Bugfix + cleanup
This commit is contained in:
Michele Brambilla
committed by
brambilla_m
brambilla_m
parent
92364a1de8
commit
ad05433602
@ -15,8 +15,8 @@
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* I use a starting flag to catch a peculiar feature of our PMAC implementation:
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* when the motor is hung, it wont start. I check for this and cause an alarm.
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*
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* Another mode where the motor is in trouble is if it stays too long in status 5 or 6.
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* I check and cause an alarm in this state too.
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* Another mode where the motor is in trouble is if it stays too long in status
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*5 or 6. I check and cause an alarm in this state too.
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*
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* Mark Koennecke, February 2013
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*
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@ -30,23 +30,22 @@
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*
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********************************************/
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#include <stdlib.h>
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#include <stdio.h>
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#include <string.h>
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#include <epicsExit.h>
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#include <epicsExport.h>
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#include <epicsString.h>
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#include <epicsThread.h>
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#include <epicsTime.h>
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#include <errlog.h>
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#include <iocsh.h>
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#include <math.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <time.h>
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#include <epicsTime.h>
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#include <epicsThread.h>
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#include <epicsExport.h>
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#include <epicsExit.h>
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#include <epicsString.h>
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#include <iocsh.h>
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#include <errlog.h>
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#include <typeinfo>
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#include "pmacController.h"
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#include <typeinfo>
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template <typename T>
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const char *getClassName(T) {
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return typeid(T).name();
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@ -59,8 +58,7 @@ const char* getClassName(T) {
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#define ABS(x) (x < 0 ? -(x) : (x))
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extern "C" void shutdownCallback(void *pPvt)
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{
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extern "C" void shutdownCallback(void *pPvt) {
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pmacController *pC = static_cast<pmacController *>(pPvt);
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pC->lock();
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@ -70,10 +68,7 @@ extern "C" void shutdownCallback(void *pPvt)
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// These are the pmacAxis class methods
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pmacAxis::pmacAxis(pmacController *pC, int axisNo, bool enable)
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: SINQAxis(pC, axisNo),
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pC_(pC),
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autoEnable(enable)
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{
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: SINQAxis(pC, axisNo), pC_(pC), autoEnable(enable) {
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static const char *functionName = "pmacAxis::pmacAxis";
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pC_->debugFlow(functionName);
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@ -96,26 +91,26 @@ pmacAxis::pmacAxis(pmacController *pC, int axisNo, bool enable)
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homing = 0;
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next_poll = -1;
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/* Set an EPICS exit handler that will shut down polling before asyn kills the IP sockets */
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/* Set an EPICS exit handler that will shut down polling before asyn kills the
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* IP sockets */
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epicsAtExit(shutdownCallback, pC_);
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// Do an initial poll to get some values from the PMAC
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if (getAxisInitialStatus() != asynSuccess) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"%s: getAxisInitialStatus failed to return asynSuccess. Controller: %s, Axis: %d.\n", functionName, pC_->portName, axisNo_);
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"%s: getAxisInitialStatus failed to return asynSuccess. "
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"Controller: %s, Axis: %d.\n",
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functionName, pC_->portName, axisNo_);
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}
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callParamCallbacks();
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/* Wake up the poller task which will make it do a poll,
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* updating values for this axis to use the new resolution (stepSize_) */
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pC_->wakeupPoller();
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}
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asynStatus pmacAxis::getAxisInitialStatus(void)
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{
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asynStatus pmacAxis::getAxisInitialStatus(void) {
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char command[pC_->PMAC_MAXBUF_];
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char response[pC_->PMAC_MAXBUF_];
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int cmdStatus = 0;
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@ -130,7 +125,9 @@ asynStatus pmacAxis::getAxisInitialStatus(void)
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cmdStatus = pC_->lowLevelWriteRead(axisNo_, command, response);
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nvals = sscanf(response, "%lf", &scale_);
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if (cmdStatus || nvals != 1) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s: Error: failed to read scale_factor on axis %d.\n", functionName, axisNo_);
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"%s: Error: failed to read scale_factor on axis %d.\n",
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functionName, axisNo_);
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return asynError;
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}
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@ -138,7 +135,9 @@ asynStatus pmacAxis::getAxisInitialStatus(void)
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cmdStatus = pC_->lowLevelWriteRead(axisNo_, command, response);
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nvals = sscanf(response, "%d", &limVal);
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if (cmdStatus || nvals != 1) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s: Error: failed to read high limit on axis %d.\n", functionName, axisNo_);
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"%s: Error: failed to read high limit on axis %d.\n",
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functionName, axisNo_);
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return asynError;
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}
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high_limit = ((double)limVal) * scale_;
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@ -147,20 +146,23 @@ asynStatus pmacAxis::getAxisInitialStatus(void)
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cmdStatus = pC_->lowLevelWriteRead(axisNo_, command, response);
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nvals = sscanf(response, "%d", &limVal);
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if (cmdStatus || nvals != 1) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s: Error: failed to read low limit on axis %d.\n", functionName, axisNo_);
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"%s: Error: failed to read low limit on axis %d.\n", functionName,
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axisNo_);
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return asynError;
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}
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low_limit = ((double)limVal) * scale_;
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char message[132];
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sprintf(message,"scale_factor = %lf, high = %lf, low = %lf", scale_,high_limit, low_limit);
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sprintf(message, "scale_factor = %lf, high = %lf, low = %lf", scale_,
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high_limit, low_limit);
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pC_->debugFlow(message);
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setIntegerParam(pC_->motorStatusHasEncoder_, 1);
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/*
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In some configurations at SINQ, the high and low limits are interchanged in the motor controller.
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This messy bit of code takes care of this messy electronics configuration.
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In some configurations at SINQ, the high and low limits are interchanged in
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the motor controller. This messy bit of code takes care of this messy
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electronics configuration.
