/** Closes the TIFF file. */
asynStatus NDFileTIFF::closeFile()
{
static const char *functionName = "closeFile";
if (this->output == NULL) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"%s:%s NULL TIFF file\n",
driverName, functionName);
return(asynError);
}
TIFFClose(this->output);
for (int i=0; i<numAttributes_; ++i) {
free(fieldInfo_[i]);
}
free(fieldInfo_);
return asynSuccess;
}
asynStatus ct_readSettings( compensationtable_t *pPvt, asynUser *pasynUser )
{
asynStatus status = asynSuccess;
int nitems, addr;
char * cmd = pPvt->pmacSendBuf;
char * response = pPvt->pmacRecvBuf;
const char* functionName = "ct_readSettings";
pasynManager->getAddr(pasynUser, &addr);
asynPrint( pasynUser, ASYN_TRACE_FLOW, "%s: port=%s addr=%d\n", functionName, pPvt->portName, addr);
snprintf( cmd, PMAC_COMM_BYTES , "I51 I30");
status = ctWriteRead( pPvt, pasynUser, cmd, PMAC_COMM_BYTES, response );
if (status != asynSuccess) return status;
nitems = sscanf( response, "%d\r%d", &pPvt->i51, &pPvt->i30 );
if (nitems != 2) return asynError;
return status;
}
static asynStatus getBounds(asynUser *pasynUser,
epicsInt32 *plow, epicsInt32 *phigh)
{
ioPvt *pioPvt = (ioPvt *)pasynUser->userPvt;
asynStatus status, unlockStatus;
status = pasynManager->queueLockPort(pasynUser);
if(status!=asynSuccess) {
return status;
}
status = pioPvt->pasynInt32->getBounds(pioPvt->int32Pvt,pasynUser,plow,phigh);
asynPrint(pasynUser, ASYN_TRACE_FLOW,
"asynInt32SyncIO getBounds: status=%d low %d high %d\n",
status, *plow,*phigh);
unlockStatus = pasynManager->queueUnlockPort(pasynUser);
if (unlockStatus != asynSuccess) {
return unlockStatus;
}
return(status);
}
asynStatus omsBaseAxis::stop(double acceleration )
{
asynStatus status = asynError;
static const char *functionName = "stopAxis";
int acc;
char buff[50];
acc = (int)(fabs(acceleration)+0.5);
if (acc > 8000000) acc=8000000;
if (acc < 1) acc = 200000;
sprintf(buff, "A%1c AC%d; ST ID;", axisChar, acc);
status = pC_->sendOnlyLock(buff);
asynPrint(pasynUser_, ASYN_TRACE_FLOW,
"%s:%s: port %s, set axis %d to stop with accel=%f\n",
driverName, functionName, pC_->portName, axisNo_, acceleration );
return status;
}
static asynStatus putData(Inst* pinst,epicsInt32* value)
{
int sign,data;
Port* pport = pinst->pport;
asynPrint(pport->pasynUser,ASYN_TRACE_FLOW,"drvLove::putData\n" );
if( *value < 0 )
{
sign = 0xFF;
*value *= -1;
}
else
sign = 0;
data = (int)(*value);
sprintf(pport->outMsg,"%s%4.4d%2.2X",pinst->pcmd->write,data,sign);
return( asynSuccess );
}
static asynStatus gpibPortUniversalCmd(void *pdrvPvt, asynUser *pasynUser, int cmd)
{
niport *pniport = (niport *)pdrvPvt;
double timeout = pasynUser->timeout;
asynStatus status;
char buffer[1];
asynPrint(pasynUser,ASYN_TRACE_FLOW,"%s gpibPortUniversalCmd %2.2x\n",
pniport->portName,cmd);
pniport->errorMessage[0] = 0;
buffer[0] = cmd;
status = writeCmd(pniport,buffer,1,timeout,transferStateIdle);
if(status!=asynSuccess) {
epicsSnprintf(pasynUser->errorMessage,pasynUser->errorMessageSize,
"%s writeGpib failed %s",pniport->portName,pniport->errorMessage);
}
asynPrintIO(pasynUser,ASYN_TRACEIO_DRIVER,
buffer,1,"%s gpibPortUniversalCmd\n",pniport->portName);
return status;
}
/** Sets the energy threshold for the module **/
asynStatus mythen::setEnergy(epicsFloat64 value)
{
epicsInt32 i;
asynStatus status = asynSuccess;
if ((int)firmwareVersion_[1]%48 >=3) {
for(i=0;i<this->nmodules;i++) {
epicsSnprintf(outString_, sizeof(outString_), "-module %d",i);
status = sendCommand();
epicsSnprintf(outString_, sizeof(outString_), "-energy %f", value);
status = sendCommand();
}
if(status != asynSuccess) {
asynPrint(pasynUserSelf, ASYN_TRACE_ERROR,
"error check if value > 0 (outString = %s)",outString_);
return asynError;
}
}
return status;
}
static long processBusy(busyRecord *pr)
{
devBusyPvt *pPvt = (devBusyPvt *)pr->dpvt;
