lin-epics-modules/motorBase
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Bug fixes and improvements

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MarkRivers
2009-12-17 05:53:44 +00:00
parent e809976764
commit ba584380df
1 changed files with 17 additions and 8 deletions
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motorApp/MotorSimSrc/motorSimDriver.cpp
+17 -8
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@@ -98,9 +98,12 @@ void motorSimController::report(FILE *fp, int level)
int axis;
motorSimAxis *pAxis;
fprintf(fp, "Simulation motor driver %s, numAxes=%d\n",
this->portName, this->numAxes);
for (axis=0; axis<this->numAxes; axis++) {
pAxis = this->pAxes[axis];
fprintf(fp, "Found driver for motorSim axis %d\n",
fprintf(fp, " axis %d\n",
pAxis->axis);
if (level > 0)
@@ -108,21 +111,21 @@ void motorSimController::report(FILE *fp, int level)
double lowSoftLimit=0.0;
double hiSoftLimit=0.0;
fprintf(fp, "Current position = %f, velocity = %f at current time: %f\n",
fprintf(fp, " Current position = %f, velocity = %f at current time: %f\n",
pAxis->nextpoint.axis[0].p,
pAxis->nextpoint.axis[0].v,
pAxis->nextpoint.T);
fprintf(fp, "Destination posn = %f, velocity = %f at desination time: %f\n",
fprintf(fp, " Destination posn = %f, velocity = %f at desination time: %f\n",
pAxis->endpoint.axis[0].p,
pAxis->endpoint.axis[0].v,
pAxis->endpoint.T);
fprintf(fp, "Hard limits: %f, %f\n", pAxis->lowHardLimit, pAxis->hiHardLimit);
fprintf(fp, " Hard limits: %f, %f\n", pAxis->lowHardLimit, pAxis->hiHardLimit);
getDoubleParam(pAxis->axis, pAxis->pController->motorHighLim, &hiSoftLimit);
getDoubleParam(pAxis->axis, pAxis->pController->motorLowLim, &lowSoftLimit);
fprintf(fp, "Soft limits: %f, %f\n", lowSoftLimit, hiSoftLimit );
fprintf(fp, " Soft limits: %f, %f\n", lowSoftLimit, hiSoftLimit );
if (pAxis->homing) fprintf(fp, "Currently homing axis\n" );
if (pAxis->homing) fprintf(fp, " Currently homing axis\n" );
}
}
@@ -444,6 +447,7 @@ void motorSimController::motorSimTask()
pAxis = this->pAxes[axis];
this->process(pAxis, delta );
callParamCallbacks(axis, axis);
this->unlock();
}
}
epicsThreadSleep( DELTA );
@@ -482,7 +486,7 @@ motorSimController::motorSimController(const char *portName, int numAxes, int pr
motorSimAxis *pAxis;
motorSimControllerNode *pNode;
if (motorSimControllerListInitialized) {
if (!motorSimControllerListInitialized) {
motorSimControllerListInitialized = 1;
ellInit(&motorSimControllerList);
}
@@ -500,7 +504,7 @@ motorSimController::motorSimController(const char *portName, int numAxes, int pr
for (axis=0; axis<numAxes; axis++) {
pAxis = new motorSimAxis(this, axis, DEFAULT_LOW_LIMIT, DEFAULT_HI_LIMIT, DEFAULT_HOME, DEFAULT_START);
this->pAxes[axis] = pAxis;
setIntegerParam(this->motorPosition, DEFAULT_START);
setIntegerParam(axis, this->motorPosition, DEFAULT_START);
}
this->motorThread = epicsThreadCreate( "motorSimThread",
@@ -521,14 +525,19 @@ extern "C" int motorSimCreateController(const char *portName, int numAxes, int p
extern "C" int motorSimConfigAxis(const char *portName, int axis, int hiHardLimit, int lowHardLimit, int home, int start)
{
motorSimControllerNode *pNode;
static const char *functionName = "motorSimConfigAxis";
// Find this controller
if (!motorSimControllerListInitialized) {
printf("%s:%s: ERROR, controller list not initialized\n",
driverName, functionName);
return(-1);
}
pNode = (motorSimControllerNode*)ellFirst(&motorSimControllerList);
while(pNode) {
if (strcmp(pNode->portName, portName) == 0) {
printf("%s:%s: configuring controller %s axis %d\n",
driverName, functionName, pNode->portName, axis);
pNode->pController->configAxis(axis, hiHardLimit, lowHardLimit, home, start);
return(0);
}