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On comm. error, signal motorAxisProblem to user and skip controller initialization

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sluiter
2016-08-23 13:20:51 -05:00
parent c460055f93
commit 62b41c4150
1 changed files with 17 additions and 10 deletions
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motorApp/AerotechSrc/drvA3200Asyn.cc
+17 -10
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@@ -879,18 +879,22 @@ int A3200AsynConfig(int card, /* Controller number */
/* Get axes info */
for (axis = 0; axis < numAxes; axis++)
{
sprintf(outputBuff, "$strtask0 = GETPARMSTRING %d, PARAMETERID_AxisName", axis);
sendAndReceive(pController, outputBuff, inputBuff, sizeof(inputBuff));
AXIS_HDL pAxis = &pController->pAxis[axis];
pAxis->pController = pController;
pAxis->card = card;
pAxis->axis = axis;
pAxis->mutexId = epicsMutexMustCreate();
pAxis->params = motorParam->create(0, MOTOR_AXIS_NUM_PARAMS);
sendAndReceive(pController, "~GETVARIABLE $strtask0", inputBuff, sizeof(inputBuff));
if (inputBuff[0] == ASCII_ACK_CHAR)
if (inputBuff[0] != ASCII_ACK_CHAR)
motorParam->setInteger(pAxis->params, motorAxisProblem, 1); /* Signal "Controller Error" to user. */
else
{
AXIS_HDL pAxis = &pController->pAxis[axis];
pAxis->pController = pController;
pAxis->card = card;
pAxis->axis = axis;
pAxis->mutexId = epicsMutexMustCreate();
pAxis->params = motorParam->create(0, MOTOR_AXIS_NUM_PARAMS);
sprintf(outputBuff, "$strtask0 = GETPARMSTRING %d, PARAMETERID_AxisName", axis);
sendAndReceive(pController, outputBuff, inputBuff, sizeof(inputBuff));
sendAndReceive(pController, "~GETVARIABLE $strtask0", inputBuff, sizeof(inputBuff));
strncpy(pAxis->axisName, &inputBuff[1], sizeof(pAxis->axisName) - 1);
sprintf(outputBuff, GET_PARAM_FORMAT_STRING, "PositionFeedbackType", pAxis->axisName);
@@ -936,6 +940,9 @@ int A3200AsynConfig(int card, /* Controller number */
}
}
if (inputBuff[0] != ASCII_ACK_CHAR)
return MOTOR_AXIS_ERROR;
sendAndReceive(pController, "~INITQUEUE", inputBuff, sizeof(inputBuff));
/* Prevent Task #2 and #3 from blocking during LINEAR commands. */