forked from epics_driver_modules/motorBase
Mark Rivers
317 lines
12 KiB
C++
317 lines
12 KiB
C++
/* asynMotorController.h
|
|
*
|
|
* Mark Rivers
|
|
*
|
|
* This file defines the base class for an asynMotorController. It is the class
|
|
* from which real motor controllers are derived. It derives from asynPortDriver.
|
|
*/
|
|
#ifndef asynMotorController_H
|
|
#define asynMotorController_H
|
|
|
|
#include <epicsEvent.h>
|
|
#include <epicsTypes.h>
|
|
#include <shareLib.h>
|
|
|
|
#define MAX_CONTROLLER_STRING_SIZE 256
|
|
#define DEFAULT_CONTROLLER_TIMEOUT 2.0
|
|
|
|
/** Strings defining parameters for the driver.
|
|
* These are the values passed to drvUserCreate.
|
|
* The driver will place in pasynUser->reason an integer to be used when the
|
|
* standard asyn interface methods are called. */
|
|
#define motorMoveRelString "MOTOR_MOVE_REL"
|
|
#define motorMoveAbsString "MOTOR_MOVE_ABS"
|
|
#define motorMoveVelString "MOTOR_MOVE_VEL"
|
|
#define motorHomeString "MOTOR_HOME"
|
|
#define motorStopString "MOTOR_STOP_AXIS"
|
|
#define motorVelocityString "MOTOR_VELOCITY"
|
|
#define motorVelBaseString "MOTOR_VEL_BASE"
|
|
#define motorAccelString "MOTOR_ACCEL"
|
|
#define motorPositionString "MOTOR_POSITION"
|
|
#define motorEncoderPositionString "MOTOR_ENCODER_POSITION"
|
|
#define motorDeferMovesString "MOTOR_DEFER_MOVES"
|
|
#define motorMoveToHomeString "MOTOR_MOVE_HOME"
|
|
#define motorResolutionString "MOTOR_RESOLUTION"
|
|
#define motorEncoderRatioString "MOTOR_ENCODER_RATIO"
|
|
#define motorPGainString "MOTOR_PGAIN"
|
|
#define motorIGainString "MOTOR_IGAIN"
|
|
#define motorDGainString "MOTOR_DGAIN"
|
|
#define motorHighLimitString "MOTOR_HIGH_LIMIT"
|
|
#define motorLowLimitString "MOTOR_LOW_LIMIT"
|
|
#define motorClosedLoopString "MOTOR_CLOSED_LOOP"
|
|
#define motorPowerAutoOnOffString "MOTOR_POWER_AUTO_ONOFF"
|
|
#define motorPowerOnDelayString "MOTOR_POWER_ON_DELAY"
|
|
#define motorPowerOffDelayString "MOTOR_POWER_OFF_DELAY"
|
|
#define motorPowerOffFractionString "MOTOR_POWER_OFF_FRACTION"
|
|
#define motorPostMoveDelayString "MOTOR_POST_MOVE_DELAY"
|
|
#define motorStatusString "MOTOR_STATUS"
|
|
#define motorUpdateStatusString "MOTOR_UPDATE_STATUS"
|
|
#define motorStatusDirectionString "MOTOR_STATUS_DIRECTION"
|
|
#define motorStatusDoneString "MOTOR_STATUS_DONE"
|
|
#define motorStatusHighLimitString "MOTOR_STATUS_HIGH_LIMIT"
|
|
#define motorStatusAtHomeString "MOTOR_STATUS_AT_HOME"
|
|
#define motorStatusSlipString "MOTOR_STATUS_SLIP"
|
|
#define motorStatusPowerOnString "MOTOR_STATUS_POWERED"
|
|
#define motorStatusFollowingErrorString "MOTOR_STATUS_FOLLOWING_ERROR"
|
|
#define motorStatusHomeString "MOTOR_STATUS_HOME"
|
|
#define motorStatusHasEncoderString "MOTOR_STATUS_HAS_ENCODER"
|
|
#define motorStatusProblemString "MOTOR_STATUS_PROBLEM"
|
|
#define motorStatusMovingString "MOTOR_STATUS_MOVING"
|
|
#define motorStatusGainSupportString "MOTOR_STATUS_GAIN_SUPPORT"
