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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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src/sinqAxis.cpp
+60 -51
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)();