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Moved poll periods to poller call. Require numModules and axesPerModule instead of numAxes for the CreateController call.

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This commit is contained in:
kpetersn
2018-03-23 14:09:04 -05:00
parent 798a7336f5
commit 2d3dc8abfa
2 changed files with 58 additions and 40 deletions
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motorApp/AMCISrc/ANF2Driver.cpp
+48 -34
View File
@@ -32,13 +32,12 @@ static const char *driverName = "ANF2MotorDriver";
* \param[in] portName The name of the asyn port that will be created for this driver
* \param[in] ANF2InPortName The name of the drvAsynSerialPort that was created previously to connect to the ANF2 controller
* \param[in] ANF2OutPortName The name of the drvAsynSerialPort that was created previously to connect to the ANF2 controller
* \param[in] numAxes The number of axes that this controller supports
* \param[in] movingPollPeriod The time between polls when any axis is moving
* \param[in] idlePollPeriod The time between polls when no axis is moving
* \param[in] numModules The number of modules on the controller stack
* \param[in] axesPerModule The number of axes per module (ANF1=1, ANF2=2)
*/
ANF2Controller::ANF2Controller(const char *portName, const char *ANF2InPortName, const char *ANF2OutPortName, int numAxes,
double movingPollPeriod, double idlePollPeriod)
: asynMotorController(portName, numAxes, NUM_ANF2_PARAMS,
ANF2Controller::ANF2Controller(const char *portName, const char *ANF2InPortName, const char *ANF2OutPortName,
int numModules, int axesPerModule)
: asynMotorController(portName, (numModules*axesPerModule), NUM_ANF2_PARAMS,
asynInt32ArrayMask, // One additional interface beyond those in base class
asynInt32ArrayMask, // One additional callback interface beyond those in base class
ASYN_CANBLOCK | ASYN_MULTIDEVICE,
@@ -52,20 +51,17 @@ ANF2Controller::ANF2Controller(const char *portName, const char *ANF2InPortName,
// Keep track of the number of axes created, so the poller can wait for all the axes to be created before starting
axesCreated_ = 0;
movingPollPeriod_ = movingPollPeriod;
idlePollPeriod_ = idlePollPeriod;
inputDriver_ = epicsStrDup(ANF2InPortName); // Set this before calls to create Axis objects
// Create controller-specific parameters
createParam(ANF2GetInfoString, asynParamInt32, &ANF2GetInfo_);
createParam(ANF2ReconfigString, asynParamInt32, &ANF2Reconfig_);
if (numAxes > MAX_AXES) {
numAxes = MAX_AXES;
}
numModules_ = numModules;
axesPerModule_ = axesPerModule;
numAxes_ = numModules * axesPerModule;
for (j=0; j<numAxes; j++) {
for (j=0; j<numAxes_; j++) {
/* Connect to ANF2 controller */
for (i=0; i<MAX_INPUT_REGS; i++) {
status = pasynInt32SyncIO->connect(ANF2InPortName, i+j*AXIS_REG_OFFSET, &pasynUserInReg_[j][i], NULL);
@@ -93,23 +89,35 @@ ANF2Controller::ANF2Controller(const char *portName, const char *ANF2InPortName,
* \param[in] portName The name of the asyn port that will be created for this driver
* \param[in] ANF2InPortName The name of the drvAsynIPPPort that was created previously to connect to the ANF2 controller
* \param[in] ANF2OutPortName The name of the drvAsynIPPPort that was created previously to connect to the ANF2 controller
* \param[in] numAxes The number of axes that this controller supports
