Don't auto-detect virtual axes #67
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Using MFLAGS.#DEFCON is not a valid way to detect whether an axis is virtual. In fact, there's no reliable way to detect whether an axis is virtual. So, remove the auto-detection logic, and add support for specifying a comma-separated list of virtual axes as a parameter to the AcsMotionConfig IOC shell command and the constructor of the SPiiPlusController class.
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Can the comma-separated list of virtual axes be changed to an integer virtual axis mask? There is precedent in other motor drivers for using extra integer arguments to specify axes to be treated differently. The SmarAct MCS2 driver has an unusedMask argument that tells the poller which axes to skip while polling: |
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It's probably ok to keep the argument as a comma-separated list. The support doesn't build on VxWorks at the moment, which is the main reason for avoiding long command lines and preferring integers to strings. |
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I can switch it to a mask; I just haven't had time to do it yet. So, which would you prefer? |
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Leave it as-is. The comma-separated list is more intuitive. |
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Using
MFLAGS.#DEFCONis not a valid way to detect whether an axis is virtual. In fact, there's no reliable way to detect whether an axis is virtual. So, remove the auto-detection logic, and add support for specifying a comma-separated list of virtual axes as a parameter to theAcsMotionConfigIOC shell command and the constructor of theSPiiPlusControllerclass.