No, int axis4No,
|
||||
int axis5No, int axis6No, int liftAxisNo,
|
||||
int angleAxisNo)
|
||||
: turboPmacAxis(pC, liftAxisNo, false), pC_(pC) {
|
||||
|
||||
// Create the real axes and the virtual angle axis.
|
||||
// They are deallocated in the destructor of sinqController
|
||||
asynStatus status = asynSuccess;
|
||||
|
||||
// Read the offset axes from the controller and write pointers to them into
|
||||
// offsetAxes_. If they haven't been created, the configuration is wrong
|
||||
// and therefore the IOC creation should abort
|
||||
int axisNos[numAxes_];
|
||||
axisNos[0] = axis1No;
|
||||
axisNos[1] = axis2No;
|
||||
axisNos[2] = axis3No;
|
||||
axisNos[3] = axis4No;
|
||||
axisNos[4] = axis5No;
|
||||
axisNos[5] = axis6No;
|
||||
|
||||
seleneOffsetAxis *oAxis;
|
||||
for (int i = 0; i < numAxes_; i++) {
|
||||
offsetAxis axis = new offsetAxis(pC, i, this);
|
||||
offsetAxes_[i] = axis;
|
||||
oAxis = dynamic_cast<seleneOffsetAxis *>(pC->getAxis(axisNos[i]));
|
||||
if (oAxis == nullptr) {
|
||||
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
|
||||
"Controller \"%s\", axis %d => %s, line %d\nFATAL ERROR "
|
||||
"(given axis number %d is not an instance of "
|
||||
"seleneOffsetAxis).\nTerminating IOC.\n",
|
||||
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
|
||||
axisNos[i]);
|
||||
exit(-1);
|
||||
}
|
||||
offsetAxes_[i] = oAxis;
|
||||
|
||||
// Give the lift axis a link to the lift axis
|
||||
oAxis->liftAxis_ = this;
|
||||
}
|
||||
|
||||
//
|
||||
angleAxis_ = new seleneAngleAxis(pC, numAxes_ + 2, this);
|
||||
angleAxis_ = new seleneAngleAxis(pC, angleAxisNo, this);
|
||||
|
||||
// Initialize the parameters
|
||||
xLift_ = 0.0; // Overwritten in the init function
|
||||
targetPosition_ = 0.0;
|
||||
targetSet_ = false;
|
||||
virtualAxisMovement_ = true;
|
||||
|
||||
// Register the hook function during construction of the first axis
|
||||
// object
|
||||
@ -62,17 +89,25 @@ seleneLiftAxis::seleneLiftAxis(turboPmacController *pC)
|
||||
// Collect all axes into this list which will be used in the hook
|
||||
// function
|
||||
axes.push_back(this);
|
||||
}
|
||||
|
||||
seleneLiftAxis::~seleneLiftAxis() {}
|
||||
// Center between axis 3 and 4
|
||||
xLift_ = 0.5 * (offsetAxes_[2]->xOffset_ + offsetAxes_[3]->xOffset_);
|
||||
|
||||
// Selene guide motors cannot be disabled
|
||||
status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable(), 0);
|
||||
if (status != asynSuccess) {
|
||||
pC_->paramLibAccessFailed(status, "motorCanDisable", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
}
|
||||
|
||||
asynStatus seleneLiftAxis::init() {
|
||||
|
||||
// Local variable declaration
|
||||
asynStatus status = asynSuccess;
|
||||
double motorRecResolution = 0.0;
|
||||
char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
|
||||
int nvals = 0;
|
||||
|
||||
// =========================================================================
|
||||
|
||||
// The parameter library takes some time to be initialized. Therefore we
|
||||
// wait until the status is not asynParamUndefined anymore.
|
||||
@ -99,294 +134,378 @@ asynStatus seleneLiftAxis::init() {
|
||||
}
|
||||
}
|
||||
|
||||
// Read out the horizontal distances of all other axes from axis 1
|
||||
xOffset_[0] = 0.0; // By definition
|
||||
snprintf(command, sizeof(command), "Q652 Q653 Q654 Q655 Q656");
|
||||
status = pC_->writeRead(axisNo_, command, response, 5);
|
||||
// Assume the virtual axes are not moving at the start
|
||||
status = setIntegerParam(pC_->motorStatusMoving(), 0);
|
||||
if (status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(status, "motorStatusMoving", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
status = setIntegerParam(pC_->motorStatusDone(), 1);
|
||||
if (status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(status, "motorStatusDone", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
|
||||
status = angleAxis_->setIntegerParam(pC_->motorStatusMoving(), 0);
|
||||
if (status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(status, "motorStatusMoving",
|
||||
angleAxis_->axisNo(),
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
status = angleAxis_->setIntegerParam(pC_->motorStatusDone(), 1);
|
||||
if (status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(status, "motorStatusDone",
|
||||
angleAxis_->axisNo(),
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
|
||||
// The virtual axes should always be seen as enabled, since the underlying
|
||||
// hardware is automatically enabled after sending a start command to the
|
||||
// controller and automatically disabled after the movement finished.
|
||||
status = setIntegerParam(pC_->motorEnableRBV(), 1);
|
||||
if (status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(status, "motorEnableRBV_", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
status = angleAxis_->setIntegerParam(pC_->motorEnableRBV(), 1);
|
||||
if (status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(status, "motorEnableRBV_",
|
||||
angleAxis_->axisNo(),
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
|
||||
status = normalizePositions();
|
||||
if (status != asynSuccess) {
|
||||
return status;
|
||||
}
|
||||
nvals = sscanf(response, "%lf %lf %lf %lf %lf", &xOffset_[1], &xOffset_[2],
|
||||
&xOffset_[3], &xOffset_[4], &xOffset_[5]);
|
||||
|
||||
if (nvals != 5) {
|
||||
return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
// After the normalization, initialize all axes
|
||||
for (int i = 0; i < numAxes_; i++) {
|
||||
offsetAxes_[i]->init();
|
||||
}
|
||||
|
||||
// Center between axis 2 and 3
|
||||
xLift_ = 0.5 * (xOffset_[2] + xOffset_[3]);
|
||||
|
||||
// Read out the vertical distances of all other axes from axis 1
|
||||
zOffset_[0] = 0.0; // By definition
|
||||
zOffset_[1] = 0.0;
|
||||
zOffset_[2] = 0.0;
|
||||
zOffset_[3] = 0.0;
|
||||
zOffset_[4] = 0.0;
|
||||
zOffset_[5] = 0.0;
|
||||
|
||||
return normalizeOffsets();
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
asynStatus seleneLiftAxis::normalizeOffsets() {
|
||||
asynStatus seleneLiftAxis::normalizePositions() {
|
||||
|
||||
double lift = 0.0;
|
||||
double angle = 0.0;
|
||||
asynStatus status = asynSuccess;
|
||||
char response[pC_->MAXBUF_];
|
||||
double encoderPositions[6] = {0.0};
|
||||
double absolutePositions[6] = {0.0};
|
||||
int nvals = 0;
|
||||
|
||||
// =========================================================================
|
||||
|
||||
// Read out the absolute positions of all axes
|
||||
const char *command = "Q0110 Q0210 Q0310 Q0410 Q0510 Q0610";
|
||||
status = pC_->writeRead(axisNo_, command, response, 6);
|
||||
status = pC_->writeRead(axisNo_, "Q0110 Q0210 Q0310 Q0410 Q0510 Q0610",
|
||||
response, 6);
|
||||
if (status != asynSuccess) {
|
||||
return status;
|
||||
}
|
||||
nvals =
|
||||
sscanf(response, "%lf %lf %lf %lf %lf %lf", &encoderPositions[0],
|
||||
&encoderPositions[1], &encoderPositions[2], &encoderPositions[3],
|
||||
&encoderPositions[4], &encoderPositions[5]);
|
||||
if (nvals != 6) {
|
||||
return pC_->couldNotParseResponse("Q0110 Q0210 Q0310 Q0410 Q0510 Q0610",
|
||||
response, axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
|
||||
// Adjust for the individual coordinate system origin of the axes
|
||||
for (int i = 0; i < numAxes_; i++) {
|
||||
seleneOffsetAxis *axis = offsetAxes_[i];
|
||||
absolutePositions[i] = encoderPositions[i] - axis->zOffset_;
|
||||
}
|
||||
|
||||
deriveLiftAndAngle(absolutePositions[2], absolutePositions[3], &lift,
|
||||
&angle);
|
||||
|
||||
// Set the position values in the parameter library
|
||||
status = setMotorPosition(lift);
|
||||
if (status != asynSuccess) {
|
||||
return status;
|
||||
}
|
||||
|
||||
double z[6] = {0.0};
|
||||
nvals = sscanf(response, "%lf %lf %lf %lf %lf %lf", &z[0], &z[1], &z[2],
|
||||
&z[3], &z[4], &z[5]);
|
||||
if (nvals != 2) {
|
||||
return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
|
||||
// Normalization
|
||||
for (int i = 0; i < numAxes_; i++) {
|
||||
z[i] = z[i] - zOffset_[i];
|
||||
}
|
||||
|
||||
// Lift position is simply the mean of axis 2 and 3
|
||||
status = setDoubleParam(pC_->motorPosition(), 0.5 * (z[2] + z[3]));
|
||||
status = angleAxis_->setMotorPosition(angle);
|
||||
if (status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(status, "motorPosition_", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
return status;
|
||||
}
|
||||
|
||||
// tan(angle) = (z3 - z2) / (x3 - x2)
|
||||
double alpha = atan2(z[3] - z[2], xOffset_[3] - xOffset_[2]);
|
||||
status = angleAxis_->setDoubleParam(pC_->motorPosition(), alpha);
|
||||
if (status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(status, "motorPosition_", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
|
||||
// Adjust the position values of all physical axes accordingly. The values
|
||||
// of axes 2 and 3 should result in zero, if not, something went wrong.
