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Removed friend class declaration and replaced access to private,properties with accessors

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This commit is contained in:
mathis_s
2025-03-10 17:07:33 +01:00
parent cf9899062a
commit 631ee46a50
4 changed files with 78 additions and 113 deletions
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126
src/masterMacsAxis.cpp
View File

@ -78,13 +78,13 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
bounds, asynMotorAxis prints an error. However, we want the IOC creation to
stop completely, since this is a configuration error.
*/
if (axisNo >= pC->numAxes_) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
if (axisNo >= pC->numAxes()) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:: FATAL ERROR: "
"Axis index %d must be smaller than the total number of axes "
"%d. Call the support.",
pC_->portName, axisNo, __PRETTY_FUNCTION__, __LINE__, axisNo_,
pC->numAxes_);
pC->numAxes());
exit(-1);
}
@ -108,10 +108,10 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
timeAtHandshake_ = 0;
// masterMacs motors can always be disabled
status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable_, 1);
status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable(), 1);
if (status != asynSuccess) {
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
pC_->asynUserSelf(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
"(setting a parameter value failed with %s)\n. Terminating IOC",
pC_->portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
@ -120,10 +120,10 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
}
// Assume that the motor is initially not moving
status = pC_->setIntegerParam(axisNo_, pC_->motorStatusMoving_, false);
status = pC_->setIntegerParam(axisNo_, pC_->motorStatusMoving(), false);
if (status != asynSuccess) {
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
pC_->asynUserSelf(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
"(setting a parameter value failed with %s)\n. Terminating IOC",
pC_->portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
@ -163,11 +163,11 @@ asynStatus masterMacsAxis::init() {
time_t now = time(NULL);
time_t maxInitTime = 60;
while (1) {
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
&motorRecResolution);
if (pl_status == asynParamUndefined) {
if (now + maxInitTime < time(NULL)) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line "
"%d\nInitializing the parameter library failed.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__,
@ -237,7 +237,7 @@ asynStatus masterMacsAxis::init() {
// Store these values in the parameter library
pl_status =
pC_->setDoubleParam(axisNo_, pC_->motorPosition_, motorPosition);
pC_->setDoubleParam(axisNo_, pC_->motorPosition(), motorPosition);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
@ -264,7 +264,7 @@ asynStatus masterMacsAxis::init() {
// If we can't communicate with the parameter library, it doesn't
// make sense to try and upstream this to the user -> Just log the
// error
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line "
"%d:\ncallParamCallbacks failed with %s.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -309,10 +309,10 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
time_t currentTime = time(NULL);
bool timedOut = (currentTime > timeAtHandshake_ + 5);
if (pC_->msgPrintControl_.shouldBePrinted(
if (pC_->getMsgPrintControl().shouldBePrinted(
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, timedOut,
pC_->pasynUserSelf)) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
pC_->asynUserSelf())) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nAsked for a "
"handshake at %ld s and didn't get a positive reply yet "
"(current time is %ld s).\n",
@ -322,7 +322,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
if (timedOut) {
pl_status =
setStringParam(pC_->motorMessageText_,
setStringParam(pC_->motorMessageText(),
"Timed out while waiting for a handshake");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
@ -351,14 +351,14 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
// poll. This is already part of the movement procedure.
*moving = true;
pl_status = setIntegerParam(pC_->motorStatusMoving_, *moving);
pl_status = setIntegerParam(pC_->motorStatusMoving(), *moving);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status,
"motorStatusMoving_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
pl_status = setIntegerParam(pC_->motorStatusDone_, !(*moving));
pl_status = setIntegerParam(pC_->motorStatusDone(), !(*moving));
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorStatusDone_",
axisNo_, __PRETTY_FUNCTION__,
@ -370,7 +370,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
}
// Motor resolution from parameter library
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
&motorRecResolution);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
@ -380,7 +380,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
// Read the previous motor position
pl_status =
pC_->getDoubleParam(axisNo_, pC_->motorPosition_, &previousPosition);
pC_->getDoubleParam(axisNo_, pC_->motorPosition(), &previousPosition);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
@ -431,17 +431,17 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
since this information is not reliable.
*/
if (communicationError()) {
