Fixed missing initializer for variables in Phytron-Axis

Reviewed-on: #2

.clang-format

@@ -0,0 +1,236 @@
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+

.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=RHEL%
+ARCH_FILTER=RHEL8%
 
 # additional module dependencies
 REQUIRED+=SynApps
@@ -12,13 +12,11 @@ REQUIRED+=stream
 REQUIRED+=scaler
 REQUIRED+=motorBase
 
-# Release version
-LIBVERSION=2025
-
 # 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

README.md

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

sinqEPICSApp/Db/el734.db

@@ -0,0 +1,34 @@
+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

@@ -250,6 +250,8 @@ PhytronAxis::PhytronAxis(PhytronController *pC, int axisNo, int enc)
   haveBrake = 0;
   brakeIO = -1;
   next_poll = -1;
+  homing = 0;
+  homing_direction = 0; 
 }
 
 int PhytronAxis::setBrake(int brakeNO)

sinqEPICSApp/src/devScalerEL737.c

@@ -114,7 +114,7 @@ typedef struct {
   unsigned int dbInit;
 }EL737priv;
 
-static void dummyAsynCallback([[maybe_unused]] asynUser *pasynUser)
+static void dummyAsynCallback(asynUser *pasynUser)
 {
 }
 

utils/decodeMasterMACStatusR10.py

@@ -0,0 +1,213 @@
+#!/usr/bin/env python3
+
+# List of tuples which encodes the states given in the file description.
+# Index first with the bit index, then with the bit value
+interpretation = [
+    ("Not ready to be switched on", "Ready to be switched on"), # Bit 0
+    ("Not switched on", "Switched on"), # Bit 1
+    ("Disabled", "Enabled"), # Bit 2
+    ("Ok", "Fault condition set"), # Bit 3
+    ("Motor supply voltage absent ", "Motor supply voltage present"), # Bit 4
+    ("Motor performs quick stop", "Ok"), # Bit 5
+    ("Switch on enabled", "Switch on disabled"), # Bit 6
+    ("Ok", "RWarning: Movement function was called while motor is still moving. The function call is ignored"), # Bit 7
+    ("Motor is idle", "Motor is currently moving"), # Bit 8
+    ("Motor does not execute command messages (local mode)", "Motor does execute command messages (remote mode)"), # Bit 9
+    ("Target not reached", "Target reached"), # Bit 10
+    ("Ok", "Internal limit active"), # Bit 11
+    ("Not specified", "Not specified"), # Bit 12
+    ("Not specified", "Not specified"), # Bit 13
+    ("No event set or event has not occurred yet", "Set event has occurred"), # Bit 14
+    ("Axis off (power disabled)", "Axis on (power enabled)"), # Bit 15
+]
+
+def decode(value, big_endian: bool = False):
+
+    interpreted = []
+
+    bit_list = [(value >> shift_ind) & 1
+                for shift_ind in range(value.bit_length())] # little endian
+    
+    if big_endian:
+        bit_list.reverse() # big endian
+    
+    for (bit, interpretations) in zip(bit_list, interpretation):
+        interpreted.append(interpretations[bit])
+    return (bit_list, interpreted)
+
+def print_decoded(bit_list, interpreted):
+    for (idx, (bit_value, msg)) in enumerate(zip(bit_list, interpreted)):
+        print(f"Bit {idx} = {bit_value}: {msg}")
+
+def interactive():
+
+    # Imported here, because curses is not available in Windows. Using the 
+    # interactive mode therefore fails on Windows, but at least the single 
+    # command mode can be used (which would not be possible if we would import
+    # curses at the top level)
+    import curses
+
+    stdscr = curses.initscr()
+    curses.noecho()
+    curses.cbreak()
+    stdscr.keypad(True)
+    stdscr.scrollok(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]:
+                result = interpret_inputs(history[ptr].split())
+                if result is None:
+                    stdscr.addstr(f"\nBAD INPUT: Expected input of 'value [big_endian]', where 'value' is an int or a float and 'big_endian' is an optional boolean argument.")
+                else: 
+                    (arg, big_endian) = result
+                    (bit_list, interpreted) = decode(arg, big_endian)
+                    for (idx, (bit_value, msg)) in enumerate(zip(bit_list, interpreted)):
+                        stdscr.addstr(f"\nBit {idx} = {bit_value}: {msg}")
+                    stdscr.refresh()
+
+            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()
+
+    # to quit
+    curses.nocbreak()
+    stdscr.keypad(False)
+    curses.echo()
+    curses.endwin()
+
+def interpret_inputs(inputs):
+
+    number = None
+    big_endian = False
+    try:
+        number = int(float(inputs[0]))
+        if len(inputs) > 1:
+            second_arg = inputs[1]
+            if second_arg == "True" or second_arg == "true":
+                big_endian = True
+            elif second_arg == "False" or second_arg == "false":
+                big_endian = False
+            else:
+                big_endian = bool(int(second_arg))
+        return (number, big_endian)
+    except:
+        return None
+
+if __name__ == "__main__":
+    from sys import argv
+
+    if len(argv) == 1:
+        # Start interactive mode
+        interactive()
+    else:
+
+        result = interpret_inputs(argv[1:])
+
+        if result is None:
+            print("""
+            Decode R10 message of MasterMACs
+            ------------------
+                
+            MasterMACs returns its status message (R10) as a floating-point number.
+            The bits of this float encode different states. These states are stored 
+            in the interpretation variable.
+            
+            This script can be used in two different ways:
+                
+            Option 1: Single Command
+            ------------------------
+
+            Usage: decodeMasterMACStatusR10.py value [big_endian]
+                
+            'value' is the return value of a R10 command. This value is interpreted
+            bit-wise and the result is printed out. The optional second argument can
+            be used to specify whether the input value needs to be interpreted as
+            little or big endian. Default is False.
+
+            Option 2: CLI Mode
+            ------------------       
+
+            Usage: decodeMasterMACStatusR10.py
+            
+            A prompt will be opened. Type in the return value of a R10 command, hit
+            enter and the interpretation will be printed in the prompt. After that,
+            the next value can be typed in. Type 'quit' to close the prompt.
+            """)
+        else:
+            print("Motor status")
+            print("============")
+            (arg, big_endian) = result
+            (bit_list, interpreted) = decode(arg, big_endian)
+            print_decoded(bit_list, interpreted)

utils/deltatau.py

@@ -64,6 +64,7 @@ if __name__ == "__main__":
                 curses.noecho()
                 curses.cbreak()
                 stdscr.keypad(True)
+                stdscr.scrollok(True)
 
                 stdscr.addstr(">> ")
                 stdscr.refresh()