void AMControlMoveAction::startImplementation() {
const AMControlInfo& setpoint = *(controlMoveInfo()->controlInfo());
// lookup the control we need to use to run this
control_ = getControlForAction(setpoint);
// Must have a control, and it must be able to move.
if(!control_) {
AMErrorMon::report(AMErrorReport(this,
AMErrorReport::Alert,
-1,
QString("There was an error moving the control '%1' into position, because the control was not found. Please report this problem to the Acquaman developers.").arg(setpoint.name())));
notifyFailed();
return;
}
// check we can move...
if(!control_->canMove()) {
AMErrorMon::report(AMErrorReport(this,
AMErrorReport::Alert,
-2,
QString("There was an error moving the control '%1' into position, because the control was not connected and ready to move. Please report this problem to the beamline staff.")
.arg(control_->name())));
notifyFailed();
return;
}
// check that the destination is in range...
if(control_->valueOutOfRange(controlMoveInfo()->isRelativeMove() ? control_->value()+setpoint.value() : setpoint.value())) {
AMErrorMon::report(AMErrorReport(this,
AMErrorReport::Alert,
-3,
QString("There was an error moving the control '%1' into position, because the destination %2 %3 was outside its range. Please report this problem to the beamline staff.")
.arg(control_->name())
.arg(setpoint.value())
.arg(setpoint.units())));
notifyFailed();
return;
}
// connect to its moveSucceeded and moveFailed signals
connect(control_, SIGNAL(moveStarted()), this, SLOT(onMoveStarted()));
connect(control_, SIGNAL(moveReTargetted()), this, SLOT(onMoveStarted())); // For controls that support allowsMovesWhileMoving(), they might already be moving when we request our move(). A moveReTargetted() signal from them also counts as a moveStarted() for us.
connect(control_, SIGNAL(moveFailed(int)), this, SLOT(onMoveFailed(int)));
connect(control_, SIGNAL(moveSucceeded()), this, SLOT(onMoveSucceeded()));
// remember the start position:
startPosition_ = control_->toInfo();
// start the move:
int failureExplanation;
if(controlMoveInfo()->isRelativeMove())
failureExplanation = control_->moveRelative(setpoint.value());
else
failureExplanation = control_->move(setpoint.value());
if(failureExplanation != AMControl::NoFailure)
onMoveFailed(failureExplanation);
}
void AMExtendedControlEditor::setControl(AMControl *newControl)
{
if (control_ != newControl) {
if (control_) {
// Disconnect from control.
disconnect( control_, 0, this, 0 );
disconnect( dialog_, 0, control_, 0 );
control_ = 0;
// Clear the frame title.
if (!titleSetManually_)
setTitleText("");
}
control_ = newControl;
if (control_) {
// Set the frame title.
if (!titleSetManually_) {
if (control_->description().isEmpty())
setTitleText(control_->name());
else
setTitleText(control_->description());
}
// Set control values
precision_ = control_->displayPrecision();
maxValue_ = control_->maximumValue();
minValue_ = control_->minimumValue();
// Make connections.
connect(control_, SIGNAL(valueChanged(double)), this, SLOT(onValueChanged(double)));
connect(control_, SIGNAL(unitsChanged(QString)), this, SLOT(onUnitsChanged(QString)));
connect(control_, SIGNAL(connected(bool)), this, SLOT(onConnectedChanged()) );
connect(control_, SIGNAL(movingChanged(bool)), this, SLOT(onMotion(bool)));
connect(control_, SIGNAL(enumChanged()), this, SLOT(onControlEnumChanged()));
connect(control_, SIGNAL(moveStarted()), this, SLOT(onControlMoveStarted()));
if(!configureOnly_)
connect(dialog_, SIGNAL(doubleValueSelected(double)), control_, SLOT(move(double)));
else
connect(dialog_, SIGNAL(doubleValueSelected(double)), this, SLOT(onNewSetpoint(double)));
}
onConnectedChanged();
emit controlChanged(control_);
}
}
// 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;
}
void AMControlMoveAction::onMoveStarted()
{
disconnect(control_, SIGNAL(moveStarted()), this, SLOT(onMoveStarted()));
disconnect(control_, SIGNAL(moveReTargetted()), this, SLOT(onMoveStarted()));
// From now on, if we get a moveReTargetted() signal, this would be bad: someone is re-directing our move to a different setpoint, so this now counts as a failure.
connect(control_, SIGNAL(moveReTargetted()), this, SLOT(onMoveReTargetted()));
notifyStarted();
// start the progressTick timer
connect(&progressTick_, SIGNAL(timeout()), this, SLOT(onProgressTick()));
progressTick_.start(250);
}
// This is used to handle the timeout of a move start:
void CLSMDriveMotorControl::onMoveStartTimeout() {
moveStartTimer_.stop();
// This is only meaningful if one of our moves is in progress.
if(startInProgress_) {
// give up on this move:
startInProgress_ = false;
// Special case: only applies if moveTimeoutTolerance_ != 0 AND we've gotten within moveTimeoutTolerance_ of the setpoint.
if(moveTimeoutTolerance() != 0.0 && fabs(setpoint() - value()) < moveTimeoutTolerance_) {
moveInProgress_ = true;
emit moveStarted();
moveInProgress_ = false;
emit moveSucceeded();
}
else {
// The move didn't start within our allowed start period. That counts as a move failed.