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*/
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if (high_limit > low_limit) {
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setDoubleParam(pC_->motorLowLimit_, low_limit);
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@ -174,10 +176,13 @@ asynStatus pmacAxis::getAxisInitialStatus(void)
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// Warning: Selene lift axis should not be automatically enabled
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if (autoEnable) {
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sprintf(command, "M%2.2d14=1\n", axisNo_);
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Enable axis %d: %s",axisNo_,command);
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Enable axis %d: %s",
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axisNo_, command);
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cmdStatus = pC_->lowLevelWriteRead(axisNo_, command, response);
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if (cmdStatus) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s: Error: enaabling axis %d failed.\n", functionName, axisNo_);
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"%s: Error: enaabling axis %d failed.\n", functionName,
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axisNo_);
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return asynError;
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}
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}
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@ -187,15 +192,12 @@ asynStatus pmacAxis::getAxisInitialStatus(void)
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return asynSuccess;
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}
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pmacAxis::~pmacAxis()
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{
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pmacAxis::~pmacAxis() {
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// Destructor
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}
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asynStatus pmacAxis::move(double position, int relative, double min_velocity, double max_velocity, double acceleration)
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{
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asynStatus pmacAxis::move(double position, int relative, double min_velocity,
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double max_velocity, double acceleration) {
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asynStatus status = asynError;
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static const char *functionName = "pmacAxis::move";
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double realPosition;
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@ -218,7 +220,8 @@ asynStatus pmacAxis::move(double position, int relative, double min_velocity, do
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status6Time = 0;
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starting = 1;
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sprintf( command, "P%2.2d23=0 Q%2.2d01=%12.4f M%2.2d=1", axisNo_, axisNo_, realPosition, axisNo_);
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sprintf(command, "P%2.2d23=0 Q%2.2d01=%12.4f M%2.2d=1", axisNo_, axisNo_,
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realPosition, axisNo_);
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status = pC_->lowLevelWriteRead(axisNo_, command, response);
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@ -227,10 +230,8 @@ asynStatus pmacAxis::move(double position, int relative, double min_velocity, do
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return status;
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}
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asynStatus pmacAxis::home(double min_velocity, double max_velocity, double acceleration, int forwards)
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{
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asynStatus pmacAxis::home(double min_velocity, double max_velocity,
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double acceleration, int forwards) {
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asynStatus status = asynError;
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char command[128] = {0};
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char response[128] = {0};
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@ -250,8 +251,8 @@ asynStatus pmacAxis::home(double min_velocity, double max_velocity, double accel
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return status;
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}
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asynStatus pmacAxis::moveVelocity(double min_velocity, double max_velocity, double acceleration)
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{
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asynStatus pmacAxis::moveVelocity(double min_velocity, double max_velocity,
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double acceleration) {
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asynStatus status = asynError;
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static const char *functionName = "pmacAxis::moveVelocity";
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@ -264,9 +265,7 @@ asynStatus pmacAxis::moveVelocity(double min_velocity, double max_velocity, doub
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return status;
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}
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asynStatus pmacAxis::setPosition(double position)
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{
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asynStatus pmacAxis::setPosition(double position) {
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// int status = 0;
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static const char *functionName = "pmacAxis::setPosition";
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errlogPrintf("executing : %s\n", functionName);
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@ -278,8 +277,7 @@ asynStatus pmacAxis::setPosition(double position)
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return asynSuccess;
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}
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asynStatus pmacAxis::stop(double acceleration)
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{
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asynStatus pmacAxis::stop(double acceleration) {
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asynStatus status = asynError;
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static const char *functionName = "pmacAxis::stopAxis";
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@ -294,8 +292,7 @@ asynStatus pmacAxis::stop(double acceleration)
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return status;
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}
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asynStatus pmacAxis::poll(bool *moving)
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{
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asynStatus pmacAxis::poll(bool *moving) {
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int status = 0;
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static const char *functionName = "pmacAxis::poll";
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char message[132];
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@ -311,7 +308,9 @@ asynStatus pmacAxis::poll(bool *moving)
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// Now poll axis status
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if ((status = this->getAxisStatus(moving)) != asynSuccess) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"%s: getAxisStatus failed to return asynSuccess. Controller: %s, Axis: %d.\n", functionName, pC_->portName, axisNo_);
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"%s: getAxisStatus failed to return asynSuccess. Controller: %s, "
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"Axis: %d.\n",
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functionName, pC_->portName, axisNo_);
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}
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if (*moving) {
