Fix 'not ready' error by removing needUpdate=1 on MotorStatus

use MotorStatus interface for all status calls
add start position to motor simulator

motorApp/MotorSimSrc/drvMotorSim.c

@@ -2,9 +2,9 @@
 FILENAME...	drvMotorSim.c
 USAGE...	Simulated Motor Support.
 
-Version:	$Revision: 1.5 $
+Version:	$Revision: 1.6 $
 Modified By:	$Author: peterd $
-Last Modified:	$Date: 2006-07-01 20:08:55 $
+Last Modified:	$Date: 2006-08-10 08:12:47 $
 */
 
 /*
@@ -539,7 +539,7 @@ static void motorSimTask( motorSim_t * pDrv )
     }
 }
 
-static int motorSimCreateAxis( motorSim_t * pDrv, int card, int axis, double lowLimit, double hiLimit, double home )
+static int motorSimCreateAxis( motorSim_t * pDrv, int card, int axis, double lowLimit, double hiLimit, double home, double start )
 {
   AXIS_HDL pAxis;
   AXIS_HDL * ppLast = &(pDrv->pFirst);
@@ -567,7 +567,7 @@ static int motorSimCreateAxis( motorSim_t * pDrv, int card, int axis, double low
 	  pars.axis[0].Vmax = 1.0;
 
 	  pAxis->endpoint.T = 0;
-	  pAxis->endpoint.axis[0].p = 0;
+	  pAxis->endpoint.axis[0].p = start;
 	  pAxis->endpoint.axis[0].v = 0;
 
 	  if ((pAxis->route = routeNew( &(pAxis->endpoint), &pars )) != NULL &&
@@ -581,6 +581,7 @@ static int motorSimCreateAxis( motorSim_t * pDrv, int card, int axis, double low
 	      pAxis->home = home;
               pAxis->print = motorSimLogMsg;
               pAxis->logParam = NULL;
+	      motorParam->setDouble(pAxis->params, motorAxisPosition, start);
 	      *ppLast = pAxis;
 	      pAxis->print( pAxis->logParam, TRACE_FLOW, "Created motor for card %d, signal %d OK", card, axis );
 	    }
@@ -615,7 +616,7 @@ static int motorSimCreateAxis( motorSim_t * pDrv, int card, int axis, double low
 }
 
 
-void motorSimCreate( int card, int axis, int lowLimit, int hiLimit, int home, int nCards, int nAxes )
+void motorSimCreate( int card, int axis, int lowLimit, int hiLimit, int home, int nCards, int nAxes, int startPosn )
 {
   int i;
   int j;
@@ -645,7 +646,7 @@ void motorSimCreate( int card, int axis, int lowLimit, int hiLimit, int home, in
     {
       for (j = axis; j < axis+nAxes; j++ )
 	{
-            motorSimCreateAxis( &drv, i, j, (double) lowLimit, (double) hiLimit, (double) home );
+            motorSimCreateAxis( &drv, i, j, (double) lowLimit, (double) hiLimit, (double) home, (double) startPosn );
 	}
     }
 }

motorApp/MotorSimSrc/drvMotorSim.h

@@ -5,7 +5,7 @@
 extern "C" {
 #endif
 
-void motorSimCreate( int card, int axis, int hiLimit, int lowLimit, int home, int nCards, int nAxes );
+void motorSimCreate( int card, int axis, int hiLimit, int lowLimit, int home, int nCards, int nAxes, int startPosn );
 
 #ifdef __cplusplus
 }

motorApp/MotorSimSrc/motorSimRegister.cc

@@ -11,6 +11,7 @@ static const iocshArg motorSimCreateArg3 = { "Low limit",     iocshArgInt};
 static const iocshArg motorSimCreateArg4 = { "Home position", iocshArgInt};
 static const iocshArg motorSimCreateArg5 = { "Num cards",     iocshArgInt};
 static const iocshArg motorSimCreateArg6 = { "Num signals",   iocshArgInt};
+static const iocshArg motorSimCreateArg7 = { "Start posn",    iocshArgInt};
 
