Fixed a bug with inproperly cleared MsgTxt in SINQAxis

Extended pmacAxis to properly deal with HRPT pmac motors which have an extra error condition

iocBoot/iocsinqEPICS/motor.substitutions.el734

@@ -1,4 +1,4 @@
-file "$(MOTOR)/db/basic_asyn_motor.db"
+qfile "$(MOTOR)/db/basic_asyn_motor.db"
 {
 pattern
 {P,        N,     M,       DTYP,     PORT, ADDR,  DESC,     EGU,   DIR,   VELO,  VBAS, ACCL, BDST, BVEL, BACC,    MRES, PREC,   DHLM, DLLM, INIT}

sinqEPICSApp/src/EL734Driver.cpp

@@ -345,7 +345,7 @@ asynStatus EL734Axis::setPosition(double position)
   //static const char *functionName = "EL734Axis::setPosition";
   char command[COMLEN], reply[COMLEN];
 
-  sprintf(command, "P %d %f", axisNo_, position/1000.);
+  sprintf(command, "U %d %f", axisNo_, position/1000.);
   status = pC_->transactController(axisNo_,command,reply);
   next_poll = -1;
 
@@ -401,7 +401,7 @@ asynStatus EL734Axis::poll(bool *moving)
   } else if(strstr(reply,"?BSY") != NULL){
     *moving = true;
     setIntegerParam(pC_->motorStatusDone_, false);
-    updateMsgTxtFromDriver(NULL);
+    updateMsgTxtFromDriver("");
     goto skip;
   }
   count = sscanf(reply,"%lf", &position);

sinqEPICSApp/src/SINQAxis.cpp

@@ -12,6 +12,7 @@ SINQAxis::SINQAxis(class SINQController *pC, int axis)
   : asynMotorAxis((asynMotorController *)pC, axis),
     pC_(pC)
 {
+  updateMsgTxtFromDriver("");
 }
 
 
@@ -22,6 +23,7 @@ void SINQAxis::updateMsgTxtFromDriver(const char *value)
     setStringParam(pC_->motorMessageText_,value);
   } else {
     pC_->setIntegerParam(axisNo_,pC_->motorMessageIsFromDriver_, 0);
+    setStringParam(pC_->motorMessageText_,"");
   }  
 }
 

sinqEPICSApp/src/pmacAxis.cpp

@@ -218,8 +218,6 @@ asynStatus pmacAxis::home(double min_velocity, double max_velocity, double accel
 asynStatus pmacAxis::moveVelocity(double min_velocity, double max_velocity, double acceleration)
 {
   asynStatus status = asynError;
-  char command[128] = {0};
-  char response[32] = {0};
   static const char *functionName = "pmacAxis::moveVelocity";
 
   pC_->debugFlow(functionName);  
@@ -334,12 +332,9 @@ asynStatus pmacAxis::getAxisStatus(bool *moving)
     int cmdStatus = 0;; 
     int done = 0;
     double position = 0; 
-    double enc_position = 0;
     int nvals = 0;
     int axisProblemFlag = 0;
-    int limitsDisabledBit = 0;
     epicsUInt32 axErr = 0, axStat = 0, highLim = 0, lowLim= 0;
-    int errorPrintMin = 10000;
     char message[132], *axMessage;
     
             
@@ -521,3 +516,30 @@ asynStatus pmacAxis::getAxisStatus(bool *moving)
     return asynSuccess;
 }
 
+asynStatus pmacHRPTAxis::getAxisStatus(bool *moving)
+{
+  char command[pC_->PMAC_MAXBUF_];
+  char response[pC_->PMAC_MAXBUF_];
+  int cmdStatus = 0, nvals, crashSignal;
+  
+  asynStatus result = pmacAxis::getAxisStatus(moving);
+  sprintf(command,"P%2.2d53",axisNo_);
+  cmdStatus = pC_->lowLevelWriteRead(axisNo_,command,response);
+  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",
+		cmdStatus, command, response );
+   }
+  if(crashSignal == 1) {
+    updateMsgTxtFromDriver("HSC: HRPT Slit Crash!!");
+    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+	       "drvPmacAxisGetStatus: HRPT Slit CRASH detected");
+     *moving = false;
+     setIntegerParam(pC_->motorStatusMoving_, false);
+     setIntegerParam(pC_->motorStatusDone_, true);
+     setIntegerParam(pC_->motorStatusProblem_, true);
+
+  }
+  return result;
+}

sinqEPICSApp/src/pmacAxis.h

@@ -33,7 +33,7 @@ class pmacAxis : public SINQAxis
   asynStatus poll(bool *moving);
   asynStatus setPosition(double position);
   
