Initial commit of the PSI version of motorMotorSim as a standalone

driver.

iocs/Makefile

@@ -0,0 +1,25 @@
+TOP = ..
+include $(TOP)/configure/CONFIG
+
+DIRS += motorSimIOC
+
+include $(TOP)/configure/RULES_TOP
+
+uninstallTargets = $(foreach dir, $(DIRS), $(dir)$(DIVIDER)uninstall)
+uninstall: $(uninstallTargets)
+define UNINSTALL_template
+$(1)$(DIVIDER)uninstall:
+	$(MAKE) -C $(1) uninstall
+endef
+$(foreach dir, $(DIRS), $(eval $(call UNINSTALL_template,$(dir))))
+.PHONY: uninstall $(uninstallTargets)
+
+realuninstallTargets = $(foreach dir, $(DIRS), $(dir)$(DIVIDER)realuninstall)
+realuninstall: $(realuninstallTargets)
+define REALUNINSTALL_template
+$(1)$(DIVIDER)realuninstall:
+	$(MAKE) -C $(1) realuninstall
+endef
+$(foreach dir, $(DIRS), $(eval $(call REALUNINSTALL_template,$(dir))))
+.PHONY: realuninstall $(realuninstallTargets)
+

iocs/motorSimIOC/Makefile

@@ -0,0 +1,31 @@
+# Makefile at top of application tree
+TOP = .
+include $(TOP)/configure/CONFIG
+
+# Directories to build, any order
+DIRS += configure
+DIRS += $(wildcard *Sup)
+DIRS += $(wildcard *App)
+DIRS += $(wildcard *Top)
+DIRS += $(wildcard iocBoot)
+
+# The build order is controlled by these dependency rules:
+
+# All dirs except configure depend on configure
+$(foreach dir, $(filter-out configure, $(DIRS)), \
+    $(eval $(dir)_DEPEND_DIRS += configure))
+
+# Any *App dirs depend on all *Sup dirs
+$(foreach dir, $(filter %App, $(DIRS)), \
+    $(eval $(dir)_DEPEND_DIRS += $(filter %Sup, $(DIRS))))
+
+# Any *Top dirs depend on all *Sup and *App dirs
+$(foreach dir, $(filter %Top, $(DIRS)), \
+    $(eval $(dir)_DEPEND_DIRS += $(filter %Sup %App, $(DIRS))))
+
+# iocBoot depends on all *App dirs
+iocBoot_DEPEND_DIRS += $(filter %App,$(DIRS))
+
+# Add any additional dependency rules here:
+
+include $(TOP)/configure/RULES_TOP

iocs/motorSimIOC/configure/CONFIG

@@ -0,0 +1,29 @@
+# CONFIG - Load build configuration data
+#
+# Do not make changes to this file!
+
+# Allow user to override where the build rules come from
+RULES = $(EPICS_BASE)
+
+# RELEASE files point to other application tops
+include $(TOP)/configure/RELEASE
+-include $(TOP)/configure/RELEASE.$(EPICS_HOST_ARCH).Common
+ifdef T_A
+-include $(TOP)/configure/RELEASE.Common.$(T_A)
+-include $(TOP)/configure/RELEASE.$(EPICS_HOST_ARCH).$(T_A)
+endif
+
+CONFIG = $(RULES)/configure
+include $(CONFIG)/CONFIG
+
+# Override the Base definition:
+INSTALL_LOCATION = $(TOP)
+
+# CONFIG_SITE files contain other build configuration settings
+include $(TOP)/configure/CONFIG_SITE
+-include $(TOP)/configure/CONFIG_SITE.$(EPICS_HOST_ARCH).Common
+ifdef T_A
+ -include $(TOP)/configure/CONFIG_SITE.Common.$(T_A)
+ -include $(TOP)/configure/CONFIG_SITE.$(EPICS_HOST_ARCH).$(T_A)
+endif
+

