lin-epics-modules/motorBase
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Added writeFloat64 to process motorPosition; improve reporting

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This commit is contained in:
MarkRivers
2009-12-19 16:54:09 +00:00
parent c15ad09bba
commit 44a7f47f5c
1 changed files with 40 additions and 7 deletions
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motorApp/MotorSimSrc/motorSimDriver.cpp
+40 -7
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@@ -63,6 +63,7 @@ class motorSimController : asynMotorDriver {
public:
motorSimController(const char *portName, int numAxes, int priority, int stackSize);
asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);
void report(FILE *fp, int level);
asynStatus moveAxis(asynUser *pasynUser, double position, int relative, double min_velocity, double max_velocity, double acceleration);
asynStatus moveVelocityAxis(asynUser *pasynUser, double min_velocity, double max_velocity, double acceleration);
@@ -121,6 +122,8 @@ void motorSimController::report(FILE *fp, int level)
pAxis->endpoint.T);
fprintf(fp, " Hard limits: %f, %f\n", pAxis->lowHardLimit, pAxis->hiHardLimit);
fprintf(fp, " Home: %f\n", pAxis->home);
fprintf(fp, " Enc. offset: %f\n", pAxis->enc_offset);
getDoubleParam(pAxis->axis, pAxis->pController->motorHighLim, &hiSoftLimit);
getDoubleParam(pAxis->axis, pAxis->pController->motorLowLim, &lowSoftLimit);
fprintf(fp, " Soft limits: %f, %f\n", lowSoftLimit, hiSoftLimit );
@@ -181,13 +184,7 @@ asynStatus motorSimController::writeInt32(asynUser *pasynUser, epicsInt32 value)
* status at the end, but that's OK */
status = setIntegerParam(pAxis->axis, function, value);
if (function == motorPosition)
{
pAxis->enc_offset = (double) value - pAxis->nextpoint.axis[0].p;
asynPrint(pasynUser, ASYN_TRACE_FLOW,
"%s:%s: Set axis %d to position %d",
driverName, functionName, pAxis->axis, value);
} else if (function == motorDeferMoves)
if (function == motorDeferMoves)
{
asynPrint(pasynUser, ASYN_TRACE_FLOW,
"%s:%s: %sing Deferred Move flag on driver %s\n",
@@ -203,6 +200,42 @@ asynStatus motorSimController::writeInt32(asynUser *pasynUser, epicsInt32 value)
status = asynMotorDriver::writeInt32(pasynUser, value);
}
/* Do callbacks so higher layers see any changes */
callParamCallbacks(pAxis->axis, pAxis->axis);
if (status)
asynPrint(pasynUser, ASYN_TRACE_ERROR,
"%s:%s: error, status=%d function=%d, value=%d\n",
driverName, functionName, status, function, value);
else
asynPrint(pasynUser, ASYN_TRACEIO_DRIVER,
"%s:%s: function=%d, value=%d\n",
driverName, functionName, function, value);
return status;
}
asynStatus motorSimController::writeFloat64(asynUser *pasynUser, epicsFloat64 value)
{
int function = pasynUser->reason;
asynStatus status = asynSuccess;
motorSimAxis *pAxis = this->getAxis(pasynUser);
static const char *functionName = "writeFloat64";
/* 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(pAxis->axis, function, value);
if (function == motorPosition)
{
pAxis->enc_offset = (double) value - pAxis->nextpoint.axis[0].p;
asynPrint(pasynUser, ASYN_TRACE_FLOW,
"%s:%s: Set axis %d to position %d",
driverName, functionName, pAxis->axis, value);
} else {
/* Call base class call its method (if we have our parameters check this here) */
status = asynMotorDriver::writeFloat64(pasynUser, value);
}
/* Do callbacks so higher layers see any changes */
callParamCallbacks(pAxis->axis, pAxis->axis);
if (status)