lin-epics-modules/motorBase
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Call setPosition from writeInt32; fix bugs in setting parameters and doing callbacks

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This commit is contained in:
MarkRivers
2011-03-29 21:25:12 +00:00
parent fbc8fbc8ef
commit 39f5490fe6
1 changed files with 23 additions and 15 deletions
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motorApp/MotorSrc/asynMotorDriver.cpp
+23 -15
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@@ -98,14 +98,14 @@ asynStatus asynMotorController::writeInt32(asynUser *pasynUser, epicsInt32 value
asynStatus status=asynSuccess;
asynMotorAxis *pAxis;
double accel;
static const char *functionName = "writeFloat64";
static const char *functionName = "writeInt32";
status = getAddress(pasynUser, &axis);
pAxis = pAxes_[axis];
/* 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 = setIntegerParam(axis, function, value);
pAxis->setIntegerParam(function, value);
if (function == motorStop_) {
getDoubleParam(axis, motorAccel_, &accel);
@@ -117,7 +117,7 @@ asynStatus asynMotorController::writeInt32(asynUser *pasynUser, epicsInt32 value
}
/* Do callbacks so higher layers see any changes */
callParamCallbacks(axis);
pAxis->callParamCallbacks();
if (status)
asynPrint(pasynUser, ASYN_TRACE_ERROR,
"%s:%s error, status=%d axis=%d, function=%d, value=%d\n",
@@ -144,7 +144,7 @@ asynStatus asynMotorController::writeFloat64(asynUser *pasynUser, epicsFloat64 v
/* 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);
status = pAxis->setDoubleParam(function, value);
getDoubleParam(axis, motorVelBase_, &baseVelocity);
getDoubleParam(axis, motorVelocity_, &velocity);
@@ -188,9 +188,17 @@ asynStatus asynMotorController::writeFloat64(asynUser *pasynUser, epicsFloat64 v
"%s:%s: Set driver %s, axis %d to home %s, base velocity=%f, velocity=%f, acceleration=%f\n",
driverName, functionName, portName, pAxis->axisNo_, (forwards?"FORWARDS":"REVERSE"), baseVelocity, velocity, acceleration);
} else if (function == motorPosition_) {
status = pAxis->setPosition(value);
pAxis->callParamCallbacks();
asynPrint(pasynUser, ASYN_TRACE_FLOW,
"%s:%s: Set driver %s, axis %d to position=%f\n",
driverName, functionName, portName, pAxis->axisNo_, value);
}
/* Do callbacks so higher layers see any changes */
pAxis->callParamCallbacks();
if (status)
asynPrint(pasynUser, ASYN_TRACE_ERROR,
"%s:%s error, status=%d axis=%d, function=%d, value=%f\n",
@@ -230,6 +238,16 @@ asynStatus asynMotorController::profileMove(asynUser *pasynUser, int npoints, do
return(asynError);
}
asynStatus asynMotorController::triggerProfile(asynUser *pasynUser)
{
static const char *functionName = "triggerProfile";
asynPrint(pasynUser, ASYN_TRACE_ERROR,
"%s:%s: not implemented in this driver\n",
driverName, functionName);
return(asynError);
}
asynMotorAxis* asynMotorController::getAxis(asynUser *pasynUser)
{
int axisNo;
@@ -244,16 +262,6 @@ asynMotorAxis* asynMotorController::getAxis(int axisNo)
return pAxes_[axisNo];
}
asynStatus asynMotorController::triggerProfile(asynUser *pasynUser)
{
static const char *functionName = "triggerProfile";
asynPrint(pasynUser, ASYN_TRACE_ERROR,
"%s:%s: not implemented in this driver\n",
driverName, functionName);
return(asynError);
}
asynStatus asynMotorController::startPoller(double movingPollPeriod, double idlePollPeriod)
{
movingPollPeriod_ = movingPollPeriod;