Addes instructions how to use sinqMotor as static dependency.
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24
README.md
24
README.md
@ -260,7 +260,7 @@ The versioning is done via git tags. Git tags are recognized by the PSI build sy
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All existing tags can be listed with `git tag` in the sinqMotor directory. Detailed information (author, data, commit number, commit message) regarding a specific tag can be shown with `git show x.x.x`, where `x.x.x` is the name of your version. To create a new tag, use `git tag x.x.x`. If the tag `x.x.x` is already used by another commit, git will show a corresponding error.
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### How to build it
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### Dependencies
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This library is based on the PSI version of the EPICS motor record, which can be found here: `https://git.psi.ch/epics_driver_modules/motorBase`. We use a branch with a bugfix which is currently not merged into master due to resistance of the PSI userbase: `https://git.psi.ch/epics_driver_modules/motorBase/-/tree/pick_fix-lockup-VAL-HOMF-VAL`. This library can be build with the following steps, assuming GCC and make are available:
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- `git clone https://git.psi.ch/epics_driver_modules/motorBase/-/tree/pick_fix-lockup-VAL-HOMF-VAL`
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@ -268,6 +268,26 @@ This library is based on the PSI version of the EPICS motor record, which can be
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- `git tag 7.2.2`. The latest version on master is currently 7.2.1, hence we increment the bugfix version counter by one
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- `make install`
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To build sinqMotor itself, the makefile in the top directory includes all necessary steps for compiling a shared library together with the header files into `/ioc/modules` (using the PSI EPICS build system). Therefore it is sufficient to clone this repository to a suitable location (`git clone https://git.psi.ch/sinq-epics-modules/sinqmotor/-/tree/main`). Afterwards, switch to the directory (`cd sinqmotor`) and run `make install`.
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### Usage as dynamic dependency
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The makefile in the top directory includes all necessary steps for compiling a shared library of sinqMotor together with the header files into `/ioc/modules` (using the PSI EPICS build system). Therefore it is sufficient to clone this repository to a suitable location (`git clone https://git.psi.ch/sinq-epics-modules/sinqmotor/-/tree/main`). Afterwards, switch to the directory (`cd sinqmotor`) and run `make install`.
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To use the library when writing a concrete motor driver, include it in the makefile of your application / library the same way as other libraries such as e.g. `asynMotor` by adding `REQUIRED+=sinqMotor` to your Makefile. The version can be specified with `sinqMotor_VERSION=x.x.x.`
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### Usage as static dependency
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This repository is included as a git submodule in some of the driver repositories depending upon sinqMotor. When installing via a Makefile (`make install`) using the PSI build system, the following git command is executed within `/ioc/tools/driver.makefile`:
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`git submodule update --init --recursive`
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This forces each submodule to be checked out at the latest commit hash stored in the remote repository. However, this is usually unwanted behaviour, since the higher-level drivers are usually designed to be compiled against a specific version of sinqMotor. In order to set the submodule to a specific version, the following steps need to be done BEFORE calling `make install`:
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- `cd sinqMotor`
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- `git checkout 0.1`
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- `cd ..`
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Then, the fixation of the version to 0.1 needs to be committed in the parent repository:
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- `git commit -m "Update sinqMotor to 0.1"`
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After this commit, running `make install` will use the correct driver version for compilation.
