forked from epics_driver_modules/motorBase
Changed from asynMotorStatus interface to standard asynGenericPointer interface; use header file to define strings; use drvUser interface rather than hardcoded enum values for pasynUser->reason
This commit is contained in:
MarkRivers
@@ -50,14 +50,15 @@
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#include <asynDriver.h>
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#include <asynInt32.h>
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#include <asynFloat64.h>
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#include <asynDrvUser.h>
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#include <asynFloat64Array.h>
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#include <asynGenericPointer.h>
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#include <asynEpicsUtils.h>
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#include "asynMotorStatus.h"
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#include "motorRecord.h"
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#include "motor.h"
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#include "epicsExport.h"
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#include "drvMotorAsyn.h"
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#include "asynMotorDriver.h"
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#include "motor_interface.h"
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/*Create the dset for devMotor */
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@@ -68,7 +69,7 @@ static long start_trans(struct motorRecord *);
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static RTN_STATUS build_trans( motor_cmnd, double *, struct motorRecord *);
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static RTN_STATUS end_trans(struct motorRecord *);
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static void asynCallback(asynUser *);
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static void statusCallback(void *, asynUser *, struct MotorStatus *);
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static void statusCallback(void *, asynUser *, void *);
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typedef enum {int32Type, float64Type, float64ArrayType} interfaceType;
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@@ -84,6 +85,32 @@ struct motor_dset devMotorAsyn={ { 8,
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epicsExportAddress(dset,devMotorAsyn);
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/* Note, we define these commands here. These are not pasynUser->reason, they are
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* an index into those reasons returned from driver */
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typedef enum motorCommand {
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motorMoveAbs,
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motorMoveRel,
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motorMoveVel,
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motorHome,
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motorStop,
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motorVelocity,
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motorVelBase,
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motorAccel,
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motorPosition,
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motorResolution,
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motorEncRatio,
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motorPgain,
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motorIgain,
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motorDgain,
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motorHighLim,
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motorLowLim,
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motorSetClosedLoop,
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motorStatus,
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motorUpdateStatus,
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lastMotorCommand
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} motorCommand;
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#define NUM_MOTOR_COMMANDS lastMotorCommand
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typedef struct {
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motorCommand command;
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interfaceType interface;
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@@ -106,10 +133,13 @@ typedef struct
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void *asynFloat64Pvt;
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asynFloat64Array *pasynFloat64Array;
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void *asynFloat64ArrayPvt;
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asynMotorStatus *pasynMotorStatus;
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void *asynMotorStatusPvt;
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asynDrvUser *pasynDrvUser;
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void *asynDrvUserPvt;
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asynGenericPointer *pasynGenericPointer;
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void *asynGenericPointerPvt;
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void *registrarPvt;
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epicsEventId initEvent;
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int driverReasons[NUM_MOTOR_COMMANDS];
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} motorAsynPvt;
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@@ -161,6 +191,21 @@ static void init_controller(struct motorRecord *pmr, asynUser *pasynUser )
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}
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static long findDrvInfo(motorRecord *pmotor, asynUser *pasynUser, char *drvInfoString, int command)
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{
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motorAsynPvt *pPvt = (motorAsynPvt *)pmotor->dpvt;
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/* Look up the pasynUser->reason */
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if (pPvt->pasynDrvUser->create(pPvt->asynDrvUserPvt, pasynUser, drvInfoString, NULL, NULL) != asynSuccess) {
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asynPrint(pasynUser, ASYN_TRACE_ERROR,
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"devMotorAsyn::findDrvInfo, %s drvUserCreate failed for %s\n",
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pmotor->name, drvInfoString);
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return(-1);
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}
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pPvt->driverReasons[command] = pasynUser->reason;
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return(0);
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}
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static long init_record(struct motorRecord * pmr )
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{
