Merge branch 'amor-selene'

Conflicts:
	.gitignore
	sinqEPICSApp/src/pmacAxis.cpp
	sinqEPICSApp/src/pmacAxis.h
	sinqEPICSApp/src/pmacController.cpp
	sinqEPICSApp/src/pmacController.h

.gitignore

@@ -1,3 +1,121 @@
-O.*
-.cvsignore
-.gitignore
+# Took these from the https://github.com/github/gitignore project on October 21, 2011
+
+# **** 'Personal' entries don't belong in here - put them in your .git/info/exclude file ****
+
+# Ignore text editor (e.g. emacs) autosave files
+*~
+
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+*.d
+SICServer*
+
+# Compiled Dynamic libraries
+*.so
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+
+# Compiled python files
+*.py[co]
+
+# Eclipse-generated files
+*.pydevproject
+.project
+.metadata
+bin/**
+tmp/**
+tmp/**/*
+*.tmp
+*.bak
+*.swp
+*~.nib
+local.properties
+.classpath
+.settings/
+.loadpath
+
+# External tool builders
+.externalToolBuilders/
+
+# Locally stored "Eclipse launch configurations"
+*.launch
+
+# CDT-specific
+.cproject
+
+# PDT-specific
+.buildpath
+
+## Ignore Visual Studio temporary files, build results, and
+## files generated by popular Visual Studio add-ons.
+*.sln
+*.vcproj
+*.exe
+*.vcxproj
+*.filters
+
+# User-specific files
+*.suo
+*.user
+*.sln.docstates
+*.sdf
+
+#Test results
+*.log
+
+# Build results
+[Dd]ebug/
+[Rr]elease/
+*_i.c
+*_p.c
+*.ilk
+*.meta
+*.obj
+*.pch
+*.pdb
+*.pgc
+*.pgd
+*.rsp
+*.sbr
+*.tlb
+*.tli
+*.tlh
+*.tmp
+*.vspscc
+.builds
+
+
+# Visual C++ cache files
+ipch/
+*.aps
+*.ncb
+*.opensdf
+*.sdf
+
+# Visual Studio profiler
+*.psess
+*.vsp
+
+# ReSharper is a .NET coding add-in
+_ReSharper*
+
+
+
+# Others
+*.autosave
+
+
+# Windows image file caches
+Thumbs.db
+
+
+# Mac OS X Finder
+.DS_Store
+._*

10-llbDevices.rules

@@ -0,0 +1 @@
+SUBSYSTEM=="usb", ATTR{idVendor}=="04b4", ATTR{idProduct}=="1002", MODE="0666" GROUP="plugdev", TAG+="uaccess"

Makefile.RHEL7

@@ -2,7 +2,7 @@
 include /ioc/tools/driver.makefile
 
 MODULE=sinq
-
+LIBVERSION=koennecke
 BUILDCLASSES=Linux
 
 # additional module dependencies

sinqEPICSApp/Db/motorSet.db

@@ -0,0 +1,6 @@
+# workaround over set position
+record(ao, "$(P)$(M)-SetPosition") {
+    field(DTYP, "asynFloat64")
+    field(OUT, "@asyn($(PORT),$(N),1) SET_MOTOR_POSITION")
+    field(PINI, "YES")
+}

sinqEPICSApp/src/SINQController.cpp

@@ -10,8 +10,8 @@
 #include "SINQController.h"
 #include "asynMotorController.h"
 
