Reset error during each poll

Makefile.RHEL8

@@ -21,6 +21,9 @@ TEMPLATES += sinqEPICSApp/Db/el734.db
 # DBD files to include in the release
 DBDS += sinqEPICSApp/src/sinq.dbd
 
+# Release version
+LIBVERSION=2026
+
 # Source files to build
 SOURCES += sinqEPICSApp/src/devScalerEL737.c
 SOURCES += sinqEPICSApp/src/SINQController.cpp

sinqEPICSApp/src/EL734Driver.cpp

@@ -505,7 +505,10 @@ asynStatus EL734Axis::poll(bool *moving)
   // errlogPrintf("Axis %d, reply %s, msr %d, oredmsr = %d, position = %lf\n",
   //	       axisNo_, reply, msr, oredMSR, position);
 
-  oredMSR |= msr;
+  // Reset the error during each poll. This is necessary because some errors
+  // apparently don't get cleared by the controller (especially "lower / higher
+  // limit hit").
+  oredMSR = msr;
   if ((msr & 0x1) == 0)
   {
     // done: check for trouble

sinqEPICSApp/src/PhytronDriver.cpp

@@ -48,7 +48,7 @@ January 2019
 #include "PhytronDriver.h"
 #include <epicsExport.h>
 
-#define IDLEPOLL 5
+#define IDLEPOLL 60
 
 /** Creates a new PhytronController object.
   * \param[in] portName          The name of the asyn port that will be created for this driver
@@ -56,7 +56,7 @@ January 2019
   * \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, int ignoreLimitsX, int ignoreLimitsY)
+				     int encX, int encY)
   :  SINQController(portName, PhytronPortName,2) 
 {
   asynStatus status;
@@ -82,8 +82,8 @@ PhytronController::PhytronController(const char *portName, const char *PhytronPo
       new PhytronDoseAxis(this, 1, encX);
       new PhytronDoseAxis(this, 2, encY);
   } else {
-     new PhytronAxis(this, 1, encX, ignoreLimitsX);
-     new PhytronAxis(this, 2, encY, ignoreLimitsY);
+     new PhytronAxis(this, 1, encX);
+     new PhytronAxis(this, 2, encY);
  }
 
 
@@ -92,7 +92,7 @@ PhytronController::PhytronController(const char *portName, const char *PhytronPo
 
 PhytronDoseController::PhytronDoseController(const char *portName, const char *PhytronPortName, const char *sel ,
 				     int encX, int encY)
-  :  PhytronController(portName, PhytronPortName, sel, encX, encY, 0, 0) 
+  :  PhytronController(portName, PhytronPortName, sel, encX, encY) 
 {
   new PhytronDoseAxis(this, 1, encX);
   new PhytronDoseAxis(this, 2, encY);
@@ -106,9 +106,9 @@ PhytronDoseController::PhytronDoseController(const char *portName, const char *P
   * \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, int ignoreLimitsX, int ignoreLimitsY)
+				       int encX, int encY)
 {
-  new PhytronController(portName, PhytronPortName,selector, encX, encY, ignoreLimitsX, ignoreLimitsY);
+  new PhytronController(portName, PhytronPortName,selector, encX, encY);
   return(asynSuccess);
 }
 
@@ -178,10 +178,10 @@ PhytronDoseAxis* PhytronDoseController::getAxis(int axisNo)
 
 asynStatus PhytronController::transactController(int axisNo,char command[COMLEN], char reply[COMLEN])
 {
-  asynStatus status = asynSuccess;
-  size_t in = 0, out = 0;
-  int reason = 0;
-  char myReply[COMLEN+10] = {0}, myCommand[COMLEN+10] = {0}, *pPtr = {0};
+  asynStatus status;
+  size_t in, out;
+  int reason;
+  char myReply[COMLEN+10], myCommand[COMLEN+10], *pPtr;
   SINQAxis *axis = getAxis(axisNo);
 
