From f31ed90b255a554a1930ac721d595ade0c8095a2 Mon Sep 17 00:00:00 2001 From: Bruno Luvizotto Date: Wed, 10 Aug 2016 10:35:52 -0400 Subject: [PATCH 1/7] Add files for supporting PIE517 piezo controller --- motorApp/PiSrc/Makefile | 1 + motorApp/PiSrc/PIE517Register.cc | 68 ++++ motorApp/PiSrc/devPIE517.cc | 316 ++++++++++++++ motorApp/PiSrc/devPIMotor.dbd | 6 + motorApp/PiSrc/drvPIE517.cc | 680 +++++++++++++++++++++++++++++++ motorApp/PiSrc/drvPIE517.h | 75 ++++ 6 files changed, 1146 insertions(+) create mode 100755 motorApp/PiSrc/PIE517Register.cc create mode 100755 motorApp/PiSrc/devPIE517.cc create mode 100755 motorApp/PiSrc/drvPIE517.cc create mode 100755 motorApp/PiSrc/drvPIE517.h diff --git a/motorApp/PiSrc/Makefile b/motorApp/PiSrc/Makefile index b38e4d27..4a380b08 100644 --- a/motorApp/PiSrc/Makefile +++ b/motorApp/PiSrc/Makefile @@ -19,6 +19,7 @@ SRCS += devPIC862.cc drvPIC862.cc PIC862Register.cc SRCS += devPIC663.cc drvPIC663.cc PIC663Register.cc SRCS += devPIE710.cc drvPIE710.cc PIE710Register.cc SRCS += devPIE516.cc drvPIE516.cc PIE516Register.cc +SRCS += devPIE517.cc drvPIE517.cc PIE517Register.cc SRCS += devPIE816.cc drvPIE816.cc PIE816Register.cc diff --git a/motorApp/PiSrc/PIE517Register.cc b/motorApp/PiSrc/PIE517Register.cc new file mode 100755 index 00000000..63ea618f --- /dev/null +++ b/motorApp/PiSrc/PIE517Register.cc @@ -0,0 +1,68 @@ +/* +FILENAME... PIE517Register.cc +USAGE... Register PI motor device driver shell commands. + +Version: $Revision: 1.1 $ +Modified By: $Author: sullivan $ +Last Modified: $Date: 2007-03-30 20:01:05 $ +*/ + +/***************************************************************** + COPYRIGHT NOTIFICATION +***************************************************************** + +(C) COPYRIGHT 1993 UNIVERSITY OF CHICAGO + +This software was developed under a United States Government license +described on the COPYRIGHT_UniversityOfChicago file included as part +of this distribution. +**********************************************************************/ + +#include +#include +#include +#include +#include +#include "motor.h" +#include "drvPIE517.h" +#include "epicsExport.h" + +extern "C" +{ + +// Pi Setup arguments +static const iocshArg setupArg0 = {"Max. controller count", iocshArgInt}; +static const iocshArg setupArg1 = {"Polling rate", iocshArgInt}; +// Pi Config arguments +static const iocshArg configArg0 = {"Card being configured", iocshArgInt}; +static const iocshArg configArg1 = {"asyn port name", iocshArgString}; +static const iocshArg configArg2 = {"asyn address (GPIB)", iocshArgInt}; + +static const iocshArg * const PIE517SetupArgs[2] = {&setupArg0, &setupArg1}; +static const iocshArg * const PIE517ConfigArgs[3] = {&configArg0, &configArg1, + &configArg2}; + +static const iocshFuncDef setupPIE517 = {"PIE517Setup", 2, PIE517SetupArgs}; +static const iocshFuncDef configPIE517 = {"PIE517Config", 3, PIE517ConfigArgs}; + +static void setupPIE517CallFunc(const iocshArgBuf *args) +{ + PIE517Setup(args[0].ival, args[1].ival); +} + + +static void configPIE517CallFunc(const iocshArgBuf *args) +{ + PIE517Config(args[0].ival, args[1].sval, args[2].ival); +} + + +static void PIE517motorRegister(void) +{ + iocshRegister(&setupPIE517, setupPIE517CallFunc); + iocshRegister(&configPIE517, configPIE517CallFunc); +} + +epicsExportRegistrar(PIE517motorRegister); + +} // extern "C" diff --git a/motorApp/PiSrc/devPIE517.cc b/motorApp/PiSrc/devPIE517.cc new file mode 100755 index 00000000..83255724 --- /dev/null +++ b/motorApp/PiSrc/devPIE517.cc @@ -0,0 +1,316 @@ +/* +FILENAME... devPIE517.cc +USAGE... Motor record device level support for Physik Instrumente (PI) + GmbH & Co. E-516 motor controller. + +Version: $Revision: 1.2 $ +Modified By: $Author: sluiter $ +Last Modified: $Date: 2008-03-14 20:21:37 $ +*/ + +/* + * Original Author: Ron Sluiter + * Date: 12/17/03 + * Current Author: Joe Sullivan + * + * Experimental Physics and Industrial Control System (EPICS) + * + * Copyright 1991, the Regents of the University of California, + * and the University of Chicago Board of Governors. + * + * This software was produced under U.S. Government contracts: + * (W-7405-ENG-36) at the Los Alamos National Laboratory, + * and (W-31-109-ENG-38) at Argonne National Laboratory. + * + * Initial development by: + * The Controls and Automation Group (AT-8) + * Ground Test Accelerator + * Accelerator Technology Division + * Los Alamos National Laboratory + * + * Co-developed with + * The Controls and Computing Group + * Accelerator Systems Division + * Advanced Photon Source + * Argonne National Laboratory + * + * Modification Log: + * ----------------- + * .01 08/10/16 Bruno Luvizotto (brunoluvizotto@gmail.com) - copied from devPIE516.cc + * .02 08/10/16 Bruno Luvizotto (brunoluvizotto@gmail.com) - edited the files for the E517 controller + */ + + +#include +#include "motorRecord.h" +#include "motor.h" +#include "motordevCom.h" +#include "drvPIE517.h" +#include "epicsExport.h" + +extern struct driver_table PIE517_access; + +/* ----------------Create the dsets for devPIE517----------------- */ +static struct driver_table *drvtabptr; +static long PIE517_init(void *); +static long PIE517_init_record(void *); +static long PIE517_start_trans(struct motorRecord *); +static RTN_STATUS PIE517_build_trans(motor_cmnd, double *, struct motorRecord *); +static RTN_STATUS PIE517_end_trans(struct motorRecord *); + +struct motor_dset devPIE517 = +{ + {8, NULL, (DEVSUPFUN) PIE517_init, (DEVSUPFUN) PIE517_init_record, NULL}, + motor_update_values, + PIE517_start_trans, + PIE517_build_trans, + PIE517_end_trans +}; + +extern "C" {epicsExportAddress(dset,devPIE517);} + +/* --------------------------- program data --------------------- */ + +/* This table is used to define the command types */ +/* WARNING! this must match "motor_cmnd" in motor.h */ + +static msg_types PIE517_table[] = { + MOTION, /* MOVE_ABS */ + MOTION, /* MOVE_REL */ + MOTION, /* HOME_FOR */ + MOTION, /* HOME_REV */ + IMMEDIATE, /* LOAD_POS */ + IMMEDIATE, /* SET_VEL_BASE */ + IMMEDIATE, /* SET_VELOCITY */ + IMMEDIATE, /* SET_ACCEL */ + IMMEDIATE, /* GO */ + IMMEDIATE, /* SET_ENC_RATIO */ + INFO, /* GET_INFO */ + MOVE_TERM, /* STOP_AXIS */ + VELOCITY, /* JOG */ + IMMEDIATE, /* SET_PGAIN */ + IMMEDIATE, /* SET_IGAIN */ + IMMEDIATE, /* SET_DGAIN */ + IMMEDIATE, /* ENABLE_TORQUE */ + IMMEDIATE, /* DISABL_TORQUE */ + IMMEDIATE, /* PRIMITIVE */ + IMMEDIATE, /* SET_HIGH_LIMIT */ + IMMEDIATE, /* SET_LOW_LIMIT */ + VELOCITY /* JOG_VELOCITY */ +}; + + +static struct board_stat **PIE517_cards; + +/* --------------------------- program data --------------------- */ + + +/* initialize device support for PIE517 stepper motor */ +static long PIE517_init(void *arg) +{ + long rtnval; + int after = (arg == 0) ? 0 : 1; + + if (after == 0) + { + drvtabptr = &PIE517_access; + (drvtabptr->init)(); + } + + rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &PIE517_cards); + return(rtnval); +} + + +/* initialize a record instance */ +static long PIE517_init_record(void *arg) +{ + struct motorRecord *mr = (struct motorRecord *) arg; + /* Disable change of direction testing in record support */ + /* This is a closed-loop device */ + mr->ntm = menuYesNoNO; + return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, PIE517_cards)); +} + + +/* start building a transaction */ +static long PIE517_start_trans(struct motorRecord *mr) +{ + motor_start_trans_com(mr, PIE517_cards); + return(OK); +} + + +/* end building a transaction */ +static RTN_STATUS PIE517_end_trans(struct motorRecord *mr) +{ + motor_end_trans_com(mr, drvtabptr); + return(OK); +} + + +/* add a part to the transaction */ +static RTN_STATUS PIE517_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr) +{ + struct motor_trans *trans = (struct motor_trans *) mr->dpvt; + struct mess_node *motor_call; + struct controller *brdptr; + struct PIE517controller *cntrl; + char buff[110]; + int card, maxdigits; + unsigned int size; + double dval, cntrl_units, res; + RTN_STATUS rtnval; + bool send; + + send = true; /* Default to send motor command. */ + rtnval = OK; + buff[0] = '\0'; + + /* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */ + dval = (parms == NULL) ? 0.0 : *parms; + + rtnval = (RTN_STATUS) motor_start_trans_com(mr, PIE517_cards); + + motor_call = &(trans->motor_call); + card = motor_call->card; + brdptr = (*trans->tabptr->card_array)[card]; + if (brdptr == NULL) + return(rtnval = ERROR); + + cntrl = (struct PIE517controller *) brdptr->DevicePrivate; + res = cntrl->drive_resolution[motor_call->signal]; + cntrl_units = dval; + maxdigits = 3; + + if (PIE517_table[command] > motor_call->type) + motor_call->type = PIE517_table[command]; + + if (trans->state != BUILD_STATE) + return(rtnval = ERROR); + + if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0) + strcat(motor_call->message, mr->init); + + switch (command) + { + case MOVE_ABS: + case MOVE_REL: + case HOME_FOR: + case HOME_REV: + case JOG: + if (strlen(mr->prem) != 0) + { + strcat(motor_call->message, mr->prem); + strcat(motor_call->message, EOL_E517); + } + if (strlen(mr->post) != 0) + motor_call->postmsgptr = (char *) &mr->post; + break; + + default: + break; + } + + + switch (command) + { + case MOVE_ABS: + sprintf(buff, "MOV # %.