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Rename ERROR to avoid conflict on vxWorks; add Profile functions to table

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This commit is contained in:
MarkRivers
2009-09-01 16:19:45 +00:00
parent 1fb6a248f3
commit 145e053da7
2 changed files with 74 additions and 72 deletions
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motorApp/NewportSrc/drvMM4000Asyn.c
+17 -15
View File
@@ -2,9 +2,9 @@
FILENAME... drvMM4000Asyn.cc
USAGE... Motor record asyn driver level support for Newport MM4000.
Version: $Revision: 1.10 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2009-06-18 19:26:18 $
Version: $Revision: 1.11 $
Modified By: $Author: rivers $
Last Modified: $Date: 2009-09-01 16:19:17 $
*/
/*
@@ -91,7 +91,9 @@ motorAxisDrvSET_t motorMM4000 =
motorAxisMove, /**< Pointer to function to execute a position move */
motorAxisVelocityMove, /**< Pointer to function to execute a velocity mode move */
motorAxisStop, /**< Pointer to function to stop motion */
motorAxisforceCallback /**< Pointer to function to request a poller status update */
motorAxisforceCallback, /**< Pointer to function to request a poller status update */
motorAxisProfileMove, /**< Pointer to function to execute a profile move */
motorAxisTriggerProfile /**< Pointer to function to trigger a profile move */
};
epicsExportAddress(drvet, motorMM4000);
@@ -148,7 +150,7 @@ static asynStatus sendAndReceive(MM4000Controller *pController, char *outputStri
#define PRINT (drv.print)
#define FLOW motorAxisTraceFlow
#define ERROR motorAxisTraceError
#define MOTOR_ERROR motorAxisTraceError
#define IODRIVER motorAxisTraceIODriver
#define MM4000_MAX_AXES 8
@@ -325,12 +327,12 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
}
case motorAxisEncoderRatio:
{
PRINT(pAxis->logParam, ERROR, "motorAxisSetDouble: MM4000 does not support setting encoder ratio\n");
PRINT(pAxis->logParam, MOTOR_ERROR, "motorAxisSetDouble: MM4000 does not support setting encoder ratio\n");
break;
}
case motorAxisResolution:
{
PRINT(pAxis->logParam, ERROR, "motorAxisSetDouble: MM4000 does not support setting resolution\n");
PRINT(pAxis->logParam, MOTOR_ERROR, "motorAxisSetDouble: MM4000 does not support setting resolution\n");
break;
}
case motorAxisLowLimit:
@@ -349,26 +351,26 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
}
case motorAxisPGain:
{
PRINT(pAxis->logParam, ERROR, "MM4000 does not support setting proportional gain\n");
PRINT(pAxis->logParam, MOTOR_ERROR, "MM4000 does not support setting proportional gain\n");
break;
}
case motorAxisIGain:
{
PRINT(pAxis->logParam, ERROR, "MM4000 does not support setting integral gain\n");
PRINT(pAxis->logParam, MOTOR_ERROR, "MM4000 does not support setting integral gain\n");
break;
}
case motorAxisDGain:
{
PRINT(pAxis->logParam, ERROR, "MM4000 does not support setting derivative gain\n");
PRINT(pAxis->logParam, MOTOR_ERROR, "MM4000 does not support setting derivative gain\n");
break;
}
case motorAxisClosedLoop:
{
PRINT(pAxis->logParam, ERROR, "MM4000 does not support changing closed loop or torque\n");
PRINT(pAxis->logParam, MOTOR_ERROR, "MM4000 does not support changing closed loop or torque\n");
break;
}
default:
PRINT(pAxis->logParam, ERROR, "motorAxisSetDouble: unknown function %d\n", function);
PRINT(pAxis->logParam, MOTOR_ERROR, "motorAxisSetDouble: unknown function %d\n", function);
break;
}
if (ret_status == MOTOR_AXIS_OK )
@@ -399,7 +401,7 @@ static int motorAxisSetInteger(AXIS_HDL pAxis, motorAxisParam_t function, int va
}
break;
default:
PRINT(pAxis->logParam, ERROR, "motorAxisSetInteger: unknown function %d\n", function);
PRINT(pAxis->logParam, MOTOR_ERROR, "motorAxisSetInteger: unknown function %d\n", function);
break;
}
