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/NanotecDriver.cpp

@@ -1,15 +1,15 @@
 /*
 FILENAME... NanotecDriver.cpp
-USAGE...    Motor driver support for the Nanotec SMCI controllers
+USAGE...    Motor driver support for the Nanotec SMCI controllers 
             connected to a RS-485 bus.
 
-These motors sit on a bus. The address on the bus is a random number, not
-necessarily the motor number. These asyn motor drivers do not have access to
-the motor record. Thus it was impossible to pass the bus address through.
-The option was to create an axiliary record but this sucked too because the
-bus address a motor is an initialisation parameter and should not be visible
-in the EPICS database. Thus I choose to pass the bus address as a comma
-separated list to the motor controller constructor.
+These motors sit on a bus. The address on the bus is a random number, not 
+necessarily the motor number. These asyn motor drivers do not have access to 
+the motor record. Thus it was impossible to pass the bus address through. 
+The option was to create an axiliary record but this sucked too because the 
+bus address a motor is an initialisation parameter and should not be visible 
+in the EPICS database. Thus I choose to pass the bus address as a comma separated 
+list to the motor controller constructor.  
 
 Mark Koennecke
 July 2015
@@ -19,21 +19,22 @@ Modified to use the MsgTxt field for SINQ
 Mark Koennecke, January 2019
 */
 
-#include <ctype.h>
-#include <math.h>
+
 #include <stdio.h>
-#include <stdlib.h>
 #include <string.h>
+#include <stdlib.h>
+#include <math.h>
+#include <ctype.h>
 #include <time.h>
 
+#include <iocsh.h>
 #include <epicsThread.h>
 #include <errlog.h>
-#include <iocsh.h>
 
 #include <asynOctetSyncIO.h>
 
-#include "NanotecDriver.h"
 #include "stptok.h"
+#include "NanotecDriver.h"
 #include <epicsExport.h>
 
 #define IDLEPOLL 60
@@ -41,463 +42,464 @@ Mark Koennecke, January 2019
 #define ABS(x) (x < 0 ? -(x) : (x))
 
 /** Creates a new NanotecController object.
- * \param[in] portName          The name of the asyn port that will be created
- * for this driver
- * \param[in] NanotecPortName     The name of the drvAsynSerialPort that was
- * created previously to connect to the Nanotec controller
- */
-NanotecController::NanotecController(const char *portName,
-                                     const char *NanotecPortName, int motCount,
-                                     const char *bus)
-    : SINQController(portName, NanotecPortName, motCount + 1) {
-    int axis, busAddress;
-    asynStatus status;
-    NanotecAxis *pAxis;
-    static const char *functionName = "NanotecController::NanotecController";
-    char *pPtr, busNoString[20];
+  * \param[in] portName          The name of the asyn port that will be created for this driver
+  * \param[in] NanotecPortName     The name of the drvAsynSerialPort that was created previously to connect to the Nanotec controller 
+  */
+NanotecController::NanotecController(const char *portName, const char *NanotecPortName, int motCount, const char *bus)
+  :  SINQController(portName, NanotecPortName, motCount+1)  
+{
+  int axis, busAddress;
+  asynStatus status;
+  NanotecAxis *pAxis;
+  static const char *functionName = "NanotecController::NanotecController";
+  char *pPtr, busNoString[20];
 
-    /* Connect to Nanotec controller */
-    status = pasynOctetSyncIO->connect(NanotecPortName, 0,
-                                       &pasynUserController_, NULL);
-    if (status) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s: cannot connect to Nanotec controller\n", functionName);
-    }
-    pasynOctetSyncIO->setOutputEos(pasynUserController_, "\r", strlen("\r"));
-    pasynOctetSyncIO->setInputEos(pasynUserController_, "\r", strlen("\r"));
 
-    axis = 1;
-    pPtr = (char *)bus;
-    while ((pPtr = stptok(pPtr, busNoString, sizeof(busNoString), ",")) !=
-           NULL) {
-        busAddress = atoi(busNoString);
-        pAxis = new NanotecAxis(this, axis, busAddress);
-        errlogPrintf("Axis %d, busAddress = %d\n", axis, busAddress);
-        axis++;
-    }
+  /* Connect to Nanotec controller */
+  status = pasynOctetSyncIO->connect(NanotecPortName, 0, &pasynUserController_, NULL);
+  if (status) {
+    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, 
+      "%s: cannot connect to Nanotec controller\n",
+      functionName);
+  }
+  pasynOctetSyncIO->setOutputEos(pasynUserController_,"\r",strlen("\r"));
+  pasynOctetSyncIO->setInputEos(pasynUserController_,"\r",strlen("\r"));
 
