Initial version of sinqMotor

src/sinqController.cpp

@@ -0,0 +1,124 @@
+/*
+  This class contains the necessary changes to have an additional text fields
+  for messages with each axis.
+
+  Code lifted from Torsten Boegershausen ESS code.
+
+  Mark Koennecke, March 2017
+
+  Added code to manage an interMessageSleep
+
+  Mark Koennecke, February 2024
+*/
+
+#include "sinqController.h"
+#include "asynMotorController.h"
+#include "epicsExport.h"
+#include "iocsh.h"
+#include <errlog.h>
+
+sinqController::sinqController(const char *portName, const char *SINQPortName,
+                               int numAxes, const int &extraParams)
+    : asynMotorController(
+          portName, numAxes + 1, NUM_MOTOR_DRIVER_PARAMS + extraParams,
+          0, // No additional interfaces beyond those in base class
+          0, // No additional callback interfaces beyond those in base class
+          ASYN_CANBLOCK | ASYN_MULTIDEVICE,
+          1,    // autoconnect
+          0, 0) // Default priority and stack size
+{
+    createParam(motorMessageIsFromDriverString, asynParamInt32,
+                &motorMessageIsFromDriver_);
+    createParam(motorMessageTextString, asynParamOctet, &motorMessageText_);
+}
+
+asynStatus sinqController::errMsgCouldNotParseResponse(const char *command,
+                                                       const char *response,
+                                                       int axisNo_,
+                                                       const char *functionName,
+                                                       int lineNumber) {
+    asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
+              "%s => line %d:\n Could not interpret response %s for "
+              "command %s.\n",
+              functionName, lineNumber, response, command);
+
+    setStringParam(motorMessageText_,
+                   "Could not interpret MCU response. Please "
+                   "call the software support");
+    setIntegerParam(motorStatusCommsError_, 1);
+    return asynError;
+}
+
+asynStatus sinqController::paramLibAccessFailed(asynStatus status,
+                                                const char *parameter,
+                                                const char *functionName,
+                                                int lineNumber) {
+
+    if (status != asynSuccess) {
+        // Log the error message and try to propagate it
+        asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
+                  "%s => line %d:\n Accessing the parameter library failed for "
+                  "parameter %s",
+                  functionName, lineNumber, parameter);
+        setStringParam(
+            motorMessageText_,
+            "Accessing paramLib failed. Please call the software support.");
+    }
+
+    return status;
+}
+
+// Static pointers (valid for the entire lifetime of the IOC). The number behind
+// the strings gives the integer number of each variant (see also method
+// stringifyAsynStatus)
+static char *asynSuccessStringified = "success";           // 0
+static char *asynTimeoutStringified = "timeout";           // 1
+static char *asynOverflowStringified = "overflow";         // 2
+static char *asynErrorStringified = "error";               // 3
+static char *asynDisconnectedStringified = "disconnected"; // 4
+static char *asynDisabledStringified = "disabled";         // 5
+static char *asynParamAlreadyExistsStringified =
+    "parameter already exists";                                     // 6
+static char *asynParamNotFoundStringified = "parameter not found";  // 7
+static char *asynParamWrongTypeStringified = "wrong type";          // 8
+static char *asynParamBadIndexStringified = "bad index";            // 9
+static char *asynParamUndefinedStringified = "parameter undefined"; // 10
+static char *asynParamInvalidListStringified = "invalid list";      // 11
+
+char *sinqController::stringifyAsynStatus(asynStatus status) {
+    // See
+    // https://github.com/epics-modules/asyn/blob/master/asyn/asynDriver/asynDriver.h
+    // and
+    // https://github.com/epics-modules/asyn/blob/master/asyn/asynPortDriver/paramErrors.h
+    // for the definition of the error codes
+    switch (status) {
+    case asynSuccess:
+        return asynSuccessStringified;
+    case asynTimeout:
+        return asynTimeoutStringified;
+    case asynOverflow:
+        return asynOverflowStringified;
+    case asynError:
+        return asynErrorStringified;
+    case asynDisconnected:
+        return asynDisconnectedStringified;
+    case asynDisabled:
+        return asynDisabledStringified;
+    case asynParamAlreadyExists:
+        return asynParamAlreadyExistsStringified;
+    case asynParamNotFound:
+        return asynParamNotFoundStringified;
+    case asynParamWrongType:
+        return asynParamWrongTypeStringified;
+    case asynParamBadIndex:
+        return asynParamBadIndexStringified;
+    case asynParamUndefined:
+        return asynParamUndefinedStringified;
+    case asynParamInvalidList:
+        return asynParamInvalidListStringified;
+    }
+
+    errlogPrintf("%s => line %d:\nReached unreachable code.",
+                 __PRETTY_FUNCTION__, __LINE__);
+    return "unreachable code reached";
+}