Changeset 18379

Timestamp:

11/12/15 19:44:58 (9 years ago)

Author:

tbretz

Message:

Exchanged order for checking for blocked and available.. otherwise blocked will always be shown as available, fixed a wrong state description, removed some states from allowed states for STOP. Esepcially in LOCKED it must not be allowed, because it would leave locked.

File:

• trunk/FACT++/src/drivectrl.cc (modified) (4 diffs)

trunk/FACT++/src/drivectrl.cc

@@ -1314 +1314 @@
     bool IsBlocked() const
     {
-        return (fStatusSys&0x10)==0 || (fStatusSys&kManualMode);
+        return (fStatusSys&kEmergencyOk)==0 || (fStatusSys&kManualMode);
     }
 
@@ -2468 +2468 @@
         // a drive goes below the RF state during operation without
         // a warning or error message.
+        if (fDrive.IsOnline() && fDrive.IsBlocked())
+            return State::kBlocked;
+
         if (fDrive.IsOnline() && !fDrive.IsReady())
             return State::kAvailable;
-
-        if (fDrive.IsOnline() && fDrive.IsBlocked())
-            return State::kBlocked;
 
         // This is the case as soon as the init commands were send
@@ -2648 +2648 @@
                         "Connected to SPS and to IndraDrives, but at least one drive not in RF");
         T::AddStateName(State::kBlocked, "Blocked",
-                        "Drive system is blocked by manual operation or an released  emergeny button");
+                        "Drive system is blocked by manual operation or a pressed emergeny button");
         T::AddStateName(State::kArmed, "Armed",
                         "Connected to SPS and IndraDrives in RF, but not yet initialized");
@@ -2762 +2762 @@
             ("Park the telescope");
 
-        T::AddEvent("STOP")
+        T::AddEvent("STOP")(State::kUnavailable)(State::kAvailable)(State::kArmed)(State::kInitialized)(State::kStopping)(State::kParking)(State::kMoving)(State::kTracking)(State::kOnTrack)(State::kPositioningFailed)(State::kAllowedRangeExceeded)
             (bind(&StateMachineDrive::StopMovement, this))
             ("Stop any kind of movement.");