if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
pC_->pasynUserSelf)) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
if (pC_->getMsgPrintControl().shouldBePrinted(
keyError, true, pC_->asynUserSelf())) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line "
"%d\nCommunication error.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
pC_->msgPrintControl_.getSuffix());
pC_->getMsgPrintControl().getSuffix());
}
pl_status =
setStringParam(pC_->motorMessageText_,
setStringParam(pC_->motorMessageText(),
"Communication error between PC and motor "
"controller. Please call the support.");
if (pl_status != asynSuccess) {
@ -589,18 +589,18 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
}
if (strlen(shellMessage) > 0) {
if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
pC_->pasynUserSelf)) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
if (pC_->getMsgPrintControl().shouldBePrinted(
keyError, true, pC_->asynUserSelf())) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line "
"%d\n%s.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__,
__LINE__, shellMessage,
pC_->msgPrintControl_.getSuffix());
pC_->getMsgPrintControl().getSuffix());
}
}
pl_status = setStringParam(pC_->motorMessageText_, userMessage);
pl_status = setStringParam(pC_->motorMessageText(), userMessage);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
axisNo_, __PRETTY_FUNCTION__,
@ -608,7 +608,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
}
}
} else {
pC_->msgPrintControl_.resetCount(keyError, pC_->pasynUserSelf);
pC_->getMsgPrintControl().resetCount(keyError, pC_->asynUserSelf());
}
// Read out the limits, if the motor is not moving
@ -646,7 +646,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
directly, but need to shrink them a bit. In this case, we're shrinking
them by 0.1 mm or 0.1 degree (depending on the axis type) on both sides.
*/
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorLimitsOffset_,
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorLimitsOffset(),
&limitsOffset);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorLimitsOffset_",
@ -656,15 +656,15 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
highLimit = highLimit - limitsOffset;
lowLimit = lowLimit + limitsOffset;
pl_status = pC_->setDoubleParam(axisNo_, pC_->motorHighLimitFromDriver_,
highLimit);
pl_status = pC_->setDoubleParam(
axisNo_, pC_->motorHighLimitFromDriver(), highLimit);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(
pl_status, "motorHighLimitFromDriver_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
pl_status = pC_->setDoubleParam(axisNo_, pC_->motorLowLimitFromDriver_,
pl_status = pC_->setDoubleParam(axisNo_, pC_->motorLowLimitFromDriver(),
lowLimit);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorLowLimit_",
@ -674,7 +674,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
}
// Update the enable PV
pl_status = setIntegerParam(pC_->motorEnableRBV_,
pl_status = setIntegerParam(pC_->motorEnableRBV(),
readyToBeSwitchedOn() && switchedOn());
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorEnableRBV_", axisNo_,
@ -692,27 +692,27 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
// Update the parameter library
if (hasError) {
pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
}
pl_status = setIntegerParam(pC_->motorStatusMoving_, *moving);
pl_status = setIntegerParam(pC_->motorStatusMoving(), *moving);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorStatusMoving_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
pl_status = setIntegerParam(pC_->motorStatusDone_, !(*moving));
pl_status = setIntegerParam(pC_->motorStatusDone(), !(*moving));
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorStatusDone_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
pl_status = setIntegerParam(pC_->motorStatusDirection_, direction);
pl_status = setIntegerParam(pC_->motorStatusDirection(), direction);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorStatusDirection_",
axisNo_, __PRETTY_FUNCTION__,
@ -723,7 +723,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
// masterMacsAxis::init())
currentPosition = currentPosition / motorRecResolution;
pl_status = setDoubleParam(pC_->motorPosition_, currentPosition);
pl_status = setDoubleParam(pC_->motorPosition(), currentPosition);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
@ -751,13 +751,13 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
// =========================================================================
pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableRBV_, &enabled);
pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableRBV(), &enabled);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "enableMotorRBV_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
&motorRecResolution);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
@ -766,7 +766,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
}
if (enabled == 0) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nAxis is "
"disabled.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
@ -778,12 +778,12 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
motorVelocity = maxVelocity * motorRecResolution;
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_FLOW,
pC_->asynUserSelf(), ASYN_TRACE_FLOW,
"Controller \"%s\", axis %d => %s, line %d:\nMove to position %lf.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, position);
