Readded the PMAC driver for HRPT

.gitea/workflows/action.yaml

@@ -1,21 +0,0 @@
-name: Test And Build
-on: [push]
-
-jobs:
-  Lint:
-    runs-on: linepics
-    steps:
-      - name: checkout repo
-        uses: actions/checkout@v4
-      - name: cppcheck
-        run: cppcheck --std=c++17 --addon=cert --addon=misc --error-exitcode=1 sinqEPICSApp/src/*.cpp
-      - name: formatting
-        run: clang-format --style=file --Werror --dry-run sinqEPICSApp/src/*.cpp sinqEPICSApp/src/*.c sinqEPICSApp/src/*.h
-  Build:
-    runs-on: linepics
-    steps:
-      - name: checkout repo
-        uses: actions/checkout@v4
-      - run: |
-          sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile.RHEL8
-          make -f Makefile.RHEL8 install

.gitlab-ci.yml

@@ -0,0 +1,51 @@
+default:
+  image: docker.psi.ch:5000/wall_e/sinqepics:latest
+    
+stages:
+  - test
+  - build
+
+cppcheck:
+  stage: test
+  script:
+    - cppcheck --std=c++17 --addon=cert --addon=misc --error-exitcode=1 sinqEPICSApp/
+  allow_failure: true # Long term this needs to be removed
+  artifacts:
+    expire_in: 1 week
+  tags:
+    - docker
+
+formatting:
+  stage: test
+  script:
+    - clang-format --style=file --Werror --dry-run sinqEPICSApp/src/*.cpp sinqEPICSApp/src/*.c sinqEPICSApp/src/*.h
+  allow_failure: true # Long term this needs to be removed
+  artifacts:
+    expire_in: 1 week
+  tags:
+    - docker
+
+# clangtidy:
+#   stage: test
+#   script:
+#     - curl https://docker.psi.ch:5000/v2/_catalog
+# #     - dnf update -y
+# #     - dnf install -y clang-tools-extra
+# #     - clang-tidy sinqEPICSApp/src/*.cpp sinqEPICSApp/src/*.c sinqEPICSApp/src/*.h -checks=cppcoreguidelines-*,cert-*
+# #   tags:
+# #     - docker
+
+build_module:
+  stage: build
+  script:
+    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile.RHEL8
+    - make -f Makefile.RHEL8 install
+    - cp -rT "/ioc/modules/sinq/$(ls -U /ioc/modules/sinq/ | head -1)" "./sinq-${CI_COMMIT_SHORT_SHA}"
+  artifacts:
+    name: "sinq-${CI_COMMIT_SHORT_SHA}"
+    paths:
+      - "sinq-${CI_COMMIT_SHORT_SHA}/*"
+    expire_in: 1 week
+  when: always
+  tags:
+    - docker

Makefile.RHEL8

@@ -4,7 +4,7 @@ include /ioc/tools/driver.makefile
 MODULE=sinq
 BUILDCLASSES=Linux
 EPICS_VERSIONS=7.0.7
-ARCH_FILTER=RHEL8%
+ARCH_FILTER=RHEL%
 
 # additional module dependencies
 REQUIRED+=SynApps
@@ -12,11 +12,13 @@ REQUIRED+=stream
 REQUIRED+=scaler
 REQUIRED+=motorBase
 
+# Release version
+LIBVERSION=2025-with-pmac
+
 # DB files to include in the release
 TEMPLATES += sinqEPICSApp/Db/dimetix.db
 TEMPLATES += sinqEPICSApp/Db/slsvme.db
 TEMPLATES += sinqEPICSApp/Db/spsamor.db
-TEMPLATES += sinqEPICSApp/Db/el734.db
 
 # DBD files to include in the release
 DBDS += sinqEPICSApp/src/sinq.dbd
@@ -30,9 +32,9 @@ 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/pmacAsynIPPort.c
+SOURCES += sinqEPICSApp/src/pmacAxis.cpp
+SOURCES += sinqEPICSApp/src/pmacController.cpp
 SOURCES += sinqEPICSApp/src/MasterMACSDriver.cpp
 SOURCES += sinqEPICSApp/src/C804Axis.cpp
 SOURCES += sinqEPICSApp/src/C804Controller.cpp

sinqEPICSApp/Db/el734.db

@@ -1,34 +0,0 @@
-record(motor,"$(P)$(M)")
-{
-    field(DESC,"$(DESC)")
-    field(DTYP,"$(DTYP)")
-    field(DIR,"$(DIR)")
-    field(VELO,"$(VELO)")
-    field(HVEL,"$(VELO)")
-    field(VBAS,"$(VELO)")
-    field(VMAX, "${VMAX}")
-    field(ACCL,"$(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,"$(INIT)")
-    field(PINI, "NO")
-    field(TWV,"1")
-    field(RTRY,"0")
-}
-
-# The message text
-record(waveform, "$(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")
-}
-

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 {
@@ -251,8 +250,6 @@ PhytronAxis::PhytronAxis(PhytronController *pC, int axisNo, int enc, int ignoreL
   haveBrake = 0;
   brakeIO = -1;
   next_poll = -1;
-  homing = 0;
-  homing_direction = 0; 
 }
 
 int PhytronAxis::setBrake(int brakeNO)
@@ -437,9 +434,8 @@ 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 +465,8 @@ 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 +536,13 @@ 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 +554,7 @@ 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 +573,7 @@ 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 +614,7 @@ 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 +718,15 @@ 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);

sinqEPICSApp/src/sinq.dbd

@@ -5,9 +5,9 @@ registrar(EL734Register)
 registrar(PhytronRegister) 
 registrar(EuroMoveRegister) 
 registrar(NanotecRegister) 
-# registrar(pmacControllerRegister) 
+registrar(pmacControllerRegister) 
 registrar(C804ControllerRegister) 
-# registrar(pmacAsynIPPortRegister) 
+registrar(pmacAsynIPPortRegister) 
 registrar(MasterMACSRegister) 
 registrar(SINQControllerRegister)