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Merge branch 'amor-selene'

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Conflicts:
	.gitignore
	sinqEPICSApp/src/pmacAxis.cpp
	sinqEPICSApp/src/pmacAxis.h
	sinqEPICSApp/src/pmacController.cpp
	sinqEPICSApp/src/pmacController.h
This commit is contained in:
koennecke
2020-10-01 09:31:23 +02:00
parent d86da602d2 d1beb9b0d8
commit 6de4a878ef
11 changed files with 324 additions and 41 deletions
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27
sinqEPICSApp/src/pmacController.cpp
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@@ -140,8 +140,8 @@ extern "C" {
}
pmacController::pmacController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress,
int numAxes, double movingPollPeriod, double idlePollPeriod)
: SINQController(portName, lowLevelPortName, numAxes+1)
int numAxes, double movingPollPeriod, double idlePollPeriod, const int& extraParams)
: SINQController(portName, lowLevelPortName, numAxes+1, extraParams)
{
static const char *functionName = "pmacController::pmacController";
@@ -544,7 +544,20 @@ asynStatus SeleneCreateController(const char *portName, const char *lowLevelPort
return asynSuccess;
}
/*---------------------------------------------------------------------------------------------------------------------*/
SeleneController::SeleneController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress,
int numAxes, double movingPollPeriod, double idlePollPeriod) : pmacController(portName,
lowLevelPortName,
lowLevelPortAddress,
numAxes,
movingPollPeriod,
idlePollPeriod, 3) {
static const char *functionName = "seleneController::seleneController";
createParam(MotorSetPositionString, asynParamFloat64, &setMotorPosition_);
callParamCallbacks();
}
/**
* C wrapper for the pmacAxis constructor.
* See pmacAxis::pmacAxis.
@@ -711,9 +724,9 @@ asynStatus SeleneController::writeFloat64(asynUser *pasynUser, epicsFloat64 valu
/* Set the parameter and readback in the parameter library. */
status = pAxis->setDoubleParam(function, value);
// TODO: somethign is really shitty here: lowLimit and highLimit cannot be on the command
if (function == motorLowLimit_) {
sprintf(command, "Q%d54=%f", pAxis->axisNo_, (float)value/(float)MULT);
// sprintf(command, "Q%d54=%d", pAxis->axisNo_, (int)(value/pAxis->scale_/MULT));
asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
"%s: Setting low limit on controller %s, axis %d to %f\n",
functionName, portName, pAxis->axisNo_, value);
@@ -724,7 +737,13 @@ asynStatus SeleneController::writeFloat64(asynUser *pasynUser, epicsFloat64 valu
"%s: Setting high limit on controller %s, axis %d to %f\n",
functionName, portName, pAxis->axisNo_, value);
errlogPrintf("Setting high limit of axis %d to %f, command = %s\n", pAxis->axisNo_, value, command);
}
} else if(function == setMotorPosition_){
snprintf(command,sizeof(command),"Q%d59=%f", pAxis->axisNo_, value);
asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
"%s: Defining position of axis%d to %f\n",
functionName, pAxis->axisNo_, value);
errlogPrintf("Defining position of axis %d to %f, command = %s\n", pAxis->axisNo_, value, command);
}
//Execute the command.
if (command[0] != 0 && status == asynSuccess) {