Renamed from pmacV3 to turboPmac

src/turboPmacAxis.h

@@ -0,0 +1,120 @@
+#ifndef turboPmacAXIS_H
+#define turboPmacAXIS_H
+#include "sinqAxis.h"
+
+// Forward declaration of the controller class to resolve the cyclic dependency
+// between C804Controller.h and C804Axis.h. See
+// https://en.cppreference.com/w/cpp/language/class.
+class turboPmacController;
+
+class turboPmacAxis : public sinqAxis {
+  public:
+    /**
+     * @brief Construct a new turboPmacAxis
+     *
+     * @param pController         Pointer to the associated controller
+     * @param axisNo              Index of the axis
+     */
+    turboPmacAxis(turboPmacController *pController, int axisNo);
+
+    /**
+     * @brief Destroy the turboPmacAxis
+     *
+     */
+    virtual ~turboPmacAxis();
+
+    /**
+     * @brief Implementation of the `stop` function from asynMotorAxis
+     *
+     * @param acceleration        Acceleration ACCEL from the motor record. This
+     * value is currently not used.
+     * @return asynStatus
+     */
+    asynStatus stop(double acceleration);
+
+    /**
+     * @brief Implementation of the `doHome` function from sinqAxis. The
+     * parameters are described in the documentation of `sinqAxis::doHome`.
+     *
+     * @param minVelocity
+     * @param maxVelocity
+     * @param acceleration
+     * @param forwards
+     * @return asynStatus
+     */
+    asynStatus doHome(double minVelocity, double maxVelocity,
+                      double acceleration, int forwards);
+
+    /**
+     * @brief Implementation of the `doPoll` function from sinqAxis. The
+     * parameters are described in the documentation of `sinqAxis::doPoll`.
+     *
+     * @param moving
+     * @return asynStatus
+     */
+    asynStatus doPoll(bool *moving);
+
+    /**
+     * @brief Implementation of the `doMove` function from sinqAxis. The
+     * parameters are described in the documentation of `sinqAxis::doMove`.
+     *
+     * @param position
+     * @param relative
+     * @param min_velocity
+     * @param max_velocity
+     * @param acceleration
+     * @return asynStatus
+     */
+    asynStatus doMove(double position, int relative, double min_velocity,
+                      double max_velocity, double acceleration);
+
+    /**
+     * @brief Implementation of the `atFirstPoll` function from sinqAxis.
+     *
+     * The following steps are performed:
+     * - Read out the motor status, motor position, velocity and acceleration
+     * from the MCU and store this information in the parameter library.
+     * - Set the enable PV accordint to the initial status of the axis.
+     *
+     * @return asynStatus
+     */
+    asynStatus atFirstPoll();
+
+    /**
+     * @brief Enable / disable the axis.
+     *
+     * @param on
+     * @return asynStatus
+     */
+    asynStatus enable(bool on);
+
+    /**
+     * @brief Read the encoder type (incremental or absolute) for this axis from
+     * the MCU and store the information in the PV ENCODER_TYPE.
+     *
+     * @return asynStatus
+     */
+    asynStatus readEncoderType();
+
+    /**
+     * @brief Trigger a rereading of the encoder position.
+     *
+     * @return asynStatus
+     */
+    asynStatus rereadEncoder();
+
+  protected:
+    turboPmacController *pC_;
+
+    bool initial_poll_;
+    bool waitForHandshake_;
+    time_t timeAtHandshake_;
+
+    // The axis status is used when enabling / disabling the motor
+    int axisStatus_;
+
+  private:
+    friend class turboPmacController;
+};
+
+#endif