Initial commit for masterMacs

src/masterMacsController.h

@@ -0,0 +1,105 @@
+/********************************************
+ *  masterMacsController.h
+ *
+ * PMAC V3 controller driver based on the asynMotorController class
+ *
+ * Stefan Mathis, September 2024
+ ********************************************/
+
+#ifndef masterMacsController_H
+#define masterMacsController_H
+#include "masterMacsAxis.h"
+#include "sinqAxis.h"
+#include "sinqController.h"
+
+class masterMacsController : public sinqController {
+
+  public:
+    /**
+     * @brief Construct a new masterMacsController object
+     *
+     * @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.
+     */
+    masterMacsController(const char *portName, const char *ipPortConfigName,
+                         int numAxes, double movingPollPeriod,
+                         double idlePollPeriod, double comTimeout);
+
+    /**
+     * @brief Get the axis object
+     *
+     * @param pasynUser           Specify the axis via the asynUser
+     * @return masterMacsAxis*        If no axis could be found, this is a
+     * nullptr
+     */
+    masterMacsAxis *getAxis(asynUser *pasynUser);
+
+    /**
+     * @brief Get the axis object
+     *
+     * @param axisNo              Specify the axis via its index
+     * @return masterMacsAxis*        If no axis could be found, this is a
+     * nullptr
+     */
+    masterMacsAxis *getAxis(int axisNo);
+
+  protected:
+    asynUser *lowLevelPortUser_;
+
+    /**
+     * @brief Send a command to the hardware and receive a response
+     *
+     * @param axisNo              Axis to which the command should be send
+     * @param command             Command for the hardware
+     * @param response            Buffer for the response. This buffer is
+     * expected to have the size MAXBUF_.
+     * @param numExpectedResponses  The PMAC MCU can send multiple responses at
+     * once. The number of responses is determined by the number of
+     * "subcommands" within command. Therefore it is known in advance how many
+     * "subresponses" are expected. This can be used to check the integrity of
+     * the received response, since the subresponses are separated by carriage
+     * returns (/r). The number of carriage returns is compared to
+     * numExpectedResponses to determine if the communication was successfull.
+     * @return asynStatus
+     */
+    asynStatus writeRead(int axisNo, const char *command, char *response,
+                         bool expectResponse);
+
+    /**
+     * @brief Save cast of the given asynAxis pointer to a masterMacsAxis
+     * pointer. If the cast fails, this function returns a nullptr.
+     *
+     * @param asynAxis
+     * @return masterMacsAxis*
+     */
+    masterMacsAxis *castToAxis(asynMotorAxis *asynAxis);
+
+  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;
+
+    /*
+    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 */