Merge branch 'el737' into amorsim

Port the fix to the el737 driver into this branch

.gitignore

@@ -1,125 +0,0 @@
-# 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
-*~
-
-# Build Artifacts
-O.*_Common/
-O.*_RHEL8-x86_64/
-
-# 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
-.cvsignore
-
-#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

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

MakeAutoSave.RHEL7

@@ -1,22 +0,0 @@
-# This Makefile has to be  executed in the synApps-xxx/support/autosave-xxx directory.
-# It creates a autosave module to load into iocsh
-include /ioc/tools/driver.makefile
-
-MODULE=autosave
-
-BUILDCLASSES=Linux
-
-USR_DEPENDENCIES=
-
-SOURCES += asApp/src/dbrestore.c 
-SOURCES += asApp/src/save_restore.c 
-SOURCES += asApp/src/initHooks.c
-SOURCES += asApp/src/fGetDateStr.c 
-SOURCES += asApp/src/configMenuSub.c
-SOURCES += asApp/src/verify.c
-SOURCES += asApp/src/asVerify.c
-SOURCES += asApp/src/os/Linux/osdNfs.c
-
-HEADERS += asApp/src/os/Linux/osdNfs.h
-
-DBDS += asApp/src/asSupport.dbd

MakeScaler.RHEL7

@@ -1,17 +0,0 @@
-include /ioc/tools/driver.makefile
-
-MODULE=scaler
-
-BUILDCLASSES=Linux
-
-USR_DEPENDENCIES = asyn,427.0.1
-
-SOURCES += stdApp/src/scalerRecord.c
-SOURCES += stdApp/src/devScalerAsyn.c
-SOURCES += stdApp/src/drvScalerSoft.c
-
-HEADERS += devScaler.h
-
-
-DBDS += stdApp/src/scalerRecord.dbd
-DBDS += stdApp/src/scalerSupport.dbd

Makefile.RHEL7

@@ -2,13 +2,12 @@
 include /ioc/tools/driver.makefile
 
 MODULE=sinq
+
 BUILDCLASSES=Linux
-EPICS_VERSIONS=3.14.12 7.0.4.1
 
 # additional module dependencies
 REQUIRED+=SynApps
 REQUIRED+=stream
-REQUIRED+=scaler
 
 # using a test version
 scaler_VERSION=koennecke
@@ -27,10 +26,8 @@ SOURCES += sinqEPICSApp/src/EL734Driver.cpp
 SOURCES += sinqEPICSApp/src/NanotecDriver.cpp
 SOURCES += sinqEPICSApp/src/stptok.cpp
 SOURCES += sinqEPICSApp/src/PhytronDriver.cpp
-SOURCES += sinqEPICSApp/src/EuroMoveDriver.cpp
 SOURCES += sinqEPICSApp/src/pmacAsynIPPort.c
 SOURCES += sinqEPICSApp/src/pmacAxis.cpp
 SOURCES += sinqEPICSApp/src/pmacController.cpp
-SOURCES += sinqEPICSApp/src/drvAsynMasterMACSPort.c
-SOURCES += sinqEPICSApp/src/MasterMACSDriver.cpp
+
 # MISCS  would be the place to keep the stream device template files

Makefile.RHEL7.michele

@@ -1,37 +0,0 @@
-# This build the sinq extensions for the PSI EPICS setup
-include /ioc/tools/driver.makefile
-
-MODULE=sinq
-LIBVERSION=brambilla_m_test
-BUILDCLASSES=Linux
-EPICS_VERSIONS=3.14.12 7.0.4.1
-ARCH_FILTER=RHEL7-x86_64
-
-# additional module dependencies
-REQUIRED+=SynApps
-REQUIRED+=stream
-REQUIRED+=scaler
-
-# using a test version
-scaler_VERSION=koennecke
-
-TEMPLATES += sinqEPICSApp/Db/dimetix.db
-TEMPLATES += sinqEPICSApp/Db/slsvme.db
-TEMPLATES += sinqEPICSApp/Db/spsamor.db
-
-DBDS += sinqEPICSApp/src/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/EuroMoveDriver.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

Makefile.RHEL8

@@ -1,43 +0,0 @@
-# This build the sinq extensions for the PSI EPICS setup
-include /ioc/tools/driver.makefile
-
-MODULE=sinq
-BUILDCLASSES=Linux
-EPICS_VERSIONS=7.0.7
-ARCH_FILTER=RHEL%
-
-# additional module dependencies
-REQUIRED+=SynApps
-REQUIRED+=stream
-REQUIRED+=scaler
-REQUIRED+=asynMotor
-
-# Release version
-LIBVERSION=2024-ed-dev2
-
-# DB files to include in the release
-TEMPLATES += sinqEPICSApp/Db/dimetix.db
-TEMPLATES += sinqEPICSApp/Db/slsvme.db
-TEMPLATES += sinqEPICSApp/Db/spsamor.db
-
-# DBD files to include in the release
-DBDS += sinqEPICSApp/src/sinq.dbd
-
-# Source files to build
-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/EuroMoveDriver.cpp
-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
-
-# MISCS  would be the place to keep the stream device template files

README.md

@@ -1,40 +0,0 @@
-# SinqEPICSApp
-
-This is an IOC application which contains the drivers for SINQ hardware. 
-EPICS purists may find it messy because it contains the drivers for all 
-SINQ stuff in one package rather then in separate modules. This is just 
-for ease of distribution. The idea being that all of SINQ shares one 
-module/IOC application and configures in its startup file what it needs 
-of it.  
-
-Drivers included:
-
-- EL734 motor controller
-- SINQ Delta Tau PMAC motor controller. This is a modified version of the Diamond 
-  PMAC code. The modification is necessary because PSI runs a different program in 
-  the MCU at SINQ then Diamond
-- Nanotec bus motor driver
-- Phytron MCU200 motor driver
-- EL737 counter box driver through the scaler record
-
-There are some streamdevice protocol files provided:
-- spss5: for the Siemens SPS5 with the PSI custom RS232 module
-- slsvme: for the SLS magnet controllers managed by the SINQ special vmemaggi program
-- el755: the old SINQ magnet controller
-- dimetix: for the deimetix distance measurement device at AMOR
-
-There are two main branches here:
-
-- Of course master from which you can build the PSI RHEL7 module and the EEE module
-- The amorsim branch in which you can build the IOC application for ESS against the ICS 
-  setup. This is needed for the sinq-amorsim simulation.  This branch exists because of the 
-  political problem to get a module into the ICS EEE setup.
-
-Those political problems require a special development model:
-
-1. If you do something, do it in a separate branch
-2. When reasonably sure that what you did works, merge it both into master and amorsim
-
-Take care of the sinqEPICsApp/src/sinq.dbd file. This is the one which differs mostly between 
-amorsim and master branches. 
-

configure/RELEASE

@@ -25,20 +25,17 @@ TEMPLATE_TOP=$(EPICS_BASE)/templates/makeBaseApp/top
 #SNCSEQ=$(EPICS_BASE)/../modules/soft/seq
 
 # EPICS_BASE usually appears last so other apps can override stuff:
-
-#EPICS_BASE=
-#MODULES=/home/epics/modules
+EPICS_BASE=/opt/epics/bases/base-3.14.12.5
 
 # Set RULES here if you want to take build rules from somewhere
 # other than EPICS_BASE:
-##RULES=/path/to/epics/support/module/rules/x-y
-#MOTOR=/opt/epics/modules/motor/6.10.0/3.14.12.5
-#ASYN=/opt/epics/modules/asyn/4.27.0/3.14.12.5
-#SYNAPPSSTD=/opt/epics/modules/synAppsStd/3.4.1/3.14.12.5/
-##ANC=/usr/local/epics/anc350v17
-#STREAMS=/opt/epics/modules/streamdevice/2.6.0/3.14.12.5
-##LAKESHORE336=/usr/local/epics/support/lakeshore336
-#BUSY=/opt/epics/modules/busy/1.6.0/3.14.12.5
-##OXINSTCRYOJET=/usr/local/epics/support/OxInstCryojet-2-18-3
-#PCRE=/opt/epics/modules/pcre/8.36.0/3.14.12.5
-
+#RULES=/path/to/epics/support/module/rules/x-y
+MOTOR=/opt/epics/modules/motor/6.10.0/3.14.12.5
+ASYN=/opt/epics/modules/asyn/4.27.0/3.14.12.5
+SYNAPPSSTD=/opt/epics/modules/synAppsStd/3.4.1/3.14.12.5/
+#ANC=/usr/local/epics/anc350v17
+STREAMS=/opt/epics/modules/streamdevice/2.6.0/3.14.12.5
+#LAKESHORE336=/usr/local/epics/support/lakeshore336
+BUSY=/opt/epics/modules/busy/1.6.0/3.14.12.5
+#OXINSTCRYOJET=/usr/local/epics/support/OxInstCryojet-2-18-3
+PCRE=/opt/epics/modules/pcre/8.36.0/3.14.12.5

iocBoot/iocsinqEPICS/euromovetest.cmd

@@ -1,23 +0,0 @@
-#!/usr/local/bin/iocsh
-
-require sinq,koennecke
-
-epicsEnvSet("TOP","/afs/psi.ch/project/sinqdev/sinqepicsapp/iocBoot/iocsinqEPICS")
-epicsEnvSet("BASE","/afs/psi.ch/project/sinqdev/sinqepicsapp")
-
-cd ${TOP}
-
-
-
-drvAsynIPPortConfigure("serial1", "129.129.195.83:1234",0,0,0)
-#drvAsynIPPortConfigure("serial1", "amor-ts:3002",0,0,0)
-#drvAsynIPPortConfigure("serial1", "localhost:9090",0,0,0)
-EuroMoveCreateController("llb","serial1", 10, 1);
-
-### Motors
-
-dbLoadRecords("$(BASE)/sinqEPICSApp/Db/asynRecord.db","P=KM36:,R=serial1,PORT=serial1,ADDR=0,OMAX=80,IMAX=80")
-dbLoadTemplate "motor.substitutions.eurollb"
-
-
-iocInit

iocBoot/iocsinqEPICS/motor.substitutions.el734

@@ -1,4 +1,4 @@
-qfile "$(MOTOR)/db/basic_asyn_motor.db"
+file "$(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}

iocBoot/iocsinqEPICS/motor.substitutions.eurollb

@@ -1,13 +0,0 @@
-file "$(BASE)/sinqEPICSApp/Db/basic_asyn_motor.db"
-{
-pattern
-{P,        N,      M,        DTYP,   PORT, ADDR,  DESC,     EGU,     DIR,   VELO,  VBAS, ACCL, BDST, BVEL, BACC,   MRES,   PREC,  RDBD,  DHLM, DLLM, INIT}
-{KM36:llb:, 1, "m$(N)", "asynMotor",  llb,  1,    "m1",     mm,      Pos,    2.0,   0.1,  .2,    0,    1,   .2,    .01,    3, 0.2,    1000,    0,    "1"}
-}
-
-file "$(BASE)/sinqEPICSApp/Db/motorMessage.db"
-{
-pattern
-{P,N, M,PORT}
-{KM36:llb:, 1, "m$(N)",llb}
-}

iocBoot/iocsinqEPICS/motor.substitutions.phytron

@@ -1,15 +1,7 @@
-file "$(BASE)/sinqEPICSApp/Db/basic_asyn_motor.db"
+file "$(MOTOR)/db/basic_asyn_motor.db"
 {
 pattern
-{P,        N,      M,        DTYP,   PORT, ADDR,  DESC,     EGU,     DIR,   VELO,  VBAS, ACCL, BDST, BVEL, BACC,   MRES,   PREC,  RDBD,  DHLM, DLLM, INIT}
-{KM36:phytron:, 1, "m$(N)", "asynMotor",  phy,  1,    "m1",     mm,      Pos,    2.0,   0.1,  .2,    0,    1,   .2,   .001,    3, 0.2,    100,    -100,    "1"}
-{KM36:phytron:, 2, "m$(N)", "asynMotor",  phy,  2,    "m2",     mm,      Pos,    2.0,   0.1,  .2,    0,    1,   .2,   .001,    3, 0.2,    100,    -100,    "10"}
+{P,        N,      M,        DTYP,   PORT, ADDR,  DESC,     EGU,     DIR,   VELO,  VBAS, ACCL, BDST, BVEL, BACC,   MRES,   PREC,   DHLM, DLLM, INIT}
+{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 "$(BASE)/sinqEPICSApp/Db/motorMessage.db"
-{
-pattern
-{P,N, M,PORT}
-{KM36:phytron:, 1, "m$(N)",phy}
-{KM36:phytron:, 2, "m$(N)",phy}
-}

iocBoot/iocsinqEPICS/phytest.cmd

@@ -1,25 +0,0 @@
-#!/usr/local/bin/iocsh
-
-require sinq,koennecke
-
-epicsEnvSet("TOP","/afs/psi.ch/project/sinqdev/sinqepicsapp/iocBoot/iocsinqEPICS")
-epicsEnvSet("BASE","/afs/psi.ch/project/sinqdev/sinqepicsapp")
-epicsEnvSet("dbPATH","${EPICS_BASE}/dbd:${ASYN}/dbd:${MOTOR}/dbd")
-
-cd ${TOP}
-
-## Register all support components
-dbLoadDatabase "../../dbd/sinqEPICS.dbd"
-
-
-drvAsynIPPortConfigure("serial1", "129.129.195.58:22222",0,0,0)
-#drvAsynIPPortConfigure("serial1", "localhost:9090",0,0,0)
-PhytronCreateController("phy","serial1","0",1,0);
-
-### Motors
-
-dbLoadRecords("$(BASE)/sinqEPICSApp/Db/asynRecord.db","P=KM36:,R=serial1,PORT=serial1,ADDR=0,OMAX=80,IMAX=80")
-dbLoadTemplate "motor.substitutions.phytron"
-
-
-iocInit

iocBoot/iocsinqEPICS/phytrontest.cmd

@@ -18,16 +18,19 @@ epicsEnvSet("dbPATH","${EPICS_BASE}/dbd::${ASYN}/dbd:${MOTOR}/dbd:${ANC}/dbd")
 cd ${TOP}
 
 ## Register all support components
-dbLoadDatabase "../../sinqEPICSApp/src/sinq.dbd"
+dbLoadDatabase "../../dbd/sinqEPICS.dbd"
+#dbLoadDatabase "dbd/sinq.dbd"
 sinqEPICS_registerRecordDeviceDriver pdbbase
 
+## Load record instances
+#dbLoadRecords("db/xxx.db","user=koenneckeHost")
 
 
 #---------- load Nanotec motor controller
 #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","0",1,1);
+PhytronCreateController("phy","serial1",1,1);
 
 ### Motors
 

iocBoot/iocsinqEPICS/slsvme.db

@@ -1,94 +0,0 @@
-# Database definition for the SLS VME magnets as installed at AMOR
-
-## 
-## Read the High Limit
-##  
-record(ai, "$(PREFIX)HighLim") {
-  field(DTYP, "stream")
-  field(DESC, "High Current Limit")
-  field(INP, "@slsvme.proto read($(NO),hl) slsvme 0")
-  field(SCAN, "1 second")
-  field(PREC, "3")
-  field(EGU, "A")
-}
-
-## 
-## Read the High Limit
-##  
-record(ai, "$(PREFIX)LowLim") {
-  field(DTYP, "stream")
-  field(DESC, "Low Current Limit")
-  field(INP, "@slsvme.proto read($(NO),ll) slsvme 0")
-  field(SCAN, "1 second")
-  field(PREC, "3")
-  field(EGU, "A")
-}
-
-## 
-## Read the Error code
-##  
-record(ai, "$(PREFIX)ErrCode") {
-  field(DTYP, "stream")
-  field(DESC, "Error Code")
-  field(INP, "@slsvme.proto read($(NO),err) slsvme 0")
-  field(SCAN, "1 second")
-  field(PREC, "3")
-  field(EGU, "A")
-}
-
-## 
-## Read the textual representation of the error.
-##
-record(stringin, "$(PREFIX)ErrText") {
-  field(DTYP, "stream")
-  field(INP, "@slsvme.proto readErrTxt($(NO)) slsvme 0")
-  field(SCAN, "1 second")
-  field(PINI, "YES")
-}
-
-
-## 
-## Read the Current
-##  
-record(ai, "$(PREFIX)CurRBV") {
-  field(DTYP, "stream")
-  field(DESC, "Low Current Limit")
-  field(INP, "@slsvme.proto read($(NO),cur) slsvme 0")
-  field(SCAN, "1 second")
-  field(PREC, "3")
-  field(EGU, "A")
-}
-
-## 
-## Set the current
-##
-record(ao, "$(PREFIX)CurSet") {
-  field(DTYP, "stream")
-  field(DESC, "Setpoint current")
-  field(OUT, "@slsvme.proto write($(NO),cur) slsvme 0")
-  field(PREC, "3")
-  field(EGU, "A")
-}
-
-##
-## Read power status of the magnet
-##
-record(bi, "$(PREFIX)PowerStatusRBV") {
-  field(DESC, "Readback of the power status")
-  field(DTYP, "stream")
-  field(INP, "@slsvme.proto readonoff($(NO)) slsvme 0")
-  field(SCAN, "1 second")
-  field(ZNAM, "off")
-  field(ONAM, "on")
-}
-
-## 
-## Set the power status
-##
-record(bo, "$(PREFIX)PowerStatus") {
-  field(DESC, "Set the power status")
-  field(DTYP, "stream")
-  field(OUT, "@slsvme.proto setpower($(NO)) slsvme 0")
-  field(ZNAM, "on")
-  field(ONAM, "off")
-}

makesinqtar

@@ -4,4 +4,4 @@ set dir [pwd]
 
 cd /usr/local/ioc
 
-exec /usr/bin/tar czvf $dir/sinqepics.tgz modules/scaler modules/sinq modules/anc350 modules/autosave
+exec /usr/bin/tar czvf $dir/sinqepics.tgz modules/scaler modules/sinq modules/anc350

sinqEPICSApp/Db/asynRecord.db

@@ -1,9 +0,0 @@
-record(asyn,"$(P)$(R)")
-{
-    field(DTYP,"asynRecordDevice")
-    field(PORT,"$(PORT)")
-    field(ADDR,"$(ADDR)")
-    field(OMAX,"$(OMAX)")
-    field(IMAX,"$(IMAX)")
-}
-

sinqEPICSApp/Db/basic_asyn_motor.db

@@ -1,24 +0,0 @@
-record(motor,"$(P)$(M)")
-{
-	field(DESC,"$(DESC)")
-	field(DTYP,"$(DTYP)")
-	field(DIR,"$(DIR)")
-	field(VELO,"$(VELO)")
-	field(VMAX,"$(VMAX=0)")
-	field(VBAS,"$(VBAS)")
-	field(ACCL,"$(ACCL)")
-	field(BDST,"$(BDST)")
-	field(BVEL,"$(BVEL)")
-	field(BACC,"$(BACC)")
-	field(OUT,"@asyn($(PORT),$(ADDR))")
-	field(MRES,"$(MRES)")
-	field(PREC,"$(PREC)")
-	field(EGU,"$(EGU)")
-	field(DHLM,"$(DHLM)")
-	field(DLLM,"$(DLLM)")
-	field(INIT,"$(INIT)")
-	field(TWV,"1")
-        field(RDBD,"$(RDBD)")
-        field(RTRY,"0")
-}
-

sinqEPICSApp/Db/basic_motor.db

@@ -1,21 +0,0 @@
-grecord(motor,"$(P)$(M)")
-{
-	field(DESC,"$(DESC)")
-	field(DTYP,"$(DTYP)")
-	field(DIR,"$(DIR)")
-	field(VELO,"$(VELO)")
-	field(VBAS,"$(VBAS)")
-	field(ACCL,"$(ACCL)")
-	field(BDST,"$(BDST)")
-	field(BVEL,"$(BVEL)")
-	field(BACC,"$(BACC)")
-	field(OUT,"#C$(C) S$(S) @")
-	field(MRES,"$(MRES)")
-	field(PREC,"$(PREC)")
-	field(EGU,"$(EGU)")
-	field(DHLM,"$(DHLM)")
-	field(DLLM,"$(DLLM)")
-	field(INIT,"$(INIT)")
-	field(TWV,"1")
-}
-

sinqEPICSApp/Db/motorMessage.db

@@ -6,13 +6,4 @@ record(waveform, "$(P)$(M)-MsgTxt") {
     field(FTVL, "CHAR")
     field(NELM, "80")
     field(SCAN, "I/O Intr")
-}
-
-record(ao,"$(P)m$(N)-Resolution"){
-	field(DESC,"m$(N) Resolution")
-        field(DOL,"$(P)m$(N).MRES CP MS")
-	field(OMSL,"closed_loop")
-	field(DTYP,"asynFloat64")
-	field(OUT,"@asyn($(PORT),$(N))MOTOR_RESOLUTION")
-	field(PREC,"3")
-}
+}

sinqEPICSApp/Db/motorSet.db

@@ -1,13 +0,0 @@
-# workaround over set position
-record(ao, "$(P)$(M)-SetPosition") {
-    field(DTYP, "asynFloat64")
-    field(OUT, "@asyn($(PORT),$(N),1) SET_MOTOR_POSITION")
-    field(PINI, "YES")
-}
-
-# enable axis
-record(longout, "$(P)$(M):Enable") {
-    field(DTYP, "asynInt32")
-    field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
-    field(PINI, "YES")
-}

sinqEPICSApp/Db/sinq_asyn_motor.db

@@ -1,63 +0,0 @@
-record(motor,"$(P)$(M)")
-{
-	field(DESC,"$(DESC)")
-	field(DTYP,"$(DTYP)")
-	field(DIR,"$(DIR)")
-	field(VELO,"$(VELO)")
-	field(VMAX,"$(VMAX=$(VELO))")
-	field(VBAS,"$(VBAS)")
-	field(ACCL,"$(ACCL)")
-	field(BDST,"$(BDST)")
-	field(BVEL,"$(BVEL)")
-	field(BACC,"$(BACC)")
-	field(OUT,"@asyn($(PORT),$(ADDR))")
-	field(MRES,"$(MRES)")
-	field(PREC,"$(PREC)")
-	field(EGU,"$(EGU)")
-	field(DHLM,"$(DHLM)")
-	field(DLLM,"$(DLLM)")
-	field(INIT,"$(INIT)")
-	field(TWV,"1")
-	field(RDBD,"$(RDBD)")
-}
-
-
-# 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")
-}
-
-# enable axis
-record(longout, "$(P)$(M):Enable") {
-    field(DTYP, "asynInt32")
-    field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
-    field(PINI, "YES")
-}
-
-# enable axis
-record(longin, "$(P)$(M):Enable_RBV") {
-    field(DTYP, "asynInt32")
-    field(INP, "@asyn($(PORT),$(N),1) AXIS_ENABLED")
-    field(PINI, "YES")
-    field(SCAN, "1 second")
-}
-
-# reread encoder
-record(longout, "$(P)$(M):Reread_Encoder") {
-    field(DTYP, "asynInt32")
-    field(OUT, "@asyn($(PORT),$(N),1) REREAD_ENCODER_POSITION")
-    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/EL734Driver.cpp

@@ -11,6 +11,7 @@ Mark Koennecke, May, August 2017
 
 */
 
+
 #include <stdio.h>
 #include <string.h>
 #include <stdlib.h>
@@ -29,111 +30,115 @@ Mark Koennecke, May, August 2017
 
 #define IDLEPOLL 60
 
+
 /** Creates a new EL734Controller object.
- * \param[in] portName          The name of the asyn port that will be created for this driver
- * \param[in] EL734PortName     The name of the drvAsynSerialPort that was created previously to connect to the EL734 controller
- * \param[in] numAxes           The number of axes that this controller supports
- */
+  * \param[in] portName          The name of the asyn port that will be created for this driver
+  * \param[in] EL734PortName     The name of the drvAsynSerialPort that was created previously to connect to the EL734 controller 
+  * \param[in] numAxes           The number of axes that this controller supports 
+  */
 EL734Controller::EL734Controller(const char *portName, const char *EL734PortName, int numAxes)
-    : SINQController(portName, EL734PortName, numAxes)
+  :  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)
-  {
-    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-              "%s: cannot connect to EL734 controller\n",
-              functionName);
+  if (status) {
+    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, 
+      "%s: cannot connect to EL734 controller\n",
+      functionName);
   }
-  pasynOctetSyncIO->setOutputEos(pasynUserController_, "\r", strlen("\r"));
-  pasynOctetSyncIO->setInputEos(pasynUserController_, "\r", strlen("\r"));
+  pasynOctetSyncIO->setOutputEos(pasynUserController_,"\r",strlen("\r"));
+  pasynOctetSyncIO->setInputEos(pasynUserController_,"\r",strlen("\r"));
 
   switchRemote();
 
-  for (axis = 0; axis < numAxes; axis++)
-  {
-    new EL734Axis(this, axis + 1);
+  for (axis=0; axis<numAxes; axis++) {
+    pAxis = new EL734Axis(this, axis+1);
   }
 
-  startPoller(1000. / 1000., IDLEPOLL, 2);
+  startPoller(1000./1000., IDLEPOLL, 2);
 }
 
+
 /** Creates a new EL734Controller object.
- * Configuration command, called directly or from iocsh
- * \param[in] portName          The name of the asyn port that will be created for this driver
- * \param[in] EL734PortName       The name of the drvAsynIPPPort that was created previously to connect to the EL734 controller
- * \param[in] numAxes           The number of axes that this controller supports
- */
+  * Configuration command, called directly or from iocsh
+  * \param[in] portName          The name of the asyn port that will be created for this driver
+  * \param[in] EL734PortName       The name of the drvAsynIPPPort that was created previously to connect to the EL734 controller 
+  * \param[in] numAxes           The number of axes that this controller supports 
+  */
 extern "C" int EL734CreateController(const char *portName, const char *EL734PortName, int numAxes)
 {
-  EL734Controller *pEL734Controller = new EL734Controller(portName, EL734PortName, numAxes);
+  EL734Controller *pEL734Controller
+    = new EL734Controller(portName, EL734PortName, numAxes);
   pEL734Controller = NULL;
-  return (asynSuccess);
+  return(asynSuccess);
 }
 
 /** Reports on status of the driver
- * \param[in] fp The file pointer on which report information will be written
- * \param[in] level The level of report detail desired
- *
- * If details > 0 then information is printed about each axis.
- * After printing controller-specific information it calls asynMotorController::report()
- */
+  * \param[in] fp The file pointer on which report information will be written
+  * \param[in] level The level of report detail desired
+  *
+  * If details > 0 then information is printed about each axis.
+  * After printing controller-specific information it calls asynMotorController::report()
+  */
 void EL734Controller::report(FILE *fp, int level)
 {
-  fprintf(fp, "EL734 motor driver %s, numAxes=%d\n",
-          this->portName, numAxes_);
+  fprintf(fp, "EL734 motor driver %s, numAxes=%d\n", 
+    this->portName, numAxes_);
 
   // Call the base class method
   asynMotorController::report(fp, level);
 }
 
 /** Returns a pointer to an EL734Axis object.
- * Returns NULL if the axis number encoded in pasynUser is invalid.
- * \param[in] pasynUser asynUser structure that encodes the axis index number. */
-EL734Axis *EL734Controller::getAxis(asynUser *pasynUser)
+  * Returns NULL if the axis number encoded in pasynUser is invalid.
+  * \param[in] pasynUser asynUser structure that encodes the axis index number. */
+EL734Axis* EL734Controller::getAxis(asynUser *pasynUser)
 {
-  return static_cast<EL734Axis *>(asynMotorController::getAxis(pasynUser));
+  return static_cast<EL734Axis*>(asynMotorController::getAxis(pasynUser));
 }
 
 /** Returns a pointer to an EL734Axis object.
- * Returns NULL if the axis number encoded in pasynUser is invalid.
- * \param[in] axisNo Axis index number. */
-EL734Axis *EL734Controller::getAxis(int axisNo)
+  * Returns NULL if the axis number encoded in pasynUser is invalid.
+  * \param[in] axisNo Axis index number. */
+EL734Axis* EL734Controller::getAxis(int axisNo)
 {
-  return static_cast<EL734Axis *>(asynMotorController::getAxis(axisNo));
+  return static_cast<EL734Axis*>(asynMotorController::getAxis(axisNo));
 }
 
 void EL734Controller::switchRemote()
 {
   char command[COMLEN], reply[COMLEN];
+  int status;
   size_t in, out;
   int reason;
 
