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PMAC V3: axis status 5,6 not a failure

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The old implementation assumes that the axis staying in state 5,6
for too much time a implies a failure. This is no longer the case.
This commit is contained in:
brambilla_m
2022-07-21 13:37:32 +02:00
parent 80877aa6ab
commit 339da2e9ff
1 changed files with 26 additions and 27 deletions
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53
sinqEPICSApp/src/pmacAxis.cpp
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@ -484,33 +484,32 @@ asynStatus pmacAxis::getAxisStatus(bool *moving) {
/*
code to test against too long status 5 or 6
*/
if (axStat == 5 || axStat == 6) {
if (status6Time == 0) {
status6Time = time(NULL);
statusPos = position;
} else {
if (time(NULL) > status6Time + 60) {
/* trigger error only when not moving */
if (abs(position - statusPos) < .1) {
done = 1;
*moving = false;
setIntegerParam(pC_->motorStatusMoving_, false);
setIntegerParam(pC_->motorStatusDone_, true);
setIntegerParam(pC_->motorStatusProblem_, true);
errlogPrintf(
"Axis %d stayed in 5,6 for more then 60 seconds BROKEN\n",
axisNo_);
updateMsgTxtFromDriver(
"Axis stayed in 5,6 for more then 60 seconds: BROKEN");
status6Time = 0;
return asynSuccess;
} else {
status6Time = time(NULL);
statusPos = position;
}
}
}
}
// if (axStat == 5 || axStat == 6) {
// if (status6Time == 0) {
// status6Time = time(NULL);
// statusPos = position;
// } else {
// if (time(NULL) > status6Time + 60) {
///* trigger error only when not moving */
// if (abs(position - statusPos) < .1) {
// done = 1;
//*moving = false;
// setIntegerParam(pC_->motorStatusMoving_, false);
// setIntegerParam(pC_->motorStatusDone_, true);
// setIntegerParam(pC_->motorStatusProblem_, true);
// errlogPrintf("Axis %d stayed in 5,6 for more then 60 seconds BROKEN\n",
// axisNo_);
// updateMsgTxtFromDriver("Axis stayed in 5,6 for more then 60 seconds:
// BROKEN");
// status6Time = 0;
// return asynSuccess;
// } else {
// status6Time = time(NULL);
// statusPos = position;
// }
// }
// }
//}
if (!done) {
*moving = true;