int status;
if(pr->pact == 0) {
pPvt->value = pr->rval;
if(pPvt->canBlock) pr->pact = 1;
status = pasynManager->queueRequest(pPvt->pasynUser, 0, 0);
if((status==asynSuccess) && pPvt->canBlock) return 0;
if(pPvt->canBlock) pr->pact = 0;
if(status != asynSuccess) {
asynPrint(pPvt->pasynUser, ASYN_TRACE_ERROR,
"%s devAsynBusy::processCommon, error queuing request %s\n",
pr->name,pPvt->pasynUser->errorMessage);
recGblSetSevr(pr, WRITE_ALARM, INVALID_ALARM);
}
}
return 0;
}
/** Base method for reading a file
* Creates the file name with NDPluginBase::createFileName, then calls the pure virtual functions openFile,
* readFile and closeFile in the derived class. Does callbacks with the NDArray that was read in. */
asynStatus NDPluginFile::readFileBase(void)
{
asynStatus status = asynSuccess;
char fullFileName[MAX_FILENAME_LEN];
int dataType=0;
NDArray *pArray=NULL;
static const char* functionName = "readFileBase";
status = (asynStatus)createFileName(MAX_FILENAME_LEN, fullFileName);
if (status) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"%s:%s error creating full file name, fullFileName=%s, status=%d\n",
driverName, functionName, fullFileName, status);
return(status);
}
/* Call the readFile method in the derived class */
/* Do this with the main lock released since it is slow */
this->unlock();
epicsMutexLock(this->fileMutexId);
status = this->openFile(fullFileName, NDFileModeRead, pArray);
status = this->readFile(&pArray);
status = this->closeFile();
epicsMutexUnlock(this->fileMutexId);
this->lock();
/* If we got an error then return */
if (status) return(status);
/* Update the new values of dimensions and the array data */
setIntegerParam(NDDataType, dataType);
/* Call any registered clients */
doCallbacksGenericPointer(pArray, NDArrayData, 0);
/* Set the last array to be this one */
this->pArrays[0]->release();
this->pArrays[0] = pArray;
return(status);
}
/** Called when asyn clients call pasynFloat64->write().
* This function sends a signal to the simTask thread if the value of P_UpdateTime has changed.
* For all parameters it sets the value in the parameter library and calls any registered callbacks.
* \param[in] pasynUser pasynUser structure that encodes the reason and address.
* \param[in] value Value to write. */
asynStatus testAsynPortDriver::writeFloat64(asynUser *pasynUser, epicsFloat64 value)
{
int function = pasynUser->reason;
asynStatus status = asynSuccess;
int run;
const char *paramName;
const char* functionName = "writeFloat64";
/* Set the parameter in the parameter library. */
status = (asynStatus) setDoubleParam(function, value);
/* Fetch the parameter string name for possible use in debugging */
getParamName(function, ¶mName);
if (function == P_UpdateTime) {
/* Make sure the update time is valid. If not change it and put back in parameter library */
if (value < MIN_UPDATE_TIME) {
value = MIN_UPDATE_TIME;
setDoubleParam(P_UpdateTime, value);
}
/* If the update time has changed and we are running then wake up the simulation task */
getIntegerParam(P_Run, &run);
if (run) epicsEventSignal(eventId_);
} else {
/* All other parameters just get set in parameter list, no need to
* act on them here */
}
/* Do callbacks so higher layers see any changes */
status = (asynStatus) callParamCallbacks();
if (status)
epicsSnprintf(pasynUser->errorMessage, pasynUser->errorMessageSize,
"%s:%s: status=%d, function=%d, name=%s, value=%f",
driverName, functionName, status, function, paramName, value);
else
asynPrint(pasynUser, ASYN_TRACEIO_DRIVER,
"%s:%s: function=%d, name=%s, value=%f\n",
driverName, functionName, function, paramName, value);
return status;
}
void FastCCD::dataStatsTask(void)
{
unsigned int status = 0;
double timeout = 0.0;
static const char *functionName = "dataStatsTask";
while(1) {
//Read timeout for polling freq.
