lin-epics-modules/sinqepicsapp
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

PMAC V3: axis status 5,6 not a failure

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

53
sinqEPICSApp/src/pmacAxis.cpp
View File

@ -484,33 +484,32 @@ asynStatus pmacAxis::getAxisStatus(bool *moving) {
/* /*
code to test against too long status 5 or 6 code to test against too long status 5 or 6
*/ */
if (axStat == 5 || axStat == 6) { // if (axStat == 5 || axStat == 6) {
if (status6Time == 0) { // if (status6Time == 0) {
status6Time = time(NULL); // status6Time = time(NULL);
statusPos = position; // statusPos = position;
} else { // } else {
if (time(NULL) > status6Time + 60) { // if (time(NULL) > status6Time + 60) {
/* trigger error only when not moving */ ///* trigger error only when not moving */
if (abs(position - statusPos) < .1) { // if (abs(position - statusPos) < .1) {
done = 1; // done = 1;
*moving = false; //*moving = false;
setIntegerParam(pC_->motorStatusMoving_, false); // setIntegerParam(pC_->motorStatusMoving_, false);
setIntegerParam(pC_->motorStatusDone_, true); // setIntegerParam(pC_->motorStatusDone_, true);
setIntegerParam(pC_->motorStatusProblem_, true); // setIntegerParam(pC_->motorStatusProblem_, true);
errlogPrintf( // errlogPrintf("Axis %d stayed in 5,6 for more then 60 seconds BROKEN\n",
"Axis %d stayed in 5,6 for more then 60 seconds BROKEN\n", // axisNo_);
axisNo_); // updateMsgTxtFromDriver("Axis stayed in 5,6 for more then 60 seconds:
updateMsgTxtFromDriver( // BROKEN");
"Axis stayed in 5,6 for more then 60 seconds: BROKEN"); // status6Time = 0;
status6Time = 0; // return asynSuccess;
return asynSuccess; // } else {
} else { // status6Time = time(NULL);
status6Time = time(NULL); // statusPos = position;
statusPos = position; // }
} // }
} // }
} //}
}
if (!done) { if (!done) {
*moving = true; *moving = true;