if (ret_status != MOTOR_AXIS_ERROR) status = motorParam->setInteger(pAxis->params, function, value);
@@ -602,7 +604,7 @@ static void MM4000Poller(MM4000Controller *pController)
break;
if (comStatus != 0)
{
PRINT(pAxis->logParam, ERROR, "MM4000Poller: error reading status=%d\n", comStatus);
PRINT(pAxis->logParam, MOTOR_ERROR, "MM4000Poller: error reading status=%d\n", comStatus);
motorParam->setInteger(pAxis->params, motorAxisCommError, 1);
}
else
@@ -659,7 +661,7 @@ static void MM4000Poller(MM4000Controller *pController)
else
{
intval = 1;
PRINT(pAxis->logParam, ERROR, "MM4000Poller: controller error %s\n", buff);
PRINT(pAxis->logParam, MOTOR_ERROR, "MM4000Poller: controller error %s\n", buff);
}
motorParam->setInteger(params, motorAxisProblem, intval);
}
motorApp/NewportSrc/drvXPSAsyn.c
+57 -57
View File
@@ -45,7 +45,9 @@ motorAxisDrvSET_t motorXPS =
motorAxisMove, /**< Pointer to function to execute a position move */
motorAxisVelocityMove, /**< Pointer to function to execute a velocity mode move */
motorAxisStop, /**< Pointer to function to stop motion */
motorAxisforceCallback /**< Pointer to function to request a poller status update */
motorAxisforceCallback, /**< Pointer to function to request a poller status update */
motorAxisProfileMove, /**< Pointer to function to execute a profile move */
motorAxisTriggerProfile /**< Pointer to function to trigger a profile move */
};
epicsExportAddress(drvet, motorXPS);
@@ -157,7 +159,7 @@ static double setPosSleepTime = 0.5;
static int motorXPSLogMsg(void * param, const motorAxisLogMask_t logMask, const char *pFormat, ...);
#define PRINT (pAxis->print)
#define FLOW motorAxisTraceFlow
#define ERROR motorAxisTraceError
#define MOTOR_ERROR motorAxisTraceError
#define IODRIVER motorAxisTraceIODriver
#define XPS_MAX_AXES 8
@@ -376,7 +378,7 @@ static int processDeferredMovesInGroup(const XPSController * pController, char *
/*Get the number of axes in this group, and allocate buffer for positions.*/
NbPositioners = isAxisInGroup(pAxis);
if ((positions = (double *)calloc(NbPositioners, sizeof(double))) == NULL) {
PRINT(pAxis->logParam, ERROR, "Cannot allocate memory for positions array in processDeferredMovesInGroup.\n" );
PRINT(pAxis->logParam, MOTOR_ERROR, "Cannot allocate memory for positions array in processDeferredMovesInGroup.\n" );
return MOTOR_AXIS_ERROR;
}
first_loop = 0;
@@ -420,7 +422,7 @@ static int processDeferredMovesInGroup(const XPSController * pController, char *
}
if (status!=0) {
PRINT(pAxis->logParam, ERROR, "Error peforming GroupMoveAbsolute/Relative in processDeferredMovesInGroup. XPS Return code: %d\n", status);
PRINT(pAxis->logParam, MOTOR_ERROR, "Error peforming GroupMoveAbsolute/Relative in processDeferredMovesInGroup. XPS Return code: %d\n", status);
if (positions != NULL) {
free(positions);
}
@@ -503,7 +505,7 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
{
/*If the user has disabled setting the controller position, skip this.*/
if (!doSetPosition) {
PRINT(pAxis->logParam, ERROR, "XPS set position is disabled. Enable it using XPSEnableSetPosition(1).\n");
PRINT(pAxis->logParam, MOTOR_ERROR, "XPS set position is disabled. Enable it using XPSEnableSetPosition(1).\n");
} else {
/*Test if this axis is in a XPS group.*/
axesInGroup = isAxisInGroup(pAxis);
@@ -520,7 +522,7 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
&positions[axisIndex]);
}
if (status != 0) {
PRINT(pAxis->logParam, ERROR, " Error performing GroupPositionCurrentGet(%d,%d). Aborting set position. XPS API Error: %d.\n",
PRINT(pAxis->logParam, MOTOR_ERROR, " Error performing GroupPositionCurrentGet(%d,%d). Aborting set position. XPS API Error: %d.\n",
pAxis->card, pAxis->axis, status);
} else {
status = GroupKill(pAxis->pollSocket,