-    startPoller(1000. / 1000., IDLEPOLL, 2);
+  axis = 1;
+  pPtr = (char *)bus;
+  while((pPtr = stptok(pPtr,busNoString,sizeof(busNoString),",")) != NULL){
+    busAddress = atoi(busNoString);
+    pAxis = new NanotecAxis(this, axis,busAddress);
+    errlogPrintf("Axis %d, busAddress = %d\n", axis, busAddress);
+    axis++;
+  }
+
+  startPoller(1000./1000., IDLEPOLL, 2);
 }
 
+
 /** Creates a new NanotecController object.
- * Configuration command, called directly or from iocsh
- * \param[in] portName          The name of the asyn port that will be created
- * for this driver
- * \param[in] NanotecPortName       The name of the drvAsynIPPPort that was
- * created previously to connect to the Nanotec controller
- */
-extern "C" int NanotecCreateController(const char *portName,
-                                       const char *NanotecPortName, int numMot,
-                                       const char *busAddresses) {
-    NanotecController *pNanotecController =
-        new NanotecController(portName, NanotecPortName, numMot, busAddresses);
-    pNanotecController = NULL;
-    return (asynSuccess);
+  * Configuration command, called directly or from iocsh
+  * \param[in] portName          The name of the asyn port that will be created for this driver
+  * \param[in] NanotecPortName       The name of the drvAsynIPPPort that was created previously to connect to the Nanotec controller 
+  */
+extern "C" int NanotecCreateController(const char *portName, const char *NanotecPortName, int numMot, const char *busAddresses)
+{
+  NanotecController *pNanotecController
+    = new NanotecController(portName, NanotecPortName,numMot,busAddresses);
+  pNanotecController = NULL;
+  return(asynSuccess);
 }
 
 /** Reports on status of the driver
- * \param[in] fp The file pointer on which report information will be written
- * \param[in] level The level of report detail desired
- *
- * If details > 0 then information is printed about each axis.
- * After printing controller-specific information it calls
- * asynMotorController::report()
- */
-void NanotecController::report(FILE *fp, int level) {
-    fprintf(fp, "Nanotec motor driver %s, numAxes=%d\n", this->portName,
-            numAxes_);
+  * \param[in] fp The file pointer on which report information will be written
+  * \param[in] level The level of report detail desired
+  *
+  * If details > 0 then information is printed about each axis.
+  * After printing controller-specific information it calls asynMotorController::report()
+  */
+void NanotecController::report(FILE *fp, int level)
+{
+  fprintf(fp, "Nanotec motor driver %s, numAxes=%d\n", 
+    this->portName, numAxes_);
 
-    // Call the base class method
-    asynMotorController::report(fp, level);
+  // Call the base class method
+  asynMotorController::report(fp, level);
 }
 
 /** Returns a pointer to an NanotecAxis object.
- * Returns NULL if the axis number encoded in pasynUser is invalid.
- * \param[in] pasynUser asynUser structure that encodes the axis index number.
- */
-NanotecAxis *NanotecController::getAxis(asynUser *pasynUser) {
-    return static_cast<NanotecAxis *>(asynMotorController::getAxis(pasynUser));
+  * Returns NULL if the axis number encoded in pasynUser is invalid.
+  * \param[in] pasynUser asynUser structure that encodes the axis index number. */
+NanotecAxis* NanotecController::getAxis(asynUser *pasynUser)
+{
+  return static_cast<NanotecAxis*>(asynMotorController::getAxis(pasynUser));
 }
 
 /** Returns a pointer to an NanotecAxis object.
- * Returns NULL if the axis number encoded in pasynUser is invalid.
- * \param[in] axisNo Axis index number. */
-NanotecAxis *NanotecController::getAxis(int axisNo) {
-    return static_cast<NanotecAxis *>(asynMotorController::getAxis(axisNo));
+  * Returns NULL if the axis number encoded in pasynUser is invalid.
+  * \param[in] axisNo Axis index number. */
+NanotecAxis* NanotecController::getAxis(int axisNo)
+{
+  return static_cast<NanotecAxis*>(asynMotorController::getAxis(axisNo));
 }
 
