lin-epics-modules/motorBase
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split init string into individual commands; read status before position

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This commit is contained in:
Jens Eden
2015-01-07 10:21:35 +00:00
parent ec5f2ffe9a
commit 82fe312c4c
2 changed files with 22 additions and 12 deletions
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motorApp/OmsAsynSrc/omsBaseController.cpp
+21 -12
View File
@@ -471,12 +471,18 @@ asynStatus omsBaseController::Init(const char* initString, int multiple){
/* send InitString */
if ((initString != NULL) && (strlen(initString) > 0)) {
if (multiple){
/* send each commmand in initstring individually */
char* tmpout = new char[strlen(initString)+2];
char* inittmp = epicsStrDup(initString);
for (tokSave = NULL, p = epicsStrtok_r(inittmp, ";", &tokSave);
p != NULL; p = epicsStrtok_r(NULL, ";", &tokSave)) {
sendOnlyLock(p);
strcpy(tmpout, p);
strcat(tmpout, ";");
sendOnlyLock(tmpout);
epicsThreadSleep(0.1);
}
free(inittmp);
delete[] tmpout;
}
else {
sendOnlyLock(initString);
@@ -626,28 +632,31 @@ void omsBaseController::omsPoller()
epicsTimeGetCurrent(&loopStart);
/* read all axis status values and reset done-field
* MDNN,MDNN,PNLN,PNNN,PNLN,PNNN,PNNN,PNNN */
retry_count = 0;
while ((getAxesPositions(axisPosArr) != asynSuccess) && (retry_count < 5)){
while ((getAxesStatus(statusBuffer, sizeof(statusBuffer), &moveDone) != asynSuccess) && (retry_count < 5)){
Debug(1, "%s:%s:%s: error reading axes status\n", driverName, functionName, this->portName);
epicsThreadSleep(0.1);
++retry_count;
}
if (retry_count > 4){
errlogPrintf("%s:%s:%s: error reading axis position after %d attempts\n",
errlogPrintf("%s:%s:%s: error reading axis status (%d attempts)\n",
driverName, functionName, this->portName, retry_count);
++loopBreakCount;
resetConnection();
continue;
}
if (getAxesPositions(axisPosArr) != asynSuccess){
Debug(1, "%s:%s:%s: error reading axis positions\n", driverName, functionName, this->portName);
++loopBreakCount;
continue;
}
if (useEncoder && (getEncoderPositions(encPosArr) != asynSuccess)){
Debug(1, "%s:%s:%s: error executing get Encoder Positions\n", driverName, functionName, this->portName);
++loopBreakCount;
continue;
}
/* read all axis status values and reset done-field
* MDNN,MDNN,PNLN,PNNN,PNLN,PNNN,PNNN,PNNN */
if (getAxesStatus(statusBuffer, sizeof(statusBuffer), &moveDone) != asynSuccess){
Debug(1, "%s:%s:%s: error reading axes status\n", driverName, functionName, this->portName);
Debug(1, "%s:%s:%s: error reading encoder positions\n", driverName, functionName, this->portName);
++loopBreakCount;
continue;
}
motorApp/OmsAsynSrc/omsBaseController.h
+1
View File
@@ -62,6 +62,7 @@ protected:
virtual asynStatus getClosedLoopStatus(int clstatus[OMS_MAX_AXES]);
virtual epicsEventWaitStatus waitInterruptible(double timeout);
virtual bool watchdogOK();
virtual bool resetConnection(){return false;};
char* getPortName(){return portName;};
bool firmwareMin(int, int, int);
static omsBaseController* findController(const char*);