- Added restart status code

- Small fixes to make regression tests work at the same level as for first
  generation devices

countersec.c

@@ -13,6 +13,8 @@
 #include <sics.h>
 #include <counter.h>
 #include "sicshipadaba.h"
+
+
 /*---------------------------------------------------------------------------
  * defines for commmands 
  * -------------------------------------------------------------------------*/
@@ -26,6 +28,19 @@ typedef struct {
   float fCurrent;
   char *pName;
 } MonEvent, *pMonEvent;
+/*-------------------------------------------------------------------------*/
+static void SecCounterSetError(pCounter self, char *text)
+{
+  hdbValue v;
+  pHdb node;
+  
+  node = GetHipadabaNode(self->pDes->parNode, "error");
+  if(node != NULL){
+    v = MakeHdbText(strdup(text));
+    UpdateHipadabaPar(node,v,NULL);
+    ReleaseHdbValue(&v);
+  }
+}
 /*---------------------------------------------------------------------------*/
 int SecCtrInvokeFunction(pCounter self,  SConnection *pCon, int code)
 {
@@ -52,7 +67,7 @@ static int SecStartCount(void *pData, SConnection *pCon)
 {
 	pCounter self = (pCounter)pData;
 	int status;
-	pHdb node;
+	pHdb node, statusNode;
 	
 	assert(self != NULL);
 
@@ -60,14 +75,14 @@ static int SecStartCount(void *pData, SConnection *pCon)
 	    return 0;
 	}
 	
+	statusNode = GetHipadabaNode(self->pDes->parNode, "status");
+	UpdateHipadabaPar(statusNode,MakeHdbText("run"), pCon);
 	status = SecCtrInvokeFunction(self,pCon, START);
 	self->haltFixFlag = 0;
 	if(status == 1){
 		self->isUpToDate = 0;
 		self->badStatusCount = 0;
 		self->tStart = time(NULL);
-		node = GetHipadabaNode(self->pDes->parNode, "status");
-		UpdateHipadabaPar(node,MakeHdbText("run"), pCon);
 		node = GetHipadabaNode(self->pDes->parNode, "control");
 		UpdateHipadabaPar(node,MakeHdbFloat(.0), pCon);
 		SetHdbProperty(node,"geterror", NULL);
@@ -79,8 +94,10 @@ static int SecStartCount(void *pData, SConnection *pCon)
 		node = GetHipadabaNode(self->pDes->parNode, "time");
 		UpdateHipadabaPar(node,MakeHdbFloat(.0), pCon);
 		InvokeCallBack(self->pCall,COUNTSTART, pCon);
+		SecCounterSetError(self,"None");
 		return 1;
 	} else {
+	        UpdateHipadabaPar(statusNode,MakeHdbText("error"), pCon);
 		ReleaseCountLock(self->pCountInt);
 		return HWFault;
 	}
@@ -110,6 +127,7 @@ static int SecCtrCheckStatus(void *pData, SConnection *pCon)
 	int status;
 	MonEvent sMon;
 	float fControl, fPreset;
+        char error[132];	
 
 	assert(self != NULL);
 	
