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Switching drvEnsembleAsyn source from *.c to *.cc

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This commit is contained in:
Ron Sluiter
2010-04-08 21:07:30 +00:00
parent a78021c710
commit e2900d9d7d
2 changed files with 41 additions and 37 deletions
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motorApp/AerotechSrc/Makefile
+1 -1
View File
@@ -13,7 +13,7 @@ LIBRARY_IOC = Aerotech
SRCS += AerotechRegister.cc
SRCS += devEnsemble.cc drvEnsemble.cc
SRCS += devSoloist.cc drvSoloist.cc
SRCS += drvEnsembleAsyn.c
SRCS += drvEnsembleAsyn.cc
Aerotech_LIBS += motor asyn
Aerotech_LIBS += $(EPICS_BASE_IOC_LIBS)
motorApp/AerotechSrc/drvEnsembleAsyn.c → motorApp/AerotechSrc/drvEnsembleAsyn.cc
+40 -36
View File
@@ -1,5 +1,5 @@
/*
FILENAME... drvEnsembleAsyn.c
FILENAME... drvEnsembleAsyn.cc
USAGE... Motor record asyn driver level support for Aerotech Ensemble.
Version: $Revision$
@@ -30,6 +30,8 @@ in file LICENSE that is included with this distribution.
*
* .01 07-28-09 cjb Initialized from drvMM4000Asyn.c (Newport)
* .02 03-02-10 rls Original check into version control.
* .03 03-16-10 rls Switch to C++ file.
* .04 04-07-10 rls Acknowledged fault before enabling drive.
*
*/
@@ -125,7 +127,9 @@ typedef struct
} motorEnsemble_t;
extern "C" {
static int motorEnsembleLogMsg(void * param, const motorAxisLogMask_t logMask, const char *pFormat, ...);
}
static asynStatus sendAndReceive(EnsembleController *pController, char *outputString, char *inputString, int inputSize);
#define PRINT (drv.print)
@@ -162,7 +166,7 @@ the Ensemble parameters specified */
#define ASCII_TIMEOUT_CHAR '$' /* AsciiCmdTimeoutChar */
#define TCP_TIMEOUT 2.0
static motorEnsemble_t drv={ NULL, NULL, motorEnsembleLogMsg, 0, { 0, 0}};
static motorEnsemble_t drv = {NULL, NULL, motorEnsembleLogMsg, 0, {0, 0}};
static int numEnsembleControllers;
/* Pointer to array of controller strutures */
static EnsembleController *pEnsembleController=NULL;
@@ -299,8 +303,7 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
{
int ret_status = MOTOR_AXIS_ERROR;
double deviceValue;
char inputBuff[BUFFER_SIZE];
char outputBuff[BUFFER_SIZE];
char inputBuff[BUFFER_SIZE], outputBuff[BUFFER_SIZE];
if (pAxis == NULL)
return (MOTOR_AXIS_ERROR);
@@ -371,8 +374,7 @@ static int motorAxisSetInteger(AXIS_HDL pAxis, motorAxisParam_t function, int va
{
int ret_status = MOTOR_AXIS_ERROR;
int status;
char inputBuff[BUFFER_SIZE];
char outputBuff[BUFFER_SIZE];
char inputBuff[BUFFER_SIZE], outputBuff[BUFFER_SIZE];
if (pAxis == NULL)
return (MOTOR_AXIS_ERROR);
@@ -385,7 +387,17 @@ static int motorAxisSetInteger(AXIS_HDL pAxis, motorAxisParam_t function, int va
if (value == 0)
sprintf(outputBuff, "DISABLE @%d", pAxis->axis);
else
{
sprintf(outputBuff, "AXISFAULT @%d", pAxis->axis);
ret_status = sendAndReceive(pAxis->pController, outputBuff, inputBuff, sizeof(inputBuff));
if (ret_status != 0)
{
PRINT(pAxis->logParam, TERROR, "motorAxisSetInteger: FAULTACK = %X\n", ret_status);
sprintf(outputBuff, "FAULTACK @%d", pAxis->axis);
ret_status = sendAndReceive(pAxis->pController, outputBuff, inputBuff, sizeof(inputBuff));
}
sprintf(outputBuff, "ENABLE @%d", pAxis->axis);
}
ret_status = sendAndReceive(pAxis->pController, outputBuff, inputBuff, sizeof(inputBuff));
break;
default:
@@ -406,10 +418,9 @@ static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
double min_velocity, double max_velocity, double acceleration)
{
int ret_status;
char inputBuff[BUFFER_SIZE];
char outputBuff[BUFFER_SIZE];
char *moveCommand;
int posdir;
char inputBuff[BUFFER_SIZE], outputBuff[BUFFER_SIZE];
const char *moveCommand;
bool posdir;
int axis, maxDigits;
if (pAxis == NULL)
@@ -421,22 +432,22 @@ static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
PRINT(pAxis->logParam, FLOW, "Set card %d, axis %d move to %f, min vel=%f, max_vel=%f, accel=%f\n",
pAxis->card, axis, position, min_velocity, max_velocity, acceleration);
posdir = 0;
posdir = false;
if (relative)
{
if (position >= 0.0)
posdir = 1;
posdir = true;
else
posdir = 0;
posdir = false;
moveCommand = "MOVEINC";
}
else
