lin-epics-modules/motorBase
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Move motorHome processing to writeFloat64, where it belongs

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MarkRivers
2009-12-19 16:55:59 +00:00
parent 44a7f47f5c
commit 206b7d80c1
1 changed files with 6 additions and 8 deletions
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motorApp/MotorSrc/asynMotorDriver.cpp
+6 -8
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@@ -115,7 +115,7 @@ asynStatus asynMotorDriver::writeInt32(asynUser *pasynUser, epicsInt32 value)
int axis;
int function = pasynUser->reason;
asynStatus status=asynSuccess;
double baseVelocity, velocity, accel;
double accel;
static const char *functionName = "writeFloat64";
status = this->getAddress(pasynUser, functionName, &axis);
@@ -123,17 +123,11 @@ asynStatus asynMotorDriver::writeInt32(asynUser *pasynUser, epicsInt32 value)
/* Set the parameter and readback in the parameter library. This may be overwritten when we read back the
* status at the end, but that's OK */
status = setDoubleParam(axis, function, value);
getDoubleParam(axis, motorAccel, &accel);
if (function == motorStop) {
getDoubleParam(axis, motorAccel, &accel);
status = this->stopAxis(pasynUser, accel);
} else if (function == motorHome) {
getDoubleParam(axis, motorVelBase, &baseVelocity);
getDoubleParam(axis, motorVelocity, &velocity);
getDoubleParam(axis, motorAccel, &accel);
status = this->homeAxis(pasynUser, baseVelocity, velocity, accel, (value == 0) ? 0 : 1);
} else if (function == motorUpdateStatus) {
// We don't implement this yet. Is it needed?
//status = this->forceCallback)(pasynUser);
@@ -181,6 +175,10 @@ asynStatus asynMotorDriver::writeFloat64(asynUser *pasynUser, epicsFloat64 value
} else if (function == motorMoveVel) {
status = this->moveVelocityAxis(pasynUser, baseVelocity, value, accel);
// Note, the motorHome command happens on the asynFloat64 interface, even though the value (direction) is really integer
} else if (function == motorHome) {
status = this->homeAxis(pasynUser, baseVelocity, velocity, accel, (value == 0) ? 0 : 1);
}
/* Do callbacks so higher layers see any changes */