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@ -324,8 +323,7 @@ asynStatus pmacAxis::poll(bool *moving)
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return status ? asynError : asynSuccess;
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}
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static char *translateAxisError(int axErr)
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{
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static char *translateAxisError(int axErr) {
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switch (axErr) {
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case 0:
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return strdup("");
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@ -372,11 +370,11 @@ static char *translateAxisError(int axErr)
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}
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}
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asynStatus pmacAxis::getAxisStatus(bool *moving)
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{
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asynStatus pmacAxis::getAxisStatus(bool *moving) {
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char command[pC_->PMAC_MAXBUF_];
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char response[pC_->PMAC_MAXBUF_];
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int cmdStatus = 0;;
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int cmdStatus = 0;
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;
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int done = 0, posChanging = 0;
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double position = 0;
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int nvals = 0;
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@ -384,13 +382,15 @@ asynStatus pmacAxis::getAxisStatus(bool *moving)
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epicsUInt32 axErr = 0, highLim = 0, lowLim = 0;
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char message[132], *axMessage;
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/* read our status items one by one: our PMAC does not seem to give multiple responses ..*/
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/* read our status items one by one: our PMAC does not seem to give multiple
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* responses ..*/
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sprintf(command, "P%2.2d01", axisNo_);
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cmdStatus = pC_->lowLevelWriteRead(axisNo_, command, response);
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nvals = sscanf(response, "%d", &axErr);
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if (cmdStatus || nvals != 1) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"drvPmacAxisGetStatus: Failed to read axis Error Status: %d\nCommand :%s\nResponse:%s\n",
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"drvPmacAxisGetStatus: Failed to read axis Error Status: "
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"%d\nCommand :%s\nResponse:%s\n",
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cmdStatus, command, response);
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updateMsgTxtFromDriver("Cannot read Axis Error Status");
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}
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@ -400,7 +400,8 @@ asynStatus pmacAxis::getAxisStatus(bool *moving)
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nvals = sscanf(response, "%lf", &position);
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if (cmdStatus || nvals != 1) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"drvPmacAxisGetStatus: Failed to read position Status: %d\nCommand :%s\nResponse:%s\n",
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"drvPmacAxisGetStatus: Failed to read position Status: "
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"%d\nCommand :%s\nResponse:%s\n",
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cmdStatus, command, response);
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updateMsgTxtFromDriver("Cannot read Axis position");
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}
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@ -410,7 +411,8 @@ asynStatus pmacAxis::getAxisStatus(bool *moving)
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nvals = sscanf(response, "%d", &axStat);
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if (cmdStatus || nvals != 1) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"drvPmacAxisGetStatus: Failed to read axis status, Status: %d\nCommand :%s\nResponse:%s\n",
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"drvPmacAxisGetStatus: Failed to read axis status, Status: "
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"%d\nCommand :%s\nResponse:%s\n",
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cmdStatus, command, response);
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updateMsgTxtFromDriver("Cannot read Axis Status");
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}
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@ -420,7 +422,8 @@ asynStatus pmacAxis::getAxisStatus(bool *moving)
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nvals = sscanf(response, "%d", &highLim);
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if (cmdStatus || nvals != 1) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"drvPmacAxisGetStatus: Failed to read high limit flag Status: %d\nCommand :%s\nResponse:%s\n",
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"drvPmacAxisGetStatus: Failed to read high limit flag Status: "
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"%d\nCommand :%s\nResponse:%s\n",
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cmdStatus, command, response);
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}
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@ -429,11 +432,11 @@ asynStatus pmacAxis::getAxisStatus(bool *moving)
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nvals = sscanf(response, "%d", &lowLim);
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if (cmdStatus || nvals != 1) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"drvPmacAxisGetStatus: Failed to low limit flag Status: %d\nCommand :%s\nResponse:%s\n",
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"drvPmacAxisGetStatus: Failed to low limit flag Status: "
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"%d\nCommand :%s\nResponse:%s\n",
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cmdStatus, command, response);
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}
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int direction = 0;
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setDoubleParam(pC_->motorPosition_, position * MULT);
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@ -453,7 +456,8 @@ asynStatus pmacAxis::getAxisStatus(bool *moving)
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previous_position_ = position;
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previous_direction_ = direction;
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// errlogPrintf("Polling, axStat = %d, axErr = %d, position = %f\n", axStat, axErr, position);
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// errlogPrintf("Polling, axStat = %d, axErr = %d, position = %f\n", axStat,
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// axErr, position);
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/* are we done? */
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if ((axStat == 0 || axStat == 14 || axStat < 0) && starting == 0) {
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@ -494,8 +498,11 @@ asynStatus pmacAxis::getAxisStatus(bool *moving)
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setIntegerParam(pC_->motorStatusMoving_, false);
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setIntegerParam(pC_->motorStatusDone_, true);
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setIntegerParam(pC_->motorStatusProblem_, true);
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errlogPrintf("Axis %d stayed in 5,6 for more then 60 seconds BROKEN\n", axisNo_);
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updateMsgTxtFromDriver("Axis stayed in 5,6 for more then 60 seconds: BROKEN");
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errlogPrintf(