* \param[in] movingPollPeriod The time in ms between polls when any axis is moving
* \param[in] idlePollPeriod The time in ms between polls when no axis is moving
* \param[in] numModules The number of modules on the controller stack
* \param[in] axesPerModule The number of axes per module (ANF1=1, ANF2=2)
*/
extern "C" int ANF2CreateController(const char *portName, const char *ANF2InPortName, const char *ANF2OutPortName, int numAxes,
int movingPollPeriod, int idlePollPeriod)
extern "C" int ANF2CreateController(const char *portName, const char *ANF2InPortName, const char *ANF2OutPortName,
int numModules, int axesPerModule)
{
// Enforce max values
if (numModules > MAX_MODULES) {
numModules = MAX_MODULES;
}
if (axesPerModule > MAX_AXES_PER_MODULE) {
axesPerModule = MAX_AXES_PER_MODULE;
}
/*
ANF2Controller *pANF2Controller
= new ANF2Controller(portName, ANF2InPortName, ANF2OutPortName, numAxes, movingPollPeriod/1000., idlePollPeriod/1000.);
= new ANF2Controller(portName, ANF2InPortName, ANF2OutPortName, numModules, axesPerModule);
pANF2Controller = NULL;
*/
new ANF2Controller(portName, ANF2InPortName, ANF2OutPortName, numAxes, movingPollPeriod/1000., idlePollPeriod/1000.);
new ANF2Controller(portName, ANF2InPortName, ANF2OutPortName, numModules, axesPerModule);
return(asynSuccess);
}
extern "C" asynStatus ANF2StartPoller(const char *ANF2Name) /* specify which controller by port name */
/** Starts the poller for a given controller
* \param[in] ANF2Name The name of the asyn port that for the controller
* \param[in] movingPollPeriod The time in ms between polls when any axis is moving
* \param[in] idlePollPeriod The time in ms between polls when no axis is moving
*/
extern "C" asynStatus ANF2StartPoller(const char *ANF2Name, int movingPollPeriod, int idlePollPeriod)
{
ANF2Controller *pC;
static const char *functionName = "ANF2StartPoller";
@@ -122,13 +130,17 @@ extern "C" asynStatus ANF2StartPoller(const char *ANF2Name) /* specify which co
}
pC->lock();
pC->doStartPoller();
pC->doStartPoller(movingPollPeriod/1000.0, idlePollPeriod/1000.0);
pC->unlock();
return asynSuccess;
}
void ANF2Controller::doStartPoller()
void ANF2Controller::doStartPoller(double movingPollPeriod, double idlePollPeriod)
{
//
movingPollPeriod_ = movingPollPeriod;
idlePollPeriod_ = idlePollPeriod;
//
startPoller(movingPollPeriod_, idlePollPeriod_, 2);
}
@@ -149,7 +161,7 @@ void ANF2Controller::report(FILE *fp, int level)
this->portName, numAxes_, movingPollPeriod_, idlePollPeriod_);
fprintf(fp, " axesCreated=%i\n", axesCreated_);
for (j=0; j<MAX_AXES; j++) {
for (j=0; j<numAxes_; j++) {
fprintf(fp, " axis #%i\n", j);
for (i=0; i<MAX_INPUT_REGS; i++) {
fprintf(fp, " reg %i, pasynUserInReg_[%i][%i]=0x%x, pasynUserOutReg_[%i][%i]=0x%x\n", i, j, i, pasynUserInReg_[j][i], j, i, pasynUserOutReg_[j][i]);
@@ -856,28 +868,30 @@ asynStatus ANF2Axis::poll(bool *moving)
static const iocshArg ANF2CreateControllerArg0 = {"Port name", iocshArgString};
static const iocshArg ANF2CreateControllerArg1 = {"ANF2 In port name", iocshArgString};
static const iocshArg ANF2CreateControllerArg2 = {"ANF2 Out port name", iocshArgString};
static const iocshArg ANF2CreateControllerArg3 = {"Number of axes", iocshArgInt};
static const iocshArg ANF2CreateControllerArg4 = {"Moving poll period (ms)", iocshArgInt};
static const iocshArg ANF2CreateControllerArg5 = {"Idle poll period (ms)", iocshArgInt};
