Merge branch 'lift_axis_no_autoenable'

sinqEPICSApp/src/EL734Driver.cpp

@@ -143,6 +143,11 @@ asynStatus EL734Controller::transactController(int axisNo, char command[COMLEN],
 
   pasynOctetSyncIO->flush(pasynUserController_);
 
+  if (axis != NULL)
+  {
+    axis->updateMsgTxtFromDriver("");
+  }
+
   status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
                                        reply, COMLEN, 2., &out, &in, &reason);
   if (status != asynSuccess)

sinqEPICSApp/src/pmacAxis.cpp

@@ -1186,6 +1186,8 @@ AmorDetectorAxis::AmorDetectorAxis(pmacController *pC, int axisNo, int function)
   pC_->debugFlow(functionName);
 
   _function = function;
+  det_starting = false;
+  det_startTime = time(NULL);
 
   callParamCallbacks();
 

sinqEPICSApp/src/pmacAxis.h

@@ -1,169 +1,180 @@
 /********************************************
  *  pmacAxis.cpp
- * 
- *  PMAC Asyn motor based on the 
+ *
+ *  PMAC Asyn motor based on the
  *  asynMotorAxis class.
- * 
+ *
  *  Matthew Pearson
  *  23 May 2012
- * 
+ *
  * Modified to use the MsgTxt field for SINQ
  *
  * Mark Koennecke, January 2019
  *
- * EXtended with special motor axis for the Selene 
+ * EXtended with special motor axis for the Selene
  * guide, Mark Koennecke, February 2020
  ********************************************/
 
 #ifndef pmacAxis_H
 #define pmacAxis_H
 
-#include "SINQController.h"
 #include "SINQAxis.h"
+#include "SINQController.h"
 
 class pmacController;
 class SeleneController;
 
-class pmacAxis : public SINQAxis
-{
+class pmacAxis : public SINQAxis {
   public:
-  /* These are the methods we override from the base class */
-  pmacAxis(pmacController *pController, int axisNo, bool enable=true);
-  virtual ~pmacAxis();
-  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
-  asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
-  asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
-  asynStatus stop(double acceleration);
-  asynStatus poll(bool *moving);
-  asynStatus setPosition(double position);
-  asynStatus enable(int on);
+    /* These are the methods we override from the base class */
+    pmacAxis(pmacController *pController, int axisNo, bool enable = true);
+    virtual ~pmacAxis();
+    asynStatus move(double position, int relative, double min_velocity,
+                    double max_velocity, double acceleration);
+    asynStatus moveVelocity(double min_velocity, double max_velocity,
+                            double acceleration);
+    asynStatus home(double min_velocity, double max_velocity,
+                    double acceleration, int forwards);
+    asynStatus stop(double acceleration);
+    asynStatus poll(bool *moving);
+    asynStatus setPosition(double position);
+    asynStatus enable(int on);
 
-protected:
-  pmacController *pC_;
-  
-  asynStatus getAxisStatus(bool *moving);
-  asynStatus getAxisInitialStatus(void);
+  protected:
+    pmacController *pC_;
 
-  double setpointPosition_;
-  double encoderPosition_;
-  double currentVelocity_;
-  double velocity_;
-  double accel_;
-  double highLimit_;
-  double lowLimit_;
-  double scale_;
-  double previous_position_;
-  int previous_direction_;
-  int encoder_axis_;
-  int axisErrorCount;
+    asynStatus getAxisStatus(bool *moving);
+    asynStatus getAxisInitialStatus(void);
 
-  time_t startTime;
-  time_t status6Time;
-  int starting;
-  int homing;
-  double statusPos;
+    double setpointPosition_;
+    double encoderPosition_;
+    double currentVelocity_;
+    double velocity_;
+    double accel_;
+    double highLimit_;
+    double lowLimit_;
+    double scale_;
+    double previous_position_;
+    int previous_direction_;
+    int encoder_axis_;
+    int axisErrorCount;
 
-  time_t next_poll;
+    time_t startTime;
+    time_t status6Time;
+    int starting;
+    int homing;
+    double statusPos;
 
