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Remove global variables for setPosSleepTime and doSetPosition; now variables in XPSController class, can be set by iocsh calls; added XPS-specific profile parameters

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MarkRivers
2011-04-05 02:02:17 +00:00
parent a8339b01bf
commit 4b77011a80
1 changed files with 109 additions and 49 deletions
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motorApp/NewportSrc/XPSController.cpp
+109 -49
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@@ -113,16 +113,6 @@ const static CorrectorTypes_t CorrectorTypes = {
"NoCorrector"
};
/** This is controlled via the XPSEnableSetPosition function (available via the IOC shell). */
static int doSetPosition = 1;
/**
* Parameter to control the sleep time used when setting position.
* A function called XPSSetPosSleepTime(int) (millisec parameter)
* is available in the IOC shell to control this.
*/
static double setPosSleepTime = 0.5;
/* Constants used for FTP to the XPS */
#define TRAJECTORY_DIRECTORY "/Admin/public/Trajectories"
#define MAX_FILENAME_LEN 256
@@ -159,7 +149,8 @@ XPSController::XPSController(const char *portName, const char *IPAddress, int IP
asynInt32Mask | asynFloat64Mask | asynUInt32DigitalMask,
ASYN_CANBLOCK | ASYN_MULTIDEVICE,
1, // autoconnect
0, 0) // Default priority and stack size
0, 0), // Default priority and stack size
enableSetPosition_(0), setPositionSettlingTime_(0.5)
{
static const char *functionName = "XPSController";
@@ -168,9 +159,14 @@ XPSController::XPSController(const char *portName, const char *IPAddress, int IP
pAxes_ = (XPSAxis **)(asynMotorController::pAxes_);
// Create controller-specific parameters
createParam(XPSMinJerkString, asynParamFloat64, &XPSMinJerk_);
createParam(XPSMaxJerkString, asynParamFloat64, &XPSMaxJerk_);
createParam(XPSStatusString, asynParamInt32, &XPSStatus_);
createParam(XPSMinJerkString, asynParamFloat64, &XPSMinJerk_);
createParam(XPSMaxJerkString, asynParamFloat64, &XPSMaxJerk_);
createParam(XPSProfileMaxVelocityString, asynParamFloat64, &XPSProfileMaxVelocity_);
createParam(XPSProfileMaxAccelerationString, asynParamFloat64, &XPSProfileMaxAcceleration_);
createParam(XPSProfileMinPositionString, asynParamFloat64, &XPSProfileMinPosition_);
createParam(XPSProfileMaxPositionString, asynParamFloat64, &XPSProfileMaxPosition_);
createParam(XPSTrajectoryFileString, asynParamOctet, &XPSTrajectoryFile_);
createParam(XPSStatusString, asynParamInt32, &XPSStatus_);
// This socket is used for polling by the controller and all axes
pollSocket_ = TCP_ConnectToServer((char *)IPAddress, IPPort, TCP_TIMEOUT);
@@ -878,40 +874,90 @@ asynStatus XPSController::readbackProfile()
return status ? asynError : asynSuccess;
}
asynStatus XPSController::enableSetPosition(int enable)
{
enableSetPosition_ = enable;
return asynSuccess;
}
/**
* Function to set the seetling time used when setting the XPS position.
* The sleep is performed after the axes are initialised, to take account of any
* post initialisation wobble.
* @param settlingTime The time in seconds to sleep.
*/
asynStatus XPSController::setPositionSettlingTime(double settlingTime)
{
setPositionSettlingTime_ = settlingTime;
return asynSuccess;
}
/** The following functions have C linkage, and can be called directly or from iocsh */
extern "C" {
/**
* Function to enable/disable the write down of position to the
* XPS controller. Call this function at IOC shell.
