Added safe limit setter

README.md

@@ -117,11 +117,11 @@ does not matter):
 file "$(SINQDBPATH)"
 {
 pattern
-{ AXIS,      M, DESC,                              EGU, DIR, MRES,  MSGTEXTSIZE, ENABLEMOVWATCHDOG, LIMITSOFFSET, CANSETSPEED, ADAPTPOLL, CANSETMODE }
+{ AXIS,      M, DESC,                              EGU, DIR, MRES,  MSGTEXTSIZE, ENABLEMOVWATCHDOG, LIMITSOFFSET, CANSETSPEED, ADAPTPOLL }
-{ 1,    "lin1", "Linear motor doing whatever",      mm, Pos, 0.001,         200,                 1,          1.0,           1,         1,          0 }
+{ 1,    "lin1", "Linear motor doing whatever",      mm, Pos, 0.001,         200,                 1,          1.0,           1,         1 }
-{ 2,    "rot1", "First rotary motor",           degree, Neg, 0.001,         200,                 0,          1.0,           0,         1,          0 }
+{ 2,    "rot1", "First rotary motor",           degree, Neg, 0.001,         200,                 0,          1.0,           0,         1 }
-{ 3,    "rot2", "Second rotary motor",          degree, Pos, 0.001,         200,                 0,          0.0,           1,         0,          0 }
+{ 3,    "rot2", "Second rotary motor",          degree, Pos, 0.001,         200,                 0,          0.0,           1,         0 }
-{ 5,    "rot3", "Surprise: Third rotary motor", degree, Pos, 0.001,         200,                 1,          2.0,           0,         0,          1 }
+{ 5,    "rot3", "Surprise: Third rotary motor", degree, Pos, 0.001,         200,                 1,          2.0,           0,         0 }
 }
 ```
 The variable `SINQDBPATH` has been set in "mcu1.cmd" before calling `dbLoadTemplate`.
@@ -166,9 +166,6 @@ behaviour so that the affected axis is only polled with the busy / moving poll
 period if it itself is moving. This setting is ignored for "forced fast polls"
 (when the poller is woken up, e.g. after an axis received a move command).
 Defaults to 1.
-- `CANSETMODE`: If set to any value other than 0, the operation mode of the
-motor can be changed. See section [Velocity mode](#velocity-mode).
-
 
 ### Motor record resolution MRES
 
@@ -215,29 +212,6 @@ transferred to (motor_record_pv_name).MRES or to
 `sinqMotor` provides a variety of additional records. See `db/sinqMotor.db` for
 the complete list and the documentation.
 
-### Velocity mode
-
-The motor record was originally designed for motors which operate in _position_
-mode: They are given a certain position, move to that position and then stop
-on their own. Some motors however operate in a continuous _velocity_ mode, where
-they move (usually rotate) with a fixed velocity until told to stop or change
-the velocity. To support this operation mode, `sinqMotor` provides three
-additional records:
-
-- `$(INSTR)$(M):Mode`: This read-only record returns 0 if the motor is in
-position mode and 1 if it is in velocity mode. Defaults to 0.
-- `$(INSTR)$(M):CanSetMode`: If the value of this record is other than zero, the
-motor mode can be changed during operation. Defaults to 0, but can be
-overwritten in the substitution file with `CANSETMODE` or from within the driver
-(e.g. by reading out a parameter from the hardware).
-- `$(INSTR)$(M):SetMode`: This record can be used to switch between operation
-modes if `$(INSTR)$(M):CanSetMode` is not zero. Currently accepted values are
-`0` for position mode and `1` for velocity mode.
-
-When in velocity mode, writing to the `VELO` field of the motor record directly
-triggers the corresponding velocity change if the driver supports it. Writing
-to the `VAL` field does nothing in velocity mode.
-
 ## Developer guide
 
 ### File structure
@@ -277,10 +251,7 @@ This is an empty function which should be overwritten by concrete driver impleme
 - `reset`: This function is called when the `$(INSTR)$(M):Reset` PV from `db/sinqMotor.db` is set. 
 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.
-- `moveVelocity`: This function checks if the motor is in velocity mode. If that is the case, it calls `doMoveVelocity`.
