sinqepicsapp/sinqEPICSApp/src/pmacAxis.h

/********************************************
 *  pmacAxis.cpp
 *
 *  PMAC Asyn motor based on the
 *  asynMotorAxis class.
 *
 *  Matthew Pearson
 *  23 May 2012
 *
 * Modified to use the MsgTxt field for SINQ
 *
 * Mark Koennecke, January 2019
 *
 * EXtended with special motor axis for the Selene
 * guide, Mark Koennecke, February 2020
 ********************************************/

#ifndef pmacAxis_H
#define pmacAxis_H

#include "SINQAxis.h"
#include "SINQController.h"

class pmacController;
class SeleneController;

class pmacAxis : public SINQAxis {
  public:
    /* These are the methods we override from the base class */
    pmacAxis(pmacController *pController, int axisNo, bool enable = true);
    virtual ~pmacAxis();
    asynStatus move(double position, int relative, double min_velocity,
                    double max_velocity, double acceleration);
    asynStatus moveVelocity(double min_velocity, double max_velocity,
                            double acceleration);
    asynStatus home(double min_velocity, double max_velocity,
                    double acceleration, int forwards);
    asynStatus stop(double acceleration);
    asynStatus poll(bool *moving);
    asynStatus setPosition(double position);
    asynStatus enable(int on);

  protected:
    pmacController *pC_;

    asynStatus getAxisStatus(bool *moving);
    asynStatus getAxisInitialStatus(void);

    double setpointPosition_;
    double encoderPosition_;
    double currentVelocity_;
    double velocity_;
    double accel_;
    double highLimit_;
    double lowLimit_;
    double scale_;
    double previous_position_;
    int previous_direction_;
    int encoder_axis_;
    int axisErrorCount;

    time_t startTime;
    time_t status6Time;
    int starting;
    int homing;
    double statusPos;

    time_t next_poll;

    bool autoEnable;

    friend class pmacController;
    friend class pmacV3Controller;
};
/*--------------------------------------------------------------------------------------------*/
class SeleneAxis : public pmacAxis {
  public:
    SeleneAxis(SeleneController *pController, int axisNo, double limitTarget);
    asynStatus move(double position, int relative, double min_velocity,
                    double max_velocity, double acceleration);
    asynStatus setPosition(double position);
    asynStatus home(double min_velocity, double max_velocity,
                    double acceleration, int forwards);

  protected:
    friend class SeleneController;
    friend class pmacController;

  private:
    double limitTarget;
    asynStatus getSeleneAxisInitialStatus(void);
};

/*
  Yet another special set of motors for the Selene Guide at AMOR. Each segment
  can be lifted or tilted. This is two motors. One acts as a slave and only
  writes a new target, the other also sets a new target and sends the actual
  movement command. Both motors are coordianted in the motor controller in order
  to avoid tension on the guide elements. This gaves rise to the function code
  LIFTSLAVE and LIFTMASTER.

  In another mode the whole guide can be lifted or tilted. Then motor 1 and 6
  get new values and one of them sends the drive command. This causes all 6
  motors to drive synchronously to their new targets. This is implemented
  through the LIFTSEGMENT function code.

  Mark Koennecke, February 2020

  The axis should not be enabled automatically

  Michele Brambilla, February 2020

 */
class LiftAxis : public pmacAxis {
  public:
    /*
    The default constructor of LiftAxis just forwards to the pmacAxis
    constructor, which has an optional argument "autoenable" with the default
    value "true". However, we want that argument to be false, hence we provide
    an explicit constructor.
    */
    LiftAxis(pmacController *pController, int axisNo)
        : pmacAxis((pmacController *)pController, axisNo, false) {};
    asynStatus move(double position, int relative, double min_velocity,
                    double max_velocity, double acceleration);
    asynStatus poll(bool *moving);
    asynStatus stop(double acceleration);

  private:
    int waitStart;
};

/********************************************
 * Protocol version 3 requires just some minor change
 *
 * Michele Brambilla, February 2022
 ********************************************/

class pmacV3Axis : public pmacAxis {
  public:
    pmacV3Axis(pmacController *pController, int axisNo);

    asynStatus move(double position, int relative, double min_velocity,
                    double max_velocity, double acceleration);
    asynStatus poll(bool *moving);

  protected:
    int IsEnable;
    double Speed;

    asynStatus getAxisStatus(bool *moving);

    friend class pmacController;
    friend class pmacV3Controller;
};

/*----------------------------------------------------------------------------------------------*/
class pmacHRPTAxis : public pmacV3Axis {
  public:
    pmacHRPTAxis(pmacController *pController, int axisNo)
        : pmacV3Axis(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;
};

/*
 * Special motors for the AMOR detector movement. The whole
 * command set is different but on a pmac controller. This implements
 * a coordinated movement of cox, coz and ftz in order not to break
 * the flight tube which may have been mounted. This is mapped to three
 * motors selected via the function code: com, the detector omega, coz,
 * the detector z offset and park, for parking the flightpath.
 */

#define ADCOM 1
#define ADCOZ 2
#define ADPARK 3

class AmorDetectorAxis : public pmacAxis {
  public:
    AmorDetectorAxis(pmacController *pController, int axisNo, int function);

    asynStatus move(double position, int relative, double min_velocity,
                    double max_velocity, double acceleration);
    asynStatus poll(bool *moving);
    asynStatus moveVelocity(double min_velocity, double max_velocity,
                            double acceleration);
    asynStatus home(double min_velocity, double max_velocity,
                    double acceleration, int forwards);
    asynStatus stop(double acceleration);
    asynStatus setPosition(double position);

  protected:
    int _function;
    int det_starting;
    time_t det_startTime;
};

/*----------------------------------------------------------------------------------------------*/

class GirderAxis : public pmacV3Axis {
  public:
    GirderAxis(pmacController *pController, int axisNo);
    asynStatus move(double position, int relative, double min_velocity,
                    double max_velocity, double acceleration);
    asynStatus stop(double acceleration);
    asynStatus poll(bool *moving);

  protected:
    int IsEnable;

    friend class pmacController;
    friend class pmacV3Controller;
};

#endif /* pmacAxis_H */