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Fix display of homing routine names and some undefined parameter exceptions #7

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Fix display of homing routine names and some undefined parameter exceptions #7

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16 changes: 4 additions & 12 deletions GalilSup/Db/galil_homing_routines.template
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Original file line number Diff line number Diff line change
@@ -1,22 +1,14 @@
# P - PV prefix
# M - CSMotor Name
# PORT - Asyn port name
# ADDR - CS motor (8-15)
# C - Axis Character
# ADDR - Asyn addr for axis

#Homing routine names
record(stringout,"$(P)$(M)_HMRNAM:SP")
{
field(DESC, "$(M) Homing routine axis $(C)")
field(PINI, "YES")
field(DTYP, "asynOctetWrite")
field(OUT, "@asyn($(PORT),$(ADDR))HMRNAM_$(C)")
field(FLNK, "$(P)$(M)_HMRNAM")
}

record(stringin,"$(P)$(M)_HMRNAM")
{
field(DESC, "$(M) Homing routine axis $(C)")
field(DESC, "$(M) Homing routine")
field(DTYP, "asynOctetRead")
field(INP, "@asyn($(PORT),$(ADDR))HMRNAM_$(C)")
field(INP, "@asyn($(PORT),$(ADDR))HMRNAM")
field(SCAN, "I/O Intr")
}
15 changes: 7 additions & 8 deletions GalilSup/src/GalilAxis.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -225,8 +225,6 @@ asynStatus GalilAxis::setDefaults(char *enables_string, int switch_type)
//Default event timeout
requestedTimeout_ = BEGIN_TIMEOUT * multiplier;

homingRoutineName = "";

//Store switch type setting for motor enable/disable function
switch_type_ = (switch_type > 0) ? 1 : 0;

Expand Down Expand Up @@ -1861,17 +1859,18 @@ asynStatus GalilAxis::getStatus(void)
strcpy(src, "_TEx");
src[3] = axisName_;
error_ = pC_->sourceValue(pC_->recdata_, src);
pC_->getDoubleParam(axisNo_, pC_->GalilError_, &errorlast);
if (error_ != errorlast)
if ( pC_->getDoubleParam(axisNo_, pC_->GalilError_, &errorlast) ||
(error_ != errorlast) ) {
pC_->setDoubleParam(axisNo_, pC_->GalilError_, error_);
}
//Servo motor velocity
strcpy(src, "_TVx");
src[3] = axisName_;
velocity_ = pC_->sourceValue(pC_->recdata_, src);
//Adjust velocity given controller time base setting
velocity_ *= pC_->timeMultiplier_;
pC_->getDoubleParam(axisNo_, pC_->GalilMotorVelocityRAW_, &velocitylast);
if (velocity_ != velocitylast) {
if ( pC_->getDoubleParam(axisNo_, pC_->GalilMotorVelocityRAW_, &velocitylast) ||
(velocity_ != velocitylast) ) {
pC_->setDoubleParam(axisNo_, pC_->GalilMotorVelocityRAW_, velocity_);
pC_->getDoubleParam(axisNo_, pC_->GalilEncoderResolution_, &eres);
pC_->setDoubleParam(axisNo_, pC_->GalilMotorVelocityEGU_, velocity_ * eres);
Expand Down Expand Up @@ -3602,8 +3601,8 @@ void GalilAxis::axisStatusThread()

while (true) {
//Retrieve required parameters
status = pC_->getIntegerParam(axisNo_, pC_->GalilSSICapable_, &ssiCapable);
status |= pC_->getIntegerParam(axisNo_, pC_->GalilBISSCapable_, &bissCapable);
status = pC_->getIntegerParam(pC_->GalilSSICapable_, &ssiCapable);
status |= pC_->getIntegerParam(pC_->GalilBISSCapable_, &bissCapable);