@@ -528,7 +530,7 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
status = GroupInitialize(pAxis->pollSocket,
pAxis->groupName);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, " Error performing GroupKill/GroupInitialize(%d,%d). Aborting set position. XPS API Error: %d.\n",
PRINT(pAxis->logParam, MOTOR_ERROR, " Error performing GroupKill/GroupInitialize(%d,%d). Aborting set position. XPS API Error: %d.\n",
pAxis->card, pAxis->axis, status);
} else {
@@ -563,7 +565,7 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
status = GroupReferencingStop(pAxis->pollSocket,
pAxis->groupName);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, " Error performing referencing set position (%d,%d). XPS API Error: %d.",
PRINT(pAxis->logParam, MOTOR_ERROR, " Error performing referencing set position (%d,%d). XPS API Error: %d.",
pAxis->card, pAxis->axis, status);
}
}
@@ -576,7 +578,7 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
status = GroupInitialize(pAxis->pollSocket,
pAxis->groupName);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, " Error performing GroupKill/GroupInitialize(%d,%d). XPS API Error: %d. Aborting set position.\n",
PRINT(pAxis->logParam, MOTOR_ERROR, " Error performing GroupKill/GroupInitialize(%d,%d). XPS API Error: %d. Aborting set position.\n",
pAxis->card, pAxis->axis, status);
} else {
@@ -594,7 +596,7 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
status = GroupReferencingStop(pAxis->pollSocket,
pAxis->groupName);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, " Error performing referencing set position (%d,%d). XPS API Error: %d.",
PRINT(pAxis->logParam, MOTOR_ERROR, " Error performing referencing set position (%d,%d). XPS API Error: %d.",
pAxis->card, pAxis->axis, status);
}
}
@@ -604,7 +606,7 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
}
case motorAxisEncoderRatio:
{
PRINT(pAxis->logParam, ERROR, "motorAxisSetDouble: XPS does not support setting encoder ratio\n");
PRINT(pAxis->logParam, MOTOR_ERROR, "motorAxisSetDouble: XPS does not support setting encoder ratio\n");
break;
}
case motorAxisResolution:
@@ -621,14 +623,14 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
pAxis->positionerName,
&pAxis->lowLimit, &pAxis->highLimit);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "motorAxisSetDouble[%d,%d]: error performing PositionerUserTravelLimitsGet "
PRINT(pAxis->logParam, MOTOR_ERROR, "motorAxisSetDouble[%d,%d]: error performing PositionerUserTravelLimitsGet "
"for high limit=%f, status=%d\n", pAxis->card, pAxis->axis, deviceValue, status);
}
status = PositionerUserTravelLimitsSet(pAxis->pollSocket,
pAxis->positionerName,
deviceValue, pAxis->highLimit);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "motorAxisSetDouble[%d,%d]: error performing PositionerUserTravelLimitsSet "
PRINT(pAxis->logParam, MOTOR_ERROR, "motorAxisSetDouble[%d,%d]: error performing PositionerUserTravelLimitsSet "
"for low limit=%f, status=%d\n", pAxis->card, pAxis->axis, deviceValue, status);
} else {
pAxis->lowLimit = deviceValue;
@@ -645,14 +647,14 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
pAxis->positionerName,
&pAxis->lowLimit, &pAxis->highLimit);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "motorAxisSetDouble[%d,%d]: error performing PositionerUserTravelLimitsGet "
PRINT(pAxis->logParam, MOTOR_ERROR, "motorAxisSetDouble[%d,%d]: error performing PositionerUserTravelLimitsGet "
"for high limit=%f, status=%d\n", pAxis->card, pAxis->axis, deviceValue, status);
}
status = PositionerUserTravelLimitsSet(pAxis->pollSocket,
pAxis->positionerName,
pAxis->lowLimit, deviceValue);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "motorAxisSetDouble[%d,%d]: error performing PositionerUserTravelLimitsSet "
