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Removed Wtapper from function names; added defineProfile

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This commit is contained in:
MarkRivers
2011-04-04 18:37:45 +00:00
parent 6c4b9b1e7e
commit 331df7ab50
1 changed files with 145 additions and 121 deletions
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motorApp/NewportSrc/XPSAxis.cpp
+145 -121
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@@ -726,7 +726,7 @@ asynStatus XPSAxis::setPID(const double * value, int pidoption)
if (!strcmp(correctorType, CorrectorTypes.PIPosition)) {
/*Read the PID parameters first.*/
status = PositionerCorrectorPIPositionGetWrapper();
status = PositionerCorrectorPIPositionGet();
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: Error with PositionerCorrectorPIPositionGet. Aborting setting PID XPS: %s, Axis: %d, XPS API Error: %d\n",
@@ -738,7 +738,7 @@ asynStatus XPSAxis::setPID(const double * value, int pidoption)
setPIDValue(value, pidoption);
/*Now set the parameters in the XPS.*/
status = PositionerCorrectorPIPositionSetWrapper();
status = PositionerCorrectorPIPositionSet();
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: Error with PositionerCorrectorPIPositionSet: %s, Axis: %d, XPS API Error: %d\n",
@@ -746,7 +746,7 @@ asynStatus XPSAxis::setPID(const double * value, int pidoption)
return asynError;
}
} else if (!strcmp(correctorType, CorrectorTypes.PIDFFVelocity)) {
status = PositionerCorrectorPIDFFVelocityGetWrapper();
status = PositionerCorrectorPIDFFVelocityGet();
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: Error with PositionerCorrectorPIDFFVelocityGet. Aborting setting PID %s, Axis: %d, XPS API Error: %d\n",
@@ -756,7 +756,7 @@ asynStatus XPSAxis::setPID(const double * value, int pidoption)
setPIDValue(value, pidoption);
status = PositionerCorrectorPIDFFVelocitySetWrapper();
status = PositionerCorrectorPIDFFVelocitySet();
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: Error with PositionerCorrectorPIDFFVelocitySet. Aborting setting PID %s, Axis: %d, XPS API Error: %d\n",
@@ -765,7 +765,7 @@ asynStatus XPSAxis::setPID(const double * value, int pidoption)
}
} else if (!strcmp(correctorType, CorrectorTypes.PIDFFAcceleration)) {
status = PositionerCorrectorPIDFFAccelerationGetWrapper();
status = PositionerCorrectorPIDFFAccelerationGet();
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: Error with PositionerCorrectorPIDFFAccelerationGet. Aborting setting PID %s, Axis: %d, XPS API Error: %d\n",
@@ -775,7 +775,7 @@ asynStatus XPSAxis::setPID(const double * value, int pidoption)
setPIDValue(value, pidoption);
status = PositionerCorrectorPIDFFAccelerationSetWrapper();
status = PositionerCorrectorPIDFFAccelerationSet();
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: Error with PositionerCorrectorPIDFFAccelerationSet. Aborting setting PID %s, Axis: %d, XPS API Error: %d\n",
@@ -784,7 +784,7 @@ asynStatus XPSAxis::setPID(const double * value, int pidoption)
}
} else if (!strcmp(correctorType, CorrectorTypes.PIDDualFFVoltage)) {
status = PositionerCorrectorPIDDualFFVoltageGetWrapper();
status = PositionerCorrectorPIDDualFFVoltageGet();
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: Error with PositionerCorrectorPIDDualFFVoltageGet. Aborting setting PID %s, Axis: %d, XPS API Error: %d\n",
@@ -794,7 +794,7 @@ asynStatus XPSAxis::setPID(const double * value, int pidoption)
setPIDValue(value, pidoption);
status = PositionerCorrectorPIDDualFFVoltageSetWrapper();
status = PositionerCorrectorPIDDualFFVoltageSet();
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: Error with PositionerCorrectorPIDDualFFVoltageSet. Aborting setting PID %s, Axis: %d, XPS API Error: %d\n",
@@ -828,7 +828,7 @@ asynStatus XPSAxis::getPID()
char correctorType[250] = {'\0'};
static const char *functionName = "XPSAxis::getPID";
