lin-epics-modules/sinqMotor
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Added doReset wrapper around reset and added two functions to set and

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retrieve the motor position which handle the conversion via
motorRecResolution.
This commit is contained in:
mathis_s
2025-03-28 14:51:09 +01:00
parent 828e9bc59c
commit 7729eceb28
6 changed files with 198 additions and 94 deletions
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35
README.md
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@ -8,7 +8,7 @@ This library offers base classes for EPICS motor drivers (`sinqAxis` and `sinqCo
### Architecture of EPICS motor drivers at SINQ
The asyn-framework offers two base classes `asynMotorAxis` and `asynMotorController`. At SINQ, we extend those classes by two children `sinqAxis` and `sinqController` which are not complete drivers on their own, but serve as an additional framework for writing drivers. The concrete drivers are then created as separated libraries, an example is the TurboPMAC-driver: https://git.psi.ch/sinq-epics-modules/turboPmac.
The asyn-framework offers two base classes `asynMotorAxis` and `asynMotorController`. At SINQ, we extend those classes by two children `sinqAxis` and `sinqController` which are not complete drivers on their own, but serve as a framework extension for writing drivers. The concrete drivers are then created as separated libraries, an example is the TurboPMAC-driver: https://git.psi.ch/sinq-epics-modules/turboPmac.
The full inheritance chain for two different motor drivers "a" and "b" looks like this:
`asynController -> sinqController -> aController`
@ -36,17 +36,17 @@ epicsEnvSet("TOP","/ioc/sinq-ioc/sinqtest-ioc/")
epicsEnvSet("INSTR","SQ:SINQTEST:")
# Include other scripts for the controllers 1 and 2
< mcu1.cmd
< mcu2.cmd
< turboPmac1.cmd
< turboPmac2.cmd
iocInit()
```
The first line is a so-called shebang which instructs Linux to execute the file with the executable located at the given path - the IOC shell in this case. The controller script "mcu1.cmd" looks like this:
The script for controller 1 ("mcu1.cmd") for a Turbo PMAC (see https://git.psi.ch/sinq-epics-modules/turboPmac) has the following structure. The scripts for other controller types can be found in the README.md of their respective repositories.
The script for controller 1 ("turboPmac1.cmd") for a Turbo PMAC (see https://git.psi.ch/sinq-epics-modules/turboPmac) has the following structure. The scripts for other controller types can be found in the README.md of their respective repositories.
```
# Define the name of the controller and the corresponding port
epicsEnvSet("NAME","mcu1")
epicsEnvSet("NAME","turboPmac1")
epicsEnvSet("ASYN_PORT","p$(NAME)")
# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name
@ -60,7 +60,7 @@ drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
# 1: Socket communication timeout in seconds
turboPmacController("$(NAME)", "$(ASYN_PORT)", 8, 0.05, 1, 1);
# Define some axes for the specified MCU at the given slot (1, 2 and 5). No slot may be used twice!
# Define some axes for the specified motor controller at the given slot (1, 2 and 5). No slot may be used twice!
turboPmacAxis("$(NAME)",1);
turboPmacAxis("$(NAME)",2);
turboPmacAxis("$(NAME)",5);
@ -68,10 +68,10 @@ turboPmacAxis("$(NAME)",5);
# Set the number of subsequent timeouts
setMaxSubsequentTimeouts("$(NAME)", 20);
# Configure the timeout frequency watchdog:
setThresholdComTimeout("$(NAME)", 100, 1);
# Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed in 300 seconds before an alarm message is sent.
setThresholdComTimeout("$(NAME)", 300, 10);
# Parametrize the EPICS record database with the substitution file named after the MCU.
# Parametrize the EPICS record database with the substitution file named after the motor controller.
epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/turboPmac.db")
@ -106,14 +106,14 @@ The variable `SINQDBPATH` has been set in "mcu1.cmd" before calling `dbLoadTempl
#### Optional parameters
The default values for those parameters are given for the individual records in db/sinqMotor.db
- `DESC`: Description of the motor. This field is just for documentation and is not needed for operating a motor.
