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Changed state machine

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This commit is contained in:
Bernardo Carvalho
2019-12-11 10:57:47 +00:00
parent 172d345d5a
commit 94f7cb955d
3 changed files with 92 additions and 120 deletions
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3
epics/iocs/ISTTOKrpi/ISTTOKrpiApp/Db/ISTTOKmachineControl.db
View File

@@ -135,7 +135,8 @@ record(fanout, "$(P)$(R)PCF8574:57:REGISTER:READ:FNOUT"){
}
record(bi , "$(P)$(R)TMPump2-Emergency") {
field(DESC," TMP2 – Falha ")
field(INP, "$(P)$(R)PCF8574:57:REGISTER:READ.B0 NPP NMS")
# field(INP, "$(P)$(R)PCF8574:57:REGISTER:READ.B0 NPP NMS")
field(VAL,"1")
field(ZNAM, "ON" )
field(ONAM, "OFF" )
field(ZSV,"MAJOR")

10
epics/iocs/ISTTOKrpi/ISTTOKrpiApp/Db/ISTTOKstates.db
View File

@@ -64,7 +64,7 @@ record(calc, "$(P)$(R)STARTCALCSTATE") {
field(INPA,"$(P)$(R)STARTINGSTATE.VAL PP NMS")
}
record(calc, "$(P)$(R)STOPCALCSTATE") {
record(calc, "$(P)$(R)STOPPINGCALCSTATE") {
field(DESC, "Stop Calculated State")
field(CALC,"2^A")
field(SCAN,"1 second")
@@ -78,12 +78,6 @@ record(calc, "$(P)$(R)CLEANCALCSTATE") {
field(INPA,"$(P)$(R)CLEANINGSTATE.VAL PP NMS")
}
#record(calc, "$(P)$(R)OPCALCMCLEANSTATE") {
# field(DESC, "Clean Manual Calculated State")
# field(CALC,"2^A")
# field(SCAN,"1 second")
# field(INPA,"$(P)$(R)CLEANINGSTATE.VAL PP NMS")
#}
record(calc, "$(P)$(R)WSHOTCALCSTATE") {
field(DESC, "WaitShot Calculated State")
@@ -253,7 +247,7 @@ record(mbbi, "$(P)$(R)STOPPINGSTATE") {
field(THVL, "3")
field(FRVL, "4")
field(FVVL, "5")
field(ZRST, "NonStopped")
field(ZRST, "NonStopping")
field(ONST, "Stopping1")
field(TWST, "Stopping2")
field(THST, "Stopping3")

191
epics/iocs/ISTTOKrpi/ISTTOKrpiApp/src/IsttokSeqExec.stt
View File

@@ -1,6 +1,7 @@
/**
*
* Project : ISTTOK slow Control
* Project : ISTTOK slow Control Sequencer
* Docs: https://www-csr.bessy.de/control/SoftDist/sequencer/
*
* File : $Id$
* Description : Pulse Sequence State Machine
@@ -29,7 +30,7 @@ short STRST_Starting1 = 1;
short STRST_Starting2 = 2;
short STRST_Starting3 = 3;
short STRST_Starting4 = 4;
short STRST_Starting5 = 5;
short STRST_StartingEnd = 5;
short CLNST_NonCleaning = 0;
short CLNST_Cleaning1 = 1;
@@ -102,21 +103,21 @@ monitor IsttokProcReq;
short STARTINGSTATE;
assign STARTINGSTATE to "ISTTOK:central:STARTINGSTATE";
//monitor STARTINGSTATE;
monitor STARTINGSTATE;
short CLEANINGSTATE;
assign CLEANINGSTATE to "ISTTOK:central:CLEANINGSTATE";
short CLEANINGMANMODE;
assign CLEANINGMANMODE to "ISTTOK:central:CLEANINGMANMODE";
//monitor CLEANINGMANMODE;
monitor CLEANINGMANMODE;
short WSHOTINGSTATE;
assign WSHOTINGSTATE to "ISTTOK:central:WSHOTINGSTATE";
short IsttokSTOPPINGSTATE;
assign IsttokSTOPPINGSTATE to "ISTTOK:central:STOPPINGSTATE";
//monitor IsttokSTOPPINGSTATE;
short STOPPINGSTATE;
assign STOPPINGSTATE to "ISTTOK:central:STOPPINGSTATE";
monitor STOPPINGSTATE;
short IsttokRPump1_Motor;
