lin-epics-modules/sinqepicsapp
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Implemented that enable commands are only sent when a status chnage is required

Browse Source 
Stop commands are only sent by EL734 and pmac when actually moving. The
motor record logic calls stop() in an excessive way.
This commit is contained in:
koennecke
2023-05-31 09:37:22 +02:00
parent 72afd02b4e
commit 8a6441927a
3 changed files with 22 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
sinqEPICSApp/src/pmacController.cpp
View File

@@ -820,6 +820,7 @@ asynStatus pmacV3Controller::writeInt32(asynUser *pasynUser, epicsInt32 value) {
pmacV3Axis *pAxis = NULL;
char command[64] = {0};
char response[64] = {0};
int isOn;
static const char *functionName = "pmacV3Controller::writeInt32";
debugFlow(functionName);
@@ -834,16 +835,22 @@ asynStatus pmacV3Controller::writeInt32(asynUser *pasynUser, epicsInt32 value) {
pAxis->setIntegerParam(function, value);
if (function == enableAxis_) {
if(value == 1) {
// only send commands when a state change is necessary
snprintf(command, sizeof(command), "P%2.2d00", pAxis->axisNo_);
this->lowLevelWriteRead(pAxis->axisNo_, command, response);
isOn = strtol(response, NULL, 10);
if(value == 1 && isOn == 0) {
sprintf(command, "M%2.2d=15\n", pAxis->axisNo_);
lowLevelWriteRead(pAxis->axisNo_, command, response);
}
sprintf(command, "M%2.2d14=%d\n", pAxis->axisNo_, value);
asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
pAxis->updateMsgTxtFromDriver("");
if(isOn != value) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
"%s: Enable axis on controller %s, axis %d enable=%d\n",
functionName, portName, pAxis->axisNo_, value);
pAxis->updateMsgTxtFromDriver("");
lowLevelWriteRead(pAxis->axisNo_, command, response);
lowLevelWriteRead(pAxis->axisNo_, command, response);
}
}
return pmacController::writeInt32(pasynUser, value);