Updated the Phytron driver to use MsgTxt

Updated the Phytron driver to use a selector in order to support the use case of multiple phytrons on one channel
The chnages still need to be tested

iocBoot/iocsinqEPICS/motor.substitutions.phytron

@@ -5,3 +5,11 @@ pattern
 {KM36:phytron:, 1, "m$(N)", "asynMotor",  phy,  1,    "m1",     mm,      Pos,    2.0,   0.1,  .2,    0,    1,   .2,   .001,    3,    100,    -100,    "1"}
 {KM36:phytron:, 2, "m$(N)", "asynMotor",  phy,  2,    "m2",     mm,      Pos,    2.0,   0.1,  .2,    0,    1,   .2,   .001,    3,    100,    -100,    "10"}
 }
+
+file "$(SINQ)/Db/motorMessage.db"
+{
+pattern
+{P,N, M,PORT}
+{KM36:phytron:, 1, "m$(N)",phy}
+{KM36:phytron:, 2, "m$(N)",phy}
+}

iocBoot/iocsinqEPICS/phytrontest.cmd

@@ -30,7 +30,7 @@ sinqEPICS_registerRecordDeviceDriver pdbbase
 #drvAsynIPPortConfigure("serial1", "narziss-ts:3002",0,0,0)
 #drvAsynIPPortConfigure("serial1", "localhost:5050",0,0,0)
 drvAsynIPPortConfigure("serial1", "localhost:8080",0,0,0)
-PhytronCreateController("phy","serial1",1,1);
+PhytronCreateController("phy","serial1","0",1,1);
 
 ### Motors
 

sinqEPICSApp/src/PhytronDriver.cpp

@@ -23,6 +23,12 @@ Though this driver has been written in 2016, the MCC-2 version used is probably
 Mark Koennecke
 September 2016
 
+Updated to use the new MsgTxt field through SINQAxis
+Added a selector to support multiple phytrons on a connection
+
+Mark Koennecke
+January 2019
+
 */
 
 
@@ -49,19 +55,17 @@ September 2016
   * \param[in] PhytronPortName     The name of the drvAsynSerialPort that was created previously to connect to the Phytron controller 
   * \param[in] numAxes           The number of axes that this controller supports 
   */
-PhytronController::PhytronController(const char *portName, const char *PhytronPortName, int encX, int encY)
+PhytronController::PhytronController(const char *portName, const char *PhytronPortName, const char *sel ,
-  :  asynMotorController(portName, 3, 0, 
+				     int encX, int encY)
-                         0, // No additional interfaces beyond those in base class
+  :  SINQController(portName, PhytronPortName,2) 
-                         0, // No additional callback interfaces beyond those in base class
-                         ASYN_CANBLOCK | ASYN_MULTIDEVICE, 
-                         1, // autoconnect
-                         0, 0)  // Default priority and stack size
 {
   asynStatus status;
   PhytronAxis *pAxis;
   static const char *functionName = "PhytronController::PhytronController";
   char etx[2];
 
+  selector = strdup(sel);
+
   /* Connect to Phytron controller */
   status = pasynOctetSyncIO->connect(PhytronPortName, 0, &pasynUserController_, NULL);
   if (status) {
@@ -87,10 +91,11 @@ PhytronController::PhytronController(const char *portName, const char *PhytronPo
   * \param[in] PhytronPortName       The name of the drvAsynIPPPort that was created previously to connect to the Phytron controller 
   * \param[in] numAxes           The number of axes that this controller supports 
   */
-extern "C" int PhytronCreateController(const char *portName, const char *PhytronPortName, int encX, int encY)
+extern "C" int PhytronCreateController(const char *portName, const char *PhytronPortName, const char *selector,
+				       int encX, int encY)
 {
   PhytronController *pPhytronController
-    = new PhytronController(portName, PhytronPortName, encX, encY);
+    = new PhytronController(portName, PhytronPortName,selector, encX, encY);
   pPhytronController = NULL;
   return(asynSuccess);
 }
@@ -176,7 +181,7 @@ asynStatus PhytronController::transactController(char command[COMLEN], char repl
     I may need to replace the ETX. But I am not sure if asyn did 
     not remove it for me.
   */
-  strncat(reply,pPtr,sizeof(reply));
+  strncat(reply,pPtr,COMLEN-1);
   
 
   return status;
@@ -191,7 +196,7 @@ asynStatus PhytronController::transactController(char command[COMLEN], char repl
   * Initializes register numbers, etc.
   */
 PhytronAxis::PhytronAxis(PhytronController *pC, int axisNo, int enc)
-  : asynMotorAxis(pC, axisNo),
+  : SINQAxis(pC, axisNo),
     pC_(pC)
 {  
   encoder = enc;
@@ -229,15 +234,17 @@ asynStatus PhytronAxis::move(double position, int relative, double minVelocity,
   //static const char *functionName = "PhytronAxis::move";
   char command[COMLEN], reply[COMLEN];
 