|
||||
double tanAlpha = tan(alpha);
|
||||
// Calculate the new liftPosition_ of all seleneOffsetAxis
|
||||
auto liftPositions = positionsFromLiftAndAngle(lift, angle);
|
||||
for (int i = 0; i < numAxes_; i++) {
|
||||
double liftPosition = liftPositions[i];
|
||||
offsetAxes_[i]->liftPosition_ = liftPosition;
|
||||
offsetAxes_[i]->setPositionsFromEncoderPosition(encoderPositions[i]);
|
||||
|
||||
// Calculate the new offset
|
||||
double x = xOffset_[i] - xLift_;
|
||||
double z = z[i] - x * tanAlpha;
|
||||
|
||||
status = axes_[i].setDoubleParam(pC_->motorPosition(), z);
|
||||
// Write the relative position value to the RBV field
|
||||
status = offsetAxes_[i]->setMotorPosition(
|
||||
offsetAxes_[i]->absolutePositionLiftCS_ -
|
||||
offsetAxes_[i]->liftPosition_);
|
||||
if (status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(status, "motorPosition_", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
return status;
|
||||
}
|
||||
|
||||
// TODO: Adjust limits
|
||||
}
|
||||
|
||||
// Update all axes
|
||||
callParamCallbacks();
|
||||
angleAxis_->callParamCallbacks();
|
||||
for (int i = 0; i < numAxes_; i++) {
|
||||
axes_[i].callParamCallbacks();
|
||||
offsetAxes_[i]->callParamCallbacks();
|
||||
}
|
||||
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
asynStatus seleneLiftAxis::doPoll(bool *moving) {
|
||||
|
||||
// Return value for the poll
|
||||
asynStatus poll_status = asynSuccess;
|
||||
|
||||
// Status of read-write-operations of ASCII commands to the controller
|
||||
asynStatus rw_status = asynSuccess;
|
||||
|
||||
// Status of parameter library operations
|
||||
asynStatus pl_status = asynSuccess;
|
||||
|
||||
char response[pC_->MAXBUF_], userMessage[pC_->MAXBUF_];
|
||||
char response[pC_->MAXBUF_], userMessage[pC_->MAXBUF_] = {0};
|
||||
|
||||
int isMoving = 0;
|
||||
int nvals = 0;
|
||||
int error = 0;
|
||||
int axStatus = 0;
|
||||
double posAx1 = 0.0;
|
||||
double highLimitAx1 = 0.0;
|
||||
double lowLimitAx1 = 0.0;
|
||||
double posAx6 = 0.0;
|
||||
double highLimitAx6 = 0.0;
|
||||
double lowLimitAx6 = 0.0;
|
||||
int wasDone = 0;
|
||||
|
||||
// =========================================================================
|
||||
|
||||
// Read the positions and the limits of axis 1 and 6 as well as the status
|
||||
// and the error of the virtual axis
|
||||
const char *command = "status error Q0100 Q0113 Q0114 Q0600 Q0613 Q0614";
|
||||
rw_status = pC_->writeRead(axisNo_, command, response, 8);
|
||||
pl_status =
|
||||
pC_->getIntegerParam(axisNo(), pC_->motorStatusDone(), &wasDone);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorStatusMoving",
|
||||
axisNo(), __PRETTY_FUNCTION__,
|
||||
__LINE__);
|
||||
}
|
||||
|
||||
const char *command = "P158";
|
||||
rw_status = pC_->writeRead(axisNo_, command, response, 1);
|
||||
if (rw_status != asynSuccess) {
|
||||
return rw_status;
|
||||
}
|
||||
|
||||
nvals = sscanf(response, "%d %d %lf %lf %lf %lf %lf %lf", &axStatus, &error,
|
||||
&posAx1, &highLimitAx1, &lowLimitAx1, &posAx6, &highLimitAx6,
|
||||
&lowLimitAx6);
|
||||
if (nvals != 8) {
|
||||
return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
nvals = sscanf(response, "%d", &axStatus);
|
||||
if (nvals != 1) {
|
||||
return pC_->couldNotParseResponse(command, response, axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
*moving = (axStatus != 0);
|
||||
|
||||
/*
|
||||
The following code converts from the vertical height readback values of axis
|
||||
1 and 6 to a virtual lift position and a corresponding angle. To do that, we
|
||||
need first to correct for the different starting point of both axes (see
|
||||
documentation of member variable yDistAx1ToAx6_)
|
||||
*/
|
||||
posAx6 = posAx6 - yDistAx1ToAx6_;
|
||||
highLimitAx6 = highLimitAx6 - yDistAx1ToAx6_;
|
||||
lowLimitAx6 = lowLimitAx6 - yDistAx1ToAx6_;
|
||||
|
||||
/*
|
||||
Convert the z-axis position values of axis 1 and 6 into an angle and a
|
||||
lift, using the center position between axis 1 and 6 as the rotation point.
|
||||
The angle is the arcustangens(opposite/adjacent), where the adjacent is
|
||||
the distance between axis 1 and 6 and the opposite is the difference
|
||||
between the height of axis 6 and axis 1.
|
||||
*/
|
||||
double liftPos = 0.5 * (posAx1 + posAx6);
|
||||
double liftHighLimit = 0.5 * (highLimitAx1 + highLimitAx6);
|
||||
double liftLowLimit = 0.5 * (lowLimitAx1 + lowLimitAx6);
|
||||
double anglePos = atan2(posAx6 - posAx1, xOffset_[5]);
|
||||
|
||||
/*
|
||||
The angle limits are defined from the center position, hence the lift
|
||||
position needs to be subtracted from the high and low limits of angle 6. See
|
||||
the documentation in README.md for details.
|
||||
*/
|
||||
double angleHighLimit = atan2(highLimitAx6 - liftPos, xOffset_[5]);
|
||||
double angleLowLimit = atan2(lowLimitAx6 - liftPos, xOffset_[5]);
|
||||
|
||||
// Set the RBV values for both axes
|
||||
|
||||
pl_status = setIntegerParam(pC_->motorStatusMoving(), isMoving);
|
||||
// Set the moving status of seleneLiftAxis
|
||||
pl_status = setIntegerParam(pC_->motorStatusMoving(), *moving);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorStatusMoving_",
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorStatusMoving",
|
||||
axisNo_, __PRETTY_FUNCTION__,
|
||||
__LINE__);
|
||||
}
|
||||
pl_status = angleAxis_->setIntegerParam(pC_->motorStatusMoving(), isMoving);
|
||||
pl_status = setIntegerParam(pC_->motorStatusDone(), !(*moving));
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorStatusMoving_",
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorStatusDone", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
|
||||
// Set the moving status of seleneAngleAxis
|
||||
pl_status = angleAxis_->setIntegerParam(pC_->motorStatusMoving(), *moving);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorStatusMoving",
|
||||
angleAxis_->axisNo(),
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
pl_status = angleAxis_->setIntegerParam(pC_->motorStatusDone(), !(*moving));
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorStatusDone",
|
||||
angleAxis_->axisNo(),
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
|
||||
pl_status = setIntegerParam(pC_->motorStatusDone(), isMoving == 0);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorStatusDone_", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
pl_status =
|
||||
angleAxis_->setIntegerParam(pC_->motorStatusDone(), isMoving == 0);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorStatusDone_",
|
||||
angleAxis_->axisNo(),
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
/*
|
||||
If an seleneOffsetAxis is moving, the positions of the virtual axes
|
||||
for lift and angle should not change. Therefore the motor position entries
|
||||
in the ParamLib of both axes are simply left alone.
|
||||
|
||||
If a virtual axis is moving or was moving during the last poll, the
|
||||
positions are calculated from the real positions of axis 3 and 4 corrected
|
||||
by their respective motor offset
|
||||
*/
|
||||
if (wasDone == 0 || (!(*moving && !virtualAxisMovement_))) {
|
||||
double lift = 0.0;
|
||||
double angle = 0.0;
|
||||
double offsetAx2Pos = 0.0;
|
||||
double offsetAx3Pos = 0.0;
|
||||
|
||||
double motorRecResolution = 0.0;
|
||||
|
||||
asynStatus pl_status = pC_->getDoubleParam(
|
||||
axisNo_, pC_->motorRecResolution(), &motorRecResolution);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
|
||||
axisNo_, __PRETTY_FUNCTION__,
|
||||
__LINE__);
|
||||
}
|
||||
|
||||
pl_status = offsetAxes_[2]->motorPosition(&offsetAx2Pos);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pl_status;
|
||||
}
|
||||
|
||||
pl_status = offsetAxes_[3]->motorPosition(&offsetAx3Pos);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pl_status;
|
||||
}
|
||||
|
||||
deriveLiftAndAngle(
|
||||
offsetAxes_[2]->absolutePositionLiftCS_ - offsetAx2Pos,
|
||||
offsetAxes_[3]->absolutePositionLiftCS_ - offsetAx3Pos, &lift,
|
||||
&angle);
|
||||
|
||||
// Set the position values in the parameter library
|
||||
pl_status = setMotorPosition(lift);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pl_status;
|
||||
}
|
||||
|
||||
pl_status = angleAxis_->setMotorPosition(angle);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pl_status;
|
||||
}
|
||||
|
||||
// Calculate the new liftPosition_ of all seleneOffsetAxis
|
||||
auto liftPositions = positionsFromLiftAndAngle(lift, angle);
|
||||
for (int i = 0; i < numAxes_; i++) {
|
||||
offsetAxes_[i]->liftPosition_ = liftPositions[i];
|
||||
}
|
||||
}
|
||||
|
||||
// If any of the physical axes has a status problem, the two virtual axes
|
||||
// have a status problem
|
||||
// Check which one of the individual motors has the smallest distance to its
|
||||
// upper and lower limits and derive the lift limits from these.
