forked from epics_driver_modules/motorBase
New C++ base class for asyn motor drivers
This commit is contained in:
MarkRivers
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#include "asynMotorDriver.h"
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/** All of the arguments are simply passed to
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* the constructor for the asynPortDriver base class. After calling the base class
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* constructor this method sets reasonable default values for all of the parameters
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* defined in asynMotorDriver.h.
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*/
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static const char *driverName = "asynMotorDriver";
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asynMotorDriver::asynMotorDriver(const char *portName, int maxAddr, int numParams,
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int interfaceMask, int interruptMask,
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int asynFlags, int autoConnect, int priority, int stackSize)
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: asynPortDriver(portName, maxAddr, NUM_MOTOR_DRIVER_PARAMS+numParams,
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interfaceMask | asynInt32Mask | asynFloat64Mask,
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interruptMask | asynInt32Mask | asynFloat64Mask,
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asynFlags, autoConnect, priority, stackSize)
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{
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static const char *functionName = "asynMotorDriver";
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/* Create the base set of motor parameters */
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addParam(motorMoveRelString, &motorMoveRel);
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addParam(motorMoveAbsString, &motorMoveAbs);
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addParam(motorMoveVelString, &motorMoveVel);
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addParam(motorHomeString, &motorHome);
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addParam(motorStopString, &motorStop);
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addParam(motorVelocityString, &motorVelocity);
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addParam(motorVelBaseString, &motorVelBase);
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addParam(motorAccelString, &motorAccel);
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addParam(motorPositionString, &motorPosition);
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addParam(motorEncoderPositionString, &motorEncoderPosition);
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addParam(motorDeferMovesString, &motorDeferMoves);
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addParam(motorResolutionString, &motorResolution);
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addParam(motorEncRatioString, &motorEncRatio);
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addParam(motorPgainString, &motorPgain);
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addParam(motorIgainString, &motorIgain);
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addParam(motorDgainString, &motorDgain);
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addParam(motorHighLimString, &motorHighLim);
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addParam(motorLowLimString, &motorLowLim);
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addParam(motorSetClosedLoopString, &motorSetClosedLoop);
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addParam(motorStatusString, &motorStatus);
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addParam(motorUpdateStatusString, &motorUpdateStatus);
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addParam(motorStatusDirectionString, &motorStatusDirection);
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addParam(motorStatusDoneString, &motorStatusDone);
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addParam(motorStatusHighLimitString, &motorStatusHighLimit);
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addParam(motorStatusAtHomeString, &motorStatusAtHome);
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addParam(motorStatusSlipString, &motorStatusSlip);
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addParam(motorStatusPowerOnString, &motorStatusPowerOn);
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addParam(motorStatusFollowingErrorString, &motorStatusFollowingError);
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addParam(motorStatusHomeString, &motorStatusHome);
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addParam(motorStatusHasEncoderString, &motorStatusHasEncoder);
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addParam(motorStatusProblemString, &motorStatusProblem);
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addParam(motorStatusMovingString, &motorStatusMoving);
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addParam(motorStatusGainSupportString, &motorStatusGainSupport);
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addParam(motorStatusCommsErrorString, &motorStatusCommsError);
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addParam(motorStatusLowLimitString, &motorStatusLowLimit);
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addParam(motorStatusHomedString, &motorStatusHomed);
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asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
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"%s:%s: constructor complete\n",
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driverName, functionName);
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}
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asynStatus asynMotorDriver::readGenericPointer(asynUser *pasynUser, void *pointer)
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{
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static const char *functionName = "readGenericPointer";
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asynPrint(pasynUser, ASYN_TRACE_ERROR,
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"%s:%s: not implemented in this driver\n",
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driverName, functionName);
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return(asynError);
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}
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asynStatus asynMotorDriver::moveAxis(asynUser *pasynUser, double position, int relative, double min_velocity, double max_velocity, double acceleration)
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{
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static const char *functionName = "moveAxis";
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asynPrint(pasynUser, ASYN_TRACE_ERROR,
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"%s:%s: not implemented in this driver\n",
