- 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
234
tasmono.c
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234
tasmono.c
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/**
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* Triple axis monochromator module
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* EIGER made it necessary to abstract out the monochromator. This is
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* the default implementation for a sane, normal TAS. This implements a
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* drivable interface. It gets an A2 value from the tasub module and is
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* supposed to drive and monitor all the dependent monochromator motors.
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*
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* copyright: see file COPYRIGHT
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*
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* Mark Koennecke, February 2013
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*/
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#include <sics.h>
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#include "tasmono.h"
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#include "tasub.h"
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#define MOTPREC .01
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#define A1 0
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#define A2 1
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#define MCV 2
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#define MCH 3
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#define NOTSTARTED -100
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#define ABS(x) (x < 0 ? -(x) : (x))
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/*----------------------------------------------------------------
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This routine can return either OKOK or HWFault when thing
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go wrong. However, the return value of Halt is usually ignored!
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------------------------------------------------------------------*/
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static int TAMOHalt(void *data) {
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ptasUB self = NULL;
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pIDrivable pDriv;
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int i;
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self = (ptasUB)data;
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for(i = 0; i < 4; i++){
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if (self->motors[i] != NULL) {
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pDriv = GetDrivableInterface(self->motors[i]);
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pDriv->Halt(self->motors[i]);
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}
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}
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return OKOK;
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}
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/*----------------------------------------------------------------
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This routine can return either 1 or 0. 1 means the position can
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be reached, 0 NOT
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If 0, error shall contain up to errlen characters of information
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about which limit was violated
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------------------------------------------------------------------*/
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static int TAMOCheckLimits(void *data, float val,
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char *error, int errlen){
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ptasUB self = NULL;
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self = (ptasUB)data;
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/*
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Not meaningful in this context
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*/
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return 1;
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}
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/*----------------------------------------------------------------
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This routine can return 0 when a limit problem occurred
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OKOK when the motor was successfully started
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HWFault when a problem occured starting the device
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Possible errors shall be printed to pCon
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For real motors, this is supposed to try at least three times
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to start the motor in question
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val is the value to drive the motor too
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------------------------------------------------------------------*/
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static void writeMotPos(SConnection * pCon, int silent, char *name,
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float val, float target)
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{
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char pBueffel[132];
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if (silent != 1) {
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snprintf(pBueffel, 131, "Driving %5s from %8.3f to %8.3f",
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name, val, target);
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SCWrite(pCon, pBueffel, eLog);
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}
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}
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/*--------------------------------------------------------------------------*/
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static long startTASMotor(pMotor mot, SConnection * pCon, char *name,
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double target, int silent, int stopFixed)
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{
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float val, fixed, precision = MOTPREC;
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long status = NOTSTARTED;
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char buffer[132];
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pIDrivable pDriv = NULL;
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pDummy dum = NULL;
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pDynString mes = NULL;
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dum = (pDummy)mot;
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GetDrivablePosition(mot, pCon,&val);
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if(strcmp(dum->pDescriptor->name,"Motor") == 0){
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MotorGetPar(mot,"precision",&precision);
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MotorGetPar(mot, "fixed", &fixed);
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if (ABS(fixed - 1.0) < .1) {
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if(stopFixed == 0){
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snprintf(buffer, 131, "WARNING: %s is FIXED", name);
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SCWrite(pCon, buffer, eLog);
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}
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return NOTSTARTED;
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}
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}
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mot->stopped = 0;
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if (ABS(val - target) > precision) {
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status = StartDriveTask(mot, pCon, name, (float)target);
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if(status < 0){
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SCPrintf(pCon,eLog,"ERROR: failed to drive %s to %f", name, target);
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}
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/*
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to force updates on targets
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*/
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InvokeNewTarget(pServ->pExecutor, name, target);
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writeMotPos(pCon, silent, name, val, target);
