oscillate.c SICS-232

You can now run the oscillating collimator for a specified number of cycles.
A MOTEND event is now sent when the oscillator stops.
Also temporarily set status to eEager to allow changing the motor accesscode parameter while something else is running, (eg a counter)

motor.c
finishDriving is no longer static so we can call it from the oscilator and generate a MOTEND event.

west4100.c
Return 'success' from wrapper on "controlsensor" and "sensorlist" queries so we can test and capture their values in scripts.

Makefile
Compile the quokka beamstopaction object

site_ansto.c
Add the MakeActionObject command.  Currently only makes the hardcoded beamstopaction object

obpar.c
Report object name and parameter on an illegal attempt to set a parameter

hmm_configuration_common_1.tcl
Add oscillating collimator control flag for Wombat.  If true we use hmm to start the histogram server instead of hmc.  TODO remove hmc and always use hmm.

hipd/config/motors/motor_configuration.tcl
Don't load anticollider config twice.  Fix oct limits

wombat_configuration.tcl
Environment configuration must be loaded before running server_init.

hrpd/config/hmm/hmm_configuration.tcl
Fix default time-bin to match 10Hz frame frequency

hrpd/config/motors/motor_configuration.tcl
Added dummy motor for testing.

reflectometer/config/hmm/detector.tcl
Fill in dhv1 configuration parameters.

sans/config/hmm/detector.tcl
Enable detector voltage control

sans/config/hmm/hmm_configuration.tcl
SICS-227 set default resolution to 192x192

sans/config/motors/motor_configuration.tcl
Added dummy motor for testing

quokka parameters.tcl
Fix L2mm calculation, Fix SICS-228 users cannot set rotapdeg

beamstopaction.[ch]
NEW: Implements an action command to drive the quokka beamstops up and down.

r2670 | ffr | 2008-08-07 13:17:29 +1000 (Thu, 07 Aug 2008) | 53 lines

oscillate.c

@@ -13,18 +13,24 @@
 #include "task.h"
 #include "commandlog.h"
 #include "oscillate.h"
+#include "status.h"
 
 #define ABS(x) (x < 0 ? -(x) : (x))    
 
 /*================== real work =========================================*/
 static void StopOscillation(pOscillator self){
+  int savedStatus;
+
   assert(self != NULL);
   if(self->taskID > 0){
     self->pMot->pDriver->Halt(self->pMot->pDriver);
     self->stopFlag = 1;
     self->taskID = -1;
   }
+  savedStatus = GetStatus(); /* fool status check in ObParSet (avoid "Cannot change parameter while running" message */
+  SetStatus(eEager);
   MotorSetPar(self->pMot,self->pCon,"accesscode",usUser);
+  SetStatus(savedStatus);
   if(self->debug > 0){
     WriteToCommandLog("oscillator>> ","Stopping");
   }
@@ -61,6 +67,7 @@ static int OscillationTask(void *data){
 
   assert(self);
   if(self->stopFlag == 1){
+    finishDriving(self->pMot, self->pCon);
     return 0;
   }
 
@@ -96,10 +103,16 @@ static int OscillationTask(void *data){
   case HWBusy:
     break;
   case HWIdle:
+    if (self->cycles > 0 && self->currcycle == self->cycles) {
+      StopOscillation(self);
+      return 1;
+    }
     pos = getNextPos(self);
     status = MotorRun(self->pMot,self->pCon,pos);
     if(status == OKOK){
       self->pMot->pDrivInt->iErrorCount = 0;
+      if (self->cycles > 0)
+        (self->currcycle)++;
     }
     if(self->debug > 0){
       snprintf(message,131,"Started oscillation to %f, ret code = %d",
@@ -112,7 +125,7 @@ static int OscillationTask(void *data){
 /*--------------------------------------------------------------------*/
 static int StartOscillation(pOscillator self, SConnection *pCon){
   float fval;
-  int status;
+  int status, savedStatus;
   char error[80], pBueffel[255];  
 
   assert(self);
@@ -128,7 +141,10 @@ static int StartOscillation(pOscillator self, SConnection *pCon){
   self->lowerLimit += .5;
   MotorGetPar(self->pMot,"softupperlim",&self->upperLimit);
   self->upperLimit -= .5;
+  savedStatus = GetStatus(); /* fool status check in ObParSet (avoid "Cannot change parameter while running" message */
+  SetStatus(eEager);
   MotorSetPar(self->pMot,self->pCon,"accesscode",(float)usInternal);
+  SetStatus(savedStatus);
   self->nextTargetFlag = 0;
   self->errorCount = 0;
   self->stopFlag = 0;
@@ -208,6 +224,8 @@ int MakeOscillator(SConnection *pCon, SicsInterp *pSics, void *pData,
   memset(pNew,0,sizeof(Oscillator));
   pNew->pDes = CreateDescriptor("Oscillator");
   pNew->pMot = pMot;
+  pNew->cycles = 0;
+  pNew->currcycle = 0;
   pNew->pCon = SCCreateDummyConnection(pSics);
   if(!pNew->pDes || !pNew->pCon){
     SCWrite(pCon,"ERROR: out of memory creating oscillator",eError);
@@ -244,6 +262,12 @@ int OscillatorWrapper(SConnection *pCon, SicsInterp *pSics, void *pData,
   }
   
   strtolower(argv[1]);
+  if (argc == 3) {
+     self->cycles = 2 * atoi(argv[2]);
+  } else {
+     self->cycles = 0;
+  }
+  self->currcycle=0;
   if(strcmp(argv[1],"start") == 0){
     return StartOscillation(self,pCon);
   } else if(strcmp(argv[1],"stop") == 0) {