PRINT(pAxis->logParam, MOTOR_ERROR, "motorAxisSetDouble[%d,%d]: error performing PositionerUserTravelLimitsSet "
"for high limit=%f, status=%d\n", pAxis->card, pAxis->axis, deviceValue, status);
} else {
pAxis->highLimit = deviceValue;
@@ -678,7 +680,7 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
}
case motorAxisClosedLoop:
{
PRINT(pAxis->logParam, ERROR, "XPS does not support changing closed loop or torque\n");
PRINT(pAxis->logParam, MOTOR_ERROR, "XPS does not support changing closed loop or torque\n");
break;
}
case minJerkTime:
@@ -701,13 +703,13 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
}
pAxis->pController->movesDeferred = (int)value;
if (status) {
PRINT(pAxis->logParam, ERROR, "Deferred moved failed on XPS %d, status=%d\n", pAxis->card, status);
PRINT(pAxis->logParam, MOTOR_ERROR, "Deferred moved failed on XPS %d, status=%d\n", pAxis->card, status);
ret_status = MOTOR_AXIS_ERROR;
}
break;
}
default:
PRINT(pAxis->logParam, ERROR, "motorAxisSetDouble[%d,%d]: unknown function %d\n", pAxis->card, pAxis->axis, function);
PRINT(pAxis->logParam, MOTOR_ERROR, "motorAxisSetDouble[%d,%d]: unknown function %d\n", pAxis->card, pAxis->axis, function);
break;
}
@@ -736,7 +738,7 @@ static int motorAxisSetInteger(AXIS_HDL pAxis, motorAxisParam_t function, int va
if (value) {
status = GroupMotionEnable(pAxis->pollSocket, pAxis->groupName);
if (status) {
PRINT(pAxis->logParam, ERROR, "motorAxisSetInteger[%d,%d]: error calling GroupMotionEnable status=%d\n",
PRINT(pAxis->logParam, MOTOR_ERROR, "motorAxisSetInteger[%d,%d]: error calling GroupMotionEnable status=%d\n",
pAxis->card, pAxis->axis, status);
} else {
PRINT(pAxis->logParam, FLOW, "motorAxisSetInteger set card %d, axis %d closed loop enable\n",
@@ -746,7 +748,7 @@ static int motorAxisSetInteger(AXIS_HDL pAxis, motorAxisParam_t function, int va
} else {
status = GroupMotionDisable(pAxis->pollSocket, pAxis->groupName);
if (status) {
PRINT(pAxis->logParam, ERROR, "motorAxisSetInteger[%d,%d]: error calling GroupMotionDisable status=%d\n",
PRINT(pAxis->logParam, MOTOR_ERROR, "motorAxisSetInteger[%d,%d]: error calling GroupMotionDisable status=%d\n",
pAxis->card, pAxis->axis, status);
} else {
PRINT(pAxis->logParam, FLOW, "motorAxisSetInteger set card %d, axis %d closed loop disable\n",
@@ -763,13 +765,13 @@ static int motorAxisSetInteger(AXIS_HDL pAxis, motorAxisParam_t function, int va
}
pAxis->pController->movesDeferred = value;
if (status) {
PRINT(pAxis->logParam, ERROR, "Deferred moved failed on XPS %d, status=%d\n", pAxis->card, status);
PRINT(pAxis->logParam, MOTOR_ERROR, "Deferred moved failed on XPS %d, status=%d\n", pAxis->card, status);
ret_status = MOTOR_AXIS_ERROR;
}
break;
}
default:
PRINT(pAxis->logParam, ERROR, "motorAxisSetInteger[%d,%d]: unknown function %d\n", pAxis->card, pAxis->axis, function);
PRINT(pAxis->logParam, MOTOR_ERROR, "motorAxisSetInteger[%d,%d]: unknown function %d\n", pAxis->card, pAxis->axis, function);
break;
}
if (ret_status != MOTOR_AXIS_ERROR) status = motorParam->setInteger(pAxis->params, function, value);
@@ -793,7 +795,7 @@ static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
if (pAxis->axisStatus >= 20 && pAxis->axisStatus <= 36) {
status = GroupMotionEnable(pAxis->pollSocket, pAxis->groupName);
if (status) {
PRINT(pAxis->logParam, ERROR, "motorAxisMove[%d,%d]: error performing GroupMotionEnable %d\n",pAxis->card, pAxis->axis, status);
PRINT(pAxis->logParam, MOTOR_ERROR, "motorAxisMove[%d,%d]: error performing GroupMotionEnable %d\n",pAxis->card, pAxis->axis, status);
/* Error -27 is caused when the motor record changes dir i.e. when it aborts a move!*/
return MOTOR_AXIS_ERROR;
}
@@ -806,7 +808,7 @@ static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
pAxis->maxJerkTime);
if (status != 0) {
