- Fixed a normalisation problem in diffscan when the first value
did not have enough counts - Reduced polling frequency in emon - Fixed a scriptcontext bug which would cause it to dump core in SctTransact on interrupts - Fixed an issue with missing <nl> at the end of batch files - Added a feature which does not call halt when counting stops in hmcontrol.c This is necessary for the BOA CCD - Initalized doNotFree properly in hipadaba.c - Added the travelling salesman reflection measurement algorithm - Added another component to amorset - Removed old SicsWait from nserver.c - Added a means to nxscript to write 16 bit data for BOA - Modified tasub to accept a drivabel as a motor and not only a motor. This became necessary to make EIGER work as A2 on EIGER is a virtual motor SKIPPED: psi/amorcomp.h psi/amordrive.h psi/amorset.c psi/amorset.h psi/amorset.tex psi/amorset.w psi/el734hp.c psi/el737hpdriv.c psi/make_gen psi/pardef.c psi/polterwrite.c psi/psi.c psi/sinqhttpopt.c
This commit is contained in:
koennecke
75
tasdrive.c
75
tasdrive.c
@ -7,6 +7,10 @@
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In the long run it might be useful to switch all this to the more
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general motor list driving code.
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Modified to rather use drivables then motors
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Mark Koennecke, September 2011
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--------------------------------------------------------------------*/
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#include <assert.h>
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#include "sics.h"
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@ -57,12 +61,12 @@ static int readTASMotAngles(ptasUB self, SConnection * pCon,
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/*
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Monochromator
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*/
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status = MotorGetSoftPosition(self->motors[A1], pCon, &val);
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status = GetDrivablePosition(self->motors[A1], pCon, &val);
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if (status == 0) {
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return status;
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}
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theta = val;
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status = MotorGetSoftPosition(self->motors[A2], pCon, &val);
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status = GetDrivablePosition(self->motors[A2], pCon, &val);
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if (status == 0) {
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return status;
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}
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@ -76,12 +80,12 @@ static int readTASMotAngles(ptasUB self, SConnection * pCon,
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Analyzer
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*/
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if (self->tasMode != ELASTIC) {
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status = MotorGetSoftPosition(self->motors[A5], pCon, &val);
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status = GetDrivablePosition(self->motors[A5], pCon, &val);
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if (status == 0) {
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return status;
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}
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theta = val;
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status = MotorGetSoftPosition(self->motors[A6], pCon, &val);
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status = GetDrivablePosition(self->motors[A6], pCon, &val);
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if (status == 0) {
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return status;
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}
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@ -97,22 +101,22 @@ static int readTASMotAngles(ptasUB self, SConnection * pCon,
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/*
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crystal
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*/
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status = MotorGetSoftPosition(self->motors[A3], pCon, &val);
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status = GetDrivablePosition(self->motors[A3], pCon, &val);
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if (status == 0) {
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return status;
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}
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ang->a3 = val;
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status = MotorGetSoftPosition(self->motors[A4], pCon, &val);
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status = GetDrivablePosition(self->motors[A4], pCon, &val);
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if (status == 0) {
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return status;
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}
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ang->sample_two_theta = val;
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status = MotorGetSoftPosition(self->motors[SGU], pCon, &val);
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status = GetDrivablePosition(self->motors[SGU], pCon, &val);
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if (status == 0) {
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return status;
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}
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ang->sgu = val;
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status = MotorGetSoftPosition(self->motors[SGL], pCon, &val);
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status = GetDrivablePosition(self->motors[SGL], pCon, &val);
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if (status == 0) {
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return status;
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}
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@ -205,6 +209,7 @@ static int TASHalt(void *pData)
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{
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ptasMot self = (ptasMot) pData;
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int i, length = 12;
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pIDrivable pDriv = NULL;
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assert(self);
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/**
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@ -215,7 +220,8 @@ static int TASHalt(void *pData)
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}
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for (i = 0; i < length; i++) {
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if (self->math->motors[i] != NULL) {
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self->math->motors[i]->pDrivInt->Halt(self->math->motors[i]);
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pDriv = GetDrivableInterface(self->math->motors[i]);
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pDriv->Halt(self->math->motors[i]);
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}
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}
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return 1;
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@ -239,7 +245,7 @@ static float getMotorValue(pMotor mot, SConnection * pCon)
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{
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float val;
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MotorGetSoftPosition(mot, pCon, &val);
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GetDrivablePosition(mot, pCon, &val);
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return val;
