forked from epics_driver_modules/motorBase
MarkRivers
105 lines
3.4 KiB
C++
105 lines
3.4 KiB
C++
/*
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FILENAME... omsBaseController.h
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USAGE... Pro-Dex OMS asyn motor base controller support
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Version: $Revision$
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Modified By: $Author$
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Last Modified: $Date$
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HeadURL: $URL$
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*/
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/*
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* Created on: 06/2012
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* Author: eden
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*/
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#ifndef OMSBASECONTROLLER_H_
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#define OMSBASECONTROLLER_H_
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#include <epicsTime.h>
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#include <epicsThread.h>
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#include <epicsString.h>
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#include <epicsMutex.h>
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#include <ellLib.h>
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#include <iocsh.h>
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#include <errlog.h>
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#include "asynMotorController.h"
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#include "omsBaseAxis.h"
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#include <epicsExport.h>
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#define OMS_MAX_AXES 8
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#define OMSBASE_MAXNUMBERLEN 12
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#define OMSINPUTBUFFERLEN OMSBASE_MAXNUMBERLEN * OMS_MAX_AXES + 2
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class omsBaseController : public asynMotorController {
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public:
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omsBaseController(const char *portName, int numAxes, int priority, int stackSize, int extMotorParams);
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virtual asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
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virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
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virtual asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);
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virtual void report(FILE *fp, int level);
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virtual asynStatus sendReceive(const char*, char*, unsigned int ) = 0;
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virtual asynStatus sendOnly(const char *outputBuff) = 0;
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void omsPoller();
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virtual asynStatus startPoller(double movingPollPeriod, double idlePollPeriod, int forcedFastPolls);
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static void callPoller(void*);
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static void callShutdown(void *ptr){((omsBaseController*)ptr)->shutdown();};
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void shutdown();
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protected:
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virtual asynStatus writeOctet(asynUser *, const char *, size_t, size_t *);
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virtual asynStatus getFirmwareVersion();
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virtual asynStatus Init(const char*, int);
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virtual asynStatus sanityCheck();
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asynStatus sendReceiveLock(const char*, char*, unsigned int );
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asynStatus sendOnlyLock(const char *);
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virtual omsBaseAxis* getAxis(asynUser *pasynUser);
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virtual omsBaseAxis* getAxis(int);
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asynStatus getAxesArray(char*, int positions[OMS_MAX_AXES]);
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virtual asynStatus getAxesPositions(int positions[OMS_MAX_AXES]);
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virtual asynStatus getAxesStatus(char *, int, bool *);
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virtual asynStatus getEncoderPositions(epicsInt32 encPosArr[OMS_MAX_AXES]);
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virtual asynStatus getClosedLoopStatus(int clstatus[OMS_MAX_AXES]);
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virtual epicsEventWaitStatus waitInterruptible(double timeout);
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virtual bool watchdogOK();
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char* getPortName(){return portName;};
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bool firmwareMin(int, int, int);
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static omsBaseController* findController(const char*);
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static ELLLIST omsControllerList;
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static int omsTotalControllerNumber;
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char* controllerType;
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int fwMajor, fwMinor, fwRevision;
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epicsTimeStamp now;
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char* portName;
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bool useWatchdog;
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bool enabled;
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int numAxes;
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private:
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asynStatus sendReplace(omsBaseAxis*, char*);
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asynStatus sendReceiveReplace(omsBaseAxis*, char *, char *, int);
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asynStatus getSubstring(unsigned int , char* , char *, unsigned int);
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int sanityCounter;
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epicsThreadId motorThread;
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char inputBuffer[OMSINPUTBUFFERLEN];
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char pollInputBuffer[OMSINPUTBUFFERLEN];
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omsBaseAxis** pAxes;
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int controllerNumber;
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epicsMutex *baseMutex;
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int sendReceiveIndex;
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int sendIndex;
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int receiveIndex;
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int pollIndex;
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int priority, stackSize;
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friend class omsBaseAxis;
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};
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typedef struct omsBaseNode {
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ELLNODE node;
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const char *portName;
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omsBaseController* pController;
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} omsBaseNode;
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#endif /* OMSBASE_H_ */
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