+
+
 // These are the NanotecAxis methods
 
 /** Creates a new NanotecAxis object.
- * \param[in] pC Pointer to the NanotecController to which this axis belongs.
- * \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
- *
- * Initializes register numbers, etc.
- */
+  * \param[in] pC Pointer to the NanotecController to which this axis belongs. 
+  * \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
+  * 
+  * Initializes register numbers, etc.
+  */
 NanotecAxis::NanotecAxis(NanotecController *pC, int axisNo, int busAddress)
-    : SINQAxis(pC, axisNo), pC_(pC) {
-    this->busAddress = busAddress;
-    next_poll = -1;
+  : SINQAxis(pC, axisNo),
+    pC_(pC)
+{  
+  this->busAddress = busAddress;
+  next_poll = -1;
 }
 
+
+
 /** Reports on status of the axis
- * \param[in] fp The file pointer on which report information will be written
- * \param[in] level The level of report detail desired
- *
- * After printing device-specific information calls asynMotorAxis::report()
- */
-void NanotecAxis::report(FILE *fp, int level) {
-    if (level > 0) {
-        fprintf(fp, "  axis %d\n", axisNo_);
-    }
+  * \param[in] fp The file pointer on which report information will be written
+  * \param[in] level The level of report detail desired
+  *
+  * After printing device-specific information calls asynMotorAxis::report()
+  */
+void NanotecAxis::report(FILE *fp, int level)
+{
+  if (level > 0) {
+    fprintf(fp, "  axis %d\n",
+            axisNo_);
+  }
 
-    // Call the base class method
-    // asynMotorAxis::report(fp, level);
+  // Call the base class method
+  //asynMotorAxis::report(fp, level);
 }
 
-asynStatus NanotecController::transactController(int axisNo,
-                                                 char command[COMLEN],
-                                                 char reply[COMLEN]) {
-    asynStatus status;
-    size_t in, out;
-    int reason;
-    SINQAxis *axis = getAxis(axisNo);
+asynStatus NanotecController::transactController(int axisNo, char command[COMLEN], char reply[COMLEN])
+{
+  asynStatus status;
+  size_t in, out;
+  int reason;
+  SINQAxis *axis = getAxis(axisNo);
 
-    pasynOctetSyncIO->flush(pasynUserController_);
-
-    status = pasynOctetSyncIO->writeRead(pasynUserController_, command,
-                                         strlen(command), reply, COMLEN, 1.,
-                                         &out, &in, &reason);
-    if (status != asynSuccess) {
-        if (axis != NULL) {
-            axis->updateMsgTxtFromDriver("Lost connection to motor controller");
-        }
-        return status;
+  pasynOctetSyncIO->flush(pasynUserController_);
+  
+  status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
+				       reply,COMLEN, 1.,&out,&in,&reason); 
+  if(status != asynSuccess){
+    if(axis != NULL){
+      axis->updateMsgTxtFromDriver("Lost connection to motor controller");
     }
-
-    /*
-      check for Nanotec errors
-    */
-    if (strstr(reply, "?") != NULL) {
-        errlogSevPrintf(errlogMajor, "Bad command %s", command);
-        return asynError;
-    }
-
-    if (strlen(reply) < 1) {
-        errlogSevPrintf(errlogMajor, "No reply received for  %s", command);
-        return asynError;
-    }
-
     return status;
+  }
+
+  /*
+    check for Nanotec errors
+  */
+  if(strstr(reply,"?") != NULL){
+    errlogSevPrintf(errlogMajor, "Bad command %s", command);
+    return asynError;
+  }
+
+  if(strlen(reply) < 1) {
+    errlogSevPrintf(errlogMajor, "No reply received for  %s", command);
+    return asynError;
+  }
+
+  return status;
 }
 
-asynStatus NanotecAxis::move(double position, int relative, double minVelocity,
-                             double maxVelocity, double acceleration) {
-    asynStatus status;
-    // static const char *functionName = "NanotecAxis::move";
-    char command[COMLEN], reply[COMLEN];
-    size_t in, out;
-    int reason;
+asynStatus NanotecAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
+{
+  asynStatus status;
+  //static const char *functionName = "NanotecAxis::move";
+  char command[COMLEN], reply[COMLEN];
+  size_t in, out;
+  int reason;
 
-    updateMsgTxtFromDriver("");
+  updateMsgTxtFromDriver("");
 
-    // status = sendAccelAndVelocity(acceleration, maxVelocity);
+  // status = sendAccelAndVelocity(acceleration, maxVelocity);
+  
+  if (relative) {
+    position += this->position;
+  }
 
