#    Motor Template for TOPAS API

# Communications for motor specific functions..
# i.e. read / set position         

#Typical curl commands
#curl -X  PUT http://129.129.243.70:8004/16448/v0/PublicAPI/Motors/TargetPosition?id=1 -H "Content-Type: application/json"  -d "9796"
#need some macros:-

#$(TOP_DEV)	=16448
#$(HOST)	=129.129.243.70:8004
#$(TOPAS)	=Device to talk to from startup script

#$(MOT)		=Motor number after the id= [1..N]






###########################################
# Counter
###########################################


record(calcout, "$(SYSTEM):MOT$(MOT)_LIVE_READ"){     #Trigger a live reading
  field(DESC,  "Read live data")
  field(INPA,  "$(SYSTEM):LIVE_CNTR CP")
  field(INPB,  "$(MOT)")		
  field(CALC,  "A=B?1:0")  
  field(OOPT,  "When Non-zero")	 
  field(OUT,   "$(SYSTEM):MOT$(MOT)_GET_POS_CAL.PROC PP")				
}




#Ttile and Unit - read once at beginning or if triggered

record(ai, "$(SYSTEM):MOT$(MOT)_TRIG_SEQ"){
  field(DESC,  "trigger init seq")
  field(INP,   "$(SYSTEM):TRIG_SEQ CP")
  field(FLNK,  "$(SYSTEM):MOT$(MOT)_INIT_SEQ")
}

record(seq, "$(SYSTEM):MOT$(MOT)_INIT_SEQ"){
  field(DESC, "Startup sequence")
  field(SCAN, "Passive")
  field(SELM, "All")
  field(PINI, "YES")

  field(DLY1, "$(MOT)")
  field(DO1,  "1")
  field(LNK1, "$(SYSTEM):MOT$(MOT)_TITLE.PROC")
}

record(stringin, "$(SYSTEM):MOT$(MOT)_TITLE"){
  field(DESC,  "Read motor n pos")
  field(DTYP,  "stream")
  field(INP,   "@topas_api MotorTitleUnit($(SYSTEM),$(HOST),$(TOP_DEV),$(MOT)) $(TOPAS)")
#                File                                                	    Unit
}

record(stringin, "$(SYSTEM):MOT$(MOT)_UNIT"){	#currently not working as there are 2 UnitNames in response
  field(DESC,  "hold motor unit")
}


# -------- Positions

record(ao, "$(SYSTEM):MOT$(MOT)_GET_POS_CAL"){
  field(DESC,  "Read motor n pos")
  field(DTYP,  "stream")
  field(EGU,   "Units")
  field(PREC,  "3")
  field(OUT,   "@topas_api ActualPosUnits($(SYSTEM),$(HOST),$(TOP_DEV),$(MOT)) $(TOPAS)")
  field(FLNK,  "$(SYSTEM):MOT$(MOT)_GET_POS")
}

record(ao, "$(SYSTEM):MOT$(MOT)_GET_POS"){
  field(DESC,  "Read motor n pos")
  field(DTYP,  "stream")
  field(EGU,   "steps")
  field(PREC,  "0")
  field(OUT,   "@topas_api ActualPos($(SYSTEM),$(HOST),$(TOP_DEV),$(MOT)) $(TOPAS)")
}

record(ao, "$(SYSTEM):MOT$(MOT)_SET_ABS_STEPS"){
  field(DESC,  "Set absolute pos")
  field(DTYP,  "stream")
  field(EGU,   "units")
  field(PREC,  "0")
  field(OUT,   "@topas_api SetAbsSteps($(SYSTEM),$(HOST),$(TOP_DEV),$(MOT)) $(TOPAS)")
  field(FLNK,  "$(SYSTEM):MOT$(MOT)_GET_POS_CAL")
}

record(ao, "$(SYSTEM):MOT$(MOT)_SET_REL_STEPS"){
  field(DESC,  "set relative pos")
  field(DTYP,  "stream")
  field(EGU,   "units")
  field(PREC,  "0")
  field(OUT,   "@topas_api SetRelSteps($(SYSTEM),$(HOST),$(TOP_DEV),$(MOT)) $(TOPAS)")
  field(FLNK,  "$(SYSTEM):MOT$(MOT)_GET_POS_CAL")
}



#- Tweaking

record(ao, "$(SYSTEM):MOT$(MOT)_TW_VAL"){
  field(DESC,  "tweak value (steps)")
  field(EGU,   "steps")
  field(VAL,   "1")
}

record(calcout, "$(SYSTEM):MOT$(MOT)_TWL"){     #Tweak left
  field(DESC,  "tweak left (lower)")
  field(INPA,  "$(SYSTEM):MOT$(MOT)_TW_VAL")
  field(CALC,  "-A")  
  field(OUT,   "$(SYSTEM):MOT$(MOT)_SET_REL_STEPS PP")	 
}

record(calcout, "$(SYSTEM):MOT$(MOT)_TWR"){     #Tweak right
  field(DESC,  "tweak right (raise)")
  field(INPA,  "$(SYSTEM):MOT$(MOT)_TW_VAL")
  field(CALC,  "A")  
  field(OUT,   "$(SYSTEM):MOT$(MOT)_SET_REL_STEPS PP")	 
}



#- Home

record(ao, "$(SYSTEM):MOT$(MOT)_HOME"){
  field(DESC,  "stop motor")
  field(DTYP,  "stream")
  field(OUT,   "@topas_api HomeMotor($(SYSTEM),$(HOST),$(TOP_DEV),$(MOT)) $(TOPAS)")

}