Added some flags for NICOS and refactored some records from pmacv3 to

sinqMotor

src/sinqAxis.cpp

@@ -13,7 +13,44 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
     offsetMovTimeout_ = 30;
 }
 
-asynStatus sinqAxis::atFirstPoll() { return asynSuccess; }
+asynStatus sinqAxis::atFirstPoll() {
+    asynStatus status = asynSuccess;
+    int variableSpeed = 0;
+
+    status =
+        pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed_, &variableSpeed);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, "motorCanSetSpeed_",
+                                         __PRETTY_FUNCTION__, __LINE__);
+    }
+
+    if (variableSpeed == 1) {
+        status = pC_->setDoubleParam(axisNo_, pC_->motorVbasFromDriver_, 0.0);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorVbasFromDriver_",
+                                             __PRETTY_FUNCTION__, __LINE__);
+        }
+        status = pC_->setDoubleParam(axisNo_, pC_->motorVmaxFromDriver_,
+                                     1000000000.0);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorVmaxFromDriver_",
+                                             __PRETTY_FUNCTION__, __LINE__);
+        }
+    } else {
+        status = pC_->setDoubleParam(axisNo_, pC_->motorVbasFromDriver_, 0.0);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorVbasFromDriver_",
+                                             __PRETTY_FUNCTION__, __LINE__);
+        }
+        status = pC_->setDoubleParam(axisNo_, pC_->motorVmaxFromDriver_, 0.0);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorVmaxFromDriver_",
+                                             __PRETTY_FUNCTION__, __LINE__);
+        }
+    }
+
+    return status;
+}
 
 asynStatus sinqAxis::poll(bool *moving) {
     // Local variable declaration
@@ -98,9 +135,9 @@ asynStatus sinqAxis::poll(bool *moving) {
                                              __PRETTY_FUNCTION__, __LINE__);
         }
     } else {
-        pl_status = setIntegerParam(pC_->enableMotorRBV_, axisIsEnabled);
+        pl_status = setIntegerParam(pC_->motorEnableRBV_, axisIsEnabled);
         if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "enableMotorRBV_",
+            return pC_->paramLibAccessFailed(pl_status, "motorEnableRBV_",
                                              __PRETTY_FUNCTION__, __LINE__);
         }
     }
@@ -224,18 +261,117 @@ asynStatus sinqAxis::isEnabled(bool *on) {
     return asynSuccess;
 }
 
+asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
+    asynStatus status = asynSuccess;
+    int variableSpeed = 0;
+
+    // Can the speed of the motor be varied?
+    status =
+        pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed_, &variableSpeed);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, "motorCanSetSpeed_",
+                                         __PRETTY_FUNCTION__, __LINE__);
+    }
+    if (variableSpeed == 1) {
+
+        // Check the inputs and create corresponding error messages
+        if (vbas > vmax) {
+            asynPrint(pC_->lowLevelPortUser_, ASYN_TRACE_ERROR,
+                      "%s => line %d:\nLower speed limit vbas=%lf must not be "
+                      "smaller than upper limit vmax=%lf.\n",
+                      __PRETTY_FUNCTION__, __LINE__, vbas, vmax);
+
+            status = setStringParam(
+                pC_->motorMessageText_,
+                "Lower speed limit must not be smaller than upper speed limit");
+            if (status != asynSuccess) {
+                return pC_->paramLibAccessFailed(status, "motorMessageText_",
+                                                 __PRETTY_FUNCTION__, __LINE__);
+            }
+            return asynError;
+        }
+        if (velo < vbas || velo > vmax) {
+            asynPrint(pC_->lowLevelPortUser_, ASYN_TRACE_ERROR,
+                      "%s => line %d:\nActual speed velo=%lf must be between "
+                      "lower limit vbas=%lf and upper limit vmx=%lf.\n",
+                      __PRETTY_FUNCTION__, __LINE__, velo, vbas, vmax);
+
+            status = setStringParam(pC_->motorMessageText_,
+                                    "Speed is not inside limits");
+            if (status != asynSuccess) {
+                return pC_->paramLibAccessFailed(status, "motorMessageText_",
+                                                 __PRETTY_FUNCTION__, __LINE__);
+            }
+            return asynError;
+        }
+
+        status = pC_->setDoubleParam(axisNo_, pC_->motorVbasFromDriver_, vbas);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorVbasFromDriver_",
+                                             __PRETTY_FUNCTION__, __LINE__);
+        }
+
+        status = pC_->setDoubleParam(axisNo_, pC_->motorVeloFromDriver_, velo);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorVeloFromDriver_",
+                                             __PRETTY_FUNCTION__, __LINE__);
+        }
+
+        status = pC_->setDoubleParam(axisNo_, pC_->motorVmaxFromDriver_, vmax);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorVmaxFromDriver_",
+                                             __PRETTY_FUNCTION__, __LINE__);
+        }
+    } else {
+        // Set minimum and maximum speed equal to the set speed
+        status = pC_->setDoubleParam(axisNo_, pC_->motorVbasFromDriver_, velo);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorVbasFromDriver_",
+                                             __PRETTY_FUNCTION__, __LINE__);
+        }
+
+        status = pC_->setDoubleParam(axisNo_, pC_->motorVeloFromDriver_, velo);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorVeloFromDriver_",
+                                             __PRETTY_FUNCTION__, __LINE__);
+        }
+
+        status = pC_->setDoubleParam(axisNo_, pC_->motorVmaxFromDriver_, velo);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorVmaxFromDriver_",
+                                             __PRETTY_FUNCTION__, __LINE__);
+        }
+    }
+    return status;
+}
+
+asynStatus sinqAxis::setAcclField(double accl) {
+
+    if (accl <= 0.0) {
+        return asynError;
+    }
+
+    asynStatus status =
+        pC_->setDoubleParam(axisNo_, pC_->motorAcclFromDriver_, accl);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, "motorAcclFromDriver_",
+                                         __PRETTY_FUNCTION__, __LINE__);
+    }
+    return status;
+}
+
 asynStatus sinqAxis::setWatchdogEnabled(bool enable) {
-    return pC_->setIntegerParam(axisNo_, pC_->enableMovWatchdog_, enable);
+    return pC_->setIntegerParam(axisNo_, pC_->motorEnableMovWatchdog_, enable);
 }
 
 asynStatus sinqAxis::startMovTimeoutWatchdog() {
     asynStatus pl_status;
     int enableMovWatchdog = 0;
 
-    pl_status = pC_->getIntegerParam(axisNo_, pC_->enableMovWatchdog_,
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableMovWatchdog_,
                                      &enableMovWatchdog);
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "enableMovWatchdog_",
+        return pC_->paramLibAccessFailed(pl_status, "motorEnableMovWatchdog_",
                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
@@ -385,10 +521,10 @@ asynStatus sinqAxis::checkMovTimeoutWatchdog(bool moving) {
     asynStatus pl_status;
     int enableMovWatchdog = 0;
 
-    pl_status = pC_->getIntegerParam(axisNo_, pC_->enableMovWatchdog_,
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableMovWatchdog_,
                                      &enableMovWatchdog);
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "enableMovWatchdog_",
+        return pC_->paramLibAccessFailed(pl_status, "motorEnableMovWatchdog_",
                                          __PRETTY_FUNCTION__, __LINE__);
     }