*f", maxdigits, (cntrl_units * res)); + strcat(buff, EOL_E517); + break; + + case MOVE_REL: + sprintf(buff, "MVR # %.*f", maxdigits, (cntrl_units * res)); + strcat(buff, EOL_E517); + break; + + case HOME_FOR: + case HOME_REV: + rtnval = ERROR; + break; + + case LOAD_POS: + rtnval = ERROR; + break; + + case SET_VEL_BASE: + send = false; /* DC motor; not base velocity. */ + break; + + case SET_VELOCITY: + sprintf(buff, "VEL # %.*f", maxdigits, (cntrl_units * res)); + strcat(buff, EOL_E517); + break; + + case ENABLE_TORQUE: + strcpy(buff, "SVO #1"); + strcat(buff, EOL_E517); + break; + + case DISABL_TORQUE: + strcpy(buff, "SVO #0"); + strcat(buff, EOL_E517); + break; + + case SET_ACCEL: + /* The PIE517 does not support acceleration commands. */ + case GO: + /* The PIE517 starts moving immediately on move commands, GO command + * does nothing. */ + send = false; + break; + + case PRIMITIVE: + case GET_INFO: + /* These commands are not actually done by sending a message, but + rather they will indirectly cause the driver to read the status + of all motors */ + break; + + case STOP_AXIS: + /* No stop command available - use move relative 0 */ + sprintf(buff, "STP #"); + strcat(buff, EOL_E517); + break; + + case JOG_VELOCITY: + case JOG: + sprintf(buff, "VEL # %.*f", maxdigits, cntrl_units); + strcat(buff, EOL_E517); + break; + + case SET_PGAIN: + send = false; + break; + case SET_IGAIN: + send = false; + break; + case SET_DGAIN: + send = false; + break; + + case SET_HIGH_LIMIT: + case SET_LOW_LIMIT: + case SET_ENC_RATIO: + trans->state = IDLE_STATE; /* No command sent to the controller. */ + send = false; + break; + + default: + send = false; + rtnval = ERROR; + } + + size = strlen(buff); + if (send == false) + return(rtnval); + else if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE) + errlogMessage("PIE517_build_trans(): buffer overflow.\n"); + else + { + strcat(motor_call->message, buff); + rtnval = motor_end_trans_com(mr, drvtabptr); + } + return(rtnval); +} diff --git a/motorApp/PiSrc/devPIMotor.dbd b/motorApp/PiSrc/devPIMotor.dbd index 67584994..04e0c06d 100644 --- a/motorApp/PiSrc/devPIMotor.dbd +++ b/motorApp/PiSrc/devPIMotor.dbd @@ -46,6 +46,12 @@ driver(drvPIE516) registrar(PIE516motorRegister) variable(drvPIE516debug) +# Physik Instrumente (PI) GmbH & Co. E-517 driver support. +device(motor,VME_IO,devPIE517,"PIE517") +driver(drvPIE517) +registrar(PIE517motorRegister) +variable(drvPIE517debug) + # Physik Instrumente (PI) GmbH & Co. E-816 driver support. device(motor,VME_IO,devPIE816,"PIE816") driver(drvPIE816) diff --git a/motorApp/PiSrc/drvPIE517.cc b/motorApp/PiSrc/drvPIE517.cc new file mode 100755 index 00000000..5ba40cb9 --- /dev/null +++ b/motorApp/PiSrc/drvPIE517.cc @@ -0,0 +1,680 @@ +/* +FILENAME... drvPIE517.cc +USAGE... Motor record driver level support for Physik Instrumente (PI) + GmbH & Co. E-516 motor controller. + +Version: $Revision: 1.1 $ +Modified By: $Author: sullivan $ +Last Modified: $Date: 2007-03-30 20:01:05 $ +*/ + +/* + * Original Author: Ron Sluiter + * Date: 10/18/05 + * Current Author: Joe Sullivan + * + * Experimental Physics and Industrial Control System (EPICS) + * + * Copyright 1991, the Regents of the University of California, + * and the University of Chicago Board of Governors. + * + * This software was produced under U.S. Government contracts: + * (W-7405-ENG-36) at the Los Alamos National Laboratory, + * and (W-31-109-ENG-38) at Argonne National Laboratory. + * + * Initial development by: + * The Controls and Automation Group (AT-8) + * Ground Test Accelerator + * Accelerator Technology Division + * Los Alamos National Laboratory + * + * Co-developed with + * The Controls and Computing Group + * Accelerator Systems Division + * Advanced Photon Source + * Argonne National Laboratory + * + * Modification Log: + * ----------------- + * .01 08/10/16 Bruno Luvizotto (brunoluvizotto@gmail.com) - copied from devPIE516.cc. + * .02 08/10/16 Bruno Luvizotto (brunoluvizotto@gmail.com) - edited the files for the E517 controller. + * Tested on PI VER: + * FW_DSP: 02.034 + * FW_FPGA: 02.040 + * FW_MCU: 1.22.6 + */ + +/* +DESIGN LIMITATIONS... + 1 - Like all controllers, the PIE517 must be powered-on when EPICS is first + booted up. +*/ + +#include +#include +#include +#include "motorRecord.h" +#include "motor.h" +#include "drvPIE517.h" +#include "epicsExport.h" + +#define GET_IDENT "VER?" +#define SET_ONLINE "ONL # 1" /* Set Online Mode ON */ +#define SET_VELCTRL "VCO # 1" /* Set Velocity Control Mode - Required for DONE */ +#define READ_ONLINE "ONL? #" /* Read Online Mode */ +#define READ_POS "POS? #" /* Read position */ +#define READ_OVERFLOW "OVF? #" /* Read Servo Overflow Status */ +#define READ_ONTARGET "ONT? #" /* Read Position ON Target */ +#define READ_SERVO "SVO? #" /* Read Servo Enable Status */ + + +#define PIE517_NUM_CARDS 10 +#define MAX_AXES 3 +#define BUFF_SIZE 100 /* Maximum length of string to/from PIE517 */ + +/*----------------debugging-----------------*/ +volatile int drvPIE517debug = 0; +extern "C" {epicsExportAddress(int, drvPIE517debug);} +static inline void Debug(int level, const char *format, ...) { + #ifdef DEBUG + if (level < drvPIE517debug) { + va_list pVar; + va_start(pVar, format); + vprintf(format, pVar); + va_end(pVar); + } + #endif +} + +/* --- Local data. --- */ +int PIE517_num_cards = 0; +static char *PIE517_axis[] = {"1 ", "2 ", "3 "}; //{"A", "B", "C"}; + +/* Local data required for every driver; see "motordrvComCode.h" */ +#include "motordrvComCode.h" + + +/*----------------functions-----------------*/ +static int recv_mess(int, char *, int); +static RTN_STATUS send_mess(int, char const *, char *); +static int set_status(int, int); +static long report(int); +static long init(); +static int motor_init(); +static void query_done(int, int, struct mess_node *); + +/*----------------functions-----------------*/ + +struct driver_table PIE517_access = +{ + motor_init, + motor_send, + motor_free, + motor_card_info, + motor_axis_info, + &mess_queue, + &queue_lock, + &free_list, + &freelist_lock, + &motor_sem, + &motor_state, + &total_cards, + &any_motor_in_motion, + send_mess, + recv_mess, + set_status, + query_done, + NULL, + &initialized, + PIE517_axis +}; + +struct +{ + long number; + long (*report) (int); + long (*init) (void); +} drvPIE517 = {2, report, init}; + +extern "C" {epicsExportAddress(drvet, drvPIE517);} + +static struct thread_args targs = {SCAN_RATE, &PIE517_access, 0.0}; + +/********************************************************* + * Print out driver status report + *********************************************************/ +static long report(int level) +{ + int card; + + if (PIE517_num_cards <=0) + printf(" No PIE517 controllers configured.\n"); + else + { + for (card = 0; card < PIE517_num_cards; card++) + { + struct controller *brdptr = motor_state[card]; + + if (brdptr == NULL) + printf(" PIE517 controller %d connection failed.\n", card); + else + { + struct PIE517controller *cntrl; + + cntrl = (struct PIE517controller *) brdptr->DevicePrivate; + printf(" PIE517 controller #%d, port=%s, id: %s \n", card, + cntrl->asyn_port, brdptr->ident); + } + } + } + return(OK); +} + + +static long init() +{ + /* + * We cannot call motor_init() here, because that function can do GPIB I/O, + * and hence requires that the drvGPIB have already been initialized. + * That cannot be guaranteed, so we need to call motor_init from device + * support + */ + /* Check for setup */ + if (PIE517_num_cards <= 0) + { + Debug(1, "init(): PIE517 driver disabled. PIE517Setup() missing from startup script.