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Some cleanup in EL734Driver.cpp

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koennecke
2019-05-20 09:17:33 +02:00
parent f424477a6a
commit b4b093efdf
1 changed files with 13 additions and 11 deletions
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24
sinqEPICSApp/src/EL734Driver.cpp
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@ -41,7 +41,6 @@ EL734Controller::EL734Controller(const char *portName, const char *EL734PortName
{ {
int axis; int axis;
asynStatus status; asynStatus status;
EL734Axis *pAxis;
static const char *functionName = "EL734Controller::EL734Controller"; static const char *functionName = "EL734Controller::EL734Controller";
@ -58,7 +57,7 @@ EL734Controller::EL734Controller(const char *portName, const char *EL734PortName
switchRemote(); switchRemote();
for (axis=0; axis<numAxes; axis++) { for (axis=0; axis<numAxes; axis++) {
pAxis = new EL734Axis(this, axis+1); new EL734Axis(this, axis+1);
} }
startPoller(1000./1000., IDLEPOLL, 2); startPoller(1000./1000., IDLEPOLL, 2);
@ -114,21 +113,20 @@ EL734Axis* EL734Controller::getAxis(int axisNo)
void EL734Controller::switchRemote() void EL734Controller::switchRemote()
{ {
char command[COMLEN], reply[COMLEN]; char command[COMLEN], reply[COMLEN];
int status;
size_t in, out; size_t in, out;
int reason; int reason;
strcpy(command,"RMT 1"); strcpy(command,"RMT 1");
status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command), pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
reply,COMLEN, 1.,&out,&in,&reason); reply,COMLEN, 1.,&out,&in,&reason);
strcpy(command,"ECHO 0"); strcpy(command,"ECHO 0");
status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command), pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
reply,COMLEN, 1.,&out,&in,&reason); reply,COMLEN, 1.,&out,&in,&reason);
strcpy(command,"RMT 1"); strcpy(command,"RMT 1");
status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command), pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
reply,COMLEN, 1.,&out,&in,&reason); reply,COMLEN, 1.,&out,&in,&reason);
strcpy(command,"ECHO 0"); strcpy(command,"ECHO 0");
status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command), pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
reply,COMLEN, 1.,&out,&in,&reason); reply,COMLEN, 1.,&out,&in,&reason);
} }
/** /**
@ -274,6 +272,7 @@ asynStatus EL734Axis::move(double position, int relative, double minVelocity, do
} }
oredMSR = 0; oredMSR = 0;
homing = 0; homing = 0;
//errlogPrintf("Starting axis %d with destination %f", axisNo_,position/1000);
sprintf(command, "p %d %.3f", axisNo_, position/1000.); sprintf(command, "p %d %.3f", axisNo_, position/1000.);
status = pC_->transactController(axisNo_,command,reply); status = pC_->transactController(axisNo_,command,reply);
setIntegerParam(pC_->motorStatusProblem_, false); setIntegerParam(pC_->motorStatusProblem_, false);
@ -422,8 +421,10 @@ asynStatus EL734Axis::poll(bool *moving)
comStatus = pC_->transactController(axisNo_,command,reply); comStatus = pC_->transactController(axisNo_,command,reply);
if(comStatus) goto skip; if(comStatus) goto skip;
sscanf(reply,"%x",&msr); sscanf(reply,"%x",&msr);
// errlogPrintf("Axis %d, reply %s, msr %d, position = %lf\n",
// axisNo_, reply, msr, position); //errlogPrintf("Axis %d, reply %s, msr %d, oredmsr = %d, position = %lf\n",
// axisNo_, reply, msr, oredMSR, position);
oredMSR |= msr; oredMSR |= msr;
if( (msr & 0x1) == 0){ if( (msr & 0x1) == 0){
// done: check for trouble // done: check for trouble
@ -447,8 +448,9 @@ asynStatus EL734Axis::poll(bool *moving)
setIntegerParam(pC_->motorStatusAtHome_, true); setIntegerParam(pC_->motorStatusAtHome_, true);
} }
setIntegerParam(pC_->motorStatusProblem_, false); setIntegerParam(pC_->motorStatusProblem_, false);
if(oredMSR &0x1000){ if(oredMSR & 0x1000){
setIntegerParam(pC_->motorStatusProblem_, true); setIntegerParam(pC_->motorStatusProblem_, true);
// errlogPrintf("Detected air cushion error on %d", axisNo_);
errlogSevPrintf(errlogMajor, "Air cushion problem on %d", axisNo_); errlogSevPrintf(errlogMajor, "Air cushion problem on %d", axisNo_);
updateMsgTxtFromDriver("Air cushion error"); updateMsgTxtFromDriver("Air cushion error");
driverError = 1; driverError = 1;
@ -465,7 +467,7 @@ asynStatus EL734Axis::poll(bool *moving)
*moving = true; *moving = true;
next_poll = -1; next_poll = -1;
setIntegerParam(pC_->motorStatusDone_, false); setIntegerParam(pC_->motorStatusDone_, false);
//updateMsgTxtFromDriver("Creeping"); updateMsgTxtFromDriver("Creeping");
} }
skip: skip: