lin-epics-modules/motorBase
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Bug fix: it was doing callbacks on every poll; fixed logic so it only does callbacks when status or position changes

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This commit is contained in:
MarkRivers
2011-03-30 23:12:32 +00:00
parent 208eced00e
commit 3fc09fe1db
1 changed files with 16 additions and 7 deletions
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motorApp/MotorSrc/asynMotorDriver.cpp
+16 -7
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@@ -355,13 +355,18 @@ void asynMotorController::asynMotorPoller()
asynStatus asynMotorAxis::setIntegerParam(int function, int value)
{
int mask;
epicsUInt32 status;
// This assumes the parameters defined above are in the same order as the bits the motor record expects!
if (function >= pC_->motorStatusDirection_ &&
function <= pC_->motorStatusHomed_) {
status = status_.status;
mask = 1 << (function - pC_->motorStatusDirection_);
if (value) status_.status |= mask;
else status_.status &= ~mask;
statusChanged_ = 1;
if (value) status |= mask;
else status &= ~mask;
if (status != status_.status) {
status_.status = status;
statusChanged_ = 1;
}
}
// Call the base class method
return pC_->setIntegerParam(axisNo_, function, value);
@@ -370,11 +375,15 @@ asynStatus asynMotorAxis::setIntegerParam(int function, int value)
asynStatus asynMotorAxis::setDoubleParam(int function, double value)
{
if (function == pC_->motorPosition_) {
statusChanged_ = 1;
status_.position = value;
if (value != status_.position) {
statusChanged_ = 1;
status_.position = value;
}
} else if (function == pC_->motorEncoderPosition_) {
statusChanged_ = 1;
status_.encoderPosition = value;
if (value != status_.encoderPosition) {
statusChanged_ = 1;
status_.encoderPosition = value;
}
}
// Call the base class method
return pC_->setDoubleParam(axisNo_, function, value);