- Fixed a enable PV initialisation bug in MasterMACS

- Made the HRPT axis base itself on V3 of the pmacAxis
- Improved and added utils programs

sinqEPICSApp/src/MasterMACSDriver.cpp

@@ -4,6 +4,7 @@
  Marcel Schildt
 
  Mark Koennecke, March-August 2023
+ Mark Koenencke, More fixes in June 2024
 */
 
 
@@ -13,6 +14,7 @@
 #include <math.h>
 #include <ctype.h>
 #include <time.h>
+#include <sys/time.h>
 #include <unistd.h>
 
 #include <iocsh.h>
@@ -28,6 +30,18 @@
 #define ABS(x) (x < 0 ? -(x) : (x))
 
 #define debug 0
+#define timeDebug 0
+
+double DoubleTime(void)
+{
+  struct timeval now;
+  /* the resolution of this function is usec, if the machine supports this
+     and the mantissa of a double is 51 bits or more (31 bits for seconds
+     and 20 for microseconds)
+   */
+  gettimeofday(&now, NULL);
+  return now.tv_sec + now.tv_usec / 1e6;
+}
 
 /** Creates a new MasterMACSController object.
   * \param[in] portName          The name of the asyn port that will be created for this driver
@@ -141,6 +155,7 @@ asynStatus
     size_t in, out;
     int reason, len, idx, lenPayload;
     unsigned int i;
+    double startTime, now;
     char *mmacsData =
 	NULL, ackchar, mmacsResponse[COMLEN], hexResponse[256];
     SINQAxis *axis = getAxis(axisNo);
@@ -173,10 +188,19 @@ asynStatus
     	errlogSevPrintf(errlogMajor,"Sending command: %s\n", command);
     }
 
+    startTime = DoubleTime();
     status =
 	pasynOctetSyncIO->writeRead(pasynUserController_, mmacsData,
-				    len - 1, mmacsResponse, 35, 5., &out,
+				    len - 1, mmacsResponse, 35, 10., &out,
 				    &in, &reason);
+
+    if(timeDebug) {
+        now = DoubleTime();
+        if((now - startTime) > 1.) {
+            errlogSevPrintf(errlogMajor, "Unusual response time %lf to command %s\n", (now - startTime), command);      
+        }
+    }
+
     if (status != asynSuccess) {
 	if (axis != NULL) {
 	    errlogSevPrintf(errlogMajor,
@@ -247,6 +271,34 @@ asynStatus
     return status;
 }
 
+/*--------------------------------------------------------------------------------------------*/
+asynStatus
+    MasterMACSController::readInt32(asynUser * pasynUser,
+				    epicsInt32 * value)
+{
+
+    int function = pasynUser->reason;
+    MasterMACSAxis *pAxis = NULL;
+    int devStatus, isOn;
+
+    pAxis = (MasterMACSAxis *) (this->getAxis(pasynUser));
+    if (!pAxis) {
+	return asynError;
+    }
+    if (function == axisEnabled_) {
+        devStatus = pAxis->readStatus();
+	    isOn = pAxis->isOn(devStatus);
+	    // errlogPrintf("isOn in readInt32: %d, devStatus = %d\n", isOn, devStatus); 
+	    pAxis->setIntegerParam(enableAxis_, isOn);
+        pAxis->setIntegerParam(axisEnabled_, isOn);
+	    *value = isOn;
+	    callParamCallbacks();
+	    return asynSuccess;
+    }
+    return asynMotorController::readInt32(pasynUser, value);
+}
+/*------------------------------------------------------------------------------------------*/
+
 asynStatus
     MasterMACSController::writeInt32(asynUser * pasynUser,
 				     epicsInt32 value)
@@ -305,10 +357,14 @@ asynStatus
 	    errlogPrintf("MMACS: Failure to enable or disable axis %d",
 			 pAxis->axisNo_);
 	}
+    /* 
+     * wait max 2 seconds for success of the operation
+     */
 	startTime = time(NULL);
 	while(time(NULL) < startTime + 2.){
 		// wait for the change to happen
 		devStatus = pAxis->readStatus();
+        // errlogPrintf("MMACS: switching enable: target, devStatus, isOn: %d, %d, %d\n", value, devStatus, pAxis->isOn(devStatus));
 		if(pAxis->isOn(devStatus) == value){
             pAxis->active = true;
 			pAxis->poll(&moving); // to update the Enable_RBV field
@@ -317,7 +373,7 @@ asynStatus
 		}
                 usleep(200);
 	}
-	errlogPrintf("MMACS: Failed to enable motor %d within 2 seconds\n", pAxis->axisNo_); 
+	errlogPrintf("MMACS: Failed to dis/enable motor %d within 2 seconds\n", pAxis->axisNo_); 
     }
     return asynMotorController::writeInt32(pasynUser, value);
 }
@@ -332,11 +388,17 @@ asynStatus
   * Initializes register numbers, etc.
   */
 MasterMACSAxis::MasterMACSAxis(MasterMACSController * pC, int axisNo):SINQAxis(pC, axisNo),
-pC_
+pC_(pC)
-(pC)
 {
     hasStarted = false;
     active = false;
+    errorCodeFound = 0;
+    /*
+     * Try to read the initial enable status of the motor
+     */
+    int devStatus = readStatus();
+    setIntegerParam(pC_->enableAxis_, isOn(devStatus));
+    setIntegerParam(pC_->axisEnabled_, isOn(devStatus));
 }
 
