lin-epics-modules/sinqMotor
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Moved the initialization of some parameters into sinqMotor

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This commit is contained in:
mathis_s
2024-12-23 09:30:24 +01:00
parent 5946563372
commit b6e0f03a17
2 changed files with 41 additions and 10 deletions
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49
src/sinqAxis.cpp
View File

@ -5,32 +5,63 @@
sinqAxis::sinqAxis(class sinqController *pC, int axisNo) sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
: asynMotorAxis((asynMotorController *)pC, axisNo), pC_(pC) { : asynMotorAxis((asynMotorController *)pC, axisNo), pC_(pC) {
asynStatus status = asynSuccess;
initial_poll_ = true; initial_poll_ = true;
watchdogMovActive_ = false; watchdogMovActive_ = false;
init_poll_counter_ = 0; init_poll_counter_ = 0;
scaleMovTimeout_ = 2.0; scaleMovTimeout_ = 2.0;
offsetMovTimeout_ = 30; offsetMovTimeout_ = 30;
}
asynStatus sinqAxis::atFirstPoll() {
asynStatus status = asynSuccess;
int variableSpeed = 0;
// Motor is assumed to be enabled // Motor is assumed to be enabled
status = pC_->setIntegerParam(axisNo_, pC_->motorEnableRBV_, 1); status = pC_->setIntegerParam(axisNo_, pC_->motorEnableRBV_, 1);
if (status != asynSuccess) { if (status != asynSuccess) {
return pC_->paramLibAccessFailed(status, "motorEnableRBV_", asynPrint(
__PRETTY_FUNCTION__, __LINE__); pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"%s => line %d:\nFATAL ERROR (setting a parameter value failed "
"with %s)\n. Terminating IOC",
__PRETTY_FUNCTION__, __LINE__, pC_->stringifyAsynStatus(status));
exit(-1);
} }
// By default, motors cannot be disabled // By default, motors cannot be disabled
status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable_, 0); status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable_, 0);
if (status != asynSuccess) { if (status != asynSuccess) {
return pC_->paramLibAccessFailed(status, "motorCanDisable_", asynPrint(
__PRETTY_FUNCTION__, __LINE__); pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"%s => line %d:\nFATAL ERROR (setting a parameter value failed "
"with %s)\n. Terminating IOC",
__PRETTY_FUNCTION__, __LINE__, pC_->stringifyAsynStatus(status));
exit(-1);
} }
// Provide a default value for the motor position.
status = pC_->setDoubleParam(axisNo_, pC_->motorPosition_, 0.0);
if (status != asynSuccess) {
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"%s => line %d:\nFATAL ERROR (setting a parameter value failed "
"with %s)\n. Terminating IOC",
__PRETTY_FUNCTION__, __LINE__, pC_->stringifyAsynStatus(status));
exit(-1);
}
// We assume that the motor has no status problems initially
status = pC_->setIntegerParam(axisNo_, pC_->motorStatusProblem_, 0);
if (status != asynSuccess) {
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"%s => line %d:\nFATAL ERROR (setting a parameter value failed "
"with %s)\n. Terminating IOC",
__PRETTY_FUNCTION__, __LINE__, pC_->stringifyAsynStatus(status));
exit(-1);
}
}
asynStatus sinqAxis::atFirstPoll() {
asynStatus status = asynSuccess;
int variableSpeed = 0;
status = status =
pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed_, &variableSpeed); pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed_, &variableSpeed);
if (status != asynSuccess) { if (status != asynSuccess) {

2
src/sinqController.cpp
View File

@ -290,7 +290,7 @@ asynStatus sinqController::errMsgCouldNotParseResponse(const char *command,
asynStatus pl_status = asynSuccess; asynStatus pl_status = asynSuccess;
asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR, asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
"%s => line %d:\nCould not interpret response %s for " "%s => line %d:\nCould not interpret response '%s' for "
"command %s.\n", "command %s.\n",
functionName, lineNumber, response, command); functionName, lineNumber, response, command);