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Merge branch 'status' into dev

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This commit is contained in:
Daniel Sissom
2024-06-25 11:32:22 -05:00
parent a4012dda64 7b9f2870ca
commit a90eea829a
2 changed files with 68 additions and 12 deletions
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69
dsmApp/src/MD90Driver.cpp
View File

@@ -140,6 +140,37 @@ void MD90Axis::report(FILE *fp, int level)
asynMotorAxis::report(fp, level);
}
/** Print out message if the motor controller returns a non-zero error code
* \param[in] functionName The function originating the call
* \param[in] reply Reply message returned from motor controller
*/
asynStatus MD90Axis::parseReply(const char *functionName, const char *reply)
{
int replyStatus;
char replyString[256];
int replyValue;
asynStatus comStatus;
comStatus = asynSuccess;
if (reply[0] == '\0') {
comStatus = asynError;
replyStatus = -1;
} else if ( strcmp(reply, "Unrecognized command.") == 0 ) {
replyStatus = 6;
} else {
sscanf(reply, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
}
if (replyStatus != 0) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s: %s\n",
functionName, reply);
}
return comStatus;
}
/** Acceleration currently unsupported with MD-90 controller
* \param[in] acceleration The accelerations to ramp up to max velocity
* \param[in] velocity Motor velocity in steps / sec
@@ -148,7 +179,7 @@ asynStatus MD90Axis::sendAccelAndVelocity(double acceleration, double velocity)
{
asynStatus status;
int freq;
// static const char *functionName = "MD90::sendAccelAndVelocity";
static const char *functionName = "MD90::sendAccelAndVelocity";
// Send the velocity
// Velocity provided in steps/sec
@@ -157,6 +188,9 @@ asynStatus MD90Axis::sendAccelAndVelocity(double acceleration, double velocity)
freq = NINT(fabs(velocity / 500.));
sprintf(pC_->outString_, "SSF %d", freq);
status = pC_->writeReadController();
if (!status) {
status = parseReply(functionName, pC_->inString_);
}
return status;
}
@@ -165,7 +199,7 @@ asynStatus MD90Axis::sendAccelAndVelocity(double acceleration, double velocity)
asynStatus MD90Axis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
{
asynStatus status;
// static const char *functionName = "MD90Axis::move";
static const char *functionName = "MD90Axis::move";
status = sendAccelAndVelocity(acceleration, maxVelocity);
@@ -177,18 +211,24 @@ asynStatus MD90Axis::move(double position, int relative, double minVelocity, dou
sprintf(pC_->outString_, "CLM %d", NINT(position));
}
status = pC_->writeReadController();
if (!status) {
status = parseReply(functionName, pC_->inString_);
}
return status;
}
asynStatus MD90Axis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
{
asynStatus status;
// static const char *functionName = "MD90Axis::home";
static const char *functionName = "MD90Axis::home";
status = sendAccelAndVelocity(acceleration, maxVelocity);
sprintf(pC_->outString_, "HOM");
status = pC_->writeReadController();
if (!status) {
status = parseReply(functionName, pC_->inString_);
}
return status;
}
@@ -214,16 +254,22 @@ asynStatus MD90Axis::moveVelocity(double minVelocity, double maxVelocity, double
sprintf(pC_->outString_, "ESB");
}
status = pC_->writeReadController();
if (!status) {
status = parseReply(functionName, pC_->inString_);
}
return status;
}
asynStatus MD90Axis::stop(double acceleration )
{
asynStatus status;
//static const char *functionName = "MD90Axis::stop";
static const char *functionName = "MD90Axis::stop";
sprintf(pC_->outString_, "STP");
status = pC_->writeReadController();
if (!status) {
status = parseReply(functionName, pC_->inString_);
}
return status;
}
@@ -233,7 +279,7 @@ asynStatus MD90Axis::stop(double acceleration )
asynStatus MD90Axis::setClosedLoop(bool closedLoop)
{
asynStatus status;
//static const char *functionName = "MD90Axis::setClosedLoop";
static const char *functionName = "MD90Axis::setClosedLoop";
if (closedLoop == 1) {
sprintf(pC_->outString_, "EPM");
@@ -241,6 +287,9 @@ asynStatus MD90Axis::setClosedLoop(bool closedLoop)
sprintf(pC_->outString_, "DPM");
}
status = pC_->writeReadController();
if (!status) {
status = parseReply(functionName, pC_->inString_);
}
return status;
}
@@ -251,23 +300,29 @@ asynStatus MD90Axis::setClosedLoop(bool closedLoop)
asynStatus MD90Axis::setIGain(double iGain)
{
asynStatus status;
//static const char *functionName = "MD90Axis::setIGain";
static const char *functionName = "MD90Axis::setIGain";
iGain = iGain * 1000;
if (iGain < 1) iGain = 1.0;
if (iGain > 1000) iGain = 1000.0;
sprintf(pC_->outString_, "SGN %d", NINT(iGain));
status = pC_->writeReadController();
if (!status) {
status = parseReply(functionName, pC_->inString_);
}
return status;
}
asynStatus MD90Axis::doMoveToHome()
{
asynStatus status;
//static const char *functionName = "MD90Axis::doMoveToHome";
static const char *functionName = "MD90Axis::doMoveToHome";
sprintf(pC_->outString_, "CLM 0");
status = pC_->writeReadController();
if (!status) {
status = parseReply(functionName, pC_->inString_);
}
return status;
}

1
dsmApp/src/MD90Driver.h
View File

@@ -34,6 +34,7 @@ private:
MD90Controller *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
* Abbreviated because it is used very frequently */
asynStatus sendAccelAndVelocity(double accel, double velocity);
asynStatus parseReply(const char *functionName, const char *reply);
friend class MD90Controller;
};