-  strcpy(command, "RMT 1");
-  pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
-                              reply, COMLEN, 1., &out, &in, &reason);
-  strcpy(command, "ECHO 0");
-  pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
-                              reply, COMLEN, 1., &out, &in, &reason);
-  strcpy(command, "RMT 1");
-  pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
-                              reply, COMLEN, 1., &out, &in, &reason);
-  strcpy(command, "ECHO 0");
-  pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
-                              reply, COMLEN, 1., &out, &in, &reason);
+  strcpy(command,"RMT 1");
+  status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
+				       reply,COMLEN, 1.,&out,&in,&reason); 
+  strcpy(command,"ECHO 0");
+  status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
+				       reply,COMLEN, 1.,&out,&in,&reason); 
+  strcpy(command,"RMT 1");
+  status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
+				       reply,COMLEN, 1.,&out,&in,&reason); 
+  strcpy(command,"ECHO 0");
+  status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
+				       reply,COMLEN, 1.,&out,&in,&reason); 
 }
 /**
- * send a command to the EL734 and read the reply. Do some error and controller
+ * send a command to the EL734 and read the reply. Do some error and controller 
  * issue fixing on the way
  * \param[in] command The command to send
  * \param[out] reply The controllers reply
  */
 
-asynStatus EL734Controller::transactController(int axisNo, char command[COMLEN], char reply[COMLEN])
+asynStatus EL734Controller::transactController(int axisNo,char command[COMLEN], char reply[COMLEN])
 {
   asynStatus status;
   size_t in, out, i;
@@ -142,71 +147,58 @@ asynStatus EL734Controller::transactController(int axisNo, char command[COMLEN],
   SINQAxis *axis = getAxis(axisNo);
 
   pasynOctetSyncIO->flush(pasynUserController_);
-
+  
   status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
-                                       reply, COMLEN, 2., &out, &in, &reason);
-  if (status != asynSuccess)
-  {
-    if (axis != NULL)
-    {
+				       reply,COMLEN, 1.,&out,&in,&reason); 
+  if(status != asynSuccess){
+    if(axis!= NULL){
       axis->updateMsgTxtFromDriver("Lost connection to motor controller");
     }
     return status;
   }
 
-  /*
+  /* 
      check for the offline reply
   */
-  if (strstr(reply, "?LOC") != NULL)
-  {
+  if(strstr(reply,"?LOC") != NULL){
     switchRemote();
     return pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
-                                       reply, COMLEN, 1., &out, &in, &reason);
+				       reply,COMLEN, 1.,&out,&in,&reason); 
   }
 
   /*
     check for echos. This means that the thing is offline.
   */
-  if (strstr(reply, "p ") != NULL || strstr(reply, "u ") != NULL || strstr(reply, "msr ") != NULL)
-  {
+  if(strstr(reply,"p ") != NULL || strstr(reply,"u ") != NULL || strstr(reply,"msr ") != NULL){
     switchRemote();
     return pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
-                                       reply, COMLEN, 1., &out, &in, &reason);
+				       reply,COMLEN, 1.,&out,&in,&reason); 
   }
   /*
     check for EL734 errors
   */
   strcpy(myReply, reply);
-  for (i = 0; i < strlen(reply); i++)
-  {
+  for(i = 0; i < strlen(reply); i++){
     myReply[i] = (char)tolower((int)reply[i]);
   }
-  if (strstr(myReply, "?cmd") != NULL)
-  {
-    snprintf(errTxt, sizeof(errTxt), "Bad command %s at axis %d", command, axisNo);
-    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, errTxt);
-    if (axis != NULL)
-    {
+  if(strstr(myReply,"?cmd") != NULL){
+    snprintf(errTxt,sizeof(errTxt), "Bad command %s at axis %d", command, axisNo);
+    errlogSevPrintf(errlogMajor, errTxt);
+    if(axis!= NULL){
       axis->updateMsgTxtFromDriver(errTxt);
     }
     return asynError;
-  }
-  else if (strstr(myReply, "?par") != NULL)
-  {
-    snprintf(errTxt, sizeof(errTxt), "Bad parameter in command %s", command);
-    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, errTxt);
-    if (axis != NULL)
-    {
+  } else if(strstr(myReply,"?par") != NULL){
+    snprintf(errTxt,sizeof(errTxt), "Bad parameter in command %s", command);
+    errlogSevPrintf(errlogMajor, errTxt);
+    if(axis!= NULL){
       axis->updateMsgTxtFromDriver(errTxt);
     }
     return asynError;
-  }
-  else if (strstr(myReply, "?rng") != NULL)
-  {
-    snprintf(errTxt, sizeof(errTxt), "Parameter out of range in command %s", command);
-    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, errTxt);
-    if (axis != NULL)
-    {
+  } else if(strstr(myReply,"?rng") != NULL){
+    snprintf(errTxt,sizeof(errTxt), "Parameter out of range in command %s", command);
+    errlogSevPrintf(errlogMajor, errTxt);
+    if(axis!= NULL){
       axis->updateMsgTxtFromDriver(errTxt);
     }
     return asynError;
@@ -218,99 +210,51 @@ asynStatus EL734Controller::transactController(int axisNo, char command[COMLEN],
 // These are the EL734Axis methods
 
 /** Creates a new EL734Axis object.
- * \param[in] pC Pointer to the EL734Controller to which this axis belongs.
- * \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
- *
- * Initializes register numbers, etc.
- */
+  * \param[in] pC Pointer to the EL734Controller to which this axis belongs. 
+  * \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
+  * 
+  * Initializes register numbers, etc.
+  */
 EL734Axis::EL734Axis(EL734Controller *pC, int axisNo)
-    : SINQAxis(pC, axisNo), pC_(pC)
-{
-  char command[COMLEN], reply[COMLEN];
-  asynStatus status;
-  int count = 0;
-  float low, high;
-
-  /*
-    get the hardware limits from the controller
-  */
-  sprintf(command, "H %d", axisNo_);
-  status = pC_->transactController(axisNo_, command, reply);
-  if (status == asynSuccess)
-  {
-    count = sscanf(reply, "%f %f", &low, &high);
-    if (count >= 2)
-    {
-      pC_->setDoubleParam(axisNo_, pC_->motorLowLimit_, low);
-      pC_->setDoubleParam(axisNo_, pC_->motorHighLimit_, high);
-      callParamCallbacks();
-    }
-    else
-    {
-      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                "Bad response - %s - requesting limits at axis %d", reply, axisNo_);
-    }
-  }
-  else
-  {
-    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-              "Failed to read limits at axis %d", axisNo_);
-  }
-
-  /*
-  oredMSR contains the axis status from the previous poll. The initial value
-  1 means that the axis is not moving and has no errors.
-  */
-  oredMSR = 1;
-  next_poll = -1;
+  : SINQAxis(pC, axisNo), pC_(pC)
+{  
 }
 
+
+
 /** Reports on status of the axis
- * \param[in] fp The file pointer on which report information will be written
- * \param[in] level The level of report detail desired
- *
- * After printing device-specific information calls asynMotorAxis::report()
- */
+  * \param[in] fp The file pointer on which report information will be written
+  * \param[in] level The level of report detail desired
+  *
+  * After printing device-specific information calls asynMotorAxis::report()
+  */
 void EL734Axis::report(FILE *fp, int level)
 {
-  if (level > 0)
-  {
+  if (level > 0) {
     fprintf(fp, "  axis %d\n",
             axisNo_);
   }
 
   // Call the base class method
-  // asynMotorAxis::report(fp, level);
+  //asynMotorAxis::report(fp, level);
 }
 
+
 asynStatus EL734Axis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
 {
   asynStatus status;
-  // static const char *functionName = "EL734Axis::move";
+  //static const char *functionName = "EL734Axis::move";
   char command[COMLEN], reply[COMLEN];
 
   // status = sendAccelAndVelocity(acceleration, maxVelocity);
-
-  errlogPrintf("minVelocity = %f, maxVelocity = %f\n", minVelocity, maxVelocity);
-
-  /*
-   * set speed
-   */
-  sprintf(command, "J %d %d", axisNo_, (int)maxVelocity);
-  status = pC_->transactController(axisNo_, command, reply);
-
-  if (relative)
-  {
+  
+  if (relative) {
     position += this->position;
   }
+  oredMSR = 0;
   homing = 0;
-  errorReported = 0;
-  asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-            "Starting axis %d with destination %f", axisNo_, position / 1000);
-  sprintf(command, "p %d %.3f", axisNo_, position / 1000.);
-  status = pC_->transactController(axisNo_, command, reply);
-  setIntegerParam(pC_->motorStatusProblem_, false);
-  updateMsgTxtFromDriver("");
+  sprintf(command, "p %d %.3f", axisNo_, position/1000.);
+  status = pC_->transactController(axisNo_,command,reply);
   next_poll = -1;
   return status;
 }
@@ -318,66 +262,51 @@ asynStatus EL734Axis::move(double position, int relative, double minVelocity, do
 asynStatus EL734Axis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
 {
   asynStatus status;
-  // static const char *functionName = "EL734Axis::home";
+  //static const char *functionName = "EL734Axis::home";
   char command[COMLEN], reply[COMLEN];
 
   // status = sendAccelAndVelocity(acceleration, maxVelocity);
 
-  setIntegerParam(pC_->motorStatusProblem_, false);
-  updateMsgTxtFromDriver("");
-  errorReported = 0;
-
   sprintf(command, "R %d", axisNo_);
   homing = 1;
-  next_poll = -1;
-  status = pC_->transactController(axisNo_, command, reply);
+  next_poll= -1;
+  status = pC_->transactController(axisNo_,command,reply);
   return status;
 }
 
 asynStatus EL734Axis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
 {
   asynStatus status;
-  // static const char *functionName = "EL734Axis::moveVelocity";
+  //static const char *functionName = "EL734Axis::moveVelocity";
   char command[COMLEN], reply[COMLEN];
 
   // asynPrint(pasynUser_, ASYN_TRACE_FLOW,
   //   "%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
   //   functionName, minVelocity, maxVelocity, acceleration);
+    
 
-  errorReported = 0;
-  if (maxVelocity > 0.)
-  {
+  if (maxVelocity > 0.) {
     /* This is a positive move */
     sprintf(command, "FF %d", axisNo_);
+  } else {
+      /* This is a negative move  */
+      sprintf(command, "FB %d", axisNo_);
   }
-  else
-  {
-    /* This is a negative move  */
-    sprintf(command, "FB %d", axisNo_);
-  }
-  status = pC_->transactController(axisNo_, command, reply);
-  setIntegerParam(pC_->motorStatusProblem_, false);
-  updateMsgTxtFromDriver("");
+  status = pC_->transactController(axisNo_,command,reply);
   next_poll = -1;
   return status;
 }
 
-asynStatus EL734Axis::stop(double acceleration)
+asynStatus EL734Axis::stop(double acceleration )
 {
-  asynStatus status = asynSuccess;
-  // static const char *functionName = "EL734Axis::stop";
+  asynStatus status;
+  //static const char *functionName = "EL734Axis::stop";
   char command[COMLEN], reply[COMLEN];
-  bool moving = false;
 
-  this->poll(&moving);
-  if (moving && errorReported == 0)
-  {
-    sprintf(command, "S %d", axisNo_);
-    status = pC_->transactController(axisNo_, command, reply);
-    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Sent STOP on Axis %d\n", axisNo_);
-    updateMsgTxtFromDriver("Axis interrupted");
-    errorReported = 1;
-  }
+  sprintf(command, "S %d", axisNo_);
+  status = pC_->transactController(axisNo_,command,reply);
+  errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
+  updateMsgTxtFromDriver("Axis interrupted");
 
   return status;
 }
@@ -385,11 +314,11 @@ asynStatus EL734Axis::stop(double acceleration)
 asynStatus EL734Axis::setPosition(double position)
 {
   asynStatus status;
-  // static const char *functionName = "EL734Axis::setPosition";
+  //static const char *functionName = "EL734Axis::setPosition";
   char command[COMLEN], reply[COMLEN];
 
-  sprintf(command, "U %d %f", axisNo_, position / 1000.);
-  status = pC_->transactController(axisNo_, command, reply);
+  sprintf(command, "P %d %f", axisNo_, position/1000.);
+  status = pC_->transactController(axisNo_,command,reply);
   next_poll = -1;
 
   return status;
@@ -397,8 +326,8 @@ asynStatus EL734Axis::setPosition(double position)
 
 asynStatus EL734Axis::setClosedLoop(bool closedLoop)
 {
-  // static const char *functionName = "EL734Axis::setClosedLoop";
-
+  //static const char *functionName = "EL734Axis::setClosedLoop";
+ 
   /*
     This belongs into the Kingdom of Electronics.
     We do not do this.
@@ -408,188 +337,126 @@ asynStatus EL734Axis::setClosedLoop(bool closedLoop)
 }
 
 /** Polls the axis.
- * This function reads the motor position, the limit status, the home status, the moving status,
- * and the drive power-on status.
- * It calls setIntegerParam() and setDoubleParam() for each item that it polls,
- * and then calls callParamCallbacks() at the end.
- * \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
+  * This function reads the motor position, the limit status, the home status, the moving status, 
+  * and the drive power-on status. 
+  * It calls setIntegerParam() and setDoubleParam() for each item that it polls,
+  * and then calls callParamCallbacks() at the end.
+  * \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
 asynStatus EL734Axis::poll(bool *moving)
-{
+{ 
   int msr, count;
-  float low, high;
-  asynStatus comStatus = asynSuccess;
+  asynStatus comStatus;
   char command[COMLEN], reply[COMLEN], errTxt[256];
+  int driverError = 0;
+
 
   // protect against excessive polling
-  if (time(NULL) < next_poll)
-  {
+  if(time(NULL) < next_poll){
     *moving = false;
     return asynSuccess;
   }
 
-  // read hardware limits
-  sprintf(command, "H %d", axisNo_);
-  comStatus = pC_->transactController(axisNo_, command, reply);
-  if (comStatus == asynSuccess)
-  {
-    count = sscanf(reply, "%f %f", &low, &high);
-    if (count >= 2)
-    {
-      pC_->setDoubleParam(axisNo_, pC_->motorLowLimit_, low);
-      pC_->setDoubleParam(axisNo_, pC_->motorHighLimit_, high);
-      callParamCallbacks();
-    }
-  }
-
   // Read the current motor position
-  setIntegerParam(pC_->motorStatusProblem_, false);
-  sprintf(command, "u %d", axisNo_);
-  comStatus = pC_->transactController(axisNo_, command, reply);
-  if (comStatus == asynError)
-  {
-    setIntegerParam(pC_->motorStatusProblem_, true);
-    goto skip;
+  sprintf(command,"u %d", axisNo_);
+  comStatus = pC_->transactController(axisNo_,command,reply);
+  if(comStatus == asynError){
+     driverError = 1;
   }
-  if (strstr(reply, "*ES") != NULL)
-  {
+  if(comStatus) goto skip;
+  if(strstr(reply,"*ES") != NULL){
     *moving = false;
     setIntegerParam(pC_->motorStatusDone_, true);
     setIntegerParam(pC_->motorStatusProblem_, true);
-    errorReported = 1;
     updateMsgTxtFromDriver("Emergency Stop Engaged");
-    comStatus = asynError;
+    driverError = 1;
     goto skip;
-  }
-  else if (strstr(reply, "?BSY") != NULL)
-  {
+  } else if(strstr(reply,"?BSY") != NULL){
     *moving = true;
     setIntegerParam(pC_->motorStatusDone_, false);
+    updateMsgTxtFromDriver(NULL);
     goto skip;
   }
-  count = sscanf(reply, "%lf", &position);
-  if (count != 1)
-  {
-    if (!homing)
-    {
-      snprintf(errTxt, sizeof(errTxt), "Bad reply %s when reading position for %d", reply, axisNo_);
-      setIntegerParam(pC_->motorStatusProblem_, true);
-      errorReported = 1;
-      updateMsgTxtFromDriver(errTxt);
-      comStatus = asynError;
-      goto skip;
-    }
-  }
-  else
-  {
-    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-              "Axis %d, reply %s, position %lf\n", axisNo_, reply, position);
-    setDoubleParam(pC_->motorPosition_, position * 1000);
-    // setDoubleParam(pC_->motorEncoderPosition_, position);
+  count = sscanf(reply,"%lf", &position);
+  if(count != 1) {
+    snprintf(errTxt,sizeof(errTxt),"Bad reply %s when reading position for %d", reply, axisNo_);
+    updateMsgTxtFromDriver(errTxt);
+    comStatus = asynError;
+    driverError =1;
+    goto skip;
   }
+  //errlogPrintf("Axis %d, reply %s, position %lf\n", axisNo_, reply, position);
+  setDoubleParam(pC_->motorPosition_, position*1000);
+  //setDoubleParam(pC_->motorEncoderPosition_, position);
+  
 
   // Read the moving status of this motor
-  sprintf(command, "msr %d", axisNo_);
-  comStatus = pC_->transactController(axisNo_, command, reply);
-  if (comStatus == asynError)
-  {
-    setIntegerParam(pC_->motorStatusProblem_, true);
-    goto skip;
-  }
-  sscanf(reply, "%x", &msr);
-
-  // errlogPrintf("Axis %d, reply %s, msr %d, oredmsr = %d, position = %lf\n",
-  //	       axisNo_, reply, msr, oredMSR, position);
-
+  sprintf(command,"msr %d",axisNo_);
+  comStatus = pC_->transactController(axisNo_,command,reply);
+  if(comStatus) goto skip;
+  sscanf(reply,"%x",&msr);
+  // errlogPrintf("Axis %d, reply %s, msr %d, position = %lf\n", 
+  // 	       axisNo_, reply, msr, position);
   oredMSR |= msr;
-  if ((msr & 0x1) == 0)
-  {
+  if( (msr & 0x1) == 0){
     // done: check for trouble
-    // errlogPrintf("Axis %d finished\n", axisNo_);
-    *moving = false;
-    setIntegerParam(pC_->motorStatusDone_, true);
-
-    next_poll = time(NULL) + IDLEPOLL;
-    if (oredMSR & 0x10)
-    {
+    //errlogPrintf("Axis %d finished\n", axisNo_);
+    next_poll = time(NULL)+IDLEPOLL;
+    if(oredMSR & 0x10){
       setIntegerParam(pC_->motorStatusLowLimit_, true);
       updateMsgTxtFromDriver("Lower Limit Hit");
-      errorReported = 1;
-      comStatus = asynError;
-      goto skip;
-    }
-    else
-    {
+      driverError = 1;
+    }  else {
       setIntegerParam(pC_->motorStatusLowLimit_, false);
     }
-    if (oredMSR & 0x20)
-    {
+    if(oredMSR & 0x20){
       setIntegerParam(pC_->motorStatusHighLimit_, true);
       updateMsgTxtFromDriver("Upper Limit Hit");
-      errorReported = 1;
-      comStatus = asynError;
-      goto skip;
-    }
-    else
-    {
+      driverError = 1;
+    }  else {
       setIntegerParam(pC_->motorStatusHighLimit_, false);
     }
-    if (homing)
-    {
+    if(homing){
       setIntegerParam(pC_->motorStatusAtHome_, true);
     }
-    if (oredMSR & 0x1000)
-    {
-      setIntegerParam(pC_->motorStatusProblem_, true);
-      //      errlogPrintf("Detected air cushion error on %d", axisNo_);
-      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Air cushion problem on %d", axisNo_);
-      updateMsgTxtFromDriver("Air cushion error");
-      errorReported = 1;
-      comStatus = asynError;
-      goto skip;
-    }
-    if (oredMSR & 0x100)
-    {
-      setIntegerParam(pC_->motorStatusProblem_, true);
-      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Run failure at %d", axisNo_);
-      updateMsgTxtFromDriver("Run failure");
-      comStatus = asynError;
-      errorReported = 1;
-      goto skip;
-    }
-    if (oredMSR & 0x400)
-    {
-      setIntegerParam(pC_->motorStatusProblem_, true);
-      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Positioning failure at %d", axisNo_);
-      updateMsgTxtFromDriver("Positioning failure");
-      comStatus = asynError;
-      errorReported = 1;
-      goto skip;
-    }
-    if (oredMSR & 0x200 || oredMSR & 0x80)
-    {
-      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_WARNING, "Positioning fault at %d", axisNo_);
-    }
     setIntegerParam(pC_->motorStatusProblem_, false);
-  }
-  else
-  {
+    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:
+  skip:
+  if(driverError == 0){
+    updateMsgTxtFromDriver(NULL);
+  }
+  setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0);
   callParamCallbacks();
-  return comStatus;
+  return comStatus ? asynError : asynSuccess;
 }
 
 /** Code for iocsh registration */
 static const iocshArg EL734CreateControllerArg0 = {"Port name", iocshArgString};
 static const iocshArg EL734CreateControllerArg1 = {"EL734 port name", iocshArgString};
 static const iocshArg EL734CreateControllerArg2 = {"Number of axes", iocshArgInt};
-static const iocshArg *const EL734CreateControllerArgs[] = {&EL734CreateControllerArg0,
-                                                            &EL734CreateControllerArg1,
-                                                            &EL734CreateControllerArg2};
+static const iocshArg * const EL734CreateControllerArgs[] = {&EL734CreateControllerArg0,
+                                                             &EL734CreateControllerArg1,
+                                                             &EL734CreateControllerArg2};
 static const iocshFuncDef EL734CreateControllerDef = {"EL734CreateController", 3, EL734CreateControllerArgs};
 static void EL734CreateContollerCallFunc(const iocshArgBuf *args)
 {
@@ -601,7 +468,6 @@ static void EL734Register(void)
   iocshRegister(&EL734CreateControllerDef, EL734CreateContollerCallFunc);
 }
 
-extern "C"
-{
-  epicsExportRegistrar(EL734Register);
+extern "C" {
+epicsExportRegistrar(EL734Register);
 }

sinqEPICSApp/src/EL734Driver.h

@@ -28,32 +28,33 @@ public:
   asynStatus setClosedLoop(bool closedLoop);
 
 private:
-  EL734Controller *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
-                         *   Abbreviated because it is used very frequently */
+  EL734Controller *pC_;          /**< Pointer to the asynMotorController to which this axis belongs.
+                                   *   Abbreviated because it is used very frequently */
   int oredMSR;
   double position;
   int homing;
   time_t next_poll;
-  int errorReported;
+  int ErrTxtIdx;
 
-  friend class EL734Controller;
+  void forwardErrorTxt(EL734Axis *axis);
+  
+friend class EL734Controller;
 };
 
-class EL734Controller : public SINQController
-{
+class EL734Controller : public SINQController {
 public:
   EL734Controller(const char *portName, const char *EL734PortName, int numAxes);
 
   void report(FILE *fp, int level);
-  EL734Axis *getAxis(asynUser *pasynUser);
-  EL734Axis *getAxis(int axisNo);
+  EL734Axis* getAxis(asynUser *pasynUser);
+  EL734Axis* getAxis(int axisNo);
 
-  friend class EL734Axis;
+friend class EL734Axis;
+ private:
+ asynUser *pasynUserController_;
 
-private:
-  asynUser *pasynUserController_;
+ asynStatus transactController(int axis, char command[COMLEN], char reply[COMLEN]);
 
-  asynStatus transactController(int axis, char command[COMLEN], char reply[COMLEN]);
+ void switchRemote();
 
-  void switchRemote();
 };

