lin-epics-modules/sinqMotor
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Renamed some member fields

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mathis_s
2025-04-17 16:28:52 +02:00
parent db03ffea0e
commit 228bcf7fd7
5 changed files with 46 additions and 17 deletions
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4
README.md
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@ -156,6 +156,10 @@ coupling, changes to the parameter library via setDoubleParam are NOT
transferred to (motor_record_pv_name).MRES or to transferred to (motor_record_pv_name).MRES or to
(motor_record_pv_name):Resolution. (motor_record_pv_name):Resolution.
### Additional records
`sinqMotor` provides a variety of additional records. See `db/sinqMotor.db` for the complete list and the documentation.
## Developer guide ## Developer guide
### Base classes ### Base classes

6
db/sinqMotor.db
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@ -34,6 +34,8 @@ record(motor,"$(INSTR)$(M)")
field(EGU,"$(EGU)") field(EGU,"$(EGU)")
field(INIT,"") field(INIT,"")
field(PINI,"NO") field(PINI,"NO")
field(DHLM, "$(DHLM=0)")
field(DLLM, "$(DLLM=0)")
field(TWV,"1") field(TWV,"1")
field(RTRY,"0") field(RTRY,"0")
field(RDBD,"0") field(RDBD,"0")
@ -189,11 +191,13 @@ record(ai, "$(INSTR)$(M):DHLM_RBV")
field(INP, "@asyn($(CONTROLLER),$(AXIS)) MOTOR_HIGH_LIMIT_FROM_DRIVER") field(INP, "@asyn($(CONTROLLER),$(AXIS)) MOTOR_HIGH_LIMIT_FROM_DRIVER")
field(SCAN, "I/O Intr") field(SCAN, "I/O Intr")
field(FLNK, "$(INSTR)$(M):PushDHLM2Field") field(FLNK, "$(INSTR)$(M):PushDHLM2Field")
field(PINI, "NO")
} }
record(ao, "$(INSTR)$(M):PushDHLM2Field") { record(ao, "$(INSTR)$(M):PushDHLM2Field") {
field(DOL, "$(INSTR)$(M):DHLM_RBV NPP") field(DOL, "$(INSTR)$(M):DHLM_RBV NPP")
field(OUT, "$(INSTR)$(M).DHLM") field(OUT, "$(INSTR)$(M).DHLM")
field(OMSL, "closed_loop") field(OMSL, "closed_loop")
field(PINI, "NO")
} }
# This record pair reads the parameter library value for "motorLowLimitFromDriver_" # This record pair reads the parameter library value for "motorLowLimitFromDriver_"
@ -208,11 +212,13 @@ record(ai, "$(INSTR)$(M):DLLM_RBV")
field(INP, "@asyn($(CONTROLLER),$(AXIS)) MOTOR_LOW_LIMIT_FROM_DRIVER") field(INP, "@asyn($(CONTROLLER),$(AXIS)) MOTOR_LOW_LIMIT_FROM_DRIVER")
field(SCAN, "I/O Intr") field(SCAN, "I/O Intr")
field(FLNK, "$(INSTR)$(M):PushDLLM2Field") field(FLNK, "$(INSTR)$(M):PushDLLM2Field")
field(PINI, "NO")
} }
record(ao, "$(INSTR)$(M):PushDLLM2Field") { record(ao, "$(INSTR)$(M):PushDLLM2Field") {
field(DOL, "$(INSTR)$(M):DLLM_RBV NPP") field(DOL, "$(INSTR)$(M):DLLM_RBV NPP")
field(OUT, "$(INSTR)$(M).DLLM") field(OUT, "$(INSTR)$(M).DLLM")
field(OMSL, "closed_loop") field(OMSL, "closed_loop")
field(PINI, "NO")
} }
# This record pair reads the parameter library value for "motorVeloFromDriver_" # This record pair reads the parameter library value for "motorVeloFromDriver_"