this->lock();
timeout = dataStatsPollingPeriod;
this->unlock();
if (timeout != 0.0) {
status = epicsEventWaitWithTimeout(dataStatsEvent, timeout);
} else {
status = epicsEventWait(dataStatsEvent);
}
if (status == epicsEventWaitOK) {
asynPrint(pasynUserSelf, ASYN_TRACE_FLOW,
"%s:%s: Got status event\n",
driverName, functionName);
}
cin_data_stats_t stats;
cin_data_compute_stats(&stats);
setIntegerParam(FastCCDDroppedPck, (int)stats.dropped_packets);
setIntegerParam(FastCCDBadPck, (int)stats.mallformed_packets);
setIntegerParam(FastCCDLastFrame, stats.last_frame);
setIntegerParam(FastCCDPacketBuffer, stats.packet_used);
setIntegerParam(FastCCDFrameBuffer, stats.frame_used);
setIntegerParam(FastCCDImageBuffer, stats.image_used);
//setDoubleParam(FastCCDDataRate, stats.datarate);
this->lock();
callParamCallbacks();
this->unlock();
}
}
asynStatus NDPluginAttribute::writeInt32(asynUser *pasynUser, epicsInt32 value)
{
int function = pasynUser->reason;
asynStatus status = asynSuccess;
static const char *functionName = "NDPluginAttribute::writeInt32";
/* Set the parameter in the parameter library. */
status = (asynStatus) setIntegerParam(function, value);
if (function == NDPluginAttributeReset) {
setDoubleParam(NDPluginAttributeVal, 0.0);
setDoubleParam(NDPluginAttributeValSum, 0.0);
//Clear the time series array
memset(pTimeSeries_, 0, maxTimeSeries_*sizeof(epicsFloat64));
doCallbacksFloat64Array(this->pTimeSeries_, maxTimeSeries_, NDPluginAttributeArray, 0);
currentPoint_ = 0;
valueSum_ = 0.0;
}
else if (function == NDPluginAttributeUpdate) {
//Update the data array by hand.
doCallbacksFloat64Array(this->pTimeSeries_, maxTimeSeries_, NDPluginAttributeArray, 0);
}
else {
/* If this parameter belongs to a base class call its method */
if (function < FIRST_NDPLUGIN_ATTR_PARAM)
status = NDPluginDriver::writeInt32(pasynUser, value);
}
/* Do callbacks so higher layers see any changes */
status = (asynStatus) callParamCallbacks();
if (status)
epicsSnprintf(pasynUser->errorMessage, pasynUser->errorMessageSize,
"%s: status=%d, function=%d, value=%d",
functionName, status, function, value);
else
asynPrint(pasynUser, ASYN_TRACEIO_DRIVER,
"%s: function=%d, value=%d\n",
functionName, function, value);
return status;
}
/** Callback function that is called by the NDArray driver with new NDArray data.
* Grabs the current NDArray and applies the selected transforms to the data. Apply the transforms in order.
* \param[in] pArray The NDArray from the callback.
*/
void NDPluginTransform::processCallbacks(NDArray *pArray){
NDArray *transformedArray;
NDArrayInfo_t arrayInfo;
static const char* functionName = "processCallbacks";
/* Call the base class method */
NDPluginDriver::processCallbacks(pArray);
/** Create a pointer to a structure of type NDArrayInfo_t and use it to get information about
the input array.
