SICS-188 hdb_path is now a comma separated list of paths. NOTE: nodes listed as derived parameter dependencies aren't added to the path.

sans/config/hmm/detector.tcl
Use dns-name for voltage controller address.

sans/config/motors/motor_configuration.tcl
Set det home position.
SICS-122 Added FastShutter variable and configured det motor with an action object to set the FastShutter variable.
SICS-248 Replaced beamstop motor objects with beamstop action objects.

action.[ch]
The action object factory will eventuall be defined here.
SICS-122 Currently there is just a funcion which sets the FastShutter variable

beamstopaction.c
Added motion control enabled check.
Added "list" subcommand.

Makefile
Compile action.c

motor_dmc2280.c
The status check command now always checks the TI1 and TI0 interrupts.
Added action-object configuration parameter.  Call AO_istatus with TI1
if configured with an action object.

r2674 | ffr | 2008-08-13 14:16:30 +1000 (Wed, 13 Aug 2008) | 26 lines

site_ansto/Makefile

@@ -91,7 +91,7 @@ OBJ= site_ansto.o anstoutil.o\
         anstohttp.o \
         hmcontrol_ansto.o\
         lssmonitor.o \
-        beamstopaction.o
+        beamstopaction.o action.o
 
 all: ../matrix/libmatrix.a $(COREOBJ:%=../%) $(EXTRA:%=../%) libansto.a libhardsup
 	$(CC) -g -o SICServer  $(COREOBJ:%=../%) $(EXTRA:%=../%) $(SUBLIBS) $(PSI_SLIBS:%=../%) $(PSI_LIBS) $(GHTTP_LIBS)

site_ansto/action.c

@@ -0,0 +1,54 @@
+/*-------------------------------------------------------------------------
+ * @file ACTION OBJECT
+ * Currently just provides methods to set SICSVariables on status update.
+ * Copyright: see file Copyright.txt
+ */
+
+#include "action.h"
+#include "sics.h"
+#include "asyncqueue.h"
+#include "nwatch.h"
+#include "fsm.h"
+#include "anstoutil.h"
+#include "sicsvar.h"
+#include <stdlib.h>
+#include <stdbool.h>
+#include <assert.h>
+
+#include <string.h>
+#include <ctype.h>
+#include <math.h>
+
+static char *SV_FastShutter = "FastShutter";
+
+static void setTextSICSVar(char *VarName, char *value) {
+  int privilege = 1;
+  pSicsVariable svText=NULL;
+  svText = (pSicsVariable)FindCommandData(pServ->pSics,SV_FastShutter,"SicsVariable");
+  if (svText != NULL)
+    VarSetText(svText,value,privilege);
+}
+
+/**
+ * @brief Update a SICS variable with the current status
+ * 
+ * @param input, status from device
+ * @param identifier, status query identifier
+ */
+void AO_istatus(int input, char *identifier) {
+  int testVal;
+  
+  if (strcasecmp(identifier, "TI1") == 0) {
+    testVal = 48 & input;
+    if (testVal == 32) { // Fast shutter open
+      setTextSICSVar(SV_FastShutter, "OPEN");
+    } else if (testVal == 16) { // Fast shutter closed
+      setTextSICSVar(SV_FastShutter, "CLOSED");
+    } else if (testVal == 48) {
+      setTextSICSVar(SV_FastShutter, "INBETWEEN");
+    } else { // 0 ie both limits activated
+      setTextSICSVar(SV_FastShutter, "FAULT");
+    }
+  } else if (strcasecmp(identifier, "TS") == 0) {
+  }
+}

site_ansto/action.h

@@ -0,0 +1,4 @@
+#ifndef ACTION_H
+#define ACTION_H
+void AO_istatus(int input, char *identifier);
+#endif

site_ansto/beamstopaction.c

@@ -16,6 +16,8 @@
 #define SEQLEN 16
 #define ACTIONS 32
 
+extern int DMC2280MotionControl;
+
 typedef enum {
   ActID,
   Args,
@@ -23,7 +25,7 @@ typedef enum {
   DEBUG
 } submcd;
 
-char *subcmdName[] = {"act", "args", "status", "debug"};
+char *subcmdName[] = {"act", "args", "status", "debug", NULL};
 char *validActions[LASTACTION+1] = {"up", "down"};
 /* Each action takes two arguments, an axis label and the jogspeed */
 char *dfltActionSequence[ACTIONS][SEQLEN] = { {"SH%c","JG%c=%d", "BG%c", NULL}, {"SH%c","JG%c=(-1.0)*(%d)", "BG%c", NULL} };
@@ -94,7 +96,7 @@ static void *AO_GetInterface(void *pData, int iID) {
 
 int AO_Wrapper(SConnection *pCon, SicsInterp *pSics, void *pData, int argc, char *argv[]) {
   char msg[128]="No message", output[256];
-  int actID, status;
+  int actID, status, i;
   OutCode msgType;
   pAction self = (pAction) pData;
 
