lin-epics-modules/motorBase
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Added readbackProfile; changed poll to use bool

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MarkRivers
2011-04-07 03:33:44 +00:00
parent 04bd1abeca
commit 821fb66bf8
1 changed files with 29 additions and 3 deletions
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motorApp/NewportSrc/XPSAxis.cpp
+29 -3
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@@ -139,7 +139,7 @@ XPSAxis::XPSAxis(XPSController *pC, int axisNo, const char *positionerName, doub
int status;
double minJerkTime, maxJerkTime;
moveSocket_ = TCP_ConnectToServer(pC_->IPAddress_, pC->IPPort_, TCP_TIMEOUT);
moveSocket_ = TCP_ConnectToServer(pC_->IPAddress_, pC->IPPort_, XPS_POLL_TIMEOUT);
if (moveSocket_ < 0) {
printf("%s:%s: error calling TCP_ConnectToServer for move socket\n",
driverName, functionName);
@@ -506,7 +506,7 @@ asynStatus XPSAxis::stop(double acceleration)
return asynSuccess;
}
asynStatus XPSAxis::poll(int *moving)
asynStatus XPSAxis::poll(bool *moving)
{
int status;
int axisDone;
@@ -564,7 +564,7 @@ asynStatus XPSAxis::poll(int *moving)
/* Set the axis done parameter */
/* AND the done flag with the inverse of deferred_move.*/
axisDone &= !deferredMove_;
*moving = axisDone ? 0 : 1;
*moving = axisDone ? false : true;
setIntegerParam(pC_->motorStatusDone_, axisDone);
setIntegerParam(pC_->motorStatusHome_, (axisStatus_ == 11) ? 1 : 0);
if ((axisStatus_ >= 0 && axisStatus_ <= 9) ||
@@ -1129,3 +1129,29 @@ asynStatus XPSAxis::defineProfile(double *positions, size_t numPoints)
return asynSuccess;
}
/** Function to readback the actual motor positions from a coordinated move of multiple axes.
* This scales by the stepSize to get to steps, and then calls the base class method
* that converts to user units
* Caution: this function modifies the readbacks in place, so it must only be called
* once per readback operation.
*/
asynStatus XPSAxis::readbackProfile()
{
int i;
int numReadbacks;
int status=0;
// static const char *functionName = "readbackProfile";
status |= pC_->getIntegerParam(axisNo_, pC_->profileNumReadbacks_, &numReadbacks);
if (status) return asynError;
// Convert to steps
for (i=0; i<numReadbacks; i++) {
profileReadbacks_[i] /= stepSize_;
profileFollowingErrors_[i] /= stepSize_;
}
// Call the base class method
asynMotorAxis::readbackProfile();
return asynSuccess;
}