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The member variable oredMSR of EL734Axis contains the axis status from the previous poll.

Browse Source 
Therefore, it needs to initialized with a sensible value (i.e. 1 which
means that the axis is standing still and has no errors.
This commit is contained in:
mathis_s
2024-09-10 08:58:59 +02:00
parent c972cce072
commit a6a8f14b26
2 changed files with 257 additions and 206 deletions
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160
sinqEPICSApp/src/EL734Driver.cpp
View File

@ -11,7 +11,6 @@ Mark Koennecke, May, August 2017
*/ */
#include <stdio.h> #include <stdio.h>
#include <string.h> #include <string.h>
#include <stdlib.h> #include <stdlib.h>
@ -30,7 +29,6 @@ Mark Koennecke, May, August 2017
#define IDLEPOLL 60 #define IDLEPOLL 60
/** Creates a new EL734Controller object. /** Creates a new EL734Controller object.
* \param[in] portName The name of the asyn port that will be created for this driver * \param[in] portName The name of the asyn port that will be created for this driver
* \param[in] EL734PortName The name of the drvAsynSerialPort that was created previously to connect to the EL734 controller * \param[in] EL734PortName The name of the drvAsynSerialPort that was created previously to connect to the EL734 controller
@ -43,10 +41,10 @@ EL734Controller::EL734Controller(const char *portName, const char *EL734PortName
asynStatus status; asynStatus status;
static const char *functionName = "EL734Controller::EL734Controller"; static const char *functionName = "EL734Controller::EL734Controller";
/* Connect to EL734 controller */ /* Connect to EL734 controller */
status = pasynOctetSyncIO->connect(EL734PortName, 0, &pasynUserController_, NULL); status = pasynOctetSyncIO->connect(EL734PortName, 0, &pasynUserController_, NULL);
if (status) { if (status)
{
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"%s: cannot connect to EL734 controller\n", "%s: cannot connect to EL734 controller\n",
functionName); functionName);
@ -56,14 +54,14 @@ EL734Controller::EL734Controller(const char *portName, const char *EL734PortName
switchRemote(); switchRemote();
for (axis=0; axis<numAxes; axis++) { for (axis = 0; axis < numAxes; axis++)
{
new EL734Axis(this, axis + 1); new EL734Axis(this, axis + 1);
} }
startPoller(1000. / 1000., IDLEPOLL, 2); startPoller(1000. / 1000., IDLEPOLL, 2);
} }
/** Creates a new EL734Controller object. /** Creates a new EL734Controller object.
* Configuration command, called directly or from iocsh * Configuration command, called directly or from iocsh
* \param[in] portName The name of the asyn port that will be created for this driver * \param[in] portName The name of the asyn port that will be created for this driver
@ -72,8 +70,7 @@ EL734Controller::EL734Controller(const char *portName, const char *EL734PortName
*/ */
extern "C" int EL734CreateController(const char *portName, const char *EL734PortName, int numAxes) extern "C" int EL734CreateController(const char *portName, const char *EL734PortName, int numAxes)
{ {
EL734Controller *pEL734Controller EL734Controller *pEL734Controller = new EL734Controller(portName, EL734PortName, numAxes);
= new EL734Controller(portName, EL734PortName, numAxes);
pEL734Controller = NULL; pEL734Controller = NULL;
return (asynSuccess); return (asynSuccess);
} }
@ -148,8 +145,10 @@ asynStatus EL734Controller::transactController(int axisNo,char command[COMLEN],
status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command), status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
reply, COMLEN, 2., &out, &in, &reason); reply, COMLEN, 2., &out, &in, &reason);
if(status != asynSuccess){ if (status != asynSuccess)
if(axis!= NULL){ {
if (axis != NULL)
{
axis->updateMsgTxtFromDriver("Lost connection to motor controller"); axis->updateMsgTxtFromDriver("Lost connection to motor controller");
} }
return status; return status;
@ -158,7 +157,8 @@ asynStatus EL734Controller::transactController(int axisNo,char command[COMLEN],
/* /*
check for the offline reply check for the offline reply
*/ */
if(strstr(reply,"?LOC") != NULL){ if (strstr(reply, "?LOC") != NULL)
{
switchRemote(); switchRemote();
return pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command), return pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
reply, COMLEN, 1., &out, &in, &reason); reply, COMLEN, 1., &out, &in, &reason);
@ -167,7 +167,8 @@ asynStatus EL734Controller::transactController(int axisNo,char command[COMLEN],
/* /*
check for echos. This means that the thing is offline. check for echos. This means that the thing is offline.