// Check if the speed is allowed to be changed
pl_status = pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed_,
pl_status = pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed(),
&motorCanSetSpeed);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorCanSetSpeed_",
@ -794,7 +794,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
// Initialize the movement handshake
rw_status = pC_->write(axisNo_, 86, "0");
if (rw_status != asynSuccess) {
pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
axisNo_, __PRETTY_FUNCTION__,
@ -812,7 +812,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
snprintf(value, sizeof(value), "%lf", motorVelocity);
rw_status = pC_->write(axisNo_, 05, value);
if (rw_status != asynSuccess) {
pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status,
"motorStatusProblem_", axisNo_,
@ -821,7 +821,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
return rw_status;
}
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
"Controller \"%s\", axis %d => %s, line %d:\nSetting speed "
"to %lf.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -832,7 +832,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
snprintf(value, sizeof(value), "%lf", motorCoordinatesPosition);
rw_status = pC_->write(axisNo_, 02, value);
if (rw_status != asynSuccess) {
pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
axisNo_, __PRETTY_FUNCTION__,
@ -848,7 +848,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
rw_status = pC_->write(axisNo_, 00, "1");
}
if (rw_status != asynSuccess) {
pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
axisNo_, __PRETTY_FUNCTION__,
@ -883,7 +883,7 @@ asynStatus masterMacsAxis::stop(double acceleration) {
rw_status = pC_->write(axisNo_, 00, "8");
if (rw_status != asynSuccess) {
pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
axisNo_, __PRETTY_FUNCTION__,
@ -910,7 +910,7 @@ asynStatus masterMacsAxis::doHome(double min_velocity, double max_velocity,
// =========================================================================
pl_status = pC_->getStringParam(axisNo_, pC_->encoderType_,
pl_status = pC_->getStringParam(axisNo_, pC_->encoderType(),
sizeof(response), response);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "encoderType_", axisNo_,
@ -923,7 +923,7 @@ asynStatus masterMacsAxis::doHome(double min_velocity, double max_velocity,
// Initialize the movement handshake
rw_status = pC_->write(axisNo_, 86, "0");
if (rw_status != asynSuccess) {
pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status,
"motorStatusProblem_", axisNo_,
@ -983,9 +983,9 @@ asynStatus masterMacsAxis::readEncoderType() {
2=SSI (Absolute encoder with BiSS interface)
*/
if (encoder_id == 0) {
pl_status = setStringParam(pC_->encoderType_, IncrementalEncoder);
pl_status = setStringParam(pC_->encoderType(), IncrementalEncoder);
} else {
pl_status = setStringParam(pC_->encoderType_, AbsoluteEncoder);
pl_status = setStringParam(pC_->encoderType(), AbsoluteEncoder);
}
if (pl_status != asynSuccess) {
@ -1017,13 +1017,13 @@ asynStatus masterMacsAxis::enable(bool on) {
// axis instead of "moving", since status -6 is also moving, but the
// motor can actually be disabled in this state!
if (moving) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nAxis is not "
"idle and can therefore not be disabled.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
pl_status =
setStringParam(pC_->motorMessageText_,
setStringParam(pC_->motorMessageText(),
"Axis cannot be disabled while it is moving.");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
@ -1039,7 +1039,7 @@ asynStatus masterMacsAxis::enable(bool on) {
if ((readyToBeSwitchedOn() && switchedOn()) == on) {
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_WARNING,
pC_->asynUserSelf(), ASYN_TRACE_WARNING,
"Controller \"%s\", axis %d => %s, line %d:\nAxis is already %s.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
on ? "enabled" : "disabled");
@ -1048,14 +1048,14 @@ asynStatus masterMacsAxis::enable(bool on) {
// Enable / disable the axis if it is not moving
snprintf(value, sizeof(value), "%d", on);
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
"Controller \"%s\", axis %d => %s, line %d:\n%s axis.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
on ? "Enable" : "Disable");
if (on == 0) {
pl_status = setStringParam(pC_->motorMessageText_, "Disabling ...");
pl_status = setStringParam(pC_->motorMessageText(), "Disabling ...");
} else {
pl_status = setStringParam(pC_->motorMessageText_, "Enabling ...");
pl_status = setStringParam(pC_->motorMessageText(), "Enabling ...");
}
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
@ -1089,7 +1089,7 @@ asynStatus masterMacsAxis::enable(bool on) {
// Failed to change axis status within timeout_enable_disable => Send a
// corresponding message
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nFailed to %s axis "
"within %d seconds\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@ -1098,7 +1098,7 @@ asynStatus masterMacsAxis::enable(bool on) {
// Output message to user
snprintf(value, sizeof(value), "Failed to %s within %d seconds",
on ? "enable" : "disable", timeout_enable_disable);
pl_status = setStringParam(pC_->motorMessageText_, "Enabling ...");
pl_status = setStringParam(pC_->motorMessageText(), "Enabling ...");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
axisNo_, __PRETTY_FUNCTION__,