*/
pArray->getInfo(&arrayInfo);
this->userDims_[0] = arrayInfo.xDim;
this->userDims_[1] = arrayInfo.yDim;
this->userDims_[2] = arrayInfo.colorDim;
/* Previous version of the array was held in memory. Release it and reserve a new one. */
if (this->pArrays[0]) {
this->pArrays[0]->release();
this->pArrays[0] = NULL;
}
/* Release the lock; this is computationally intensive and does not access any shared data */
this->unlock();
/* Copy the information from the current array */
this->pArrays[0] = this->pNDArrayPool->copy(pArray, NULL, 1);
transformedArray = this->pArrays[0];
if ( pArray->ndims <=3 )
this->transformImage(pArray, transformedArray, &arrayInfo);
else {
asynPrint( this->pasynUserSelf, ASYN_TRACE_ERROR, "%s::%s, this method is meant to transform 2Dimages when the number of dimensions is <= 3\n",
pluginName, functionName);
}
this->lock();
this->getAttributes(transformedArray->pAttributeList);
doCallbacksGenericPointer(transformedArray, NDArrayData,0);
callParamCallbacks();
}
static asynStatus writeOp(asynUser *pasynUser, epicsInt32 value,double timeout)
{
asynStatus status, unlockStatus;
ioPvt *pioPvt = (ioPvt *)pasynUser->userPvt;
pasynUser->timeout = timeout;
status = pasynManager->queueLockPort(pasynUser);
if(status!=asynSuccess) {
return status;
}
status = pioPvt->pasynInt32->write(pioPvt->int32Pvt, pasynUser, value);
if (status==asynSuccess) {
asynPrint(pasynUser, ASYN_TRACEIO_DEVICE,
"asynInt32SyncIO wrote: %d\n", value);
}
unlockStatus = pasynManager->queueUnlockPort(pasynUser);
if (unlockStatus != asynSuccess) {
return unlockStatus;
}
return(status);
}
asynStatus PIGCSController::hasReferenceSensor(PIasynAxis* pAxis)
{
char cmd[100];
char buf[255];
sprintf(cmd, "TRS? %s", pAxis->m_szAxisName);
asynStatus status = m_pInterface->sendAndReceive(cmd, buf, 99);
if (status != asynSuccess)
{
return status;
}
if (!getValue(buf, pAxis->m_bHasReference))
{
return asynError;
}
asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_FLOW,
"PIGCSController::hasReferenceSwitch() axis has %sreference sensor\n",
pAxis->m_bHasReference?"":"no ");
return status;
}
long devGpib_initAi(aiRecord * pai)
{
long result;
int cmdType;
gpibDpvt *pgpibDpvt;
DEVSUPFUN got_special_linconv = ((gDset *) pai->dset)->funPtr[5];
result = pdevSupportGpib->initRecord((dbCommon *) pai, &pai->inp);
if(result) return result;
pgpibDpvt = gpibDpvtGet(pai);
cmdType = gpibCmdGetType(pgpibDpvt);
if(!(cmdType&(GPIBREAD|GPIBREADW|GPIBRAWREAD|GPIBSOFT|GPIBCVTIO))) {
asynPrint(pgpibDpvt->pasynUser,ASYN_TRACE_ERROR,
"%s invalid command type for AI record in param %d\n",
pai->name, pgpibDpvt->parm);
pai->pact = TRUE;
return S_db_badField;
}
if(got_special_linconv) (*got_special_linconv)(pai,TRUE);
return 0;
}
long devGpib_initMbboDirect(mbboDirectRecord * pmbboDirect)
{
long result;
int cmdType;
gpibDpvt *pgpibDpvt;
/* do common initialization */
result = pdevSupportGpib->initRecord((dbCommon *)pmbboDirect,&pmbboDirect->out);
if(result) return result;
/* make sure the command type makes sense for the record type */
pgpibDpvt = gpibDpvtGet(pmbboDirect);
cmdType = gpibCmdGetType(pgpibDpvt);
if(!(cmdType&(GPIBWRITE|GPIBCMD|GPIBACMD|GPIBSOFT|GPIBCVTIO))) {
asynPrint(pgpibDpvt->pasynUser,ASYN_TRACE_ERROR,
"%s invalid command type for MBBO_DIRECT record in param %d\n",
pmbboDirect->name, pgpibDpvt->parm);
pmbboDirect->pact = TRUE;
return S_db_badField;
}
return 2;
}
long devGpib_initSi(stringinRecord * psi)
{
long result;
int cmdType;
gpibDpvt *pgpibDpvt;
/* do common initialization */
result = pdevSupportGpib->initRecord((dbCommon *) psi, &psi->inp);
if(result) return (result);
