From bcce2174d86648d663bcffeb28bee264f6006732 Mon Sep 17 00:00:00 2001
From: Peter Denison <peter.denison@diamond.ac.uk>
Date: Mon, 19 May 2008 15:56:01 +0000
Subject: [PATCH] Change initialisation order so that autosave is actually
 dependent on the values read back from the controller for asyn motors.

---
 motorApp/MotorSrc/devMotorAsyn.c | 34 ++++++++++++++++++++++----------
 1 file changed, 24 insertions(+), 10 deletions(-)

diff --git a/motorApp/MotorSrc/devMotorAsyn.c b/motorApp/MotorSrc/devMotorAsyn.c
index a01e7022..6170e9b7 100644
--- a/motorApp/MotorSrc/devMotorAsyn.c
+++ b/motorApp/MotorSrc/devMotorAsyn.c
@@ -11,9 +11,9 @@
  * Notwithstanding the above, explicit permission is granted for APS to 
  * redistribute this software.
  *
- * Version: $Revision: 1.22 $
- * Modified by: $Author: sluiter $
- * Last Modified: $Date: 2008-04-02 19:47:23 $
+ * Version: $Revision: 1.23 $
+ * Modified by: $Author: peterd $
+ * Last Modified: $Date: 2008-05-19 15:56:01 $
  *
  * Original Author: Peter Denison
  * Current Author: Peter Denison
@@ -108,7 +108,7 @@ static long init( int after )
     return 0;
 }
 
-static void init_controller(struct motorRecord *pmr )
+static void init_controller(struct motorRecord *pmr, asynUser *pasynUser )
 {
     /* This routine is copied out of the old motordevCom and initialises the controller
        based on the record values. I think most of it should be transferred to init_record
@@ -128,6 +128,10 @@ static void init_controller(struct motorRecord *pmr )
         build_trans(LOAD_POS, &setPos, pmr);
         end_trans(pmr);
 
+        asynPrint(pasynUser, ASYN_TRACE_FLOW,
+                  "devMotorAsyn::init_controller, %s set position to %f\n",
+                  pmr->name, setPos );
+
         if ( initEvent )
         {
             epicsEventMustWait(initEvent);
@@ -135,6 +139,11 @@ static void init_controller(struct motorRecord *pmr )
             pPvt->initEvent = 0;
         }
     }
+    else
+        asynPrint(pasynUser, ASYN_TRACE_FLOW,
+                  "devMotorAsyn::init_controller, %s setting of position not required, position=%f, mres=%f, dval=%f, rdbd=%f",
+                  pmr->name, position, pmr->mres, pmr->dval, rdbd );
+
 }
 
 static long init_record(struct motorRecord * pmr )
@@ -231,12 +240,6 @@ static long init_record(struct motorRecord * pmr )
 	       pmr->name, pasynUser->errorMessage);
     }
 
-    /* Once everything is set-up, we can do the initial setting of position.
-       This should be the first thing that pushes onto the Asyn queue.
-       It needs to be done before we get the initial values back from the
-       controller.*/
-    init_controller(pmr);
-
     /* Initiate calls to get the initial motor parameters
        Have to do it the long-winded way, because before iocInit, none of the
        locks or scan queues are initialised, so calls to scanOnce(),
@@ -259,6 +262,17 @@ static long init_record(struct motorRecord * pmr )
 		  "%s devMotorAsyn.c::init_record: pasynMotorStatus->read "
 		  "returned %s", pmr->name, pasynUser->errorMessage);
     }
+
+    /* We must get the first set of status values from the controller before
+     * the initial setting of position. Otherwise we won't be able to decide
+     * whether or not to write new position values to the controller.
+     */
+    init_controller(pmr, pasynUser);
+    /* Do not need to manually retrieve the new status values, as if they are
+     * set, a callback will be generated
+     */
+
+    /* Finally, indicate to the motor record that these values can be used. */
     pasynManager->freeAsynUser(pasynUser);
     pPvt->needUpdate = 1;