/*The XPS function that we use to set the PID parameters is dependant on the
/* The XPS function that we use to set the PID parameters is dependant on the
type of corrector in use for that axis.*/
status = PositionerCorrectorTypeGet(pollSocket_,
positionerName_,
@@ -841,7 +841,7 @@ asynStatus XPSAxis::getPID()
}
if (!strcmp(correctorType, CorrectorTypes.PIPosition)) {
/*Read the PID parameters and set in pAxis.*/
status = PositionerCorrectorPIPositionGetWrapper();
status = PositionerCorrectorPIPositionGet();
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: XPS %s, Axis: %d, Error with PositionerCorrectorPIPositionGet. XPS API Error: %d\n",
@@ -850,7 +850,7 @@ asynStatus XPSAxis::getPID()
}
} else if (!strcmp(correctorType, CorrectorTypes.PIDFFVelocity)) {
status = PositionerCorrectorPIDFFVelocityGetWrapper();
status = PositionerCorrectorPIDFFVelocityGet();
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: XPS %s, Axis: %d, Error with PositionerCorrectorPIDFFVelocityGet. XPS API Error: %d\n",
@@ -859,7 +859,7 @@ asynStatus XPSAxis::getPID()
}
} else if (!strcmp(correctorType, CorrectorTypes.PIDFFAcceleration)) {
status = PositionerCorrectorPIDFFAccelerationGetWrapper();
status = PositionerCorrectorPIDFFAccelerationGet();
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: XPS %s, Axis: %d, Error with PositionerCorrectorPIDFFAccelerationGet. XPS API Error: %d\n",
@@ -868,7 +868,7 @@ asynStatus XPSAxis::getPID()
}
} else if (!strcmp(correctorType, CorrectorTypes.PIDDualFFVoltage)) {
status = PositionerCorrectorPIDDualFFVoltageGetWrapper();
status = PositionerCorrectorPIDDualFFVoltageGet();
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: XPS %s, Axis: %d, Error with PositionerCorrectorPIDDualFFVoltageGet. XPS API Error: %d\n",
@@ -932,15 +932,15 @@ asynStatus XPSAxis::setPIDValue(const double * value, int pidoption)
* @param pAxis Axis struct AXIS_HDL.
* @return Return value from XPS function.
*/
asynStatus XPSAxis::PositionerCorrectorPIPositionGetWrapper()
asynStatus XPSAxis::PositionerCorrectorPIPositionGet()
{
int status;
status = PositionerCorrectorPIPositionGet(pollSocket_,
positionerName_,
&xpsCorrectorInfo_.ClosedLoopStatus,
&xpsCorrectorInfo_.KP,
&xpsCorrectorInfo_.KI,
&xpsCorrectorInfo_.IntegrationTime);
status = ::PositionerCorrectorPIPositionGet(pollSocket_,
positionerName_,
&xpsCorrectorInfo_.ClosedLoopStatus,
&xpsCorrectorInfo_.KP,
&xpsCorrectorInfo_.KI,
&xpsCorrectorInfo_.IntegrationTime);
return status ? asynError : asynSuccess;
}
@@ -950,23 +950,23 @@ asynStatus XPSAxis::PositionerCorrectorPIPositionGetWrapper()
* @param pAxis Axis struct AXIS_HDL.
* @return Return value from XPS function.
*/
asynStatus XPSAxis::PositionerCorrectorPIDFFVelocityGetWrapper()
asynStatus XPSAxis::PositionerCorrectorPIDFFVelocityGet()
{
int status;
status = PositionerCorrectorPIDFFVelocityGet(pollSocket_,
positionerName_,
&xpsCorrectorInfo_.ClosedLoopStatus,
&xpsCorrectorInfo_.KP,
&xpsCorrectorInfo_.KI,
&xpsCorrectorInfo_.KD,
&xpsCorrectorInfo_.KS,
&xpsCorrectorInfo_.IntegrationTime,
&xpsCorrectorInfo_.DerivativeFilterCutOffFrequency,
&xpsCorrectorInfo_.GKP,
&xpsCorrectorInfo_.GKI,
&xpsCorrectorInfo_.GKD,
&xpsCorrectorInfo_.KForm,
&xpsCorrectorInfo_.FeedForwardGainVelocity);
status = ::PositionerCorrectorPIDFFVelocityGet(pollSocket_,
positionerName_,
&xpsCorrectorInfo_.ClosedLoopStatus,
&xpsCorrectorInfo_.KP,
&xpsCorrectorInfo_.KI,
&xpsCorrectorInfo_.KD,
&xpsCorrectorInfo_.KS,
&xpsCorrectorInfo_.IntegrationTime,
&xpsCorrectorInfo_.DerivativeFilterCutOffFrequency,
&xpsCorrectorInfo_.GKP,
&xpsCorrectorInfo_.GKI,
&xpsCorrectorInfo_.GKD,
&xpsCorrectorInfo_.KForm,
&xpsCorrectorInfo_.FeedForwardGainVelocity);
return status ? asynError : asynSuccess;
}
@@ -977,23 +977,23 @@ asynStatus XPSAxis::PositionerCorrectorPIDFFVelocityGetWrapper()
* @param pAxis Axis struct AXIS_HDL.
