lin-epics-modules/turboPmac
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Added documenation for enableDisable flag

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mathis_s
2025-07-29 11:50:34 +02:00
parent fd2afa9ec6
commit 62a3d8c834
1 changed files with 23 additions and 12 deletions
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35
src/turboPmacAxis.cpp
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@@ -15,7 +15,14 @@
struct turboPmacAxisImpl { struct turboPmacAxisImpl {
bool waitForHandshake; bool waitForHandshake;
bool waitForEnable; /*
This flag is set to true, if the controller is currently enabling /
disabling the motor and false otherwise. This flag is used in the doPoll
method to check if the enableRBV PV should be set or not in order to prevent
a premature change of state (controller reports that the motor is already
enabled / disabled while it is not ready yet to receive new commands).
*/
bool enableDisable;
time_t timeAtHandshake; time_t timeAtHandshake;
// The axis status is used when enabling / disabling the motor // The axis status is used when enabling / disabling the motor
int axisStatus; int axisStatus;
@@ -65,7 +72,7 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
pTurboPmacA_ = std::make_unique<turboPmacAxisImpl>( pTurboPmacA_ = std::make_unique<turboPmacAxisImpl>(
(turboPmacAxisImpl){.waitForHandshake = false, (turboPmacAxisImpl){.waitForHandshake = false,
.waitForEnable = false, .enableDisable = false,
.timeAtHandshake = 0, .timeAtHandshake = 0,
.axisStatus = 0, .axisStatus = 0,
.needInit = false}); .needInit = false});
@@ -366,8 +373,9 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
// Store the axis status // Store the axis status
pTurboPmacA_->axisStatus = axStatus; pTurboPmacA_->axisStatus = axStatus;
// Update the enablement PV // Update the enablement PV, if we are not in the middle of a enabling /
if (!(pTurboPmacA_->waitForEnable)) { // disabling procedure.
if (!(pTurboPmacA_->enableDisable)) {
setAxisParamChecked(this, motorEnableRBV, setAxisParamChecked(this, motorEnableRBV,
(axStatus != -3 && axStatus != -5)); (axStatus != -3 && axStatus != -5));
} }
@@ -1066,8 +1074,6 @@ asynStatus turboPmacAxis::enable(bool on) {
// ========================================================================= // =========================================================================
pTurboPmacA_->waitForEnable = true;
/* /*
Continue regardless of the status returned by the poll; we just want to 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 find out whether the motor is currently moving or not. If the poll
@@ -1095,7 +1101,7 @@ asynStatus turboPmacAxis::enable(bool on) {
setAxisParamChecked(this, motorMessageText, setAxisParamChecked(this, motorMessageText,
"Axis cannot be disabled while it is moving."); "Axis cannot be disabled while it is moving.");
pTurboPmacA_->waitForEnable = false; pTurboPmacA_->enableDisable = false;
return asynError; return asynError;
} }
@@ -1107,7 +1113,6 @@ asynStatus turboPmacAxis::enable(bool on) {
"Controller \"%s\", axis %d => %s, line %d\nAxis is already %s.\n", "Controller \"%s\", axis %d => %s, line %d\nAxis is already %s.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
on ? "enabled" : "disabled"); on ? "enabled" : "disabled");
pTurboPmacA_->waitForEnable = false;
return asynSuccess; return asynSuccess;
} }
@@ -1115,11 +1120,13 @@ asynStatus turboPmacAxis::enable(bool on) {
if (on != 0) { if (on != 0) {
status = rereadEncoder(); status = rereadEncoder();
if (status != asynSuccess) { if (status != asynSuccess) {
pTurboPmacA_->waitForEnable = false;
return status; return status;
} }
} }
// Now the actual enabling / disabling starts
pTurboPmacA_->enableDisable = true;
// Enable / disable the axis // Enable / disable the axis
snprintf(command, sizeof(command), "M%2.2d14=%d", axisNo_, on); snprintf(command, sizeof(command), "M%2.2d14=%d", axisNo_, on);
asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW, asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
@@ -1144,7 +1151,8 @@ asynStatus turboPmacAxis::enable(bool on) {
// Read the axis status // Read the axis status
status = pC_->writeRead(axisNo_, command, response, 1); status = pC_->writeRead(axisNo_, command, response, 1);
if (status != asynSuccess) { if (status != asynSuccess) {
pTurboPmacA_->waitForEnable = false; // Enabling / disabling procedure failed
pTurboPmacA_->enableDisable = false;
return status; return status;
} }
nvals = sscanf(response, "%d", &pTurboPmacA_->axisStatus); nvals = sscanf(response, "%d", &pTurboPmacA_->axisStatus);
@@ -1159,7 +1167,8 @@ asynStatus turboPmacAxis::enable(bool on) {
bool moving = false; bool moving = false;
forcedPoll(&moving); forcedPoll(&moving);
pTurboPmacA_->waitForEnable = false; // Enabling / disabling procedure is completed (successfully)
pTurboPmacA_->enableDisable = false;
return asynSuccess; return asynSuccess;
} }
} }
@@ -1176,7 +1185,9 @@ asynStatus turboPmacAxis::enable(bool on) {
snprintf(command, sizeof(command), "Failed to %s within %d seconds", snprintf(command, sizeof(command), "Failed to %s within %d seconds",
on ? "enable" : "disable", timeout_enable_disable); on ? "enable" : "disable", timeout_enable_disable);
setAxisParamChecked(this, motorMessageText, command); setAxisParamChecked(this, motorMessageText, command);
pTurboPmacA_->waitForEnable = false;
// Enabling / disabling procedure failed
pTurboPmacA_->enableDisable = false;
return asynError; return asynError;
} }