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Allow enable/disable (tentative)

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This commit is contained in:
brambilla_m
2022-02-28 15:33:47 +01:00
parent 929f9f600d
commit c805385ad1
5 changed files with 177 additions and 65 deletions
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7
sinqEPICSApp/Db/motorSet.db
View File

@ -4,3 +4,10 @@ record(ao, "$(P)$(M)-SetPosition") {
field(OUT, "@asyn($(PORT),$(N),1) SET_MOTOR_POSITION")
field(PINI, "YES")
}
# enable axis
record(longout, "$(P)$(M):Enable") {
field(DTYP, "asynInt32")
field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
field(PINI, "YES")
}

80
sinqEPICSApp/src/pmacAxis.cpp
View File

@ -368,34 +368,6 @@ static char *translateAxisError(int axErr)
}
}
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, axStat = 0, highLim = 0, lowLim = 0;
char message[132], *axMessage;
/* read our status items one by one: our PMAC does not seem to give multiple
* responses ..*/
sprintf(command, "P%2.2d01", axisNo_);
cmdStatus = pC_->lowLevelWriteRead(axisNo_, command, response);
nvals = sscanf(response, "%d", &axErr);
if (cmdStatus || nvals != 1) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"drvPmacAxisGetStatus: Failed to read axis Error Status: "
"%d\nCommand :%s\nResponse:%s\n",
cmdStatus, command, response);
updateMsgTxtFromDriver("Cannot read Axis Error Status");
}
}
asynStatus pmacAxis::getAxisStatus(bool *moving)
{
char command[pC_->PMAC_MAXBUF_];
@ -625,6 +597,16 @@ asynStatus pmacHRPTAxis::getAxisStatus(bool *moving)
return result;
}
asynStatus pmacAxis::enable(int on) {
static const char *functionName = "pmacAxis::enable";
pC_->debugFlow(functionName);
// Cannot do this.
return asynSuccess;
}
/*================================= SeleneAxis code ======================================================*/
SeleneAxis::SeleneAxis(SeleneController *pC, int axisNo, double limitTarget)
: pmacAxis(pC, axisNo, false)
@ -890,13 +872,13 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
double position = 0;
int nvals = 0;
int axisProblemFlag = 0;
epicsUInt32 axErr = 0, axStat = 0, highLim = 0, lowLim = 0;
epicsUInt32 axErr = 0, axStat = 0, highLim = 0, lowLim = 0, axDone = 0;
char message[132], *axMessage;
sprintf(command, "Q%2.2d10 P%2.2d00", axisNo_, axisNo_);
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", &position, &axStat);
if (cmdStatus || nvals != 2) {
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",
@ -924,7 +906,7 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
// errlogPrintf("Polling, axStat = %d, position = %f\n", axStat, position);
/* are we done? */
if ((axStat == 0 || axStat == 14 || axStat < 0) && starting == 0) {
if ( axDone == 0 && starting == 0) {
done = 1;
} else {
starting = 0;
@ -992,7 +974,7 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
}
sprintf(message, "poll results: axis %d, status %d, done = %d",
axisNo_, axStat, done);
axisNo_, axStat, axDone);
pC_->debugFlow(message);
if (*moving == false) {
@ -1064,4 +1046,32 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
setIntegerParam(pC_->motorStatusProblem_, axisProblemFlag);
return asynSuccess;
}
}
// pmacV3Axis::enable(int on) {
// char command[pC_->PMAC_MAXBUF_];
// char response[pC_->PMAC_MAXBUF_];
// int cmdStatus = 0;
// static const char *functionName = "pmacV3Axis::enable";
// pC_->debugFlow(functionName);
// // Enable the axis. After startup, the axis are disabled on the controller...
// sprintf(command, "M%2.2d14=%1.1d", axisNo_, on);
// cmdStatus = pC_->lowLevelWriteRead(axisNo_, command, response);
// if (cmdStatus) {
// if(on) {
// asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
// "%s: Error: enabling axis %d failed.\n", functionName, axisNo_);
// } else {
// asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
// "%s: Error: disabling axis %d failed.\n", functionName, axisNo_);
// }
// return asynError;
// }
// callParamCallbacks();
// return asynSuccess;
// }

8
sinqEPICSApp/src/pmacAxis.h
View File

@ -24,6 +24,8 @@
class pmacController;
class SeleneController;
#define PMAC_EnableAxis "PMAC_ENABLE_AXIS"
class pmacAxis : public SINQAxis
{
public:
@ -36,8 +38,9 @@ class pmacAxis : public SINQAxis
asynStatus stop(double acceleration);
asynStatus poll(bool *moving);
asynStatus setPosition(double position);
protected:
asynStatus enable(int on);
protected:
pmacController *pC_;
asynStatus getAxisStatus(bool *moving);
@ -139,6 +142,7 @@ class LiftAxis : public pmacAxis
class pmacV3Axis : public pmacAxis {
public:
using pmacAxis::pmacAxis;
friend class pmacController;
};

