Added function to set the number of forced fast polls.

src/sinqController.cpp

@@ -645,6 +645,8 @@ extern "C" {
  * @brief Set the threshold for the communication timeout frequency (FFI
  * implementation)
  *
+ * @param portName        Name of the low-level asyn port the controller is
+ * using.
  * @param comTimeoutWindow        Size of the time window used to calculate
  * the moving average of timeout events in seconds. Set this value to 0 to
  * deactivate the watchdog.
@@ -688,11 +690,10 @@ static void setThresholdComTimeoutCallFunc(const iocshArgBuf *args) {
 /**
  * @brief Set the maximum number of subsequent timeouts (FFI implementation)
  *
- * @param comTimeoutWindow        Size of the time window used to calculate
- * the moving average of timeout events. Set this value to 0 to deactivate
- * the watchdog.
- * @param maxNumberTimeouts       Maximum number of timeouts which may occur
- * within the time window before the watchdog is triggered.
+ * @param portName        Name of the low-level asyn port the controller is
+ * using.
+ * @param maxSubsequentTimeouts       Maximum number of timeouts which may occur
+ * subsequently before an error is reported.
  * @return asynStatus
  */
 asynStatus setMaxSubsequentTimeouts(const char *portName,
@@ -746,12 +747,73 @@ static void setMaxSubsequentTimeoutsCallFunc(const iocshArgBuf *args) {
 
 // =============================================================================
 
+/**
+ * @brief Set the number of forced fast polls which happen after a call to
+ * `wakePoller`.
+ *
+ * @param portName        Name of the low-level asyn port the controller is
+ * using.
+ * @param forcedFastPolls        Number of fast polls done after calling
+ * `wakePoller`.
+ * @return asynStatus
+ */
+asynStatus setForcedFastPolls(const char *portName, int forcedFastPolls) {
+    void *ptr = findAsynPortDriver(portName);
+    if (ptr == nullptr) {
+        /*
+        We can't use asynPrint here since this macro would require us
+        to get a pasynOctetSyncIOipPort_ from a pointer to an asynPortDriver.
+        However, the given pointer is a nullptr and therefore doesn't
+        have a pasynOctetSyncIOipPort_! printf is an EPICS alternative which
+        works w/o that, but doesn't offer the comfort provided
+        by the asynTrace-facility
+        */
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nPort %s not found.",
+                     portName, __PRETTY_FUNCTION__, __LINE__, portName);
+        return asynError;
+    }
+    // Unsafe cast of the pointer to an asynPortDriver
+    asynPortDriver *apd = (asynPortDriver *)(ptr);
+
+    // Safe downcast
+    sinqController *pC = dynamic_cast<sinqController *>(apd);
+    if (pC == nullptr) {
+        errlogPrintf(
+            "Controller \"%s\" => %s, line %d:\ncontroller on port %s is not a "
+            "turboPmacController.",
+            portName, __PRETTY_FUNCTION__, __LINE__, portName);
+        return asynError;
+    }
+
+    // Set the new value
+    pC->setForcedFastPolls(forcedFastPolls);
+
+    return asynSuccess;
+}
+
+static const iocshArg SetForcedFastPollsArg0 = {"Controller name (e.g. mcu1)",
+                                                iocshArgString};
+static const iocshArg SetForcedFastPollsArg1 = {
+    "Number of fast polls after \"waking\" the poller (e.g. after issueing a "
+    "move command).",
+    iocshArgInt};
+static const iocshArg *const SetForcedFastPollsArgs[] = {
+    &SetForcedFastPollsArg0, &SetForcedFastPollsArg1};
+static const iocshFuncDef setForcedFastPollsDef = {"setForcedFastPolls", 2,
+                                                   SetForcedFastPollsArgs};
+static void setForcedFastPollsCallFunc(const iocshArgBuf *args) {
+    setForcedFastPolls(args[0].sval, args[1].ival);
+}
+
+// =============================================================================
+
 // This function is made known to EPICS in sinqMotor.dbd and is called by EPICS
 // in order to register all functions in the IOC shell
 static void sinqControllerRegister(void) {
     iocshRegister(&setThresholdComTimeoutDef, setThresholdComTimeoutCallFunc);
     iocshRegister(&setMaxSubsequentTimeoutsDef,
                   setMaxSubsequentTimeoutsCallFunc);
+    iocshRegister(&setForcedFastPollsDef, setForcedFastPollsCallFunc);
 }
 epicsExportRegistrar(sinqControllerRegister);