Merge branch 'errtxt'

Also made sinqepicsApp work with the module based build system now being operational at PSI
Conflicts:
	iocBoot/iocsinqEPICS/envPaths
	iocBoot/iocsinqEPICS/st.cmd
	sinqEPICSApp/src/Makefile

Makefile.RHEL7

@@ -0,0 +1,32 @@
+include /ioc/tools/driver.makefile
+
+MODULE=sinq
+
+BUILDCLASSES=Linux
+
+# additional module dependencies
+REQUIRED+=SynApps
+REQUIRED+=stream
+
+# using a test version
+scaler_VERSION=koennecke
+
+TEMPLATES += sinqEPICSApp/Db/dimetix.db
+TEMPLATES += sinqEPICSApp/Db/slsvme.db
+TEMPLATES += sinqEPICSApp/Db/spsamor.db
+
+DBDS += sinq.dbd
+
+# What we need at SINQ
+SOURCES += sinqEPICSApp/src/devScalerEL737.c
+SOURCES += sinqEPICSApp/src/SINQController.cpp
+SOURCES += sinqEPICSApp/src/SINQAxis.cpp
+SOURCES += sinqEPICSApp/src/EL734Driver.cpp
+SOURCES += sinqEPICSApp/src/NanotecDriver.cpp
+SOURCES += sinqEPICSApp/src/stptok.cpp
+SOURCES += sinqEPICSApp/src/PhytronDriver.cpp
+SOURCES += sinqEPICSApp/src/pmacAsynIPPort.c
+SOURCES += sinqEPICSApp/src/pmacAxis.cpp
+SOURCES += sinqEPICSApp/src/pmacController.cpp
+
+# MISCS  would be the place to keep the stream device template files

iocBoot/iocsinqEPICS/envPaths

@@ -1,10 +0,0 @@
-
-epicsEnvSet("ARCH","centos7-x86_64")
-epicsEnvSet("IOC","sinqEPICS")
-epicsEnvSet("TOP","/afs/psi.ch/project/sinqdev/sinqepicsapp")
-epicsEnvSet("EPICS_BASE","/opt/epics/bases/base-3.14.12.5")
-epicsEnvSet("ASYN","/opt/epics/modules/asyn/4.27.0")
-epicsEnvSet("MOTOR","/opt/amor/epics")
-epicsEnvSet("SYNAPPSSTD","/opt/epics/modules/synAppsStd/3.4.1")
-#epicsEnvSet("LAKESHORE336","/usr/local/epics/support/lakeshore336")
-epicsEnvSet("STREAM","/opt/epics/modules/streamdevice/2.7.1")

iocBoot/iocsinqEPICS/motor.substitutions.el734

@@ -1,10 +1,21 @@
 file "$(MOTOR)/db/basic_asyn_motor.db"
 {
 pattern
-{P,    N,   M,         DTYP,     PORT, ADDR,  DESC,     EGU,   DIR,   VELO,  VBAS, ACCL, BDST, BVEL, BACC,    MRES, PREC,   DHLM, DLLM, INIT}
+{P,        N,     M,       DTYP,     PORT, ADDR,  DESC,     EGU,   DIR,   VELO,  VBAS, ACCL, BDST, BVEL, BACC,    MRES, PREC,   DHLM, DLLM, INIT}
 {NZ:mota:, 1, "m$(N)", "asynMotor",  mota,  1, "sgu",   degree,   Pos,    2.0,   0.1,  .2,    0,    1,   .2,    1.,    3,   20,    -20,    ""}
 {NZ:mota:, 2, "m$(N)", "asynMotor",  mota,  2, "sgl",   degree,   Pos,    2.0,   0.1,  .2,    0,    1,   .2,    1.,    3,   20,    -20,    ""}
 {NZ:mota:, 3, "m$(N)", "asynMotor",  mota,  3, "sgd",   degree,   Pos,    2.0,   0.1,  .2,    0,    1,   .2,    1.,    3,   20,    -20,    ""}
 {NZ:mota:, 4, "m$(N)", "asynMotor",  mota,  4, "som",   degree,   Pos,    2.0,   0.1,  .2,    0,    1,   .2,     0.001,    3,   37,    -37,    ""}
 {NZ:mota:, 5, "m$(N)", "asynMotor",  mota,  5, "sty",   degree,   Pos,    2.0,   0.1,  .2,    0,    1,   .2,    0.001,    3,   150,  -149,    ""}
 }
+
+file "$(SINQ)/Db/motorMessage.db"
+{
+pattern
+{P,N, M,PORT}
+{NZ:mota:, 1, "m$(N)",mota}
+{NZ:mota:, 2, "m$(N)",mota}
+{NZ:mota:, 3, "m$(N)",mota}
+{NZ:mota:, 4, "m$(N)",mota}
+{NZ:mota:, 5, "m$(N)",mota}
+}

