Initial version of sinqMotor

src/sinqController.h

@@ -0,0 +1,54 @@
+/*
+  This class contains the necessary changes to have an additional text fields
+  for messages with each axis.
+
+  Code lifted from Torsten Boegershausens ESS code.
+
+  Mark Koennecke, March 2017
+*/
+
+#ifndef __sinqController
+#define __sinqController
+#include "asynMotorController.h"
+
+#define motorMessageIsFromDriverString "MOTOR_MESSAGE_DRIVER"
+#define motorMessageTextString "MOTOR_MESSAGE_TEXT"
+
+class epicsShareClass sinqController : public asynMotorController {
+  public:
+    sinqController(const char *portName, const char *SINQPortName, int numAxes,
+                   const int &extraParams = 2);
+
+    friend class sinqAxis;
+
+    /**
+    If accessing the parameter library failed (return status != asynSuccess),
+    calling this function writes a standardized message to both the IOC shell
+    and the motor message text PV. It then returns the input status.
+     */
+    asynStatus paramLibAccessFailed(asynStatus status, const char *parameter,
+                                    const char *functionName, int lineNumber);
+
+    /**
+    This function writes a standardized message to both the IOC shell and
+    the motor message text PV in case parsing a response (e.g. via sscanf)
+    failed. It always returns asynError.
+     */
+    asynStatus errMsgCouldNotParseResponse(const char *command,
+                                           const char *response, int axisNo_,
+                                           const char *functionName,
+                                           int lineNumber);
+
+    /**
+    Convert an asynStatus into a descriptive string. This string can then e.g.
+    be used to create debugging messages.
+     */
+    char *stringifyAsynStatus(asynStatus status);
+
+  protected:
+    asynUser *lowLevelPortUser_;
+    int motorMessageIsFromDriver_;
+    int motorMessageText_;
+};
+
+#endif