lin-epics-modules/sinqMotor
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Added forcedPoll method which skips the adaptive polling checks
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The poll method does various tasks. One of them is skipping the poll if
adaptive polling is enabled and certain conditions are fulfilled (see
docs). However, sometimes it is needed to force a poll regardless.
Therefore, a new method forcedPoll was added which is wrapped by poll
now and does all tasks of the previous poll function except for the skip
check.
This commit is contained in:
mathis_s
2025-07-24 11:13:37 +02:00
parent 977016bdb4
commit 1910eda0b1
3 changed files with 55 additions and 22 deletions
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src/sinqAxis.cpp
+21 -17
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@@ -171,14 +171,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
sinqAxis::~sinqAxis() = default;
asynStatus sinqAxis::poll(bool *moving) {
// Local variable declaration
asynStatus pl_status = asynSuccess;
asynStatus poll_status = asynSuccess;
int homing = 0;
int adaptivePolling = 0;
char waitingMessage[pC_->MAXBUF_] = {0};
char newMessage[pC_->MAXBUF_] = {0};
/*
If adaptive polling is enabled:
@@ -201,22 +194,33 @@ asynStatus sinqAxis::poll(bool *moving) {
Check if both adaptive polling is enabled and no forced fast polls are still
required.
*/
if (adaptivePolling != 0 && pC_->outstandingForcedFastPolls() == 0) {
// Motor wasn't moving during the last poll
if (!pSinqA_->wasMoving) {
if (adaptivePolling != 0 && pC_->outstandingForcedFastPolls() == 0 &&
!pSinqA_->wasMoving) {
// Add the idle poll period
epicsTimeStamp earliestTimeNextPoll = pSinqA_->lastPollTime;
epicsTimeAddSeconds(&earliestTimeNextPoll, pC_->idlePollPeriod());
// Add the idle poll period
epicsTimeStamp earliestTimeNextPoll = pSinqA_->lastPollTime;
epicsTimeAddSeconds(&earliestTimeNextPoll, pC_->idlePollPeriod());
if (epicsTimeLessThanEqual(&earliestTimeNextPoll, &ts) == 0) {
*moving = false;
return asynSuccess;
}
if (epicsTimeLessThanEqual(&earliestTimeNextPoll, &ts) == 0) {
*moving = false;
return asynSuccess;
}
}
return forcedPoll(moving);
}
asynStatus sinqAxis::forcedPoll(bool *moving) {
// Local variable declaration
asynStatus pl_status = asynSuccess;
asynStatus poll_status = asynSuccess;
int homing = 0;
char waitingMessage[pC_->MAXBUF_] = {0};
char newMessage[pC_->MAXBUF_] = {0};
// Update the start time of the last poll
epicsTimeStamp ts;
epicsTimeGetCurrent(&ts);
pSinqA_->lastPollTime = ts;
/*