sinqMotor/README.md

sinqmotor

Overview

This library offers base classes for EPICS motor drivers (sinqAxis and sinqController) of PSI SINQ. These classes are extensions of the classes asynMotorAxis and asynMotorController from the asynMotor framework (https://github.com/epics-modules/motor/tree/master/motorApp/MotorSrc) and bundle some common functionalities.

Features

sinqMotor offers a variety of additional methods for children classes to standardize certain patterns (e.g. writing messages to the IOC shell and the motor message PV). For a detailed description, please see the respective function documentation in the .h-file. All of these functions can be overwritten manually if e.g. a completely different implementation of poll is required

sinqController

• stringifyAsynStatus: Convert the enum asynStatus into a human-readable string.
• errMsgCouldNotParseResponse: Write a standardized message if parsing a device response failed
• paramLibAccessFailed: Write a standardized message if accessing the parameter library failed

sinqAxis

• atFirstPoll: This function is executed once before the first poll. If it returns anything but asynSuccess, it retries.
• poll: This is a wrapper around doPoll which performs some bookkeeping tasks before and after calling doPoll: Before calling doPoll:
  • Try to execute atFirstPoll once (and retry, if that failed) After calling doPoll:
  • Reset motorStatusProblem_, motorStatusCommsError_ and motorMessageText_ if doPoll returned asynSuccess
  • Run callParamCallbacks
  • Return the status of doPoll
• doPoll: This is an empty function which should be overwritten by concrete driver implementations.

How to build it

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 run make install -f Makefile from the terminal. If you want to compile a new version, adjust the entry LIBVERSION accordingly.

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.