pmacV3 read axis state

sinqEPICSApp/src/pmacAxis.cpp

@@ -172,7 +172,6 @@ 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
-
   if (autoEnable) {
     sprintf(command, "M%2.2d14=1\n", axisNo_);
     asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Enable axis %d: %s",axisNo_,command);
@@ -941,6 +940,8 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
   previous_position_ = position;
   previous_direction_ = direction;
 
+  setIntegerParam(pC_->axisStatus_, axStat);
+
   // errlogPrintf("Polling, axStat = %d, position = %f\n", axStat, position);
 
   /* are we done? */
@@ -1086,30 +1087,4 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
   return asynSuccess;
 }
 
-// pmacV3Axis::enable(int on) {
-//   char command[pC_->PMAC_MAXBUF_];
-//   char response[pC_->PMAC_MAXBUF_];
-//   int cmdStatus = 0;
-//   static const char *functionName = "pmacV3Axis::enable";
-
-//   pC_->debugFlow(functionName);
-
-//   // Enable the axis. After startup, the axis are disabled on the controller...
-//   sprintf(command, "M%2.2d14=%1.1d", axisNo_, on);
-//   cmdStatus = pC_->lowLevelWriteRead(axisNo_, command, response);
-//   if (cmdStatus) {
-//     if(on) {
-//     asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-//               "%s: Error: enabling axis %d failed.\n", functionName, axisNo_);
-//     } else {
-//           asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-//               "%s: Error: disabling axis %d failed.\n", functionName, axisNo_);
-//     }
-//     return asynError;
-//   }
-
-//   callParamCallbacks();
-
-//   return asynSuccess;
-// }
 

sinqEPICSApp/src/pmacAxis.h

@@ -24,8 +24,6 @@
 class pmacController;
 class SeleneController;
 
-#define PMAC_EnableAxis "PMAC_ENABLE_AXIS"
-
 class pmacAxis : public SINQAxis
 {
   public:
@@ -152,6 +150,8 @@ public:
   asynStatus poll(bool *moving);
  protected:
 
+  int axisState_;
+
   asynStatus getAxisStatus(bool *moving);
 
   friend class pmacController;

sinqEPICSApp/src/pmacController.cpp

@@ -472,7 +472,6 @@ asynStatus pmacController::writeInt32(asynUser *pasynUser, epicsInt32 value)
 
 }
 
-
 /** Returns a pointer to an pmacAxis object.
   * Returns NULL if the axis number encoded in pasynUser is invalid.
   * \param[in] pasynUser asynUser structure that encodes the axis index number. */
@@ -581,6 +580,7 @@ SeleneController::SeleneController(const char *portName, const char *lowLevelPor
     pmacController(portName, lowLevelPortName, lowLevelPortAddress, numAxes, movingPollPeriod, idlePollPeriod, extraParams) {
       static const char *functionName = "pmacV3Controller::pmacV3Controller";
       createParam(EnableAxisString, asynParamInt32, &enableAxis_);
+      createParam(AxisStateString, asynParamInt32, &axisState_);
       callParamCallbacks();
   }
 
@@ -854,6 +854,32 @@ asynStatus pmacV3Controller::writeInt32(asynUser *pasynUser, epicsInt32 value) {
   return status;
 }
 
+asynStatus pmacV3Controller::readInt32(asynUser *pasynUser, epicsInt32 *value) {
+
+  int function = pasynUser->reason;
+  asynStatus status = asynError;
+  pmacAxis *pAxis = NULL;
+  static const char *functionName = "pmacController::readInt32";
+  char command[this->PMAC_MAXBUF_];
+  char response[this->PMAC_MAXBUF_];
+
+  debugFlow(functionName);
+
+  pAxis = this->getAxis(pasynUser);
+  if (!pAxis) {
+    return asynError;
+  }
+  if (function == axisState_) {
+    snprintf(command, sizeof(command), "P%2.2d00", pAxis->axisNo_);
+    status = this->lowLevelWriteRead(axisNo_, command, response);
+    *value = strtol(response, NULL, 10);
+    setIntegerParam(pAxis->axisState_, value);
+    return status
+  }
+  return pmacController::readInt32(pasynUser, value);
+}
+
+
 /* Code for iocsh registration */
 
 #ifdef vxWorks

sinqEPICSApp/src/pmacController.h

@@ -165,6 +165,7 @@ class SeleneController : public pmacController {
 };
 
 #define EnableAxisString "ENABLE_AXIS"
+#define AxisStateString "AXIS_STATE"
 
 class pmacV3Controller : public pmacController {
 public:
@@ -175,6 +176,9 @@ public:
   // overloaded because we want to enable/disable the motor
   asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
 
+  // overloaded because we want to read the axis state
+  asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
+  
   friend class pmacV3Axis;
   friend class pmacAxis;