assign IsttokRPump1_Motor to "ISTTOK:central:RPump1-Motor";
@@ -172,11 +173,7 @@ monitor IsttokRPump1_Pressure;
float IsttokRPump2_Pressure;
assign IsttokRPump2_Pressure to "ISTTOK:central:RPump2-Pressure";
monitor IsttokRPump2_Pressure;
/*
short IsttokPrimary_PressureCondition;
assign IsttokPrimary_PressureCondition to "ISTTOK:central:Primary-PressureCondition";
monitor IsttokPrimary_PressureCondition;
*/
short IsttokShotBuzzer;
assign IsttokShotBuzzer to "ISTTOK:central:Buzzer";
@@ -229,12 +226,14 @@ short IsttokTTSystem_tzero;
assign IsttokTTSystem_tzero to "ISTTOK:central:TTSystem-tzero";
monitor IsttokTTSystem_tzero;
string tmp1_stat;
//string tmp1_stat;
/* Trace message record limited to 40 characters */
string msg;
assign msg to "ISTTOK:central:TraceMessage.VAL";
monitor msg;
/* Main Pulse State Set */
ss PulseSequence {
state init {
entry {
@@ -243,10 +242,6 @@ ss PulseSequence {
errlogSevPrintf(NO_ALARM, "%s\n",msg);
strcpy(msg, "Initializing...");
//IsttokPrimary_PressureCondition = 1;
//pvPut(IsttokPrimary_PressureCondition);
pvPut(msg);
errlogSevPrintf(NO_ALARM, "%s\n",msg);
@@ -323,7 +318,7 @@ ss PulseSequence {
errlogSevPrintf(NO_ALARM, "%s\n",msg);
}
}
when ((delay(5)) && IsttokOPREQ == STOP) {
when (delay(5) && IsttokOPREQ == STOP) {
strcpy(msg, "State to Stopping");
pvPut(msg);
errlogSevPrintf(MINOR, "%s\n",msg);
@@ -331,10 +326,11 @@ ss PulseSequence {
IsttokOPSTATE = POS_Stopping;
pvPut(IsttokOPSTATE);
} state Stopping
when ((delay(5)) && (IsttokOPREQ == START) ) {
when (delay(5) && IsttokOPREQ == START ) {
strcpy(msg, "State to Starting");
pvPut(msg);
errlogSevPrintf(NO_ALARM, "%s\n",msg);
/*
IsttokRPump1_Motor = PCF_RELAY_OFF;
pvPut(IsttokRPump1_Motor);
IsttokRPump2_Motor = PCF_RELAY_OFF;
@@ -343,6 +339,7 @@ ss PulseSequence {
pvPut(IsttokRPump1_Valve);
IsttokRPump2_Valve = PCF_RELAY_OFF;
pvPut(IsttokRPump2_Valve);
*/
/* State change to Starting */
IsttokOPSTATE = POS_Starting;
pvPut(IsttokOPSTATE);
@@ -373,7 +370,19 @@ ss PulseSequence {
}
/* State Starting */
state Starting {
when ((IsttokOPREQ == STOP) && (IsttokEmergency == OFF)) {
entry{
IsttokOPSTATE = POS_Starting;
pvPut(IsttokOPSTATE);
}
when(IsttokEmergency == ON) {
strcpy(msg, "Emergency from Starting");
pvPut(msg);
errlogSevPrintf(NO_ALARM, "%s\n",msg);
/* Pulse state change to Emergency*/
// IsttokOPSTATE = POS_Starting;
// pvPut(IsttokOPSTATE);
} state Emergency
when (IsttokOPREQ == STOP) {
strcpy(msg, "State to Stopping");
pvPut(msg);
errlogSevPrintf(MINOR, "%s\n",msg);
@@ -381,42 +390,39 @@ ss PulseSequence {
IsttokOPSTATE = POS_Stopping;
pvPut(IsttokOPSTATE);
} state Stopping
when ((STARTINGSTATE == STRST_Starting5) ) {
when (STARTINGSTATE == STRST_StartingEnd ) {
strcpy(msg, "State to Process");
pvPut(msg);
errlogSevPrintf(NO_ALARM, "%s\n",msg);
strcpy(msg, "Toroidal Shot Disable");
pvPut(msg);
errlogSevPrintf(NO_ALARM, "%s\n",msg);
IsttokShotShot_TorPSDisable = PCF_RELAY_OFF;