iocs/motorSimIOC/configure/CONFIG_SITE

@@ -0,0 +1,44 @@
+# CONFIG_SITE
+
+# Make any application-specific changes to the EPICS build
+#   configuration variables in this file.
+#
+# Host/target specific settings can be specified in files named
+#   CONFIG_SITE.$(EPICS_HOST_ARCH).Common
+#   CONFIG_SITE.Common.$(T_A)
+#   CONFIG_SITE.$(EPICS_HOST_ARCH).$(T_A)
+
+# CHECK_RELEASE controls the consistency checking of the support
+#   applications pointed to by the RELEASE* files.
+# Normally CHECK_RELEASE should be set to YES.
+# Set CHECK_RELEASE to NO to disable checking completely.
+# Set CHECK_RELEASE to WARN to perform consistency checking but
+#   continue building even if conflicts are found.
+CHECK_RELEASE = YES
+
+# Set this when you only want to compile this application
+#   for a subset of the cross-compiled target architectures
+#   that Base is built for.
+#CROSS_COMPILER_TARGET_ARCHS = vxWorks-ppc32
+
+# To install files into a location other than $(TOP) define
+#   INSTALL_LOCATION here.
+#INSTALL_LOCATION=</absolute/path/to/install/top>
+
+# Set this when the IOC and build host use different paths
+#   to the install location. This may be needed to boot from
+#   a Microsoft FTP server say, or on some NFS configurations.
+#IOCS_APPL_TOP = </IOC's/absolute/path/to/install/top>
+
+# For application debugging purposes, override the HOST_OPT and/
+#   or CROSS_OPT settings from base/configure/CONFIG_SITE
+#HOST_OPT = NO
+#CROSS_OPT = NO
+
+# Include motor's CONFIG_SITE.local when building inside motor
+-include $(TOP)/../../../../configure/CONFIG_SITE.local
+# Include motorMotorSim's CONFIG_SITE.local when building inside motorMotorSim
+-include $(TOP)/../../configure/CONFIG_SITE.local
+# Use motorSimIOC's CONFIG_SITE.local
+-include $(TOP)/configure/CONFIG_SITE.local
+

iocs/motorSimIOC/configure/Makefile

@@ -0,0 +1,8 @@
+TOP=..
+
+include $(TOP)/configure/CONFIG
+
+TARGETS = $(CONFIG_TARGETS)
+CONFIGS += $(subst ../,,$(wildcard $(CONFIG_INSTALLS)))
+
+include $(TOP)/configure/RULES

iocs/motorSimIOC/configure/RELEASE

@@ -0,0 +1,8 @@
+# RELEASE - Location of external support modules
+
+# Use motor/module's generated release file when buidling inside motor
+-include $(TOP)/../../../RELEASE.$(EPICS_HOST_ARCH).local
+# Use motorMotorSim's release file when building inside motorMotorSim, but outside motor
+-include $(TOP)/../../configure/RELEASE.local
+# Use motorSimIOC's RELEASE.local when building outside motorMotorSim
+-include $(TOP)/configure/RELEASE.local

iocs/motorSimIOC/configure/RULES

@@ -0,0 +1,6 @@
+# RULES
+
+include $(CONFIG)/RULES
+
+# Library should be rebuilt because LIBOBJS may have changed.
+$(LIBNAME): ../Makefile

iocs/motorSimIOC/configure/RULES.ioc

@@ -0,0 +1,2 @@
+#RULES.ioc
+include $(CONFIG)/RULES.ioc

iocs/motorSimIOC/configure/RULES_DIRS

@@ -0,0 +1,2 @@
+#RULES_DIRS
+include $(CONFIG)/RULES_DIRS

iocs/motorSimIOC/configure/RULES_TOP

@@ -0,0 +1,3 @@
+#RULES_TOP
+include $(CONFIG)/RULES_TOP
+

iocs/motorSimIOC/iocBoot/Makefile

@@ -0,0 +1,6 @@
+TOP = ..
+include $(TOP)/configure/CONFIG
+DIRS += $(wildcard *ioc*)
+DIRS += $(wildcard as*)
+include $(CONFIG)/RULES_DIRS
+