- `MSGTEXTSIZE`: Buffer size for the motor message record in characters
- `ENABLEMOVWATCHDOG`: Sets `setWatchdogEnabled` during IOC startup to the given value.
- `DESC`: Description of the motor. This field is just for documentation and is not needed for operating a motor. Defaults to the motor name.
- `MSGTEXTSIZE`: Buffer size for the motor message record in characters. Defaults to 200 characters
- `ENABLEMOVWATCHDOG`: Sets `setWatchdogEnabled` during IOC startup to the given value. Defaults to 0.
- `LIMITSOFFSET`: If the motor limits are read out from the controller, they can
be further reduced by this offset in order to avoid errors due to slight overshoot
on the motor controller. For example, if this value is 1.0 and the read-out limits
are [-10.0 10.0], the EPICS limits are set to [-9.0 9.0]. This parameter uses engineering units (EGU).
- `CANSETSPEED`: If set to 1, the motor speed can be modified by the user.
are [-10.0 10.0], the EPICS limits are set to [-9.0 9.0]. This parameter uses engineering units (EGU). Defaults to 0.0.
- `CANSETSPEED`: If set to 1, the motor speed can be modified by the user. Defaults to 0.
### Motor record resolution MRES
@ -162,7 +162,7 @@ transferred to (motor_record_pv_name).MRES or to
sinqMotor offers a variety of additional methods for children classes to standardize certain patterns (e.g. writing messages to the IOC shell and the motor message PV). For a detailed description, please see the respective function documentation in the .h-files. All of these functions can be overwritten manually if e.g. a completely different implementation of `poll` is required. Some functions are marked as virtual, because they are called from other functions of sinqMotor and therefore need runtime polymorphism. Functions without that marker are not called anywhere in sinqMotor.
#### sinqController.h
- `errMsgCouldNotParseResponse`: Write a standardized message if parsing a device response failed.
- `couldNotParseResponse`: Write a standardized message if parsing a device response failed.
- `paramLibAccessFailed`: Write a standardized message if accessing the parameter library failed.
- `stringifyAsynStatus`: Convert the enum `asynStatus` into a human-readable string.
- `checkComTimeoutWatchdog`: Calculates the timeout frequency (number of timeouts in a given time) and informs the user if a specified limit has been exceeded.
@ -174,7 +174,8 @@ sinqMotor offers a variety of additional methods for children classes to standar
- `enable`: This function is called if the `$(INSTR)$(M):Enable` PV from db/sinqMotor.db is set.
This is an empty function which should be overwritten by concrete driver implementations.
- `reset`: This function is called when the `$(INSTR)$(M):Reset` PV from db/sinqMotor.db is set.
This is an empty function which should be overwritten by concrete driver implementations.
It calls `doReset` and performs some fast polls after `doReset` returns.
- `doReset`: This is an empty function which should be overwritten by concrete driver implementations.
- `move`: This function sets the absolute target position in the parameter library and then calls `doMove`.
- `doMove`: This is an empty function which should be overwritten by concrete driver implementations.
- `home`: This function sets the internal status flags for the homing process and then calls doHome.
@ -190,6 +191,8 @@ This is an empty function which should be overwritten by concrete driver impleme
- Reset `motorStatusProblem_`, `motorStatusCommsError_` and `motorMessageText_` if `doPoll` returned `asynSuccess`
- Run `callParamCallbacks`
- Return the status of `doPoll`
- `motorPosition`: Returns the parameter library value of the motor position, accounted for the motor record resolution (see section "Motor record resolution MRES")
- `setMotorPosition`: Writes the given value into the parameter library, accounted for the motor record resolution (see section "Motor record resolution MRES")
- `setVeloFields`: Populates the motor record fields VELO (actual velocity), VBAS (minimum allowed velocity) and VMAX (maximum allowed velocity) from the driver.
- `setAcclField`: Populates the motor record field ACCL from the driver.
- `startMovTimeoutWatchdog`: Starts a watchdog for the movement time. This watchdog compares the actual time spent in a movement operation with an expected time, which is calculated based on the distance of the current and the target position.