sinqEPICSApp/src/EuroMoveDriver.cpp

@@ -1,679 +0,0 @@
-/*
-FILENAME... EuroMoveDriver.cpp
-USAGE...    Motor driver support for the EuroMove motor controller from LLB.
-
-This is a driver for the EuroMove motor controller from LLB. This device talks to us either via 
-GPIB or USB. The controller is fairly simple. It can control quite a number of motors. 
-
-Reworked in 06/2021 to work with the Prologix GPIV-Ethernet converter
-
-mark.koennecke@psi.ch
-*/
-
-
-#include <stdio.h>
-#include <string.h>
-#include <stdlib.h>
-#include <math.h>
-#include <ctype.h>
-#include <time.h>
-#include <unistd.h>
-
-#include <iocsh.h>
-#include <epicsThread.h>
-#include <errlog.h>
-
-#include <asynOctetSyncIO.h>
-
-#include "EuroMoveDriver.h"
-#include <epicsExport.h>
-
-#define IDLEPOLL 60
-
-/** Creates a new EuroMoveController object.
-  * \param[in] portName          The name of the asyn port that will be created for this driver
-  * \param[in] EuroMovePortName     The name of the drvAsynSerialPort that was created previously to connect to the EuroMove controller 
-  * \param[in] numAxes           The number of axes that this controller supports 
-  */
-EuroMoveController::EuroMoveController(const char *portName, const char *EuroMovePortName, int gpibAddr, int numAxis)
-  :  SINQController(portName, EuroMovePortName,numAxis+1) 
-{
-  asynStatus status;
-  static const char *functionName = "EuroMoveController::EuroMoveController";
-  size_t out, in;
-  int reason;
-  char command[80], reply[80];
-
-  /* Connect to EuroMove controller */
-  status = pasynOctetSyncIO->connect(EuroMovePortName, 0, &pasynUserController_, NULL);
-  if (status) {
-    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, 
-      "%s: cannot connect to EuroMove controller\n",
-      functionName);
-  }
-  const char *terminator = "\r\n";
-  pasynOctetSyncIO->setOutputEos(pasynUserController_,terminator,strlen(terminator));
-  const char *repTerminator = "\r";
-  pasynOctetSyncIO->setInputEos(pasynUserController_,repTerminator,strlen(repTerminator));
-
-  /* Save gpib address and prepare addr string */
-  this->gpibAddr = gpibAddr;
-  snprintf(this->addrCommand,sizeof(addrCommand), "++addr %d", gpibAddr);
-
-  /* 
-     Configure the Prologix interface to our liking
-     The thing sends no response on configuration commands
-  */
-  strcpy(command,"++mode 1"); /* Make it a controller */
-  status = pasynOctetSyncIO->write(pasynUserController_, command, strlen(command), 2, &out); 
-  strcpy(command,"++auto 1"); /* ask for response automatically */
-  status = pasynOctetSyncIO->write(pasynUserController_, command, strlen(command), 2, &out); 
-  strcpy(command,"++eos 1"); /* CR */
-  status = pasynOctetSyncIO->write(pasynUserController_, command, strlen(command), 2, &out); 
-  
-
-
-  for(int i = 0; i < numAxis; i++){ 
-    new EuroMoveAxis(this, i+1);
-  }
-  startPoller(1000./1000., IDLEPOLL, 2);
-}
-
-
-/** Creates a new EuroMoveController object.
-  * Configuration command, called directly or from iocsh
-  * \param[in] portName          The name of the asyn port that will be created for this driver
-  * \param[in] EuroMovePortName  The name of the drvAsynIPPPort that was created previously to connect to the EuroMove controller 
-  * \param[in] gpibAddr          The address of the controller on the GPIB bus
-  * \param[in] numAxes           The number of axes that this controller supports 
-  */
-extern "C" int EuroMoveCreateController(const char *portName, const char *EuroMovePortName, const int gpibAddr, const int numAxis)
-{
-  new EuroMoveController(portName, EuroMovePortName, gpibAddr, numAxis);
-  return(asynSuccess);
-}
-
-/** Reports on status of the driver
-  * \param[in] fp The file pointer on which report information will be written
-  * \param[in] level The level of report detail desired
-  *
-  * If details > 0 then information is printed about each axis.
-  * After printing controller-specific information it calls asynMotorController::report()
-  */
-void EuroMoveController::report(FILE *fp, int level)
-{
-  fprintf(fp, "EuroMove motor driver %s, numAxes=%d\n", 
-    this->portName, numAxes_);
-
-  // Call the base class method
-  asynMotorController::report(fp, level);
-}
-
-/** Returns a pointer to an EuroMoveAxis object.
-  * Returns NULL if the axis number encoded in pasynUser is invalid.
-  * \param[in] pasynUser asynUser structure that encodes the axis index number. */
-EuroMoveAxis* EuroMoveController::getAxis(asynUser *pasynUser)
-{
-  return static_cast<EuroMoveAxis*>(asynMotorController::getAxis(pasynUser));
-}
-
-/** Returns a pointer to an EuroMoveAxis object.
-  * Returns NULL if the axis number encoded in pasynUser is invalid.
-  * \param[in] axisNo Axis index number. */
-EuroMoveAxis* EuroMoveController::getAxis(int axisNo)
-{
-  return static_cast<EuroMoveAxis*>(asynMotorController::getAxis(axisNo));
-}
-
-/**
- * send a command to the EuroMove and read the reply. Do test for errors.
- * \param[in] command The command to send
- * \param[out] reply The controllers reply
- */
-
-asynStatus EuroMoveController::transactController(int axisNo,char command[COMLEN], char reply[COMLEN])
-{
-  asynStatus status;
-  SINQAxis *axis = getAxis(axisNo);
-  size_t out, in;
-  int reason, errCode, lCode;
-  char pDummy[50], lReply[50]; 
-  const char *lCommand = {"L"}; 
-
-
-
-  pasynOctetSyncIO->flush(pasynUserController_);
-  
-  /* set address first */
-  status = pasynOctetSyncIO->write(pasynUserController_, this->addrCommand, strlen(this->addrCommand), 2, &out); 
-  if(status != asynSuccess){
-    if(axis!= NULL){
-      axis->updateMsgTxtFromDriver("Lost connection to motor controller");
-      errlogPrintf("Lost connection to motor controller\n");
-    }
-    return status;
-  }
-  
-  /* now the actual command */
-  status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
-				       reply,sizeof(reply), 10.,&out,&in,&reason); 
-  if(status != asynSuccess){
-    if(axis!= NULL){
-      axis->updateMsgTxtFromDriver("Lost connection to motor controller");
-      errlogPrintf("Lost connection to motor controller\n");
-    }
-    return status;
-  }
-  
-  if(strstr(reply,"ERROR") != NULL){
-    sscanf((const char *)reply, "%s %d", pDummy, &errCode);
-    switch(errCode){
-    case 0:
-      axis->updateMsgTxtFromDriver("Syntax error or parameter out of range");
-      errlogPrintf("Syntax error or parameter out or range on %d\n", axisNo);
-      break;
-    case 1:
-      axis->updateMsgTxtFromDriver("Timeout communicating with daughter board");
-      errlogPrintf("Timeout communicating with daughter board on %d\n", axisNo);
-      break;
-    case 2:
-      axis->updateMsgTxtFromDriver("This is not a drivable motor");
-      errlogPrintf("This is not a drivable motor on %d\n", axisNo);
-      break;
-    case 3:
-      axis->updateMsgTxtFromDriver("Encoder anomaly");
-      errlogPrintf("Encoder anomaly on %d\n", axisNo);
-      break;
-    case 4:
-      axis->updateMsgTxtFromDriver("Attempt to move across limit switch");
-      errlogPrintf("Attempt to move across limit switch on %d\n", axisNo);
-      break;
-    case 5:
-      axis->updateMsgTxtFromDriver("Badly configured relay system");
-      errlogPrintf("Badly configured relay system on %d\n", axisNo);
-      break;
-    case 6:
-      axis->updateMsgTxtFromDriver("Non valid backup");
-       errlogPrintf("Invalid backup on %d\n", axisNo);
-     break;
-    case 7:
-      axis->updateMsgTxtFromDriver("Backup failed");
-       errlogPrintf("Backup failed on %d\n", axisNo);
-      break;
-    }
-    return asynError;
-  }
-
-  /*
-    Test system status
-  */
-  status = pasynOctetSyncIO->writeRead(pasynUserController_, lCommand, strlen(lCommand),
-				       lReply,sizeof(lReply), 1.,&out,&in,&reason); 
-  if(status != asynSuccess){
-    if(axis!= NULL){
-      axis->updateMsgTxtFromDriver("Lost connection to motor controller");
-      errlogPrintf("Lost connection to motor controller\n");
-    }
-    return status;
-  }
-  sscanf(lReply, "%x", &lCode);
-  //errlogPrintf("System status returned %s, converted to %d\n", lReply, lCode);
-  if((lCode & 1) > 0){
-      axis->updateMsgTxtFromDriver("Syntax error or impossible to execute");
-      errlogPrintf("Syntax error or impossible to execute for %s on %d\n", command, axisNo);
-      return asynError;
-  }
-
-
-  return status;
-}
-
-
-asynStatus EuroMoveController::writeFloat64(asynUser *pasynUser, epicsFloat64 value)
-{
-  int function = pasynUser->reason;
-  asynStatus status = asynError;
-  EuroMoveAxis *pAxis = NULL;
-	
-  static const char *functionName = "EuroMoveController::writeFloat64";
-
-
-  pAxis = (EuroMoveAxis *)this->getAxis(pasynUser);
-  if (!pAxis) {
-    return asynError;
-  }
-
-
-  /* Set the parameter and readback in the parameter library. */
-  status = pAxis->setDoubleParam(function, value);
-
-  errlogPrintf("%s, reason %d, value %f\n",  functionName, function, value);
-
-  // TODO: somethign is really shitty here: lowLimit and highLimit cannot be on the command
-  if (function == motorResolution_) {
-    if(value > .0){
-      pAxis->resolution = (int)(1./value);
-    } else {
-      pAxis->resolution = 1;
-    }
-  } 
-
-  //Call base class method
-  //This will handle callCallbacks even if the function was handled here.
-  status = asynMotorController::writeFloat64(pasynUser, value);
-
-  return status;
-
-}
-
-// These are the EuroMoveAxis methods
-
-/** Creates a new EuroMoveAxis object.
-  * \param[in] pC Pointer to the EuroMoveController to which this axis belongs. 
-  * \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
-  * 
-  * Initializes register numbers, etc.
-  */
-EuroMoveAxis::EuroMoveAxis(EuroMoveController *pC, int axisNo)
-  : SINQAxis(pC, axisNo),
-    pC_(pC)
-{  
-  motNo = axisNo;
-  next_poll = -1;
-}
-
-
-
-/** Reports on status of the axis
-  * \param[in] fp The file pointer on which report information will be written
-  * \param[in] level The level of report detail desired
-  *
-  * After printing device-specific information calls asynMotorAxis::report()
-  */
-void EuroMoveAxis::report(FILE *fp, int level)
-{
-  if (level > 0) {
-    fprintf(fp, "  axis %d\n",
-            axisNo_);
-  }
-  asynMotorAxis::report(fp, level);
-}
-
-
-asynStatus EuroMoveAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
-{
-  asynStatus status;
-  //static const char *functionName = "EuroMoveAxis::move";
-  char command[COMLEN], reply[COMLEN];
-
-  updateMsgTxtFromDriver("");
-  
-  if (relative) {
-    position += this->position;
-  }
-  homingStatus = HomeIdle;
-  sprintf(command,"G%d=%d", motNo, (int)position);
-  status = pC_->transactController(motNo,command,reply);
-  next_poll = -1;
-  targetPosition = (int)position;
-  return status;
-}
-
-asynStatus EuroMoveAxis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
-{
-  asynStatus status = asynSuccess;
-  //static const char *functionName = "EuroMoveAxis::home";
-  char command[COMLEN], reply[COMLEN];
-
-  /*
-    The EuroMove controller does not have a built in homing mechanism. We simulate it by:
-
-    1). Running the motor in the appropriate end swicth at high speed
-    2) Stepping back three units
-    3) Run the motor again in the end switch at low speed for better accuracy
-    4) Set the limit position with the <I> command
-
-    The state of this operation is maintained in the homingStatus variable
-  */
-  homingDirection = forwards;
-  homingStatus = HomeFastRun;
-  if(homingDirection){
-    sprintf(command,"H%d=03", motNo);
-  } else {
-    sprintf(command,"H%d=07", motNo);
-  }
-
-  status = pC_->transactController(motNo,command,reply);
-  next_poll = -1;
-
-  return status;
-}
-
-asynStatus EuroMoveAxis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
-{
-  asynStatus status;
-  double target;
-
-  //static const char *functionName = "EuroMoveAxis::moveVelocity";
-
-  // asynPrint(pasynUser_, ASYN_TRACE_FLOW,
-  //   "%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
-  //   functionName, minVelocity, maxVelocity, acceleration);
-    
-  updateMsgTxtFromDriver("");
-
-  if (maxVelocity > 0.) {
-    /* This is a positive move */
-    pC_->getDoubleParam(axisNo_,pC_->motorHighLimit_,&target);
-  } else {
-      /* This is a negative move  */
-    pC_->getDoubleParam(axisNo_,pC_->motorLowLimit_,&target);
-  }
-  status = move(target,0,0,0,0);
-  next_poll = -1;
-  return status;
-}
-
-asynStatus EuroMoveAxis::sendStop()
-{
-  asynStatus status;
-  char command[COMLEN], reply[COMLEN];
-
-  sprintf(command, "B%d", motNo);
-  status = pC_->transactController(axisNo_,command,reply);
-  return status;
-}
-
-asynStatus EuroMoveAxis::stop(double acceleration )
-{
-  asynStatus status;
-  // static const char *functionName = "EuroMoveAxis::stop";
-
-  status = sendStop();
-  errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
-  updateMsgTxtFromDriver("Axis interrupted");
-
-  return status;
-}
-
-asynStatus EuroMoveAxis::setPosition(double position)
-{
-  asynStatus status;
-  //static const char *functionName = "EuroMoveAxis::setPosition";
-  char command[COMLEN], reply[COMLEN];
-
-  errlogPrintf("EuroMoveAxis::setPosition called with %lf\n", position);
-
-  sprintf(command, "I%d=%d",motNo,(int)position);
-  status = pC_->transactController(axisNo_,command,reply);
-  next_poll = -1;
-
-  return status;
-}
-
-asynStatus EuroMoveAxis::setClosedLoop(bool closedLoop)
-{
-  //static const char *functionName = "EuroMoveAxis::setClosedLoop";
- 
-  /*
-    This belongs into the Kingdom of Electronics.
-    We do not do this.
-   */
-
-  return asynError;
-}
-
-/** Polls the axis.
-  * This function reads the motor position, the limit status, the home status, the moving status, 
-  * and the drive power-on status. 
-  * It calls setIntegerParam() and setDoubleParam() for each item that it polls,
-  * and then calls callParamCallbacks() at the end.
-  * \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
-asynStatus EuroMoveAxis::poll(bool *moving)
-{ 
-  asynStatus comStatus = asynSuccess;
-  char command[COMLEN], reply[COMLEN];
-  unsigned int axStatus;
-  double backStep, backPos, limit;
-
-  // protect against excessive polling
-  if(time(NULL) < next_poll){
-    *moving = false;
-    return asynSuccess;
-  }
-
-  setIntegerParam(pC_->motorStatusProblem_, false);
-    
-  /*
-    read the current position
-  */
-  sprintf(command,"A%d",motNo);
-  comStatus = pC_->transactController(axisNo_,command,reply);
-  if(comStatus == asynError) {
-    setIntegerParam(pC_->motorStatusProblem_, true);
-    goto skip;
-  }
-  sscanf(reply,"%d",&position);
-  setDoubleParam(pC_->motorPosition_,(double)position);
-
-  // Read the moving status of this motor
-  sprintf(command,"E%d",motNo);
-  comStatus = pC_->transactController(axisNo_,command,reply);
-  if(comStatus == asynError){
-    setIntegerParam(pC_->motorStatusProblem_, true);
-    goto skip;
-  }
-
-  /* errlogPrintf("Axis %d, status reply %s, position %d\n", axisNo_, reply, position); */
-  sscanf(reply, "%x", &axStatus);
-
-  if(homingStatus == HomeIdle){
-    if((axStatus & 128) > 0) { // test bit 8
-      *moving = true;
-      next_poll = -1;
-      setIntegerParam(pC_->motorStatusDone_, false);
-    } else { 
-      *moving = false;
-      next_poll = time(NULL)+IDLEPOLL;
-      setIntegerParam(pC_->motorStatusDone_, true);
-    }
-
-    /* Testing limit switches */
-    if((axStatus & 2) > 0){ // bit 2
-      if(targetPosition > position) {
-        /*
-	  Error codition only when we wish to move further
-	*/
-	setIntegerParam(pC_->motorStatusHighLimit_, true);
-	errlogPrintf("HighLimit detected on %d\n", motNo);
-	updateMsgTxtFromDriver("On high limit switch");
-	sendStop();
-      }
-    } else {
-      setIntegerParam(pC_->motorStatusHighLimit_, false);
-    }
-    if((axStatus & 1) > 0){ // bit 1
-      setIntegerParam(pC_->motorStatusLowLimit_, true);
-      if(targetPosition < position) {
-        /*
-	  Error treatment onlly when we want to go below the limits
-	*/
-	errlogPrintf("LowLimit detected on %d\n", motNo);
-	sendStop();
-	updateMsgTxtFromDriver("On low limit switch");
-      }
-    } else {
-      setIntegerParam(pC_->motorStatusLowLimit_, false);
-    }
-
-    /* there could be errors reported in the motor status */
-    if((axStatus & 8) > 0){ // bit 4
-      setIntegerParam(pC_->motorStatusProblem_, true);
-      updateMsgTxtFromDriver("Internal timeout detected");
-      errlogPrintf("Internal timeout detected on %d\n", motNo);
-      comStatus = asynError;
-    } 
-    if((axStatus & 4) > 0){ // bit 3
-      setIntegerParam(pC_->motorStatusProblem_, true);
-      updateMsgTxtFromDriver("Encoding anomaly");
-      errlogPrintf("Encoding anomaly on %d\n", motNo);
-      comStatus = asynError;
-    } 
-  } else {
-    next_poll = -1;
-    setIntegerParam(pC_->motorStatusDone_, false);
-    *moving = true;
-    switch(homingStatus){
-    case HomeIdle:
-      // handled above: this is here to silence the compiler
-      break;
-    case HomeFastRun:
-      //      errlogPrintf("HomeFastRun\n");
-      if(axStatus & 2 || axStatus & 1){
-	sendStop();
-	homingStatus = HomeFastStop;
-      }
-      break;
-    case HomeFastStop:
-      // errlogPrintf("HomeFastStop\n");
-      if((axStatus & 128) == 0){
-	backStep = 3 * resolution;
-	if(homingDirection){
-	  backPos = position - backStep;
-	} else {
-	  backPos = position + backStep;
-	}
-	sprintf(command,"G%d=%d", motNo, (int)backPos);
-	comStatus = pC_->transactController(motNo,command,reply);
-	if(comStatus == asynError){
-	  setIntegerParam(pC_->motorStatusProblem_, true);
-	  updateMsgTxtFromDriver("Homing problem when back stepping");
-	  errlogPrintf("Homing problem when back stepping: %s not accepted\n", command);
-	  *moving = false;
-	  setIntegerParam(pC_->motorStatusAtHome_, true);
-	  homingStatus = HomeIdle;
-	  setIntegerParam(pC_->motorStatusDone_, true);
-	  goto skip;
-	}
-	usleep(200);
-	homingStatus = HomeBackStep;
-      }
-      break;
-    case HomeBackStep:
-      //errlogPrintf("HomeBackStep\n");
-      if((axStatus & 128) == 0){
-	homingStatus = HomeSlowRun;
-	if(homingDirection){
-	  sprintf(command,"H%d=01", motNo);
-	} else {
-	  sprintf(command,"H%d=05", motNo);
-	}
-	comStatus = pC_->transactController(motNo,command,reply);
-	if(comStatus == asynError){
-	  setIntegerParam(pC_->motorStatusProblem_, true);
-	  updateMsgTxtFromDriver("Homing problem slow running");
-	  errlogPrintf("Homing problem when slow running: %s not accepted\n", command);
-	  *moving = false;
-	  setIntegerParam(pC_->motorStatusAtHome_, true);
-	  homingStatus = HomeIdle;
-	  setIntegerParam(pC_->motorStatusDone_, true);
-	  goto skip;
-	}
-      }
-      break;
-    case HomeSlowRun:
-      //errlogPrintf("HomeSlowRun\n");
-      if(axStatus & 2 || axStatus & 1){
-	sendStop();
-	homingStatus = HomeSlowStop;
-      }
-      break;
-    case HomeSlowStop:
-      //errlogPrintf("HomeSlowStop\n");
-      if((axStatus & 128) == 0) {
-	if(homingDirection) {
-	  pC_->getDoubleParam(axisNo_,pC_->motorHighLimit_,&limit);
-	} else {
-	  pC_->getDoubleParam(axisNo_,pC_->motorLowLimit_,&limit);
-	} 
-	setPosition(limit);
-	*moving = false;
-	setIntegerParam(pC_->motorStatusDone_, true);
-	next_poll = time(NULL)+IDLEPOLL;
-	setIntegerParam(pC_->motorStatusDone_, true);
-	setIntegerParam(pC_->motorStatusAtHome_, true);
-	homingStatus = HomeIdle;
-	setDoubleParam(pC_->motorPosition_,(double)limit);
-      }
-    }
-  }
-
-  skip:
-  callParamCallbacks();
-  return comStatus;
-}
-
-/** Code for configuring the motNo on axis **/
-extern "C" {
-  asynStatus EuroMoveConfigureAxis(const char *euroMoveName, unsigned int axisNo, unsigned int motNo)
-  {
-    EuroMoveController *pC = NULL;
-    EuroMoveAxis *pAxis = NULL;
-
-    pC = (EuroMoveController *)findAsynPortDriver(euroMoveName);
-    if(!pC){
-      errlogPrintf("%s driver not found", euroMoveName);
-      return asynError;
-    }
-    pC->unlock();
-
-    pAxis = (EuroMoveAxis *)pC->getAxis(axisNo);
-    if(!pAxis){
-      errlogPrintf("axis %d driver not found on %s", axisNo, euroMoveName);
-      return asynError;
-    }
-    pAxis->setMotNo(motNo);
-
-    return asynSuccess;
-  }
-}
-
-static const iocshArg EuroMoveConfigArg0 = {"Port name", iocshArgString};
-static const iocshArg EuroMoveConfigArg1 = {"Axis Index", iocshArgInt};
-static const iocshArg EuroMoveConfigArg2 = {"Motor number in EuroMove", iocshArgInt};
-static const iocshArg * const EuroMoveConfigArgs[] = {&EuroMoveConfigArg0,
-                                                      &EuroMoveConfigArg1,
-						      &EuroMoveConfigArg2
-};
-static const iocshFuncDef EuroMoveConfigDef = {"EuroMoveConfigureAxis", 3, EuroMoveConfigArgs};
-static void EuroMoveConfigCallFunc(const iocshArgBuf *args)
-{
-  EuroMoveConfigureAxis(args[0].sval, (unsigned int)args[1].ival, (unsigned int)args[2].ival);
-}
-
-
-/** Code for iocsh registration */
-static const iocshArg EuroMoveCreateControllerArg0 = {"Port name", iocshArgString};
-static const iocshArg EuroMoveCreateControllerArg1 = {"EuroMove port name", iocshArgString};
-static const iocshArg EuroMoveCreateControllerArg2 = {"GPIB Address", iocshArgInt};
-static const iocshArg EuroMoveCreateControllerArg3 = {"Number of axis", iocshArgInt};
-static const iocshArg * const EuroMoveCreateControllerArgs[] = {&EuroMoveCreateControllerArg0,
-                                                             &EuroMoveCreateControllerArg1,
-								&EuroMoveCreateControllerArg2,
-								&EuroMoveCreateControllerArg3
-};
-static const iocshFuncDef EuroMoveCreateControllerDef = {"EuroMoveCreateController", 4, EuroMoveCreateControllerArgs};
-static void EuroMoveCreateControllerCallFunc(const iocshArgBuf *args)
-{
-  EuroMoveCreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival);
-}
-
-static void EuroMoveRegister(void)
-{
-  iocshRegister(&EuroMoveCreateControllerDef, EuroMoveCreateControllerCallFunc);
-  iocshRegister(&EuroMoveConfigDef, EuroMoveConfigCallFunc);
-}
-
-extern "C" {
-epicsExportRegistrar(EuroMoveRegister);
-}

sinqEPICSApp/src/EuroMoveDriver.h

@@ -1,72 +0,0 @@
-/*
-FILENAME...   EuroMoveDriver.h
-USAGE...      Motor driver support for the LLB EuroMove controller
-
-Mark Koennecke
-January 2020
-
-*/
-
-#include "SINQController.h"
-#include "SINQAxis.h"
-
-#define COMLEN 80
-
-typedef enum {
-  HomeIdle,
-  HomeFastRun,
-  HomeFastStop,
-  HomeBackStep,
-  HomeSlowRun,
-  HomeSlowStop,
-} HomingStatus;
-
-class EuroMoveAxis : public SINQAxis
-{
-public:
-  /* These are the methods we override from the base class */
-  EuroMoveAxis(class EuroMoveController *pC, int axis);
-  void report(FILE *fp, int level);
-  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
-  asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
-  asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
-  asynStatus stop(double acceleration);
-  asynStatus poll(bool *moving);
-  asynStatus setPosition(double position);
-  asynStatus setClosedLoop(bool closedLoop);
-  void setMotNo(unsigned int no){
-    motNo = no;
-  }
-
-private:
-  EuroMoveController *pC_;          /**< Pointer to the asynMotorController to which this axis belongs.
-                                   *   Abbreviated because it is used very frequently */
-  time_t next_poll;
-  int motNo; // motor number in the EuroMove controller
-  int position;
-  HomingStatus homingStatus;
-  int homingDirection; // 1 = forward, 0 backwards 
-  asynStatus sendStop();
-  int resolution;
-  friend class EuroMoveController;
-  int targetPosition;
-};
-
-class EuroMoveController : public SINQController {
-public:
-  EuroMoveController(const char *portName, const char *EuroMovePortName, const int gpibAddr, const int nAxis);
-
-  void report(FILE *fp, int level);
-  EuroMoveAxis* getAxis(asynUser *pasynUser);
-  EuroMoveAxis* getAxis(int axisNo);
-  asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);
-
-friend class EuroMoveAxis;
- private:
- asynUser *pasynUserController_;
- unsigned int gpibAddr;
- char addrCommand[50];
-
- asynStatus transactController(int axisNo, char command[COMLEN], char reply[COMLEN]);
-
-};

sinqEPICSApp/src/Makefile

@@ -28,7 +28,6 @@ sinqEPICS_SRCS += EL734Driver.cpp devScalerEL737.c pmacAsynIPPort.c SINQAxis.cpp
 sinqEPICS_SRCS += pmacController.cpp pmacAxis.cpp
 sinqEPICS_SRCS += NanotecDriver.cpp stptok.cpp
 sinqEPICS_SRCS += PhytronDriver.cpp 
-sinqEPICS_SRCS += EuroMoveDriver.cpp 
 
