motor: XPS model 3 driver. removed dealing with jog mode in poller, as we no longer need this now we are stopping the group in the stop function. This means jog mode works with MultipleAxis groups too. Also fixed the stop function so that it works when homing and when in trajectory mode. Also fixed some doxygen comments.

motorApp/NewportSrc/XPSAxis.cpp

@@ -84,6 +84,10 @@ Versions: Release 4-5 and higher.
 #include <string.h>
 #include <math.h>
 
+#include <iostream>
+using std::cout;
+using std::endl;
+
 #include <epicsTime.h>
 #include <epicsThread.h>
 #include <epicsExport.h>
@@ -344,10 +348,11 @@ asynStatus XPSAxis::moveVelocity(double min_velocity, double max_velocity, doubl
   status = GroupJogParametersSet(moveSocket_, positionerName_, 1, &deviceVelocity, &deviceAcceleration);
   if (status) {
     asynPrint(pasynUser_, ASYN_TRACE_ERROR, 
-              "%s:%s: [%s,%d]: error calling GroupJogParametersSet error=%d\n",
-              driverName, functionName, pC_->portName, axisNo_, status);
+	       "%s:%s: [%s,%d]: error calling GroupJogParametersSet error=%d\n",
+	       driverName, functionName, pC_->portName, axisNo_, status);
     return asynError;
   }
+
   return asynSuccess;
 }
 
@@ -473,8 +478,6 @@ asynStatus XPSAxis::setPosition(double position)
 asynStatus XPSAxis::stop(double acceleration)
 {
   int status;
-  double deviceVelocity=0.;
-  double deviceAcceleration;
   static const char *functionName = "stopAxis";
 
   /* We need to read the status, because a jog is stopped differently from a move */ 
@@ -485,23 +488,24 @@ asynStatus XPSAxis::stop(double acceleration)
               driverName, functionName, pC_->portName, axisNo_, status);
     return asynError;
   }
-  if (axisStatus_ == 47) {
-    deviceAcceleration = acceleration * stepSize_;
-    status = GroupJogParametersSet(moveSocket_, positionerName_, 1, &deviceVelocity, &deviceAcceleration);
-    if (status) {
-      asynPrint(pasynUser_, ASYN_TRACE_ERROR, 
-                "%s:%s: [%s,%d]: error calling GroupJogParametersSet status=%d\n",
-                driverName, functionName, pC_->portName, axisNo_, status);
-      return asynError;
-    }
-  }
   
-  if (axisStatus_ == 44) {
+  if ((axisStatus_ == 44) || (axisStatus_ == 45) || (axisStatus_ == 47)) {
     status = GroupMoveAbort(moveSocket_, groupName_);
     if (status) {
       asynPrint(pasynUser_, ASYN_TRACE_ERROR, 
                 "%s:%s: [%s,%d]: error calling GroupMoveAbort status=%d\n",
                 driverName, functionName, pC_->portName, axisNo_, status);
+      GroupMoveAbort(moveSocket_, groupName_);
+      return asynError;
+    }
+  }
+
+  if (axisStatus_ == 43) {
+    status = GroupKill(moveSocket_, groupName_);
+    if (status) {
+      asynPrint(pasynUser_, ASYN_TRACE_ERROR, 
+                "%s:%s: [%s,%d]: error calling GroupKill status=%d\n",
+                driverName, functionName, pC_->portName, axisNo_, status);
       return asynError;
     }
   }
@@ -520,7 +524,6 @@ asynStatus XPSAxis::poll(bool *moving)
 {
   int status;
   int axisDone;
-  double actualVelocity, theoryVelocity, acceleration;
   static const char *functionName = "poll";
 
