lin-epics-modules/motorBase
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- asyn R4.1 compatible.

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- make debug variables always available.
- MS Visual C compatibility; make all epicsExportAddress
  extern "C" linkage.
This commit is contained in:
Ron Sluiter
2004-12-21 17:05:41 +00:00
parent e71927c3f5
commit 387b66b2f8
1 changed files with 42 additions and 29 deletions
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motorApp/MicosSrc/drvMicos.cc
+42 -29
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@@ -13,6 +13,10 @@
* .03 02-17-2004 rls Removed Debug calls to tickGet().
* .04 07-12-2004 rls Converted from MPF to asyn.
* .05 09-20-2004 rls support for 32axes/controller.
* .08 12-16-2004 rls - asyn R4.0 support.
* - make debug variables always available.
* - MS Visual C compatibility; make all epicsExportAddress
* extern "C" linkage.
*/
@@ -39,7 +43,6 @@ struct mess_queue
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
volatile int drvMicosDebug = 0;
#define Debug(l, f, args...) {if (l <= drvMicosDebug) printf(f, ## args);}
#else
#define Debug(l, f, args...)
@@ -47,6 +50,8 @@ struct mess_queue
#else
#define Debug()
#endif
volatile int drvMicosDebug = 0;
extern "C" {epicsExportAddress(int, drvMicosDebug);}
/* Debugging notes:
* drvMicosDebug == 0 No debugging information is printed
@@ -106,7 +111,7 @@ struct
long (*init) (void);
} drvMicos = {2, report, init};
epicsExportAddress(drvet, drvMicos);
extern "C" {epicsExportAddress(drvet, drvMicos);}
static struct thread_args targs = {SCAN_RATE, &Micos_access};
@@ -294,8 +299,11 @@ static int set_status(int card, int signal)
/*****************************************************/
static RTN_STATUS send_mess(int card, const char *com, char *name)
{
char buff[BUFF_SIZE];
struct MicosController *cntrl;
int size;
int nwrite;
size = strlen(com);
/* Check that card exists */
if (!motor_state[card])
@@ -305,14 +313,13 @@ static RTN_STATUS send_mess(int card, const char *com, char *name)
}
/* If the string is NULL just return */
if (strlen(com) == 0) return(OK);
if (size == 0) return(OK);
cntrl = (struct MicosController *) motor_state[card]->DevicePrivate;
strcpy(buff, com);
strcat(buff, OUTPUT_TERMINATOR);
Debug(2, "send_mess: sending message to card %d, message=%s\n", card, buff);
cntrl = (struct MicosController *) motor_state[card]->DevicePrivate;
pasynOctetSyncIO->write(cntrl->pasynUser, buff, strlen(buff), COMM_TIMEOUT);
pasynOctetSyncIO->write(cntrl->pasynUser, com, size, COMM_TIMEOUT,
&nwrite);
return (OK);
}
@@ -324,11 +331,10 @@ static RTN_STATUS send_mess(int card, const char *com, char *name)
/*****************************************************/
static int recv_mess(int card, char *com, int flag)
{
int timeout;
int flush = 0;
int len=0;
int eomReason;
struct MicosController *cntrl;
int nread = 0;
asynStatus status = asynError;
int eomReason;
/* Check that card exists */
if (!motor_state[card])
@@ -341,27 +347,25 @@ static int recv_mess(int card, char *com, int flag)
Debug(3, "recv_mess entry: card %d, flag=%d\n", card, flag);
if (flag == FLUSH)
timeout = 0;
pasynOctetSyncIO->flush(cntrl->pasynUser);
else
timeout = COMM_TIMEOUT;
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE,
COMM_TIMEOUT, &nread, &eomReason);
len = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE, (char *) "\3",
1, flush, timeout, &eomReason);
/* The response from the Micos is terminated with <CR><LF><ETX>. Remove */
if (len < 3) com[0] = '\0';
else com[len-3] = '\0';
if (len > 0) {
Debug(2, "recv_mess: card %d, message = \"%s\"\n", card, com);
if ((status != asynSuccess) || (nread <= 0))
{
com[0] = '\0';
nread = 0;
if (flag != FLUSH)
{
Debug(1, "recv_mess: card %d ERROR: no response\n", card);
}
}
if (len == 0) {
if (flag != FLUSH) {
Debug(1, "recv_mess: card %d ERROR: no response\n", card);
} else {
Debug(3, "recv_mess: card %d flush returned no characters\n", card);
}
else
{
Debug(2, "recv_mess: card %d, message = \"%s\"\n", card, com);
}
return (len);
return (nread);
}
@@ -448,6 +452,9 @@ static int motor_init()
int status = 0;
bool errind;
asynStatus success_rtn;
static const char output_terminator[] = "\r";
/* The response from the Micos is terminated with <CR><LF><ETX>. */
static const char input_terminator[] = "\r\n\3";
initialized = true; /* Indicate that driver is initialized. */
@@ -470,12 +477,18 @@ static int motor_init()
/* Initialize communications channel */
errind = false;
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port, 0, &cntrl->pasynUser);
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port, 0,
&cntrl->pasynUser, NULL);
if (success_rtn == asynSuccess)
{
int retry = 0;
pasynOctetSyncIO->setOutputEos(cntrl->pasynUser, output_terminator,
strlen(output_terminator));
pasynOctetSyncIO->setInputEos(cntrl->pasynUser, input_terminator,
strlen(input_terminator));
/* Each "controller" can have max 16 axes. */
total_axis = Micos_num_axis;
brdptr->total_axis = total_axis;