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This commit is contained in:
Ron Sluiter
2009-02-19 15:20:30 +00:00
parent df4de27742
commit dc074e670b
1 changed files with 311 additions and 311 deletions
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motorApp/MotorSrc/motordrvCom.cc
+311 -311
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@@ -1,17 +1,17 @@
/*
FILENAME... motordrvCom.cc
USAGE... This file contains driver functions that are common
to all motor record driver modules.
FILENAME... motordrvCom.cc
USAGE... This file contains driver functions that are common
to all motor record driver modules.
Version: $Revision: 1.16 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2009-02-05 19:18:56 $
Version: $Revision: 1.17 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2009-02-19 15:19:50 $
*/
/*
* Original Author: Jim Kowalkowski
* Current Author: Joe Sullivan
* Date: 11/14/94
* Current Author: Ron Sluiter
* Date: 02/19/09
*
* Experimental Physics and Industrial Control System (EPICS)
*
@@ -23,26 +23,26 @@ Last Modified: $Date: 2009-02-05 19:18:56 $
* and (W-31-109-ENG-38) at Argonne National Laboratory.
*
* Initial development by:
* The Controls and Automation Group (AT-8)
* Ground Test Accelerator
* Accelerator Technology Division
* Los Alamos National Laboratory
* The Controls and Automation Group (AT-8)
* Ground Test Accelerator
* Accelerator Technology Division
* Los Alamos National Laboratory
*
* Co-developed with
* The Controls and Computing Group
* Accelerator Systems Division
* Advanced Photon Source
* Argonne National Laboratory
* The Controls and Computing Group
* Accelerator Systems Division
* Advanced Photon Source
* Argonne National Laboratory
*
* Modification Log:
* -----------------
* .01 06/13/03 rls Ported to R3.14.
* .02 11/06/03 rls Bug fixes for inoperable polling rate and INFO command type
* delay.
* delay.
* .03 12/22/03 rls Limit valid "delay" in process_messages() to;
* 0 < delay <= (quantum * 2).
* 0 < delay <= (quantum * 2).
* .03 02/11/04 rls Limit valid "delay" in process_messages() to;
* 0 <= delay <= (quantum * 2).
* 0 <= delay <= (quantum * 2).
* .04 05/10/05 rls "Stale data delay" bug fix.
* .05 09/22/08 rls Skip delay if time lapsed since last update (time_lapse)
* is > polling rate delay (scan_sec) or if wait time
@@ -52,25 +52,25 @@ Last Modified: $Date: 2009-02-05 19:18:56 $
*/
#include <stdlib.h>
#include <string.h>
#include <callback.h>
#include <epicsThread.h>
#include <stdlib.h>
#include <string.h>
#include <callback.h>
#include <epicsThread.h>
#include <epicsExport.h>
#include "motor.h"
#include "motor.h"
#define epicsExportSharedSymbols
#include <shareLib.h>
#include "motordrvCom.h"
#include "motordrvCom.h"
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
#define Debug(l, f, args...) {if (l <= motordrvComdebug) printf(f, ## args);}
#ifdef DEBUG
#define Debug(l, f, args...) {if (l <= motordrvComdebug) printf(f, ## args);}
#else
#define Debug(l, f, args...)
#define Debug(l, f, args...)
#endif
#else
#define Debug()
@@ -90,38 +90,38 @@ static struct mess_node *motor_malloc(struct circ_queue *, epicsEvent *);
* FUNCION... motor_task()
* LOGIC:
* WHILE FOREVER
* IF no motors in motion for this board type.
* Set "wait_time" to WAIT_FOREVER.
* ELSE IF stale data timer is active (stale_data_delay != 0).
* Set "wait_time" to the remaining stale data time.
* Clear stale data timer active indicator (stale_data_delay = 0).
* IF no motors in motion for this board type.
* Set "wait_time" to WAIT_FOREVER.
* ELSE IF stale data timer is active (stale_data_delay != 0).
