Initial version of sinqMotor
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...
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49
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TOP=../..
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include $(TOP)/configure/CONFIG
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#----------------------------------------
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# ADD MACRO DEFINITIONS AFTER THIS LINE
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#=============================
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#=============================
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# Build the IOC application
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PROD_IOC = sinqEPICS
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# sinqEPICS.dbd will be created and installed
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DBD += sinqEPICS.dbd
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# sinqEPICS.dbd will be made up from these files:
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sinqEPICS_DBD += base.dbd
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# Include dbd files from all support applications:
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sinqEPICS_DBD += sinq.dbd
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#sinqEPICS_DBD += pmacAsynIPPort.dbd pmacAsynMotorPort.dbd
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# Add all the support libraries needed by this IOC
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sinqEPICS_LIBS += motor asyn busy synAppsStd streamdevice pcre
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# sinqEPICS_registerRecordDeviceDriver.cpp derives from sinqEPICS.dbd
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sinqEPICS_SRCS += sinqEPICS_registerRecordDeviceDriver.cpp
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sinqEPICS_SRCS += EL734Driver.cpp devScalerEL737.c pmacAsynIPPort.c sinqAxis.cpp sinqController.cpp
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sinqEPICS_SRCS += pmacController.cpp pmacAxis.cpp
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sinqEPICS_SRCS += NanotecDriver.cpp stptok.cpp
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sinqEPICS_SRCS += PhytronDriver.cpp
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sinqEPICS_SRCS += EuroMoveDriver.cpp
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# Build the main IOC entry point on workstation OSs.
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sinqEPICS_SRCS_DEFAULT += sinqEPICSMain.cpp
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sinqEPICS_SRCS_vxWorks += -nil-
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# Add support from base/src/vxWorks if needed
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#sinqEPICS_OBJS_vxWorks += $(EPICS_BASE_BIN)/vxComLibrary
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# Finally link to the EPICS Base libraries
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sinqEPICS_LIBS += $(EPICS_BASE_IOC_LIBS)
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#===========================
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include $(TOP)/configure/RULES
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#----------------------------------------
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# ADD RULES AFTER THIS LINE
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91
src/sinqAxis.cpp
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src/sinqAxis.cpp
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#include "sinqAxis.h"
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#include "sinqController.h"
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#include <unistd.h>
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sinqAxis::sinqAxis(class sinqController *pC, int axis)
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: asynMotorAxis((asynMotorController *)pC, axis), pC_(pC) {
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bool initial_poll_ = true;
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int init_poll_counter_ = 0;
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}
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asynStatus sinqAxis::atFirstPoll() { return asynSuccess; }
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asynStatus sinqAxis::poll(bool *moving) {
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// Local variable declaration
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asynStatus pl_status = asynSuccess;
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asynStatus poll_status = asynSuccess;
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// =========================================================================
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// If this poll is the initial poll, check if the parameter library has
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// already been initialized. If not, force EPCIS to repeat the poll until
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// the initialization is complete (or until a timeout is reached). Once the
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// parameter library has been initialized, read configuration data from the
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// motor controller into it.
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if (initial_poll_) {
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poll_status = atFirstPoll();
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if (poll_status == asynSuccess) {
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initial_poll_ = false;
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} else {
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// Send a message to the IOC shell every 10 trials.
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init_poll_counter_ += 1;
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if (init_poll_counter_ % 10 == 0) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"%s => line %d:\nRunning function 'atFirstPoll' "
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"failed %d times with error %s.",
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__PRETTY_FUNCTION__, __LINE__, init_poll_counter_,
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pC_->stringifyAsynStatus(poll_status));
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}
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// Wait for 100 ms until trying the entire poll again
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usleep(100000);
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return poll_status;
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}
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}
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// The poll function is just a wrapper around doPoll and
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// handles mainly the callParamCallbacks() function. This wrapper is used
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// to make sure callParamCallbacks() is called in case of a premature
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// return.
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poll_status = doPoll(moving);
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// If the poll status is ok, reset the error indicators in the parameter
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// library
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if (poll_status == asynSuccess) {
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pl_status = setIntegerParam(pC_->motorStatusProblem_, false);
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if (pl_status != asynSuccess) {
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pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
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__PRETTY_FUNCTION__, __LINE__);
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}
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pl_status = setIntegerParam(pC_->motorStatusCommsError_, false);
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if (pl_status != asynSuccess) {
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pC_->paramLibAccessFailed(pl_status, "motorStatusCommsError_",
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__PRETTY_FUNCTION__, __LINE__);
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}
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pl_status = setStringParam(pC_->motorMessageText_, "");
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if (pl_status != asynSuccess) {
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return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
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__PRETTY_FUNCTION__, __LINE__);
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}
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}
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// According to the function documentation of asynMotorAxis::poll, this
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// function should be called at the end of a poll implementation.
