Initial commit for masterMacs

src/masterMacsAxis.h

@@ -0,0 +1,215 @@
+#ifndef masterMacsAXIS_H
+#define masterMacsAXIS_H
+#include "sinqAxis.h"
+#include <bitset>
+
+// Forward declaration of the controller class to resolve the cyclic dependency
+// between C804Controller.h and C804Axis.h. See
+// https://en.cppreference.com/w/cpp/language/class.
+class masterMacsController;
+
+class masterMacsAxis : public sinqAxis {
+  public:
+    /**
+     * @brief Construct a new masterMacsAxis
+     *
+     * @param pController         Pointer to the associated controller
+     * @param axisNo              Index of the axis
+     */
+    masterMacsAxis(masterMacsController *pController, int axisNo);
+
+    /**
+     * @brief Destroy the masterMacsAxis
+     *
+     */
+    virtual ~masterMacsAxis();
+
+    /**
+     * @brief Implementation of the `stop` function from asynMotorAxis
+     *
+     * @param acceleration        Acceleration ACCEL from the motor record. This
+     * value is currently not used.
+     * @return asynStatus
+     */
+    asynStatus stop(double acceleration);
+
+    /**
+     * @brief Implementation of the `doHome` function from sinqAxis. The
+     * parameters are described in the documentation of `sinqAxis::doHome`.
+     *
+     * @param minVelocity
+     * @param maxVelocity
+     * @param acceleration
+     * @param forwards
+     * @return asynStatus
+     */
+    asynStatus doHome(double minVelocity, double maxVelocity,
+                      double acceleration, int forwards);
+
+    /**
+     * @brief Implementation of the `doPoll` function from sinqAxis. The
+     * parameters are described in the documentation of `sinqAxis::doPoll`.
+     *
+     * @param moving
+     * @return asynStatus
+     */
+    asynStatus doPoll(bool *moving);
+
+    /**
+     * @brief Implementation of the `doMove` function from sinqAxis. The
+     * parameters are described in the documentation of `sinqAxis::doMove`.
+     *
+     * @param position
+     * @param relative
+     * @param min_velocity
+     * @param max_velocity
+     * @param acceleration
+     * @return asynStatus
+     */
+    asynStatus doMove(double position, int relative, double min_velocity,
+                      double max_velocity, double acceleration);
+
+    /**
+     * @brief Implementation of the `atFirstPoll` function from sinqAxis.
+     *
+     * The following steps are performed:
+     * - Read out the motor status, motor position, velocity and acceleration
+     * from the MCU and store this information in the parameter library.
+     * - Set the enable PV accordint to the initial status of the axis.
+     *
+     * @return asynStatus
+     */
+    asynStatus atFirstPoll();
+
+    /**
+     * @brief Enable / disable the axis.
+     *
+     * @param on
+     * @return asynStatus
+     */
+    asynStatus enable(bool on);
+
+    /**
+     * @brief Read the encoder type (incremental or absolute) for this axis from
+     * the MCU and store the information in the PV ENCODER_TYPE.
+     *
+     * @return asynStatus
+     */
+    asynStatus readEncoderType();
+
+  protected:
+    masterMacsController *pC_;
+
+    asynStatus readConfig();
+    bool initial_poll_;
+
+    /*
+    The axis status and axis error of MasterMACS are given as an integer from
+    the controller. The 16 individual bits contain the actual information.
+    */
+    std::bitset<16> axisStatus_;
+    std::bitset<16> axisError_;
+
+    /**
+     * @brief Read the Master MACS status with the xR10 command and store the
+     * result in axisStatus_
+     *
+     */
+    asynStatus readAxisStatus();
+
+    /*
+    The functions below read the specified status bit from the axisStatus_
+    bitset. Since a bit can either be 0 or 1, the return value is given as a
+    boolean.
+    */
+
+    /**
+     * @brief Read the property from axisStatus_
+     */
+    bool readyToBeSwitchedOn() { return axisStatus_[0]; }
+
+    /**
+     * @brief Read the property from axisStatus_
+     */
+    bool switchedOn() { return axisStatus_[1]; }
+
+    /**
+     * @brief Read the property from axisStatus_
+     */
+    bool enabled() { return axisStatus_[2]; }
+
+    /**
+     * @brief Read the property from axisStatus_
+     */
+    bool faultConditionSet() { return axisStatus_[3]; }
+
+    /**
+     * @brief Read the property from axisStatus_
+     */
+    bool voltagePresent() { return axisStatus_[4]; }
+
+    /**
+     * @brief Read the property from axisStatus_
+     */
+    bool quickStopping() { return axisStatus_[5] == 0; }
+
+    /**
+     * @brief Read the property from axisStatus_
+     */
+    bool switchOnDisabled() { return axisStatus_[6]; }
+
+    /**
+     * @brief Read the property from axisStatus_
+     */
+    bool newMoveCommandWhileMoving() { return axisStatus_[7]; }
+
+    /**
+     * @brief Read the property from axisStatus_
+     */
+    bool isMoving() { return axisStatus_[8]; }
+
+    /**
+     * @brief Read the property from axisStatus_
+     */
+    bool remoteMode() { return axisStatus_[9]; }
+
+    /**
+     * @brief Read the property from axisStatus_
+     */
+    bool targetReached() { return axisStatus_[10]; }
+
+    /**
+     * @brief Read the property from axisStatus_
+     */
+    bool internalLimitActive() { return axisStatus_[11]; }
+
+    // Bits 12 and 13 are unused
+
+    /**
+     * @brief Read the property from axisStatus_
+     */
+    bool setEventHasOcurred() { return axisStatus_[14]; }
+
+    /**
+     * @brief Read the property from axisStatus_
+     */
+    bool powerEnabled() { return axisStatus_[15]; }
+
+    /**
+     * @brief Read the Master MACS status with the xR10 command and store the
+     * result in axisStatus_
+     *
+     */
+    asynStatus readAxisError();
+
+    /*
+    The functions below read the specified error bit from the axisError_
+    bitset. Since a bit can either be 0 or 1, the return value is given as a
+    boolean.
+    */
+
+  private:
+    friend class masterMacsController;
+};
+
+#endif