 static const iocshArg *const motorSimCreateArgs[] = {
   &motorSimCreateArg0,
@@ -20,12 +21,13 @@ static const iocshArg *const motorSimCreateArgs[] = {
   &motorSimCreateArg4,
   &motorSimCreateArg5,
   &motorSimCreateArg6,
+  &motorSimCreateArg7,
 };
-static const iocshFuncDef motorSimCreateDef ={"motorSimCreate",7,motorSimCreateArgs};
+static const iocshFuncDef motorSimCreateDef ={"motorSimCreate",8,motorSimCreateArgs};
 
 static void motorSimCreateCallFunc(const iocshArgBuf *args)
 {
-  motorSimCreate(args[0].ival, args[1].ival, args[2].ival, args[3].ival, args[4].ival, args[5].ival, args[6].ival);
+  motorSimCreate(args[0].ival, args[1].ival, args[2].ival, args[3].ival, args[4].ival, args[5].ival, args[6].ival, args[7].ival);
 }
 
 void motorSimRegister(void)

motorApp/MotorSrc/devMotorAsyn.c

@@ -11,9 +11,9 @@
  * Notwithstanding the above, explicit permission is granted for APS to 
  * redistribute this software.
  *
- * Version: $Revision: 1.12 $
+ * Version: $Revision: 1.13 $
  * Modified by: $Author: peterd $
- * Last Modified: $Date: 2006-07-20 17:10:37 $
+ * Last Modified: $Date: 2006-08-10 08:12:47 $
  *
  * Original Author: Peter Denison
  * Current Author: Peter Denison
@@ -80,12 +80,7 @@ typedef struct
 {
     struct motorRecord * pmr;
     int moveRequestPending;
-    epicsUInt32 status;  /**< bit mask of errors and other binary information. The
-			 bit positions are in motor.h */
-    epicsInt32 position; /**< Current motor position in motor steps (if not
-			 servoing) or demand position (if servoing) */
-    epicsInt32 encoder_position; /**< Current motor position in encoder units 
-				 (only available if a servo system). */
+    struct MotorStatus status;
     motor_cmnd move_cmd;
     double param;
     int needUpdate;
@@ -221,14 +216,8 @@ static long init_record(struct motorRecord * pmr )
 			      resolution);
 */
     pasynUser->reason = motorStatus;
-    pPvt->pasynInt32->read(pPvt->asynInt32Pvt, pasynUser,
-			   &pPvt->status);
-    pasynUser->reason = motorPosition;
-    pPvt->pasynInt32->read(pPvt->asynInt32Pvt, pasynUser,
-			   &pPvt->position);
-    pasynUser->reason = motorEncoderPosition;
-    pPvt->pasynInt32->read(pPvt->asynInt32Pvt, pasynUser,
-			   &pPvt->encoder_position);
+    pPvt->pasynMotorStatus->read(pPvt->asynMotorStatusPvt, pasynUser,
+				 &pPvt->status);
     pasynManager->freeAsynUser(pasynUser);
     pPvt->needUpdate = 1;
 
@@ -246,10 +235,10 @@ CALLBACK_VALUE update_values(struct motorRecord * pmr)
     rc = NOTHING_DONE;
 
     if ( pPvt->needUpdate ) {
-	pmr->rmp = pPvt->position;
-	pmr->rep = pPvt->encoder_position;
-	/* pmr->rvel = ptrans->vel; */
-	pmr->msta = pPvt->status;
+	pmr->rmp = (epicsInt32)round(pPvt->status.position);
+	pmr->rep = (epicsInt32)round(pPvt->status.encoder_posn);
+	/* pmr->rvel = (epicsInt32)round(pPvt->status.velocity); */
+	pmr->msta = pPvt->status.status;
 	rc = CALLBACK_DATA;
 	pPvt->needUpdate = 0;
     }
@@ -393,9 +382,6 @@ static RTN_STATUS build_trans( motor_cmnd command,
     case GET_INFO:
 	pmsg->command = motorStatus;
 	pmsg->interface = float64ArrayType;
-	/* Check this - needUpdate can cause the callback mechanism to get
-	   stuck. Must ensure that the record will be processed after this */
-	pPvt->needUpdate = 1; 
 	break;
     case SET_RESOLUTION:
 	pmsg->command = motorResolution;
@@ -446,14 +432,8 @@ static void asynCallback(asynUser *pasynUser)
     switch (pmsg->command) {
     case motorStatus:
 	/* Read the current status of the device */
-	pPvt->pasynInt32->read(pPvt->asynInt32Pvt, pasynUser,
-			       &pPvt->status);
-	pasynUser->reason = motorPosition;
-	pPvt->pasynInt32->read(pPvt->asynInt32Pvt, pasynUser,
-			       &pPvt->position);
-	pasynUser->reason = motorEncoderPosition;
-	pPvt->pasynInt32->read(pPvt->asynInt32Pvt, pasynUser,
-			       &pPvt->encoder_position);
+	pPvt->pasynMotorStatus->read(pPvt->asynMotorStatusPvt, pasynUser,
+				     &pPvt->status);
 	break;
 