+- `move`: This function sets the absolute target position in the parameter library and then calls `doMove`.
-- `doMoveVelocity`: This is an empty function which should be overwritten by concrete driver implementations.
-- `move`: This function checks if the motor is in position mode. If that is the
-case, it then 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.
 - `doHome`: This is an empty function which should be overwritten by concrete driver implementations.
@@ -331,8 +302,6 @@ available in the IOC shell.
 This function is also available in the IOC shell.
 - `setScaleMovTimeout`: Set a scaling factor for the expected movement time.
 This function is also available in the IOC shell.
-- `setMode`: This is an empty function which should be overwritten by concrete
-driver implementations.
 
 #### msgPrintControl.h
 In addition to the two extension classes this library also includes a mechanism

db/sinqMotor.db

@@ -347,37 +347,3 @@ record(waveform, "$(INSTR)$(M):EncoderType") {
     field(NELM, "80")
     field(SCAN, "I/O Intr")
 }
-
-# Motors can operate either in position mode (0) or velocity mode (1). If the
-# mode is stored within the controller, the driver writes the corresponding mode
-# value into this record. If not, motors are always assumed to operate in
-# position mode.
-record(longin, "$(INSTR)$(M):Mode")
-{
-    field(DTYP, "asynInt32")
-    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_MODE")
-    field(SCAN, "I/O Intr")
-    field(PINI, "NO")
-    field(VAL, "0")
-}
-
-# Motors can operate either in position mode (0) or velocity mode (1). If it is
-# possible to switch between the two, this record has a value of 1, otherwise
-# its value is 0.
-record(longin, "$(INSTR)$(M):CanSetMode")
-{
-    field(DTYP, "asynInt32")
-    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_CAN_SET_MODE")
-    field(SCAN, "I/O Intr")
-    field(PINI, "NO")
-    field(VAL, "$(CANSETMODE=0)")
-}
-
-# Set the operation mode of the motor to position mode (0) or velocity mode (1).
-# If CanSetMode is 0, the mode cannot be changed and writing to this record
-# will have no effect.
-record(longout, "$(INSTR)$(M):SetMode") {
-    field(DTYP, "asynInt32")
-    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_SET_MODE")
-    field(PINI, "NO")
-}

src/sinqAxis.cpp

@@ -342,49 +342,18 @@ asynStatus sinqAxis::doPoll(bool *moving) {
     return asynSuccess;
 }
 
-asynStatus sinqAxis::moveVelocity(double minVelocity, double maxVelocity,
-                                  double acceleration) {
-
-    int motMode = 0;
-
-    // If the motor is not in velocity mode, do nothing
-    getAxisParamChecked(this, motorMode, &motMode);
-    if (motMode != 0) {
-        return asynSuccess;
-    }
-
-    return doMoveVelocity(minVelocity, maxVelocity, acceleration);
-}
-
-asynStatus sinqAxis::doMoveVelocity(double minVelocity, double maxVelocity,
-                                    double acceleration) {
-    // Suppress unused variable warning - this is just a default fallback
-    // function.