* @return Return value from XPS function.
*/
asynStatus XPSAxis::PositionerCorrectorPIDFFAccelerationGetWrapper()
asynStatus XPSAxis::PositionerCorrectorPIDFFAccelerationGet()
{
int status;
status = PositionerCorrectorPIDFFAccelerationGet(pollSocket_,
positionerName_,
&xpsCorrectorInfo_.ClosedLoopStatus,
&xpsCorrectorInfo_.KP,
&xpsCorrectorInfo_.KI,
&xpsCorrectorInfo_.KD,
&xpsCorrectorInfo_.KS,
&xpsCorrectorInfo_.IntegrationTime,
&xpsCorrectorInfo_.DerivativeFilterCutOffFrequency,
&xpsCorrectorInfo_.GKP,
&xpsCorrectorInfo_.GKI,
&xpsCorrectorInfo_.GKD,
&xpsCorrectorInfo_.KForm,
&xpsCorrectorInfo_.FeedForwardGainAcceleration);
status = ::PositionerCorrectorPIDFFAccelerationGet(pollSocket_,
positionerName_,
&xpsCorrectorInfo_.ClosedLoopStatus,
&xpsCorrectorInfo_.KP,
&xpsCorrectorInfo_.KI,
&xpsCorrectorInfo_.KD,
&xpsCorrectorInfo_.KS,
&xpsCorrectorInfo_.IntegrationTime,
&xpsCorrectorInfo_.DerivativeFilterCutOffFrequency,
&xpsCorrectorInfo_.GKP,
&xpsCorrectorInfo_.GKI,
&xpsCorrectorInfo_.GKD,
&xpsCorrectorInfo_.KForm,
&xpsCorrectorInfo_.FeedForwardGainAcceleration);
return status ? asynError : asynSuccess;
}
@@ -1004,25 +1004,25 @@ asynStatus XPSAxis::PositionerCorrectorPIDFFAccelerationGetWrapper()
* @param pAxis Axis struct AXIS_HDL.
* @return Return value from XPS function.
*/
asynStatus XPSAxis::PositionerCorrectorPIDDualFFVoltageGetWrapper()
asynStatus XPSAxis::PositionerCorrectorPIDDualFFVoltageGet()
{
int status;
status = PositionerCorrectorPIDDualFFVoltageGet(pollSocket_,
positionerName_,
&xpsCorrectorInfo_.ClosedLoopStatus,
&xpsCorrectorInfo_.KP,
&xpsCorrectorInfo_.KI,
&xpsCorrectorInfo_.KD,
&xpsCorrectorInfo_.KS,
&xpsCorrectorInfo_.IntegrationTime,
&xpsCorrectorInfo_.DerivativeFilterCutOffFrequency,
&xpsCorrectorInfo_.GKP,
&xpsCorrectorInfo_.GKI,
&xpsCorrectorInfo_.GKD,
&xpsCorrectorInfo_.KForm,
&xpsCorrectorInfo_.FeedForwardGainVelocity,
&xpsCorrectorInfo_.FeedForwardGainAcceleration,
&xpsCorrectorInfo_.Friction);
status = ::PositionerCorrectorPIDDualFFVoltageGet(pollSocket_,
positionerName_,
&xpsCorrectorInfo_.ClosedLoopStatus,
&xpsCorrectorInfo_.KP,
&xpsCorrectorInfo_.KI,
&xpsCorrectorInfo_.KD,
&xpsCorrectorInfo_.KS,
&xpsCorrectorInfo_.IntegrationTime,
&xpsCorrectorInfo_.DerivativeFilterCutOffFrequency,
&xpsCorrectorInfo_.GKP,
&xpsCorrectorInfo_.GKI,
&xpsCorrectorInfo_.GKD,
&xpsCorrectorInfo_.KForm,
&xpsCorrectorInfo_.FeedForwardGainVelocity,
&xpsCorrectorInfo_.FeedForwardGainAcceleration,
&xpsCorrectorInfo_.Friction);
return status ? asynError : asynSuccess;
}
@@ -1032,15 +1032,15 @@ asynStatus XPSAxis::PositionerCorrectorPIDDualFFVoltageGetWrapper()
* @param pAxis Axis struct AXIS_HDL.