* Set "wait_time" to the remaining stale data time.
* Clear stale data timer active indicator (stale_data_delay = 0).
* ELSE
* Update current_time.
* Set "time_lapse" to time elapsed (in seconds) since last update.
* IF elapsed time (time_lapse) < user delay (scan_sec).
* Set "wait_time" to (user delay - elapsed time).
* IF "wait_time" < 1/2 quantum time unit.
* Set "wait_time" to zero.
* ENDIF
* ELSE
* Set "wait_time" to zero.
* ENDIF
* ENDIF
* IF wait_time nonzero.
* Pend on semaphore with "wait_time" timeout argument.
* Update current_time.
* Set "time_lapse" to time elapsed (in seconds) since last update.
* IF elapsed time (time_lapse) < user delay (scan_sec).
* Set "wait_time" to (user delay - elapsed time).
* IF "wait_time" < 1/2 quantum time unit.
* Set "wait_time" to zero.
* ENDIF
* ELSE
* Set "wait_time" to zero.
* ENDIF
* ENDIF
* Update "previous_time".
* IF the "any_motor_in_motion" indicator is true.
* IF VME58 instance of this task.
* Start data area update on all cards - Call start_status().
* ENDIF
* FOR each OMS board.
* IF motor data structure defined, AND, motor-in-motion indicator true.
* Update OMS board status - call query_axis().
* ENDIF
* ENDFOR
* ENDIF
* Process commands - call process_messages().
* IF wait_time nonzero.
* Pend on semaphore with "wait_time" timeout argument.
* ENDIF
* Update "previous_time".
* IF the "any_motor_in_motion" indicator is true.
* IF VME58 instance of this task.
* Start data area update on all cards - Call start_status().
* ENDIF
* FOR each OMS board.
* IF motor data structure defined, AND, motor-in-motion indicator true.
* Update OMS board status - call query_axis().
* ENDIF
* ENDFOR
* ENDIF
* Process commands - call process_messages().
* ENDWHILE
*
* NOTES... This function MUST BE reentrant.
@@ -140,66 +140,66 @@ epicsShareFunc int motor_task(struct thread_args *args)
tabptr = args->table;
previous_time = epicsTime::getCurrent();
scan_sec = 1 / (double) args->motor_scan_rate; /* Convert HZ to seconds. */
scan_sec = 1 / (double) args->motor_scan_rate; /* Convert HZ to seconds. */
if (args->update_delay == 0.0)
stale_data_max_delay = 0.0;
stale_data_max_delay = 0.0;
else if (args->update_delay < quantum * 2.0)
stale_data_max_delay = quantum * 2.0;
stale_data_max_delay = quantum * 2.0;
else
stale_data_max_delay = args->update_delay;
stale_data_max_delay = args->update_delay;
half_quantum = quantum / 2;
for(;;)
{
if (*tabptr->any_inmotion_ptr == 0)
wait_time = 1000; /* Wait forever = 1,000 seconds. */
else if (stale_data_delay != 0)
{
wait_time = stale_data_delay;
stale_data_delay = 0;
}
else
{
current_time = epicsTime::getCurrent();
time_lapse = current_time - previous_time;
if (time_lapse < scan_sec)
{
wait_time = scan_sec - time_lapse;
if (wait_time < half_quantum)
if (*tabptr->any_inmotion_ptr == 0)
wait_time = 1000; /* Wait forever = 1,000 seconds. */
else if (stale_data_delay != 0)
{
wait_time = stale_data_delay;
stale_data_delay = 0;
}
else
{
current_time = epicsTime::getCurrent();
time_lapse = current_time - previous_time;
if (time_lapse < scan_sec)
{
wait_time = scan_sec - time_lapse;
if (wait_time < half_quantum)
wait_time = 0.0;
}
else
wait_time = 0.0;
}
}
else
wait_time = 0.0;
}
Debug(5, "motor_task: wait_time = %f\n", wait_time);
Debug(5, "motor_task: wait_time = %f\n", wait_time);
if (wait_time != 0.0)
sem_ret = tabptr->semptr->wait(wait_time);
previous_time = epicsTime::getCurrent();
sem_ret = tabptr->semptr->wait(wait_time);
previous_time = epicsTime::getCurrent();
if (*tabptr->any_inmotion_ptr)
{
if (tabptr->strtstat != NULL)
