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Remove global variables for setPosSleepTime and doSetPosition; now variables in XPSController class, can be set by iocsh calls

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This commit is contained in:
MarkRivers
2011-04-05 02:01:19 +00:00
parent cd7bdc52af
commit a8339b01bf
1 changed files with 8 additions and 24 deletions
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motorApp/NewportSrc/XPSAxis.cpp
+8 -24
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@@ -94,6 +94,11 @@ Versions: Release 4-5 and higher.
#include "XPSController.h"
#include "XPS_C8_drivers.h"
#define XPSC8_END_OF_RUN_MINUS 0x80000100
#define XPSC8_END_OF_RUN_PLUS 0x80000200
/** Deadband to use for the velocity comparison with zero. */
#define XPS_VELOCITY_DEADBAND 0.0000001
static const char *driverName = "XPSAxis";
typedef enum { none, positionMove, velocityMove, homeReverseMove, homeForwardsMove } moveType;
@@ -115,27 +120,6 @@ const static CorrectorTypes_t CorrectorTypes = {
"NoCorrector"
};
/** This is controlled via the XPSEnableSetPosition function (available via the IOC shell). */
static int doSetPosition = 1;
/**
* Parameter to control the sleep time used when setting position.
* A function called XPSSetPosSleepTime(int) (millisec parameter)
* is available in the IOC shell to control this.
*/
static double setPosSleepTime = 0.5;
/** Deadband to use for the velocity comparison with zero. */
#define XPS_VELOCITY_DEADBAND 0.0000001
#define XPS_MAX_AXES 8
#define XPSC8_END_OF_RUN_MINUS 0x80000100
#define XPSC8_END_OF_RUN_PLUS 0x80000200
#define TCP_TIMEOUT 2.0
#define MAX(a,b) ((a)>(b)? (a): (b))
#define MIN(a,b) ((a)<(b)? (a): (b))
extern "C" void shutdownCallback(void *pPvt)
{
XPSController *pC = static_cast<XPSController *>(pPvt);
@@ -372,7 +356,7 @@ asynStatus XPSAxis::setPosition(double position)
/* If the user has disabled setting the controller position, skip this.*/
if (!doSetPosition) {
if (!pC_->enableSetPosition_) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: XPS set position is disabled. Enable it using XPSEnableSetPosition(1).\n",
driverName, functionName);
@@ -409,7 +393,7 @@ asynStatus XPSAxis::setPosition(double position)
/* Wait after axis initialisation (we don't want to set position immediately after
* initialisation because the stage can oscillate slightly). */
epicsThreadSleep(setPosSleepTime);
epicsThreadSleep(pC_->setPositionSettlingTime_);
status = GroupReferencingStart(pollSocket_, groupName_);
axisIndexInGrp = 0;
@@ -456,7 +440,7 @@ asynStatus XPSAxis::setPosition(double position)
/* Wait after axis initialisation (we don't want to set position immediately after
initialisation because the stage can oscillate slightly).*/
epicsThreadSleep(setPosSleepTime);
epicsThreadSleep(pC_->setPositionSettlingTime_);
status = GroupReferencingStart(pollSocket_,
groupName_);