Playing around with the initHooks.h trying to discover when different things are available and what order things are started

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Makefile.RHEL8

@@ -36,6 +36,7 @@ SOURCES += sinqEPICSApp/src/pmacAsynIPPort.c
 SOURCES += sinqEPICSApp/src/pmacAxis.cpp
 SOURCES += sinqEPICSApp/src/pmacController.cpp
 SOURCES += sinqEPICSApp/src/MasterMACSDriver.cpp
+SOURCES += sinqEPICSApp/src/pollerRegister.cpp
 
 USR_CFLAGS += -Wall -Wextra # -Werror
 

README.md

@@ -38,12 +38,3 @@ Those political problems require a special development model:
 Take care of the sinqEPICsApp/src/sinq.dbd file. This is the one which differs mostly between 
 amorsim and master branches. 
 
-# Formatting
-
-Formatting is done via the [`.clang-format`](./.clang-format) file checked into
-the repository. One option to apply the formatting to a given file is via the
-command below.
-
-```
-clang-format -i -style=file <file>
-```

sinqEPICSApp/Db/sinq_asyn_motor.db

@@ -50,5 +50,14 @@ record(longin, "$(P)$(M):Enable_RBV") {
 record(longout, "$(P)$(M):Reread_Encoder") {
     field(DTYP, "asynInt32")
     field(OUT, "@asyn($(PORT),$(N),1) REREAD_ENCODER_POSITION")
-    field(PINI, "NO")
+    field(PINI, "YES")
 }
+
+# reread encoder
+record(longin, "$(P)$(M):Reread_Encoder_RBV") {
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT),$(N),1) REREAD_ENCODER_POSITION_RBV")
+    field(PINI, "NO")
+    field(SCAN, "1 second")
+}
+

sinqEPICSApp/src/el737Record.db

@@ -1,21 +1,19 @@
+
 record(bo,"$(P):Pause")
 {
-  field(DTYP,"Soft Channel")
+   field(DTYP,"Soft Channel")
 }
-
 record(longin,"$(P):Status")
 {
-  field(DTYP,"Soft Channel")
+   field(DTYP,"Soft Channel")
 }
-
 record(stringin,"$(P):MsgTxt")
 {
-  field(DTYP,"Soft Channel")
+   field(DTYP,"Soft Channel")
 }
-
 record(scaler,"$(P)")
 {
-  field(DESC,"$(DESC)")
+        field(DESC,"$(DESC)")
-  field(DTYP,"asynScalerEL737")
+	field(DTYP,"asynScalerEL737")
-  field(OUT,"INST_IO @asyn($(PORT),0)")
+	field(OUT,"INST_IO @asyn($(PORT),0)")
 }

sinqEPICSApp/src/pmacAxis.cpp

@@ -916,6 +916,7 @@ asynStatus pmacV3Axis::poll(bool *moving) {
   sprintf(message, "%s: Polling axis: %d", functionName, this->axisNo_);
   pC_->debugFlow(message);
 
+
   // Now poll axis status
   if ((status = this->getAxisStatus(moving)) != asynSuccess) {
     asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
@@ -924,6 +925,10 @@ asynStatus pmacV3Axis::poll(bool *moving) {
               functionName, pC_->portName, axisNo_);
   }
 
+  double motorRecResolution_ = 0.;
+  pC_->getDoubleParam(this->axisNo_, pC_->motorRecResolution_, &motorRecResolution_);
+  asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s: Polling %f\n", functionName, motorRecResolution_);
+
   callParamCallbacks();
   return status;
 

sinqEPICSApp/src/pmacController.cpp

@@ -45,6 +45,7 @@ using std::endl;
 
 #include "pmacController.h"
 #include "pmacAxis.h"
+#include "pollerRegister.h"
 
 #define MULT 1000.
 
@@ -142,6 +143,7 @@ asynStatus pmacCreateAxis(const char *pmacName, int numAxis);
 
 }
 
+
 pmacController::pmacController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress, 
 		       int numAxes, double movingPollPeriod, double idlePollPeriod, const int& extraParams)
 : SINQController(portName, lowLevelPortName, numAxes+1, extraParams)
@@ -166,7 +168,31 @@ setIntegerParam(PMAC_C_CommsError_, 1);
 * NOTE: at this point the axis objects don't yet exist, but the poller tolerates this */
 setIntegerParam(PMAC_C_CommsError_, 0);
 }
-startPoller(movingPollPeriod, idlePollPeriod, 10);
+
+registerFunction(
+  [this](){
+    //startPoller(movingPollPeriod, idlePollPeriod, 0);
+    //
+
+    asynPrint(
+      this->pasynUserSelf,
+      ASYN_TRACE_ERROR,
+      "\n\n\n%s: status %d %d %d %d %d %d\n\n\n",
+      functionName,
+      asynSuccess,asynTimeout,asynOverflow,asynError,asynDisconnected,asynDisabled);
+
+    double motorRecResolution_ = 0.;
+    asynStatus status = this->getDoubleParam(1, this->motorRecResolution_, &motorRecResolution_);
+    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, "\n\n\n%s: Polling %f, status %d\n\n\n", functionName, motorRecResolution_, status);
+
+    usleep(50000); // slow down communication somewhat 
+
+    status = this->getDoubleParam(1, this->motorRecResolution_, &motorRecResolution_);
+    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, "\n\n\n%s: Polling %f, status %d\n\n\n", functionName, motorRecResolution_, status);
+  }
+);
+
+startPoller(movingPollPeriod, idlePollPeriod, 0);
 