3
src/masterMacsAxis.h
View File

@ -273,9 +273,6 @@ class masterMacsAxis : public sinqAxis {
* @brief Read the property from axisError_
*/
bool stoFault() { return axisError_[15]; }
private:
friend class masterMacsController;
};
#endif

47
src/masterMacsController.cpp
View File

@ -49,14 +49,10 @@ masterMacsController::masterMacsController(const char *portName,
int numAxes, double movingPollPeriod,
double idlePollPeriod,
double comTimeout)
: sinqController(
portName, ipPortConfigName, numAxes, movingPollPeriod, idlePollPeriod,
/*
The following parameter library entries are added in this driver:
- REREAD_ENCODER_POSITION
- READ_CONFIG
*/
NUM_masterMacs_DRIVER_PARAMS)
: sinqController(portName, ipPortConfigName, numAxes, movingPollPeriod,
idlePollPeriod,
// No additional parameter library entries
0)
{
@ -64,22 +60,9 @@ masterMacsController::masterMacsController(const char *portName,
asynStatus status = asynSuccess;
// Initialization of all member variables
lowLevelPortUser_ = nullptr;
comTimeout_ = comTimeout;
// =========================================================================;
/*
We try to connect to the port via the port name provided by the constructor.
If this fails, the function is terminated via exit
*/
pasynOctetSyncIO->connect(ipPortConfigName, 0, &lowLevelPortUser_, NULL);
if (status != asynSuccess || lowLevelPortUser_ == nullptr) {
errlogPrintf("Controller \"%s\" => %s, line %d:\nFATAL ERROR (cannot "
"connect to MCU controller).\nTerminating IOC",
portName, __PRETTY_FUNCTION__, __LINE__);
exit(-1);
}
// =========================================================================
/*
Define the end-of-string of a message coming from the device to EPICS.
@ -87,15 +70,15 @@ masterMacsController::masterMacsController(const char *portName,
the message length is encoded in the message header.
*/
const char *message_from_device = "\x0D"; // Hex-code for CR
status = pasynOctetSyncIO->setInputEos(
lowLevelPortUser_, message_from_device, strlen(message_from_device));
status = pasynOctetSyncIO->setInputEos(ipPortUser_, message_from_device,
strlen(message_from_device));
if (status != asynSuccess) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\" => %s, line %d:\nFATAL ERROR (setting "
"input EOS failed with %s).\nTerminating IOC",
portName, __PRETTY_FUNCTION__, __LINE__,
stringifyAsynStatus(status));
pasynOctetSyncIO->disconnect(lowLevelPortUser_);
pasynOctetSyncIO->disconnect(ipPortUser_);
exit(-1);
}
@ -106,7 +89,7 @@ masterMacsController::masterMacsController(const char *portName,
"ParamLib callbacks failed with %s).\nTerminating IOC",
portName, __PRETTY_FUNCTION__, __LINE__,
stringifyAsynStatus(status));
pasynOctetSyncIO->disconnect(lowLevelPortUser_);
pasynOctetSyncIO->disconnect(ipPortUser_);
exit(-1);
}
}
@ -193,9 +176,8 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
adjustForPrint(printableCommand, fullCommand, MAXBUF_);
// Send out the command
status =
pasynOctetSyncIO->write(lowLevelPortUser_, fullCommand,
fullCommandLength, comTimeout_, &nbytesOut);
status = pasynOctetSyncIO->write(
ipPortUser_, fullCommand, fullCommandLength, comTimeout_, &nbytesOut);
msgPrintControlKey writeKey =
msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
@ -221,10 +203,9 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
the return value of flush(), because it is always asynSuccess (see
https://www.slac.stanford.edu/grp/lcls/controls/global/doc/epics-modules/R3-14-12/asyn/asyn-R4-18-lcls2/asyn/interfaces/asynOctetBase.c)
*/
status =
pasynOctetSyncIO->read(lowLevelPortUser_, fullResponse, MAXBUF_,
comTimeout_, &nbytesIn, &eomReason);
pasynOctetSyncIO->flush(lowLevelPortUser_);
status = pasynOctetSyncIO->read(ipPortUser_, fullResponse, MAXBUF_,
comTimeout_, &nbytesIn, &eomReason);
pasynOctetSyncIO->flush(ipPortUser_);
if (status == asynSuccess) {
status = parseResponse(fullCommand, fullResponse,

15
src/masterMacsController.h
View File

@ -49,9 +49,6 @@ class masterMacsController : public sinqController {
*/
masterMacsAxis *getMasterMacsAxis(int axisNo);
protected:
asynUser *lowLevelPortUser_;
/**
* @brief Send a command to the hardware (S mode)
*
@ -114,26 +111,16 @@ class masterMacsController : public sinqController {
int *valueStop, int axisNo, int tcpCmd,
bool isRead);
private:
// Set the maximum buffer size. This is an empirical value which must be
// large enough to avoid overflows for all commands to the device /
// responses from it.
static const uint32_t MAXBUF_ = 200;
private:
/*
Stores the constructor input comTimeout
*/
double comTimeout_;
// Indices of additional PVs
#define FIRST_masterMacs_PARAM rereadEncoderPosition_
int rereadEncoderPosition_;
int readConfig_;
#define LAST_masterMacs_PARAM readConfig_
friend class masterMacsAxis;
};
#define NUM_masterMacs_DRIVER_PARAMS \
(&LAST_masterMacs_PARAM - &FIRST_masterMacs_PARAM + 1)
#endif /* masterMacsController_H */