void AMCompositeControl::onChildControlMovingChanged()
{
bool nowMoving = isMoving();
if(wasMoving_ && !nowMoving)
emit movingChanged(wasMoving_ = nowMoving);
if(!wasMoving_ && nowMoving)
emit movingChanged(wasMoving_ = nowMoving);
}
void AMPVwStatusControl::onSettlingTimeFinished()
{
settlingTimer_.stop();
if(!settlingInProgress_) {
// temporary, for settling state testing:
qWarning() << "AMPVwStatusControl:" << name() << ": Settling timeout while settlingInProgress is not true. This should never happen; please report this bug.";
return;
}
settlingInProgress_ = false;
if(moveInProgress_) {
moveInProgress_ = false;
// Check if we succeeded...
if(inPosition()) {
emit moveSucceeded();
}
else {
emit moveFailed(AMControl::ToleranceFailure);
}
}
else {
// temporary, for settling state testing:
qWarning() << "AMPVwStatusControl: " << name() << ": Settling time reached while moveInProgress_ == false. This should never happen; please report this bug.";
}
// possible that a change in settlingInProgress_ caused isMoving() to change. Emit signal if necessary:
bool nowMoving = isMoving();
if(nowMoving != wasMoving_)
emit movingChanged(wasMoving_ = nowMoving);
}
// This is called whenever there is an update from the move status PV
// In it we simply do change detection of the moving status, and emit signals if it has changed.
void AMReadOnlyPVwStatusControl::onMovingChanged(int movingValue) {
bool nowMoving = (*statusChecker_)(movingValue);
if(wasMoving_ != nowMoving)
emit movingChanged(wasMoving_ = nowMoving);
}
// This is used to check every new value, to see if we entered tolerance:
void AMPVControl::onNewFeedbackValue(double) {
// If we're not in the middle of a move, don't really care about changing values.
if(!moveInProgress_)
return;
// Did we make it?
if( inPosition() ) {
// move is now done:
emit movingChanged(moveInProgress_ = false);
// disable the timer, so it doesn't trigger an error later
completionTimer_.stop();
// let everyone know we succeeded:
emit moveSucceeded();
}
}
// This is used to handle the timeout of a move:
void AMPVControl::onCompletionTimeout() {
// if we weren't moving, this shouldn't have happened. someone forgot to shutoff the timer?
// todo: this is only included for state testing debugging... can remove if never happens
if(!moveInProgress_) {
return;
}
// No matter what, this move is over:
emit movingChanged(moveInProgress_ = false);
completionTimer_.stop();
// Did we make it?
if( inPosition() ) {
emit moveSucceeded();
}
// Didn't make it into position:
else {
emit moveFailed(AMControl::TimeoutFailure);
}
}
// Re-implemented from AMReadOnlyPVwStatusControl:
void AMPVwStatusControl::onMovingChanged(int isMovingValue) {
bool nowMoving = (*statusChecker_)(isMovingValue); // according to the hardware. For checking moveSucceeded/moveStarted/moveFailed, use the value delivered in the signal argument, instead of re-checking the PV, in case we respond late and the hardware has already changed again.
// In case the hardware is being silly and sending multiple MOVE ACTIVE, MOVE ACTIVE, MOVE ACTIVE states in a row, or MOVE DONE, MOVE DONE, MOVE DONE states in a row: only act on changes. [Edge detection]
if(nowMoving == hardwareWasMoving_)
return;
hardwareWasMoving_ = nowMoving;
// moveStarted, moveFailed, moveSucceeded, or transition to settling:
///////////////////////////////////////////////////////////////////////
// if we requested one of our moves, and moving just started:
if(startInProgress_ && nowMoving) {
moveInProgress_ = true;
startInProgress_ = false;
// This is great... the device started moving within the timeout:
// disable the moveStartTimer, we don't need it anymore
moveStartTimer_.stop();
emit moveStarted();
}
// If one of our moves was running, and we stopped moving:
if(moveInProgress_ && !nowMoving) {
// Mode 1: No settling:
if( settlingTime_ == 0.0) {
// That's the end of our move
moveInProgress_ = false;
// Check if we succeeded...
if(inPosition()) {
emit moveSucceeded();
} else {
emit moveFailed(AMControl::ToleranceFailure);
}
}
// Mode 2: allow settling
else {
if(!settlingInProgress_) {
settlingInProgress_ = true;
settlingTimer_.start(int(settlingTime_*1000)); // QTimer uses millisecond time intervals.
}
}
}
// "sucessfully" stopped due to a stop() command.
if(stopInProgress_ && !nowMoving) {
stopInProgress_ = false;
// but the move itself has failed, due to a stop() intervention.
emit moveFailed(AMControl::WasStoppedFailure);
}
// Emitting movingChanged().
/////////////////////////////////////
// For external purposes, isMoving() depends on whether the hardware says we're moving, or we're in the settling phase.
nowMoving = isMoving();
if(nowMoving != wasMoving_)
emit movingChanged(wasMoving_ = nowMoving);
}
// 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;
}