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}
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@ -250,17 +256,23 @@ static int startTASMotor(pMotor mot, SConnection * pCon, char *name,
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float val, fixed;
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int status = OKOK;
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char buffer[132];
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pIDrivable pDriv = NULL;
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pDummy dum = NULL;
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val = getMotorValue(mot, pCon);
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MotorGetPar(mot, "fixed", &fixed);
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if (ABS(fixed - 1.0) < .1) {
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snprintf(buffer, 131, "WARNING: %s is FIXED", name);
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SCWrite(pCon, buffer, eWarning);
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return OKOK;
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dum = (pDummy)mot;
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if(strcmp(dum->pDescriptor->name,"Motor") == 0){
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val = getMotorValue(mot, pCon);
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MotorGetPar(mot, "fixed", &fixed);
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if (ABS(fixed - 1.0) < .1) {
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snprintf(buffer, 131, "WARNING: %s is FIXED", name);
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SCWrite(pCon, buffer, eWarning);
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return OKOK;
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}
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}
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mot->stopped = 0;
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if (ABS(val - target) > MOTPREC) {
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status = mot->pDrivInt->SetValue(mot, pCon, (float) target);
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pDriv = GetDrivableInterface(mot);
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status = pDriv->SetValue(mot, pCon, (float) target);
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if (status != OKOK) {
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return status;
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}
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@ -390,14 +402,13 @@ static int checkQMotorLimits(ptasMot self, SConnection * pCon,
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char error[131];
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char pBueffel[256];
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float val;
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pIDrivable pDrivInt = NULL;
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MotorGetPar(self->math->motors[A3], "fixed", &val);
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if ((int) val != 1) {
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status =
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self->math->motors[A3]->pDrivInt->CheckLimits(self->math->
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motors[A3],
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angles.a3, error,
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131);
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pDrivInt = GetDrivableInterface(self->math->motors[A3]);
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status = pDrivInt->CheckLimits(self->math->motors[A3],
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angles.a3, error,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 a3: %s", error);
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@ -405,8 +416,8 @@ static int checkQMotorLimits(ptasMot self, SConnection * pCon,
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}
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}
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status =
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self->math->motors[A4]->pDrivInt->CheckLimits(self->math->motors[A4],
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pDrivInt = GetDrivableInterface(self->math->motors[A4]);
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status = pDrivInt->CheckLimits(self->math->motors[A4],
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angles.
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sample_two_theta,
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error, 131);
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@ -417,9 +428,8 @@ static int checkQMotorLimits(ptasMot self, SConnection * pCon,
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}
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if (driveTilt == 1) {
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status =
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self->math->motors[SGU]->pDrivInt->CheckLimits(self->math->
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motors[SGU],
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pDrivInt = GetDrivableInterface(self->math->motors[SGU]);
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status = pDrivInt->CheckLimits(self->math->motors[SGU],
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angles.sgu, error,
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131);
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if (status != 1) {
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@ -428,9 +438,8 @@ static int checkQMotorLimits(ptasMot self, SConnection * pCon,
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SCWrite(pCon, pBueffel, eError);
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}
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status =
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self->math->motors[SGL]->pDrivInt->CheckLimits(self->math->
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motors[SGL],
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pDrivInt = GetDrivableInterface(self->math->motors[SGL]);
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status = pDrivInt->CheckLimits(self->math->motors[SGL],
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angles.sgl, error,
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131);
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if (status != 1) {
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@ -516,6 +525,7 @@ static int checkMotors(ptasMot self, SConnection * pCon)
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{
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int i, status, length = 12;
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int mask[12];
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pIDrivable pDrivInt = NULL;
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self->math->mustRecalculate = 1;
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if (self->math->tasMode == ELASTIC) {
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@ -532,9 +542,8 @@ static int checkMotors(ptasMot self, SConnection * pCon)
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for (i = 0; i < 12; i++) {
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if (self->math->motors[i] != NULL && mask[i] != 0) {
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status =
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self->math->motors[i]->pDrivInt->CheckStatus(self->math->
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motors[i], pCon);
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pDrivInt = GetDrivableInterface(self->math->motors[i]);
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status = pDrivInt->CheckStatus(self->math->motors[i], pCon);
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if (status != HWIdle && status != OKOK) {
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return status;
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}
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