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Added new system disconnect reporting to the phytron driver

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This commit is contained in:
koennecke
2019-01-08 11:35:09 +01:00
parent f909c41a2b
commit 972131d86a
2 changed files with 17 additions and 12 deletions
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27
sinqEPICSApp/src/PhytronDriver.cpp
View File

@ -139,12 +139,14 @@ PhytronAxis* PhytronController::getAxis(int axisNo)
* \param[out] reply The controllers reply * \param[out] reply The controllers reply
*/ */
asynStatus PhytronController::transactController(char command[COMLEN], char reply[COMLEN]) asynStatus PhytronController::transactController(int axisNo,char command[COMLEN], char reply[COMLEN])
{ {
asynStatus status; asynStatus status;
size_t in, out; size_t in, out;
int reason; int reason;
char myReply[COMLEN+10], myCommand[COMLEN+10], *pPtr; char myReply[COMLEN+10], myCommand[COMLEN+10], *pPtr;
SINQAxis *axis = getAxis(axisNo);
pasynOctetSyncIO->flush(pasynUserController_); pasynOctetSyncIO->flush(pasynUserController_);
@ -160,6 +162,9 @@ asynStatus PhytronController::transactController(char command[COMLEN], char repl
status = pasynOctetSyncIO->writeRead(pasynUserController_, myCommand, strlen(myCommand), status = pasynOctetSyncIO->writeRead(pasynUserController_, myCommand, strlen(myCommand),
myReply,sizeof(myReply), 1.,&out,&in,&reason); myReply,sizeof(myReply), 1.,&out,&in,&reason);
if(status != asynSuccess){ if(status != asynSuccess){
if(axis!= NULL){
axis->updateMsgTxtFromDriver("Lost connection to motor controller");
}
return status; return status;
} }
@ -241,7 +246,7 @@ asynStatus PhytronAxis::move(double position, int relative, double minVelocity,
} }
homing = 0; homing = 0;
sprintf(command, "%s%cA%f", pC_->selector,phytronChar,position/1000.); sprintf(command, "%s%cA%f", pC_->selector,phytronChar,position/1000.);
status = pC_->transactController(command,reply); status = pC_->transactController(axisNo_,command,reply);
if(strstr(reply,"NACK") != NULL){ if(strstr(reply,"NACK") != NULL){
errlogSevPrintf(errlogMajor, "Drive command not acknowledged on %d", axisNo_); errlogSevPrintf(errlogMajor, "Drive command not acknowledged on %d", axisNo_);
updateMsgTxtFromDriver("Drive command not acknowledged"); updateMsgTxtFromDriver("Drive command not acknowledged");
@ -263,7 +268,7 @@ asynStatus PhytronAxis::home(double minVelocity, double maxVelocity, double acce
sprintf(command, "%s%cO-",pC_->selector,phytronChar); sprintf(command, "%s%cO-",pC_->selector,phytronChar);
homing = 1; homing = 1;
next_poll= -1; next_poll= -1;
status = pC_->transactController(command,reply); status = pC_->transactController(axisNo_,command,reply);
if(strstr(reply,"NACK") != NULL){ if(strstr(reply,"NACK") != NULL){
errlogSevPrintf(errlogMajor, "Home command not acknowledged on %d", axisNo_); errlogSevPrintf(errlogMajor, "Home command not acknowledged on %d", axisNo_);
setIntegerParam(pC_->motorStatusProblem_, true); setIntegerParam(pC_->motorStatusProblem_, true);
@ -306,7 +311,7 @@ asynStatus PhytronAxis::stop(double acceleration )
char command[COMLEN], reply[COMLEN]; char command[COMLEN], reply[COMLEN];
sprintf(command, "%s%cSN", pC_->selector,phytronChar); sprintf(command, "%s%cSN", pC_->selector,phytronChar);
status = pC_->transactController(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");
@ -320,9 +325,9 @@ asynStatus PhytronAxis::setPosition(double position)
char command[COMLEN], reply[COMLEN]; char command[COMLEN], reply[COMLEN];