-  private:
+  protected:
   pmacController *pC_;
   
   asynStatus getAxisStatus(bool *moving);
@@ -60,5 +60,19 @@ class pmacAxis : public SINQAxis
   friend class pmacController;
 };
 
+class pmacHRPTAxis : public pmacAxis
+{
+ public: 
+ pmacHRPTAxis(pmacController *pController, int axisNo) : pmacAxis(pController,axisNo) {};
+  /**
+   * Override getAxisStatus in order to read the special parameter indicating a
+   * slit blade crash at HRPT
+   */
+  asynStatus getAxisStatus(bool *moving);
+
+ protected:
+  friend class pmacController;
+  
+};
 
 #endif /* pmacAxis_H */

sinqEPICSApp/src/pmacController.cpp

@@ -558,9 +558,35 @@ asynStatus pmacCreateAxis(const char *pmacName,         /* specify which control
   pC->unlock();
   return asynSuccess;
 }
+/**
+ * C wrapper for the pmacHRPTAxis constructor.
+ * See pmacHRPTAxis::pmacHRPTAxis.
+ *
+ */
+asynStatus pmacCreateHRPTAxis(const char *pmacName,         /* specify which controller by port name */
+			  int axis)                    /* axis number (start from 1). */
+{
+  pmacController *pC;
+  pmacAxis *pAxis;
+
+  static const char *functionName = "pmacCreateHRPTAxis";
+
+  pC = (pmacController*) findAsynPortDriver(pmacName);
+  if (!pC) {
+    printf("%s:%s: Error port %s not found\n",
+           driverName, functionName, pmacName);
+    return asynError;
+  }
+  
+  pC->lock();
+  pAxis = new pmacHRPTAxis(pC, axis);
+  pAxis = NULL;
+  pC->unlock();
+  return asynSuccess;
+}
 
 /**
- * C Wrapper function for pmacAxis constructor.
+ * C Wrapper function for pmacHRPTAxis constructor.
  * See pmacAxis::pmacAxis.
  * This function allows creation of multiple pmacAxis objects with axis numbers 1 to numAxes.
  * @param pmacName Asyn port name for the controller (const char *)
@@ -628,6 +654,18 @@ static void configpmacAxisCallFunc(const iocshArgBuf *args)
   pmacCreateAxis(args[0].sval, args[1].ival);
 }
 
+/* pmacCreateHRPTAxis */
+static const iocshArg pmacCreateHRPTAxisArg0 = {"Controller port name", iocshArgString};
+static const iocshArg pmacCreateHRPTAxisArg1 = {"Axis number", iocshArgInt};
+static const iocshArg * const pmacCreateHRPTAxisArgs[] = {&pmacCreateAxisArg0,
+                                                     &pmacCreateAxisArg1};
+static const iocshFuncDef configpmacHRPTAxis = {"pmacCreateHRPTAxis", 2, pmacCreateHRPTAxisArgs};
+
+static void configpmacHRPTAxisCallFunc(const iocshArgBuf *args)
+{
+  pmacCreateHRPTAxis(args[0].sval, args[1].ival);
+}
+
 /* pmacCreateAxes */
 static const iocshArg pmacCreateAxesArg0 = {"Controller port name", iocshArgString};
 static const iocshArg pmacCreateAxesArg1 = {"Num Axes", iocshArgInt};
@@ -646,6 +684,7 @@ static void pmacControllerRegister(void)
 {
   iocshRegister(&configpmacCreateController,   configpmacCreateControllerCallFunc);
   iocshRegister(&configpmacAxis,               configpmacAxisCallFunc);
+  iocshRegister(&configpmacHRPTAxis,           configpmacHRPTAxisCallFunc);
   iocshRegister(&configpmacAxes,               configpmacAxesCallFunc);
 }
 epicsExportRegistrar(pmacControllerRegister);

sinqEPICSApp/src/pmacController.h

@@ -136,6 +136,7 @@ class pmacController : public SINQController {
   static const epicsUInt32 PMAX_AXIS_GENERAL_PROB2;
 
   friend class pmacAxis;
+  friend class pmacHRPTAxis;
 
 };
 

sinqEPICSApp/src/sinq.dbd

@@ -5,6 +5,7 @@ registrar(EL734Register)
 registrar(PhytronRegister) 
 registrar(NanotecRegister) 
 registrar(pmacControllerRegister) 
+registrar(pmacAsynIPPortRegister) 
 
 #--------------------------------------------------------
 # With the PSI module build system, including these items actually