 
@@ -237,12 +237,11 @@ asynStatus PhytronController::transactController(int axisNo,char command[COMLEN]
   * 
   * Initializes register numbers, etc.
   */
-PhytronAxis::PhytronAxis(PhytronController *pC, int axisNo, int enc, int ignoreLimits)
+PhytronAxis::PhytronAxis(PhytronController *pC, int axisNo, int enc)
   : SINQAxis(pC, axisNo),
     pC_(pC)
 {  
   encoder = enc;
-  ignore_limits = ignoreLimits;
   if(axisNo == 1){
     phytronChar = 'X';
   } else {
@@ -437,9 +436,8 @@ asynStatus PhytronAxis::setPosition(double position)
 
   errlogPrintf("PhytronAxis::setPosition called with %lf\n", position);
 
-  // writing encoder register is wrong
-  //sprintf(command, "%s%cP22S%f", pC_->selector,phytronChar, position/1000.);
-  //status = pC_->transactController(axisNo_,command,reply);
+  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);
   next_poll = -1;
@@ -469,6 +467,8 @@ asynStatus PhytronAxis::poll(bool *moving)
 { 
   asynStatus comStatus = asynSuccess;
   char command[COMLEN], reply[COMLEN];
+  double lowlim;
+
 
   // protect against excessive polling
   if(time(NULL) < next_poll){
@@ -538,7 +538,13 @@ asynStatus PhytronAxis::poll(bool *moving)
 
   if(!*moving) {
     if(homing){
-       setIntegerParam(pC_->motorStatusAtHome_, true);
+      if(homing_direction) {
+	    pC_->getDoubleParam(axisNo_,pC_->motorHighLimit_,&lowlim);
+      } else {
+	    pC_->getDoubleParam(axisNo_,pC_->motorLowLimit_,&lowlim);
+      } 
+      setPosition(lowlim);
+      setIntegerParam(pC_->motorStatusAtHome_, true);
     } else {
       /* 
 	 check limits and errors, upper
@@ -550,7 +556,7 @@ asynStatus PhytronAxis::poll(bool *moving)
 	updateMsgTxtFromDriver("No connection to phytron controller");
 	goto skip;
       }
-    if(strstr(reply,"ACKE") != NULL && ignore_limits == 0){
+      if(strstr(reply,"ACKE") != NULL){
 	setIntegerParam(pC_->motorStatusHighLimit_, true);
 	updateMsgTxtFromDriver("Hit High Limit");
 	comStatus = asynError;
@@ -569,7 +575,7 @@ asynStatus PhytronAxis::poll(bool *moving)
 	updateMsgTxtFromDriver("No connection to phytron controller");
 	goto skip;
       }
-    if(strstr(reply,"ACKE") != NULL && ignore_limits == 0){
+      if(strstr(reply,"ACKE") != NULL){
 	setIntegerParam(pC_->motorStatusLowLimit_, true);
 	updateMsgTxtFromDriver("Low Limit Hit");
 	comStatus = asynError;
@@ -610,7 +616,7 @@ asynStatus PhytronAxis::poll(bool *moving)
  */
 
 PhytronDoseAxis::PhytronDoseAxis(PhytronController *pC, int axisNo, int enc)
-  : PhytronAxis(pC, axisNo, enc, 0)
+  : PhytronAxis(pC, axisNo, enc)
 {  
   if(axisNo == 1){
     doseChar = '3';
@@ -714,19 +720,15 @@ static const iocshArg PhytronCreateControllerArg1 = {"Phytron port name", iocshA
 static const iocshArg PhytronCreateControllerArg2 = {"Phytron Selector", iocshArgString};
 static const iocshArg PhytronCreateControllerArg3 = {"EncoderX", iocshArgInt};
 static const iocshArg PhytronCreateControllerArg4 = {"EncoderY", iocshArgInt};
-static const iocshArg PhytronCreateControllerArg5 = {"IgnoreLimitsX", iocshArgInt};
-static const iocshArg PhytronCreateControllerArg6 = {"IgnoreLimitsY", iocshArgInt};
 static const iocshArg * const PhytronCreateControllerArgs[] = {&PhytronCreateControllerArg0,
                                                              &PhytronCreateControllerArg1,
-							                                 &PhytronCreateControllerArg2,
-							                                 &PhytronCreateControllerArg3,
-							                                 &PhytronCreateControllerArg4,
-							                                 &PhytronCreateControllerArg5,
-                                                             &PhytronCreateControllerArg6};
-static const iocshFuncDef PhytronCreateControllerDef = {"PhytronCreateController", 7, PhytronCreateControllerArgs};
+							       &PhytronCreateControllerArg2,
+							       &PhytronCreateControllerArg3,
+                                                             &PhytronCreateControllerArg4};
+static const iocshFuncDef PhytronCreateControllerDef = {"PhytronCreateController", 5, PhytronCreateControllerArgs};
 static void PhytronCreateContollerCallFunc(const iocshArgBuf *args)
 {
-  PhytronCreateController(args[0].sval, args[1].sval, args[2].sval, args[3].ival,args[4].ival, args[5].ival, args[6].ival);
+  PhytronCreateController(args[0].sval, args[1].sval, args[2].sval, args[3].ival,args[4].ival);
 }
 