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pl_status = callParamCallbacks();
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if (pl_status != asynSuccess) {
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// If we can't communicate with the parameter library, it doesn't make
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// sense to try and upstream this to the user -> Just log the error
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asynPrint(
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pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"%s => line %d:\ncallParamCallbacks failed with %s for axis %d",
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__PRETTY_FUNCTION__, __LINE__,
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pC_->stringifyAsynStatus(poll_status), axisNo_);
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poll_status = pl_status;
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}
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return poll_status;
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}
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asynStatus sinqAxis::doPoll(bool *moving) { return asynSuccess; }
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39
src/sinqAxis.h
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39
src/sinqAxis.h
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@ -0,0 +1,39 @@
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/*
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This class extends asynMotorAxis by some features used in SINQ.
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Stefan Mathis, November 2024
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*/
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#ifndef __SINQDRIVER
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||||||
|
#define __SINQDRIVER
|
||||||
|
#include "asynMotorAxis.h"
|
||||||
|
|
||||||
|
class epicsShareClass sinqAxis : public asynMotorAxis {
|
||||||
|
public:
|
||||||
|
sinqAxis(class sinqController *pC_, int axis);
|
||||||
|
|
||||||
|
/**
|
||||||
|
This function is executed at the very first poll after the IOC startup. If
|
||||||
|
it returns anything else than 'asynSuccess', the function is evaluated again
|
||||||
|
after 100 ms until it succeeds. Every 10 trials a warning is emitted.
|
||||||
|
*/
|
||||||
|
asynStatus atFirstPoll();
|
||||||
|
|
||||||
|
asynStatus poll(bool *moving);
|
||||||
|
|
||||||
|
/**
|
||||||
|
Implementation of the "proper", device-specific poll method. This method
|
||||||
|
should be implemented by a child class of sinqAxis.
|
||||||
|
*/
|
||||||
|
asynStatus doPoll(bool *moving);
|
||||||
|
|
||||||
|
friend class sinqController;
|
||||||
|
|
||||||
|
protected:
|
||||||
|
bool initial_poll_;
|
||||||
|
int init_poll_counter_;
|
||||||
|
|
||||||
|
private:
|
||||||
|
sinqController *pC_;
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif
|
||||||
124
src/sinqController.cpp
Normal file
124
src/sinqController.cpp
Normal file
@ -0,0 +1,124 @@
|
|||||||
|
/*
|
||||||
|
This class contains the necessary changes to have an additional text fields
|
||||||
|
for messages with each axis.
|
||||||
|
|
||||||
|
Code lifted from Torsten Boegershausen ESS code.
|
||||||
|
|
||||||
|
Mark Koennecke, March 2017
|
||||||
|
|
||||||
|
Added code to manage an interMessageSleep
|
||||||
|
|
||||||
|
Mark Koennecke, February 2024
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "sinqController.h"
|
||||||
|
#include "asynMotorController.h"
|
||||||
|
#include "epicsExport.h"
|
||||||
|
#include "iocsh.h"
|
||||||
|
#include <errlog.h>
|
||||||
|
|
||||||
|
sinqController::sinqController(const char *portName, const char *SINQPortName,
|
||||||
|
int numAxes, const int &extraParams)
|
||||||
|
: asynMotorController(
|
||||||
|
portName, numAxes + 1, NUM_MOTOR_DRIVER_PARAMS + extraParams,
|
||||||
|
0, // No additional interfaces beyond those in base class
|
||||||
|
0, // No additional callback interfaces beyond those in base class
|
||||||
|
ASYN_CANBLOCK | ASYN_MULTIDEVICE,
|
||||||
|
1, // autoconnect
|
||||||
|
0, 0) // Default priority and stack size
|
||||||
|
{
|
||||||
|
createParam(motorMessageIsFromDriverString, asynParamInt32,
|
||||||
|
&motorMessageIsFromDriver_);
|
||||||
|