     case motorMoveAbs:
@@ -502,25 +482,20 @@ static void statusCallback(void *drvPvt, asynUser *pasynUser,
     motorRecord *pmr = pPvt->pmr;
 
     asynPrint(pasynUser, ASYN_TRACEIO_DEVICE,
-        "%s devMotorAsyn::statusCallback new value=0x%x\n",
-        pmr->name, value);
+	      "%s devMotorAsyn::statusCallback new value=[p:%f,s:%x] %c%c\n",
+	      pmr->name, value->position, value->status,
+	      pPvt->needUpdate?'N':' ', pPvt->moveRequestPending?'P':' ');
 
     if (dbScanLockOK) {
         dbScanLock((dbCommon *)pmr);
-        pPvt->status = value->status;
-        pPvt->position = (epicsInt32)floor(value->position+0.5);
-        pPvt->encoder_position = (epicsInt32)floor(value->encoder_posn+0.5);
-	/*	pPvt->velocity = (epicsInt32)floor(value->velocity+0.5);*/
+        pPvt->status = *value;
         if (!pPvt->needUpdate && !pPvt->moveRequestPending) {
 	    pPvt->needUpdate = 1;
 	    pmr->rset->process((dbCommon*)pmr);
         }
         dbScanUnlock((dbCommon*)pmr);
     } else {
-        pPvt->status = value->status;
-        pPvt->position = (epicsInt32)floor(value->position+0.5);
-        pPvt->encoder_position = (epicsInt32)floor(value->encoder_posn+0.5);
-	/*	pPvt->veolcity = (epicsInt32)floor(value->velocity+0.5);*/
+        pPvt->status = *value;
         pPvt->needUpdate = 1;
     }
 }

motorApp/MotorSrc/drvMotorAsyn.c

@@ -19,9 +19,9 @@
  *     of this distribution.
  *     ************************************************************************
  *
- * Version: $Revision: 1.11 $
+ * Version: $Revision: 1.12 $
  * Modified by: $Author: peterd $
- * Last Modified: $Date: 2006-07-07 20:50:19 $
+ * Last Modified: $Date: 2006-08-10 08:12:47 $
  *
  * Original Author: Peter Denison
  * Current Author: Peter Denison
@@ -400,7 +400,8 @@ static asynStatus readInt32(void *drvPvt, asynUser *pasynUser,
 	break;
     }
     asynPrint(pasynUser, ASYN_TRACEIO_DRIVER,
-              "drvMotorAsyn::readInt32, value=%d\n", *value);
+              "drvMotorAsyn::readInt32, reason=%d, value=%d\n", 
+	      command, *value);
     return(asynSuccess);
 }
 
@@ -450,7 +451,8 @@ static asynStatus readFloat64(void *drvPvt, asynUser *pasynUser,
 	break;
     }
     asynPrint(pasynUser, ASYN_TRACEIO_DRIVER,
-              "drvMotorAsyn::readFloat64, value=%f\n", *value);
+              "drvMotorAsyn::readFloat64, reason=%d, value=%f\n", 
+	      command, *value);
     return(status);
 }
 
@@ -510,7 +512,8 @@ static asynStatus writeInt32(void *drvPvt, asynUser *pasynUser,
 	break;
     }
     asynPrint(pasynUser, ASYN_TRACEIO_DRIVER,
-	      "drvMotorAsyn::writeInt32, value=%d\n", value);
+	      "drvMotorAsyn::writeInt32, reason=%d, value=%d\n",
+	      command, value);
     return(status);
 }