New file

2011-03-28 18:26:14 +00:00
parent 64dc5d63b8
commit 1c5fb7408c
1 changed files with 68 additions and 0 deletions
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+/*
+FILENAME...    motorSimController.h
+USAGE...    Simulated Motor Support.
+
+Based on drvMotorSim.c
+
+Mark Rivers
+March 28, 2010
+
+*/
+
+
+#include <epicsTime.h>
+#include <epicsThread.h>
+
+#include "asynMotorDriver.h"
+#include "route.h"
+
+#define NUM_SIM_CONTROLLER_PARAMS 0
+
+class motorSimAxis 
+{
+public:
+    motorSimAxis(class motorSimController *pController, int axis, double lowLimit, double hiLimit, double home, double start);
+    asynStatus velocity(double velocity, double acceleration);
+    class motorSimController *pController_;
+    int axis_;
+    ROUTE_ID route_;
+    route_reroute_t reroute_;
+    route_demand_t endpoint_;
+    route_demand_t nextpoint_;
+    double lowHardLimit_;
+    double hiHardLimit_;
+    double enc_offset_;
+    double home_;
+    int homing_;
+    epicsTimeStamp tLast_;
+    double deferred_position_;
+    int deferred_move_;
+    int deferred_relative_;
+    friend class motorSimController;
+};
+
+class motorSimController : asynMotorController {
+public:
+    motorSimController(const char *portName, int numAxes, int priority, int stackSize);
+    asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
+    asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);
+    void report(FILE *fp, int level);
+    asynStatus moveAxis(asynUser *pasynUser, double position, int relative, double min_velocity, double max_velocity, double acceleration);
+    asynStatus moveVelocityAxis(asynUser *pasynUser, double min_velocity, double max_velocity, double acceleration);
+    asynStatus homeAxis(asynUser *pasynUser, double min_velocity, double max_velocity, double acceleration, int forwards);
+    asynStatus stopAxis(asynUser *pasynUser, double acceleration);
+    asynStatus profileMove(asynUser *pasynUser, int npoints, double positions[], double times[], int relative, int trigger);
+    asynStatus triggerProfile(asynUser *pasynUser);
+    asynStatus configAxis(int axis, int hiHardLimit, int lowHardLimit, int home, int start);
+    void motorSimTask();  // Should be pivate, but called from non-member function
+
+private:
+    motorSimAxis* getAxis(asynUser *pasynUser);
+    void process(motorSimAxis *pAxis, double delta );
+    asynStatus processDeferredMoves();
+    epicsThreadId motorThread_;
+    epicsTimeStamp now_;
+    int movesDeferred_;
+    int numAxes_;
+    motorSimAxis** pAxes_;
+};