- Removed old code
- Extended tasker to support task groups - Added task functions for motors and counters - Modifed devexec to use the new task functions - Modified TAS to treat the monochromator separatly - Coded a EIGER monochromator module to reflect even more new requirements - Added EPICS counters and motors - Modified multicounter to be better performing SKIPPED: psi/eigermono.c psi/make_gen psi/makefile_linux psi/psi.c psi/sinqhttp.c
This commit is contained in:
koennecke
313
epicsmotor.c
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313
epicsmotor.c
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/**
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* This is a very basic first generation SICS EPICS motor driver for testing.
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* It should be replaced by a second generation version when SINQ gets serious
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* about EPICS and SICS.
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*
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* Mark Koennecke, February 2012
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*/
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#include <stdlib.h>
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#include <sics.h>
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#include <modriv.h>
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/* EPICS stuff */
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#include <tsDefs.h>
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#include <cadef.h>
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#include <ezca.h>
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#include <alarmString.h>
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#include <menuAlarmStat.h>
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#include <db_access.h>
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#include <epicsThread.h>
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typedef struct __epicsMoDriv{
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/* general motor driver interface
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fields. REQUIRED!
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*/
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float fUpper; /* upper limit */
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float fLower; /* lower limit */
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char *name;
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int (*GetPosition)(void *self, float *fPos);
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int (*RunTo)(void *self,float fNewVal);
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int (*GetStatus)(void *self);
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void (*GetError)(void *self, int *iCode, char *buffer, int iBufLen);
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int (*TryAndFixIt)(void *self, int iError,float fNew);
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int (*Halt)(void *self);
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int (*GetDriverPar)(void *self, char *name,
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float *value);
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int (*SetDriverPar)(void *self,SConnection *pCon,
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char *name, float newValue);
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void (*ListDriverPar)(void *self, char *motorName,
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SConnection *pCon);
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void (*KillPrivate)(void *self);
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/* your drivers private fields follow below */
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char *motBaseName;
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char *ezcaError;
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int ezcaCode;
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int connectCount;
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} epicsMotorDriver;
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/*================================================================
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GetPos returns OKOK on success, HWFault on failure
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------------------------------------------------------------------*/
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static int epicsGetPos(void *data, float *fPos){
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epicsMotorDriver *self = NULL;
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char fullName[132];
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int status;
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double position;
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self = (epicsMotorDriver *)data;
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snprintf(fullName,sizeof(fullName),"%s.DRBV",self->motBaseName);
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status = ezcaGet(fullName,ezcaDouble,1, &position);
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if(status == EZCA_OK){
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*fPos =(float) position;
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self->connectCount = 0;
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return OKOK;
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} else {
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ezcaGetErrorString("ERROR: EPICS: ", &self->ezcaError);
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self->ezcaCode = status;
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return HWFault;
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}
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}
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/*-------------- dummy callback for runto -------------------------*/
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static void RunToDummy(struct event_handler_args d)
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{
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}
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/*----------------------------------------------------------------
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RunTo starts the motor running. Returns OKOK on success, HWfault
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on Errors
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------------------------------------------------------------------*/
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static int epicsRunTo(void *data, float newValue){
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epicsMotorDriver *self = NULL;
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char fullName[132];
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double position = newValue;
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int status;
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chid *cid;
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self = (epicsMotorDriver *)data;
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snprintf(fullName,sizeof(fullName),"%s.DVAL",self->motBaseName);
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ezcaPvToChid(fullName,&cid);
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status = ca_put_callback(DBR_DOUBLE,*cid,&position, RunToDummy,NULL);
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if(status != ECA_NORMAL){
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snprintf(fullName, sizeof(fullName),"Bad CA status %d", status);
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self->ezcaError = strdup(fullName);
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self->ezcaCode = status;
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return HWFault;
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} else {
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ca_pend_event(.05);
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self->connectCount = 0;
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return OKOK;
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}
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}
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/*------------------------------------------------------------------
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CheckStatus queries the sattus of a running motor. Possible return
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values can be:
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HWBusy : motor still running
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HWFault : motor error detected
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HWPosFault : motor finished, but position not reached
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HWIdle : motor finished OK
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HWWarn : motor issued warning
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--------------------------------------------------------------------*/
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static int epicsCheckStatus(void *data){
