lin-epics-modules/motorBase
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Increased timeout; create motorParam earlier; fix PRINT parameter; minor debugging improvement

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MarkRivers
2006-04-27 04:01:25 +00:00
parent 98d1bb2ab5
commit 235360d086
1 changed files with 6 additions and 5 deletions
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motorApp/NewportSrc/drvXPSAsyn.c
+6 -5
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@@ -109,7 +109,7 @@ static int motorXPSLogMsg(void * param, const motorAxisLogMask_t logMask, const
#define XPSC8_END_OF_RUN_MINUS 0x00000100
#define XPSC8_END_OF_RUN_PLUS 0x00000200
#define TCP_TIMEOUT 0.5
#define TCP_TIMEOUT 2.0
static motorXPS_t drv={ NULL, NULL, motorXPSLogMsg, { 0, 0 } };
static int numXPSControllers;
/* Pointer to array of controller strutures */
@@ -174,7 +174,6 @@ static AXIS_HDL motorAxisOpen(int card, int axis, char * param)
if (card > numXPSControllers) return(NULL);
if (axis > pXPSController[card].numAxes) return(NULL);
pAxis = &pXPSController[card].pAxis[axis];
pAxis->params = motorParam->create(0, MOTOR_AXIS_NUM_PARAMS);
return pAxis;
}
@@ -352,6 +351,9 @@ static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
if (pAxis == NULL) return MOTOR_AXIS_ERROR;
PRINT(pAxis->logParam, FLOW, "Set card %d, axis %d move to %f, min vel=%f, max_vel=%f, accel=%f\n",
pAxis->card, pAxis->axis, position, min_velocity, max_velocity, acceleration);
/* Look at the last poll value of the positioner status. If it is disabled, then enable it */
if (pAxis->axisStatus >= 20 && pAxis->axisStatus <= 36) {
status = GroupMotionEnable(pAxis->pollSocket, pAxis->groupName);
@@ -399,8 +401,6 @@ static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
/* Send a signal to the poller task which will make it do a poll, and switch to the moving poll rate */
epicsEventSignal(pAxis->pController->pollEventId);
PRINT(pAxis->logParam, FLOW, "Set card %d, axis %d move to %f, min vel=%f, max_vel=%f, accel=%f\n",
pAxis->card, pAxis->axis, position, min_velocity, max_velocity, acceleration);
return MOTOR_AXIS_OK;
}
@@ -562,7 +562,7 @@ static void XPSPoller(XPSController *pController)
pAxis->groupName,
&pAxis->axisStatus);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, "XPSPoller: error calling GroupStatusGet, status=%d\n");
PRINT(pAxis->logParam, ERROR, "XPSPoller: error calling GroupStatusGet, status=%d\n", status);
motorParam->setInteger(pAxis->params, motorAxisCommError, 1);
continue;
} else {
@@ -762,6 +762,7 @@ int XPSConfig(int card, /* Controller number */
printf("XPSConfig: pollSocket=%d, moveSocket=%d, ip=%s, port=%d,"
" axis=%d controller=%d\n",
pAxis->pollSocket, pAxis->moveSocket, ip, port, axis, card);
pAxis->params = motorParam->create(0, MOTOR_AXIS_NUM_PARAMS);
}
FirmwareVersionGet(pollSocket, pController->firmwareVersion);