iocBoot/iocsinqEPICS/st.cmd

@@ -1,4 +1,4 @@
-#!/opt/amor/epics/sinqEPICS
+#!../../bin/linux-x86-debug/sinqEPICS
 
 
 cd /opt/amor/epics

makesinqtar

@@ -0,0 +1,7 @@
+#!/usr/bin/tclsh
+
+set dir [pwd]
+
+cd /usr/local/ioc
+
+exec /usr/bin/tar czvf $dir/sinqepics.tgz modules/scaler modules/sinq modules/anc350

sinqEPICSApp/Db/motorMessage.db

@@ -0,0 +1,9 @@
+
+# The message text
+record(waveform, "$(P)$(M)-MsgTxt") {
+    field(DTYP, "asynOctetRead")
+    field(INP, "@asyn($(PORT),$(N),1) MOTOR_MESSAGE_TEXT")
+    field(FTVL, "CHAR")
+    field(NELM, "80")
+    field(SCAN, "I/O Intr")
+}

sinqEPICSApp/src/EL734Driver.cpp

@@ -33,18 +33,14 @@ February 2013
   * \param[in] numAxes           The number of axes that this controller supports 
   */
 EL734Controller::EL734Controller(const char *portName, const char *EL734PortName, int numAxes)
-  :  asynMotorController(portName, numAxes+1, 0, 
-                         0, // No additional interfaces beyond those in base class
-                         0, // No additional callback interfaces beyond those in base class
-                         ASYN_CANBLOCK | ASYN_MULTIDEVICE, 
-                         1, // autoconnect
-                         0, 0)  // Default priority and stack size
+  :  SINQController(portName, EL734PortName, numAxes) 
 {
   int axis;
   asynStatus status;
   EL734Axis *pAxis;
   static const char *functionName = "EL734Controller::EL734Controller";
 
+
   /* Connect to EL734 controller */
   status = pasynOctetSyncIO->connect(EL734PortName, 0, &pasynUserController_, NULL);
   if (status) {
@@ -200,8 +196,7 @@ asynStatus EL734Controller::transactController(char command[COMLEN], char reply[
   * Initializes register numbers, etc.
   */
 EL734Axis::EL734Axis(EL734Controller *pC, int axisNo)
-  : asynMotorAxis(pC, axisNo),
-    pC_(pC)
+  : SINQAxis(pC, axisNo), pC_(pC)
 {  
 }
 
@@ -240,6 +235,9 @@ asynStatus EL734Axis::move(double position, int relative, double minVelocity, do
   homing = 0;
   sprintf(command, "p %d %.3f", axisNo_, position/1000.);
   status = pC_->transactController(command,reply);
+  if(status == asynError){
+    updateMsgTxtFromDriver(reply);
+  }
   next_poll = -1;
   return status;
 }
@@ -256,7 +254,10 @@ asynStatus EL734Axis::home(double minVelocity, double maxVelocity, double accele
   homing = 1;
   next_poll= -1;
   status = pC_->transactController(command,reply);
-  return status;
+  if(status == asynError){
+    updateMsgTxtFromDriver(reply);
+  } 
+ return status;
 }
 