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"Axis %d stayed in 5,6 for more then 60 seconds BROKEN\n",
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axisNo_);
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updateMsgTxtFromDriver(
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"Axis stayed in 5,6 for more then 60 seconds: BROKEN");
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status6Time = 0;
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return asynSuccess;
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} else {
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@ -506,7 +513,6 @@ asynStatus pmacAxis::getAxisStatus(bool *moving)
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}
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}
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if (!done) {
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*moving = true;
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setIntegerParam(pC_->motorStatusMoving_, true);
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@ -550,7 +556,8 @@ asynStatus pmacAxis::getAxisStatus(bool *moving)
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if (axisErrorCount < 10) {
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axMessage = translateAxisError(axErr);
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"drvPmacAxisGetStatus: Axis %d is in deep trouble: axis error code %d, translated: %s:, status code = %d\n",
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"drvPmacAxisGetStatus: Axis %d is in deep trouble: axis error "
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"code %d, translated: %s:, status code = %d\n",
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axisNo_, axErr, axMessage, axStat);
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snprintf(message, sizeof(message), "PMAC Axis error: %s", axMessage);
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updateMsgTxtFromDriver(message);
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@ -559,7 +566,8 @@ asynStatus pmacAxis::getAxisStatus(bool *moving)
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}
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axisErrorCount++;
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} else if (axisErrorCount == 10) {
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asynPrint(pC_->pasynUserSelf,ASYN_TRACE_ERROR, "Suppressing further axis error messages\n");
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"Suppressing further axis error messages\n");
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axisErrorCount++;
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}
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} else {
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@ -568,12 +576,10 @@ asynStatus pmacAxis::getAxisStatus(bool *moving)
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}
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setIntegerParam(pC_->motorStatusProblem_, axisProblemFlag);
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return asynSuccess;
|
||||
}
|
||||
|
||||
asynStatus pmacHRPTAxis::getAxisStatus(bool *moving)
|
||||
{
|
||||
asynStatus pmacHRPTAxis::getAxisStatus(bool *moving) {
|
||||
char command[pC_->PMAC_MAXBUF_];
|
||||
char response[pC_->PMAC_MAXBUF_];
|
||||
int cmdStatus = 0, nvals, crashSignal;
|
||||
@ -584,7 +590,8 @@ asynStatus pmacHRPTAxis::getAxisStatus(bool *moving)
|
||||
nvals = sscanf(response, "%d", &crashSignal);
|
||||
if (cmdStatus || nvals != 1) {
|
||||
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
"drvPmacAxisGetStatus: Failed to read crash flag Status: %d\nCommand :%s\nResponse:%s\n",
|
||||
"drvPmacAxisGetStatus: Failed to read crash flag Status: "
|
||||
"%d\nCommand :%s\nResponse:%s\n",
|
||||
cmdStatus, command, response);
|
||||
}
|
||||
if (crashSignal == 1) {
|
||||
@ -595,7 +602,6 @@ asynStatus pmacHRPTAxis::getAxisStatus(bool *moving)
|
||||
setIntegerParam(pC_->motorStatusMoving_, false);
|
||||
setIntegerParam(pC_->motorStatusDone_, true);
|
||||
setIntegerParam(pC_->motorStatusProblem_, true);
|
||||
|
||||
}
|
||||
return result;
|
||||
}
|
||||
@ -610,10 +616,10 @@ asynStatus pmacAxis::enable(int on) {
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
/*================================= SeleneAxis code ======================================================*/
|
||||
/*================================= SeleneAxis code
|
||||
* ======================================================*/
|
||||
SeleneAxis::SeleneAxis(SeleneController *pC, int axisNo, double limitTarget)
|
||||
: pmacAxis(pC, axisNo, false)
|
||||
{
|
||||
: pmacAxis(pC, axisNo, false) {
|
||||
static const char *functionName = "pmacAxis::pmacAxis";
|
||||
|
||||
pC_->debugFlow(functionName);
|
||||
@ -635,27 +641,27 @@ SeleneAxis::SeleneAxis(SeleneController *pC, int axisNo, double limitTarget)
|
||||
starting = 0;
|
||||
homing = 0;
|
||||
|
||||
/* Set an EPICS exit handler that will shut down polling before asyn kills the IP sockets */
|
||||
/* Set an EPICS exit handler that will shut down polling before asyn kills the
|
||||
* IP sockets */
|
||||
epicsAtExit(shutdownCallback, pC_);
|
||||
|
||||
// Do an initial poll to get some values from the PMAC
|
||||
if (getSeleneAxisInitialStatus() != asynSuccess) {
|
||||
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
"%s: getAxisInitialStatus failed to return asynSuccess. Controller: %s, Axis: %d.\n", functionName, pC_->portName, axisNo_);
|
||||
"%s: getAxisInitialStatus failed to return asynSuccess. "
|
||||
"Controller: %s, Axis: %d.\n",
|
||||
functionName, pC_->portName, axisNo_);
|
||||
}
|
||||
this->limitTarget = limitTarget;
|
||||
|
||||
|
||||
callParamCallbacks();
|
||||
|
||||
/* Wake up the poller task which will make it do a poll,
|
||||
* updating values for this axis to use the new resolution (stepSize_) */
|
||||
pC_->wakeupPoller();
|
||||
|
||||
}
|
||||
/*-------------------------------------------------------------------------------------------*/
|
||||
asynStatus SeleneAxis::getSeleneAxisInitialStatus(void)
|
||||
{
|
||||
asynStatus SeleneAxis::getSeleneAxisInitialStatus(void) {
|
||||
char command[pC_->PMAC_MAXBUF_];
|
||||
char response[pC_->PMAC_MAXBUF_];
|
||||
int cmdStatus = 0;
|
||||
@ -670,7 +676,9 @@ asynStatus SeleneAxis::getSeleneAxisInitialStatus(void)
|
||||
cmdStatus = pC_->lowLevelWriteRead(axisNo_, command, response);
|
||||
nvals = sscanf(response, "%lf", &scale_);
|
||||
if (cmdStatus || nvals != 1) {
|
||||
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s: Error: failed to read scale_factor on axis %d.\n", functionName, axisNo_);
|
||||
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
"%s: Error: failed to read scale_factor on axis %d.\n",
|
||||
functionName, axisNo_);
|
||||
return asynError;
|
||||
}
|
||||
|
||||
@ -678,7 +686,9 @@ asynStatus SeleneAxis::getSeleneAxisInitialStatus(void)
|
||||
cmdStatus = pC_->lowLevelWriteRead(axisNo_, command, response);
|
||||
nvals = sscanf(response, "%d", &limVal);
|
||||
if (cmdStatus || nvals != 1) {
|
||||
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s: Error: failed to read high limit on axis %d.\n", functionName, axisNo_);
|
||||
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
"%s: Error: failed to read high limit on axis %d.\n",
|
||||
functionName, axisNo_);
|
||||
return asynError;
|
||||
}
|
||||
high_limit = ((double)limVal) * scale_;
|
||||
@ -687,20 +697,23 @@ asynStatus SeleneAxis::getSeleneAxisInitialStatus(void)
|
||||
cmdStatus = pC_->lowLevelWriteRead(axisNo_, command, response);
|
||||
nvals = sscanf(response, "%d", &limVal);
|
||||
if (cmdStatus || nvals != 1) {
|
||||
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s: Error: failed to read low limit on axis %d.\n", functionName, axisNo_);
|
||||
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
"%s: Error: failed to read low limit on axis %d.\n", functionName,
|
||||
axisNo_);
|
||||
return asynError;
|
||||
}
|
||||
low_limit = ((double)limVal) * scale_;
|
||||
|
||||
char message[132];
|
||||
sprintf(message,"scale_factor = %lf, high = %lf, low = %lf", scale_,high_limit, low_limit);
|
||||
sprintf(message, "scale_factor = %lf, high = %lf, low = %lf", scale_,
|
||||
high_limit, low_limit);
|
||||
pC_->debugFlow(message);
|
||||
|
||||
|
||||
setIntegerParam(pC_->motorStatusHasEncoder_, 1);
|
||||
/*
|
||||
In some configurations at SINQ, the high and low limits are interchanged in the motor controller.