\n"); + } + return((long) 0); +} + + +static void query_done(int card, int axis, struct mess_node *nodeptr) +{ +} + + +/******************************************************************************** +* * +* FUNCTION NAME: set_status * +* * +* LOGIC: * +* Initialize. * +* Send "Moving Status" query. * +* Read response. * +* IF normal response to query. * +* Set communication status to NORMAL. * +* ELSE * +* IF communication status is NORMAL. * +* Set communication status to RETRY. * +* NORMAL EXIT. * +* ELSE * +* Set communication status error. * +* ERROR EXIT. * +* ENDIF * +* ENDIF * +* * +* IF "Moving Status" indicates any motion (i.e. status != 0). * +* Clear "Done Moving" status bit. * +* ELSE * +* Set "Done Moving" status bit. * +* ENDIF * +* * +* * +********************************************************************************/ + +static int set_status(int card, int signal) +{ + struct PIE517controller *cntrl; + struct mess_node *nodeptr; + struct mess_info *motor_info; + struct motorRecord *mr; + /* Message parsing variables */ + char buff[BUFF_SIZE]; + int rtn_state; + unsigned int overflow_status, ontarget_status, servo_status, online_status; + epicsInt32 motorData; + bool plusdir, ls_active, plusLS, minusLS; + bool readOK; + msta_field status; + + cntrl = (struct PIE517controller *) motor_state[card]->DevicePrivate; + motor_info = &(motor_state[card]->motor_info[signal]); + nodeptr = motor_info->motor_motion; + if (nodeptr != NULL) + mr = (struct motorRecord *) nodeptr->mrecord; + else + mr = NULL; + status.All = motor_info->status.All; + + recv_mess(card, buff, FLUSH); + + readOK = false; +// send_mess(card, READ_ONLINE, PIE517_axis[signal]); +// if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &online_status)) +// { +// if (!online_status) +// { +// /* Assume Controller Reboot - Set ONLINE and Velocity Control ON */ +// send_mess(card, SET_ONLINE, PIE517_axis[signal]); +// //send_mess(card, SET_VELCTRL, (char) NULL); +// } + + send_mess(card, READ_ONTARGET, PIE517_axis[signal]); + if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &ontarget_status)) + { + send_mess(card, READ_OVERFLOW, PIE517_axis[signal]); + if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &overflow_status)) + { + send_mess(card, READ_SERVO, PIE517_axis[signal]); + if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &servo_status)) + { + send_mess(card, READ_POS, PIE517_axis[signal]); + if (recv_mess(card, buff, 1)) + { + motorData = NINT(atof(buff) / cntrl->drive_resolution[signal]); + readOK = true; + } + } + } + } +// } + + if (readOK) + { + cntrl->status = NORMAL; + status.Bits.CNTRL_COMM_ERR = 0; + } + else + { + if (cntrl->status == NORMAL) + { + cntrl->status = RETRY; + rtn_state = OK; + goto exit; + } + else + { + cntrl->status = COMM_ERR; + status.Bits.CNTRL_COMM_ERR = 1; + status.Bits.RA_PROBLEM = 1; + rtn_state = 1; + goto exit; + } + } + + + /* Always DONE if torque disabled */ + status.Bits.RA_DONE = (ontarget_status) ? 1 : 0; + status.Bits.RA_HOME = status.Bits.RA_DONE; + + status.Bits.EA_POSITION = (servo_status) ? 1 : 0; /* Torgue disabled flag */ + + ls_active = plusLS = minusLS = false; + + /* LS status may be true but servo is not within position error - keep updating */ + /* No Limit switches but if the Servo Controller overflows indicate with a + LS */ + if (status.Bits.RA_DONE) + plusLS = overflow_status ? true : false; + + if (motorData == motor_info->position) + { + if (nodeptr != 0) /* Increment counter only if motor is moving. */ + motor_info->no_motion_count++; + } + else + { + status.Bits.RA_DIRECTION = (motorData >= motor_info->position) ? 1 : 0; + motor_info->position = motor_info->encoder_position = motorData; + motor_info->no_motion_count = 0; + } + + plusdir = (status.Bits.RA_DIRECTION) ? true : false; + + /* Set limit switch error indicators. */ + if (plusLS == true) + { + status.Bits.RA_PLUS_LS = 1; + if (plusdir == true) + ls_active = true; + } + else + status.Bits.RA_PLUS_LS = 0; + + if (minusLS == true) + { + status.Bits.RA_MINUS_LS = 1; + if (plusdir == false) + ls_active = true; + } + else + status.Bits.RA_MINUS_LS = 0; + + /* encoder status */ + status.Bits.EA_SLIP = 0; + status.Bits.EA_SLIP_STALL = 0; + status.Bits.EA_HOME = 0; + + status.Bits.RA_PROBLEM = 0; + + /* Parse motor velocity? */ + /* NEEDS WORK */ + + motor_info->velocity = 0; + + if (!status.Bits.RA_DIRECTION) + motor_info->velocity *= -1; + + rtn_state = (!motor_info->no_motion_count || ls_active == true || + status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0; + + /* Test for post-move string. */ + if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 && + nodeptr->postmsgptr != 0) + { + strcpy(buff, nodeptr->postmsgptr); + send_mess(card, buff, (char) NULL); + nodeptr->postmsgptr = NULL; + } + +exit: + motor_info->status.All = status.All; + return(rtn_state); +} + + +/*****************************************************/ +/* send a message to the PIE517 board */ +/* send_mess() */ +/*****************************************************/ +static RTN_STATUS send_mess(int card, char const *com, char *name) +{ + char local_buff[MAX_MSG_SIZE]; + char *pbuff; + struct PIE517controller *cntrl; + int comsize, namesize; + size_t nwrite; + + comsize = (com == NULL) ? 0 : strlen(com); + namesize = (name == NULL) ? 0 : strlen(name); + + if ((comsize + namesize) > MAX_MSG_SIZE) + { + errlogMessage("drvPIE517.cc:send_mess(); message size violation.\n"); + return(ERROR); + } + else if (comsize == 0) /* Normal exit on empty input message. */ + return(OK); + + if (!motor_state[card]) + { + errlogPrintf("drvPIE517.cc:send_mess() - invalid card #%d\n", card); + return(ERROR); + } + + local_buff[0] = (char) NULL; /* Terminate local buffer. */ + + if (name == NULL) + strcat(local_buff, com); /* Make a local copy of the string. */ + else + { + strcpy(local_buff, com); + pbuff = strchr(local_buff, '#'); + if (pbuff != NULL) + *pbuff = *name; + else + Debug(1, "send_mess(): NAME ERROR: message = %s\n", local_buff); + } + + Debug(2, "send_mess(): message = %s\n", local_buff); + + cntrl = (struct PIE517controller *) motor_state[card]->DevicePrivate; + pasynOctetSyncIO->write(cntrl->pasynUser, local_buff, strlen(local_buff), + COMM_TIMEOUT, &nwrite); + + return(OK); +} + + +/*****************************************************/ +/* receive a message from the PIE517 board */ +/* recv_mess() */ +/*****************************************************/ +static int recv_mess(int card, char *com, int flag) +{ + struct PIE517controller *cntrl; + size_t nread = 0; + asynStatus status = asynError; + int eomReason; + char *pos; + + /* Check that card exists */ + if (!motor_state[card]) + return(ERROR); + + cntrl = (struct PIE517controller *) motor_state[card]->DevicePrivate; + + if (flag == FLUSH) + pasynOctetSyncIO->flush(cntrl->pasynUser); + else + status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE, + COMM_TIMEOUT, &nread, &eomReason); + pos=strchr(com,'='); + if(pos != NULL) + strcpy(com,&pos[1]); + + if ((status != asynSuccess) || (nread <= 0)) + { + com[0] = '\0'; + nread = 0; + } + + Debug(2, "recv_mess(): message = \"%s\"\n", com); + return(nread); +} + + +/*****************************************************/ +/* Setup system configuration */ +/* PIE517Setup() */ +/*****************************************************/ +RTN_STATUS +PIE517Setup(int num_cards, /* maximum number of controllers in system. */ + int scan_rate) /* polling rate - 1/60 sec units. */ +{ + int itera; + + if (num_cards < 1 || num_cards > PIE517_NUM_CARDS) + PIE517_num_cards = PIE517_NUM_CARDS; + else + PIE517_num_cards = num_cards; + + /* Set motor polling task rate */ + if (scan_rate >= 1 && scan_rate <= 60) + targs.motor_scan_rate = scan_rate; + else + targs.motor_scan_rate = SCAN_RATE; + + /* + * Allocate space for motor_state structures. Note this must be done + * before PIE517Config is called, so it cannot be done in motor_init() + * This means that we must allocate space for a card without knowing + * if it really exists, which is not a serious problem + */ + motor_state = (struct controller **) malloc(PIE517_num_cards * + sizeof(struct controller *)); + + for (itera = 0; itera < PIE517_num_cards; itera++) + motor_state[itera] = (struct controller *) NULL; + + return(OK); +} + + +/*****************************************************/ +/* Configure a controller */ +/* PIE517Config() */ +/*****************************************************/ +RTN_STATUS +PIE517Config(int card, /* card being configured */ + const char *name, /* asyn port name */ + int addr) /* asyn address (GPIB) */ +{ + struct PIE517controller *cntrl; + + if (card < 0 || card >= PIE517_num_cards) + return(ERROR); + + motor_state[card] = (struct controller *) malloc(sizeof(struct controller)); + motor_state[card]->DevicePrivate = malloc(sizeof(struct PIE517controller)); + cntrl = (struct PIE517controller *) motor_state[card]->DevicePrivate; + + strcpy(cntrl->asyn_port, name); + cntrl->asyn_address = addr; + return(OK); +} + + +/*****************************************************/ +/* initialize all software and hardware */ +/* This is called from the initialization routine in */ +/* device support. */ +/* motor_init() */ +/*****************************************************/ +static int motor_init() +{ + struct controller *brdptr; + struct PIE517controller *cntrl; + int card_index, motor_index; + char buff[BUFF_SIZE], *pbuff; + int total_axis; + int status; + int version; + bool online; + asynStatus success_rtn; + static const char output_terminator[] = EOL_E517; + static