forked from epics_driver_modules/motorBase
Changed set/getPositionCompare API
This commit is contained in:
MarkRivers
@@ -870,80 +870,102 @@ asynStatus XPSAxis::setClosedLoop(bool closedLoop)
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return (asynStatus)status;
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}
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asynStatus XPSAxis::setPositionCompare(bool enable, double minPosition, double maxPosition, double stepSize,
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double pulseWidth, double settlingTime)
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asynStatus XPSAxis::setPositionCompare()
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{
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int enable;
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double minPosition, maxPosition, stepSize, pulseWidth, settlingTime;
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int itemp;
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int status;
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static const char *functionName = "setPositionCompare";
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pC_->getIntegerParam(pC_->XPSPositionCompareEnable_, &enable);
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pC_->getDoubleParam (pC_->XPSPositionCompareMinPosition_, &minPosition);
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pC_->getDoubleParam (pC_->XPSPositionCompareMaxPosition_, &maxPosition);
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pC_->getDoubleParam (pC_->XPSPositionCompareStepSize_, &stepSize);
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pC_->getIntegerParam(pC_->XPSPositionComparePulseWidth_, &itemp);
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pulseWidth = positionComparePulseWidths[itemp];
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pC_->getIntegerParam(pC_->XPSPositionCompareSettlingTime_, &itemp);
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settlingTime = positionCompareSettlingTimes[itemp];
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// Disable the position compare so we can set parameters
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status = PositionerPositionCompareDisable(pollSocket_, positionerName_);
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if (status) {
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asynPrint(pasynUser_, ASYN_TRACE_ERROR,
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"%s:%s: [%s,%d]: error calling PositionerPositionCompareDisable status=%d\n",
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driverName, functionName, pC_->portName, axisNo_, status);
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return asynError;
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}
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status = PositionerPositionComparePulseParametersSet(pollSocket_, positionerName_, pulseWidth, settlingTime);
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if (status) {
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asynPrint(pasynUser_, ASYN_TRACE_ERROR,
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"%s:%s: [%s,%d]: error calling PositionerPositionComparePulseParametersSet status=%d\n",
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driverName, functionName, pC_->portName, axisNo_, status);
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return asynError;
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}
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status = PositionerPositionCompareSet(pollSocket_, positionerName_, minPosition, maxPosition, stepSize);
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if (status) {
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asynPrint(pasynUser_, ASYN_TRACE_ERROR,
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"%s:%s: [%s,%d]: error calling PositionerPositionCompareSet status=%d\n",
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driverName, functionName, pC_->portName, axisNo_, status);
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return asynError;
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}
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if (enable) {
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status = PositionerPositionComparePulseParametersSet(pollSocket_, positionerName_, pulseWidth, settlingTime);
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if (status) {
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asynPrint(pasynUser_, ASYN_TRACE_ERROR,
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"%s:%s: [%s,%d]: error calling PositionerPositionComparePulseParametersSet status=%d\n",
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driverName, functionName, pC_->portName, axisNo_, status);
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return asynError;
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}
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status = PositionerPositionCompareSet(pollSocket_, positionerName_, minPosition, maxPosition, stepSize);
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if (status) {
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asynPrint(pasynUser_, ASYN_TRACE_ERROR,
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"%s:%s: [%s,%d]: error calling PositionerPositionCompareSet status=%d\n",
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driverName, functionName, pC_->portName, axisNo_, status);
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return asynError;
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}
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status = PositionerPositionCompareEnable(pollSocket_, positionerName_);
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if (status) {
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asynPrint(pasynUser_, ASYN_TRACE_ERROR,
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"%s:%s: [%s,%d]: error calling PositionerPositionCompareEnable status=%d\n",
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driverName, functionName, pC_->portName, axisNo_, status);
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return asynError;
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} else {
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asynPrint(pasynUser_, ASYN_TRACE_FLOW,
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"%s:%s: set XPS %s, axis %d positionCompare set and enable\n",
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driverName, functionName, pC_->portName, axisNo_);
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}
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} else {
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status = PositionerPositionCompareDisable(pollSocket_, positionerName_);
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if (status) {
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asynPrint(pasynUser_, ASYN_TRACE_ERROR,
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"%s:%s: [%s,%d]: error calling PositionerPositionCompareDisable status=%d\n",
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driverName, functionName, pC_->portName, axisNo_, status);
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return asynError;