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return status;
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} else {
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return NOTSTARTED;
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}
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}
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/*-------------------------------------------------------------------------*/
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static long TAMOSetValue(void *data, SConnection *pCon, float val){
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ptasUB self = NULL;
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self = (ptasUB)data;
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int stopFixed = 0;
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double curve;
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int status;
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self->monoTaskID = GetTaskGroupID(pServ->pTasker);
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status = startTASMotor(self->motors[A1], pCon, "a1",
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val / 2., self->silent, stopFixed);
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if (status < 0 && status != NOTSTARTED) {
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return HWFault;
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}
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if(status != NOTSTARTED){
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AddTaskToGroup(pServ->pTasker,status, self->monoTaskID);
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}
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status = startTASMotor(self->motors[A2], pCon, "a2",
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val, self->silent,stopFixed);
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if (status < 0 && status != NOTSTARTED) {
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return HWFault;
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}
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if(status != NOTSTARTED){
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AddTaskToGroup(pServ->pTasker,status, self->monoTaskID);
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}
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if (self->motors[MCV] != NULL) {
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curve = maCalcVerticalCurvature(self->machine.monochromator,
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val);
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status = startTASMotor(self->motors[MCV], pCon, "mcv",
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curve, self->silent,stopFixed);
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if (status < 0 && status != NOTSTARTED) {
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SCWrite(pCon,"WARNING: monochromator vertical curvature motor failed to start", eLog);
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SCSetInterrupt(pCon,eContinue);
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} else {
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AddTaskToGroup(pServ->pTasker,status, self->monoTaskID);
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}
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}
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if (self->motors[MCH] != NULL) {
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curve = maCalcHorizontalCurvature(self->machine.monochromator,
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val);
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status = startTASMotor(self->motors[MCH], pCon, "mch",
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curve, self->silent,stopFixed);
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if (status < 0 && status != NOTSTARTED) {
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SCWrite(pCon,"WARNING: monochromator horizontal curvature motor failed to start", eLog);
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SCSetInterrupt(pCon,eContinue);
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}else {
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AddTaskToGroup(pServ->pTasker,status,self->monoTaskID);
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}
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}
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return OKOK;
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}
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/*----------------------------------------------------------------
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Checks the status of a running motor. Possible return values
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HWBusy The motor is still running
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OKOK or HWIdle when the motor finished driving
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HWFault when a hardware problem ocurred
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HWPosFault when the hardware cannot reach a position
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Errors are duly to be printed to pCon
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For real motors CheckStatus again shall try hard to fix any
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issues with the motor
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------------------------------------------------------------------*/
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static int TAMOCheckStatus(void *data, SConnection *pCon){
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ptasUB self = NULL;
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self = (ptasUB)data;
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if(isTaskGroupRunning(pServ->pTasker,self->monoTaskID)) {
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return HWBusy;
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} else {
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return HWIdle;
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}
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return 1;
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}
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/*----------------------------------------------------------------
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GetValue is supposed to read a motor position
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On errors, -99999999.99 is returned and messages printed to pCon
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------------------------------------------------------------------*/
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static float TAMOGetValue(void *data, SConnection *pCon){
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ptasUB self = NULL;
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float val = -99999999.99;
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int status;
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self = (ptasUB)data;
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status = GetDrivablePosition(self->motors[A2], pCon, &val);
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if (status == 0) {
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return -99999999.99;
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}
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return val;
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}
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/*----------------------------------------------------------------
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returns NULL on failure, a new datastructure else
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------------------------------------------------------------------*/
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pIDrivable MakeTasMono(){
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pIDrivable pDriv;
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pDriv = calloc(1,sizeof(IDrivable));
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if(pDriv == NULL){
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return NULL;
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}
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pDriv->Halt = TAMOHalt;
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pDriv->CheckLimits = TAMOCheckLimits;
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pDriv->SetValue = TAMOSetValue;
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pDriv->CheckStatus = TAMOCheckStatus;
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pDriv->GetValue = TAMOGetValue;
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return pDriv;
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}
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