@@ -135,9 +153,19 @@ static int SecCtrCheckStatus(void *pData, SConnection *pCon)
 	    status = HWNoBeam;
 	} else if (strstr(v.v.text, "pause") != NULL) {
 	    status = HWPause;
+	} else if (strstr(v.v.text, "restart") != NULL) {
+	  SecStartCount(self, pCon);
+	  return HWBusy;
 	} else if (strstr(v.v.text, "error") != NULL) {
 	    InvokeCallBack(self->pCall, COUNTEND, NULL);
 	    ReleaseCountLock(self->pCountInt);
+	    if(GetHdbProperty(node,"geterror",error,sizeof(error)) == 1){
+	      SCPrintf(pCon,eError,"ERROR: %s", error);
+	      SecCounterSetError(self,error);
+	    } else {
+	      SecCounterSetError(self,"Undefined counter error: set status geterror");
+	      SCPrintf(pCon,eError,"ERROR: Unknown counter status error: set status geterror property");
+            }
 	    status = HWFault;
 	} else {
 	    SCPrintf(pCon, eError, "ERROR: unknown counter status %s found",
@@ -415,6 +443,20 @@ static int ContinueCmd(pSICSOBJ ccmd, SConnection * con,
 	pCounter self = (pCounter)ccmd;
 	return self->pCountInt->Continue(self,con);
 }
+/*-------------------------------------------------------------------------*/
+extern int CounterInterest(int iEvent, void *pEvent, void *pUser);
+/*--------------------------------------------------------------------------*/
+static int InterestCmd(pSICSOBJ ccmd, SConnection * con,
+		       Hdb * cmdNode, Hdb * par[], int nPar)
+{
+  long lID;
+  pCounter self = (pCounter)ccmd;
+  lID = RegisterCallback(self->pCall, MONITOR, CounterInterest,
+			 SCCopyConnection(con), SCDeleteConnection);
+  SCSendOK(con);
+  return 1;
+
+}
 /*--------------------------------------------------------------------------*/
 pCounter CreateSecCounter(SConnection *pCon, char *type, char *name, int length)
 {
@@ -499,6 +541,12 @@ pCounter CreateSecCounter(SConnection *pCon, char *type, char *name, int length)
 	  }
 	  AddHipadabaChild(node, child, NULL);
 
+	  child = MakeSICSHdbPar("error", usInternal, MakeHdbText("None"));
+	  if (child == NULL) {
+	    return NULL;
+	  }
+	  AddHipadabaChild(node, child, NULL);
+
 	  child = MakeSICSHdbPar("control", usUser, MakeHdbFloat(.0));
 	  if (child == NULL) {
 	    return NULL;
@@ -521,6 +569,7 @@ pCounter CreateSecCounter(SConnection *pCon, char *type, char *name, int length)
 	  child = AddSICSHdbPar(node,"stop", usUser, MakeSICSFunc(StopCmd));
 	  child = AddSICSHdbPar(node,"pause", usUser, MakeSICSFunc(PauseCmd));
 	  child = AddSICSHdbPar(node,"continue", usUser, MakeSICSFunc(ContinueCmd));
+	  child = AddSICSHdbPar(node,"interest", usUser, MakeSICSFunc(InterestCmd));
 
 	  return pRes;
 }

motorsec.c

@@ -47,6 +47,19 @@
 
 #define ABS(x) (x < 0 ? -(x) : (x))
 
+/*-------------------------------------------------------------------------*/
+static void SecMotorSetError(pMotor self, char *text)
+{
+  hdbValue v;
+  pHdb node;
+  
+  node = GetHipadabaNode(self->pDescriptor->parNode, "error");
+  if(node != NULL){
+    v = MakeHdbText(strdup(text));
+    UpdateHipadabaPar(node,v,NULL);
+    ReleaseHdbValue(&v);
+  }
+}
 /*--------------------------------------------------------------------------*/
 static int SecMotorGetPar(pMotor self, char *name, float *fVal)
 {
@@ -106,8 +119,10 @@ static long SecMotorRun(void *sulf, SConnection * pCon, float fNew)
   }
   self->stopped = 0;
   self->stopReported = 0;
+  self->fTarget = fNew;
 
   v = MakeHdbFloat(fNew);
+  SecMotorSetError(sulf,"None");
   status = SetHipadabaPar(self->pDescriptor->parNode, v, pCon);
   node = GetHipadabaNode(self->pDescriptor->parNode, "status");
   if(node != NULL){
@@ -200,12 +215,17 @@ static int SecMotorLimits(void *sulf, float fVal, char *error, int iErrLen)
 {
   float fHard;
   pMotor self;
+  int status;
 
   assert(sulf);
 
   self = (pMotor) sulf;
 
