lin-epics-modules/mastermacs
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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

3
src/masterMacsAxis.h
View File

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

45
src/masterMacsController.cpp
View File

@ -49,14 +49,10 @@ masterMacsController::masterMacsController(const char *portName,
int numAxes, double movingPollPeriod, int numAxes, double movingPollPeriod,
double idlePollPeriod, double idlePollPeriod,
double comTimeout) double comTimeout)
: sinqController( : sinqController(portName, ipPortConfigName, numAxes, movingPollPeriod,
portName, ipPortConfigName, numAxes, movingPollPeriod, idlePollPeriod, idlePollPeriod,
/* // No additional parameter library entries
The following parameter library entries are added in this driver: 0)
- REREAD_ENCODER_POSITION
- READ_CONFIG
*/
NUM_masterMacs_DRIVER_PARAMS)
{ {
@ -64,22 +60,9 @@ masterMacsController::masterMacsController(const char *portName,
asynStatus status = asynSuccess; asynStatus status = asynSuccess;
// Initialization of all member variables // Initialization of all member variables
lowLevelPortUser_ = nullptr;
comTimeout_ = comTimeout; 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. 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. the message length is encoded in the message header.
*/ */
const char *message_from_device = "\x0D"; // Hex-code for CR const char *message_from_device = "\x0D"; // Hex-code for CR
status = pasynOctetSyncIO->setInputEos( status = pasynOctetSyncIO->setInputEos(ipPortUser_, message_from_device,
lowLevelPortUser_, message_from_device, strlen(message_from_device)); strlen(message_from_device));
if (status != asynSuccess) { if (status != asynSuccess) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\" => %s, line %d:\nFATAL ERROR (setting " "Controller \"%s\" => %s, line %d:\nFATAL ERROR (setting "
"input EOS failed with %s).\nTerminating IOC", "input EOS failed with %s).\nTerminating IOC",
portName, __PRETTY_FUNCTION__, __LINE__, portName, __PRETTY_FUNCTION__, __LINE__,
stringifyAsynStatus(status)); stringifyAsynStatus(status));
pasynOctetSyncIO->disconnect(lowLevelPortUser_); pasynOctetSyncIO->disconnect(ipPortUser_);
exit(-1); exit(-1);
} }
@ -106,7 +89,7 @@ masterMacsController::masterMacsController(const char *portName,
"ParamLib callbacks failed with %s).\nTerminating IOC", "ParamLib callbacks failed with %s).\nTerminating IOC",
portName, __PRETTY_FUNCTION__, __LINE__, portName, __PRETTY_FUNCTION__, __LINE__,
stringifyAsynStatus(status)); stringifyAsynStatus(status));
pasynOctetSyncIO->disconnect(lowLevelPortUser_); pasynOctetSyncIO->disconnect(ipPortUser_);
exit(-1); exit(-1);
} }
} }
@ -193,9 +176,8 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
adjustForPrint(printableCommand, fullCommand, MAXBUF_); adjustForPrint(printableCommand, fullCommand, MAXBUF_);
// Send out the command // Send out the command
status = status = pasynOctetSyncIO->write(
pasynOctetSyncIO->write(lowLevelPortUser_, fullCommand, ipPortUser_, fullCommand, fullCommandLength, comTimeout_, &nbytesOut);
fullCommandLength, comTimeout_, &nbytesOut);
msgPrintControlKey writeKey = msgPrintControlKey writeKey =
msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__); 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 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) 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 = status = pasynOctetSyncIO->read(ipPortUser_, fullResponse, MAXBUF_,
pasynOctetSyncIO->read(lowLevelPortUser_, fullResponse, MAXBUF_,
comTimeout_, &nbytesIn, &eomReason); comTimeout_, &nbytesIn, &eomReason);
pasynOctetSyncIO->flush(lowLevelPortUser_); pasynOctetSyncIO->flush(ipPortUser_);
if (status == asynSuccess) { if (status == asynSuccess) {
status = parseResponse(fullCommand, fullResponse, status = parseResponse(fullCommand, fullResponse,

15
src/masterMacsController.h
View File

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