Initial version of sinqMotor

src/sinqAxis.cpp

@@ -0,0 +1,91 @@
+#include "sinqAxis.h"
+#include "sinqController.h"
+#include <unistd.h>
+
+sinqAxis::sinqAxis(class sinqController *pC, int axis)
+    : asynMotorAxis((asynMotorController *)pC, axis), pC_(pC) {
+
+    bool initial_poll_ = true;
+    int init_poll_counter_ = 0;
+}
+
+asynStatus sinqAxis::atFirstPoll() { return asynSuccess; }
+
+asynStatus sinqAxis::poll(bool *moving) {
+    // Local variable declaration
+    asynStatus pl_status = asynSuccess;
+    asynStatus poll_status = asynSuccess;
+
+    // =========================================================================
+
+    // If this poll is the initial poll, check if the parameter library has
+    // already been initialized. If not, force EPCIS to repeat the poll until
+    // the initialization is complete (or until a timeout is reached). Once the
+    // parameter library has been initialized, read configuration data from the
+    // motor controller into it.
+    if (initial_poll_) {
+        poll_status = atFirstPoll();
+        if (poll_status == asynSuccess) {
+            initial_poll_ = false;
+        } else {
+            // Send a message to the IOC shell every 10 trials.
+            init_poll_counter_ += 1;
+            if (init_poll_counter_ % 10 == 0) {
+                asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                          "%s => line %d:\nRunning function 'atFirstPoll' "
+                          "failed %d times with error %s.",
+                          __PRETTY_FUNCTION__, __LINE__, init_poll_counter_,
+                          pC_->stringifyAsynStatus(poll_status));
+            }
+
+            // Wait for 100 ms until trying the entire poll again
+            usleep(100000);
+            return poll_status;
+        }
+    }
+
+    // The poll function is just a wrapper around doPoll and
+    // handles mainly the callParamCallbacks() function. This wrapper is used
+    // to make sure callParamCallbacks() is called in case of a premature
+    // return.
+    poll_status = doPoll(moving);
+
+    // If the poll status is ok, reset the error indicators in the parameter
+    // library
+    if (poll_status == asynSuccess) {
+        pl_status = setIntegerParam(pC_->motorStatusProblem_, false);
+        if (pl_status != asynSuccess) {
+            pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
+                                      __PRETTY_FUNCTION__, __LINE__);
+        }
+        pl_status = setIntegerParam(pC_->motorStatusCommsError_, false);
+        if (pl_status != asynSuccess) {
+            pC_->paramLibAccessFailed(pl_status, "motorStatusCommsError_",
+                                      __PRETTY_FUNCTION__, __LINE__);
+        }
+
+        pl_status = setStringParam(pC_->motorMessageText_, "");
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
+                                             __PRETTY_FUNCTION__, __LINE__);
+        }
+    }
+
+    // According to the function documentation of asynMotorAxis::poll, this
+    // function should be called at the end of a poll implementation.
+    pl_status = callParamCallbacks();
+    if (pl_status != asynSuccess) {
+        // If we can't communicate with the parameter library, it doesn't make
+        // sense to try and upstream this to the user -> Just log the error
+        asynPrint(
+            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            "%s => line %d:\ncallParamCallbacks failed with %s for axis %d",
+            __PRETTY_FUNCTION__, __LINE__,
+            pC_->stringifyAsynStatus(poll_status), axisNo_);
+        poll_status = pl_status;
+    }
+
+    return poll_status;
+}
+
+asynStatus sinqAxis::doPoll(bool *moving) { return asynSuccess; }