lin-epics-modules/turboPmac
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Merge branch 'static-dep'

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This commit is contained in:
mathis_s
2025-05-15 12:27:26 +02:00
parent 63a5fcd518 2e5059da33
commit 572ee5c671
5 changed files with 47 additions and 67 deletions
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79
src/turboPmacAxis.cpp
View File

@@ -71,6 +71,20 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
exit(-1);
}
// Even though this happens already in sinqAxis, a default value for
// motorMessageText is set here again, because apparently the sinqAxis
// constructor is not run before the string is accessed?
status = setStringParam(pC_->motorMessageText(), "");
if (status != asynSuccess) {
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
"(setting a parameter value failed "
"with %s)\n. Terminating IOC",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
pC_->stringifyAsynStatus(status));
exit(-1);
}
// turboPmac motors can always be disabled
status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable(), 1);
if (status != asynSuccess) {
@@ -397,13 +411,6 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
case -5:
// Axis is deactivated
*moving = false;
pl_status = setStringParam(pC_->motorMessageText(), "Deactivated");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
break;
case -4:
// Emergency stop
@@ -426,19 +433,10 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
break;
case -3:
// Disabled
*moving = false;
pl_status = setStringParam(pC_->motorMessageText(), "Disabled");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
break;
case 0:
// Idle
@@ -599,8 +597,7 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
resetError = false;
status = setStringParam(pC_->motorMessageText(),
"Target position would exceed software "
"limits. Please call the support.");
"Target position would exceed software limits");
if (status != asynSuccess) {
return pC_->paramLibAccessFailed(status, "motorMessageText_",
axisNo_, __PRETTY_FUNCTION__,
@@ -783,10 +780,10 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
}
resetError = false;
snprintf(userMessage, sizeUserMessage,
"Driver hardware error (P%2.2d01 = 13). "
"Please call the support.",
axisNo_);
snprintf(
userMessage, sizeUserMessage,
"Driver hardware error (P%2.2d01 = 13). Please call the support.",
axisNo_);
status = setStringParam(pC_->motorMessageText(), userMessage);
if (status != asynSuccess) {
return pC_->paramLibAccessFailed(status, "motorMessageText_",
@@ -1084,22 +1081,7 @@ asynStatus turboPmacAxis::doHome(double min_velocity, double max_velocity,
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
pl_status = setStringParam(pC_->motorMessageText(), "Homing");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
return callParamCallbacks();
} else {
pl_status = setStringParam(pC_->motorMessageText(),
"Can't home a motor with absolute encoder");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
}
return asynSuccess;
@@ -1271,6 +1253,14 @@ asynStatus turboPmacAxis::enable(bool on) {
// Status of parameter library operations
asynStatus pl_status = asynSuccess;
bool moving = false;
rw_status = doPoll(&moving);
if (rw_status != asynSuccess) {
return rw_status;
}
// =========================================================================
/*
Continue regardless of the status returned by the poll; we just want to
find out whether the motor is currently moving or not. If the poll
@@ -1280,8 +1270,6 @@ asynStatus turboPmacAxis::enable(bool on) {
bool moving = false;
doPoll(&moving);
// =========================================================================
// If the axis is currently moving, it cannot be disabled. Ignore the
// command and inform the user. We check the last known status of the axis
// instead of "moving", since status -6 is also moving, but the motor can
@@ -1330,16 +1318,7 @@ asynStatus turboPmacAxis::enable(bool on) {
"Controller \"%s\", axis %d => %s, line %d\n%s axis\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
on ? "Enable" : "Disable");
if (on == 0) {
pl_status = setStringParam(pC_->motorMessageText(), "Disabling ...");
} else {
pl_status = setStringParam(pC_->motorMessageText(), "Enabling ...");
}
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
rw_status = pC_->writeRead(axisNo_, command, response, 0);
if (rw_status != asynSuccess) {
return rw_status;
@@ -1382,7 +1361,7 @@ asynStatus turboPmacAxis::enable(bool on) {
// Output message to user
snprintf(command, sizeof(command), "Failed to %s within %d seconds",
on ? "enable" : "disable", timeout_enable_disable);
pl_status = setStringParam(pC_->motorMessageText(), "Enabling ...");
pl_status = setStringParam(pC_->motorMessageText(), command);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
axisNo_, __PRETTY_FUNCTION__,

9
src/turboPmacController.h
View File

@@ -120,17 +120,10 @@ class turboPmacController : public sinqController {
int readConfig() { return readConfig_; }
int flushHardware() { return flushHardware_; }
// Set the maximum buffer size. This is an empirical value which must be
// large enough to avoid overflows for all commands to the device /
// responses from it.
static const uint32_t MAXBUF_ = 200;
asynUser *pasynInt32SyncIOipPort() { return pasynInt32SyncIOipPort_; }
protected:
/*
Timeout for the communication process in seconds
*/
// Timeout for the communication process in seconds
double comTimeout_;
char lastResponse[MAXBUF_];