pvPut(IsttokShotShot_TorPSDisable);
/* Pulse state change to Process*/
IsttokOPSTATE = POS_Process;
pvPut(IsttokOPSTATE);
} state Process
when((IsttokEmergency == ON)){
strcpy(msg, "Emergency from Starting");
pvPut(msg);
errlogSevPrintf(NO_ALARM, "%s\n",msg);
/* Pulse state change to Emergency*/
IsttokOPSTATE = POS_Starting;
pvPut(IsttokOPSTATE);
} state Emergency
}
/* State Process */
state Process {
entry{
IsttokOPSTATE = POS_Process;
pvPut(IsttokOPSTATE);
IsttokLastOPSTATE = POS_Process;
pvPut(IsttokLastOPSTATE);
IsttokShotShot_TorPSDisable = PCF_RELAY_OFF;
pvPut(IsttokShotShot_TorPSDisable);
}
when ( (pvStatus(IsttokRPump1_Pressure) != pvStatOK) || (pvStatus(IsttokRPump1_Pressure) != pvStatOK)) {
/* Pulse state change to Stopping */
when(IsttokEmergency == ON){
strcpy(msg, "Emergency from Process");
pvPut(msg);
errlogSevPrintf(NO_ALARM, "%s\n",msg);
/* Pulse state change to Emergency*/
} state Emergency
when ( pvStatus(IsttokRPump1_Pressure) != pvStatOK || pvStatus(IsttokRPump2_Pressure) != pvStatOK || pvStatus(IsttokTMPump2_Emergency) != pvStatOK) {
/* Vacuum emergency: Pulse state change to Stopping */
IsttokOPSTATE = POS_Stopping;
pvPut(IsttokOPSTATE);
} state Stopping
when ((IsttokOPREQ==STOP) || (IsttokTMPump1_ManualValve == OFF)) {
when (IsttokOPREQ==STOP || IsttokTMPump1_ManualValve == OFF) {
/*Just to be sure */
IsttokProcReq = STOP;
pvPut(IsttokProcReq);
@@ -435,7 +441,7 @@ ss PulseSequence {
IsttokOPSTATE = POS_Stopping;
pvPut(IsttokOPSTATE);
} state Stopping
when ((IsttokProcReq==START) && (IsttokProcMode==CLEAN) ) {
when (IsttokProcReq==START && IsttokProcMode==CLEAN ) {
strcpy(msg, "State to Clean");
pvPut(msg);
errlogSevPrintf(NO_ALARM, "%s\n",msg);
@@ -448,7 +454,7 @@ ss PulseSequence {
IsttokOPSTATE = POS_Clean;
pvPut(IsttokOPSTATE);
} state Clean
when ((IsttokProcReq==START) && (IsttokProcMode==SHOT) ) {
when (IsttokProcReq==START && IsttokProcMode==SHOT ) {
strcpy(msg, "State to WaitShot");
pvPut(msg);
errlogSevPrintf(NO_ALARM, "%s\n",msg);
@@ -461,23 +467,10 @@ ss PulseSequence {
IsttokOPSTATE = POS_WaitShot;
pvPut(IsttokOPSTATE);
} state WaitShot
when((IsttokEmergency == ON)){
strcpy(msg, "Emergency from Process");
pvPut(msg);
errlogSevPrintf(NO_ALARM, "%s\n",msg);
// strcpy(msg, "Toroidal Shot Disable");
// pvPut(msg);
// errlogSevPrintf(NO_ALARM, "%s\n",msg);
//IsttokShotShot_TorPSDisable = PCF_RELAY_OFF;
//pvPut(IsttokShotShot_TorPSDisable);
/* Pulse state change to Emergency*/
IsttokOPSTATE = POS_Process;
pvPut(IsttokOPSTATE);
} state Emergency
}
/* State Clean */
state Clean {
when ( (IsttokOPREQ == STOP) || (IsttokProcReq==STOP)) {
when ( IsttokOPREQ == STOP || IsttokProcReq==STOP) {
strcpy(msg, "State to Process");
pvPut(msg);
errlogSevPrintf(NO_ALARM, "%s\n",msg);
@@ -522,22 +515,11 @@ ss PulseSequence {
}
/* State Stopping */
state Stopping {
/* entry{
IsttokRPump1_Motor = PCF_RELAY_ON;
pvPut(IsttokRPump1_Motor);
strcpy(msg, "Rotary Pumps 1/2 OFF");
pvPut(msg);