ErrorStringGet(pAxis->pollSocket, status, errorString);
PRINT(pAxis->logParam, ERROR, " Error performing PositionerSGammaParametersSet[%d,%d] %d: %s\n",
PRINT(pAxis->logParam, MOTOR_ERROR, " Error performing PositionerSGammaParametersSet[%d,%d] %d: %s\n",
pAxis->card, pAxis->axis, status, errorString);
return MOTOR_AXIS_ERROR;
}
@@ -824,7 +826,7 @@ static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
pAxis->deferred_relative = relative;
}
if (status != 0 && status != -27) {
PRINT(pAxis->logParam, ERROR, " Error performing GroupMoveRelative[%d,%d] %d\n", pAxis->card, pAxis->axis, status);
PRINT(pAxis->logParam, MOTOR_ERROR, " Error performing GroupMoveRelative[%d,%d] %d\n", pAxis->card, pAxis->axis, status);
/* Error -27 is caused when the motor record changes dir i.e. when it aborts a move!*/
return MOTOR_AXIS_ERROR;
}
@@ -840,7 +842,7 @@ static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
pAxis->deferred_relative = relative;
}
if (status != 0 && status != -27) {
PRINT(pAxis->logParam, ERROR, " Error performing GroupMoveAbsolute[%d,%d] %d\n",pAxis->card, pAxis->axis, status);
PRINT(pAxis->logParam, MOTOR_ERROR, " Error performing GroupMoveAbsolute[%d,%d] %d\n",pAxis->card, pAxis->axis, status);
/* Error -27 is caused when the motor record changes dir i.e. when it aborts a move!*/
return MOTOR_AXIS_ERROR;
}
@@ -868,7 +870,7 @@ static int motorAxisHome(AXIS_HDL pAxis, double min_velocity, double max_velocit
if (groupStatus >= 10 && groupStatus <= 18) {
status = GroupKill(pAxis->pollSocket, pAxis->groupName);
if (status) {
PRINT(pAxis->logParam, ERROR, "motorAxisHome[%d,%d]: error calling GroupKill error=%s\n",
PRINT(pAxis->logParam, MOTOR_ERROR, "motorAxisHome[%d,%d]: error calling GroupKill error=%s\n",
pAxis->card, pAxis->axis, getXPSError(pAxis, status, errorBuffer));
return MOTOR_AXIS_ERROR;
}
@@ -878,14 +880,14 @@ static int motorAxisHome(AXIS_HDL pAxis, double min_velocity, double max_velocit
if (groupStatus >= 0 && groupStatus <= 9) {
status = GroupInitialize(pAxis->pollSocket, pAxis->groupName);
if (status) {
PRINT(pAxis->logParam, ERROR, "motorAxisHome[%d,%d]: error calling GroupInitialize error=%s\n",
PRINT(pAxis->logParam, MOTOR_ERROR, "motorAxisHome[%d,%d]: error calling GroupInitialize error=%s\n",
pAxis->card, pAxis->axis, getXPSError(pAxis, status, errorBuffer));
return MOTOR_AXIS_ERROR;
}
}
status = GroupHomeSearch(pAxis->moveSocket, pAxis->groupName);
if (status) {
PRINT(pAxis->logParam, ERROR, "motorAxisHome[%d,%d]: error calling GroupHomeSearch error=%s\n",
PRINT(pAxis->logParam, MOTOR_ERROR, "motorAxisHome[%d,%d]: error calling GroupHomeSearch error=%s\n",
pAxis->card, pAxis->axis, getXPSError(pAxis, status, errorBuffer));
return MOTOR_AXIS_ERROR;
}
@@ -909,7 +911,7 @@ static int motorAxisVelocityMove(AXIS_HDL pAxis, double min_velocity, double vel
if (pAxis == NULL) return(status);
status = GroupJogModeEnable(pAxis->pollSocket, pAxis->groupName);
if (status) {
PRINT(pAxis->logParam, ERROR, "motorAxisVelocityMove[%d,%d]: error calling GroupJogModeEnable=%d\n",
PRINT(pAxis->logParam, MOTOR_ERROR, "motorAxisVelocityMove[%d,%d]: error calling GroupJogModeEnable=%d\n",
pAxis->card, pAxis->axis, status);
return MOTOR_AXIS_ERROR;
}
@@ -917,7 +919,7 @@ static int motorAxisVelocityMove(AXIS_HDL pAxis, double min_velocity, double vel
deviceAcceleration = acceleration * pAxis->stepSize;
status = GroupJogParametersSet(pAxis->moveSocket, pAxis->positionerName, 1, &deviceVelocity, &deviceAcceleration);
if (status) {
PRINT(pAxis->logParam, ERROR, "motorAxisVelocityMove[%d,%d]: error calling GroupJogParametersSet=%d\n",
PRINT(pAxis->logParam, MOTOR_ERROR, "motorAxisVelocityMove[%d,%d]: error calling GroupJogParametersSet=%d\n",
pAxis->card, pAxis->axis, status);
