- Modified collective drive operations to run motors in individual tasks
- 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
157
tasdrive.c
157
tasdrive.c
@ -5,12 +5,14 @@
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Mark Koennecke, May 2005
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In the long run it might be useful to switch all this to the more
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general motor list driving code.
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Modified to rather use drivables then motors
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Mark Koennecke, September 2011
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Modified to use drive tasks
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Mark Koennecke, January 2014
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--------------------------------------------------------------------*/
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#include <assert.h>
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#include "sics.h"
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@ -72,7 +74,12 @@ int readTASMotAngles(ptasUB self, SConnection * pCon,
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if (status == 0) {
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return status;
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}
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theta = val;
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theta = val;/* $Id: tasdrive.c,v 1.39 2014/02/18 13:25:32 koennecke Exp $ */
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#ifndef lint
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static char vcid[] = "$Id: tasdrive.c,v 1.39 2014/02/18 13:25:32 koennecke Exp $";
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#endif /* lint */
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status = GetDrivablePosition(self->motors[A2], pCon, &val);
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if (status == 0) {
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return status;
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@ -274,7 +281,7 @@ static float getMotorValue(pMotor mot, SConnection * pCon)
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void InvokeNewTarget(pExeList self, char *name, float target);
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/*--------------------------------------------------------------------------*/
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static int startTASMotor(pMotor mot, SConnection * pCon, char *name,
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double target, int silent, int stopFixed)
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double target, int silent, int stopFixed, long groupID)
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{
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float val, fixed, precision = MOTPREC;
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int status = OKOK;
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@ -282,6 +289,7 @@ static int startTASMotor(pMotor mot, SConnection * pCon, char *name,
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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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long taskID;
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dum = (pDummy)mot;
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val = getMotorValue(mot, pCon);
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@ -298,10 +306,11 @@ static int startTASMotor(pMotor mot, SConnection * pCon, char *name,
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}
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mot->stopped = 0;
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if (ABS(val - target) > precision) {
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pDriv = GetDrivableInterface(mot);
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status = pDriv->SetValue(mot, pCon, (float) target);
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if(status != OKOK){
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taskID = StartDriveTask(mot,pCon,name,target);
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if(taskID < 0){
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SCPrintf(pCon,eLog,"ERROR: failed to drive %s to %f", name, target);
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} else {
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AddTaskToGroup(pServ->pTasker,taskID, groupID);
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}
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/*
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to force updates on targets
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@ -313,7 +322,8 @@ static int startTASMotor(pMotor mot, SConnection * pCon, char *name,
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}
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/*-------------------------------------------------------------------------*/
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static int StartTASA3(pMotor mot, SConnection *pCon, char *name,
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double target, int silent, int stopFixed)
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double target, int silent, int stopFixed,
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long groupID)
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{
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float val;
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int status;
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@ -326,14 +336,14 @@ static int StartTASA3(pMotor mot, SConnection *pCon, char *name,
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status = SCPromptTMO(pCon,NULL,buffer,sizeof(buffer),120);
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if(status == 1){
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if(buffer[0] == 'y'){
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return startTASMotor(mot,pCon,name,target,silent,stopFixed);
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return startTASMotor(mot,pCon,name,target,silent,stopFixed,groupID);
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}
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}
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SCWrite(pCon,"ERROR: no or wrong reply, aborting scan",eLogError);
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SCSetInterrupt(pCon,eAbortScan);
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return HWFault;
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} else {
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return startTASMotor(mot,pCon,name,target,silent,stopFixed);
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return startTASMotor(mot,pCon,name,target,silent,stopFixed,groupID);
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}
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}
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/*---------------------------------------------------------------------------*/
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@ -346,6 +356,9 @@ static int startMotors(ptasMot self, tasAngles angles,
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silent = self->math->silent;
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stopFixed = self->math->stopFixed;
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self->math->mustRecalculate = 1;
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self->math->groupID = GetTaskGroupID(pServ->pTasker);
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/*
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monochromator
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*/
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@ -353,6 +366,8 @@ static int startMotors(ptasMot self, tasAngles angles,
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pCon,angles.monochromator_two_theta);
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if(status != OKOK){
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return status;
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} else {
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AddTaskToGroup(pServ->pTasker, self->math->monoTaskID, self->math->groupID);
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}
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/*
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@ -360,12 +375,12 @@ static int startMotors(ptasMot self, tasAngles angles,