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;
}
AMControl::FailureExplanation REIXSSpectrometer::move(double setpoint)
{
if(!isConnected()) {
AMErrorMon::report(AMErrorReport(this, AMErrorReport::Alert, 2, "Can't move the spectrometer: some motor controls are not connected. Check that the IOCs are running and the network connections are good."));
return NotConnectedFailure;
}
// can't start a move while moving
if(moveInProgress() || isMoving()) {
AMErrorMon::report(AMErrorReport(this, AMErrorReport::Alert, 2, "Can't move the spectrometer, because it's already moving. Stop the spectrometer first before attempting another move."));
return AlreadyMovingFailure;
}
specifiedEV_ = setpoint;
currentFocusOffset_ = specifiedFocusOffset_;
currentDetectorTiltOffset_ = specifiedDetectorTiltOffset_;
if(currentGrating_ != specifiedGrating_) {
emit gratingChanged(currentGrating_ = specifiedGrating_);
}
/// \todo limits? out of range?
moveSetpoint_ = calibration_.computeSpectrometerPosition(specifiedGrating_, specifiedEV_, currentFocusOffset_, currentDetectorTiltOffset_);
// build the move action (With sub-actions to run in parallel)
moveAction_ = new AMListAction3(new AMListActionInfo3("spectrometer eV move", "spectrometer eV move"), AMListAction3::Parallel, this);
// if we need to move the grating into position, add actions for that:
if(!gratingInPosition()) {
// make a sequential action for the grating moves
AMListAction3* gratingAction = new AMListAction3(new AMListActionInfo3("grating move", "grating move")); // sequential by default.
// first, move Z to 0
gratingAction->addSubAction(AMActionSupport::buildControlMoveAction(hexapod_->z(), 0));
// then move U,V,W to 0
AMListAction3* uvw0Action = new AMListAction3(new AMListActionInfo3("grating UVW move to 0"), AMListAction3::Parallel);
uvw0Action->addSubAction(AMActionSupport::buildControlMoveAction(hexapod_->u(), 0));
uvw0Action->addSubAction(AMActionSupport::buildControlMoveAction(hexapod_->v(), 0));
uvw0Action->addSubAction(AMActionSupport::buildControlMoveAction(hexapod_->w(), 0));
gratingAction->addSubAction(uvw0Action);
// then move R,S,T into position (Can do simultaneously with parallel action)
AMListAction3* rstAction = new AMListAction3(new AMListActionInfo3("grating RST move"), AMListAction3::Parallel);
rstAction->addSubAction(AMActionSupport::buildControlMoveAction(hexapod_->r(), moveSetpoint_.controlNamed("hexapodR").value()));
rstAction->addSubAction(AMActionSupport::buildControlMoveAction(hexapod_->s(), moveSetpoint_.controlNamed("hexapodS").value()));
rstAction->addSubAction(AMActionSupport::buildControlMoveAction(hexapod_->t(), moveSetpoint_.controlNamed("hexapodT").value()));
gratingAction->addSubAction(rstAction);
// move U,V,W to actual position
AMListAction3* uvwAction = new AMListAction3(new AMListActionInfo3("grating UVW move"), AMListAction3::Parallel);
uvwAction->addSubAction(AMActionSupport::buildControlMoveAction(hexapod_->u(), moveSetpoint_.controlNamed("hexapodU").value()));
uvwAction->addSubAction(AMActionSupport::buildControlMoveAction(hexapod_->v(), moveSetpoint_.controlNamed("hexapodV").value()));
uvwAction->addSubAction(AMActionSupport::buildControlMoveAction(hexapod_->w(), moveSetpoint_.controlNamed("hexapodW").value()));
gratingAction->addSubAction(uvwAction);
// then move X,Y,Z into position (can do simultaneously with parallel action)
AMListAction3* xyzAction = new AMListAction3(new AMListActionInfo3("grating XYZ move"), AMListAction3::Parallel);
xyzAction->addSubAction(AMActionSupport::buildControlMoveAction(hexapod_->x(), moveSetpoint_.controlNamed("hexapodX").value()));
xyzAction->addSubAction(AMActionSupport::buildControlMoveAction(hexapod_->y(), moveSetpoint_.controlNamed("hexapodY").value()));
xyzAction->addSubAction(AMActionSupport::buildControlMoveAction(hexapod_->z(), moveSetpoint_.controlNamed("hexapodZ").value()));