if (event == epicsEventWaitTimeout && !shuttingDown_) {
if (ssiCapable == 1 && !status && !shuttingDown_) {
Expand Down
1 change: 0 additions & 1 deletion GalilSup/src/GalilAxis.h
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Original file line number Diff line number Diff line change
Expand Up @@ -354,7 +354,6 @@ class GalilAxis : public asynMotorAxis
epicsEventId axisStatusShutdown_; //Signal indicating axis status thread has shutdown
epicsEventId axisStatusShutRequest_; //Request axisStatus thread shutdown

std::string homingRoutineName = "";
bool inAutoOnWait_;

friend class GalilController;
Expand Down
84 changes: 35 additions & 49 deletions GalilSup/src/GalilController.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -715,14 +715,7 @@ GalilController::GalilController(const char *portName, const char *address, doub
createParam(GalilMotorTypeString, asynParamInt32, &GalilMotorType_);
createParam(GalilBrushTypeString, asynParamInt32, &GalilBrushType_);

createParam(GalilHomingRoutineAString, asynParamOctet, &GalilHomingRoutineA_);
createParam(GalilHomingRoutineBString, asynParamOctet, &GalilHomingRoutineB_);
createParam(GalilHomingRoutineCString, asynParamOctet, &GalilHomingRoutineC_);
createParam(GalilHomingRoutineDString, asynParamOctet, &GalilHomingRoutineD_);
createParam(GalilHomingRoutineEString, asynParamOctet, &GalilHomingRoutineE_);
createParam(GalilHomingRoutineFString, asynParamOctet, &GalilHomingRoutineF_);
createParam(GalilHomingRoutineGString, asynParamOctet, &GalilHomingRoutineG_);
createParam(GalilHomingRoutineHString, asynParamOctet, &GalilHomingRoutineH_);
createParam(GalilHomingRoutineString, asynParamOctet, &GalilHomingRoutine_);

createParam(GalilEtherCatCapableString, asynParamInt32, &GalilEtherCatCapable_);
createParam(GalilEtherCatNetworkString, asynParamInt32, &GalilEtherCatNetwork_);
Expand Down Expand Up @@ -1287,6 +1280,8 @@ void GalilController::setParamDefaults(void)

//Default controller error message to null string
setStringParam(0, GalilCtrlError_, "");

setIntegerParam(GalilUserArrayUpload_, 0);
}

// extract the controller ethernet address from the output of the galil TH command
Expand Down Expand Up @@ -4879,14 +4874,6 @@ asynStatus GalilController::writeOctet(asynUser *pasynUser, const char* value,
}
}
}
else if (function >= GalilHomingRoutineA_ && function <= GalilHomingRoutineH_)
{
GalilAxis* pAxis = getAxis(pasynUser); //Retrieve the axis instance
if (pAxis != nullptr) {
std::string homingRoutineName = pAxis->homingRoutineName;
setStringParam(function, homingRoutineName);
}
}
else if (function >= GalilCSMotorForward_ && function <= GalilCSMotorReverseH_)
{
//User has entered a new kinematic transform equation
Expand Down Expand Up @@ -6912,10 +6899,10 @@ void GalilController::GalilStartController(char *code_file, int burn_program, in
pAxis = getAxis(axisList_[i] - AASCII);
if (!pAxis) continue;
if (i < homingRoutineNames.size()) {
pAxis->homingRoutineName = homingRoutineNames[i];
pAxis->setStringParam(GalilHomingRoutine_, homingRoutineNames[i].c_str());
}
else {
pAxis->homingRoutineName = "";
pAxis->setStringParam(GalilHomingRoutine_, "");
}
}

Expand Down Expand Up @@ -7096,7 +7083,6 @@ void GalilController::GalilStartController(char *code_file, int burn_program, in
pAxis->limitsDirState_ = unknown;
//Pass motor/limits consistency to paramList
setIntegerParam(pAxis->axisNo_, GalilLimitConsistent_, pAxis->limitsDirState_);
pAxis->homingRoutineName = homingRoutineNames[i];
}