 /** Reports on status of the axis
@@ -361,7 +423,7 @@ int MasterMACSAxis::readStatus()
     /*
      * The MasterMACS sends invalid responses with a low frequency.
      * Therefore I send cached status responses in such a case in order 
-     * to help the logic evrywhere else in the code.
+     * to help the logic everywhere else in the code.
      */
     sprintf(command, "%dR10", axisNo_);
     status = pC_->transactController(axisNo_, command, reply);
@@ -548,7 +610,7 @@ asynStatus MasterMACSAxis::poll(bool * moving)
 {
     asynStatus comStatus = asynSuccess;
     char command[COMLEN], reply[COMLEN], *pPtr, buffer[80];
-    unsigned int errCode, derCode, devStatus;
+    unsigned int errCode, derCode, devStatus = 0;
     float errStatus;
     struct tm* tm_info;
     time_t timer;
@@ -599,7 +661,7 @@ asynStatus MasterMACSAxis::poll(bool * moving)
 
     // Read the overall  status of this motor */
     devStatus = readStatus();
-    if(debug) {
+    if(debug || timeDebug) {
     	errlogPrintf("Axis %d, position %lf, devStatus %d\n", axisNo_,
 	             position, devStatus);
     }

sinqEPICSApp/src/MasterMACSDriver.h

@@ -62,6 +62,7 @@ public:
   MasterMACSAxis* getAxis(int axisNo);
  
   // overloaded because we want to enable/disable the motor
+  asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
   asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
 
 friend class MasterMACSAxis;

sinqEPICSApp/src/pmacAxis.cpp

@@ -596,7 +596,7 @@ asynStatus pmacHRPTAxis::getAxisStatus(bool *moving) {
   char response[pC_->PMAC_MAXBUF_];
   int cmdStatus = 0, nvals, crashSignal;
 
-  asynStatus result = pmacAxis::getAxisStatus(moving);
+  asynStatus result = pmacV3Axis::getAxisStatus(moving);
   sprintf(command, "P%2.2d53", axisNo_);
   cmdStatus = pC_->lowLevelWriteRead(axisNo_, command, response);
   nvals = sscanf(response, "%d", &crashSignal);

sinqEPICSApp/src/pmacAxis.h

@@ -70,22 +70,6 @@ protected:
   friend class pmacController;
   friend class pmacV3Controller;
 };
-/*----------------------------------------------------------------------------------------------*/
-class pmacHRPTAxis : public pmacAxis
-{
- public: 
- pmacHRPTAxis(pmacController *pController, int axisNo) : pmacAxis(pController,axisNo) {};
-  /**
-   * Override getAxisStatus in order to read the special parameter indicating a
-   * slit blade crash at HRPT
-   */
-  asynStatus getAxisStatus(bool *moving);
-
- protected:
-  friend class pmacController;
-  
-};
-
 /*--------------------------------------------------------------------------------------------*/
 class SeleneAxis : public pmacAxis
 {
@@ -157,6 +141,23 @@ public:
   friend class pmacV3Controller;
  };
 