gratingAction->addSubAction(xyzAction);
moveAction_->addSubAction(gratingAction);
}
// add Lift, Tilt, and Translation
moveAction_->addSubAction(AMActionSupport::buildControlMoveAction(spectrometerRotationDrive_, moveSetpoint_.controlNamed("spectrometerRotationDrive").value()));
moveAction_->addSubAction(AMActionSupport::buildControlMoveAction(detectorTiltDrive_, moveSetpoint_.controlNamed("detectorTiltDrive").value()));
moveAction_->addSubAction(AMActionSupport::buildControlMoveAction(detectorTranslation_, moveSetpoint_.controlNamed("detectorTranslation").value()));
// Disabled for now: moveAction_->addSubAction(new AMInternalControlMoveAction(endstationTranslation_, moveSetpoint_.controlNamed("endstationTranslation").value()))
// Watch the move action: succeeded or failed (or cancelled)
connect(moveAction_, SIGNAL(stateChanged(int,int)), this, SLOT(onMoveActionStateChanged(int,int)));
emit moveStarted();
moveAction_->start();
return NoFailure;
}
void AMPIC887EpicsCoordinator::onAllConnected(bool connectedState)
{
if(connectedState) {
if(!controller_->isInValidState()) {
qDebug() << "Initialization: Setting Axes status to Error";
xAxisStatus_->move(4);
yAxisStatus_->move(4);
zAxisStatus_->move(4);
uAxisStatus_->move(4);
vAxisStatus_->move(4);
wAxisStatus_->move(4);
} else if (!connectedOnce_) {
connectedOnce_ = true;
// Initializing x Axis
if(!xAxisFeedback_->withinTolerance(controller_->currentPosition(AMGCS2::XAxis))) {
qDebug() << "Initialization: Setting x Axis position to " << controller_->currentPosition(AMGCS2::XAxis);
xAxisFeedback_->move(controller_->currentPosition(AMGCS2::XAxis));
}
if(controller_->movementStatuses().testFlag(AMGCS2::XAxisIsMoving) && !xAxisStatus_->withinTolerance(1)) {
qDebug() << "Initialization: Setting x Axis status to moving";
xAxisStatus_->move(1);
} else if (!xAxisStatus_->withinTolerance(0)) {
qDebug() << "Initialization: Setting x Axis status to move done";
xAxisStatus_->move(0);
}
// Initializing y Axis
if(!yAxisFeedback_->withinTolerance(controller_->currentPosition(AMGCS2::YAxis))) {
qDebug() << "Initialzation: Setting y Axis position to " << controller_->currentPosition(AMGCS2::YAxis);
yAxisFeedback_->move(controller_->currentPosition(AMGCS2::YAxis));
}
if(controller_->movementStatuses().testFlag(AMGCS2::YAxisIsMoving) && !yAxisStatus_->withinTolerance(1)) {
qDebug() << "Initialization: Setting y Axis status to moving";
yAxisStatus_->move(1);
} else if (!yAxisStatus_->withinTolerance(0)) {
qDebug() << "Initialization: Setting y Axis status to move done";
yAxisStatus_->move(0);
}
// Initializing z Axis
if(!zAxisFeedback_->withinTolerance(controller_->currentPosition(AMGCS2::ZAxis))) {
qDebug() << "Initialzation: Setting z Axis position to " << controller_->currentPosition(AMGCS2::ZAxis);
zAxisFeedback_->move(controller_->currentPosition(AMGCS2::ZAxis));
}
if(controller_->movementStatuses().testFlag(AMGCS2::ZAxisIsMoving) && !zAxisStatus_->withinTolerance(1)) {
qDebug() << "Initialization: Setting z Axis status to moving";
zAxisStatus_->move(1);
} else if (!zAxisStatus_->withinTolerance(0)) {
qDebug() << "Initialization: Setting z Axis status to move done";
zAxisStatus_->move(0);
}
// Initializing u Axis
if(!uAxisFeedback_->withinTolerance(controller_->currentPosition(AMGCS2::UAxis))) {
qDebug() << "Initialzation: Setting u Axis position to " << controller_->currentPosition(AMGCS2::UAxis);
uAxisFeedback_->move(controller_->currentPosition(AMGCS2::UAxis));
}
if(controller_->movementStatuses().testFlag(AMGCS2::UAxisIsMoving) && !uAxisStatus_->withinTolerance(1)) {
qDebug() << "Initialization: Setting u Axis status to moving";
uAxisStatus_->move(1);
} else if (!uAxisStatus_->withinTolerance(0)) {
qDebug() << "Initialization: Setting u Axis status to move done";