 asynStatus EL734Axis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
@@ -278,6 +279,9 @@ asynStatus EL734Axis::moveVelocity(double minVelocity, double maxVelocity, doubl
       sprintf(command, "FB %d", axisNo_);
   }
   status = pC_->transactController(command,reply);
+  if(status == asynError){
+    updateMsgTxtFromDriver(reply);
+  }
   next_poll = -1;
   return status;
 }
@@ -291,6 +295,7 @@ asynStatus EL734Axis::stop(double acceleration )
   sprintf(command, "S %d", axisNo_);
   status = pC_->transactController(command,reply);
   errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
+  updateMsgTxtFromDriver("Axis interrupted");
 
   return status;
 }
@@ -303,6 +308,9 @@ asynStatus EL734Axis::setPosition(double position)
 
   sprintf(command, "P %d %f", axisNo_, position/1000.);
   status = pC_->transactController(command,reply);
+  if(status == asynError){
+    updateMsgTxtFromDriver(reply);
+  }
   next_poll = -1;
 
   return status;
@@ -331,6 +339,7 @@ asynStatus EL734Axis::poll(bool *moving)
   int msr;
   asynStatus comStatus;
   char command[COMLEN], reply[COMLEN];
+  int driverError = 0;
 
 
   // protect against excessive polling
@@ -342,15 +351,22 @@ asynStatus EL734Axis::poll(bool *moving)
   // Read the current motor position
   sprintf(command,"u %d", axisNo_);
   comStatus = pC_->transactController(command,reply);
+  if(comStatus == asynError){
+    updateMsgTxtFromDriver(reply);
+    driverError = 1;
+  }
   if(comStatus) goto skip;
   if(strstr(reply,"*ES") != NULL){
     *moving = false;
     setIntegerParam(pC_->motorStatusDone_, true);
     setIntegerParam(pC_->motorStatusProblem_, true);
+    updateMsgTxtFromDriver("Emergency Stop Engaged");
+    driverError = 1;
     goto skip;
   } else if(strstr(reply,"?BSY") != NULL){
     *moving = true;
     setIntegerParam(pC_->motorStatusDone_, false);
+    updateMsgTxtFromDriver(NULL);
     goto skip;
   }
   sscanf(reply,"%lf", &position);
@@ -373,11 +389,15 @@ asynStatus EL734Axis::poll(bool *moving)
     next_poll = time(NULL)+IDLEPOLL;
     if(oredMSR & 0x10){
       setIntegerParam(pC_->motorStatusLowLimit_, true);
+      updateMsgTxtFromDriver("Lower Limit Hit");
+      driverError = 1;
     }  else {
       setIntegerParam(pC_->motorStatusLowLimit_, false);
     }
     if(oredMSR & 0x20){
       setIntegerParam(pC_->motorStatusHighLimit_, true);
+      updateMsgTxtFromDriver("Upper Limit Hit");
+      driverError = 1;
     }  else {
       setIntegerParam(pC_->motorStatusHighLimit_, false);
     }
@@ -388,20 +408,29 @@ asynStatus EL734Axis::poll(bool *moving)
     if(oredMSR &0x1000){
       setIntegerParam(pC_->motorStatusProblem_, true);
       errlogSevPrintf(errlogMajor, "Air cushion problem on %d", axisNo_);
+      updateMsgTxtFromDriver("Air cushion error");
+      driverError = 1;
     }
     if(oredMSR &0x80){
       setIntegerParam(pC_->motorStatusProblem_, true);
       errlogSevPrintf(errlogMajor, "Positioning fault at %d", axisNo_);
+      updateMsgTxtFromDriver("Positioning fault");
+      driverError = 1;
     }
     *moving = false;
     setIntegerParam(pC_->motorStatusDone_, true);
+    //updateMsgTxtFromDriver("Believed to be on position");
   } else {
     *moving = true;
     next_poll = -1;
     setIntegerParam(pC_->motorStatusDone_, false);
+    //updateMsgTxtFromDriver("Creeping");
   }
 
   skip:
+  if(driverError == 0){
+    updateMsgTxtFromDriver(NULL);
+  }
   setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0);
   callParamCallbacks();
   return comStatus ? asynError : asynSuccess;

sinqEPICSApp/src/EL734Driver.h

@@ -7,13 +7,13 @@ February 2013
 
 */
 
-#include "asynMotorController.h"
-#include "asynMotorAxis.h"
+#include "SINQController.h"
+#include "SINQAxis.h"
 
