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mathis_s
2025-06-16 13:32:49 +02:00
parent bdefc6090d
commit 43df40aaea
2 changed files with 85 additions and 63 deletions
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111
src/sinqAxis.cpp
View File

@ -10,6 +10,8 @@
#include <math.h>
#include <unistd.h>
#define getControllerMethod pController
struct sinqAxisImpl {
// Internal variables used in the movement timeout watchdog
time_t expectedArrivalTime;
@ -29,9 +31,9 @@ struct sinqAxisImpl {
};
// Generic fallback - if the compiler tries to compile this function, it fails.
template <typename T>
asynStatus setAxisParam(sinqAxis *axis, const char *indexName,
int (sinqController::*func)(), T writeValue,
template <typename A, typename C, typename T>
asynStatus setAxisParam(A *axis, C *controller, const char *indexName,
int (C::*func)(), T writeValue,
const char *callerFunctionName, int lineNumber) {
static_assert(
sizeof(T) == 0,
@ -39,10 +41,11 @@ asynStatus setAxisParam(sinqAxis *axis, const char *indexName,
return asynError;
}
template <>
asynStatus setAxisParam<int>(sinqAxis *axis, const char *indexName,
int (sinqController::*func)(), int writeValue,
const char *callerFunctionName, int lineNumber) {
template <typename A, typename C, typename T,
std::enable_if_t<std::is_same<T, int>::value, int> = 0>
asynStatus setAxisParam(A *axis, C *controller, const char *indexName,
int (C::*func)(), T writeValue,
const char *callerFunctionName, int lineNumber) {
int indexValue = (axis->pController()->*func)();
asynStatus status = axis->setIntegerParam(indexValue, writeValue);
if (status != asynSuccess) {
@ -52,19 +55,20 @@ asynStatus setAxisParam<int>(sinqAxis *axis, const char *indexName,
return asynSuccess;
}
template <>
asynStatus setAxisParam<bool>(sinqAxis *axis, const char *indexName,
int (sinqController::*func)(), bool writeValue,
const char *callerFunctionName, int lineNumber) {
template <typename A, typename C, typename T,
std::enable_if_t<std::is_same<T, bool>::value, bool> = 0>
asynStatus setAxisParam(A *axis, C *controller, const char *indexName,
int (C::*func)(), T writeValue,
const char *callerFunctionName, int lineNumber) {
return setAxisParam(axis, indexName, func, static_cast<int>(writeValue),
callerFunctionName, lineNumber);
}
template <>
asynStatus
setAxisParam<double>(sinqAxis *axis, const char *indexName,
int (sinqController::*func)(), double writeValue,
const char *callerFunctionName, int lineNumber) {
template <typename A, typename C, typename T,
std::enable_if_t<std::is_same<T, double>::value, double> = 0>
asynStatus setAxisParam(A *axis, C *controller, const char *indexName,
int (sinqController::*func)(), T writeValue,
const char *callerFunctionName, int lineNumber) {
int indexValue = (axis->pController()->*func)();
asynStatus status = axis->setDoubleParam(indexValue, writeValue);
if (status != asynSuccess) {
@ -74,11 +78,11 @@ setAxisParam<double>(sinqAxis *axis, const char *indexName,
return asynSuccess;
}
template <>
asynStatus setAxisParam<char *>(sinqAxis *axis, const char *indexName,
int (sinqController::*func)(), char *writeValue,
const char *callerFunctionName,
int lineNumber) {
template <typename A, typename C, typename T,
std::enable_if_t<std::is_same<T, char *>::value, char *> = 0>
asynStatus setAxisParam(A *axis, C *controller, const char *indexName,
int (C::*func)(), T writeValue,
const char *callerFunctionName, int lineNumber) {
int indexValue = (axis->pController()->*func)();
asynStatus status = axis->setStringParam(indexValue, writeValue);
if (status != asynSuccess) {
@ -88,12 +92,12 @@ asynStatus setAxisParam<char *>(sinqAxis *axis, const char *indexName,
return asynSuccess;
}
template <>
asynStatus setAxisParam<const char *>(sinqAxis *axis, const char *indexName,
int (sinqController::*func)(),
const char *writeValue,
const char *callerFunctionName,
int lineNumber) {
template <
typename A, typename C, typename T,
std::enable_if_t<std::is_same<T, const char *>::value, const char *> = 0>
asynStatus setAxisParam(A *axis, C *controller, const char *indexName,
int (C::*func)(), T writeValue,
const char *callerFunctionName, int lineNumber) {
int indexValue = (axis->pController()->*func)();
asynStatus status = axis->setStringParam(indexValue, writeValue);
if (status != asynSuccess) {
@ -104,9 +108,9 @@ asynStatus setAxisParam<const char *>(sinqAxis *axis, const char *indexName,
}
// Generic fallback - if the compiler tries to compile this function, it fails.
