motorSimAxis::motorSimAxis(motorSimController *pController, int axis, double lowHardLimit, double hiHardLimit, double home, double start )
: asynMotorAxis(pController, axis),
pC_(pController),
lowHardLimit_(lowHardLimit), hiHardLimit_(hiHardLimit), home_(home)
{
route_pars_t pars;
pars.numRoutedAxes = 1;
pars.routedAxisList[0] = 1;
pars.Tsync = 0.0;
pars.Tcoast = 0.0;
pars.axis[0].Amax = 1.0;
pars.axis[0].Vmax = 1.0;
endpoint_.T = 0;
endpoint_.axis[0].p = start;
endpoint_.axis[0].v = 0;
nextpoint_.T = 0;
nextpoint_.axis[0].p = start;
route_ = routeNew( &(this->endpoint_), &pars );
deferred_move_ = 0;
}
static int motorSimCreateAxis( motorSim_t * pDrv, int card, int axis, double lowLimit, double hiLimit, double home, double start )
{
AXIS_HDL pAxis;
AXIS_HDL * ppLast = &(pDrv->pFirst);
start=0;
for ( pAxis = pDrv->pFirst;
pAxis != NULL &&
! ((pAxis->card == card) && (pAxis->axis == axis));
pAxis = pAxis->pNext )
{
ppLast = &(pAxis->pNext);
}
if ( pAxis == NULL)
{
pAxis = (AXIS_HDL) calloc( 1, sizeof(motorAxis) );
if (pAxis != NULL)
{
route_pars_t pars;
pAxis->pDrv = pDrv;
pars.numRoutedAxes = 1;
pars.routedAxisList[0] = 1;
pars.Tsync = 0.0;
pars.Tcoast = 0.0;
pars.axis[0].Amax = 1.0;
pars.axis[0].Vmax = 1.0;
pAxis->endpoint.T = 0;
pAxis->endpoint.axis[0].p = start;
pAxis->endpoint.axis[0].v = 0;
pAxis->nextpoint.axis[0].p = start;
if ((pAxis->route = routeNew( &(pAxis->endpoint), &pars )) != NULL &&
(pAxis->params = motorParam->create( 0, MOTOR_AXIS_NUM_PARAMS )) != NULL &&
(pAxis->axisMutex = epicsMutexCreate( )) != NULL )
{
pAxis->card = card;
pAxis->axis = axis;
pAxis->hiHardLimit = hiLimit;
pAxis->lowHardLimit = lowLimit;
pAxis->home = home;
pAxis->print = motorSimLogMsg;
pAxis->logParam = NULL;
motorParam->setDouble(pAxis->params, motorAxisPosition, start);
*ppLast = pAxis;
pAxis->print( pAxis->logParam, TRACE_FLOW, "Created motor for card %d, signal %d OK", card, axis );
}
else
{
if (pAxis->route != NULL) routeDelete( pAxis->route );
if (pAxis->params != NULL) motorParam->destroy( pAxis->params );
if (pAxis->axisMutex != NULL) epicsMutexDestroy( pAxis->axisMutex );
free ( pAxis );
pAxis = NULL;
}
}
else
{
free ( pAxis );
pAxis = NULL;
}
}
else
{
pAxis->print( pAxis->logParam, TRACE_ERROR, "Motor for card %d, signal %d already exists", card, axis );
return MOTOR_AXIS_ERROR;
}
if (pAxis == NULL)
{
pAxis->print( pAxis->logParam, TRACE_ERROR, "Cannot create motor for card %d, signal %d", card, axis );
return MOTOR_AXIS_ERROR;
}
return MOTOR_AXIS_OK;
}
