lin-epics-modules/turboPmac
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Fixed various bugs found by the automated tests

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This commit is contained in:
mathis_s
2025-07-25 16:53:52 +02:00
parent 5df84d6017
commit 949e9faef3
2 changed files with 44 additions and 55 deletions
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95
src/turboPmacAxis.cpp
View File

@@ -13,17 +13,9 @@
#include <unistd.h>
#include <vector>
#include <sys/time.h>
long long timeInMilliseconds(void) {
struct timeval tv;
gettimeofday(&tv, NULL);
return (((long long)tv.tv_sec) * 1000) + (tv.tv_usec / 1000);
}
struct turboPmacAxisImpl {
bool waitForHandshake;
bool waitForEnable;
time_t timeAtHandshake;
// The axis status is used when enabling / disabling the motor
int axisStatus;
@@ -73,6 +65,7 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
pTurboPmacA_ = std::make_unique<turboPmacAxisImpl>(
(turboPmacAxisImpl){.waitForHandshake = false,
.waitForEnable = false,
.timeAtHandshake = 0,
.axisStatus = 0,
.needInit = false});
@@ -262,14 +255,6 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
double lowLimit = 0.0;
double limitsOffset = 0.0;
// Was the axis idle during the previous poll?
int previousStatusDone = 1;
if (axisNo() == 1) {
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR, "START POLL: at %lli\n",
timeInMilliseconds());
}
// =========================================================================
if (pTurboPmacA_->needInit) {
@@ -346,8 +331,6 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
return status;
}
getAxisParamChecked(this, motorStatusDone, &previousStatusDone);
// Query the axis status
snprintf(command, sizeof(command),
"P%2.2d00 Q%2.2d10 P%2.2d01 Q%2.2d13 Q%2.2d14", axisNo_, axisNo_,
@@ -383,18 +366,11 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
// Store the axis status
pTurboPmacA_->axisStatus = axStatus;
// if (axStatus == -3 || axStatus == -5) {
if (axisNo() == 1) {
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"POLL: Axis status %i at %lli\n", axStatus,
timeInMilliseconds());
}
//}
// Update the enablement PV
setAxisParamChecked(this, motorEnableRBV,
(axStatus != -3 && axStatus != -5));
if (!(pTurboPmacA_->waitForEnable)) {
setAxisParamChecked(this, motorEnableRBV,
(axStatus != -3 && axStatus != -5));
}
// Create the unique callsite identifier manually so it can be used later in
// the shouldBePrinted calls.
@@ -762,9 +738,6 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
double minVelocity, double maxVelocity,
double acceleration) {
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Received move command at %lli\n", timeInMilliseconds());
// Status of read-write-operations of ASCII commands to the controller
asynStatus status = asynSuccess;
@@ -859,7 +832,6 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
asynStatus turboPmacAxis::stop(double acceleration) {
// Status of read-write-operations of ASCII commands to the controller
asynStatus status = asynSuccess;
char command[pC_->MAXBUF_] = {0};
@@ -883,6 +855,19 @@ asynStatus turboPmacAxis::stop(double acceleration) {
// if we're currently inside it.
pTurboPmacA_->waitForHandshake = false;
/*
Stopping the motor results in a movement and further move commands have to
wait until the stopping movement is done. Therefore, we need to wait until
the poller "sees" the changed state (otherwise, we risk issuing move
commands while the motor is stopping). To ensure that at least one poll is
done, this thread (which also runs move commands) is paused for twice the
idle poll period.
*/
pC_->forcedFastPolls();
unsigned int idlePollMicros =
(unsigned int)ceil(pC_->idlePollPeriod() * 1e6);
usleep(2 * idlePollMicros);
return status;
}
@@ -1072,7 +1057,7 @@ asynStatus turboPmacAxis::rereadEncoder() {