* @return Return value from XPS function.
*/
asynStatus XPSAxis::PositionerCorrectorPIPositionSetWrapper()
asynStatus XPSAxis::PositionerCorrectorPIPositionSet()
{
int status;
status = PositionerCorrectorPIPositionSet(pollSocket_,
positionerName_,
xpsCorrectorInfo_.ClosedLoopStatus,
xpsCorrectorInfo_.KP,
xpsCorrectorInfo_.KI,
xpsCorrectorInfo_.IntegrationTime);
status = ::PositionerCorrectorPIPositionSet(pollSocket_,
positionerName_,
xpsCorrectorInfo_.ClosedLoopStatus,
xpsCorrectorInfo_.KP,
xpsCorrectorInfo_.KI,
xpsCorrectorInfo_.IntegrationTime);
return status ? asynError : asynSuccess;
}
@@ -1050,23 +1050,23 @@ asynStatus XPSAxis::PositionerCorrectorPIPositionSetWrapper()
* @param pAxis Axis struct AXIS_HDL.
* @return Return value from XPS function.
*/
asynStatus XPSAxis::PositionerCorrectorPIDFFVelocitySetWrapper()
asynStatus XPSAxis::PositionerCorrectorPIDFFVelocitySet()
{
int status;
status = PositionerCorrectorPIDFFVelocitySet(pollSocket_,
positionerName_,
xpsCorrectorInfo_.ClosedLoopStatus,
xpsCorrectorInfo_.KP,
xpsCorrectorInfo_.KI,
xpsCorrectorInfo_.KD,
xpsCorrectorInfo_.KS,
xpsCorrectorInfo_.IntegrationTime,
xpsCorrectorInfo_.DerivativeFilterCutOffFrequency,
xpsCorrectorInfo_.GKP,
xpsCorrectorInfo_.GKI,
xpsCorrectorInfo_.GKD,
xpsCorrectorInfo_.KForm,
xpsCorrectorInfo_.FeedForwardGainVelocity);
status = ::PositionerCorrectorPIDFFVelocitySet(pollSocket_,
positionerName_,
xpsCorrectorInfo_.ClosedLoopStatus,
xpsCorrectorInfo_.KP,
xpsCorrectorInfo_.KI,
xpsCorrectorInfo_.KD,
xpsCorrectorInfo_.KS,
xpsCorrectorInfo_.IntegrationTime,
xpsCorrectorInfo_.DerivativeFilterCutOffFrequency,
xpsCorrectorInfo_.GKP,
xpsCorrectorInfo_.GKI,
xpsCorrectorInfo_.GKD,
xpsCorrectorInfo_.KForm,
xpsCorrectorInfo_.FeedForwardGainVelocity);
return status ? asynError : asynSuccess;
}
@@ -1075,23 +1075,23 @@ asynStatus XPSAxis::PositionerCorrectorPIDFFVelocitySetWrapper()
* @param pAxis Axis struct AXIS_HDL.
* @return Return value from XPS function.