(*tabptr->strtstat) (ALL_CARDS); /* Start data area update on motor cards */
if (*tabptr->any_inmotion_ptr)
{
if (tabptr->strtstat != NULL)
(*tabptr->strtstat) (ALL_CARDS); /* Start data area update on motor cards */
for (itera = 0; itera < *tabptr->cardcnt_ptr; itera++)
{
struct controller *brdptr = (*tabptr->card_array)[itera];
if (brdptr != NULL && brdptr->motor_in_motion)
stale_data_delay = query_axis(itera, tabptr, previous_time, stale_data_max_delay);
}
}
process_messages(tabptr, previous_time, stale_data_max_delay);
for (itera = 0; itera < *tabptr->cardcnt_ptr; itera++)
{
struct controller *brdptr = (*tabptr->card_array)[itera];
if (brdptr != NULL && brdptr->motor_in_motion)
stale_data_delay = query_axis(itera, tabptr, previous_time, stale_data_max_delay);
}
}
process_messages(tabptr, previous_time, stale_data_max_delay);
}
return(0);
}
static double query_axis(int card, struct driver_table *tabptr, epicsTime tick,
double max_delay)
double max_delay)
{
struct controller *brdptr;
double rtndelay = 0.0;
@@ -211,78 +211,78 @@ static double query_axis(int card, struct driver_table *tabptr, epicsTime tick,
for (index = 0; index < brdptr->total_axis; index++)
{
register struct mess_info *motor_info;
register struct mess_node *motor_motion;
double delay = 0.0;
register struct mess_info *motor_info;
register struct mess_node *motor_motion;
double delay = 0.0;
motor_info = &(brdptr->motor_info[index]);
motor_motion = motor_info->motor_motion;
if (motor_motion != 0)
{
if (tick >= motor_info->status_delay)
delay = tick - motor_info->status_delay;
else
delay = 0.0;
motor_info = &(brdptr->motor_info[index]);
motor_motion = motor_info->motor_motion;
if (motor_motion != 0)
{
if (tick >= motor_info->status_delay)
delay = tick - motor_info->status_delay;
else
delay = 0.0;
if (delay < max_delay)
{
delay = max_delay - delay;
if (delay > rtndelay)
rtndelay = delay;
}
else if ((*tabptr->setstat) (card, index))
{
struct mess_node *mess_ret;
bool ls_active;
if (delay < max_delay)
{
delay = max_delay - delay;
if (delay > rtndelay)
rtndelay = delay;
}
else if ((*tabptr->setstat) (card, index))
{
struct mess_node *mess_ret;
bool ls_active;
motor_motion->position = motor_info->position;
motor_motion->encoder_position = motor_info->encoder_position;
motor_motion->velocity = motor_info->velocity;
motor_motion->status = motor_info->status;
motor_motion->position = motor_info->position;
motor_motion->encoder_position = motor_info->encoder_position;
motor_motion->velocity = motor_info->velocity;
motor_motion->status = motor_info->status;
mess_ret = (struct mess_node *) motor_malloc(tabptr->freeptr, tabptr->freelockptr);
mess_ret->callback = motor_motion->callback;
mess_ret->mrecord = motor_motion->mrecord;
mess_ret->position = motor_motion->position;
mess_ret->encoder_position = motor_motion->encoder_position;
mess_ret->velocity = motor_motion->velocity;
mess_ret->status = motor_motion->status;
mess_ret->type = motor_motion->type;
mess_ret = (struct mess_node *) motor_malloc(tabptr->freeptr, tabptr->freelockptr);
mess_ret->callback = motor_motion->callback;
mess_ret->mrecord = motor_motion->mrecord;
mess_ret->position = motor_motion->position;
mess_ret->encoder_position = motor_motion->encoder_position;
mess_ret->velocity = motor_motion->velocity;
mess_ret->status = motor_motion->status;
mess_ret->type = motor_motion->type;
if (motor_motion->status.Bits.RA_DIRECTION)
{
if (motor_motion->status.Bits.RA_PLUS_LS)
ls_active = true;
else
ls_active = false;
}
else
{
if (motor_motion->status.Bits.RA_MINUS_LS)
ls_active = true;
