Initial version for the detector tower driver

2025-02-25 17:17:41 +01:00
commit 1b01be845b
9 changed files with 1655 additions and 0 deletions
--- a/src/detectorTowerController.h
+++ b/src/detectorTowerController.h
@@ -0,0 +1,96 @@
+/********************************************
+ *  detectorTowerController.h
+ *
+ * Detector tower controller driver based on the asynMotorController class
+ *
+ * Stefan Mathis, September 2024
+ ********************************************/
+
+#ifndef detectorTowerController_H
+#define detectorTowerController_H
+#include "detectorTowerAxis.h"
+#include "turboPmacController.h"
+
+class detectorTowerController : public turboPmacController {
+
+  public:
+    /**
+     * @brief Construct a new detectorTowerController object
+     *
+     * This controller object can handle both "normal" TurboPMAC axes created
+    with the turboPmacAxis constructor and the special detectorTowerAxis.
+     *
+     * @param portName            See sinqController constructor
+     * @param ipPortConfigName    See sinqController constructor
+     * @param numAxes             See sinqController constructor
+     * @param movingPollPeriod    See sinqController constructor
+     * @param idlePollPeriod      See sinqController constructor
+     * @param comTimeout          When trying to communicate with the device,
+    the underlying asynOctetSyncIO interface waits for a response until this
+    time (in seconds) has passed, then it declares a timeout.
+     */
+    detectorTowerController(const char *portName, const char *ipPortConfigName,
+                            int numAxes, double movingPollPeriod,
+                            double idlePollPeriod, double comTimeout);
+
+    asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
+
+    asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
+
+    /**
+     * @brief Overloaded function of asynMotorController
+     *
+     * The function is overloaded to allow manual starting of an axis movement
+     *
+     * @param pasynUser           Specify the axis via the asynUser
+     * @param value               New value
+     * @return asynStatus
+     */
+    virtual asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);
+
+    /**
+     * @brief Get the axis object
+     *
+     * @param pasynUser           Specify the axis via the asynUser
+     * @return detectorTowerAxis*        If no axis could be found, this is a
+     * nullptr
+     */
+    detectorTowerAxis *getVirtualAxis(asynUser *pasynUser);
+
+    /**
+     * @brief Get the axis object
+     *
+     * @param axisNo              Specify the axis via its index
+     * @return detectorTowerAxis*        If no axis could be found, this is a
+     * nullptr
+     */
+    detectorTowerAxis *getVirtualAxis(int axisNo);
+
+    /**
+     * @brief Save cast of the given asynAxis pointer to a detectorTowerAxis
+     * pointer. If the cast fails, this function returns a nullptr.
+     *
+     * @param asynAxis
+     * @return detectorTowerAxis*
+     */
+    detectorTowerAxis *castToVirtualAxis(asynMotorAxis *asynAxis);
+
+  private:
+    // Indices of additional PVs
+#define FIRST_detectorTower_PARAM liftOffset_
+    int liftOffset_;
+    int liftOffsetLowLimit_;
+    int liftOffsetHighLimit_;
+    int tiltOffset_;
+    int tiltOffsetLowLimit_;
+    int tiltOffsetHighLimit_;
+    int positionState_;
+    int reset_;
+#define LAST_detectorTower_PARAM reset_
+
+    friend class detectorTowerAxis;
+};
+#define NUM_detectorTower_DRIVER_PARAMS                                        \
+    (&LAST_detectorTower_PARAM - &FIRST_detectorTower_PARAM + 1)
+
+#endif /* detectorTowerController_H */