Repository navigation
Add standalone HXP group initialise command - #1
Open
lucianocguedes wants to merge 11 commits into
Open
lucianocguedes wants to merge 11 commits into
lucianocguedes wants to merge 11 commits into
Conversation
Add an HXP_GROUP_INIT asyn parameter and GroupInit BO record to call HXPGroupInitialize independently from the home sequence. The existing home command performs both HXPGroupInitialize and HXPGroupHomeSearch. For operation and recovery it is useful to expose group initialisation separately, so the controller group can be moved from an uninitialised state without immediately starting a home search. This allows operators to initialise the group explicitly before deciding whether a home search is required.
lucianocguedes
force-pushed
the
init_function
branch
from
June 8, 2026 09:00
7be3e41 to
f4e332a
Compare
added 2 commits
June 15, 2026 09:24
Declare the groupInit() helper in HXPDriver.h so the implementation in HXPDriver.cpp matches the HXPController class definition.
Add a GroupHoming bo record mapped to HXP_GROUP_HOME so HXPGroupHomeSearch() can be triggered independently from the IOC. This helps debug homing failures separately from the existing home() sequence, which currently performs kill, initialize, and home together.
lucianocguedes
force-pushed
the
init_function
branch
from
September 7, 2026 14:34
b3c04c5 to
73a3fe1
Compare
Read the General Inhibition state from the positioner hardware status and expose it through the HXP_GENERAL_INHIBIT asyn parameter. Add a GeneralInhibit bi record to provide the inhibition status as an EPICS PV.
lucianocguedes
force-pushed
the
init_function
branch
from
September 7, 2026 15:21
73a3fe1 to
5cde937
Compare
Expose the human-readable HXP group status description using GroupStatusStringGet while keeping the existing numeric status. Add a STATUS_DESC PV to provide the group state description.
lucianocguedes
force-pushed
the
init_function
branch
from
September 8, 2026 11:53
3385108 to
40fae59
Compare
Retry a move-socket command once when asyn reports a communication error. This allows the socket time to recover through auto-connect after the HXP controller has been rebooted. Previously, the first command using a stale move socket failed with a connection reset, while a subsequent command succeeded.
lucianocguedes
force-pushed
the
init_function
branch
from
September 8, 2026 14:04
c607948 to
6fc5d97
Compare
added 5 commits
September 8, 2026 16:19
Wait for the group to reach the Not referenced state after GroupInitialize before starting GroupHomeSearch. Also propagate errors from the group kill, initialization, and homing commands instead of always returning success.
Remove the temporary GroupInitialize and GroupHome PVs and their associated driver parameters and helper methods. These commands were added to debug the homing sequence and are no longer needed now that the standard motor homing operation correctly waits for group initialization before starting the home search.
Expose the positioner hardware and driver status through EPICS PVs to support diagnostics of the HXP motor power state.
Update the HXP API wrapper to use unsigned long for the driver status, matching the controller command interface and fixing the -129 parameter type error when polling the driver status.
Poll hardware and driver status for HEXAPOD.1 through HEXAPOD.6 in the controller poller, using asyn addresses 0 through 5. Add individual HardwareStatus and DriverStatus PVs for each physical positioner and publish callbacks for all six addresses. Preserve the existing status PVs as positioner 1 readbacks and retain the GeneralInhibit behavior. Leave virtual-axis motion unchanged.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Add HXP_INIT asyn parameter and InitAxis BO record to allow
calling HXPGroupInitialize without running the full home sequence.