forked from epics_driver_modules/motorBase
MarkRivers
69 lines
2.3 KiB
C++
69 lines
2.3 KiB
C++
/*
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FILENAME... motorSimController.h
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USAGE... Simulated Motor Support.
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Based on drvMotorSim.c
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Mark Rivers
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March 28, 2010
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*/
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#include <epicsTime.h>
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#include <epicsThread.h>
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#include "asynMotorDriver.h"
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#include "route.h"
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#define NUM_SIM_CONTROLLER_PARAMS 0
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class motorSimAxis
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{
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public:
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motorSimAxis(class motorSimController *pController, int axis, double lowLimit, double hiLimit, double home, double start);
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asynStatus velocity(double velocity, double acceleration);
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class motorSimController *pController_;
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int axis_;
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ROUTE_ID route_;
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route_reroute_t reroute_;
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route_demand_t endpoint_;
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route_demand_t nextpoint_;
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double lowHardLimit_;
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double hiHardLimit_;
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double enc_offset_;
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double home_;
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int homing_;
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epicsTimeStamp tLast_;
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double deferred_position_;
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int deferred_move_;
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int deferred_relative_;
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friend class motorSimController;
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};
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class motorSimController : asynMotorController {
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public:
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motorSimController(const char *portName, int numAxes, int priority, int stackSize);
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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 moveAxis(asynUser *pasynUser, double position, int relative, double min_velocity, double max_velocity, double acceleration);
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asynStatus moveVelocityAxis(asynUser *pasynUser, double min_velocity, double max_velocity, double acceleration);
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asynStatus homeAxis(asynUser *pasynUser, double min_velocity, double max_velocity, double acceleration, int forwards);
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asynStatus stopAxis(asynUser *pasynUser, double acceleration);
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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(int axis, int hiHardLimit, int lowHardLimit, int home, int start);
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void motorSimTask(); // Should be pivate, but called from non-member function
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private:
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motorSimAxis* getAxis(asynUser *pasynUser);
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void process(motorSimAxis *pAxis, double delta );
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asynStatus processDeferredMoves();
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epicsThreadId motorThread_;
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epicsTimeStamp now_;
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int movesDeferred_;
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int numAxes_;
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motorSimAxis** pAxes_;
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};
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