forked from epics_driver_modules/motorBase
Added reading of coordinate-system definitions to Newport HXP support.
This commit is contained in:
kmpeters
@@ -0,0 +1,157 @@
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record(bo,"$(P)$(R)READ_CS") {
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field(DESC,"Read Coord Systems")
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field(DTYP,"asynInt32")
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field(ZNAM,"Done")
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field(ONAM,"Read")
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field(OUT, "@asyn($(PORT),0)HXP_COORD_SYS_READ_ALL")
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field(VAL, "1")
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field(PINI,"YES")
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}
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# TOOL CS readbacks
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record(ai,"$(P)$(R)TOOL:X") {
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field(DESC,"TOOL coordSys def")
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field(DTYP,"asynFloat64")
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field(SCAN,"I/O Intr")
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field(INP, "@asyn($(PORT),0)HXP_COORD_SYS_TOOL_X")
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field(PREC,"5")
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}
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record(ai,"$(P)$(R)TOOL:Y") {
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field(DESC,"TOOL coordSys def")
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field(DTYP,"asynFloat64")
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field(SCAN,"I/O Intr")
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field(INP, "@asyn($(PORT),0)HXP_COORD_SYS_TOOL_Y")
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field(PREC,"5")
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}
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record(ai,"$(P)$(R)TOOL:Z") {
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field(DESC,"TOOL coordSys def")
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field(DTYP,"asynFloat64")
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field(SCAN,"I/O Intr")
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field(INP, "@asyn($(PORT),0)HXP_COORD_SYS_TOOL_Z")
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field(PREC,"5")
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}
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record(ai,"$(P)$(R)TOOL:U") {
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field(DESC,"TOOL coordSys def")
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field(DTYP,"asynFloat64")
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field(SCAN,"I/O Intr")
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field(INP, "@asyn($(PORT),0)HXP_COORD_SYS_TOOL_U")
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field(PREC,"5")
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}
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record(ai,"$(P)$(R)TOOL:V") {
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field(DESC,"TOOL coordSys def")
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field(DTYP,"asynFloat64")
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field(SCAN,"I/O Intr")
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field(INP, "@asyn($(PORT),0)HXP_COORD_SYS_TOOL_V")
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field(PREC,"5")
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}
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record(ai,"$(P)$(R)TOOL:W") {
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field(DESC,"TOOL coordSys def")
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field(DTYP,"asynFloat64")
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field(SCAN,"I/O Intr")
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field(INP, "@asyn($(PORT),0)HXP_COORD_SYS_TOOL_W")
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field(PREC,"5")
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}
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# WORK CS readbacks
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record(ai,"$(P)$(R)WORK:X") {
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field(DESC,"WORK coordSys def")
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field(DTYP,"asynFloat64")
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field(SCAN,"I/O Intr")
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field(INP, "@asyn($(PORT),0)HXP_COORD_SYS_WORK_X")
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field(PREC,"5")
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}
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record(ai,"$(P)$(R)WORK:Y") {
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field(DESC,"WORK coordSys def")
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field(DTYP,"asynFloat64")
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field(SCAN,"I/O Intr")
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field(INP, "@asyn($(PORT),0)HXP_COORD_SYS_WORK_Y")
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field(PREC,"5")
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}
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record(ai,"$(P)$(R)WORK:Z") {
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field(DESC,"WORK coordSys def")
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field(DTYP,"asynFloat64")
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field(SCAN,"I/O Intr")
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field(INP, "@asyn($(PORT),0)HXP_COORD_SYS_WORK_Z")
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field(PREC,"5")
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}
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record(ai,"$(P)$(R)WORK:U") {
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field(DESC,"WORK coordSys def")
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field(DTYP,"asynFloat64")
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field(SCAN,"I/O Intr")
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field(INP, "@asyn($(PORT),0)HXP_COORD_SYS_WORK_U")
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field(PREC,"5")
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}
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record(ai,"$(P)$(R)WORK:V") {
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field(DESC,"WORK coordSys def")
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field(DTYP,"asynFloat64")
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field(SCAN,"I/O Intr")