return MOTOR_AXIS_ERROR;
}
@@ -953,7 +955,7 @@ static int motorAxisStop(AXIS_HDL pAxis, double acceleration)
status = GroupStatusGet(pAxis->pollSocket, pAxis->groupName, &pAxis->axisStatus);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, " Error performing GroupStatusGet[%d,%d] status=%d%\n",\
PRINT(pAxis->logParam, MOTOR_ERROR, " Error performing GroupStatusGet[%d,%d] status=%d%\n",\
pAxis->card, pAxis->axis, status);
return MOTOR_AXIS_ERROR;
}
@@ -961,7 +963,7 @@ static int motorAxisStop(AXIS_HDL pAxis, double acceleration)
deviceAcceleration = acceleration * pAxis->stepSize;
status = GroupJogParametersSet(pAxis->moveSocket, pAxis->positionerName, 1, &deviceVelocity, &deviceAcceleration);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, " Error performing GroupJogParametersSet[%d,%d] status=%d\n",\
PRINT(pAxis->logParam, MOTOR_ERROR, " Error performing GroupJogParametersSet[%d,%d] status=%d\n",\
pAxis->card, pAxis->axis, status);
return MOTOR_AXIS_ERROR;
}
@@ -970,7 +972,7 @@ static int motorAxisStop(AXIS_HDL pAxis, double acceleration)
if (pAxis->axisStatus == 44) {
status = GroupMoveAbort(pAxis->moveSocket, pAxis->groupName);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, " Error performing GroupMoveAbort axis=%s status=%d\n",\
PRINT(pAxis->logParam, MOTOR_ERROR, " Error performing GroupMoveAbort axis=%s status=%d\n",\
pAxis->positionerName, status);
return MOTOR_AXIS_ERROR;
}
@@ -1039,7 +1041,7 @@ static void XPSPoller(XPSController *pController)
pAxis->groupName,
&pAxis->axisStatus);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "XPSPoller: error calling GroupStatusGet[%d,%d], status=%d\n", pAxis->card, pAxis->axis, status);
PRINT(pAxis->logParam, MOTOR_ERROR, "XPSPoller: error calling GroupStatusGet[%d,%d], status=%d\n", pAxis->card, pAxis->axis, status);
motorParam->setInteger(pAxis->params, motorAxisCommError, 1);
} else {
PRINT(pAxis->logParam, IODRIVER, "XPSPoller: %s axisStatus=%d\n", pAxis->positionerName, pAxis->axisStatus);
@@ -1058,15 +1060,15 @@ static void XPSPoller(XPSController *pController)
status = GroupJogParametersGet(pAxis->pollSocket, pAxis->positionerName, 1, &theoryVelocity, &acceleration);
status = GroupJogCurrentGet(pAxis->pollSocket, pAxis->positionerName, 1, &actualVelocity, &acceleration);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "XPSPoller: error calling GroupJogCurrentGet[%d,%d], status=%d\n", pAxis->card, pAxis->axis, status);
PRINT(pAxis->logParam, MOTOR_ERROR, "XPSPoller: error calling GroupJogCurrentGet[%d,%d], status=%d\n", pAxis->card, pAxis->axis, status);
} else {
if (actualVelocity == 0. && theoryVelocity == 0.) {
status = GroupJogModeDisable(pAxis->pollSocket, pAxis->groupName);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "XPSPoller: error calling GroupJogModeDisable[%d,%d], status=%d\n", pAxis->card, pAxis->axis, status);
PRINT(pAxis->logParam, MOTOR_ERROR, "XPSPoller: error calling GroupJogModeDisable[%d,%d], status=%d\n", pAxis->card, pAxis->axis, status);
/* In this mode must do a group kill? */
status = GroupKill(pAxis->pollSocket, pAxis->groupName);
PRINT(pAxis->logParam, ERROR, "XPSPoller: called GroupKill!\n");
PRINT(pAxis->logParam, MOTOR_ERROR, "XPSPoller: called GroupKill!\n");
}
}
}
@@ -1111,7 +1113,7 @@ static void XPSPoller(XPSController *pController)
1,
&pAxis->currentPosition);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "XPSPoller: error calling GroupPositionCurrentGet[%d,%d], status=%d\n", pAxis->card, pAxis->axis, status);
PRINT(pAxis->logParam, MOTOR_ERROR, "XPSPoller: error calling GroupPositionCurrentGet[%d,%d], status=%d\n", pAxis->card, pAxis->axis, status);
motorParam->setInteger(pAxis->params, motorAxisCommError, 1);
} else {
motorParam->setInteger(pAxis->params, motorAxisCommError, 0);