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asynUser *pasynUser;
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@@ -219,6 +264,37 @@ static long init_record(struct motorRecord * pmr )
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pPvt->pasynFloat64 = (asynFloat64 *)pasynInterface->pinterface;
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pPvt->asynFloat64Pvt = pasynInterface->drvPvt;
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/* Get the asynDrvUser interface */
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pasynInterface = pasynManager->findInterface(pasynUser, asynDrvUserType, 1); if (!pasynInterface) {
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asynPrint(pasynUser, ASYN_TRACE_ERROR,
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"devMotorAsyn::init_record, %s find drvUser interface failed\n",
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pmr->name);
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goto bad;
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}
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pPvt->pasynDrvUser = (asynDrvUser *)pasynInterface->pinterface;
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pPvt->asynDrvUserPvt = pasynInterface->drvPvt;
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/* Now that we have the drvUser interface get pasynUser->reason for each command */
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if (findDrvInfo(pmr, pasynUser, motorMoveRelString, motorMoveRel)) goto bad;
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if (findDrvInfo(pmr, pasynUser, motorMoveAbsString, motorMoveAbs)) goto bad;
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if (findDrvInfo(pmr, pasynUser, motorMoveVelString, motorMoveVel)) goto bad;
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if (findDrvInfo(pmr, pasynUser, motorHomeString, motorHome)) goto bad;
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if (findDrvInfo(pmr, pasynUser, motorStopString, motorStop)) goto bad;
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if (findDrvInfo(pmr, pasynUser, motorVelocityString, motorVelocity)) goto bad;
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if (findDrvInfo(pmr, pasynUser, motorVelBaseString, motorVelBase)) goto bad;
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if (findDrvInfo(pmr, pasynUser, motorAccelString, motorAccel)) goto bad;
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if (findDrvInfo(pmr, pasynUser, motorPositionString, motorPosition)) goto bad;
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if (findDrvInfo(pmr, pasynUser, motorResolutionString, motorResolution)) goto bad;
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if (findDrvInfo(pmr, pasynUser, motorEncRatioString, motorEncRatio)) goto bad;
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if (findDrvInfo(pmr, pasynUser, motorPgainString, motorPgain)) goto bad;
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if (findDrvInfo(pmr, pasynUser, motorIgainString, motorIgain)) goto bad;
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if (findDrvInfo(pmr, pasynUser, motorDgainString, motorDgain)) goto bad;
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if (findDrvInfo(pmr, pasynUser, motorHighLimString, motorHighLim)) goto bad;
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if (findDrvInfo(pmr, pasynUser, motorLowLimString, motorLowLim)) goto bad;
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if (findDrvInfo(pmr, pasynUser, motorSetClosedLoopString, motorSetClosedLoop)) goto bad;
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if (findDrvInfo(pmr, pasynUser, motorStatusString, motorStatus)) goto bad;
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if (findDrvInfo(pmr, pasynUser, motorUpdateStatusString, motorUpdateStatus)) goto bad;
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/* Get the asynFloat64Array interface */
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pasynInterface = pasynManager->findInterface(pasynUser,
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asynFloat64ArrayType, 1);
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@@ -231,22 +307,22 @@ static long init_record(struct motorRecord * pmr )
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pPvt->pasynFloat64Array = (asynFloat64Array *)pasynInterface->pinterface;
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pPvt->asynFloat64ArrayPvt = pasynInterface->drvPvt;
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/* Get the asynMotorStatus interface */
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/* Get the asynGenericPointer interface */
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pasynInterface = pasynManager->findInterface(pasynUser,
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asynMotorStatusType, 1);
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asynGenericPointerType, 1);
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if (!pasynInterface) {
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asynPrint(pasynUser, ASYN_TRACE_ERROR,
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"devMotorAsyn::init_record, %s find motorStatus interface failed\n",
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"devMotorAsyn::init_record, %s find genericPointer interface failed\n",
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pmr->name);
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goto bad;
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}
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pPvt->pasynMotorStatus = (asynMotorStatus *)pasynInterface->pinterface;
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pPvt->asynMotorStatusPvt = pasynInterface->drvPvt;
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pPvt->pasynGenericPointer = (asynGenericPointer *)pasynInterface->pinterface;
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pPvt->asynGenericPointerPvt = pasynInterface->drvPvt;
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/* Now connect the callback, to the combined MotorStatus interface */
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/* Now connect the callback, to the Generic Pointer interface, which passes MotorStatus structure */
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pasynUser = pasynManager->duplicateAsynUser(pPvt->pasynUser, asynCallback, 0);
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pasynUser->reason = motorStatus;
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status = pPvt->pasynMotorStatus->registerInterruptUser(pPvt->asynMotorStatusPvt,
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pasynUser->reason = pPvt->driverReasons[motorStatus];
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status = pPvt->pasynGenericPointer->registerInterruptUser(pPvt->asynGenericPointerPvt,
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pasynUser,
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statusCallback,
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pPvt,
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@@ -266,16 +342,16 @@ static long init_record(struct motorRecord * pmr )
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* in the future ? */