 
 # Build the main IOC entry point on workstation OSs.

sinqEPICSApp/src/MasterMACSDriver.cpp

@@ -1,954 +0,0 @@
-/*
- Driver for the MasterMACS motor controller used at SINQ
- For documentation see the standard SINQ place for hardware documentation or 
- Marcel Schildt
-
- Mark Koennecke, March-August 2023
- Mark Koenencke, More fixes in June 2024
-*/
-
-
-#include <stdio.h>
-#include <string.h>
-#include <stdlib.h>
-#include <math.h>
-#include <ctype.h>
-#include <time.h>
-#include <sys/time.h>
-#include <unistd.h>
-
-#include <iocsh.h>
-#include <epicsThread.h>
-#include <errlog.h>
-
-#include <asynOctetSyncIO.h>
-
-#include "MasterMACSDriver.h"
-#include <epicsExport.h>
-
-#define CHECK_BIT(var,pos) ((var) & (1 << pos))
-#define ABS(x) (x < 0 ? -(x) : (x))
-
-#define debug 0
-#define timeDebug 0
-
-double DoubleTime(void)
-{
-  struct timeval now;
-  /* the resolution of this function is usec, if the machine supports this
-     and the mantissa of a double is 51 bits or more (31 bits for seconds
-     and 20 for microseconds)
-   */
-  gettimeofday(&now, NULL);
-  return now.tv_sec + now.tv_usec / 1e6;
-}
-
-/** Creates a new MasterMACSController object.
-  * \param[in] portName          The name of the asyn port that will be created for this driver
-  * \param[in] MasterMACSPortName     The name of the drvAsynSerialPort that was created previously to connect to the MasterMACS controller 
-  * \param[in] numAxes           The number of axes that this controller supports 
-  */
-MasterMACSController::MasterMACSController(const char *portName,
-					   const char *MasterMACSPortName,
-					   int numAxes,
-					   int idlePoll, int busyPoll):SINQController
-    (portName, MasterMACSPortName, numAxes)
-{
-    asynStatus status;
-    static const char *functionName =
-	"MasterMACSController::MasterMACSController";
-    char terminator[2] = "\x03";
-
-
-    /* Connect to MasterMACS controller */
-    status =
-	pasynOctetSyncIO->connect(MasterMACSPortName, 0,
-				  &pasynUserController_, NULL);
-    if (status) {
-	asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-		  "%s: cannot connect to MasterMACS controller\n",
-		  functionName);
-    }
-    pasynOctetSyncIO->setOutputEos(pasynUserController_, terminator,
-				   strlen(terminator));
-    pasynOctetSyncIO->setInputEos(pasynUserController_, terminator,
-				  strlen(terminator));
-
-
-    pAxes_ = (MasterMACSAxis **) (asynMotorController::pAxes_);
-    createParam(EnableAxisString, asynParamInt32, &enableAxis_);
-    createParam(AxisEnabledString, asynParamInt32, &axisEnabled_);
-    callParamCallbacks();
-	    
-    startPoller(busyPoll/1000., idlePoll/1000., 1);
-    setIdlePollPeriod(idlePoll/1000.);
-    setMovingPollPeriod(busyPoll/1000.);
-}
-
-
-/** Creates a new MasterMACSController object.
-  * Configuration command, called directly or from iocsh
-  * \param[in] portName          The name of the asyn port that will be created for this driver
-  * \param[in] MasterMACSPortName       The name of the drvAsynIPPPort that was created previously to connect to the MasterMACS controller 
-  * \param[in] numAxes           The number of axes that this controller supports 
-  * \param[in] idlePoll Poll interval when idle in microseconds
-  * \param[in] busyPoll Poll interval when moving in microSeconds
-  */
-extern "C" int
-MasterMACSCreateController(const char *portName,
-			   const char *MasterMACSPortName, int numAxes, int idlePoll, int busyPoll)
-{
-    MasterMACSController *pMasterMACSController
-	= new MasterMACSController(portName, MasterMACSPortName, numAxes, idlePoll, busyPoll);
-    pMasterMACSController = NULL;
-    return (asynSuccess);
-}
-
-/** Reports on status of the driver
-  * \param[in] fp The file pointer on which report information will be written
-  * \param[in] level The level of report detail desired
-  *
-  * If details > 0 then information is printed about each axis.
-  * After printing controller-specific information it calls asynMotorController::report()
-  */
-void
- MasterMACSController::report(FILE * fp, int level)
-{
-    fprintf(fp, "MasterMACS motor driver %s, numAxes=%d\n",
-	    this->portName, numAxes_);
-
-    // Call the base class method
-    asynMotorController::report(fp, level);
-}
-
-/** Returns a pointer to an MasterMACSAxis object.
-  * Returns NULL if the axis number encoded in pasynUser is invalid.
-  * \param[in] pasynUser asynUser structure that encodes the axis index number. */
-MasterMACSAxis *MasterMACSController::getAxis(asynUser * pasynUser)
-{
-    return static_cast <
-	MasterMACSAxis * >(asynMotorController::getAxis(pasynUser));
-}
-
-/** Returns a pointer to an MasterMACSAxis object.
-  * Returns NULL if the axis number encoded in pasynUser is invalid.
-  * \param[in] axisNo Axis index number. */
-MasterMACSAxis *MasterMACSController::getAxis(int axisNo)
-{
-    return static_cast <
-	MasterMACSAxis * >(asynMotorController::getAxis(axisNo));
-}
-
-/**
- * send a command to the MasterMACS and read the reply. Do some error and controller 
- * issue fixing on the way
- * \param[in] command The command to send
- * \param[out] reply The controllers reply
- */
-
-asynStatus
-    MasterMACSController::transactController(int axisNo,
-					     char command[COMLEN],
-					     char reply[COMLEN])
-{
-    asynStatus status;
-    size_t in, out;
-    int reason, len, idx, lenPayload;
-    unsigned int i;
-    double startTime, now;
-    char *mmacsData =
-	NULL, ackchar, mmacsResponse[COMLEN], hexResponse[256];
-    SINQAxis *axis = getAxis(axisNo);
-
-    pasynOctetSyncIO->flush(pasynUserController_);
-
-    /* read with a short timeout in order to remove duplicate messages 
-     * from the line. This also serves to slow down communication
-     */
-    pasynOctetSyncIO->read(pasynUserController_, mmacsResponse, 35, interMessageSleep/1000., &in, &reason); 
-
-    /* pack data for MasterMACS */
-    len = strlen(command) + 6;
-    mmacsData = (char *) malloc(len * sizeof(char));
-    if (!mmacsData) {
-	errlogSevPrintf(errlogMajor,
-			"Failed to allocate memory in MasterMACSController::transactController");
-	return asynError;
-    }
-    mmacsData[0] = 0x05;
-    mmacsData[1] = (char) (len - 2);
-    mmacsData[2] = 0;
-    mmacsData[3] = 0x19;
-    memcpy(mmacsData + 4, command, strlen(command) * sizeof(char));
-    mmacsData[len - 2] = 0x0D;
-    /* 0x03 is appended by asyn */
-
-    /* send the stuff away ... */
-    if(debug) {
-    	errlogSevPrintf(errlogMajor,"Sending command: %s\n", command);
-    }
-
-    startTime = DoubleTime();
-    status =
-	pasynOctetSyncIO->writeRead(pasynUserController_, mmacsData,
-				    len - 1, mmacsResponse, 35, 20., &out,
-				    &in, &reason);
-
-    if(timeDebug) {
-        now = DoubleTime();
-        if((now - startTime) > 1.) {
-            errlogSevPrintf(errlogMajor, "Unusual long response time %lf to command %s\n", (now - startTime), command);      
-        }
-    }
-
-    if (status != asynSuccess) {
-	if (axis != NULL) {
-	    errlogSevPrintf(errlogMajor,
-			    "Lost connection to motor controller,a axis %d, reason %d",
-			    axisNo, reason);
-	    axis->updateMsgTxtFromDriver
-		("Lost connection to motor controller");
-	    return status;
-	}
-	errlogSevPrintf(errlogMajor,
-			"Lost connection to motor controller without axis, reason %d",
-			reason);
-	return status;
-    }
-    free(mmacsData);
-
-    /* format and print the response in hex for debugging purposes */
-    if(debug) {       
-       for(i = 0, idx = 0; i < in; i++){
-       sprintf(hexResponse + idx, "%02x ", (unsigned int)mmacsResponse[i]);
-       idx = strlen(hexResponse);
-       }        
-       errlogSevPrintf(errlogMajor,"Reply in hex: %s\n", hexResponse);
-    }
-
-    /* Here we have read the data from the MasterMACS. We proceed to extract
-     * the payload and the state of the ACK byte and place that reply into data
-     */
-    if ((in < 33)) {
-	errlogSevPrintf(errlogMajor,
-			"MasterMACS only sent %d bytes, 34 expected",
-			(int) in);
-	return asynError;
-    }
-    /*
-     * Unpack the MasterMACS message, start by finding <CR>
-     */
-    for (i = 4, idx = 0; i < 34; i++) {
-	if (mmacsResponse[i] == 0x0d) {
-	    idx = i;
-	    break;
-	}
-    }
-    //errlogSevPrintf(errlogMajor, "Found <CR> at %d", idx);
-
-    /* one character before <CR> is the ACK, if it is there */
-    ackchar = mmacsResponse[idx - 1];
-    if (ackchar == 0x06) {
-	strcpy(reply, "ACK:");
-    } else if (ackchar == 0x15) {
-	strcpy(reply, "NAK:");
-	errlogSevPrintf(errlogMajor,
-			"MasterMACS responded with NAK to %s\n", command);
-	status = asynError;
-    } else {
-	/* the MasterMACS does not always send a ACK/NAK on read */
-	strcpy(reply, "NON:");
-    }
-    //errlogSevPrintf(errlogMajor, "Reply after testing ACK byte: %s ", reply);
-
-    /* copy data */
-    lenPayload = idx - 4;
-    memcpy(reply + 4, mmacsResponse + 4, lenPayload);
-    reply[4 + lenPayload] = (char) 0;
-    if(debug) {
-   	 errlogSevPrintf(errlogMajor, "Completed reply at end of transactController: %s ", reply);
-    }
-    return status;
-}
-
-/*--------------------------------------------------------------------------------------------*/
-asynStatus
-    MasterMACSController::readInt32(asynUser * pasynUser,
-				    epicsInt32 * value)
-{
-
-    int function = pasynUser->reason;
-    MasterMACSAxis *pAxis = NULL;
-    int devStatus, isOn;
-
-    pAxis = (MasterMACSAxis *) (this->getAxis(pasynUser));
-    if (!pAxis) {
-	return asynError;
-    }
-    if (function == axisEnabled_) {
-        devStatus = pAxis->readStatus();
-	    isOn = pAxis->isOn(devStatus);
-	    // errlogPrintf("isOn in readInt32: %d, devStatus = %d\n", isOn, devStatus); 
-	    pAxis->setIntegerParam(enableAxis_, isOn);
-        pAxis->setIntegerParam(axisEnabled_, isOn);
-	    *value = isOn;
-	    callParamCallbacks();
-	    return asynSuccess;
-    }
-    return asynMotorController::readInt32(pasynUser, value);
-}
-/*------------------------------------------------------------------------------------------*/
-
-asynStatus
-    MasterMACSController::writeInt32(asynUser * pasynUser,
-				     epicsInt32 value)
-{
-    int function = pasynUser->reason;
-    asynStatus status = asynSuccess;
-    MasterMACSAxis *pAxis = NULL;
-    char command[64] = { 0 };
-    char response[64] = { 0 };
-    int devStatus;
-    bool moving;
-    time_t startTime;
-
-    pAxis = (MasterMACSAxis *) this->getAxis(pasynUser);
-    if (!pAxis) {
-	return asynError;
-    }
-
-    /* Set the parameter and readback in the parameter library.  This may be
-     * overwritten when we read back the status at the end, but that's OK */
-    pAxis->setIntegerParam(function, value);
-
-    if(function == motorStop_){
-        errlogPrintf("Stop called with value %d\n", value);
-        double accel;
-        getDoubleParam(pAxis->axisNo_, motorAccel_, &accel);
-        status = pAxis->stop(accel);
-        return status;
-    }
-    if (function == enableAxis_) {
-        /*
-        * Read the status in order to prevent execssive commands
-        */
-        devStatus = pAxis->readStatus();
-        if (value == 1 && !pAxis->isOn(devStatus) ) {
-	        /* download parameters, does not work as of now */
-	        /*
-	        sprintf(command, "%dS85=1.", pAxis->axisNo_);
-	        status = transactController(pAxis->axisNo_, command, response);
-	        */
-
-	        /*  actually enable */
-	        sprintf(command, "%dS04=1", pAxis->axisNo_);
-	        status = transactController(pAxis->axisNo_, command, response);
-        } else if(pAxis->isOn(devStatus)) {
-        	        // only send command when necessary
-	        	sprintf(command, "%dS04=0", pAxis->axisNo_);
-	            	status = transactController(pAxis->axisNo_, command, response);
-	} else {
-		// nothing to do
-		return status;
-	}
-	if (status == asynSuccess) {
-	    pAxis->updateMsgTxtFromDriver("");
-	} else {
-	    errlogPrintf("MMACS: Failure to enable or disable axis %d",
-			 pAxis->axisNo_);
-	}
-    /* 
-     * wait max 2 seconds for success of the operation
-     */
-	startTime = time(NULL);
-	while(time(NULL) < startTime + 2.){
-		// wait for the change to happen
-		devStatus = pAxis->readStatus();
-        // errlogPrintf("MMACS: switching enable: target, devStatus, isOn: %d, %d, %d\n", value, devStatus, pAxis->isOn(devStatus));
-		if(pAxis->isOn(devStatus) == value){
-            pAxis->active = true;
-			pAxis->poll(&moving); // to update the Enable_RBV field
-            pAxis->active = false;
-			return asynSuccess;
-		}
-                usleep(200);
-	}
-	errlogPrintf("MMACS: Failed to dis/enable motor %d within 2 seconds\n", pAxis->axisNo_); 
-    }
-    return asynMotorController::writeInt32(pasynUser, value);
-}
-
-
-// These are the MasterMACSAxis methods
-
-/** Creates a new MasterMACSAxis object.
-  * \param[in] pC Pointer to the MasterMACSController to which this axis belongs. 
-  * \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
-  * 
-  * Initializes register numbers, etc.
-  */
-MasterMACSAxis::MasterMACSAxis(MasterMACSController * pC, int axisNo):SINQAxis(pC, axisNo),
-pC_(pC)
-{
-    hasStarted = false;
-    active = false;
-    errorCodeFound = 0;
-    /*
-     * Try to read the initial enable status of the motor
-     */
-    int devStatus = readStatus();
-    setIntegerParam(pC_->enableAxis_, isOn(devStatus));
-    setIntegerParam(pC_->axisEnabled_, isOn(devStatus));
-    lastPoll = -1;
-}
-
-/** Reports on status of the axis
-  * \param[in] fp The file pointer on which report information will be written
-  * \param[in] level The level of report detail desired
-  *
-  * After printing device-specific information calls asynMotorAxis::report()
-  */
-void MasterMACSAxis::report(FILE * fp, int level)
-{
-    if (level > 0) {
-	fprintf(fp, "  axis %d\n", axisNo_);
-    }
-}
-
-int MasterMACSAxis::readStatus()
-{ 
-    char command[COMLEN], reply[COMLEN], *pPtr;
-    float fval;
-    int status;
-
-    /*
-     * The MasterMACS sends invalid responses with a low frequency.
-     * Therefore I send cached status responses in such a case in order 
-     * to help the logic everywhere else in the code.
-     */
-    sprintf(command, "%dR10", axisNo_);
-    status = pC_->transactController(axisNo_, command, reply);
-    if (status == asynError) {
-	    return oldStatus;
-    }
-    pPtr = strstr(reply, "=");
-    if(pPtr) {
-        sscanf(pPtr + 1, "%f", &fval);
-        oldStatus = (int) fval;
-        return oldStatus;
-    } else { 
-        errlogPrintf("MMACS: invalid status reponse %s on axis %d\n", reply, axisNo_);
-        return oldStatus;
-    }
-}
-
-
-int MasterMACSAxis::isOn(int axisStatus)
-{
-    if (CHECK_BIT(axisStatus, 0) && CHECK_BIT(axisStatus, 1)) {
-	return 1;
-    }
-    return 0;
-}
-
-asynStatus
-    MasterMACSAxis::move(double position, int relative, double minVelocity,
-			 double maxVelocity, double acceleration)
-{
-    asynStatus status = asynSuccess;
-    char command[COMLEN], reply[COMLEN];
-    int devStatus;
-
-    //errlogPrintf("minVelocity = %f, maxVelocity = %f\n", minVelocity, maxVelocity);
-    memset(command, 0, COMLEN * sizeof(char));
-
-    /* clear motor error message */
-    updateMsgTxtFromDriver("");
-
-    /*
-     * reset error code
-     */
-    if(errorCodeFound){
-        sprintf(command, "%dS17=0", axisNo_);
-        status = pC_->transactController(axisNo_, command, reply);
-        errorCodeFound = 0;
-    }
-
-    /*
-     * only start if the thing is On
-     */
-    devStatus = readStatus();
-
-    /*
-     * set speed
-     */
-    /* temporarily disabled in order to get the basic logic right
-    sprintf(command, "%dS05=%f", axisNo_, maxVelocity / 1000);
-    status = pC_->transactController(axisNo_, command, reply);
-    */
-
-    if (relative) {
-	    position += this->position;
-    }
-
-    if(isOn(devStatus) && active == false) {
-        errlogPrintf("Starting axis %d with destination %f\n", axisNo_,
-		             position / 1000.);
-
-        /* send target position */
-        sprintf(command, "%dS02= %.3f", axisNo_, position / 1000.);
-        status = pC_->transactController(axisNo_, command, reply);
-        if (status == asynError) {
-            errlogPrintf("MMACS: failed to set target on %d\n", axisNo_);
-	        updateMsgTxtFromDriver("Failed to send target position");
-	        return status;
-        }
-
-        /* send move command */
-        sprintf(command, "%dS00=1", axisNo_);
-        status = pC_->transactController(axisNo_, command, reply);
-        if (status == asynError) {
-	        errlogPrintf("MMACS: failed to start axis %d\n", axisNo_);
-	        updateMsgTxtFromDriver("Failed to start axis");
-	        return status;
-        }
-        hasStarted = true;
-        homing = 0;
-        active = true;
-        usleep(500);
-        lastPositionUpdate = time(NULL);
-    } else {
-        errlogPrintf("MMACS: axis %d disabled, cannot start\n", axisNo_);
-    }
-    return status;
-}
-
-asynStatus
-    MasterMACSAxis::home(double minVelocity, double maxVelocity,
-			 double acceleration, int forwards)
-{
-    asynStatus status;
-    char command[COMLEN], reply[COMLEN];
-    int devStatus;
-
-    memset(command, 0, COMLEN * sizeof(char));
-
-    /*
-     * test if the thing is On
-     */
-    devStatus = readStatus();
-    updateMsgTxtFromDriver("");
-
-    if(isOn(devStatus)){
-        sprintf(command, "%dS00=9", axisNo_);
-        homing = 1;
-        status = pC_->transactController(axisNo_, command, reply);
-        hasStarted = true;
-        active = true;
-        lastPositionUpdate = time(NULL);
-        return status;
-    } else {
-        errlogPrintf("MMACS: cannot home disabled axis %d\n", axisNo_);
-        return asynError;
-    }
-}
-
-asynStatus
-    MasterMACSAxis::moveVelocity(double minVelocity, double maxVelocity,
-				 double acceleration)
-{
-    setIntegerParam(pC_->motorStatusProblem_, true);
-    errlogSevPrintf(errlogMajor,
-		    "This controller does not support the jog feature");
-    return asynError;
-}
-
-asynStatus MasterMACSAxis::stop(double acceleration)
-{
-    asynStatus status = asynSuccess;
-    char command[COMLEN], reply[COMLEN];
-    int devStatus;
-
-    memset(command, 0, COMLEN * sizeof(char));
-
-    devStatus = readStatus();
-    if(!CHECK_BIT(devStatus, 10)) {
-        // only try to stop when running ...    
-	    sprintf(command, "%dS00=8", axisNo_);
-	    status = pC_->transactController(axisNo_, command, reply);
-	    errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
-	    updateMsgTxtFromDriver("Axis interrupted");
-    }
-    return status;
-}
-
-asynStatus MasterMACSAxis::setPosition(double position)
-{
-    setIntegerParam(pC_->motorStatusProblem_, true);
-    errlogSevPrintf(errlogMajor,
-		    "This controller does not support setting position");
-    updateMsgTxtFromDriver("Controller does not support setPosition");
-    return asynError;
-}
-
-asynStatus MasterMACSAxis::setClosedLoop(bool closedLoop)
-{
-    /*
-       This belongs into the Kingdom of Electronics.
-       We do not do this.
-     */
-
-    return asynError;
-}
-
-/** Polls the axis.
- * This function reads the motor position, the limit status, the home status, the moving status, 
- * and the drive power-on status. 
- * It calls setIntegerParam() and setDoubleParam() for each item that it polls,
- * and then calls callParamCallbacks() at the end.
- * \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
-asynStatus MasterMACSAxis::poll(bool * moving)
-{
-    asynStatus comStatus = asynSuccess;
-    char command[COMLEN], reply[COMLEN], *pPtr, buffer[80];
-    unsigned int errCode, derCode, devStatus = 0;
-    float errStatus;
-    struct tm* tm_info;
-    time_t timer;
-
-    /* 
-     * EPICS always polls all motors on a controller when one motor is active.
-     * In order to reduce load on the controller we check if we are active and
-     * if not return old stuff
-     */
-    if(active == false && time(NULL) < lastPoll + pC_->idlePollPeriod_) {
-        *moving = false;
-        return asynSuccess;
-    }
-
-    timer = time(NULL);
-    tm_info = localtime(&timer);
-
-    strftime(buffer, 26, "%Y-%m-%d %H:%M:%S", tm_info);
-    errlogPrintf("poll called at %s on axis %d \n", 
-		 buffer, axisNo_ );
-    lastPoll = time(NULL);
-
-    setIntegerParam(pC_->motorStatusProblem_, false);
-    memset(command, 0, COMLEN * sizeof(char));
-
-    // Read the current motor position
-    sprintf(command, "%dR12", axisNo_);
-    comStatus = pC_->transactController(axisNo_, command, reply);
-    if(comStatus != asynError) {
-        pPtr = strstr(reply, "=");
-        if(pPtr) {
-	        sscanf(pPtr + 1, "%lf", &position);
-            setDoubleParam(pC_->motorPosition_, position * 1000.);
-            setDoubleParam(pC_->motorEncoderPosition_, position * 1000.);
-            /* 
-            * keep track of position in order to check for a stuck motor later
-            */
-            if(ABS(position - oldPosition) > 1){
-                oldPosition = position;
-                lastPositionUpdate = time(NULL);
-            }
-       } else {
-            errlogPrintf("MMACS: Invalid response asking position on %d\n", axisNo_); 
-       }
-    } else {
-        errlogPrintf("MMACS: communication problem reading axis %d position\n", axisNo_);
-        *moving = false;
-        comStatus = asynError;
-        goto skip;
-    }
-
-    // Read the overall  status of this motor */
-    devStatus = readStatus();
-    if(debug || timeDebug) {
-    	errlogPrintf("Axis %d, position %lf, devStatus %d\n", axisNo_,
-	             position, devStatus);
-    }
-
-    // Check for the thing being in a bad state
-    if(CHECK_BIT(devStatus, 6)) {
-        *moving = false;
-        active = false;
- 	    setIntegerParam(pC_->motorStatusDone_, true);
-        updateMsgTxtFromDriver("AXIS dead");
-        goto skip;
-    }
-
-
-    setIntegerParam(pC_->enableAxis_, isOn(devStatus));
-    setIntegerParam(pC_->axisEnabled_, isOn(devStatus));
-
-    // Check if the motor is disabled
-    if (!isOn(devStatus)) {
-	    updateMsgTxtFromDriver("Axis disabled");
-	    *moving = false;
-        active = false;
-	    setIntegerParam(pC_->motorStatusDone_, true);
-	    goto skip;
-    }
-
-    /*
-     * if the motor has never run, the status bit 10 is invalid
-     */
-    if (!hasStarted) {
-    	*moving = false;
-	    setIntegerParam(pC_->motorStatusDone_, true);
-        active = false;
-	    goto skip;
-    }
-
-    /*
-     * We may have a valid status bit...
-     */
-    if (!CHECK_BIT(devStatus, 10)) {
-    	/* we are still creeping along .... */
-	    *moving = true;
-	    setIntegerParam(pC_->motorStatusDone_, false);
-        if(time(NULL) > lastPositionUpdate + 120) {
-            // we are detecting a stuck motor
-            errlogPrintf("MMACS: axis %d is STUCK!!\n", axisNo_);
-            updateMsgTxtFromDriver("Axis STUCK!!");
-    	    setIntegerParam(pC_->motorStatusDone_, true);
-           *moving = false;
-            active = false;
-        }
-	    goto skip;
-    }
-
-
-    /*we are done moving */
-    *moving = false;
-    active = false;
-    setIntegerParam(pC_->motorStatusDone_, true);
-    updateMsgTxtFromDriver("");
-
-    /* when homing, set the proper flag */
-    if (homing) {
-	    setIntegerParam(pC_->motorStatusAtHome_, true);
-    }
-
-    /* check for limit switches*/
-    setIntegerParam(pC_->motorStatusLowLimit_, false);
-    setIntegerParam(pC_->motorStatusHighLimit_, false);
-    if (CHECK_BIT(devStatus, 11)) {
-	    errlogSevPrintf(errlogMajor, "Limit bit in status code %d", axisNo_);
-	    /* guessing which limit has been hit ... */
-	    if (position > 0) {
-		    updateMsgTxtFromDriver("Hit positive limit switch");
-		    setIntegerParam(pC_->motorStatusHighLimit_, true);
-	    } else {
-		    updateMsgTxtFromDriver("Hit negative limit switch");
-		    setIntegerParam(pC_->motorStatusLowLimit_, true);
-	    }
-	    goto skip;
-	}
-    
-    /* check for error conditions */
-	if (CHECK_BIT(devStatus, 3)) {
-        /* read error codes */
-        sprintf(command, "%dR11", axisNo_);
-        comStatus = pC_->transactController(axisNo_, command, reply);
-        if (comStatus != asynError) {
-         pPtr = strstr(reply, "=");
-            if(pPtr) {
-                sscanf(pPtr + 1, "%f", &errStatus);
-                errCode = (unsigned int) errStatus;
-            
-            } else {
-                errlogPrintf("MMACS: axis %d received invalid reply asking for error code \n", axisNo_);
-                errCode = 0;
-                goto skip;
-            }
-        } else {
-            errlogPrintf("MMACS: axis %d failed reading error code \n", axisNo_);
-            goto skip;
-        }
-
-        sprintf(command, "%dR18", axisNo_);
-        comStatus = pC_->transactController(axisNo_, command, reply);
-        if (comStatus != asynError) {
-            pPtr = strstr(reply, "=");
-            if(pPtr) {
-                sscanf(pPtr + 1, "%f", &errStatus);
-                derCode = (unsigned int) errStatus;
-            } else {
-                errlogPrintf("MMACS: malformed reply for R18: %s, on axis %d\n", reply, axisNo_);
-                derCode = 0;
-                goto skip;
-            }
-        } else {
-            errlogPrintf("MMACS: axis %d failed reading extended error code R18 \n", axisNo_);
-            goto skip;
-        }
-
-        if(debug) {
-		errlogPrintf("Axis %d, errCode(R11) %d, derCode(R18) %d\n", axisNo_,
-		             errCode, derCode);
-    	}
-
-        if (errCode == 0) {
-	        errlogSevPrintf(errlogMajor,
-			    "Fault bit in status code, but no error code on %d\n", axisNo_);
-	        updateMsgTxtFromDriver ("Fault bit in status code without error code");
-            goto skip;
-	    }
-        errorCodeFound = 1;
-
-        if (CHECK_BIT(errCode, 0)) {
-	        errlogSevPrintf(errlogMajor, "CAN error on %d", axisNo_);
-	        updateMsgTxtFromDriver("CAN error");
-        } else if (CHECK_BIT(errCode, 1)) {
-	        errlogSevPrintf(errlogMajor, "Short circuit on %d", axisNo_);
-	        updateMsgTxtFromDriver("Short circuit");
-        } else if (CHECK_BIT(errCode, 2)) {
-	        errlogSevPrintf(errlogMajor, "Invalide Setup on %d", axisNo_);
-	        updateMsgTxtFromDriver("Invalid Setup");
-        } else if (CHECK_BIT(errCode, 3)) {
-	        errlogSevPrintf(errlogMajor, "Control error on %d", axisNo_);
-	        updateMsgTxtFromDriver("Control error");
-        } else if (CHECK_BIT(errCode, 4)) {
-	        errlogSevPrintf(errlogMajor, "CAN communication error on %d",
-			                axisNo_);
-	        updateMsgTxtFromDriver("CAN communication error");
-        } else if (CHECK_BIT(errCode, 5)) {
-	        errlogSevPrintf(errlogMajor, "Feedback error on %d", axisNo_);
-	        updateMsgTxtFromDriver("Feedback error");
-        } else if (CHECK_BIT(errCode, 6)) {
-	        updateMsgTxtFromDriver("Hit positive limit switch");
-	        setIntegerParam(pC_->motorStatusHighLimit_, true);
-	        setIntegerParam(pC_->motorStatusProblem_, false);
-        } else if (CHECK_BIT(errCode, 7)) {
-	        updateMsgTxtFromDriver("Hit negative limit switch");
-	        setIntegerParam(pC_->motorStatusLowLimit_, true);
-	        setIntegerParam(pC_->motorStatusProblem_, false);
-        } else if (CHECK_BIT(errCode, 8)) {
-	        errlogSevPrintf(errlogMajor, "Over current %d", axisNo_);
-	        updateMsgTxtFromDriver("Over current");
-        } else if (CHECK_BIT(errCode, 9)) {
-	        errlogSevPrintf(errlogMajor, "I2T protection on %d", axisNo_);
-	        updateMsgTxtFromDriver("I2t protection");
-        } else if (CHECK_BIT(errCode, 10)) {
-	        errlogSevPrintf(errlogMajor, "Over heated motor on  %d", axisNo_);
-	        updateMsgTxtFromDriver("Motor overheated");
-        } else if (CHECK_BIT(errCode, 11)) {
-	        errlogSevPrintf(errlogMajor, "Over temperature drive on %d",
-			axisNo_);
-	        updateMsgTxtFromDriver("Over temperature drive");
-        } else if (CHECK_BIT(errCode, 12)) {
-	        errlogSevPrintf(errlogMajor, "Over voltage on %d", axisNo_);
-	        updateMsgTxtFromDriver("Over voltage");
-        } else if (CHECK_BIT(errCode, 13)) {
-	        errlogSevPrintf(errlogMajor, "Under voltage on %d", axisNo_);
-	        updateMsgTxtFromDriver("Under voltage");
-        } else if (CHECK_BIT(errCode, 14)) {
-	        errlogSevPrintf(errlogMajor, "Command error on %d", axisNo_);
-	        updateMsgTxtFromDriver("Command error");
-        } else if (CHECK_BIT(errCode, 15)) {
-	        errlogSevPrintf(errlogMajor, "Motor disabled on %d", axisNo_);
-	        updateMsgTxtFromDriver("Motor disabled");
-        }
-  }
-
-  skip:
-    callParamCallbacks();
-    return comStatus;
-}
-
-/** Code for iocsh registration */
-static const iocshArg
-    MasterMACSCreateControllerArg0 = { "Port name", iocshArgString };
-
-static const iocshArg
-    MasterMACSCreateControllerArg1 =
-    { "MasterMACS port name", iocshArgString };
-
-static const iocshArg
-    MasterMACSCreateControllerArg2 = { "Number of axes", iocshArgInt };
-
-static const iocshArg
-    MasterMACSCreateControllerArg3 = { "idlePoll", iocshArgInt };
-
-static const iocshArg
-    MasterMACSCreateControllerArg4 = { "busyPoll", iocshArgInt };
-
-
-static const iocshArg *const
-    MasterMACSCreateControllerArgs[] = { &MasterMACSCreateControllerArg0,
-    &MasterMACSCreateControllerArg1,
-    &MasterMACSCreateControllerArg2,
-    &MasterMACSCreateControllerArg3,
-    &MasterMACSCreateControllerArg4
-};
-
-static const iocshFuncDef
-    MasterMACSCreateControllerDef =
-    { "MasterMACSCreateController", 5, MasterMACSCreateControllerArgs };
-static void MasterMACSCreateContollerCallFunc(const iocshArgBuf * args)
-{
-    MasterMACSCreateController(args[0].sval, args[1].sval, args[2].ival, 
-		    	       args[3].ival, args[4].ival);
-}
-
-/**
-  * C wrapper for the MasterMACSAxis constructor.
-  *  See MasterMAXSAxis::MasterMACSAxis.
-  *
-  */
-asynStatus MasterMACSCreateAxis(const char *MasterMACSPort,	/* specify which controller by port name */
-				int axis)
-{				/* axis number (start from 1). */
-    MasterMACSController *pC;
-    MasterMACSAxis *pAxis;
-
-    static const char *functionName = "MasterMACSCreateAxis";
-
-    pC = (MasterMACSController *) findAsynPortDriver(MasterMACSPort);
-    if (!pC) {
-	printf("%s:%s: Error port %s not found\n", "MasterMACSDriver",
-	       functionName, MasterMACSPort);
-	return asynError;
-    }
-
-    pC->lock();
-    pAxis = new MasterMACSAxis(pC, axis);
-    pAxis = NULL;
-    pC->unlock();
-    return asynSuccess;
-}
-
-/* MasterMACSCreateAxis */
-static const iocshArg
-    MasterMACSCreateAxisArg0 = { "Controller port name", iocshArgString };
-
-static const iocshArg
-    MasterMACSCreateAxisArg1 = { "Axis number", iocshArgInt };
-
-static const iocshArg *const
-    MasterMACSCreateAxisArgs[] = { &MasterMACSCreateAxisArg0,
-    &MasterMACSCreateAxisArg1
-};
-
-static const iocshFuncDef
-    configMasterMACSAxis =
-    { "MasterMACSCreateAxis", 2, MasterMACSCreateAxisArgs };
-
-static void configMasterMACSAxisCallFunc(const iocshArgBuf * args)
-{
-    MasterMACSCreateAxis(args[0].sval, args[1].ival);
-}
-
-static void MasterMACSRegister(void)
-{
-    iocshRegister(&MasterMACSCreateControllerDef,
-		  MasterMACSCreateContollerCallFunc);
-    iocshRegister(&configMasterMACSAxis, configMasterMACSAxisCallFunc);
-}
-
-extern "C" {
-    epicsExportRegistrar(MasterMACSRegister);
-}

sinqEPICSApp/src/MasterMACSDriver.h

@@ -1,77 +0,0 @@
-/*
-  Driver for the MasterMACS motor controllers used at SINQ.
-  For documentation see the standard manuals area for SINQ or
-  Marcel Schildt.
-
-  The MasterMACS has a special line protocol which is implemented in
-  drvAsynMMACSPort.c. The driver will not work with a standard asyn IPPort, 
-  only with the special one.
-
-  Mark Koennecke, March, August, 2023
-*/
-
-#include "SINQController.h"
-#include "SINQAxis.h"
-
-#define COMLEN 50
-
-class MasterMACSAxis : public SINQAxis
-{
-public:
-  /* These are the methods we override from the base class */
-  MasterMACSAxis(class MasterMACSController *pC, int axis);
-  void report(FILE *fp, int level);
-  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
-  asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
-  asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
-  asynStatus stop(double acceleration);
-  asynStatus poll(bool *moving);
-  asynStatus setPosition(double position);
-  asynStatus setClosedLoop(bool closedLoop);
-
-private:
-  MasterMACSController *pC_;          /**< Pointer to the asynMotorController to which this axis belongs.
-                                   *   Abbreviated because it is used very frequently */
-  double position;
-  double oldPosition;
-  time_t lastPositionUpdate;
-  int homing;
-  int hasStarted; /* The motor status is invalid if the thing has not run once */
-  int isOn(int axisStatus); 
-  int readStatus();
-  int errorCodeFound;
-  int oldStatus;
-
-  bool active;
-  time_t lastPoll;
-
-friend class MasterMACSController;
-};
-
-
-#define EnableAxisString "ENABLE_AXIS"
-#define AxisEnabledString "AXIS_ENABLED"
-
-class MasterMACSController : public SINQController {
-public:
-  MasterMACSController(const char *portName, const char *MasterMACSPortName, 
-		       int numAxes, int idlePoll, int busyPoll);
-
-  void report(FILE *fp, int level);
-  MasterMACSAxis* getAxis(asynUser *pasynUser);
-  MasterMACSAxis* getAxis(int axisNo);
- 
-  // overloaded because we want to enable/disable the motor
-  asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
-  asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
-
-friend class MasterMACSAxis;
- private:
- asynUser *pasynUserController_;
- MasterMACSAxis **pAxes_;       /**< Array of pointers to axis objects */
-
-
- asynStatus transactController(int axis, char command[COMLEN], char reply[COMLEN]);
- int enableAxis_;
- int axisEnabled_;
-};

sinqEPICSApp/src/NanotecDriver.cpp

@@ -14,9 +14,6 @@ list to the motor controller constructor.
 Mark Koennecke
 July 2015
 