@@ -1123,7 +1125,7 @@ static void XPSPoller(XPSController *pController)
pAxis->positionerName,
&pAxis->positionerError);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "XPSPoller: error calling PositionerErrorGet[%d,%d], status=%d\n", pAxis->card, pAxis->axis, status);
PRINT(pAxis->logParam, MOTOR_ERROR, "XPSPoller: error calling PositionerErrorGet[%d,%d], status=%d\n", pAxis->card, pAxis->axis, status);
motorParam->setInteger(pAxis->params, motorAxisCommError, 1);
} else {
motorParam->setInteger(pAxis->params, motorAxisCommError, 0);
@@ -1146,7 +1148,7 @@ static void XPSPoller(XPSController *pController)
1,
&pAxis->currentVelocity);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "XPSPoller: error calling GroupPositionVelocityGet[%d,%d], status=%d\n", pAxis->card, pAxis->axis, status);
PRINT(pAxis->logParam, MOTOR_ERROR, "XPSPoller: error calling GroupPositionVelocityGet[%d,%d], status=%d\n", pAxis->card, pAxis->axis, status);
motorParam->setInteger(pAxis->params, motorAxisCommError, 1);
} else {
motorParam->setInteger(pAxis->params, motorAxisCommError, 0);
@@ -1398,7 +1400,7 @@ static int setXPSAxisPID(AXIS_HDL pAxis, const double * value, int pidoption)
pAxis->positionerName,
correctorType);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "Error with PositionerCorrectorTypeGet. Card: %d, Axis: %d, XPS API Error: %d\n",
PRINT(pAxis->logParam, MOTOR_ERROR, "Error with PositionerCorrectorTypeGet. Card: %d, Axis: %d, XPS API Error: %d\n",
pAxis->card, pAxis->axis, status);
} else {
@@ -1406,7 +1408,7 @@ static int setXPSAxisPID(AXIS_HDL pAxis, const double * value, int pidoption)
/*Read the PID parameters first.*/
status = PositionerCorrectorPIPositionGetWrapper(pAxis);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "Error with PositionerCorrectorPIPositionGet. Aborting setting PID. XPS API Error: %d\n", status);
PRINT(pAxis->logParam, MOTOR_ERROR, "Error with PositionerCorrectorPIPositionGet. Aborting setting PID. XPS API Error: %d\n", status);
return status;
}
@@ -1416,14 +1418,14 @@ static int setXPSAxisPID(AXIS_HDL pAxis, const double * value, int pidoption)
/*Now set the parameters in the XPS.*/
status = PositionerCorrectorPIPositionSetWrapper(pAxis);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "Error with PositionerCorrectorPIPositionSet. XPS API Error: %d\n", status);
PRINT(pAxis->logParam, MOTOR_ERROR, "Error with PositionerCorrectorPIPositionSet. XPS API Error: %d\n", status);
return status;
}
} else if (!strcmp(correctorType, CorrectorTypes.PIDFFVelocity)) {
status = PositionerCorrectorPIDFFVelocityGetWrapper(pAxis);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "Error with PositionerCorrectorPIDFFVelocityGet. Aborting setting PID. XPS API Error: %d\n", status);
PRINT(pAxis->logParam, MOTOR_ERROR, "Error with PositionerCorrectorPIDFFVelocityGet. Aborting setting PID. XPS API Error: %d\n", status);
return status;
}
@@ -1431,14 +1433,14 @@ static int setXPSAxisPID(AXIS_HDL pAxis, const double * value, int pidoption)
status = PositionerCorrectorPIDFFVelocitySetWrapper(pAxis);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "Error with PositionerCorrectorPIDFFVelocitySet. XPS API Error: %d\n", status);
PRINT(pAxis->logParam, MOTOR_ERROR, "Error with PositionerCorrectorPIDFFVelocitySet. XPS API Error: %d\n", status);
return status;
}
} else if (!strcmp(correctorType, CorrectorTypes.PIDFFAcceleration)) {
status = PositionerCorrectorPIDFFAccelerationGetWrapper(pAxis);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "Error with PositionerCorrectorPIDFFAccelerationGet. Aborting setting PID. XPS API Error: %d\n", status);
PRINT(pAxis->logParam, MOTOR_ERROR, "Error with PositionerCorrectorPIDFFAccelerationGet. Aborting setting PID. XPS API Error: %d\n", status);
