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Add pmacV3 poll

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This commit is contained in:
Michele Brambilla
2022-03-02 16:11:18 +01:00
committed by brambilla_m
parent c7fea08718
commit 14bbda3364
2 changed files with 47 additions and 6 deletions
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44
sinqEPICSApp/src/pmacAxis.cpp
View File

@ -46,6 +46,11 @@
#include "pmacController.h"
#include <typeinfo>
template<typename T>
const char* getClassName(T) {
return typeid(T).name();
}
#define MULT 1000.
@ -168,8 +173,6 @@ asynStatus pmacAxis::getAxisInitialStatus(void)
// Enable the axis. After startup, the axis are disabled on the controller...
// Warning: Selene lift axis should not be automatically enabled
printf("/nautoEnable: %d\n\n", autoEnable);
if (autoEnable) {
sprintf(command, "M%2.2d14=1\n", axisNo_);
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Enable axis %d: %s",axisNo_,command);
@ -307,7 +310,7 @@ asynStatus pmacAxis::poll(bool *moving)
pC_->debugFlow(message);
//Now poll axis status
if ((status = getAxisStatus(moving)) != asynSuccess) {
if ((status = this->getAxisStatus(moving)) != asynSuccess) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"%s: getAxisStatus failed to return asynSuccess. Controller: %s, Axis: %d.\n", functionName, pC_->portName, axisNo_);
}
@ -382,7 +385,6 @@ asynStatus pmacAxis::getAxisStatus(bool *moving)
epicsUInt32 axErr = 0, highLim = 0, lowLim= 0;
char message[132], *axMessage;
/* read our status items one by one: our PMAC does not seem to give multiple responses ..*/
sprintf(command,"P%2.2d01",axisNo_);
cmdStatus = pC_->lowLevelWriteRead(axisNo_,command, response);
@ -865,6 +867,40 @@ asynStatus LiftAxis::stop(double acceleration)
}
/*-------------------------------------------------------------------------------------------------------------*/
pmacV3Axis::pmacV3Axis(pmacController *pController, int axisNo) : pmacAxis(pController,axisNo, false) { };
asynStatus pmacV3Axis::poll(bool *moving)
{
int status = 0;
static const char *functionName = "pmacV3Axis::poll";
char message[132];
// Protect against excessive polling
if(time(NULL) < next_poll){
return asynSuccess;
}
sprintf(message, "%s: Polling axis: %d", functionName, this->axisNo_);
pC_->debugFlow(message);
//Now poll axis status
if ((status = this->getAxisStatus(moving)) != asynSuccess) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"%s: getAxisStatus failed to return asynSuccess. Controller: %s, Axis: %d.\n", functionName, pC_->portName, axisNo_);
}
if(*moving){
next_poll = time(NULL) + BUSYPOLL;
} else {
next_poll = time(NULL) + IDLEPOLL;
}
callParamCallbacks();
return status ? asynError : asynSuccess;
}
asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
char command[pC_->PMAC_MAXBUF_];
char response[pC_->PMAC_MAXBUF_];

9
sinqEPICSApp/src/pmacAxis.h
View File

@ -143,8 +143,13 @@ class LiftAxis : public pmacAxis
class pmacV3Axis : public pmacAxis {
public:
pmacV3Axis(pmacController *pController, int axisNo) : pmacAxis(pController,axisNo, false) {};
pmacV3Axis(pmacController *pController, int axisNo);
/* : pmacAxis(pController,axisNo, false) { */
/* printf("\n*************************\n\n"); */
/* printf("class name: %s", getClassName(*this)); */
/* printf("\n*************************\n\n"); */
/* }; */
asynStatus poll(bool *moving);
protected:
asynStatus getAxisStatus(bool *moving);