-Modified to use the MsgTxt field for SINQ
-
-Mark Koennecke, January 2019
 */
 
 
@@ -46,7 +43,12 @@ Mark Koennecke, January 2019
   * \param[in] NanotecPortName     The name of the drvAsynSerialPort that was created previously to connect to the Nanotec controller 
   */
 NanotecController::NanotecController(const char *portName, const char *NanotecPortName, int motCount, const char *bus)
-  :  SINQController(portName, NanotecPortName, motCount+1)  
+  :  asynMotorController(portName, motCount+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
 {
   int axis, busAddress;
   asynStatus status;
@@ -134,11 +136,11 @@ NanotecAxis* NanotecController::getAxis(int axisNo)
   * Initializes register numbers, etc.
   */
 NanotecAxis::NanotecAxis(NanotecController *pC, int axisNo, int busAddress)
-  : SINQAxis(pC, axisNo),
+  : asynMotorAxis(pC, axisNo),
     pC_(pC)
 {  
   this->busAddress = busAddress;
-  next_poll = -1;
+
 }
 
 
@@ -160,21 +162,17 @@ void NanotecAxis::report(FILE *fp, int level)
   //asynMotorAxis::report(fp, level);
 }
 
-asynStatus NanotecController::transactController(int axisNo, char command[COMLEN], char reply[COMLEN])
+asynStatus NanotecController::transactController(char command[COMLEN], char reply[COMLEN])
 {
   asynStatus status;
   size_t in, out;
   int reason;
-  SINQAxis *axis = getAxis(axisNo);
 
   pasynOctetSyncIO->flush(pasynUserController_);
   
   status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
 				       reply,COMLEN, 1.,&out,&in,&reason); 
   if(status != asynSuccess){
-    if(axis != NULL){
-      axis->updateMsgTxtFromDriver("Lost connection to motor controller");
-    }
     return status;
   }
 
@@ -202,8 +200,6 @@ asynStatus NanotecAxis::move(double position, int relative, double minVelocity,
   size_t in, out;
   int reason;
 
-  updateMsgTxtFromDriver("");
-
   // status = sendAccelAndVelocity(acceleration, maxVelocity);
   
   if (relative) {
@@ -219,7 +215,7 @@ asynStatus NanotecAxis::move(double position, int relative, double minVelocity,
     set mode
   */
   snprintf(command,sizeof(command),"#%dp2",busAddress);
-  status = pC_->transactController(axisNo_,command,reply);
+  status = pC_->transactController(command,reply);
   if(status != asynSuccess){
     return status;
   }
@@ -228,7 +224,7 @@ asynStatus NanotecAxis::move(double position, int relative, double minVelocity,
     set target
   */
   snprintf(command,sizeof(command),"#%ds%d",busAddress, (int)position);
-  status = pC_->transactController(axisNo_,command,reply);
+  status = pC_->transactController(command,reply);
   if(status != asynSuccess){
     return status;
   }
@@ -237,7 +233,7 @@ asynStatus NanotecAxis::move(double position, int relative, double minVelocity,
     and start..
   */
   snprintf(command,sizeof(command),"#%dA",busAddress);
-  status = pC_->transactController(axisNo_,command,reply);
+  status = pC_->transactController(command,reply);
   if(status != asynSuccess){
     return status;
   }
@@ -254,13 +250,11 @@ asynStatus NanotecAxis::home(double minVelocity, double maxVelocity, double acce
 
   setIntegerParam(pC_->motorStatusAtHome_, false);
 
-  updateMsgTxtFromDriver("");
-
   /*
     reset positioning errors
   */
   snprintf(command,sizeof(command),"#%dD",busAddress);
-  status = pC_->transactController(axisNo_,command,reply);
+  status = pC_->transactController(command,reply);
   if(status != asynSuccess){
     return status;
   }
@@ -269,7 +263,7 @@ asynStatus NanotecAxis::home(double minVelocity, double maxVelocity, double acce
     set mode
   */
   snprintf(command,sizeof(command),"#%dp4",busAddress);
-  status = pC_->transactController(axisNo_,command,reply);
+  status = pC_->transactController(command,reply);
   if(status != asynSuccess){
     return status;
   }
@@ -279,7 +273,7 @@ asynStatus NanotecAxis::home(double minVelocity, double maxVelocity, double acce
     set direction
   */
   snprintf(command,sizeof(command),"#%dd0",busAddress);
-  status = pC_->transactController(axisNo_,command,reply);
+  status = pC_->transactController(command,reply);
   if(status != asynSuccess){
     return status;
   }
@@ -289,7 +283,7 @@ asynStatus NanotecAxis::home(double minVelocity, double maxVelocity, double acce
     and start..
   */
   snprintf(command,sizeof(command),"#%dA",busAddress);
-  status = pC_->transactController(axisNo_,command,reply);
+  status = pC_->transactController(command,reply);
   if(status != asynSuccess){
     return status;
   }
@@ -310,7 +304,6 @@ asynStatus NanotecAxis::moveVelocity(double minVelocity, double maxVelocity, dou
   //   "%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
   //   functionName, minVelocity, maxVelocity, acceleration);
     
-  updateMsgTxtFromDriver("");
 
 
   if (maxVelocity > 0.) {
@@ -333,7 +326,7 @@ asynStatus NanotecAxis::stop(double acceleration )
   char command[COMLEN], reply[COMLEN];
 
   sprintf(command, "#%dS1", busAddress);
-  status = pC_->transactController(axisNo_,command,reply);
+  status = pC_->transactController(command,reply);
   errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
 
   return status;
@@ -345,10 +338,8 @@ asynStatus NanotecAxis::setPosition(double position)
   //static const char *functionName = "NanotecAxis::setPosition";
   char command[COMLEN], reply[COMLEN];
 
-  updateMsgTxtFromDriver("");
-
   sprintf(command, "#%dD%d", busAddress, (int)position);
-  status = pC_->transactController(axisNo_,command,reply);
+  status = pC_->transactController(command,reply);
   next_poll = -1;
 
   return status;
@@ -377,7 +368,7 @@ asynStatus NanotecAxis::poll(bool *moving)
   asynStatus comStatus;
   char command[COMLEN], reply[COMLEN];
   char *pPtr; 
-  int posVal, statVal, count = 0;
+  int posVal, statVal;
   double lowLim, highLim;
 
 
@@ -389,40 +380,28 @@ asynStatus NanotecAxis::poll(bool *moving)
  
   // Read the current motor position
   sprintf(command,"#%dC", busAddress);
-  comStatus = pC_->transactController(axisNo_,command,reply);
+  comStatus = pC_->transactController(command,reply);
   if(comStatus) goto skip;
 
   pPtr = strchr(reply,'C');
-  if(pPtr){
-    pPtr++;
-    count = sscanf(pPtr,"%d", &posVal); 	  
-  } 
-  if(pPtr == NULL || count < 1) {
-    errlogPrintf("Invalid response %s for #C received for axis %d, address %d\n", reply, axisNo_, busAddress);
-    return asynError;
-  }
+  pPtr++;
+  posVal = atoi(pPtr);
 
-  //errlogPrintf("Axis %d, reply %s, position %d\n", axisNo_, reply, posVal);
+  errlogPrintf("Axis %d, reply %s, position %d\n", axisNo_, reply, posVal);
   setDoubleParam(pC_->motorPosition_, (double)posVal);
   //setDoubleParam(pC_->motorEncoderPosition_, position);
   
 
   // Read the moving status of this motor
   sprintf(command,"#%d$",busAddress);
-  comStatus = pC_->transactController(axisNo_,command,reply);
+  comStatus = pC_->transactController(command,reply);
   if(comStatus) goto skip;
 
   pPtr = strchr(reply,'$');
-  if(pPtr) {
-    pPtr++;
-    count = sscanf(pPtr, "%d", &statVal);	  
-  } 
-  if(pPtr == NULL || count < 1) {
-     errlogPrintf("Invalid response %s for #$ received for axis %d busAddress %d\n", reply, axisNo_, busAddress);
-     return asynError;
-  }        
-  //errlogPrintf("Axis %d, reply %s, statVal = %d\n", 
-  // 	       axisNo_, reply, statVal);
+  pPtr++;
+  statVal = atoi(pPtr);
+  errlogPrintf("Axis %d, reply %s, statVal = %d\n", 
+   	       axisNo_, reply, statVal);
 
   setIntegerParam(pC_->motorStatusDone_, false);
   *moving = true;
@@ -459,13 +438,10 @@ asynStatus NanotecAxis::poll(bool *moving)
 	setIntegerParam(pC_->motorStatusDone_, true);
 	setIntegerParam(pC_->motorStatusProblem_, true);
 	errlogSevPrintf(errlogMajor, "Limit or other positioning problem at %d", axisNo_);
-	updateMsgTxtFromDriver("Positioning problem");
 	if(ABS(posVal - lowLim) < ABS(posVal - highLim)){
 	  setIntegerParam(pC_->motorStatusLowLimit_, true);
-	  updateMsgTxtFromDriver("Low Limit Hit");
 	} else {
 	  setIntegerParam(pC_->motorStatusHighLimit_, true);
-	  updateMsgTxtFromDriver("High Limit Hit");
 	}
 	*moving = false;
       } 

sinqEPICSApp/src/NanotecDriver.h

@@ -5,18 +5,15 @@ USAGE...      Motor driver support for the Nanotec SMCI controller.
 Mark Koennecke
 July 2015
 
-Modified to use the MsgTxt field for SINQ
-
-Mark Koennecke, January 2019
 */
 
-#include "SINQController.h"
-#include "SINQAxis.h"
+#include "asynMotorController.h"
+#include "asynMotorAxis.h"
 
 #define COMLEN 80
 #define MAXMOT 99
 
-class NanotecAxis : public SINQAxis
+class NanotecAxis : public asynMotorAxis
 {
 public:
   /* These are the methods we override from the base class */
@@ -41,7 +38,7 @@ private:
 friend class NanotecController;
 };
 
-class NanotecController : public SINQController {
+class NanotecController : public asynMotorController {
 public:
   NanotecController(const char *portName, const char *NanotecPortName, int numMot, const char *busAddresses);
 
@@ -53,7 +50,7 @@ friend class NanotecAxis;
  private:
  asynUser *pasynUserController_;
 
- asynStatus transactController(int axisNo, char command[COMLEN], char reply[COMLEN]);
+ asynStatus transactController(char command[COMLEN], char reply[COMLEN]);
 
 
 

sinqEPICSApp/src/PhytronDriver.cpp

@@ -23,12 +23,6 @@ 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
-
 */
 
 
@@ -55,16 +49,19 @@ January 2019
   * \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, const char *sel ,
-				     int encX, int encY)
-  :  SINQController(portName, PhytronPortName,2) 
+PhytronController::PhytronController(const char *portName, const char *PhytronPortName, int encX, int encY)
+  :  asynMotorController(portName, 3, 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
 {
   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) {
@@ -77,27 +74,12 @@ PhytronController::PhytronController(const char *portName, const char *PhytronPo
   pasynOctetSyncIO->setOutputEos(pasynUserController_,etx,strlen(etx));
   pasynOctetSyncIO->setInputEos(pasynUserController_,etx,strlen(etx));
 
-  /* The special selector D selects the dose controlled axis version */
-  if(strcmp(sel, (const char *)"D") == 0) {
-      new PhytronDoseAxis(this, 1, encX);
-      new PhytronDoseAxis(this, 2, encY);
-  } else {
-     new PhytronAxis(this, 1, encX);
-     new PhytronAxis(this, 2, encY);
- }
-
+  pAxis = new PhytronAxis(this, 1, encX);
+  pAxis = new PhytronAxis(this, 2, encY);
 
   startPoller(1000./1000., IDLEPOLL, 2);
 }
 
-PhytronDoseController::PhytronDoseController(const char *portName, const char *PhytronPortName, const char *sel ,
-				     int encX, int encY)
-  :  PhytronController(portName, PhytronPortName, sel, encX, encY) 
-{
-  new PhytronDoseAxis(this, 1, encX);
-  new PhytronDoseAxis(this, 2, encY);
-}
-
 
 /** Creates a new PhytronController object.
   * Configuration command, called directly or from iocsh
@@ -105,21 +87,14 @@ PhytronDoseController::PhytronDoseController(const char *portName, const char *P
   * \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, const char *selector,
-				       int encX, int encY)
+extern "C" int PhytronCreateController(const char *portName, const char *PhytronPortName, int encX, int encY)
 {
-  new PhytronController(portName, PhytronPortName,selector, encX, encY);
+  PhytronController *pPhytronController
+    = new PhytronController(portName, PhytronPortName, encX, encY);
+  pPhytronController = NULL;
   return(asynSuccess);
 }
 
-extern "C" int PhytronDoseCreateController(const char *portName, const char *PhytronPortName, const char *selector,
-				       int encX, int encY)
-{
-  new PhytronDoseController(portName, PhytronPortName,selector, encX, encY);
-  return(asynSuccess);
-}
-
-
 /** Reports on status of the driver
   * \param[in] fp The file pointer on which report information will be written
   * \param[in] level The level of report detail desired
@@ -152,23 +127,6 @@ PhytronAxis* PhytronController::getAxis(int axisNo)
   return static_cast<PhytronAxis*>(asynMotorController::getAxis(axisNo));
 }
 
-/** Returns a pointer to an PhytronDoseAxis object.
-  * Returns NULL if the axis number encoded in pasynUser is invalid.
-  * \param[in] pasynUser asynUser structure that encodes the axis index number. */
-PhytronDoseAxis* PhytronDoseController::getAxis(asynUser *pasynUser)
-{
-  return static_cast<PhytronDoseAxis*>(asynMotorController::getAxis(pasynUser));
-}
-
-/** Returns a pointer to an PhytronDoseAxis object.
-  * Returns NULL if the axis number encoded in pasynUser is invalid.
-  * \param[in] axisNo Axis index number. */
-PhytronDoseAxis* PhytronDoseController::getAxis(int axisNo)
-{
-  return static_cast<PhytronDoseAxis*>(asynMotorController::getAxis(axisNo));
-}
-
-
 /**
  * send a command to the Phytron and read the reply. Do some error and controller 
  * issue fixing on the way
@@ -176,16 +134,14 @@ PhytronDoseAxis* PhytronDoseController::getAxis(int axisNo)
  * \param[out] reply The controllers reply
  */
 
-asynStatus PhytronController::transactController(int axisNo,char command[COMLEN], char reply[COMLEN])
+asynStatus PhytronController::transactController(char command[COMLEN], char reply[COMLEN])
 {
   asynStatus status;
   size_t in, out;
   int reason;
   char myReply[COMLEN+10], myCommand[COMLEN+10], *pPtr;
-  SINQAxis *axis = getAxis(axisNo);
 
-
-  /* pasynOctetSyncIO->flush(pasynUserController_); */
+  pasynOctetSyncIO->flush(pasynUserController_);
   
 
   memset(myCommand,0,sizeof(myCommand));
@@ -199,9 +155,6 @@ asynStatus PhytronController::transactController(int axisNo,char command[COMLEN]
   status = pasynOctetSyncIO->writeRead(pasynUserController_, myCommand, strlen(myCommand),
 				       myReply,sizeof(myReply), 1.,&out,&in,&reason); 
   if(status != asynSuccess){
-    if(axis!= NULL){
-      axis->updateMsgTxtFromDriver("Lost connection to motor controller");
-    }
     return status;
   }
 
@@ -223,7 +176,7 @@ asynStatus PhytronController::transactController(int axisNo,char command[COMLEN]
     I may need to replace the ETX. But I am not sure if asyn did 
     not remove it for me.
   */
-  strncat(reply,pPtr,COMLEN-1);
+  strncat(reply,pPtr,sizeof(reply));
   
 
   return status;
@@ -238,7 +191,7 @@ asynStatus PhytronController::transactController(int axisNo,char command[COMLEN]
   * Initializes register numbers, etc.
   */
 PhytronAxis::PhytronAxis(PhytronController *pC, int axisNo, int enc)
-  : SINQAxis(pC, axisNo),
+  : asynMotorAxis(pC, axisNo),
     pC_(pC)
 {  
   encoder = enc;
@@ -247,21 +200,10 @@ PhytronAxis::PhytronAxis(PhytronController *pC, int axisNo, int enc)
   } else {
     phytronChar = 'Y';
   }
-  haveBrake = 0;
-  brakeIO = -1;
-  next_poll = -1;
+
 }
 
-int PhytronAxis::setBrake(int brakeNO)
-{
-  if(brakeNO < 1 || brakeNO > 8) {
-    return 0;
-  }
-  
-  haveBrake = 1;
-  brakeIO = brakeNO; 
-  return 1;
-}
+
 
 /** Reports on status of the axis
   * \param[in] fp The file pointer on which report information will be written
@@ -287,46 +229,15 @@ asynStatus PhytronAxis::move(double position, int relative, double minVelocity,
   //static const char *functionName = "PhytronAxis::move";
   char command[COMLEN], reply[COMLEN];
 
-  updateMsgTxtFromDriver("");
-
-  /*
-    deal with brake
-  */
-  if(haveBrake) {
-    sprintf(command,"%sA%dS", pC_->selector, brakeIO);
-    status = pC_->transactController(axisNo_,command,reply);
-    if(strstr(reply,"NACK") != NULL){
-      errlogSevPrintf(errlogMajor, "Failed to release brake on %d", axisNo_);
-      updateMsgTxtFromDriver("Failed to release brake");
-      setIntegerParam(pC_->motorStatusProblem_, true);
-      return asynError;
-    }
-  }
   
-  /*
-    set speed
-  */
-  sprintf(command, "%s%cP14S%f", pC_->selector, phytronChar, maxVelocity);
-  status = pC_->transactController(axisNo_,command,reply);
-  if(strstr(reply,"NACK") != NULL){
-    errlogSevPrintf(errlogMajor, "Speed not accepted on  %d", axisNo_);
-    updateMsgTxtFromDriver("Invalid speed");
-    setIntegerParam(pC_->motorStatusProblem_, true);
-    return asynError;
-  }
-
-  /*
-    actually send a move command
-  */
   if (relative) {
     position += this->position;
   }
   homing = 0;
-  sprintf(command, "%s%cA%f", pC_->selector,phytronChar,position/1000.);
-  status = pC_->transactController(axisNo_,command,reply);
+  sprintf(command, "0%cA%f", 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;
   }
@@ -340,47 +251,13 @@ asynStatus PhytronAxis::home(double minVelocity, double maxVelocity, double acce
   //static const char *functionName = "PhytronAxis::home";
   char command[COMLEN], reply[COMLEN];
 
-  updateMsgTxtFromDriver("");
-
-  /*
-    handle the fucking brake
-  */
-  if(haveBrake) {
-    sprintf(command,"%sA%dS", pC_->selector, brakeIO);
-    status = pC_->transactController(axisNo_,command,reply);
-    if(strstr(reply,"NACK") != NULL){
-      errlogSevPrintf(errlogMajor, "Failed to release brake on %d", axisNo_);
-      updateMsgTxtFromDriver("Failed to release brake");
-      setIntegerParam(pC_->motorStatusProblem_, true);
-      return asynError;
-    }
-  }
-
-  /*
-    set speed
-  */
-  sprintf(command, "%s%cP14S%f", pC_->selector, phytronChar, maxVelocity);
-  status = pC_->transactController(axisNo_,command,reply);
-  if(strstr(reply,"NACK") != NULL){
-    errlogSevPrintf(errlogMajor, "Speed not accepted on  %d", axisNo_);
-    updateMsgTxtFromDriver("Invalid speed");
-    setIntegerParam(pC_->motorStatusProblem_, true);
-    return asynError;
-  }
-
-  homing_direction = forwards;
-  if(forwards){
-    sprintf(command, "%s%c0+",pC_->selector,phytronChar);
-  } else {
-    sprintf(command, "%s%c0-",pC_->selector,phytronChar);
-  }
+  sprintf(command, "0%cO-",phytronChar);
   homing = 1;
   next_poll= -1;
-  status = pC_->transactController(axisNo_,command,reply);
+  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;
@@ -397,7 +274,6 @@ asynStatus PhytronAxis::moveVelocity(double minVelocity, double maxVelocity, dou
   //   "%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
   //   functionName, minVelocity, maxVelocity, acceleration);
     
-  updateMsgTxtFromDriver("");
 
 
   if (maxVelocity > 0.) {
@@ -418,10 +294,9 @@ asynStatus PhytronAxis::stop(double acceleration )
   //static const char *functionName = "PhytronAxis::stop";
   char command[COMLEN], reply[COMLEN];
 
-  sprintf(command, "%s%cSN", pC_->selector,phytronChar);
-  status = pC_->transactController(axisNo_,command,reply);
+  sprintf(command, "0%cSN", phytronChar);
+  status = pC_->transactController(command,reply);
   errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
-  updateMsgTxtFromDriver("Axis interrupted");
 
   return status;
 }
@@ -432,12 +307,10 @@ asynStatus PhytronAxis::setPosition(double position)
   //static const char *functionName = "PhytronAxis::setPosition";
   char command[COMLEN], reply[COMLEN];
 
-  errlogPrintf("PhytronAxis::setPosition called with %lf\n", position);
-
-  sprintf(command, "%s%cP22S%f", pC_->selector,phytronChar, position/1000.);
-  status = pC_->transactController(axisNo_,command,reply);
-  sprintf(command, "%s%cP20S%f", pC_->selector,phytronChar, position/1000.);
-  status = pC_->transactController(axisNo_,command,reply);
+  sprintf(command, "0%cP22S%f", phytronChar, position/1000.);
+  status = pC_->transactController(command,reply);
+  sprintf(command, "0%cP20S%f", phytronChar, position/1000.);
+  status = pC_->transactController(command,reply);
   next_poll = -1;
 
   return status;
@@ -463,7 +336,7 @@ asynStatus PhytronAxis::setClosedLoop(bool closedLoop)
   * \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
 asynStatus PhytronAxis::poll(bool *moving)
 { 
-  asynStatus comStatus = asynSuccess;
+  asynStatus comStatus;
   char command[COMLEN], reply[COMLEN];
   double lowlim;
 
@@ -474,24 +347,19 @@ asynStatus PhytronAxis::poll(bool *moving)
     return asynSuccess;
   }
 
-  setIntegerParam(pC_->motorStatusProblem_, false);
   // Read the current motor position
   if(encoder) {
-    sprintf(command,"%s%cP22R",pC_->selector,phytronChar);
+    sprintf(command,"0%cP22R",phytronChar);
   } else {
-    sprintf(command,"%s%cP20R",pC_->selector,phytronChar);
+    sprintf(command,"0%cP20R",phytronChar);
   }
 
-  comStatus = pC_->transactController(axisNo_,command,reply);
-  if(comStatus == asynError) {
-    setIntegerParam(pC_->motorStatusProblem_, true);
-    updateMsgTxtFromDriver("No connection to phytron controller");
-    goto skip;
-  }
+  comStatus = pC_->transactController(command,reply);
+  if(comStatus) goto skip;
+
   if(strstr(reply,"NACK") != NULL){
     setIntegerParam(pC_->motorStatusProblem_, true);
     errlogSevPrintf(errlogMajor, "Bad reply for position on %d", axisNo_);
-    updateMsgTxtFromDriver("Bad reply reading position");
     goto skip;
   }
   /*
@@ -504,13 +372,9 @@ asynStatus PhytronAxis::poll(bool *moving)
 
 
   // Read the moving status of this motor
-  sprintf(command,"%s%c=H",pC_->selector,phytronChar);
-  comStatus = pC_->transactController(axisNo_,command,reply);
-  if(comStatus == asynError){
-    setIntegerParam(pC_->motorStatusProblem_, true);
-    updateMsgTxtFromDriver("No connection to phytron controller");
-    goto skip;
-  }
+  sprintf(command,"0%c=H",phytronChar);
+  comStatus = pC_->transactController(command,reply);
+  if(comStatus) goto skip;
   /* errlogPrintf("Axis %d, status reply %s, position %lf\n", axisNo_, reply, position); */
   if(strstr(reply,"ACKN") != NULL){
     *moving = true;
@@ -520,45 +384,23 @@ asynStatus PhytronAxis::poll(bool *moving)
     *moving = false;
     next_poll = time(NULL)+IDLEPOLL;
     setIntegerParam(pC_->motorStatusDone_, true);
-    
-    if(haveBrake) {
-      sprintf(command,"%sA%dR", pC_->selector, brakeIO);
-      comStatus = pC_->transactController(axisNo_,command,reply);
-      if(strstr(reply,"NACK") != NULL){
-	errlogSevPrintf(errlogMajor, "Failed to set brake on %d", axisNo_);
-	updateMsgTxtFromDriver("Failed to set brake");
-	setIntegerParam(pC_->motorStatusProblem_, true);
-	return asynError;
-      }
-    }
   }
 
 
   if(!*moving) {
     if(homing){
-      if(homing_direction) {
-	    pC_->getDoubleParam(axisNo_,pC_->motorHighLimit_,&lowlim);
-      } else {
-	    pC_->getDoubleParam(axisNo_,pC_->motorLowLimit_,&lowlim);
-      } 
+      pC_->getDoubleParam(axisNo_,pC_->motorLowLimit_,&lowlim);
       setPosition(lowlim);
       setIntegerParam(pC_->motorStatusAtHome_, true);
     } else {
       /* 
 	 check limits and errors, upper
       */
-      sprintf(command,"%s%c=I+",pC_->selector,phytronChar);
-      comStatus = pC_->transactController(axisNo_,command,reply);
-      if(comStatus == asynError) {
-	setIntegerParam(pC_->motorStatusProblem_, true);
-	updateMsgTxtFromDriver("No connection to phytron controller");
-	goto skip;
-      }
+      sprintf(command,"0%c=I+",phytronChar);
+      comStatus = pC_->transactController(command,reply);
+      if(comStatus) goto skip;
       if(strstr(reply,"ACKE") != NULL){
 	setIntegerParam(pC_->motorStatusHighLimit_, true);
-	updateMsgTxtFromDriver("Hit High Limit");
-	comStatus = asynError;
-	goto skip;
       } else {
 	setIntegerParam(pC_->motorStatusHighLimit_, false);
       }
@@ -566,18 +408,11 @@ asynStatus PhytronAxis::poll(bool *moving)
       /*
 	lower limit
       */
-      sprintf(command,"%s%c=I-",pC_->selector,phytronChar);
-      comStatus = pC_->transactController(axisNo_,command,reply);
-      if(comStatus == asynError){
-	setIntegerParam(pC_->motorStatusProblem_, true);
-	updateMsgTxtFromDriver("No connection to phytron controller");
-	goto skip;
-      }
+      sprintf(command,"0%c=I-",phytronChar);
+      comStatus = pC_->transactController(command,reply);
+      if(comStatus) goto skip;
       if(strstr(reply,"ACKE") != NULL){
 	setIntegerParam(pC_->motorStatusLowLimit_, true);
-	updateMsgTxtFromDriver("Low Limit Hit");
-	comStatus = asynError;
-	goto skip;
       } else {
 	setIntegerParam(pC_->motorStatusLowLimit_, false);
       }
@@ -585,19 +420,12 @@ asynStatus PhytronAxis::poll(bool *moving)
       /*
 	error
       */
-      sprintf(command,"%s%c=E",pC_->selector,phytronChar);
-      comStatus = pC_->transactController(axisNo_,command,reply);
-      if(comStatus == asynError) {
-	setIntegerParam(pC_->motorStatusProblem_, true);
-	updateMsgTxtFromDriver("No connection to phytron controller");
-	goto skip;
-      }
+      sprintf(command,"0%c=E",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");
-	comStatus = asynError;
-	goto skip; 
       } else {
 	setIntegerParam(pC_->motorStatusProblem_, false);
       }
@@ -606,165 +434,29 @@ asynStatus PhytronAxis::poll(bool *moving)
 
 
   skip:
+  setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0);
   callParamCallbacks();
-  return comStatus;
-}
-
-/* The special PhytronDoseAxis code used when the speed is controlled through the neutron flux
- */
-
-PhytronDoseAxis::PhytronDoseAxis(PhytronController *pC, int axisNo, int enc)
-  : PhytronAxis(pC, axisNo, enc)
-{  
-  if(axisNo == 1){
-    doseChar = '3';
-  } else {
-    doseChar = '4';
-  }
-}
-
-
-asynStatus PhytronDoseAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
-{
-  asynStatus status;
-  //static const char *functionName = "PhytronDoseAxis::move";
-  char command[COMLEN], reply[COMLEN];
-  float realTarget;
-
-  updateMsgTxtFromDriver("");
-
-  /*
-    set conversion factor from neutron rate to speed
-  */
-  sprintf(command, "R%c3S%f", doseChar, maxVelocity);
-  status = pC_->transactController(axisNo_,command,reply);
-  if(strstr(reply,"NACK") != NULL){
-    errlogSevPrintf(errlogMajor, "Speed not accepted on  %d", axisNo_);
-    updateMsgTxtFromDriver("Invalid speed");
-    setIntegerParam(pC_->motorStatusProblem_, true);
-    return asynError;
-  }
-
-  /*
-    actually send a move command
-  */
-  if (relative) {
-    position += this->position;
-  }
-  homing = 0;
-
-  /* set target */
-  realTarget = position/1000.;
-  if(realTarget > this->position) {
-      sprintf(command, "R%c1S%f", doseChar,realTarget);
-  } else {
-      sprintf(command, "R%c2S%f", doseChar,realTarget);
-  }
-  status = pC_->transactController(axisNo_,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;
-  }
-
-  /* really start the move */
-  sprintf(command, "R%c01S", doseChar);
-  status = pC_->transactController(axisNo_,command,reply);
-  if(strstr(reply,"NACK") != NULL){
-    errlogSevPrintf(errlogMajor, "Drive start command not acknowledged on %d", axisNo_);
-    updateMsgTxtFromDriver("Drive command not acknowledged");
-    setIntegerParam(pC_->motorStatusProblem_, true);
-    return asynError;
-  }
-
-  next_poll = -1;
-  return status;
-}
-
-
-extern "C" asynStatus PhytronConfBrake(const char *port,         /* specify which controller by port name */
-				       int axis,                 /* axis: 0, 1 */
-				       int brakeNO)              /* brakeIO No, 1-8 */      
-{
-  PhytronController *pC;
-  PhytronAxis *pAxis;
-  int status;
-  
-  static const char *functionName = "PhytronConfBrake";
-
-  pC = (PhytronController*) findAsynPortDriver(port);
-  if (!pC) {
-    printf("%s:%s: Error port %s not found\n",
-           "PhytronDriver", functionName, port);
-    return asynError;
-  }
-  
-  pC->lock();
-  pAxis = pC->getAxis(axis);
-  status = pAxis->setBrake(brakeNO);
-  pC->unlock();
-  if(!status) {
-     printf("%s:%s:%s requested brake IO out of range\n",
-           "PhytronDriver", functionName, port);
-    return asynError;
- }
-  return asynSuccess;
+  return comStatus ? asynError : asynSuccess;
 }
 