-    if (relative) {
-        position += this->position;
-    }
+  homing = 0;
+  setIntegerParam(pC_->motorStatusAtHome_, false);
+  setIntegerParam(pC_->motorStatusHighLimit_, false);
+  setIntegerParam(pC_->motorStatusLowLimit_, false);
 
-    homing = 0;
-    setIntegerParam(pC_->motorStatusAtHome_, false);
-    setIntegerParam(pC_->motorStatusHighLimit_, false);
-    setIntegerParam(pC_->motorStatusLowLimit_, false);
-
-    /*
-      set mode
-    */
-    snprintf(command, sizeof(command), "#%dp2", busAddress);
-    status = pC_->transactController(axisNo_, command, reply);
-    if (status != asynSuccess) {
-        return status;
-    }
-
-    /*
-      set target
-    */
-    snprintf(command, sizeof(command), "#%ds%d", busAddress, (int)position);
-    status = pC_->transactController(axisNo_, command, reply);
-    if (status != asynSuccess) {
-        return status;
-    }
-
-    /*
-      and start..
-    */
-    snprintf(command, sizeof(command), "#%dA", busAddress);
-    status = pC_->transactController(axisNo_, command, reply);
-    if (status != asynSuccess) {
-        return status;
-    }
-
-    next_poll = -1;
+  /*
+    set mode
+  */
+  snprintf(command,sizeof(command),"#%dp2",busAddress);
+  status = pC_->transactController(axisNo_,command,reply);
+  if(status != asynSuccess){
     return status;
-}
-
-asynStatus NanotecAxis::home(double minVelocity, double maxVelocity,
-                             double acceleration, int forwards) {
-    asynStatus status;
-    // static const char *functionName = "NanotecAxis::home";
-    char command[COMLEN], reply[COMLEN];
-
-    setIntegerParam(pC_->motorStatusAtHome_, false);
-
-    updateMsgTxtFromDriver("");
-
-    /*
-      reset positioning errors
-    */
-    snprintf(command, sizeof(command), "#%dD", busAddress);
-    status = pC_->transactController(axisNo_, command, reply);
-    if (status != asynSuccess) {
-        return status;
-    }
-
-    /*
-       set mode
-     */
-    snprintf(command, sizeof(command), "#%dp4", busAddress);
-    status = pC_->transactController(axisNo_, command, reply);
-    if (status != asynSuccess) {
-        return status;
-    }
-
-    /*
-      set direction
-    */
-    snprintf(command, sizeof(command), "#%dd0", busAddress);
-    status = pC_->transactController(axisNo_, command, reply);
-    if (status != asynSuccess) {
-        return status;
-    }
-
-    /*
-      and start..
-    */
-    snprintf(command, sizeof(command), "#%dA", busAddress);
-    status = pC_->transactController(axisNo_, command, reply);
-    if (status != asynSuccess) {
-        return status;
-    }
-
-    homing = 1;
-    next_poll = -1;
+  }
+  
+  /*
+    set target
+  */
+  snprintf(command,sizeof(command),"#%ds%d",busAddress, (int)position);
+  status = pC_->transactController(axisNo_,command,reply);
+  if(status != asynSuccess){
     return status;
+  }
+  
+  /*
+    and start..
+  */
+  snprintf(command,sizeof(command),"#%dA",busAddress);
+  status = pC_->transactController(axisNo_,command,reply);
+  if(status != asynSuccess){
+    return status;
+  }
+
+  next_poll = -1;
+  return status;
 }
 
-asynStatus NanotecAxis::moveVelocity(double minVelocity, double maxVelocity,
-                                     double acceleration) {
-    asynStatus status;
-    // static const char *functionName = "NanotecAxis::moveVelocity";
+asynStatus NanotecAxis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
+{
+  asynStatus status;
+  //static const char *functionName = "NanotecAxis::home";
+  char command[COMLEN], reply[COMLEN];
+
+  setIntegerParam(pC_->motorStatusAtHome_, false);
+
+  updateMsgTxtFromDriver("");
+
+  /*
+    reset positioning errors
+  */
+  snprintf(command,sizeof(command),"#%dD",busAddress);
+  status = pC_->transactController(axisNo_,command,reply);
+  if(status != asynSuccess){
+    return status;
+  }
+ 
+ /*
+    set mode
+  */
+  snprintf(command,sizeof(command),"#%dp4",busAddress);
+  status = pC_->transactController(axisNo_,command,reply);
+  if(status != asynSuccess){
+    return status;
+  }
+  
+
+  /*
+    set direction
+  */
+  snprintf(command,sizeof(command),"#%dd0",busAddress);
+  status = pC_->transactController(axisNo_,command,reply);
+  if(status != asynSuccess){
+    return status;
+  }
+  
+
+  /*
+    and start..
+  */
+  snprintf(command,sizeof(command),"#%dA",busAddress);
+  status = pC_->transactController(axisNo_,command,reply);
+  if(status != asynSuccess){
+    return status;
+  }
+
+
+  homing = 1;
+  next_poll= -1;
+  return status;
+}
+
+asynStatus NanotecAxis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
+{
+  asynStatus status;
+  //static const char *functionName = "NanotecAxis::moveVelocity";
     double target;
 