 static const iocshArg PhytronDoseCreateControllerArg0 = {"Port name", iocshArgString};

sinqEPICSApp/src/PhytronDriver.h

@@ -30,7 +30,7 @@ class PhytronAxis : public SINQAxis
 {
 public:
   /* These are the methods we override from the base class */
-  PhytronAxis(class PhytronController *pC, int axis, int enc, int ignoreLimits);
+  PhytronAxis(class PhytronController *pC, int axis, int enc);
   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);
@@ -50,7 +50,6 @@ protected:
   int homing_direction; /*1 forward, 0 backwards */
   time_t next_poll;
   int encoder;
-  int ignore_limits;
   int haveBrake;
   int brakeIO;
   
@@ -75,7 +74,7 @@ PhytronDoseController *pC_;
 class PhytronController : public SINQController {
 public:
   PhytronController(const char *portName, const char *PhytronPortName, const char *selector, 
-		    int encX, int encY, int ignoreLimitsX, int ignoreLimitsY);
+		    int encX, int encY);
 
   void report(FILE *fp, int level);
   PhytronAxis* getAxis(asynUser *pasynUser);

utils/nanotec.sh

@@ -0,0 +1,162 @@
+#!/bin/bash
+set -euo pipefail
+IFS=$'\n\t'
+
+################################################################################
+# This converts the hex form of a wireshark analysis follow to something
+# more human readable.
+#
+# It is only partially implemented!
+################################################################################
+
+f_name="${1}"
+
+if [ "$#" -eq 2 ]; then
+    filt="${2}"
+fi
+
+
+declare -A POSITION_MODE
+POSITION_MODE[1]="RELATIVE"
+POSITION_MODE[2]="ABSOLUTE"
+POSITION_MODE[3]="INTERNAL_REFERANCE"
+POSITION_MODE[4]="EXTERNAL_REFERANCE"
+
+
+declare -A COMMANDS
+
+function to_ord() {
+    printf "%x" "'$1"
+}
+
+function add_char() {
+    COMMANDS["$(to_ord "$1")"]="$2"
+}
+
+function add_ord() {
+    COMMANDS["$1"]="$2"
+}
+
+add_char A Start_Movement
+add_char C Get_Position
+add_char D Set_Position_And_Clear_Error
+add_char d Set_Direction
+add_char p Set_Position_Mode
+add_char '$' Get_Status
+add_char 0 0
+add_char 1 1
+add_char 2 2
+add_char 3 3
+add_char 4 4
+add_char 5 5
+add_char 6 6
+add_char 7 7
+add_char 8 8
+add_char 9 9
+add_char '#' '#'
+add_ord 00 ''
+add_ord 0d '' # '\r'
+add_ord 2b '+'
+add_ord 2d '-'
+
+while read -r line; do
+    fields="$( echo "${line}" | sed -e 's/^ *//' -e 's/ /:/' -e 's/          /:/' | tr -s ' ' )"
+    IFS=' ' bytes=($( echo "${fields}" | cut -d':' -f2))
+    string="$( echo "${fields}" | cut -d':' -f3)"
+
+    parsing_number=-1
+    num_len=0
+    is_negative=0
+    human_readable=()
+    for byte in "${bytes[@]}"; do
+        if [[ -v COMMANDS["${byte}"] ]]; then
+
+            if [[ "${COMMANDS["${byte}"]}" == Get_Status ]] || [[ "${COMMANDS["${byte}"]}" == Get_Position ]] || [[ "${COMMANDS["${byte}"]}" == Set_Position_Mode ]] || [[ "${COMMANDS["${byte}"]}" == Set_Position_And_Clear_Error ]]; then
+                parsing_number=0
+                numlen=0
+                is_negative=0
+            elif [[ "${parsing_number}" -ge 0 ]] && ( [[ "${byte}" == 00 ]] || [[ "${byte}" == 0d ]] ); then
+                if [[ "${num_len}" -ge 1 ]]; then
+
+                    if [[ "${human_readable[${#human_readable[@]}-1]}" == Get_Status ]]; then