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epicsMotorDriver *self = NULL;
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char fullName[132];
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short smov, stat;
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int status;
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self = (epicsMotorDriver *)data;
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snprintf(fullName,sizeof(fullName),"%s.DMOV",self->motBaseName);
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status = ezcaGet(fullName,ezcaShort,1, &smov);
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if(status == EZCA_OK){
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self->connectCount = 0;
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if(smov == 0){
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return HWBusy;
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} else {
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snprintf(fullName,sizeof(fullName),"%s.STAT",self->motBaseName);
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status = ezcaGet(fullName,ezcaShort,1, &stat);
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if(stat != menuAlarmStatNO_ALARM){
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snprintf(fullName,sizeof(fullName),"EPICS ALARM: %s", epicsAlarmConditionStrings[stat]);
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self->ezcaError = strdup(fullName);
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return HWFault;
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} else {
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return HWIdle;
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}
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}
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} else {
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ezcaGetErrorString("ERROR: EPICS: ", &self->ezcaError);
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self->ezcaCode = status;
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return HWFault;
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}
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}
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/*------------------------------------------------------------------
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GetError gets more information about error which occurred
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*iCode is an integer error code to be used in TryFixIt as indicator
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buffer is a buffer for a text description of the problem
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iBufLen is the length of buffer
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--------------------------------------------------------------------*/
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static void epicsGetError(void *data, int *iCode, char *buffer,
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int iBufLen){
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epicsMotorDriver *self = NULL;
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self = (epicsMotorDriver *)data;
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if(self->ezcaError != NULL){
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strncpy(buffer,self->ezcaError,iBufLen);
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ezcaFree(self->ezcaError);
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self->ezcaError = NULL;
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}
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}
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/*------------------------------------------------------------------
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TryAndFixIt tries everything which is possible in software to fix
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a problem. iError is the error code from GetError, newValue is
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the target value for the motor
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Possible retrun values are:
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MOTOK : everything fixed
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MOTREDO : try again
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MOTFAIL : cannot fix this
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--------------------------------------------------------------------*/
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static int epicsFixIt(void *data, int iError, float newValue){
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epicsMotorDriver *self = NULL;
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self = (epicsMotorDriver *)data;
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if(self->ezcaCode == EZCA_NOTCONNECTED && self->connectCount < 2) {
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self->connectCount++;
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return MOTREDO;
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}
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return MOTFAIL;
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}
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/*-------------------------------------------------------------------
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Halt tries to stop the motor. Halt errors are ignored.
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For some as yet unknown reasons, I cannot send the stop on the
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same CA line then the rest. But with a new thread which just sends
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the stop, it works. This is a straightforward use of a thread:
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do your thing and terminate. Do not interact with other parts
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of the program.
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---------------------------------------------------------------------*/
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static void HaltThreadFunc(void *param)
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{
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char *pvName = (char *)param;
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short stop = 1;
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chid cid;
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ca_context_create(ca_disable_preemptive_callback);
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ca_create_channel(pvName,NULL,NULL,10,&cid);
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ca_pend_io(5.);
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ca_put(DBR_SHORT,cid,&stop);
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ca_pend_io(5.0);
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free(pvName);
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printf("HaltThread ends\n");
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}
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/*-------------------------------------------------------------------*/
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static int epicsHalt(void *data){
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epicsMotorDriver *self = NULL;
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char fullName[132];
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short stop =1;
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chid *cid;
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int status;
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self = (epicsMotorDriver *)data;
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snprintf(fullName,sizeof(fullName),"%s.STOP",self->motBaseName);
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/* ezcaStartGroup(); */
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/* ezcaPut(fullName,ezcaShort,1,&stop); */
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/* ezcaEndGroup(); */
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/* ezcaPvToChid(fullName,&cid); */
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/* status = ca_put_callback(DBR_SHORT,*cid,&stop, RunToDummy,NULL); */
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/* printf("Halt status %d\n", status); */
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/* ca_flush_io(); */
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/* printf("Halt after poll\n"); */
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epicsThreadCreate("Hugo",
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epicsThreadPriorityHigh,
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epicsThreadStackMedium,
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HaltThreadFunc,
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(void *)strdup(fullName));
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return 1;
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}
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/*--------------------------------------------------------------------
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GetDriverPar retrieves the value of a driver parameter.
