forked from epics_driver_modules/motorBase
Ron Sluiter
91 lines
2.7 KiB
C++
91 lines
2.7 KiB
C++
/*
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FILENAME... PIasynController.cpp
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*************************************************************************
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* Copyright (c) 2011-2013 Physik Instrumente (PI) GmbH & Co. KG
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* This file is distributed subject to the EPICS Open License Agreement
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* found in the file LICENSE that is included with this distribution.
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*************************************************************************
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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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Based on drvMotorSim.c
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Mark Rivers
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December 13, 2009
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*/
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#ifndef PI_ASYN_DRIVER_INCLUDED_
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#define PI_ASYN_DRIVER_INCLUDED_
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#include "asynMotorController.h"
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#include "asynMotorAxis.h"
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class PIasynAxis;
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class PIGCSController;
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class PIasynController : asynMotorController {
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public:
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PIasynController(const char *portName, const char* asynPort, int numAxes, int priority, int stackSize, int movingPollPeriod, int idlePollPeriod);
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asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
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asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);
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void report(FILE *fp, int level);
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asynStatus profileMove(asynUser *pasynUser, int npoints, double positions[], double times[], int relative, int trigger);
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asynStatus triggerProfile(asynUser *pasynUser);
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asynStatus configAxis(PIasynAxis *pAxis);
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PIasynAxis* getPIAxis(asynUser *pasynUser) { return (PIasynAxis*)asynMotorController::getAxis(pasynUser); }
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PIasynAxis* getPIAxis(int axisNo) { return (PIasynAxis*)asynMotorController::getAxis(axisNo); }
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virtual asynStatus poll();
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friend class PIasynAxis;
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private:
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// void process(PIasynAxis *pAxis);
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epicsThreadId motorThread;
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int movesDeferred;
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//int numAxes;
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asynStatus processDeferredMoves();
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//PIasynAxis** m_pAxes;
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PIGCSController* m_pGCSController;
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int PI_SUP_POSITION;
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int PI_SUP_TARGET;
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int PI_SUP_SERVO;
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int PI_SUP_LAST_ERR;
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int PI_SUP_PIVOT_X;
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int PI_SUP_PIVOT_Y;
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int PI_SUP_PIVOT_Z;
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int PI_SUP_RBPIVOT_X;
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int PI_SUP_RBPIVOT_Y;
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int PI_SUP_RBPIVOT_Z;
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};
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#define PI_SUP_POSITION_String "PI_SUP_POSITION"
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#define PI_SUP_TARGET_String "PI_SUP_TARGET"
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#define PI_SUP_SERVO_String "PI_SUP_SERVO"
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#define PI_SUP_LAST_ERR_String "PI_SUP_LAST_ERR"
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#define PI_SUP_PIVOT_X_String "PI_SUP_PIVOT_X"
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#define PI_SUP_PIVOT_Y_String "PI_SUP_PIVOT_Y"
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#define PI_SUP_PIVOT_Z_String "PI_SUP_PIVOT_Z"
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#define PI_SUP_RBPIVOT_X_String "PI_SUP_RBPIVOT_X"
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#define PI_SUP_RBPIVOT_Y_String "PI_SUP_RBPIVOT_Y"
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#define PI_SUP_RBPIVOT_Z_String "PI_SUP_RBPIVOT_Z"
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typedef struct PIasynControllerNode {
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ELLNODE node;
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const char *portName;
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PIasynController *pController;
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} PIasynControllerNode;
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#endif // PI_ASYN_DRIVER_INCLUDED_
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