Remove problematic parts, introduce ignore limits

Remove writing of epics limits to position after homing
Remove writing of the encoder register in set position, this seems
conceptually very wrong to do.
Introudce an argument to ignore limits in the poll, for example to acoid
weird behavior for rotational stages

.clang-format

@@ -0,0 +1,236 @@
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+  - PP_STRINGIZE
+  - STRINGIZE
+...
+

.gitea/workflows/action.yaml

@@ -0,0 +1,21 @@
+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

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

@@ -48,7 +48,7 @@ January 2019
 #include "PhytronDriver.h"
 #include <epicsExport.h>
 
-#define IDLEPOLL 60
+#define IDLEPOLL 5
 
 /** 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 encX, int encY, int ignoreLimitsX, int ignoreLimitsY)
   :  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);
+     new PhytronAxis(this, 1, encX, ignoreLimitsX);
-     new PhytronAxis(this, 2, encY);
+     new PhytronAxis(this, 2, encY, ignoreLimitsY);
  }
 
 
@@ -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) 
+  :  PhytronController(portName, PhytronPortName, sel, encX, encY, 0, 0) 
 {
   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 encX, int encY, int ignoreLimitsX, int ignoreLimitsY)
 {
-  new PhytronController(portName, PhytronPortName,selector, encX, encY);
+  new PhytronController(portName, PhytronPortName,selector, encX, encY, ignoreLimitsX, ignoreLimitsY);
   return(asynSuccess);
 }
 
@@ -178,10 +178,10 @@ PhytronDoseAxis* PhytronDoseController::getAxis(int axisNo)
 
 asynStatus PhytronController::transactController(int axisNo,char command[COMLEN], char reply[COMLEN])
 {
-  asynStatus status;
+  asynStatus status = asynSuccess;
-  size_t in, out;
+  size_t in = 0, out = 0;
-  int reason;
+  int reason = 0;
-  char myReply[COMLEN+10], myCommand[COMLEN+10], *pPtr;
+  char myReply[COMLEN+10] = {0}, myCommand[COMLEN+10] = {0}, *pPtr = {0};
   SINQAxis *axis = getAxis(axisNo);
 
 
@@ -237,11 +237,12 @@ asynStatus PhytronController::transactController(int axisNo,char command[COMLEN]
   * 
   * Initializes register numbers, etc.
   */
-PhytronAxis::PhytronAxis(PhytronController *pC, int axisNo, int enc)
+PhytronAxis::PhytronAxis(PhytronController *pC, int axisNo, int enc, int ignoreLimits)
   : SINQAxis(pC, axisNo),
     pC_(pC)
 {  
   encoder = enc;
+  ignore_limits = ignoreLimits;
   if(axisNo == 1){
     phytronChar = 'X';
   } else {
@@ -250,6 +251,8 @@ 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)
@@ -434,8 +437,9 @@ asynStatus PhytronAxis::setPosition(double position)
 
   errlogPrintf("PhytronAxis::setPosition called with %lf\n", position);
 
-  sprintf(command, "%s%cP22S%f", pC_->selector,phytronChar, position/1000.);
+  // writing encoder register is wrong
-  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;
@@ -465,8 +469,6 @@ asynStatus PhytronAxis::poll(bool *moving)
 { 
   asynStatus comStatus = asynSuccess;
   char command[COMLEN], reply[COMLEN];
-  double lowlim;
-
 
   // protect against excessive polling
   if(time(NULL) < next_poll){
@@ -536,13 +538,7 @@ asynStatus PhytronAxis::poll(bool *moving)
 
   if(!*moving) {
     if(homing){
-      if(homing_direction) {
+       setIntegerParam(pC_->motorStatusAtHome_, true);
-	    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
@@ -554,7 +550,7 @@ asynStatus PhytronAxis::poll(bool *moving)
 	updateMsgTxtFromDriver("No connection to phytron controller");
 	goto skip;
       }
-      if(strstr(reply,"ACKE") != NULL){
+    if(strstr(reply,"ACKE") != NULL && ignore_limits == 0){
 	setIntegerParam(pC_->motorStatusHighLimit_, true);
 	updateMsgTxtFromDriver("Hit High Limit");
 	comStatus = asynError;
@@ -573,7 +569,7 @@ asynStatus PhytronAxis::poll(bool *moving)
 	updateMsgTxtFromDriver("No connection to phytron controller");
 	goto skip;
       }
-      if(strstr(reply,"ACKE") != NULL){
+    if(strstr(reply,"ACKE") != NULL && ignore_limits == 0){
 	setIntegerParam(pC_->motorStatusLowLimit_, true);
 	updateMsgTxtFromDriver("Low Limit Hit");
 	comStatus = asynError;
@@ -614,7 +610,7 @@ asynStatus PhytronAxis::poll(bool *moving)
  */
 
 PhytronDoseAxis::PhytronDoseAxis(PhytronController *pC, int axisNo, int enc)
-  : PhytronAxis(pC, axisNo, enc)
+  : PhytronAxis(pC, axisNo, enc, 0)
 {  
   if(axisNo == 1){
     doseChar = '3';
@@ -718,15 +714,19 @@ 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,
+							                                 &PhytronCreateControllerArg2,
-							       &PhytronCreateControllerArg3,
+							                                 &PhytronCreateControllerArg3,
-                                                             &PhytronCreateControllerArg4};
+							                                 &PhytronCreateControllerArg4,
-static const iocshFuncDef PhytronCreateControllerDef = {"PhytronCreateController", 5, PhytronCreateControllerArgs};
+							                                 &PhytronCreateControllerArg5,
+                                                             &PhytronCreateControllerArg6};
+static const iocshFuncDef PhytronCreateControllerDef = {"PhytronCreateController", 7, 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].sval, args[3].ival,args[4].ival, args[5].ival, args[6].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);
+  PhytronAxis(class PhytronController *pC, int axis, int enc, int ignoreLimits);
   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);
@@ -50,6 +50,7 @@ protected:
   int homing_direction; /*1 forward, 0 backwards */
   time_t next_poll;
   int encoder;
+  int ignore_limits;
   int haveBrake;
   int brakeIO;
   
@@ -74,7 +75,7 @@ PhytronDoseController *pC_;
 class PhytronController : public SINQController {
 public:
   PhytronController(const char *portName, const char *PhytronPortName, const char *selector, 
-		    int encX, int encY);
+		    int encX, int encY, int ignoreLimitsX, int ignoreLimitsY);
 
   void report(FILE *fp, int level);
   PhytronAxis* getAxis(asynUser *pasynUser);

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()