/** Creates a new AG_CONEXController object.
* \param[in] portName The name of the asyn port that will be created for this driver
* \param[in] serialPortName The name of the drvAsynSerialPort that was created previously to connect to the CONEX controller
* \param[in] numAxes The number of axes that this controller supports
* \param[in] movingPollPeriod The time between polls when any axis is moving
* \param[in] idlePollPeriod The time between polls when no axis is moving
*/
AG_CONEXController::AG_CONEXController(const char *portName, const char *serialPortName, int controllerID,
double movingPollPeriod, double idlePollPeriod)
: asynMotorController(portName, 1, NUM_AG_CONEX_PARAMS,
0, // No additional interfaces beyond those in base class
0, // No additional callback interfaces beyond those in base class
ASYN_CANBLOCK | ASYN_MULTIDEVICE,
1, // autoconnect
0, 0), // Default priority and stack size
controllerID_(controllerID)
{
asynStatus status;
static const char *functionName = "AG_CONEXController::AG_CONEXController";
/* Connect to CONEX controller */
status = pasynOctetSyncIO->connect(serialPortName, 0, &pasynUserController_, NULL);
if (status) {
asynPrint(pasynUserSelf, ASYN_TRACE_ERROR,
"%s: cannot connect to CONEX controller\n",
functionName);
return;
}
// Flush any characters that controller has, read firmware version
sprintf(outString_, "%dVE", controllerID_);
status = writeReadController();
if (status) {
asynPrint(pasynUserSelf, ASYN_TRACE_ERROR,
"%s: cannot read version information from AG_CONEX controller\n",
functionName);
return;
}
strcpy(controllerVersion_, &inString_[4]);
// Create the axis object
new AG_CONEXAxis(this);
startPoller(movingPollPeriod, idlePollPeriod, 2);
}
/** Writes a string to the C300 controller and reads the response.
* Calls writeReadController() with default locations of the input and output strings
* and default timeout. */
asynStatus C300Controller::writeReadController()
{
size_t nread;
return writeReadController(outString_, inString_, sizeof(inString_), &nread, C300_TIMEOUT);
}