{
if (position >= pAxis->currentPosition)
posdir = 1;
posdir = true;
else
posdir = 0;
posdir = false;
moveCommand = "MOVEABS";
}
@@ -456,7 +467,7 @@ static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
if (epicsMutexLock(pAxis->mutexId) == epicsMutexLockOK)
{
motorParam->setInteger(pAxis->params, motorAxisDirection, posdir);
motorParam->setInteger(pAxis->params, motorAxisDirection, (int) posdir);
/* Ensure that the motor record's next status update sees motorAxisDone = False. */
motorParam->setInteger(pAxis->params, motorAxisDone, 0);
motorParam->callCallback(pAxis->params);
@@ -472,8 +483,7 @@ static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
static int motorAxisHome(AXIS_HDL pAxis, double min_velocity, double max_velocity, double acceleration, int forwards)
{
int ret_status;
char inputBuff[BUFFER_SIZE];
char outputBuff[BUFFER_SIZE];
char inputBuff[BUFFER_SIZE], outputBuff[BUFFER_SIZE];
epicsUInt32 hparam;
int axis;
@@ -526,8 +536,7 @@ static int motorAxisHome(AXIS_HDL pAxis, double min_velocity, double max_velocit
static int motorAxisVelocityMove(AXIS_HDL pAxis, double min_velocity, double velocity, double acceleration)
{
char inputBuff[BUFFER_SIZE];
char outputBuff[BUFFER_SIZE];
char inputBuff[BUFFER_SIZE], outputBuff[BUFFER_SIZE];
int ret_status;
if (pAxis == NULL)
@@ -566,8 +575,7 @@ static int motorAxisTriggerProfile(AXIS_HDL pAxis)
static int motorAxisStop(AXIS_HDL pAxis, double acceleration)
{
int ret_status;
char inputBuff[BUFFER_SIZE];
char outputBuff[BUFFER_SIZE];
char inputBuff[BUFFER_SIZE], outputBuff[BUFFER_SIZE];
if (pAxis == NULL)
return (MOTOR_AXIS_ERROR);
@@ -603,9 +611,9 @@ static void EnsemblePoller(EnsembleController *pController)
/* This is the task that polls the Ensemble */
double timeout;
AXIS_HDL pAxis;
int status, itera, anyMoving, comStatus, axisStatus;
char inputBuff[BUFFER_SIZE];
char outputBuff[BUFFER_SIZE];
int status, itera, comStatus, axisStatus;
bool anyMoving;
char inputBuff[BUFFER_SIZE], outputBuff[BUFFER_SIZE];
timeout = pController->idlePollPeriod;
epicsEventSignal(pController->pollEventId); /* Force on poll at startup */
@@ -617,7 +625,7 @@ static void EnsemblePoller(EnsembleController *pController)
else
status = epicsEventWait(pController->pollEventId);
anyMoving = 0;
anyMoving = false;
for (itera = 0; itera < pController->numAxes; itera++)
{
@@ -649,7 +657,7 @@ static void EnsemblePoller(EnsembleController *pController)
axisStatus = atoi(&inputBuff[1]);
motorParam->setInteger(params, motorAxisDone, axisStatus & IN_MOTION_BIT ? 0 : 1);
if (axisStatus & IN_MOTION_BIT)
anyMoving = 1;
anyMoving = true;
motorParam->setInteger(pAxis->params, motorAxisPowerOn, axisStatus & ENABLED_BIT ? 1 : 0);
motorParam->setInteger(pAxis->params, motorAxisHomeSignal, axisStatus & HOME_MARKER_BIT ? 1 : 0);
if (pAxis->stepSize > 0.0)
@@ -718,7 +726,7 @@ static void EnsemblePoller(EnsembleController *pController)
epicsMutexUnlock(pAxis->mutexId);
} /* Next axis */
if (anyMoving)
if (anyMoving == true)
timeout = pController->movingPollPeriod;
else
timeout = pController->idlePollPeriod;
@@ -760,14 +768,10 @@ int EnsembleAsynConfig(int card, /* Controller number */
{
AXIS_HDL pAxis;
int axis;
EnsembleController *pController;
char threadName[20];
int status;
int digits;
int retry = 0;
char inputBuff[BUFFER_SIZE];
char outputBuff[BUFFER_SIZE];
int axis, status, digits, retry = 0;
char inputBuff[BUFFER_SIZE], outputBuff[BUFFER_SIZE];
int numAxesFound;
if (numEnsembleControllers < 1)
@@ -854,7 +858,7 @@ int EnsembleAsynConfig(int card, /* Controller number */
pAxis->stepSize = 1 / atof(&inputBuff[1]);
else
pAxis->stepSize = 1;
digits = (int) -log(10) * (fabs(pAxis->stepSize)) + 2;
digits = (int) -log10(fabs(pAxis->stepSize)) + 2;
if (digits < 1)
digits = 1;
pAxis->maxDigits = digits;
@@ -885,7 +889,7 @@ int EnsembleAsynConfig(int card, /* Controller number */
static asynStatus sendAndReceive(EnsembleController *pController, char *outputBuff, char *inputBuff, int inputSize)
{
char outputCopy[BUFFER_SIZE];
int nWriteRequested;
size_t nWriteRequested;
size_t nWrite, nRead;
int eomReason;
asynStatus status;