|
||||
double smallestDistHighLimit = std::numeric_limits<double>::infinity();
|
||||
double smallestDistLowLimit = std::numeric_limits<double>::infinity();
|
||||
for (int i = 0; i < numAxes_; i++) {
|
||||
if (smallestDistHighLimit > offsetAxes_[i]->distHighLimit_) {
|
||||
smallestDistHighLimit = offsetAxes_[i]->distHighLimit_;
|
||||
}
|
||||
if (smallestDistLowLimit > offsetAxes_[i]->distLowLimit_) {
|
||||
smallestDistLowLimit = offsetAxes_[i]->distLowLimit_;
|
||||
}
|
||||
}
|
||||
|
||||
// Set the status of the two virtual axes
|
||||
pl_status = setIntegerParam(pC_->motorStatusProblem(),
|
||||
(realAxis1StatProb || realAxis2StatProb));
|
||||
// Set the limits for the lift axis
|
||||
double motPos = 0.0;
|
||||
pl_status = motorPosition(&motPos);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
|
||||
return pl_status;
|
||||
}
|
||||
|
||||
pl_status = pC_->setDoubleParam(axisNo_, pC_->motorHighLimitFromDriver(),
|
||||
motPos + smallestDistHighLimit);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorHighLimitFromDriver_",
|
||||
axisNo_, __PRETTY_FUNCTION__,
|
||||
__LINE__);
|
||||
}
|
||||
pl_status = angleAxis_->setIntegerParam(
|
||||
pC_->motorStatusProblem(), (realAxis1StatProb || realAxis2StatProb));
|
||||
|
||||
pl_status = pC_->setDoubleParam(axisNo_, pC_->motorLowLimitFromDriver(),
|
||||
motPos - smallestDistLowLimit);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
|
||||
angleAxis_->axisNo(),
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorLowLimit_", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
|
||||
pl_status = setStringParam(pC_->motorMessageText(), userMessage);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
|
||||
axisNo_, __PRETTY_FUNCTION__,
|
||||
__LINE__);
|
||||
}
|
||||
pl_status =
|
||||
angleAxis_->setStringParam(pC_->motorMessageText(), userMessage);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
|
||||
angleAxis_->axisNo(),
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
// The virtual axes are in an error state, if at least one of the underlying
|
||||
// real axes is in an error state.
|
||||
for (int i = 0; i < numAxes_; i++) {
|
||||
pl_status = pC_->getStringParam(offsetAxes_[i]->axisNo(),
|
||||
pC_->motorMessageText(),
|
||||
sizeof(userMessage), userMessage);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorMessageText",
|
||||
offsetAxes_[i]->axisNo(),
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
|
||||
if (strlen(userMessage) != 0) {
|
||||
pl_status = setStringParam(pC_->motorMessageText(), userMessage);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
|
||||
axisNo_, __PRETTY_FUNCTION__,
|
||||
__LINE__);
|
||||
}
|
||||
return asynError;
|
||||
}
|
||||
}
|
||||
|
||||
// Calculate the position and the angle
|
||||
double realAxis1Pos = 0;
|
||||
double realAxis2Pos = 0;
|
||||
|
||||
pl_status = pC_->getDoubleParam(realAxis1_->axisNo(), pC_->motorPosition(),
|
||||
&realAxis1Pos);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorPosition_",
|
||||
realAxis1_->axisNo(),
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
pl_status = pC_->getDoubleParam(realAxis2_->axisNo(), pC_->motorPosition(),
|
||||
&realAxis2Pos);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorPosition_",
|
||||
realAxis2_->axisNo(),
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
|
||||
// Update the parameter library for the seleneAngleAxis (the update for the
|
||||
// lift axis itself is done in the body of the parent poll() method)
|
||||
pl_status = angleAxis_->callParamCallbacks();
|
||||
if (pC_->getMsgPrintControl().shouldBePrinted(
|
||||
pC_->portName, angleAxis_->axisNo(), __PRETTY_FUNCTION__, __LINE__,
|
||||
(pl_status != asynSuccess), pC_->asynUserSelf())) {
|
||||
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
|
||||
"Controller \"%s\", axis %d => %s, line "
|
||||
"%d:\ncallParamCallbacks failed with %s.%s\n",
|
||||
pC_->portName, angleAxis_->axisNo(), __PRETTY_FUNCTION__,
|
||||
__LINE__, pC_->stringifyAsynStatus(poll_status),
|
||||
pC_->getMsgPrintControl().getSuffix());
|
||||
}
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
asynStatus seleneLiftAxis::doMove(double position, int relative,
|
||||
double min_velocity, double max_velocity,
|
||||
double acceleration) {
|
||||
asynStatus pl_status = pC_->getDoubleParam(
|
||||
axisNo_, pC_->motorRecResolution(), &motorRecResolution);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
|
||||
axisNo_, __PRETTY_FUNCTION__,
|
||||
__LINE__);
|
||||
double motorRecResolution = 0.0;
|
||||
asynStatus status = asynSuccess;
|
||||
|
||||
status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
|
||||
&motorRecResolution);
|
||||
if (status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(status, "motorRecResolution_", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
targetPosition_ = position * motorRecResolution;
|
||||
targetSet_ = true;
|
||||
status = startCombinedMoveFromVirtualAxis();
|
||||
targetSet_ = false;
|
||||
return status;
|
||||
}
|
||||
|
||||
return startCombinedMove();
|
||||
asynStatus seleneLiftAxis::targetPosition(double *targetPosition) {
|
||||
asynStatus status = asynSuccess;
|
||||
|
||||
if (targetSet_) {
|
||||
*targetPosition = targetPosition_;
|
||||
} else {
|
||||
status = motorPosition(targetPosition);
|
||||
}
|
||||
return status;
|
||||
}
|
||||
|
||||
asynStatus seleneLiftAxis::startCombinedMove() {
|
||||
|
||||
char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
|
||||
double liftTargetPosition = 0.0;
|
||||
double angleTargetPosition = 0.0;
|
||||
asynStatus status = asynSuccess;
|
||||
|
||||
// =========================================================================
|
||||
|
||||
status = targetPosition(&liftTargetPosition);
|
||||
if (status != asynSuccess) {
|
||||
return status;
|
||||
}
|
||||
|
||||
status = angleAxis_->targetPosition(&angleTargetPosition);
|
||||
if (status != asynSuccess) {
|
||||
return status;
|
||||
}
|
||||
|
||||
errlogPrintf("Target lift: %lf, Target angle: %lf\n", liftTargetPosition,
|
||||
angleTargetPosition);
|
||||
|
||||
auto targetPositions =
|
||||
calculateMotorPositions(targetPosition_, angleAxis_->targetPosition_);
|
||||
positionsFromLiftAndAngle(liftTargetPosition, angleTargetPosition);
|
||||
|
||||
// Apply the offsets of the individual offset axes
|
||||
for (int i = 0, i < numAxes_, i++) {
|
||||
targetPositions[i] =
|
||||
targetPositions[i] + offsetAxes_[i]->targetPosition_;
|
||||
for (int i = 0; i < numAxes_; i++) {
|
||||
double offsetTargetPosition = 0.0;
|
||||
status = offsetAxes_[i]->targetPosition(&offsetTargetPosition);
|
||||
if (status != asynSuccess) {
|
||||
return status;
|
||||
}
|
||||
targetPositions[i] = targetPositions[i] + offsetTargetPosition;
|
||||
}
|
||||
|
||||
// Set all target positions and send the move command
|
||||
@ -395,6 +514,8 @@ asynStatus seleneLiftAxis::startCombinedMove() {
|
||||
targetPositions[0], targetPositions[1], targetPositions[2],
|
||||
targetPositions[3], targetPositions[4], targetPositions[5]);
|
||||
|
||||
errlogPrintf("%s\n", command);
|
||||
|
||||
// No answer expected
|
||||
return pC_->writeRead(axisNo_, command, response, 0);
|
||||
}
|
||||
@ -411,8 +532,7 @@ asynStatus seleneLiftAxis::stop(double acceleration) {
|
||||
// =========================================================================
|
||||
|
||||
// Stop all axes
|
||||
const char *command = "P150=8";
|
||||
rw_status = pC_->writeRead(axisNo_, command, response, 0);
|
||||
rw_status = pC_->writeRead(axisNo_, "P150=8", response, 0);
|
||||
|
||||
if (rw_status != asynSuccess) {
|
||||
asynPrint(
|
||||
@ -432,18 +552,213 @@ asynStatus seleneLiftAxis::stop(double acceleration) {
|
||||
return rw_status;
|
||||
}
|
||||
|
||||
std::array<double, 6> seleneLiftAxis::calculateMotorPositions(double lift,
|
||||
double angle) {
|
||||
asynStatus seleneLiftAxis::doReset() {
|
||||
|
||||
// Reset all underlying real axes
|
||||
for (int i = 0; i < numAxes_; i++) {
|
||||
offsetAxes_[i]->reset();
|
||||
}
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
asynStatus seleneLiftAxis::enable(bool on) {
|
||||
asynStatus pl_status = setStringParam(pC_->motorMessageText(),
|
||||
"Axis cannot be enabled / disabled");
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
|
||||
axisNo_, __PRETTY_FUNCTION__,
|
||||
__LINE__);
|
||||
}
|
||||
return pl_status;
|
||||
}
|
||||
|
||||
asynStatus seleneLiftAxis::readEncoderType() {
|
||||
asynStatus pl_status =
|
||||
setStringParam(pC_->encoderType(), IncrementalEncoder);
|
||||
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "encoderType_", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
asynStatus seleneLiftAxis::doHome(double minVelocity, double maxVelocity,
|
||||
double acceleration, int forwards) {
|
||||
|
||||
char response[pC_->MAXBUF_];
|
||||
|
||||
// No answer expected
|
||||
return pC_->writeRead(axisNo_,
|
||||
"Q151=0 Q152=0 Q153=0 Q154=0 Q155=0 Q156=0 P150=1",
|
||||
response, 0);
|
||||
}
|
||||
|
||||
std::array<double, 6> seleneLiftAxis::positionsFromLiftAndAngle(double lift,
|
||||
double angle) {
|
||||
// Initialize the array containing the positions
|
||||
std::array<double, 6> positions;
|
||||
|
||||
// Calculate the individual positions by applying
|
||||
// y = lift + tan(angle)*(x-xLift_). Apply the individual offset of the axis
|
||||
// compared to that of the virtual axis (which is on the same level as axis
|
||||
// 1) as well.
