Merge pull request #3 from ISISComputingGroup/Ticket_7277_Fix_Issues_…

…with_Huber

Ticket 7277 fix issues with huber

huberApp/src/SMC9300Driver.cpp

@@ -199,6 +199,7 @@ asynStatus SMC9300Axis::move(double position, int relative, double minVelocity,
 asynStatus SMC9300Axis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
 {
   asynStatus status;
+  // set homing direction on axis so that it can be passed into thread.
   if(forwards ==1){
     this->forward = true;
   }else{
@@ -214,45 +215,55 @@ asynStatus SMC9300Axis::home(double minVelocity, double maxVelocity, double acce
 }
 
 static void huberHomingThreadC(void *pPvt){
+  //static function to handle homing in a different thread.
   SMC9300Axis *axis = (SMC9300Axis*)pPvt;
   axis->homing();
 }
 
 asynStatus SMC9300Axis::homing()
 {
+  // reset stop status
   this->stopStatus = false;
   asynStatus status;
   char limitDirection, referenceDirection;
+  // Always consider the hardware reference to be 0.
   epicsFloat64 homePos = 0.0;
   asynStatus lockStatus;
-  int highLimit = 0, lowLimit = 0, atRest = 0;
+
+  int limit = 0, limitCheck = 0, atRest = 0;
+
+  // Set directions of travel and limit to check.
   if(this->forward){
     limitDirection='+';
     referenceDirection='-';
+    limitCheck = pC_->motorStatusHighLimit_;
+
   }else{
     limitDirection='-';
     referenceDirection='+';
+    limitCheck = pC_->motorStatusLowLimit_;
   }
 
-
+  // First go to a limit to ensure the reference point cannot be missed.
   lockStatus = pC_->lock();
   sprintf(pC_->outString_, "fast%d%c", axisNo_, limitDirection);
   status = pC_->writeController();
-  while(highLimit == 0 && lowLimit == 0){
-    pC_->getIntegerParam(axisNo_, pC_->motorStatusHighLimit_, &highLimit);
-    pC_->getIntegerParam(axisNo_, pC_->motorStatusLowLimit_, &lowLimit);    
+  while(limit == 0){
+    pC_->getIntegerParam(axisNo_, limitCheck, &limit);
     lockStatus = pC_->unlock();
     if(this->stopStatus){
       return status;
     }
     epicsThreadSleep(0.1);
     lockStatus = pC_->lock();
   }
+  // Now search for the reference point, moving away from the limit.
   sprintf(pC_->outString_, "eref%d%c", axisNo_, referenceDirection);
   status = pC_->writeController();
   pC_->unlock();
   // sleep needed to avoid race condition with polling.
   epicsThreadSleep(1);
+  //Always loop at least once to allow the move to reference to start.
   do{
     if(this->stopStatus){
       return status;
@@ -261,15 +272,25 @@ asynStatus SMC9300Axis::homing()
     pC_->lock();
     pC_->getIntegerParam(axisNo_, pC_->motorStatusDone_, &atRest);
     pC_->unlock();
-
+    // Due to the sleep + the initial loop, when atRest is 0 we must either be at the reference, 
+    // Or have reached the other limit.
   } while (atRest == 0);
+
   if(this->stopStatus){
       return status;
     }
   pC_->lock();
-  sprintf(pC_->outString_, "pos%d:%f", axisNo_, homePos);
+
+  // Set the current position to be 0.
+  sprintf(pC_->outString_, "pos%d:%f", axisNo_, homePos / STEPS_PER_EGU);
   status = pC_->writeController();
+
+  // reset the set point to also be 0.
+  pC_->setDoubleParam(axisNo_, pC_->motorMoveAbs_, homePos);
+  callParamCallbacks();
+
   pC_->unlock();
+
   asynPrint(pasynUser_, ASYN_TRACE_FLOW, "Axis %i Completed Home.\n", axisNo_);
   return status;
 }