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@ -61,8 +61,7 @@ asynStatus setAxisParam<const char *>(sinqAxis *axis, const char *indexName,
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template <>
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asynStatus getAxisParam<int>(sinqAxis *axis, const char *indexName,
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int (sinqController::*func)(), int *readValue,
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const char *callerFunctionName, int lineNumber,
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int maxChars) {
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const char *callerFunctionName, int lineNumber) {
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int indexValue = (axis->pController()->*func)();
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asynStatus status = axis->pController()->getIntegerParam(
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axis->axisNo(), indexValue, readValue);
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@ -76,18 +75,16 @@ asynStatus getAxisParam<int>(sinqAxis *axis, const char *indexName,
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template <>
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asynStatus getAxisParam<bool>(sinqAxis *axis, const char *indexName,
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int (sinqController::*func)(), bool *readValue,
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const char *callerFunctionName, int lineNumber,
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int maxChars) {
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const char *callerFunctionName, int lineNumber) {
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return getAxisParam(axis, indexName, func, (int *)readValue,
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callerFunctionName, lineNumber);
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}
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template <>
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asynStatus getAxisParam<double>(sinqAxis *axis, const char *indexName,
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int (sinqController::*func)(),
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double *readValue,
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const char *callerFunctionName, int lineNumber,
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int maxChars) {
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asynStatus
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getAxisParam<double>(sinqAxis *axis, const char *indexName,
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int (sinqController::*func)(), double *readValue,
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const char *callerFunctionName, int lineNumber) {
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int indexValue = (axis->pController()->*func)();
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asynStatus status = axis->pController()->getDoubleParam(
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axis->axisNo(), indexValue, readValue);
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@ -101,8 +98,10 @@ asynStatus getAxisParam<double>(sinqAxis *axis, const char *indexName,
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template <>
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asynStatus getAxisParam<char>(sinqAxis *axis, const char *indexName,
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int (sinqController::*func)(), char *readValue,
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const char *callerFunctionName, int lineNumber,
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int maxChars) {
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const char *callerFunctionName, int lineNumber) {
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int maxChars = 190;
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int indexValue = (axis->pController()->*func)();
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asynStatus status = axis->pController()->getStringParam(
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axis->axisNo(), indexValue, maxChars, readValue);
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@ -114,11 +113,10 @@ asynStatus getAxisParam<char>(sinqAxis *axis, const char *indexName,
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}
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template <>
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asynStatus getAxisParam<std::string>(sinqAxis *axis, const char *indexName,
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int (sinqController::*func)(),
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std::string *readValue,
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const char *callerFunctionName,
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int lineNumber, int maxChars) {
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asynStatus
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getAxisParam<std::string>(sinqAxis *axis, const char *indexName,
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int (sinqController::*func)(), std::string *readValue,
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const char *callerFunctionName, int lineNumber) {
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int indexValue = (axis->pController()->*func)();
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// Convert the pointer to a reference, since getStringParam expects the
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@ -474,8 +474,7 @@ asynStatus setAxisParam(sinqAxis *axis, const char *indexName,
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template <typename T>
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asynStatus getAxisParam(sinqAxis *axis, const char *indexName,
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int (sinqController::*func)(), T *readValue,
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const char *callerFunctionName, int lineNumber,
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int maxChars = 0);
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const char *callerFunctionName, int lineNumber);
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/**
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* @brief Macro to get an paramLib parameter and error checking the return value
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@ -523,13 +522,25 @@ asynStatus getAxisParam(sinqAxis *axis, const char *indexName,
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* ```
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* =============================================================================
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*/
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#define getAxisParamChecked(axis, indexGetterFunction, readValue, ...) \
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// #define getAxisParamChecked(axis, indexGetterFunction, readValue, ...) \
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// { \
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// asynStatus getStatus = getAxisParam( \
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// axis, #indexGetterFunction, \
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// &std::remove_pointer< \
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// decltype(axis->pController())>::type::indexGetterFunction, \
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// readValue, __PRETTY_FUNCTION__, __LINE__, ##__VA_ARGS__); \
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// if (getStatus != asynSuccess) { \
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// return getStatus; \
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// } \
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// }
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#define getAxisParamChecked(axis, indexGetterFunction, readValue) \
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{ \
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asynStatus getStatus = getAxisParam( \
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axis, #indexGetterFunction, \
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&std::remove_pointer< \
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decltype(axis->pController())>::type::indexGetterFunction, \
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readValue, __PRETTY_FUNCTION__, __LINE__, ##__VA_ARGS__); \
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readValue, __PRETTY_FUNCTION__, __LINE__); \
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if (getStatus != asynSuccess) { \
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return getStatus; \
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} \
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