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Merge branch 'lift_axis_no_autoenable'

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This commit is contained in:
mathis_s
2025-04-17 17:00:19 +02:00
parent 7e1fc78f76 d0c009ea38
commit 9e77eb585c
5 changed files with 151 additions and 131 deletions
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10
Makefile.RHEL8
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@ -10,10 +10,10 @@ ARCH_FILTER=RHEL%
REQUIRED+=SynApps
REQUIRED+=stream
REQUIRED+=scaler
REQUIRED+=asynMotor
REQUIRED+=motorBase
# Release version
LIBVERSION=2024-dev
LIBVERSION=2025
# DB files to include in the release
TEMPLATES += sinqEPICSApp/Db/dimetix.db
@ -32,9 +32,9 @@ SOURCES += sinqEPICSApp/src/NanotecDriver.cpp
SOURCES += sinqEPICSApp/src/stptok.cpp
SOURCES += sinqEPICSApp/src/PhytronDriver.cpp
SOURCES += sinqEPICSApp/src/EuroMoveDriver.cpp
SOURCES += sinqEPICSApp/src/pmacAsynIPPort.c
SOURCES += sinqEPICSApp/src/pmacAxis.cpp
SOURCES += sinqEPICSApp/src/pmacController.cpp
# SOURCES += sinqEPICSApp/src/pmacAsynIPPort.c
# SOURCES += sinqEPICSApp/src/pmacAxis.cpp
# SOURCES += sinqEPICSApp/src/pmacController.cpp
SOURCES += sinqEPICSApp/src/MasterMACSDriver.cpp
SOURCES += sinqEPICSApp/src/C804Axis.cpp
SOURCES += sinqEPICSApp/src/C804Controller.cpp

5
sinqEPICSApp/src/EL734Driver.cpp
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@ -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)

2
sinqEPICSApp/src/pmacAxis.cpp
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@ -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();

81
sinqEPICSApp/src/pmacAxis.h
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@ -18,21 +18,23 @@
#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 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);
@ -71,13 +73,14 @@ protected:
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 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);
asynStatus home(double min_velocity, double max_velocity,
double acceleration, int forwards);
protected:
friend class SeleneController;
@ -86,18 +89,20 @@ class SeleneAxis : public pmacAxis
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
@ -106,13 +111,21 @@ class SeleneAxis : public pmacAxis
Michele Brambilla, February 2020
*/
class LiftAxis : public pmacAxis
{
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);
/*
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;
};
@ -125,12 +138,12 @@ class LiftAxis : public pmacAxis
class pmacV3Axis : public pmacAxis {
public:
pmacV3Axis(pmacController *pController, int axisNo);
asynStatus move(double position, int relative, double min_velocity,
double max_velocity, double acceleration);
asynStatus poll(bool *moving);
protected:
int IsEnable;
double Speed;
@ -142,22 +155,20 @@ public:
};
/*----------------------------------------------------------------------------------------------*/
class pmacHRPTAxis : public pmacV3Axis
{
class pmacHRPTAxis : public pmacV3Axis {
public:
pmacHRPTAxis(pmacController *pController, int axisNo) : pmacV3Axis(pController,axisNo) {};
pmacHRPTAxis(pmacController *pController, int axisNo)
: pmacV3Axis(pController, axisNo) {};
/**
* Override getAxisStatus in order to read the special parameter indicating a
* slit blade crash at HRPT
* 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
@ -178,8 +189,10 @@ public:
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 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);
@ -191,11 +204,11 @@ protected:
/*----------------------------------------------------------------------------------------------*/
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);

4
sinqEPICSApp/src/sinq.dbd
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@ -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)