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*/
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if (self->math->tasMode != ELASTIC) {
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status = startTASMotor(self->math->motors[A5], pCon, "a5",
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angles.analyzer_two_theta / 2.0, silent,stopFixed);
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angles.analyzer_two_theta / 2.0, silent,stopFixed,self->math->groupID);
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if (status != OKOK) {
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return status;
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}
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status = startTASMotor(self->math->motors[A6], pCon, "a6",
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angles.analyzer_two_theta, silent,stopFixed);
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angles.analyzer_two_theta, silent,stopFixed,self->math->groupID);
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if (status != OKOK) {
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return status;
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}
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@ -374,7 +389,7 @@ static int startMotors(ptasMot self, tasAngles angles,
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curve = maCalcVerticalCurvature(self->math->machine.analyzer,
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angles.analyzer_two_theta);
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status = startTASMotor(self->math->motors[ACV], pCon, "acv",
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curve, silent,stopFixed);
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curve, silent,stopFixed,self->math->groupID);
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if (status != OKOK) {
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SCWrite(pCon,"WARNING: analyzer vertical curvature motor failed to start", eLog);
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SCSetInterrupt(pCon,eContinue);
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@ -384,7 +399,7 @@ static int startMotors(ptasMot self, tasAngles angles,
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curve = maCalcHorizontalCurvature(self->math->machine.analyzer,
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angles.analyzer_two_theta);
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status = startTASMotor(self->math->motors[ACH], pCon, "ach",
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curve, silent,stopFixed);
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curve, silent,stopFixed,self->math->groupID);
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if (status != OKOK) {
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SCWrite(pCon,"WARNING: analyzer horizontal curvature motor failed to start", eLog);
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SCSetInterrupt(pCon,eContinue);
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@ -400,24 +415,24 @@ static int startMotors(ptasMot self, tasAngles angles,
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crystal
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*/
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status = StartTASA3(self->math->motors[A3], pCon, "a3",
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angles.a3, silent,stopFixed);
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angles.a3, silent,stopFixed,self->math->groupID);
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if (status != OKOK) {
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return status;
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}
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status = startTASMotor(self->math->motors[A4], pCon, "a4",
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angles.sample_two_theta, silent,stopFixed);
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angles.sample_two_theta, silent,stopFixed,self->math->groupID);
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if (status != OKOK) {
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return status;
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}
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if (driveTilt == 1) {
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status = startTASMotor(self->math->motors[SGL], pCon, "sgl",
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angles.sgl, silent,stopFixed);
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angles.sgl, silent,stopFixed, self->math->groupID);
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if (status != OKOK) {
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return status;
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}
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status = startTASMotor(self->math->motors[SGU], pCon, "sgu",
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angles.sgu, silent,stopFixed);
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angles.sgu, silent,stopFixed,self->math->groupID);
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if (status != OKOK) {
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return status;
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}
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@ -566,60 +581,12 @@ static int calculateAndDrive(ptasMot self, SConnection * pCon)
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/*-----------------------------------------------------------------------------*/
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static int checkMotors(ptasMot self, SConnection * pCon)
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{
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int i, status, length = 12, count;
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int mask[12], busy[12];
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pIDrivable pDrivInt = NULL;
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self->math->mustRecalculate = 1;
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if (self->math->tasMode == ELASTIC) {
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length = 8;
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}
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memset(mask, 0, 12 * sizeof(int));
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memset(busy, 0, 12 * sizeof(int));
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for (i = 0; i < length; i++) {
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mask[i] = 1;
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busy[i] = 1;
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}
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if (self->math->outOfPlaneAllowed == 0) {
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mask[SGU] = 0;
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mask[SGL] = 0;
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}
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/*
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check monochromator
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*/
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status = self->math->mono->CheckStatus(self->math->monoData,pCon);
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if(status == HWIdle){
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for(i = 0; i < 4; i++){
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busy[i] = 0;
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}
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}
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/*
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check the rest
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*/
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for (i = 4; i < 12; i++) {
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if(self->math->motors[i] == NULL){
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busy[i] = 0;
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} else {
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if(mask[i] != 0) {
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pDrivInt = GetDrivableInterface(self->math->motors[i]);
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status = pDrivInt->CheckStatus(self->math->motors[i], pCon);
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if(status == HWIdle || status == OKOK || status == HWFault || status == HWPosFault){
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busy[i] = 0;
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}