 callParamCallbacks();
 
@@ -502,6 +528,8 @@ asynStatus pmacController::poll()
 
   debugFlow(functionName);
 
+  asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, "%s: Polling\n", functionName);
+
   if (!lowLevelPortUser_) {
     setIntegerParam(this->motorStatusCommsError_, 1);
     return asynError;

sinqEPICSApp/src/pmacController.h

@@ -41,7 +41,6 @@ class pmacController : public SINQController {
   pmacAxis* getAxis(int axisNo);
   asynStatus poll();
 
-
  protected:
   pmacAxis **pAxes_;       /**< Array of pointers to axis objects */
 

sinqEPICSApp/src/pollerRegister.cpp

@@ -0,0 +1,96 @@
+#include "pollerRegister.h"
+
+#include <vector>
+#include <cstdio>
+
+#include "libComAPI.h"
+#include "initHooks.h"
+
+static std::vector<std::function<void()>> registeredFunctions;
+
+static void startPollingHook(initHookState state) {
+  switch (state) {
+    case initHookAtIocBuild:
+      printf("\n\n\ninitHookAtIocBuild\n\n\n");      
+      break;
+
+    case initHookAtBeginning:
+      printf("\n\n\ninitHookAtBeginning\n\n\n");      
+      break;
+
+    case initHookAfterCallbackInit:
+      printf("\n\n\ninitHookAfterCallbackInit\n\n\n");      
+      break;
+
+    case initHookAfterCaLinkInit:
+      printf("\n\n\ninitHookAfterCaLinkInit\n\n\n");      
+      break;
+
+    case initHookAfterInitDrvSup:
+      printf("\n\n\ninitHookAfterInitDrvSup\n\n\n");      
+      break;
+
+    case initHookAfterInitRecSup:
+      printf("\n\n\ninitHookAfterInitRecSup\n\n\n");      
+      break;
+
+    case initHookAfterInitDevSup:
+      printf("\n\n\ninitHookAfterInitDevSup\n\n\n");      
+      break;
+
+    case initHookAfterInitDatabase:
+      printf("\n\n\ninitHookAfterInitDatabase\n\n\n");      
+      break;
+
+    case initHookAfterFinishDevSup:
+      printf("\n\n\ninitHookAfterFinishDevSup\n\n\n");      
+      break;
+
+    case initHookAfterScanInit:
+      printf("\n\n\ninitHookAfterScanInit\n\n\n");      
+      break;
+
+    case initHookAfterInitialProcess:
+      printf("\n\n\ninitHookAfterInitialProcess\n\n\n");      
+      break;
+
+    case initHookAfterCaServerInit:
+      printf("\n\n\ninitHookAfterCaServerInit\n\n\n");      
+      break;
+
+    case initHookAfterIocBuilt:
+      printf("\n\n\ninitHookAfterIocBuilt\n\n\n");      
+      break;
+
+    case initHookAtIocRun:
+      printf("\n\n\ninitHookAtIocRun\n\n\n");      
+      break;
+
+    case initHookAfterDatabaseRunning:
+      printf("\n\n\ninitHookAfterDatabaseRunning\n\n\n");      
+      break;
+
+    case initHookAtEnd:
+      printf("\n\n\ninitHookAtEnd\n\n\n");
+      break;
+
+    case initHookAfterCaServerRunning:
+      printf("\n\n\ninitHookAfterCaServerRunning\n\n\n");
+      break;
+
+    case initHookAfterIocRunning:
+      printf("\n\n\ninitHookAfterIocRunning\n\n\n");      
+      for(auto&& fn : registeredFunctions)
+          fn();
+      break;
+
+    default:
+      break;
+  }
+}
+
+static int myHookStatus = initHookRegister(startPollingHook);
+
+void registerFunction(std::function<void()> func) {
+  registeredFunctions.push_back(func);
+}

sinqEPICSApp/src/pollerRegister.h

@@ -0,0 +1,8 @@
+#ifndef POLLERREGISTER
+#define POLLERREGISTER
+
+#include <functional>
+
+void registerFunction(std::function<void()> func);
+
+#endif