-    // asynPrint(pasynUser_, ASYN_TRACE_FLOW,
-    //   "%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
-    //   functionName, minVelocity, maxVelocity, acceleration);
+  // asynPrint(pasynUser_, ASYN_TRACE_FLOW,
+  //   "%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
+  //   functionName, minVelocity, maxVelocity, acceleration);
+    
+  updateMsgTxtFromDriver("");
 
-    updateMsgTxtFromDriver("");
 
-    if (maxVelocity > 0.) {
-        /* This is a positive move */
-        pC_->getDoubleParam(axisNo_, pC_->motorHighLimit_, &target);
-    } else {
-        /* This is a negative move  */
-        pC_->getDoubleParam(axisNo_, pC_->motorLowLimit_, &target);
-    }
+  if (maxVelocity > 0.) {
+    /* This is a positive move */
+    pC_->getDoubleParam(axisNo_,pC_->motorHighLimit_,&target);
+  } else {
+      /* This is a negative move  */
+    pC_->getDoubleParam(axisNo_,pC_->motorLowLimit_,&target);
+  }
 
-    status = move(target, 0, 0, 0, 0);
+  status = move(target,0,0,0,0);
 
-    return status;
+  return status;
 }
 
-asynStatus NanotecAxis::stop(double acceleration) {
-    asynStatus status;
-    // static const char *functionName = "NanotecAxis::stop";
-    char command[COMLEN], reply[COMLEN];
+asynStatus NanotecAxis::stop(double acceleration )
+{
+  asynStatus status;
+  //static const char *functionName = "NanotecAxis::stop";
+  char command[COMLEN], reply[COMLEN];
 
-    sprintf(command, "#%dS1", busAddress);
-    status = pC_->transactController(axisNo_, command, reply);
-    errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
+  sprintf(command, "#%dS1", busAddress);
+  status = pC_->transactController(axisNo_,command,reply);
+  errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
 
-    return status;
+  return status;
 }
 
-asynStatus NanotecAxis::setPosition(double position) {
-    asynStatus status;
-    // static const char *functionName = "NanotecAxis::setPosition";
-    char command[COMLEN], reply[COMLEN];
+asynStatus NanotecAxis::setPosition(double position)
+{
+  asynStatus status;
+  //static const char *functionName = "NanotecAxis::setPosition";
+  char command[COMLEN], reply[COMLEN];
 
-    updateMsgTxtFromDriver("");
+  updateMsgTxtFromDriver("");
 
-    sprintf(command, "#%dD%d", busAddress, (int)position);
-    status = pC_->transactController(axisNo_, command, reply);
-    next_poll = -1;
+  sprintf(command, "#%dD%d", busAddress, (int)position);
+  status = pC_->transactController(axisNo_,command,reply);
+  next_poll = -1;
 
-    return status;
+  return status;
 }
 
-asynStatus NanotecAxis::setClosedLoop(bool closedLoop) {
-    // static const char *functionName = "NanotecAxis::setClosedLoop";
+asynStatus NanotecAxis::setClosedLoop(bool closedLoop)
+{
+  //static const char *functionName = "NanotecAxis::setClosedLoop";
+ 
+  /*
+    This belongs into the Kingdom of Electronics.
+    We do not do this.
+   */
 
-    /*
-      This belongs into the Kingdom of Electronics.
-      We do not do this.
-     */
-
-    return asynError;
+  return asynError;
 }
 
