lin-epics-modules/motorBase
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MarkRivers
2011-03-31 18:21:29 +00:00
parent f2ff9ac4ea
commit 032bc591ef
2 changed files with 36 additions and 33 deletions
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motorApp/MotorSrc/asynMotorDriver.cpp
+35 -32
View File
@@ -14,37 +14,6 @@
static const char *driverName = "asynMotorDriver";
static void asynMotorPollerC(void *drvPvt);
/** Creates a new asynMotorAxis object.
* \param[in] pC Pointer to the asynMotorController to which this axis belongs.
* \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
*
* Checks that pC is not null, and that axisNo is in the valid range.
* Sets a pointer to itself in pC->pAxes[axisNo_].
* Connects pasynUser_ to this asyn port and axisNo.
*/
asynMotorAxis::asynMotorAxis(class asynMotorController *pC, int axisNo)
: pC_(pC), axisNo_(axisNo), statusChanged_(1)
{
static const char *functionName = "asynMotorAxis::asynMotorAxis";
if (!pC) {
printf("%s:%s: Error, controller is NULL\n",
driverName, functionName);
return;
}
if ((axisNo < 0) || (axisNo >= pC->numAxes_)) {
printf("%s:%s: Error, axis=%d is not in range 0 to %d\n",
driverName, functionName, axisNo, pC->numAxes_-1);
return;
}
pC->pAxes_[axisNo] = this;
status_.status = 0;
// Create the asynUser, connect to this axis
pasynUser_ = pasynManager->createAsynUser(NULL, NULL);
pasynManager->connectDevice(pasynUser_, pC->portName, axisNo);
}
/** Creates a new asynMotorController object.
* All of the arguments are simply passed to the constructor for the asynPortDriver base class.
* After calling the base class constructor this method creates the motor parameters
@@ -118,7 +87,7 @@ asynMotorController::asynMotorController(const char *portName, int numAxes, int
* controller-specific parameters on the asynInt32 interface. They should call this
* base class method for any parameters that are not controller-specific.
* \param[in] pasynUser asynUser structure that encodes the reason and address.
* \param[in] value Value to write. */
* \param[in] value Value to write. */
asynStatus asynMotorController::writeInt32(asynUser *pasynUser, epicsInt32 value)
{
int axis;
@@ -423,6 +392,40 @@ void asynMotorController::asynMotorPoller()
}
// asynMotorAxis methods
/** Creates a new asynMotorAxis object.
* \param[in] pC Pointer to the asynMotorController to which this axis belongs.
* \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
*
* Checks that pC is not null, and that axisNo is in the valid range.
* Sets a pointer to itself in pC->pAxes[axisNo_].
* Connects pasynUser_ to this asyn port and axisNo.
*/
asynMotorAxis::asynMotorAxis(class asynMotorController *pC, int axisNo)
: pC_(pC), axisNo_(axisNo), statusChanged_(1)
{
static const char *functionName = "asynMotorAxis::asynMotorAxis";
if (!pC) {
printf("%s:%s: Error, controller is NULL\n",
driverName, functionName);
return;
}
if ((axisNo < 0) || (axisNo >= pC->numAxes_)) {
printf("%s:%s: Error, axis=%d is not in range 0 to %d\n",
driverName, functionName, axisNo, pC->numAxes_-1);
return;
}
pC->pAxes_[axisNo] = this;
status_.status = 0;
// Create the asynUser, connect to this axis
pasynUser_ = pasynManager->createAsynUser(NULL, NULL);
pasynManager->connectDevice(pasynUser_, pC->portName, axisNo);
}
// We implement the setIntegerParam, setDoubleParam, and callParamCallbacks methods so we can construct
// the aggregate status structure and do callbacks on it
motorApp/MotorSrc/asynMotorDriver.h
+1 -1
View File
@@ -105,7 +105,7 @@ public:
* This function should read the controller position, encoder position, and as many of the motorStatus flags
* as the hardware supports. It should call setIntegerParam() and setDoubleParam() for each item that it polls,
* and then call callParamCallbacks() at the end.
* \param[in] moving A flag that the function must set indicating that the axis is moving (1) or done (0). */
* \param[out] moving A flag that the function must set indicating that the axis is moving (1) or done (0). */
virtual asynStatus poll(int *moving) = 0;
/** Set the current position of the motor.