iocs/motorSimIOC/iocBoot/iocMotorSim/Makefile

@@ -0,0 +1,9 @@
+TOP = ../..
+include $(TOP)/configure/CONFIG
+#ARCH = linux-x86_64
+#ARCH = vxWorks-ppc32
+ARCH = $(EPICS_HOST_ARCH)
+TARGETS = cdCommands
+TARGETS += envPaths
+include $(TOP)/configure/RULES.ioc
+

iocs/motorSimIOC/iocBoot/iocMotorSim/README

@@ -0,0 +1,24 @@
+To build any examples;
+
+- in <motor>/configure/RELEASE: EPICS_BASE and MOTOR must be defined.
+
+- in <motor>/Makefile: the following three lines must be uncommented;
+  #!DIRS += motorExApp iocBoot
+  #!motorExApp_DEPEND_DIRS = motorApp
+  #!iocBoot_DEPEND_DIRS    = motorExApp
+
+To build this simulation example;
+
+- in <motor>/configure/RELEASE: ASYN must be defined.
+
+- in <motor>/iocBoot/iocSim/Makefile set the target architecture
+          
+Finally, cd <motor>; gnumake clean uninstall; gnumake
+
+To run this simulation example on a Unix OS;
+- Set the EPICS_HOST_ARCH environment variable correctly.
+- Edit the st.cmd.unix file for either sun or linux.
+- Start the ioc from this directory by executing the following command.
+
+../../bin/${EPICS_HOST_ARCH}/WithAsyn st.cmd.unix
+

iocs/motorSimIOC/iocBoot/iocMotorSim/motor.substitutions

@@ -0,0 +1,14 @@
+file "$(MOTOR)/db/basic_asyn_motor.db"
+{
+pattern
+{P,     N,  M,        DTYP,         PORT,       ADDR,  DESC,          EGU,      DIR,  VELO,  VBAS,  ACCL,  BDST,  BVEL,  BACC,  MRES,  PREC,  DHLM,  DLLM,  INIT}
+{IOC:,  1,  "m$(N)",  "asynMotor",  motorSim1,  0,     "motor $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     100,   -100,  ""}
+{IOC:,  2,  "m$(N)",  "asynMotor",  motorSim1,  1,     "motor $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     100,   -100,  ""}
+{IOC:,  3,  "m$(N)",  "asynMotor",  motorSim1,  2,     "motor $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     100,   -100,  ""}
+{IOC:,  4,  "m$(N)",  "asynMotor",  motorSim1,  3,     "motor $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     100,   -100,  ""}
+
+{IOC:,  5,  "m$(N)",  "asynMotor",  motorSim2,  0,     "motor $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     100,   -100,  ""}
+{IOC:,  6,  "m$(N)",  "asynMotor",  motorSim2,  1,     "motor $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     100,   -100,  ""}
+{IOC:,  7,  "m$(N)",  "asynMotor",  motorSim2,  2,     "motor $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     100,   -100,  ""}
+{IOC:,  8,  "m$(N)",  "asynMotor",  motorSim2,  3,     "motor $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     100,   -100,  ""}
+}

iocs/motorSimIOC/iocBoot/iocMotorSim/st.cmd

@@ -0,0 +1,24 @@
+#!../../bin/linux-x86_64/motorSim
+
+< envPaths
+
+cd "${TOP}"
+
+## Register all support components
+dbLoadDatabase "dbd/motorSim.dbd"
+motorSim_registerRecordDeviceDriver pdbbase
+
+cd "${TOP}/iocBoot/${IOC}"
+
+
+## motorUtil (allstop & alldone)
+dbLoadRecords("$(MOTOR)/db/motorUtil.db", "P=motorSim:")
+
+##
+
+iocInit
+
+## motorUtil (allstop & alldone)
+motorUtilInit("motorSim:")
+
+# Boot complete