else
ls_active = false;
}
if (motor_motion->status.Bits.RA_DIRECTION)
{
if (motor_motion->status.Bits.RA_PLUS_LS)
ls_active = true;
else
ls_active = false;
}
else
{
if (motor_motion->status.Bits.RA_MINUS_LS)
ls_active = true;
else
ls_active = false;
}
if (ls_active == true ||
motor_motion->status.Bits.RA_DONE ||
motor_motion->status.Bits.RA_PROBLEM)
{
(*tabptr->query_done) (card, index, motor_motion);
brdptr->motor_in_motion--;
motor_free(motor_motion, tabptr);
motor_motion = (struct mess_node *) NULL;
motor_info->motor_motion = (struct mess_node *) NULL;
}
if (ls_active == true ||
motor_motion->status.Bits.RA_DONE ||
motor_motion->status.Bits.RA_PROBLEM)
{
(*tabptr->query_done) (card, index, motor_motion);
brdptr->motor_in_motion--;
motor_free(motor_motion, tabptr);
motor_motion = (struct mess_node *) NULL;
motor_info->motor_motion = (struct mess_node *) NULL;
}
callbackRequest(&mess_ret->callback);
callbackRequest(&mess_ret->callback);
if (brdptr->motor_in_motion == 0)
{
SET_MM_OFF(*tabptr->any_inmotion_ptr, card);
}
}
}
if (brdptr->motor_in_motion == 0)
{
SET_MM_OFF(*tabptr->any_inmotion_ptr, card);
}
}
}
}
Debug(5, "query_axis: exit\n");
return(rtndelay);
@@ -290,7 +290,7 @@ static double query_axis(int card, struct driver_table *tabptr, epicsTime tick,
static void process_messages(struct driver_table *tabptr, epicsTime tick,
double max_delay)
double max_delay)
{
struct mess_node *node, *motor_motion;
double delay;
@@ -299,92 +299,92 @@ static void process_messages(struct driver_table *tabptr, epicsTime tick,
while ((node = get_head_node(tabptr)))
{
int card, axis;
int card, axis;
card = node->card;
axis = node->signal;
card = node->card;
axis = node->signal;
if ((card >= 0 && card < *tabptr->cardcnt_ptr) &&
(*tabptr->card_array)[card] &&
(axis >= 0 && axis < (*tabptr->card_array)[card]->total_axis))
{
struct mess_info *motor_info;
struct controller *brdptr;
char inbuf[MAX_MSG_SIZE];
char *axis_name;
if ((card >= 0 && card < *tabptr->cardcnt_ptr) &&
(*tabptr->card_array)[card] &&
(axis >= 0 && axis < (*tabptr->card_array)[card]->total_axis))
{
struct mess_info *motor_info;
struct controller *brdptr;
char inbuf[MAX_MSG_SIZE];
char *axis_name;
if (tabptr->axis_names == NULL)
axis_name = (char *) NULL;
else
axis_name = tabptr->axis_names[axis];
if (tabptr->axis_names == NULL)
axis_name = (char *) NULL;
else
axis_name = tabptr->axis_names[axis];
motor_info = &((*tabptr->card_array)[card]->motor_info[axis]);
motor_motion = motor_info->motor_motion;
brdptr = (*tabptr->card_array)[card];
motor_info = &((*tabptr->card_array)[card]->motor_info[axis]);
motor_motion = motor_info->motor_motion;
brdptr = (*tabptr->card_array)[card];
switch (node->type)
{
case VELOCITY:
(*tabptr->sendmsg) (card, node->message, axis_name);
if (brdptr->cmnd_response == true)
(*tabptr->getmsg) (card, inbuf, 1);
switch (node->type)
{
case VELOCITY:
(*tabptr->sendmsg) (card, node->message, axis_name);
if (brdptr->cmnd_response == true)
(*tabptr->getmsg) (card, inbuf, 1);
/*
* this is tricky - another motion is here there is a very
* large assumption being made here: that the person who sent
* the previous motion is the same one that is sending this
* one, if he weren't, the guy that sent the original would
* never get notified of finish motion. This makes sense in
* record processing since only one record can be assigned to
* an axis and sent commands to it. An improvement would be
* to check and see if the record pointers were the same, if
* they were not, then send a finish message to the previous
* registered motion guy.