|
||||
double tanAngle = tan(angle);
|
||||
for (int i = 0, i < numAxes_, i++) {
|
||||
positions[i] = lift + tanAngle * (xOffset_[i] - xLift_) - zOffset_[i];
|
||||
/*
|
||||
Calculate the individual positions by applying
|
||||
z = lift + tan(angle)*(x-xLift_).
|
||||
|
||||
|
||||
Apply the individual zOffset_ of the axis compared to that of the virtual
|
||||
axis (which is on the same level as axis 1) as well.
|
||||
Angles in degree are converted to radians.
|
||||
|
||||
The angle is inverted by convention: A positive angle means that axes 4 to 6
|
||||
go down and 1 to 3 go up
|
||||
*/
|
||||
|
||||
double tanAngle = tan(-angle * std::numbers::pi / 180.0);
|
||||
|
||||
for (int i = 0; i < numAxes_; i++) {
|
||||
positions[i] = lift + tanAngle * (offsetAxes_[i]->xOffset_ - xLift_) -
|
||||
offsetAxes_[i]->zOffset_;
|
||||
}
|
||||
return positions;
|
||||
}
|
||||
}
|
||||
|
||||
void seleneLiftAxis::deriveLiftAndAngle(double pos1, double pos2, double *lift,
|
||||
double *angle) {
|
||||
// Read the x- and y-value of axes 3 and 4
|
||||
double x1 = offsetAxes_[2]->xOffset_;
|
||||
double x2 = offsetAxes_[3]->xOffset_;
|
||||
|
||||
*lift = 0.5 * (pos1 + pos2);
|
||||
|
||||
/*
|
||||
Returned radian value is converted to degree
|
||||
The angle is inverted by convention: A positive angle means that axes 4 to 6
|
||||
go down and 1 to 3 go up
|
||||
*/
|
||||
*angle = -atan2(pos2 - pos1, x2 - x1) * 180.0 / std::numbers::pi;
|
||||
}
|
||||
|
||||
seleneOffsetAxis *seleneLiftAxis::offsetAxis(int idx) {
|
||||
if (idx < numAxes_) {
|
||||
return offsetAxes_[idx];
|
||||
} else {
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
/*************************************************************************************/
|
||||
/** The following functions are C-wrappers, and can be called directly from
|
||||
* iocsh */
|
||||
|
||||
extern "C" {
|
||||
|
||||
/*
|
||||
C wrapper for the axis constructor. Please refer to the detectorTower
|
||||
constructor documentation. The controller is read from the portName.
|
||||
*/
|
||||
asynStatus seleneVirtualCreateAxes(const char *portName, int axis1No,
|
||||
int axis2No, int axis3No, int axis4No,
|
||||
int axis5No, int axis6No, int liftAxisNo,
|
||||
int angleAxisNo) {
|
||||
|
||||
/*
|
||||
findAsynPortDriver is a asyn library FFI function which uses the C ABI.
|
||||
Therefore it returns a void pointer instead of e.g. a pointer to a
|
||||
superclass of the controller such as asynPortDriver. Type-safe upcasting
|
||||
via dynamic_cast is therefore not possible directly. However, we do know
|
||||
that the void pointer is either a pointer to asynPortDriver (if a driver
|
||||
with the specified name exists) or a nullptr. Therefore, we first do a
|
||||
nullptr check, then a cast to asynPortDriver and lastly a (typesafe)
|
||||
dynamic_upcast to Controller
|
||||
https://stackoverflow.com/questions/70906749/is-there-a-safe-way-to-cast-void-to-class-pointer-in-c
|
||||
*/
|
||||
void *ptr = findAsynPortDriver(portName);
|
||||
if (ptr == nullptr) {
|
||||
/*
|
||||
We can't use asynPrint here since this macro would require us
|
||||
to get a lowLevelPortUser_ from a pointer to an asynPortDriver.
|
||||
However, the given pointer is a nullptr and therefore doesn'taxis
|
||||
works w/o that, but doesn't offer the comfort provided
|
||||
by the asynTrace-facility
|
||||
*/
|
||||
errlogPrintf("Controller \"%s\" => %s, line %d\nPort not found.",
|
||||
portName, __PRETTY_FUNCTION__, __LINE__);
|
||||
return asynError;
|
||||
}
|
||||
// Unsafe cast of the pointer to an asynPortDriver
|
||||
asynPortDriver *apd = (asynPortDriver *)(ptr);
|
||||
|
||||
// Safe downcast
|
||||
seleneGuideController *pC = dynamic_cast<seleneGuideController *>(apd);
|
||||
if (pC == nullptr) {
|
||||
errlogPrintf("Controller \"%s\" => %s, line %d\nController "
|
||||
"is not a seleneGuideController.",
|
||||
portName, __PRETTY_FUNCTION__, __LINE__);
|
||||
return asynError;
|
||||
}
|
||||
|
||||
// Prevent manipulation of the controller from other threads while we
|
||||
// create the new axis.
|
||||
pC->lock();
|
||||
|
||||
#pragma GCC diagnostic ignored "-Wunused-but-set-variable"
|
||||
#pragma GCC diagnostic ignored "-Wunused-variable"
|
||||
seleneLiftAxis *pAxis =
|
||||
new seleneLiftAxis(pC, axis1No, axis2No, axis3No, axis4No, axis5No,
|
||||
axis6No, liftAxisNo, angleAxisNo);
|
||||
|
||||
// Allow manipulation of the controller again
|
||||
pC->unlock();
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
static const iocshArg CreateAxisArg0 = {"Controller name (e.g. mcu1)",
|
||||
iocshArgString};
|
||||
|
||||
static const iocshArg CreateAxisArg1 = {"Number of the first physical axis",
|
||||
iocshArgInt};
|
||||
|
||||
static const iocshArg CreateAxisArg2 = {"Number of the second physical axis",
|
||||
iocshArgInt};
|
||||
|
||||
static const iocshArg CreateAxisArg3 = {"Number of the third physical axis",
|
||||
iocshArgInt};
|
||||
|
||||
static const iocshArg CreateAxisArg4 = {"Number of the fourth physical axis",
|
||||
iocshArgInt};
|
||||
|
||||
static const iocshArg CreateAxisArg5 = {"Number of the fifth physical axis",
|
||||
iocshArgInt};
|
||||
|
||||
static const iocshArg CreateAxisArg6 = {"Number of the sixth physical axis",
|
||||
iocshArgInt};
|
||||
|
||||
static const iocshArg CreateAxisArg7 = {"Number of the virtual lift axis",
|
||||
iocshArgInt};
|
||||
|
||||
static const iocshArg CreateAxisArg8 = {"Number of the virtual angle axis",
|
||||
iocshArgInt};
|
||||
|
||||
static const iocshArg *const CreateAxisArgs[] = {
|
||||
&CreateAxisArg0, &CreateAxisArg1, &CreateAxisArg2,
|
||||
&CreateAxisArg3, &CreateAxisArg4, &CreateAxisArg5,
|
||||
&CreateAxisArg6, &CreateAxisArg7, &CreateAxisArg8,
|
||||
};
|
||||
static const iocshFuncDef configSeleneVirtualCreateAxes = {"seleneVirtualAxes",
|
||||
9, CreateAxisArgs};
|
||||
static void configSeleneVirtualCreateAxesCallFunc(const iocshArgBuf *args) {
|
||||
seleneVirtualCreateAxes(args[0].sval, args[1].ival, args[2].ival,
|
||||
args[3].ival, args[4].ival, args[5].ival,
|
||||
args[6].ival, args[7].ival, args[8].ival);
|
||||
}
|
||||
|
||||
// =============================================================================
|
||||
|
||||
// This function is made known to EPICS in detectorTower.dbd and is
|
||||
// called by EPICS in order to register both functions in the IOC shell
|
||||
static void seleneVirtualAxesRegister(void) {
|
||||
iocshRegister(&configSeleneVirtualCreateAxes,
|
||||
configSeleneVirtualCreateAxesCallFunc);
|
||||
}
|
||||
epicsExportRegistrar(seleneVirtualAxesRegister);
|
||||
|
||||
} // extern "C"
|
||||
|
||||
@ -1,28 +1,49 @@
|
||||
#ifndef seleneLiftAxis_H
|
||||
#define seleneLiftAxis_H
|
||||
#include "seleneAngleAxis.h"
|
||||
#include "seleneOffsetAxis.h"
|
||||
#include "turboPmacAxis.h"
|
||||
#include "turboPmacController.h"
|
||||
#include <array>
|
||||
|
||||
// Forward declaration of the seleneGuideController class to resolve the cyclic
|
||||
// dependency. See https://en.cppreference.com/w/cpp/language/class.