 #define MAX_EL734_AXES 12
 #define COMLEN 80
 
-class EL734Axis : public asynMotorAxis
+class EL734Axis : public SINQAxis
 {
 public:
   /* These are the methods we override from the base class */
@@ -34,11 +34,14 @@ private:
   double position;
   int homing;
   time_t next_poll;
+  int ErrTxtIdx;
+
+  void forwardErrorTxt(EL734Axis *axis);
   
 friend class EL734Controller;
 };
 
-class EL734Controller : public asynMotorController {
+class EL734Controller : public SINQController {
 public:
   EL734Controller(const char *portName, const char *EL734PortName, int numAxes);
 

sinqEPICSApp/src/Makefile

@@ -24,8 +24,8 @@ sinqEPICS_LIBS += motor asyn busy synAppsStd streamdevice pcre
 
 # sinqEPICS_registerRecordDeviceDriver.cpp derives from sinqEPICS.dbd
 sinqEPICS_SRCS += sinqEPICS_registerRecordDeviceDriver.cpp
-sinqEPICS_SRCS += EL734Driver.cpp
-sinqEPICS_SRCS += devScalerEL737.c 
+sinqEPICS_SRCS += EL734Driver.cpp devScalerEL737.c pmacAsynIPPort.c SINQAxis.cpp SINQController.cpp
+sinqEPICS_SRCS += pmacController.cpp pmacAxis.cpp
 sinqEPICS_SRCS += NanotecDriver.cpp stptok.cpp
 sinqEPICS_SRCS += PhytronDriver.cpp 
 

sinqEPICSApp/src/SINQAxis.cpp

@@ -0,0 +1,36 @@
+/*
+  This is a version of the motor axis record which adds code for having an
+  text field with an error message to go with the motor. The code is
+  courtesey Torsten Boergershausen from ESS and from the axisRecord.
+
+  Mark Koennecke, March 2017
+*/
+#include "SINQAxis.h"
+#include "SINQController.h"
+
+SINQAxis::SINQAxis(class SINQController *pC, int axis)
+  : asynMotorAxis((asynMotorController *)pC, axis),
+    pC_(pC)
+{
+}
+
+
+void SINQAxis::updateMsgTxtFromDriver(const char *value)
+{
+  if (value && value[0]) {
+    pC_->setIntegerParam(axisNo_,pC_->motorMessageIsFromDriver_, 1);
+    setStringParam(pC_->motorMessageText_,value);
+  } else {
+    pC_->setIntegerParam(axisNo_,pC_->motorMessageIsFromDriver_, 0);
+  }  
+}
+
+/**
+ * Sets the value for a string for this axis in the parameter library.
+ * \param[in] function The function (parameter) number
+ * \param[in] value Value to set */
+asynStatus SINQAxis::setStringParam(int function, const char *value)
+{
+  // Call the base class method
+  return pC_->setStringParam(axisNo_, function, value);
+}

sinqEPICSApp/src/SINQAxis.h

@@ -0,0 +1,29 @@
+/*
+  This is a version of the motor axis record which adds code for having an 
+  text field with an error message to go with the motor. The code is 
+  courtesey Torsten Boergershausen from ESS and from the axisRecord. 
+
+  Mark Koennecke, March 2017
+*/
+#ifndef __SINQDRIVER
+#define __SINQDRIVER
+#include "asynMotorAxis.h"
+
+class epicsShareClass SINQAxis : public asynMotorAxis 
+{
+ public:
+  SINQAxis(class SINQController *pC_, int axis);
+  asynStatus setStringParam(int function, const char *value);
+
+  friend class SINQController;
+ protected:
+  void updateMsgTxtFromDriver(const char *value);
+ private:
+  SINQController *pC_;
+
+};
+
+
+
+#endif
+ 