-    (void)minVelocity;
-    (void)maxVelocity;
-    (void)acceleration;
-    return asynSuccess;
-}
-
 asynStatus sinqAxis::move(double position, int relative, double minVelocity,
                           double maxVelocity, double acceleration) {
 
     // Status of parameter library operations
     asynStatus status = asynSuccess;
-    double motRecRes = 0.0;
+    double motorRecRes = 0.0;
-    int motMode = 0;
 
     // =========================================================================
 
-    // If the motor is not in position mode, do nothing
-    getAxisParamChecked(this, motorMode, &motMode);
-    if (motMode != 0) {
-        return asynSuccess;
-    }
-
     // Store the target position internally
-    getAxisParamChecked(this, motorRecResolution, &motRecRes);
+    getAxisParamChecked(this, motorRecResolution, &motorRecRes);
-    pSinqA_->targetPosition = position * motRecRes;
+    pSinqA_->targetPosition = position * motorRecRes;
 
     status = doMove(position, relative, minVelocity, maxVelocity, acceleration);
     if (status != asynSuccess) {
@@ -495,9 +464,9 @@ asynStatus sinqAxis::enable(bool on) {
 
 asynStatus sinqAxis::motorPosition(double *motorPos) {
     asynStatus status = asynSuccess;
-    double motRecRes = 0.0;
+    double motorRecRes = 0.0;
 
-    getAxisParamChecked(this, motorRecResolution, &motRecRes);
+    getAxisParamChecked(this, motorRecResolution, &motorRecRes);
 
     /*
     We cannot use getAxisParamChecked checked here, since the name of the index
@@ -510,16 +479,41 @@ asynStatus sinqAxis::motorPosition(double *motorPos) {
                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
-    *motorPos = *motorPos * motRecRes;
+    *motorPos = *motorPos * motorRecRes;
     return status;
 }
 
 asynStatus sinqAxis::setMotorPosition(double motorPos) {
     asynStatus status = asynSuccess;
-    double motRecRes = 0.0;
+    double motorRecRes = 0.0;
 
-    getAxisParamChecked(this, motorRecResolution, &motRecRes);
+    getAxisParamChecked(this, motorRecResolution, &motorRecRes);
-    setAxisParamChecked(this, motorPosition, motorPos / motRecRes);
+    setAxisParamChecked(this, motorPosition, motorPos / motorRecRes);
+
+    return status;
+}
+
+asynStatus sinqAxis::setLimits(double highLimit, double lowLimit) {
+    asynStatus status = asynSuccess;
+
+    if (highLimit < lowLimit) {
+        double motorPos;
+        double motorRecRes;
+        status = motorPosition(&motorPos);
+        if (status != asynSuccess) {
+            return status;
+        }
+        getAxisParamChecked(this, motorRecResolution, &motorRecRes);
+
+        // This is a safe fallback
+        setAxisParamChecked(this, motorHighLimitFromDriver,
+                            motorPos + motorRecRes);
+        setAxisParamChecked(this, motorLowLimitFromDriver,
+                            motorPos - motorRecRes);
+    } else {
+        setAxisParamChecked(this, motorHighLimitFromDriver, highLimit);
+        setAxisParamChecked(this, motorLowLimitFromDriver, lowLimit);
+    }
 
     return status;
 }
@@ -613,7 +607,7 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
         double motorVelocityRec = 0.0;
         double motorAccel = 0.0;
         double motorAccelRec = 0.0;
-        double motRecRes = 0.0;
+        double motorRecRes = 0.0;
         time_t timeContSpeed = 0;
         time_t timeAccel = 0;
 
@@ -642,7 +636,7 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
         = VELO / MRES motorAccel = (motorVelocity - motorVelBase) / ACCL
         Therefore, we need to correct the values from the parameter library.
          */
-        getAxisParamChecked(this, motorRecResolution, &motRecRes);
+        getAxisParamChecked(this, motorRecResolution, &motorRecRes);
 
         // Read the velocity
         getAxisParamChecked(this, motorVelocity, &motorVelocityRec);
@@ -651,7 +645,7 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
         // with a sensible value (e.g. > 0)
         if (pl_status == asynSuccess && motorVelocityRec > 0.0) {
             // Convert back to the value in the VELO field
-            motorVelocity = motorVelocityRec * motRecRes;
+            motorVelocity = motorVelocityRec * motorRecRes;
             if (pl_status == asynSuccess) {
 
                 timeContSpeed =
@@ -741,11 +735,6 @@ void sinqAxis::setTargetPosition(double targetPosition) {
     pSinqA_->targetPosition = targetPosition;
 }
 
-asynStatus sinqAxis::setMode(int mode) {
-    (void)mode;
-    return asynSuccess;
-}
-
 // =============================================================================
 // IOC shell functions
 extern "C" {

src/sinqAxis.h

@@ -107,46 +107,14 @@ class HIDDEN sinqAxis : public asynMotorAxis {
      */
     virtual asynStatus doPoll(bool *moving);
 
-    /**
-     * @brief Perform some standardized operations before and after the concrete
-    `doMoveVelocity` implementation.
-
-    * Wrapper around `doMoveVelocity` which checks if the motor is in velocity
-    mode. If that is the case, it, it calls and returns `doMoveVelocity`.
-    Otherwise, it just returns `asynSuccess`.