|
||||
class seleneGuideController;
|
||||
|
||||
/**
|
||||
* @brief Virtual axis for setting the height of the center of a Selene guide
|
||||
*
|
||||
* This axis acts as the "master" for a partnering seleneAngleAxis (i.e. it
|
||||
* controls the movement and polls the physical motors)
|
||||
* Please see README.md for a detailed explanation.
|
||||
*/
|
||||
class seleneLiftAxis : public turboPmacAxis {
|
||||
public:
|
||||
seleneLiftAxis(turboPmacController *pController);
|
||||
static const int numAxes_ = 6;
|
||||
|
||||
/**
|
||||
* @brief Destroy the seleneLiftAxis
|
||||
* @brief Construct a new seleneLiftAxis object
|
||||
*
|
||||
* The offset axes need to be constructed in advance and they need to be
|
||||
* available by the given indices, otherwise the constructor will terminate
|
||||
* the IOC (configuration error).
|
||||
*
|
||||
* @param pC Pointer to the associated controller
|
||||
* @param axis1No Index of the first associated offset axis
|
||||
* @param axis2No Index of the second associated offset axis
|
||||
* @param axis3No Index of the third associated offset axis
|
||||
* @param axis4No Index of the fourth associated offset axis
|
||||
* @param axis5No Index of the fifth associated offset axis
|
||||
* @param axis6No Index of the sixth associated offset axis
|
||||
* @param liftAxisNo Index of the lift axis itself
|
||||
* @param angleAxisNo Index of the angle axis itself
|
||||
*/
|
||||
virtual ~seleneLiftAxis();
|
||||
seleneLiftAxis(seleneGuideController *pC, int axis1No, int axis2No,
|
||||
int axis3No, int axis4No, int axis5No, int axis6No,
|
||||
int liftAxisNo, int angleAxisNo);
|
||||
|
||||
/**
|
||||
* @brief Implementation of the `stop` function from asynMotorAxis
|
||||
*
|
||||
* Stops all underlying physical axes at once
|
||||
*
|
||||
* @param acceleration Acceleration ACCEL from the motor record. This
|
||||
* value is currently not used.
|
||||
* @return asynStatus
|
||||
@ -30,8 +51,10 @@ class seleneLiftAxis : public turboPmacAxis {
|
||||
asynStatus stop(double acceleration);
|
||||
|
||||
/**
|
||||
* @brief Implementation of the `doPoll` function from sinqAxis. The
|
||||
* parameters are described in the documentation of `sinqAxis::doPoll`.
|
||||
* @brief Implementation of the `doPoll` function from sinqAxis.
|
||||
*
|
||||
* Some paramLib entries of the associated angle and offset axes are set in
|
||||
* this function.
|
||||
*
|
||||
* @param moving
|
||||
* @return asynStatus
|
||||
@ -39,8 +62,7 @@ class seleneLiftAxis : public turboPmacAxis {
|
||||
asynStatus doPoll(bool *moving);
|
||||
|
||||
/**
|
||||
* @brief Set the target value for the detector angle and trigger a position
|
||||
* collection cycle
|
||||
* @brief Lift the rotation center of the guide to the specified position.
|
||||
*
|
||||
* @param position
|
||||
* @param relative
|
||||
@ -53,8 +75,98 @@ class seleneLiftAxis : public turboPmacAxis {
|
||||
double maxOffset_velocity, double acceleration);
|
||||
|
||||
/**
|
||||
* @brief Start a movement to the target positions of this axis and the
|
||||
* attached seleneAngleAxis.
|
||||
* @brief Reset all errors of the underlying physical axes.
|
||||
*
|
||||
* @param on
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus doReset();
|
||||
|
||||
/**
|
||||
* @brief This function does nothing, since this axis cannot be enabled /
|
||||
* disabled
|
||||
*
|
||||
* @param on
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus enable(bool on);
|
||||
|
||||
/**
|
||||
* @brief "Home" the virtual axes by driving all underlying real axes to
|
||||
* position 0.
|
||||
*
|
||||
* @param minVelocity
|
||||
* @param maxVelocity
|
||||
* @param acceleration
|
||||
* @param forwards
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus doHome(double minVelocity, double maxVelocity,
|
||||
double acceleration, int forwards);
|
||||
|
||||
/**
|
||||
* @brief Write the encoder type in the corresponding PV
|
||||
*
|
||||
* Since this axis is a virtual one, it does not have an encoder. In order
|
||||
* to enable reference drives (which in case of this axis simply sets all
|
||||
* physical axes to their respective physical position zero), this function
|
||||
* sets the encoder type to "Incremental Encoder".
|
||||
*
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus readEncoderType();
|
||||
|
||||
/**
|
||||
* @brief This function does nothing, since this axis does not have an
|
||||
* encoder.
|
||||
*
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus rereadEncoder() { return asynSuccess; }
|
||||
|
||||
/**
|
||||
* @brief Start a combined movement from a virtual axis.
|
||||
*
|
||||
* This functions sets `virtualAxisMovement_` to `true` and then calls the
|
||||
* `startCombinedMove()` method.
|
||||
*
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus startCombinedMoveFromVirtualAxis() {
|
||||
virtualAxisMovement_ = true;
|
||||
return startCombinedMove();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Start a combined movement from a real offset axis.
|
||||
*
|
||||
* This functions sets `virtualAxisMovement_` to `false` and then calls the
|
||||
* `startCombinedMove()` method.
|
||||
*
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus startCombinedMoveFromOffsetAxis() {
|
||||
virtualAxisMovement_ = false;
|
||||
return startCombinedMove();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Start a combined movement using the target positions of the offset
|
||||
* and virtual axes.
|
||||
*
|
||||
* This function takes the target positions of the `seleneLiftAxis`, the
|
||||
* `seleneAngleAxis` and the associated `seleneOffsetAxis`' and calculates
|
||||
* the absolute positions of the underlying real axes. In pseudo-code, this
|
||||
* calculation looks somewhat like this:
|
||||
*
|
||||
* ```
|
||||
* for i in 0:1:numAxes_
|
||||
* pos(i) = target_lift + tan(target_angle) * (x(i) - x_lift) + target(i)
|
||||
*```
|
||||
* where `x(i)` is the distance between the first axis and the i-th axis.
|
||||
* All numAxes_ positions are calculated and send to the controller as one
|
||||
*command (even though the position of one or multiple axes might not change
|
||||
*at all).
|
||||
*
|
||||
* @return asynStatus
|
||||
*/
|
||||
@ -73,55 +185,36 @@ class seleneLiftAxis : public turboPmacAxis {
|
||||
asynStatus init();
|
||||
|
||||
/**
|
||||
* @brief Reset the error(s) of both physical motors
|
||||
* @brief Calculate lift and angle axis position based on the actual
|
||||
positions of the underlying motors.
|
||||
|
||||
This function implements the lift and angle calculation described in
|
||||
README.md based on the given position values of the central physical axes.
|
||||
Usually, these positions are those of axis 3 and 4.
|
||||
*
|
||||
* @param on
|
||||
* @return asynStatus
|
||||
* @param pos1
|
||||
* @param pos1
|
||||
* @param lift
|
||||
* @param angle
|
||||
*/
|
||||
asynStatus reset();
|
||||
void deriveLiftAndAngle(double pos1, double pos2, double *lift,
|
||||
double *angle);
|
||||
|
||||
/**
|
||||
* @brief Enable / disable both physical motors
|
||||
* @brief Set the offsets of axis 3 and 4 to zero and recalculate all other
|
||||
* axes positions based on it.
|
||||
*
|
||||
* @param on
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus enable(bool on);
|
||||
|
||||
/**
|
||||
* @brief Override of the home function of asynMotorAxis, which does nothing
|
||||
*
|
||||
* @param on
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus home(double min_velocity, double maxOffset_velocity,
|
||||
double acceleration, int forwards) {
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief The encoder of both physical motors is absolute, hence the encoder
|
||||
* of the virtual axis is also absolute
|
||||
* Calling this function "normalizes" the lift axis, the angle axis and the
|
||||
* offset axes by performing a "normalization" operation. For details, see
|
||||
* README.md. This function does not communicate with the controller.
