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Worked on support for profile moves

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This commit is contained in:
MarkRivers
2011-04-05 22:46:20 +00:00
parent 30a8263313
commit 8e434d2bb3
1 changed files with 67 additions and 23 deletions
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motorApp/MotorSrc/asynMotorController.cpp
+67 -23
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@@ -6,6 +6,7 @@
* from which real motor controllers are derived. It derives from asynPortDriver.
*/
#include <stdlib.h>
#include <string.h>
#include <epicsThread.h>
@@ -34,7 +35,7 @@ asynMotorController::asynMotorController(const char *portName, int numAxes, int
shuttingDown_(0), numAxes_(numAxes)
{
static const char *functionName = "asynMotorController::asynMotorController";
static const char *functionName = "asynMotorController";
/* Create the base set of motor parameters */
createParam(motorMoveRelString, asynParamFloat64, &motorMoveRel_);
@@ -82,19 +83,21 @@ asynMotorController::asynMotorController(const char *portName, int numAxes, int
createParam(profileEndPulsesString, asynParamInt32, &profileEndPulses_);
createParam(profileActualPulsesString, asynParamInt32, &profileActualPulses_);
createParam(profileNumReadbacksString, asynParamInt32, &profileNumReadbacks_);
createParam(profileTimeModeString, asynParamInt32, &profileTimeMode_);
createParam(profileFixedTimeString, asynParamFloat64, &profileFixedTime_);
createParam(profileTimeArrayString, asynParamFloat64Array, &profileTimeArray_);
createParam(profileAccelerationString, asynParamFloat64, &profileAcceleration_);
createParam(profileBuildString, asynParamInt32, &profileBuild_);
createParam(profileBuildStateString, asynParamInt32, &profileBuildState_);
createParam(profileBuildStatusString, asynParamOctet, &profileBuildStatus_);
createParam(profileBuildStatusString, asynParamInt32, &profileBuildStatus_);
createParam(profileBuildMessageString, asynParamOctet, &profileBuildMessage_);
createParam(profileExecuteString, asynParamInt32, &profileExecute_);
createParam(profileExecuteStateString, asynParamInt32, &profileExecuteState_);
createParam(profileExecuteStatusString, asynParamOctet, &profileExecuteStatus_);
createParam(profileExecuteStatusString, asynParamInt32, &profileExecuteStatus_);
createParam(profileExecuteMessageString, asynParamOctet, &profileExecuteMessage_);
createParam(profileReadbackString, asynParamInt32, &profileReadback_);
createParam(profileReadbackStateString, asynParamInt32, &profileReadbackState_);
createParam(profileReadbackStatusString, asynParamOctet, &profileReadbackStatus_);
createParam(profileReadbackStatusString, asynParamInt32, &profileReadbackStatus_);
createParam(profileReadbackMessageString, asynParamOctet, &profileReadbackMessage_);
// These are the per-axis parameters for profile moves
@@ -136,7 +139,7 @@ asynStatus asynMotorController::writeInt32(asynUser *pasynUser, epicsInt32 value
asynMotorAxis *pAxis;
double accel;
int moving;
static const char *functionName = "asynMotorController::writeInt32";
static const char *functionName = "writeInt32";
pAxis = getAxis(pasynUser);
if (!pAxis) return asynError;
@@ -154,6 +157,12 @@ asynStatus asynMotorController::writeInt32(asynUser *pasynUser, epicsInt32 value
poll();
pAxis->poll(&moving);
pAxis->statusChanged_ = 1;
} else if (function == profileBuild_) {
buildProfile();
} else if (function == profileExecute_) {
executeProfile();
} else if (function == profileReadback_) {
readbackProfile();
}
/* Do callbacks so higher layers see any changes */
@@ -188,7 +197,7 @@ asynStatus asynMotorController::writeFloat64(asynUser *pasynUser, epicsFloat64 v
int axis;
int forwards;
asynStatus status = asynError;
static const char *functionName = "asynMotorController::writeFloat64";
static const char *functionName = "writeFloat64";
pAxis = getAxis(pasynUser);
if (!pAxis) return asynError;
@@ -271,12 +280,30 @@ asynStatus asynMotorController::writeFloat64(asynUser *pasynUser, epicsFloat64 v
asynStatus asynMotorController::writeFloat64Array(asynUser *pasynUser, epicsFloat64 *value,
size_t nElements)
{
static const char *functionName = "asynMotorController::writeFloat64Array";
int function = pasynUser->reason;
asynMotorAxis *pAxis;
static const char *functionName = "writeFloat64Array";
asynPrint(pasynUserSelf, ASYN_TRACE_ERROR,
"%s:%s: not implemented in this driver\n",
driverName, functionName);
return asynError ;
pAxis = getAxis(pasynUser);
if (!pAxis) return asynError;
if (nElements > maxProfilePoints_) {
nElements = maxProfilePoints_;
}
if (function == profileTimeArray_) {
memcpy(profileTimes_, value, nElements*sizeof(double));
}
else if (function == profilePositions_) {
pAxis->defineProfile(value, nElements);
}
else {
asynPrint(pasynUserSelf, ASYN_TRACE_ERROR,
"%s:%s: unknown parameter number %d\n",
driverName, functionName, function);
return asynError ;
}
return asynSuccess;
}
/** Called when asyn clients call pasynGenericPointer->read().
