Commit of first version which passes basic tests

src/el734Axis.cpp

@@ -144,6 +144,8 @@ asynStatus el734Axis::init() {
     char response[pC_->MAXBUF_] = {0};
     double motorRecResolution = 0.0;
     double motorPos = 0.0;
+    double motorVelocity = 0.0;
+    int nvals = 0;
 
     // The parameter library takes some time to be initialized. Therefore we
     // wait until the status is not asynParamUndefined anymore.
@@ -176,7 +178,23 @@ asynStatus el734Axis::init() {
     if (status != asynSuccess) {
         return status;
     }
-    sscanf(response, "%lf", &motorPos);
+    nvals = sscanf(response, "%lf", &motorPos);
+    if (nvals != 1) {
+        return pC_->couldNotParseResponse(command, response, axisNo_,
+                                          __PRETTY_FUNCTION__, __LINE__);
+    }
+
+    // Read out the current velocity
+    snprintf(command, sizeof(command), "J %d", axisNo_);
+    status = pC_->writeRead(axisNo_, command, response);
+    if (status != asynSuccess) {
+        return status;
+    }
+    nvals = sscanf(response, "%lf", &motorVelocity);
+    if (nvals != 1) {
+        return pC_->couldNotParseResponse(command, response, axisNo_,
+                                          __PRETTY_FUNCTION__, __LINE__);
+    }
 
     // Store these values in the parameter library
     status = setMotorPosition(motorPos);
@@ -184,6 +202,12 @@ asynStatus el734Axis::init() {
         return status;
     }
 
+    // Limits directly taken from el734_manual.pdf, p. 66.
+    status = setVeloFields(motorVelocity, 33.0, 2000.0);
+    if (status != asynSuccess) {
+        return status;
+    }
+
     // Initial motor status is idle
     setAxisParamChecked(this, motorStatusDone, 1);
 
@@ -210,6 +234,11 @@ asynStatus el734Axis::init() {
     // Motor cannot be disabled
     setAxisParamChecked(this, motorCanDisable, false);
 
+    status = this->readEncoderType();
+    if (status != asynSuccess) {
+        return status;
+    }
+
     return status;
 }
 

src/el734Controller.cpp

@@ -32,17 +32,14 @@ el734Controller::el734Controller(const char *portName,
                                  double movingPollPeriod, double idlePollPeriod,
                                  double comTimeout, int numExtraParams)
     : sinqController(portName, ipPortConfigName, numAxes, movingPollPeriod,
-                     idlePollPeriod, numExtraParams + NUM_el734_DRIVER_PARAMS)
+                     idlePollPeriod, numExtraParams + NUM_el734_DRIVER_PARAMS),
+      pEl734C_(std::make_unique<el734ControllerImpl>((el734ControllerImpl){
+          .comTimeout = comTimeout,
+          .lastResponse = {0},
+          .limFromHardware = 0,
+      }))
 
 {
-
-    // The paramLib indices are populated with the calls to createParam
-    pEl734C_ = std::make_unique<el734ControllerImpl>((el734ControllerImpl){
-        .comTimeout = comTimeout,
-        .lastResponse = {0},
-        .limFromHardware = 0,
-    });
-
     // Initialization of local variables
     asynStatus status = asynSuccess;
 
@@ -68,7 +65,8 @@ el734Controller::el734Controller(const char *portName,
     The el734 controller expects a carriage return as terminator and terminates
     each reply with a carriage return (el734_manual.pdf, p. 58).
     */
-    pasynOctetSyncIO->setOutputEos(pasynUserController_, "\r", strlen("\r"));
+    pasynOctetSyncIO->setOutputEos(pasynOctetSyncIOipPort(), "\r",
+                                   strlen("\r"));
     if (status != asynSuccess) {
         asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d\nFATAL ERROR "
@@ -79,7 +77,7 @@ el734Controller::el734Controller(const char *portName,
         exit(-1);
     }
 
-    pasynOctetSyncIO->setInputEos(pasynUserController_, "\r", strlen("\r"));
+    pasynOctetSyncIO->setInputEos(pasynOctetSyncIOipPort(), "\r", strlen("\r"));
     if (status != asynSuccess) {
         asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d\nFATAL ERROR "
@@ -101,23 +99,6 @@ el734Controller::el734Controller(const char *portName,
         pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
         exit(-1);
     }
-
-    // =========================================================================;
-
-    /*
-    We try to connect to the port via the port name provided by the constructor.
-    If this fails, the function is terminated via exit.
-    */
-    pasynInt32SyncIO->connect(ipPortConfigName, 0,
-                              &pEl734C_->pasynInt32SyncIOipPort, NULL);
-    if (status != asynSuccess || pEl734C_->pasynInt32SyncIOipPort == nullptr) {
-        errlogPrintf("Controller \"%s\" => %s, line %d:\nFATAL ERROR (cannot "
-                     "connect to MCU controller).\n"
-                     "Terminating IOC",
-                     portName, __PRETTY_FUNCTION__, __LINE__);
-        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
-        exit(-1);
-    }
 }
 
 el734Controller::~el734Controller() {}
@@ -337,6 +318,7 @@ asynStatus el734CreateController(const char *portName,
     */
 #pragma GCC diagnostic ignored "-Wunused-but-set-variable"
 #pragma GCC diagnostic ignored "-Wunused-variable"
+
     el734Controller *pController =
         new el734Controller(portName, ipPortConfigName, numAxes,
                             movingPollPeriod, idlePollPeriod, comTimeout);
@@ -344,6 +326,13 @@ asynStatus el734CreateController(const char *portName,
     return asynSuccess;
 }
 
+/*
+This is boilerplate code which is used to make the FFI functions
+CreateController and CreateAxis "known" to the IOC shell (iocsh).
+*/
+
+#ifndef vxWorks
+
 /*
 Define name and type of the arguments for the CreateController function
 in the iocsh. This is done by creating structs with the argument names and
@@ -372,7 +361,7 @@ static void configEl734CreateControllerCallFunc(const iocshArgBuf *args) {
                           args[3].dval, args[4].dval, args[5].dval);
 }
 
-// This function is made known to EPICS in turboPmac.dbd and is called by
+// This function is made known to EPICS in el734.dbd and is called by
 // EPICS in order to register both functions in the IOC shell
 static void el734ControllerRegister(void) {
     iocshRegister(&configEl734CreateController,
@@ -380,4 +369,6 @@ static void el734ControllerRegister(void) {
 }
 epicsExportRegistrar(el734ControllerRegister);
 
+#endif
+
 } // extern "C"