const char input_terminator[] = EOL_E517; + + initialized = true; /* Indicate that driver is initialized. */ + + /* Check for setup */ + if (PIE517_num_cards <= 0) + return(ERROR); + + for (card_index = 0; card_index < PIE517_num_cards; card_index++) + { + if (!motor_state[card_index]) + continue; + + brdptr = motor_state[card_index]; + brdptr->ident[0] = (char) NULL; /* No controller identification message. */ + brdptr->cmnd_response = false; + total_cards = card_index + 1; + cntrl = (struct PIE517controller *) brdptr->DevicePrivate; + + status = version = 0; + + /* Initialize communications channel */ + success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port, 0, + &cntrl->pasynUser, NULL); + if (success_rtn == asynSuccess) + { + //int retry = 0; + + pasynOctetSyncIO->setOutputEos(cntrl->pasynUser, output_terminator, + strlen(output_terminator)); + pasynOctetSyncIO->setInputEos(cntrl->pasynUser, input_terminator, + strlen(input_terminator)); + + /* Send a message to the board, see if it exists */ + /* flush any junk at input port - should not be any data available */ + pasynOctetSyncIO->flush(cntrl->pasynUser); + + /* Assure that Controller is ONLINE */ + online = true; + //do + //{ + // online = false; + // /* Set Controller to ONLINE mode */ + // send_mess(card_index, SET_ONLINE, (char) NULL); + // send_mess(card_index, READ_ONLINE, (char) NULL); + // if ((status = recv_mess(card_index, buff, 1))) + //online = (atoi(buff)==1) ? true : false; + // else + //retry++; + //} while (online == false && retry < 3); + + //send_mess(card_index, GET_IDENT, (char) NULL); + //status = recv_mess(card_index, buff, 1); + + /* Parse out E517 revision (2 decimal places) and convert to int */ + if ((pbuff = strchr(buff, 'V'))) + version = NINT(atof(pbuff+1) * 100); + else + version = 0; + } + + if (success_rtn == asynSuccess && online == true) + { + strcpy(brdptr->ident, buff); + brdptr->localaddr = (char *) NULL; + brdptr->motor_in_motion = 0; + + /* Check for E517 versions that need the status word shifted up 8 bits */ + /*if (version >= 311) + cntrl->versionSupport = true; + else + cntrl->versionSupport = false;*/ + + /* Determine # of axes. Request stage name. See if it responds */ + for (total_axis = 0; total_axis < MAX_AXES; total_axis++) + { + send_mess(card_index, READ_POS, PIE517_axis[total_axis]); + status = recv_mess(card_index, buff, 1); + if (!status) + break; + } + brdptr->total_axis = total_axis; + + /* Turn ON velocity control mode - All axis */ + //send_mess(card_index, SET_VELCTRL, (char) NULL); + + for (motor_index = 0; motor_index < total_axis; motor_index++) + { + struct mess_info *motor_info = &brdptr->motor_info[motor_index]; + + motor_info->status.All = 0; + motor_info->no_motion_count = 0; + motor_info->encoder_position = 0; + motor_info->position = 0; + brdptr->motor_info[motor_index].motor_motion = NULL; + /* PIE517 has DC motor support only */ + motor_info->encoder_present = YES; + motor_info->status.Bits.EA_PRESENT = 1; + motor_info->pid_present = NO; + motor_info->status.Bits.GAIN_SUPPORT = 1; + + cntrl->drive_resolution[motor_index] = POS_RES; + + set_status(card_index, motor_index); /* Read status of each motor */ + } + } + else + motor_state[card_index] = (struct controller *) NULL; + } + + any_motor_in_motion = 0; + + mess_queue.head = (struct mess_node *) NULL; + mess_queue.tail = (struct mess_node *) NULL; + + free_list.head = (struct mess_node *) NULL; + free_list.tail = (struct mess_node *) NULL; + + epicsThreadCreate((char *) "PIE517_motor", epicsThreadPriorityMedium, + epicsThreadGetStackSize(epicsThreadStackMedium), + (EPICSTHREADFUNC) motor_task, (void *) &targs); + + return(OK); +} + + diff --git a/motorApp/PiSrc/drvPIE517.h b/motorApp/PiSrc/drvPIE517.h new file mode 100755 index 00000000..3d1c942b --- /dev/null +++ b/motorApp/PiSrc/drvPIE517.h @@ -0,0 +1,75 @@ +/* File: drvPIE516.h */ + + +/* Device Driver Support definitions for motor */ +/* + * Original Author: Ron Sluiter + * Current Author: Joe Sullivan + * Date: 09/20/2005 + * + * Modification Log: + * ----------------- + * .01 08/10/16 Bruno Luvizotto (brunoluvizotto@gmail.com) - copied from drvPIE516.h + * .02 08/10/16 Bruno Luvizotto (brunoluvizotto@gmail.com) - edited the files for the E517 controller + */ + +#ifndef INCdrvPIE517h +#define INCdrvPIE517h 1 + +#include "motordrvCom.h" +#include "asynDriver.h" +#include "asynDriver.h" +#include "asynOctetSyncIO.h" + +#define COMM_TIMEOUT 2 /* Timeout in seconds. */ +#define POS_RES 0.001 /* Position resolution. */ + +#define EOL_E517 "\n" /* Command End-Of-Line = LF (0x10) */ + +struct PIE517controller +{ + asynUser *pasynUser; /* asynUser structure */ + int asyn_address; /* Use for GPIB or other address with asyn */ + CommStatus status; /* Controller communication status. */ + double drive_resolution[4]; + bool versionSupport; /* Track supported Versions - include in Report */ + char asyn_port[80]; /* asyn port name */ +}; + + +typedef union +{ + epicsUInt16 All; + struct + { +#ifdef MSB_First + unsigned int cmnd_err :1; /* 15 - Command Error */ + unsigned int na6 :1; /* 14 - */ + unsigned int autozero :1; /* 13 - AutoZero function is running */ + unsigned int plus_ls :1; /* 12 - Positive limit switch flag. */ + unsigned int minus_ls :1; /* 11 - Negative limit switch flag. */ + unsigned int moving :1; /* 10 - Moving indicator - position error outside tolerance */ + unsigned int volt_limit :1; /* 9 - piezo voltage limit reached */ + unsigned int torque :1; /* 8 - Servo-control status */ + unsigned int nabyte :8; + +#else + unsigned int nabyte :8; + unsigned int torque :1; /* 8 - Servo-control status */ + unsigned int volt_limit :1; /* 9 - piezo voltage limit reached */ + unsigned int moving :1; /* 10 - Moving indicator - position error outside tolerance */ + unsigned int minus_ls :1; /* 11 - Negative limit switch flag. */ + unsigned int plus_ls :1; /* 12 - Positive limit switch flag. */ + unsigned int autozero :1; /* 13 - AutoZero function is running */ + unsigned int na6 :1; /* 14 - */ + unsigned int cmnd_err :1; /* 15 - Command Error */ +#endif + } Bits; +} E517_Status_Reg; + + +/* Function prototypes. */ +extern RTN_STATUS PIE517Setup(int, int); +extern RTN_STATUS PIE517Config(int, const char *, int); + +#endif /* INCdrvPIE517h */ From 7324d917dc35398e9b1624cff4880e01bd62c837 Mon Sep 17 00:00:00 2001 From: Mark Rivers Date: Mon, 3 Jul 2017 13:25:53 -0500 Subject: [PATCH 2/7] Put epicsExportRegistrar in extern C; otherwise it won't link on Windows --- motorApp/OmsSrc/drvOms58.cc | 2 ++ 1 file changed, 2 insertions(+) diff --git a/motorApp/OmsSrc/drvOms58.cc b/motorApp/OmsSrc/drvOms58.cc index 38511374..f729c8bb 100644 --- a/motorApp/OmsSrc/drvOms58.cc +++ b/motorApp/OmsSrc/drvOms58.cc @@ -1380,6 +1380,8 @@ void oms58Registrar(void) iocshRegister(&oms58FuncDef, &oms58CallFunc); } +extern "C"{ epicsExportRegistrar(oms58Registrar); +} /*---------------------------------------------------------------------*/ From b201e40ee3417dfefa70d9100a453934c3e6e67d Mon Sep 17 00:00:00 2001 From: Mitch D'Ewart Date: Tue, 18 Aug 2015 14:20:34 -0700 Subject: [PATCH 3/7] Changed ACCL calculation when VELO == VBAS. Previously ACCL was only calculated as (VELO-VBAS)/TIME. This could cause problems for drivers setting ACCL=0. Now if VELO == VBAS, ACCL = VELO/TIME. --- motorApp/MotorSrc/motorRecord.cc | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/motorApp/MotorSrc/motorRecord.cc b/motorApp/MotorSrc/motorRecord.cc index 919831c1..25d1930e 100644 --- a/motorApp/MotorSrc/motorRecord.cc +++ b/motorApp/MotorSrc/motorRecord.cc @@ -786,7 +786,7 @@ static long postProcess(motorRecord * pmr) double vbase = pmr->vbas / fabs(pmr->mres); double hpos = 0; double hvel = pmr->hvel / fabs(pmr->mres); - double acc = (hvel - vbase) / pmr->accl; + double acc = (hvel - vbase) > 0 ? ((hvel - vbase)/ pmr->accl): (hvel / pmr->accl); motor_cmnd command; @@ -858,7 +858,7 @@ static long postProcess(motorRecord * pmr) if (pmr->mip & MIP_JOG_STOP) { - double acc = (vel - vbase) / pmr->accl; + double acc = (vel - vbase) > 0 ? ((vel - vbase)/ pmr->accl) : (vel / pmr->accl); if (vel <= vbase) vel = vbase + 1; @@ -875,7 +875,7 @@ static long postProcess(motorRecord * pmr) else { double bvel = pmr->bvel / fabs(pmr->mres); - double bacc = (bvel - vbase) / pmr->bacc; + double bacc = (bvel - vbase) > 0 ? ((bvel - vbase)/ pmr->bacc) : (bvel / pmr->bacc); if (bvel <= vbase) bvel = vbase + 1; @@ -911,7 +911,7 @@ static long postProcess(motorRecord * pmr) /* First part of jog done. Do backlash correction. */ double bvel = pmr->bvel / fabs(pmr->mres); double vbase = pmr->vbas / fabs(pmr->mres); - double bacc = (bvel - vbase) / pmr->bacc; + double bacc = (bvel - vbase) > 0 ? ((bvel - vbase)/ pmr->bacc) : (bvel / pmr->bacc); double bpos = (pmr->dval - pmr->bdst) / pmr->mres; /* Use if encoder or ReadbackLink is in use. */ @@ -1935,7 +1935,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind) vbase = pmr->vbas / fabs(pmr->mres); hvel = pmr->hvel / fabs(pmr->mres); - acc = (hvel - vbase) / pmr->accl; + acc = (hvel - vbase) > 0 ? ((hvel - vbase) / pmr->accl) : (hvel / pmr->accl); hpos = 0; INIT_MSG(); @@ -2147,13 +2147,13 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind) double newpos = pmr->dval / pmr->mres; /* where to go */ double vbase = pmr->vbas / fabs(pmr->mres); /* base speed */ double vel = pmr->velo / fabs(pmr->mres); /* normal speed */ - double acc = (vel - vbase) / pmr->accl; /* normal accel. */ + double acc = (vel - vbase) > 0 ? ((vel - vbase) / pmr->accl) : (vel / pmr->accl); /* normal accel. */ /* * 'bpos' is one backlash distance away from 'newpos'. */ double bpos = (pmr->dval - pmr->bdst) / pmr->mres; double bvel = pmr->bvel / fabs(pmr->mres); /* backlash speed */ - double bacc = (bvel - vbase) / pmr->bacc; /* backlash accel. */ + double bacc = (bvel - vbase) > 0 ? ((bvel - vbase) / pmr->bacc) : (bvel / pmr->bacc); /* backlash accel. */ bool use_rel, preferred_dir, too_small; double relpos = pmr->diff / pmr->mres; double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->mres; From 6ccf596162c473901566e78ea80a52f2ef0c1bd8 Mon Sep 17 00:00:00 2001 From: Pete Jemian Date: Thu, 24 Aug 2017 07:20:21 -0500 Subject: [PATCH 4/7] additional panels used by USAXS --- motorApp/op/ui/motor2xU.ui | 60 ++++++++++++++ motorApp/op/ui/motor3xU.ui | 76 ++++++++++++++++++ motorApp/op/ui/motor4xU.ui | 92 ++++++++++++++++++++++ motorApp/op/ui/motor5xU.ui | 108 +++++++++++++++++++++++++ motorApp/op/ui/motor6xU.ui | 124 +++++++++++++++++++++++++++++ motorApp/op/ui/motor7xU.ui | 140 +++++++++++++++++++++++++++++++++ motorApp/op/ui/motor8xU.ui | 156 +++++++++++++++++++++++++++++++++++++ 7 files changed, 756 insertions(+) create mode 100644 motorApp/op/ui/motor2xU.ui create mode 100644 motorApp/op/ui/motor3xU.ui create mode 100644 motorApp/op/ui/motor4xU.ui create mode 100644 motorApp/op/ui/motor5xU.ui create mode 100644 motorApp/op/ui/motor6xU.ui create mode 100644 motorApp/op/ui/motor7xU.ui create mode 100644 motorApp/op/ui/motor8xU.ui diff --git a/motorApp/op/ui/motor2xU.ui b/motorApp/op/ui/motor2xU.ui new file mode 100644 index 00000000..826a681c --- /dev/null +++ b/motorApp/op/ui/motor2xU.ui @@ -0,0 +1,60 @@ + + + MainWindow + + + + 0 + 0 + 352 + 282 + + + + MainWindow + + + + + + 0 + 0 + 176 + 282 + + + + P=$(P),M=$(M1) + + + motorxU.ui + + + + + + 176 + 0 + 176 + 282 + + + + P=$(P),M=$(M2) + + + motorxU.ui + + + + + + + caInclude + QWidget +
caInclude
+ + + + + diff --git a/motorApp/op/ui/motor3xU.ui b/motorApp/op/ui/motor3xU.ui new file mode 100644 index 00000000..13cee664 --- /dev/null +++ b/motorApp/op/ui/motor3xU.ui @@ -0,0 +1,76 @@ + + + MainWindow + + + + 0 + 0 + 528 + 282 + + + + MainWindow + + + + + + 0 + 0 + 176 + 282 + + + + P=$(P),M=$(M1) + + + motorxU.ui + + + + + + 176 + 0 + 176 + 282 + + + + P=$(P),M=$(M2) + + + motorxU.ui + + + + + + 352 + 0 + 176 + 282 + + + + P=$(P),M=$(M3) + + + motorxU.ui + + + + + + + caInclude + QWidget +
caInclude
+ + + + + diff --git a/motorApp/op/ui/motor4xU.ui b/motorApp/op/ui/motor4xU.ui new file mode 100644 index 00000000..147d9e81 --- /dev/null +++ b/motorApp/op/ui/motor4xU.ui @@ -0,0 +1,92 @@ + + + MainWindow + + + + 0 + 0 + 704 + 282 + + + + MainWindow + + + + + + 0 + 0 + 176 + 282 + + + + P=$(P),M=$(M1) + + + motorxU.ui + + + + + + 176 + 0 + 176 + 282 + + + + P=$(P),M=$(M2) + + + motorxU.ui + + + + + + 352 + 0 + 176 + 282 + + + + P=$(P),M=$(M3) + + + motorxU.ui + + + + + + 528 + 0 + 176 + 282 + + + + P=$(P),M=$(M4) + + + motorxU.ui + + + + + + + caInclude + QWidget +
caInclude
+ + + + + diff --git a/motorApp/op/ui/motor5xU.ui b/motorApp/op/ui/motor5xU.ui new file mode 100644 index 00000000..ca45d7d4 --- /dev/null +++ b/motorApp/op/ui/motor5xU.ui @@ -0,0 +1,108 @@ + + + MainWindow + + + + 0 + 0 + 880 + 282 + + + + MainWindow + + + + + + 0 + 0 + 176 + 282 + + + + P=$(P),M=$(M1) + + + motorxU.ui + + + + + + 176 + 0 + 176 + 282 + + + + P=$(P),M=$(M2) + + + motorxU.ui + + + + + + 352 + 0 + 176 + 282 + + + + P=$(P),M=$(M3) + + + motorxU.ui + + + + + + 528 + 0 + 176 + 282 + + + + P=$(P),M=$(M5) + + + motorxU.ui + + + + + + 704 + 0 + 176 + 282 + + + + P=$(P),M=$(M5) + + + motorxU.ui + + + + + + + caInclude + QWidget +
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+ + + + + diff --git a/motorApp/op/ui/motor6xU.ui b/motorApp/op/ui/motor6xU.ui new file mode 100644 index 00000000..2de5181c --- /dev/null +++ b/motorApp/op/ui/motor6xU.ui @@ -0,0 +1,124 @@ + + + MainWindow + + + + 0 + 0 + 528 + 564 + + + + MainWindow + + + + + + 0 + 0 + 176 + 282 + + + + P=$(P),M=$(M1) + + + motorxU.ui + + + + + + 176 + 0 + 176 + 282 + + + + P=$(P),M=$(M2) + + + motorxU.ui + + + + + + 352 + 0 + 176 + 282 + + + + P=$(P),M=$(M3) + + + motorxU.ui + + + + + + 0 + 282 + 176 + 282 + + + + P=$(P),M=$(M4) + + + motorxU.ui + + + + + + 176 + 282 + 176 + 282 + + + + P=$(P),M=$(M5) + + + motorxU.ui + + + + + + 352 + 282 + 176 + 282 + + + + P=$(P),M=$(M6) + + + motorxU.ui + + + + + + + caInclude + QWidget +
caInclude
+ + + + + diff --git a/motorApp/op/ui/motor7xU.ui b/motorApp/op/ui/motor7xU.ui new file mode 100644 index 00000000..f29081c9 --- /dev/null +++ b/motorApp/op/ui/motor7xU.ui @@ -0,0 +1,140 @@ + + + MainWindow + + + + 0 + 0 + 704 + 564 + + + + MainWindow + + + + + + 0 + 0 + 176 + 282 + + + + P=$(P),M=$(M1) + + + motorxU.ui + + + + + + 176 + 0 + 176 + 282 + + + + P=$(P),M=$(M2) + + + motorxU.ui + + + + + + 352 + 0 + 176 + 282 + + + + P=$(P),M=$(M3) + + + motorxU.ui + + + + + + 528 + 0 + 176 + 282 + + + + P=$(P),M=$(M4) + + + motorxU.ui + + + + + + 0 + 282 + 176 + 282 + + + + P=$(P),M=$(M5) + + + motorxU.ui + + + + + + 176 + 282 + 176 + 282 + + + + P=$(P),M=$(M6) + + + motorxU.ui + + + + + + 352 + 282 + 176 + 282 + + + + P=$(P),M=$(M7) + + + motorxU.ui + + + + + + + caInclude + QWidget +
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+ + + + + diff --git a/motorApp/op/ui/motor8xU.ui b/motorApp/op/ui/motor8xU.ui new file mode 100644 index 00000000..8a6d0447 --- /dev/null +++ b/motorApp/op/ui/motor8xU.ui @@ -0,0 +1,156 @@ + + + MainWindow + + + + 0 + 0 + 704 + 564 + + + + MainWindow + + + + + + 0 + 0 + 176 + 282 + + + + P=$(P),M=$(M1) + + + motorxU.ui + + + + + + 176 + 0 + 176 + 282 + + + + P=$(P),M=$(M2) + + + motorxU.ui + + + + + + 352 + 0 + 176 + 282 + + + + P=$(P),M=$(M3) + + + motorxU.ui + + + + + + 528 + 0 + 176 + 282 + + + + P=$(P),M=$(M4) + + + motorxU.ui + + + + + + 0 + 282 + 176 + 282 + + + + P=$(P),M=$(M5) + + + motorxU.ui + + + + + + 176 + 282 + 176 + 282 + + + + P=$(P),M=$(M6) + + + motorxU.ui + + + + + + 352 + 282 + 176 + 282 + + + + P=$(P),M=$(M7) + + + motorxU.ui + + + + + + 528 + 282 + 176 + 282 + + + + P=$(P),M=$(M8) + + + motorxU.ui + + + + + + + caInclude + QWidget +
caInclude
+ + + + + From 468a96c5064d428a30a4215237a6389f21968194 Mon Sep 17 00:00:00 2001 From: Pete Jemian Date: Thu, 24 Aug 2017 10:43:45 -0500 Subject: [PATCH 5/7] fixes #73 --- motorApp/op/ui/{ => autoconvert}/16motor_form.ui | 0 motorApp/op/ui/{ => autoconvert}/4motor_form.ui | 0 motorApp/op/ui/{ => autoconvert}/8motor_form.ui | 0 motorApp/op/ui/{ => autoconvert}/ACRAux.ui | 0 motorApp/op/ui/{ => autoconvert}/ACRTop.ui | 0 motorApp/op/ui/{ => autoconvert}/EnsemblePSOFly.ui | 0 motorApp/op/ui/{ => autoconvert}/EnsemblePSOFly_graphic.ui | 0 motorApp/op/ui/{ => autoconvert}/EnsemblePSOFly_more.ui | 0 motorApp/op/ui/{ => autoconvert}/EnsemblePVErr.ui | 0 motorApp/op/ui/{ => autoconvert}/HXP.ui | 0 motorApp/op/ui/{ => autoconvert}/HXP_coordSys.ui | 0 motorApp/op/ui/{ => autoconvert}/HXP_extra.ui | 0 motorApp/op/ui/{ => autoconvert}/HXP_motors.ui | 0 motorApp/op/ui/{ => autoconvert}/HXP_moveAll.ui | 0 motorApp/op/ui/{ => autoconvert}/MAX_trajectoryPlot.ui | 0 motorApp/op/ui/{ => autoconvert}/MAX_trajectoryPlot2.ui | 0 motorApp/op/ui/{ => autoconvert}/MAX_trajectoryScan.ui | 0 motorApp/op/ui/{ => autoconvert}/MAX_trajectoryScan1.ui | 0 motorApp/op/ui/{ => autoconvert}/MAX_trajectoryScan2.ui | 0 motorApp/op/ui/{ => autoconvert}/MAX_trajectoryScanDebug.ui | 0 motorApp/op/ui/{ => autoconvert}/MAX_trajectoryScanSpeed.ui | 0 motorApp/op/ui/{ => autoconvert}/PSOarrayPlot.ui | 0 motorApp/op/ui/{ => autoconvert}/XPSAux.ui | 0 motorApp/op/ui/{ => autoconvert}/XPSAuxBi_more.ui | 0 motorApp/op/ui/{ => autoconvert}/XPSAuxTest.ui | 0 motorApp/op/ui/{ => autoconvert}/XPSExtra.ui | 0 motorApp/op/ui/{ => autoconvert}/XPSTest.ui | 0 motorApp/op/ui/{ => autoconvert}/XPSTop.ui | 0 motorApp/op/ui/{ => autoconvert}/motor2x.ui | 0 motorApp/op/ui/{ => autoconvert}/motor3x.ui | 0 motorApp/op/ui/{ => autoconvert}/motor4x.ui | 0 motorApp/op/ui/{ => autoconvert}/motor5x.ui | 0 motorApp/op/ui/{ => autoconvert}/motor6x.ui | 0 