iocs/motorSimIOC/iocBoot/iocMotorSim/st.cmd.Vx

@@ -0,0 +1,29 @@
+# The is the ASYN example for communication to 4 simulated motors
+# "#!" marks lines that can be uncommented.
+
+# The following must be added for many board support packages
+#!cd "... IOC st.cmd complete directory path ... "
+
+< cdCommands
+#!< ../nfsCommands
+
+cd topbin
+
+# If the VxWorks kernel was built using the project facility, the following must
+# be added before any C++ code is loaded (see SPR #28980).
+sysCplusEnable=1
+
+ld(0,0,"motorSim.munch")
+
+cd startup
+dbLoadDatabase("$(TOP)/dbd/motorSim.dbd")
+WithAsynVx_registerRecordDeviceDriver(pdbbase)
+
+dbLoadTemplate("motor.substitutions")
+
+# Create simulated motors: ( start card , start axis , low limit, high limit, home posn, # cards, # axes to setup)
+motorSimCreate( 0, 0, -32000, 32000, 0, 1, 4 )
+# Setup the Asyn layer (portname, low-level driver drvet name, card, number of axes on card)
+drvAsynMotorConfigure("motorSim1", "motorSim", 0, 4)
+
+iocInit

iocs/motorSimIOC/iocBoot/iocMotorSim/st.cmd.unix

@@ -0,0 +1,26 @@
+# The is the ASYN example for communication to 4 simulated motors
+# "#!" marks lines that can be uncommented.
+
+< envPaths
+
+dbLoadDatabase("$(TOP)/dbd/motorSim.dbd")
+motorSim_registerRecordDeviceDriver(pdbbase)
+
+dbLoadTemplate("motor.substitutions")
+
+# Create simulated motors: ( start card , start axis , low limit, high limit, home posn, # cards, # axes to setup)
+motorSimCreate( 0, 0, -32000, 32000, 0, 1, 4 )
+# Setup the Asyn layer (portname, low-level driver drvet name, card, number of axes on card)
+drvAsynMotorConfigure("motorSim1", "motorSim", 0, 4)
+
+motorSimCreateController("motorSim2", 8)
+#asynSetTraceIOMask("motorSim2", 0, 4)
+#asynSetTraceMask("motorSim2", 0, 255)
+
+# motorSimConfigAxis(port, axis, lowLimit, highLimit, home, start)
+motorSimConfigAxis("motorSim2", 0, 20000, -20000,  500, 0)
+motorSimConfigAxis("motorSim2", 1, 20000, -20000, 1500, 0)
+motorSimConfigAxis("motorSim2", 2, 20000, -20000, 2500, 0)
+motorSimConfigAxis("motorSim2", 3, 20000, -20000, 3000, 0)
+
+iocInit

iocs/motorSimIOC/iocBoot/iocMotorSim/st.cmd.win32

@@ -0,0 +1,16 @@
+# The is the ASYN example for communication to 4 simulated motors
+# "#!" marks lines that can be uncommented.
+
+< envPaths
+
+dbLoadDatabase("$(TOP)/dbd/motorSim.dbd")
+motorSim_registerRecordDeviceDriver(pdbbase)
+
+dbLoadTemplate("motor.substitutions")
+
+# Create simulated motors: ( start card , start axis , low limit, high limit, home posn, # cards, # axes to setup)
+motorSimCreate( 0, 0, -32000, 32000, 0, 1, 4 )
+# Setup the Asyn layer (portname, low-level driver drvet name, card, number of axes on card)
+drvAsynMotorConfigure("motorSim1", "motorSim", 0, 4)
+
+iocInit

iocs/motorSimIOC/iocBoot/iocMotorSim/start_medm

@@ -0,0 +1 @@
+medm -x -macro "P=IOC:, M1=m1, M2=m2, M3=m3, M4=m4, M5=m5, M6=m6, M7=m7, M8=m8" motor8x.adl &

