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tasdrive now only monitors motors which are driving.

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Fixes SICS-568 Because tasdrive now stops calling status checking on a
motor which has terminated for any reason.
SICS-570: The correct motor names are now reported by tasdrive.
SICS-575: Use ANSTO motor names when reporting limit violations.
This commit is contained in:
Ferdi Franceschini
2013-04-28 16:28:02 +10:00
parent a6cfbe8b7f
commit 50a2545f97
3 changed files with 82 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files

108
tasdrive.c
View File

@ -313,36 +313,44 @@ static int startMotors(ptasMot self, tasAngles angles,
/* /*
monochromator monochromator
*/ */
status = startTASMotor(self->math->motors[A1], pCon, "a1", status = startTASMotor(self->math->motors[A1], pCon, self->math->motname[A1],
angles.monochromator_two_theta / 2., silent, stopFixed); angles.monochromator_two_theta / 2., silent, stopFixed);
if (status != OKOK) { if (status != OKOK) {
return status; return status;
} else {
self->math->busy[A1] = 1;
} }
status = startTASMotor(self->math->motors[A2], pCon, "a2", status = startTASMotor(self->math->motors[A2], pCon, self->math->motname[A2],
angles.monochromator_two_theta, silent,stopFixed); angles.monochromator_two_theta, silent,stopFixed);
if (status != OKOK) { if (status != OKOK) {
return status; return status;
} else {
self->math->busy[A2] = 1;
} }
if (self->math->motors[MCV] != NULL) { if (self->math->motors[MCV] != NULL) {
curve = maCalcVerticalCurvature(self->math->machine.monochromator, curve = maCalcVerticalCurvature(self->math->machine.monochromator,
angles.monochromator_two_theta); angles.monochromator_two_theta);
status = startTASMotor(self->math->motors[MCV], pCon, "mcv", status = startTASMotor(self->math->motors[MCV], pCon, self->math->motname[MCV],
curve, silent,stopFixed); curve, silent,stopFixed);
if (status != OKOK) { if (status != OKOK) {
SCWrite(pCon,"WARNING: monochromator vertical curvature motor failed to start", eLog); SCWrite(pCon,"WARNING: monochromator vertical curvature motor failed to start", eLog);
SCSetInterrupt(pCon,eContinue); SCSetInterrupt(pCon,eContinue);
} else {
self->math->busy[MCV] = 1;
} }
} }
if (self->math->motors[MCH] != NULL) { if (self->math->motors[MCH] != NULL) {
curve = maCalcHorizontalCurvature(self->math->machine.monochromator, curve = maCalcHorizontalCurvature(self->math->machine.monochromator,
angles.monochromator_two_theta); angles.monochromator_two_theta);
status = startTASMotor(self->math->motors[MCH], pCon, "mch", status = startTASMotor(self->math->motors[MCH], pCon, self->math->motname[MCH],
curve, silent,stopFixed); curve, silent,stopFixed);
if (status != OKOK) { if (status != OKOK) {
SCWrite(pCon,"WARNING: monochromator horizontal curvature motor failed to start", eLog); SCWrite(pCon,"WARNING: monochromator horizontal curvature motor failed to start", eLog);
SCSetInterrupt(pCon,eContinue); SCSetInterrupt(pCon,eContinue);
} else {
self->math->busy[MCH] = 1;
} }
} }
@ -351,35 +359,43 @@ static int startMotors(ptasMot self, tasAngles angles,
analyzer analyzer
*/ */
if (self->math->tasMode != ELASTIC) { if (self->math->tasMode != ELASTIC) {
status = startTASMotor(self->math->motors[A5], pCon, "a5", status = startTASMotor(self->math->motors[A5], pCon, self->math->motname[A5],