uAxisStatus_->move(0);
}
// Initializing v Axis
if(!vAxisFeedback_->withinTolerance(controller_->currentPosition(AMGCS2::VAxis))) {
qDebug() << "Initialzation: Setting v Axis position to " << controller_->currentPosition(AMGCS2::VAxis);
vAxisFeedback_->move(controller_->currentPosition(AMGCS2::VAxis));
}
if(controller_->movementStatuses().testFlag(AMGCS2::VAxisIsMoving) && !vAxisStatus_->withinTolerance(1)) {
qDebug() << "Initialization: Setting v Axis status to moving";
vAxisStatus_->move(1);
} else if (!vAxisStatus_->withinTolerance(0)) {
qDebug() << "Initialization: Setting v Axis status to move done";
vAxisStatus_->move(0);
}
// Initializing w Axis
if(!wAxisFeedback_->withinTolerance(controller_->currentPosition(AMGCS2::WAxis))) {
qDebug() << "Initialzation: Setting w Axis position to " << controller_->currentPosition(AMGCS2::WAxis);
wAxisFeedback_->move(controller_->currentPosition(AMGCS2::WAxis));
}
if(controller_->movementStatuses().testFlag(AMGCS2::WAxisIsMoving) && !wAxisStatus_->withinTolerance(1)) {
qDebug() << "Initialization: Setting w Axis status to moving";
wAxisStatus_->move(1);
} else if (!wAxisStatus_->withinTolerance(0)) {
qDebug() << "Initialization: Setting w Axis status to move done";
wAxisStatus_->move(0);
}
// Initialize system velocity
if(!systemVelocityFeedback_->withinTolerance(controller_->systemVelocity())) {
qDebug() << "Initialization: Setting system velocity to " << controller_->systemVelocity();
systemVelocityFeedback_->move(controller_->systemVelocity());
}
if(!systemVelocitySetpoint_->withinTolerance(controller_->systemVelocity())) {
qDebug() << "Initialization: Setting system velocity setpoint to " << controller_->systemVelocity();
systemVelocitySetpoint_->move(controller_->systemVelocity());
}
// Initialize the record rate.
if(!recordRateFeedback_->withinTolerance(controller_->recordRate())) {
qDebug() << "Initialization: Setting record rate to " << controller_->recordRate();
recordRateFeedback_->move(controller_->recordRate());
}
if(!recordRateSetpoint_->withinTolerance(controller_->recordRate())) {
qDebug() << "Initialization: Setting record rate setpoint to " << controller_->recordRate();
recordRateSetpoint_->move(controller_->recordRate());
}
// Initialize data recorder active state
double dataRecorderActiveValue = controller_->isDataRecorderActive() ? 1.0 : 0.0;
if(dataRecorderActive_->withinTolerance(dataRecorderActiveValue)) {
qDebug() << "Initialization: Setting data recorder active status to " << dataRecorderActiveValue;
dataRecorderActive_->move(dataRecorderActiveValue);
}
}
connect(systemVelocitySetpoint_, SIGNAL(valueChanged(double)), this, SLOT(onSystemVelocitySetpointChanged(double)));
connect(recordRateSetpoint_, SIGNAL(valueChanged(double)), this, SLOT(onRecordRateSetpointPVChanged(double)));
connect(dataRecorderActive_, SIGNAL(valueChanged(double)), this, SLOT(onDataRecorderActivePVChanged(double)));
connect(stopAll_, SIGNAL(valueChanged(double)), this, SLOT(onStopAll(double)));
connect(controller_, SIGNAL(moveStarted(AMGCS2::AxisMovementStatuses)), this, SLOT(onMotionStartedChanged(AMGCS2::AxisMovementStatuses)));
connect(controller_, SIGNAL(moveFailed(AMGCS2::AxisMovementStatuses)), this, SLOT(onMotionFailed(AMGCS2::AxisMovementStatuses)));
connect(controller_, SIGNAL(moveComplete()), this, SLOT(onMotionCompleted()));
connect(controller_, SIGNAL(positionUpdate(AMPIC887AxisMap<double>)), this, SLOT(onPositionUpdate(AMPIC887AxisMap<double>)));
connect(controller_, SIGNAL(systemVelocityChanged(double)), this, SLOT(onSystemVelocityChanged(double)));
connect(controller_, SIGNAL(recordRateChanged(double)), this, SLOT(onControllerRecordRateChanged(double)));
connect(controller_, SIGNAL(dataRecorderActiveStateChanged(bool)), this, SLOT(onControllerDataRecorderActiveChanged(bool)));
}
}