Added utility programs which update motor subsitutions files from

the values read rom the actual controller

utils/convertsub.py

@@ -0,0 +1,56 @@
+#!/usr/bin/python
+"""
+This is a little program which generates soft motor initialisation lines and iocsh morsels
+from a motor substitutions file. 
+
+Mark Koennecke, December 2019 
+"""
+import sys
+import pdb
+import os
+
+if len(sys.argv) < 2:
+    print('Usage:\n\tconvertsub XXXX.substitutions')
+    sys.exit(1)
+
+subLen = 0
+motors = []
+port = None
+
+with open(sys.argv[1],'r') as fin:
+    line = fin.readline()
+    while line:
+        line = line.replace(' ','')
+        line = line.strip('{}')
+        l = line.split(',')
+        if line.find('DHLM') > 0:  # that is the index discovery line
+            lowlimidx = l.index('DLLM')
+            highlimidx = l.index('DHLM')
+            mresidx = l.index('MRES')
+            addridx = l.index('ADDR')
+            prefix = l[0]
+            subLen = len(l)
+            portIdx = l.index('PORT')
+        elif subLen > 0:
+            l = line.split(',')
+            if subLen == len(l):
+                motors.append((l[addridx],l[mresidx],l[lowlimidx],l[highlimidx]))
+                port = l[portIdx]
+        else:
+            pass
+        line = fin.readline()
+
+print('%d motors found' % len(motors))
+
+fname = os.path.splitext(sys.argv[1])[0] + '.cmd'
+
+out = open(fname,'w')
+out.write('motorSimCreateController(\"%s\",%d)\n' % (port, len(motors)+2))
+for mot in motors:
+    mres = float(mot[1])
+    highlim = int(float(mot[3])/mres)
+    lowlim = int(float(mot[2])/mres)
+    out.write('motorSimConfigAxis(\"%s\",%s,%d,%d,0,0)\n' %(port,mot[0],highlim,lowlim))
+out.write('dbLoadTemplate(\"$(TOP)/%s\")\n' % (sys.argv[1])) 
+out.close()
+print(fname + ' written')

utils/deltatau.py

@@ -0,0 +1,51 @@
+"""
+  This is some code for communicating with a Delta-Tau PMAC motor 
+  controller as used at SINQ from python. Python 3 is assumed and 
+  tested. We use the ethernet protocol of the Pmac. This code benefits 
+  from the SICS driver for Pmac which in turn benefits from the driver 
+  written by Pete Leicester at Diamond.
+
+
+  Usage: python36 deltatau.py  pmachost:port command
+         Then returns the response for command. 
+
+  Mark Koennecke, October 2019
+"""
+
+import struct
+import socket
+
+def packPmacCommand(command):
+    # 0x40 = VR_DOWNLOAD 
+    # 0xBF = VR_PMAC_GETRESPONSE
+    buf = struct.pack('BBHHH',0x40,0xBF,0,0,socket.htons(len(command)))
+    buf = buf + bytes(command,'utf-8')
+    return buf
+
+def readPmacReply(input):
+    msg = bytearray()
+    expectAck = True
+    while True:
+        b = input.recv(1)
+        bint = int.from_bytes(b,byteorder='little')
+        if bint == 2 or bint == 7: #STX or BELL
+            expectAck = False
+            continue
+        if expectAck and bint == 6: # ACK
+            return bytes(msg)
+        else:
+            if bint == 13 and not expectAck: # CR
+                return bytes(msg)
+            else:
+                msg.append(bint)
+
+if __name__ == "__main__":
+    from sys import argv
+    addr = argv[1].split(':')
+    s = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
+    s.connect((addr[0],int(addr[1])))
+    buf = packPmacCommand(argv[2])
+    s.send(buf)
+    reply = readPmacReply(s)
+    print(reply.decode('utf-8') + '\n')
+