angles.analyzer_two_theta / 2.0, silent,stopFixed); angles.analyzer_two_theta / 2.0, silent,stopFixed);
if (status != OKOK) { if (status != OKOK) {
return status; return status;
} else {
self->math->busy[A5] = 1;
} }
status = startTASMotor(self->math->motors[A6], pCon, "a6", status = startTASMotor(self->math->motors[A6], pCon, self->math->motname[A6],
angles.analyzer_two_theta, silent,stopFixed); angles.analyzer_two_theta, silent,stopFixed);
if (status != OKOK) { if (status != OKOK) {
return status; return status;
} else {
self->math->busy[A6] = 1;
} }
if (self->math->motors[ACV] != NULL) { if (self->math->motors[ACV] != NULL) {
curve = maCalcVerticalCurvature(self->math->machine.analyzer, curve = maCalcVerticalCurvature(self->math->machine.analyzer,
angles.analyzer_two_theta); angles.analyzer_two_theta);
status = startTASMotor(self->math->motors[ACV], pCon, "acv", status = startTASMotor(self->math->motors[ACV], pCon, self->math->motname[ACV],
curve, silent,stopFixed); curve, silent,stopFixed);
if (status != OKOK) { if (status != OKOK) {
SCWrite(pCon,"WARNING: analyzer vertical curvature motor failed to start", eLog); SCWrite(pCon,"WARNING: analyzer vertical curvature motor failed to start", eLog);
SCSetInterrupt(pCon,eContinue); SCSetInterrupt(pCon,eContinue);
} else {
self->math->busy[ACV] = 1;
} }
} }
if (self->math->motors[ACH] != NULL) { if (self->math->motors[ACH] != NULL) {
curve = maCalcHorizontalCurvature(self->math->machine.analyzer, curve = maCalcHorizontalCurvature(self->math->machine.analyzer,
angles.analyzer_two_theta); angles.analyzer_two_theta);
status = startTASMotor(self->math->motors[ACH], pCon, "ach", status = startTASMotor(self->math->motors[ACH], pCon, self->math->motname[ACH],
curve, silent,stopFixed); curve, silent,stopFixed);
if (status != OKOK) { if (status != OKOK) {
SCWrite(pCon,"WARNING: analyzer horizontal curvature motor failed to start", eLog); SCWrite(pCon,"WARNING: analyzer horizontal curvature motor failed to start", eLog);
SCSetInterrupt(pCon,eContinue); SCSetInterrupt(pCon,eContinue);
} else {
self->math->busy[ACH] = 1;
} }
} }
} }
@ -391,27 +407,35 @@ static int startMotors(ptasMot self, tasAngles angles,
/* /*
crystal crystal
*/ */
status = startTASMotor(self->math->motors[A3], pCon, "a3", status = startTASMotor(self->math->motors[A3], pCon, self->math->motname[A3],
angles.a3, silent,stopFixed); angles.a3, silent,stopFixed);
if (status != OKOK) { if (status != OKOK) {
return status; return status;
} else {
self->math->busy[A3] = 1;
} }
status = startTASMotor(self->math->motors[A4], pCon, "a4", status = startTASMotor(self->math->motors[A4], pCon, self->math->motname[A4],
angles.sample_two_theta, silent,stopFixed); angles.sample_two_theta, silent,stopFixed);
if (status != OKOK) { if (status != OKOK) {
return status; return status;
} else {
self->math->busy[A4] = 1;
} }
if (driveTilt == 1) { if (driveTilt == 1) {
status = startTASMotor(self->math->motors[SGL], pCon, "sgl", status = startTASMotor(self->math->motors[SGL], pCon, self->math->motname[SGL],
angles.sgl, silent,stopFixed); angles.sgl, silent,stopFixed);
if (status != OKOK) { if (status != OKOK) {
return status; return status;
} else {
self->math->busy[SGL] = 1;
} }
status = startTASMotor(self->math->motors[SGU], pCon, "sgu", status = startTASMotor(self->math->motors[SGU], pCon, self->math->motname[SGU],
