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- Modified collective drive operations to run motors in individual tasks

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- Added a processnode methos to scriptcontext. processnode waits for the
  scriptchain of a node to finish.
- Fixed a bug in sicsget
- Made histmemsec dim and rank manager privilege. To allow chnage at runtime.
  Is required for SANS
- Fixed some issues with multicountersec, mostly relating to passing things through
  in a sensible way.
- Updated motorsec.c to work with a client based driver


SKIPPED:
	psi/polterwrite.c
	psi/tabledrive.c
	psi/tabledrive.h
This commit is contained in:
koennecke
2014-02-18 13:25:32 +00:00
parent 95d37fea12
commit 33e122ea9e
22 changed files with 240 additions and 241 deletions
Download Patch File Download Diff File Expand all files Collapse all files

79
motorlist.c
View File

@ -6,6 +6,10 @@
copyright: see file COPYRIGHT
Mark Koennecke, September 2005
modified to use the task system
Mark Koennecke, January 2014
-----------------------------------------------------------------------*/
#include "motorlist.h"
#include "lld.h"
@ -73,17 +77,18 @@ static int MOLICheckLimits(void *data, float val, char *error, int errlen)
------------------------------------------------------------------*/
static long MOLISetValue(void *data, SConnection * pCon, float val)
{
int self = 0, iRet, test;
int self = 0, iRet;
MotControl tuktuk;
self = *(int *) data;
iRet = LLDnodePtr2First(self);
while (iRet != 0) {
LLDnodeDataTo(self, &tuktuk);
test = tuktuk.pDriv->SetValue(tuktuk.data, pCon, tuktuk.target);
if (test != 1) {
return test;
tuktuk.taskID = StartDriveTask(tuktuk.data,pCon,tuktuk.name,tuktuk.target);
if (tuktuk.taskID < 0) {
return HWFault;
} else {
tuktuk.running = 1;
LLDnodeDataFrom(self, &tuktuk);
@ -105,7 +110,7 @@ static long MOLISetValue(void *data, SConnection * pCon, float val)
------------------------------------------------------------------*/
static int MOLICheckStatus(void *data, SConnection * pCon)
{
int self = 0, iRet, status, result = HWIdle;
int self = 0, iRet, status;
MotControl tuktuk;
self = *(int *) data;
@ -114,35 +119,17 @@ static int MOLICheckStatus(void *data, SConnection * pCon)
while (iRet != 0) {
LLDnodeDataTo(self, &tuktuk);
if (tuktuk.running == 1) {
status = tuktuk.pDriv->CheckStatus(tuktuk.data, pCon);
switch (status) {
case HWIdle:
tuktuk.running = 0;
status = isTaskIDRunning(pServ->pTasker,tuktuk.taskID);
if(status == 1){
return HWBusy;
} else {
tuktuk.running = 0;
LLDnodeDataFrom(self, &tuktuk);
break;
case HWBusy:
result = HWBusy;
break;
case HWFault:
case HWPosFault:
/**
* It is questionable if one should not set a flag here
* and keep polling: it is not clear if this error is a
* communication problem or that the motor really
* has stopped.
*/
return status;
break;
default:
/*
this is a programming error and has to be fixed
*/
assert(0);
}
}
iRet = LLDnodePtr2Next(self);
}
return result;
return HWIdle;
}
/*---------------------------------------------------------
A special version for EIGER. I am cautious: I have problems
@ -151,39 +138,7 @@ static int MOLICheckStatus(void *data, SConnection * pCon)
-----------------------------------------------------------*/
int MOLIEigerStatus(void *data, SConnection * pCon)
{
int self = 0, iRet, status, result = HWIdle;
MotControl tuktuk;
self = *(int *) data;
iRet = LLDnodePtr2First(self);
while (iRet != 0) {
LLDnodeDataTo(self, &tuktuk);
if (tuktuk.running == 1) {
status = tuktuk.pDriv->CheckStatus(tuktuk.data, pCon);
switch (status) {
case HWIdle:
tuktuk.running = 0;
LLDnodeDataFrom(self, &tuktuk);
break;
case HWBusy:
result = HWBusy;
break;
case HWFault:
case HWPosFault:
tuktuk.running = 0;
LLDnodeDataFrom(self, &tuktuk);
break;
default:
/*
this is a programming error and has to be fixed
*/
assert(0);
}
}
iRet = LLDnodePtr2Next(self);
}
return result;
return MOLICheckStatus(data,pCon);
}
/*----------------------------------------------------------------