@@ -102,7 +104,13 @@ int AO_Wrapper(SConnection *pCon, SicsInterp *pSics, void *pData, int argc, char
     sprintf(msg, "%d", self->status);
     msgType = eValue;
   } else if (argc == 2) { /* GET */
-    if (strcasecmp(argv[1], subcmdName[ActID]) == 0) {
+    if (strcasecmp(argv[1], "list") == 0) {
+      for (i=0; subcmdName[i]; i++) {
+        sprintf(msg, "%s", subcmdName[i]);
+        SCWrite(pCon,msg,eValue);
+      }
+      return OKOK;
+    } else if (strcasecmp(argv[1], subcmdName[ActID]) == 0) {
       sprintf(msg, "%s", validActions[self->actionID]);
       msgType = eValue;
     } else if (strcasecmp(argv[1], subcmdName[Args]) == 0) {
@@ -116,6 +124,7 @@ int AO_Wrapper(SConnection *pCon, SicsInterp *pSics, void *pData, int argc, char
       msgType = eValue;
     } else if (strcasecmp(argv[1], subcmdName[DEBUG]) == 0) {
       sprintf(msg, "%d", self->debug);
+      msgType = eValue;
     }
   } else if (argc == 3) { /* SET */
     if (strcasecmp(argv[1], subcmdName[ActID]) == 0) {
@@ -176,6 +185,16 @@ if fVal == start then
   char cmd[AO_CMDLEN], reply[AO_CMDLEN];
   int i, cmd_len, comStatus;
 
+  if (DMC2280MotionControl != 1) {
+    AO_Halt(pData);
+    if (DMC2280MotionControl == 0) {
+      SCWrite(pCon, "ERROR: Motion control is off", eError);
+      return 0;
+    } else {
+      SCWrite(pCon, "ERROR: Motion control state is unknown", eError);
+      return 0;
+    }
+  }
   pAction self = (pAction) pData;
   if (self->actionID < NOACTION || self->actionID > LASTACTION) {
     sprintf(msg, "ERROR: Programmer error, invalid action ID %d for %s. Alert a SICS programmer", self->actionID, self->objname);

site_ansto/instrument/sans/config/hmm/detector.tcl

@@ -5,7 +5,7 @@ set sim_mode [SplitReply [detector_simulation]]
 if {$::sim_mode == "true"} {
   EvFactory new dhv1 sim
 } else {
-  makeasyncqueue acq ORHVPS 137.157.202.85 4001
+  makeasyncqueue acq ORHVPS ca1-quokka 4001
   evfactory new dhv1 orhvps acq
   dhv1 lowerlimit 0
   dhv1 upperlimit 2400

site_ansto/instrument/sans/config/motors/motor_configuration.tcl

@@ -1,9 +1,10 @@
-# $Revision: 1.22 $
-# $Date: 2008-08-07 06:18:17 $
+# $Revision: 1.23 $
+# $Date: 2008-08-13 04:16:30 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: ffr $
 
 # START MOTOR CONFIGURATION
+::utility::mkVar FastShutter text manager FastShutter false instrument true false
 
 set animal quokka
 set sim_mode [SplitReply [motor_simulation]]
@@ -56,7 +57,7 @@ set samx_Home 7414223
 set samy_Home 7101486
 set samz_Home 9944901
 set samthet_Home 22997883
-set det_Home 7047593
+set det_Home 7055209
 set detoff_Home 6932100
 
 set pent_Home 8123563
@@ -370,6 +371,7 @@ Motor det $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-quokka\
   port pmc1-quokka\
+  aoid MC1\
   axis G\
   units mm\
   hardlowerlim 350\
@@ -385,7 +387,7 @@ det part detector
 det long_name detector_y
 det softlowerlim 400
 det softupperlim 18900
-det home 0
+det home 350.5
 det speed 20
 
 # Detector translation across beam [-50,450] mm
@@ -804,7 +806,7 @@ Motor att $motor_driver_type [params \
   cntsPerX [expr -($att_factor*8192.0)]]
 att part collimator
 att long_name att
-setHomeandRange -motor att -home 0 -lowrange -30 -uprange 7230
+setHomeandRange -motor att -home 0 -lowrange 0 -uprange 7230
 att speed 5
 
 ############################
@@ -858,7 +860,17 @@ bsz softlowerlim -240
 bsz softupperlim 100
 bsz home 0
 
-# beam stop disk 5 (largest)
+if {1} {
+# largest to smallest
+# MakeActionObject obj aQ JG-speed upsw downsw axis
+MakeActionObject bs1 mc4 [expr $bs124sign*$bs_steps_per_rev*$bs1gear/360.0] 8 4 C
+MakeActionObject bs2 mc4 [expr $bs124sign*$bs_steps_per_rev*$bs2gear/360.0] 8 4 D
+MakeActionObject bs3 mc4 [expr $bs35sign*$bs_steps_per_rev*$bs3gear/360.0] 4 8 E
+MakeActionObject bs4 mc4 [expr $bs124sign*$bs_steps_per_rev*$bs4gear/360.0] 8 4 F
+MakeActionObject bs5 mc4 [expr $bs35sign*$bs_steps_per_rev*$bs5gear/360.0] 4 8 G
+
+} else {
+# beam stop disk 5 (smallest)
 Motor bs5 $motor_driver_type [params \
   asyncqueue mc4\
   host mc4-quokka\
@@ -938,7 +950,7 @@ bs2 softlowerlim 0
 bs2 softupperlim 90
 bs2 home 0
 
