// Start a move to the value setpoint:
AMControl::FailureExplanation CLSMDriveMotorControl::move(double Setpoint) {
if(isMoving()) {
if(!allowsMovesWhileMoving()) {
AMErrorMon::debug(this, AMPVCONTROL_COULD_NOT_MOVE_WHILE_MOVING, QString("AMPVControl: Could not move %1 (%2) to %3, because the control is already moving.").arg(name()).arg(writePV_->pvName()).arg(setpoint_));
return AlreadyMovingFailure;
}
if(!moveInProgress()) {
// the control is already moving, but it's not one of our moves. In this situation, there is no way that we can start a move and be assured that we'll be notified when OUR move finishes.
AMErrorMon::debug(this, AMPVCONTROL_COULD_NOT_MOVE_WHILE_MOVING_EXTERNAL, QString("AMPVControl: Could not move %1 (%2) to %3, because the control is already moving.").arg(name()).arg(writePV_->pvName()).arg(setpoint_));
return AlreadyMovingFailure;
}
// Otherwise: This control supports mid-move updates, and we're already moving. We just need to update the setpoint and send it.
setpoint_ = writeUnitConverter()->convertToRaw(Setpoint);
writePV_->setValue(setpoint_);
// since the settling phase is considered part of a move, it's OK to be here while settling... But for Acquaman purposes, this will be considered a single re-targetted move, even though the hardware will see two. If we're settling, disable the settling timer, because we only want to respond to the end of the second move.
if(settlingInProgress_) {
settlingInProgress_ = false;
settlingTimer_.stop();
}
emit moveReTargetted(); // re-targetted moves will emit moveReTargetted(), although no moveSucceeded()/moveFailed() will be issued for the initial move.
}
else {
settlingInProgress_ = false;
stopInProgress_ = false;
moveInProgress_ = false;
// Flag that "our" move started:
startInProgress_ = true;
// This is our new target:
setpoint_ = writeUnitConverter()->convertToRaw(Setpoint);
// Special case: "null move" should complete immediately. Use only if moveStartTolerance() is non-zero, and the move distance is within moveStartTolerance().
if(moveStartTolerance() != 0 && fabs(setpoint()-value()) < moveStartTolerance()) {
startInProgress_ = false;
moveInProgress_ = true;
emit moveStarted();
moveInProgress_ = false;
emit moveSucceeded();
}
// Normal move:
else {
// Issue the move command:
writePV_->setValue(setpoint_);
// start the timer to check if our move failed to start:
moveStartTimer_.start(int(moveStartTimeout_*1000.0));
}
}
return NoFailure;
}
// Start a move to the value setpoint:
AMControl::FailureExplanation AMPVControl::move(double setpoint) {
if(isMoving()) {
if(!allowsMovesWhileMoving()) {
AMErrorMon::debug(this, AMPVCONTROL_COULD_NOT_MOVE_WHILE_MOVING, QString("AMPVControl: Could not move %1 (%2) to %3, because the control is already moving.").arg(name()).arg(writePV_->pvName()).arg(setpoint_));
return AlreadyMovingFailure;
}
// assuming this control can accept mid-move updates. We just need to update our setpoint and send it.
if(!canMove()) { // this would be rare: a past move worked, but now we're no longer connected?
AMErrorMon::debug(this, AMPVCONTROL_COULD_NOT_MOVE_BASED_ON_CANMOVE, QString("AMPVControl: Could not move %1 (%2) to %3.").arg(name()).arg(writePV_->pvName()).arg(setpoint_));
return NotConnectedFailure;
}
setpoint_ = setpoint;
writePV_->setValue(setpoint_);
completionTimer_.start(int(completionTimeout_*1000.0)); // restart the completion timer... Since this might be another move, give it some more time.
// re-targetted moves will emit moveReTargetted(), although no moveSucceeded()/moveFailed() will be issued for the first move.
emit moveReTargetted();
// check for done:
if(inPosition()) {
completionTimer_.stop();
emit movingChanged(moveInProgress_ = false);
emit moveSucceeded();
}
}
// Regular case: start of a new move.
else {
// kill any old countdowns:
completionTimer_.stop();
if(!canMove()) {
AMErrorMon::debug(this, AMPVCONTROL_COULD_NOT_MOVE_BASED_ON_CANMOVE, QString("AMPVControl: Could not move %1 (%2) to %3.").arg(name()).arg(writePV_->pvName()).arg(setpoint_));
return NotConnectedFailure;
}
// new move target:
setpoint_ = setpoint;
// Issue the move, check on attemptMoveWhenWithinTolerance
if(!attemptMoveWhenWithinTolerance_ && inPosition()){
emit moveSucceeded();
}
else{
writePV_->setValue(setpoint_);
// We're now moving! Let's hope this control makes it... (No way to actually check.)
emit movingChanged(moveInProgress_ = true);
// emit the signal that we started:
emit moveStarted();
// Are we in-position? [With the default tolerance of AMCONTROL_TOLERANCE_DONT_CARE, we will always be in-position, and moves will complete right away, that's the intended behaviour, because we have no other way of knowing when they'll finish.]
if(inPosition()) {
emit movingChanged(moveInProgress_ = false);
emit moveSucceeded();
}
else {
// start the countdown to see if we get there in time or stall out: (completionTimeout_ is in seconds)
completionTimer_.start(int(completionTimeout_*1000.0));
}
}
}
return NoFailure;
}