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} else {
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asynPrint(pasynUser_, ASYN_TRACE_FLOW,
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"%s:%s: motorAxisSetInteger set XPS %s, axis %d positionCompare disable\n",
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driverName, functionName, pC_->portName, axisNo_);
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}
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}
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}
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asynPrint(pasynUser_, ASYN_TRACE_FLOW,
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"%s:%s: set XPS %s, axis %d positionCompare set and enable\n",
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driverName, functionName, pC_->portName, axisNo_);
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return asynSuccess;
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}
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asynStatus XPSAxis::getPositionCompare(bool *enable, double *minPosition, double *maxPosition, double *stepSize,
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double *pulseWidth, double *settlingTime)
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asynStatus XPSAxis::getPositionCompare()
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{
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bool enable;
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int status;
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static const char *functionName = "setPositionCompare";
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int i;
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double minPosition, maxPosition, stepSize, pulseWidth, settlingTime;
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static const char *functionName = "getPositionCompare";
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status = PositionerPositionComparePulseParametersGet(pollSocket_, positionerName_, pulseWidth, settlingTime);
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if (status) {
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asynPrint(pasynUser_, ASYN_TRACE_ERROR,
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"%s:%s: [%s,%d]: error calling PositionerPositionComparePulseParametersSet status=%d\n",
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driverName, functionName, pC_->portName, axisNo_, status);
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return asynError;
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}
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status = PositionerPositionCompareGet(pollSocket_, positionerName_, minPosition, maxPosition, stepSize, enable);
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if (status) {
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asynPrint(pasynUser_, ASYN_TRACE_ERROR,
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"%s:%s: [%s,%d]: error calling PositionerPositionCompareSet status=%d\n",
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driverName, functionName, pC_->portName, axisNo_, status);
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return asynError;
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} else {
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asynPrint(pasynUser_, ASYN_TRACE_FLOW,
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"%s:%s: set XPS %s, axis %d positionCompareGet,"
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" enable=%d, minPosition=%f, maxPosition=%f, stepSize=%f, pulseWidth=%f, settlingTime=%f\n",
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driverName, functionName, pC_->portName, axisNo_,
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*enable, *minPosition, *maxPosition, *stepSize, *pulseWidth, *settlingTime);
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}
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status = PositionerPositionComparePulseParametersGet(pollSocket_, positionerName_, &pulseWidth, &settlingTime);
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if (status) {
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asynPrint(pasynUser_, ASYN_TRACE_ERROR,
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"%s:%s: [%s,%d]: error calling PositionerPositionComparePulseParametersGet status=%d\n",
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driverName, functionName, pC_->portName, axisNo_, status);
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return asynError;
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}
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status = PositionerPositionCompareGet(pollSocket_, positionerName_, &minPosition, &maxPosition, &stepSize, &enable);
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if (status) {
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asynPrint(pasynUser_, ASYN_TRACE_ERROR,
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"%s:%s: [%s,%d]: error calling PositionerPositionCompareGet status=%d\n",
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driverName, functionName, pC_->portName, axisNo_, status);
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return asynError;
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}
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asynPrint(pasynUser_, ASYN_TRACE_FLOW,
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"%s:%s: set XPS %s, axis %d positionCompareGet,"
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" enable=%d, minPosition=%f, maxPosition=%f, stepSize=%f, pulseWidth=%f, settlingTime=%f\n",
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driverName, functionName, pC_->portName, axisNo_,
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enable, minPosition, maxPosition, stepSize, pulseWidth, settlingTime);
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setIntegerParam(pC_->XPSPositionCompareEnable_, enable);
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setDoubleParam(pC_->XPSPositionCompareMinPosition_, minPosition);
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setDoubleParam(pC_->XPSPositionCompareMaxPosition_, maxPosition);
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setDoubleParam(pC_->XPSPositionCompareStepSize_, stepSize);
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for (i=0; i<MAX_PULSE_WIDTHS; i++) {
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if (fabs(pulseWidth - positionComparePulseWidths[i]) < 0.001) break;
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}
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setIntegerParam(pC_->XPSPositionComparePulseWidth_, i);
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for (i=0; i<MAX_SETTLING_TIMES; i++) {
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if (fabs(settlingTime - positionCompareSettlingTimes[i]) < 0.001) break;
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}
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setIntegerParam(pC_->XPSPositionCompareSettlingTime_, i);
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return asynSuccess;
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}
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