|
||||
This messy bit of code takes care of this messy electronics configuration.
|
||||
In some configurations at SINQ, the high and low limits are interchanged in
|
||||
the motor controller. This messy bit of code takes care of this messy
|
||||
electronics configuration.
|
||||
*/
|
||||
if (high_limit > low_limit) {
|
||||
setDoubleParam(pC_->motorLowLimit_, low_limit);
|
||||
@ -715,10 +728,9 @@ asynStatus SeleneAxis::getSeleneAxisInitialStatus(void)
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
|
||||
/*----------------------------------------------------------------------------------------------------------*/
|
||||
asynStatus SeleneAxis::home(double min_velocity, double max_velocity, double acceleration, int forwards)
|
||||
{
|
||||
asynStatus SeleneAxis::home(double min_velocity, double max_velocity,
|
||||
double acceleration, int forwards) {
|
||||
asynStatus status = asynError;
|
||||
static const char *functionName = "SeleneAxis::home";
|
||||
|
||||
@ -726,12 +738,11 @@ asynStatus SeleneAxis::home(double min_velocity, double max_velocity, double acc
|
||||
|
||||
updateMsgTxtFromDriver("Cannot home on this axis type");
|
||||
|
||||
|
||||
return status;
|
||||
}
|
||||
/*----------------------------------------------------------------------------------------------------------------*/
|
||||
asynStatus SeleneAxis::move(double position, int relative, double min_velocity, double max_velocity, double acceleration)
|
||||
{
|
||||
asynStatus SeleneAxis::move(double position, int relative, double min_velocity,
|
||||
double max_velocity, double acceleration) {
|
||||
asynStatus status = asynError;
|
||||
static const char *functionName = "SeleneAxis::move";
|
||||
double realPosition;
|
||||
@ -771,8 +782,7 @@ asynStatus SeleneAxis::move(double position, int relative, double min_velocity,
|
||||
return status;
|
||||
}
|
||||
/*----------------------------------------------------------------------------------------------------*/
|
||||
asynStatus SeleneAxis::setPosition(double position)
|
||||
{
|
||||
asynStatus SeleneAxis::setPosition(double position) {
|
||||
asynStatus status = asynError;
|
||||
static const char *functionName = "SeleneAxis::setPosition";
|
||||
char command[128] = {0};
|
||||
@ -785,18 +795,17 @@ asynStatus SeleneAxis::setPosition(double position)
|
||||
|
||||
errlogPrintf("Sending set position : %s\n", command);
|
||||
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
|
||||
"Setting Position on %d to value %f, command: %s",
|
||||
axisNo_, position/MULT, command);
|
||||
|
||||
"Setting Position on %d to value %f, command: %s", axisNo_,
|
||||
position / MULT, command);
|
||||
|
||||
next_poll = -1;
|
||||
|
||||
return status;
|
||||
}
|
||||
/*======================================= Selene Lift Axis Code ===========================================*/
|
||||
/*======================================= Selene Lift Axis Code
|
||||
* ===========================================*/
|
||||
asynStatus LiftAxis::move(double position, int relative, double min_velocity,
|
||||
double max_velocity, double acceleration)
|
||||
{
|
||||
double max_velocity, double acceleration) {
|
||||
asynStatus status = asynError;
|
||||
static const char *functionName = "LiftAxis::move";
|
||||
double realPosition;
|
||||
@ -828,11 +837,10 @@ asynStatus LiftAxis::move(double position, int relative, double min_velocity,
|
||||
return status;
|
||||
}
|
||||
/*--------------------------------------------------------------------------------------------------------
|
||||
Return *moving until the motor moved started moving. This enables the start command
|
||||
to be sent separatly.
|
||||
Return *moving until the motor moved started moving. This enables the start
|
||||
command to be sent separatly.
|
||||
----------------------------------------------------------------------------------------------------------*/
|
||||
asynStatus LiftAxis::poll(bool *moving)
|
||||
{
|
||||
asynStatus LiftAxis::poll(bool *moving) {
|
||||
asynStatus status;
|
||||
|
||||
// Protect against excessive polling
|
||||
@ -859,18 +867,16 @@ asynStatus LiftAxis::poll(bool *moving)
|
||||
return status;
|
||||
}
|
||||
/*--------------------------------------------------------------------------------------------------------------*/
|
||||
asynStatus LiftAxis::stop(double acceleration)
|
||||
{
|
||||
asynStatus LiftAxis::stop(double acceleration) {
|
||||
waitStart = 0;
|
||||
return pmacAxis::stop(acceleration);
|
||||
}
|
||||
/*-------------------------------------------------------------------------------------------------------------*/
|
||||
|
||||
pmacV3Axis::pmacV3Axis(pmacController *pController, int axisNo) : pmacAxis(pController,axisNo, false) { };
|
||||
pmacV3Axis::pmacV3Axis(pmacController *pController, int axisNo)
|
||||
: pmacAxis(pController, axisNo, false){};