motorApp/op/ui/{ => autoconvert}/motor8x.ui | 0 motorApp/op/ui/{ => autoconvert}/motorStatus104.ui | 0 motorApp/op/ui/{ => autoconvert}/motorStatus16.ui | 0 motorApp/op/ui/{ => autoconvert}/motorStatus24.ui | 0 motorApp/op/ui/{ => autoconvert}/motorStatus32.ui | 0 motorApp/op/ui/{ => autoconvert}/motorStatus40.ui | 0 motorApp/op/ui/{ => autoconvert}/motorStatus48.ui | 0 motorApp/op/ui/{ => autoconvert}/motorStatus56.ui | 0 motorApp/op/ui/{ => autoconvert}/motorStatus64.ui | 0 motorApp/op/ui/{ => autoconvert}/motorStatus72.ui | 0 motorApp/op/ui/{ => autoconvert}/motorStatus8.ui | 0 motorApp/op/ui/{ => autoconvert}/motorStatus80.ui | 0 motorApp/op/ui/{ => autoconvert}/motorStatus88.ui | 0 motorApp/op/ui/{ => autoconvert}/motors.ui | 0 motorApp/op/ui/{ => autoconvert}/motors_s.ui | 0 motorApp/op/ui/{ => autoconvert}/motorx.ui | 0 motorApp/op/ui/{ => autoconvert}/motorxU.ui | 0 motorApp/op/ui/{ => autoconvert}/motorx_all.ui | 0 motorApp/op/ui/{ => autoconvert}/motorx_bare.ui | 0 motorApp/op/ui/{ => autoconvert}/motorx_help.ui | 0 motorApp/op/ui/{ => autoconvert}/motorx_more.ui | 0 motorApp/op/ui/{ => autoconvert}/motorx_msta_detail.ui | 0 motorApp/op/ui/{ => autoconvert}/motorx_setup.ui | 0 motorApp/op/ui/{ => autoconvert}/motorx_tiny.ui | 0 motorApp/op/ui/{ => autoconvert}/profileMove.ui | 0 motorApp/op/ui/{ => autoconvert}/profileMoveXPS.ui | 0 motorApp/op/ui/{ => autoconvert}/topMotors4.ui | 0 motorApp/op/ui/{ => autoconvert}/topMotors8.ui | 0 motorApp/op/ui/{ => autoconvert}/topMotors8_more.ui | 0 motorApp/op/ui/{ => autoconvert}/trajectoryPlot.ui | 0 motorApp/op/ui/{ => autoconvert}/trajectoryScan.ui | 0 motorApp/op/ui/{ => autoconvert}/trajectoryScanDebug.ui | 0 motorApp/op/ui/{ => autoconvert}/trajectoryScan_Ensemble.ui | 0 motorApp/op/ui/{ => autoconvert}/trajectoryScan_MAXv.ui | 0 67 files changed, 0 insertions(+), 0 deletions(-) rename motorApp/op/ui/{ => autoconvert}/16motor_form.ui (100%) rename motorApp/op/ui/{ => autoconvert}/4motor_form.ui (100%) rename motorApp/op/ui/{ => autoconvert}/8motor_form.ui (100%) rename motorApp/op/ui/{ => autoconvert}/ACRAux.ui (100%) rename motorApp/op/ui/{ => autoconvert}/ACRTop.ui (100%) rename motorApp/op/ui/{ => autoconvert}/EnsemblePSOFly.ui (100%) rename motorApp/op/ui/{ => autoconvert}/EnsemblePSOFly_graphic.ui (100%) rename motorApp/op/ui/{ => autoconvert}/EnsemblePSOFly_more.ui (100%) rename motorApp/op/ui/{ => autoconvert}/EnsemblePVErr.ui (100%) rename motorApp/op/ui/{ => autoconvert}/HXP.ui (100%) rename motorApp/op/ui/{ => autoconvert}/HXP_coordSys.ui (100%) rename motorApp/op/ui/{ => autoconvert}/HXP_extra.ui (100%) rename motorApp/op/ui/{ => autoconvert}/HXP_motors.ui (100%) rename motorApp/op/ui/{ => autoconvert}/HXP_moveAll.ui (100%) rename motorApp/op/ui/{ => autoconvert}/MAX_trajectoryPlot.ui (100%) rename motorApp/op/ui/{ => autoconvert}/MAX_trajectoryPlot2.ui (100%) rename motorApp/op/ui/{ => autoconvert}/MAX_trajectoryScan.ui (100%) rename motorApp/op/ui/{ => autoconvert}/MAX_trajectoryScan1.ui (100%) rename motorApp/op/ui/{ => autoconvert}/MAX_trajectoryScan2.ui (100%) rename motorApp/op/ui/{ => autoconvert}/MAX_trajectoryScanDebug.ui (100%) rename motorApp/op/ui/{ => autoconvert}/MAX_trajectoryScanSpeed.ui (100%) rename motorApp/op/ui/{ => autoconvert}/PSOarrayPlot.ui (100%) rename motorApp/op/ui/{ => autoconvert}/XPSAux.ui (100%) rename motorApp/op/ui/{ => autoconvert}/XPSAuxBi_more.ui (100%) rename motorApp/op/ui/{ => autoconvert}/XPSAuxTest.ui (100%) rename motorApp/op/ui/{ => autoconvert}/XPSExtra.ui (100%) rename motorApp/op/ui/{ => autoconvert}/XPSTest.ui (100%) rename motorApp/op/ui/{ => autoconvert}/XPSTop.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motor2x.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motor3x.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motor4x.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motor5x.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motor6x.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motor8x.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motorStatus104.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motorStatus16.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motorStatus24.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motorStatus32.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motorStatus40.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motorStatus48.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motorStatus56.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motorStatus64.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motorStatus72.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motorStatus8.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motorStatus80.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motorStatus88.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motors.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motors_s.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motorx.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motorxU.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motorx_all.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motorx_bare.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motorx_help.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motorx_more.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motorx_msta_detail.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motorx_setup.ui (100%) rename motorApp/op/ui/{ => autoconvert}/motorx_tiny.ui (100%) rename motorApp/op/ui/{ => autoconvert}/profileMove.ui (100%) rename motorApp/op/ui/{ => autoconvert}/profileMoveXPS.ui (100%) rename motorApp/op/ui/{ => autoconvert}/topMotors4.ui (100%) rename motorApp/op/ui/{ => autoconvert}/topMotors8.ui (100%) rename motorApp/op/ui/{ => autoconvert}/topMotors8_more.ui (100%) rename motorApp/op/ui/{ => autoconvert}/trajectoryPlot.ui (100%) rename motorApp/op/ui/{ => autoconvert}/trajectoryScan.ui (100%) rename motorApp/op/ui/{ => autoconvert}/trajectoryScanDebug.ui (100%) rename motorApp/op/ui/{ => autoconvert}/trajectoryScan_Ensemble.ui (100%) rename motorApp/op/ui/{ => autoconvert}/trajectoryScan_MAXv.ui (100%) diff --git a/motorApp/op/ui/16motor_form.ui b/motorApp/op/ui/autoconvert/16motor_form.ui similarity index 100% rename from motorApp/op/ui/16motor_form.ui rename to motorApp/op/ui/autoconvert/16motor_form.ui diff --git a/motorApp/op/ui/4motor_form.ui b/motorApp/op/ui/autoconvert/4motor_form.ui similarity index 100% rename from motorApp/op/ui/4motor_form.ui rename to motorApp/op/ui/autoconvert/4motor_form.ui diff --git a/motorApp/op/ui/8motor_form.ui b/motorApp/op/ui/autoconvert/8motor_form.ui similarity index 100% rename from motorApp/op/ui/8motor_form.ui rename to motorApp/op/ui/autoconvert/8motor_form.ui diff --git a/motorApp/op/ui/ACRAux.ui b/motorApp/op/ui/autoconvert/ACRAux.ui similarity index 100% rename from motorApp/op/ui/ACRAux.ui rename to motorApp/op/ui/autoconvert/ACRAux.ui diff --git a/motorApp/op/ui/ACRTop.ui b/motorApp/op/ui/autoconvert/ACRTop.ui similarity index 100% rename from motorApp/op/ui/ACRTop.ui rename to motorApp/op/ui/autoconvert/ACRTop.ui diff --git a/motorApp/op/ui/EnsemblePSOFly.ui b/motorApp/op/ui/autoconvert/EnsemblePSOFly.ui similarity index 100% rename from motorApp/op/ui/EnsemblePSOFly.ui rename to motorApp/op/ui/autoconvert/EnsemblePSOFly.ui diff --git a/motorApp/op/ui/EnsemblePSOFly_graphic.ui b/motorApp/op/ui/autoconvert/EnsemblePSOFly_graphic.ui similarity index 100% rename from motorApp/op/ui/EnsemblePSOFly_graphic.ui rename to motorApp/op/ui/autoconvert/EnsemblePSOFly_graphic.ui diff --git a/motorApp/op/ui/EnsemblePSOFly_more.ui b/motorApp/op/ui/autoconvert/EnsemblePSOFly_more.ui similarity index 100% rename from motorApp/op/ui/EnsemblePSOFly_more.ui rename to motorApp/op/ui/autoconvert/EnsemblePSOFly_more.ui diff --git a/motorApp/op/ui/EnsemblePVErr.ui b/motorApp/op/ui/autoconvert/EnsemblePVErr.ui similarity index 100% rename from motorApp/op/ui/EnsemblePVErr.ui rename to motorApp/op/ui/autoconvert/EnsemblePVErr.ui diff --git a/motorApp/op/ui/HXP.ui b/motorApp/op/ui/autoconvert/HXP.ui similarity index 100% rename from motorApp/op/ui/HXP.ui rename to motorApp/op/ui/autoconvert/HXP.ui diff --git a/motorApp/op/ui/HXP_coordSys.ui b/motorApp/op/ui/autoconvert/HXP_coordSys.ui similarity index 100% rename from motorApp/op/ui/HXP_coordSys.ui rename to motorApp/op/ui/autoconvert/HXP_coordSys.ui diff --git a/motorApp/op/ui/HXP_extra.ui b/motorApp/op/ui/autoconvert/HXP_extra.ui similarity index 100% rename from motorApp/op/ui/HXP_extra.ui rename to motorApp/op/ui/autoconvert/HXP_extra.ui diff --git a/motorApp/op/ui/HXP_motors.ui b/motorApp/op/ui/autoconvert/HXP_motors.ui similarity index 100% rename from motorApp/op/ui/HXP_motors.ui rename to motorApp/op/ui/autoconvert/HXP_motors.ui