 /** Polls the axis.
- * This function reads the motor position, the limit status, the home status,
- * the moving status, and the drive power-on status. It calls setIntegerParam()
- * and setDoubleParam() for each item that it polls, and then calls
- * callParamCallbacks() at the end.
- * \param[out] moving A flag that is set indicating that the axis is moving
- * (true) or done (false). */
-asynStatus NanotecAxis::poll(bool *moving) {
-    asynStatus comStatus;
-    char command[COMLEN], reply[COMLEN];
-    char *pPtr;
-    int posVal, statVal, count = 0;
-    double lowLim, highLim;
+  * This function reads the motor position, the limit status, the home status, the moving status, 
+  * and the drive power-on status. 
+  * It calls setIntegerParam() and setDoubleParam() for each item that it polls,
+  * and then calls callParamCallbacks() at the end.
+  * \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
+asynStatus NanotecAxis::poll(bool *moving)
+{ 
+  asynStatus comStatus;
+  char command[COMLEN], reply[COMLEN];
+  char *pPtr; 
+  int posVal, statVal, count = 0;
+  double lowLim, highLim;
 
-    // protect against excessive polling
-    if (time(NULL) < next_poll) {
-        *moving = false;
-        return asynSuccess;
+
+  // protect against excessive polling
+  if(time(NULL) < next_poll){
+    *moving = false;
+    return asynSuccess;
+  }
+ 
+  // Read the current motor position
+  sprintf(command,"#%dC", busAddress);
+  comStatus = pC_->transactController(axisNo_,command,reply);
+  if(comStatus) goto skip;
+
+  pPtr = strchr(reply,'C');
+  if(pPtr){
+    pPtr++;
+    count = sscanf(pPtr,"%d", &posVal); 	  
+  } 
+  if(pPtr == NULL || count < 1) {
+    errlogPrintf("Invalid response %s for #C received for axis %d, address %d\n", reply, axisNo_, busAddress);
+    return asynError;
+  }
+
+  //errlogPrintf("Axis %d, reply %s, position %d\n", axisNo_, reply, posVal);
+  setDoubleParam(pC_->motorPosition_, (double)posVal);
+  //setDoubleParam(pC_->motorEncoderPosition_, position);
+  
+
+  // Read the moving status of this motor
+  sprintf(command,"#%d$",busAddress);
+  comStatus = pC_->transactController(axisNo_,command,reply);
+  if(comStatus) goto skip;
+
+  pPtr = strchr(reply,'$');
+  if(pPtr) {
+    pPtr++;
+    count = sscanf(pPtr, "%d", &statVal);	  
+  } 
+  if(pPtr == NULL || count < 1) {
+     errlogPrintf("Invalid response %s for #$ received for axis %d busAddress %d\n", reply, axisNo_, busAddress);
+     return asynError;
+  }        
+  //errlogPrintf("Axis %d, reply %s, statVal = %d\n", 
+  // 	       axisNo_, reply, statVal);
+
+  setIntegerParam(pC_->motorStatusDone_, false);
+  *moving = true;
+  pC_->getDoubleParam(axisNo_,pC_->motorLowLimit_,&lowLim);
+  pC_->getDoubleParam(axisNo_,pC_->motorHighLimit_,&highLim);
+
+  if(homing){
+    /*
+      code for homing 
+    */
+    switch(statVal) {
+    case 163:
+      setPosition(lowLim);
+      *moving = false;
+      setIntegerParam(pC_->motorStatusAtHome_, true);
+      setIntegerParam(pC_->motorStatusDone_, true);
+      break;
+    default :
+      if(statVal & 1) {
+	*moving = false;
+	setIntegerParam(pC_->motorStatusAtHome_, true);
+	setIntegerParam(pC_->motorStatusDone_, true);
+      }
+      break;
     }
+  } else {
+    /*
+      code for normal movement
+    */ 
+      if(statVal & 1) {
+	*moving = false;
+	setIntegerParam(pC_->motorStatusDone_, true);
+      } else if (statVal & 4) {
+	setIntegerParam(pC_->motorStatusDone_, true);
+	setIntegerParam(pC_->motorStatusProblem_, true);
+	errlogSevPrintf(errlogMajor, "Limit or other positioning problem at %d", axisNo_);
+	updateMsgTxtFromDriver("Positioning problem");
+	if(ABS(posVal - lowLim) < ABS(posVal - highLim)){
+	  setIntegerParam(pC_->motorStatusLowLimit_, true);
+	  updateMsgTxtFromDriver("Low Limit Hit");
+	} else {
+	  setIntegerParam(pC_->motorStatusHighLimit_, true);
+	  updateMsgTxtFromDriver("High Limit Hit");
+	}
+	*moving = false;
+      } 
+  }
 