errlogSevPrintf(NO_ALARM, "%s\n",msg);
IsttokRPump2_Motor = PCF_RELAY_ON;
pvPut(IsttokRPump2_Motor);
//IsttokLastOPSTATE = POS_Process;
//pvPut(IsttokLastOPSTATE);
entry{
IsttokLastOPSTATE = POS_Stopping;
pvPut(IsttokLastOPSTATE);
}
*/
// } state Stopping
when (IsttokSTOPPINGSTATE == STPST_Stopping3) {
//IsttokSTOPPINGSTATE = STPST_Stopping1;
//pvPut(IsttokSTOPPINGSTATE);
when (STOPPINGSTATE == STPST_Stopping3) {
IsttokOPSTATE = POS_Stopped;
pvPut(IsttokOPSTATE);
} state Stopped
@@ -576,8 +558,7 @@ ss PulseSequence {
IsttokShotVVessel_Filament = PCF_RELAY_OFF;
pvPut(IsttokShotVVessel_Filament);
}
when (delay(1.0) && (IsttokEmergency == OFF) && ((IsttokOPSTATE == POS_WaitShot) || (IsttokOPSTATE==POS_Clean)) ){
when (delay(1.0) && (IsttokEmergency == OFF) && (IsttokOPSTATE == POS_WaitShot || IsttokOPSTATE==POS_Clean) ){
/* Pulse state change to Process */
strcpy(msg, "State to Process");
pvPut(msg);
@@ -588,7 +569,6 @@ ss PulseSequence {
pvPut(IsttokOPSTATE);
} state Process
when (delay(1.0) && (IsttokEmergency == OFF) && (IsttokOPSTATE == POS_Process)){
/* Pulse state change to Process */
strcpy(msg, "State to Process");
pvPut(msg);
@@ -674,7 +654,7 @@ ss StartingSequence {
pvPut(STARTINGSTATE);
} state NonStarting
when (IsttokTMPump1_ManualValve == ON) {
strcpy(msg, "Manual Valve Checked");
strcpy(msg, "Manual Valve Open Checked");
pvPut(msg);
errlogSevPrintf(NO_ALARM, "%s\n",msg);
STARTINGSTATE = STRST_Starting3;
@@ -692,24 +672,17 @@ ss StartingSequence {
when ( (pvStatus(IsttokRPump1_Pressure) == pvStatOK) && (pvStatus(IsttokRPump1_Pressure) == pvStatOK)) {
/* TODO unfold when when (((IsttokRPump1_Pressure < IsttokRPump1_PressureLowLimit) && (IsttokRPump2_Pressure < IsttokRPump2_PressureLowLimit)) ) { */
//printf("Primary1 Pressure=%f\n",IsttokRPump1_Pressure);
//printf("Primary2 Pressure=%f\n",IsttokRPump2_Pressure);
// if(IsttokRPump1_Pressure < IsttokRPump1_PressureLowLimit){
strcpy(msg, "TMP1 MotorOn ON" );
pvPut(msg);
errlogSevPrintf(NO_ALARM, "%s\n",msg);
IsttokTMPump1_MotorOn = ON;
pvPut(IsttokTMPump1_MotorOn);
// }
// if(IsttokRPump2_Pressure < IsttokRPump2_PressureLowLimit){
strcpy(msg, "TMP2 MotorOnOff ON" );
strcpy(msg, "TMP2 Motor ON" );
pvPut(msg);
errlogSevPrintf(NO_ALARM, "%s\n",msg);
IsttokTMPump2_Motor = PCF_RELAY_ON;
pvPut(IsttokTMPump2_Motor);
// }
/*
if(IsttokTMPump1_NormalOperation == PCF_INPUT_ON){
sprintf(tmp1_stat, "ON");
}else{
@@ -719,33 +692,32 @@ ss StartingSequence {
sprintf(msg, "TMPNO = [1:%s]", tmp1_stat);
pvPut(msg);
errlogSevPrintf(NO_ALARM, "%s\n",msg);
*/
STARTINGSTATE = STRST_Starting4;
pvPut(STARTINGSTATE);
} state Starting4
}
state Starting4 {
when ((IsttokOPSTATE != POS_Starting )) {
when (IsttokOPSTATE != POS_Starting ) {
strcpy(msg, "Starting4 Out");
pvPut(msg);
errlogSevPrintf(NO_ALARM, "%s\n",msg);
//IsttokSTARTINGSTATE = STRST_NonStarting;
//pvPut(IsttokSTARTINGSTATE);
} state NonStarting
when (IsttokTMPump1_NormalOperation == PCF_INPUT_ON) { // (IsttokPrimary_PressureCondition == 0) ||
