Fixed missing initializer for variables in Phytron-Axis

Reviewed-on: #2

.clang-format

@@ -0,0 +1,236 @@
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.gitignore

@@ -5,6 +5,9 @@
 # Ignore text editor (e.g. emacs) autosave files
 *~
 
+# Build Artifacts
+O.*_Common/
+O.*_RHEL8-x86_64/
 
 # Compiled Object files
 *.slo
@@ -66,6 +69,7 @@ local.properties
 *.user
 *.sln.docstates
 *.sdf
+.cvsignore
 
 #Test results
 *.log

.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.RHEL7

@@ -2,7 +2,6 @@
 include /ioc/tools/driver.makefile
 
 MODULE=sinq
-LIBVERSION=koennecke
 BUILDCLASSES=Linux
 EPICS_VERSIONS=3.14.12 7.0.4.1
 
@@ -32,5 +31,6 @@ SOURCES += sinqEPICSApp/src/EuroMoveDriver.cpp
 SOURCES += sinqEPICSApp/src/pmacAsynIPPort.c
 SOURCES += sinqEPICSApp/src/pmacAxis.cpp
 SOURCES += sinqEPICSApp/src/pmacController.cpp
-
+SOURCES += sinqEPICSApp/src/drvAsynMasterMACSPort.c
+SOURCES += sinqEPICSApp/src/MasterMACSDriver.cpp
 # MISCS  would be the place to keep the stream device template files

Makefile.RHEL7.michele

@@ -2,7 +2,7 @@
 include /ioc/tools/driver.makefile
 
 MODULE=sinq
-LIBVERSION=brambilla_m
+LIBVERSION=brambilla_m_test
 BUILDCLASSES=Linux
 EPICS_VERSIONS=3.14.12 7.0.4.1
 ARCH_FILTER=RHEL7-x86_64

Makefile.RHEL8

@@ -0,0 +1,42 @@
+# This build the sinq extensions for the PSI EPICS setup
+include /ioc/tools/driver.makefile
+
+MODULE=sinq
+BUILDCLASSES=Linux
+EPICS_VERSIONS=7.0.7
+ARCH_FILTER=RHEL8%
+
+# additional module dependencies
+REQUIRED+=SynApps
+REQUIRED+=stream
+REQUIRED+=scaler
+REQUIRED+=motorBase
+
+# 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
+
+# Source files to build
+SOURCES += sinqEPICSApp/src/devScalerEL737.c
+SOURCES += sinqEPICSApp/src/SINQController.cpp
+SOURCES += sinqEPICSApp/src/SINQAxis.cpp
+SOURCES += sinqEPICSApp/src/EL734Driver.cpp
+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/MasterMACSDriver.cpp
+SOURCES += sinqEPICSApp/src/C804Axis.cpp
+SOURCES += sinqEPICSApp/src/C804Controller.cpp
+
+USR_CFLAGS += -Wall -Wextra # -Werror
+
+# MISCS  would be the place to keep the stream device template files

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/basic_asyn_motor.db

@@ -4,6 +4,7 @@ record(motor,"$(P)$(M)")
 	field(DTYP,"$(DTYP)")
 	field(DIR,"$(DIR)")
 	field(VELO,"$(VELO)")
+	field(VMAX,"$(VMAX=0)")
 	field(VBAS,"$(VBAS)")
 	field(ACCL,"$(ACCL)")
 	field(BDST,"$(BDST)")