iocs/motorSimIOC/motorSimApp/Db/Makefile

@@ -0,0 +1,22 @@
+TOP=../..
+include $(TOP)/configure/CONFIG
+#----------------------------------------
+#  ADD MACRO DEFINITIONS AFTER THIS LINE
+
+#----------------------------------------------------
+#  Optimization of db files using dbst (DEFAULT: NO)
+#DB_OPT = YES
+
+#----------------------------------------------------
+# Create and install (or just install) into <top>/db
+# databases, templates, substitutions like this
+#DB += xxx.db
+
+#----------------------------------------------------
+# If <anyname>.db template is not named <anyname>*.template add
+# <anyname>_template = <templatename>
+
+include $(TOP)/configure/RULES
+#----------------------------------------
+#  ADD RULES AFTER THIS LINE
+

iocs/motorSimIOC/motorSimApp/Makefile

@@ -0,0 +1,8 @@
+TOP = ..
+include $(TOP)/configure/CONFIG
+DIRS := $(DIRS) $(filter-out $(DIRS), $(wildcard *src*))
+DIRS := $(DIRS) $(filter-out $(DIRS), $(wildcard *Src*))
+DIRS := $(DIRS) $(filter-out $(DIRS), $(wildcard *db*))
+DIRS := $(DIRS) $(filter-out $(DIRS), $(wildcard *Db*))
+include $(TOP)/configure/RULES_DIRS
+

iocs/motorSimIOC/motorSimApp/src/Makefile

@@ -0,0 +1,56 @@
+TOP=../..
+
+include $(TOP)/configure/CONFIG
+#----------------------------------------
+#  ADD MACRO DEFINITIONS AFTER THIS LINE
+#=============================
+
+# The following are used for debugging messages.
+#!USR_CXXFLAGS += -DDEBUG
+
+#=============================
+# Build the IOC application
+
+PROD_IOC = motorSim
+# motorSim.dbd will be created and installed
+DBD += motorSim.dbd
+
+# motorSim.dbd will be made up from these files:
+motorSim_DBD += base.dbd
+
+# Include dbd files from all support applications:
+#ifdef ASYN
+motorSim_DBD += asyn.dbd
+#endif
+motorSim_DBD += motorSupport.dbd
+motorSim_DBD += motorSimSupport.dbd
+
+# Add all the support libraries needed by this IOC
+motorSim_LIBS += motorSimSupport
+motorSim_LIBS += motor
+#ifdef ASYN
+motorSim_LIBS += asyn
+#endif
+#ifdef SNCSEQ
+motorSim_LIBS += seq pv
+#endif
+
+# motorSim_registerRecordDeviceDriver.cpp derives from motorSim.dbd
+motorSim_SRCS += motorSim_registerRecordDeviceDriver.cpp
+
+# Build the main IOC entry point on workstation OSs.
+motorSim_SRCS_DEFAULT += motorSimMain.cpp
+motorSim_SRCS_vxWorks += -nil-
+
+# Add support from base/src/vxWorks if needed
+#motorSim_OBJS_vxWorks += $(EPICS_BASE_BIN)/vxComLibrary
+
+# Finally link to the EPICS Base libraries
+motorSim_LIBS += $(EPICS_BASE_IOC_LIBS)
+
+#===========================
+
+include $(TOP)/configure/RULES
+#----------------------------------------
+#  ADD RULES AFTER THIS LINE
+

iocs/motorSimIOC/motorSimApp/src/motorSimMain.cpp

@@ -0,0 +1,23 @@
+/* motorSimMain.cpp */
+/* Author:  Marty Kraimer Date:    17MAR2000 */
+
+#include <stddef.h>
+#include <stdlib.h>
+#include <stddef.h>
+#include <string.h>
+#include <stdio.h>
+
+#include "epicsExit.h"
+#include "epicsThread.h"
+#include "iocsh.h"
+
+int main(int argc,char *argv[])
+{
+    if(argc>=2) {    
+        iocsh(argv[1]);
+        epicsThreadSleep(.2);
+    }
+    iocsh(NULL);
+    epicsExit(0);
+    return(0);
+}