Remove problematic parts, introduce ignore limits

Remove writing of epics limits to position after homing
Remove writing of the encoder register in set position, this seems
conceptually very wrong to do.
Introudce an argument to ignore limits in the poll, for example to acoid
weird behavior for rotational stages

sinqEPICSApp/src/PhytronDriver.cpp

@@ -48,7 +48,7 @@ January 2019
 #include "PhytronDriver.h"
 #include <epicsExport.h>
 
-#define IDLEPOLL 60
+#define IDLEPOLL 5
 
 /** Creates a new PhytronController object.
   * \param[in] portName          The name of the asyn port that will be created for this driver
@@ -56,7 +56,7 @@ January 2019
   * \param[in] numAxes           The number of axes that this controller supports 
   */
 PhytronController::PhytronController(const char *portName, const char *PhytronPortName, const char *sel ,
-				     int encX, int encY)
+				     int encX, int encY, int ignoreLimitsX, int ignoreLimitsY)
   :  SINQController(portName, PhytronPortName,2) 
 {
   asynStatus status;
@@ -82,8 +82,8 @@ PhytronController::PhytronController(const char *portName, const char *PhytronPo
       new PhytronDoseAxis(this, 1, encX);
       new PhytronDoseAxis(this, 2, encY);
   } else {
-     new PhytronAxis(this, 1, encX);
-     new PhytronAxis(this, 2, encY);
+     new PhytronAxis(this, 1, encX, ignoreLimitsX);
+     new PhytronAxis(this, 2, encY, ignoreLimitsY);
  }
 
 
@@ -92,7 +92,7 @@ PhytronController::PhytronController(const char *portName, const char *PhytronPo
 
 PhytronDoseController::PhytronDoseController(const char *portName, const char *PhytronPortName, const char *sel ,
 				     int encX, int encY)
-  :  PhytronController(portName, PhytronPortName, sel, encX, encY) 
+  :  PhytronController(portName, PhytronPortName, sel, encX, encY, 0, 0) 
 {
   new PhytronDoseAxis(this, 1, encX);
   new PhytronDoseAxis(this, 2, encY);
@@ -106,9 +106,9 @@ PhytronDoseController::PhytronDoseController(const char *portName, const char *P
   * \param[in] numAxes           The number of axes that this controller supports 
   */
 extern "C" int PhytronCreateController(const char *portName, const char *PhytronPortName, const char *selector,
-				       int encX, int encY)
+				       int encX, int encY, int ignoreLimitsX, int ignoreLimitsY)
 {
-  new PhytronController(portName, PhytronPortName,selector, encX, encY);
+  new PhytronController(portName, PhytronPortName,selector, encX, encY, ignoreLimitsX, ignoreLimitsY);
   return(asynSuccess);
 }
 
@@ -178,10 +178,10 @@ PhytronDoseAxis* PhytronDoseController::getAxis(int axisNo)
 
 asynStatus PhytronController::transactController(int axisNo,char command[COMLEN], char reply[COMLEN])
 {
-  asynStatus status;
-  size_t in, out;
-  int reason;
-  char myReply[COMLEN+10], myCommand[COMLEN+10], *pPtr;
+  asynStatus status = asynSuccess;
+  size_t in = 0, out = 0;
+  int reason = 0;
+  char myReply[COMLEN+10] = {0}, myCommand[COMLEN+10] = {0}, *pPtr = {0};
   SINQAxis *axis = getAxis(axisNo);
 
 
@@ -237,11 +237,12 @@ asynStatus PhytronController::transactController(int axisNo,char command[COMLEN]
   * 
   * Initializes register numbers, etc.
   */
-PhytronAxis::PhytronAxis(PhytronController *pC, int axisNo, int enc)
+PhytronAxis::PhytronAxis(PhytronController *pC, int axisNo, int enc, int ignoreLimits)
   : SINQAxis(pC, axisNo),
     pC_(pC)
 {  
   encoder = enc;
+  ignore_limits = ignoreLimits;
   if(axisNo == 1){
     phytronChar = 'X';
   } else {
@@ -436,8 +437,9 @@ asynStatus PhytronAxis::setPosition(double position)
 
   errlogPrintf("PhytronAxis::setPosition called with %lf\n", position);
 
-  sprintf(command, "%s%cP22S%f", pC_->selector,phytronChar, position/1000.);
-  status = pC_->transactController(axisNo_,command,reply);
+  // writing encoder register is wrong
+  //sprintf(command, "%s%cP22S%f", pC_->selector,phytronChar, position/1000.);
+  //status = pC_->transactController(axisNo_,command,reply);
   sprintf(command, "%s%cP20S%f", pC_->selector,phytronChar, position/1000.);
   status = pC_->transactController(axisNo_,command,reply);
   next_poll = -1;
@@ -467,8 +469,6 @@ asynStatus PhytronAxis::poll(bool *moving)
 { 
   asynStatus comStatus = asynSuccess;
   char command[COMLEN], reply[COMLEN];
-  double lowlim;
-
 