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/Db/sinq_asyn_motor.db

@@ -0,0 +1,54 @@
+record(motor,"$(P)$(M)")
+{
+	field(DESC,"$(DESC)")
+	field(DTYP,"$(DTYP)")
+	field(DIR,"$(DIR)")
+	field(VELO,"$(VELO)")
+	field(VMAX,"$(VMAX=$(VELO))")
+	field(VBAS,"$(VBAS)")
+	field(ACCL,"$(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,"$(INIT)")
+	field(TWV,"1")
+	field(RDBD,"$(RDBD)")
+}
+
+
+# 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")
+}
+
+# enable axis
+record(longout, "$(P)$(M):Enable") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
+    field(PINI, "YES")
+}
+
+# enable axis
+record(longin, "$(P)$(M):Enable_RBV") {
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT),$(N),1) AXIS_ENABLED")
+    field(PINI, "YES")
+    field(SCAN, "1 second")
+}
+
+# reread encoder
+record(longout, "$(P)$(M):Reread_Encoder") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT),$(N),1) REREAD_ENCODER_POSITION")
+    field(PINI, "NO")
+}

sinqEPICSApp/src/C804Axis.cpp

@@ -0,0 +1,477 @@
+#include "C804Axis.h"
+#include "C804Controller.h"
+#include <cmath>
+#include <errlog.h>
+#include <limits>
+#include <math.h>
+#include <string.h>
+#include <unistd.h>
+
+C804Axis::C804Axis(C804Controller *pC, int axisNo)
+    : SINQAxis(pC, axisNo), pC_(pC) {
+    /*
+    The superclass constructor SINQAxis calls in turn its superclass constructor
+    asynMotorAxis. In the latter, a pointer to the constructed object this is
+    stored inside the array pAxes_:
+
+        pC->pAxes_[axisNo] = this;
+
+    Therefore, the axes are managed by the controller pC. See C804Controller.cpp
+    for further explanation. If axisNo is out of bounds, asynMotorAxis prints an
+    error (see
+    https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/asynMotorAxis.cpp,
+    line 40). However, we want the IOC creation to stop completely, since this
+    is a configuration error.
+    */
+    if (axisNo >= pC->numAxes_) {
+        exit(-1);
+    }
+    last_position_steps_ = 0;
+
+    last_poll_ = 0.0;
+}
+
+C804Axis::~C804Axis(void) {
+    // Since the controller memory is managed somewhere else, we don't need to
+    // clean up the pointer pC here.
+}
+
+/*
+The polling function informs us about the state of the axis, in particular if it
+is currently moving. It is called periodically, with the period defined by
+the controller constructor arguments idlePollPeriod and movingPollPeriod
+depending on the current axis state.
+*/
+asynStatus C804Axis::poll(bool *moving) {
+    // Local variable declaration
+    static const char *functionName = "C804Axis::poll";
+
+    // The poll function is just a wrapper around poll_no_param_lib_update and
+    // handles mainly the callParamCallbacks() function
+    asynStatus status_poll = C804Axis::poll_no_param_lib_update(moving);
+
+    // According to the function documentation of asynMotorAxis::poll, this
+    // function should be called at the end of a poll implementation.
+    asynStatus status_callback = callParamCallbacks();
+    if (status_callback != asynSuccess) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Updating the parameter library failed for axis %d\n",
+                  functionName, axisNo_);
+        return status_callback;
+    } else {
+        return status_poll;
+    }
+}
+
+// Perform the actual poll
+asynStatus C804Axis::poll_no_param_lib_update(bool *moving) {
+    // Local variable declaration
+    static const char *functionName = "C804Axis::poll";
+    asynStatus status;
+    int axis_status = 0;
+
+    // The controller returns the position and velocity in encoder steps.
+    // This value needs to be converted in user units (engineering units EGU)
+    // via the record field MRES of the motor record. This field has already
+    // been read by the constructor into the member variable
+    // motorRecResolution_. To go from steps to user units, multiply with
+    // motorRecResolution_ Example: If 10 steps correspond to 1 mm, MRES should
+    // be 0.1.
+    int position_error_steps = 0;
+    int motor_position_steps = 0;
+    int motor_velocity_steps = 0;
+    int programmed_motor_velocity_steps = 0;
+    double position_error = .0;
+    double motor_position = .0;
