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Change to latest sinqMotor version

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This commit is contained in:
mathis_s
2025-05-23 09:25:58 +02:00
parent a11d10cb6c
commit a758db1211
3 changed files with 34 additions and 25 deletions
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2
sinqMotor

Submodule sinqMotor updated: 275672aaef...b95e782ea8

14
src/turboPmacAxis.cpp
View File

@ -93,8 +93,8 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
}
// Default values for the watchdog timeout mechanism
offsetMovTimeout_ = 30; // seconds
scaleMovTimeout_ = 2.0;
setOffsetMovTimeout(30.0); // seconds
setScaleMovTimeout(2.0);
}
turboPmacAxis::~turboPmacAxis(void) {
@ -166,7 +166,7 @@ asynStatus turboPmacAxis::init() {
&motorVmax, &motorVelocity, &motorAccel, &acoDelay);
// The acoDelay is given in milliseconds -> Convert to seconds, rounded up
offsetMovTimeout_ = std::ceil(acoDelay / 1000.0);
setOffsetMovTimeout(std::ceil(acoDelay / 1000.0));
// The PMAC electronic specifies the acceleration in m/s^2. Since we
// otherwise work with the base length mm, the acceleration is converted
@ -1005,6 +1005,10 @@ asynStatus turboPmacAxis::stop(double acceleration) {
}
}
// Reset the driver to idle state and move out of the handshake wait loop,
// if we're currently inside it.
waitForHandshake_ = false;
return rw_status;
}
@ -1039,6 +1043,10 @@ asynStatus turboPmacAxis::doReset() {
}
}
// Reset the driver to idle state and move out of the handshake wait loop,
// if we're currently inside it.
waitForHandshake_ = false;
return rw_status;
}

43
src/turboPmacController.cpp
View File

@ -55,7 +55,7 @@ turboPmacController::turboPmacController(const char *portName,
// Maximum allowed number of subsequent timeouts before the user is
// informed.
maxSubsequentTimeouts_ = 10;
setMaxSubsequentTimeouts(10);
// =========================================================================
// Create additional parameter library entries
@ -100,7 +100,7 @@ turboPmacController::turboPmacController(const char *portName,
const char *message_from_device =
"\006"; // Hex-code for ACK (acknowledge) -> Each message from the MCU
// is terminated by this value
status = pasynOctetSyncIO->setInputEos(pasynOctetSyncIOipPort_,
status = pasynOctetSyncIO->setInputEos(pasynOctetSyncIOipPort(),
message_from_device,
strlen(message_from_device));
if (status != asynSuccess) {
@ -109,7 +109,7 @@ turboPmacController::turboPmacController(const char *portName,
"(setting input EOS failed with %s).\nTerminating IOC",
portName, __PRETTY_FUNCTION__, __LINE__,
stringifyAsynStatus(status));
pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort_);
pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
exit(-1);
}
@ -121,7 +121,7 @@ turboPmacController::turboPmacController(const char *portName,
"with %s).\nTerminating IOC",
portName, __PRETTY_FUNCTION__, __LINE__,
stringifyAsynStatus(status));
pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort_);
pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
exit(-1);
}
@ -222,13 +222,13 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
if (status == asynTimeout) {
if (msgPrintControl_.shouldBePrinted(comKey, true, pasynUser())) {
if (getMsgPrintControl().shouldBePrinted(comKey, true, pasynUser())) {
asynPrint(
this->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nTimeout while "
"writing to the controller. Retrying ...%s\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
msgPrintControl_.getSuffix());
getMsgPrintControl().getSuffix());
}
timeoutStatus = checkComTimeoutWatchdog(axisNo, drvMessageText,
@ -239,7 +239,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
checkMaxSubsequentTimeouts(timeoutCounter, axis);
timeoutCounter += 1;
if (maxSubsequentTimeoutsExceeded_) {
if (maxSubsequentTimeoutsExceeded()) {
break;
}
@ -255,16 +255,16 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
}
}
} else if (status != asynSuccess) {
if (msgPrintControl_.shouldBePrinted(comKey, true, pasynUser())) {
if (getMsgPrintControl().shouldBePrinted(comKey, true, pasynUser())) {
asynPrint(
this->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nError %s while "
"writing to the controller.%s\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
stringifyAsynStatus(status), msgPrintControl_.getSuffix());
stringifyAsynStatus(status), getMsgPrintControl().getSuffix());
}
} else {
msgPrintControl_.resetCount(comKey, pasynUser());
getMsgPrintControl().resetCount(comKey, pasynUser());
}
if (timeoutStatus == asynError) {
@ -301,16 +301,17 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
"string detected\"). Please call the support.",
reasonStringified);
if (msgPrintControl_.shouldBePrinted(terminateKey, true, pasynUser())) {
if (getMsgPrintControl().shouldBePrinted(terminateKey, true,
pasynUser())) {
asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nMessage "
"terminated due to reason %s.%s\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
reasonStringified, msgPrintControl_.getSuffix());
reasonStringified, getMsgPrintControl().getSuffix());
}
} else {
msgPrintControl_.resetCount(terminateKey, pasynUser());
getMsgPrintControl().resetCount(terminateKey, pasynUser());
}
/*
@ -327,15 +328,15 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
if (numExpectedResponses != numReceivedResponses) {
adjustResponseForPrint(modResponse, response, MAXBUF_);
if (msgPrintControl_.shouldBePrinted(numResponsesKey, true,
pasynUser())) {
if (getMsgPrintControl().shouldBePrinted(numResponsesKey, true,
pasynUser())) {
asynPrint(
this->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nUnexpected "
"response '%s' (carriage returns are replaced with spaces) "
"for command %s.%s\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__, modResponse,
command, msgPrintControl_.getSuffix());
command, getMsgPrintControl().getSuffix());
}
snprintf(drvMessageText, sizeof(drvMessageText),
@ -345,7 +346,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
modResponse, command);
status = asynError;
} else {
msgPrintControl_.resetCount(numResponsesKey, pasynUser());
getMsgPrintControl().resetCount(numResponsesKey, pasynUser());
}
// Create custom error messages for different failure modes, if no error
@ -384,15 +385,15 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
paramLibStatus =
getIntegerParam(axisNo, motorStatusProblem_, &motorStatusProblem);
if (paramLibStatus != asynSuccess) {
return paramLibAccessFailed(paramLibStatus, "motorStatusProblem_",
return paramLibAccessFailed(paramLibStatus, "motorStatusProblem",
axisNo, __PRETTY_FUNCTION__, __LINE__);
}
if (motorStatusProblem == 0) {
paramLibStatus =
axis->setStringParam(motorMessageText_, drvMessageText);
axis->setStringParam(motorMessageText(), drvMessageText);
if (paramLibStatus != asynSuccess) {
return paramLibAccessFailed(paramLibStatus, "motorMessageText_",
return paramLibAccessFailed(paramLibStatus, "motorMessageText",
axisNo, __PRETTY_FUNCTION__,
__LINE__);
}
@ -407,7 +408,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
paramLibStatus = axis->setIntegerParam(motorStatusProblem_, 1);
if (paramLibStatus != asynSuccess) {
return paramLibAccessFailed(paramLibStatus,
"motorStatusCommsError_", axisNo,
"motorStatusCommsError", axisNo,
__PRETTY_FUNCTION__, __LINE__);
}
}