*/ */
if(strstr(reply,"p ") != NULL || strstr(reply,"u ") != NULL || strstr(reply,"msr ") != NULL){ if (strstr(reply, "p ") != NULL || strstr(reply, "u ") != NULL || strstr(reply, "msr ") != NULL)
{
switchRemote(); switchRemote();
return pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command), return pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
reply, COMLEN, 1., &out, &in, &reason); reply, COMLEN, 1., &out, &in, &reason);
@ -176,27 +177,36 @@ asynStatus EL734Controller::transactController(int axisNo,char command[COMLEN],
check for EL734 errors check for EL734 errors
*/ */
strcpy(myReply, reply); strcpy(myReply, reply);
for(i = 0; i < strlen(reply); i++){ for (i = 0; i < strlen(reply); i++)
{
myReply[i] = (char)tolower((int)reply[i]); myReply[i] = (char)tolower((int)reply[i]);
} }
if(strstr(myReply,"?cmd") != NULL){ if (strstr(myReply, "?cmd") != NULL)
{
snprintf(errTxt, sizeof(errTxt), "Bad command %s at axis %d", command, axisNo); snprintf(errTxt, sizeof(errTxt), "Bad command %s at axis %d", command, axisNo);
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, errTxt); asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, errTxt);
if(axis!= NULL){ if (axis != NULL)
{
axis->updateMsgTxtFromDriver(errTxt); axis->updateMsgTxtFromDriver(errTxt);
} }
return asynError; return asynError;
} else if(strstr(myReply,"?par") != NULL){ }
else if (strstr(myReply, "?par") != NULL)
{
snprintf(errTxt, sizeof(errTxt), "Bad parameter in command %s", command); snprintf(errTxt, sizeof(errTxt), "Bad parameter in command %s", command);
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, errTxt); asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, errTxt);
if(axis!= NULL){ if (axis != NULL)
{
axis->updateMsgTxtFromDriver(errTxt); axis->updateMsgTxtFromDriver(errTxt);
} }
return asynError; return asynError;
} else if(strstr(myReply,"?rng") != NULL){ }
else if (strstr(myReply, "?rng") != NULL)
{
snprintf(errTxt, sizeof(errTxt), "Parameter out of range in command %s", command); snprintf(errTxt, sizeof(errTxt), "Parameter out of range in command %s", command);
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, errTxt); asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, errTxt);
if(axis!= NULL){ if (axis != NULL)
{
axis->updateMsgTxtFromDriver(errTxt); axis->updateMsgTxtFromDriver(errTxt);
} }
return asynError; return asynError;
@ -226,24 +236,34 @@ EL734Axis::EL734Axis(EL734Controller *pC, int axisNo)
*/ */
sprintf(command, "H %d", axisNo_); sprintf(command, "H %d", axisNo_);
status = pC_->transactController(axisNo_, command, reply); status = pC_->transactController(axisNo_, command, reply);
if(status == asynSuccess){ if (status == asynSuccess)
{
count = sscanf(reply, "%f %f", &low, &high); count = sscanf(reply, "%f %f", &low, &high);
if(count >= 2){ if (count >= 2)
{
pC_->setDoubleParam(axisNo_, pC_->motorLowLimit_, low); pC_->setDoubleParam(axisNo_, pC_->motorLowLimit_, low);
pC_->setDoubleParam(axisNo_, pC_->motorHighLimit_, high); pC_->setDoubleParam(axisNo_, pC_->motorHighLimit_, high);
callParamCallbacks(); callParamCallbacks();
} else { }
else
{
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Bad response - %s - requesting limits at axis %d", reply, axisNo_); "Bad response - %s - requesting limits at axis %d", reply, axisNo_);
} }
} else { }
else
{
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Failed to read limits at axis %d", axisNo_); "Failed to read limits at axis %d", axisNo_);
} }
/*
oredMSR contains the axis status from the previous poll. The initial value
1 means that the axis is not moving and has no errors.