template <typename T>
asynStatus getAxisParam(sinqAxis *axis, const char *indexName,
int (sinqController::*func)(), T *readValue,
template <typename A, typename C, typename T>
asynStatus getAxisParam(A *axis, C *controller, const char *indexName,
int (C::*func)(), T *readValue,
const char *callerFunctionName, int lineNumber) {
static_assert(
sizeof(T) == 0,
@ -114,9 +118,10 @@ asynStatus getAxisParam(sinqAxis *axis, const char *indexName,
return asynError;
}
template <>
asynStatus getAxisParam<int>(sinqAxis *axis, const char *indexName,
int (sinqController::*func)(), int *readValue,
template <typename A, typename C, typename T,
std::enable_if_t<std::is_same<T, int>::value, int> = 0>
asynStatus getAxisParam<int>(A *axis, C *controller, const char *indexName,
int (C::*func)(), T *readValue,
const char *callerFunctionName, int lineNumber) {
int indexValue = (axis->pController()->*func)();
asynStatus status = axis->pController()->getIntegerParam(
@ -128,19 +133,21 @@ asynStatus getAxisParam<int>(sinqAxis *axis, const char *indexName,
return asynSuccess;
}
template <>
asynStatus getAxisParam<bool>(sinqAxis *axis, const char *indexName,
int (sinqController::*func)(), bool *readValue,
template <typename A, typename C, typename T,
std::enable_if_t<std::is_same<T, bool>::value, bool> = 0>
asynStatus getAxisParam<bool>(A *axis, C *controller, const char *indexName,
int (C::*func)(), T *readValue,
const char *callerFunctionName, int lineNumber) {
return getAxisParam(axis, indexName, func, (int *)readValue,
callerFunctionName, lineNumber);
}
template <>
asynStatus
getAxisParam<double>(sinqAxis *axis, const char *indexName,
int (sinqController::*func)(), double *readValue,
const char *callerFunctionName, int lineNumber) {
template <typename A, typename C, typename T,
std::enable_if_t<std::is_same<T, double>::value, double> = 0>
asynStatus getAxisParam<double>(A *axis, C *controller, const char *indexName,
int (C::*func)(), T *readValue,
const char *callerFunctionName,
int lineNumber) {
int indexValue = (axis->pController()->*func)();
asynStatus status = axis->pController()->getDoubleParam(
axis->axisNo(), indexValue, readValue);
@ -151,9 +158,10 @@ getAxisParam<double>(sinqAxis *axis, const char *indexName,
return asynSuccess;
}
template <>
asynStatus getAxisParam<char>(sinqAxis *axis, const char *indexName,
int (sinqController::*func)(), char *readValue,
template <typename A, typename C, typename T,
std::enable_if_t<std::is_same<T, char>::value, char> = 0>
asynStatus getAxisParam<char>(A *axis, C *controller, const char *indexName,
int (C::*func)(), T *readValue,
const char *callerFunctionName, int lineNumber) {
int maxChars = 200;
@ -168,20 +176,21 @@ asynStatus getAxisParam<char>(sinqAxis *axis, const char *indexName,
return asynSuccess;
}
template <size_t N>
asynStatus getAxisParam(sinqAxis *axis, const char *indexName,
int (sinqController::*func)(), char (&readValue)[N],
template <typename A, typename C, typename T,
std::enable_if_t<std::is_same<T, char>::value, char> = 0, size_t N>
asynStatus getAxisParam(A *axis, C *controller, const char *indexName,
int (C::*func)(), T (&readValue)[N],
const char *callerFunctionName, int lineNumber) {
// Decay the array to char*
return getAxisParam<char>(axis, indexName, func,
return getAxisParam<char>(axis, controller, indexName, func,
static_cast<char *>(readValue),
callerFunctionName, lineNumber);
}
template <>
template <typename A, typename C>
asynStatus
getAxisParam<std::string>(sinqAxis *axis, const char *indexName,
int (sinqController::*func)(), std::string *readValue,
getAxisParam<std::string>(A *axis, C *controller, const char *indexName,
int (C::*func)(), std::string *readValue,
const char *callerFunctionName, int lineNumber) {
int indexValue = (axis->pController()->*func)();

37
src/sinqAxis.h
View File

@ -365,9 +365,22 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
asynStatus assertConnected();
/**
* @brief Return a pointer to the axis controller
* @brief Return a pointer to the axis controller.