+                        if [[ "$(( parsing_number & 2#0001 ))" -eq 1 ]]; then
+                            human_readable=("${human_readable[@]}" "READY")
+                        fi
+
+                        if [[ "$(( parsing_number & 2#0010 ))" -eq 1 ]]; then
+                            human_readable=("${human_readable[@]}" "ZERO-POS_REACHED")
+                        fi
+
+                        if [[ "$(( parsing_number & 2#0100 ))" -eq 1 ]]; then
+                            human_readable=("${human_readable[@]}" "POSITIONING_ERROR")
+                        fi
+
+                        if [[ "$(( parsing_number & 2#1000 ))" -eq 1 ]]; then
+                            human_readable=("${human_readable[@]}" "SOMETHING?")
+                        fi
+
+                    elif [[ "${human_readable[${#human_readable[@]}-1]}" == Set_Position_Mode ]]; then
+                        human_readable=("${human_readable[@]}" "${POSITION_MODE[${parsing_number}]}")
+
+                    else
+                        if [[ "${is_negative}" -eq 1 ]]; then
+                            human_readable=("${human_readable[@]}" "$(( parsing_number * -1))")
+                        else
+                            human_readable=("${human_readable[@]}" "${parsing_number}")
+                        fi
+                    fi
+                fi
+                parsing_number=-1
+                continue
+            elif [ "${parsing_number}" -ge 0 ]; then
+                if [[ "${COMMANDS["${byte}"]}" == '-' ]]; then
+                    is_negative=1
+                elif [[ "${COMMANDS["${byte}"]}" == '+' ]]; then
+                    is_negative=0
+                else
+                    parsing_number="$(( parsing_number * 10 + "${COMMANDS["${byte}"]}" ))"
+                fi
+
+                num_len=$(( num_len + 1 ))
+                continue
+            fi
+
+            if [ "${#human_readable[@]}" -gt 0 ]; then
+                human_readable=("${human_readable[@]}" "${COMMANDS["${byte}"]}")
+            else
+                human_readable=("${COMMANDS["${byte}"]}")
+            fi
+        else
+            if [ "${#human_readable[@]}" -gt 0 ]; then
+                human_readable=("${human_readable[@]}" "${byte}(unknown)")
+            else
+                human_readable=("${byte}(unknown)")
+            fi
+        fi
+    done
+
+    if [[ "${human_readable[0]}" == '#' ]]; then
+        if [[ -z "${filt+x}" ]]; then
+            echo "Sent:     ${human_readable[@]}"
+        else
+            if [[ "${human_readable[1]}" == "${filt}" ]]; then
+                echo "Sent:     ${human_readable[@]}"
+            fi
+        fi
+    else
+        # Some commands prefix the response with two 0's (I assume there can be
+        # more axes)
+        if [[ "${human_readable[0]}" == 0 ]] && [[ "${human_readable[1]}" == 0 ]]; then
+            IFS=' ' human_readable=("${human_readable[@]:2}")
+        fi
+
+        if [[ -z "${filt+x}" ]]; then
+            echo "Received: ${human_readable[@]}"
+        else
+            if [[ "${human_readable[0]}" == "${filt}" ]]; then
+                echo "Received: ${human_readable[@]}"
+            fi
+        fi
+    fi
+
+done < "${f_name}"