lin-epics-modules/sinqMotor
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Added some flags for NICOS and refactored some records from pmacv3 to

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sinqMotor
This commit is contained in:
mathis_s
2024-11-29 14:54:54 +01:00
parent 682325de7d
commit 6656841a01
6 changed files with 394 additions and 63 deletions
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108
src/sinqController.cpp
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@@ -81,7 +81,7 @@ sinqController::sinqController(const char *portName,
exit(-1);
}
status = createParam("ENABLE_AXIS", asynParamInt32, &enableMotor_);
status = createParam("MOTOR_ENABLE", asynParamInt32, &motorEnable_);
if (status != asynSuccess) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"%s => line %d:\nFATAL ERROR (creating a parameter failed "
@@ -90,7 +90,37 @@ sinqController::sinqController(const char *portName,
exit(-1);
}
status = createParam("ENABLE_AXIS_RBV", asynParamInt32, &enableMotorRBV_);
status = createParam("MOTOR_ENABLE_RBV", asynParamInt32, &motorEnableRBV_);
if (status != asynSuccess) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"%s => line %d:\nFATAL ERROR (creating a parameter failed "
"with %s).\nTerminating IOC",
__PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
exit(-1);
}
status =
createParam("MOTOR_CAN_DISABLE", asynParamInt32, &motorCanDisable_);
if (status != asynSuccess) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"%s => line %d:\nFATAL ERROR (creating a parameter failed "
"with %s).\nTerminating IOC",
__PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
exit(-1);
}
status =
createParam("MOTOR_CAN_SET_SPEED", asynParamInt32, &motorCanSetSpeed_);
if (status != asynSuccess) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"%s => line %d:\nFATAL ERROR (creating a parameter failed "
"with %s).\nTerminating IOC",
__PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
exit(-1);
}
status = createParam("MOTOR_LIMITS_OFFSET", asynParamFloat64,
&motorLimitsOffset_);
if (status != asynSuccess) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"%s => line %d:\nFATAL ERROR (creating a parameter failed "
@@ -124,8 +154,8 @@ sinqController::sinqController(const char *portName,
exit(-1);
}
status =
createParam("ENABLE_MOV_WATCHDOG", asynParamInt32, &enableMovWatchdog_);
status = createParam("MOTOR_ENABLE_MOV_WATCHDOG", asynParamInt32,
&motorEnableMovWatchdog_);
if (status != asynSuccess) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"%s => line %d:\nFATAL ERROR (creating a parameter failed "
@@ -134,8 +164,38 @@ sinqController::sinqController(const char *portName,
exit(-1);
}
status =
createParam("LIMITS_OFFSET", asynParamFloat64, &motorLimitsOffset_);
status = createParam("MOTOR_VELO_FROM_DRIVER", asynParamFloat64,
&motorVeloFromDriver_);
if (status != asynSuccess) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"%s => line %d:\nFATAL ERROR (creating a parameter failed "
"with %s).\nTerminating IOC",
__PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
exit(-1);
}
status = createParam("MOTOR_VBAS_FROM_DRIVER", asynParamFloat64,
&motorVbasFromDriver_);
if (status != asynSuccess) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"%s => line %d:\nFATAL ERROR (creating a parameter failed "
"with %s).\nTerminating IOC",
__PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
exit(-1);
}
status = createParam("MOTOR_VMAX_FROM_DRIVER", asynParamFloat64,
&motorVmaxFromDriver_);
if (status != asynSuccess) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"%s => line %d:\nFATAL ERROR (creating a parameter failed "
"with %s).\nTerminating IOC",
__PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
exit(-1);
}
status = createParam("MOTOR_ACCL_FROM_DRIVER", asynParamFloat64,
&motorAcclFromDriver_);
if (status != asynSuccess) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"%s => line %d:\nFATAL ERROR (creating a parameter failed "
@@ -178,20 +238,21 @@ asynStatus sinqController::writeInt32(asynUser *pasynUser, epicsInt32 value) {
}
// Handle custom PVs
if (function == enableMotor_) {
if (function == motorEnable_) {
return axis->enable(value != 0);
} else {
return asynMotorController::writeInt32(pasynUser, value);
}
}
/*
Overloaded from asynMotorController to cover the readback value of enableMotor.
*/
asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {
if (pasynUser->reason == enableMotorRBV_) {
if (pasynUser->reason == motorEnableRBV_) {
// Value is updated in the poll function of an axis
return asynSuccess;
} else if (pasynUser->reason == motorCanDisable_) {
// By default, motors cannot be disabled
*value = 0;
return asynSuccess;
} else {
return asynMotorController::readInt32(pasynUser, value);
}
@@ -199,18 +260,30 @@ asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {
asynStatus sinqController::errMsgCouldNotParseResponse(const char *command,
const char *response,
int axisNo_,
int axisNo,
const char *functionName,
int lineNumber) {
asynStatus pl_status = asynSuccess;
asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
"%s => line %d:\n Could not interpret response %s for "
"%s => line %d:\nCould not interpret response %s for "
"command %s.\n",
functionName, lineNumber, response, command);
setStringParam(motorMessageText_,
"Could not interpret MCU response. Please call the support");
setIntegerParam(motorStatusCommsError_, 1);
pl_status = setStringParam(
motorMessageText_,
"Could not interpret MCU response. Please call the support");
if (pl_status != asynSuccess) {
return paramLibAccessFailed(pl_status, "motorMessageText_",
__PRETTY_FUNCTION__, __LINE__);
}
pl_status = setIntegerParam(motorStatusCommsError_, 1);
if (pl_status != asynSuccess) {
return paramLibAccessFailed(pl_status, "motorStatusCommsError_",
__PRETTY_FUNCTION__, __LINE__);
}
return asynError;
}
@@ -220,7 +293,8 @@ asynStatus sinqController::paramLibAccessFailed(asynStatus status,
int lineNumber) {
if (status != asynSuccess) {
// Log the error message and try to propagate it
// Log the error message and try to propagate it. If propagating fails,
// there is nothing we can do here anyway.
asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
"%s => line %d:\n Accessing the parameter library failed for "
"parameter %s with error %s.\n",