utils/syncEL734Sub.py

@@ -0,0 +1,110 @@
+#!/usr/bin/env python3
+"""
+This little program synchronizes an EPICS substitutions file with values read
+from the EL734 motor controller. Some research showed that the  EPICS motorRecord
+seems to have no means of reading configuration data like limits or speeds or such
+from the device support. Than it is the easiest to read the data with this small 
+program and update the substitutions file with it.
+
+Mark Koennecke, January 2023
+"""
+
+import socket
+import sys
+
+socke = None
+sockfd = None
+
+# --------------- communication section
+def connect(host, port):
+    global socke, sockfd
+    socke = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    # socke.connect(('localhost', 5050))
+    socke.connect((host, port))
+    socke.settimeout(2.)
+    sockfd = socke.makefile(mode='rw', newline='\r')
+    sockfd.write('RMT 1\r')
+    sockfd.flush()
+    sockfd.write('ECHO 0\r')
+    sockfd.flush()
+    sockfd.readline()
+
+def transact(command):
+    global socke, sockfd
+    sockfd.write(command + '\r')
+    sockfd.flush()
+    return sockfd.readline()
+
+def find_commas(rawline):
+    comma_list = []
+    for i in range(len(rawline)):
+        if rawline[i] == ',':
+            comma_list.append(i)
+    return comma_list
+
+def pretty_line(newlist, comma_list):
+    """
+    adds spaces to match the tabbing of the pattern line
+    """
+    newline = ''
+    for item, idx in zip(newlist, comma_list):
+        length = len(newline) + 1 + len(item)
+        if length < idx:
+            newline += ' ' * (idx - length)
+        newline += item
+        newline += ','
+    newline += newlist[-1]
+    return newline[0:-1]
+
+def fix_line(par_list, index_list):
+    # import pdb; pdb.set_trace()
+    addridx = index_list.index('ADDR')
+    motNo = par_list[addridx]
+    limits = transact('H ' + motNo)
+    l = limits.split()
+    lowidx = index_list.index('DLLM')
+    par_list[lowidx] = l[0]
+    highidx = index_list.index('DHLM')
+    par_list[highidx] = l[1]
+    speed = transact('J ' + motNo)
+    vidx = index_list.index('VELO')
+    par_list[vidx] = speed.strip()
+    # vidx = index_list.index('VMAX')
+    # par_list[vidx] = speed.strip()
+    return par_list
+
+def scan_substitution_file(filename):
+    index_list = None
+    # import pdb; pdb.set_trace()
+    with open(filename, 'r') as fin:
+        rawline = fin.readline()
+        while rawline:
+            line = rawline.replace(' ','')
+            line = line.strip('{}')
+            l = line.split(',')
+            if line.find('DHLM') > 0:
+                index_list = l
+                comma_list = find_commas(rawline)
+                sys.stdout.write(rawline)
+            elif  not index_list:
+                sys.stdout.write(rawline)
+            else:
+                if len(l) == len(index_list):
+                    newlist = fix_line(l, index_list)
+                    # newline =  ','.join(newlist)
+                    newline = pretty_line(newlist, comma_list)
+                    sys.stdout.write('{' + newline)
+                else:
+                    sys.stdout.write(rawline)
+            rawline = fin.readline()
+
+#------------------ main
+if len(sys.argv) < 4:
+    print('Usage:\n\tsyncEL734sub.py <host> <port> <substitutions-file>\n')
+    sys.exit(1)
+
+connect(sys.argv[1], int(sys.argv[2]))
+scan_substitution_file(sys.argv[3])
+socke.close()
+
+

utils/syncPmacSub.py

@@ -0,0 +1,101 @@
+#!/usr/bin/env python3
+"""
+This little program synchronizes an EPICS substitutions file with values read
+from the delta tau motor controller. Some research showed that the  EPICS motorRecord
+seems to have no means of reading configuration data like limits or speeds or such
+from the device support. Than it is the easiest to read the data with this small 
+program and update the substitutions file with it.
+
+Mark Koennecke, January 2023
+"""
+
+import socket
+import sys
+from deltatau import packPmacCommand,  readPmacReply 
+
+
+socke = None
+
+# --------------- communication section
+def connect(host, port):
+    global socke, sockfd
+    socke = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    # socke.connect(('localhost', 5050))
+    socke.connect((host, port))
+    socke.settimeout(1.)
+
+def transact(command):
+    global socke
+    data = packPmacCommand(command)
+    socke.send(data)
+    reply = readPmacReply(socke)
+    return reply.decode('utf-8')
+
+def find_commas(rawline):
+    comma_list = []
+    for i in range(len(rawline)):
+        if rawline[i] == ',':
+            comma_list.append(i)
+    return comma_list
+
+def pretty_line(newlist, comma_list):
+    """
+    adds spaces to match the tabbing of the patter line
+    """
+    newline = ''
+    for item, idx in zip(newlist, comma_list):
+        length = len(newline) + 1 + len(item)
+        if length < idx:
+            newline += ' ' * (idx - length)
+        newline += item
+        newline += ','
+    newline += newlist[-1]
+    return newline[0:-1]
+
+def fix_line(par_list, index_list):
+    # import pdb; pdb.set_trace()
+    addridx = index_list.index('ADDR')
+    motNo = int(par_list[addridx])
+    lowlim = transact('Q%d14' % motNo)
+    lowidx = index_list.index('DLLM')
+    par_list[lowidx] = lowlim.strip()
+    highlim = transact('Q%d13' % motNo)
+    highidx = index_list.index('DHLM')
+    par_list[highidx] = highlim.strip()
+    return par_list
+
+def scan_substitution_file(filename):
+    index_list = None
+    # import pdb; pdb.set_trace()
+    with open(filename, 'r') as fin:
+        rawline = fin.readline()
+        while rawline:
+            line = rawline.replace(' ','')
+            line = line.strip('{}')
+            l = line.split(',')
+            if line.find('DHLM') > 0:
+                index_list = l
+                comma_list = find_commas(rawline)
+                sys.stdout.write(rawline)
+            elif  not index_list:
+                sys.stdout.write(rawline)
+            else:
+                if len(l) == len(index_list):
+                    newlist = fix_line(l, index_list)
+                    # newline =  ','.join(newlist)
+                    newline = pretty_line(newlist, comma_list)
+                    sys.stdout.write('{' + newline + '\n')
+                else:
+                    sys.stdout.write(rawline)
+            rawline = fin.readline()
+
+#------------------ main
+if len(sys.argv) < 4:
+    print('Usage:\n\tsyncPmacSub.py <host> <port> <substitutions-file>\n')
+    sys.exit(1)
+
+connect(sys.argv[1], int(sys.argv[2]))
+scan_substitution_file(sys.argv[3])
+socke.close()
+
+