lin-epics-modules/motorBase
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Support controller that do not know "VEL(?)" command

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This commit is contained in:
PI-SRau
2016-10-20 17:36:09 +02:00
parent bcdff1c0dc
commit 548c1188ae
2 changed files with 35 additions and 12 deletions
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motorApp/PIGCS2Src/PIGCSController.cpp
+33 -12
View File
@@ -111,6 +111,10 @@ bool PIGCSController::IsGCS2(PIInterface* pInterface)
asynStatus PIGCSController::setVelocityCts( PIasynAxis* pAxis, double velocity )
{
if (!m_KnowsVELcommand)
{
return asynSuccess;
}
char cmd[100];
velocity = fabs(velocity) * pAxis->m_CPUdenominator / pAxis->m_CPUnumerator;
sprintf(cmd,"VEL %s %f", pAxis->m_szAxisName, velocity);
@@ -247,17 +251,21 @@ int PIGCSController::getGCSError()
if (0 != errorCode)
{
m_LastError = errorCode;
asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_ERROR|ASYN_TRACE_FLOW,
"PIGCSController::getGCSError() GCS error code = %d\n",
errorCode);
char szErrorMsg[1024];
if (TranslatePIError(errorCode, szErrorMsg, 1024))
{
asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_ERROR|ASYN_TRACE_FLOW,
"PIGCSController::getGCSError() GCS error, %s\n",
szErrorMsg);
if (m_pInterface->m_pCurrentLogSink)
{
asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_ERROR|ASYN_TRACE_FLOW,
"PIGCSController::getGCSError() GCS error code = %d\n",
errorCode);
char szErrorMsg[1024];
if (TranslatePIError(errorCode, szErrorMsg, 1024))
{
asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_ERROR|ASYN_TRACE_FLOW,
"PIGCSController::getGCSError() GCS error, %s\n",
szErrorMsg);
}
}
}
}
return errorCode;
}
@@ -308,6 +316,10 @@ asynStatus PIGCSController::getAxisPosition(PIasynAxis* pAxis, double& position)
*/
asynStatus PIGCSController::getAxisVelocity(PIasynAxis* pAxis)
{
if (!m_KnowsVELcommand)
{
return asynSuccess;
}
char cmd[100];
char buf[255];
sprintf(cmd, "VEL? %s", pAxis->m_szAxisName);
@@ -443,7 +455,7 @@ asynStatus PIGCSController::getAxisPositionCts(PIasynAxis* pAxis)
pAxis->m_position = pos;
if (pAxis->m_CPUdenominator==0 || pAxis->m_CPUnumerator==0)
{
pAxis->m_positionCts = pos;
pAxis->m_positionCts = int(pos);
return status;
}
@@ -577,7 +589,7 @@ asynStatus PIGCSController::initAxis(PIasynAxis* pAxis)
asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_FLOW,
"PIGCSController::initAxis() stage configuration: %s\n", buf);
}
pAxis->m_movingStateMask = pow(2.0, pAxis->getAxisNo());
pAxis->m_movingStateMask = int (pow(2.0, pAxis->getAxisNo()) );
return setServo(pAxis, 1);
}
@@ -585,6 +597,15 @@ asynStatus PIGCSController::initAxis(PIasynAxis* pAxis)
asynStatus PIGCSController::init(void)
{
asynStatus status;
char buffer [1024];
status = m_pInterface->sendAndReceive("VEL?", buffer, 1023);
m_KnowsVELcommand = ( asynSuccess == status);
if (!m_KnowsVELcommand)
{
(void) getGCSError ();
}
status = findConnectedAxes();
return status;
}
motorApp/PIGCS2Src/PIGCSController.h
+2
View File
@@ -109,6 +109,8 @@ protected:
size_t m_nrFoundAxes;
char m_allAxesIDs[255];
int m_LastError;
bool m_KnowsVELcommand;
};
#endif /* PIGCSCONTROLLER_H_ */