-  return SecMotorCheckBoundary(self, fVal, &fHard, error, iErrLen);
+  status = SecMotorCheckBoundary(self, fVal, &fHard, error, iErrLen);
+  if(status != 1){
+    SecMotorSetError(sulf,error);
+  }
+  return status;
 }
 
 /*-----------------------------------------------------------------------*/
@@ -231,10 +251,11 @@ static int checkPosition(pMotor self, SConnection * pCon)
   if (ABS(target - hard) > precision) {
     if (self->retryCount >= (int) maxretry) {
       SCPrintf(pCon, eLogError,
-               "ERROR: Aborting %s after %d retries, off position by %f",
+               "ERROR: aborting %s after %d retries, off position by %f",
                self->name, (int) maxretry, target - hard);
       node = GetHipadabaNode(self->pDescriptor->parNode, "status");
       assert(node != NULL);
+      SecMotorSetError(self,"Aborted poistioning after many retries");
       UpdateHipadabaPar(node, MakeHdbText("error"), pCon);
       return HWFault;
     }
@@ -277,6 +298,7 @@ static int SecMotorStatus(void *sulf, SConnection * pCon)
   pHdb node = NULL;
   hdbValue v;
   float interrupt;
+  char error[132];
 
   assert(sulf);
   self = (pMotor) sulf;
@@ -298,8 +320,20 @@ static int SecMotorStatus(void *sulf, SConnection * pCon)
     handleMoveCallback(self, pCon);
     status = HWBusy;
   } else if (strstr(v.v.text, "poserror") != NULL) {
+    SCWrite(pCon,"WARNING: Position not reached",eLog);
     status = checkPosition(self, pCon);
+  } else if (strstr(v.v.text, "restart") != NULL) {
+    SCPrintf(pCon,eLog,"WARNING: restarting motor %s", self->name);
+    SecMotorRun(self,pCon,self->fTarget);
+    return HWBusy;
   } else if (strstr(v.v.text, "error") != NULL) {
+    if(GetHdbProperty(node,"geterror",error,sizeof(error)) == 1){
+      SecMotorSetError(sulf,error);
+    }
+    node = GetHipadabaNode(self->pDescriptor->parNode, "targetposition");
+    if(GetHdbProperty(node,"geterror",error,sizeof(error)) == 1){
+      SecMotorSetError(sulf,error);
+    }
     status = HWFault;
   } else {
     SCPrintf(pCon, eError, "ERROR: unknown motor status %s found",
@@ -334,8 +368,15 @@ static float SecMotorGetValue(void *pData, SConnection * pCon)
   int status;
   pMotor self = (pMotor) pData;
   hdbValue v; 
+  char error[132];
+
 
   assert(pData);
+  status = GetHdbProperty(self->pDescriptor->parNode,"geterror", error,sizeof(error));
+  if(status == 1 && strcmp(error,"none") != 0) {
+    SCPrintf(pCon,eValue,"ERROR: Failed to read %s with %s", self->name, error);
+    return -9999999.99;
+  }
   status = GetHipadabaPar(self->pDescriptor->parNode, &v, pCon);
   if (status != 1) {
     return -9999999.99;
@@ -473,7 +514,7 @@ static hdbCallbackReturn SecMotorCallback(pHdb node, void *userData,
      * check for alarm condition
      */
     SecMotorGetPar(self, "failafter", &fVal);
-    if (self->pDrivInt->iErrorCount > (int) fVal) {
+    if (self->pDrivInt->iErrorCount >= (int) fVal) {
       /* big alarm */
       ServerWriteGlobal("ERROR: !!! MOTOR ALARM !!! MOTOR ALARM !!!",
                         eError);
@@ -744,6 +785,9 @@ pMotor SecMotorInit(char *name)
   SetHdbProperty(child, "motname", name);
   AddHipadabaChild(node, child, NULL);
 
+  child = MakeHipadabaNode("error", HIPTEXT, 1);
+  AddHipadabaChild(node, child, NULL);
+
   pM->endScriptID = 0;
 
   /* initialise Drivable interface */