/* make sure the command type makes sense for the record type */
pgpibDpvt = gpibDpvtGet(psi);
cmdType = gpibCmdGetType(pgpibDpvt);
if(!(cmdType&(GPIBREAD|GPIBREADW|GPIBRAWREAD|GPIBSOFT|GPIBCVTIO))) {
asynPrint(pgpibDpvt->pasynUser,ASYN_TRACE_ERROR,
"%s invalid command type for SI record in param %d\n",
psi->name, pgpibDpvt->parm);
psi->pact = TRUE;
return S_db_badField;
}
return 0;
}
static asynStatus readOp(asynUser *pasynUser,epicsInt16 *pvalue,size_t nelem,size_t *nIn,double timeout)
{
ioPvt *pPvt = (ioPvt *)pasynUser->userPvt;
asynStatus status, unlockStatus;
pasynUser->timeout = timeout;
status = pasynManager->lockPort(pasynUser);
if(status!=asynSuccess) {
return status;
}
status = pPvt->pasynInt16Array->read(pPvt->int16ArrayPvt, pasynUser, pvalue, nelem, nIn);
if (status==asynSuccess) {
asynPrint(pasynUser, ASYN_TRACEIO_DEVICE,
"asynInt16ArraySyncIO read: %d\n", *pvalue);
}
unlockStatus = pasynManager->unlockPort(pasynUser);
if (unlockStatus != asynSuccess) {
return unlockStatus;
}
return status;
}
static asynStatus getOption(asynUser *pasynUser, const char *key, char *val, int sizeval, double timeout)
{
ioPvt *pioPvt = (ioPvt *)pasynUser->userPvt;
asynStatus status, unlockStatus;
pasynUser->timeout = timeout;
status = pasynManager->queueLockPort(pasynUser);
if(status!=asynSuccess) {
return status;
}
status = pioPvt->pasynOption->getOption(pioPvt->OptionPvt, pasynUser, key, val, sizeval);
if (status==asynSuccess) {
asynPrint(pasynUser, ASYN_TRACEIO_DEVICE,
"asynOptionSyncIO read: key=%s, val=%s\n", key, val);
}
unlockStatus = pasynManager->queueUnlockPort(pasynUser);
if (unlockStatus != asynSuccess) {
return unlockStatus;
}
return(status);
}
asynStatus mar345::readServer(char *input, size_t maxChars, double timeout)
{
size_t nread;
asynStatus status=asynSuccess;
asynUser *pasynUser = this->pasynUserServer;
int eomReason;
const char *functionName="readServer";
unlock();
status = pasynOctetSyncIO->read(pasynUser, input, maxChars, timeout,
&nread, &eomReason);
lock();
if (nread == 0) return(status);
if (status) asynPrint(pasynUser, ASYN_TRACE_ERROR,
"%s:%s, timeout=%f, status=%d received %lu bytes\n%s\n",
driverName, functionName, timeout, status, (unsigned long)nread, input);
/* Set output string so it can get back to EPICS */
setStringParam(ADStringFromServer, input);
callParamCallbacks();
return(status);
}
asynStatus PIGCSController::initAxis(PIasynAxis* pAxis)
{
// read stage name - to have it in logfile and find
// problems because of mis/non-configured controllers
char cmd[100];
char buf[255];
sprintf(cmd, "CST? %s", pAxis->m_szAxisName);
asynStatus status = m_pInterface->sendAndReceive(cmd, buf, 99);;
if (status != asynSuccess)
{
return status;
}
if (NULL != m_pInterface->m_pCurrentLogSink)
{
asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_FLOW,
"PIGCSController::initAxis() stage configuration: %s\n", buf);
}
pAxis->m_movingStateMask = int (pow(2.0, pAxis->getAxisNo()) );
return setServo(pAxis, 1);
}
static asynStatus cancelInterruptUser(void *drvPvt, asynUser *pasynUser,
void *registrarPvt)
{
interruptNode *pinterruptNode = (interruptNode *)registrarPvt;
asynStatus status;
const char *portName;
int addr;
asynFloat64Interrupt *pasynFloat64Interrupt =
(asynFloat64Interrupt *)pinterruptNode->drvPvt;
status = pasynManager->getPortName(pasynUser,&portName);
if(status!=asynSuccess) return status;
status = pasynManager->getAddr(pasynUser,&addr);
if(status!=asynSuccess) return status;
asynPrint(pasynUser,ASYN_TRACE_FLOW,
"%s %d cancelInterruptUser\n",portName,addr);
status = pasynManager->removeInterruptUser(pasynUser,pinterruptNode);