|
||||
|
||||
|
||||
asynStatus pmacV3Axis::poll(bool *moving)
|
||||
{
|
||||
asynStatus pmacV3Axis::poll(bool *moving) {
|
||||
int status = 0;
|
||||
static const char *functionName = "pmacV3Axis::poll";
|
||||
char message[132];
|
||||
@ -886,7 +892,9 @@ asynStatus pmacV3Axis::poll(bool *moving)
|
||||
// Now poll axis status
|
||||
if ((status = this->getAxisStatus(moving)) != asynSuccess) {
|
||||
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
"%s: getAxisStatus failed to return asynSuccess. Controller: %s, Axis: %d.\n", functionName, pC_->portName, axisNo_);
|
||||
"%s: getAxisStatus failed to return asynSuccess. Controller: %s, "
|
||||
"Axis: %d.\n",
|
||||
functionName, pC_->portName, axisNo_);
|
||||
}
|
||||
|
||||
if (*moving) {
|
||||
@ -899,23 +907,217 @@ asynStatus pmacV3Axis::poll(bool *moving)
|
||||
return status ? asynError : asynSuccess;
|
||||
}
|
||||
|
||||
// asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
|
||||
// char command[pC_->PMAC_MAXBUF_];
|
||||
// char response[pC_->PMAC_MAXBUF_];
|
||||
// int cmdStatus = 0;
|
||||
|
||||
// int done = 0, posChanging = 0;
|
||||
// double position = 0;
|
||||
// int nvals = 0;
|
||||
// int axisProblemFlag = 0;
|
||||
// epicsUInt32 axErr = 0, highLim = 0, lowLim = 0, axDone = 0;
|
||||
// int axStat=0;
|
||||
// char message[132], *axMessage;
|
||||
|
||||
// static const char *functionName = "pmacV3Axis::getAxisStatus";
|
||||
|
||||
// pmacV3Controller* p3C_ = (pmacV3Controller*)pC_;
|
||||
// sprintf(command, "Q%2.2d10 P%2.2d00 P%2.2d23", axisNo_, axisNo_, axisNo_);
|
||||
// cmdStatus = pC_->lowLevelWriteRead(axisNo_, command, response);
|
||||
// nvals = sscanf(response, "%lf %d %d", &position, &axStat, &axDone);
|
||||
// if (cmdStatus || nvals != 3) {
|
||||
// asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
// "drvPmacAxisGetStatus: Failed to read position and status, "
|
||||
// "Status: %d\nCommand :%s\nResponse:%s\n",
|
||||
// cmdStatus, command, response);
|
||||
// updateMsgTxtFromDriver("Cannot read Axis position and status");
|
||||
// }
|
||||
|
||||
// int st = setIntegerParam(p3C_->axisEnabled_, axStat >= 0);
|
||||
// // st = callParamCallbacks();
|
||||
// // printf("axStat: callParamCallbacks -> ok: %d\n", st == asynSuccess);
|
||||
|
||||
// setDoubleParam(pC_->motorPosition_, position * MULT);
|
||||
// setDoubleParam(pC_->motorEncoderPosition_, position * MULT);
|
||||
|
||||
// /* Use previous position and current position to calculate direction.*/
|
||||
// int direction = previous_direction_;
|
||||
// if ((position - previous_position_) > 0) {
|
||||
// direction = 1;
|
||||
// }
|
||||
// if ((position - previous_position_) < 0) {
|
||||
// direction = 0;
|
||||
// }
|
||||
// setIntegerParam(pC_->motorStatusDirection_, direction);
|
||||
|
||||
// /*Store position to calculate direction for next poll.*/
|
||||
// previous_position_ = position;
|
||||
// previous_direction_ = direction;
|
||||
|
||||
// // errlogPrintf("Polling, axStat = %d, position = %f\n", axStat, position);
|
||||
|
||||
// /* are we done? */
|
||||
// if ( axDone == 0 && starting == 0) {
|
||||
// done = 1;
|
||||
// } else {
|
||||
// starting = 0;
|
||||
// done = 0;
|
||||
// }
|
||||
|
||||
// if (starting && time(NULL) > startTime + 10) {
|
||||
// /*
|
||||
// did not start in 10 seconds: messed up: cause an alarm
|
||||
// */
|
||||
// done = 1;
|
||||
// *moving = false;
|
||||
// setIntegerParam(pC_->motorStatusMoving_, false);
|
||||
// setIntegerParam(pC_->motorStatusDone_, true);
|
||||
// setIntegerParam(pC_->motorStatusProblem_, true);
|
||||
// errlogPrintf("Axis %d did not start within 10 seconds!! BROKEN\n",
|
||||
// axisNo_); updateMsgTxtFromDriver("Axis did not start within 10 seconds");
|
||||
// starting = 0;
|
||||
// callParamCallbacks();
|
||||
// return asynSuccess;
|
||||
// }
|
||||
|
||||
// /*
|
||||
// code to test against too long status 5 or 6
|
||||
// */
|
||||
// if (axStat == 5 || axStat == 6) {
|
||||
// if (status6Time == 0) {
|
||||
// status6Time = time(NULL);
|
||||
// statusPos = position;
|
||||
// } else {
|
||||
// if (time(NULL) > status6Time + 60) {
|
||||
// /* trigger error only when not moving */
|
||||
// if (abs(position - statusPos) < .1) {
|
||||
// done = 1;
|
||||
// *moving = false;
|
||||
// setIntegerParam(pC_->motorStatusMoving_, false);
|
||||
// setIntegerParam(pC_->motorStatusDone_, true);
|
||||
// setIntegerParam(pC_->motorStatusProblem_, true);
|
||||
// errlogPrintf(
|
||||
// "Axis %d stayed in 5,6 for more then 60 seconds BROKEN\n",
|
||||
// axisNo_);
|
||||
// updateMsgTxtFromDriver(
|
||||
// "Axis stayed in 5,6 for more then 60 seconds: BROKEN");
|
||||
// status6Time = 0;
|
||||
// callParamCallbacks();
|
||||
// return asynSuccess;
|
||||
// } else {
|
||||
// status6Time = time(NULL);