+/*----------------------------------------------------------------------------------------------*/
+class pmacHRPTAxis : public pmacV3Axis
+{
+ public: 
+ pmacHRPTAxis(pmacController *pController, int axisNo) : pmacV3Axis(pController,axisNo) {};
+  /**
+   * Override getAxisStatus in order to read the special parameter indicating a
+   * slit blade crash at HRPT
+   */
+  asynStatus getAxisStatus(bool *moving);
+
+ protected:
+  friend class pmacController;
+  
+};
+
+
 /*
  * Special motors for the AMOR detector movement. The whole
  * command set is different but on a pmac controller. This implements

sinqEPICSApp/src/pmacController.cpp

@@ -869,10 +869,14 @@ static const char *functionName = "pmacV3Controller::writeInt32";
     snprintf(command, sizeof(command), "P%2.2d00", pAxis->axisNo_);
     this->lowLevelWriteRead(pAxis->axisNo_, command, response);
     isOn = strtol(response, NULL, 10) != -3;
+    /* This was an attempt at automatically reading the encoder.
+       This is disabled as it did not work.
+    */
     if(value == 1 && isOn) {
       sprintf(command, "M%2.2d=15", pAxis->axisNo_);
       // lowLevelWriteRead(pAxis->axisNo_, command, response);
     }
+    // Valid code continues here
     sprintf(command, "M%2.2d14=%d", pAxis->axisNo_, value);
     pAxis->updateMsgTxtFromDriver("");
     if(isOn != value) {

utils/macmaster.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 """
   Usage: macmaster.py  macmasterhost port
     Listen for commands to send and returns reponse

utils/physhell.tcl

@@ -0,0 +1,58 @@
+#!/usr/bin/tclsh
+# This is a little program which acts as a shell to the phytron.
+# It connects to another program which is supposed to talk to the phytron controller
+# It reads from stdin, packages the message into the phytron format and sends it to
+# the phytron communication program. Then it reads from the phytron communication program
+# and unpacks the reply.
+#
+# This is also a nice exampe for dealing with binary in Tcl
+# Making the binary character only worked with %c
+# The only way to do the comparison is with the string comare
+#
+# Mark Könnecke, September 2016
+
+
+if {[llength $argv] < 1} {
+    puts stdout "Usage:\n\t physhell.tcl phytronprogram"
+    exit
+}
+
+set phprogram [lindex $argv 0]
+
+set phyio [open "| $phprogram" "w+b"]
+fconfigure $phyio -buffering none
+fconfigure $phyio -translation {binary binary}
+set etx [format "%c" 0x03]
+set stx [format "%c" 0x02]
+set ack [format "%c" 0x06]
+set nack [format "%c" 0x05]
+
+
+while {1} {
+    set inp [gets stdin]
+    puts -nonewline $phyio [format "%c%s%c" 0x02 $inp 0x03]
+    set mode start
+    set reply ""
+    while {[string compare $mode done] != 0 } {
+	set c [read $phyio 1]
+	switch $mode {
+	    start {
+		if {[string compare $c $stx] == 0} {
+		    set mode data
+		}
+	    }
+	    data {
+		if {[string compare $c $etx] == 0} {
+		    puts stdout $reply
+		    set mode done
+		} elseif {[string compare $c $nack] == 0} {
+		    append reply NACK
+		} elseif {[string compare $c $ack] == 0} {
+		    append reply ACK
+		} else {
+		    append reply $c
+		}
+	    }
+	}
+    }
+}    

utils/syncEL734Sub.py

@@ -11,6 +11,7 @@ Mark Koennecke, January 2023
 
 import socket
 import sys
+import time
 
 socke = None
 sockfd = None
@@ -33,6 +34,7 @@ def transact(command):
     global socke, sockfd
     sockfd.write(command + '\r')
     sockfd.flush()
+    time.sleep(.1)
     return sockfd.readline()
 
 def find_commas(rawline):
@@ -61,8 +63,10 @@ def fix_line(par_list, index_list):
     addridx = index_list.index('ADDR')
     motNo = par_list[addridx]
     limits = transact('H ' + motNo)
+    time.sleep(.1)
     l = limits.split()
     lowidx = index_list.index('DLLM')
+    # import pdb; pdb.set_trace()
     par_list[lowidx] = l[0]
     highidx = index_list.index('DHLM')
     par_list[highidx] = l[1]
@@ -93,7 +97,7 @@ def scan_substitution_file(filename):
                     newlist = fix_line(l, index_list)
                     # newline =  ','.join(newlist)
                     newline = pretty_line(newlist, comma_list)
-                    sys.stdout.write('{' + newline)
+                    sys.stdout.write('{' + newline + '\n')
                 else:
                     sys.stdout.write(rawline)
             rawline = fin.readline()