*
* This function should be overriden in derived classes using the `override`
* keyword so the macros `getAxisParamChecked` and `setAxisParamChecked`
* work correctly:
*
* ```
* class mySpecialAxis : public sinqAxis {
public:
mySpecialController* getControllerMethod() override {
return mySpecialControllerPtr;
}
};
* ```
*/
sinqController *pController() { return pC_; };
virtual sinqController *pController() { return pC_; };
/**
* @brief Returns true, if the axis was moving in the last poll cycle, and
@ -423,9 +436,9 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
* @param lineNumber
* @return asynStatus
*/
template <typename T>
asynStatus setAxisParam(sinqAxis *axis, const char *indexName,
int (sinqController::*func)(), T writeValue,
template <typename A, typename C, typename T>
asynStatus setAxisParam(A *axis, C *controller, const char *indexName,
int (C::*func)(), T writeValue,
const char *callerFunctionName, int lineNumber);
/**
@ -457,7 +470,7 @@ asynStatus setAxisParam(sinqAxis *axis, const char *indexName,
#define setAxisParamChecked(axis, indexGetterFunction, writeValue) \
{ \
asynStatus setStatus = setAxisParam( \
axis, #indexGetterFunction, \
axis, axis->pController(), #indexGetterFunction, \
&std::remove_pointer< \
decltype(axis->pController())>::type::indexGetterFunction, \
writeValue, __PRETTY_FUNCTION__, __LINE__); \
@ -488,17 +501,17 @@ asynStatus setAxisParam(sinqAxis *axis, const char *indexName,
* to.
* @return asynStatus
*/
template <typename T>
asynStatus getAxisParam(sinqAxis *axis, const char *indexName,
int (sinqController::*func)(), T *readValue,
const char *callerFunctionName, int lineNumber);
template <typename A, typename C, typename T>
asynStatus getAxisParam(A *axis, const char *indexName, int (C::*func)(),
T *readValue, const char *callerFunctionName,
int lineNumber);
/**
* @brief Macro to get an paramLib parameter and error checking the return value
*
* This macro is a wrapper around `getIntegerParam` / `getDoubleParam` /
* `getStringParam` which checks if the operation was successfull. If it wasn't,
* it returns by calling the paramLibAccessFailed function.
* it returns by calling the paramLibAccessFailed function. In order
*
* For example, the following input:
* ```
@ -522,7 +535,7 @@ asynStatus getAxisParam(sinqAxis *axis, const char *indexName,
#define getAxisParamChecked(axis, indexGetterFunction, readValue) \
{ \
asynStatus getStatus = getAxisParam( \
axis, #indexGetterFunction, \
axis, axis->pController(), #indexGetterFunction, \
&std::remove_pointer< \
decltype(axis->pController())>::type::indexGetterFunction, \
readValue, __PRETTY_FUNCTION__, __LINE__); \