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- Added restart status code

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- Small fixes to make regression tests work at the same level as for first
  generation devices
This commit is contained in:
koennecke
2013-07-18 14:24:00 +00:00
parent 9a3607bd66
commit 255b83665c
2 changed files with 101 additions and 8 deletions
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57
countersec.c
View File

@ -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;
}
@ -110,7 +127,8 @@ static int SecCtrCheckStatus(void *pData, SConnection *pCon)
int status;
MonEvent sMon;
float fControl, fPreset;
char error[132];
assert(self != NULL);
node = GetHipadabaNode(self->pDes->parNode,"status");
@ -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;
}

52
motorsec.c
View File

@ -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",
@ -333,9 +367,16 @@ static float SecMotorGetValue(void *pData, SConnection * pCon)
{
int status;
pMotor self = (pMotor) pData;
hdbValue v;
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 */