37
src/sinqAxis.cpp
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@ -14,6 +14,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
scaleMovTimeout_ = 2.0; scaleMovTimeout_ = 2.0;
offsetMovTimeout_ = 30; offsetMovTimeout_ = 30;
targetPosition_ = 0.0; targetPosition_ = 0.0;
wasMoving_ = false;
epicsTimeGetCurrent(&lastPollTime_); epicsTimeGetCurrent(&lastPollTime_);
@ -22,7 +23,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
// check, the IOC is stopped, since this is definitely a configuration // check, the IOC is stopped, since this is definitely a configuration
// problem. // problem.
if ((axisNo < 0) || (axisNo >= pC->numAxes())) { if ((axisNo < 0) || (axisNo >= pC->numAxes())) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR, asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR " "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
"(axis index %d is not in range 0 to %d)\n. Terminating IOC", "(axis index %d is not in range 0 to %d)\n. Terminating IOC",
pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo, pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo,
@ -33,7 +34,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
// Motor is assumed to be enabled // Motor is assumed to be enabled
status = setIntegerParam(pC_->motorEnableRBV(), 1); status = setIntegerParam(pC_->motorEnableRBV(), 1);
if (status != asynSuccess) { if (status != asynSuccess) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR, asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR " "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
"(setting a parameter value failed " "(setting a parameter value failed "
"with %s)\n. Terminating IOC", "with %s)\n. Terminating IOC",
@ -45,7 +46,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
// By default, motors cannot be disabled // By default, motors cannot be disabled
status = setIntegerParam(pC_->motorCanDisable(), 0); status = setIntegerParam(pC_->motorCanDisable(), 0);
if (status != asynSuccess) { if (status != asynSuccess) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR, asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR " "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
"(setting a parameter value failed " "(setting a parameter value failed "
"with %s)\n. Terminating IOC", "with %s)\n. Terminating IOC",
@ -57,7 +58,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
// Provide a default value for the motor position. // Provide a default value for the motor position.
status = setDoubleParam(pC_->motorPosition(), 0.0); status = setDoubleParam(pC_->motorPosition(), 0.0);
if (status != asynSuccess) { if (status != asynSuccess) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR, asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR " "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
"(setting a parameter value failed " "(setting a parameter value failed "
"with %s)\n. Terminating IOC", "with %s)\n. Terminating IOC",
@ -69,7 +70,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
// We assume that the motor has no status problems initially // We assume that the motor has no status problems initially
status = setIntegerParam(pC_->motorStatusProblem(), 0); status = setIntegerParam(pC_->motorStatusProblem(), 0);
if (status != asynSuccess) { if (status != asynSuccess) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR, asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR " "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
"(setting a parameter value failed " "(setting a parameter value failed "
"with %s)\n. Terminating IOC", "with %s)\n. Terminating IOC",
@ -81,7 +82,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
// Set the homing-related flags // Set the homing-related flags
status = setIntegerParam(pC_->motorStatusHome(), 0); status = setIntegerParam(pC_->motorStatusHome(), 0);
if (status != asynSuccess) { if (status != asynSuccess) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR, asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR " "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
"(setting a parameter value failed " "(setting a parameter value failed "
"with %s)\n. Terminating IOC", "with %s)\n. Terminating IOC",
@ -91,7 +92,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
} }
status = setIntegerParam(pC_->motorStatusHomed(), 0); status = setIntegerParam(pC_->motorStatusHomed(), 0);
if (status != asynSuccess) { if (status != asynSuccess) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR, asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR " "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
"(setting a parameter value failed " "(setting a parameter value failed "
"with %s)\n. Terminating IOC", "with %s)\n. Terminating IOC",
@ -101,7 +102,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
} }
status = setIntegerParam(pC_->motorStatusAtHome(), 0); status = setIntegerParam(pC_->motorStatusAtHome(), 0);
if (status != asynSuccess) { if (status != asynSuccess) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR, asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR " "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
"(setting a parameter value failed " "(setting a parameter value failed "
"with %s)\n. Terminating IOC", "with %s)\n. Terminating IOC",
@ -144,12 +145,13 @@ asynStatus sinqAxis::poll(bool *moving) {
if (adaptivePolling != 0) { if (adaptivePolling != 0) {
// Motor wasn't moving during the last poll // Motor wasn't moving during the last poll
if (getWasMovingFlag() == 0) { if (!wasMoving_) {
// Add the idle poll period // Add the idle poll period
epicsTimeStamp earliestTimeNextPoll = lastPollTime_; epicsTimeStamp earliestTimeNextPoll = lastPollTime_;
epicsTimeAddSeconds(&earliestTimeNextPoll, pC_->idlePollPeriod()); epicsTimeAddSeconds(&earliestTimeNextPoll, pC_->idlePollPeriod());
if (epicsTimeLessThan(&earliestTimeNextPoll, &ts) == 1) {
if (epicsTimeLessThanEqual(&earliestTimeNextPoll, &ts) == 0) {
*moving = false; *moving = false;
return asynSuccess; return asynSuccess;
} }
@ -188,6 +190,9 @@ asynStatus sinqAxis::poll(bool *moving) {
// return. // return.
poll_status = doPoll(moving); poll_status = doPoll(moving);
// Motor was moving during this poll
wasMoving_ = *moving;
// The poll did not succeed: Something went wrong and the motor has a status // The poll did not succeed: Something went wrong and the motor has a status
// problem. // problem.
if (poll_status != asynSuccess) { if (poll_status != asynSuccess) {
@ -244,8 +249,8 @@ asynStatus sinqAxis::poll(bool *moving) {
bool wantToPrint = pl_status != asynSuccess; bool wantToPrint = pl_status != asynSuccess;
if (pC_->getMsgPrintControl().shouldBePrinted( if (pC_->getMsgPrintControl().shouldBePrinted(
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, wantToPrint, pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, wantToPrint,
pC_->asynUserSelf())) { pC_->pasynUser())) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR, asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line " "Controller \"%s\", axis %d => %s, line "
"%d:\ncallParamCallbacks failed with %s.%s\n", "%d:\ncallParamCallbacks failed with %s.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -298,7 +303,7 @@ asynStatus sinqAxis::move(double position, int relative, double minVelocity,
} }
// Needed for adaptive polling // Needed for adaptive polling
setWasMovingFlag(1); wasMoving_ = true;
return pC_->callParamCallbacks(); return pC_->callParamCallbacks();
} }
@ -453,7 +458,7 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
// Check the inputs and create corresponding error messages // Check the inputs and create corresponding error messages
if (vbas > vmax) { if (vbas > vmax) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR, asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nLower speed " "Controller \"%s\", axis %d => %s, line %d:\nLower speed "
"limit vbas=%lf must not be smaller than upper limit " "limit vbas=%lf must not be smaller than upper limit "
"vmax=%lf.\n", "vmax=%lf.\n",
@ -471,7 +476,7 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
return asynError; return asynError;
} }
if (velo < vbas || velo > vmax) { if (velo < vbas || velo > vmax) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR, asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nActual " "Controller \"%s\", axis %d => %s, line %d:\nActual "
"speed velo=%lf must be between lower limit vbas=%lf and " "speed velo=%lf must be between lower limit vbas=%lf and "
"upper limit vmax=%lf.\n", "upper limit vmax=%lf.\n",
@ -668,7 +673,7 @@ asynStatus sinqAxis::checkMovTimeoutWatchdog(bool moving) {
// Check if the expected time of arrival has been exceeded. // Check if the expected time of arrival has been exceeded.
if (expectedArrivalTime_ < time(NULL)) { if (expectedArrivalTime_ < time(NULL)) {
// Check the watchdog // Check the watchdog
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR, asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nExceeded " "Controller \"%s\", axis %d => %s, line %d:\nExceeded "
"expected arrival time %ld (current time is %ld).\n", "expected arrival time %ld (current time is %ld).\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,

