Roll head back to 1.5.7

src/sinqAxis.cpp

@@ -245,10 +245,6 @@ asynStatus sinqAxis::forcedPoll(bool *moving) {
     // Clear the communication
     setAxisParamChecked(this, motorStatusCommsError, false);
 
-    // Assume the motor is initially connected. During the poll, this value will
-    // be set to false if the motor is not connected.
-    setAxisParamChecked(this, motorConnected, true);
-
     /*
     The poll function is just a wrapper around doPoll and handles mainly the
     callParamCallbacks() function. This wrapper is used to make sure
@@ -256,11 +252,6 @@ asynStatus sinqAxis::forcedPoll(bool *moving) {
     */
     poll_status = doPoll(moving);
 
-    // Motor is not connected
-    if (poll_status == asynDisconnected) {
-        setAxisParamChecked(this, motorConnected, false);
-    }
-
     /*
     If the poll did not succeed OR if an error message is waiting, something
     went wrong and the motor has a status problem. Otherwise, delete the error
@@ -342,49 +333,18 @@ asynStatus sinqAxis::doPoll(bool *moving) {
     return asynSuccess;
 }
 
-asynStatus sinqAxis::moveVelocity(double minVelocity, double maxVelocity,
-                                  double acceleration) {
-
-    int motMode = 0;
-
-    // If the motor is not in velocity mode, do nothing
-    getAxisParamChecked(this, motorMode, &motMode);
-    if (motMode != 0) {
-        return asynSuccess;
-    }
-
-    return doMoveVelocity(minVelocity, maxVelocity, acceleration);
-}
-
-asynStatus sinqAxis::doMoveVelocity(double minVelocity, double maxVelocity,
-                                    double acceleration) {
-    // Suppress unused variable warning - this is just a default fallback
-    // function.
-    (void)minVelocity;
-    (void)maxVelocity;
-    (void)acceleration;
-    return asynSuccess;
-}
-
 asynStatus sinqAxis::move(double position, int relative, double minVelocity,
                           double maxVelocity, double acceleration) {
 
     // Status of parameter library operations
     asynStatus status = asynSuccess;
-    double motRecRes = 0.0;
-    int motMode = 0;
+    double motorRecRes = 0.0;
 
     // =========================================================================
 
-    // If the motor is not in position mode, do nothing
-    getAxisParamChecked(this, motorMode, &motMode);
-    if (motMode != 0) {
-        return asynSuccess;
-    }
-
     // Store the target position internally
-    getAxisParamChecked(this, motorRecResolution, &motRecRes);
-    pSinqA_->targetPosition = position * motRecRes;
+    getAxisParamChecked(this, motorRecResolution, &motorRecRes);
+    pSinqA_->targetPosition = position * motorRecRes;
 
     status = doMove(position, relative, minVelocity, maxVelocity, acceleration);
     if (status != asynSuccess) {
@@ -495,9 +455,9 @@ asynStatus sinqAxis::enable(bool on) {
 
 asynStatus sinqAxis::motorPosition(double *motorPos) {
     asynStatus status = asynSuccess;
-    double motRecRes = 0.0;
+    double motorRecRes = 0.0;
 
-    getAxisParamChecked(this, motorRecResolution, &motRecRes);
+    getAxisParamChecked(this, motorRecResolution, &motorRecRes);
 
     /*
     We cannot use getAxisParamChecked checked here, since the name of the index
@@ -510,16 +470,16 @@ asynStatus sinqAxis::motorPosition(double *motorPos) {
                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
-    *motorPos = *motorPos * motRecRes;
+    *motorPos = *motorPos * motorRecRes;
     return status;
 }
 
 asynStatus sinqAxis::setMotorPosition(double motorPos) {
     asynStatus status = asynSuccess;
-    double motRecRes = 0.0;
+    double motorRecRes = 0.0;
 
-    getAxisParamChecked(this, motorRecResolution, &motRecRes);
-    setAxisParamChecked(this, motorPosition, motorPos / motRecRes);
+    getAxisParamChecked(this, motorRecResolution, &motorRecRes);
+    setAxisParamChecked(this, motorPosition, motorPos / motorRecRes);
 
     return status;
 }
@@ -613,7 +573,7 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
         double motorVelocityRec = 0.0;
         double motorAccel = 0.0;
         double motorAccelRec = 0.0;
-        double motRecRes = 0.0;
+        double motorRecRes = 0.0;
         time_t timeContSpeed = 0;
         time_t timeAccel = 0;
 
@@ -642,7 +602,7 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
         = VELO / MRES motorAccel = (motorVelocity - motorVelBase) / ACCL
         Therefore, we need to correct the values from the parameter library.
          */
-        getAxisParamChecked(this, motorRecResolution, &motRecRes);
+        getAxisParamChecked(this, motorRecResolution, &motorRecRes);
 
         // Read the velocity
         getAxisParamChecked(this, motorVelocity, &motorVelocityRec);
@@ -651,7 +611,7 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
         // with a sensible value (e.g. > 0)
         if (pl_status == asynSuccess && motorVelocityRec > 0.0) {
             // Convert back to the value in the VELO field
-            motorVelocity = motorVelocityRec * motRecRes;
+            motorVelocity = motorVelocityRec * motorRecRes;
             if (pl_status == asynSuccess) {
 
                 timeContSpeed =
@@ -741,11 +701,6 @@ void sinqAxis::setTargetPosition(double targetPosition) {
     pSinqA_->targetPosition = targetPosition;
 }
 
-asynStatus sinqAxis::setMode(int mode) {
-    (void)mode;
-    return asynSuccess;
-}
-
 // =============================================================================
 // IOC shell functions
 extern "C" {