diff --git a/motorApp/op/ui/HXP_moveAll.ui b/motorApp/op/ui/autoconvert/HXP_moveAll.ui similarity index 100% rename from motorApp/op/ui/HXP_moveAll.ui rename to motorApp/op/ui/autoconvert/HXP_moveAll.ui diff --git a/motorApp/op/ui/MAX_trajectoryPlot.ui b/motorApp/op/ui/autoconvert/MAX_trajectoryPlot.ui similarity index 100% rename from motorApp/op/ui/MAX_trajectoryPlot.ui rename to motorApp/op/ui/autoconvert/MAX_trajectoryPlot.ui diff --git a/motorApp/op/ui/MAX_trajectoryPlot2.ui b/motorApp/op/ui/autoconvert/MAX_trajectoryPlot2.ui similarity index 100% rename from motorApp/op/ui/MAX_trajectoryPlot2.ui rename to motorApp/op/ui/autoconvert/MAX_trajectoryPlot2.ui diff --git a/motorApp/op/ui/MAX_trajectoryScan.ui b/motorApp/op/ui/autoconvert/MAX_trajectoryScan.ui similarity index 100% rename from motorApp/op/ui/MAX_trajectoryScan.ui rename to motorApp/op/ui/autoconvert/MAX_trajectoryScan.ui diff --git a/motorApp/op/ui/MAX_trajectoryScan1.ui b/motorApp/op/ui/autoconvert/MAX_trajectoryScan1.ui similarity index 100% rename from motorApp/op/ui/MAX_trajectoryScan1.ui rename to motorApp/op/ui/autoconvert/MAX_trajectoryScan1.ui diff --git a/motorApp/op/ui/MAX_trajectoryScan2.ui b/motorApp/op/ui/autoconvert/MAX_trajectoryScan2.ui similarity index 100% rename from motorApp/op/ui/MAX_trajectoryScan2.ui rename to motorApp/op/ui/autoconvert/MAX_trajectoryScan2.ui diff --git a/motorApp/op/ui/MAX_trajectoryScanDebug.ui b/motorApp/op/ui/autoconvert/MAX_trajectoryScanDebug.ui similarity index 100% rename from motorApp/op/ui/MAX_trajectoryScanDebug.ui rename to motorApp/op/ui/autoconvert/MAX_trajectoryScanDebug.ui diff --git a/motorApp/op/ui/MAX_trajectoryScanSpeed.ui b/motorApp/op/ui/autoconvert/MAX_trajectoryScanSpeed.ui similarity index 100% rename from motorApp/op/ui/MAX_trajectoryScanSpeed.ui rename to motorApp/op/ui/autoconvert/MAX_trajectoryScanSpeed.ui diff --git a/motorApp/op/ui/PSOarrayPlot.ui b/motorApp/op/ui/autoconvert/PSOarrayPlot.ui similarity index 100% rename from motorApp/op/ui/PSOarrayPlot.ui rename to motorApp/op/ui/autoconvert/PSOarrayPlot.ui diff --git a/motorApp/op/ui/XPSAux.ui b/motorApp/op/ui/autoconvert/XPSAux.ui similarity index 100% rename from motorApp/op/ui/XPSAux.ui rename to motorApp/op/ui/autoconvert/XPSAux.ui diff --git a/motorApp/op/ui/XPSAuxBi_more.ui b/motorApp/op/ui/autoconvert/XPSAuxBi_more.ui similarity index 100% rename from motorApp/op/ui/XPSAuxBi_more.ui rename to motorApp/op/ui/autoconvert/XPSAuxBi_more.ui diff --git a/motorApp/op/ui/XPSAuxTest.ui b/motorApp/op/ui/autoconvert/XPSAuxTest.ui similarity index 100% rename from motorApp/op/ui/XPSAuxTest.ui rename to motorApp/op/ui/autoconvert/XPSAuxTest.ui diff --git a/motorApp/op/ui/XPSExtra.ui b/motorApp/op/ui/autoconvert/XPSExtra.ui similarity index 100% rename from motorApp/op/ui/XPSExtra.ui rename to motorApp/op/ui/autoconvert/XPSExtra.ui diff --git a/motorApp/op/ui/XPSTest.ui b/motorApp/op/ui/autoconvert/XPSTest.ui similarity index 100% rename from motorApp/op/ui/XPSTest.ui rename to motorApp/op/ui/autoconvert/XPSTest.ui diff --git a/motorApp/op/ui/XPSTop.ui b/motorApp/op/ui/autoconvert/XPSTop.ui similarity index 100% rename from motorApp/op/ui/XPSTop.ui rename to motorApp/op/ui/autoconvert/XPSTop.ui diff --git a/motorApp/op/ui/motor2x.ui b/motorApp/op/ui/autoconvert/motor2x.ui similarity index 100% rename from motorApp/op/ui/motor2x.ui rename to motorApp/op/ui/autoconvert/motor2x.ui diff --git a/motorApp/op/ui/motor3x.ui b/motorApp/op/ui/autoconvert/motor3x.ui similarity index 100% rename from motorApp/op/ui/motor3x.ui rename to motorApp/op/ui/autoconvert/motor3x.ui diff --git a/motorApp/op/ui/motor4x.ui b/motorApp/op/ui/autoconvert/motor4x.ui similarity index 100% rename from motorApp/op/ui/motor4x.ui rename to motorApp/op/ui/autoconvert/motor4x.ui diff --git a/motorApp/op/ui/motor5x.ui b/motorApp/op/ui/autoconvert/motor5x.ui similarity index 100% rename from motorApp/op/ui/motor5x.ui rename to motorApp/op/ui/autoconvert/motor5x.ui diff --git a/motorApp/op/ui/motor6x.ui b/motorApp/op/ui/autoconvert/motor6x.ui similarity index 100% rename from motorApp/op/ui/motor6x.ui rename to motorApp/op/ui/autoconvert/motor6x.ui diff --git a/motorApp/op/ui/motor8x.ui b/motorApp/op/ui/autoconvert/motor8x.ui similarity index 100% rename from motorApp/op/ui/motor8x.ui rename to motorApp/op/ui/autoconvert/motor8x.ui diff --git a/motorApp/op/ui/motorStatus104.ui b/motorApp/op/ui/autoconvert/motorStatus104.ui similarity index 100% rename from motorApp/op/ui/motorStatus104.ui rename to motorApp/op/ui/autoconvert/motorStatus104.ui diff --git a/motorApp/op/ui/motorStatus16.ui b/motorApp/op/ui/autoconvert/motorStatus16.ui similarity index 100% rename from motorApp/op/ui/motorStatus16.ui rename to motorApp/op/ui/autoconvert/motorStatus16.ui diff --git a/motorApp/op/ui/motorStatus24.ui b/motorApp/op/ui/autoconvert/motorStatus24.ui similarity index 100% rename from motorApp/op/ui/motorStatus24.ui rename to motorApp/op/ui/autoconvert/motorStatus24.ui diff --git a/motorApp/op/ui/motorStatus32.ui b/motorApp/op/ui/autoconvert/motorStatus32.ui similarity index 100% rename from motorApp/op/ui/motorStatus32.ui rename to motorApp/op/ui/autoconvert/motorStatus32.ui diff --git a/motorApp/op/ui/motorStatus40.ui b/motorApp/op/ui/autoconvert/motorStatus40.ui similarity index 100% rename from motorApp/op/ui/motorStatus40.ui rename to motorApp/op/ui/autoconvert/motorStatus40.ui diff --git a/motorApp/op/ui/motorStatus48.ui b/motorApp/op/ui/autoconvert/motorStatus48.ui similarity index 100% rename from motorApp/op/ui/motorStatus48.ui rename to motorApp/op/ui/autoconvert/motorStatus48.ui diff --git a/motorApp/op/ui/motorStatus56.ui b/motorApp/op/ui/autoconvert/motorStatus56.ui similarity index 100% rename from motorApp/op/ui/motorStatus56.ui rename to motorApp/op/ui/autoconvert/motorStatus56.ui diff --git a/motorApp/op/ui/motorStatus64.ui b/motorApp/op/ui/autoconvert/motorStatus64.ui similarity index 100% rename from motorApp/op/ui/motorStatus64.ui rename to motorApp/op/ui/autoconvert/motorStatus64.ui diff --git a/motorApp/op/ui/motorStatus72.ui b/motorApp/op/ui/autoconvert/motorStatus72.ui similarity index 100% rename from motorApp/op/ui/motorStatus72.ui rename to motorApp/op/ui/autoconvert/motorStatus72.ui diff --git a/motorApp/op/ui/motorStatus8.ui b/motorApp/op/ui/autoconvert/motorStatus8.ui similarity index 100% rename from motorApp/op/ui/motorStatus8.ui rename to motorApp/op/ui/autoconvert/motorStatus8.ui diff --git a/motorApp/op/ui/motorStatus80.ui b/motorApp/op/ui/autoconvert/motorStatus80.ui similarity index 100% rename from motorApp/op/ui/motorStatus80.ui rename to motorApp/op/ui/autoconvert/motorStatus80.ui diff --git a/motorApp/op/ui/motorStatus88.ui b/motorApp/op/ui/autoconvert/motorStatus88.ui similarity index 100% rename from motorApp/op/ui/motorStatus88.ui rename to motorApp/op/ui/autoconvert/motorStatus88.ui diff --git a/motorApp/op/ui/motors.ui b/motorApp/op/ui/autoconvert/motors.ui similarity index 100% rename from motorApp/op/ui/motors.ui rename to motorApp/op/ui/autoconvert/motors.ui diff --git a/motorApp/op/ui/motors_s.ui b/motorApp/op/ui/autoconvert/motors_s.ui similarity index 100% rename from motorApp/op/ui/motors_s.ui rename to motorApp/op/ui/autoconvert/motors_s.ui diff --git a/motorApp/op/ui/motorx.ui b/motorApp/op/ui/autoconvert/motorx.ui similarity index 100% rename from motorApp/op/ui/motorx.ui rename to motorApp/op/ui/autoconvert/motorx.ui diff --git a/motorApp/op/ui/motorxU.ui b/motorApp/op/ui/autoconvert/motorxU.ui similarity index 100% rename from motorApp/op/ui/motorxU.ui rename to motorApp/op/ui/autoconvert/motorxU.ui diff --git a/motorApp/op/ui/motorx_all.ui b/motorApp/op/ui/autoconvert/motorx_all.ui similarity index 100% rename from motorApp/op/ui/motorx_all.ui rename to motorApp/op/ui/autoconvert/motorx_all.ui diff --git a/motorApp/op/ui/motorx_bare.ui b/motorApp/op/ui/autoconvert/motorx_bare.ui similarity index 100% rename from motorApp/op/ui/motorx_bare.ui rename to motorApp/op/ui/autoconvert/motorx_bare.ui diff --git a/motorApp/op/ui/motorx_help.ui b/motorApp/op/ui/autoconvert/motorx_help.ui similarity index 100% rename from motorApp/op/ui/motorx_help.ui rename to motorApp/op/ui/autoconvert/motorx_help.ui diff --git a/motorApp/op/ui/motorx_more.ui b/motorApp/op/ui/autoconvert/motorx_more.ui similarity index 100% rename from motorApp/op/ui/motorx_more.ui rename to motorApp/op/ui/autoconvert/motorx_more.ui diff --git a/motorApp/op/ui/motorx_msta_detail.ui b/motorApp/op/ui/autoconvert/motorx_msta_detail.ui similarity index 100% rename from motorApp/op/ui/motorx_msta_detail.ui rename to motorApp/op/ui/autoconvert/motorx_msta_detail.ui diff --git a/motorApp/op/ui/motorx_setup.ui b/motorApp/op/ui/autoconvert/motorx_setup.ui similarity index 100% rename from motorApp/op/ui/motorx_setup.ui