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field(INP, "@asyn($(PORT),0)HXP_COORD_SYS_WORK_V")
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field(PREC,"5")
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}
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record(ai,"$(P)$(R)WORK:W") {
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field(DESC,"WORK coordSys def")
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field(DTYP,"asynFloat64")
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field(SCAN,"I/O Intr")
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field(INP, "@asyn($(PORT),0)HXP_COORD_SYS_WORK_W")
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field(PREC,"5")
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}
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# BASE CS readbacks
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record(ai,"$(P)$(R)BASE:X") {
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field(DESC,"BASE coordSys def")
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field(DTYP,"asynFloat64")
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field(SCAN,"I/O Intr")
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field(INP, "@asyn($(PORT),0)HXP_COORD_SYS_BASE_X")
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field(PREC,"5")
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}
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record(ai,"$(P)$(R)BASE:Y") {
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field(DESC,"BASE coordSys def")
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field(DTYP,"asynFloat64")
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field(SCAN,"I/O Intr")
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field(INP, "@asyn($(PORT),0)HXP_COORD_SYS_BASE_Y")
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field(PREC,"5")
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}
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record(ai,"$(P)$(R)BASE:Z") {
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field(DESC,"BASE coordSys def")
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field(DTYP,"asynFloat64")
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field(SCAN,"I/O Intr")
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field(INP, "@asyn($(PORT),0)HXP_COORD_SYS_BASE_Z")
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field(PREC,"5")
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}
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record(ai,"$(P)$(R)BASE:U") {
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field(DESC,"BASE coordSys def")
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field(DTYP,"asynFloat64")
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field(SCAN,"I/O Intr")
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field(INP, "@asyn($(PORT),0)HXP_COORD_SYS_BASE_U")
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field(PREC,"5")
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}
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record(ai,"$(P)$(R)BASE:V") {
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field(DESC,"BASE coordSys def")
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field(DTYP,"asynFloat64")
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field(SCAN,"I/O Intr")
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field(INP, "@asyn($(PORT),0)HXP_COORD_SYS_BASE_V")
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field(PREC,"5")
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}
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record(ai,"$(P)$(R)BASE:W") {
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field(DESC,"BASE coordSys def")
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field(DTYP,"asynFloat64")
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field(SCAN,"I/O Intr")
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field(INP, "@asyn($(PORT),0)HXP_COORD_SYS_BASE_W")
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field(PREC,"5")
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}
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@@ -65,6 +65,25 @@ HXPController::HXPController(const char *portName, const char *IPAddress, int IP
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createParam(HXPMoveAllTargetUString, asynParamFloat64, &HXPMoveAllTargetU_);
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createParam(HXPMoveAllTargetVString, asynParamFloat64, &HXPMoveAllTargetV_);
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createParam(HXPMoveAllTargetWString, asynParamFloat64, &HXPMoveAllTargetW_);
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createParam(HXPCoordSysReadAllString, asynParamInt32, &HXPCoordSysReadAll_);
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createParam(HXPCoordSysToolXString, asynParamFloat64, &HXPCoordSysToolX_);
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createParam(HXPCoordSysToolYString, asynParamFloat64, &HXPCoordSysToolY_);
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createParam(HXPCoordSysToolZString, asynParamFloat64, &HXPCoordSysToolZ_);
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createParam(HXPCoordSysToolUString, asynParamFloat64, &HXPCoordSysToolU_);
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createParam(HXPCoordSysToolVString, asynParamFloat64, &HXPCoordSysToolV_);
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createParam(HXPCoordSysToolWString, asynParamFloat64, &HXPCoordSysToolW_);
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createParam(HXPCoordSysWorkXString, asynParamFloat64, &HXPCoordSysWorkX_);
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createParam(HXPCoordSysWorkYString, asynParamFloat64, &HXPCoordSysWorkY_);
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createParam(HXPCoordSysWorkZString, asynParamFloat64, &HXPCoordSysWorkZ_);
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createParam(HXPCoordSysWorkUString, asynParamFloat64, &HXPCoordSysWorkU_);
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createParam(HXPCoordSysWorkVString, asynParamFloat64, &HXPCoordSysWorkV_);
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createParam(HXPCoordSysWorkWString, asynParamFloat64, &HXPCoordSysWorkW_);
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createParam(HXPCoordSysBaseXString, asynParamFloat64, &HXPCoordSysBaseX_);
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createParam(HXPCoordSysBaseYString, asynParamFloat64, &HXPCoordSysBaseY_);
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createParam(HXPCoordSysBaseZString, asynParamFloat64, &HXPCoordSysBaseZ_);