 /** Code for iocsh registration */
 static const iocshArg PhytronCreateControllerArg0 = {"Port name", iocshArgString};
 static const iocshArg PhytronCreateControllerArg1 = {"Phytron port name", iocshArgString};
-static const iocshArg PhytronCreateControllerArg2 = {"Phytron Selector", iocshArgString};
-static const iocshArg PhytronCreateControllerArg3 = {"EncoderX", iocshArgInt};
-static const iocshArg PhytronCreateControllerArg4 = {"EncoderY", iocshArgInt};
+static const iocshArg PhytronCreateControllerArg2 = {"EnoderX", iocshArgInt};
+static const iocshArg PhytronCreateControllerArg3 = {"EnoderY", iocshArgInt};
 static const iocshArg * const PhytronCreateControllerArgs[] = {&PhytronCreateControllerArg0,
                                                              &PhytronCreateControllerArg1,
 							       &PhytronCreateControllerArg2,
-							       &PhytronCreateControllerArg3,
-                                                             &PhytronCreateControllerArg4};
-static const iocshFuncDef PhytronCreateControllerDef = {"PhytronCreateController", 5, PhytronCreateControllerArgs};
+                                                             &PhytronCreateControllerArg3};
+static const iocshFuncDef PhytronCreateControllerDef = {"PhytronCreateController", 4, PhytronCreateControllerArgs};
 static void PhytronCreateContollerCallFunc(const iocshArgBuf *args)
 {
-  PhytronCreateController(args[0].sval, args[1].sval, args[2].sval, args[3].ival,args[4].ival);
+  PhytronCreateController(args[0].sval, args[1].sval, args[2].ival,args[3].ival);
 }
 
-static const iocshArg PhytronDoseCreateControllerArg0 = {"Port name", iocshArgString};
-static const iocshArg PhytronDoseCreateControllerArg1 = {"Phytron port name", iocshArgString};
-static const iocshArg PhytronDoseCreateControllerArg2 = {"Phytron Selector", iocshArgString};
-static const iocshArg PhytronDoseCreateControllerArg3 = {"EncoderX", iocshArgInt};
-static const iocshArg PhytronDoseCreateControllerArg4 = {"EncoderY", iocshArgInt};
-static const iocshArg * const PhytronDoseCreateControllerArgs[] = {&PhytronDoseCreateControllerArg0,
-                                                             &PhytronDoseCreateControllerArg1,
-							       &PhytronDoseCreateControllerArg2,
-							       &PhytronDoseCreateControllerArg3,
-                                                             &PhytronDoseCreateControllerArg4};
-static const iocshFuncDef PhytronDoseCreateControllerDef = {"PhytronDoseCreateController", 5, PhytronDoseCreateControllerArgs};
-static void PhytronDoseCreateContollerCallFunc(const iocshArgBuf *args)
-{
-  PhytronDoseCreateController(args[0].sval, args[1].sval, args[2].sval, args[3].ival,args[4].ival);
-}
-
-/* PhytronConfigureBrake */
-static const iocshArg phytronBrakeArg0 = {"Controller port name", iocshArgString};
-static const iocshArg phytronBrakeArg1 = {"Axis number", iocshArgInt};
-static const iocshArg phytronBrakeArg2 = {"Brake IO number", iocshArgInt};
-static const iocshArg * const phytronBrakeArgs[] = {&phytronBrakeArg0,
-						    &phytronBrakeArg1,
-                                                    &phytronBrakeArg2};
-static const iocshFuncDef phytronBrakeDef = {"PhytronConfigureBrake", 3, phytronBrakeArgs};
-
-static void phytronBrakeCallFunc(const iocshArgBuf *args)
-{
-  PhytronConfBrake(args[0].sval, args[1].ival, args[2].ival);
-}
-
-
 static void PhytronRegister(void)
 {
   iocshRegister(&PhytronCreateControllerDef, PhytronCreateContollerCallFunc);
-  iocshRegister(&PhytronDoseCreateControllerDef, PhytronDoseCreateContollerCallFunc);
-  iocshRegister(&phytronBrakeDef, phytronBrakeCallFunc);
 }
 
 extern "C" {

sinqEPICSApp/src/PhytronDriver.h

@@ -5,28 +5,14 @@ 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
-
-Added PhytronDoseAxis. The speed of this axis is controlled by the
-neutron dose rate fed in as analog signal
-
-Mark Koennecke, April 2023
 */
 
-#include "SINQController.h"
-#include "SINQAxis.h"
+#include "asynMotorController.h"
+#include "asynMotorAxis.h"
 
 #define COMLEN 80
 
-
-class PhytronController;
-class PhytronDoseController;
-
-class PhytronAxis : public SINQAxis
+class PhytronAxis : public asynMotorAxis
 {
 public:
   /* These are the methods we override from the base class */
@@ -39,71 +25,32 @@ public:
   asynStatus poll(bool *moving);
   asynStatus setPosition(double position);
   asynStatus setClosedLoop(bool closedLoop);
-  int setBrake(int brakeIO);
 
-protected:
+private:
   char phytronChar;
   PhytronController *pC_;          /**< Pointer to the asynMotorController to which this axis belongs.
                                    *   Abbreviated because it is used very frequently */
   double position;
   int homing;
-  int homing_direction; /*1 forward, 0 backwards */
   time_t next_poll;
   int encoder;
-  int haveBrake;
-  int brakeIO;
   
 friend class PhytronController;
 };
 
-class PhytronDoseAxis : public PhytronAxis
-{
-// A special version of PhytronAxis where the speed is controlled by the neutron flux.
+class PhytronController : public asynMotorController {
 public:
-  PhytronDoseAxis(class PhytronController *pC, int axis, int enc);
-  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
-
-friend class PhytronDoseController; 
-
-protected:
-char doseChar; 
-PhytronDoseController *pC_;
-};
-
-
-class PhytronController : public SINQController {
-public:
-  PhytronController(const char *portName, const char *PhytronPortName, const char *selector, 
-		    int encX, int encY);
+  PhytronController(const char *portName, const char *PhytronPortName, int encX, int encY);
 
   void report(FILE *fp, int level);
   PhytronAxis* getAxis(asynUser *pasynUser);
   PhytronAxis* getAxis(int axisNo);
 
 friend class PhytronAxis;
-
- protected:
+ private:
  asynUser *pasynUserController_;
 
- asynStatus transactController(int axisNo, char command[COMLEN], char reply[COMLEN]);
+ asynStatus transactController(char command[COMLEN], char reply[COMLEN]);
 
- const char *selector;
 
 };
-
-class PhytronDoseController : public PhytronController {
-public:
-  PhytronDoseController(const char *portName, const char *PhytronPortName, const char *selector, 
-		    int encX, int encY);
-
-  PhytronDoseAxis* getAxis(asynUser *pasynUser);
-  PhytronDoseAxis* getAxis(int axisNo);
-
-friend class PhytronDoseAxis;
-
- protected:
- asynUser *pasynUserController_;
- const char *selector;
-
-};
-

sinqEPICSApp/src/SINQAxis.cpp

@@ -12,7 +12,6 @@ SINQAxis::SINQAxis(class SINQController *pC, int axis)
   : asynMotorAxis((asynMotorController *)pC, axis),
     pC_(pC)
 {
-  updateMsgTxtFromDriver("");
 }
 
 
@@ -23,7 +22,6 @@ void SINQAxis::updateMsgTxtFromDriver(const char *value)
     setStringParam(pC_->motorMessageText_,value);
   } else {
     pC_->setIntegerParam(axisNo_,pC_->motorMessageIsFromDriver_, 0);
-    setStringParam(pC_->motorMessageText_,"");
   }  
 }
 

sinqEPICSApp/src/SINQController.cpp

@@ -5,19 +5,13 @@
   Code lifted from Torsten Boegershausen ESS code.
 
   Mark Koennecke, March 2017
-
-  Added code to manage an interMessageSleep 
-
-  Mark Koennecke, February 2024
 */
 
 #include "SINQController.h"
 #include "asynMotorController.h"
-#include "epicsExport.h"
-#include "iocsh.h"
 
-SINQController::SINQController(const char *portName, const char *SINQPortName, int numAxes, const int& extraParams)
-  :  asynMotorController(portName, numAxes+1, NUM_MOTOR_DRIVER_PARAMS+extraParams,
+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, 
@@ -26,53 +20,6 @@ SINQController::SINQController(const char *portName, const char *SINQPortName, i
 {
   createParam(motorMessageIsFromDriverString,    asynParamInt32,      &motorMessageIsFromDriver_);
   createParam(motorMessageTextString,            asynParamOctet,      &motorMessageText_);
-
-  interMessageSleep=20;
-}
-
-/** Set  the interMessageSleep at runtime */
-asynStatus SINQController::setInterMessageSleep(int messageSleep)
-{
-  lock();
-  interMessageSleep = messageSleep;
-  unlock();
-  return asynSuccess;
-}
-
-extern "C" {
-
-asynStatus setInterMessageSleep(const char *portName, int messageSleep)
-{
-  SINQController *pC;
-  static const char *functionName = "setIntermessageSleep";
-
-  pC = (SINQController*) findAsynPortDriver(portName);
-  if (!pC) {
-    printf("%s:%s: Error port %s not found\n", "SINQController", functionName, portName);
-    return asynError;
-  }
-    
-  return pC->setInterMessageSleep(messageSleep);
 }
 
 
-/* setInterMessageSleep */
-static const iocshArg setInterMessageSleepArg0 = {"Controller port name", iocshArgString};
-static const iocshArg setInterMessageSleepArg1 = {"inter message sleep time", iocshArgInt};
-static const iocshArg * const setInterMessageSleepArgs[] = {&setInterMessageSleepArg0,
-                                                           &setInterMessageSleepArg1};
-static const iocshFuncDef setInterMessageSleepDef = {"setInterMessageSleep", 2, setInterMessageSleepArgs};
-
-static void setInterMessageSleepCallFunc(const iocshArgBuf *args)
-{
-  setInterMessageSleep(args[0].sval, args[1].ival);
-}
-
-static void SINQControllerRegister(void)
-{
-  iocshRegister(&setInterMessageSleepDef, setInterMessageSleepCallFunc);
-}
-epicsExportRegistrar(SINQControllerRegister);
-
-} // extern C    
-

sinqEPICSApp/src/SINQController.h

@@ -17,16 +17,12 @@
 class epicsShareClass SINQController : public asynMotorController
 {
  public:
-  SINQController(const char *portName, const char *SINQPortName, int numAxes, const int& extraParams=2);
-  asynStatus setInterMessageSleep(int messageSleep);
- 
+  SINQController(const char *portName, const char *SINQPortName, int numAxes);
+
   friend class SINQAxis;
  protected:
   int motorMessageIsFromDriver_;
   int motorMessageText_;
-
-  int interMessageSleep; // minimum time between message to the controller in microseconds
-                         // for slowing down communication to weak controllers.....
 }; 
 
 

sinqEPICSApp/src/devScalerEL737.c

@@ -27,7 +27,7 @@
  *
  * Mark Koennecke, February 2013
  *
- * Enhanced by adding an addtional external pause and status flag in the database and code in here 
+ * Enhanced by adding an addtional external pause and status flag in the databse and code in here 
  * to handle this. Moreover an external MsgTxt field in the DB can be filled with an error message.
  *
  * Mark Koennecke, July 2017
@@ -40,8 +40,6 @@
  */
 
 #include <string.h>
-#include <errno.h>
-#include <unistd.h>
 #include <asynOctetSyncIO.h>
 #include <epicsEvent.h>
 #include <epicsThread.h>
@@ -114,13 +112,13 @@ typedef struct {
   unsigned int dbInit;
 }EL737priv;
 
-static void dummyAsynCallback([[maybe_unused]] asynUser *pasynUser)
+static void dummyAsynCallback(asynUser *pasynUser)
 {
 }
 
 static void connectSlaveRecords(EL737priv *priv)
 {
-  char slaveName[PVNAME_SZ + 18], errName[256];
+  char slaveName[PVNAME_SZ], errName[256];
   long status;
 
   priv->dbInit = 1;
@@ -165,10 +163,10 @@ static void connectSlaveRecords(EL737priv *priv)
     errlogPrintf("dbNameToAddr failed for %s with %s\n", slaveName, errName);
     priv->dbInit = 0;
   } else {
-    errlogPrintf("dbNameToAddr succeded for %s, record access %s\n",slaveName, priv->threshCounter.precord->name); 
+    errlogPrintf("dbNameToAddr succeded for %s, record access %s\n",slaveName, priv->status.precord->name); 
   }
 
-  snprintf(slaveName, sizeof(slaveName), "%s:Threshold", priv->psr->name);
+  snprintf(slaveName,sizeof(slaveName),"%s:Threshold", priv->psr->name);
   errlogPrintf("Name of thresholdCounter variable: %s\n", slaveName);
   status = dbNameToAddr(slaveName,&priv->threshold); 
   if(status!= 0){
@@ -176,9 +174,9 @@ static void connectSlaveRecords(EL737priv *priv)
     errlogPrintf("dbNameToAddr failed for %s with %s\n", slaveName, errName);
     priv->dbInit = 0;
   } else {
-    errlogPrintf("dbNameToAddr succeded for %s, record access %s\n",slaveName, priv->threshold.precord->name); 
+    errlogPrintf("dbNameToAddr succeded for %s, record access %s\n",slaveName, priv->status.precord->name); 
   }
-  priv->thresholdValue = -999;
+
 }
 
 static long el737_init_record(scalerRecord *psr, CALLBACK *pcallback)
@@ -224,18 +222,17 @@ static long el737_init_record(scalerRecord *psr, CALLBACK *pcallback)
     psr->pact = 1;
     return 0;
   }
-  pasynManager->autoConnect(dummyUser, 1);
   status = pasynOctetSyncIO->connect(port, 0, &priv->asynContext, NULL);
   if (status) {
     asynPrint(dummyUser, ASYN_TRACE_ERROR, 
-      "%s: cannot connect to EL737 controller\n",
+      "%s: cannot connect to EL734 controller\n",
       "el737_init_scaler");
     psr->pact = 1;
     return 0;
   }
   pasynOctetSyncIO->setOutputEos(priv->asynContext,"\r",strlen("\r"));
   pasynOctetSyncIO->setInputEos(priv->asynContext,"\r",strlen("\r"));
-  priv->asynContext->timeout =  2.0;
+  priv->asynContext->timeout =  1.0;
   strcpy(command,"RMT 1");
   pasynOctetSyncIO->writeRead(priv->asynContext, command, strlen(command),
 			      reply,sizeof(reply), 1.,&out,&in,&reason); 
@@ -290,7 +287,7 @@ static long el737_write_preset(scalerRecord *psr, int signal, unsigned long val)
 {
   EL737priv *priv;
 
-  // errlogPrintf("EL737: Setting preset %d to %ld\n", signal, val);
+  //errlogPrintf("Setting preset %d to %ld\n", signal, val);
 
   priv = (EL737priv *)psr->dpvt;
   if(signal >= 0 && signal < 13){
@@ -299,7 +296,7 @@ static long el737_write_preset(scalerRecord *psr, int signal, unsigned long val)
   if(signal == THRESHVAL){
     priv->sendThreshold = 1;
     epicsEventSignal(priv->wakeUp);
-    // errlogPrintf("EL737: Setting threshold \n");
+    //errlogPrintf("Setting threshold \n");
 
   }
   return 0;
@@ -312,7 +309,7 @@ static long el737_arm(scalerRecord *psr, int val)
   priv = (EL737priv *)psr->dpvt;
   priv->countCommand = val;
 
-  // errlogPrintf("EL737: Sending arm %d \n", val);
+  //errlogPrintf("Sending arm %d \n", val);
 
   epicsEventSignal(priv->wakeUp);
   
@@ -324,7 +321,7 @@ static long el737_done(scalerRecord *psr)
   EL737priv *priv;
   priv = (EL737priv *)psr->dpvt;
 
-  // errlogPrintf("EL737: Calling done with %d\n", psr->cnt);
+  // errlogPrintf("Calling done with %d\n", psr->cnt);
   if(priv->counting && psr->cnt == 0){
     priv->countCommand = 0;
     epicsEventSignal(priv->wakeUp);
@@ -346,9 +343,7 @@ static asynStatus el737_transactCommand(EL737priv *priv,char command[COMLEN],cha
 
   pasynOctetSyncIO->flush(priv->asynContext);
   
-  // errlogPrintf("EL737: sending command %s\n", command);
-
-  strcpy(message,"");
+  strcpy(message,"OK");
   status = pasynOctetSyncIO->writeRead(priv->asynContext, command, strlen(command),
 				       reply,COMLEN, 1.,&out,&in,&reason); 
   if(status == asynSuccess){
@@ -389,13 +384,7 @@ static asynStatus el737_transactCommand(EL737priv *priv,char command[COMLEN],cha
       }
     }
   } else {
-    if(errno == EAGAIN){
-        errlogPrintf("Lost response to %s with EAGAIN\n", command); 
-    } else {
-        snprintf(message,sizeof(message), "Lost communication with errno %d", errno);
-        /* force a reconnect */
-        pasynOctetSyncIO->disconnect(priv->asynContext);
-    }
+    strncpy(message,"Lost communication",sizeof(message));
   }
   if(priv->dbInit){
     dbStatus = dbPutField(&priv->msgTxt, DBR_STRING,message, 1);
@@ -410,7 +399,7 @@ static asynStatus el737_transactCommand(EL737priv *priv,char command[COMLEN],cha
 static asynStatus sendStop(EL737priv *priv)
 {
   char command[COMLEN], reply[COMLEN];
-  // errlogPrintf("EL737: Sending stop\n");
+  //errlogPrintf("Sending stop\n");
   strcpy(command,"S");
   return el737_transactCommand(priv,command,reply);
 }
@@ -419,14 +408,13 @@ static void runEvents(EL737priv *priv)
 {
   char command[COMLEN], reply[COMLEN], errName[256];
   int status;
-  long dbStatus, nElements = 1, options = 0, threshCounter;
-  long unsigned int myThreshold;
+  long dbStatus, myThreshold, nElements = 1, options = 0, threshCounter;
 
   /*
     This is the better way to set the threshold rather then the old way below which uses 
     presets for that function. This one uses separate fields. 
   */
-  if(priv->dbInit == 1 && priv->sendThreshold) {
+  if(priv->dbInit == 1) {
     dbStatus = dbGetField(&priv->threshold,DBR_LONG,&myThreshold,&options, &nElements,NULL);
     if(dbStatus != 0){
 	  errSymLookup(dbStatus,errName,sizeof(errName));
@@ -437,16 +425,13 @@ static void runEvents(EL737priv *priv)
 	  we have to set the threshold
 	*/
 	dbStatus = dbGetField(&priv->threshCounter,DBR_LONG,&threshCounter, &options, &nElements,NULL);
-	if(dbStatus != 0) {
+	if(dbStatus != 0){
 	  errSymLookup(dbStatus,errName,sizeof(errName));
 	  errlogPrintf("Reading thresholdCounter failed with %s\n", errName);
 	} else {
-	  if(threshCounter == 0){
-	    threshCounter = 1;
-          }
 	  sprintf(command,"DL %d %d", (int)threshCounter,
 		  (int)myThreshold);
-	  // errlogPrintf("Sending threshold command %s\n", command);
+	  //errlogPrintf("Sending threshold command %s\n", command);
 	  status = el737_transactCommand(priv,command,reply);
 	  sprintf(command,"DR %d", (int)threshCounter);
 	  status = el737_transactCommand(priv, command,reply);
@@ -457,36 +442,35 @@ static void runEvents(EL737priv *priv)
 	}
       }
     }
-  } 
+  }
 
-  if(priv->sendThreshold == 1) {
-    // fallback when we do not have the DB fields or threshCounter is invalid
-    if(priv->presets[THRESHMON] > 0) {
-      sprintf(command,"DL %d %d", (int)priv->presets[THRESHMON],
-	      (int)priv->presets[THRESHVAL]);
-      // errlogPrintf("Sending threshold from presets, command %s\n", command);
-      status = el737_transactCommand(priv,command,reply);
-      sprintf(command,"DR %d", (int)priv->presets[THRESHMON]);
-      status = el737_transactCommand(priv, command,reply);
-      if(status == asynSuccess) {
-	    priv->sendThreshold  = 0;
-      }
+  if(priv->sendThreshold == 1){
+    sprintf(command,"DL %d %d", (int)priv->presets[THRESHMON],
+	    (int)priv->presets[THRESHVAL]);
+    //errlogPrintf("Sending threshold command %s\n", command);
+    status = el737_transactCommand(priv,command,reply);
+    sprintf(command,"DR %d", (int)priv->presets[THRESHMON]);
+    status = el737_transactCommand(priv, command,reply);
+    if(status == asynSuccess){
+      priv->sendThreshold  = 0;
     }
   }
   
-  errlogPrintf("EL737: Doing a count command: %d\n", priv->countCommand);
+  //errlogPrintf("Doing a count command: %d\n", priv->countCommand);
   if(priv->countCommand == 1){
     if(priv->presets[MODE] > 0) {
       /* preset monitor */
       sprintf(command,"MP %d", (int)priv->presets[MONITOR]);
-      // errlogPrintf("EL737: Starting preset monitor\n");
+      //errlogPrintf("Starting preset monitor\n");
     } else {
       /* preset time */
       sprintf(command,"TP %f", priv->presets[TIMER]/1000.);
-      // errlogPrintf("EL737: Starting preset timer\n");
+      //errlogPrintf("Starting preset timer\n");
     }
     status = el737_transactCommand(priv,command,reply);
-    priv->counting = 1;
+    if(status == asynSuccess){
+      priv->counting = 1;
+    }
   } else {
     if(priv->counting) {
       /* Stop */
@@ -498,8 +482,8 @@ static void runEvents(EL737priv *priv)
 
 	
   if(status != asynSuccess){
-    errlogPrintf("devScalerEL737::el737Thread communication problem %s\n, errno =%d",
-		 priv->asynContext->errorMessage, errno);
+    errlogPrintf("devScalerEL737::el737Thread communication problem %s\n",
+		 priv->asynContext->errorMessage);
   }
 }
 
@@ -513,12 +497,8 @@ static void updateValues(EL737priv *priv)
   strcpy(command,"RA");
   status = el737_transactCommand(priv,command,reply);
   if(status != asynSuccess){
-    if(errno == EAGAIN){
-        errlogPrintf("devScalerEL737::el737Thread lost response to %s with EAGAIN\n", command);
-    } else {
-        errlogPrintf("devScalerEL737::el737Thread communication problem %s, errno = %d\n",
-		     priv->asynContext->errorMessage, errno);
-    }
+    errlogPrintf("devScalerEL737::el737Thread communication problem %s\n",
+		 priv->asynContext->errorMessage);
     return;
   }
   status = sscanf(reply, "%f %ld %ld %ld %ld %ld %ld %ld %ld",
@@ -556,11 +536,12 @@ static void el737Thread(void *param)
   int rs, ctStatus;
   long dbStatus, options, nElements = 1, pauseFlag = 0;
 
-  // errlogPrintf("EL737: Within EL737 thread \n");
+  //errlogPrintf("Within EL737 thread \n");
 
   while(1){
     evStatus = epicsEventWaitWithTimeout(priv->wakeUp,timeout);
-    // errlogPrintf("EL737 thread woke up with %d\n", evStatus);
+    //errlogPrintf("EL737 thread woke up with %d\n", evStatus);
+
 
     if(evStatus == epicsEventWaitOK) {
       /*
@@ -568,8 +549,7 @@ static void el737Thread(void *param)
       */
       runEvents(priv);
       if(priv->counting == 1){
-	    timeout = .2;
-        usleep(500);
+	timeout = .1;
       }
     } else {
       /*
@@ -588,7 +568,7 @@ static void el737Thread(void *param)
 	if(status != asynSuccess){
 	  errlogPrintf("devScalerEL737::el737Thread communication problem %s\n",
 		       priv->asynContext->errorMessage);
-	  continue;
+	  break;
 	}
 	sscanf(reply,"%d",&rs);
         //errlogPrintf("RS = %d\n", rs);
@@ -637,7 +617,7 @@ static void el737Thread(void *param)
 	  if(status != asynSuccess){
 	    errlogPrintf("devScalerEL737::el737Thread communication problem %s\n",
 			 priv->asynContext->errorMessage);
-	    continue;
+	    break;
 	  }
         } else if(pauseFlag == 0 && ctStatus == 3){
 	  strcpy(command,"CO");
@@ -645,7 +625,7 @@ static void el737Thread(void *param)
 	  if(status != asynSuccess){
 	    errlogPrintf("devScalerEL737::el737Thread communication problem %s\n",
 			 priv->asynContext->errorMessage);
-	    continue;
+	    break;
 	  }
         }
       }

sinqEPICSApp/src/pmacAxis.h

@@ -7,28 +7,21 @@
  *  Matthew Pearson
  *  23 May 2012
  * 
- * Modified to use the MsgTxt field for SINQ
- *
- * Mark Koennecke, January 2019
- *
- * EXtended with special motor axis for the Selene 
- * guide, Mark Koennecke, February 2020
  ********************************************/
 
 #ifndef pmacAxis_H
 #define pmacAxis_H
 
-#include "SINQController.h"
-#include "SINQAxis.h"
+#include "asynMotorController.h"
+#include "asynMotorAxis.h"
 
 class pmacController;
-class SeleneController;
 
