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Added new feature msgPrintControl from sinqMotor 0.8.0. Correspondingly,

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the minimum version requirement for sinqMotor has been bumped to 0.8.0.
This commit is contained in:
mathis_s
2025-03-04 09:29:19 +01:00
parent 8f597550fa
commit dfb55a1b76
5 changed files with 261 additions and 203 deletions
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274
src/turboPmacAxis.cpp
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@@ -35,7 +35,8 @@ static void epicsInithookFunction(initHookState iState) {
}
}
turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo)
turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
bool initialize)
: sinqAxis(pC, axisNo), pC_(pC) {
asynStatus status = asynSuccess;
@@ -63,13 +64,17 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo)
exit(-1);
}
// Register the hook function during construction of the first axis object
if (axes.empty()) {
initHookRegister(&epicsInithookFunction);
}
if (initialize) {
// Register the hook function during construction of the first axis
// object
if (axes.empty()) {
initHookRegister(&epicsInithookFunction);
}
// Collect all axes into this list which will be used in the hook function
axes.push_back(this);
// Collect all axes into this list which will be used in the hook
// function
axes.push_back(this);
}
// Initialize all member variables
waitForHandshake_ = false;
@@ -360,39 +365,43 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
__PRETTY_FUNCTION__, __LINE__);
}
// Intepret the status
// Create the unique callsite identifier manually so it can be used later in
// the shouldBePrinted calls.
msgPrintControlKey keyStatus = msgPrintControlKey(
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
bool resetCountStatus = true;
// Interpret the status
switch (axStatus) {
case -6:
// Axis is stopping
*moving = true;
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_FLOW,
"Controller \"%s\", axis %d => %s, line %d\nAxis is stopping\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
break;
case -5:
// Axis is deactivated
*moving = false;
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
"Controller \"%s\", axis %d => %s, line %d\nAxis is "
"deactivated\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
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
*moving = false;
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nEmergency stop "
"activated\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
if (pC_->msgPrintControl_.shouldBePrinted(keyStatus, true,
pC_->pasynUserSelf)) {
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nEmergency stop "
"activated.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
pC_->msgPrintControl_.getSuffix());
}
resetCountStatus = false;
pl_status = setStringParam(pC_->motorMessageText_, "Emergency stop");
if (pl_status != asynSuccess) {
@@ -403,13 +412,9 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
break;
case -3:
// Disabled
*moving = false;
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_FLOW,
"Controller \"%s\", axis %d => %s, line %d\nAxis %d is disabled\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_);
pl_status = setStringParam(pC_->motorMessageText_, "Disabled");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
@@ -419,43 +424,24 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
break;
case 0:
// Idle
*moving = false;
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
"Controller \"%s\", axis %d => %s, line %d\nAxis is idle\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
break;
case 1:
// Move order acknowledged
*moving = true;
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
"Controller \"%s\", axis %d => %s, line %d\nMove order "
"acknowledged\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
break;
case 2:
// Move order confirmed possible
*moving = true;
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
"Controller \"%s\", axis %d => %s, line %d\nMove order is "
"possible\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
break;
case 3:
// Axis in Air Cushion Output status
*moving = true;
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
"Controller \"%s\", axis %d => %s, line %d\nAxis in Air "
"Cushion Output status\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
break;
case 4:
// Axis in Air Cushion Input status
*moving = true;
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
"Controller \"%s\", axis %d => %s, line %d\nAxis in Air "
"Cushion Input status\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
break;
case 5:
*moving = true;
@@ -469,12 +455,17 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
default:
*moving = false;
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nReached unreachable "
"state P%2.2d00 = %d\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
axStatus);
if (pC_->msgPrintControl_.shouldBePrinted(keyStatus, true,
pC_->pasynUserSelf)) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nReached "
"unreachable state P%2.2d00 = %d.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
axisNo_, axStatus, pC_->msgPrintControl_.getSuffix());
}
resetCountStatus = false;
snprintf(userMessage, sizeof(userMessage),
"Unknown state P%2.2d00 = %d has been reached. Please call "
"the support.",
@@ -487,6 +478,10 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
}
}
if (resetCountStatus) {
pC_->msgPrintControl_.resetCount(keyStatus);
}
if (*moving) {
// If the axis is moving, evaluate the movement direction
if ((currentPosition - previousPosition) > 0) {
@@ -496,19 +491,30 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
}
}
// Error handling
// Create the unique callsite identifier manually so it can be used later in
// the shouldBePrinted calls.
