motion/ecmc_plugin_safety
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Add template. add asyn params

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This commit is contained in:
sandst_a
2024-02-19 16:34:16 +01:00
parent bf568e4329
commit 7296de5590
8 changed files with 124 additions and 405 deletions
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162
src/ecmcSS1SafetyGroup.cpp
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@@ -62,7 +62,8 @@ ecmcSS1SafetyGroup::ecmcSS1SafetyGroup(const char *name,
sEcAxesStandStillStatStrip_ = strdup(ec_standstill_status);
sConfig_ = strdup(cfg_string);
delayMs_ = time_delay_ms;
status_ = 0;
memset(&status_,0,sizeof(status_));
ptrStatus_ = (int*)&status_;
asynStatusId_ = -1;
axesCounter_ = 0;
ecmcSampleRateHz_ = getEcmcSampleRate();
@@ -273,16 +274,31 @@ void ecmcSS1SafetyGroup::connectToDataSources() {
//dataSourcesLinked_ = 1;
}
void ecmcSS1SafetyGroup::refreshAsyn() {
setIntegerParam(asynStatusId_, (epicsInt32)*ptrStatus_);
callParamCallbacks();
}
asynStatus ecmcSS1SafetyGroup::readInt32(asynUser *pasynUser, epicsInt32 *value) {
int function = pasynUser->reason;
if( function == asynStatusId_ ) {
*value = (epicsInt32)*ptrStatus_;
return asynSuccess;
}
return asynError;
}
void ecmcSS1SafetyGroup::initAsyn() {
// Add motion "plugin.motion%d.status"
std::string paramName = ECMC_PLUGIN_ASYN_PREFIX "_" + to_string(objectId_) +
// Add motion "plugin.safety.ss1.<grp_name>.status"
std::string paramName = ECMC_PLUGIN_ASYN_PREFIX "." ECMC_PLUGIN_ASYN_SS1 "." + std::string(sName_) +
"." + ECMC_PLUGIN_ASYN_SAFETY_STAT;
int *paramId = &asynStatusId_;
if( createParam(0, paramName.c_str(), asynParamInt32, paramId ) != asynSuccess ) {
throw std::runtime_error("Safety: Failed create asyn parameter mode");
}
setIntegerParam(*paramId, (epicsInt32)status_);
setIntegerParam(asynStatusId_, (epicsInt32)*ptrStatus_);
// Update integers
callParamCallbacks();
@@ -313,6 +329,11 @@ void ecmcSS1SafetyGroup::execute() {
rampDownCmd_ = data == 0;
if(rampDownCmdOld_ != rampDownCmd_) {
// Update asyn status wd
status_.rampDownCmdActive = rampDownCmd_;
refreshAsyn();
resetPrintoutStatus();
if(cfgDbgMode_) {
if(rampDownCmd_) {
@@ -351,6 +372,10 @@ void ecmcSS1SafetyGroup::setAxesStandstillStatus(int standstill) {
} else {
printf("Safety %s: Axes are moving\n",sName_);
}
// Update asyn status wd
status_.axesAtStandstill = standstill;
refreshAsyn();
}
if(ecEntryStandstill_->writeBit(bitStandStill_,
@@ -426,16 +451,6 @@ void ecmcSS1SafetyGroup::setAxesSafetyInterlocks(int stop) {
}
}
asynStatus ecmcSS1SafetyGroup::readInt32(asynUser *pasynUser, epicsInt32 *value) {
int function = pasynUser->reason;
if( function == asynStatusId_ ){
*value = (epicsInt32)status_;
return asynSuccess;
}
return asynError;
}
void ecmcSS1SafetyGroup::addAxis(int axisId, double veloLimit,int standStillTimeMs) {
if(!getAxisValid(axisId)) {
@@ -456,122 +471,3 @@ void ecmcSS1SafetyGroup::addAxis(int axisId, double veloLimit,int standStillTime
std::string ecmcSS1SafetyGroup::getName() {
return sName_;
}
uint8_t ecmcSS1SafetyGroup::getUint8(uint8_t* data) {
return *data;
}
int8_t ecmcSS1SafetyGroup::getInt8(uint8_t* data) {
int8_t* p=(int8_t*)data;
return *p;
}
uint16_t ecmcSS1SafetyGroup::getUint16(uint8_t* data) {
uint16_t* p=(uint16_t*)data;
return *p;
}
int16_t ecmcSS1SafetyGroup::getInt16(uint8_t* data) {
int16_t* p=(int16_t*)data;
return *p;
}
uint32_t ecmcSS1SafetyGroup::getUint32(uint8_t* data) {
uint32_t* p=(uint32_t*)data;
return *p;
}
int32_t ecmcSS1SafetyGroup::getInt32(uint8_t* data) {
int32_t* p=(int32_t*)data;
return *p;
}
uint64_t ecmcSS1SafetyGroup::getUint64(uint8_t* data) {
uint64_t* p=(uint64_t*)data;
return *p;
}
int64_t ecmcSS1SafetyGroup::getInt64(uint8_t* data) {
int64_t* p=(int64_t*)data;
return *p;
}
float ecmcSS1SafetyGroup::getFloat32(uint8_t* data) {
float* p=(float*)data;
return *p;
}
double ecmcSS1SafetyGroup::getFloat64(uint8_t* data) {
double* p=(double*)data;
return *p;
}
size_t ecmcSS1SafetyGroup::getEcDataTypeByteSize(ecmcEcDataType dt){
switch(dt) {
case ECMC_EC_NONE:
return 0;
break;
case ECMC_EC_B1:
return 1;
break;
case ECMC_EC_B2:
return 1;
break;
case ECMC_EC_B3:
return 1;
break;
case ECMC_EC_B4:
return 1;
break;
case ECMC_EC_U8:
return 1;
break;
case ECMC_EC_S8:
return 1;
break;
case ECMC_EC_U16:
return 2;
break;
case ECMC_EC_S16:
return 2;
break;
case ECMC_EC_U32:
return 4;
break;
case ECMC_EC_S32:
return 4;
break;
case ECMC_EC_U64:
return 8;
break;
case ECMC_EC_S64:
return 8;
break;
case ECMC_EC_F32:
return 4;
break;
case ECMC_EC_F64:
return 8;
break;
default:
return 0;
break;
}
return 0;
}