From ca5f16f6631c85630c7ede1844926f687f099341 Mon Sep 17 00:00:00 2001
From: kmpeters <kmpeters@anl.gov>
Date: Mon, 10 Jun 2013 20:22:42 +0000
Subject: [PATCH] Added status PV to hexapod support

---
 motorApp/Db/HXP_extra.db          | 9 +++++++++
 motorApp/NewportSrc/HXPDriver.cpp | 3 ++-
 motorApp/NewportSrc/HXPDriver.h   | 5 +++--
 3 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/motorApp/Db/HXP_extra.db b/motorApp/Db/HXP_extra.db
index 076bcc87..d9d273e9 100644
--- a/motorApp/Db/HXP_extra.db
+++ b/motorApp/Db/HXP_extra.db
@@ -9,3 +9,12 @@ grecord(mbbo,"$(P)$(R)CS") {
     field(VAL, "0")
     field(PINI, "YES")
 }
+
+grecord(ai,"$(P)$(R)STATUS") {
+    field(DESC,"HXP Group Status")
+    field(DTYP, "asynInt32")
+    field(PINI, "1")
+    field(PREC,"0")
+    field(SCAN, "I/O Intr")
+    field(INP,"@asyn($(PORT),$(CHAN))HXP_STATUS")
+}
diff --git a/motorApp/NewportSrc/HXPDriver.cpp b/motorApp/NewportSrc/HXPDriver.cpp
index c13817b5..65df832c 100644
--- a/motorApp/NewportSrc/HXPDriver.cpp
+++ b/motorApp/NewportSrc/HXPDriver.cpp
@@ -56,6 +56,7 @@ HXPController::HXPController(const char *portName, const char *IPAddress, int IP
   IPPort_ = IPPort;
 
   createParam(HXPMoveCoordSysString,          asynParamInt32, &HXPMoveCoordSys_);
+  createParam(HXPStatusString,                asynParamInt32, &HXPStatus_);
 
   // This socket is used for polling by the controller and all axes
   pollSocket_ = HXPTCP_ConnectToServer((char *)IPAddress, IPPort, HXP_POLL_TIMEOUT);
@@ -336,7 +337,7 @@ asynStatus HXPAxis::poll(bool *moving)
             "%s:%s: [%s,%d]: %s axisStatus=%d\n",
             driverName, functionName, pC_->portName, axisNo_, positionerName_, axisStatus_);
   /* Set the status */
-  //setIntegerParam(pC_->HXPStatus_, axisStatus_);
+  setIntegerParam(pC_->HXPStatus_, axisStatus_);
 
   /* If the group is not moving then the axis is not moving */
   if ((axisStatus_ < 43) || (axisStatus_ > 48))
diff --git a/motorApp/NewportSrc/HXPDriver.h b/motorApp/NewportSrc/HXPDriver.h
index fac1d817..9f253d85 100644
--- a/motorApp/NewportSrc/HXPDriver.h
+++ b/motorApp/NewportSrc/HXPDriver.h
@@ -13,6 +13,7 @@ USAGE...      Motor driver support for the Newport Hexapod controller.
 
 // drvInfo strings for extra parameters that the HXP controller supports
 #define HXPMoveCoordSysString                "HXP_MOVE_COORD_SYS"
+#define HXPStatusString                      "HXP_STATUS"
 
 class HXPAxis : public asynMotorAxis
 {
@@ -52,7 +53,8 @@ public:
 protected:
   #define FIRST_HXP_PARAM HXPMoveCoordSys_
   int HXPMoveCoordSys_;
-  #define LAST_HXP_PARAM HXPMoveCoordSys_
+  int HXPStatus_;
+  #define LAST_HXP_PARAM HXPStatus_
 
   #define NUM_HXP_PARAMS ((int) (&LAST_HXP_PARAM - &FIRST_HXP_PARAM + 1))
 
@@ -64,7 +66,6 @@ private:
   //int moveSocket_;
   char firmwareVersion_[100];
   char *axisNames_;
-  int HXPStatus_;
   int noDisableError_;
 
 friend class HXPAxis;