From de4040d181bcb509db9a0058d4d4c30c2cbbd9a8 Mon Sep 17 00:00:00 2001
From: mp49 <pearsonmr@ornl.gov>
Date: Fri, 29 Jul 2011 10:17:08 +0000
Subject: [PATCH] motor: added shell function to XPS model 3 driver to disable
 auto enable of axes when attempting a move. This is done on a per controller
 basis. Call XPSDisableAutoEnable(port) at the shell.

---
 motorApp/NewportSrc/XPSAxis.cpp       | 22 +++++++++-----
 motorApp/NewportSrc/XPSController.cpp | 42 ++++++++++++++++++++++++++-
 motorApp/NewportSrc/XPSController.h   |  4 +++
 3 files changed, 59 insertions(+), 9 deletions(-)

diff --git a/motorApp/NewportSrc/XPSAxis.cpp b/motorApp/NewportSrc/XPSAxis.cpp
index 6b163845..17e872b0 100644
--- a/motorApp/NewportSrc/XPSAxis.cpp
+++ b/motorApp/NewportSrc/XPSAxis.cpp
@@ -211,15 +211,21 @@ asynStatus XPSAxis::move(double position, int relative, double min_velocity, dou
             driverName, functionName, pC_->portName, axisNo_, position, min_velocity, max_velocity, acceleration, minJerk, maxJerk);
 
   /* Look at the last poll value of the positioner status.  If it is disabled, then enable it */
-  if (axisStatus_ >= 20 && axisStatus_ <= 36) {
-    status = GroupMotionEnable(pollSocket_, groupName_);
-    if (status) {
-      asynPrint(pasynUser_, ASYN_TRACE_ERROR,
-                "%s:%s: motorAxisMove[%s,%d]: error performing GroupMotionEnable %d\n",
-                driverName, functionName, pC_->portName, axisNo_, status);
-      /* Error -27 is caused when the motor record changes dir i.e. when it aborts a move!*/
-      return asynError;
+  /* This can be disabled by calling XPSDisableAutoEnable() at the IOC shell.*/
+  if (pC_->autoEnable_) {
+    if (axisStatus_ >= 20 && axisStatus_ <= 36) {
+      status = GroupMotionEnable(pollSocket_, groupName_);
+      if (status) {
+	asynPrint(pasynUser_, ASYN_TRACE_ERROR,
+		  "%s:%s: motorAxisMove[%s,%d]: error performing GroupMotionEnable %d\n",
+		  driverName, functionName, pC_->portName, axisNo_, status);
+	/* Error -27 is caused when the motor record changes dir i.e. when it aborts a move!*/
+	return asynError;
+      }
     }
+  } else {
+    //Return error if a move is attempted and auto enable is turned off.
+    return asynError;
   }
   status = PositionerSGammaParametersSet(pollSocket_,
                                          positionerName_, 
diff --git a/motorApp/NewportSrc/XPSController.cpp b/motorApp/NewportSrc/XPSController.cpp
index 77284bf3..4f14cbde 100644
--- a/motorApp/NewportSrc/XPSController.cpp
+++ b/motorApp/NewportSrc/XPSController.cpp
@@ -193,6 +193,9 @@ XPSController::XPSController(const char *portName, const char *IPAddress, int IP
                     epicsThreadGetStackSize(epicsThreadStackMedium),
                     (EPICSTHREADFUNC)XPSProfileThreadC, (void *)this);
 
+  //By default, automatically enable axes that have been disabled.
+  autoEnable_ = 1;
+
 }
 
 void XPSController::report(FILE *fp, int level)
@@ -1268,6 +1271,14 @@ asynStatus XPSController::readbackProfile()
   return status ? asynError : asynSuccess; 
 }
 
+/* Function to disable the automatic enable of axes when moving */ 
+asynStatus XPSController::disableAutoEnable()
+{
+  autoEnable_ = 0;
+  return asynSuccess; 
+}
+
+
 
 
 /** The following functions have C linkage, and can be called directly or from iocsh */
@@ -1332,6 +1343,22 @@ asynStatus XPSConfigProfile(const char *XPSName,         /* specify which contro
 }
 
 
+asynStatus XPSDisableAutoEnable(const char *XPSName)
+{
+  XPSController *pC;
+  static const char *functionName = "XPSDisableAutoEnable";
+
+  pC = (XPSController*) findAsynPortDriver(XPSName);
+  if (!pC) {
+    printf("%s:%s: Error port %s not found\n",
+           driverName, functionName, XPSName);
+    return asynError;
+  }
+
+  return pC->disableAutoEnable();
+}
+
+
 
 /* Code for iocsh registration */
 
@@ -1395,13 +1422,26 @@ static void configXPSProfileCallFunc(const iocshArgBuf *args)
 {
   XPSConfigProfile(args[0].sval, args[1].ival, args[2].sval, args[3].sval);
 }
+
+
+/* XPSDisableAutoEnable */
+static const iocshArg XPSDisableAutoEnableArg0 = {"Controller port name", iocshArgString};
+static const iocshArg * const XPSDisableAutoEnableArgs[] = {&XPSDisableAutoEnableArg0};
+static const iocshFuncDef disableAutoEnable = {"XPSDisableAutoEnable", 1, XPSDisableAutoEnableArgs};
+
+static void disableAutoEnableCallFunc(const iocshArgBuf *args)
+{
+  XPSDisableAutoEnable(args[0].sval);
+}
+
+
 static void XPSRegister3(void)
 {
   iocshRegister(&configXPS,            configXPSCallFunc);
   iocshRegister(&configXPSAxis,        configXPSAxisCallFunc);
   iocshRegister(&configXPSProfile,     configXPSProfileCallFunc);
+  iocshRegister(&disableAutoEnable,    disableAutoEnableCallFunc);
 }
 epicsExportRegistrar(XPSRegister3);
 
-
 } // extern "C"
diff --git a/motorApp/NewportSrc/XPSController.h b/motorApp/NewportSrc/XPSController.h
index ea0cf5d9..5daedd89 100644
--- a/motorApp/NewportSrc/XPSController.h
+++ b/motorApp/NewportSrc/XPSController.h
@@ -55,6 +55,9 @@ class XPSController : public asynMotorController {
   asynStatus processDeferredMoves();
   asynStatus processDeferredMovesInGroup(char * groupName);
 
+  /*Disable automatic enable of axes.*/
+  asynStatus disableAutoEnable();
+
   protected:
   XPSAxis **pAxes_;       /**< Array of pointers to axis objects */
 
@@ -82,6 +85,7 @@ class XPSController : public asynMotorController {
   char firmwareVersion_[100];
   int movesDeferred_;
   epicsEventId profileExecuteEvent_;
+  int autoEnable_;
   
   friend class XPSAxis;
 };