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- Fixed prolem wit core dump from commandlog

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- Added fulltransact which sends a TRANSACTIONSTART meesage in addition to
  TRANSASCTIONFINISHED
- Added parameter to motor which allows to ignore positioning faults
- ADDED POLAN support to tasscan


SKIPPED:
	psi/dornier2.c
	psi/el734hp.c
	psi/tasdrive.c
	psi/tasscan.c
	psi/tdchm.c
This commit is contained in:
cvs
2003-10-17 10:06:53 +00:00
parent dd4e9f3c75
commit a8500f4988
8 changed files with 58 additions and 151 deletions
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182
motor.c
View File

@ -75,6 +75,7 @@
#define SIGN 10
#define ECOUNT 11
#define POSCOUNT 12
#define IGNOREFAULT 13
/*------------------------------------------------------------------------
a tiny structure used in CallBack work
*/
@ -223,7 +224,17 @@ static int evaluateStatus(pMotor self, SConnection *pCon)
SCWrite(pCon,pBueffel, eWarning);
MotorInterrupt(pCon,ObVal(self->ParArray,INT));
self->retryCount = 0;
return HWPosFault;
/*
suppress HWPosFaults when ignore flag set
*/
if(ObVal(self->ParArray,IGNOREFAULT) > 0)
{
return HWIdle;
}
else
{
return HWPosFault;
}
}
self->retryCount = 0;
return HWIdle;
@ -273,12 +284,26 @@ static int evaluateStatus(pMotor self, SConnection *pCon)
}
else if(iRet == MOTREDO)
{
/*
abort if to many positioning faults
*/
self->posFaultCount++;
if(self->posFaultCount >= 4)
{
self->posFaultCount = 0;
self->retryCount = 0;
return HWPosFault;
/*
do not do pass on positioning fault errors when the
appropriate flag has been set
*/
if(ObVal(self->ParArray,IGNOREFAULT) > 0)
{
return HWIdle;
}
else
{
return HWPosFault;
}
}
self->pDriver->RunTo(self->pDriver,self->fTarget);
return HWBusy;
@ -328,147 +353,6 @@ static void handleMoveCallback(pMotor self, SConnection *pCon)
}
return status;
}
/*--------------------------------------------------------------------------
Refactor
--------------------------------------------------------------------------*/
static int MotorStatus2(void *sulf, SConnection *pCon)
{
float fHard;
pMotor self;
int iRet,i, iCode;
char pError[132];
char pBueffel[256];
static int iPosFault = 0, iRetry = 0;
MotCallback sCall;
assert(sulf);
self = (pMotor)sulf;
iRet = self->pDriver->GetStatus(self->pDriver);
fHard = MotorGetValue((void *)self,pCon);
if(fHard < -9999990)
{
self->pDriver->GetError(self->pDriver,&iCode, pError,131);
iRet = self->pDriver->TryAndFixIt(self->pDriver,iCode, self->fTarget);
if(iRet == MOTFAIL)
{
sprintf(pBueffel,"WARNING: %s on %s",pError,self->name);
SCWrite(pCon,pBueffel,eError);
MotorInterrupt(pCon,ObVal(self->ParArray,INT));
iRetry = 0;
return HWFault;
}
else if(iRet == MOTREDO)
{
iRetry++;
if(iRetry >= 3)
{
iRetry = 0;
return HWFault;
}
}
else
{
iRetry = 0;
return HWBusy;
}
}
/* invoke callback */
sCall.fVal = fHard;
sCall.pName = self->name;
InvokeCallBack(self->pCall, MOTDRIVE, &sCall);
/* motor thinks he is done */
if( (iRet == OKOK) || (iRet == HWIdle))