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createParam(HXPCoordSysBaseUString, asynParamFloat64, &HXPCoordSysBaseU_);
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createParam(HXPCoordSysBaseVString, asynParamFloat64, &HXPCoordSysBaseV_);
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createParam(HXPCoordSysBaseWString, asynParamFloat64, &HXPCoordSysBaseW_);
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// This socket is used for polling by the controller and all axes
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pollSocket_ = HXPTCP_ConnectToServer((char *)IPAddress, IPPort, HXP_POLL_TIMEOUT);
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@@ -166,6 +185,13 @@ asynStatus HXPController::writeInt32(asynUser *pasynUser, epicsInt32 value)
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moveAll(pAxis);
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}
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}
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else if (function == HXPCoordSysReadAll_)
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{
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if (value == 1)
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{
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readAllCS(pAxis);
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}
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}
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else
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{
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/* Call base class method */
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@@ -203,6 +229,61 @@ int HXPController::moveAll(HXPAxis *pAxis)
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status = HXPHexapodMoveAbsolute(pAxis->moveSocket_, GROUP, "Work", x, y, z, u, v, w);
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postError(pAxis, status);
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/* callParamCallback() is called from postError, so it isn't needed here */
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return status;
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}
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/**
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* Reads the Tool, Work, and Base coordinate-system definitions
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*/
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int HXPController::readAllCS(HXPAxis *pAxis)
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{
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int status;
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double x, y, z, u, v, w;
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status = HXPHexapodCoordinateSystemGet(pAxis->moveSocket_, GROUP, "Tool", &x, &y , &z, &u, &v, &w);
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setDoubleParam(0, HXPCoordSysToolX_, x);
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setDoubleParam(0, HXPCoordSysToolY_, y);
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setDoubleParam(0, HXPCoordSysToolZ_, z);
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setDoubleParam(0, HXPCoordSysToolU_, u);
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setDoubleParam(0, HXPCoordSysToolV_, v);
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setDoubleParam(0, HXPCoordSysToolW_, w);
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postError(pAxis, status);
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status = HXPHexapodCoordinateSystemGet(pAxis->moveSocket_, GROUP, "Work", &x, &y , &z, &u, &v, &w);
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setDoubleParam(0, HXPCoordSysWorkX_, x);
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setDoubleParam(0, HXPCoordSysWorkY_, y);
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setDoubleParam(0, HXPCoordSysWorkZ_, z);
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setDoubleParam(0, HXPCoordSysWorkU_, u);
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setDoubleParam(0, HXPCoordSysWorkV_, v);
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setDoubleParam(0, HXPCoordSysWorkW_, w);
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postError(pAxis, status);
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status = HXPHexapodCoordinateSystemGet(pAxis->moveSocket_, GROUP, "Base", &x, &y , &z, &u, &v, &w);
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setDoubleParam(0, HXPCoordSysBaseX_, x);
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setDoubleParam(0, HXPCoordSysBaseY_, y);
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setDoubleParam(0, HXPCoordSysBaseZ_, z);
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setDoubleParam(0, HXPCoordSysBaseU_, u);
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setDoubleParam(0, HXPCoordSysBaseV_, v);
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setDoubleParam(0, HXPCoordSysBaseW_, w);
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postError(pAxis, status);
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/* callParamCallback() is called from postError, so it isn't needed here */
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return status;
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}
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void HXPController::postError(HXPAxis *pAxis, int status)
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{
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/* This is similar to what is done in HXPAxis::move() */
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if (status < 0)
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{
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@@ -224,17 +305,12 @@ int HXPController::moveAll(HXPAxis *pAxis)
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/* Clear the error */
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setIntegerParam(HXPError_, 0);
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setStringParam(HXPErrorDesc_, "");
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/* If there was a way to force the motor record to switch to the move poll rate,
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this would be the place to do it. */
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}
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callParamCallbacks();
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return status;
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return;
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}
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// These are the HXPAxis methods
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/** Creates a new HXPAxis object.