*/
oredMSR = 1;
} }
/** Reports on status of the axis /** Reports on status of the axis
* \param[in] fp The file pointer on which report information will be written * \param[in] fp The file pointer on which report information will be written
* \param[in] level The level of report detail desired * \param[in] level The level of report detail desired
@ -252,7 +272,8 @@ EL734Axis::EL734Axis(EL734Controller *pC, int axisNo)
*/ */
void EL734Axis::report(FILE *fp, int level) void EL734Axis::report(FILE *fp, int level)
{ {
if (level > 0) { if (level > 0)
{
fprintf(fp, " axis %d\n", fprintf(fp, " axis %d\n",
axisNo_); axisNo_);
} }
@ -261,7 +282,6 @@ void EL734Axis::report(FILE *fp, int level)
// asynMotorAxis::report(fp, level); // asynMotorAxis::report(fp, level);
} }
asynStatus EL734Axis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration) asynStatus EL734Axis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
{ {
asynStatus status; asynStatus status;
@ -278,10 +298,10 @@ asynStatus EL734Axis::move(double position, int relative, double minVelocity, do
sprintf(command, "J %d %d", axisNo_, (int)maxVelocity); sprintf(command, "J %d %d", axisNo_, (int)maxVelocity);
status = pC_->transactController(axisNo_, command, reply); status = pC_->transactController(axisNo_, command, reply);
if (relative) { if (relative)
{
position += this->position; position += this->position;
} }
oredMSR = 0;
homing = 0; homing = 0;
errorReported = 0; errorReported = 0;
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
@ -323,12 +343,14 @@ asynStatus EL734Axis::moveVelocity(double minVelocity, double maxVelocity, doubl
// "%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n", // "%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
// functionName, minVelocity, maxVelocity, acceleration); // functionName, minVelocity, maxVelocity, acceleration);
errorReported = 0; errorReported = 0;
if (maxVelocity > 0.) { if (maxVelocity > 0.)
{
/* This is a positive move */ /* This is a positive move */
sprintf(command, "FF %d", axisNo_); sprintf(command, "FF %d", axisNo_);
} else { }
else
{
/* This is a negative move */ /* This is a negative move */
sprintf(command, "FB %d", axisNo_); sprintf(command, "FB %d", axisNo_);
} }
@ -347,7 +369,8 @@ asynStatus EL734Axis::stop(double acceleration )
bool moving = false; bool moving = false;
this->poll(&moving); this->poll(&moving);
if(moving && errorReported == 0){ 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);
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Sent STOP on Axis %d\n", axisNo_); asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Sent STOP on Axis %d\n", axisNo_);
@ -397,7 +420,8 @@ asynStatus EL734Axis::poll(bool *moving)
char command[COMLEN], reply[COMLEN], errTxt[256]; char command[COMLEN], reply[COMLEN], errTxt[256];
// protect against excessive polling // protect against excessive polling
if(time(NULL) < next_poll){ if (time(NULL) < next_poll)
{
*moving = false; *moving = false;
return asynSuccess; return asynSuccess;
} }
@ -405,9 +429,11 @@ asynStatus EL734Axis::poll(bool *moving)
// read hardware limits // read hardware limits
sprintf(command, "H %d", axisNo_); sprintf(command, "H %d", axisNo_);
comStatus = pC_->transactController(axisNo_, command, reply); comStatus = pC_->transactController(axisNo_, command, reply);
if(comStatus == asynSuccess){ if (comStatus == asynSuccess)
{
count = sscanf(reply, "%f %f", &low, &high); count = sscanf(reply, "%f %f", &low, &high);
if(count >= 2){ if (count >= 2)
{
pC_->setDoubleParam(axisNo_, pC_->motorLowLimit_, low); pC_->setDoubleParam(axisNo_, pC_->motorLowLimit_, low);
pC_->setDoubleParam(axisNo_, pC_->motorHighLimit_, high); pC_->setDoubleParam(axisNo_, pC_->motorHighLimit_, high);
callParamCallbacks(); callParamCallbacks();
@ -418,11 +444,13 @@ asynStatus EL734Axis::poll(bool *moving)
