lin-epics-modules/motorBase
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Force update when a motor is moved, even if poller says it is not moving

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This commit is contained in:
MarkRivers
2007-02-13 21:41:09 +00:00
parent c675044744
commit 76e4892077
1 changed files with 13 additions and 3 deletions
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motorApp/NewportSrc/drvXPSAsyn.c
+13 -3
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@@ -433,6 +433,9 @@ static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
return MOTOR_AXIS_ERROR;
}
}
/* Tell paramLib that the motor is moving.
* This will force a callback on the next poll, even if the poll says the motor is already done. */
motorParam->setInteger(pAxis->params, motorAxisDone, 0);
/* Send a signal to the poller task which will make it do a poll, and switch to the moving poll rate */
epicsEventSignal(pAxis->pController->pollEventId);
@@ -475,6 +478,9 @@ static int motorAxisHome(AXIS_HDL pAxis, double min_velocity, double max_velocit
return MOTOR_AXIS_ERROR;
}
/* Tell paramLib that the motor is moving.
* This will force a callback on the next poll, even if the poll says the motor is already done. */
motorParam->setInteger(pAxis->params, motorAxisDone, 0);
/* Send a signal to the poller task which will make it do a poll, and switch to the moving poll rate */
epicsEventSignal(pAxis->pController->pollEventId);
PRINT(pAxis->logParam, FLOW, "motorAxisHome: set card %d, axis %d to home\n",
@@ -503,6 +509,9 @@ static int motorAxisVelocityMove(AXIS_HDL pAxis, double min_velocity, double vel
status);
return MOTOR_AXIS_ERROR;
}
/* Tell paramLib that the motor is moving.
* This will force a callback on the next poll, even if the poll says the motor is already done. */
motorParam->setInteger(pAxis->params, motorAxisDone, 0);
/* Send a signal to the poller task which will make it do a poll, and switch to the moving poll rate */
epicsEventSignal(pAxis->pController->pollEventId);
PRINT(pAxis->logParam, FLOW, "motorAxisVelocityMove card %d, axis %d move velocity=%f, accel=%f\n",
@@ -796,9 +805,10 @@ int XPSConfig(int card, /* Controller number */
}
/* Set the poll rate on the moveSocket to a negative number, which means that SendAndReceive should do only a write, no read */
TCP_SetTimeout(pAxis->moveSocket, -0.1);
printf("XPSConfig: pollSocket=%d, moveSocket=%d, ip=%s, port=%d,"
" axis=%d controller=%d\n",
pAxis->pollSocket, pAxis->moveSocket, ip, port, axis, card);
/* printf("XPSConfig: pollSocket=%d, moveSocket=%d, ip=%s, port=%d,"
* " axis=%d controller=%d\n",
* pAxis->pollSocket, pAxis->moveSocket, ip, port, axis, card);
*/
pAxis->params = motorParam->create(0, MOTOR_AXIS_NUM_PARAMS + XPS_NUM_PARAMS);
}