From 9809a4be5bcbb062e8e706c5c9fb99d97e340d9f Mon Sep 17 00:00:00 2001
From: MarkRivers <rivers@cars.uchicago.edu>
Date: Thu, 1 Mar 2012 20:07:15 +0000
Subject: [PATCH] New ACRAxis::setClosedLoop and ACRAxis::report methods; moved
 per-axis reporting out of ACRController::report into ACRAxis::report

---
 motorApp/ACRSrc/ACRMotorDriver.cpp | 68 +++++++++++++++++-------------
 1 file changed, 38 insertions(+), 30 deletions(-)

diff --git a/motorApp/ACRSrc/ACRMotorDriver.cpp b/motorApp/ACRSrc/ACRMotorDriver.cpp
index 46c884b9..9b4a6479 100644
--- a/motorApp/ACRSrc/ACRMotorDriver.cpp
+++ b/motorApp/ACRSrc/ACRMotorDriver.cpp
@@ -112,29 +112,15 @@ extern "C" int ACRCreateController(const char *portName, const char *ACRPortName
   */
 void ACRController::report(FILE *fp, int level)
 {
-  int axis;
-  ACRAxis *pAxis;
-
   fprintf(fp, "ACR motor driver %s, numAxes=%d, moving poll period=%f, idle poll period=%f\n", 
     this->portName, numAxes_, movingPollPeriod_, idlePollPeriod_);
 
   if (level > 0) {
     fprintf(fp, "  binary input = 0x%x\n", binaryIn_);
     fprintf(fp, "  binary output readback = 0x%x\n", binaryOutRBV_);
-    for (axis=0; axis<numAxes_; axis++) {
-      pAxis = getAxis(axis);
-      fprintf(fp, "  axis %d\n"
-              "  pulsesPerUnit_ = %f\n"
-              "    encoder position=%f\n"
-              "    theory position=%f\n"
-              "    limits=0x%x\n"
-              "    flags=0x%x\n", 
-              pAxis->axisNo_, pAxis->pulsesPerUnit_, 
-              pAxis->encoderPosition_, pAxis->theoryPosition_,
-              pAxis->currentLimits_, pAxis->currentFlags_);
-    }
   }
 
+
   // Call the base class method
   asynMotorController::report(fp, level);
 }
@@ -172,20 +158,11 @@ asynStatus ACRController::writeInt32(asynUser *pasynUser, epicsInt32 value)
   ACRAxis *pAxis = getAxis(pasynUser);
   static const char *functionName = "writeInt32";
   
-  
   /* Set the parameter and readback in the parameter library.  This may be overwritten when we read back the
    * status at the end, but that's OK */
   status = setIntegerParam(pAxis->axisNo_, function, value);
   
-  if (function == motorSetClosedLoop_)
-  {
-    sprintf(outString_, "DRIVE %s %s", value ? "ON":"OFF", pAxis->axisName_);
-    writeController();
-    asynPrint(pasynUser, ASYN_TRACE_FLOW,
-      "%s:%s: %s setting closed loop=%d on %s\n",
-      driverName, functionName, this->portName, value, pAxis->axisName_);
-  } 
-  else if (function == ACRReadBinaryIO_)
+  if (function == ACRReadBinaryIO_)
   {
     readBinaryIO();
   }
@@ -387,6 +364,32 @@ ACRAxis::ACRAxis(ACRController *pC, int axisNo)
   callParamCallbacks();
 }
 
+/** Reports on status of the driver
+  * \param[in] fp The file pointer on which report information will be written
+  * \param[in] level The level of report detail desired
+  *
+  * If details > 0 then information is printed about each axis.
+  * After printing controller-specific information calls asynMotorController::report()
+  */
+void ACRAxis::report(FILE *fp, int level)
+{
+  if (level > 0) {
+    fprintf(fp, "  axis %d\n"
+            "    pulsesPerUnit_ = %f\n"
+            "    encoder position=%f\n"
+            "    theory position=%f\n"
+            "    limits=0x%x\n"
+            "    flags=0x%x\n", 
+            axisNo_, pulsesPerUnit_, 
+            encoderPosition_, theoryPosition_,
+            currentLimits_, currentFlags_);
+  }
+
+  // Call the base class method
+  asynMotorAxis::report(fp, level);
+}
+
+
 asynStatus ACRAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
 {
   asynStatus status;
@@ -444,14 +447,10 @@ asynStatus ACRAxis::moveVelocity(double minVelocity, double maxVelocity, double
 asynStatus ACRAxis::stop(double acceleration )
 {
   asynStatus status;
-  static const char *functionName = "stopAxis";
+  //static const char *functionName = "stopAxis";
 
   sprintf(pC_->outString_, "%s JOG OFF", axisName_);
   status = pC_->writeController();
-
-  asynPrint(pasynUser_, ASYN_TRACE_FLOW, 
-    "%s:%s: Set axis %d to stop, status=%d\n",
-    driverName, functionName, axisNo_, status);
   return status;
 }
 
@@ -466,6 +465,15 @@ asynStatus ACRAxis::setPosition(double position)
   return status;
 }
 
+asynStatus ACRAxis::setClosedLoop(bool closedLoop)
+{
+  asynStatus status;
+
+  sprintf(pC_->outString_, "DRIVE %s %s", closedLoop ? "ON":"OFF", axisName_);
+  status = pC_->writeController();
+  return status;
+}
+
 /** Polls the axis.
   * This function reads the controller position, encoder position, the limit status, the moving status, 
   * and the drive power-on status.  It does not current detect following error, etc. but this could be