+    double motor_velocity = .0;
+    double programmed_motor_velocity = .0;
+
+    // The buffer sizes for command and response are defined in the controller
+    // (see the corresponding source code files)
+    char command[pC_->C804_MAXBUF_], response[pC_->C804_MAXBUF_];
+
+    /*
+    Cancel the poll if the last poll has "just" happened.
+    */
+    if (time(NULL) < last_poll_ + 0.5 * pC_->movingPollPeriod_) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_WARNING,
+                  "%s: Aborted poll since the last poll for axis %d happened a "
+                  "short time ago\n",
+                  functionName, axisNo_);
+        return asynSuccess;
+    } else {
+        last_poll_ = time(NULL);
+    }
+
+    /*
+    The parameter motorRecResolution_ is coupled to the field MRES of the motor
+    record in the following manner:
+    - In sinq_asyn_motor.db, the PV (motor_record_pv_name)MOTOR_REC_RESOLUTION
+    is defined as a copy of the field (motor_record_pv_name).MRES:
+
+        record(ao,"$(P)$(M):Resolution") {
+            field(DESC, "$(M) resolution")
+            field(DOL,  "$(P)$(M).MRES CP MS")
+            field(OMSL, "closed_loop")
+            field(DTYP, "asynFloat64")
+            field(OUT,  "@asyn($(PORT),$(ADDR))MOTOR_REC_RESOLUTION")
+            field(PREC, "$(PREC)")
+        }
+
+    - The PV name MOTOR_REC_RESOLUTION is coupled in asynMotorController.h to
+    the constant motorRecResolutionString
+    - ... which in turn is assigned to motorRecResolution_ in
+    asynMotorController.cpp This way of making the field visible to the driver
+    is described here: https://epics.anl.gov/tech-talk/2020/msg00378.php This is
+    a one-way coupling, changes to the parameter library via setDoubleParam are
+    NOT transferred to (motor_record_pv_name).MRES or to
+    (motor_record_pv_name):Resolution.
+
+    NOTE: This function must not be called in the constructor (e.g. in order to
+    save the read result to the member variable earlier), since the parameter
+    library is updated at a later stage!
+    */
+    pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
+                        &motorRecResolution_);
+
+    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW, "Poll axis %d\n", axisNo_);
+
+    /*
+    We know that the motor resolution must not be zero. During the startup of
+    the IOC, polls can happen before the record is fully initialized. In that
+    case, all values are zero.
+    */
+    if (motorRecResolution_ == 0) {
+        return asynError;
+    }
+
+    /*
+    Assume that the axis does not have a status problem. If it does have a
+    problem, this value will be overwritten further below. Setting this value
+    in itself does not trigger a callback immediately, any callbacks
+    (such as e.g. updating camonitor) are done in callParamCallbacks() at the
+    end of this function.
+    */
+    setIntegerParam(pC_->motorStatusProblem_, false);
+
+    // Read out the position error of the axis (delta of target position to
+    // actual position)
+    snprintf(command, pC_->C804_MAXBUF_ - 1, "%dTE", axisNo_);
+    status = pC_->lowLevelWriteRead(axisNo_, command, response, true);
+    if (status == asynSuccess) {
+        int parsed_axis;
+        sscanf(response, "%2dE%10d", &parsed_axis, &position_error_steps);
+
+        // Scale from the encoder resultion to user units
+        position_error = double(position_error_steps) * motorRecResolution_;
+
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+                  "%s: Axis %d, response %s, position error %f\n", functionName,
+                  axisNo_, response, position_error);
+    } else {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Reading the position error failed for axis %d\n",
+                  functionName, axisNo_);
+        setIntegerParam(pC_->motorStatusProblem_, true);
+
+        // Stop the evaluation prematurely
+        return status;
+    }
+
+    // Read the current position.
+    snprintf(command, this->pC_->C804_MAXBUF_ - 1, "%dTP", this->axisNo_);
+    status =
+        this->pC_->lowLevelWriteRead(this->axisNo_, command, response, true);
+    if (status == asynSuccess) {