sinqEPICSApp/src/SINQController.cpp

@@ -0,0 +1,25 @@
+/*
+  This class contains the necessary changes to have an additional text fields for messages
+  with each axis.
+
+  Code lifted from Torsten Boegershausen ESS code.
+
+  Mark Koennecke, March 2017
+*/
+
+#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,
+                         0, // No additional interfaces beyond those in base class
+                         0, // No additional callback interfaces beyond those in base class
+                         ASYN_CANBLOCK | ASYN_MULTIDEVICE, 
+                         1, // autoconnect
+                         0, 0)  // Default priority and stack size
+{
+  createParam(motorMessageIsFromDriverString,    asynParamInt32,      &motorMessageIsFromDriver_);
+  createParam(motorMessageTextString,            asynParamOctet,      &motorMessageText_);
+}
+
+

sinqEPICSApp/src/SINQController.h

@@ -0,0 +1,30 @@
+/*
+  This class contains the necessary changes to have an additional text fields for messages 
+  with each axis. 
+
+  Code lifted from Torsten Boegershausens ESS code.
+
+  Mark Koennecke, March 2017
+*/
+
+#ifndef __SINQCONTROLLER
+#define __SINQCONTROLLER
+#include "asynMotorController.h"
+
+#define motorMessageIsFromDriverString  "MOTOR_MESSAGE_DRIVER"
+#define motorMessageTextString          "MOTOR_MESSAGE_TEXT"
+
+class epicsShareClass SINQController : public asynMotorController
+{
+ public:
+  SINQController(const char *portName, const char *SINQPortName, int numAxes);
+
+  friend class SINQAxis;
+ protected:
+  int motorMessageIsFromDriver_;
+  int motorMessageText_;
+}; 
+
+
+#endif
+ 

sinqEPICSApp/src/sinq.dbd

@@ -4,20 +4,19 @@
 registrar(EL734Register) 
 registrar(PhytronRegister) 
 registrar(NanotecRegister) 
-addpath "/opt/epics/modules/asyn/4.27.0/3.14.12.5/dbd"
-addpath "/opt/epics/bases/base-3.14.12.5/dbd"
-addpath "/opt/epics/modules/motor/6.10.0/3.14.12.5/dbd"
-#addpath "/usr/local/epics/support/std-3-1/dbd"
-addpath "/opt/epics/modules/synAppsStd/3.4.1/3.14.12.5/dbd"
-include "asyn.dbd"
-include "motor.dbd"
-#include "motorSupport.dbd"
+registrar(pmacControllerRegister) 
+
+#--------------------------------------------------------
+# With the PSI module build system, including these items actually 
+# hurts. It causes missing symbols when loading the shared lib. 
+#------------------------------------------------------------------ 
+#include "/ioc/modules/asyn/427.0.1/R3.14.12/dbd/asyn.dbd"
+#include "/ioc/modules/motorBase/6.9.12/R3.14.12/dbd/motorBase.dbd"
+#include "/ioc/modules/SynApps/1.13.0/R3.14.12/dbd/SynApps.dbd"
+#include "/ioc/modules/scaler/koennecke/R3.14.12/dbd/scaler.dbd"
 
-include "synAppsStd.dbd"
 device(scaler,INST_IO,devScalerEL737,"asynScalerEL737")
 
-#--------- For lakeshore
-addpath "/opt/epics/modules/streamdevice/2.6.0/3.14.12.5/dbd"
-include "streamdevice.dbd"
-addpath "/opt/epics/modules/busy/1.6.0/3.14.12.5/dbd"
-include "busy.dbd"
+#--------- For lakeshore and magnets
+#include "/ioc/modules/stream/2.7.9/R3.14.12/dbd/stream.dbd"
+#include "busy.dbd"