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Cleaned up ANSTO code to merge with sinqdev.sics

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This is our new RELEASE-4_0 branch which was taken from ansto/93d9a7c
Conflicts:
	.gitignore
	SICSmain.c
	asynnet.c
	confvirtualmot.c
	counter.c
	devexec.c
	drive.c
	event.h
	exebuf.c
	exeman.c
	histmem.c
	interface.h
	motor.c
	motorlist.c
	motorsec.c
	multicounter.c
	napi.c
	napi.h
	napi4.c
	network.c
	nwatch.c
	nxscript.c
	nxxml.c
	nxxml.h
	ofac.c
	reflist.c
	scan.c
	sicshipadaba.c
	sicsobj.c
	site_ansto/docs/Copyright.txt
	site_ansto/instrument/lyrebird/config/tasmad/sicscommon/nxsupport.tcl
	site_ansto/instrument/lyrebird/config/tasmad/taspub_sics/tasscript.tcl
	statusfile.c
	tasdrive.c
	tasub.c
	tasub.h
	tasublib.c
	tasublib.h
This commit is contained in:
Ferdi Franceschini
2015-04-23 20:49:26 +10:00
parent c650788a2c
commit 10d29d597c
1336 changed files with 9430 additions and 226646 deletions
Download Patch File Download Diff File Expand all files Collapse all files

