bool REIXSSpectrometer::stop()
{
if(!canStop())
return false;
if(moveInProgress()) {
moveAction_->cancel();
/// \todo Actually, have to flag that a stop has started, and also catch when the stop is finished... Motors will take a while to actually receive and decelerate.
moveAction_->deleteLater();
moveAction_ = 0;
emit moveFailed(AMControl::WasStoppedFailure);
AMErrorMon::report(AMErrorReport(this, AMErrorReport::Alert, AMControl::WasStoppedFailure, "Spectrometer Move Stopped."));
}
// just in case anything was moving from outside our instructions (ie: commanded from somewhere else in the building)
spectrometerRotationDrive_->stop();
detectorTranslation_->stop();
detectorTiltDrive_->stop();
endstationTranslation_->stop();
// hexapod: cannot stop without wrecking init. Don't worry for now... just let it stop over time. Not necessary for it to be not-moving before we re-send it somewhere new.
/// \todo Actually, have to flag that a stop has started, and also catch when the stop is finished... Motors will take a while to actually receive and decelerate.
return true;
}
void BioXASZebraTimeSeconds::updateValue()
{
if (canMeasure() && !moveInProgress()) {
double newValue = convertTimeValue(timeValue_->value(), timeUnits_->value(), Seconds);
setValue(newValue);
}
}
// 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;
}
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;
}