pasynManager->freeAsynUser(pasynFloat64Interrupt->pasynUser);
pasynManager->memFree(pasynFloat64Interrupt, sizeof(asynFloat64Interrupt));
return status;
}
/*
* Unblock the I/O operation
*/
static void
timeoutHandler(void *p)
{
ttyController_t *tty = (ttyController_t *)p;
asynPrint(tty->pasynUser, ASYN_TRACE_FLOW,
"%s timeout handler.\n", tty->serialDeviceName);
tty->timeoutFlag = 1;
#ifdef TCOFLUSH
tcflush(tty->fd, TCOFLUSH);
#endif
#ifdef vxWorks
ioctl(tty->fd, FIOCANCEL, 0);
/*
* Since it is possible, though unlikely, that we got here before the
* slow system call actually started, we arrange to poke the thread
* again in a little while.
*/
epicsTimerStartDelay(tty->timer, 10.0);
#endif
}
static asynStatus readOp(asynUser *pasynUser,void *pvalue,double timeout)
{
ioPvt *pPvt = (ioPvt *)pasynUser->userPvt;
asynStatus status, unlockStatus;
pasynUser->timeout = timeout;
status = pasynManager->queueLockPort(pasynUser);
if(status!=asynSuccess) {
return status;
}
status = pPvt->pasynGenericPointer->read(pPvt->pointerPvt, pasynUser, pvalue);
if (status==asynSuccess) {
asynPrint(pasynUser, ASYN_TRACEIO_DEVICE,
"asynGenericPointerSyncIO read: %p\n", pvalue);
}
unlockStatus = pasynManager->queueUnlockPort(pasynUser);
if (unlockStatus != asynSuccess) {
return unlockStatus;
}
return status;
}
static asynStatus readOp(asynUser *pasynUser,epicsFloat64 *pvalue,double timeout)
{
ioPvt *pPvt = (ioPvt *)pasynUser->userPvt;
asynStatus status, unlockStatus;
pasynUser->timeout = timeout;
status = pasynManager->queueLockPort(pasynUser);
if(status!=asynSuccess) {
return status;
}
status = pPvt->pasynFloat64->read(pPvt->float64Pvt, pasynUser, pvalue);
if (status==asynSuccess) {
asynPrint(pasynUser, ASYN_TRACEIO_DEVICE,
"asynFloat64SyncIO read: %e\n", *pvalue);
}
unlockStatus = pasynManager->queueUnlockPort(pasynUser);
if (unlockStatus != asynSuccess) {
return unlockStatus;
}
return status;
}
static asynStatus
flushIt(asynUser *pasynUser)
{
asynStatus status, unlockStatus;
ioPvt *pioPvt = (ioPvt *)pasynUser->userPvt;
pasynUser->timeout = 1.0;
status = pasynManager->queueLockPort(pasynUser);
if(status!=asynSuccess) {
return status;
}
status = pioPvt->pasynOctet->flush(pioPvt->octetPvt,pasynUser);
if(status==asynSuccess) {
asynPrint(pasynUser, ASYN_TRACEIO_DEVICE,"asynOctetSyncIO flush\n");
}
unlockStatus = pasynManager->queueUnlockPort(pasynUser);
if (unlockStatus != asynSuccess) {
return unlockStatus;
}
return status;
}
asynStatus MMC100Axis::move(double position, int relative, double min_velocity, double max_velocity, double acceleration)
{
if (pc_->homing_axis_)
return asynError;
static const char* functionName = "MMC100Axis::move";
asynStatus ret;
double velocity;
position /= pc_->unitScale_;
min_velocity /= pc_->unitScale_;
max_velocity /= pc_->unitScale_;
pc_->getDoubleParam(axisNo_, pc_->motorVelocity_, &velocity);
velocity /= pc_->unitScale_;
if (velocity > max_velocity)
velocity = max_velocity;
else if (velocity < min_velocity)
velocity = min_velocity;
asynPrint(pc_->pasynUser_, ASYN_TRACE_FLOW,
"%s:%s: axis %d: move to %g (relative=%d) at velocity %g\n",
driverName, functionName, id_, position, relative, velocity);
ret = pc_->write("%dVEL%3.3f", id_, velocity);
check_error();
if (ret != asynSuccess) {
return ret;
}
if (relative != 0) {
ret=pc_->write("%dMVR%3.6f", id_, position);
} else {
// absolute
ret=pc_->write("%dMVA%3.6f", id_, position);
}
check_error();
return ret;
}
//------------------------------------------------------------------------------
//! @brief Called when asyn clients call pasynInt32->write().
