lin-epics-modules/motorBase
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Added shuttingDown_ for epicsAtExit; changes for profile moves

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MarkRivers
2011-04-03 18:57:56 +00:00
parent 8f858a8586
commit 1d637741a8
1 changed files with 13 additions and 12 deletions
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motorApp/MotorSrc/asynMotorController.cpp
+13 -12
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@@ -28,10 +28,10 @@ asynMotorController::asynMotorController(const char *portName, int numAxes, int
int asynFlags, int autoConnect, int priority, int stackSize)
: asynPortDriver(portName, numAxes, NUM_MOTOR_DRIVER_PARAMS+numParams,
interfaceMask | asynInt32Mask | asynFloat64Mask | asynFloat64ArrayMask | asynGenericPointerMask | asynDrvUserMask,
interruptMask | asynInt32Mask | asynFloat64Mask | asynFloat64ArrayMask | asynGenericPointerMask,
interfaceMask | asynOctetMask | asynInt32Mask | asynFloat64Mask | asynFloat64ArrayMask | asynGenericPointerMask | asynDrvUserMask,
interruptMask | asynOctetMask | asynInt32Mask | asynFloat64Mask | asynFloat64ArrayMask | asynGenericPointerMask,
asynFlags, autoConnect, priority, stackSize),
numAxes_(numAxes)
shuttingDown_(0), numAxes_(numAxes)
{
static const char *functionName = "asynMotorController::asynMotorController";
@@ -82,15 +82,15 @@ asynMotorController::asynMotorController(const char *portName, int numAxes, int
createParam(profileEndPulsesString, asynParamInt32, &profileEndPulses_);
createParam(profileActualPulsesString, asynParamInt32, &profileActualPulses_);
createParam(profileTimeArrayString, asynParamFloat64Array, &profileTimeArray_);
createParam(profileAccelString, asynParamFloat64, &profileAccel_);
createParam(profileAccelerationString, asynParamFloat64, &profileAcceleration_);
createParam(profileBuildString, asynParamInt32, &profileBuild_);
createParam(profileBuildStateString, asynParamInt32, &profileBuildState_);
createParam(profileBuildStatusString, asynParamOctet, &profileBuildStatus_);
createParam(profileBuildMessageString, asynParamOctet, &profileBuildMessage_);
createParam(profileExecString, asynParamInt32, &profileExec_);
createParam(profileExecStateString, asynParamInt32, &profileExecState_);
createParam(profileExecStatusString, asynParamOctet, &profileExecStatus_);
createParam(profileExecMessageString, asynParamOctet, &profileExecMessage_);
createParam(profileExecuteString, asynParamInt32, &profileExecute_);
createParam(profileExecuteStateString, asynParamInt32, &profileExecuteState_);
createParam(profileExecuteStatusString, asynParamOctet, &profileExecuteStatus_);
createParam(profileExecuteMessageString, asynParamOctet, &profileExecuteMessage_);
createParam(profileReadbackString, asynParamInt32, &profileReadback_);
createParam(profileReadbackStateString, asynParamInt32, &profileReadbackState_);
createParam(profileReadbackStatusString, asynParamOctet, &profileReadbackStatus_);
@@ -98,9 +98,10 @@ asynMotorController::asynMotorController(const char *portName, int numAxes, int
// These are the per-axis parameters for profile moves
createParam(profileUseAxisString, asynParamInt32, &profileUseAxis_);
createParam(profilePositionString, asynParamFloat64Array, &profilePosition_);
createParam(profilePositionRBVString, asynParamFloat64Array, &profilePositionRBV_);
createParam(profileFollowingErrorString,asynParamFloat64Array, &profileFollowingError_);
createParam(profilePositionsString, asynParamFloat64Array, &profilePositions_);
createParam(profileReadbacksString, asynParamFloat64Array, &profileReadbacks_);
createParam(profileFollowingErrorsString, asynParamFloat64Array, &profileFollowingErrors_);
createParam(profileMotorResolutionString, asynParamFloat64, &profileMotorResolution_);
createParam(profileMotorDirectionString, asynParamInt32, &profileMotorDirection_);
createParam(profileMotorOffsetString, asynParamFloat64, &profileMotorOffset_);
@@ -372,7 +373,6 @@ static void asynMotorPollerC(void *drvPvt)
pController->asynMotorPoller();
}
/** Default poller function that runs in the thread created by asynMotorController::startPoller().
* This base class implementation can be used by most derived classes.
* It polls at the idlePollPeriod_ when no axes are moving, and at the movingPollPeriod_ when
@@ -406,6 +406,7 @@ void asynMotorController::asynMotorPoller()
}
anyMoving = 0;
lock();
if (shuttingDown_) break;
this->poll();
for (i=0; i<numAxes_; i++) {
pAxis=getAxis(i);