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- Fixed sign problems with om in tasub

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- Mended tasdrive to drive energy even if Q is askew
- Fixed QM values
- Fixed problems in mesure: om2th, wrong theta selection
- Fixed core dump when driving h,kl, failed
This commit is contained in:
koennecke
2005-06-09 12:04:38 +00:00
parent f33ca7b0d7
commit 3a0b4f293c
16 changed files with 1899 additions and 116 deletions
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90
tasdrive.c
View File

@ -29,7 +29,7 @@
#define ACH 11
/*============== Drivable Interface functions =====================*/
static int TASSetValue(void *pData, SConnection *pCon,
static long TASSetValue(void *pData, SConnection *pCon,
float value){
ptasMot self = (ptasMot)pData;
assert(self);
@ -142,7 +142,8 @@ static float TASQMGetValue(void *pData, SConnection *pCon){
if(status != 1){
return -999.99;
}
status = calcTasPowderPosition(&self->math->machine, angles, &self->math->current);
status = calcTasPowderPosition(&self->math->machine,
angles, &self->math->current);
if(status < 0){
SCWrite(pCon,"ERROR: out of memory calculating Q-E variables",eError);
return -999.99;
@ -176,7 +177,7 @@ static int TASHalt(void *pData){
}
/*---------------------------------------------------------------------------*/
static int startMotors(ptasMot self, tasAngles angles,
SConnection *pCon){
SConnection *pCon, int driveQ){
float val;
double curve;
int status;
@ -276,6 +277,9 @@ static int startMotors(ptasMot self, tasAngles angles,
}
}
}
if(driveQ == 0){
return OKOK;
}
/*
crystal
@ -319,39 +323,95 @@ static int startMotors(ptasMot self, tasAngles angles,
self->math->mustDrive = 0;
return OKOK;
}
/*---------------------------------------------------------------------------*/
static int checkQMotorLimits(ptasMot self, SConnection *pCon,
tasAngles angles){
int status, retVal = 1;
char error[131];
char pBueffel[256];
status = self->math->motors[A3]->pDrivInt->CheckLimits(self->math->motors[A3],
angles.a3,
error,
131);
if(status != 1) {
retVal = 0;
snprintf(pBueffel,256,"ERROR: limit violation an a3: %s", error);
SCWrite(pCon,pBueffel,eError);
}
status = self->math->motors[A4]->pDrivInt->CheckLimits(self->math->motors[A4],
angles.sample_two_theta,
error,
131);
if(status != 1) {
retVal = 0;
snprintf(pBueffel,256,"ERROR: limit violation an a4: %s", error);
SCWrite(pCon,pBueffel,eError);
}
status = self->math->motors[A3]->pDrivInt->CheckLimits(self->math->motors[SGU],
angles.sgu,
error,
131);
if(status != 1) {
retVal = 0;
snprintf(pBueffel,256,"ERROR: limit violation an SGU: %s", error);
SCWrite(pCon,pBueffel,eError);
}
status = self->math->motors[SGL]->pDrivInt->CheckLimits(self->math->motors[SGL],
angles.sgl,
error,
131);
if(status != 1) {
retVal = 0;
snprintf(pBueffel,256,"ERROR: limit violation an SGL: %s", error);
SCWrite(pCon,pBueffel,eError);
}
return retVal;
}
/*-----------------------------------------------------------------------------*/
static int calculateAndDrive(ptasMot self, SConnection *pCon){
tasAngles angles;
int status;
int status, driveQ = 1;
if(self->math->ubValid == 0){
SCWrite(pCon,"WARNING: UB matrix invalid",eWarning);
}
status = calcAllTasAngles(&self->math->machine, self->math->target,
&angles);
self->math->mustDrive = 0;
switch(status){
case ENERGYTOBIG:
SCWrite(pCon,"ERROR: desired energy to big",eError);
self->math->mustDrive = 0;
return HWFault;
break;
case UBNOMEMORY:
SCWrite(pCon,"ERROR: out of memory calculating angles",eError);
self->math->mustDrive = 0;
return HWFault;
driveQ = 0;
break;
case BADRMATRIX:
SCWrite(pCon,"ERROR: bad crystallographic parameters or bad UB",eError);
self->math->mustDrive = 0;
return HWFault;
driveQ = 0;
break;
case BADUBORQ:
SCWrite(pCon,"ERROR: bad UB matrix or bad Q-vector",eError);
driveQ = 0;
break;
case TRIANGLENOTCLOSED:
SCWrite(pCon,"ERROR: cannot close scattering triangle",eError);
self->math->mustDrive = 0;
return HWFault;
driveQ = 0;
break;
default:
return startMotors(self,angles,pCon);
}
return HWFault;
if(!checkQMotorLimits(self,pCon,angles)){
driveQ = 0;
}
if(driveQ == 0){
SCWrite(pCon,"WARNING: NOT driving Q-vector because of errors",eError);
}
return startMotors(self,angles,pCon, driveQ);
}
/*-----------------------------------------------------------------------------*/
static int checkMotors(ptasMot self, SConnection *pCon){