-    // Read the current motor position
-    sprintf(command, "#%dC", busAddress);
-    comStatus = pC_->transactController(axisNo_, command, reply);
-    if (comStatus)
-        goto skip;
+  if(*moving == true){
+    next_poll = -1;
+  }
 
-    pPtr = strchr(reply, 'C');
-    if (pPtr) {
-        pPtr++;
-        count = sscanf(pPtr, "%d", &posVal);
-    }
-    if (pPtr == NULL || count < 1) {
-        errlogPrintf(
-            "Invalid response %s for #C received for axis %d, address %d\n",
-            reply, axisNo_, busAddress);
-        return asynError;
-    }
-
-    // errlogPrintf("Axis %d, reply %s, position %d\n", axisNo_, reply, posVal);
-    setDoubleParam(pC_->motorPosition_, (double)posVal);
-    // setDoubleParam(pC_->motorEncoderPosition_, position);
-
-    // Read the moving status of this motor
-    sprintf(command, "#%d$", busAddress);
-    comStatus = pC_->transactController(axisNo_, command, reply);
-    if (comStatus)
-        goto skip;
-
-    pPtr = strchr(reply, '$');
-    if (pPtr) {
-        pPtr++;
-        count = sscanf(pPtr, "%d", &statVal);
-    }
-    if (pPtr == NULL || count < 1) {
-        errlogPrintf(
-            "Invalid response %s for #$ received for axis %d busAddress %d\n",
-            reply, axisNo_, busAddress);
-        return asynError;
-    }
-    // errlogPrintf("Axis %d, reply %s, statVal = %d\n",
-    //  	       axisNo_, reply, statVal);
-
-    setIntegerParam(pC_->motorStatusDone_, false);
-    *moving = true;
-    pC_->getDoubleParam(axisNo_, pC_->motorLowLimit_, &lowLim);
-    pC_->getDoubleParam(axisNo_, pC_->motorHighLimit_, &highLim);
-
-    if (homing) {
-        /*
-          code for homing
-        */
-        switch (statVal) {
-        case 163:
-            setPosition(lowLim);
-            *moving = false;
-            setIntegerParam(pC_->motorStatusAtHome_, true);
-            setIntegerParam(pC_->motorStatusDone_, true);
-            break;
-        default:
-            if (statVal & 1) {
-                *moving = false;
-                setIntegerParam(pC_->motorStatusAtHome_, true);
-                setIntegerParam(pC_->motorStatusDone_, true);
-            }
-            break;
-        }
-    } else {
-        /*
-          code for normal movement
-        */
-        if (statVal & 1) {
-            *moving = false;
-            setIntegerParam(pC_->motorStatusDone_, true);
-        } else if (statVal & 4) {
-            setIntegerParam(pC_->motorStatusDone_, true);
-            setIntegerParam(pC_->motorStatusProblem_, true);
-            errlogSevPrintf(errlogMajor,
-                            "Limit or other positioning problem at %d",
-                            axisNo_);
-            updateMsgTxtFromDriver("Positioning problem");
-            if (ABS(posVal - lowLim) < ABS(posVal - highLim)) {
-                setIntegerParam(pC_->motorStatusLowLimit_, true);
-                updateMsgTxtFromDriver("Low Limit Hit");
-            } else {
-                setIntegerParam(pC_->motorStatusHighLimit_, true);
-                updateMsgTxtFromDriver("High Limit Hit");
-            }
-            *moving = false;
-        }
-    }
-
-    if (*moving == true) {
-        next_poll = -1;
-    }
-
-skip:
-    setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1 : 0);
-    callParamCallbacks();
-    return comStatus ? asynError : asynSuccess;
+  skip:
+  setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0);
+  callParamCallbacks();
+  return comStatus ? asynError : asynSuccess;
 }
 
