static int motorAxisSetInteger( AXIS_HDL pAxis, motorAxisParam_t function, int value )
{
int status = MOTOR_AXIS_OK;
if (pAxis == NULL)
return (MOTOR_AXIS_ERROR);
else
{
if (epicsMutexLock( pAxis->axisMutex ) == epicsMutexLockOK)
{
switch (function)
{
case motorAxisPosition:
{
pAxis->enc_offset = (double) value - pAxis->nextpoint.axis[0].p;
pAxis->print( pAxis->logParam, TRACE_FLOW, "Set card %d, axis %d to position %d", pAxis->card, pAxis->axis, value );
break;
}
case motorAxisLowLimit:
{
pAxis->print( pAxis->logParam, TRACE_FLOW, "Set card %d, axis %d low limit to %d", pAxis->card, pAxis->axis, value );
break;
}
case motorAxisHighLimit:
{
pAxis->print( pAxis->logParam, TRACE_FLOW, "Set card %d, axis %d high limit to %d", pAxis->card, pAxis->axis, value );
break;
}
case motorAxisClosedLoop:
{
pAxis->print( pAxis->logParam, TRACE_FLOW, "Set card %d, axis %d closed loop to %s", pAxis->card, pAxis->axis, (value?"ON":"OFF") );
break;
}
case motorAxisDeferMoves:
{
pAxis->print( pAxis->logParam, TRACE_FLOW,
"%sing Deferred Move flag on PMAC card %d\n",
value != 0.0?"Sett":"Clear",pAxis->card);
if (value == 0.0 && pAxis->pDrv->movesDeferred != 0)
{
processDeferredMoves(pAxis->pDrv);
}
pAxis->pDrv->movesDeferred = value;
break;
}
default:
status = MOTOR_AXIS_ERROR;
break;
}
if (status != MOTOR_AXIS_ERROR )
{
status = motorParam->setInteger( pAxis->params, function, value );
motorParam->callCallback(pAxis->params);
}
epicsMutexUnlock(pAxis->axisMutex);
}
return (status);
}
}
asynStatus motorSimController::writeInt32(asynUser *pasynUser, epicsInt32 value)
{
int function = pasynUser->reason;
asynStatus status = asynSuccess;
motorSimAxis *pAxis = this->getAxis(pasynUser);
static const char *functionName = "writeInt32";
/* Set the parameter and readback in the parameter library. This may be overwritten when we read back the
* status at the end, but that's OK */
pAxis->setIntegerParam(function, value);
if (function == motorDeferMoves_)
{
asynPrint(pasynUser, ASYN_TRACE_FLOW,
"%s:%s: %sing Deferred Move flag on driver %s\n",
value != 0.0?"Sett":"Clear",
driverName, functionName, this->portName);
if (value == 0.0 && movesDeferred_ != 0)
{
processDeferredMoves();
}
movesDeferred_ = value;
} else {
/* Call base class call its method (if we have our parameters check this here) */
status = asynMotorController::writeInt32(pasynUser, value);
}
/* Do callbacks so higher layers see any changes */
pAxis->callParamCallbacks();
if (status)
asynPrint(pasynUser, ASYN_TRACE_ERROR,
"%s:%s: error, status=%d function=%d, value=%d\n",
driverName, functionName, status, function, value);
else
asynPrint(pasynUser, ASYN_TRACEIO_DRIVER,
"%s:%s: function=%d, value=%d\n",
driverName, functionName, function, value);
return status;
}
static int motorAxisSetDouble( AXIS_HDL pAxis, motorAxisParam_t function, double value )
{
int status = MOTOR_AXIS_OK;
if (pAxis == NULL) return MOTOR_AXIS_ERROR;
else
{
epicsMutexLock(pAxis->axisMutex);
switch (function)
{
case motorAxisPosition:
{
pAxis->enc_offset = value - pAxis->nextpoint.axis[0].p;
pAxis->print( pAxis->logParam, TRACE_FLOW, "Set card %d, axis %d to position %f", pAxis->card, pAxis->axis, value );
break;
}
case motorAxisResolution:
{
pAxis->print( pAxis->logParam, TRACE_FLOW, "Set card %d, axis %d resolution to %f", pAxis->card, pAxis->axis, value );
break;
}
case motorAxisEncoderRatio:
{
pAxis->print( pAxis->logParam, TRACE_FLOW, "Set card %d, axis %d to enc. ratio to %f", pAxis->card, pAxis->axis, value );
break;
}
case motorAxisLowLimit:
{
pAxis->print( pAxis->logParam, TRACE_FLOW, "Set card %d, axis %d low limit to %f", pAxis->card, pAxis->axis, value );
break;
}
case motorAxisHighLimit:
{
pAxis->print( pAxis->logParam, TRACE_FLOW, "Set card %d, axis %d high limit to %f", pAxis->card, pAxis->axis, value );
break;
}
case motorAxisPGain:
{
pAxis->print( pAxis->logParam, TRACE_FLOW, "Set card %d, axis %d pgain to %f", pAxis->card, pAxis->axis, value );
break;
}
case motorAxisIGain:
{
pAxis->print( pAxis->logParam, TRACE_FLOW, "Set card %d, axis %d igain to %f", pAxis->card, pAxis->axis, value );
break;
}
case motorAxisDGain:
{
pAxis->print( pAxis->logParam, TRACE_FLOW, "Set card %d, axis %d dgain to %f", pAxis->card, pAxis->axis, value );
break;
}
case motorAxisClosedLoop:
{
pAxis->print( pAxis->logParam, TRACE_FLOW, "Set card %d, axis %d closed loop to %s", pAxis->card, pAxis->axis, (value!=0?"ON":"OFF") );
break;
}
case motorAxisDeferMoves:
{
pAxis->print( pAxis->logParam, TRACE_FLOW,
"%sing Deferred Move flag on PMAC card %d\n",
value != 0.0?"Sett":"Clear",pAxis->card);
if (value == 0.0 && pAxis->pDrv->movesDeferred != 0) {
processDeferredMoves(pAxis->pDrv);
}
pAxis->pDrv->movesDeferred = (int)value;
break;
}
default:
status = MOTOR_AXIS_ERROR;
break;
}
if (status == MOTOR_AXIS_OK )
{
motorParam->setDouble(pAxis->params, function, value);
motorParam->callCallback(pAxis->params);
}
epicsMutexUnlock(pAxis->axisMutex);
}
return status;
}