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@@ -23,6 +23,25 @@ USAGE... Motor driver support for the Newport Hexapod controller.
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#define HXPMoveAllTargetUString "HXP_MOVE_ALL_TARGET_U"
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#define HXPMoveAllTargetVString "HXP_MOVE_ALL_TARGET_V"
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#define HXPMoveAllTargetWString "HXP_MOVE_ALL_TARGET_W"
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#define HXPCoordSysReadAllString "HXP_COORD_SYS_READ_ALL"
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#define HXPCoordSysToolXString "HXP_COORD_SYS_TOOL_X"
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#define HXPCoordSysToolYString "HXP_COORD_SYS_TOOL_Y"
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#define HXPCoordSysToolZString "HXP_COORD_SYS_TOOL_Z"
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#define HXPCoordSysToolUString "HXP_COORD_SYS_TOOL_U"
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#define HXPCoordSysToolVString "HXP_COORD_SYS_TOOL_V"
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#define HXPCoordSysToolWString "HXP_COORD_SYS_TOOL_W"
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#define HXPCoordSysWorkXString "HXP_COORD_SYS_WORK_X"
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#define HXPCoordSysWorkYString "HXP_COORD_SYS_WORK_Y"
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#define HXPCoordSysWorkZString "HXP_COORD_SYS_WORK_Z"
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#define HXPCoordSysWorkUString "HXP_COORD_SYS_WORK_U"
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#define HXPCoordSysWorkVString "HXP_COORD_SYS_WORK_V"
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#define HXPCoordSysWorkWString "HXP_COORD_SYS_WORK_W"
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#define HXPCoordSysBaseXString "HXP_COORD_SYS_BASE_X"
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#define HXPCoordSysBaseYString "HXP_COORD_SYS_BASE_Y"
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#define HXPCoordSysBaseZString "HXP_COORD_SYS_BASE_Z"
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#define HXPCoordSysBaseUString "HXP_COORD_SYS_BASE_U"
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#define HXPCoordSysBaseVString "HXP_COORD_SYS_BASE_V"
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#define HXPCoordSysBaseWString "HXP_COORD_SYS_BASE_W"
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class HXPAxis : public asynMotorAxis
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{
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@@ -66,6 +85,8 @@ public:
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/* These are the methods that are new to this class */
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int moveAll(HXPAxis* pAxis);
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int readAllCS(HXPAxis* pAxis);
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void postError(HXPAxis* pAxis, int status);
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protected:
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#define FIRST_HXP_PARAM HXPMoveCoordSys_
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@@ -80,7 +101,26 @@ protected:
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int HXPMoveAllTargetU_;
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int HXPMoveAllTargetV_;
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int HXPMoveAllTargetW_;
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#define LAST_HXP_PARAM HXPMoveAllTargetW_
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int HXPCoordSysReadAll_;
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int HXPCoordSysToolX_;
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int HXPCoordSysToolY_;
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int HXPCoordSysToolZ_;
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int HXPCoordSysToolU_;
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int HXPCoordSysToolV_;
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int HXPCoordSysToolW_;
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int HXPCoordSysWorkX_;
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int HXPCoordSysWorkY_;
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int HXPCoordSysWorkZ_;
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int HXPCoordSysWorkU_;
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int HXPCoordSysWorkV_;
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int HXPCoordSysWorkW_;
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int HXPCoordSysBaseX_;
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int HXPCoordSysBaseY_;
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int HXPCoordSysBaseZ_;
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int HXPCoordSysBaseU_;
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int HXPCoordSysBaseV_;
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int HXPCoordSysBaseW_;
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#define LAST_HXP_PARAM HXPCoordSysBaseW_
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#define NUM_HXP_PARAMS ((int) (&LAST_HXP_PARAM - &FIRST_HXP_PARAM + 1))
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Reference in New Issue
Block a user