sprintf(command, "%s%cP22S%f", pC_->selector,phytronChar, position/1000.); sprintf(command, "%s%cP22S%f", pC_->selector,phytronChar, position/1000.);
status = pC_->transactController(command,reply); status = pC_->transactController(axisNo_,command,reply);
sprintf(command, "%s%cP20S%f", pC_->selector,phytronChar, position/1000.); sprintf(command, "%s%cP20S%f", pC_->selector,phytronChar, position/1000.);
status = pC_->transactController(command,reply); status = pC_->transactController(axisNo_,command,reply);
next_poll = -1; next_poll = -1;
return status; return status;
@ -366,7 +371,7 @@ asynStatus PhytronAxis::poll(bool *moving)
sprintf(command,"%s%cP20R",pC_->selector,phytronChar); sprintf(command,"%s%cP20R",pC_->selector,phytronChar);
} }
comStatus = pC_->transactController(command,reply); comStatus = pC_->transactController(axisNo_,command,reply);
if(comStatus) goto skip; if(comStatus) goto skip;
if(strstr(reply,"NACK") != NULL){ if(strstr(reply,"NACK") != NULL){
@ -386,7 +391,7 @@ asynStatus PhytronAxis::poll(bool *moving)
// Read the moving status of this motor // Read the moving status of this motor
sprintf(command,"%s%c=H",pC_->selector,phytronChar); sprintf(command,"%s%c=H",pC_->selector,phytronChar);
comStatus = pC_->transactController(command,reply); comStatus = pC_->transactController(axisNo_,command,reply);
if(comStatus) goto skip; if(comStatus) goto skip;
/* errlogPrintf("Axis %d, status reply %s, position %lf\n", axisNo_, reply, position); */ /* errlogPrintf("Axis %d, status reply %s, position %lf\n", axisNo_, reply, position); */
if(strstr(reply,"ACKN") != NULL){ if(strstr(reply,"ACKN") != NULL){
@ -410,7 +415,7 @@ asynStatus PhytronAxis::poll(bool *moving)
check limits and errors, upper check limits and errors, upper
*/ */
sprintf(command,"%s%c=I+",pC_->selector,phytronChar); sprintf(command,"%s%c=I+",pC_->selector,phytronChar);
comStatus = pC_->transactController(command,reply); comStatus = pC_->transactController(axisNo_,command,reply);
if(comStatus) goto skip; if(comStatus) goto skip;
if(strstr(reply,"ACKE") != NULL){ if(strstr(reply,"ACKE") != NULL){
setIntegerParam(pC_->motorStatusHighLimit_, true); setIntegerParam(pC_->motorStatusHighLimit_, true);
@ -423,7 +428,7 @@ asynStatus PhytronAxis::poll(bool *moving)
lower limit lower limit
*/ */
sprintf(command,"%s%c=I-",pC_->selector,phytronChar); sprintf(command,"%s%c=I-",pC_->selector,phytronChar);
comStatus = pC_->transactController(command,reply); comStatus = pC_->transactController(axisNo_,command,reply);
if(comStatus) goto skip; if(comStatus) goto skip;
if(strstr(reply,"ACKE") != NULL){ if(strstr(reply,"ACKE") != NULL){
setIntegerParam(pC_->motorStatusLowLimit_, true); setIntegerParam(pC_->motorStatusLowLimit_, true);
@ -436,7 +441,7 @@ asynStatus PhytronAxis::poll(bool *moving)
error error
*/ */
sprintf(command,"%s%c=E",pC_->selector,phytronChar); sprintf(command,"%s%c=E",pC_->selector,phytronChar);
comStatus = pC_->transactController(command,reply); comStatus = pC_->transactController(axisNo_,command,reply);
if(comStatus) goto skip; if(comStatus) goto skip;
if(strstr(reply,"ACKE") != NULL){ if(strstr(reply,"ACKE") != NULL){
setIntegerParam(pC_->motorStatusProblem_, true); setIntegerParam(pC_->motorStatusProblem_, true);

2
sinqEPICSApp/src/PhytronDriver.h
View File

@ -56,7 +56,7 @@ friend class PhytronAxis;
private: private:
asynUser *pasynUserController_; asynUser *pasynUserController_;
asynStatus transactController(char command[COMLEN], char reply[COMLEN]); asynStatus transactController(int axisNo, char command[COMLEN], char reply[COMLEN]);
const char *selector; const char *selector;