-SINQController::SINQController(const char *portName, const char *SINQPortName, int numAxes)
-  :  asynMotorController(portName, numAxes+1, NUM_MOTOR_DRIVER_PARAMS+2,
+SINQController::SINQController(const char *portName, const char *SINQPortName, int numAxes, const int& extraParams)
+  :  asynMotorController(portName, numAxes+1, NUM_MOTOR_DRIVER_PARAMS+extraParams,
                          0, // No additional interfaces beyond those in base class
                          0, // No additional callback interfaces beyond those in base class
                          ASYN_CANBLOCK | ASYN_MULTIDEVICE, 

sinqEPICSApp/src/SINQController.h

@@ -17,7 +17,7 @@
 class epicsShareClass SINQController : public asynMotorController
 {
  public:
-  SINQController(const char *portName, const char *SINQPortName, int numAxes);
+  SINQController(const char *portName, const char *SINQPortName, int numAxes, const int& extraParams=2);
 
   friend class SINQAxis;
  protected:

sinqEPICSApp/src/pmacAxis.cpp

@@ -44,6 +44,9 @@
 
 #define MULT 1000.
 
+#define IDLEPOLL 2.
+#define BUSYPOLL .05
+
 #define ABS(x) (x < 0 ? -(x) : (x))
 
 extern "C" void shutdownCallback(void *pPvt)
@@ -56,9 +59,10 @@ extern "C" void shutdownCallback(void *pPvt)
 }
 
 // These are the pmacAxis class methods
-pmacAxis::pmacAxis(pmacController *pC, int axisNo)
+pmacAxis::pmacAxis(pmacController *pC, int axisNo, bool enable)
   :   SINQAxis(pC, axisNo),
-      pC_(pC)
+      pC_(pC),
+      autoEnable(enable)
 {
   static const char *functionName = "pmacAxis::pmacAxis";
 
@@ -80,6 +84,7 @@ pmacAxis::pmacAxis(pmacController *pC, int axisNo)
   status6Time = 0;
   starting = 0;
   homing = 0;
+  next_poll = -1;
 
   /* Set an EPICS exit handler that will shut down polling before asyn kills the IP sockets */
   epicsAtExit(shutdownCallback, pC_);
@@ -156,13 +161,18 @@ asynStatus pmacAxis::getAxisInitialStatus(void)
   }
 
   // Enable the axis. After startup, the axis are disabled on the controller...
-  sprintf(command, "M%2.2d14=1", axisNo_);
-  cmdStatus = pC_->lowLevelWriteRead(axisNo_,command, response);
-  if (cmdStatus ) {
-    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s: Error: enaabling axis %d failed.\n", functionName, axisNo_);
-    return asynError;
-  }  
+  // Warning: Selene lift axis should not be automatically enabled
 
+  if (autoEnable) {
+    sprintf(command, "M%2.2d14=1\n", axisNo_);
+    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Enable axis %d: %s",axisNo_,command);
+    cmdStatus = pC_->lowLevelWriteRead(axisNo_,command, response);
+    if (cmdStatus ) {
+      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s: Error: enaabling axis %d failed.\n", functionName, axisNo_);
+      return asynError;
+    }  
+  }
+  
   callParamCallbacks();
 
   return asynSuccess;
@@ -202,7 +212,9 @@ asynStatus pmacAxis::move(double position, int relative, double min_velocity, do
   sprintf( command, "P%2.2d23=0 Q%2.2d01=%12.4f M%2.2d=1", axisNo_, axisNo_, realPosition, axisNo_);
         
   status = pC_->lowLevelWriteRead(axisNo_,command, response);
-  
+
+  next_poll = -1;
+
   return status;
 }
 
@@ -224,6 +236,8 @@ asynStatus pmacAxis::home(double min_velocity, double max_velocity, double accel
   status = pC_->lowLevelWriteRead(axisNo_,command, response);
   homing = 1;
 
+  next_poll = time(NULL) + BUSYPOLL;
+
   return status;
 }
 
@@ -246,7 +260,8 @@ asynStatus pmacAxis::setPosition(double position)
 {
   //int status = 0;
   static const char *functionName = "pmacAxis::setPosition";
-  
+  errlogPrintf("executing : %s\n", functionName);
+
   pC_->debugFlow(functionName);  
 
   // Cannot do this. 
@@ -276,6 +291,11 @@ asynStatus pmacAxis::poll(bool *moving)
   static const char *functionName = "pmacAxis::poll";
   char message[132];
 