@@ -286,7 +313,7 @@ asynStatus asynMotorController::writeFloat64Array(asynUser *pasynUser, epicsFloa
* \param[in] pointer Pointer to the MotorStatus object to return. */
asynStatus asynMotorController::readGenericPointer(asynUser *pasynUser, void *pointer)
{
static const char *functionName = "asynMotorController::readGenericPointer";
static const char *functionName = "readGenericPointer";
MotorStatus *pStatus = (MotorStatus *)pointer;
int axis;
@@ -407,7 +434,10 @@ void asynMotorController::asynMotorPoller()
}
anyMoving = 0;
lock();
if (shuttingDown_) break;
if (shuttingDown_) {
unlock();
break;
}
this->poll();
for (i=0; i<numAxes_; i++) {
pAxis=getAxis(i);
@@ -415,7 +445,6 @@ void asynMotorController::asynMotorPoller()
pAxis->poll(&moving);
if (moving) anyMoving=1;
}
unlock();
if (forcedFastPolls > 0) {
timeout = movingPollPeriod_;
forcedFastPolls--;
@@ -424,16 +453,17 @@ void asynMotorController::asynMotorPoller()
} else {
timeout = idlePollPeriod_;
}
unlock();
}
}
/* These are the functions for profile moves */
/** Initialize a profile move of multiple axes. */
asynStatus asynMotorController::initializeProfile(int maxProfilePoints)
asynStatus asynMotorController::initializeProfile(size_t maxProfilePoints)
{
int axis;
asynMotorAxis *pAxis;
// static const char *functionName = "asynMotorController::initializeProfile";
// static const char *functionName = "initializeProfile";
maxProfilePoints_ = maxProfilePoints;
if (profileTimes_) free(profileTimes_);
@@ -448,12 +478,26 @@ asynStatus asynMotorController::initializeProfile(int maxProfilePoints)
/** Build a profile move of multiple axes. */
asynStatus asynMotorController::buildProfile()
{
// static const char *functionName = "asynMotorController::buildProfile";
int axis;
//static const char *functionName = "buildProfile";
asynMotorAxis *pAxis;
for (axis=0; axis<numAxes_; axis++) {
pAxis = getAxis(axis);
int i;
int status=0;
double time;
int timeMode;
int numPoints;
status |= getIntegerParam(profileTimeMode_, &timeMode);
status |= getDoubleParam(profileFixedTime_, &time);
status |= getIntegerParam(profileNumPoints_, &numPoints);
if (status) return asynError;
if (timeMode == PROFILE_TIME_MODE_FIXED) {
memset(profileTimes_, 0, maxProfilePoints_*sizeof(double));
for (i=0; i<numPoints; i++) {
profileTimes_[i] = time;
}
}
for (i=0; i<numAxes_; i++) {
pAxis = getAxis(i);
pAxis->buildProfile();
}
return asynSuccess;
@@ -462,7 +506,7 @@ asynStatus asynMotorController::buildProfile()
/** Execute a profile move of multiple axes. */
asynStatus asynMotorController::executeProfile()
{
// static const char *functionName = "asynMotorController::executeProfile";
// static const char *functionName = "executeProfile";
int axis;
asynMotorAxis *pAxis;
@@ -476,7 +520,7 @@ asynStatus asynMotorController::executeProfile()
/** Readback the actual motor positions from a profile move of multiple axes. */
asynStatus asynMotorController::readbackProfile()
{
// static const char *functionName = "asynMotorController::readbackProfile";
// static const char *functionName = "readbackProfile";
int axis;
asynMotorAxis *pAxis;