- Removed -fwritable-string
SKIPPED: psi/dornier2.c psi/ecbdriv.c psi/el734hp.c psi/libpsi.a psi/make_gen psi/makefile_linux psi/pimotor.c psi/pipiezo.c psi/sinqhttp.c psi/tcpdornier.c psi/velodornier.c
This commit is contained in:
koennecke
132
tasdrive.c
132
tasdrive.c
@ -190,9 +190,20 @@ static int TASHalt(void *pData){
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}
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return 1;
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}
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/*--------------------------------------------------------------------------*/
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static void writeMotPos(SConnection *pCon, char *name,
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float val, float target){
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char pBueffel[132];
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snprintf(pBueffel,131,"Driving %5s from %8.3f to %8.3f",
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name, val, target);
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SCWrite(pCon,pBueffel,eWarning);
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}
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/*---------------------------------------------------------------------------*/
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static int startMotors(ptasMot self, tasAngles angles,
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SConnection *pCon, int driveQ){
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SConnection *pCon, int driveQ, int driveTilt){
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float val;
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double curve;
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int status;
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@ -209,6 +220,8 @@ static int startMotors(ptasMot self, tasAngles angles,
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return status;
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}
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}
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writeMotPos(pCon,"a1",val, angles.monochromator_two_theta/2.);
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val = self->math->motors[A2]->pDrivInt->GetValue(self->math->motors[A2],pCon);
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if(ABS(val - angles.monochromator_two_theta) > MOTPREC){
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status = self->math->motors[A2]->pDrivInt->SetValue(self->math->motors[A2],
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@ -218,6 +231,8 @@ static int startMotors(ptasMot self, tasAngles angles,
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return status;
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}
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}
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writeMotPos(pCon,"a2",val, angles.monochromator_two_theta);
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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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@ -227,10 +242,12 @@ static int startMotors(ptasMot self, tasAngles angles,
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pCon,
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curve);
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if(status != OKOK){
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return status;
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return status;
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}
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}
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}
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writeMotPos(pCon,"mcv",val, curve);
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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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@ -243,6 +260,7 @@ static int startMotors(ptasMot self, tasAngles angles,
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return status;
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}
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}
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writeMotPos(pCon,"mch",val, curve);
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}
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/*
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@ -259,6 +277,9 @@ static int startMotors(ptasMot self, tasAngles angles,
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return status;
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}
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}
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writeMotPos(pCon,self->math->motors[A5]->name,
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val, angles.analyzer_two_theta/2.);
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val = self->math->motors[A6]->pDrivInt->GetValue(self->math->motors[A6],pCon);
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if(ABS(val - angles.analyzer_two_theta) > MOTPREC){
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status = self->math->motors[A6]->pDrivInt->SetValue(self->math->motors[A6],
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@ -268,6 +289,8 @@ static int startMotors(ptasMot self, tasAngles angles,
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return status;
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}
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}
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writeMotPos(pCon,"a6",val, angles.analyzer_two_theta);
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if(self->math->motors[ACV] != NULL){
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curve = maCalcVerticalCurvature(self->math->machine.analyzer,
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angles.analyzer_two_theta);
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@ -280,6 +303,7 @@ static int startMotors(ptasMot self, tasAngles angles,
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return status;
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}
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}
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writeMotPos(pCon,"acv",val, curve);
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}
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if(self->math->motors[ACH] != NULL){
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curve = maCalcHorizontalCurvature(self->math->machine.analyzer,
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@ -295,6 +319,7 @@ static int startMotors(ptasMot self, tasAngles angles,
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}
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}
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}
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writeMotPos(pCon,"ach",val, curve);
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}
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if(driveQ == 0){
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@ -313,6 +338,8 @@ static int startMotors(ptasMot self, tasAngles angles,
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return status;
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}
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}
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writeMotPos(pCon,"a3",val, angles.a3);
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val = self->math->motors[A4]->pDrivInt->GetValue(self->math->motors[A4],pCon);
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if(ABS(val - angles.sample_two_theta) > MOTPREC){
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status = self->math->motors[A4]->pDrivInt->SetValue(self->math->motors[A4],
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@ -322,30 +349,37 @@ static int startMotors(ptasMot self, tasAngles angles,
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return status;
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}
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}
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val = self->math->motors[SGL]->pDrivInt->GetValue(self->math->motors[SGL],pCon);
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if(ABS(val - angles.sgl) > MOTPREC){
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status = self->math->motors[SGL]->pDrivInt->SetValue(self->math->motors[SGL],
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pCon,
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writeMotPos(pCon,"a4",val, angles.sample_two_theta);
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if(driveTilt == 1){
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val = self->math->motors[SGL]->pDrivInt->GetValue(self->math->motors[SGL],pCon);
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if(ABS(val - angles.sgl) > MOTPREC){
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status = self->math->motors[SGL]->pDrivInt->SetValue(self->math->motors[SGL],
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pCon,
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angles.sgl);
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if(status != OKOK){
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return status;