|
|
#define motorStatusCommsErrorString "MOTOR_STATUS_COMMS_ERROR"
|
|
#define motorStatusLowLimitString "MOTOR_STATUS_LOW_LIMIT"
|
|
#define motorStatusHomedString "MOTOR_STATUS_HOMED"
|
|
|
|
/* These are per-axis parameters for passing additional motor record information to the driver */
|
|
#define motorRecResolutionString "MOTOR_REC_RESOLUTION"
|
|
#define motorRecDirectionString "MOTOR_REC_DIRECTION"
|
|
#define motorRecOffsetString "MOTOR_REC_OFFSET"
|
|
|
|
/* These are the per-controller parameters for profile moves (coordinated motion) */
|
|
#define profileNumAxesString "PROFILE_NUM_AXES"
|
|
#define profileNumPointsString "PROFILE_NUM_POINTS"
|
|
#define profileCurrentPointString "PROFILE_CURRENT_POINT"
|
|
#define profileNumPulsesString "PROFILE_NUM_PULSES"
|
|
#define profileStartPulsesString "PROFILE_START_PULSES"
|
|
#define profileEndPulsesString "PROFILE_END_PULSES"
|
|
#define profileActualPulsesString "PROFILE_ACTUAL_PULSES"
|
|
#define profileNumReadbacksString "PROFILE_NUM_READBACKS"
|
|
#define profileTimeModeString "PROFILE_TIME_MODE"
|
|
#define profileFixedTimeString "PROFILE_FIXED_TIME"
|
|
#define profileTimeArrayString "PROFILE_TIME_ARRAY"
|
|
#define profileAccelerationString "PROFILE_ACCELERATION"
|
|
#define profileMoveModeString "PROFILE_MOVE_MODE"
|
|
#define profileBuildString "PROFILE_BUILD"
|
|
#define profileBuildStateString "PROFILE_BUILD_STATE"
|
|
#define profileBuildStatusString "PROFILE_BUILD_STATUS"
|
|
#define profileBuildMessageString "PROFILE_BUILD_MESSAGE"
|
|
#define profileExecuteString "PROFILE_EXECUTE"
|
|
#define profileExecuteStateString "PROFILE_EXECUTE_STATE"
|
|
#define profileExecuteStatusString "PROFILE_EXECUTE_STATUS"
|
|
#define profileExecuteMessageString "PROFILE_EXECUTE_MESSAGE"
|
|
#define profileAbortString "PROFILE_ABORT"
|
|
#define profileReadbackString "PROFILE_READBACK"
|
|
#define profileReadbackStateString "PROFILE_READBACK_STATE"
|
|
#define profileReadbackStatusString "PROFILE_READBACK_STATUS"
|
|
#define profileReadbackMessageString "PROFILE_READBACK_MESSAGE"
|
|
|
|
/* These are the per-axis parameters for profile moves */
|
|
#define profileUseAxisString "PROFILE_USE_AXIS"
|
|
#define profilePositionsString "PROFILE_POSITIONS"
|
|
#define profileReadbacksString "PROFILE_READBACKS"
|
|
#define profileFollowingErrorsString "PROFILE_FOLLOWING_ERRORS"
|
|
|
|
/** The structure that is passed back to devMotorAsyn when the status changes. */
|
|
typedef struct MotorStatus {
|
|
double position; /**< Commanded motor position */
|
|
double encoderPosition; /**< Actual encoder position */
|
|
double velocity; /**< Actual velocity */
|
|
epicsUInt32 status; /**< Word containing status bits (motion done, limits, etc.) */
|
|
} MotorStatus;
|
|
|
|
enum ProfileTimeMode{
|
|
PROFILE_TIME_MODE_FIXED,
|
|
PROFILE_TIME_MODE_ARRAY
|
|
};
|
|
|
|
enum ProfileMoveMode{
|
|
PROFILE_MOVE_MODE_ABSOLUTE,
|
|
PROFILE_MOVE_MODE_RELATIVE