+  updateMsgTxtFromDriver("");
   
   if (relative) {
     position += this->position;
   }
   homing = 0;
-  sprintf(command, "0%cA%f", phytronChar,position/1000.);
+  sprintf(command, "%s%cA%f", pC_->selector,phytronChar,position/1000.);
   status = pC_->transactController(command,reply);
   if(strstr(reply,"NACK") != NULL){
     errlogSevPrintf(errlogMajor, "Drive command not acknowledged on %d", axisNo_);
+    updateMsgTxtFromDriver("Drive command not acknowledged");
     setIntegerParam(pC_->motorStatusProblem_, true);
     return asynError;
   }
@@ -251,13 +258,16 @@ asynStatus PhytronAxis::home(double minVelocity, double maxVelocity, double acce
   //static const char *functionName = "PhytronAxis::home";
   char command[COMLEN], reply[COMLEN];
 
-  sprintf(command, "0%cO-",phytronChar);
+  updateMsgTxtFromDriver("");
+
+  sprintf(command, "%s%cO-",pC_->selector,phytronChar);
   homing = 1;
   next_poll= -1;
   status = pC_->transactController(command,reply);
   if(strstr(reply,"NACK") != NULL){
     errlogSevPrintf(errlogMajor, "Home command not acknowledged on %d", axisNo_);
     setIntegerParam(pC_->motorStatusProblem_, true);
+    updateMsgTxtFromDriver("Home command not acknowledged");
     return asynError;
   }
   return status;
@@ -274,6 +284,7 @@ asynStatus PhytronAxis::moveVelocity(double minVelocity, double maxVelocity, dou
   //   "%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
   //   functionName, minVelocity, maxVelocity, acceleration);
     
+  updateMsgTxtFromDriver("");
 
 
   if (maxVelocity > 0.) {
@@ -294,9 +305,10 @@ asynStatus PhytronAxis::stop(double acceleration )
   //static const char *functionName = "PhytronAxis::stop";
   char command[COMLEN], reply[COMLEN];
 
-  sprintf(command, "0%cSN", phytronChar);
+  sprintf(command, "%s%cSN", pC_->selector,phytronChar);
   status = pC_->transactController(command,reply);
   errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
+  updateMsgTxtFromDriver("Axis interrupted");
 
   return status;
 }
@@ -307,9 +319,9 @@ asynStatus PhytronAxis::setPosition(double position)
   //static const char *functionName = "PhytronAxis::setPosition";
   char command[COMLEN], reply[COMLEN];
 
-  sprintf(command, "0%cP22S%f", phytronChar, position/1000.);
+  sprintf(command, "%s%cP22S%f", pC_->selector,phytronChar, position/1000.);
   status = pC_->transactController(command,reply);
-  sprintf(command, "0%cP20S%f", phytronChar, position/1000.);
+  sprintf(command, "%s%cP20S%f", pC_->selector,phytronChar, position/1000.);
   status = pC_->transactController(command,reply);
   next_poll = -1;
 
@@ -349,9 +361,9 @@ asynStatus PhytronAxis::poll(bool *moving)
 
   // Read the current motor position
   if(encoder) {
-    sprintf(command,"0%cP22R",phytronChar);
+    sprintf(command,"%s%cP22R",pC_->selector,phytronChar);
   } else {
-    sprintf(command,"0%cP20R",phytronChar);
+    sprintf(command,"%s%cP20R",pC_->selector,phytronChar);
   }
 
   comStatus = pC_->transactController(command,reply);
@@ -360,7 +372,8 @@ asynStatus PhytronAxis::poll(bool *moving)
   if(strstr(reply,"NACK") != NULL){
     setIntegerParam(pC_->motorStatusProblem_, true);
     errlogSevPrintf(errlogMajor, "Bad reply for position on %d", axisNo_);
-    goto skip;
+    updateMsgTxtFromDriver("Bad reply reading position");
+   goto skip;
   }
   /*
     read over the ACK
@@ -372,7 +385,7 @@ asynStatus PhytronAxis::poll(bool *moving)
 