-class pmacAxis : public SINQAxis
+class pmacAxis : public asynMotorAxis
 {
   public:
   /* These are the methods we override from the base class */
-  pmacAxis(pmacController *pController, int axisNo, bool enable=true);
+  pmacAxis(pmacController *pController, int axisNo);
   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);
@@ -36,9 +29,8 @@ class pmacAxis : public SINQAxis
   asynStatus stop(double acceleration);
   asynStatus poll(bool *moving);
   asynStatus setPosition(double position);
-  asynStatus enable(int on);
-
-protected:
+  
+  private:
   pmacController *pC_;
   
   asynStatus getAxisStatus(bool *moving);
@@ -61,149 +53,9 @@ protected:
   time_t status6Time;
   int starting;
   int homing;
-  double statusPos;
-
-  time_t next_poll;
-
-  bool autoEnable;
-  
-  friend class pmacController;
-  friend class pmacV3Controller;
-};
-/*--------------------------------------------------------------------------------------------*/
-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);
-
- protected:
-  friend class SeleneController;
-  friend class pmacController;
-
- private:
-  double limitTarget;
-  asynStatus getSeleneAxisInitialStatus(void);
-
-};
-
-/*
-  Yet another special set of motors for the Selene Guide at AMOR. Each segment can be lifted or tilted. This is 
-  two motors. One acts as a slave and only writes a new target, the other also sets a new target and sends the 
-  actual movement command. Both motors are coordianted in the motor controller in order to avoid tension on 
-  the guide elements. This gaves rise to the function code LIFTSLAVE and LIFTMASTER.
-
-  In another mode the whole guide can be lifted or tilted. Then motor 1 and 6 get new values and one of them 
-  sends the drive command. This causes all 6 motors to drive synchronously to their new targets. This is 
-  implemented through the LIFTSEGMENT function code. 
-
-  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) {};
-  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
-  asynStatus poll(bool *moving);
-  asynStatus stop(double acceleration);
- private:
-  int waitStart;
-};
-
- /********************************************
- * Protocol version 3 requires just some minor change
- *
- * Michele Brambilla, February 2022
- ********************************************/
-
-class pmacV3Axis : public pmacAxis {
-public:
-
-  pmacV3Axis(pmacController *pController, int axisNo);
-
-  asynStatus move(double position, int relative, double min_velocity,
-                  double max_velocity, double acceleration);
-  asynStatus poll(bool *moving);
- protected:
-  int IsEnable;
-  double Speed;
-
-  asynStatus getAxisStatus(bool *moving);
 
   friend class pmacController;
-  friend class pmacV3Controller;
- };
-
-/*----------------------------------------------------------------------------------------------*/
-class pmacHRPTAxis : public pmacV3Axis
-{
- public: 
- pmacHRPTAxis(pmacController *pController, int axisNo) : pmacV3Axis(pController,axisNo) {};
-  /**
-   * Override getAxisStatus in order to read the special parameter indicating a
-   * slit blade crash at HRPT
-   */
-  asynStatus getAxisStatus(bool *moving);
-
- protected:
-  friend class pmacController;
-  
 };
 
 
-/*
- * Special motors for the AMOR detector movement. The whole
- * command set is different but on a pmac controller. This implements
- * a coordinated movement of cox, coz and ftz in order not to break
- * the flight tube which may have been mounted. This is mapped to three
- * motors selected via the function code: com, the detector omega, coz, 
- * the detector z offset and park, for parking the flightpath.
- */
-
-#define ADCOM 1
-#define ADCOZ 2
-#define ADPARK 3
-
-class AmorDetectorAxis: public pmacAxis {
-public:
-  AmorDetectorAxis(pmacController *pController, int axisNo, int function);
-
-  asynStatus move(double position, int relative, double min_velocity,
-                  double max_velocity, double acceleration);
-  asynStatus poll(bool *moving);
-  asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
-  asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
-  asynStatus stop(double acceleration);
-  asynStatus setPosition(double position);
-
-protected:
-  int _function;
-  int det_starting;
-  time_t det_startTime;
-};
-
-/*----------------------------------------------------------------------------------------------*/
-
-
-class GirderAxis: public pmacV3Axis {
-  public:
-    GirderAxis(pmacController *pController, int axisNo);
-    asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
-    asynStatus stop(double acceleration);
-    asynStatus poll(bool *moving);
-
-  protected:
-    int IsEnable;
-
-  friend class pmacController;
-  friend class pmacV3Controller;
-};
-
 #endif /* pmacAxis_H */

sinqEPICSApp/src/pmacController.h

@@ -7,27 +7,23 @@
  *  Matthew Pearson
  *  23 May 2012
  * 
- *
- * Modified to use the MsgTxt field for SINQ
- *
- * Mark Koennecke, January 2019
  ********************************************/
 
 #ifndef pmacController_H
 #define pmacController_H
 
-#include "SINQController.h"
+#include "asynMotorController.h"
 #include "asynMotorAxis.h"
 #include "pmacAxis.h"
 
 #define PMAC_C_GlobalStatusString "PMAC_C_GLOBALSTATUS"
 #define PMAC_C_CommsErrorString "PMAC_C_COMMSERROR"
 
-class pmacController : public SINQController {
+class pmacController : public asynMotorController {
 
  public:
- pmacController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress, int numAxes, double movingPollPeriod, 
-		 double idlePollPeriod, const int& extraParams=2);
+  pmacController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress, int numAxes, double movingPollPeriod, 
+		 double idlePollPeriod);
 
   virtual ~pmacController();
 
@@ -41,6 +37,7 @@ class pmacController : public SINQController {
   pmacAxis* getAxis(int axisNo);
   asynStatus poll();
 
+
  protected:
   pmacAxis **pAxes_;       /**< Array of pointers to axis objects */
 
@@ -48,13 +45,13 @@ class pmacController : public SINQController {
   int PMAC_C_GlobalStatus_;
   int PMAC_C_CommsError_;
   #define LAST_PMAC_PARAM PMAC_C_CommsError__
-  void debugFlow(const char *message);
-  asynStatus lowLevelWriteRead(int axisNo, const char *command, char *response);
 
  private:
   asynUser* lowLevelPortUser_;
   epicsUInt32 debugFlag_;
+  asynStatus lowLevelWriteRead(const char *command, char *response);
   int lowLevelPortConnect(const char *port, int addr, asynUser **ppasynUser, char *inputEos, char *outputEos);
+  void debugFlow(const char *message);
 
   //static class data members
 
@@ -135,64 +132,9 @@ class pmacController : public SINQController {
   static const epicsUInt32 PMAX_AXIS_GENERAL_PROB2;
 
   friend class pmacAxis;
-  friend class pmacHRPTAxis;
-  friend class SeleneAxis;
-  friend class LiftAxis;
-  friend class pmacV3Axis;
-  friend class GirderAxis;
-  friend class AmorDetectorAxis;
+
 };
 
 #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);
-  
-  ~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_;
-    
-};
-
-#define EnableAxisString "ENABLE_AXIS"
-#define AxisEnabledString "AXIS_ENABLED"
-#define ReReadEncoderPositionString "REREAD_ENCODER_POSITION"
-#define ReReadEncoderPositionString_RBV "REREAD_ENCODER_POSITION_RBV"
-
-class pmacV3Controller : public pmacController {
-public:
-  pmacV3Controller(const char *portName, const char *lowLevelPortName,
-                 int lowLevelPortAddress, int numAxes, double movingPollPeriod,
-                 double idlePollPeriod, const int &extraParams = 4);
-
-  // overloaded because we want to enable/disable the motor
-  asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
-
-  // overloaded because we want to read the axis state
-  asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
-  
-  friend class pmacV3Axis;
-  friend class pmacAxis;
-  friend class GirderAxis;
-
-protected:
-  pmacV3Axis **pAxes_;       /**< Array of pointers to axis objects */
-
-  int enableAxis_;
-  int axisEnabled_;
-  int rereadEncoderPosition_;
-  int rereadEncoderPositionRBV_;
-};
-
 #endif /* pmacController_H */

sinqEPICSApp/src/pollerRegister.cpp

@@ -1,96 +0,0 @@
-#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

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

sinqEPICSApp/src/sinq.dbd

@@ -2,25 +2,21 @@
 # SINQ specific DB definitions
 #---------------------------------------------
 registrar(EL734Register) 
-registrar(PhytronRegister) 
-registrar(EuroMoveRegister) 
 registrar(NanotecRegister) 
-registrar(pmacControllerRegister) 
-registrar(pmacAsynIPPortRegister) 
-registrar(MasterMACSRegister) 
-registrar(SINQControllerRegister) 
-
-#--------------------------------------------------------
-# 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"
+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"
 
+include "synAppsStd.dbd"
 device(scaler,INST_IO,devScalerEL737,"asynScalerEL737")
 
-#--------- For lakeshore and magnets
-#include "/ioc/modules/stream/2.7.9/R3.14.12/dbd/stream.dbd"
-#include "busy.dbd"
+#--------- 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"

testEuroMoveUsb.py

@@ -1,88 +0,0 @@
-#!/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)

testel734/db/basic_asyn_motor.db

@@ -1,23 +0,0 @@
-record(motor,"$(P)$(M)")
-{
-	field(DESC,"$(DESC)")
-	field(DTYP,"$(DTYP)")
-	field(DIR,"$(DIR)")
-	field(VELO,"$(VELO)")
-	field(VBAS,"$(VBAS)")
-	field(ACCL,"$(ACCL)")
-	field(BDST,"$(BDST)")
-	field(BVEL,"$(BVEL)")
-	field(BACC,"$(BACC)")
-	field(OUT,"@asyn($(PORT),$(ADDR))")
-	field(MRES,"$(MRES)")
-	field(PREC,"$(PREC)")
-	field(EGU,"$(EGU)")
-	field(DHLM,"$(DHLM)")
-	field(DLLM,"$(DLLM)")
-	field(INIT,"$(INIT)")
-	field(TWV,"1")
-        field(RDBD,"$(RDBD)")
-        field(RTRY,"0")
-}
-

testel734/db/basic_motor.db

@@ -1,21 +0,0 @@
-grecord(motor,"$(P)$(M)")
-{
-	field(DESC,"$(DESC)")
-	field(DTYP,"$(DTYP)")
-	field(DIR,"$(DIR)")
-	field(VELO,"$(VELO)")
-	field(VBAS,"$(VBAS)")
-	field(ACCL,"$(ACCL)")
-	field(BDST,"$(BDST)")
-	field(BVEL,"$(BVEL)")
-	field(BACC,"$(BACC)")
-	field(OUT,"#C$(C) S$(S) @")
-	field(MRES,"$(MRES)")
-	field(PREC,"$(PREC)")
-	field(EGU,"$(EGU)")
-	field(DHLM,"$(DHLM)")
-	field(DLLM,"$(DLLM)")
-	field(INIT,"$(INIT)")
-	field(TWV,"1")
-}
-

testel734/db/motorMessage.db

@@ -1,18 +0,0 @@
-
-# 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")
-}
-
-record(ao,"$(P)m$(N)-Resolution"){
-	field(DESC,"m$(N) Resolution")
-        field(DOL,"$(P)m$(N).MRES CP MS")
-	field(OMSL,"closed_loop")
-	field(DTYP,"asynFloat64")
-	field(OUT,"@asyn($(PORT),$(N))MOTOR_RESOLUTION")
-	field(PREC,"3")
-}

testel734/db/sinq_asyn_motor.db

@@ -1,48 +0,0 @@
-record(motor,"$(P)$(M)")
-{
-	field(DESC,"$(DESC)")
-	field(DTYP,"$(DTYP)")
-	field(DIR,"$(DIR)")
-	field(VELO,"$(VELO)")
-	field(VMAX,"$(VMAX=$(VELO))")
-	field(VBAS,"$(VBAS)")
-	field(ACCL,"$(ACCL)")
-	field(BDST,"$(BDST)")
-	field(BVEL,"$(BVEL)")
-	field(BACC,"$(BACC)")
-	field(OUT,"@asyn($(PORT),$(ADDR))")
-	field(MRES,"$(MRES)")
-	field(PREC,"$(PREC)")
-	field(EGU,"$(EGU)")
-	field(DHLM,"$(DHLM)")
-	field(DLLM,"$(DLLM)")
-	field(INIT,"$(INIT)")
-	field(TWV,"1")
-	field(RDBD,"$(RDBD)")
-}
-
-
-# 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")
-}
-
-# enable axis
-record(longout, "$(P)$(M):Enable") {
-    field(DTYP, "asynInt32")
-    field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
-    field(PINI, "YES")
-}
-
-# enable axis
-record(longin, "$(P)$(M):Enable_RBV") {
-    field(DTYP, "asynInt32")
-    field(INP, "@asyn($(PORT),$(N),1) AXIS_ENABLED")
-    field(PINI, "YES")
-    field(SCAN, "1 second")
-}
-

testel734/mota.sub

@@ -1,13 +0,0 @@
-file "$(TOP)/db/basic_asyn_motor.db"
-{
-pattern
-{P,        N,     M,       DTYP,     PORT, ADDR,  DESC,     EGU,   DIR,   VELO,   VBAS, ACCL, BDST, BVEL, BACC,    MRES, PREC, DLLM, DHLM, INIT}
-{KM36:mota:, 2, "m$(N)", "asynMotor",  mota,  2, "sgl",   degree,   Pos,    2.0,   0.1,  .2,    0,    1,   .2,    1.,    3, -20.0, 20.0, ""}
-}
-
-file "$(TOP)/db/motorMessage.db"
-{
-pattern
-{P,N, M,PORT}
-{KM36:mota:, 2, "m$(N)",mota}
-}

testel734/motaspeed.sub

@@ -1,12 +0,0 @@
-file "$(TOP)/db/sinq_asyn_motor.db"
-{
-pattern
-{P,        N,     M,       DTYP,     PORT, ADDR,  DESC,     EGU,   DIR,   VELO,   VBAS, ACCL, BDST, BVEL, BACC,    MRES, PREC, DLLM, DHLM, INIT, RDBD}
-{KM36:mota:,2,"m$(N)","asynMotor",   mota,    2, "sgl",  degree,   Pos,    100,    0.1,   .2,    0,    1,   .2,      1.,    3,-180.0,360.0,"", 0.2}}
-
-file "$(TOP)/db/motorMessage.db"
-{
-pattern
-{P,N, M,PORT}
-{KM36:mota:, 2, "m$(N)",mota}
-}

testel734/testel734.cmd

@@ -1,12 +0,0 @@
-#!/usr/local/bin/iocsh
-
-require sinq,koennecke
-
-epicsEnvSet("TOP","/afs/psi.ch/project/sinqdev/sinqepicsapp/testel734")
-
-drvAsynIPPortConfigure("serial1", "localhost:61000",0,0,0)
-EL734CreateController("mota","serial1",3)
-
-#dbLoadTemplate "mota.sub"
-dbLoadTemplate "motaspeed.sub"
-

testel737.cmd

@@ -1,11 +0,0 @@
-#!/usr/local/bin/iocsh
-
-require sinq,koennecke
-
-epicsEnvSet("TOP","/afs/psi.ch/project/sinqdev/sinqepicsapp")
-
-#--------- load EL737 counter box
-drvAsynIPPortConfigure("cter1","localhost:62000",0,0,0)
-dbLoadRecords("$(TOP)/db/asynRecord.db","P=KM36:,R=cter1,PORT=cter1,ADDR=0,OMAX=80,IMAX=80")
-dbLoadRecords("${TOP}/db/el737Record.db","P=KM36:counter,PORT=cter1,DESC=SANSCounter")
-

testhuber/db/asynRecord.db

@@ -1,9 +0,0 @@
-record(asyn,"$(P)$(R)")
-{
-    field(DTYP,"asynRecordDevice")
-    field(PORT,"$(PORT)")
-    field(ADDR,"$(ADDR)")
-    field(OMAX,"$(OMAX)")
-    field(IMAX,"$(IMAX)")
-}
-

testhuber/db/basic_asyn_motor.db

@@ -1,23 +0,0 @@
-record(motor,"$(P)$(M)")
-{
-	field(DESC,"$(DESC)")
-	field(DTYP,"$(DTYP)")
-	field(DIR,"$(DIR)")
-	field(VELO,"$(VELO)")
-	field(VBAS,"$(VBAS)")
-	field(ACCL,"$(ACCL)")
-	field(BDST,"$(BDST)")
-	field(BVEL,"$(BVEL)")
-	field(BACC,"$(BACC)")
-	field(OUT,"@asyn($(PORT),$(ADDR))")
-	field(MRES,"$(MRES)")
-	field(PREC,"$(PREC)")
-	field(EGU,"$(EGU)")
-	field(DHLM,"$(DHLM)")
-	field(DLLM,"$(DLLM)")
-	field(INIT,"$(INIT)")
-	field(TWV,"1")
-        field(RDBD,"$(RDBD)")
-        field(RTRY,"0")
-}
-

testhuber/db/basic_motor.db

@@ -1,21 +0,0 @@
-grecord(motor,"$(P)$(M)")
-{
-	field(DESC,"$(DESC)")
-	field(DTYP,"$(DTYP)")
-	field(DIR,"$(DIR)")
-	field(VELO,"$(VELO)")
-	field(VBAS,"$(VBAS)")
-	field(ACCL,"$(ACCL)")
-	field(BDST,"$(BDST)")
-	field(BVEL,"$(BVEL)")
-	field(BACC,"$(BACC)")
-	field(OUT,"#C$(C) S$(S) @")
-	field(MRES,"$(MRES)")
-	field(PREC,"$(PREC)")
-	field(EGU,"$(EGU)")
-	field(DHLM,"$(DHLM)")
-	field(DLLM,"$(DLLM)")
-	field(INIT,"$(INIT)")
-	field(TWV,"1")
-}
-

testhuber/db/motorMessage.db

@@ -1,18 +0,0 @@
-
-# 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")
-}
-
-record(ao,"$(P)m$(N)-Resolution"){
-	field(DESC,"m$(N) Resolution")
-        field(DOL,"$(P)m$(N).MRES CP MS")
-	field(OMSL,"closed_loop")
-	field(DTYP,"asynFloat64")
-	field(OUT,"@asyn($(PORT),$(N))MOTOR_RESOLUTION")
-	field(PREC,"3")
-}

testhuber/db/pmacV3.db

@@ -1,14 +0,0 @@
-# enable axis
-record(longout, "$(P)$(M):Enable") {
-    field(DTYP, "asynInt32")
-    field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
-    field(PINI, "YES")
-}
-
-# enable axis
-record(longin, "$(P)$(M):Enable_RBV") {
-    field(DTYP, "asynInt32")
-    field(INP, "@asyn($(PORT),$(N),1) AXIS_ENABLED")
-    field(PINI, "YES")
-    field(SCAN, "1 second")
-}

testhuber/db/sinq_asyn_motor.db

@@ -1,47 +0,0 @@
-record(motor,"$(P)$(M)")
-{
-	field(DESC,"$(DESC)")
-	field(DTYP,"$(DTYP)")
-	field(DIR,"$(DIR)")
-	field(VELO,"$(VELO)")
-	field(VBAS,"$(VBAS)")
-	field(ACCL,"$(ACCL)")
-	field(BDST,"$(BDST)")
-	field(BVEL,"$(BVEL)")
-	field(BACC,"$(BACC)")
-	field(OUT,"@asyn($(PORT),$(ADDR))")
-	field(MRES,"$(MRES)")
-	field(PREC,"$(PREC)")
-	field(EGU,"$(EGU)")
-	field(DHLM,"$(DHLM)")
-	field(DLLM,"$(DLLM)")
-	field(INIT,"$(INIT)")
-	field(TWV,"1")
-	field(RDBD,"$(RDBD)")
-}
-
-
-# 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")
-}
-
-# enable axis
-record(longout, "$(P)$(M):Enable") {
-    field(DTYP, "asynInt32")
-    field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
-    field(PINI, "YES")
-}
-
-# enable axis
-record(longin, "$(P)$(M):Enable_RBV") {
-    field(DTYP, "asynInt32")
-    field(INP, "@asyn($(PORT),$(N),1) AXIS_ENABLED")
-    field(PINI, "YES")
-    field(SCAN, "5 second")
-}
-

testhuber/huber.cmd

@@ -1,33 +0,0 @@
-#!/ioc/tools/iocsh
-
-require motorHuber,brambilla_m
-
-# epicsEnvSet("TOP","/ioc/sinq-ioc/boa-ioc")
-
-epicsEnvSet("TOP","/afs/psi.ch/project/sinqdev/sinqepicsapp/testhuber")
-
-epicsEnvSet("STREAM_PROTOCOL_PATH","./db")
-epicsEnvSet("MOTOR",".")
-
-# require autosave, koennecke
-
-# Configure IP Port
-drvAsynIPPortConfigure("Huber1", "129.129.195.128:1234",0,0,0)
-
-# Configure Controller
-asynOctetSetInputEos( "Huber1", -1, "\r")
-asynOctetSetOutputEos("Huber1", -1, "\r")
-
-SMC9300CreateController("SMC1", "Huber1", 5, 50, 2000)
-
-dbLoadTemplate "motor.substitutions.smc9300"
-
-dbLoadRecords("$(TOP)/db/asynRecord.db","P=SQ:BOA:optics:,R=mcu,PORT=Huber1,ADDR=0,OMAX=80,IMAX=80")
-
-
-#--------------------------------- restore autosave
-#set_requestfile_path("$(TOP)", "")
-#set_savefile_path("$(TOP)/autosave")
-#save_restoreSet_Debug(0)
-#set_pass0_restoreFile("$(TOP)/autosave/huber.sav","")
-#set_pass1_restoreFile("$(TOP)/autosave/huber.sav","")

testhuber/motor.substitutions.smc9300

@@ -1,19 +0,0 @@
-file "$(MOTOR)/db/basic_asyn_motor.db"
-{
-pattern
-{P,             N,   M,      DTYP,         PORT,  ADDR,DESC,           EGU,   DIR,   VELO,  VBAS, ACCL, BDST, BVEL, BACC,    MRES, PREC,   DHLM, DLLM, RDBD, INIT}
-{SQ:BOA:optics:, 1, "trans1","asynMotor", SMC1,   1,   "translation 1",mm,    Pos,    200,   10,  20,    0,    1,   .2,    0.0001,    4,   150,  -150, 0.1,   ""}
-{SQ:BOA:optics:, 2, "lift1", "asynMotor", SMC1,   2,   "lift 1",       mm,    Pos,    200,   10,  80,    0,    1,   .2,    0.0001,    4,   100, 0,    0.1,   ""}
-{SQ:BOA:optics:, 3, "trans2","asynMotor", SMC1,   3,   "translation 2",mm,    Pos,    200,   10,  80,    0,    1,   .2,    0.0001,    4,   150, -150, 0.1,   ""}
-{SQ:BOA:optics:, 4, "lift2", "asynMotor", SMC1,   4,   "lift 2"       ,mm,    Pos,    200,   10,  80,    0,    1,   .2,    0.0001,    4,   100, 0,    0.1, ""}
-}
-
-file "$(TOP)/db/motorMessage.db"
-{
-pattern
-{P,N, M,PORT}
-{SQ:BOA:optics:, 1, "trans1", SMC1} 
-{SQ:BOA:optics:, 2, "lift1", SMC1} 
-{SQ:BOA:optics:, 3, "trans2", SMC1} 
-{SQ:BOA:optics:, 4, "lift2", SMC1} 
-}

testmmac/db/asynRecord.db

@@ -1,9 +0,0 @@
-record(asyn,"$(P)$(R)")
-{
-    field(DTYP,"asynRecordDevice")
-    field(PORT,"$(PORT)")
-    field(ADDR,"$(ADDR)")
-    field(OMAX,"$(OMAX)")
-    field(IMAX,"$(IMAX)")
-}
-

testmmac/db/basic_asyn_motor.db

@@ -1,23 +0,0 @@
-record(motor,"$(P)$(M)")
-{
-	field(DESC,"$(DESC)")
-	field(DTYP,"$(DTYP)")
-	field(DIR,"$(DIR)")
-	field(VELO,"$(VELO)")
-	field(VBAS,"$(VBAS)")
-	field(ACCL,"$(ACCL)")
-	field(BDST,"$(BDST)")
-	field(BVEL,"$(BVEL)")
-	field(BACC,"$(BACC)")
-	field(OUT,"@asyn($(PORT),$(ADDR))")
-	field(MRES,"$(MRES)")
-	field(PREC,"$(PREC)")
-	field(EGU,"$(EGU)")
-	field(DHLM,"$(DHLM)")
-	field(DLLM,"$(DLLM)")
-	field(INIT,"$(INIT)")
-	field(TWV,"1")
-        field(RDBD,"$(RDBD)")
-        field(RTRY,"0")
-}
-

testmmac/db/basic_motor.db

@@ -1,21 +0,0 @@
-grecord(motor,"$(P)$(M)")
-{
-	field(DESC,"$(DESC)")
-	field(DTYP,"$(DTYP)")
-	field(DIR,"$(DIR)")
-	field(VELO,"$(VELO)")
-	field(VBAS,"$(VBAS)")
-	field(ACCL,"$(ACCL)")
-	field(BDST,"$(BDST)")
-	field(BVEL,"$(BVEL)")
-	field(BACC,"$(BACC)")
-	field(OUT,"#C$(C) S$(S) @")
-	field(MRES,"$(MRES)")
-	field(PREC,"$(PREC)")
-	field(EGU,"$(EGU)")
-	field(DHLM,"$(DHLM)")
-	field(DLLM,"$(DLLM)")
-	field(INIT,"$(INIT)")
-	field(TWV,"1")
-}
-

testmmac/db/motorMessage.db

@@ -1,18 +0,0 @@
-
-# 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")
-}
-
-record(ao,"$(P)m$(N)-Resolution"){
-	field(DESC,"m$(N) Resolution")
-        field(DOL,"$(P)m$(N).MRES CP MS")
-	field(OMSL,"closed_loop")
-	field(DTYP,"asynFloat64")
-	field(OUT,"@asyn($(PORT),$(N))MOTOR_RESOLUTION")
-	field(PREC,"3")
-}

testmmac/db/pmacV3.db

@@ -1,14 +0,0 @@
-# enable axis
-record(longout, "$(P)$(M):Enable") {
-    field(DTYP, "asynInt32")
-    field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
-    field(PINI, "YES")
-}
-
-# enable axis
-record(longin, "$(P)$(M):Enable_RBV") {
-    field(DTYP, "asynInt32")
-    field(INP, "@asyn($(PORT),$(N),1) AXIS_ENABLED")
-    field(PINI, "YES")
-    field(SCAN, "1 second")
-}

testmmac/db/sinq_asyn_motor.db

@@ -1,47 +0,0 @@
-record(motor,"$(P)$(M)")
-{
-	field(DESC,"$(DESC)")
-	field(DTYP,"$(DTYP)")
-	field(DIR,"$(DIR)")
-	field(VELO,"$(VELO)")
-	field(VBAS,"$(VBAS)")
-	field(ACCL,"$(ACCL)")
-	field(BDST,"$(BDST)")
-	field(BVEL,"$(BVEL)")
-	field(BACC,"$(BACC)")
-	field(OUT,"@asyn($(PORT),$(ADDR))")
-	field(MRES,"$(MRES)")
-	field(PREC,"$(PREC)")
-	field(EGU,"$(EGU)")
-	field(DHLM,"$(DHLM)")
-	field(DLLM,"$(DLLM)")
-	field(INIT,"$(INIT)")
-	field(TWV,"1")
-	field(RDBD,"$(RDBD)")
-}
-
-
-# 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")
-}
-
-# enable axis
-record(longout, "$(P)$(M):Enable") {
-    field(DTYP, "asynInt32")
-    field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
-    field(PINI, "YES")
-}
-
-# enable axis
-record(longin, "$(P)$(M):Enable_RBV") {
-    field(DTYP, "asynInt32")
-    field(INP, "@asyn($(PORT),$(N),1) AXIS_ENABLED")
-    field(PINI, "YES")
-    field(SCAN, "5 second")
-}
-

testmmac/mmacs.sub

@@ -1,15 +0,0 @@
-file "$(TOP)/db/basic_asyn_motor.db"
-{
-pattern
-{P,        N,     M,       DTYP,     PORT, ADDR,  DESC,     EGU,   DIR,   VELO,   VBAS, ACCL, BDST, BVEL, BACC,    MRES, PREC, DLLM, DHLM, INIT}
-{KM36:mota:, 5, "m$(N)", "asynMotor",  mota,  5, "m5",   degree,   Pos,    2.0,   0.1,  .2,    0,    1,   .2,    1.,    3, -20.0, 20.0, ""}
-{KM36:mota:, 6, "m$(N)", "asynMotor",  mota,  6, "m6",   degree,   Pos,    2.0,   0.1,  .2,    0,    1,   .2,    1.,    3, -20.0, 20.0, ""}
-}
-
-file "$(TOP)/db/motorMessage.db"
-{
-pattern
-{P,N, M,PORT}
-{KM36:mota:, 5, "m$(N)",mota}
-{KM36:mota:, 6, "m$(N)",mota}
-}

testmmac/mmacs2.sub

@@ -1,8 +0,0 @@
-file "$(TOP)/db/sinq_asyn_motor.db"
-{
-pattern
-{P,        N,     M,       DTYP,     PORT, ADDR,  DESC,     EGU,   DIR,   VELO,   VBAS, ACCL, BDST, BVEL, BACC,    MRES, PREC, DLLM,       DHLM,      RDBD, INIT}
-{KM36:mota:,5,"m$(N)","asynMotor",   mota,    5,  "m5",  degree,   Pos,    2.0,    0.1,   .2,    0,    1,   .2,    .001,    3,-400000.000,400000.000,.01,    ""}
-{KM36:mota:,6,"m$(N)","asynMotor",   mota,    6,  "m6",  degree,   Pos,    2.0,    0.1,   .2,    0,    1,   .2,    .001,    3,-200000.000,200000.000,.01,    ""}
-}
-