+  // Protect against excessive polling
+  if(time(NULL) < next_poll){
+    return asynSuccess;
+  }
+
   sprintf(message, "%s: Polling axis: %d", functionName, this->axisNo_);
   pC_->debugFlow(message); 
 
@@ -284,7 +304,13 @@ asynStatus pmacAxis::poll(bool *moving)
     asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
 	      "%s: getAxisStatus failed to return asynSuccess. Controller: %s, Axis: %d.\n", functionName, pC_->portName, axisNo_);
   }
-  
+
+  if(*moving){
+    next_poll = time(NULL) + BUSYPOLL;
+  } else {
+    next_poll = time(NULL) + IDLEPOLL;
+  } 
+
   callParamCallbacks();
   return status ? asynError : asynSuccess;
 }
@@ -345,8 +371,8 @@ asynStatus pmacAxis::getAxisStatus(bool *moving)
     int done = 0, posChanging = 0;
     double position = 0; 
     int nvals = 0;
-    int axisProblemFlag = 0;
-    epicsUInt32 axErr = 0, axStat = 0, highLim = 0, lowLim= 0;
+    int axisProblemFlag = 0, axStat = 0;
+    epicsUInt32 axErr = 0, highLim = 0, lowLim= 0;
     char message[132], *axMessage;
     
             
@@ -744,6 +770,9 @@ asynStatus SeleneAxis::setPosition(double position)
 	    "Setting Position on %d to value %f, command: %s", 
 	    axisNo_, position/MULT, command);
 
+
+  next_poll = -1;
+
   return status;
 }
 /*======================================= Selene Lift Axis Code ===========================================*/
@@ -776,6 +805,8 @@ asynStatus LiftAxis::move(double position, int relative, double min_velocity,
   status = pC_->lowLevelWriteRead(axisNo_,command, response);
   waitStart = 1;
 
+  next_poll = -1;
+
   return status;
 }
 /*--------------------------------------------------------------------------------------------------------
@@ -786,6 +817,11 @@ asynStatus LiftAxis::poll(bool *moving)
 {
   asynStatus status;
 
+  // Protect against excessive polling
+  if(time(NULL) < next_poll){
+    return asynSuccess;
+  }
+
   status = getAxisStatus(moving);
   if(*moving == false && waitStart == 1){
     *moving = true;
@@ -795,6 +831,12 @@ asynStatus LiftAxis::poll(bool *moving)
   if(*moving){
     waitStart = 0;
   }
+
+  if(*moving){
+    next_poll = time(NULL) + BUSYPOLL;
+  } else {
+    next_poll = time(NULL) + IDLEPOLL;
+  } 
   callParamCallbacks();
   return status;
 }

sinqEPICSApp/src/pmacAxis.h

@@ -28,7 +28,7 @@ class pmacAxis : public SINQAxis
 {
   public:
   /* These are the methods we override from the base class */
-  pmacAxis(pmacController *pController, int axisNo);
+  pmacAxis(pmacController *pController, int axisNo, bool enable=true);
   virtual ~pmacAxis();
   asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
   asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
@@ -62,6 +62,10 @@ class pmacAxis : public SINQAxis
   int homing;
   double statusPos;
 
+  time_t next_poll;
+
+  bool autoEnable;
+  
   friend class pmacController;
 };
 /*----------------------------------------------------------------------------------------------*/
@@ -83,12 +87,11 @@ class pmacHRPTAxis : public pmacAxis
 /*--------------------------------------------------------------------------------------------*/
 class SeleneAxis : public pmacAxis
 {
-
- public: 
-  SeleneAxis(SeleneController *pController, int axisNo, double limitTarget);
-  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
-  asynStatus setPosition(double position);
-  asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
+  public:
+   SeleneAxis(SeleneController *pController, int axisNo, double limitTarget);
+   asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
+   asynStatus setPosition(double position);
+   asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
 
  protected:
   friend class SeleneController;
@@ -112,6 +115,10 @@ class SeleneAxis : public pmacAxis
 