*/
/*
* this is tricky - another motion is here there is a very
* large assumption being made here: that the person who sent
* the previous motion is the same one that is sending this
* one, if he weren't, the guy that sent the original would
* never get notified of finish motion. This makes sense in
* record processing since only one record can be assigned to
* an axis and sent commands to it. An improvement would be
* to check and see if the record pointers were the same, if
* they were not, then send a finish message to the previous
* registered motion guy.
*/
if (!motor_motion) /* if NULL */
(*tabptr->card_array)[card]->motor_in_motion++;
else
motor_free(motor_motion, tabptr);
if (!motor_motion) /* if NULL */
(*tabptr->card_array)[card]->motor_in_motion++;
else
motor_free(motor_motion, tabptr);
SET_MM_ON(*tabptr->any_inmotion_ptr, card);
motor_info->motor_motion = node;
motor_info->status_delay = tick;
break;
SET_MM_ON(*tabptr->any_inmotion_ptr, card);
motor_info->motor_motion = node;
motor_info->status_delay = tick;
break;
case MOTION:
(*tabptr->sendmsg) (card, node->message, axis_name);
if (brdptr->cmnd_response == true)
(*tabptr->getmsg) (card, inbuf, 1);
case MOTION:
(*tabptr->sendmsg) (card, node->message, axis_name);
if (brdptr->cmnd_response == true)
(*tabptr->getmsg) (card, inbuf, 1);
/* this is tricky - see velocity comment */
if (!motor_motion) /* if NULL */
(*tabptr->card_array)[card]->motor_in_motion++;
else
motor_free(motor_motion, tabptr);
/* this is tricky - see velocity comment */
if (!motor_motion) /* if NULL */
(*tabptr->card_array)[card]->motor_in_motion++;
else
motor_free(motor_motion, tabptr);
SET_MM_ON(*tabptr->any_inmotion_ptr, card);
motor_info->no_motion_count = 0;
motor_info->motor_motion = node;
motor_info->status_delay = tick;
break;
SET_MM_ON(*tabptr->any_inmotion_ptr, card);
motor_info->no_motion_count = 0;
motor_info->motor_motion = node;
motor_info->status_delay = tick;
break;
case INFO:
/* Status update delay - needed for OMS. */
delay = tick - motor_info->status_delay;
/* Limit delay to; 0 < delay <= max_delay. */
if (delay < 0.0) /* Protect against negative delay. */
delay = 0.0;
if (delay < max_delay)
epicsThreadSleep(max_delay - delay);
case INFO:
/* Status update delay - needed for OMS. */
delay = tick - motor_info->status_delay;
/* Limit delay to; 0 < delay <= max_delay. */
if (delay < 0.0) /* Protect against negative delay. */
delay = 0.0;
if (delay < max_delay)
epicsThreadSleep(max_delay - delay);
if (tabptr->strtstat != NULL)
(*tabptr->strtstat) (card);
(*tabptr->setstat) (card, axis);
if (tabptr->strtstat != NULL)
(*tabptr->strtstat) (card);
(*tabptr->setstat) (card, axis);
node->position = motor_info->position;
node->encoder_position = motor_info->encoder_position;
node->status = motor_info->status;
node->position = motor_info->position;
node->encoder_position = motor_info->encoder_position;
node->status = motor_info->status;
/*=============================================================================
* node->status & RA_DONE is not a reliable indicator of anything, in this case,
@@ -393,41 +393,41 @@ static void process_messages(struct driver_table *tabptr, epicsTime tick,
* Nevertheless, recMotor:process() needs to know whether the motor has stopped,
* and this we can tell by looking for a struct motor_motion.
