From b9bf5b8ff9d8e70ee7fc8a3ed0ad67d25bbe07e6 Mon Sep 17 00:00:00 2001
From: MarkRivers <rivers@cars.uchicago.edu>
Date: Tue, 29 Mar 2011 17:52:01 +0000
Subject: [PATCH] New file with class definitions

---
 motorApp/ACRSrc/ACRMotorDriver.h | 92 ++++++++++++++++++++++++++++++++
 1 file changed, 92 insertions(+)
 create mode 100644 motorApp/ACRSrc/ACRMotorDriver.h

diff --git a/motorApp/ACRSrc/ACRMotorDriver.h b/motorApp/ACRSrc/ACRMotorDriver.h
new file mode 100644
index 00000000..999f4855
--- /dev/null
+++ b/motorApp/ACRSrc/ACRMotorDriver.h
@@ -0,0 +1,92 @@
+/*
+FILENAME...   ACRMotorDriver.h
+USAGE...      Motor driver support for the Parker ACR series of controllers, including the Aries.
+
+Mark Rivers
+March 28, 2011
+
+*/
+
+#include "asynMotorDriver.h"
+
+// drvInfo strings for extra parameters that the ACR controller supports
+#define ACRJerkString           "ACR_JERK"
+#define ACRReadBinaryIOString   "ACR_READ_BINARY_IO"
+#define ACRBinaryInString       "ACR_BINARY_IN"
+#define ACRBinaryOutString      "ACR_BINARY_OUT"
+#define ACRBinaryOutRBVString   "ACR_BINARY_OUT_RBV"
+
+#define MAX_ACR_STRING_SIZE 80
+
+class ACRAxis : public asynMotorAxis
+{
+public:
+  /* These are the methods we override from the base class */
+  ACRAxis(class ACRController *pController, int axis);
+  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
+  asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
+  asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
+  asynStatus stop(double acceleration);
+  asynStatus poll(int *moving);
+
+  // These are the methods that are new to this class 
+  class ACRController* getController();
+
+private:
+  char axisName_[10];
+  double pulsesPerUnit_;
+  int flagsReg_;
+  int limitsReg_;
+  int encoderPositionReg_;
+  int theoryPositionReg_;
+  double encoderPosition_;
+  double theoryPosition_;
+  int currentFlags_;
+  int currentLimits_;
+  
+friend class ACRController;
+};
+
+class ACRController : public asynMotorController {
+public:
+  ACRController(const char *portName, const char *ACRPortName, int numAxes, int movingPollPeriod, int idlePollPeriod);
+  
+  /* These are the methods that we override from asynMotorDriver */
+  asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
+  asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);
+  asynStatus writeUInt32Digital(asynUser *pasynUser, epicsUInt32 value, epicsUInt32 mask);
+  void report(FILE *fp, int level);
+  ACRAxis* getAxis(asynUser *pasynUser);
+  ACRAxis* getAxis(int axisNo);
+  asynStatus profileMove(asynUser *pasynUser, int npoints, double positions[], double times[], int relative, int trigger);
+  asynStatus triggerProfile(asynUser *pasynUser);
+  
+  /* These are the methods that are new to this class */
+  asynStatus readBinaryIO();
+  asynStatus writeController();
+  asynStatus writeController(const char *output, double timeout);
+  asynStatus writeReadController();
+  asynStatus writeReadController(const char *output, char *response, size_t maxResponseLen, size_t *responseLen, double timeout);
+  
+protected:
+  int ACRJerk_;
+#define FIRST_ACR_PARAM ACRJerk_
+  int ACRReadBinaryIO_;
+  int ACRBinaryIn_;
+  int ACRBinaryOut_;
+  int ACRBinaryOutRBV_;
+#define LAST_ACR_PARAM ACRBinaryOutRBV_
+
+#define NUM_ACR_PARAMS (&LAST_ACR_PARAM - &FIRST_ACR_PARAM + 1)
+
+private:
+  asynUser *pasynUserACR_;
+  char outString_[MAX_ACR_STRING_SIZE];
+  char inString_[MAX_ACR_STRING_SIZE];
+  int binaryIn_;
+  int binaryOutRBV_;
+  int binaryInReg_;
+  int binaryOutReg_;
+  
+friend class ACRAxis;
+};