setIntegerParam(pC_->motorStatusProblem_, false); setIntegerParam(pC_->motorStatusProblem_, false);
sprintf(command, "u %d", axisNo_); sprintf(command, "u %d", axisNo_);
comStatus = pC_->transactController(axisNo_, command, reply); comStatus = pC_->transactController(axisNo_, command, reply);
if(comStatus == asynError){ if (comStatus == asynError)
{
setIntegerParam(pC_->motorStatusProblem_, true); setIntegerParam(pC_->motorStatusProblem_, true);
goto skip; goto skip;
} }
if(strstr(reply,"*ES") != NULL){ if (strstr(reply, "*ES") != NULL)
{
*moving = false; *moving = false;
setIntegerParam(pC_->motorStatusDone_, true); setIntegerParam(pC_->motorStatusDone_, true);
setIntegerParam(pC_->motorStatusProblem_, true); setIntegerParam(pC_->motorStatusProblem_, true);
@ -430,14 +458,18 @@ asynStatus EL734Axis::poll(bool *moving)
updateMsgTxtFromDriver("Emergency Stop Engaged"); updateMsgTxtFromDriver("Emergency Stop Engaged");
comStatus = asynError; comStatus = asynError;
goto skip; goto skip;
} else if(strstr(reply,"?BSY") != NULL){ }
else if (strstr(reply, "?BSY") != NULL)
{
*moving = true; *moving = true;
setIntegerParam(pC_->motorStatusDone_, false); setIntegerParam(pC_->motorStatusDone_, false);
goto skip; goto skip;
} }
count = sscanf(reply, "%lf", &position); count = sscanf(reply, "%lf", &position);
if(count != 1) { if (count != 1)
if(!homing) { {
if (!homing)
{
snprintf(errTxt, sizeof(errTxt), "Bad reply %s when reading position for %d", reply, axisNo_); snprintf(errTxt, sizeof(errTxt), "Bad reply %s when reading position for %d", reply, axisNo_);
setIntegerParam(pC_->motorStatusProblem_, true); setIntegerParam(pC_->motorStatusProblem_, true);
errorReported = 1; errorReported = 1;
@ -445,7 +477,9 @@ asynStatus EL734Axis::poll(bool *moving)
comStatus = asynError; comStatus = asynError;
goto skip; goto skip;
} }
} else { }
else
{
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Axis %d, reply %s, position %lf\n", axisNo_, reply, position); "Axis %d, reply %s, position %lf\n", axisNo_, reply, position);
setDoubleParam(pC_->motorPosition_, position * 1000); setDoubleParam(pC_->motorPosition_, position * 1000);
@ -455,7 +489,8 @@ asynStatus EL734Axis::poll(bool *moving)
// Read the moving status of this motor // Read the moving status of this motor
sprintf(command, "msr %d", axisNo_); sprintf(command, "msr %d", axisNo_);
comStatus = pC_->transactController(axisNo_, command, reply); comStatus = pC_->transactController(axisNo_, command, reply);
if(comStatus == asynError){ if (comStatus == asynError)
{
setIntegerParam(pC_->motorStatusProblem_, true); setIntegerParam(pC_->motorStatusProblem_, true);
goto skip; goto skip;
} }
@ -465,35 +500,44 @@ asynStatus EL734Axis::poll(bool *moving)
// axisNo_, reply, msr, oredMSR, position); // axisNo_, reply, msr, oredMSR, position);
oredMSR |= msr; oredMSR |= msr;
if( (msr & 0x1) == 0){ if ((msr & 0x1) == 0)
{
// done: check for trouble // done: check for trouble
// errlogPrintf("Axis %d finished\n", axisNo_); // errlogPrintf("Axis %d finished\n", axisNo_);
*moving = false; *moving = false;
setIntegerParam(pC_->motorStatusDone_, true); setIntegerParam(pC_->motorStatusDone_, true);
next_poll = time(NULL) + IDLEPOLL; next_poll = time(NULL) + IDLEPOLL;
if(oredMSR & 0x10){ if (oredMSR & 0x10)
{
setIntegerParam(pC_->motorStatusLowLimit_, true); setIntegerParam(pC_->motorStatusLowLimit_, true);
updateMsgTxtFromDriver("Lower Limit Hit"); updateMsgTxtFromDriver("Lower Limit Hit");
errorReported = 1; errorReported = 1;
comStatus = asynError; comStatus = asynError;
goto skip; goto skip;
} else { }
else
{
setIntegerParam(pC_->motorStatusLowLimit_, false); setIntegerParam(pC_->motorStatusLowLimit_, false);
} }
if(oredMSR & 0x20){ if (oredMSR & 0x20)
{
setIntegerParam(pC_->motorStatusHighLimit_, true); setIntegerParam(pC_->motorStatusHighLimit_, true);