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Name is the name of the parameter, fValue the value when found.
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Returns 0 on success, 0 else
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-----------------------------------------------------------------------*/
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static int epicsGetDriverPar(void *data, char *name, float *value){
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epicsMotorDriver *self = NULL;
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self = (epicsMotorDriver *)data;
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return 0;
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}
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/*----------------------------------------------------------------------
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SetDriverPar sets a driver parameter. Returns 0 on failure, 1 on
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success. Name is the parameter name, pCon the connection to report
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errors too, value the new value
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------------------------------------------------------------------------*/
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static int epicsSetDriverPar(void *data, SConnection *pCon,
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char *name, float value){
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epicsMotorDriver *self = NULL;
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self = (epicsMotorDriver *)data;
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return 0;
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}
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/*-----------------------------------------------------------------------
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ListDriverPar lists the names and values of driver parameters to
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pCon. Motorname is the name of the motor ro prefix to the listing.
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-------------------------------------------------------------------------*/
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static void epicsListDriverPar(void *data, char *motorname,
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SConnection *pCon){
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epicsMotorDriver *self = NULL;
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self = (epicsMotorDriver *)data;
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}
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/*-----------------------------------------------------------------------
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KillPrivate has the task to delete possibly dynamically allocated
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memory in the private part of the driver structure
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------------------------------------------------------------------------*/
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static void epicsKillPrivate(void *data){
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epicsMotorDriver *self = NULL;
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self = (epicsMotorDriver *)data;
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if(self->ezcaError != NULL){
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ezcaFree(self->ezcaError);
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}
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if(self->motBaseName != NULL){
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free(self->motBaseName);
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}
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}
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/*=======================================================================*/
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MotorDriver *epicsMakeMotorDriver(char *baseName) {
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epicsMotorDriver *pNew = NULL;
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char fullName[132];
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double limit;
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pNew = malloc(sizeof(epicsMotorDriver));
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if(pNew == NULL){
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return NULL;
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}
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memset(pNew,0,sizeof(epicsMotorDriver));
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pNew->motBaseName = strdup(baseName);
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snprintf(fullName,sizeof(fullName),"%s.DRBV",pNew->motBaseName);
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ezcaSetMonitor(fullName,ezcaDouble,1);
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snprintf(fullName,sizeof(fullName),"%s.DMOV",pNew->motBaseName);
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ezcaSetMonitor(fullName,ezcaShort,1);
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snprintf(fullName,sizeof(fullName),"%s.STAT",pNew->motBaseName);
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ezcaSetMonitor(fullName,ezcaShort,1);
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snprintf(fullName,sizeof(fullName),"%s.HLM",pNew->motBaseName);
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ezcaGet(fullName,ezcaDouble,1, &limit);
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pNew->fUpper = limit;
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snprintf(fullName,sizeof(fullName),"%s.LLM",pNew->motBaseName);
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ezcaGet(fullName,ezcaDouble,1, &limit);
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pNew->fLower = limit;
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pNew->GetPosition = epicsGetPos;
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pNew->RunTo = epicsRunTo;
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pNew->Halt = epicsHalt;
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pNew->GetStatus = epicsCheckStatus;
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pNew->GetError = epicsGetError;
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pNew->TryAndFixIt = epicsFixIt;
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pNew->GetDriverPar = epicsGetDriverPar;
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pNew->SetDriverPar = epicsSetDriverPar;
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pNew->ListDriverPar = epicsListDriverPar;
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pNew->KillPrivate = epicsKillPrivate;
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/* ezcaTraceOn(); */
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return (MotorDriver *)pNew;
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}
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