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);
}
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;
}
// This is used to handle the timeout of a move start:
void AMPVwStatusControl::onMoveStartTimeout() {
moveStartTimer_.stop();
// This is only meaningful if one of our moves is in progress.
if(startInProgress_) {
// give up on this move:
startInProgress_ = false;
// The move didn't start within our allowed start period. That counts as a move failed.
emit moveFailed(AMControl::TimeoutFailure);
}
}
// 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);
}
}
// 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);
}
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)));
}
}