//Retrieve controller time base
Expand Down Expand Up @@ -7569,37 +7555,37 @@ void GalilController::InitializeDataRecord(void)

double GalilController::sourceValue(const std::vector<char>& record, const std::string& source)
{
try
{
const Source& s = map.at(source); //use at() function so silent insert does not occur if bad source string is used.
int return_value = 0;
if (s.type[0] == 'U') //unsigned
switch (s.type[1])
{
case 'B': return_value = *(unsigned char*)(&record[s.byte]); break;
case 'W': return_value = *(unsigned short*)(&record[s.byte]); break;
case 'L': return_value = *(unsigned int*)(&record[s.byte]); break;
}
else //s.type[0] == 'S' //signed
switch (s.type[1])
{
case 'B': return_value = *(char*)(&record[s.byte]); break;
case 'W': return_value = *(short*)(&record[s.byte]); break;
case 'L': return_value = *(int*)(&record[s.byte]); break;
}

if (s.bit >= 0) //this is a bit field
{
bool bTRUE = s.scale > 0; //invert logic if scale is <= 0
return return_value & (1 << s.bit) ? bTRUE : !bTRUE; //check the bit
}
else
return (return_value / s.scale) + s.offset;
// want to avoid silent insert if bad source string is used.
const auto it = map.find(source);
if (it == map.end())
{
return 0.0; // bad source
}
const Source& s = it->second;
int return_value = 0;
if (s.type[0] == 'U') //unsigned
switch (s.type[1])
{
case 'B': return_value = *(unsigned char*)(&record[s.byte]); break;
case 'W': return_value = *(unsigned short*)(&record[s.byte]); break;
case 'L': return_value = *(unsigned int*)(&record[s.byte]); break;
}
else //s.type[0] == 'S' //signed
switch (s.type[1])
{
case 'B': return_value = *(char*)(&record[s.byte]); break;
case 'W': return_value = *(short*)(&record[s.byte]); break;
case 'L': return_value = *(int*)(&record[s.byte]); break;
}

}
catch (const std::out_of_range& e) //bad source
{
return 0.0;
if (s.bit >= 0) //this is a bit field
{
bool bTRUE = s.scale > 0; //invert logic if scale is <= 0
return return_value & (1 << s.bit) ? bTRUE : !bTRUE; //check the bit
}
else
{
return (return_value / s.scale) + s.offset;
}
}

Expand Down
18 changes: 2 additions & 16 deletions GalilSup/src/GalilController.h
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Original file line number Diff line number Diff line change
Expand Up @@ -141,14 +141,7 @@
#define GalilMotorTypeString "MOTOR_TYPE"
#define GalilBrushTypeString "BRUSH_TYPE"

#define GalilHomingRoutineAString "HMRNAM_A"
#define GalilHomingRoutineBString "HMRNAM_B"
#define GalilHomingRoutineCString "HMRNAM_C"
#define GalilHomingRoutineDString "HMRNAM_D"
#define GalilHomingRoutineEString "HMRNAM_E"
#define GalilHomingRoutineFString "HMRNAM_F"
#define GalilHomingRoutineGString "HMRNAM_G"
#define GalilHomingRoutineHString "HMRNAM_H"
#define GalilHomingRoutineString "HMRNAM"

#define GalilEtherCatCapableString "CONTROLLER_ECATCAPABLE"
#define GalilEtherCatNetworkString "CONTROLLER_ECAT_NETWORK"
Expand Down Expand Up @@ -704,14 +697,7 @@ class GalilController : public asynMotorController {
int GalilMotorDly_;
int GalilMotorPosSyncTotal_;

int GalilHomingRoutineA_;
int GalilHomingRoutineB_;
int GalilHomingRoutineC_;
int GalilHomingRoutineD_;
int GalilHomingRoutineE_;
int GalilHomingRoutineF_;
int GalilHomingRoutineG_;
int GalilHomingRoutineH_;
int GalilHomingRoutine_;

int GalilCommunicationError_;
#define LAST_GALIL_PARAM GalilCommunicationError_
Expand Down