createParam(motorMessageTextString, asynParamOctet, &motorMessageText_);
|
||||||
|
}
|
||||||
|
|
||||||
|
asynStatus sinqController::errMsgCouldNotParseResponse(const char *command,
|
||||||
|
const char *response,
|
||||||
|
int axisNo_,
|
||||||
|
const char *functionName,
|
||||||
|
int lineNumber) {
|
||||||
|
asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
|
||||||
|
"%s => line %d:\n Could not interpret response %s for "
|
||||||
|
"command %s.\n",
|
||||||
|
functionName, lineNumber, response, command);
|
||||||
|
|
||||||
|
setStringParam(motorMessageText_,
|
||||||
|
"Could not interpret MCU response. Please "
|
||||||
|
"call the software support");
|
||||||
|
setIntegerParam(motorStatusCommsError_, 1);
|
||||||
|
return asynError;
|
||||||
|
}
|
||||||
|
|
||||||
|
asynStatus sinqController::paramLibAccessFailed(asynStatus status,
|
||||||
|
const char *parameter,
|
||||||
|
const char *functionName,
|
||||||
|
int lineNumber) {
|
||||||
|
|
||||||
|
if (status != asynSuccess) {
|
||||||
|
// Log the error message and try to propagate it
|
||||||
|
asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
|
||||||
|
"%s => line %d:\n Accessing the parameter library failed for "
|
||||||
|
"parameter %s",
|
||||||
|
functionName, lineNumber, parameter);
|
||||||
|
setStringParam(
|
||||||
|
motorMessageText_,
|
||||||
|
"Accessing paramLib failed. Please call the software support.");
|
||||||
|
}
|
||||||
|
|
||||||
|
return status;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Static pointers (valid for the entire lifetime of the IOC). The number behind
|
||||||
|
// the strings gives the integer number of each variant (see also method
|
||||||
|
// stringifyAsynStatus)
|
||||||
|
static char *asynSuccessStringified = "success"; // 0
|
||||||
|
static char *asynTimeoutStringified = "timeout"; // 1
|
||||||
|
static char *asynOverflowStringified = "overflow"; // 2
|
||||||
|
static char *asynErrorStringified = "error"; // 3
|
||||||
|
static char *asynDisconnectedStringified = "disconnected"; // 4
|
||||||
|
static char *asynDisabledStringified = "disabled"; // 5
|
||||||
|
static char *asynParamAlreadyExistsStringified =
|
||||||
|
"parameter already exists"; // 6
|
||||||
|
static char *asynParamNotFoundStringified = "parameter not found"; // 7
|
||||||
|
static char *asynParamWrongTypeStringified = "wrong type"; // 8
|
||||||
|
static char *asynParamBadIndexStringified = "bad index"; // 9
|
||||||
|
static char *asynParamUndefinedStringified = "parameter undefined"; // 10
|
||||||
|
static char *asynParamInvalidListStringified = "invalid list"; // 11
|
||||||
|
|
||||||
|
char *sinqController::stringifyAsynStatus(asynStatus status) {
|
||||||
|
// See
|
||||||
|
// https://github.com/epics-modules/asyn/blob/master/asyn/asynDriver/asynDriver.h
|
||||||
|
// and
|
||||||
|
// https://github.com/epics-modules/asyn/blob/master/asyn/asynPortDriver/paramErrors.h
|
||||||
|
// for the definition of the error codes
|
||||||
|
switch (status) {
|
||||||
|
case asynSuccess:
|
||||||
|
return asynSuccessStringified;
|
||||||
|
case asynTimeout:
|
||||||
|
return asynTimeoutStringified;
|
||||||
|
case asynOverflow:
|
||||||
|
return asynOverflowStringified;
|
||||||
|
case asynError:
|
||||||
|
return asynErrorStringified;
|
||||||
|
case asynDisconnected:
|
||||||
|
return asynDisconnectedStringified;
|
||||||
|
case asynDisabled:
|
||||||
|
return asynDisabledStringified;
|
||||||
|
case asynParamAlreadyExists:
|
||||||
|
return asynParamAlreadyExistsStringified;
|
||||||
|
case asynParamNotFound:
|
||||||
|
return asynParamNotFoundStringified;
|
||||||
|
case asynParamWrongType:
|
||||||
|
return asynParamWrongTypeStringified;
|
||||||
|
case asynParamBadIndex:
|
||||||
|
return asynParamBadIndexStringified;
|
||||||
|
case asynParamUndefined:
|
||||||
|
return asynParamUndefinedStringified;
|
||||||
|
case asynParamInvalidList:
|
||||||
|
return asynParamInvalidListStringified;
|
||||||
|
}
|
||||||
|
|
||||||
|
errlogPrintf("%s => line %d:\nReached unreachable code.",
|
||||||
|
__PRETTY_FUNCTION__, __LINE__);
|
||||||
|
return "unreachable code reached";
|
||||||
|
}
|
||||||
54
src/sinqController.h
Normal file
54
src/sinqController.h
Normal file
@ -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
|
||||||
Reference in New Issue
Block a user