lin-epics-modules/sinqMotor
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Improved homing doc, fixed wrong setting of motorStatusHomed and added check to move
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This commit is contained in:
mathis_s
2026-03-06 11:20:33 +01:00
parent 9fee0f3c92
commit a84992b4cd
6 changed files with 96 additions and 45 deletions
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src/sinqAxis.cpp
+32 -15
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@@ -72,7 +72,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
Initialize the parameter library entry for the motor message text, because
it is read during the first poll before it has been written to.
*/
status = setStringParam(pC_->motorMessageText(), "");
status = setStringParam(pC_->motorErrorMessage(), "");
if (status != asynSuccess) {
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
@@ -143,7 +143,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
exit(-1);
}
// Set the homing-related flags
// Motor is assumed to not being in a homing run at IOC startup.
status = setIntegerParam(pC_->motorStatusHome(), 0);
if (status != asynSuccess) {
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
@@ -154,7 +154,9 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
pC_->stringifyAsynStatus(status));
exit(-1);
}
status = setIntegerParam(pC_->motorStatusHomed(), 0);
// Motor is assumed to not be at the home position at IOC startup.
status = setIntegerParam(pC_->motorStatusAtHome(), 0);
if (status != asynSuccess) {
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
@@ -164,7 +166,9 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
pC_->stringifyAsynStatus(status));
exit(-1);
}
status = setIntegerParam(pC_->motorStatusAtHome(), 0);
// Motor is assumed to not have been homed in the past.
status = setIntegerParam(pC_->motorStatusHomed(), 0);
if (status != asynSuccess) {
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
@@ -232,14 +236,14 @@ asynStatus sinqAxis::forcedPoll(bool *moving) {
pSinqA_->lastPollTime = ts;
/*
If the "motorMessageText" record currently contains an error message, it
If the "motorErrorMessage" record currently contains an error message, it
should be shown for at least one poll period. To assure this, it is read out
here from the paramLib into "waitingMessage". If no new error message was
added to the parameter library at the end of the poll cycle, the
"waitingMessage" is briefly put into the paramLib again, then the PVs are
updated and then the message text is cleared again.
*/
getAxisParamChecked(this, motorMessageText,
getAxisParamChecked(this, motorErrorMessage,
static_cast<char *>(waitingMessage));
// Clear the communication
@@ -271,16 +275,16 @@ asynStatus sinqAxis::forcedPoll(bool *moving) {
If doPoll cleared the error message paramLib entry, but an old message
is still waiting, set the old message.
*/
getAxisParamChecked(this, motorMessageText,
getAxisParamChecked(this, motorErrorMessage,
static_cast<char *>(newMessage));
if (newMessage[0] == '\0') {
setAxisParamChecked(this, motorMessageText,
setAxisParamChecked(this, motorErrorMessage,
static_cast<char *>(waitingMessage));
}
setAxisParamChecked(this, motorStatusProblem, true);
} else {
// No errors are waiting -> Clear everything.
setAxisParamChecked(this, motorMessageText, "");
setAxisParamChecked(this, motorErrorMessage, "");
setAxisParamChecked(this, motorStatusProblem, false);
}
@@ -330,7 +334,7 @@ asynStatus sinqAxis::forcedPoll(bool *moving) {
Delete the error message AFTER updating the PVs so it is not there anymore
during the next poll.
*/
setAxisParamChecked(this, motorMessageText, "");
setAxisParamChecked(this, motorErrorMessage, "");
return poll_status;
}
@@ -348,9 +352,23 @@ asynStatus sinqAxis::move(double position, int relative, double minVelocity,
// Status of parameter library operations
asynStatus status = asynSuccess;
double motorRecRes = 0.0;
char encType[pC_->MAXBUF_] = {0};
int motorStatHomed = 0;
// =========================================================================
/*
Check if the motor is allowed to move: If the motor hasn't been homed in the
past and has an incremental encoder, it needs to be homed first!
*/
getAxisParamChecked(this, encoderType, &encType);
getAxisParamChecked(this, motorStatusHomed, &motorStatHomed);
if (strcmp(encType, IncrementalEncoder) == 0 && motorStatHomed == 0) {
setAxisParamChecked(this, motorErrorMessage,
"Motor needs to be homed first.");
return asynError;
}
// Store the target position internally
getAxisParamChecked(this, motorRecResolution, &motorRecRes);
pSinqA_->targetPosition = position * motorRecRes;
@@ -367,7 +385,6 @@ asynStatus sinqAxis::move(double position, int relative, double minVelocity,
// Since the move command was successfull, we assume that the motor has
// started its movement.
setAxisParamChecked(this, motorStatusHomed, false);
setAxisParamChecked(this, motorStatusAtHome, false);
// Needed for adaptive polling
@@ -410,7 +427,7 @@ asynStatus sinqAxis::home(double minVelocity, double maxVelocity,
} else if (status == asynError) {
// asynError means that we tried to home an absolute encoder
setAxisParamChecked(this, motorMessageText,
setAxisParamChecked(this, motorErrorMessage,
"Can't home a motor with absolute encoder");
status = assertConnected();
@@ -547,7 +564,7 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
"vmax=%lf.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
vbas, vmax);
setAxisParamChecked(this, motorMessageText,
setAxisParamChecked(this, motorErrorMessage,
"Lower speed limit must not be smaller than "
"upper speed limit. Please call the support.");
return asynError;
@@ -561,7 +578,7 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
velo, vbas, vmax);
setAxisParamChecked(
this, motorMessageText,
this, motorErrorMessage,
"Speed is not inside limits. Set a new valid speed and try "
"to move the motor. Otherwise, please call the support.");
return asynError;
@@ -704,7 +721,7 @@ asynStatus sinqAxis::checkMovTimeoutWatchdog(bool moving) {
}
setAxisParamChecked(
this, motorMessageText,
this, motorErrorMessage,
"Exceeded expected arrival time. Check if the axis is blocked.");
setAxisParamChecked(this, motorStatusProblem, true);
} else {