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Allow enable/disable (tentative)

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brambilla_m
2022-02-28 15:33:47 +01:00
parent 929f9f600d
commit c805385ad1
5 changed files with 177 additions and 65 deletions
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129
sinqEPICSApp/src/pmacController.cpp
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@@ -133,7 +133,10 @@ extern "C" {
int numAxes, int movingPollPeriod, int idlePollPeriod);
asynStatus SeleneCreateController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress,
int numAxes, int movingPollPeriod, int idlePollPeriod);
asynStatus pmacV3CreateController(const char *portName,
const char *lowLevelPortName,
int lowLevelPortAddress, int numAxes,
int movingPollPeriod, int idlePollPeriod);
asynStatus pmacCreateAxis(const char *pmacName, int axis);
asynStatus pmacCreateAxis(const char *pmacName, int numAxis);
@@ -546,6 +549,19 @@ asynStatus SeleneCreateController(const char *portName, const char *lowLevelPort
return asynSuccess;
}
asynStatus pmacV3CreateController(const char *portName,
const char *lowLevelPortName,
int lowLevelPortAddress, int numAxes,
int movingPollPeriod, int idlePollPeriod) {
pmacV3Controller *ppmacController = new pmacV3Controller(
portName, lowLevelPortName, lowLevelPortAddress, numAxes,
movingPollPeriod / 1000., idlePollPeriod / 1000.);
ppmacController = NULL;
return asynSuccess;
}
/*---------------------------------------------------------------------------------------------------------------------*/
SeleneController::SeleneController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress,
int numAxes, double movingPollPeriod, double idlePollPeriod) : pmacController(portName,
@@ -559,33 +575,46 @@ SeleneController::SeleneController(const char *portName, const char *lowLevelPor
callParamCallbacks();
}
/**
* C wrapper for the pmacAxis constructor.
* See pmacAxis::pmacAxis.
*
*/
asynStatus pmacCreateAxis(const char *pmacName, /* specify which controller by port name */
int axis) /* axis number (start from 1). */
{
pmacController *pC;
pmacAxis *pAxis;
static const char *functionName = "pmacCreateAxis";
pC = (pmacController*) findAsynPortDriver(pmacName);
if (!pC) {
printf("%s:%s: Error port %s not found\n",
driverName, functionName, pmacName);
return asynError;
pmacV3Controller::pmacV3Controller(const char *portName,
const char *lowLevelPortName,
int lowLevelPortAddress, int numAxes,
double movingPollPeriod,
double idlePollPeriod,
const int &extraParams){
pmacController(portName, lowLevelPortName, lowLevelPortAddress, numAxes,
movingPollPeriod, idlePollPeriod, extraParams);
static const char *functionName = "pmacV3Controller::pmacV3Controller";
createParam(EnableAxisString, asynParamInt32, &enableAxis_);
callParamCallbacks();
}
/**
* C wrapper for the pmacAxis constructor.
* See pmacAxis::pmacAxis.
*
*/
asynStatus pmacCreateAxis(
const char *pmacName, /* specify which controller by port name */
int axis) /* axis number (start from 1). */
{
pmacController *pC;
pmacAxis *pAxis;
static const char *functionName = "pmacCreateAxis";
pC = (pmacController *)findAsynPortDriver(pmacName);
if (!pC) {
printf("%s:%s: Error port %s not found\n", driverName, functionName,
pmacName);
return asynError;
}
pC->lock();
pAxis = new pmacAxis(pC, axis);
pAxis = NULL;
pC->unlock();
return asynSuccess;
}
pC->lock();
pAxis = new pmacAxis(pC, axis);
pAxis = NULL;
pC->unlock();
return asynSuccess;
}
/**
* C wrapper for the pmacHRPTAxis constructor.
* See pmacHRPTAxis::pmacHRPTAxis.
@@ -752,6 +781,8 @@ asynStatus SeleneController::writeFloat64(asynUser *pasynUser, epicsFloat64 valu
status = lowLevelWriteRead(pAxis->axisNo_,command, response);
}
// What if now status != asynSuccess
//Call base class method
//This will handle callCallbacks even if the function was handled here.
status = asynMotorController::writeFloat64(pasynUser, value);
@@ -760,6 +791,42 @@ asynStatus SeleneController::writeFloat64(asynUser *pasynUser, epicsFloat64 valu
}
asynStatus pmacV3Controller::writeInt32(asynUser *pasynUser, epicsInt32 value) {
int function = pasynUser->reason;
asynStatus status = asynError;
pmacAxis *pAxis = NULL;
static const char *functionName = "pmacV3Controller::writeInt32";
debugFlow(functionName);
pAxis = this->getAxis(pasynUser);
if (!pAxis) {
return asynError;
}
/* Set the parameter and readback in the parameter library. This may be
* overwritten when we read back the status at the end, but that's OK */
status = pAxis->setIntegerParam(function, value);
if (function == enableAxis_) {
sprintf(command, "M%2.2d14=%d\n", pAxis->axisNo_, value);
asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
"%s: Enable axis on controller %s, axis %d enable=%d\n",
functionName, portName, pAxis->axisNo_, value);
errlogPrintf("Enable axis %d: %d, command = %s\n", pAxis->axisNo_, value, command);
}
// Execute the command.
if (command[0] != 0 && status == asynSuccess) {
status = lowLevelWriteRead(pAxis->axisNo_, command, response);
}
// Call base class method
// This will handle callCallbacks even if the function was handled here.
status = asynMotorController::writeInt32(pasynUser, value);
return status;
}
/* Code for iocsh registration */
@@ -790,7 +857,13 @@ static void configSeleneCreateControllerCallFunc(const iocshArgBuf *args)
{
SeleneCreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival, args[4].ival, args[5].ival);
}
static const iocshFuncDef configpmacV3CreateController = {
"pmacV3CreateController", 6, pmacCreateControllerArgs
};
static void configpmacV3CreateControllerCallFunc(const iocshArgBuf *args) {
pmacV3CreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival,
args[4].ival, args[5].ival);
}
/* pmacCreateAxis */
static const iocshArg pmacCreateAxisArg0 = {"Controller port name", iocshArgString};