lin-epics-modules/sinqMotor
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Added macros for adding and retrieving paramlib entries in order to make

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the code less cluttered. Also built in a mechanism which makes sure that
forced fast polls are not ignored anymore when adaptive polling is
enabled.
This commit is contained in:
mathis_s
2025-05-08 17:04:23 +02:00
parent 5689402375
commit b89fe41c6e
4 changed files with 456 additions and 303 deletions
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79
src/sinqController.cpp
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@@ -314,8 +314,24 @@ sinqController::~sinqController(void) {
free(this->pAxes_);
}
msgPrintControl &sinqController::getMsgPrintControl() {
return msgPrintControl_;
/*
Access one of the axes of the controller via the axis adress stored in asynUser.
If the axis does not exist or is not an sinqAxis, the function returns a
nullptr.
*/
sinqAxis *sinqController::getSinqAxis(asynUser *pasynUser) {
asynMotorAxis *asynAxis = sinqController::getAxis(pasynUser);
return dynamic_cast<sinqAxis *>(asynAxis);
}
/*
Access one of the axes of the controller via the axis index.
If the axis does not exist or is not an sinqAxis, the function returns a
nullptr.
*/
sinqAxis *sinqController::getSinqAxis(int axisNo) {
asynMotorAxis *asynAxis = sinqController::getAxis(axisNo);
return dynamic_cast<sinqAxis *>(asynAxis);
}
asynStatus sinqController::writeInt32(asynUser *pasynUser, epicsInt32 value) {
@@ -323,9 +339,7 @@ asynStatus sinqController::writeInt32(asynUser *pasynUser, epicsInt32 value) {
// =====================================================================
asynMotorAxis *asynAxis = getAxis(pasynUser);
sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);
sinqAxis *axis = getSinqAxis(pasynUser);
if (axis == nullptr) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nAxis is not an "
@@ -348,22 +362,21 @@ asynStatus sinqController::writeInt32(asynUser *pasynUser, epicsInt32 value) {
asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {
// Casting into a sinqAxis is necessary to get access to the field axisNo()
asynMotorAxis *asynAxis = getAxis(pasynUser);
sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);
sinqAxis *axis = getSinqAxis(pasynUser);
if (axis == nullptr) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nAxis is not an "
"instance of sinqAxis.\n",
"instance of sinqAxis",
portName, axis->axisNo(), __PRETTY_FUNCTION__, __LINE__);
return asynError;
}
if (pasynUser->reason == motorEnableRBV_) {
return getIntegerParam(axis->axisNo(), motorEnableRBV_, value);
getAxisParamChecked(axis, motorEnableRBV, value);
return asynSuccess;
} else if (pasynUser->reason == motorCanDisable_) {
return getIntegerParam(axis->axisNo(), motorCanDisable_, value);
getAxisParamChecked(axis, motorCanDisable, value);
return asynSuccess;
} else {
return asynMotorController::readInt32(pasynUser, value);
}
@@ -374,26 +387,24 @@ asynStatus sinqController::couldNotParseResponse(const char *command,
int axisNo,
const char *functionName,
int line) {
asynStatus pl_status = asynSuccess;
asynPrint(pasynOctetSyncIOipPort_, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nCould not interpret "
"response \"%s\" for command \"%s\".\n",
portName, axisNo, functionName, line, response, command);
pl_status = setStringParam(
motorMessageText_,
"Could not interpret controller response. Please call the support");
if (pl_status != asynSuccess) {
return paramLibAccessFailed(pl_status, "motorMessageText_", axisNo,
__PRETTY_FUNCTION__, __LINE__);
sinqAxis *axis = getSinqAxis(axisNo);
if (axis == nullptr) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nAxis is not an "
"instance of sinqAxis",
portName, axis->axisNo(), __PRETTY_FUNCTION__, __LINE__);
return asynError;
}
pl_status = setIntegerParam(motorStatusCommsError_, 1);
if (pl_status != asynSuccess) {
return paramLibAccessFailed(pl_status, "motorStatusCommsError_", axisNo,
__PRETTY_FUNCTION__, __LINE__);
}
setAxisParamChecked(
axis, motorMessageText,
"Could not interpret controller response. Please call the support");
setAxisParamChecked(axis, motorStatusCommsError, true);
return asynError;
}
@@ -413,7 +424,7 @@ asynStatus sinqController::paramLibAccessFailed(asynStatus status,
// Log the error message and try to propagate it. If propagating fails,
// there is nothing we can do here anyway.
setStringParam(motorMessageText_,
setStringParam(motorMessageText(),
"Accessing paramLib failed. Please call the support.");
}
@@ -545,6 +556,22 @@ asynStatus sinqController::checkMaxSubsequentTimeouts(int timeoutNo,
return status;
}
asynStatus sinqController::poll() {
// Decrement the number of outstanding forced fast polls, if they are not
// zero
if (outstandingForcedFastPolls_ > 0) {
outstandingForcedFastPolls_--;
}
return asynMotorController::poll();
}
asynStatus sinqController::wakeupPoller() {
// + 1 since outstandingForcedFastPolls_ is reduced once at the start of
// a poll cycle
outstandingForcedFastPolls_ = forcedFastPolls_ + 1;
return asynMotorController::wakeupPoller();
}
// 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)