angles.sgu, silent,stopFixed); angles.sgu, silent,stopFixed);
if (status != OKOK) { if (status != OKOK) {
return status; return status;
} else {
self->math->busy[SGU] = 1;
} }
} }
self->math->mustDrive = 0; self->math->mustDrive = 0;
@ -435,7 +459,7 @@ static int checkQMotorLimits(ptasMot self, SConnection * pCon,
angles.a3, error,131); angles.a3, error,131);
if (status != 1) { if (status != 1) {
retVal = 0; retVal = 0;
snprintf(pBueffel, 256, "ERROR: limit violation an a3: %s", error); snprintf(pBueffel, 256, "ERROR: limit violation an %s: %s", self->math->motname[A3], error);
SCWrite(pCon, pBueffel, eLogError); SCWrite(pCon, pBueffel, eLogError);
} }
} }
@ -447,7 +471,7 @@ static int checkQMotorLimits(ptasMot self, SConnection * pCon,
error, 131); error, 131);
if (status != 1) { if (status != 1) {
retVal = 0; retVal = 0;
snprintf(pBueffel, 256, "ERROR: limit violation an a4: %s", error); snprintf(pBueffel, 256, "ERROR: limit violation an %s: %s", self->math->motname[A4], error);
SCWrite(pCon, pBueffel, eLogError); SCWrite(pCon, pBueffel, eLogError);
} }
@ -458,7 +482,7 @@ static int checkQMotorLimits(ptasMot self, SConnection * pCon,
131); 131);
if (status != 1) { if (status != 1) {
retVal = 0; retVal = 0;
snprintf(pBueffel, 256, "ERROR: limit violation an SGU: %s", error); snprintf(pBueffel, 256, "ERROR: limit violation an %s: %s", self->math->motname[SGU], error);
SCWrite(pCon, pBueffel, eLogError); SCWrite(pCon, pBueffel, eLogError);
} }
@ -468,7 +492,7 @@ static int checkQMotorLimits(ptasMot self, SConnection * pCon,
131); 131);
if (status != 1) { if (status != 1) {
retVal = 0; retVal = 0;
snprintf(pBueffel, 256, "ERROR: limit violation an SGL: %s", error); snprintf(pBueffel, 256, "ERROR: limit violation an %s: %s", self->math->motname[SGU], error);
SCWrite(pCon, pBueffel, eLogError); SCWrite(pCon, pBueffel, eLogError);
} }
} }
@ -559,7 +583,7 @@ static int calculateAndDrive(ptasMot self, SConnection * pCon)
static int checkMotors(ptasMot self, SConnection * pCon) static int checkMotors(ptasMot self, SConnection * pCon)
{ {
int i, status, length = 12, count; int i, status, length = 12, count;
int mask[12], busy[12]; int mask[12];
pIDrivable pDrivInt = NULL; pIDrivable pDrivInt = NULL;
self->math->mustRecalculate = 1; self->math->mustRecalculate = 1;
@ -567,10 +591,8 @@ static int checkMotors(ptasMot self, SConnection * pCon)
length = 8; length = 8;
} }
memset(mask, 0, 12 * sizeof(int)); memset(mask, 0, 12 * sizeof(int));
memset(busy, 0, 12 * sizeof(int));
for (i = 0; i < length; i++) { for (i = 0; i < length; i++) {
mask[i] = 1; mask[i] = 1;
busy[i] = 1;
} }
if (self->math->outOfPlaneAllowed == 0) { if (self->math->outOfPlaneAllowed == 0) {
mask[SGU] = 0; mask[SGU] = 0;
@ -578,22 +600,16 @@ static int checkMotors(ptasMot self, SConnection * pCon)
} }
for (i = 0; i < 12; i++) { for (i = 0; i < 12; i++) {
if(self->math->motors[i] == NULL){ if(mask[i] != 0 && self->math->busy[i] != 0) {
busy[i] = 0;
} else {
if(mask[i] != 0) {
pDrivInt = GetDrivableInterface(self->math->motors[i]); pDrivInt = GetDrivableInterface(self->math->motors[i]);
status = pDrivInt->CheckStatus(self->math->motors[i], pCon); status = pDrivInt->CheckStatus(self->math->motors[i], pCon);
if(status == HWIdle || status == OKOK || status == HWFault || status == HWPosFault){ if(status == HWIdle || status == OKOK || status == HWFault || status == HWPosFault){