-  bool autoEnable;
-  
-  friend class pmacController;
-  friend class pmacV3Controller;
+    time_t next_poll;
+
+    bool autoEnable;
+
+    friend class pmacController;
+    friend class pmacV3Controller;
 };
 /*--------------------------------------------------------------------------------------------*/
-class SeleneAxis : public pmacAxis
-{
+class SeleneAxis : public pmacAxis {
   public:
-   SeleneAxis(SeleneController *pController, int axisNo, double limitTarget);
-   asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
-   asynStatus setPosition(double position);
-   asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
+    SeleneAxis(SeleneController *pController, int axisNo, double limitTarget);
+    asynStatus move(double position, int relative, double min_velocity,
+                    double max_velocity, double acceleration);
+    asynStatus setPosition(double position);
+    asynStatus home(double min_velocity, double max_velocity,
+                    double acceleration, int forwards);
 
- protected:
-  friend class SeleneController;
-  friend class pmacController;
-
- private:
-  double limitTarget;
-  asynStatus getSeleneAxisInitialStatus(void);
+  protected:
+    friend class SeleneController;
+    friend class pmacController;
 
+  private:
+    double limitTarget;
+    asynStatus getSeleneAxisInitialStatus(void);
 };
 
 /*
-  Yet another special set of motors for the Selene Guide at AMOR. Each segment can be lifted or tilted. This is 
-  two motors. One acts as a slave and only writes a new target, the other also sets a new target and sends the 
-  actual movement command. Both motors are coordianted in the motor controller in order to avoid tension on 
-  the guide elements. This gaves rise to the function code LIFTSLAVE and LIFTMASTER.
+  Yet another special set of motors for the Selene Guide at AMOR. Each segment
+  can be lifted or tilted. This is two motors. One acts as a slave and only
+  writes a new target, the other also sets a new target and sends the actual
+  movement command. Both motors are coordianted in the motor controller in order
+  to avoid tension on the guide elements. This gaves rise to the function code
+  LIFTSLAVE and LIFTMASTER.
 
-  In another mode the whole guide can be lifted or tilted. Then motor 1 and 6 get new values and one of them 
-  sends the drive command. This causes all 6 motors to drive synchronously to their new targets. This is 
-  implemented through the LIFTSEGMENT function code. 
+  In another mode the whole guide can be lifted or tilted. Then motor 1 and 6
+  get new values and one of them sends the drive command. This causes all 6
+  motors to drive synchronously to their new targets. This is implemented
+  through the LIFTSEGMENT function code.
 
-  Mark Koennecke, February 2020 
+  Mark Koennecke, February 2020
 
   The axis should not be enabled automatically
 
-  Michele Brambilla, February 2020 
+  Michele Brambilla, February 2020
 
  */
-class LiftAxis : public pmacAxis
-{
- public:
- LiftAxis(pmacController *pController, int axisNo) : pmacAxis((pmacController *)pController,axisNo) {};
-  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
-  asynStatus poll(bool *moving);
-  asynStatus stop(double acceleration);
- private:
-  int waitStart;
+class LiftAxis : public pmacAxis {
+  public:
+    /*
+    The default constructor of LiftAxis just forwards to the pmacAxis
+    constructor, which has an optional argument "autoenable" with the default
+    value "true". However, we want that argument to be false, hence we provide
+    an explicit constructor.
+    */
+    LiftAxis(pmacController *pController, int axisNo)
+        : pmacAxis((pmacController *)pController, axisNo, false) {};
+    asynStatus move(double position, int relative, double min_velocity,
+                    double max_velocity, double acceleration);
+    asynStatus poll(bool *moving);
+    asynStatus stop(double acceleration);
+
+  private:
+    int waitStart;
 };
 
- /********************************************
+/********************************************
  * Protocol version 3 requires just some minor change
  *
  * Michele Brambilla, February 2022
  ********************************************/
 
 class pmacV3Axis : public pmacAxis {
-public:
+  public:
+    pmacV3Axis(pmacController *pController, int axisNo);
 
-  pmacV3Axis(pmacController *pController, int axisNo);
+    asynStatus move(double position, int relative, double min_velocity,
+                    double max_velocity, double acceleration);
+    asynStatus poll(bool *moving);
 
-  asynStatus move(double position, int relative, double min_velocity,
-                  double max_velocity, double acceleration);
-  asynStatus poll(bool *moving);
- protected:
-  int IsEnable;
-  double Speed;
+  protected:
+    int IsEnable;
+    double Speed;
 