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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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}
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val = self->math->motors[SGU]->pDrivInt->GetValue(self->math->motors[SGU],pCon);
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if(ABS(val - angles.sgu) > MOTPREC){
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status = self->math->motors[SGU]->pDrivInt->SetValue(self->math->motors[SGU],
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writeMotPos(pCon,"sgl",val, angles.sgl);
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val = self->math->motors[SGU]->pDrivInt->GetValue(self->math->motors[SGU],pCon);
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if(ABS(val - angles.sgu) > MOTPREC){
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status = self->math->motors[SGU]->pDrivInt->SetValue(self->math->motors[SGU],
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pCon,
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angles.sgu);
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if(status != OKOK){
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return status;
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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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writeMotPos(pCon,"sgu",val, angles.sgu);
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}
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self->math->mustDrive = 0;
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return OKOK;
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}
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/*---------------------------------------------------------------------------*/
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static int checkQMotorLimits(ptasMot self, SConnection *pCon,
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tasAngles angles){
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tasAngles angles, int driveTilt){
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int status, retVal = 1;
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char error[131];
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char pBueffel[256];
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@ -370,31 +404,34 @@ static int checkQMotorLimits(ptasMot self, SConnection *pCon,
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SCWrite(pCon,pBueffel,eError);
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}
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status = self->math->motors[A3]->pDrivInt->CheckLimits(self->math->motors[SGU],
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angles.sgu,
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error,
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131);
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if(status != 1) {
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retVal = 0;
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snprintf(pBueffel,256,"ERROR: limit violation an SGU: %s", error);
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SCWrite(pCon,pBueffel,eError);
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}
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if(driveTilt == 1){
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status = self->math->motors[A3]->pDrivInt->CheckLimits(self->math->motors[SGU],
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angles.sgu,
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error,
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131);
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if(status != 1) {
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retVal = 0;
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snprintf(pBueffel,256,"ERROR: limit violation an SGU: %s", error);
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SCWrite(pCon,pBueffel,eError);
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}
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status = self->math->motors[SGL]->pDrivInt->CheckLimits(self->math->motors[SGL],
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angles.sgl,
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error,
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131);
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if(status != 1) {
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retVal = 0;
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snprintf(pBueffel,256,"ERROR: limit violation an SGL: %s", error);
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SCWrite(pCon,pBueffel,eError);
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status = self->math->motors[SGL]->pDrivInt->CheckLimits(self->math->motors[SGL],
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angles.sgl,
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error,
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131);
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if(status != 1) {
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retVal = 0;
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snprintf(pBueffel,256,"ERROR: limit violation an SGL: %s", error);
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SCWrite(pCon,pBueffel,eError);
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}
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}
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return retVal;
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}
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/*-----------------------------------------------------------------------------*/
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static int calculateAndDrive(ptasMot self, SConnection *pCon){
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tasAngles angles;
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int status, driveQ = 1;
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int status, driveQ = 1, driveTilt = 1;
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MATRIX scatteringPlaneNormal = NULL;
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if(self->math->ubValid == 0){
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SCWrite(pCon,"WARNING: UB matrix invalid",eWarning);
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@ -424,14 +461,35 @@ static int calculateAndDrive(ptasMot self, SConnection *pCon){
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driveQ = 0;
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break;
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}
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if(!checkQMotorLimits(self,pCon,angles)){
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driveQ = 0;
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/**
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* check out of plane condition and permission
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*/
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if(self->math->outOfPlaneAllowed != 1){
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scatteringPlaneNormal = calcScatteringPlaneNormal(self->math->r1.qe,
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self->math->r2.qe);
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if(scatteringPlaneNormal == NULL){
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SCWrite(pCon,"ERROR: unable to calculate scattering plane normal",eError);
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driveQ = 0;
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} else {
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if(!isInPlane(scatteringPlaneNormal,self->math->target)){
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SCWrite(pCon,
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"WARNING: scattering vector is out of plane and you disallowed me to try to drive there",
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eWarning);
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}
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}
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driveTilt = 0;
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}
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if(driveQ != 0){
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if(!checkQMotorLimits(self,pCon,angles,driveTilt)){
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driveQ = 0;
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}
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}
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if(driveQ == 0){
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SCWrite(pCon,"WARNING: NOT driving Q-vector because of errors",eError);
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}
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return startMotors(self,angles,pCon, driveQ);
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return startMotors(self,angles,pCon, driveQ,driveTilt);
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}
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/*-----------------------------------------------------------------------------*/
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static int checkMotors(ptasMot self, SConnection *pCon){
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