Committing the last status of selene work in the corona lockdown.

The problem is in the MCU, probably

.gitignore

@@ -0,0 +1,121 @@
+# 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"

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_);
+  // Warning: Selene lift axis should not be automatically enabled
-  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;
-  }  
 
+  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;
 }
 
@@ -277,6 +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); 
 
@@ -285,7 +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;
 }
@@ -346,8 +371,8 @@ asynStatus pmacAxis::getAxisStatus(bool *moving)
     int done = 0, posChanging = 0;
     double position = 0; 
     int nvals = 0;
-    int axisProblemFlag = 0;
+    int axisProblemFlag = 0, axStat = 0;
-    epicsUInt32 axErr = 0, axStat = 0, highLim = 0, lowLim= 0;
+    epicsUInt32 axErr = 0, highLim = 0, lowLim= 0;
     char message[132], *axMessage;
     
             
@@ -420,7 +445,7 @@ asynStatus pmacAxis::getAxisStatus(bool *moving)
     previous_position_ = position;
     previous_direction_ = direction;
 
-    // errlogPrintf("Polling, axStat = %d, axErr = %d, position = %f\n", axStat, axErr, position);
+    errlogPrintf("Polling %d, axStat = %d, axErr = %d, position = %f\n", axisNo_, axStat, axErr, position);
 
     /* are we done? */
     if((axStat == 0 || axStat == 14 || axStat < 0) && starting == 0 ){
@@ -618,7 +643,9 @@ asynStatus SeleneAxis::move(double position, int relative, double min_velocity,
   errlogPrintf("Sending drive command: %s\n", command);
  
   status = pC_->lowLevelWriteRead(axisNo_,command, response);
-  
+
+  next_poll = -1;
+
   return status;
 }
 /*----------------------------------------------------------------------------------------------------*/
@@ -656,6 +683,8 @@ asynStatus LiftAxis::move(double position, int relative, double min_velocity,
   status = pC_->lowLevelWriteRead(axisNo_,command, response);
   waitStart = 1;
 
+  next_poll = -1;
+
   return status;
 }
 /*--------------------------------------------------------------------------------------------------------
@@ -666,6 +695,11 @@ 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;
@@ -675,6 +709,12 @@ 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;
 };
 
@@ -84,7 +88,7 @@ class SeleneAxis : public pmacAxis
 {
 
  public: 
- SeleneAxis(SeleneController *pController, int axisNo, double limitTarget) : pmacAxis((pmacController *)pController,axisNo) 
+ SeleneAxis(SeleneController *pController, int axisNo, double limitTarget) : pmacAxis((pmacController *)pController, axisNo, false)
     {
       this->limitTarget = limitTarget;
     };
@@ -113,11 +117,15 @@ class SeleneAxis : public pmacAxis
 
   Mark Koennecke, February 2020 
 
+  The axis should not be enabled automatically
+
+  Michele Brambilla, February 2020 
+
  */
 class LiftAxis : public pmacAxis
 {
  public:
- LiftAxis(pmacController *pController, int axisNo) : pmacAxis((pmacController *)pController,axisNo) {};
+ LiftAxis(pmacController *pController, int axisNo) : pmacAxis((pmacController *)pController,axisNo,false) {};
   asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
   asynStatus poll(bool *moving);
   asynStatus stop(double acceleration);

sinqEPICSApp/src/pmacController.cpp

@@ -726,14 +726,14 @@ asynStatus SeleneController::writeFloat64(asynUser *pasynUser, epicsFloat64 valu
 
   // TODO: somethign is really shitty here: lowLimit and highLimit cannot be on the command
   if (function == motorLowLimit_) {
-    sprintf(command, "Q%d54=%d", pAxis->axisNo_, (int)(value/MULT));
+    sprintf(command, "Q%d54=%f", pAxis->axisNo_, value/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);
     errlogPrintf("Setting low limit of axis %d to %f, command = %s\n", pAxis->axisNo_, value, command);
   } else if (function == motorHighLimit_) {
-    sprintf(command, "Q%d53=%d", pAxis->axisNo_, (int)(value/MULT));
+    sprintf(command, "Q%d53=%f", pAxis->axisNo_, value/MULT);
     // sprintf(command, "Q%d53=%d", pAxis->axisNo_, (int)(value/pAxis->scale_/MULT));
     asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
 	      "%s: Setting high limit on controller %s, axis %d to %f\n",

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)