129
sinqEPICSApp/src/pmacController.cpp
View File

@ -133,7 +133,10 @@ extern "C" {
int numAxes, int movingPollPeriod, int idlePollPeriod);
asynStatus SeleneCreateController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress,
int numAxes, int movingPollPeriod, int idlePollPeriod);
asynStatus pmacV3CreateController(const char *portName,
const char *lowLevelPortName,
int lowLevelPortAddress, int numAxes,
int movingPollPeriod, int idlePollPeriod);
asynStatus pmacCreateAxis(const char *pmacName, int axis);
asynStatus pmacCreateAxis(const char *pmacName, int numAxis);
@ -546,6 +549,19 @@ asynStatus SeleneCreateController(const char *portName, const char *lowLevelPort
return asynSuccess;
}
asynStatus pmacV3CreateController(const char *portName,
const char *lowLevelPortName,
int lowLevelPortAddress, int numAxes,
int movingPollPeriod, int idlePollPeriod) {
pmacV3Controller *ppmacController = new pmacV3Controller(
portName, lowLevelPortName, lowLevelPortAddress, numAxes,
movingPollPeriod / 1000., idlePollPeriod / 1000.);
ppmacController = NULL;
return asynSuccess;
}
/*---------------------------------------------------------------------------------------------------------------------*/
SeleneController::SeleneController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress,
int numAxes, double movingPollPeriod, double idlePollPeriod) : pmacController(portName,
@ -559,33 +575,46 @@ SeleneController::SeleneController(const char *portName, const char *lowLevelPor
callParamCallbacks();
}
/**
* C wrapper for the pmacAxis constructor.
* See pmacAxis::pmacAxis.
*
*/
asynStatus pmacCreateAxis(const char *pmacName, /* specify which controller by port name */
int axis) /* axis number (start from 1). */
{
pmacController *pC;
pmacAxis *pAxis;
static const char *functionName = "pmacCreateAxis";
pC = (pmacController*) findAsynPortDriver(pmacName);
if (!pC) {
printf("%s:%s: Error port %s not found\n",
driverName, functionName, pmacName);
return asynError;
pmacV3Controller::pmacV3Controller(const char *portName,
const char *lowLevelPortName,
int lowLevelPortAddress, int numAxes,
double movingPollPeriod,
double idlePollPeriod,
const int &extraParams){
pmacController(portName, lowLevelPortName, lowLevelPortAddress, numAxes,
movingPollPeriod, idlePollPeriod, extraParams);
static const char *functionName = "pmacV3Controller::pmacV3Controller";
createParam(EnableAxisString, asynParamInt32, &enableAxis_);
callParamCallbacks();
}
/**
* C wrapper for the pmacAxis constructor.
* See pmacAxis::pmacAxis.
*
*/
asynStatus pmacCreateAxis(
const char *pmacName, /* specify which controller by port name */
int axis) /* axis number (start from 1). */
{
pmacController *pC;
pmacAxis *pAxis;
static const char *functionName = "pmacCreateAxis";
pC = (pmacController *)findAsynPortDriver(pmacName);
if (!pC) {
printf("%s:%s: Error port %s not found\n", driverName, functionName,
pmacName);
return asynError;
}
pC->lock();
pAxis = new pmacAxis(pC, axis);
pAxis = NULL;
pC->unlock();
return asynSuccess;
}
pC->lock();
pAxis = new pmacAxis(pC, axis);
pAxis = NULL;
pC->unlock();
return asynSuccess;
}
/**
* C wrapper for the pmacHRPTAxis constructor.
* See pmacHRPTAxis::pmacHRPTAxis.
@ -752,6 +781,8 @@ asynStatus SeleneController::writeFloat64(asynUser *pasynUser, epicsFloat64 valu
status = lowLevelWriteRead(pAxis->axisNo_,command, response);
}
// What if now status != asynSuccess
//Call base class method
//This will handle callCallbacks even if the function was handled here.
status = asynMotorController::writeFloat64(pasynUser, value);
@ -760,6 +791,42 @@ asynStatus SeleneController::writeFloat64(asynUser *pasynUser, epicsFloat64 valu
}
asynStatus pmacV3Controller::writeInt32(asynUser *pasynUser, epicsInt32 value) {
int function = pasynUser->reason;
asynStatus status = asynError;
pmacAxis *pAxis = NULL;
static const char *functionName = "pmacV3Controller::writeInt32";
debugFlow(functionName);
pAxis = this->getAxis(pasynUser);
if (!pAxis) {
return asynError;
}
/* Set the parameter and readback in the parameter library. This may be
* overwritten when we read back the status at the end, but that's OK */
status = pAxis->setIntegerParam(function, value);
if (function == enableAxis_) {
sprintf(command, "M%2.2d14=%d\n", pAxis->axisNo_, value);
asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
"%s: Enable axis on controller %s, axis %d enable=%d\n",
functionName, portName, pAxis->axisNo_, value);
errlogPrintf("Enable axis %d: %d, command = %s\n", pAxis->axisNo_, value, command);
}
// Execute the command.
if (command[0] != 0 && status == asynSuccess) {
status = lowLevelWriteRead(pAxis->axisNo_, command, response);
}
// Call base class method
// This will handle callCallbacks even if the function was handled here.
status = asynMotorController::writeInt32(pasynUser, value);
return status;
}
/* Code for iocsh registration */
@ -790,7 +857,13 @@ static void configSeleneCreateControllerCallFunc(const iocshArgBuf *args)
{
SeleneCreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival, args[4].ival, args[5].ival);
}
static const iocshFuncDef configpmacV3CreateController = {
"pmacV3CreateController", 6, pmacCreateControllerArgs
};
static void configpmacV3CreateControllerCallFunc(const iocshArgBuf *args) {
pmacV3CreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival,
args[4].ival, args[5].ival);
}
/* pmacCreateAxis */
static const iocshArg pmacCreateAxisArg0 = {"Controller port name", iocshArgString};

18
sinqEPICSApp/src/pmacController.h
View File

@ -164,4 +164,22 @@ class SeleneController : public pmacController {
};
#define EnableAxisString "ENABLE_AXIS"
class pmacV3Controller : public pmacController {
public:
pmacV3Controller(const char *portName, const char *lowLevelPortName,
int lowLevelPortAddress, int numAxes, double movingPollPeriod,
double idlePollPeriod, const int &extraParams = 2);
// overloaded because we want to enable/disable the motor
asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
friend class pmacV3Axis;
friend class pmacAxis;
protected:
int enableAxis_;
};
#endif /* pmacController_H */