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driverName, functionName);
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return(asynError);
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}
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asynStatus asynMotorDriver::moveVelocityAxis(asynUser *pasynUser, double min_velocity, double max_velocity, double acceleration)
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{
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static const char *functionName = "moveVelocityAxis";
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asynPrint(pasynUser, ASYN_TRACE_ERROR,
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"%s:%s: not implemented in this driver\n",
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driverName, functionName);
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return(asynError);
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}
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asynStatus asynMotorDriver::homeAxis(asynUser *pasynUser, double min_velocity, double max_velocity, double acceleration, int forwards)
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{
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static const char *functionName = "homeAxis";
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asynPrint(pasynUser, ASYN_TRACE_ERROR,
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"%s:%s: not implemented in this driver\n",
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driverName, functionName);
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return(asynError);
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}
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asynStatus asynMotorDriver::stopAxis(asynUser *pasynUser, double acceleration)
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{
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static const char *functionName = "stopAxis";
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asynPrint(pasynUser, ASYN_TRACE_ERROR,
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"%s:%s: not implemented in this driver\n",
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driverName, functionName);
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return(asynError);
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}
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asynStatus asynMotorDriver::profileMove(asynUser *pasynUser, int npoints, double positions[], double times[], int relative, int trigger)
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{
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static const char *functionName = "profileMove";
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asynPrint(pasynUser, ASYN_TRACE_ERROR,
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"%s:%s: not implemented in this driver\n",
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driverName, functionName);
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return(asynError);
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}
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asynStatus asynMotorDriver::triggerProfile(asynUser *pasynUser)
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{
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static const char *functionName = "triggerProfile";
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asynPrint(pasynUser, ASYN_TRACE_ERROR,
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"%s:%s: not implemented in this driver\n",
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driverName, functionName);
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return(asynError);
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}
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@@ -0,0 +1,122 @@
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/* asynMotorDriver.h
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*
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* Mark Rivers
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*
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* This file defines the base class for an asynMotorDriver. It is the class
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* from which real motor drivers are derived. It derives from asynPortDriver.
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*/
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#ifndef asynMotorDriver_H
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#define asynMotorDriver_H
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#include <epicsTypes.h>
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#define motorMoveRelString "MOTOR_MOVE_REL"
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#define motorMoveAbsString "MOTOR_MOVE_ABS"
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#define motorMoveVelString "MOTOR_MOVE_VEL"
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#define motorHomeString "MOTOR_HOME"
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#define motorStopString "MOTOR_STOP_AXIS"
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#define motorVelocityString "MOTOR_VELOCITY"
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#define motorVelBaseString "MOTOR_VEL_BASE"
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#define motorAccelString "MOTOR_ACCEL"
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#define motorPositionString "MOTOR_POSITION"
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#define motorEncoderPositionString "MOTOR_ENCODER_POSITION"
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#define motorDeferMovesString "MOTOR_DEFER_MOVES"
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#define motorResolutionString "MOTOR_RESOLUTION"
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#define motorEncRatioString "MOTOR_ENC_RATIO"
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#define motorPgainString "MOTOR_PGAIN"
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#define motorIgainString "MOTOR_IGAIN"
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#define motorDgainString "MOTOR_DGAIN"
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#define motorHighLimString "MOTOR_HIGH_LIMIT"
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#define motorLowLimString "MOTOR_LOW_LIMIT"
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#define motorSetClosedLoopString "MOTOR_SET_CLOSED_LOOP"
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#define motorStatusString "MOTOR_STATUS"
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#define motorUpdateStatusString "MOTOR_UPDATE_STATUS"
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#define motorStatusDirectionString "MOTOR_STATUS_DIRECTION"
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#define motorStatusDoneString "MOTOR_STATUS_DONE"
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#define motorStatusHighLimitString "MOTOR_STATUS_HIGHLIMIT"
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#define motorStatusAtHomeString "MOTOR_STATUS_ATHOME"