   Mark Koennecke, February 2020 
 
+  The axis should not be enabled automatically
+
+  Michele Brambilla, February 2020 
+
  */
 class LiftAxis : public pmacAxis
 {

sinqEPICSApp/src/pmacController.cpp

@@ -140,8 +140,8 @@ extern "C" {
 }
 
 pmacController::pmacController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress, 
-			       int numAxes, double movingPollPeriod, double idlePollPeriod)
-  : SINQController(portName, lowLevelPortName, numAxes+1)
+			       int numAxes, double movingPollPeriod, double idlePollPeriod, const int& extraParams)
+  : SINQController(portName, lowLevelPortName, numAxes+1, extraParams)
 {
   static const char *functionName = "pmacController::pmacController";
 
@@ -544,7 +544,20 @@ asynStatus SeleneCreateController(const char *portName, const char *lowLevelPort
     return asynSuccess;
 }
 
+  /*---------------------------------------------------------------------------------------------------------------------*/
+SeleneController::SeleneController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress,
+				     int numAxes, double movingPollPeriod, double idlePollPeriod) : pmacController(portName,
+														   lowLevelPortName,
+														   lowLevelPortAddress,
+														   numAxes,
+														   movingPollPeriod,
+														   idlePollPeriod, 3) {
+    static const char *functionName = "seleneController::seleneController";
+    createParam(MotorSetPositionString,                asynParamFloat64,         &setMotorPosition_);
+    callParamCallbacks();
+  }
 
+  
 /**
  * C wrapper for the pmacAxis constructor.
  * See pmacAxis::pmacAxis.
@@ -711,9 +724,9 @@ asynStatus SeleneController::writeFloat64(asynUser *pasynUser, epicsFloat64 valu
   /* Set the parameter and readback in the parameter library. */
   status = pAxis->setDoubleParam(function, value);
 
-  // TODO: somethign is really shitty here: lowLimit and highLimit cannot be on the command
   if (function == motorLowLimit_) {
     sprintf(command, "Q%d54=%f", pAxis->axisNo_, (float)value/(float)MULT);
+    // sprintf(command, "Q%d54=%d", pAxis->axisNo_, (int)(value/pAxis->scale_/MULT));
     asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
 	      "%s: Setting low limit on controller %s, axis %d to %f\n",
 	      functionName, portName, pAxis->axisNo_, value);
@@ -724,7 +737,13 @@ asynStatus SeleneController::writeFloat64(asynUser *pasynUser, epicsFloat64 valu
 	      "%s: Setting high limit on controller %s, axis %d to %f\n",
 	      functionName, portName, pAxis->axisNo_, value);
     errlogPrintf("Setting high limit of axis %d to %f, command = %s\n", pAxis->axisNo_, value, command);
-  } 
+  } else if(function == setMotorPosition_){
+    snprintf(command,sizeof(command),"Q%d59=%f", pAxis->axisNo_, value);
+    asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
+	      "%s: Defining position of axis%d to %f\n",
+	      functionName, pAxis->axisNo_, value);
+    errlogPrintf("Defining position of axis %d to %f, command = %s\n", pAxis->axisNo_, value, command);
+  }
 
   //Execute the command.
   if (command[0] != 0 && status == asynSuccess) {

sinqEPICSApp/src/pmacController.h

@@ -26,8 +26,8 @@
 class pmacController : public SINQController {
 
  public:
-  pmacController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress, int numAxes, double movingPollPeriod, 
-		 double idlePollPeriod);
+ pmacController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress, int numAxes, double movingPollPeriod, 
+		 double idlePollPeriod, const int& extraParams=2);
 
   virtual ~pmacController();
 
@@ -143,22 +143,24 @@ class pmacController : public SINQController {
 
 #define NUM_PMAC_PARAMS (&LAST_PMAC_PARAM - &FIRST_PMAC_PARAM + 1)
 