-# beam stop disk 1 (smallest)
+# beam stop disk 1 (largest)
 Motor bs1 $motor_driver_type [params \
   asyncqueue mc4\
   host mc4-quokka\
@@ -957,6 +969,7 @@ bs1 long_name bs1
 bs1 softlowerlim 0
 bs1 softupperlim 90
 bs1 home 0
+}
 
 # Polarizer Rotation
 Motor pol $motor_driver_type [params \

site_ansto/motor_dmc2280.c

@@ -30,6 +30,7 @@
 #include <dynstring.h>
 #include <time.h>
 #include "anstoutil.h"
+#include "action.h"
 
 #define UNITSLEN 256
 #define TEXTPARLEN 1024
@@ -207,6 +208,7 @@ struct __MoDriv {
 #endif
   int bias_bits; /**< number of bits to mask */
   int bias_bias; /**< bias to add to encoder value */
+  char ao_id[256];
 };
 
 int DMC2280MotionControl = 1; /* defaults to enabled */
@@ -1151,23 +1153,17 @@ static bool has_var_x(pDMC2280Driv self, const char* vars, const char* name) {
 static int cmdStatus(pDMC2280Driv self) {
   char cmd[CMDLEN];
   char encoder = self->axisLabel;
-  int io_byte = 0;
   if (self->encoderAxis && !(self->variables & VAR_ENC))
     encoder = self->encoderAxis;
-  if (self->axisLabel >= 'A' && self->axisLabel <= 'D')
-    io_byte = 0;
-  else
-    io_byte = 1;
 
 
   /* Use POSx, ENCx, RUNx, SWIx if it has these variables */
-  snprintf(cmd, CMDLEN, "MG {F10.0} %s%c,%s%c,%s%c,%s%c,%s%c,_TI%d,_XQ0",
+  snprintf(cmd, CMDLEN, "MG {F10.0} %s%c,%s%c,%s%c,%s%c,%s%c,_TI0,_TI1,_XQ0",
       (self->variables & VAR_POS) ? "POS" : "_TD", self->axisLabel,
       (self->variables & VAR_ENC) ? "ENC" : "_TP", encoder,
       (self->variables & VAR_SWI) ? "SWI" : "_TS", self->axisLabel,
       (self->variables & VAR_RUN) ? "RUN" : "_BG", self->axisLabel,
-      (self->variables & VAR_STP) ? "STP" : "_SC", self->axisLabel,
-      io_byte);
+      (self->variables & VAR_STP) ? "STP" : "_SC", self->axisLabel);
   return DMC_SendReq(self, cmd);
 }
 
@@ -1247,12 +1243,21 @@ static int cmdOff(pDMC2280Driv self) {
 static int rspStatus(pDMC2280Driv self, const char* text) {
   int iRet, iFlags;
   int iSteps, iCounts;
-  int iIOByte, iStopCode, iXQ0, iBG;
-  iRet = sscanf(text, "%d %d %d %d %d %d %d",
+  int iTIzero, iTIone, iIOByte, iStopCode, iXQ0, iBG;
+  iRet = sscanf(text, "%d %d %d %d %d %d %d %d",
       &iSteps, &iCounts, &iFlags, &iBG,
-      &iStopCode, &iIOByte, &iXQ0);
-  if (iRet != 7)
+      &iStopCode, &iTIzero, &iTIone, &iXQ0);
+  if (iRet != 8)
     return 0;
+ /* TODO some kind of callback for builtin status would be better */ 
+  if (self->ao_id[0] != '\0') {
+    AO_istatus(iTIone, "TI1");
+  }
+  if (self->axisLabel >= 'A' && self->axisLabel <= 'D')
+    iIOByte = iTIzero;
+  else
+    iIOByte = iTIone;
+
   if ((trace_switches || self->debug) && self->currFlags != iFlags) {
     char line[CMDLEN];
     char *sw;
@@ -3654,6 +3659,11 @@ MotorDriver *CreateDMC2280(SConnection *pCon, char *motor, char *params) {
     sscanf(pPtr,"%d",&(pNew->debug));
   }
 
+  pNew->ao_id[0] = '\0';
+  if ((pPtr=getParam(pCon, interp, params, "aoid", _OPTIONAL)) != NULL) {
+    strncpy(pNew->ao_id, pPtr, sizeof(pNew->ao_id));
+    pNew->ao_id[sizeof(pNew->ao_id) - 1] = '\0';
+  }
   if ((pPtr=getParam(pCon, interp, params, LONG_NAME, _OPTIONAL)) != NULL) {
     strncpy(pNew->long_name, pPtr, sizeof(pNew->long_name));
     pNew->long_name[sizeof(pNew->long_name) - 1] = '\0';