lin-epics-modules/motorBase
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Add private pC_ variable; eliminate getController() method, just use pC_

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This commit is contained in:
MarkRivers
2011-03-30 15:34:02 +00:00
parent 0c634377a1
commit 3b96dd5a0b
2 changed files with 14 additions and 22 deletions
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motorApp/MotorSimSrc/motorSimDriver.cpp
+12 -18
View File
@@ -46,6 +46,7 @@ static int motorSimControllerListInitialized = 0;
motorSimAxis::motorSimAxis(motorSimController *pController, int axis, double lowHardLimit, double hiHardLimit, double home, double start )
: asynMotorAxis(pController, axis),
pC_(pController),
lowHardLimit_(lowHardLimit), hiHardLimit_(hiHardLimit), home_(home)
{
route_pars_t pars;
@@ -270,7 +271,6 @@ void motorSimController::motorSimTask()
asynStatus motorSimAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
{
route_pars_t pars;
motorSimController *pC = static_cast<motorSimController*>(pController_);
static const char *functionName = "move";
if (relative) position += endpoint_.axis[0].p + enc_offset_;
@@ -279,7 +279,7 @@ asynStatus motorSimAxis::move(double position, int relative, double minVelocity,
if ((nextpoint_.axis[0].p >= hiHardLimit_ && position > nextpoint_.axis[0].p) ||
(nextpoint_.axis[0].p <= lowHardLimit_ && position < nextpoint_.axis[0].p) ) return asynError;
if (pC->movesDeferred_ == 0) { /*Normal move.*/
if (pC_->movesDeferred_ == 0) { /*Normal move.*/
endpoint_.axis[0].p = position - enc_offset_;
endpoint_.axis[0].v = 0.0;
} else { /*Deferred moves.*/
@@ -292,12 +292,12 @@ asynStatus motorSimAxis::move(double position, int relative, double minVelocity,
if (acceleration != 0) pars.axis[0].Amax = fabs(acceleration);
routeSetParams( route_, &pars );
setIntegerParam(pC->motorStatusDone_, 0);
setIntegerParam(pC_->motorStatusDone_, 0);
callParamCallbacks();
asynPrint(pasynUser_, ASYN_TRACE_FLOW,
"%s:%s: Set driver %s, axis %d move to %f, min vel=%f, maxVel=%f, accel=%f\n",
driverName, functionName, pC->portName, axisNo_, position, minVelocity, maxVelocity, acceleration );
driverName, functionName, pC_->portName, axisNo_, position, minVelocity, maxVelocity, acceleration );
return asynSuccess;
}
@@ -369,11 +369,6 @@ asynStatus motorSimAxis::config(int hiHardLimit, int lowHardLimit, int home, int
return asynSuccess;
}
motorSimController* motorSimAxis::getController()
{
return static_cast<motorSimController*>(asynMotorAxis::getController());
}
asynStatus motorSimAxis::poll(int *moving)
{
return asynSuccess;
@@ -397,7 +392,6 @@ asynStatus motorSimAxis::poll(int *moving)
void motorSimAxis::process(double delta )
{
motorSimController *pC = getController();
double lastpos;
int done = 0;
@@ -446,14 +440,14 @@ void motorSimAxis::process(double delta )
done = 0;
}
setDoubleParam (pC->motorPosition_, (nextpoint_.axis[0].p+enc_offset_));
setDoubleParam (pC->motorEncoderPosition_, (nextpoint_.axis[0].p+enc_offset_));
setIntegerParam(pC->motorStatusDirection_, (nextpoint_.axis[0].v > 0));
setIntegerParam(pC->motorStatusDone_, done);
setIntegerParam(pC->motorStatusHighLimit_, (nextpoint_.axis[0].p >= hiHardLimit_));
setIntegerParam(pC->motorStatusHome_, (nextpoint_.axis[0].p == home_));
setIntegerParam(pC->motorStatusMoving_, !done);
setIntegerParam(pC->motorStatusLowLimit_, (nextpoint_.axis[0].p <= lowHardLimit_));
setDoubleParam (pC_->motorPosition_, (nextpoint_.axis[0].p+enc_offset_));
setDoubleParam (pC_->motorEncoderPosition_, (nextpoint_.axis[0].p+enc_offset_));
setIntegerParam(pC_->motorStatusDirection_, (nextpoint_.axis[0].v > 0));
setIntegerParam(pC_->motorStatusDone_, done);
setIntegerParam(pC_->motorStatusHighLimit_, (nextpoint_.axis[0].p >= hiHardLimit_));
setIntegerParam(pC_->motorStatusHome_, (nextpoint_.axis[0].p == home_));
setIntegerParam(pC_->motorStatusMoving_, !done);
setIntegerParam(pC_->motorStatusLowLimit_, (nextpoint_.axis[0].p <= lowHardLimit_));
callParamCallbacks();
}
motorApp/MotorSimSrc/motorSimDriver.h
+2 -4
View File
@@ -22,11 +22,8 @@ class motorSimAxis : public asynMotorAxis
{
public:
/* These are the functions we override from the base class */
class motorSimController* getController();
/* These are the pure virtual functions that must be implemented */
motorSimAxis(motorSimController *pController, int axis, double lowLimit, double hiLimit, double home, double start);
motorSimAxis(class motorSimController *pController, int axis, double lowLimit, double hiLimit, double home, double start);
asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
@@ -40,6 +37,7 @@ public:
void process(double delta );
private:
motorSimController *pC_;
ROUTE_ID route_;
route_reroute_t reroute_;
route_demand_t endpoint_;