msgPrintControlKey keyError = msgPrintControlKey(
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
bool resetError = true;
switch (error) {
case 0:
// No error
// No error -> Reset the message repetition watchdog
pC_->msgPrintControl_.shouldBePrinted(keyError, false,
pC_->pasynUserSelf);
break;
case 1:
// EPICS should already prevent this issue in the first place,
// since it contains the user limits
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nTarget position would "
"exceed user limits.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
pC_->pasynUserSelf)) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nTarget "
"position would exceed user limits.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
pC_->msgPrintControl_.getSuffix());
}
resetError = false;
pl_status = setStringParam(pC_->motorMessageText_,
"Target position would exceed software "
@@ -523,11 +529,17 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
break;
case 5:
// Command not possible
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nAxis is "
"still moving, but received another move command. EPICS "
"should prevent this, check if *moving is set correctly.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
if (pC_->msgPrintControl_.shouldBePrinted(keyStatus, true,
pC_->pasynUserSelf)) {
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nAxis is "
"still moving, but received another move command. EPICS "
"should prevent this, check if *moving is set correctly.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
pC_->msgPrintControl_.getSuffix());
}
resetError = false;
pl_status = setStringParam(pC_->motorMessageText_,
"Axis received move command while it is "
@@ -541,12 +553,15 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
poll_status = asynError;
break;
case 8:
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nAir cushion feedback "
"stopped during movement (P%2.2d01 = %d).\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
error);
if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
pC_->pasynUserSelf)) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nAir cushion "
"feedback stopped during movement (P%2.2d01 = %d).%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
axisNo_, error, pC_->msgPrintControl_.getSuffix());
}
resetError = false;
snprintf(userMessage, sizeof(userMessage),
"Air cushion feedback stopped during movement (P%2.2d01 = "
@@ -561,11 +576,16 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
}
break;
case 9:
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nNo air cushion "
"feedback before movement start (P%2.2d01 = %d).\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
axisNo_, error);
if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
pC_->pasynUserSelf)) {
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nNo air cushion "
"feedback before movement start (P%2.2d01 = %d).%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
error, pC_->msgPrintControl_.getSuffix());
}
resetError = false;
snprintf(userMessage, sizeof(userMessage),
"No air cushion feedback before movement start (P%2.2d01 = "
@@ -585,10 +605,17 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
error case can only happen if either the axis has an incremental encoder
which is not properly homed or if a bug occured.
*/
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nAxis hit the "
"controller limits.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
pC_->pasynUserSelf)) {
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nAxis hit the "
"controller limits.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
pC_->msgPrintControl_.getSuffix());
}
resetError = false;
snprintf(userMessage, sizeof(userMessage),
"Software limits or end switch hit (P%2.2d01 = %d). Try "
@@ -608,10 +635,17 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
break;
case 11:
// Following error
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nMaximum allowed "
"following error exceeded.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
pC_->pasynUserSelf)) {
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nMaximum allowed "
"following error exceeded.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
pC_->msgPrintControl_.getSuffix());
}
resetError = false;
snprintf(command, sizeof(command),
"Maximum allowed following error exceeded (P%2.2d01 = %d). "
@@ -629,6 +663,16 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
break;
case 12:
if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
pC_->pasynUserSelf)) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nSecurity "
"input is triggered (P%2.2d01 = %d).%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
axisNo_, error, pC_->msgPrintControl_.getSuffix());
}
resetError = false;
snprintf(command, sizeof(command),
"Security input is triggered (P%2.2d01 = %d). Check the SPS "
"for errors (if available). Otherwise please call "
@@ -646,11 +690,17 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
case 13:
// Driver hardware error triggered
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nDriver hardware error "
"triggered.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
pC_->pasynUserSelf)) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nDriver "
"hardware error triggered.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
pC_->msgPrintControl_.getSuffix());
}
resetError = false;
snprintf(command, sizeof(command),
"Driver hardware error (P%2.2d01 = 13). "
"Please call the support.",
@@ -667,12 +717,16 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
case 14:
// EPICS should already prevent this issue in the first place,
// since it contains the user limits
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nMove command exceeds "
"hardware limits (P%2.2d01 = %d).\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
error);
if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
pC_->pasynUserSelf)) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nMove "
"command exceeds hardware limits (P%2.2d01 = %d).%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
axisNo_, error, pC_->msgPrintControl_.getSuffix());
}
resetError = false;
snprintf(userMessage, sizeof(userMessage),
"Move command exceeds hardware limits (P%2.2d01 = %d). Please "
@@ -688,11 +742,17 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
poll_status = asynError;
break;
default:
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nUnknown error "
"P%2.2d01 = %d.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
axisNo_, error);
if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
pC_->pasynUserSelf)) {
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nUnknown error "
"P%2.2d01 = %d.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
error, pC_->msgPrintControl_.getSuffix());
}
resetError = false;
snprintf(userMessage, sizeof(userMessage),
"Unknown error P%2.2d01 = %d. Please call the support.",
@@ -708,6 +768,10 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
break;
}
if (resetError) {
pC_->msgPrintControl_.resetCount(keyError);
}
// Update the parameter library
if (error != 0) {
pl_status = setIntegerParam(pC_->motorStatusProblem_, true);