|
||||
// statusPos = position;
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
|
||||
// if (!done) {
|
||||
// *moving = true;
|
||||
// setIntegerParam(pC_->motorStatusMoving_, true);
|
||||
// setIntegerParam(pC_->motorStatusDone_, false);
|
||||
// } else {
|
||||
// *moving = false;
|
||||
// setIntegerParam(pC_->motorStatusMoving_, false);
|
||||
// setIntegerParam(pC_->motorStatusDone_, true);
|
||||
// if (homing) {
|
||||
// setIntegerParam(pC_->motorStatusHomed_, done);
|
||||
// homing = 0;
|
||||
// }
|
||||
// }
|
||||
|
||||
// sprintf(message, "poll results: axis %d, status %d, done = %d",
|
||||
// axisNo_, axStat, axDone);
|
||||
// pC_->debugFlow(message);
|
||||
|
||||
// if (*moving == false) {
|
||||
|
||||
// sprintf(command, "P%2.2d01 P%2.2d37 P%2.2d38", axisNo_, axisNo_,
|
||||
// axisNo_); cmdStatus = pC_->lowLevelWriteRead(axisNo_, command, response);
|
||||
// nvals = sscanf(response, "%d %d %d", &axErr, &highLim, &lowLim);
|
||||
// if (cmdStatus || nvals != 1) {
|
||||
// asynPrint(
|
||||
// pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
// "drvPmacAxisGetStatus: Failed to read axis Error, high and low
|
||||
// limit " "flags Status: %d\nCommand :%s\nResponse:%s\n",
|
||||
// cmdStatus, command, response);
|
||||
// updateMsgTxtFromDriver(
|
||||
// "Cannot read Axis Error, high and low limit flag Status");
|
||||
// }
|
||||
|
||||
// // errlogPrintf("Polling, axErr = %d, highLim = %d, lowLim = %d\n",
|
||||
// axStat,
|
||||
// // axErr, highLim, lowLim);
|
||||
|
||||
// sprintf(message, "poll results: axis %d, axErr %d", axisNo_, axErr);
|
||||
// pC_->debugFlow(message);
|
||||
|
||||
// /* search for trouble */
|
||||
// if (highLim) {
|
||||
// setIntegerParam(pC_->motorStatusHighLimit_, true);
|
||||
// updateMsgTxtFromDriver("High Limit Hit");
|
||||
// } else {
|
||||
// setIntegerParam(pC_->motorStatusHighLimit_, false);
|
||||
// }
|
||||
// if (lowLim) {
|
||||
// setIntegerParam(pC_->motorStatusLowLimit_, true);
|
||||
// updateMsgTxtFromDriver("Low Limit Hit");
|
||||
// } else {
|
||||
// setIntegerParam(pC_->motorStatusLowLimit_, false);
|
||||
// }
|
||||
// if (axErr == 11) {
|
||||
// setIntegerParam(pC_->motorStatusFollowingError_, true);
|
||||
// updateMsgTxtFromDriver("Following error triggered");
|
||||
// } else {
|
||||
// setIntegerParam(pC_->motorStatusFollowingError_, false);
|
||||
// }
|
||||
// /* Set any axis specific general problem bits. */
|
||||
// }
|
||||
|
||||
// if ((axStat < 0 && axStat != -3) || axErr != 0) {
|
||||
// axisProblemFlag = 1;
|
||||
// if (axisErrorCount < 10) {
|
||||
// axMessage = translateAxisError(axErr);
|
||||
// printf("axErr: %d\taxStat: %d\taxMessage: %s\n", axErr, axStat,
|
||||
// axMessage); asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
// "drvPmacAxisGetStatus: Axis %d is in deep trouble: axis error
|
||||
// " "code %d, translated: %s:, status code = %d\n", axisNo_,
|
||||
// axErr, axMessage, axStat);
|
||||
// snprintf(message, sizeof(message), "PMAC Axis error: %s", axMessage);
|
||||
// updateMsgTxtFromDriver(message);
|
||||
// if (axMessage != NULL) {
|
||||
// free(axMessage);
|
||||
// }
|
||||
// axisErrorCount++;
|
||||
// } else if (axisErrorCount == 10) {
|
||||
// asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
// "Suppressing further axis error messages\n");
|
||||
// axisErrorCount++;
|
||||
// }
|
||||
// } else {
|
||||
// axisProblemFlag = 0;
|
||||
// axisErrorCount = 0;
|
||||
// }
|
||||
// setIntegerParam(pC_->motorStatusProblem_, axisProblemFlag);
|
||||
|
||||
// callParamCallbacks();
|
||||
// return asynSuccess;
|
||||
// }
|
||||
|
||||
asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
|
||||
char command[pC_->PMAC_MAXBUF_];
|
||||
char response[pC_->PMAC_MAXBUF_];
|
||||
int cmdStatus = 0;
|
||||
|
||||
int done = 0, posChanging = 0;
|
||||
double position = 0;
|
||||
int nvals = 0;
|
||||
int axisProblemFlag = 0;
|
||||
epicsUInt32 axErr = 0, highLim = 0, lowLim = 0, axDone = 0;
|
||||
int axStat=0;
|
||||
int axisProblemFlag = 0, axStat = 0, axDone;
|
||||
epicsUInt32 axErr = 0, highLim = 0, lowLim = 0;
|
||||
char message[132], *axMessage;
|
||||
|
||||
static const char *functionName = "pmacV3Axis::getAxisStatus";
|
||||
|
||||
pmacV3Controller* p3C_ = (pmacV3Controller*)pC_;
|
||||
sprintf(command, "Q%2.2d10 P%2.2d00 P%2.2d23", axisNo_, axisNo_, axisNo_);
|
||||
cmdStatus = pC_->lowLevelWriteRead(axisNo_, command, response);
|
||||
nvals = sscanf(response, "%lf %d %d", &position, &axStat, &axDone);
|
||||
@ -927,20 +1129,33 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
|
||||
updateMsgTxtFromDriver("Cannot read Axis position and status");
|
||||
}
|
||||
|
||||
|
||||
pmacV3Controller *p3C_ = (pmacV3Controller *)pC_;
|
||||
int st = setIntegerParam(p3C_->axisEnabled_, axStat >= 0);