 /** Code for iocsh registration */
-static const iocshArg NanotecCreateControllerArg0 = {"Port name",
-                                                     iocshArgString};
-static const iocshArg NanotecCreateControllerArg1 = {"Nanotec port name",
-                                                     iocshArgString};
-static const iocshArg NanotecCreateControllerArg2 = {"Number of axes",
-                                                     iocshArgInt};
-static const iocshArg NanotecCreateControllerArg3 = {
-    "Komma separated list of bus addresses", iocshArgString};
-static const iocshArg *const NanotecCreateControllerArgs[] = {
-    &NanotecCreateControllerArg0, &NanotecCreateControllerArg1,
-    &NanotecCreateControllerArg2, &NanotecCreateControllerArg3};
-static const iocshFuncDef NanotecCreateControllerDef = {
-    "NanotecCreateController", 4, NanotecCreateControllerArgs};
-static void NanotecCreateContollerCallFunc(const iocshArgBuf *args) {
-    NanotecCreateController(args[0].sval, args[1].sval, args[2].ival,
-                            args[3].sval);
+static const iocshArg NanotecCreateControllerArg0 = {"Port name", iocshArgString};
+static const iocshArg NanotecCreateControllerArg1 = {"Nanotec port name", iocshArgString};
+static const iocshArg NanotecCreateControllerArg2 = {"Number of axes", iocshArgInt};
+static const iocshArg NanotecCreateControllerArg3 = {"Komma separated list of bus addresses", iocshArgString};
+static const iocshArg * const NanotecCreateControllerArgs[] = {&NanotecCreateControllerArg0,
+							       &NanotecCreateControllerArg1,
+							       &NanotecCreateControllerArg2,
+							       &NanotecCreateControllerArg3
+                                                              };
+static const iocshFuncDef NanotecCreateControllerDef = {"NanotecCreateController", 4, NanotecCreateControllerArgs};
+static void NanotecCreateContollerCallFunc(const iocshArgBuf *args)
+{
+  NanotecCreateController(args[0].sval, args[1].sval, args[2].ival,args[3].sval);
 }
 
-static void NanotecRegister(void) {
-    iocshRegister(&NanotecCreateControllerDef, NanotecCreateContollerCallFunc);
+static void NanotecRegister(void)
+{
+  iocshRegister(&NanotecCreateControllerDef, NanotecCreateContollerCallFunc);
 }
 
 extern "C" {

sinqEPICSApp/src/NanotecDriver.h

@@ -10,54 +10,51 @@ Modified to use the MsgTxt field for SINQ
 Mark Koennecke, January 2019
 */
 
-#include "SINQAxis.h"
 #include "SINQController.h"
+#include "SINQAxis.h"
 
 #define COMLEN 80
 #define MAXMOT 99
 
-class NanotecAxis : public SINQAxis {
-  public:
-    /* These are the methods we override from the base class */
-    NanotecAxis(class NanotecController *pC, int axis, int busAddress);
-    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);
-    asynStatus home(double min_velocity, double max_velocity,
-                    double acceleration, int forwards);
-    asynStatus stop(double acceleration);
-    asynStatus poll(bool *moving);
-    asynStatus setPosition(double position);
-    asynStatus setClosedLoop(bool closedLoop);
+class NanotecAxis : public SINQAxis
+{
+public:
+  /* These are the methods we override from the base class */
+  NanotecAxis(class NanotecController *pC, int axis, int busAddress);
+  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);
+  asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
+  asynStatus stop(double acceleration);
+  asynStatus poll(bool *moving);
+  asynStatus setPosition(double position);
+  asynStatus setClosedLoop(bool closedLoop);
 
-  private:
-    NanotecController
-        *pC_; /**< Pointer to the asynMotorController to which this axis
-               * belongs. Abbreviated because it is used very frequently */
-    double position;
-    int homing;
-    time_t next_poll;
-    int busAddress;
-
-    friend class NanotecController;
+private:
+  NanotecController *pC_;          /**< Pointer to the asynMotorController to which this axis belongs.
+                                   *   Abbreviated because it is used very frequently */
+  double position;
+  int homing;
+  time_t next_poll;
+  int busAddress;
+  
+friend class NanotecController;
 };
 
 class NanotecController : public SINQController {
-  public:
-    NanotecController(const char *portName, const char *NanotecPortName,
-                      int numMot, const char *busAddresses);
+public:
+  NanotecController(const char *portName, const char *NanotecPortName, int numMot, const char *busAddresses);
 
-    void report(FILE *fp, int level);
-    NanotecAxis *getAxis(asynUser *pasynUser);
-    NanotecAxis *getAxis(int axisNo);
+  void report(FILE *fp, int level);
+  NanotecAxis* getAxis(asynUser *pasynUser);
+  NanotecAxis* getAxis(int axisNo);
+
+friend class NanotecAxis;
+ private:
+ asynUser *pasynUserController_;
+
+ asynStatus transactController(int axisNo, char command[COMLEN], char reply[COMLEN]);
 
-    friend class NanotecAxis;
 
-  private:
-    asynUser *pasynUserController_;
 
-    asynStatus transactController(int axisNo, char command[COMLEN],
-                                  char reply[COMLEN]);
 };

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);