32 lines
2.2 KiB
Markdown
32 lines
2.2 KiB
Markdown
# sinqmotor
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## Overview
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This library offers base classes for EPICS motor drivers (`sinqAxis` and `sinqController`) of PSI SINQ. These classes are extensions of the classes `asynMotorAxis` and `asynMotorController` from the `asynMotor` framework (https://github.com/epics-modules/motor/tree/master/motorApp/MotorSrc) and bundle some common functionalities.
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## Features
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sinqMotor offers a variety of additional methods for children classes to standardize certain patterns (e.g. writing messages to the IOC shell and the motor message PV). For a detailed description, please see the respective function documentation in the .h-file. All of these functions can be overwritten manually if e.g. a completely different implementation of `poll` is required
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### sinqController
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- `stringifyAsynStatus`: Convert the enum `asynStatus` into a human-readable string.
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- `errMsgCouldNotParseResponse`: Write a standardized message if parsing a device response failed
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- `paramLibAccessFailed`: Write a standardized message if accessing the parameter library failed
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### sinqAxis
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- `atFirstPoll`: This function is executed once before the first poll. If it returns anything but `asynSuccess`, it retries.
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- `poll`: This is a wrapper around `doPoll` which performs some bookkeeping tasks before and after calling `doPoll`:
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Before calling `doPoll`:
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- Try to execute `atFirstPoll` once (and retry, if that failed)
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After calling `doPoll`:
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- Reset `motorStatusProblem_`, `motorStatusCommsError_` and `motorMessageText_` if `doPoll` returned `asynSuccess`
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- Run `callParamCallbacks`
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- Return the status of `doPoll`
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- `doPoll`: This is an empty function which should be overwritten by concrete driver implementations.
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## How to build it
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The makefile in the top directory includes all necessary steps for compiling a shared library together with the header files into `/ioc/modules` (using the PSI EPICS build system).Therefore it is sufficient to run `make install -f Makefile` from the terminal. If you want to compile a new version, adjust the entry `LIBVERSION` accordingly.
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To use the library when writing a concrete motor driver, include it in the makefile of your application /library the same way as other libraries such as e.g. `asynMotor` by adding `REQUIRED+=sinqMotor` to your Makefile.
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