From 145e053da7ba95c5de05657fee781ac91857701d Mon Sep 17 00:00:00 2001 From: MarkRivers Date: Tue, 1 Sep 2009 16:19:45 +0000 Subject: [PATCH] Rename ERROR to avoid conflict on vxWorks; add Profile functions to table --- motorApp/NewportSrc/drvMM4000Asyn.c | 32 ++++---- motorApp/NewportSrc/drvXPSAsyn.c | 114 ++++++++++++++-------------- 2 files changed, 74 insertions(+), 72 deletions(-) diff --git a/motorApp/NewportSrc/drvMM4000Asyn.c b/motorApp/NewportSrc/drvMM4000Asyn.c index 3a5d6bad..b38f2a93 100644 --- a/motorApp/NewportSrc/drvMM4000Asyn.c +++ b/motorApp/NewportSrc/drvMM4000Asyn.c @@ -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); } diff --git a/motorApp/NewportSrc/drvXPSAsyn.c b/motorApp/NewportSrc/drvXPSAsyn.c index cc9ed991..20f0d7c6 100644 --- a/motorApp/NewportSrc/drvXPSAsyn.c +++ b/motorApp/NewportSrc/drvXPSAsyn.c @@ -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);