rename to motorApp/op/ui/autoconvert/motorx_setup.ui diff --git a/motorApp/op/ui/motorx_tiny.ui b/motorApp/op/ui/autoconvert/motorx_tiny.ui similarity index 100% rename from motorApp/op/ui/motorx_tiny.ui rename to motorApp/op/ui/autoconvert/motorx_tiny.ui diff --git a/motorApp/op/ui/profileMove.ui b/motorApp/op/ui/autoconvert/profileMove.ui similarity index 100% rename from motorApp/op/ui/profileMove.ui rename to motorApp/op/ui/autoconvert/profileMove.ui diff --git a/motorApp/op/ui/profileMoveXPS.ui b/motorApp/op/ui/autoconvert/profileMoveXPS.ui similarity index 100% rename from motorApp/op/ui/profileMoveXPS.ui rename to motorApp/op/ui/autoconvert/profileMoveXPS.ui diff --git a/motorApp/op/ui/topMotors4.ui b/motorApp/op/ui/autoconvert/topMotors4.ui similarity index 100% rename from motorApp/op/ui/topMotors4.ui rename to motorApp/op/ui/autoconvert/topMotors4.ui diff --git a/motorApp/op/ui/topMotors8.ui b/motorApp/op/ui/autoconvert/topMotors8.ui similarity index 100% rename from motorApp/op/ui/topMotors8.ui rename to motorApp/op/ui/autoconvert/topMotors8.ui diff --git a/motorApp/op/ui/topMotors8_more.ui b/motorApp/op/ui/autoconvert/topMotors8_more.ui similarity index 100% rename from motorApp/op/ui/topMotors8_more.ui rename to motorApp/op/ui/autoconvert/topMotors8_more.ui diff --git a/motorApp/op/ui/trajectoryPlot.ui b/motorApp/op/ui/autoconvert/trajectoryPlot.ui similarity index 100% rename from motorApp/op/ui/trajectoryPlot.ui rename to motorApp/op/ui/autoconvert/trajectoryPlot.ui diff --git a/motorApp/op/ui/trajectoryScan.ui b/motorApp/op/ui/autoconvert/trajectoryScan.ui similarity index 100% rename from motorApp/op/ui/trajectoryScan.ui rename to motorApp/op/ui/autoconvert/trajectoryScan.ui diff --git a/motorApp/op/ui/trajectoryScanDebug.ui b/motorApp/op/ui/autoconvert/trajectoryScanDebug.ui similarity index 100% rename from motorApp/op/ui/trajectoryScanDebug.ui rename to motorApp/op/ui/autoconvert/trajectoryScanDebug.ui diff --git a/motorApp/op/ui/trajectoryScan_Ensemble.ui b/motorApp/op/ui/autoconvert/trajectoryScan_Ensemble.ui similarity index 100% rename from motorApp/op/ui/trajectoryScan_Ensemble.ui rename to motorApp/op/ui/autoconvert/trajectoryScan_Ensemble.ui diff --git a/motorApp/op/ui/trajectoryScan_MAXv.ui b/motorApp/op/ui/autoconvert/trajectoryScan_MAXv.ui similarity index 100% rename from motorApp/op/ui/trajectoryScan_MAXv.ui rename to motorApp/op/ui/autoconvert/trajectoryScan_MAXv.ui From 8a16af5067802c3a5bf353c07837de1845d5aa10 Mon Sep 17 00:00:00 2001 From: K Lauer Date: Wed, 23 Aug 2017 15:02:04 -0700 Subject: [PATCH 6/7] Add TravisCI configuration --- .ci/travis-prepare.sh | 164 ++++++++++++++++++++++++++++++++++++++++++ .travis.yml | 27 +++++++ 2 files changed, 191 insertions(+) create mode 100755 .ci/travis-prepare.sh create mode 100644 .travis.yml diff --git a/.ci/travis-prepare.sh b/.ci/travis-prepare.sh new file mode 100755 index 00000000..7f2a6ceb --- /dev/null +++ b/.ci/travis-prepare.sh @@ -0,0 +1,164 @@ +#!/bin/sh +set -e -x + +SUPPORT=$HOME/.cache/support + +install -d $SUPPORT + +# Conditionally build IPAC +if [ -n "$IPAC" ]; then + IPAC_PATH=$SUPPORT/ipac +else + IPAC_PATH= +fi + +RELEASE_PATH=$TRAVIS_BUILD_DIR/configure/RELEASE +EPICS_BASE=$SUPPORT/epics-base + +cat << EOF > $RELEASE_PATH +IPAC=$IPAC_PATH +SNCSEQ=$SUPPORT/seq +ASYN=$SUPPORT/asyn +EPICS_BASE=$SUPPORT/epics-base +EOF + +# use default selection for MSI +sed -i -e '/MSI/d' configure/CONFIG_SITE + +if [ ! -e "$EPICS_BASE/built" ] +then + + git clone --depth 10 --branch $BASE https://github.com/epics-base/epics-base.git $EPICS_BASE + + EPICS_HOST_ARCH=`sh $EPICS_BASE/startup/EpicsHostArch` + + case "$STATIC" in + static) + cat << EOF >> "$EPICS_BASE/configure/CONFIG_SITE" +SHARED_LIBRARIES=NO +STATIC_BUILD=YES +EOF + ;; + *) ;; + esac + + case "$CMPLR" in + clang) + echo "Host compiler is clang" + cat << EOF >> $EPICS_BASE/configure/os/CONFIG_SITE.Common.$EPICS_HOST_ARCH +GNU = NO +CMPLR_CLASS = clang +CC = clang +CCC = clang++ +EOF + ;; + *) echo "Host compiler is default";; + esac + + # requires wine and g++-mingw-w64-i686 + if [ "$WINE" = "32" ] + then + echo "Cross mingw32" + sed -i -e '/CMPLR_PREFIX/d' $EPICS_BASE/configure/os/CONFIG_SITE.linux-x86.win32-x86-mingw + cat << EOF >> $EPICS_BASE/configure/os/CONFIG_SITE.linux-x86.win32-x86-mingw +CMPLR_PREFIX=i686-w64-mingw32- +EOF + cat << EOF >> $EPICS_BASE/configure/CONFIG_SITE +CROSS_COMPILER_TARGET_ARCHS+=win32-x86-mingw +EOF + fi + + # set RTEMS to eg. "4.9" or "4.10" + if [ -n "$RTEMS" ] + then + echo "Cross RTEMS${RTEMS} for pc386" + install -d /home/travis/.cache + curl -L "https://github.com/mdavidsaver/rsb/releases/download/travis-20160306-2/rtems${RTEMS}-i386-trusty-20190306-2.tar.gz" \ + | tar -C /home/travis/.cache -xj + + sed -i -e '/^RTEMS_VERSION/d' -e '/^RTEMS_BASE/d' $EPICS_BASE/configure/os/CONFIG_SITE.Common.RTEMS + cat << EOF >> $EPICS_BASE/configure/os/CONFIG_SITE.Common.RTEMS +RTEMS_VERSION=$RTEMS +RTEMS_BASE=/home/travis/.cache/rtems${RTEMS}-i386 +EOF + cat << EOF >> $EPICS_BASE/configure/CONFIG_SITE +CROSS_COMPILER_TARGET_ARCHS+=RTEMS-pc386 +EOF + + fi + + make -C "$EPICS_BASE" -j2 + # get MSI for 3.14 + case "$BASE" in + 3.14*) + echo "Build MSI" + install -d "$HOME/msi/extensions/src" + curl https://www.aps.anl.gov/epics/download/extensions/extensionsTop_20120904.tar.gz | tar -C "$HOME/msi" -xvz + curl https://www.aps.anl.gov/epics/download/extensions/msi1-7.tar.gz | tar -C "$HOME/msi/extensions/src" -xvz + mv "$HOME/msi/extensions/src/msi1-7" "$HOME/msi/extensions/src/msi" + + cat << EOF > "$HOME/msi/extensions/configure/RELEASE" +EPICS_BASE=$EPICS_BASE +EPICS_EXTENSIONS=\$(TOP) +EOF + make -C "$HOME/msi/extensions" + cp "$HOME/msi/extensions/bin/$EPICS_HOST_ARCH/msi" "$EPICS_BASE/bin/$EPICS_HOST_ARCH/" + echo 'MSI:=$(EPICS_BASE)/bin/$(EPICS_HOST_ARCH)/msi' >> "$EPICS_BASE/configure/CONFIG_SITE" + + cat <> configure/CONFIG_SITE +MSI = \$(EPICS_BASE)/bin/\$(EPICS_HOST_ARCH)/msi +EOF + + ;; + *) echo "Use MSI from Base" + ;; + esac + + touch $EPICS_BASE/built +else + echo "Using cached epics-base!" +fi + +# IPAC +if [ -n "$IPAC" ]; then + if [ ! -e "$SUPPORT/ipac/built" ]; then + echo "Build ipac" + install -d $SUPPORT/ipac + git clone --depth 10 --branch $IPAC https://github.com/epics-modules/ipac.git $SUPPORT/ipac + cat << EOF > $SUPPORT/ipac/configure/RELEASE +EPICS_BASE=$SUPPORT/epics-base +EOF + make -C $SUPPORT/ipac + touch $SUPPORT/ipac/built + else + echo "Using cached ipac" + fi +else + echo "Skipping ipac" +fi + + +# sequencer +if [ ! -e "$SUPPORT/seq/built" ]; then + echo "Build sequencer" + install -d $SUPPORT/seq + curl -L "http://www-csr.bessy.de/control/SoftDist/sequencer/releases/seq-${SEQ}.tar.gz" | tar -C $SUPPORT/seq -xvz --strip-components=1 + cp $RELEASE_PATH $SUPPORT/seq/configure/RELEASE + make -C $SUPPORT/seq + touch $SUPPORT/seq/built +else + echo "Using cached seq" +fi + + +# asyn +if [ ! -e "$SUPPORT/asyn/built" ]; then + echo "Build asyn" + install -d $SUPPORT/asyn + curl -L "https://www.aps.anl.gov/epics/download/modules/asyn${ASYN}.tar.gz" | tar -C $SUPPORT/asyn -xvz --strip-components=1 + cp $RELEASE_PATH $SUPPORT/asyn/configure/RELEASE + make -C "$SUPPORT/asyn" -j2 + touch $SUPPORT/asyn/built +else + echo "Using cached asyn" +fi diff --git a/.travis.yml b/.travis.yml new file mode 100644 index 00000000..a0973db0 --- /dev/null +++ b/.travis.yml @@ -0,0 +1,27 @@ +sudo: false +dist: trusty +language: c +compiler: + - gcc +cache: + directories: + - $HOME/.cache +addons: + apt: + packages: + - libreadline6-dev + - libncurses5-dev + - perl + - clang + - g++-mingw-w64-i686 + - re2c +env: + - BASE=3.14 STATIC=shared SEQ=2.2.4 ASYN=4-31 IPAC=2.14 + - BASE=3.14 STATIC=static SEQ=2.2.4 ASYN=4-31 IPAC=2.14 + - BASE=3.15 STATIC=shared SEQ=2.2.4 ASYN=4-31 IPAC=2.14 + - BASE=3.15 STATIC=static SEQ=2.2.4 ASYN=4-31 IPAC=2.14 + - BASE=3.16 STATIC=shared RTEMS=4.10 SEQ=2.2.4 ASYN=4-31 IPAC=2.14 + - BASE=3.16 STATIC=shared CMPLR=clang WINE=32 SEQ=2.2.4 ASYN=4-31 IPAC= + - BASE=3.16 STATIC=static WINE=32 SEQ=2.2.4 ASYN=4-31 IPAC= +install: ./.ci/travis-prepare.sh +script: make From 192e7c1bef35b9046023f4a34f3a46be35e3fd51 Mon Sep 17 00:00:00 2001 From: Mark Rivers Date: Mon, 28 Aug 2017 18:09:25 -0500 Subject: [PATCH 7/7] Added Travis CI status link --- README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/README.md b/README.md index 10ca1150..44e9a2b4 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,8 @@ # motor APS BCDA synApps module: motor +[![Build Status](https://travis-ci.org/epics-modules/motor.png)](https://travis-ci.org/epics-modules/motor) + For more information, see: * [main page](http://htmlpreview.github.io/?https://github.com/epics-modules/motor/blob/master/documentation/motor.html) * [motor wiki](https://github.com/epics-modules/motor/wiki)