//!
//! If pasynUser->reason is equal to
//! - P_FanSpeed the nominal fan speed will be changed to value
//! - P_sysreset a system reset of the crate will be performed
//!
//! @param [in] pasynUser pasynUser structure that encodes the reason and address
//! @param [in] value Value to write
//!
//! @return in case of no error occured asynSuccess is returned. Otherwise
//! asynError or asynTimeout is returned. A error message is stored
//! in pasynUser->errorMessage.
//------------------------------------------------------------------------------
asynStatus drvAsynWienerVme::writeInt32( asynUser *pasynUser, epicsInt32 value ) {
int function = pasynUser->reason;
asynStatus status = asynSuccess;
static const char *functionName = "writeInt32";
if ( ( function != P_FanSpeed ) && ( function != P_Sysreset ) ) return asynSuccess;
status = (asynStatus) setIntegerParam( function, value );
status = (asynStatus) callParamCallbacks();
if( status )
epicsSnprintf( pasynUser->errorMessage, pasynUser->errorMessageSize,
"\033[31;1m%s:%s:%s: status=%d, function=%d, value=%d\033[0m",
driverName, _deviceName, functionName, status, function, value );
else
asynPrint( pasynUser, ASYN_TRACEIO_DEVICE,
"%s:%s:%s: function=%d, value=%d\n",
driverName, _deviceName, functionName, function, value );
can_frame_t pframe;
pframe.can_id = ( 1 << 7 ) | _crateId;
if ( function == P_FanSpeed ) {
pframe.can_dlc = 2;
pframe.data[0] = 0xc0;
pframe.data[1] = (epicsUInt8)( value & 0xff );
} else if ( function == P_Sysreset ) {
pframe.can_dlc = 1;
pframe.data[0] = 0x44;
}
status = pasynGenericPointerSyncIO->write( _pasynGenericPointer, &pframe, pasynUser->timeout );
if ( status ) {
epicsSnprintf( pasynUser->errorMessage, pasynUser->errorMessageSize,
"\033[31;1m%s:%s:%s: function=%d, Could not send can frame.\033[0m",
driverName, _deviceName, functionName, function );
return asynError;
}
return status;
}
static long createRingBuffer(dbCommon *pr)
{
devPvt *pPvt = (devPvt *)pr->dpvt;
asynStatus status;
const char *sizeString;
if (!pPvt->ringBuffer) {
DBENTRY *pdbentry = dbAllocEntry(pdbbase);
pPvt->ringSize = DEFAULT_RING_BUFFER_SIZE;
status = dbFindRecord(pdbentry, pr->name);
if (status) {
asynPrint(pPvt->pasynUser, ASYN_TRACE_ERROR,
"%s devAsynFloat64::createRingBufffer error finding record\n",
pr->name);
return -1;
}
sizeString = dbGetInfo(pdbentry, "asyn:FIFO");
if (sizeString) pPvt->ringSize = atoi(sizeString);
pPvt->ringBuffer = callocMustSucceed(pPvt->ringSize+1, sizeof *pPvt->ringBuffer, "devAsynFloat64::createRingBuffer");
}
return asynSuccess;
}