|
|
};
|
|
|
|
/* State codes for Build, Read and Execute. Careful, these must match the
|
|
* corresponding MBBI records, but there is no way to check this */
|
|
enum ProfileBuildState{
|
|
PROFILE_BUILD_DONE,
|
|
PROFILE_BUILD_BUSY
|
|
};
|
|
|
|
enum ProfileExecuteState{
|
|
PROFILE_EXECUTE_DONE,
|
|
PROFILE_EXECUTE_MOVE_START,
|
|
PROFILE_EXECUTE_EXECUTING,
|
|
PROFILE_EXECUTE_FLYBACK
|
|
};
|
|
|
|
enum ProfileReadbackState{
|
|
PROFILE_READBACK_DONE,
|
|
PROFILE_READBACK_BUSY
|
|
};
|
|
|
|
|
|
/* Status codes for Build, Execute and Read */
|
|
enum ProfileStatus {
|
|
PROFILE_STATUS_UNDEFINED,
|
|
PROFILE_STATUS_SUCCESS,
|
|
PROFILE_STATUS_FAILURE,
|
|
PROFILE_STATUS_ABORT,
|
|
PROFILE_STATUS_TIMEOUT
|
|
};
|
|
|
|
#ifdef __cplusplus
|
|
#include <asynPortDriver.h>
|
|
|
|
class asynMotorAxis;
|
|
|
|
class epicsShareClass asynMotorController : public asynPortDriver {
|
|
|
|
public:
|
|
/* This is the constructor for the class. */
|
|
asynMotorController(const char *portName, int numAxes, int numParams,
|
|
int interfaceMask, int interruptMask,
|
|
int asynFlags, int autoConnect, int priority, int stackSize);
|
|
|
|
virtual ~asynMotorController();
|
|
|
|
/* These are the methods that we override from asynPortDriver */
|
|
virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
|
|
virtual asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);
|
|
virtual asynStatus writeFloat64Array(asynUser *pasynUser, epicsFloat64 *value, size_t nElements);
|
|
virtual asynStatus readFloat64Array(asynUser *pasynUser, epicsFloat64 *value, size_t nElements, size_t *nRead);
|
|
virtual asynStatus readGenericPointer(asynUser *pasynUser, void *pointer);
|
|
virtual void report(FILE *fp, int details);
|
|
|
|
/* These are the methods that are new to this class */
|
|
virtual asynMotorAxis* getAxis(asynUser *pasynUser);
|
|
virtual asynMotorAxis* getAxis(int axisNo);
|
|
virtual asynStatus startPoller(double movingPollPeriod, double idlePollPeriod, int forcedFastPolls);
|
|
virtual asynStatus wakeupPoller();
|
|
virtual asynStatus poll();
|
|
virtual asynStatus setDeferredMoves(bool defer);
|
|
void asynMotorPoller(); // This should be private but is called from C function
|
|
|
|
/* Functions to deal with moveToHome.*/
|
|
virtual asynStatus startMoveToHomeThread();
|
|
void asynMotorMoveToHome();
|
|
|
|
/* These are the functions for profile moves */
|
|
virtual asynStatus initializeProfile(size_t maxPoints);
|
|
virtual asynStatus buildProfile();
|
|
virtual asynStatus executeProfile();
|
|
virtual asynStatus abortProfile();
|
|
virtual asynStatus readbackProfile();
|
|
|
|
virtual asynStatus setMovingPollPeriod(double movingPollPeriod);
|
|
virtual asynStatus setIdlePollPeriod(double idlePollPeriod);
|
|
|
|
int shuttingDown_; /**< Flag indicating that IOC is shutting down. Stops poller */
|
|
|
|
protected:
|
|
/** These are the index numbers for the parameters in the parameter library.