-  asynStatus getAxisStatus(bool *moving);
+    asynStatus getAxisStatus(bool *moving);
 
-  friend class pmacController;
-  friend class pmacV3Controller;
- };
-
-/*----------------------------------------------------------------------------------------------*/
-class pmacHRPTAxis : public pmacV3Axis
-{
- public: 
- pmacHRPTAxis(pmacController *pController, int axisNo) : pmacV3Axis(pController,axisNo) {};
-  /**
-   * Override getAxisStatus in order to read the special parameter indicating a
-   * slit blade crash at HRPT
-   */
-  asynStatus getAxisStatus(bool *moving);
-
- protected:
-  friend class pmacController;
-  
+    friend class pmacController;
+    friend class pmacV3Controller;
 };
 
+/*----------------------------------------------------------------------------------------------*/
+class pmacHRPTAxis : public pmacV3Axis {
+  public:
+    pmacHRPTAxis(pmacController *pController, int axisNo)
+        : pmacV3Axis(pController, axisNo) {};
+    /**
+     * Override getAxisStatus in order to read the special parameter indicating
+     * a slit blade crash at HRPT
+     */
+    asynStatus getAxisStatus(bool *moving);
+
+  protected:
+    friend class pmacController;
+};
 
 /*
  * Special motors for the AMOR detector movement. The whole
  * command set is different but on a pmac controller. This implements
  * a coordinated movement of cox, coz and ftz in order not to break
  * the flight tube which may have been mounted. This is mapped to three
- * motors selected via the function code: com, the detector omega, coz, 
+ * motors selected via the function code: com, the detector omega, coz,
  * the detector z offset and park, for parking the flightpath.
  */
 
@@ -171,39 +182,41 @@ class pmacHRPTAxis : public pmacV3Axis
 #define ADCOZ 2
 #define ADPARK 3
 
-class AmorDetectorAxis: public pmacAxis {
-public:
-  AmorDetectorAxis(pmacController *pController, int axisNo, int function);
+class AmorDetectorAxis : public pmacAxis {
+  public:
+    AmorDetectorAxis(pmacController *pController, int axisNo, int function);
 
-  asynStatus move(double position, int relative, double min_velocity,
-                  double max_velocity, double acceleration);
-  asynStatus poll(bool *moving);
-  asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
-  asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
-  asynStatus stop(double acceleration);
-  asynStatus setPosition(double position);
+    asynStatus move(double position, int relative, double min_velocity,
+                    double max_velocity, double acceleration);
+    asynStatus poll(bool *moving);
+    asynStatus moveVelocity(double min_velocity, double max_velocity,
+                            double acceleration);
+    asynStatus home(double min_velocity, double max_velocity,
+                    double acceleration, int forwards);
+    asynStatus stop(double acceleration);
+    asynStatus setPosition(double position);
 
-protected:
-  int _function;
-  int det_starting;
-  time_t det_startTime;
+  protected:
+    int _function;
+    int det_starting;
+    time_t det_startTime;
 };
 
 /*----------------------------------------------------------------------------------------------*/
 
-
-class GirderAxis: public pmacV3Axis {
+class GirderAxis : public pmacV3Axis {
   public:
     GirderAxis(pmacController *pController, int axisNo);
-    asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
+    asynStatus move(double position, int relative, double min_velocity,
+                    double max_velocity, double acceleration);
     asynStatus stop(double acceleration);
     asynStatus poll(bool *moving);
 
   protected:
     int IsEnable;
 
-  friend class pmacController;
-  friend class pmacV3Controller;
+    friend class pmacController;
+    friend class pmacV3Controller;
 };
 
 #endif /* pmacAxis_H */

sinqEPICSApp/src/sinq.dbd

@@ -5,9 +5,9 @@ registrar(EL734Register)
 registrar(PhytronRegister) 
 registrar(EuroMoveRegister) 
 registrar(NanotecRegister) 
-registrar(pmacControllerRegister) 
+# registrar(pmacControllerRegister) 
 registrar(C804ControllerRegister) 
-registrar(pmacAsynIPPortRegister) 
+# registrar(pmacAsynIPPortRegister) 
 registrar(MasterMACSRegister) 
 registrar(SINQControllerRegister)