66
motor.c
View File

@@ -82,7 +82,13 @@
#define MOVECOUNT 11
extern double DoubleTime(void);
static void SetMotorError(pMotor self, char *text)
{
if(self->error != NULL){
free(self->error);
}
self->error = strdup(text);
}
/*-------------------------------------------------------------------------*/
static void *MotorGetInterface(void *pData, int iID)
{
@@ -383,17 +389,18 @@ static int reportAndFixError(pMotor self, SConnection * pCon)
switch (iRet) {
case MOTFAIL:
snprintf(pBueffel, 255, "ERROR: %s on %s", pError, self->name);
SCWrite(pCon, pBueffel, eError);
SCWrite(pCon, pBueffel, eLogError);
newStatus = HWFault;
SetMotorError(self,pError);
break;
case MOTREDO:
snprintf(pBueffel, 255, "WARNING: %s on %s", pError, self->name);
SCWrite(pCon, pBueffel, eWarning);
SCWrite(pCon, pBueffel, eLog);
newStatus = statusRunTo(self, pCon);
break;
case MOTOK:
snprintf(pBueffel, 255, "WARNING: %s on %s", pError, self->name);
SCWrite(pCon, pBueffel, eWarning);
SCWrite(pCon, pBueffel, eLog);
newStatus = HWIdle;
break;
default:
@@ -541,7 +548,7 @@ static int MotorGetParImpl(pMotor self, char *name, float *fVal)
*fVal = self->pDriver->fLower;
return 1;
}
pPar = ObParFind(self->ParArray, name);
if (pPar) {
*fVal = pPar->fVal;
@@ -689,8 +696,8 @@ static int MotorGetHardPositionImpl(pMotor self, SConnection * pCon,
/*---------------------------------------------------------------------------*/
static long MotorRunImpl(void *sulf, SConnection * pCon, float fNew)
{
float fHard, fCurrHard, fNewHard, fZero;
int i, iRet, iCode, iSign;
float fHard;
int i, iRet, iCode;
char pBueffel[512];
char pError[132];
pMotor self;
@@ -709,13 +716,7 @@ static long MotorRunImpl(void *sulf, SConnection * pCon, float fNew)
SCSetInterrupt(pCon, eAbortBatch);
return 0;
}
self->pDriver->GetPosition(self->pDriver, &fCurrHard);
iSign = ObVal(self->ParArray, SIGN);
fZero = ObVal(self->ParArray, SZERO);
fNewHard = iSign * (fNew + fZero);
if (absf(fCurrHard - fNewHard) <= ObVal(self->ParArray, PREC)) {
return OKOK;
}
SetMotorError(self,"None");
/* check boundaries first */
iRet = MotorCheckBoundaryImpl(self, fNew, &fHard, pError, 131);
@@ -723,6 +724,7 @@ static long MotorRunImpl(void *sulf, SConnection * pCon, float fNew)
snprintf(pBueffel, 511, "ERROR: %s", pError);
SCWrite(pCon, pBueffel, eError);
SCSetInterrupt(pCon, eAbortOperation);
SetMotorError(self,pError);
return 0;
}
@@ -745,6 +747,7 @@ static long MotorRunImpl(void *sulf, SConnection * pCon, float fNew)
ServerWriteGlobal(pBueffel, eError);
SCSetInterrupt(pCon, eAbortBatch);
self->pDrivInt->iErrorCount = 0;
SetMotorError(self,"Motor ALARM!!!!");
return 0;
}
@@ -769,6 +772,7 @@ static long MotorRunImpl(void *sulf, SConnection * pCon, float fNew)
SCWrite(pCon, pError, eError);
SCWrite(pCon, "\n", eError);
SCSetInterrupt(pCon, (int) ObVal(self->ParArray, INT));
SetMotorError(self,pError);
return HWFault;
case MOTREDO:
iRet = self->pDriver->RunTo(self->pDriver, fHard);
@@ -837,6 +841,7 @@ pMotor MotorInit(char *drivername, char *name, MotorDriver * pDriv)
pM->pDriver = pDriv;
pM->drivername = strdup(drivername);
pM->name = strdup(name);
pM->error = strdup("None");
/* initialise object descriptor */
@@ -1008,6 +1013,7 @@ int MotorCheckPosition(void *sulf, SConnection * pCon)
*/
extern MotorDriver *MakePiPiezo(Tcl_Interp * pTcl, char *pArray);
extern MotorDriver *epicsMakeMotorDriver(char *baseName);
int MotorCreate(SConnection * pCon, SicsInterp * pSics, void *pData,
int argc, char *argv[])
@@ -1068,6 +1074,22 @@ int MotorCreate(SConnection * pCon, SicsInterp * pSics, void *pData,
SCWrite(pCon, pBueffel, eLogError);
return 0;
}
} else if (strcmp(argv[2], "epics") == 0) {
if(argc > 3){
pDriver = epicsMakeMotorDriver(argv[3]);
if (!pDriver) {
return 0;
}
pNew = MotorInit("epics", argv[1], pDriver);
if (!pNew) {
snprintf(pBueffel,sizeof(pBueffel)-1, "Failure to create motor %s", argv[1]);
SCWrite(pCon, pBueffel, eLogError);
return 0;
}
} else {
SCWrite(pCon,"ERROR: missing basename argument to create EPICS motor",eError);
return 0;
}
} else {
site = getSite();
if (site != NULL) {
@@ -1082,10 +1104,7 @@ int MotorCreate(SConnection * pCon, SicsInterp * pSics, void *pData,
}
/* create the interpreter command */
if (pNew->pActionRoutine)
iRet = AddCommand(pSics, argv[1], pNew->pActionRoutine, MotorKill, pNew);
else
iRet = AddCommand(pSics, argv[1], MotorAction, MotorKill, pNew);
iRet = AddCommand(pSics, argv[1], MotorAction, MotorKill, pNew);
if (!iRet) {
snprintf(pBueffel,sizeof(pBueffel)-1, "ERROR: duplicate command %s not created", argv[1]);
SCWrite(pCon, pBueffel, eError);
@@ -1301,6 +1320,10 @@ int MotorAction(SConnection * pCon, SicsInterp * pSics, void *pData,
DeleteTokenList(pList);
SCSendOK(pCon);
return 1;
} /* check for error */
else if (strcmp(pCurrent->text, "error") == 0) {
SCPrintf(pCon,eValue,"%s.error = %s", argv[0], self->error);
return 1;
} else if (strcmp(pCurrent->text, "interest") == 0) { /* interest */
pMoti = (pMotInfo) malloc(sizeof(MotInfo));
if (!pMoti) {
@@ -1380,6 +1403,13 @@ int MotorAction(SConnection * pCon, SicsInterp * pSics, void *pData,
SCWrite(pCon, pBueffel, eValue);
DeleteTokenList(pList);
return 1;
} else if(strcmp(pName->text,"status") == 0){
if(self->running){
SCPrintf(pCon,eValue,"%s.status = run",argv[0]);
} else {
SCPrintf(pCon,eValue,"%s.status = idle",argv[0]);
}
return 1;
}
iRet = MotorGetPar(self, pName->text, &fValue);
if (!iRet) {