static const iocshArg ANF2CreateControllerArg3 = {"Number of modules", iocshArgInt};
static const iocshArg ANF2CreateControllerArg4 = {"Axes per module", iocshArgInt};
static const iocshArg * const ANF2CreateControllerArgs[] = {&ANF2CreateControllerArg0,
&ANF2CreateControllerArg1,
&ANF2CreateControllerArg2,
&ANF2CreateControllerArg3,
&ANF2CreateControllerArg4,
&ANF2CreateControllerArg5,};
static const iocshFuncDef ANF2CreateControllerDef = {"ANF2CreateController", 6, ANF2CreateControllerArgs};
&ANF2CreateControllerArg4};
static const iocshFuncDef ANF2CreateControllerDef = {"ANF2CreateController", 5, ANF2CreateControllerArgs};
static void ANF2CreateControllerCallFunc(const iocshArgBuf *args)
{
ANF2CreateController(args[0].sval, args[1].sval, args[2].sval, args[3].ival, args[4].ival, args[5].ival);
ANF2CreateController(args[0].sval, args[1].sval, args[2].sval, args[3].ival, args[4].ival);
}
/* ANF2StartPoller */
static const iocshArg ANF2StartPollerArg0 = {"Port name", iocshArgString};
static const iocshArg * const ANF2StartPollerArgs[] = {&ANF2StartPollerArg0};
static const iocshFuncDef ANF2StartPollerDef = {"ANF2StartPoller", 1, ANF2StartPollerArgs};
static const iocshArg ANF2StartPollerArg1 = {"Moving poll period (ms)", iocshArgInt};
static const iocshArg ANF2StartPollerArg2 = {"Idle poll period (ms)", iocshArgInt};
static const iocshArg * const ANF2StartPollerArgs[] = {&ANF2StartPollerArg0,
&ANF2StartPollerArg1,
&ANF2StartPollerArg2};
static const iocshFuncDef ANF2StartPollerDef = {"ANF2StartPoller", 3, ANF2StartPollerArgs};
static void ANF2StartPollerCallFunc(const iocshArgBuf *args)
{
ANF2StartPoller(args[0].sval);
ANF2StartPoller(args[0].sval, args[1].ival, args[2].ival);
}
/* ANF2CreateAxis */
motorApp/AMCISrc/ANF2Driver.h
+10 -6
View File
@@ -15,7 +15,8 @@ K. Goetze 2014-03-24
//#include <asynInt32Array.h>
#include <asynInt32ArraySyncIO.h>
#define MAX_AXES 2
#define MAX_MODULES 6
#define MAX_AXES_PER_MODULE 2
#define MAX_INPUT_REGS 10
#define MAX_OUTPUT_REGS 10
@@ -94,15 +95,15 @@ friend class ANF2Controller;
class ANF2Controller : public asynMotorController {
public:
ANF2Controller(const char *portName, const char *ANF2InPortName, const char *ANF2OutPortName, int numAxes, double movingPollPeriod, double idlePollPeriod);
void doStartPoller();
ANF2Controller(const char *portName, const char *ANF2InPortName, const char *ANF2OutPortName, int numModules, int axesPerModule);
void doStartPoller(double movingPollPeriod, double idlePollPeriod);
void report(FILE *fp, int level);
ANF2Axis* getAxis(asynUser *pasynUser);
ANF2Axis* getAxis(int axisNo);
asynUser *pasynUserInReg_[MAX_AXES][MAX_INPUT_REGS];
asynUser *pasynUserOutReg_[MAX_AXES][MAX_OUTPUT_REGS];
//asynUser *pasynUserOutArrayReg_[MAX_AXES][MAX_OUTPUT_REGS];
asynUser *pasynUserInReg_[MAX_MODULES*MAX_AXES_PER_MODULE][MAX_INPUT_REGS];
asynUser *pasynUserOutReg_[MAX_MODULES*MAX_AXES_PER_MODULE][MAX_OUTPUT_REGS];
//asynUser *pasynUserOutArrayReg_[MAX_MODULES*MAX_AXES_PER_MODULE][MAX_OUTPUT_REGS];
/* These are the methods that we override from asynMotorDriver */
asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
@@ -123,6 +124,9 @@ private:
asynStatus readReg16(int, int, epicsInt32*, double);
asynStatus readReg32(int, int, epicsInt32*, double);
char *inputDriver_;
int numAxes_;
int numModules_;
int axesPerModule_;
double movingPollPeriod_;
double idlePollPeriod_;
int axesCreated_;