lin-epics-modules/motorBase
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Call ReadXPSSocket in poll, which will ultimately be used to flag done

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This commit is contained in:
MarkRivers
2012-07-06 19:48:30 +00:00
parent e3a0ab48da
commit 9658330a3f
1 changed files with 37 additions and 19 deletions
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motorApp/NewportSrc/XPSAxis.cpp
+37 -19
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@@ -97,6 +97,7 @@ using std::endl;
#include "XPSController.h"
#include "XPS_C8_drivers.h"
#include "asynOctetSocket.h"
#define XPSC8_END_OF_RUN_MINUS 0x80000100
#define XPSC8_END_OF_RUN_PLUS 0x80000200
@@ -167,13 +168,16 @@ XPSAxis::XPSAxis(XPSController *pC, int axisNo, const char *positionerName, doub
deferredPosition_ = 0;
/* Disable deferred move for the axis. Should not cause move of this axis
if other axes in same group do deferred move. */
deferredMove_ = 0;
deferredMove_ = 0;
// Assume axis is not moving
moving_ = false;
index = (char *)strchr(positionerName, '.');
if (index == NULL) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: positionerName must be of form group.positioner = %s\n",
driverName, functionName, positionerName);
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: positionerName must be of form group.positioner = %s\n",
driverName, functionName, positionerName);
}
positionerName_ = epicsStrDup(positionerName);
groupName_ = epicsStrDup(positionerName);
@@ -237,11 +241,10 @@ asynStatus XPSAxis::move(double position, int relative, double min_velocity, dou
if (pC_->autoEnable_) {
status = GroupMotionEnable(pollSocket_, groupName_);
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: motorAxisMove[%s,%d]: error performing GroupMotionEnable %d\n",
driverName, functionName, pC_->portName, axisNo_, status);
/* Error -27 is caused when the motor record changes dir i.e. when it aborts a move!*/
return asynError;
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: motorAxisMove[%s,%d]: error performing GroupMotionEnable %d\n",
driverName, functionName, pC_->portName, axisNo_, status);
return asynError;
}
} else {
//Return error if a move is attempted and auto enable is turned off.
@@ -274,7 +277,7 @@ asynStatus XPSAxis::move(double position, int relative, double min_velocity, dou
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: Error performing GroupMoveRelative[%s,%d] %d\n",
driverName, functionName, pC_->portName, axisNo_, status);
/* Error -27 is caused when the motor record changes dir i.e. when it aborts a move!*/
/* Error -27 is caused when the motor record changes dir i.e. when it aborts a move! */
return asynError;
}
} else {
@@ -374,8 +377,8 @@ asynStatus XPSAxis::moveVelocity(double min_velocity, double max_velocity, doubl
status = GroupJogParametersSet(moveSocket_, positionerName_, 1, &deviceVelocity, &deviceAcceleration);
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: [%s,%d]: error calling GroupJogParametersSet error=%d\n",
driverName, functionName, pC_->portName, axisNo_, status);
"%s:%s: [%s,%d]: error calling GroupJogParametersSet error=%d\n",
driverName, functionName, pC_->portName, axisNo_, status);
return asynError;
}
@@ -550,6 +553,7 @@ asynStatus XPSAxis::poll(bool *moving)
{
int status;
int axisDone;
char readResponse[25];
static const char *functionName = "poll";
status = GroupStatusGet(pollSocket_,
@@ -599,7 +603,7 @@ asynStatus XPSAxis::poll(bool *moving)
setIntegerParam(pC_->motorStatusHome_, 0);
}
/*Set the HOMED signal.*/
/* Set the HOMED signal.*/
if ((axisStatus_ >= 10 && axisStatus_ <= 21) ||
(axisStatus_ == 44) || (axisStatus_ == 45) || (axisStatus_ == 47)) {
if (referencingMode_ == 0) {
@@ -616,8 +620,8 @@ asynStatus XPSAxis::poll(bool *moving)
(axisStatus_ >= 24 && axisStatus_ <= 26) ||
(axisStatus_ == 28 || axisStatus_ == 35)) {
asynPrint(pasynUser_, ASYN_TRACE_FLOW,
"%s:%s: [%s,%d]: in following error. XPS State Code: %d\n",
driverName, functionName, pC_->portName, axisNo_, axisStatus_);
"%s:%s: [%s,%d]: in following error. XPS State Code: %d\n",
driverName, functionName, pC_->portName, axisNo_, axisStatus_);
setIntegerParam(pC_->motorStatusFollowingError_, 1);
} else {
setIntegerParam(pC_->motorStatusFollowingError_, 0);
@@ -631,8 +635,8 @@ asynStatus XPSAxis::poll(bool *moving)
setIntegerParam(pC_->motorStatusProblem_, 0);
} else {
asynPrint(pasynUser_, ASYN_TRACE_FLOW,
"%s:%s: [%s,%d]: in unintialised/disabled/not referenced. XPS State Code: %d\n",
driverName, functionName, pC_->portName, axisNo_, axisStatus_);
"%s:%s: [%s,%d]: in unintialised/disabled/not referenced. XPS State Code: %d\n",
driverName, functionName, pC_->portName, axisNo_, axisStatus_);
setIntegerParam(pC_->motorStatusProblem_, 1);
}
} else {
@@ -697,7 +701,21 @@ asynStatus XPSAxis::poll(bool *moving)
}
setIntegerParam(pC_->motorStatusDirection_, (currentVelocity_ > XPS_VELOCITY_DEADBAND));
setIntegerParam(pC_->motorStatusMoving_, (fabs(currentVelocity_) > XPS_VELOCITY_DEADBAND));
status = ReadXPSSocket(moveSocket_, readResponse, sizeof(readResponse), 0);
if (status < 0) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: [%s,%d]: error calling ReadXPSSocket status=%d\n",
driverName, functionName, pC_->portName, axisNo_, status);
goto done;
}
if (status > 0) {
asynPrint(pasynUser_, ASYN_TRACE_FLOW,
"%s:%s: [%s,%d]: readXPSSocket returned nRead=%d, [%s]\n",
driverName, functionName, pC_->portName, axisNo_, status, readResponse);
status = 0;
}
done:
setIntegerParam(pC_->motorStatusCommsError_, status ? 1 : 0);
callParamCallbacks();
@@ -1453,7 +1471,7 @@ asynStatus XPSAxis::doMoveToHome(void)
status = GroupStatusGet(pollSocket_, groupName_, &groupStatus);
if (groupStatus != 44) {
/* move finished for some other reason.*/
asynPrint(pasynUser_, ASYN_TRACE_ERROR, "%s:%s: Error performing GroupMoveRelative.\n", driverName, functionName);
asynPrint(pasynUser_, ASYN_TRACE_ERROR, "%s:%s: Error performing GroupMoveRelative.\n", driverName, functionName);
/*Issue a kill here if we have failed to move.*/
status = GroupKill(moveSocket_, groupName_);
return asynError;