* @param setPos 0=disable, 1=enable
*/
/* void XPSEnableSetPosition(int setPos)
asynStatus XPSEnableSetPosition(const char *XPSName, int enableSetPosition)
{
doSetPosition = setPos;
XPSController *pC;
pC = (XPSController*) findAsynPortDriver(XPSName);
static const char *functionName = "XPSEnableSetPosition";
if (!pC) {
printf("%s:%s: Error port %s not found\n",
driverName, functionName, XPSName);
return asynError;
}
pC->lock();
pC->enableSetPosition(enableSetPosition);
pC->unlock();
return asynSuccess;
}
*/
/**
* Function to set the threadSleep time used when setting the XPS position.
* Function to set the settling time used when setting the XPS position.
* The sleep is performed after the axes are initialised, to take account of any
* post initialisation wobble.
* @param posSleep The time in miliseconds to sleep.
* @param settlingTime The time in milliseconds to sleep.
*/
/* void XPSSetPosSleepTime(int posSleep)
asynStatus XPSSetPositionSettlingTime(const char *XPSName, int settlingTime)
{
setPosSleepTime = (double)posSleep / 1000.0;
XPSController *pC;
pC = (XPSController*) findAsynPortDriver(XPSName);
static const char *functionName = "XPSSetPositionSettlingTime";
if (!pC) {
printf("%s:%s: Error port %s not found\n",
driverName, functionName, XPSName);
return asynError;
}
pC->lock();
pC->setPositionSettlingTime((double)settlingTime / 1000.0);
pC->unlock();
return asynSuccess;
}
*/
asynStatus XPSCreate(const char *portName, const char *IPAddress, int IPPort,
int numAxes, int movingPollPeriod, int idlePollPeriod)
{
XPSController *pXPSController
= new XPSController(portName, IPAddress, IPPort, numAxes, movingPollPeriod/1000., idlePollPeriod/1000.);
pXPSController = NULL;
return(asynSuccess);
return asynSuccess;
}
asynStatus XPSCreateAxis(const char *XPSName, /* specify which controller by port name */
int axis, /* axis number 0-7 */
const char *positionerName, /* groupName.positionerName e.g. Diffractometer.Phi */
@@ -927,11 +973,15 @@ asynStatus XPSCreateAxis(const char *XPSName, /* specify which controlle
driverName, functionName, XPSName);
return asynError;
}
pC->lock();
pAxis = new XPSAxis(pC, axis, positionerName, 1./stepsPerUnit);
pAxis = NULL;
return(asynSuccess);
pC->unlock();
return asynSuccess;
}
/* Code for iocsh registration */
/* XPSCreate */
@@ -941,12 +991,12 @@ static const iocshArg XPSCreateArg2 = {"IP port", iocshArgInt};
static const iocshArg XPSCreateArg3 = {"Number of axes", iocshArgInt};
static const iocshArg XPSCreateArg4 = {"Moving poll rate (ms)", iocshArgInt};
static const iocshArg XPSCreateArg5 = {"Idle poll rate (ms)", iocshArgInt};
static const iocshArg * const XPSCreateArgs[6] = {&XPSCreateArg0,
&XPSCreateArg1,
&XPSCreateArg2,
&XPSCreateArg2,
&XPSCreateArg4,
&XPSCreateArg5};
static const iocshArg * const XPSCreateArgs[] = {&XPSCreateArg0,
&XPSCreateArg1,
&XPSCreateArg2,
&XPSCreateArg2,
&XPSCreateArg4,
&XPSCreateArg5};
static const iocshFuncDef createXPS = {"XPSCreate", 6, XPSCreateArgs};
static void createXPSCallFunc(const iocshArgBuf *args)
{
@@ -955,15 +1005,16 @@ static void createXPSCallFunc(const iocshArgBuf *args)
}
/* XPSCreateAxis */
static const iocshArg XPSCreateAxisArg0 = {"Controller port name", iocshArgString};
