// 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 AMPVwStatusAndUnitConversionControl::setLowLimitValue(double newLowLimit)
{
lowLimitValue_ = writeUnitConverter()->convertFromRaw(newLowLimit);
emit minimumValueChanged(lowLimitValue_);
}
void AMPVwStatusAndUnitConversionControl::setHighLimitValue(double newHighLimit)
{
highLimitValue_ = writeUnitConverter()->convertFromRaw(newHighLimit);
emit maximumValueChanged(highLimitValue_);
}
void AMPVwStatusAndUnitConversionControl::onWritePVValueChanged(double newValue)
{
emit setpointChanged(writeUnitConverter()->convertFromRaw(newValue));
}