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#define motorStatusSlipString "MOTOR_STATUS_SLIP"
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#define motorStatusPowerOnString "MOTOR_STATUS_POWERED"
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#define motorStatusFollowingErrorString "MOTOR_STATUS_FOLLOWINGERROR"
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#define motorStatusHomeString "MOTOR_STATUS_HOME"
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#define motorStatusHasEncoderString "MOTOR_STATUS_HASENCODER"
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#define motorStatusProblemString "MOTOR_STATUS_PROBLEM"
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#define motorStatusMovingString "MOTOR_STATUS_MOVING"
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#define motorStatusGainSupportString "MOTOR_STATUS_GAINSUPPORT"
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#define motorStatusCommsErrorString "MOTOR_STATUS_COMMSERROR"
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#define motorStatusLowLimitString "MOTOR_STATUS_LOWLIMIT"
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#define motorStatusHomedString "MOTOR_STATUS_HOMED"
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typedef struct MotorStatus {
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double position;
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double encoder_posn;
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double velocity;
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epicsUInt32 status;
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} MotorStatus;
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#ifdef __cplusplus
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#include <asynPortDriver.h>
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/** Class from which motor drivers are directly derived. */
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class asynMotorDriver : public asynPortDriver {
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public:
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/* This is the constructor for the class. */
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asynMotorDriver(const char *portName, int maxAxes, int numParams,
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int interfaceMask, int interruptMask,
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int asynFlags, int autoConnect, int priority, int stackSize);
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/* These are the methods that we override from asynPortDriver */
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virtual asynStatus readGenericPointer(asynUser *pasynUser, void *pointer);
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/* These are the methods that are new to this class */
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virtual asynStatus moveAxis(asynUser *pasynUser, double position, int relative, double min_velocity, double max_velocity, double acceleration);
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virtual asynStatus moveVelocityAxis(asynUser *pasynUser, double min_velocity, double max_velocity, double acceleration);
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virtual asynStatus homeAxis(asynUser *pasynUser, double min_velocity, double max_velocity, double acceleration, int forwards);
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virtual asynStatus stopAxis(asynUser *pasynUser, double acceleration);
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virtual asynStatus profileMove(asynUser *pasynUser, int npoints, double positions[], double times[], int relative, int trigger);
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virtual asynStatus triggerProfile(asynUser *pasynUser);
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protected:
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int motorMoveRel;
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#define FIRST_MOTOR_PARAM motorMoveRel
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int motorMoveAbs;
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int motorMoveVel;
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int motorHome;
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int motorStop;
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int motorVelocity;
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int motorVelBase;
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int motorAccel;
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int motorPosition;
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int motorEncoderPosition;
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int motorDeferMoves;
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int motorResolution;
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int motorEncRatio;
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int motorPgain;
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int motorIgain;
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int motorDgain;
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int motorHighLim;
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int motorLowLim;
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int motorSetClosedLoop;
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int motorStatus;
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int motorUpdateStatus;
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int motorStatusDirection;
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int motorStatusDone;
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int motorStatusHighLimit;
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int motorStatusAtHome;
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int motorStatusSlip;
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int motorStatusPowerOn;
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int motorStatusFollowingError;
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int motorStatusHome;
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int motorStatusHasEncoder;
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int motorStatusProblem;
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int motorStatusMoving;
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int motorStatusGainSupport;
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int motorStatusCommsError;
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int motorStatusLowLimit;
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int motorStatusHomed;
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#define LAST_MOTOR_PARAM motorStatusHomed
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};
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#define NUM_MOTOR_DRIVER_PARAMS (&LAST_MOTOR_PARAM - &FIRST_MOTOR_PARAM + 1)
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#endif /* _cplusplus */
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#endif /* asynMotorDriver_H */
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