lin-epics-modules/sinqMotor
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After reimplementing the pmacV3 driver using the sinqMotor parent class,

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quite some changes have accumulated. Besides various code changes, especially the documentation has
been improved.
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mathis_s
2024-11-20 11:29:20 +01:00
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README.md
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@ -6,19 +6,21 @@ This library offers base classes for EPICS motor drivers (`sinqAxis` and `sinqCo
## Features
sinqMotor offers a variety of additional methods for children classes to standardize certain patterns (e.g. writing messages to the IOC shell and the motor message PV). For a detailed description, please see the respective function documentation in the .h-file. All of these functions can be overwritten manually if e.g. a completely different implementation of `poll` is required.
sinqMotor offers a variety of additional methods for children classes to standardize certain patterns (e.g. writing messages to the IOC shell and the motor message PV). For a detailed description, please see the respective function documentation in the .h-files. All of these functions can be overwritten manually if e.g. a completely different implementation of `poll` is required. Some functions are marked as virtual, because they are called from other functions of sinqMotor and therefore need runtime polymorphism. Functions without that marker are not called anywhere in sinqMotor.
### sinqController
- `stringifyAsynStatus`: Convert the enum `asynStatus` into a human-readable string.
- `errMsgCouldNotParseResponse`: Write a standardized message if parsing a device response failed
- `paramLibAccessFailed`: Write a standardized message if accessing the parameter library failed
- `errMsgCouldNotParseResponse`: Write a standardized message if parsing a device response failed.
- `paramLibAccessFailed`: Write a standardized message if accessing the parameter library failed.
### sinqAxis
- `atFirstPoll`: This function is executed once before the first poll. If it returns anything but `asynSuccess`, it retries.
- `setWatchdogEnabled`: Enables / disables the watchdog. This function is also available in the IOC shell.
- `checkMovTimeoutWatchdog`: Manages a watchdog mechanism for movement operations. This watchdog compares the actual time spent in a movement operation with an expected time, which is calculated based on the distance of the current and the target position.
- `poll`: This is a wrapper around `doPoll` which performs some bookkeeping tasks before and after calling `doPoll`:
Before calling `doPoll`:
- Try to execute `atFirstPoll` once (and retry, if that failed)
- Try to execute `atFirstPoll` once during the lifetime of the IOC (and retry, if that failed)
After calling `doPoll`:
- Reset `motorStatusProblem_`, `motorStatusCommsError_` and `motorMessageText_` if `doPoll` returned `asynSuccess`
@ -27,8 +29,10 @@ sinqMotor offers a variety of additional methods for children classes to standar
- `doPoll`: This is an empty function which should be overwritten by concrete driver implementations.
- `move`: This function sets the absolute target position in the parameter library and then calls `doMove`.
- `doMove`: This is an empty function which should be overwritten by concrete driver implementations.
- `movementTimeoutWatchdog`: Manages a watchdog mechanism for movement operations.
- `home`: This function sets the absolute target position in the parameter library and then calls `doHome`. The target position is assumed to be the high limit, if the distance of the current position to it is larger than that to the low limit, and the low limit otherwise.
- `doHome`: This is an empty function which should be overwritten by concrete driver implementations.
- `setOffsetMovTimeout`: Set a linear offset for the expected movement time. This function is also available in the IOC shell.
- `setScaleMovTimeout`: Set a scaling factor for the expected movement time. This function is also available in the IOC shell.
## Versioning