-     *
-     * @param minVelocity         Forwarded to `doMoveVelocity`.
-     * @param maxVelocity         Forwarded to `doMoveVelocity`.
-     * @param acceleration        Forwarded to `doMoveVelocity`.
-     * @return asynStatus         Forward the status of `doMove`, unless one of
-    the parameter library operation fails (in that case, returns the failed
-    operation status).
-     */
-    virtual asynStatus moveVelocity(double minVelocity, double maxVelocity,
-                                    double acceleration);
-
-    /**
-     * @brief Implementation of the "proper", device-specific move method. This
-    method should be implemented by a child class of sinqAxis.
-     *
-     * @param minVelocity         Minimum velocity VBAS from the motor record
-     * @param maxVelocity         Actual velocity VELO from the motor record
-    (yes, this is named badly. This is not VMAX!)
-     * @param acceleration        Acceleration ACCEL from the motor record
-     * @return asynStatus
-     */
-    virtual asynStatus doMoveVelocity(double minVelocity, double maxVelocity,
-                                      double acceleration);
-
     /**
      * @brief Perform some standardized operations before and after the concrete
     `doMove` implementation.
 
-    * Wrapper around `doMove` which checks if the motor is in position
+    * Wrapper around `doMove` which calculates the (absolute) target position
-    mode. If that is the case, the function calculates the (absolute) target
+    and stores it in the member variable `targetPosition_`. This member variable
-    position and stores it in the member variable `targetPosition_`. This member
+    is e.g. used for the movement watchdog. Afterwards, it calls and returns
-    variable is e.g. used for the movement watchdog. Afterwards, it calls and
+    `doMove`.
-    returns `doMove`. Otherwise, it just returns `asynSuccess`.
      *
      * @param position            Forwarded to `doMove`.
      * @param relative            Forwarded to `doMove`.
@@ -167,9 +135,8 @@ class HIDDEN sinqAxis : public asynMotorAxis {
      * @param position            Target position `VAL` from the motor record
      * @param relative            Specifies, whether the target position is
     relative or absolute.
-     * @param minVelocity         Minimum velocity VBAS from the motor record
+     * @param minVelocity         Minimum velocity VMIN from the motor record
-     * @param maxVelocity         Actual velocity VELO from the motor record
+     * @param maxVelocity         Maximum velocity VMAX from the motor record
-    (yes, this is named badly. This is not VMAX!)
      * @param acceleration        Acceleration ACCEL from the motor record
      * @return asynStatus
      */
@@ -424,6 +391,20 @@ class HIDDEN sinqAxis : public asynMotorAxis {
      */
     asynStatus setMotorPosition(double motorPosition);
 
+    /**
+     * @brief Sanity-check the limits and write them into the database
+     *
+     * If the given `highLimit` is smaller than the `lowLimit`, the limits are
+     * set to `highLimit = motorPosition + motorRecResolution`,
+     * `lowLimit = motorPosition - motorRecResolution` and a warning is
+     * displayed in the IOC shell. This is not an error
+     *
+     * @param highLimit
+     * @param lowLimit
+     * @return asynStatus
+     */
+    asynStatus setLimits(double highLimit, double lowLimit);
+
     /**
      * @brief Check if the axis is not connected and print a corresponding error
      * message
@@ -434,18 +415,6 @@ class HIDDEN sinqAxis : public asynMotorAxis {
      */
     asynStatus assertConnected();
 
-    /**
-     * @brief Set the operation mode (position or velocity) of the axis. It
-     * should be implemented by a child class of sinqAxis.
-     *
-     * This function is called from within sinqController::writeInt32 if a new
-     * operation mode has been set.
-     *
-     * @param mode: New operation mode. 0 is position mode, 1 is velocity mode.
-     * @return asynStatus
-     */
-    virtual asynStatus setMode(int mode);
-
     /**
      * @brief Return a pointer to the axis controller.