system_tests/lewis_emulators/huber/device.py

@@ -13,7 +13,7 @@ def _initialize_data(self):
         self._target = 0.0
         self.initial_speed = 2.0
         self.current_speed = 0
-        self.high_speed = 10000
+        self.high_speed = 1000
         self.high_speed_move = False
         self.number_axis = 3
         self.acceleration = 0.01

system_tests/lewis_emulators/huber/interfaces/stream_interface.py

@@ -105,7 +105,7 @@ def get_position(self, axis):
 
     def goto_reference(self, axis, direction):
         self.device.high_speed_move = True
-        self.device.set_target(0)
+        self.device.set_target(self.device.reference_point)
 
     def get_state(self, axis):
         """

system_tests/tests/huber.py

@@ -70,24 +70,23 @@ def test_GIVEN_move_AND_stop_THEN_stop(self):
         self.ca.assert_that_pv_is_not(MTR1, float(0))
 
     def test_GIVEN_home_forwards_THEN_motor_moves_to_limit_at_fast_speed_THEN_motor_moves_to_eref_AND_sets_position(self):
-        home = 10
-        self._lewis.backdoor_set_on_device("reference_point", home)
+        self._lewis.backdoor_set_on_device("reference_point", 0)
         self.ca.set_pv_value(f"{MTR1}.HOMF", 1)
         self.ca.assert_that_pv_is_number(f"{MTR1}.RBV", 1000, 1, timeout=30)
         self.ca.assert_that_pv_is_not_number(f"{MTR1}.RBV", 1000, 1, timeout=30)
         self.ca.assert_that_pv_is_number(f"{MTR1}.RBV", 0, 1, timeout=30)
+        self.ca.assert_that_pv_is_number(f"{MTR1}.VAL", 0, 1, timeout=30)
 
     def test_GIVEN_home_reverse_THEN_motor_moves_to_limit_at_fast_speed_THEN_motor_moves_to_eref_AND_sets_position(self):
-        home = 10
-        self._lewis.backdoor_set_on_device("reference_point", home)
+        self._lewis.backdoor_set_on_device("reference_point", 0)
         self.ca.set_pv_value(f"{MTR1}.HOMR", 1)
         self.ca.assert_that_pv_is_number(f"{MTR1}.RBV", -1000, 1, timeout=30)
         self.ca.assert_that_pv_is_not_number(f"{MTR1}.RBV", -1000, 1, timeout=30)
         self.ca.assert_that_pv_is_number(f"{MTR1}.RBV", 0, 1, timeout=30)
+        self.ca.assert_that_pv_is_number(f"{MTR1}.VAL", 0, 1, timeout=30)
 
     def test_GIVEN_home_reverse_THEN_motor_moves_to_limit_at_fast_speed_THEN_stop_THEN_motor_STOPS(self):
-        home = 10
-        self._lewis.backdoor_set_on_device("reference_point", home)
+        self._lewis.backdoor_set_on_device("reference_point", 0)
         self._lewis.backdoor_set_on_device("high_speed", 5)
         self.ca.set_pv_value(f"{MTR1}.HOMR", 1)
         self.ca.assert_that_pv_is_not_number(f"{MTR1}.RBV", 0, 1, timeout=30)
@@ -96,8 +95,7 @@ def test_GIVEN_home_reverse_THEN_motor_moves_to_limit_at_fast_speed_THEN_stop_TH
         self.ca.assert_that_pv_is_not_number(f"{MTR1}.RBV", -1000, 1, timeout=30)
 
     def test_GIVEN_home_reverse_THEN_motor_moves_to_limit_at_fast_speed_THEN_THEN_STOP(self):
-        home = 10
-        self._lewis.backdoor_set_on_device("reference_point", home)
+        self._lewis.backdoor_set_on_device("reference_point", 0)
         self._lewis.backdoor_set_on_device("high_speed", 5)
         self.ca.set_pv_value(f"{MTR1}.HOMR", 1)
         self.ca.assert_that_pv_is_number(f"{MTR1}.RBV", -1000, 1, timeout=30)