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
@@ -12,18 +12,17 @@ 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
 
-# Release version
-LIBVERSION=2026
-
 # Source files to build
 SOURCES += sinqEPICSApp/src/devScalerEL737.c
 SOURCES += sinqEPICSApp/src/SINQController.cpp
@@ -33,9 +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/pmacAsynIPPort.c
-# SOURCES += sinqEPICSApp/src/pmacAxis.cpp
+SOURCES += sinqEPICSApp/src/pmacAxis.cpp
-# SOURCES += sinqEPICSApp/src/pmacController.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/EL734Driver.cpp

@@ -505,10 +505,7 @@ asynStatus EL734Axis::poll(bool *moving)
   // errlogPrintf("Axis %d, reply %s, msr %d, oredmsr = %d, position = %lf\n",
   //	       axisNo_, reply, msr, oredMSR, position);
 
-  // Reset the error during each poll. This is necessary because some errors
+  oredMSR |= msr;
-  // 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

@@ -250,8 +250,6 @@ 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/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) 
 

utils/nanotec.sh

@@ -1,162 +0,0 @@
-#!/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}"