{
MotorGetSoftPosition(self,pCon,&sCall.fVal);
InvokeCallBack(self->pCall, MOTEND, &sCall);
self->fPosition = fHard;
if(absf(fHard - self->fTarget) > ObVal(self->ParArray,PREC))
{
sprintf(pBueffel,"WARNING: %s off position by %f",
self->name, absf(fHard - self->fTarget));
SCWrite(pCon,pBueffel, eWarning);
MotorInterrupt(pCon,ObVal(self->ParArray,INT));
iRetry = 0;
return HWPosFault;
}
iRetry = 0;
return HWIdle;
}
/* motor suggests a fault */
else if(iRet == HWFault)
{
self->pDriver->GetError(self->pDriver,&iCode, pError,131);
iRet = self->pDriver->TryAndFixIt(self->pDriver,iCode, self->fTarget);
if(iRet == MOTFAIL)
{
sprintf(pBueffel,"ERROR: %s on %s",pError,self->name);
SCWrite(pCon,pBueffel,eError);
MotorInterrupt(pCon,ObVal(self->ParArray,INT));
iRetry = 0;
return HWFault;
}
else if(iRet == MOTREDO)
{
self->pDriver->RunTo(self->pDriver,self->fTarget);
iRetry++;
if(iRetry >= 3)
{
iRetry = 0;
return HWFault;
}
return HWBusy;
}
else
{
iRetry = 0;
return HWBusy;
}
}
/* a positioning fault */
else if(iRet == HWPosFault)
{
self->pDriver->GetError(self->pDriver,&iCode, pError,131);
iRet = self->pDriver->TryAndFixIt(self->pDriver,iCode, self->fTarget);
if(iRet == MOTFAIL)
{
sprintf(pBueffel,"ERROR: %s on %s",pError,self->name);
SCWrite(pCon,pBueffel,eError);
MotorInterrupt(pCon,ObVal(self->ParArray,INT));
iRetry = 0;
return HWFault;
}
else if(iRet == MOTREDO)
{
iPosFault++;
if(iPosFault == 2)
{
iPosFault = 0;
iRetry = 0;
return HWPosFault;
}
self->pDriver->RunTo(self->pDriver,self->fTarget);
return HWBusy;
}
else
{
return HWBusy;
}
}
else if(iRet == HWWarn)
{
self->pDriver->GetError(self->pDriver,&iCode,pError,131);
sprintf(pBueffel,"WARNING: %s on %s",pError,self->name);
SCWrite(pCon,pBueffel,eStatus);
return HWIdle;
}
iRetry = 0;
return iRet;
}
/*---------------------------------------------------------------------------*/ pMotor MotorInit(char *drivername, char *name, MotorDriver *pDriv)
{
pMotor pM = NULL;
@ -486,7 +370,7 @@ static void handleMoveCallback(pMotor self, SConnection *pCon)
/* create and initialize parameters */
pM->ParArray = ObParCreate(13);
pM->ParArray = ObParCreate(14);
if(!pM->ParArray)
{
free(pM);
@ -505,6 +389,7 @@ static void handleMoveCallback(pMotor self, SConnection *pCon)
ObParInit(pM->ParArray,SIGN,"sign",1.0,usMugger);
ObParInit(pM->ParArray,ECOUNT,"failafter",3.0,usMugger);
ObParInit(pM->ParArray,POSCOUNT,"poscount",20.0,usMugger);
ObParInit(pM->ParArray,IGNOREFAULT,"ignorefault",0.0,usMugger);
pDriv->GetPosition(pDriv,&(pM->fPosition));
pM->fTarget = pM->fPosition;
pM->endScriptID = 0;
@ -813,6 +698,15 @@ extern void KillPiPiezo(void *pData);
return 0;
}
/* check if the bad motor flag is set */
if((int)ObVal(self->ParArray,IGNOREFAULT) > 0)
{
snprintf(pBueffel,511,"WARNING: motor %s is unreliable",
self->name);
SCWrite(pCon,pBueffel,eWarning);
self->pDrivInt->iErrorCount = 0;
}
/* check our error count and interrupt if to much */
iCode = (int)ObVal(self->ParArray,ECOUNT);
if(self->pDrivInt->iErrorCount > iCode)