Element writeSoftwareRadio( RadioRepresentation &swrDesc)
{
Element e("softwareradio");
//Write all the controllers
vector<ControllerDescription> controllers = swrDesc.getControllers();
vector<ControllerDescription>::iterator conIt;
for(conIt=controllers.begin();conIt!=controllers.end();conIt++)
{
Element currentController = writeController(*conIt);
e.InsertEndChild(currentController);
}
//Write all the engines
vector<EngineDescription> engines = swrDesc.getEngines();
vector<EngineDescription>::iterator engIt;
for(engIt=engines.begin();engIt!=engines.end();engIt++)
{
Element currentEngine = writeEngine(*engIt);
e.InsertEndChild(currentEngine);
}
//Write all the links
vector<LinkDescription> links = swrDesc.getLinks();
vector<LinkDescription>::iterator linkIt;
for(linkIt=links.begin();linkIt!=links.end();linkIt++)
{
Element currentLink = writeLink(*linkIt);
e.InsertEndChild(currentLink);
}
return e;
}
/** Creates a new C300Controller object.
* \param[in] portName The name of the asyn port that will be created for this driver
* \param[in] C300PortName The name of the drvAsynIPPPort that was created previously to connect to the C300 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
*/
C300Controller::C300Controller(const char *portName, const char *C300PortName, int numAxes,
double movingPollPeriod, double idlePollPeriod)
: asynMotorController(portName, numAxes, NUM_C300_PARAMS,
asynUInt32DigitalMask,
asynUInt32DigitalMask,
ASYN_CANBLOCK | ASYN_MULTIDEVICE,
1, // autoconnect
0, 0) // Default priority and stack size
{
int axis;
asynStatus status;
C300Axis *pAxis;
static const char *functionName = "C300Controller";
/* Connect to C300 controller */
status = pasynOctetSyncIO->connect(C300PortName, 0, &pasynUserC300_, NULL);
if (status) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"%s:%s: cannot connect to C300 controller\n",
driverName, functionName);
}
// Unlock the controller
sprintf(outString_, "SYS:PASS:CEN \"nPoint\"");
writeController();
// get controller id, firmware version and range?
// Wait a short while so that any responses to the above commands have time to arrive so we can flush
// them in the next writeReadController()
//epicsThreadSleep(0.5);
// Create the axis objects
for (axis=0; axis<numAxes; axis++) {
pAxis = new C300Axis(this, axis);
}
startPoller(movingPollPeriod, idlePollPeriod, 2);
}
/** Writes a string to the C300 controller.
* Calls writeController() with a default location of the string to write and a default timeout. */
asynStatus C300Controller::writeController()
{
return writeController(outString_, C300_TIMEOUT);
}