   // protect against excessive polling
   if(time(NULL) < next_poll){
@@ -538,13 +538,7 @@ asynStatus PhytronAxis::poll(bool *moving)
 
   if(!*moving) {
     if(homing){
-      if(homing_direction) {
-	    pC_->getDoubleParam(axisNo_,pC_->motorHighLimit_,&lowlim);
-      } else {
-	    pC_->getDoubleParam(axisNo_,pC_->motorLowLimit_,&lowlim);
-      } 
-      setPosition(lowlim);
-      setIntegerParam(pC_->motorStatusAtHome_, true);
+       setIntegerParam(pC_->motorStatusAtHome_, true);
     } else {
       /* 
 	 check limits and errors, upper
@@ -556,7 +550,7 @@ asynStatus PhytronAxis::poll(bool *moving)
 	updateMsgTxtFromDriver("No connection to phytron controller");
 	goto skip;
       }
-      if(strstr(reply,"ACKE") != NULL){
+    if(strstr(reply,"ACKE") != NULL && ignore_limits == 0){
 	setIntegerParam(pC_->motorStatusHighLimit_, true);
 	updateMsgTxtFromDriver("Hit High Limit");
 	comStatus = asynError;
@@ -575,7 +569,7 @@ asynStatus PhytronAxis::poll(bool *moving)
 	updateMsgTxtFromDriver("No connection to phytron controller");
 	goto skip;
       }
-      if(strstr(reply,"ACKE") != NULL){
+    if(strstr(reply,"ACKE") != NULL && ignore_limits == 0){
 	setIntegerParam(pC_->motorStatusLowLimit_, true);
 	updateMsgTxtFromDriver("Low Limit Hit");
 	comStatus = asynError;
@@ -616,7 +610,7 @@ asynStatus PhytronAxis::poll(bool *moving)
  */
 
 PhytronDoseAxis::PhytronDoseAxis(PhytronController *pC, int axisNo, int enc)
-  : PhytronAxis(pC, axisNo, enc)
+  : PhytronAxis(pC, axisNo, enc, 0)
 {  
   if(axisNo == 1){
     doseChar = '3';
@@ -720,15 +714,19 @@ static const iocshArg PhytronCreateControllerArg1 = {"Phytron port name", iocshA
 static const iocshArg PhytronCreateControllerArg2 = {"Phytron Selector", iocshArgString};
 static const iocshArg PhytronCreateControllerArg3 = {"EncoderX", iocshArgInt};
 static const iocshArg PhytronCreateControllerArg4 = {"EncoderY", iocshArgInt};
+static const iocshArg PhytronCreateControllerArg5 = {"IgnoreLimitsX", iocshArgInt};
+static const iocshArg PhytronCreateControllerArg6 = {"IgnoreLimitsY", iocshArgInt};
 static const iocshArg * const PhytronCreateControllerArgs[] = {&PhytronCreateControllerArg0,
                                                              &PhytronCreateControllerArg1,
-							       &PhytronCreateControllerArg2,
-							       &PhytronCreateControllerArg3,
-                                                             &PhytronCreateControllerArg4};
-static const iocshFuncDef PhytronCreateControllerDef = {"PhytronCreateController", 5, PhytronCreateControllerArgs};
+							                                 &PhytronCreateControllerArg2,
+							                                 &PhytronCreateControllerArg3,
+							                                 &PhytronCreateControllerArg4,
+							                                 &PhytronCreateControllerArg5,
+                                                             &PhytronCreateControllerArg6};
+static const iocshFuncDef PhytronCreateControllerDef = {"PhytronCreateController", 7, PhytronCreateControllerArgs};
 static void PhytronCreateContollerCallFunc(const iocshArgBuf *args)
 {
-  PhytronCreateController(args[0].sval, args[1].sval, args[2].sval, args[3].ival,args[4].ival);
+  PhytronCreateController(args[0].sval, args[1].sval, args[2].sval, args[3].ival,args[4].ival, args[5].ival, args[6].ival);
 }
 
 static const iocshArg PhytronDoseCreateControllerArg0 = {"Port name", iocshArgString};

sinqEPICSApp/src/PhytronDriver.h

@@ -30,7 +30,7 @@ class PhytronAxis : public SINQAxis
 {
 public:
   /* These are the methods we override from the base class */
-  PhytronAxis(class PhytronController *pC, int axis, int enc);
+  PhytronAxis(class PhytronController *pC, int axis, int enc, int ignoreLimits);
   void report(FILE *fp, int level);
   asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
   asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
@@ -50,6 +50,7 @@ protected:
   int homing_direction; /*1 forward, 0 backwards */
   time_t next_poll;
   int encoder;
+  int ignore_limits;
   int haveBrake;
   int brakeIO;
   
@@ -74,7 +75,7 @@ PhytronDoseController *pC_;
 class PhytronController : public SINQController {
 public:
   PhytronController(const char *portName, const char *PhytronPortName, const char *selector, 
-		    int encX, int encY);
+		    int encX, int encY, int ignoreLimitsX, int ignoreLimitsY);
 
   void report(FILE *fp, int level);
   PhytronAxis* getAxis(asynUser *pasynUser);