   status = GroupStatusGet(pollSocket_, 
@@ -543,31 +546,6 @@ asynStatus XPSAxis::poll(bool *moving)
   if (axisStatus_ >= 43 && axisStatus_ <= 48) {
     /* These states mean it is moving/homeing/jogging etc*/
     axisDone = 0;
-    if (axisStatus_ == 47) {
-      /* We are jogging.  When the velocity gets back to 0 disable jogging */
-      status = GroupJogParametersGet(pollSocket_, positionerName_, 1, &theoryVelocity, &acceleration);
-      status = GroupJogCurrentGet(pollSocket_, positionerName_, 1, &actualVelocity, &acceleration);
-      if (status) {
-        asynPrint(pasynUser_, ASYN_TRACE_ERROR, 
-                  "%s:%s: [%s,%d]: error calling GroupJogCurrentGet status=%d\n",
-                  driverName, functionName, pC_->portName, axisNo_, status);
-        goto done;
-      }
-      if (actualVelocity == 0. && theoryVelocity == 0.) {
-        status = GroupJogModeDisable(pollSocket_, groupName_);
-        if (status) {
-          asynPrint(pasynUser_, ASYN_TRACE_ERROR, 
-                    "%s:%s: [%s,%d]: error calling GroupJogModeDisable status=%d\n",
-                    driverName, functionName, pC_->portName, axisNo_, status);
-          /* In this mode must do a group kill? */
-          status = GroupKill(pollSocket_, groupName_);
-          asynPrint(pasynUser_, ASYN_TRACE_ERROR, 
-                    "%s:%s: [%s,%d]: called GroupKill!\n",
-                    driverName, functionName, pC_->portName, axisNo_);
-          goto done;
-        }
-      } 
-    }
   }
   /* Set the status */
   setIntegerParam(pC_->XPSStatus_, axisStatus_);
@@ -674,7 +652,6 @@ char *XPSAxis::getXPSError(int status, char *buffer)
 /**
  * Test if axis is configured as an XPS single axis or a group.
  * This is done by comparing cached group names.
- * @param pAxis Axis struct AXIS_HDL
  * @return 1 if in group single group, or return the number of axes in the group.
  */
 int XPSAxis::isInGroup()
@@ -922,8 +899,7 @@ asynStatus XPSAxis::setPIDValue(const double * value, int pidoption)
 
 /**
  * Wrapper function for PositionerCorrectorPIPositionGet.
- * It will set parameters in a AXIS_HDL struct.
- * @param pAxis Axis struct AXIS_HDL.
+ * It will set parameters in this object..
  * @return Return value from XPS function.
  */
 asynStatus XPSAxis::PositionerCorrectorPIPositionGet()
@@ -940,8 +916,7 @@ asynStatus XPSAxis::PositionerCorrectorPIPositionGet()
 
 /**
  * Wrapper function for PositionerCorrectorPIDFFVelocityGet.
- * It will set parameters in a AXIS_HDL struct.
- * @param pAxis Axis struct AXIS_HDL.
+ * It will set parameters in this object..
  * @return Return value from XPS function.
  */
 asynStatus XPSAxis::PositionerCorrectorPIDFFVelocityGet()
@@ -967,8 +942,7 @@ asynStatus XPSAxis::PositionerCorrectorPIDFFVelocityGet()
 
 /**
  * Wrapper function for PositionerCorrectorPIDFFAccelerationGet.
- * It will set parameters in a AXIS_HDL struct.
- * @param pAxis Axis struct AXIS_HDL.
+ * It will set parameters in this object..
  * @return Return value from XPS function.
  */
 asynStatus XPSAxis::PositionerCorrectorPIDFFAccelerationGet()
@@ -994,8 +968,7 @@ asynStatus XPSAxis::PositionerCorrectorPIDFFAccelerationGet()
 
 /**
  * Wrapper function for PositionerCorrectorPIDDualFFVoltageGet.
- * It will set parameters in a AXIS_HDL struct.
- * @param pAxis Axis struct AXIS_HDL.
+ * It will set parameters in this object..
  * @return Return value from XPS function.
  */
 asynStatus XPSAxis::PositionerCorrectorPIDDualFFVoltageGet()
@@ -1023,7 +996,6 @@ asynStatus XPSAxis::PositionerCorrectorPIDDualFFVoltageGet()
 
 /**
  * Wrapper function for PositionerCorrectorPIPositionSet.
- * @param pAxis Axis struct AXIS_HDL.
  * @return Return value from XPS function.
  */
 asynStatus XPSAxis::PositionerCorrectorPIPositionSet()
@@ -1041,7 +1013,6 @@ asynStatus XPSAxis::PositionerCorrectorPIPositionSet()
 
 /**
  * Wrapper function for PositionerCorrectorPIDFFVelocitySet.
- * @param pAxis Axis struct AXIS_HDL.
  * @return Return value from XPS function.
  */
 asynStatus XPSAxis::PositionerCorrectorPIDFFVelocitySet()
@@ -1066,7 +1037,6 @@ asynStatus XPSAxis::PositionerCorrectorPIDFFVelocitySet()
 
 /**
  * Wrapper function for PositionerCorrectorPIDFFAccelerationSet.
- * @param pAxis Axis struct AXIS_HDL.
  * @return Return value from XPS function.
  */
 asynStatus XPSAxis:: PositionerCorrectorPIDFFAccelerationSet()
@@ -1091,7 +1061,6 @@ asynStatus XPSAxis:: PositionerCorrectorPIDFFAccelerationSet()
 
 /**
  * Wrapper function for PositionerCorrectorPIDDualFFVoltageSet.
- * @param pAxis Axis struct AXIS_HDL.
  * @return Return value from XPS function.
  */
 asynStatus XPSAxis::PositionerCorrectorPIDDualFFVoltageSet()