asynStatus turboPmacAxis::enable(bool on) {
int timeout_enable_disable = 2;
int timeout_enable_disable = 5;
char command[pC_->MAXBUF_] = {0};
char response[pC_->MAXBUF_] = {0};
int nvals = 0;
@@ -1082,6 +1067,8 @@ asynStatus turboPmacAxis::enable(bool on) {
// =========================================================================
pTurboPmacA_->waitForEnable = true;
/*
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
@@ -1100,13 +1087,16 @@ asynStatus turboPmacAxis::enable(bool on) {
axStatus == 5 || axStatus == 6 || axStatus == 7 || axStatus == 8 ||
axStatus == 9 || axStatus == 10 || axStatus == 11 || axStatus == 12 ||
axStatus == 13 || axStatus == 15 || axStatus == 16) {
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nAxis is not "
"idle and can therefore not be enabled / disabled.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
asynPrint(
pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nAxis is not "
"idle (status %d) and can therefore not be enabled / disabled.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axStatus);
setAxisParamChecked(this, motorMessageText,
"Axis cannot be disabled while it is moving.");
pTurboPmacA_->waitForEnable = false;
return asynError;
}
@@ -1118,6 +1108,7 @@ asynStatus turboPmacAxis::enable(bool on) {
"Controller \"%s\", axis %d => %s, line %d\nAxis is already %s.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
on ? "enabled" : "disabled");
pTurboPmacA_->waitForEnable = false;
return asynSuccess;
}
@@ -1125,14 +1116,12 @@ asynStatus turboPmacAxis::enable(bool on) {
if (on != 0) {
status = rereadEncoder();
if (status != asynSuccess) {
pTurboPmacA_->waitForEnable = false;
return status;
}
}
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR, "Sending enable %i at %lli\n",
on, timeInMilliseconds());
// Enable / disable the axis if it is not moving
// Enable / disable the axis
snprintf(command, sizeof(command), "M%2.2d14=%d", axisNo_, on);
asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
"Controller \"%s\", axis %d => %s, line %d\n%s axis\n",
@@ -1150,10 +1139,13 @@ asynStatus turboPmacAxis::enable(bool on) {
int startTime = time(NULL);
while (time(NULL) < startTime + timeout_enable_disable) {
// Wait a bit between status updates from the controller.
usleep(10000);
// Read the axis status
// usleep(100000);
status = pC_->writeRead(axisNo_, command, response, 1);
if (status != asynSuccess) {
pTurboPmacA_->waitForEnable = false;
return status;
}
nvals = sscanf(response, "%d", &pTurboPmacA_->axisStatus);
@@ -1162,21 +1154,13 @@ asynStatus turboPmacAxis::enable(bool on) {
__PRETTY_FUNCTION__, __LINE__);
}
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Axis status %i at %lli\n", pTurboPmacA_->axisStatus,
timeInMilliseconds());
if ((pTurboPmacA_->axisStatus != -3) == on) {
usleep(500000);
bool moving = false;
forcedPoll(&moving);
int enabled = 0;
getAxisParamChecked(this, motorEnableRBV, &enabled);
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Finished enable %i at %lli, value motorEnableRBV = %i\n",
on, timeInMilliseconds(), enabled);
pTurboPmacA_->waitForEnable = false;
return asynSuccess;
}
}
@@ -1193,6 +1177,7 @@ asynStatus turboPmacAxis::enable(bool on) {
snprintf(command, sizeof(command), "Failed to %s within %d seconds",
on ? "enable" : "disable", timeout_enable_disable);
setAxisParamChecked(this, motorMessageText, command);
pTurboPmacA_->waitForEnable = false;
return asynError;
}

4
src/turboPmacController.cpp
View File

@@ -254,6 +254,10 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
pasynOctetSyncIOipPort(), command, commandLength, response, MAXBUF_,
pTurboPmacC_->comTimeout, &nbytesOut, &nbytesIn, &eomReason);
// if (strchr(command, '=')) {
// usleep(20000);
// }
msgPrintControlKey comKey =
msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);