|
||||
*
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus readEncoderType();
|
||||
asynStatus normalizePositions();
|
||||
|
||||
/**
|
||||
* @brief Trigger a rereading of the encoder position of both physical
|
||||
* motors
|
||||
*
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus rereadEncoder();
|
||||
|
||||
// Calculate
|
||||
asynStatus normalizeOffsets();
|
||||
|
||||
/**
|
||||
* @brief Calculate the positions of all 6 real axes from the given lift and
|
||||
* angle. This function does not change any values in the parameter library
|
||||
* and does not communicate with the controller.
|
||||
* @brief Calculate and return the positions of all 6 underlying physical
|
||||
* axes from the given lift and angle without considering the offset axes.
|
||||
*
|
||||
* In order to calculate the positions, this function convertes the given
|
||||
* lift and angle into a linear equation. The x-values of the axes are read
|
||||
@ -130,32 +223,75 @@ class seleneLiftAxis : public turboPmacAxis {
|
||||
* of the corresponding axis in order to calculate the actual positon.
|
||||
*
|
||||
* The corresponding equation is:
|
||||
* ```
|
||||
* y = lift + tan(angle)*(x-xLift_)
|
||||
* ```
|
||||
*
|
||||
* This function does not change any values in the parameter library and
|
||||
* does not communicate with the controller.
|
||||
*
|
||||
* @param lift Position of the virtual lift axis in mm
|
||||
* @param angle Angle of the virtual angle axis in radian
|
||||
* @return std::array<double, 6>
|
||||
*/
|
||||
std::array<double, 6> calculateMotorPositions(double lift, double angle);
|
||||
std::array<double, numAxes_> positionsFromLiftAndAngle(double lift,
|
||||
double angle);
|
||||
|
||||
/**
|
||||
* @brief Access the angle axis associated with this lift axis.
|
||||
*
|
||||
* @return seleneAngleAxis*
|
||||
*/
|
||||
seleneAngleAxis *angleAxis() { return angleAxis_; }
|
||||
|
||||
/**
|
||||
* @brief Checks whether the current movement was triggered from the lift /
|
||||
* angle axes or the offset axes.
|
||||
*
|
||||
* @return true Triggered by lift / angle axis
|
||||
* @return false Triggered by an offset axis
|
||||
*/
|
||||
bool virtualAxisMovement() { return virtualAxisMovement_; }
|
||||
|
||||
/**
|
||||
* @brief Read the target position from the axis and write it into the
|
||||
* provided pointer.
|
||||
*
|
||||
* @param targetPosition
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus targetPosition(double *targetPosition);
|
||||
|
||||
/**
|
||||
* @brief Access the position of the lift axis
|
||||
*
|
||||
*/
|
||||
double xPos() { return xLift_; }
|
||||
|
||||
/**
|
||||
* @brief Return a pointer to the associated offset axis with index "idx"
|
||||
*
|
||||
* If the given index is out of bounds, return a nullptr instead.
|
||||
*
|
||||
* @param index
|
||||
* @return seleneOffsetAxis*
|
||||
*/
|
||||
seleneOffsetAxis *offsetAxis(int idx);
|
||||
|
||||
protected:
|
||||
static const int numAxes_ = 6;
|
||||
std::array<seleneOffsetAxis *, numAxes_> offsetAxes_;
|
||||
|
||||
turboPmacController *pC_;
|
||||
seleneGuideController *pC_;
|
||||
seleneAngleAxis *angleAxis_;
|
||||
turboPmacAxis offsetAxes_[numAxes_];
|
||||
|
||||
// Horizontal distance from the first axis in mm (which is located at 0 mm)
|
||||
double xOffset_[numAxes_];
|
||||
|
||||
// Vertical offset from the first axis in mm (which is located at 0 mm)
|
||||
double zOffset_[numAxes_];
|
||||
|
||||
// Horizontal position of the virtual lift axis
|
||||
double xLift_;
|
||||
|
||||
// Target position for the lift
|
||||
double targetPosition_;
|
||||
// True, if the target has been set from this axis
|
||||
bool targetSet_;
|
||||
|
||||
// True, if the movement has been started from the lift or angle axis
|
||||
bool virtualAxisMovement_;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
427
src/seleneOffsetAxis.cpp
Normal file
427
src/seleneOffsetAxis.cpp
Normal file
@ -0,0 +1,427 @@
|
||||
#include "seleneOffsetAxis.h"
|
||||
#include "epicsExport.h"
|
||||
#include "iocsh.h"
|
||||
#include "seleneGuideController.h"
|
||||
#include "seleneLiftAxis.h"
|
||||
#include "turboPmacController.h"
|
||||
#include <errlog.h>
|
||||
|
||||
/*
|
||||
Contains all instances of seleneLiftAxis which have been created and is used in
|
||||
the initialization hook function.
|
||||
*/
|
||||
static std::vector<seleneOffsetAxis *> axes;
|
||||
|
||||
/**
|
||||
* @brief Hook function to perform certain actions during the IOC initialization
|
||||
*
|
||||
* @param iState
|
||||
*/
|
||||
static void epicsInithookFunction(initHookState iState) {
|
||||
if (iState == initHookAfterDatabaseRunning) {
|
||||
// Iterate through all axes of each and call the initialization method
|
||||
// on each one of them.
|
||||
for (std::vector<seleneOffsetAxis *>::iterator itA = axes.begin();
|
||||
itA != axes.end(); ++itA) {
|
||||
seleneOffsetAxis *axis = *itA;
|
||||
axis->init();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
seleneOffsetAxis::seleneOffsetAxis(seleneGuideController *pController,
|
||||
int axisNo, double xPos, double zPos)
|
||||
: turboPmacAxis(pController, axisNo, false), pC_(pController) {
|
||||
asynStatus status = asynSuccess;
|
||||
|
||||
xOffset_ = xPos;
|
||||
zOffset_ = zPos;
|
||||
|
||||
// Placeholders, will be overwritten later
|
||||
liftPosition_ = 0.0;
|
||||
targetSet_ = false;
|
||||
absolutePositionLiftCS_ = 0.0;
|
||||
highLimit_ = 0.0;
|
||||
lowLimit_ = 0.0;
|
||||
distHighLimit_ = 0.0;
|
||||
distLowLimit_ = 0.0;
|
||||
absoluteHighLimitLiftCS_ = 0.0;
|
||||
absoluteLowLimitLiftCS_ = 0.0;
|
||||
|
||||
status = pC_->setIntegerParam(axisNo_, pC_->motorStatusDone(), 1);
|
||||
if (status != asynSuccess) {
|
||||
pC_->paramLibAccessFailed(status, "motorStatusDone", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
status = pC_->setIntegerParam(axisNo_, pC_->motorStatusMoving(), 0);
|
||||
if (status != asynSuccess) {
|
||||
pC_->paramLibAccessFailed(status, "motorStatusMoving", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
status = pC_->setDoubleParam(axisNo_, pC_->motorEncoderPosition(), 0.0);
|
||||
if (status != asynSuccess) {
|
||||
pC_->paramLibAccessFailed(status, "motorEncoderPosition", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
|
||||
// Register the hook function during construction of the first axis
|
||||
// object
|
||||
if (axes.empty()) {
|
||||
initHookRegister(&epicsInithookFunction);
|
||||
}
|
||||
|
||||
// Collect all axes into this list which will be used in the hook
|
||||
// function
|
||||
axes.push_back(this);
|
||||
|
||||
// Selene guide motors cannot be disabled
|
||||
status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable(), 0);
|
||||
if (status != asynSuccess) {
|
||||
pC_->paramLibAccessFailed(status, "motorCanDisable", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
}
|
||||
|
||||
asynStatus seleneOffsetAxis::init() {
|
||||
|
||||
// Local variable declaration
|
||||
asynStatus status = asynSuccess;
|
||||
double motorRecResolution = 0.0;
|
||||
|
||||
// =========================================================================
|
||||
|
||||
// The parameter library takes some time to be initialized. Therefore we
|
||||
// wait until the status is not asynParamUndefined anymore.
|
||||
time_t now = time(NULL);
|
||||
time_t maxInitTime = 60;
|
||||
while (1) {
|
||||
status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
|
||||
&motorRecResolution);
|
||||
if (status == asynParamUndefined) {
|
||||
if (now + maxInitTime < time(NULL)) {
|
||||
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
|
||||
"Controller \"%s\", axis %d => %s, line "
|
||||
"%d\nInitializing the parameter library failed.\n",
|
||||
pC_->portName, axisNo_, __PRETTY_FUNCTION__,
|
||||
__LINE__);
|
||||
return asynError;
|
||||
}
|
||||
} else if (status == asynSuccess) {
|
||||
break;
|
||||
} else if (status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(status, "motorRecResolution_",
|
||||
axisNo_, __PRETTY_FUNCTION__,
|
||||
__LINE__);
|
||||
}
|
||||
}
|
||||
|
||||
// Read the initial limits from the paramlib
|
||||
status = pC_->getDoubleParam(axisNo_, pC_->motorHighLimit(), &highLimit_);
|
||||
if (status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(status, "motorHighLimit", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
status = pC_->getDoubleParam(axisNo_, pC_->motorLowLimit(), &lowLimit_);
|
||||
if (status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(status, "motorLowLimit", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
|
||||
// The high limits read from the paramLib are divided by motorRecResolution,
|
||||
// hence we need to multiply them to undo this change.