busy[i] = 0; self->math->busy[i] = 0;
}
} else {
busy[i] = 0;
} }
} }
} }
for(i = 0, count = 0; i < 12; i++){ for(i = 0, count = 0; i < 12; i++){
count += busy[i]; count += self->math->busy[i];
} }
if(count == 0) { if(count == 0) {
return HWIdle; return HWIdle;
@ -635,34 +651,42 @@ static int startQMMotors(ptasMot self, tasAngles angles,
/* /*
monochromator monochromator
*/ */
status = startTASMotor(self->math->motors[A1], pCon, "a1", status = startTASMotor(self->math->motors[A1], pCon, self->math->motname[A1],
angles.monochromator_two_theta / 2., silent,stopFixed); angles.monochromator_two_theta / 2., silent,stopFixed);
if (status != OKOK) { if (status != OKOK) {
return status; return status;
} else {
self->math->busy[A1] = 1;
} }
status = startTASMotor(self->math->motors[A2], pCon, "a2", status = startTASMotor(self->math->motors[A2], pCon, self->math->motname[A2],
angles.monochromator_two_theta, silent,stopFixed); angles.monochromator_two_theta, silent,stopFixed);
if (status != OKOK) { if (status != OKOK) {
return status; return status;
} else {
self->math->busy[A2] = 1;
} }
if (self->math->motors[MCV] != NULL) { if (self->math->motors[MCV] != NULL) {
curve = maCalcVerticalCurvature(self->math->machine.monochromator, curve = maCalcVerticalCurvature(self->math->machine.monochromator,
angles.monochromator_two_theta); angles.monochromator_two_theta);
status = startTASMotor(self->math->motors[MCV], pCon, "mcv", status = startTASMotor(self->math->motors[MCV], pCon, self->math->motname[MCV],
curve, silent,stopFixed); curve, silent,stopFixed);
if (status != OKOK) { if (status != OKOK) {
return status; return status;
} else {
self->math->busy[MCV] = 1;
} }
} }
if (self->math->motors[MCH] != NULL) { if (self->math->motors[MCH] != NULL) {
curve = maCalcHorizontalCurvature(self->math->machine.monochromator, curve = maCalcHorizontalCurvature(self->math->machine.monochromator,
angles.monochromator_two_theta); angles.monochromator_two_theta);
status = startTASMotor(self->math->motors[MCH], pCon, "mch", status = startTASMotor(self->math->motors[MCH], pCon, self->math->motname[MCH],
curve, silent,stopFixed); curve, silent,stopFixed);
if (status != OKOK) { if (status != OKOK) {
return status; return status;
} else {
self->math->busy[MCH] = 1;
} }
} }
@ -670,43 +694,53 @@ static int startQMMotors(ptasMot self, tasAngles angles,
/* /*
analyzer analyzer
*/ */
status = startTASMotor(self->math->motors[A5], pCon, "a5", status = startTASMotor(self->math->motors[A5], pCon, self->math->motname[A5],
angles.analyzer_two_theta / 2.0, silent,stopFixed); angles.analyzer_two_theta / 2.0, silent,stopFixed);
if (status != OKOK) { if (status != OKOK) {
return status; return status;
} else {
self->math->busy[A5] = 1;
} }
status = startTASMotor(self->math->motors[A6], pCon, "a6", status = startTASMotor(self->math->motors[A6], pCon, self->math->motname[A6],
angles.analyzer_two_theta, silent,stopFixed); angles.analyzer_two_theta, silent,stopFixed);
if (status != OKOK) { if (status != OKOK) {
return status; return status;
} else {
self->math->busy[A6] = 1;
} }
if (self->math->motors[ACV] != NULL) { if (self->math->motors[ACV] != NULL) {
curve = maCalcVerticalCurvature(self->math->machine.analyzer, curve = maCalcVerticalCurvature(self->math->machine.analyzer,
angles.analyzer_two_theta); angles.analyzer_two_theta);
