lin-epics-modules/sinqMotor
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Added public accessors for all status library indices and some other

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properties. This also enabled the removal of "friend classes".
This commit is contained in:
mathis_s
2025-03-10 16:53:45 +01:00
parent bed245b010
commit f26d1bb612
4 changed files with 161 additions and 79 deletions
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85
src/sinqController.h
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@@ -218,15 +218,92 @@ class epicsShareClass sinqController : public asynMotorController {
* @brief Get a reference to the map used to control the maximum number of
* message repetitions. See the documentation of printRepetitionWatchdog in
* msgPrintControl.h for details.
*
* @return std::unordered_map<msgPrintControlKey, size_t>&
*/
msgPrintControl &getMsgPrintControl();
friend class sinqAxis;
// =========================================================================
// Public getters for protected members
// Accessors for double parameters
int motorMoveRel() { return motorMoveRel_; }
int motorMoveAbs() { return motorMoveAbs_; }
int motorMoveVel() { return motorMoveVel_; }
int motorHome() { return motorHome_; }
int motorStop() { return motorStop_; }
int motorVelocity() { return motorVelocity_; }
int motorVelBase() { return motorVelBase_; }
int motorAccel() { return motorAccel_; }
int motorPosition() { return motorPosition_; }
int motorEncoderPosition() { return motorEncoderPosition_; }
int motorDeferMoves() { return motorDeferMoves_; }
int motorMoveToHome() { return motorMoveToHome_; }
int motorResolution() { return motorResolution_; }
int motorEncoderRatio() { return motorEncoderRatio_; }
int motorPGain() { return motorPGain_; }
int motorIGain() { return motorIGain_; }
int motorDGain() { return motorDGain_; }
int motorHighLimit() { return motorHighLimit_; }
int motorLowLimit() { return motorLowLimit_; }
int motorClosedLoop() { return motorClosedLoop_; }
int motorPowerAutoOnOff() { return motorPowerAutoOnOff_; }
int motorPowerOnDelay() { return motorPowerOnDelay_; }
int motorPowerOffDelay() { return motorPowerOffDelay_; }
int motorPowerOffFraction() { return motorPowerOffFraction_; }
int motorPostMoveDelay() { return motorPostMoveDelay_; }
int motorStatus() { return motorStatus_; }
int motorUpdateStatus() { return motorUpdateStatus_; }
// Accessors for sztatus bits (integers)
int motorStatusDirection() { return motorStatusDirection_; }
int motorStatusDone() { return motorStatusDone_; }
int motorStatusHighLimit() { return motorStatusHighLimit_; }
int motorStatusAtHome() { return motorStatusAtHome_; }
int motorStatusSlip() { return motorStatusSlip_; }
int motorStatusPowerOn() { return motorStatusPowerOn_; }
int motorStatusFollowingError() { return motorStatusFollowingError_; }
int motorStatusHome() { return motorStatusHome_; }
int motorStatusHasEncoder() { return motorStatusHasEncoder_; }
int motorStatusProblem() { return motorStatusProblem_; }
int motorStatusMoving() { return motorStatusMoving_; }
int motorStatusGainSupport() { return motorStatusGainSupport_; }
int motorStatusCommsError() { return motorStatusCommsError_; }
int motorStatusLowLimit() { return motorStatusLowLimit_; }
int motorStatusHomed() { return motorStatusHomed_; }
// Parameters for passing additional motor record information to the driver
int motorRecResolution() { return motorRecResolution_; }
int motorRecDirection() { return motorRecDirection_; }
int motorRecOffset() { return motorRecOffset_; }
// Accessors for additional PVs defined in sinqController
int motorMessageText() { return motorMessageText_; }
int motorReset() { return motorReset_; }
int motorEnable() { return motorEnable_; }
int motorEnableRBV() { return motorEnableRBV_; }
int motorCanDisable() { return motorCanDisable_; }
int motorEnableMovWatchdog() { return motorEnableMovWatchdog_; }
int motorCanSetSpeed() { return motorCanSetSpeed_; }
int motorLimitsOffset() { return motorLimitsOffset_; }
int motorForceStop() { return motorForceStop_; }
int motorVeloFromDriver() { return motorVeloFromDriver_; }
int motorVbasFromDriver() { return motorVbasFromDriver_; }
int motorVmaxFromDriver() { return motorVmaxFromDriver_; }
int motorAcclFromDriver() { return motorAcclFromDriver_; }
int motorHighLimitFromDriver() { return motorHighLimitFromDriver_; }
int motorLowLimitFromDriver() { return motorLowLimitFromDriver_; }
int encoderType() { return encoderType_; }
// Additional members
int numAxes() { return numAxes_; }
asynUser *asynUserSelf() { return pasynUserSelf; }
asynUser *ipPortUser() { return ipPortUser_; }
// =========================================================================
protected:
asynUser *lowLevelPortUser_;
// Pointer to the port user which is specified by the char array
// ipPortConfigName in the constructor
asynUser *ipPortUser_;
double movingPollPeriod_;
double idlePollPeriod_;
msgPrintControl msgPrintControl_;