// if(IsttokTMPump1_NormalOperation == PCF_INPUT_ON){
when (IsttokTMPump1_NormalOperation == PCF_INPUT_ON) {
strcpy(msg, "TMP1 operating Normal");
pvPut(msg);
errlogSevPrintf(NO_ALARM, "%s\n",msg);
// }
STARTINGSTATE = STRST_Starting5;
STARTINGSTATE = STRST_StartingEnd;
pvPut(STARTINGSTATE);
} state Starting5
} state StartingEnd
}
state Starting5 {
when ((IsttokOPSTATE != POS_Starting )) {
strcpy(msg, "State to Process");
pvPut(msg);
errlogSevPrintf(NO_ALARM, "%s\n",msg);
state StartingEnd {
when (IsttokOPSTATE != POS_Starting ) {
//strcpy(msg, "State to Process");
// pvPut(msg);
//errlogSevPrintf(NO_ALARM, "%s\n",msg);
//IsttokSTARTINGSTATE = STRST_NonStarting;
//pvPut(IsttokSTARTINGSTATE);
} state NonStarting
@@ -1130,31 +1102,33 @@ ss ShotSequence {
ss StoppingSequence {
state NonStopping {
entry {
IsttokSTOPPINGSTATE = STPST_NonStopping;
pvPut(IsttokSTOPPINGSTATE);
STOPPINGSTATE = STPST_NonStopping;
pvPut(STOPPINGSTATE);
}
when (IsttokOPSTATE == POS_Stopping) {
strcpy(msg, "Stopping Mode: Stopping1");
pvPut(msg);
// errlogSevPrintf(NO_ALARM, "%s\n",msg);
errlogSevPrintf(NO_ALARM, "%s\n",msg);
IsttokTMPump1_MotorOff = ON;
pvPut(IsttokTMPump1_MotorOff);
IsttokTMPump2_Motor = PCF_RELAY_OFF;
pvPut(IsttokTMPump2_Motor);
IsttokSTOPPINGSTATE = STPST_Stopping1;
pvPut(IsttokSTOPPINGSTATE);
STOPPINGSTATE = STPST_Stopping1;
pvPut(STOPPINGSTATE);
} state Stopping1
}
state Stopping1 {
when (IsttokOPSTATE != POS_Stopping ) {
/*
strcpy(msg, "Stopping Mode: NonStopping");
pvPut(msg);
errlogSevPrintf(NO_ALARM, "%s\n",msg);
//IsttokSTOPPINGSTATE = STPST_NonStopping;
//pvPut(IsttokSTOPPINGSTATE);
STOPPINGSTATE = STPST_NonStopping;
pvPut(STOPPINGSTATE);
*/
} state NonStopping
when (delay(5.0) && IsttokTMPump1_ManualValve==OFF) {
@@ -1168,14 +1142,14 @@ ss StoppingSequence {
errlogSevPrintf(NO_ALARM, "%s\n",msg);
IsttokRPump2_Motor = PCF_RELAY_ON;
pvPut(IsttokRPump2_Motor);
IsttokSTOPPINGSTATE = STPST_Stopping2;
pvPut(IsttokSTOPPINGSTATE);
STOPPINGSTATE = STPST_Stopping2;
pvPut(STOPPINGSTATE);
} state Stopping2
}
state Stopping2 {
when (IsttokOPSTATE != POS_Stopping ) {
IsttokSTOPPINGSTATE = STPST_NonStopping;
pvPut(IsttokSTOPPINGSTATE);
// STOPPINGSTATE = STPST_NonStopping;
// pvPut(STOPPINGSTATE);
} state NonStopping
when (delay(5)) {
IsttokRPump1_Valve = PCF_RELAY_ON;
@@ -1185,17 +1159,20 @@ ss StoppingSequence {
errlogSevPrintf(NO_ALARM, "%s\n",msg);
IsttokRPump2_Valve = PCF_RELAY_ON;
pvPut(IsttokRPump2_Valve);
IsttokSTOPPINGSTATE = STPST_Stopping3;
pvPut(IsttokSTOPPINGSTATE);
STOPPINGSTATE = STPST_Stopping3;
pvPut(STOPPINGSTATE);
} state Stopping3
}
state Stopping3 {
when (IsttokOPSTATE != POS_Stopping ) {
IsttokSTOPPINGSTATE = STPST_NonStopping;
pvPut(IsttokSTOPPINGSTATE);
// STOPPINGSTATE = STPST_NonStopping;
// pvPut(STOPPINGSTATE);
} state NonStopping
}
}
/**** END PROGRAM ***/
/* when (IsttokShotCountdown > 159) {
strcpy(msg, "Toroidal Field Recovered" );
pvPut(msg);