status = startTASMotor(self->math->motors[ACV], pCon, "acv", status = startTASMotor(self->math->motors[ACV], pCon, self->math->motname[ACV],
curve, silent,stopFixed); curve, silent,stopFixed);
if (status != OKOK) { if (status != OKOK) {
return status; return status;
} else {
self->math->busy[ACV] = 1;
} }
} }
if (self->math->motors[ACH] != NULL) { if (self->math->motors[ACH] != NULL) {
curve = maCalcHorizontalCurvature(self->math->machine.analyzer, curve = maCalcHorizontalCurvature(self->math->machine.analyzer,
angles.analyzer_two_theta); angles.analyzer_two_theta);
status = startTASMotor(self->math->motors[ACH], pCon, "ach", status = startTASMotor(self->math->motors[ACH], pCon, self->math->motname[ACH],
curve, silent,stopFixed); curve, silent,stopFixed);
if (status != OKOK) { if (status != OKOK) {
return status; return status;
} else {
self->math->busy[ACH] = 1;
} }
} }
/* /*
crystal crystal
*/ */
status = startTASMotor(self->math->motors[A4], pCon, "a4", status = startTASMotor(self->math->motors[A4], pCon, self->math->motname[A4],
angles.sample_two_theta, silent,stopFixed); angles.sample_two_theta, silent,stopFixed);
if (status != OKOK) { if (status != OKOK) {
return status; return status;
} else {
self->math->busy[A4] = 1;
} }
self->math->mustDrive = 0; self->math->mustDrive = 0;

9
tasub.c
View File

@ -304,6 +304,7 @@ int TasUBFactory(SConnection * pCon, SicsInterp * pSics, void *pData,
"ef", "kf", "ef", "kf",
"en" "en"
}; };
char *defltMot[] = {"a1", "a2", "mcv", "mch", "a3", "a4", "sgu", "sgl", "a5", "a6", "acv", "ach"};
if (argc < 2) { if (argc < 2) {
SCWrite(pCon, "ERROR: need name to install tasUB", eError); SCWrite(pCon, "ERROR: need name to install tasUB", eError);
@ -319,6 +320,7 @@ int TasUBFactory(SConnection * pCon, SicsInterp * pSics, void *pData,
SCWrite(pCon, "ERROR: out of memory creating tasUB", eError); SCWrite(pCon, "ERROR: out of memory creating tasUB", eError);
return 0; return 0;
} }
memset(pNew->busy, 0, 12 * sizeof(int));
/* /*
assign motors assign motors
@ -339,6 +341,10 @@ int TasUBFactory(SConnection * pCon, SicsInterp * pSics, void *pData,
pNew->motors[9] = TasFindMotor(pSics, "a6"); pNew->motors[9] = TasFindMotor(pSics, "a6");
pNew->motors[10] = TasFindMotor(pSics, "acv"); pNew->motors[10] = TasFindMotor(pSics, "acv");
pNew->motors[11] = TasFindMotor(pSics, "ach"); pNew->motors[11] = TasFindMotor(pSics, "ach");
for (i=0; i < 12; i++) {
strcpy(pNew->motname[i], defltMot[i]);
}
} else { } else {
/* /*
* user defined names * user defined names
@ -355,6 +361,9 @@ int TasUBFactory(SConnection * pCon, SicsInterp * pSics, void *pData,
pNew->motors[9] = TasFindMotor(pSics, argv[11]); pNew->motors[9] = TasFindMotor(pSics, argv[11]);
pNew->motors[10] = TasFindMotor(pSics, argv[12]); pNew->motors[10] = TasFindMotor(pSics, argv[12]);
pNew->motors[11] = TasFindMotor(pSics, argv[13]); pNew->motors[11] = TasFindMotor(pSics, argv[13]);
for (i=0; i < 12; i++) {
strcpy(pNew->motname[i], argv[i+2]);
}
} }
/* /*
curvature motors may be missing, anything else is a serious problem curvature motors may be missing, anything else is a serious problem

2
tasub.h
View File

@ -29,6 +29,8 @@
int mustDrive; int mustDrive;
int mustDriveQ; int mustDriveQ;
pMotor motors[12]; pMotor motors[12];
char motname[12][32];
int busy[12];
tasReflection r1, r2; tasReflection r1, r2;
int ubValid; int ubValid;
int silent; int silent;