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} else {
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busy[i] = 0;
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}
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}
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}
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for(i = 0, count = 0; i < 12; i++){
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count += busy[i];
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}
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if(count == 0) {
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return HWIdle;
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} else {
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if(isTaskGroupRunning(pServ->pTasker,self->math->groupID)){
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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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}
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@ -653,42 +620,18 @@ static int startQMMotors(ptasMot self, tasAngles angles,
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silent = self->math->silent;
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stopFixed = self->math->stopFixed;
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self->math->groupID = GetTaskGroupID(pServ->pTasker);
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/*
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monochromator
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*/
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/* status = startTASMotor(self->math->motors[A1], pCon, "a1", */
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/* angles.monochromator_two_theta / 2., silent,stopFixed); */
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/* if (status != OKOK) { */
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/* return status; */
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/* } */
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/* status = startTASMotor(self->math->motors[A2], pCon, "a2", */
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/* angles.monochromator_two_theta, silent,stopFixed); */
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/* if (status != OKOK) { */
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/* return status; */
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/* } */
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/* if (self->math->motors[MCV] != NULL) { */
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/* curve = maCalcVerticalCurvature(self->math->machine.monochromator, */
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/* angles.monochromator_two_theta); */
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/* status = startTASMotor(self->math->motors[MCV], pCon, "mcv", */
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/* curve, silent,stopFixed); */
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/* if (status != OKOK) { */
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/* return status; */
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/* } */
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/* } */
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/* if (self->math->motors[MCH] != NULL) { */
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/* curve = maCalcHorizontalCurvature(self->math->machine.monochromator, */
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/* angles.monochromator_two_theta); */
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/* status = startTASMotor(self->math->motors[MCH], pCon, "mch", */
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/* curve, silent,stopFixed); */
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/* if (status != OKOK) { */
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/* return status; */
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/* } */
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/* } */
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status = self->math->mono->SetValue(self->math->monoData,pCon,angles.analyzer_two_theta);
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monochromator
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*/
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status = self->math->mono->SetValue(self->math->monoData,
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pCon,angles.monochromator_two_theta);
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if(status != OKOK){
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return status;
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} else {
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AddTaskToGroup(pServ->pTasker, self->math->monoTaskID, self->math->groupID);
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}
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@ -696,12 +639,12 @@ static int startQMMotors(ptasMot self, tasAngles angles,
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analyzer
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*/
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status = startTASMotor(self->math->motors[A5], pCon, "a5",
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angles.analyzer_two_theta / 2.0, silent,stopFixed);
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angles.analyzer_two_theta / 2.0, silent,stopFixed,self->math->groupID);
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if (status != OKOK) {
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return status;
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}
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status = startTASMotor(self->math->motors[A6], pCon, "a6",
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angles.analyzer_two_theta, silent,stopFixed);
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angles.analyzer_two_theta, silent,stopFixed,self->math->groupID);
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if (status != OKOK) {
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return status;
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}
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@ -710,7 +653,7 @@ static int startQMMotors(ptasMot self, tasAngles angles,
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curve = maCalcVerticalCurvature(self->math->machine.analyzer,
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angles.analyzer_two_theta);
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status = startTASMotor(self->math->motors[ACV], pCon, "acv",
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curve, silent,stopFixed);
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curve, silent,stopFixed,self->math->groupID);
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if (status != OKOK) {
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return status;
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}
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@ -719,7 +662,7 @@ static int startQMMotors(ptasMot self, tasAngles angles,
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curve = maCalcHorizontalCurvature(self->math->machine.analyzer,
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angles.analyzer_two_theta);
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status = startTASMotor(self->math->motors[ACH], pCon, "ach",
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curve, silent,stopFixed);
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curve, silent,stopFixed,self->math->groupID);
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if (status != OKOK) {
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return status;
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}
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@ -729,7 +672,7 @@ static int startQMMotors(ptasMot self, tasAngles angles,
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crystal
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*/
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status = startTASMotor(self->math->motors[A4], pCon, "a4",
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angles.sample_two_theta, silent,stopFixed);
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angles.sample_two_theta, silent,stopFixed,self->math->groupID);
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if (status != OKOK) {
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return status;
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}
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