updateMsgTxtFromDriver("Upper Limit Hit"); updateMsgTxtFromDriver("Upper Limit Hit");
errorReported = 1; errorReported = 1;
comStatus = asynError; comStatus = asynError;
goto skip; goto skip;
} else { }
else
{
setIntegerParam(pC_->motorStatusHighLimit_, false); setIntegerParam(pC_->motorStatusHighLimit_, false);
} }
if(homing){ if (homing)
{
setIntegerParam(pC_->motorStatusAtHome_, true); setIntegerParam(pC_->motorStatusAtHome_, true);
} }
if(oredMSR & 0x1000){ if (oredMSR & 0x1000)
{
setIntegerParam(pC_->motorStatusProblem_, true); setIntegerParam(pC_->motorStatusProblem_, true);
// errlogPrintf("Detected air cushion error on %d", axisNo_); // errlogPrintf("Detected air cushion error on %d", axisNo_);
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Air cushion problem on %d", axisNo_); asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Air cushion problem on %d", axisNo_);
@ -502,7 +546,8 @@ asynStatus EL734Axis::poll(bool *moving)
comStatus = asynError; comStatus = asynError;
goto skip; goto skip;
} }
if(oredMSR & 0x100){ if (oredMSR & 0x100)
{
setIntegerParam(pC_->motorStatusProblem_, true); setIntegerParam(pC_->motorStatusProblem_, true);
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Run failure at %d", axisNo_); asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Run failure at %d", axisNo_);
updateMsgTxtFromDriver("Run failure"); updateMsgTxtFromDriver("Run failure");
@ -510,7 +555,8 @@ asynStatus EL734Axis::poll(bool *moving)
errorReported = 1; errorReported = 1;
goto skip; goto skip;
} }
if(oredMSR & 0x400){ if (oredMSR & 0x400)
{
setIntegerParam(pC_->motorStatusProblem_, true); setIntegerParam(pC_->motorStatusProblem_, true);
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Positioning failure at %d", axisNo_); asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Positioning failure at %d", axisNo_);
updateMsgTxtFromDriver("Positioning failure"); updateMsgTxtFromDriver("Positioning failure");
@ -518,11 +564,14 @@ asynStatus EL734Axis::poll(bool *moving)
errorReported = 1; errorReported = 1;
goto skip; goto skip;
} }
if(oredMSR & 0x200 || oredMSR & 0x80) { if (oredMSR & 0x200 || oredMSR & 0x80)
{
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_WARNING, "Positioning fault at %d", axisNo_); asynPrint(pC_->pasynUserSelf, ASYN_TRACE_WARNING, "Positioning fault at %d", axisNo_);
} }
setIntegerParam(pC_->motorStatusProblem_, false); setIntegerParam(pC_->motorStatusProblem_, false);
} else { }
else
{
*moving = true; *moving = true;
next_poll = -1; next_poll = -1;
setIntegerParam(pC_->motorStatusDone_, false); setIntegerParam(pC_->motorStatusDone_, false);
@ -551,6 +600,7 @@ static void EL734Register(void)
iocshRegister(&EL734CreateControllerDef, EL734CreateContollerCallFunc); iocshRegister(&EL734CreateControllerDef, EL734CreateContollerCallFunc);
} }
extern "C" { extern "C"
{
epicsExportRegistrar(EL734Register); epicsExportRegistrar(EL734Register);
} }

5
sinqEPICSApp/src/EL734Driver.h
View File

@ -39,7 +39,8 @@ private:
friend class EL734Controller; friend class EL734Controller;
}; };
class EL734Controller : public SINQController { class EL734Controller : public SINQController
{
public: public:
EL734Controller(const char *portName, const char *EL734PortName, int numAxes); EL734Controller(const char *portName, const char *EL734PortName, int numAxes);
@ -48,11 +49,11 @@ public:
EL734Axis *getAxis(int axisNo); EL734Axis *getAxis(int axisNo);
friend class EL734Axis; friend class EL734Axis;
private: private:
asynUser *pasynUserController_; asynUser *pasynUserController_;
asynStatus transactController(int axis, char command[COMLEN], char reply[COMLEN]); asynStatus transactController(int axis, char command[COMLEN], char reply[COMLEN]);
void switchRemote(); void switchRemote();
}; };