lin-epics-modules/sinqepicsapp
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Implemented that enable commands are only sent when a status chnage is required

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Stop commands are only sent by EL734 and pmac when actually moving. The
motor record logic calls stop() in an excessive way.
This commit is contained in:
koennecke
2023-05-31 09:37:22 +02:00
parent 72afd02b4e
commit 8a6441927a
3 changed files with 22 additions and 7 deletions
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5
sinqEPICSApp/src/EL734Driver.cpp
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@@ -341,12 +341,15 @@ asynStatus EL734Axis::stop(double acceleration )
asynStatus status = asynSuccess; asynStatus status = asynSuccess;
//static const char *functionName = "EL734Axis::stop"; //static const char *functionName = "EL734Axis::stop";
char command[COMLEN], reply[COMLEN]; char command[COMLEN], reply[COMLEN];
bool moving = false;
if(errorReported == 0){ this->poll(&moving);
if(moving && errorReported == 0){
sprintf(command, "S %d", axisNo_); sprintf(command, "S %d", axisNo_);
status = pC_->transactController(axisNo_,command,reply); status = pC_->transactController(axisNo_,command,reply);
errlogPrintf("Sent STOP on Axis %d\n", axisNo_); errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
updateMsgTxtFromDriver("Axis interrupted"); updateMsgTxtFromDriver("Axis interrupted");
errorReported = 1;
} }
return status; return status;

7
sinqEPICSApp/src/pmacAxis.cpp
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@@ -284,15 +284,20 @@ asynStatus pmacAxis::setPosition(double position) {
asynStatus pmacAxis::stop(double acceleration) { asynStatus pmacAxis::stop(double acceleration) {
asynStatus status = asynError; asynStatus status = asynError;
static const char *functionName = "pmacAxis::stopAxis"; static const char *functionName = "pmacAxis::stopAxis";
bool moving = false;
pC_->debugFlow(functionName); pC_->debugFlow(functionName);
char command[128] = {0}; char command[128] = {0};
char response[32] = {0}; char response[32] = {0};
sprintf(command, "M%2.2d=8", axisNo_); this->getAxisStatus(&moving);
if(moving) {
// only send a stop when actually moving
sprintf(command, "M%2.2d=8", axisNo_);
status = pC_->lowLevelWriteRead(axisNo_, command, response); status = pC_->lowLevelWriteRead(axisNo_, command, response);
}
return status; return status;
} }

11
sinqEPICSApp/src/pmacController.cpp
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@@ -820,6 +820,7 @@ asynStatus pmacV3Controller::writeInt32(asynUser *pasynUser, epicsInt32 value) {
pmacV3Axis *pAxis = NULL; pmacV3Axis *pAxis = NULL;
char command[64] = {0}; char command[64] = {0};
char response[64] = {0}; char response[64] = {0};
int isOn;
static const char *functionName = "pmacV3Controller::writeInt32"; static const char *functionName = "pmacV3Controller::writeInt32";
debugFlow(functionName); debugFlow(functionName);
@@ -834,17 +835,23 @@ asynStatus pmacV3Controller::writeInt32(asynUser *pasynUser, epicsInt32 value) {
pAxis->setIntegerParam(function, value); pAxis->setIntegerParam(function, value);
if (function == enableAxis_) { if (function == enableAxis_) {
if(value == 1) { // only send commands when a state change is necessary
snprintf(command, sizeof(command), "P%2.2d00", pAxis->axisNo_);
this->lowLevelWriteRead(pAxis->axisNo_, command, response);
isOn = strtol(response, NULL, 10);
if(value == 1 && isOn == 0) {
sprintf(command, "M%2.2d=15\n", pAxis->axisNo_); sprintf(command, "M%2.2d=15\n", pAxis->axisNo_);
lowLevelWriteRead(pAxis->axisNo_, command, response); lowLevelWriteRead(pAxis->axisNo_, command, response);
} }
sprintf(command, "M%2.2d14=%d\n", pAxis->axisNo_, value); sprintf(command, "M%2.2d14=%d\n", pAxis->axisNo_, value);
pAxis->updateMsgTxtFromDriver("");
if(isOn != value) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW, asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
"%s: Enable axis on controller %s, axis %d enable=%d\n", "%s: Enable axis on controller %s, axis %d enable=%d\n",
functionName, portName, pAxis->axisNo_, value); functionName, portName, pAxis->axisNo_, value);
pAxis->updateMsgTxtFromDriver("");
lowLevelWriteRead(pAxis->axisNo_, command, response); lowLevelWriteRead(pAxis->axisNo_, command, response);
} }
}
return pmacController::writeInt32(pasynUser, value); return pmacController::writeInt32(pasynUser, value);
} }