From c47e4ad45c943e0a75f43d1bb6f4117b8ae351ce Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Tue, 15 May 2007 12:35:24 +1000
Subject: [PATCH] Make finite state machine the default. Make blocked motors
 fail the default. Add "data" to display computed data for motor. Improve
 blocked motor test message.

r1962 | dcl | 2007-05-15 12:35:24 +1000 (Tue, 15 May 2007) | 2 lines
---
 site_ansto/motor_dmc2280.c | 39 +++++++++++++++++++++++++++++---------
 1 file changed, 30 insertions(+), 9 deletions(-)

diff --git a/site_ansto/motor_dmc2280.c b/site_ansto/motor_dmc2280.c
index 29f5f3a9..acfee9e1 100644
--- a/site_ansto/motor_dmc2280.c
+++ b/site_ansto/motor_dmc2280.c
@@ -1075,8 +1075,11 @@ static int checkMotion(void *pData) {
       ratio_cmp > self->blockage_ratio ||
       (1.0 / ratio_cmp) > self->blockage_ratio) {
     char msg[132];
-    snprintf(msg, sizeof(msg), "Motion check fail: obs=%f, exp=%f",
-        ratio_obs, ratio_exp);
+    float cmp = ratio_cmp;
+    if (fabs(cmp) > 0 && fabs(cmp) < 1)
+      cmp = 1.0 / cmp;
+    snprintf(msg, sizeof(msg), "Motor %s fail: obs=%f, exp=%f, cmp=%f",
+        self->name, ratio_obs, ratio_exp, cmp);
     SICSLogWrite(msg, eError);
     snprintf(msg, sizeof(msg), "steps=%f-%f, counts=%f-%f, exp=%f/%f",
         steps, self->lastSteps, counts, self->lastCounts,
@@ -1089,8 +1092,11 @@ static int checkMotion(void *pData) {
   } else {
     if (self->debug) {
       char msg[132];
-      snprintf(msg, sizeof(msg), "Motion check pass: obs=%f, exp=%f",
-          ratio_obs, ratio_exp);
+      float cmp = ratio_cmp;
+      if (fabs(cmp) > 0 && fabs(cmp) < 1)
+        cmp = 1.0 / cmp;
+      snprintf(msg, sizeof(msg), "Motor %s pass: obs=%f, exp=%f, cmp=%f",
+          self->name, ratio_obs, ratio_exp, cmp);
       SICSLogWrite(msg, eError);
     }
     set_lastMotion(pData, steps, counts);
@@ -2957,9 +2963,9 @@ MotorDriver *CreateDMC2280(SConnection *pCon, char *motor, char *params) {
   pNew->KillPrivate = KillDMC2280;
   pNew->GetDriverTextPar = NULL;
   pNew->blockage_ckInterval = 0.5;
-  pNew->blockage_thresh = 0.5;
-  pNew->blockage_ratio = 2.0;
-  pNew->blockage_fail = 0;
+  pNew->blockage_thresh = 0.5; /* minimum distance in units */
+  pNew->blockage_ratio = 2.0; /* maximum ratio observed/expected */
+  pNew->blockage_fail = 1; /* fail the motor */
   pNew->backlash_offset = 0.0;
   pNew->myState = DMCState_Unknown;
 
@@ -2974,7 +2980,7 @@ MotorDriver *CreateDMC2280(SConnection *pCon, char *motor, char *params) {
 
   /* FSM: this driver uses the finite state machine model */
   if ((pPtr=getParam(pCon, interp, params,"fsm",_OPTIONAL)) == NULL)
-    pNew->has_fsm=0;
+    pNew->has_fsm=1;
   else {
     sscanf(pPtr,"%d",&(pNew->has_fsm));
   }
@@ -3147,7 +3153,22 @@ int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
       SCWrite(pCon, rsp, eValue);
       return 1;
     }
-    if (strcasecmp("units", argv[1]) == 0) {
+    else if(strcasecmp("data", argv[1]) == 0) {
+      char line[132];
+      snprintf(line, 132, "%s.motor_step = %f %s", self->name,
+          1.0 / self->stepsPerX, self->units);
+      SCWrite(pCon, line, eValue);
+      if (self->abs_encoder) {
+        snprintf(line, 132, "%s.encoder_count = %f %s", self->name,
+            1.0 / self->cntsPerX, self->units);
+        SCWrite(pCon, line, eValue);
+        snprintf(line, 132, "%s.steps_per_count = %f steps", self->name,
+            self->stepsPerX / self->cntsPerX);
+        SCWrite(pCon, line, eValue);
+      }
+      return 1;
+    }
+    else if (strcasecmp("units", argv[1]) == 0) {
       if (argc > 2) {
         strncpy(self->units, argv[2], sizeof(self->units));
         self->units[sizeof(self->units) - 1] = '\0';