Exemplo n.º 1
0
// 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;
}
Exemplo n.º 2
0
void AMPVwStatusAndUnitConversionControl::setLowLimitValue(double newLowLimit)
{
	lowLimitValue_ = writeUnitConverter()->convertFromRaw(newLowLimit);
	emit minimumValueChanged(lowLimitValue_);
}
Exemplo n.º 3
0
void AMPVwStatusAndUnitConversionControl::setHighLimitValue(double newHighLimit)
{
	highLimitValue_ = writeUnitConverter()->convertFromRaw(newHighLimit);
	emit maximumValueChanged(highLimitValue_);
}
Exemplo n.º 4
0
void AMPVwStatusAndUnitConversionControl::onWritePVValueChanged(double newValue)
{
	emit setpointChanged(writeUnitConverter()->convertFromRaw(newValue));
}