+#define MotorSetPositionString                "SET_MOTOR_POSITION"
 
 class SeleneController : public pmacController {
  public:
-  SeleneController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress, 
-		   int numAxes, double movingPollPeriod, double idlePollPeriod) : pmacController(portName,
-												 lowLevelPortName,
-												 lowLevelPortAddress,
-												 numAxes,
-												 movingPollPeriod,
-												 idlePollPeriod) {};
-
+  SeleneController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress,
+  		   int numAxes, double movingPollPeriod, double idlePollPeriod);
+  
+  ~SeleneController(void) { }
+  
   // overloaded because we have a different command to set the limits
   asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value); 
 
   friend class SeleneAxis;
   friend class pmacAxis;
+
+ protected:
+  int setMotorPosition_;
+    
 };
 
 

testEuroMoveUsb.py

@@ -0,0 +1,88 @@
+#!/usr/bin/env python3
+# -*- coding: iso-8859-1 -*-
+"""
+Created on Thur Feb 06 10:22:42 2020
+ 
+@author: gaston emmanuel exil
+"""
+
+#pip install pyusb
+#sudo cp 10-llbDevices.rules /etc/udev/rules.d/
+#sudo udevadm control --reload-rules && udevadm trigger
+#reboot
+
+import sys
+import usb.core
+import usb.util
+from time import sleep
+
+# 1. Device
+llbVendorID=0x04B4
+llbProductID=0x1002
+
+# 2. Configuration 
+CONFIGURATION_EV3 = 1       # 1-based
+# 3. Interface
+INTERFACE_EV3 = 0           # 0-based
+# 4. Alternate setting
+SETTING_EV3 = 0             # 0-based
+# 5. Endpoint
+ENDPOINT_EV3 = 1            # 0-based
+
+# find our device
+device = usb.core.find(idVendor=llbVendorID, idProduct=llbProductID)
+
+# was it found?
+if device is None:
+    raise ValueError('Device not found')
+    sys.exit(1)
+else:
+    if device._manufacturer is None:
+        device._manufacturer = usb.util.get_string(device, device.iManufacturer)
+    print("manufacturer: ", str(device._manufacturer))
+    if device._product is None:
+        device._product = usb.util.get_string(device, device.iProduct)
+    print("product: ", str(device._product))
+
+
+# By default, the kernel will claim the device and make it available via
+# /dev/usb/hiddevN and /dev/hidrawN which also prevents us
+# from communicating otherwise. This removes these kernel devices.
+# Yes, it is weird to specify an interface before we get to a configuration.
+
+if device.is_kernel_driver_active(INTERFACE_EV3):
+    print("Detaching kernel driver")
+    device.detach_kernel_driver(INTERFACE_EV3)
+    
+    # claim the device
+    usb.util.claim_interface(device, INTERFACE_EV3)
+
+# write endpoint
+endpoint_BulkOut = device[0][(0,0)][0]
+# Read endpoint
+endpoint_BulkIn = device[0][(0,0)][2]
+try:
+    command = "L"+chr(13)
+    assert device.write(endpoint_BulkOut, command.encode('utf-8'), 100) == len(command)
+    ret = device.read(endpoint_BulkIn, endpoint_BulkIn.wMaxPacketSize, timeout=30000)
+    print(ret)
+    #byte_str = "".join(chr(n) for n in ret)
+    print(ret.tostring())
+    
+
+    
+    command = "A1,4"+chr(13)
+    assert device.write(endpoint_BulkOut, command.encode('utf-8'), 100) == len(command)
+    ret = device.read(endpoint_BulkIn, endpoint_BulkIn.wMaxPacketSize, timeout=30000)
+    print(ret)
+    byte_str = "".join(chr(n) for n in ret)
+    print(ret.tostring())
+    
+except Exception as e:
+    print(e)
+
+
+# release the device
+usb.util.release_interface(device, INTERFACE_EV3)
+# reattach the device to the OS kernel
+#device.attach_kernel_driver(INTERFACE_EV3)