static const iocshArg XPSCreateAxisArg1 = {"Axis number", iocshArgInt};
static const iocshArg XPSCreateAxisArg2 = {"Axis name", iocshArgString};
static const iocshArg XPSCreateAxisArg3 = {"Steps per unit", iocshArgInt};
static const iocshArg * const XPSCreateAxisArgs[4] = {&XPSCreateAxisArg0,
&XPSCreateAxisArg1,
&XPSCreateAxisArg2,
&XPSCreateAxisArg3};
static const iocshArg * const XPSCreateAxisArgs[] = {&XPSCreateAxisArg0,
&XPSCreateAxisArg1,
&XPSCreateAxisArg2,
&XPSCreateAxisArg3};
static const iocshFuncDef createXPSAxis = {"XPSCreateAxis", 4, XPSCreateAxisArgs};
static void createXPSAxisCallFunc(const iocshArgBuf *args)
@@ -972,32 +1023,41 @@ static void createXPSAxisCallFunc(const iocshArgBuf *args)
}
/* void XPSEnableSetPosition(int setPos) */
static const iocshArg XPSEnableSetPositionArg0 = {"Set Position Flag", iocshArgInt};
static const iocshArg * const XPSEnableSetPositionArgs[1] = {&XPSEnableSetPositionArg0};
static const iocshFuncDef xpsEnableSetPosition = {"XPSEnableSetPosition", 1, XPSEnableSetPositionArgs};
static void xpsEnableSetPositionCallFunc(const iocshArgBuf *args)
/* XPSEnableSetPosition */
static const iocshArg XPSEnableSetPositionArg0 = {"Controller port name", iocshArgString};
static const iocshArg XPSEnableSetPositionArg1 = {"Set Position Flag", iocshArgInt};
static const iocshArg * const XPSEnableSetPositionArgs[] = {&XPSEnableSetPositionArg0,
&XPSEnableSetPositionArg1};
static const iocshFuncDef enableSetPosition = {"XPSEnableSetPosition", 2, XPSEnableSetPositionArgs};
static void enableSetPositionCallFunc(const iocshArgBuf *args)
{
// XPSEnableSetPosition(args[0].ival);
XPSEnableSetPosition(args[0].sval, args[1].ival);
}
/* void XPSSetPosSleepTime(int posSleep) */
static const iocshArg XPSSetPosSleepTimeArg0 = {"Set Position Sleep Time", iocshArgInt};
static const iocshArg * const XPSSetPosSleepTimeArgs[1] = {&XPSSetPosSleepTimeArg0};
static const iocshFuncDef xpsSetPosSleepTime = {"XPSSetPosSleepTime", 1, XPSSetPosSleepTimeArgs};
static void xpsSetPosSleepTimeCallFunc(const iocshArgBuf *args)
/* XPSSetPositionSettlingTime */
static const iocshArg XPSSetPositionSettlingTimeArg0 = {"Controller port name", iocshArgString};
static const iocshArg XPSSetPositionSettlingTimeArg1 = {"Set Position Settling Time", iocshArgInt};
static const iocshArg * const XPSSetPositionSettlingTimeArgs[] = {&XPSSetPositionSettlingTimeArg0,
&XPSSetPositionSettlingTimeArg1};
static const iocshFuncDef setPositionSettlingTime = {"XPSSetPositionSettlingTime", 2, XPSSetPositionSettlingTimeArgs};
static void setPositionSettlingTimeCallFunc(const iocshArgBuf *args)
{
// XPSSetPosSleepTime(args[0].ival);
XPSSetPositionSettlingTime(args[0].sval, args[1].ival);
}
static void XPSRegister3(void)
{
iocshRegister(&createXPS, createXPSCallFunc);
iocshRegister(&createXPSAxis, createXPSAxisCallFunc);
// iocshRegister(&xpsEnableSetPosition, xpsEnableSetPositionCallFunc);
// iocshRegister(&xpsSetPosSleepTime, xpsSetPosSleepTimeCallFunc);
iocshRegister(&enableSetPosition, enableSetPositionCallFunc);
iocshRegister(&setPositionSettlingTime, setPositionSettlingTimeCallFunc);
}
epicsExportRegistrar(XPSRegister3);
} // extern "C"