testmmac/mota.sub

@@ -1,13 +0,0 @@
-file "$(TOP)/db/basic_asyn_motor.db"
-{
-pattern
-{P,        N,     M,       DTYP,     PORT, ADDR,  DESC,     EGU,   DIR,   VELO,   VBAS, ACCL, BDST, BVEL, BACC,    MRES, PREC, DLLM, DHLM, INIT}
-{KM36:mota:, 2, "m$(N)", "asynMotor",  mota,  2, "sgl",   degree,   Pos,    2.0,   0.1,  .2,    0,    1,   .2,    1.,    3, -20.0, 20.0, ""}
-}
-
-file "$(TOP)/db/motorMessage.db"
-{
-pattern
-{P,N, M,PORT}
-{KM36:mota:, 2, "m$(N)",mota}
-}

testmmac/motaspeed.sub

@@ -1,12 +0,0 @@
-file "$(TOP)/db/sinq_asyn_motor.db"
-{
-pattern
-{P,        N,     M,       DTYP,     PORT, ADDR,  DESC,     EGU,   DIR,   VELO,   VBAS, ACCL, BDST, BVEL, BACC,    MRES, PREC, DLLM, DHLM, INIT, RDBD}
-{KM36:mota:,2,"m$(N)","asynMotor",   mota,    2, "sgl",  degree,   Pos,    100,    0.1,   .2,    0,    1,   .2,      1.,    3,-180.0,360.0,"", 0.2}}
-
-file "$(TOP)/db/motorMessage.db"
-{
-pattern
-{P,N, M,PORT}
-{KM36:mota:, 2, "m$(N)",mota}
-}

testmmac/testmmacs.cmd

@@ -1,35 +0,0 @@
-#!/usr/local/bin/iocsh  
-
-require sinq,koennecke
-require autosave,koennecke
-
-epicsEnvSet("TOP","/afs/psi.ch/project/sinqdev/sinqepicsapp/testmmac")
-
-set_requestfile_path("$(TOP)", "")
-set_savefile_path("$(TOP)/autosave") 
-save_restoreSet_Debug(0)
-#--------------------------------- restore autosave
-set_pass0_restoreFile("$(TOP)/autosave/test.sav","")
-set_pass1_restoreFile("$(TOP)/autosave/test.sav","")
-
-
-#drvAsynMMACSPortConfigure("macs1", "localhost:8080",0,0,0)
-#asynInterposeEosConfig("macs1", 0, 0, 0) 
-#dbLoadRecords("$(TOP)/db/asynRecord.db","P=KM36:,R=macs1,PORT=macs1,ADDR=0,OMAX=80,IMAX=80")
-#asynSetTraceMask("macs1", 0, 255)
-
-#asynSetTraceMask("macs1", 0, 255)
-#drvAsynIPPortConfigure("macs1", "localhost:8080",0,0,0)
-drvAsynIPPortConfigure("macs1", "Marcel1--MACS:1917")
-MasterMACSCreateController("mota","macs1",7, 500, 10000)
-MasterMACSCreateAxis("mota",5)
-MasterMACSCreateAxis("mota",6)
-
-dbLoadTemplate "mmacs2.sub"
-
-iocInit()
-setMovingPollPeriod("mota", .5)
-setIdlePollPeriod("mota", 10. )
-
-create_monitor_set("test.req", 10, "")
-

testpmacV3/db/asynRecord.db

@@ -1,9 +0,0 @@
-record(asyn,"$(P)$(R)")
-{
-    field(DTYP,"asynRecordDevice")
-    field(PORT,"$(PORT)")
-    field(ADDR,"$(ADDR)")
-    field(OMAX,"$(OMAX)")
-    field(IMAX,"$(IMAX)")
-}
-

testpmacV3/db/basic_asyn_motor.db

@@ -1,22 +0,0 @@
-record(motor,"$(P)$(M)")
-{
-	field(DESC,"$(DESC)")
-	field(DTYP,"$(DTYP)")
-	field(DIR,"$(DIR)")
-	field(VELO,"$(VELO)")
-	field(VBAS,"$(VBAS)")
-	field(ACCL,"$(ACCL)")
-	field(BDST,"$(BDST)")
-	field(BVEL,"$(BVEL)")
-	field(BACC,"$(BACC)")
-	field(OUT,"@asyn($(PORT),$(ADDR))")
-	field(MRES,"$(MRES)")
-	field(PREC,"$(PREC)")
-	field(EGU,"$(EGU)")
-	field(DHLM,"$(DHLM)")
-	field(DLLM,"$(DLLM)")
-	field(INIT,"$(INIT)")
-	field(TWV,"1")
-	field(RTRY,"0")
-}
-

testpmacV3/db/motorMessage.db

@@ -1,9 +0,0 @@
-
-# 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")
-}

testpmacV3/db/pmacV3.db

@@ -1,14 +0,0 @@
-# enable axis
-record(longout, "$(P)$(M):Enable") {
-    field(DTYP, "asynInt32")
-    field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
-    field(PINI, "YES")
-}
-
-# enable axis
-record(longin, "$(P)$(M):Enable_RBV") {
-    field(DTYP, "asynInt32")
-    field(INP, "@asyn($(PORT),$(N),1) AXIS_ENABLED")
-    field(PINI, "YES")
-    field(SCAN, "1 second")
-}

testpmacV3/mcu.substitutions

@@ -1,27 +0,0 @@
-file "$(TOP)/db/basic_asyn_motor.db"
-{
-pattern
-{P,            N,    M,   DTYP,         PORT, ADDR, DESC,   EGU,      DIR,   VELO,  VBAS, ACCL, BDST, BVEL, BACC,   MRES, PREC, DHLM, DLLM,     INIT}
-{SQ:TEST:mcu:, 2, "m$(N)", "asynMotor",  mcu, 2,    "m$(N)",  degrees,  Pos,    2.0,   0.1,  .2,    0,    1,   .2,    .001,    3, 358., 2.,     ""}
-{SQ:TEST:mcu:, 6, "m$(N)", "asynMotor",  mcu, 6,    "m$(N)",  degrees,  Pos,    2.0,   0.1,  .2,    0,    1,   .2,    .001,    3, 358., 2.,     ""}
-{SQ:TEST:mcu:,10, "m$(N)", "asynMotor",  mcu,10,    "m$(N)",  degrees,  Pos,    2.0,   0.1,  .2,    0,    1,   .2,    .001,    3, 358., 2.,     ""}
-}
-
-file "$(TOP)/db/motorMessage.db"
-{
-pattern
-{P,N, M,PORT}
-{SQ:TEST:mcu:, 2, "m$(N)", mcu} 
-{SQ:TEST:mcu:, 6, "m$(N)", mcu} 
-{SQ:TEST:mcu:,10, "m$(N)", mcu} 
-}
-
-file "$(TOP)/db/pmacV3.db"
-{
-pattern
-{P,N, M,PORT}
-{SQ:TEST:mcu:, 2, "m$(N)", mcu} 
-{SQ:TEST:mcu:, 6, "m$(N)", mcu} 
-{SQ:TEST:mcu:,10, "m$(N)", mcu} 
-}
-

testpmacV3/st.cmd

@@ -1,25 +0,0 @@
-#!/ioc/tools/iocsh
-
-require sinq,brambilla_m
-#require sinq,koennecke
-
-epicsEnvSet("TOP","/afs/psi.ch/project/sinqdev/sinqepicsapp/testpmacV3")
-
-epicsEnvSet("EPICS_CA_ADDR_LIST","127.0.0.1")
-
-epicsEnvSet("STREAM_PROTOCOL_PATH","$(TOP)/db")
-
-
-var streamDebug 3
-
-# motors
-
-pmacAsynIPConfigure("pmacV3", "129.129.138.234:1025")
-pmacV3CreateController("mcu","pmacV3",0,16,50,1000);
-pmacV3CreateAxis("mcu",2,0);
-pmacV3CreateAxis("mcu",6,0);
-pmacV3CreateAxis("mcu",10,0);
-dbLoadTemplate "$(TOP)/mcu.substitutions"
-dbLoadRecords("$(TOP)/db/asynRecord.db","P=SQ:TEST:,R=mcu,PORT=pmacV3,ADDR=0,OMAX=80,IMAX=80")
-
-iocInit

utils/convertsub.py

@@ -1,56 +0,0 @@
-#!/usr/bin/python
-"""
-This is a little program which generates soft motor initialisation lines and iocsh morsels
-from a motor substitutions file. 
-
-Mark Koennecke, December 2019 
-"""
-import sys
-import pdb
-import os
-
-if len(sys.argv) < 2:
-    print('Usage:\n\tconvertsub XXXX.substitutions')
-    sys.exit(1)
-
-subLen = 0
-motors = []
-port = None
-
-with open(sys.argv[1],'r') as fin:
-    line = fin.readline()
-    while line:
-        line = line.replace(' ','')
-        line = line.strip('{}')
-        l = line.split(',')
-        if line.find('DHLM') > 0:  # that is the index discovery line
-            lowlimidx = l.index('DLLM')
-            highlimidx = l.index('DHLM')
-            mresidx = l.index('MRES')
-            addridx = l.index('ADDR')
-            prefix = l[0]
-            subLen = len(l)
-            portIdx = l.index('PORT')
-        elif subLen > 0:
-            l = line.split(',')
-            if subLen == len(l):
-                motors.append((l[addridx],l[mresidx],l[lowlimidx],l[highlimidx]))
-                port = l[portIdx]
-        else:
-            pass
-        line = fin.readline()
-
-print('%d motors found' % len(motors))
-
-fname = os.path.splitext(sys.argv[1])[0] + '.cmd'
-
-out = open(fname,'w')
-out.write('motorSimCreateController(\"%s\",%d)\n' % (port, len(motors)+2))
-for mot in motors:
-    mres = float(mot[1])
-    highlim = int(float(mot[3])/mres)
-    lowlim = int(float(mot[2])/mres)
-    out.write('motorSimConfigAxis(\"%s\",%s,%d,%d,0,0)\n' %(port,mot[0],highlim,lowlim))
-out.write('dbLoadTemplate(\"$(TOP)/%s\")\n' % (sys.argv[1])) 
-out.close()
-print(fname + ' written')

utils/deltatau.py

@@ -1,177 +0,0 @@
-#!/usr/bin/env python3
-"""
-  This is some code for communicating with a Delta-Tau PMAC motor 
-  controller as used at SINQ from python. Python 3 is assumed and 
-  tested. We use the ethernet protocol of the Pmac. This code benefits 
-  from the SICS driver for Pmac which in turn benefits from the driver 
-  written by Pete Leicester at Diamond.
-
-
-  Usage: python36 deltatau.py  pmachost:port command
-         Then returns the response for command. 
-
-  Mark Koennecke, October 2019
-"""
-
-import struct
-import socket
-import curses
-
-def packPmacCommand(command):
-    # 0x40 = VR_DOWNLOAD 
-    # 0xBF = VR_PMAC_GETRESPONSE
-    buf = struct.pack('BBHHH',0x40,0xBF,0,0,socket.htons(len(command)))
-    buf = buf + bytes(command,'utf-8')
-    return buf
-
-def readPmacReply(input):
-    msg = bytearray()
-    expectAck = True
-    while True:
-        b = input.recv(1)
-        bint = int.from_bytes(b,byteorder='little')
-        if bint == 2 or bint == 7: #STX or BELL
-            expectAck = False
-            continue
-        if expectAck and bint == 6: # ACK
-            return bytes(msg)
-        else:
-            if bint == 13 and not expectAck: # CR
-                return bytes(msg)
-            else:
-                msg.append(bint)
-
-if __name__ == "__main__":
-    from sys import argv
-
-    try:
-
-        addr = argv[1].split(':')
-        s = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
-        s.connect((addr[0],int(addr[1])))
-
-        if len(argv) == 3:
-            buf = packPmacCommand(argv[2])
-            s.send(buf)
-            reply = readPmacReply(s)
-            print(reply.decode('utf-8') + '\n')
-
-        else:
-
-            try:
-
-                stdscr = curses.initscr()
-                curses.noecho()
-                curses.cbreak()
-                stdscr.keypad(True)
-
-                stdscr.addstr(">> ")
-                stdscr.refresh()
-
-                history = [""]
-                ptr = len(history) - 1
-
-                while True:
-                    c = stdscr.getch()
-                    if c == curses.KEY_RIGHT:
-                        (y, x) = stdscr.getyx()
-                        if x < len(history[ptr]) + 3:
-                            stdscr.move(y, x+1)
-                            stdscr.refresh()
-                    elif c == curses.KEY_LEFT:
-                        (y, x) = stdscr.getyx()
-                        if x > 3:
-                            stdscr.move(y, x-1)
-                            stdscr.refresh()
-                    elif c == curses.KEY_UP:
-                        if ptr > 0:
-                            ptr -= 1
-                            stdscr.addch("\r")
-                            stdscr.clrtoeol() 
-                            stdscr.addstr(">> " + history[ptr])
-                    elif c == curses.KEY_DOWN:
-                        if ptr < len(history) - 1:
-                            ptr += 1
-                            stdscr.addch("\r")
-                            stdscr.clrtoeol() 
-                            stdscr.addstr(">> " + history[ptr])
-                    elif c == curses.KEY_ENTER or c == ord('\n') or c == ord('\r'):
-                        if history[ptr] == 'quit':
-                            break
-
-                        # because of arrow keys move back to the end of the line
-                        (y, x) = stdscr.getyx()
-                        stdscr.move(y, 3+len(history[ptr]))
-
-                        if history[ptr]:
-                            buf = packPmacCommand(history[ptr])
-                            s.send(buf)
-                            reply = readPmacReply(s)
-                            stdscr.addstr("\n" + reply.decode('utf-8')[0:-1])
-
-                        if ptr == len(history) - 1 and history[ptr] != "":
-                            history += [""]
-                        else:
-                            history[-1] = ""
-                        ptr = len(history) - 1
-
-                        stdscr.addstr("\n>> ")
-                        stdscr.refresh()
-
-                    else:
-                        if ptr < len(history) - 1: # Modifying previous input
-                            if len(history[-1]) == 0:
-                                history[-1] = history[ptr]
-                                ptr = len(history) - 1
-
-                            else:
-                                history += [history[ptr]]
-                                ptr = len(history) - 1
-
-                        if c == curses.KEY_BACKSPACE:
-                            if len(history[ptr]) == 0:
-                                continue
-                            (y, x) = stdscr.getyx()
-                            history[ptr] = history[ptr][0:x-4] + history[ptr][x-3:]
-                            stdscr.addch("\r")
-                            stdscr.clrtoeol() 
-                            stdscr.addstr(">> " + history[ptr])
-                            stdscr.move(y, x-1)
-                            stdscr.refresh()
-
-                        else:
-                            (y, x) = stdscr.getyx()
-                            history[ptr] = history[ptr][0:x-3] + chr(c) + history[ptr][x-3:]
-                            stdscr.addch("\r")
-                            stdscr.clrtoeol() 
-                            stdscr.addstr(">> " + history[ptr])
-                            stdscr.move(y, x+1)
-                            stdscr.refresh()
-
-            finally:
-
-                # to quit
-                curses.nocbreak()
-                stdscr.keypad(False)
-                curses.echo()
-                curses.endwin()
-
-    except:
-        print("""
-        Invalid Arguments
-
-        Option 1: Single Command
-        ------------------------
-
-        Usage: deltatau.py pmachost:port command
-        This then returns the response for command. 
-
-        Option 2: CLI Mode
-        ------------------
-
-        Usage: deltatau.py pmachost:port
-
-        You can then type in a command, hit enter, and the response will see
-        the reponse, before being prompted to again enter a command. Type
-        'quit' to close prompt.
-        """)

utils/macmaster.py

@@ -1,54 +0,0 @@
-#!/usr/bin/env python3
-"""
-  Usage: macmaster.py  macmasterhost port
-    Listen for commands to send and returns reponse
-    until exit has been typed
-
-    Mark Koennecke, March 2023
-"""
-
-import socket
-import struct
-
-
-class MasterMACS():
-    def __init__(self, host, port):
-        self._socke = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-        self._socke.connect((host, int(port)))
-
-    def send(self, command):
-        buf = struct.pack('BBBB', 0x05, len(command) + 4, 0,  0x19)
-        buf += bytes(command, 'utf-8')
-        buf += struct.pack('BB', 0x0D, 0x03)
-        self._socke.send(buf)
-
-    def receive(self):
-        buf = self._socke.recv(35, socket.MSG_WAITALL)
-        if len(buf) < 35:
-            raise  EOFException('Master MACS returned only %d bytes, 35 expected' % len(buf))
-        idx = buf.find(0x0D)
-        ackbyte = buf[idx-1]
-        if ackbyte == 0x06:
-            ack = 'ACK'
-        elif ackbyte == 0x15:
-            ack = 'NAK',
-        else:
-            ack = 'NO'
-        reply = buf[4:idx-1].decode('utf-8')
-        return ack, reply
-
-if __name__ == "__main__":
-    from sys import argv, exit, stdin
-    if len(argv) < 3:
-        print('Usage:\n\tmacmaster.py machost macport')
-        exit(1)
-    mac = MasterMACS(argv[1], argv[2])
-    while(True):
-        # import pdb; pdb.set_trace()
-        line = stdin.readline()
-        if line.find('exit') >= 0:
-            exit(0)
-        mac.send(line.strip())
-        ack, reply = mac.receive()
-        print('%s, %s' %(ack, reply))
-

utils/physhell.tcl

@@ -1,58 +0,0 @@
-#!/usr/bin/tclsh
-# This is a little program which acts as a shell to the phytron.
-# It connects to another program which is supposed to talk to the phytron controller
-# It reads from stdin, packages the message into the phytron format and sends it to
-# the phytron communication program. Then it reads from the phytron communication program
-# and unpacks the reply.
-#
-# This is also a nice exampe for dealing with binary in Tcl
-# Making the binary character only worked with %c
-# The only way to do the comparison is with the string comare
-#
-# Mark Könnecke, September 2016
-
-
-if {[llength $argv] < 1} {
-    puts stdout "Usage:\n\t physhell.tcl phytronprogram"
-    exit
-}
-
-set phprogram [lindex $argv 0]
-
-set phyio [open "| $phprogram" "w+b"]
-fconfigure $phyio -buffering none
-fconfigure $phyio -translation {binary binary}
-set etx [format "%c" 0x03]
-set stx [format "%c" 0x02]
-set ack [format "%c" 0x06]
-set nack [format "%c" 0x05]
-
-
-while {1} {
-    set inp [gets stdin]
-    puts -nonewline $phyio [format "%c%s%c" 0x02 $inp 0x03]
-    set mode start
-    set reply ""
-    while {[string compare $mode done] != 0 } {
-	set c [read $phyio 1]
-	switch $mode {
-	    start {
-		if {[string compare $c $stx] == 0} {
-		    set mode data
-		}
-	    }
-	    data {
-		if {[string compare $c $etx] == 0} {
-		    puts stdout $reply
-		    set mode done
-		} elseif {[string compare $c $nack] == 0} {
-		    append reply NACK
-		} elseif {[string compare $c $ack] == 0} {
-		    append reply ACK
-		} else {
-		    append reply $c
-		}
-	    }
-	}
-    }
-}    

utils/syncEL734Sub.py

@@ -1,114 +0,0 @@
-#!/usr/bin/env python3
-"""
-This little program synchronizes an EPICS substitutions file with values read
-from the EL734 motor controller. Some research showed that the  EPICS motorRecord
-seems to have no means of reading configuration data like limits or speeds or such
-from the device support. Than it is the easiest to read the data with this small 
-program and update the substitutions file with it.
-
-Mark Koennecke, January 2023
-"""
-
-import socket
-import sys
-import time
-
-socke = None
-sockfd = None
-
-# --------------- communication section
-def connect(host, port):
-    global socke, sockfd
-    socke = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-    # socke.connect(('localhost', 5050))
-    socke.connect((host, port))
-    socke.settimeout(2.)
-    sockfd = socke.makefile(mode='rw', newline='\r')
-    sockfd.write('RMT 1\r')
-    sockfd.flush()
-    sockfd.write('ECHO 0\r')
-    sockfd.flush()
-    sockfd.readline()
-
-def transact(command):
-    global socke, sockfd
-    sockfd.write(command + '\r')
-    sockfd.flush()
-    time.sleep(.1)
-    return sockfd.readline()
-
-def find_commas(rawline):
-    comma_list = []
-    for i in range(len(rawline)):
-        if rawline[i] == ',':
-            comma_list.append(i)
-    return comma_list
-
-def pretty_line(newlist, comma_list):
-    """
-    adds spaces to match the tabbing of the pattern line
-    """
-    newline = ''
-    for item, idx in zip(newlist, comma_list):
-        length = len(newline) + 1 + len(item)
-        if length < idx:
-            newline += ' ' * (idx - length)
-        newline += item
-        newline += ','
-    newline += newlist[-1]
-    return newline[0:-1]
-
-def fix_line(par_list, index_list):
-    # import pdb; pdb.set_trace()
-    addridx = index_list.index('ADDR')
-    motNo = par_list[addridx]
-    limits = transact('H ' + motNo)
-    time.sleep(.1)
-    l = limits.split()
-    lowidx = index_list.index('DLLM')
-    # import pdb; pdb.set_trace()
-    par_list[lowidx] = l[0]
-    highidx = index_list.index('DHLM')
-    par_list[highidx] = l[1]
-    speed = transact('J ' + motNo)
-    vidx = index_list.index('VELO')
-    par_list[vidx] = speed.strip()
-    # vidx = index_list.index('VMAX')
-    # par_list[vidx] = speed.strip()
-    return par_list
-
-def scan_substitution_file(filename):
-    index_list = None
-    # import pdb; pdb.set_trace()
-    with open(filename, 'r') as fin:
-        rawline = fin.readline()
-        while rawline:
-            line = rawline.replace(' ','')
-            line = line.strip('{}')
-            l = line.split(',')
-            if line.find('DHLM') > 0:
-                index_list = l
-                comma_list = find_commas(rawline)
-                sys.stdout.write(rawline)
-            elif  not index_list:
-                sys.stdout.write(rawline)
-            else:
-                if len(l) == len(index_list):
-                    newlist = fix_line(l, index_list)
-                    # newline =  ','.join(newlist)
-                    newline = pretty_line(newlist, comma_list)
-                    sys.stdout.write('{' + newline + '\n')
-                else:
-                    sys.stdout.write(rawline)
-            rawline = fin.readline()
-
-#------------------ main
-if len(sys.argv) < 4:
-    print('Usage:\n\tsyncEL734sub.py <host> <port> <substitutions-file>\n')
-    sys.exit(1)
-
-connect(sys.argv[1], int(sys.argv[2]))
-scan_substitution_file(sys.argv[3])
-socke.close()
-
-

utils/syncMasterMAC.py

@@ -1,98 +0,0 @@
-#!/usr/bin/env python3
-"""
-This little program synchronizes an EPICS substitutions file with values read
-from a MasterMAC motor controller. 
-
-Mark Koennecke, February 2023
-"""
-import sys
-import time
-
-from macmaster import MasterMACS
-
-def find_commas(rawline):
-    comma_list = []
-    for i in range(len(rawline)):
-        if rawline[i] == ',':
-            comma_list.append(i)
-    return comma_list
-
-def pretty_line(newlist, comma_list):
-    """
-    adds spaces to match the tabbing of the patter line
-    """
-    newline = ''
-    for item, idx in zip(newlist, comma_list):
-        length = len(newline) + 1 + len(item)
-        if length < idx:
-            newline += ' ' * (idx - length)
-        newline += item
-        newline += ','
-    newline += newlist[-1]
-    return newline[0:-1]
-
-def transact(command):
-    global mac
-    mac.send(command)
-    time.sleep(.1)
-    return mac.receive()
-
-def fix_line(par_list, index_list):
-    # import pdb; pdb.set_trace()
-    addridx = index_list.index('ADDR')
-    motNo = int(par_list[addridx])
-    ack, reply = transact('%dR24' % motNo)
-    if ack == 'NO':
-        idx = reply.find('=')
-        lowlim = reply[idx+1:]
-        lowidx = index_list.index('DLLM')
-        par_list[lowidx] = lowlim.strip()
-    ack, reply = transact('%dR23' % motNo)
-    if ack == 'NO':
-        idx = reply.find('=')
-        highlim =  reply[idx+1:]
-        highidx = index_list.index('DHLM')
-        par_list[highidx] = highlim.strip()
-    ack, reply = transact('%dR05' % motNo)
-    if ack == 'NO':
-        idx = reply.find('=')
-        speed =  reply[idx+1:]
-        speedidx = index_list.index('VELO')
-        par_list[speedidx] = speed.strip()
-    return par_list
-
-def scan_substitution_file(filename):
-    index_list = None
-    # import pdb; pdb.set_trace()
-    with open(filename, 'r') as fin:
-        rawline = fin.readline()
-        # import pdb; pdb.set_trace()
-        while rawline:
-            line = rawline.replace(' ','')
-            line = line.strip('{}')
-            l = line.split(',')
-            if line.find('DHLM') > 0:
-                index_list = l
-                comma_list = find_commas(rawline)
-                sys.stdout.write(rawline)
-            elif  not index_list:
-                sys.stdout.write(rawline)
-            else:
-                if len(l) == len(index_list):
-                    newlist = fix_line(l, index_list)
-                    # newline =  ','.join(newlist)
-                    newline = pretty_line(newlist, comma_list)
-                    sys.stdout.write('{' + newline + '\n')
-                else:
-                    sys.stdout.write(rawline)
-            rawline = fin.readline()
-
-#------------------ main
-if len(sys.argv) < 4:
-    print('Usage:\n\tsyncMMACSub.py <host> <port> <substitutions-file>\n')
-    sys.exit(1)
-
-mac = MasterMACS(sys.argv[1], sys.argv[2])
-scan_substitution_file(sys.argv[3])
-
-

utils/syncPmacSub.py

@@ -1,104 +0,0 @@
-#!/usr/bin/env python3
-"""
-This little program synchronizes an EPICS substitutions file with values read
-from the delta tau motor controller. Some research showed that the  EPICS motorRecord
-seems to have no means of reading configuration data like limits or speeds or such
-from the device support. Than it is the easiest to read the data with this small 
-program and update the substitutions file with it.
-
-Mark Koennecke, January 2023
-"""
-
-import socket
-import sys
-from deltatau import packPmacCommand,  readPmacReply 
-
-
-socke = None
-
-# --------------- communication section
-def connect(host, port):
-    global socke, sockfd
-    socke = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-    # socke.connect(('localhost', 5050))
-    socke.connect((host, port))
-    socke.settimeout(1.)
-
-def transact(command):
-    global socke
-    data = packPmacCommand(command)
-    socke.send(data)
-    reply = readPmacReply(socke)
-    return reply.decode('utf-8')
-
-def find_commas(rawline):
-    comma_list = []
-    for i in range(len(rawline)):
-        if rawline[i] == ',':
-            comma_list.append(i)
-    return comma_list
-
-def pretty_line(newlist, comma_list):
-    """
-    adds spaces to match the tabbing of the patter line
-    """
-    newline = ''
-    for item, idx in zip(newlist, comma_list):
-        length = len(newline) + 1 + len(item)
-        if length < idx:
-            newline += ' ' * (idx - length)
-        newline += item
-        newline += ','
-    newline += newlist[-1]
-    return newline[0:-1]
-
-def fix_line(par_list, index_list):
-    # import pdb; pdb.set_trace()
-    addridx = index_list.index('ADDR')
-    motNo = int(par_list[addridx])
-    lowlim = transact('Q%d14' % motNo)
-    lowidx = index_list.index('DLLM')
-    par_list[lowidx] = lowlim.strip()
-    highlim = transact('Q%d13' % motNo)
-    highidx = index_list.index('DHLM')
-    par_list[highidx] = highlim.strip()
-    speed = transact('Q%d03' % motNo)
-    speedidx = index_list.index('VELO')
-    par_list[speedidx] = speed.strip()
-    return par_list
-
-def scan_substitution_file(filename):
-    index_list = None
-    # import pdb; pdb.set_trace()
-    with open(filename, 'r') as fin:
-        rawline = fin.readline()
-        while rawline:
-            line = rawline.replace(' ','')
-            line = line.strip('{}')
-            l = line.split(',')
-            if line.find('DHLM') > 0:
-                index_list = l
-                comma_list = find_commas(rawline)
-                sys.stdout.write(rawline)
-            elif  not index_list:
-                sys.stdout.write(rawline)
-            else:
-                if len(l) == len(index_list):
-                    newlist = fix_line(l, index_list)
-                    # newline =  ','.join(newlist)
-                    newline = pretty_line(newlist, comma_list)
-                    sys.stdout.write('{' + newline + '\n')
-                else:
-                    sys.stdout.write(rawline)
-            rawline = fin.readline()
-
-#------------------ main
-if len(sys.argv) < 4:
-    print('Usage:\n\tsyncPmacSub.py <host> <port> <substitutions-file>\n')
-    sys.exit(1)
-
-connect(sys.argv[1], int(sys.argv[2]))
-scan_substitution_file(sys.argv[3])
-socke.close()
-
-