forked from epics_driver_modules/motorBase
Keenan Lang
77 lines
2.4 KiB
C++
77 lines
2.4 KiB
C++
#include "asynMotorController.h"
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#include "asynMotorAxis.h"
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#include <string>
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#include "epicsScript.h"
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class epicsShareClass ScriptMotorAxis : public asynMotorAxis
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{
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public:
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/* These are the methods we override from the base class */
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ScriptMotorAxis(class ScriptMotorController *pC, int axisNo, const char* script_file, const char* params);
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void reload(const char* script, const char* params);
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void report(FILE *fp, int level);
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asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
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asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
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asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
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asynStatus stop(double acceleration);
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asynStatus poll(bool *moving);
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asynStatus setPosition(double position);
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asynStatus setEncoderPosition(double position);
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asynStatus setHighLimit(double highLimit);
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asynStatus setLowLimit(double lowLimit);
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asynStatus setPGain(double pGain);
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asynStatus setIGain(double iGain);
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asynStatus setDGain(double dGain);
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asynStatus setClosedLoop(bool closedLoop);
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asynStatus setEncoderRatio(double ratio);
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virtual epicsUInt32 setStatusParam(int index, int value);
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virtual void setPositionParam(int index, double value);
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private:
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ScriptMotorController *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
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* Abbreviated because it is used very frequently */
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int axisIndex_;
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std::string params;
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lua_State* state;
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void initState(const char* script_file);
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void config(const char* params);
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void logError();
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friend class ScriptMotorController;
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};
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class epicsShareClass ScriptMotorController : public asynMotorController {
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public:
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ScriptMotorController(const char *asyn_port, int max_axes, const char* script_file, const char* params);
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virtual asynStatus setIntegerParam(int list, int function, int value);
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virtual asynStatus setDoubleParam(int list, int function, double value);
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virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
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void report(FILE *fp, int level);
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ScriptMotorAxis* getAxis(asynUser *pasynUser);
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ScriptMotorAxis* getAxis(int axisNo);
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void configAxis(int axisNo, const char* params);
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void reload();
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protected:
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int ScriptMotorReload;
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private:
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std::string script;
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std::string init_params;
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friend class ScriptMotorAxis;
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};
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