|
||||
highLimit_ = highLimit_ * motorRecResolution;
|
||||
lowLimit_ = lowLimit_ * motorRecResolution;
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
asynStatus seleneOffsetAxis::targetPosition(double *targetPosition) {
|
||||
asynStatus status = asynSuccess;
|
||||
|
||||
if (targetSet_) {
|
||||
*targetPosition = targetPosition_;
|
||||
} else {
|
||||
status = motorPosition(targetPosition);
|
||||
}
|
||||
return status;
|
||||
}
|
||||
|
||||
asynStatus seleneOffsetAxis::doPoll(bool *moving) {
|
||||
asynStatus status = asynSuccess;
|
||||
asynStatus errorStatus = asynSuccess;
|
||||
double highLimit = 0.0;
|
||||
double lowLimit = 0.0;
|
||||
double encoderPosition = 0.0;
|
||||
int isMoving = 0;
|
||||
int error = 0;
|
||||
int nvals = 0;
|
||||
|
||||
char command[pC_->MAXBUF_], response[pC_->MAXBUF_],
|
||||
userMessage[pC_->MAXBUF_];
|
||||
|
||||
// =========================================================================
|
||||
|
||||
/*
|
||||
Read the following informations:
|
||||
- Whether the axis is moving (P158)
|
||||
- Axis position (absolute encoder value!)
|
||||
- Error code
|
||||
- Absolute high limit
|
||||
- Absolute low limit
|
||||
*/
|
||||
snprintf(command, sizeof(command),
|
||||
"P158 Q%2.2d10 P%2.2d01 Q%2.2d13 Q%2.2d14", axisNo_, axisNo_,
|
||||
axisNo_, axisNo_);
|
||||
status = pC_->writeRead(axisNo_, command, response, 5);
|
||||
if (status != asynSuccess) {
|
||||
return status;
|
||||
}
|
||||
|
||||
nvals = sscanf(response, "%d %lf %d %lf %lf", &isMoving, &encoderPosition,
|
||||
&error, &highLimit, &lowLimit);
|
||||
if (nvals != 5) {
|
||||
return pC_->couldNotParseResponse(command, response, axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
|
||||
*moving = (isMoving != 0);
|
||||
|
||||
status = setPositionsFromEncoderPosition(encoderPosition);
|
||||
if (status != asynSuccess) {
|
||||
return status;
|
||||
}
|
||||
|
||||
// =========================================================================
|
||||
// Update the parameter library
|
||||
|
||||
errorStatus = handleError(error, userMessage, sizeof(userMessage));
|
||||
|
||||
// Update the parameter library
|
||||
if (error != 0) {
|
||||
status = setIntegerParam(pC_->motorStatusProblem(), true);
|
||||
if (status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(status, "motorStatusProblem_",
|
||||
axisNo_, __PRETTY_FUNCTION__,
|
||||
__LINE__);
|
||||
}
|
||||
}
|
||||
|
||||
// TODO: To be removed, once the real limits are derived
|
||||
//highLimit = 10.0;
|
||||
//lowLimit = -10.0;
|
||||
|
||||
// Convert into lift coordinate system
|
||||
absoluteHighLimitLiftCS_ = highLimit - zOffset_;
|
||||
absoluteLowLimitLiftCS_ = lowLimit - zOffset_;
|
||||
|
||||
// Calculate the distance of the axis to its upper and lower limits
|
||||
distHighLimit_ = highLimit - encoderPosition;
|
||||
distLowLimit_ = encoderPosition - lowLimit;
|
||||
|
||||
// Check if the relative limits need to be shrunken because we are too close
|
||||
// to the absolute limit
|
||||
double relHighLimit = highLimit_;
|
||||
double relLowLimit = lowLimit_;
|
||||
if ((highLimit - encoderPosition) < relHighLimit) {
|
||||
relHighLimit = highLimit - encoderPosition;
|
||||
}
|
||||
if ((lowLimit - encoderPosition) > relLowLimit) {
|
||||
relLowLimit = lowLimit - encoderPosition;
|
||||
}
|
||||
|
||||
status = pC_->setDoubleParam(axisNo_, pC_->motorHighLimitFromDriver(),
|
||||
relHighLimit);
|
||||
if (status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(status, "motorHighLimitFromDriver_",
|
||||
axisNo_, __PRETTY_FUNCTION__,
|
||||
__LINE__);
|
||||
}
|
||||
|
||||
status = pC_->setDoubleParam(axisNo_, pC_->motorLowLimitFromDriver(),
|
||||
relLowLimit);
|
||||
if (status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(status, "motorLowLimit_", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
|
||||
/*
|
||||
If this axis is moving as a result of an individual move command to the axis
|
||||
alone, recalculate the RBV value as the difference between the absolute
|
||||
position and the lift position.
|
||||
*/
|
||||
if (*moving && !liftAxis_->virtualAxisMovement()) {
|
||||
status = setMotorPosition(absolutePositionLiftCS_ - liftPosition_);
|
||||
if (status != asynSuccess) {
|
||||
return status;
|
||||
}
|
||||
}
|
||||
|
||||
status = setIntegerParam(pC_->motorStatusMoving(), *moving);
|
||||
if (status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(status, "motorStatusMoving_", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
|
||||
status = setIntegerParam(pC_->motorStatusDone(), !(*moving));
|
||||
if (status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(status, "motorStatusDone_", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
|
||||
// Axis is always shown as enabled, since it is enabled automatically by the
|
||||
// controller when a move command P150=1 is sent and disabled once the
|
||||
// movement is completed.
|
||||
status = setIntegerParam(pC_->motorEnableRBV(), 1);
|
||||
if (status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(status, "motorEnableRBV_", axisNo_,
|
||||
__PRETTY_FUNCTION__, __LINE__);
|
||||
}
|
||||
|
||||
return errorStatus;
|
||||
}
|
||||
|
||||
asynStatus
|
||||
seleneOffsetAxis::setPositionsFromEncoderPosition(double encoderPosition) {
|
||||
asynStatus status = pC_->setDoubleParam(
|
||||
axisNo_, pC_->motorAbsolutePositionRBV(), encoderPosition);
|
||||
if (status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(status, "motorEncoderPosition",
|
||||
axisNo_, __PRETTY_FUNCTION__,
|
||||
__LINE__);
|
||||
}
|
||||
absolutePositionLiftCS_ = encoderPosition - zOffset_;
|
||||
return status;
|
||||
}
|
||||
|
||||
asynStatus seleneOffsetAxis::doMove(double position, int relative,
|
||||
double min_velocity,
|
||||
double maxOffset_velocity,
|
||||
double acceleration) {
|
||||
|
||||
double motorRecResolution = 0.0;
|
||||
|
||||
asynStatus pl_status = pC_->getDoubleParam(
|
||||
axisNo_, pC_->motorRecResolution(), &motorRecResolution);
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
|
||||
axisNo_, __PRETTY_FUNCTION__,
|
||||
__LINE__);
|
||||
}
|
||||
|
||||
// Set the target position
|
||||
targetPosition_ = position * motorRecResolution;
|
||||
targetSet_ = true;
|
||||
asynStatus status = liftAxis_->startCombinedMoveFromOffsetAxis();
|
||||
targetSet_ = false;
|
||||
return status;
|
||||
}
|
||||
|
||||
asynStatus seleneOffsetAxis::enable(bool on) {
|
||||
asynStatus pl_status = setStringParam(pC_->motorMessageText(),
|
||||
"Axis cannot be enabled / disabled");
|
||||
if (pl_status != asynSuccess) {
|
||||
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
|
||||
axisNo_, __PRETTY_FUNCTION__,
|
||||
__LINE__);
|
||||
}
|
||||
return pl_status;
|
||||
}
|
||||
|
||||
asynStatus seleneOffsetAxis::normalizePositions() {
|
||||
return liftAxis_->normalizePositions();
|
||||
}
|
||||
|
||||
/*************************************************************************************/
|
||||
/** The following functions are C-wrappers, and can be called directly from
|
||||
* iocsh */
|
||||
|
||||
extern "C" {
|
||||
|
||||
/*
|
||||
C wrapper for the axis constructor. Please refer to the detectorTower
|
||||
constructor documentation. The controller is read from the portName.
|
||||
*/
|
||||
asynStatus seleneOffsetAxisCreateAxis(const char *portName, int axisNo,
|
||||
double xPos, double zPos) {
|
||||
|
||||
/*
|
||||
findAsynPortDriver is a asyn library FFI function which uses the C ABI.
|
||||
Therefore it returns a void pointer instead of e.g. a pointer to a
|
||||
superclass of the controller such as asynPortDriver. Type-safe upcasting
|
||||
via dynamic_cast is therefore not possible directly. However, we do know
|
||||
that the void pointer is either a pointer to asynPortDriver (if a driver
|
||||
with the specified name exists) or a nullptr. Therefore, we first do a
|
||||
nullptr check, then a cast to asynPortDriver and lastly a (typesafe)
|
||||
dynamic_upcast to Controller
|
||||
https://stackoverflow.com/questions/70906749/is-there-a-safe-way-to-cast-void-to-class-pointer-in-c
|
||||
*/
|
||||
void *ptr = findAsynPortDriver(portName);
|
||||
if (ptr == nullptr) {
|
||||
/*
|
||||
We can't use asynPrint here since this macro would require us
|
||||
to get a lowLevelPortUser_ from a pointer to an asynPortDriver.