*/
asynStatus XPSAxis:: PositionerCorrectorPIDFFAccelerationSetWrapper()
asynStatus XPSAxis:: PositionerCorrectorPIDFFAccelerationSet()
{
int status;
status = PositionerCorrectorPIDFFAccelerationSet(pollSocket_,
positionerName_,
xpsCorrectorInfo_.ClosedLoopStatus,
xpsCorrectorInfo_.KP,
xpsCorrectorInfo_.KI,
xpsCorrectorInfo_.KD,
xpsCorrectorInfo_.KS,
xpsCorrectorInfo_.IntegrationTime,
xpsCorrectorInfo_.DerivativeFilterCutOffFrequency,
xpsCorrectorInfo_.GKP,
xpsCorrectorInfo_.GKI,
xpsCorrectorInfo_.GKD,
xpsCorrectorInfo_.KForm,
xpsCorrectorInfo_.FeedForwardGainAcceleration);
status = ::PositionerCorrectorPIDFFAccelerationSet(pollSocket_,
positionerName_,
xpsCorrectorInfo_.ClosedLoopStatus,
xpsCorrectorInfo_.KP,
xpsCorrectorInfo_.KI,
xpsCorrectorInfo_.KD,
xpsCorrectorInfo_.KS,
xpsCorrectorInfo_.IntegrationTime,
xpsCorrectorInfo_.DerivativeFilterCutOffFrequency,
xpsCorrectorInfo_.GKP,
xpsCorrectorInfo_.GKI,
xpsCorrectorInfo_.GKD,
xpsCorrectorInfo_.KForm,
xpsCorrectorInfo_.FeedForwardGainAcceleration);
return status ? asynError : asynSuccess;
}
@@ -1100,24 +1100,48 @@ asynStatus XPSAxis:: PositionerCorrectorPIDFFAccelerationSetWrapper()
* @param pAxis Axis struct AXIS_HDL.
* @return Return value from XPS function.
*/
asynStatus XPSAxis::PositionerCorrectorPIDDualFFVoltageSetWrapper()
asynStatus XPSAxis::PositionerCorrectorPIDDualFFVoltageSet()
{
int status;
status = PositionerCorrectorPIDDualFFVoltageSet(pollSocket_,
positionerName_,
xpsCorrectorInfo_.ClosedLoopStatus,
xpsCorrectorInfo_.KP,
xpsCorrectorInfo_.KI,
xpsCorrectorInfo_.KD,
xpsCorrectorInfo_.KS,
xpsCorrectorInfo_.IntegrationTime,
xpsCorrectorInfo_.DerivativeFilterCutOffFrequency,
xpsCorrectorInfo_.GKP,
xpsCorrectorInfo_.GKI,
xpsCorrectorInfo_.GKD,
xpsCorrectorInfo_.KForm,
xpsCorrectorInfo_.FeedForwardGainVelocity,
xpsCorrectorInfo_.FeedForwardGainAcceleration,
xpsCorrectorInfo_.Friction);
status = ::PositionerCorrectorPIDDualFFVoltageSet(pollSocket_,
positionerName_,
xpsCorrectorInfo_.ClosedLoopStatus,
xpsCorrectorInfo_.KP,
xpsCorrectorInfo_.KI,
xpsCorrectorInfo_.KD,
xpsCorrectorInfo_.KS,
xpsCorrectorInfo_.IntegrationTime,
xpsCorrectorInfo_.DerivativeFilterCutOffFrequency,
xpsCorrectorInfo_.GKP,
xpsCorrectorInfo_.GKI,
xpsCorrectorInfo_.GKD,
xpsCorrectorInfo_.KForm,
xpsCorrectorInfo_.FeedForwardGainVelocity,
xpsCorrectorInfo_.FeedForwardGainAcceleration,
xpsCorrectorInfo_.Friction);
return status ? asynError : asynSuccess;
}
/** Function to define the motor positions for a profile move.
* This calls the base class function to convert to steps, but since the
* XPS works in user-units we need to do an additional convertion by stepSize_.
* \param[in] positions Array of profile positions for this axis in user units.
* \param[in] numPoints The number of positions in the array.
*/
asynStatus XPSAxis::defineProfile(double *positions, int numPoints)
{
int i;
asynStatus status;
// static const char *functionName = "asynMotorController::buildProfile";
// Call the base class function
status = asynMotorAxis::defineProfile(positions, numPoints);
if (status) return status;
// Convert to XPS units from steps
for (i=0; i<numPoints; i++) {
profilePositions_[i] = profilePositions_[i]/stepSize_;
}
return asynSuccess;
}