|
||||
// st = callParamCallbacks();
|
||||
// printf("axStat: callParamCallbacks -> ok: %d\n", st == asynSuccess);
|
||||
|
||||
sprintf(command, "P%2.2d01 P%2.2d37 P%2.2d38", axisNo_, axisNo_, axisNo_);
|
||||
cmdStatus = pC_->lowLevelWriteRead(axisNo_, command, response);
|
||||
nvals = sscanf(response, "%d %d %d", &axErr, &highLim, &lowLim);
|
||||
if (cmdStatus || nvals != 3) {
|
||||
asynPrint(
|
||||
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
"drvPmacAxisGetStatus: Failed to read axis Error, high and low limit "
|
||||
"flags Status: %d\nCommand :%s\nResponse:%s\n",
|
||||
cmdStatus, command, response);
|
||||
updateMsgTxtFromDriver(
|
||||
"Cannot read Axis Error, high and low limit flag Status");
|
||||
}
|
||||
|
||||
int direction = 0;
|
||||
|
||||
setDoubleParam(pC_->motorPosition_, position * MULT);
|
||||
setDoubleParam(pC_->motorEncoderPosition_, position * MULT);
|
||||
|
||||
/* Use previous position and current position to calculate direction.*/
|
||||
int direction = previous_direction_;
|
||||
if ((position - previous_position_) > 0) {
|
||||
direction = 1;
|
||||
}
|
||||
if ((position - previous_position_) < 0) {
|
||||
} else if (position - previous_position_ == 0.0) {
|
||||
direction = previous_direction_;
|
||||
} else {
|
||||
direction = 0;
|
||||
}
|
||||
setIntegerParam(pC_->motorStatusDirection_, direction);
|
||||
@ -949,10 +1164,11 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
|
||||
previous_position_ = position;
|
||||
previous_direction_ = direction;
|
||||
|
||||
// errlogPrintf("Polling, axStat = %d, position = %f\n", axStat, position);
|
||||
// errlogPrintf("Polling, axStat = %d, axErr = %d, position = %f\n", axStat,
|
||||
// axErr, position);
|
||||
|
||||
/* are we done? */
|
||||
if ( axDone == 0 && starting == 0) {
|
||||
if ((axStat == 0 || axStat == 14 || axStat < 0) && starting == 0) {
|
||||
done = 1;
|
||||
} else {
|
||||
starting = 0;
|
||||
@ -971,7 +1187,6 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
|
||||
errlogPrintf("Axis %d did not start within 10 seconds!! BROKEN\n", axisNo_);
|
||||
updateMsgTxtFromDriver("Axis did not start within 10 seconds");
|
||||
starting = 0;
|
||||
callParamCallbacks();
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
@ -997,7 +1212,6 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
|
||||
updateMsgTxtFromDriver(
|
||||
"Axis stayed in 5,6 for more then 60 seconds: BROKEN");
|
||||
status6Time = 0;
|
||||
callParamCallbacks();
|
||||
return asynSuccess;
|
||||
} else {
|
||||
status6Time = time(NULL);
|
||||
@ -1021,29 +1235,8 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
|
||||
}
|
||||
}
|
||||
|
||||
sprintf(message, "poll results: axis %d, status %d, done = %d",
|
||||
axisNo_, axStat, axDone);
|
||||
pC_->debugFlow(message);
|
||||
|
||||
if (*moving == false) {
|
||||
|
||||
sprintf(command, "P%2.2d01 P%2.2d37 P%2.2d38", axisNo_, axisNo_, axisNo_);
|
||||
cmdStatus = pC_->lowLevelWriteRead(axisNo_, command, response);
|
||||
nvals = sscanf(response, "%d %d %d", &axErr, &highLim, &lowLim);
|
||||
if (cmdStatus || nvals != 1) {
|
||||
asynPrint(
|
||||
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
"drvPmacAxisGetStatus: Failed to read axis Error, high and low limit "
|
||||
"flags Status: %d\nCommand :%s\nResponse:%s\n",
|
||||
cmdStatus, command, response);
|
||||
updateMsgTxtFromDriver(
|
||||
"Cannot read Axis Error, high and low limit flag Status");
|
||||
}
|
||||
|
||||
// errlogPrintf("Polling, axErr = %d, highLim = %d, lowLim = %d\n", axStat,
|
||||
// axErr, highLim, lowLim);
|
||||
|
||||
sprintf(message, "poll results: axis %d, axErr %d", axisNo_, axErr);
|
||||
sprintf(message, "poll results: axis %d, status %d, axErr %d, done = %d",
|
||||
axisNo_, axStat, axErr, done);
|
||||
pC_->debugFlow(message);
|
||||
|
||||
/* search for trouble */
|
||||
@ -1066,13 +1259,10 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
|
||||
setIntegerParam(pC_->motorStatusFollowingError_, false);
|
||||
}
|
||||
/* Set any axis specific general problem bits. */
|
||||
}
|
||||
|
||||
if ((axStat < 0 && axStat != -3) || axErr != 0) {
|
||||
if (axErr != 0) {
|
||||
axisProblemFlag = 1;
|
||||
if (axisErrorCount < 10) {
|
||||
axMessage = translateAxisError(axErr);
|
||||
printf("axErr: %d\taxStat: %d\taxMessage: %s\n", axErr, axStat, axMessage);
|
||||
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
||||
"drvPmacAxisGetStatus: Axis %d is in deep trouble: axis error "
|
||||
"code %d, translated: %s:, status code = %d\n",
|
||||
@ -1094,8 +1284,5 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
|
||||
}
|
||||
setIntegerParam(pC_->motorStatusProblem_, axisProblemFlag);
|
||||
|
||||
callParamCallbacks();
|
||||
return asynSuccess;
|
||||
}
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user