==============================================================================*/
if (motor_motion)
node->status.Bits.RA_DONE = 0;
else
node->status.Bits.RA_DONE = 1;
if (motor_motion)
node->status.Bits.RA_DONE = 0;
else
node->status.Bits.RA_DONE = 1;
callbackRequest((CALLBACK *) node);
break;
callbackRequest((CALLBACK *) node);
break;
case MOVE_TERM:
if (motor_motion != NULL)
motor_motion->message[0] = '0'; /* Clear 2nd command from buffer. */
(*tabptr->sendmsg) (card, node->message, axis_name);
if (brdptr->cmnd_response == true)
(*tabptr->getmsg) (card, inbuf, 1);
motor_free(node, tabptr); /* free message buffer */
break;
case MOVE_TERM:
if (motor_motion != NULL)
motor_motion->message[0] = '0'; /* Clear 2nd command from buffer. */
(*tabptr->sendmsg) (card, node->message, axis_name);
if (brdptr->cmnd_response == true)
(*tabptr->getmsg) (card, inbuf, 1);
motor_free(node, tabptr); /* free message buffer */
break;
default:
(*tabptr->sendmsg) (card, node->message, axis_name);
if (brdptr->cmnd_response == true)
(*tabptr->getmsg) (card, inbuf, 1);
motor_free(node, tabptr); /* free message buffer */
motor_info->status_delay = tick;
break;
}
}
else
{
node->position = 0;
node->encoder_position = 0;
node->velocity = 0;
node->status.All = 0;
node->status.Bits.RA_PROBLEM = 1;
callbackRequest((CALLBACK *) node);
}
default:
(*tabptr->sendmsg) (card, node->message, axis_name);
if (brdptr->cmnd_response == true)
(*tabptr->getmsg) (card, inbuf, 1);
motor_free(node, tabptr); /* free message buffer */
motor_info->status_delay = tick;
break;
}
}
else
{
node->position = 0;
node->encoder_position = 0;
node->velocity = 0;
node->status.All = 0;
node->status.Bits.RA_PROBLEM = 1;
callbackRequest((CALLBACK *) node);
}
}
Debug(5, "process_messages: exit\n");
}
@@ -435,7 +435,7 @@ static void process_messages(struct driver_table *tabptr, epicsTime tick,
/*****************************************************/
/* Get a message off the queue */
/* get_head_node() */
/* get_head_node() */
/*****************************************************/
static struct mess_node *get_head_node(struct driver_table *tabptr)
{
@@ -449,10 +449,10 @@ static struct mess_node *get_head_node(struct driver_table *tabptr)
/* delete node from list */
if (node)
{
if (node == qptr->head)
qptr->head = node->next;
if (node == qptr->tail)
qptr->tail = NULL;
if (node == qptr->head)
qptr->head = node->next;
if (node == qptr->tail)
qptr->tail = NULL;
}
tabptr->quelockptr->signal();
@@ -492,17 +492,17 @@ epicsShareFunc RTN_STATUS motor_send(struct mess_node *u_msg, struct driver_tabl
switch (new_message->type)
{
case MOVE_TERM:
case MOTION:
if (new_message->termstring != NULL)
strcat(new_message->message, new_message->termstring);
break;
case VELOCITY:
case IMMEDIATE:
case INFO:
break;
default:
return (ERROR);
case MOVE_TERM:
case MOTION:
