lin-epics-modules/motorBase
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changes for compatibility with either seq-2-1-16 or seq-2-2-0

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timmmooney
2014-09-12 21:36:33 +00:00
parent b371c20f5f
commit a4373ca87b
3 changed files with 55 additions and 12 deletions
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motorApp/NewportSrc/MM4005_trajectoryScan.st
+20 -4
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@@ -15,6 +15,10 @@ program MM4005_trajectoryScan("P=13IDC:,R=traj1,M1=M1,M2=M2,M3=M3,M4=M4,M5=M5,M6
%% #include <epicsString.h>
%% #include <asynOctetSyncIO.h>
#include <seq_release.h> /* definition of MAGIC */
#define VERSION_INT(MAJ,MIN) ((MAJ)*1000000+(MIN)*1000)
#define LT_SEQ_VERSION(MAJ,MIN) ((MAGIC) < VERSION_INT(MAJ,MIN))
/* This program must be compiled with the recursive option */
option +r;
@@ -203,7 +207,7 @@ ss trajectoryScan {
/* If time mode is TIME_MODE_TOTAL then construct timeTrajectory
* and post it */
if (timeMode == TIME_MODE_TOTAL) {
dtime = time/nelements;
dtime = time_PV/nelements;
for (i=0; i<nelements; i++) timeTrajectory[i] = dtime;
pvPut(timeTrajectory);
}
@@ -641,7 +645,11 @@ static int getEpicsMotorMoving(SS_ID ssId, struct UserVar *pVar)
int result=0, mask=0x01;
for (j=0; j<pVar->numAxes; j++) {
seq_pvGet(ssId, pVar->epicsMotorDoneIndex[j], 0);
#if LT_SEQ_VERSION(2,2)
seq_pvGet(ssId, pVar->epicsMotorDoneIndex[j], 0);
#else
seq_pvGet(ssId, pVar->epicsMotorDoneIndex[j], 0, DEFAULT_TIMEOUT);
#endif
if (pVar->epicsMotorDone[j] == 0) result |= mask;
mask = mask << 1;
}
@@ -661,13 +669,21 @@ static int waitEpicsMotors(SS_ID ssId, struct UserVar *pVar)
/* Get the current motor positions, post them */
for (j=0; j<pVar->numAxes; j++) {
pVar->motorCurrent[j] = pVar->epicsMotorPos[j];
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0);
#if LT_SEQ_VERSION(2,2)
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0);
#else
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0, DEFAULT_TIMEOUT);
#endif
}
epicsThreadSleep(POLL_INTERVAL);
}
for (j=0; j<pVar->numAxes; j++) {
pVar->motorCurrent[j] = pVar->epicsMotorPos[j];
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0);
#if LT_SEQ_VERSION(2,2)
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0);
#else
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0, DEFAULT_TIMEOUT);
#endif
}
return(0);
}
motorApp/NewportSrc/XPS_trajectoryScan.st
+33 -6
View File
@@ -25,6 +25,9 @@ program XPS_trajectoryScan("P=13BMC:,R=traj1,IPADDR=164.54.160.34,PORT=5001,"
%% #include "Socket.h"
%% #include "xps_ftp.h"
#include <seq_release.h> /* definition of MAGIC */
#define VERSION_INT(MAJ,MIN) ((MAJ)*1000000+(MIN)*1000)
#define LT_SEQ_VERSION(MAJ,MIN) ((MAGIC) < VERSION_INT(MAJ,MIN))
/* This program must be compiled with the recursive option */
option +r;
@@ -256,7 +259,7 @@ ss xpsTrajectoryScan {
/* If total time mode, calc time per element and write,
else use the array timeTraj */
if (timeMode == TIME_MODE_TOTAL) {
dtime = time/npoints;
dtime = time_PV/npoints;
for (i=0; i<nelements; i++) timeTrajectory[i] = dtime;
pvPut(timeTrajectory);
}
@@ -696,7 +699,11 @@ static int getEpicsMotorMoving(SS_ID ssId, struct UserVar *pVar)
int result=0, mask=0x01;
for (j=0; j<pVar->numAxes; j++) {
seq_pvGet(ssId, pVar->epicsMotorDoneIndex[j], 0);
#if LT_SEQ_VERSION(2,2)
seq_pvGet(ssId, pVar->epicsMotorDoneIndex[j], 0);
#else
seq_pvGet(ssId, pVar->epicsMotorDoneIndex[j], 0, DEFAULT_TIMEOUT);
#endif
if (pVar->epicsMotorDone[j] == 0) result |= mask;
mask = mask << 1;
}
@@ -714,11 +721,23 @@ static int waitMotors(SS_ID ssId, struct UserVar *pVar)
while(getMotorMoving(ssId, pVar)) {
/* Get the current motor positions, post them */
getMotorPositions(ssId, pVar, pVar->motorCurrent);
for (j=0; j<pVar->numAxes; j++) seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0);
for (j=0; j<pVar->numAxes; j++) {
#if LT_SEQ_VERSION(2,2)
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0);
#else
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0, DEFAULT_TIMEOUT);
#endif
}
epicsThreadSleep(POLL_INTERVAL);
}
getMotorPositions(ssId, pVar, pVar->motorCurrent);
for (j=0; j<pVar->numAxes; j++) seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0);
for (j=0; j<pVar->numAxes; j++) {
#if LT_SEQ_VERSION(2,2)
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0);
#else
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0, DEFAULT_TIMEOUT);
#endif
}
return(0);
}
@@ -734,13 +753,21 @@ static int waitEpicsMotors(SS_ID ssId, struct UserVar *pVar)
/* Get the current motor positions, post them */
for (j=0; j<pVar->numAxes; j++) {
pVar->motorCurrent[j] = pVar->epicsMotorPos[j];
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0);
#if LT_SEQ_VERSION(2,2)
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0);
#else
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0, DEFAULT_TIMEOUT);
#endif
}
epicsThreadSleep(POLL_INTERVAL);
}
for (j=0; j<pVar->numAxes; j++) {
pVar->motorCurrent[j] = pVar->epicsMotorPos[j];
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0);
#if LT_SEQ_VERSION(2,2)
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0);
#else
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0, DEFAULT_TIMEOUT);
#endif
}
return(0);
}
motorApp/NewportSrc/trajectoryScan.h
+2 -2
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@@ -52,8 +52,8 @@ monitor endPulses;
int nactual; assign nactual to "{P}{R}Nactual.VAL";
int moveMode; assign moveMode to "{P}{R}MoveMode.VAL";
monitor moveMode;
double time; assign time to "{P}{R}Time.VAL";
monitor time;
double time_PV; assign time_PV to "{P}{R}Time.VAL";
monitor time_PV;
double timeScale; assign timeScale to "{P}{R}TimeScale.VAL";
monitor timeScale;
int timeMode; assign timeMode to "{P}{R}TimeMode.VAL";