 
   // Read the moving status of this motor
-  sprintf(command,"0%c=H",phytronChar);
+  sprintf(command,"%s%c=H",pC_->selector,phytronChar);
   comStatus = pC_->transactController(command,reply);
   if(comStatus) goto skip;
   /* errlogPrintf("Axis %d, status reply %s, position %lf\n", axisNo_, reply, position); */
@@ -396,11 +409,12 @@ asynStatus PhytronAxis::poll(bool *moving)
       /* 
 	 check limits and errors, upper
       */
-      sprintf(command,"0%c=I+",phytronChar);
+      sprintf(command,"%s%c=I+",pC_->selector,phytronChar);
       comStatus = pC_->transactController(command,reply);
       if(comStatus) goto skip;
       if(strstr(reply,"ACKE") != NULL){
 	setIntegerParam(pC_->motorStatusHighLimit_, true);
+	updateMsgTxtFromDriver("High Limit Hit");
       } else {
 	setIntegerParam(pC_->motorStatusHighLimit_, false);
       }
@@ -408,11 +422,12 @@ asynStatus PhytronAxis::poll(bool *moving)
       /*
 	lower limit
       */
-      sprintf(command,"0%c=I-",phytronChar);
+      sprintf(command,"%s%c=I-",pC_->selector,phytronChar);
       comStatus = pC_->transactController(command,reply);
       if(comStatus) goto skip;
       if(strstr(reply,"ACKE") != NULL){
 	setIntegerParam(pC_->motorStatusLowLimit_, true);
+	updateMsgTxtFromDriver("Low Limit Hit");
       } else {
 	setIntegerParam(pC_->motorStatusLowLimit_, false);
       }
@@ -420,12 +435,13 @@ asynStatus PhytronAxis::poll(bool *moving)
       /*
 	error
       */
-      sprintf(command,"0%c=E",phytronChar);
+      sprintf(command,"%s%c=E",pC_->selector,phytronChar);
       comStatus = pC_->transactController(command,reply);
       if(comStatus) goto skip;
       if(strstr(reply,"ACKE") != NULL){
 	setIntegerParam(pC_->motorStatusProblem_, true);
 	errlogSevPrintf(errlogMajor, "Electronics on %d", axisNo_);
+	updateMsgTxtFromDriver("Electronics error");
       } else {
 	setIntegerParam(pC_->motorStatusProblem_, false);
       }
@@ -442,16 +458,18 @@ asynStatus PhytronAxis::poll(bool *moving)
 /** Code for iocsh registration */
 static const iocshArg PhytronCreateControllerArg0 = {"Port name", iocshArgString};
 static const iocshArg PhytronCreateControllerArg1 = {"Phytron port name", iocshArgString};
-static const iocshArg PhytronCreateControllerArg2 = {"EnoderX", iocshArgInt};
+static const iocshArg PhytronCreateControllerArg2 = {"Phytron Selector", iocshArgString};
-static const iocshArg PhytronCreateControllerArg3 = {"EnoderY", iocshArgInt};
+static const iocshArg PhytronCreateControllerArg3 = {"EnoderX", iocshArgInt};
+static const iocshArg PhytronCreateControllerArg4 = {"EnoderY", iocshArgInt};
 static const iocshArg * const PhytronCreateControllerArgs[] = {&PhytronCreateControllerArg0,
                                                              &PhytronCreateControllerArg1,
 							       &PhytronCreateControllerArg2,
-                                                             &PhytronCreateControllerArg3};
+							       &PhytronCreateControllerArg3,
-static const iocshFuncDef PhytronCreateControllerDef = {"PhytronCreateController", 4, PhytronCreateControllerArgs};
+                                                             &PhytronCreateControllerArg4};
+static const iocshFuncDef PhytronCreateControllerDef = {"PhytronCreateController", 5, PhytronCreateControllerArgs};
 static void PhytronCreateContollerCallFunc(const iocshArgBuf *args)
 {
-  PhytronCreateController(args[0].sval, args[1].sval, args[2].ival,args[3].ival);
+  PhytronCreateController(args[0].sval, args[1].sval, args[2].sval, args[3].ival,args[4].ival);
 }
 
 static void PhytronRegister(void)

sinqEPICSApp/src/PhytronDriver.h

@@ -5,14 +5,19 @@ USAGE...      Motor driver support for the Phytron MCC-2 motor controller.
 Mark Koennecke
 September 2016
 
+
+Updated to go through SINQAxis for -MsgTxt support
+Added a selector to support multiple phytrons on a connection
+
+Mark Koennecke, January 2019
 */
 
-#include "asynMotorController.h"
+#include "SINQController.h"
-#include "asynMotorAxis.h"
+#include "SINQAxis.h"
 
 #define COMLEN 80
 
-class PhytronAxis : public asynMotorAxis
+class PhytronAxis : public SINQAxis
 {
 public:
   /* These are the methods we override from the base class */
@@ -38,9 +43,10 @@ private:
 friend class PhytronController;
 };
 
-class PhytronController : public asynMotorController {
+class PhytronController : public SINQController {
 public:
-  PhytronController(const char *portName, const char *PhytronPortName, int encX, int encY);
+  PhytronController(const char *portName, const char *PhytronPortName, const char *selector, 
+		    int encX, int encY);
 
   void report(FILE *fp, int level);
   PhytronAxis* getAxis(asynUser *pasynUser);
@@ -52,5 +58,6 @@ friend class PhytronAxis;
 
  asynStatus transactController(char command[COMLEN], char reply[COMLEN]);
 
+ const char *selector;
 
 };