2
src/sinqAxis.h
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@ -357,6 +357,8 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
bool watchdogMovActive_; bool watchdogMovActive_;
// Store the motor target position for the movement time calculation // Store the motor target position for the movement time calculation
double targetPosition_; double targetPosition_;
bool wasMoving_;
/* /*
Store the time since the last poll Store the time since the last poll

14
src/sinqController.h
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@ -298,7 +298,19 @@ class epicsShareClass sinqController : public asynMotorController {
int numAxes() { return numAxes_; } int numAxes() { return numAxes_; }
double idlePollPeriod() { return idlePollPeriod_; } double idlePollPeriod() { return idlePollPeriod_; }
double movingPollPeriod() { return movingPollPeriod_; } double movingPollPeriod() { return movingPollPeriod_; }
asynUser *asynUserSelf() { return pasynUserSelf; }
/**
* @brief Return a pointer to the asynUser of the controller
*
* @return asynUser*
*/
asynUser *pasynUser() { return pasynUserSelf; }
/**
* @brief Return a pointer to the low-level octet (string) IP Port
*
* @return asynUser*
*/
asynUser *pasynOctetSyncIOipPort() { return pasynOctetSyncIOipPort_; } asynUser *pasynOctetSyncIOipPort() { return pasynOctetSyncIOipPort_; }
// ========================================================================= // =========================================================================