lin-epics-modules/sinqMotor
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After reimplementing the pmacV3 driver using the sinqMotor parent class,

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quite some changes have accumulated. Besides various code changes, especially the documentation has
been improved.
This commit is contained in:
mathis_s
2024-11-20 11:29:20 +01:00
parent 89bbbedaee
commit 5502c39219
9 changed files with 603 additions and 108 deletions
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src/sinqAxis.cpp
+79 -16
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@@ -3,8 +3,8 @@
#include <math.h>
#include <unistd.h>
sinqAxis::sinqAxis(class sinqController *pC, int axis)
: asynMotorAxis((asynMotorController *)pC, axis), pC_(pC) {
sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
: asynMotorAxis((asynMotorController *)pC, axisNo), pC_(pC) {
initial_poll_ = true;
watchdogMovActive_ = false;
@@ -21,12 +21,13 @@ asynStatus sinqAxis::poll(bool *moving) {
// =========================================================================
// If this poll is the initial poll, check if the parameter library has
// already been initialized. If not, force EPCIS to repeat the poll until
// already been initialized. If not, force EPICS to repeat the poll until
// the initialization is complete (or until a timeout is reached). Once the
// parameter library has been initialized, read configuration data from the
// motor controller into it.
if (initial_poll_) {
poll_status = atFirstPoll();
if (poll_status == asynSuccess) {
initial_poll_ = false;
} else {
@@ -35,7 +36,7 @@ asynStatus sinqAxis::poll(bool *moving) {
if (init_poll_counter_ % 10 == 0) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"%s => line %d:\nRunning function 'atFirstPoll' "
"failed %d times with error %s.",
"failed %d times with error %s.\n",
__PRETTY_FUNCTION__, __LINE__, init_poll_counter_,
pC_->stringifyAsynStatus(poll_status));
}
@@ -95,7 +96,7 @@ asynStatus sinqAxis::doPoll(bool *moving) { return asynSuccess; }
asynStatus sinqAxis::move(double position, int relative, double minVelocity,
double maxVelocity, double acceleration) {
double target_position = 0.0;
double targetPosition = 0.0;
// Status of parameter library operations
asynStatus pl_status = asynSuccess;
@@ -113,13 +114,13 @@ asynStatus sinqAxis::move(double position, int relative, double minVelocity,
__PRETTY_FUNCTION__, __LINE__);
}
target_position = position + motorPosition;
targetPosition = position + motorPosition;
} else {
target_position = position;
targetPosition = position;
}
// Set the target position
pl_status = setDoubleParam(pC_->motorTargetPosition_, target_position);
pl_status = setDoubleParam(pC_->motorTargetPosition_, targetPosition);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorTargetPosition_",
__PRETTY_FUNCTION__, __LINE__);
@@ -133,17 +134,65 @@ asynStatus sinqAxis::doMove(double position, int relative, double minVelocity,
return asynSuccess;
}
asynStatus sinqAxis::movementTimeoutWatchdog(bool moving) {
asynStatus pl_status;
asynStatus sinqAxis::home(double minVelocity, double maxVelocity,
double acceleration, int forwards) {
// Not moving -> Watchdog inactive
if (!moving) {
watchdogMovActive_ = false;
return asynSuccess;
double targetPosition = 0.0;
double position = 0.0;
double highLimit = 0.0;
double lowLimit = 0.0;
// Status of parameter library operations
asynStatus pl_status = asynSuccess;
// =========================================================================
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorPosition_, &position);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorPosition_",
__PRETTY_FUNCTION__, __LINE__);
}
if (!watchdogMovActive_) {
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorHighLimit_, &highLimit);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorHighLimit_",
__PRETTY_FUNCTION__, __LINE__);
}
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorLowLimit_, &lowLimit);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorLowLimit_",
__PRETTY_FUNCTION__, __LINE__);
}
if (std::fabs(position - highLimit) > std::fabs(position - lowLimit)) {
targetPosition = highLimit;
} else {
targetPosition = lowLimit;
}
// Set the target position
pl_status = setDoubleParam(pC_->motorTargetPosition_, targetPosition);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorTargetPosition_",
__PRETTY_FUNCTION__, __LINE__);
}
return doHome(minVelocity, maxVelocity, acceleration, forwards);
}
asynStatus sinqAxis::doHome(double minVelocity, double maxVelocity,
double acceleration, int forwards) {
return asynSuccess;
}
asynStatus sinqAxis::setWatchdogEnabled(bool enable) {
watchdogEnabled_ = enable;
return asynSuccess;
}
asynStatus sinqAxis::startMovTimeoutWatchdog() {
if (watchdogEnabled_) {
// These parameters are only needed in this branch
double motorPosition = 0.0;
double motorTargetPosition = 0.0;
@@ -151,6 +200,7 @@ asynStatus sinqAxis::movementTimeoutWatchdog(bool moving) {
double motorAccel = 0.0;
time_t timeContSpeed = 0;
time_t timeAccel = 0;
asynStatus pl_status;
// Activate the watchdog
watchdogMovActive_ = true;
@@ -187,8 +237,21 @@ asynStatus sinqAxis::movementTimeoutWatchdog(bool moving) {
expectedArrivalTime_ =
time(NULL) + offsetMovTimeout_ +
scaleMovTimeout_ * (timeContSpeed + 2 * timeAccel);
}
return asynSuccess;
}
} else if (expectedArrivalTime_ < time(NULL)) {
asynStatus sinqAxis::checkMovTimeoutWatchdog(bool moving) {
asynStatus pl_status;
// Not moving or watchdog not active
if (!watchdogEnabled_ || !moving) {
watchdogMovActive_ = false;
return asynSuccess;
}
// Check if the expected time of arrival has been exceeded.
if (expectedArrivalTime_ < time(NULL)) {
// Check the watchdog
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"%s => line %d:\nAxis %d exceeded the expected arrival time "