if (new_message->termstring != NULL)
strcat(new_message->message, new_message->termstring);
break;
case VELOCITY:
case IMMEDIATE:
case INFO:
break;
default:
return (ERROR);
}
/* Lock queue */
@@ -511,13 +511,13 @@ epicsShareFunc RTN_STATUS motor_send(struct mess_node *u_msg, struct driver_tabl
qptr = tabptr->queptr;
if (qptr->tail)
{
qptr->tail->next = new_message;
qptr->tail = new_message;
qptr->tail->next = new_message;
qptr->tail = new_message;
}
else
{
qptr->tail = new_message;
qptr->head = new_message;
qptr->tail = new_message;
qptr->head = new_message;
}
@@ -535,13 +535,13 @@ static struct mess_node *motor_malloc(struct circ_queue *freelistptr, epicsEvent
lockptr->wait();
if (!freelistptr->head)
node = (struct mess_node *) malloc(sizeof(struct mess_node));
node = (struct mess_node *) malloc(sizeof(struct mess_node));
else
{
node = freelistptr->head;
freelistptr->head = node->next;
if (!freelistptr->head)
freelistptr->tail = (struct mess_node *) NULL;
node = freelistptr->head;
freelistptr->head = node->next;
if (!freelistptr->head)
freelistptr->tail = (struct mess_node *) NULL;
}
lockptr->signal();
@@ -561,13 +561,13 @@ epicsShareFunc int motor_free(struct mess_node * node, struct driver_table *tabp
if (freelistptr->tail)
{
freelistptr->tail->next = node;
freelistptr->tail = node;
freelistptr->tail->next = node;
freelistptr->tail = node;
}
else
{
freelistptr->head = node;
freelistptr->tail = node;
freelistptr->head = node;
freelistptr->tail = node;
}
tabptr->freelockptr->signal();
@@ -590,14 +590,14 @@ epicsShareFunc int motor_card_info(int card, MOTOR_CARD_QUERY * cq, struct drive
brdptr = (*tabptr->card_array)[card];
if (card >= 0 &&
card < *tabptr->cardcnt_ptr &&
brdptr != NULL)
card < *tabptr->cardcnt_ptr &&
brdptr != NULL)
{
cq->total_axis = brdptr->total_axis;
cq->card_name = brdptr->ident;
cq->total_axis = brdptr->total_axis;
cq->card_name = brdptr->ident;
}
else
cq->total_axis = 0;
cq->total_axis = 0;
return (0);
}
@@ -609,21 +609,21 @@ epicsShareFunc int motor_axis_info(int card, int signal, MOTOR_AXIS_QUERY * aq,
brdptr = (*tabptr->card_array)[card];
if (card >= 0 &&
card < *tabptr->cardcnt_ptr &&
brdptr != NULL &&
signal >= 0 &&
signal < brdptr->total_axis)
card < *tabptr->cardcnt_ptr &&
brdptr != NULL &&
signal >= 0 &&
signal < brdptr->total_axis)
{
aq->position = brdptr->motor_info[signal].position;
aq->encoder_position =
brdptr->motor_info[signal].encoder_position;
aq->status = brdptr->motor_info[signal].status;
aq->position = brdptr->motor_info[signal].position;
aq->encoder_position =
brdptr->motor_info[signal].encoder_position;
aq->status = brdptr->motor_info[signal].status;
}
else
{
aq->position = aq->encoder_position = 0;
aq->status.All = 0;
aq->status.Bits.RA_PROBLEM = 1;
aq->position = aq->encoder_position = 0;
aq->status.All = 0;
aq->status.Bits.RA_PROBLEM = 1;
}
return (0);