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/* DON'T DO THIS FOR NOW. THE NUMBER CAN COME TOO LATE TO BE OF USE TO THE DRIVER
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resolution = pmr->mres;
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pasynUser->reason = motorResolution;
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pasynUser->reason = pPvt->driverReasons[motorResolution];
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pPvt->pasynFloat64->write(pPvt->asynFloat64Pvt, pasynUser,
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resolution);
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*/
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pasynUser->reason = motorStatus;
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status = pPvt->pasynMotorStatus->read(pPvt->asynMotorStatusPvt, pasynUser,
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&pPvt->status);
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pasynUser->reason = pPvt->driverReasons[motorStatus];
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status = pPvt->pasynGenericPointer->read(pPvt->asynGenericPointerPvt, pasynUser,
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(void *)&pPvt->status);
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if (status != asynSuccess) {
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asynPrint(pasynUser, ASYN_TRACE_ERROR,
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"%s devMotorAsyn.c::init_record: pasynMotorStatus->read "
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"%s devMotorAsyn.c::init_record: pasynGenericPointer->read "
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"returned %s", pmr->name, pasynUser->errorMessage);
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}
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@@ -297,6 +373,8 @@ bad:
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pmr->pact=1;
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return(0);
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}
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CALLBACK_VALUE update_values(struct motorRecord * pmr)
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{
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@@ -456,7 +534,7 @@ static RTN_STATUS build_trans( motor_cmnd command,
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pmsg->dvalue = *param;
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break;
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case GET_INFO:
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pmsg->command = motorUpStatus;
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pmsg->command = motorUpdateStatus;
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pmsg->interface = int32Type;
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break;
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case SET_RESOLUTION:
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@@ -471,7 +549,7 @@ static RTN_STATUS build_trans( motor_cmnd command,
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}
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/* Queue asyn request, so we get a callback when driver is ready */
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pasynUser->reason = pmsg->command;
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pasynUser->reason = pPvt->driverReasons[pmsg->command];
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status = pasynManager->queueRequest(pasynUser, 0, 0);
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if (status != asynSuccess) {
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asynPrint(pasynUser, ASYN_TRACE_ERROR,
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@@ -503,22 +581,22 @@ static void asynCallback(asynUser *pasynUser)
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asynPrint(pasynUser, ASYN_TRACE_FLOW,
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"devMotorAsyn::asynCallback: %s command=%d, ivalue=%d, dvalue=%f\n",
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pmr->name, pmsg->command, pmsg->ivalue, pmsg->dvalue);
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pasynUser->reason = pmsg->command;
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pasynUser->reason = pPvt->driverReasons[pmsg->command];
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switch (pmsg->command) {
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case motorStatus:
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/* Read the current status of the device */
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status = pPvt->pasynMotorStatus->read(pPvt->asynMotorStatusPvt,
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status = pPvt->pasynGenericPointer->read(pPvt->asynGenericPointerPvt,
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pasynUser,
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&pPvt->status);
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(void *)&pPvt->status);
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if (status != asynSuccess) {
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asynPrint(pasynUser, ASYN_TRACE_ERROR,
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"devMotorAsyn::asynCallback: %s pasynMotorStatus->read"
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"devMotorAsyn::asynCallback: %s pasynGenericPointer->read"
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"returned %s\n", pmr->name, pasynUser->errorMessage);
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}
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break;
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case motorUpStatus:
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case motorUpdateStatus:
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status = pPvt->pasynInt32->write(pPvt->asynInt32Pvt, pasynUser,
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pmsg->ivalue);
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break;
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@@ -575,10 +653,11 @@ static void asynCallback(asynUser *pasynUser)
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* True callback to notify that controller status has changed.
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*/
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static void statusCallback(void *drvPvt, asynUser *pasynUser,
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struct MotorStatus *value)
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void *pValue)
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{
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motorAsynPvt *pPvt = (motorAsynPvt *)drvPvt;
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motorRecord *pmr = pPvt->pmr;
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MotorStatus *value = (MotorStatus *)pValue;
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asynPrint(pasynUser, ASYN_TRACEIO_DEVICE,
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"%s devMotorAsyn::statusCallback new value=[p:%f,e:%f,s:%x] %c%c\n",
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