      *

src/sinqController.cpp

@@ -100,9 +100,6 @@ struct sinqControllerImpl {
     int motorHighLimitFromDriver;
     int motorLowLimitFromDriver;
     int motorPositionDeadband;
-    int motorMode;
-    int motorCanSetMode;
-    int motorSetMode;
     int adaptivePolling;
     int encoderType;
 };
@@ -150,9 +147,6 @@ sinqController::sinqController(const char *portName,
           .motorHighLimitFromDriver = 0,
           .motorLowLimitFromDriver = 0,
           .motorPositionDeadband = 0,
-          .motorMode = 0,
-          .motorCanSetMode = 0,
-          .motorSetMode = 0,
           .adaptivePolling = 0,
           .encoderType = 0,
       })) {
@@ -396,38 +390,6 @@ sinqController::sinqController(const char *portName,
         exit(-1);
     }
 
-    status = createParam("MOTOR_MODE", asynParamInt32, &pSinqC_->motorMode);
-    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("MOTOR_CAN_SET_MODE", asynParamInt32,
-                         &pSinqC_->motorCanSetMode);
-    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("MOTOR_SET_MODE", asynParamInt32, &pSinqC_->motorSetMode);
-    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);
-    }
-
     // Register the hook function during construction of the first axis object
     if (controller.empty()) {
         initHookRegister(&epicsInithookFunction);
@@ -493,35 +455,6 @@ asynStatus sinqController::writeInt32(asynUser *pasynUser, epicsInt32 value) {
         return axis->reset();
     } else if (function == motorForceStop()) {
         return axis->stop(0.0);
-    } else if (function == motorSetMode()) {
-        // Check if it is allowed to set the mode
-        int canSetMode = 0;
-        getAxisParamChecked(axis, motorCanSetMode, &canSetMode);
-        if (canSetMode == 0) {
-            int axisNo;
-            getAddress(pasynUser, &axisNo);
-            asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                      "Controller \"%s\", axis %d => %s, line %d:\ncannot "
-                      "change operation mode of the motor",
-                      portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
-            return asynError;
-        } else {
-            // Check if the given value is valid (i.e. 0 for position mode or 1
-            // for velocity mode):
-            if (value == 0 || value == 1) {
-                setAxisParamChecked(axis, motorMode, value);
-                return axis->setMode(value);
-            } else {
-                int axisNo;
-                getAddress(pasynUser, &axisNo);
-                asynPrint(
-                    this->pasynUserSelf, ASYN_TRACE_ERROR,
-                    "Controller \"%s\", axis %d => %s, line %d:\n given motor "
-                    "mode must be 0 (position mode) or 1 (velocity mode).",
-                    portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
-                return asynError;
-            }
-        }
     } else {
         return asynMotorController::writeInt32(pasynUser, value);
     }
@@ -809,9 +742,6 @@ int sinqController::motorLowLimitFromDriver() {
 int sinqController::motorPositionDeadband() {
     return pSinqC_->motorPositionDeadband;
 }
-int sinqController::motorMode() { return pSinqC_->motorMode; }
-int sinqController::motorCanSetMode() { return pSinqC_->motorCanSetMode; }
-int sinqController::motorSetMode() { return pSinqC_->motorSetMode; }
 int sinqController::adaptivePolling() { return pSinqC_->adaptivePolling; }
 int sinqController::encoderType() { return pSinqC_->encoderType; }
 

src/sinqController.h

@@ -76,8 +76,7 @@ class HIDDEN sinqController : public asynMotorController {
     /**
      * @brief Overloaded function of asynMotorController
      *
-     * The function is overloaded to allow enabling / disabling the motor and
+     * The function is overloaded to allow enabling / disabling the motor.
-     * setting the operation mode of the motor.
      *
      * @param pasynUser           Specify the axis via the asynUser
      * @param value               New value
@@ -314,7 +313,7 @@ class HIDDEN sinqController : public asynMotorController {
     int motorRecOffset() { return motorRecOffset_; }
 
     // Accessors for additional PVs defined in sinqController (which are hidden
-    // behind pSinqC_)
+    // in pSinqC_)
     int motorMessageText();
     int motorReset();
     int motorEnable();
@@ -332,9 +331,6 @@ class HIDDEN sinqController : public asynMotorController {
     int motorHighLimitFromDriver();
     int motorLowLimitFromDriver();
     int motorPositionDeadband();
-    int motorMode();
-    int motorCanSetMode();
-    int motorSetMode();
     int adaptivePolling();
     int encoderType();