|
||||
However, the given pointer is a nullptr and therefore doesn'taxis
|
||||
works w/o that, but doesn't offer the comfort provided
|
||||
by the asynTrace-facility
|
||||
*/
|
||||
errlogPrintf("Controller \"%s\" => %s, line %d\nPort not found.",
|
||||
portName, __PRETTY_FUNCTION__, __LINE__);
|
||||
return asynError;
|
||||
}
|
||||
// Unsafe cast of the pointer to an asynPortDriver
|
||||
asynPortDriver *apd = (asynPortDriver *)(ptr);
|
||||
|
||||
// Safe downcast
|
||||
seleneGuideController *pC = dynamic_cast<seleneGuideController *>(apd);
|
||||
if (pC == nullptr) {
|
||||
errlogPrintf("Controller \"%s\" => %s, line %d\nController "
|
||||
"is not a seleneGuideController.",
|
||||
portName, __PRETTY_FUNCTION__, __LINE__);
|
||||
return asynError;
|
||||
}
|
||||
|
||||
// Prevent manipulation of the controller from other threads while we
|
||||
// create the new axis.
|
||||
pC->lock();
|
||||
|
||||
#pragma GCC diagnostic ignored "-Wunused-but-set-variable"
|
||||
#pragma GCC diagnostic ignored "-Wunused-variable"
|
||||
seleneOffsetAxis *pAxis = new seleneOffsetAxis(pC, axisNo, xPos, zPos);
|
||||
|
||||
// Allow manipulation of the controller again
|
||||
pC->unlock();
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
static const iocshArg CreateAxisArg0 = {"Controller name (e.g. mcu1)",
|
||||
iocshArgString};
|
||||
static const iocshArg CreateAxisArg1 = {"Number of the axis", iocshArgInt};
|
||||
static const iocshArg CreateAxisArg2 = {"X-coordinate of the axis",
|
||||
iocshArgDouble};
|
||||
static const iocshArg CreateAxisArg3 = {"Z-coordinate of the axis",
|
||||
iocshArgDouble};
|
||||
|
||||
static const iocshArg *const CreateAxisArgs[] = {
|
||||
&CreateAxisArg0,
|
||||
&CreateAxisArg1,
|
||||
&CreateAxisArg2,
|
||||
&CreateAxisArg3,
|
||||
};
|
||||
static const iocshFuncDef configSeleneOffsetAxisCreateAxis = {
|
||||
"seleneOffsetAxis", 4, CreateAxisArgs};
|
||||
static void configSeleneOffsetAxisCreateAxisCallFunc(const iocshArgBuf *args) {
|
||||
seleneOffsetAxisCreateAxis(args[0].sval, args[1].ival, args[2].dval,
|
||||
args[3].dval);
|
||||
}
|
||||
|
||||
// =============================================================================
|
||||
|
||||
// This function is made known to EPICS in seleneLift.dbd and is
|
||||
// called by EPICS in order to register both functions in the IOC shell
|
||||
static void seleneOffsetAxisRegister(void) {
|
||||
iocshRegister(&configSeleneOffsetAxisCreateAxis,
|
||||
configSeleneOffsetAxisCreateAxisCallFunc);
|
||||
}
|
||||
epicsExportRegistrar(seleneOffsetAxisRegister);
|
||||
|
||||
} // extern "C"
|
||||
170
src/seleneOffsetAxis.h
Normal file
170
src/seleneOffsetAxis.h
Normal file
@ -0,0 +1,170 @@
|
||||
#ifndef seleneOffsetAxis_H
|
||||
#define seleneOffsetAxis_H
|
||||
|
||||
#include "turboPmacAxis.h"
|
||||
|
||||
// Forward declaration of the seleneLiftAxis class to resolve the cyclic
|
||||
// dependency between the seleneLiftAxis and the seleneAngleAxis .h-file.
|
||||
// See https://en.cppreference.com/w/cpp/language/class.
|
||||
class seleneLiftAxis;
|
||||
|
||||
// Forward declaration of the seleneGuideController class to resolve the cyclic
|
||||
// dependency. See https://en.cppreference.com/w/cpp/language/class.
|
||||
class seleneGuideController;
|
||||
|
||||
/**
|
||||
* @brief Virtual axis for setting the offset of a motor of the Selene guide
|
||||
*
|
||||
* Please see README.md for a detailed explanation.
|
||||
*/
|
||||
class seleneOffsetAxis : public turboPmacAxis {
|
||||
public:
|
||||
/**
|
||||
* @brief Construct a new selene Offset Axis object
|
||||
*
|
||||
* @param pController Pointer to the associated controller
|
||||
* @param axisNo Index of the axis
|
||||
* @param xPos x-Offset of this axis to the origin
|
||||
* @param zPos z-Offset of this axis to the origin
|
||||
*/
|
||||
seleneOffsetAxis(seleneGuideController *pController, int axisNo,
|
||||
double xPos, double zPos);
|
||||
|
||||
/**
|
||||
* @brief Initialize this offset axis
|
||||
*
|
||||
* This function is started from seleneLiftAxis.
|
||||
*
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus init();
|
||||
|
||||
/**
|
||||
* @brief Implementation of the `doPoll` function from sinqAxis.
|
||||
* *
|
||||
* @param moving
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus doPoll(bool *moving);
|
||||
|
||||
/**
|
||||
* @brief Move the offset position of this axis to parameter "position".
|
||||
*
|
||||
* @param position
|
||||
* @param relative
|
||||
* @param min_velocity
|
||||
* @param maxOffset_velocity
|
||||
* @param acceleration
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus doMove(double position, int relative, double min_velocity,
|
||||
double maxOffset_velocity, double acceleration);
|
||||
|
||||
/**
|
||||
* @brief This function does nothing, since this axis cannot be enabled /
|
||||
* disabled
|
||||
*
|
||||
* @param on
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus enable(bool on);
|
||||
|
||||
/**
|
||||
* @brief Calculate the member variables `absolutePositionLiftCS_` and
|
||||
* `motorPosition` based on the given encoder position.
|
||||
*
|
||||
* @param encoderPosition
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus setPositionsFromEncoderPosition(double encoderPosition);
|
||||
|
||||
/**
|
||||
* @brief Read the target position from the axis and write it into the
|
||||
* provided pointer.
|
||||
*
|
||||
* @param targetPosition
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus targetPosition(double *targetPosition);
|
||||
|
||||
/**
|
||||
* @brief Set the offsets of axis 3 and 4 to zero and recalculate all other
|
||||
* axes positions based on it.
|
||||
*
|
||||
* This function does not communicate with the controller.
|
||||
*
|
||||
* @return asynStatus
|
||||
*/
|
||||
asynStatus normalizePositions();
|
||||
|
||||
/**
|
||||
* @brief Returns the horizontal distance from the origin
|
||||
*
|
||||
*/
|
||||
double xOffset() { return xOffset_; }
|
||||
|
||||
/**
|
||||
* @brief Returns the vertical distance of the axis' zero position from the
|
||||
* origin
|
||||
*
|
||||
*/
|
||||
double zOffset() { return zOffset_; }
|
||||
|
||||
/**
|
||||
* @brief Return the absolute high limit of the underlying physical axis in
|
||||
* lift coordinates, taking the zOffset into account.
|
||||
*
|
||||
* @return double
|
||||
*/
|
||||
double absoluteHighLimitLiftCS() { return absoluteHighLimitLiftCS_; }
|
||||
|
||||
/**
|
||||
* @brief Return the absolute low limit of the underlying physical axis in
|
||||
* lift coordinates, taking the zOffset into account.
|
||||
*
|
||||
* @return double
|
||||
*/
|
||||
double absoluteLowLimitLiftCS() { return absoluteLowLimitLiftCS_; }
|
||||
|
||||
protected:
|
||||
// True, if the target has been set from this axis
|
||||
bool targetSet_;
|
||||
|
||||
// Absolute position in the lift coordinate system = absolute position
|
||||
// corrected by zOffset.
|
||||
double absolutePositionLiftCS_;
|
||||
|
||||
// Position of the motor axis on the line defined by the liftAxis and the
|
||||
// angleAxis position in mm.
|
||||
double liftPosition_;
|
||||
|
||||
// Horizontal distance from the origin
|
||||
double xOffset_;
|
||||
|
||||
// Vertical distance from the origin
|
||||
double zOffset_;
|
||||
|
||||
// Distance of the motor to the limits read from the controller
|
||||
double distHighLimit_;
|
||||
double distLowLimit_;
|
||||
|
||||
// Absolute limits read out from the encoder in the lift coordinate system
|
||||
double absoluteHighLimitLiftCS_;
|
||||
double absoluteLowLimitLiftCS_;
|
||||
|
||||
// Equal to the motor record fields HLM and LLM from the substitution file
|
||||
double highLimit_;
|
||||
double lowLimit_;
|
||||
|
||||
seleneGuideController *pC_;
|
||||
seleneLiftAxis *liftAxis_;
|
||||
|
||||
/*
|
||||
The lift axis needs the ability to write to some of the members of this axis
|
||||
(e.g. it needs to be able to insert a pointer to itself into the member
|
||||
variable liftAxis_).
|
||||
*/
|
||||
friend class seleneLiftAxis;
|
||||
};
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user