|
|
* They are the values of pasynUser->reason in calls from device support */
|
|
// These are the motor commands
|
|
#define FIRST_MOTOR_PARAM motorMoveRel_
|
|
int motorMoveRel_;
|
|
int motorMoveAbs_;
|
|
int motorMoveVel_;
|
|
int motorHome_;
|
|
int motorStop_;
|
|
int motorVelocity_;
|
|
int motorVelBase_;
|
|
int motorAccel_;
|
|
int motorPosition_;
|
|
int motorEncoderPosition_;
|
|
int motorDeferMoves_;
|
|
int motorMoveToHome_;
|
|
int motorResolution_;
|
|
int motorEncoderRatio_;
|
|
int motorPGain_;
|
|
int motorIGain_;
|
|
int motorDGain_;
|
|
int motorHighLimit_;
|
|
int motorLowLimit_;
|
|
int motorClosedLoop_;
|
|
int motorPowerAutoOnOff_;
|
|
int motorPowerOnDelay_;
|
|
int motorPowerOffDelay_;
|
|
int motorPowerOffFraction_;
|
|
int motorPostMoveDelay_;
|
|
int motorStatus_;
|
|
int motorUpdateStatus_;
|
|
|
|
// These are the status bits
|
|
int motorStatusDirection_;
|
|
int motorStatusDone_;
|
|
int motorStatusHighLimit_;
|
|
int motorStatusAtHome_;
|
|
int motorStatusSlip_;
|
|
int motorStatusPowerOn_;
|
|
int motorStatusFollowingError_;
|
|
int motorStatusHome_;
|
|
int motorStatusHasEncoder_;
|
|
int motorStatusProblem_;
|
|
int motorStatusMoving_;
|
|
int motorStatusGainSupport_;
|
|
int motorStatusCommsError_;
|
|
int motorStatusLowLimit_;
|
|
int motorStatusHomed_;
|
|
|
|
// These are per-axis parameters for passing additional motor record information to the driver
|
|
int motorRecResolution_;
|
|
int motorRecDirection_;
|
|
int motorRecOffset_;
|
|
|
|
// These are the per-controller parameters for profile moves
|
|
int profileNumAxes_;
|
|
int profileNumPoints_;
|
|
int profileCurrentPoint_;
|
|
int profileNumPulses_;
|
|
int profileStartPulses_;
|
|
int profileEndPulses_;
|
|
int profileActualPulses_;
|
|
int profileNumReadbacks_;
|
|
int profileTimeMode_;
|
|
int profileFixedTime_;
|
|
int profileTimeArray_;
|
|
int profileAcceleration_;
|
|
int profileMoveMode_;
|
|
int profileBuild_;
|
|
int profileBuildState_;
|
|
int profileBuildStatus_;
|
|
int profileBuildMessage_;
|
|
int profileExecute_;
|
|
int profileExecuteState_;
|
|
int profileExecuteStatus_;
|
|
int profileExecuteMessage_;
|
|
int profileAbort_;
|
|
int profileReadback_;
|
|
int profileReadbackState_;
|
|
int profileReadbackStatus_;
|
|
int profileReadbackMessage_;
|
|
|
|
// These are the per-axis parameters for profile moves
|
|
int profileUseAxis_;
|
|
int profilePositions_;
|
|
int profileReadbacks_;
|
|
int profileFollowingErrors_;
|
|
#define LAST_MOTOR_PARAM profileFollowingErrors_
|
|
|
|
int numAxes_; /**< Number of axes this controller supports */
|
|
asynMotorAxis **pAxes_; /**< Array of pointers to axis objects */
|
|
epicsEventId pollEventId_; /**< Event ID to wake up poller */
|
|
epicsEventId moveToHomeId_; /**< Event ID to wake up move to home thread */
|
|
double idlePollPeriod_; /**< The time between polls when no axes are moving */
|
|
double movingPollPeriod_; /**< The time between polls when any axis is moving */
|
|
int forcedFastPolls_; /**< The number of forced fast polls when the poller wakes up */
|
|
|
|
size_t maxProfilePoints_; /**< Maximum number of profile points */
|
|
double *profileTimes_; /**< Array of times per profile point */
|
|
|
|
int moveToHomeAxis_;
|
|
|
|
/* These are convenience functions for controllers that use asynOctet interfaces to the hardware */
|
|
asynStatus writeController();
|
|
asynStatus writeController(const char *output, double timeout);
|
|
asynStatus writeReadController();
|
|
asynStatus writeReadController(const char *output, char *response, size_t maxResponseLen, size_t *responseLen, double timeout);
|
|
asynUser *pasynUserController_;
|
|
char outString_[MAX_CONTROLLER_STRING_SIZE];
|
|
char inString_[MAX_CONTROLLER_STRING_SIZE];
|
|
|
|
friend class asynMotorAxis;
|
|
};
|
|
#define NUM_MOTOR_DRIVER_PARAMS (&LAST_MOTOR_PARAM - &FIRST_MOTOR_PARAM + 1)
|
|
|
|
#endif /* _cplusplus */
|
|
#endif /* asynMotorController_H */
|