return status;
}
@@ -1446,14 +1448,14 @@ static int setXPSAxisPID(AXIS_HDL pAxis, const double * value, int pidoption)
status = PositionerCorrectorPIDFFAccelerationSetWrapper(pAxis);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "Error with PositionerCorrectorPIDFFAccelerationSet. XPS API Error: %d\n", status);
PRINT(pAxis->logParam, MOTOR_ERROR, "Error with PositionerCorrectorPIDFFAccelerationSet. XPS API Error: %d\n", status);
return status;
}
} else if (!strcmp(correctorType, CorrectorTypes.PIDDualFFVoltage)) {
status = PositionerCorrectorPIDDualFFVoltageGetWrapper(pAxis);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "Error with PositionerCorrectorPIDDualFFVoltageGet. Aborting setting PID. XPS API Error: %d\n", status);
PRINT(pAxis->logParam, MOTOR_ERROR, "Error with PositionerCorrectorPIDDualFFVoltageGet. Aborting setting PID. XPS API Error: %d\n", status);
return status;
}
@@ -1461,7 +1463,7 @@ static int setXPSAxisPID(AXIS_HDL pAxis, const double * value, int pidoption)
status = PositionerCorrectorPIDDualFFVoltageSetWrapper(pAxis);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "Error with PositionerCorrectorPIDDualFFVoltageSet. XPS API Error: %d\n", status);
PRINT(pAxis->logParam, MOTOR_ERROR, "Error with PositionerCorrectorPIDDualFFVoltageSet. XPS API Error: %d\n", status);
return status;
}
@@ -1493,7 +1495,7 @@ static int getXPSAxisPID(AXIS_HDL pAxis)
pAxis->positionerName,
correctorType);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "Error with PositionerCorrectorTypeGet. Card: %d, Axis: %d, XPS API Error: %d\n",
PRINT(pAxis->logParam, MOTOR_ERROR, "Error with PositionerCorrectorTypeGet. Card: %d, Axis: %d, XPS API Error: %d\n",
pAxis->card, pAxis->axis, status);
} else {
@@ -1501,28 +1503,28 @@ static int getXPSAxisPID(AXIS_HDL pAxis)
/*Read the PID parameters and set in pAxis.*/
status = PositionerCorrectorPIPositionGetWrapper(pAxis);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "Error with PositionerCorrectorPIPositionGet. XPS API Error: %d\n", status);
PRINT(pAxis->logParam, MOTOR_ERROR, "Error with PositionerCorrectorPIPositionGet. XPS API Error: %d\n", status);
return status;
}
} else if (!strcmp(correctorType, CorrectorTypes.PIDFFVelocity)) {
status = PositionerCorrectorPIDFFVelocityGetWrapper(pAxis);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "Error with PositionerCorrectorPIDFFVelocityGet. XPS API Error: %d\n", status);
PRINT(pAxis->logParam, MOTOR_ERROR, "Error with PositionerCorrectorPIDFFVelocityGet. XPS API Error: %d\n", status);
return status;
}
} else if (!strcmp(correctorType, CorrectorTypes.PIDFFAcceleration)) {
status = PositionerCorrectorPIDFFAccelerationGetWrapper(pAxis);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "Error with PositionerCorrectorPIDFFAccelerationGet. XPS API Error: %d\n", status);
PRINT(pAxis->logParam, MOTOR_ERROR, "Error with PositionerCorrectorPIDFFAccelerationGet. XPS API Error: %d\n", status);
return status;
}
} else if (!strcmp(correctorType, CorrectorTypes.PIDDualFFVoltage)) {
status = PositionerCorrectorPIDDualFFVoltageGetWrapper(pAxis);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "Error with PositionerCorrectorPIDDualFFVoltageGet. XPS API Error: %d\n", status);
PRINT(pAxis->logParam, MOTOR_ERROR, "Error with PositionerCorrectorPIDDualFFVoltageGet. XPS API Error: %d\n", status);
return status;
}
@@ -1856,9 +1858,7 @@ static void XPSRegister(void)
iocshRegister(&xpsEnableSetPosition, xpsEnableSetPositionCallFunc);
iocshRegister(&xpsSetPosSleepTime, xpsSetPosSleepTimeCallFunc);
iocshRegister(&TCLRun, TCLRunCallFunc);
#ifdef vxWorks
iocshRegister(&XPSC8GatheringTest, XPSC8GatheringTestCallFunc);
#endif
}
epicsExportRegistrar(XPSRegister);