+        int parsed_axis;
+        sscanf(response, "%2dP%10d", &parsed_axis, &motor_position_steps);
+
+        // Scale from the encoder resultion to user units
+        motor_position = double(motor_position_steps) * motorRecResolution_;
+
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+                  "%s: Axis %d, response %s, position %f\n", functionName,
+                  axisNo_, response, motor_position);
+        setDoubleParam(pC_->motorPosition_, motor_position);
+        setDoubleParam(pC_->motorEncoderPosition_, motor_position);
+    } else {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Reading the position failed for axis %d\n", functionName,
+                  axisNo_);
+        setIntegerParam(pC_->motorStatusProblem_, true);
+
+        return status;
+    }
+
+    // Read the current velocity
+    snprintf(command, this->pC_->C804_MAXBUF_ - 1, "%dTV", this->axisNo_);
+    status =
+        this->pC_->lowLevelWriteRead(this->axisNo_, command, response, true);
+    if (status == asynSuccess) {
+        int parsed_axis;
+        sscanf(response, "%2dV%10d", &parsed_axis, &motor_velocity_steps);
+
+        // Scale from the encoder resultion to user units
+        motor_velocity = double(motor_velocity_steps) * motorRecResolution_;
+
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+                  "%s: Axis %d, response %s, velocity %f\n", functionName,
+                  axisNo_, response, motor_velocity);
+    } else {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Reading the velocity failed for axis %d\n", functionName,
+                  axisNo_);
+        setIntegerParam(pC_->motorStatusProblem_, true);
+
+        return status;
+    }
+
+    // Read the programmed velocity
+    snprintf(command, this->pC_->C804_MAXBUF_ - 1, "%dTY", this->axisNo_);
+    status =
+        this->pC_->lowLevelWriteRead(this->axisNo_, command, response, true);
+    if (status == asynSuccess) {
+
+        int parsed_axis;
+        sscanf(response, "%2dY%10d", &parsed_axis,
+               &programmed_motor_velocity_steps);
+
+        // Scale from the encoder resultion to user units
+        programmed_motor_velocity =
+            double(programmed_motor_velocity_steps) * motorRecResolution_;
+
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+                  "%s: Axis %d, response %s, programmed velocity %f\n",
+                  functionName, axisNo_, response, programmed_motor_velocity);
+    } else {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Reading the programmed velocity failed for axis %d\n",
+                  functionName, axisNo_);
+        setIntegerParam(pC_->motorStatusProblem_, true);
+
+        return status;
+    }
+
+    // Read the motor status
+    snprintf(command, pC_->C804_MAXBUF_ - 1, "%dTS", axisNo_);
+    status = pC_->lowLevelWriteRead(this->axisNo_, command, response, true);
+    if (status == asynSuccess) {
+        int parsed_axis;
+        sscanf(response, "%2dS%10d", &parsed_axis, &axis_status);
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+                  "%s: Axis %d, response %s, status %d\n", functionName,
+                  axisNo_, response, axis_status);
+    } else {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Reading the motor status %d\n", functionName, axisNo_);
+        setIntegerParam(pC_->motorStatusProblem_, true);
+
+        // Stop prematurely
+        return status;
+    }
+
+    // Check if the axis is enabled by reading out bit 2 (see
+    // https://stackoverflow.com/questions/2249731/how-do-i-get-bit-by-bit-data-from-an-integer-value-in-c)
+    int mask = 1 << 2;
+    int masked_n = axis_status & mask;
+    // Is 1 if the axis is disabled
+    int disabled = masked_n >> 2;
+    if (disabled) {
+        enabled_ = false;
+    } else {
+        enabled_ = true;
+    }
+
+    /*
+    Determine if the motor is moving. This is determined by the following
+    criteria: 1) The motor position changes from poll to poll 2) The motor is
+    enabled
+    */
+    *moving = enabled_ && motor_position_steps != this->last_position_steps_;
+
+    // Update the cached_position
+    this->last_position_steps_ = motor_position_steps;
+
+    /*
+    Calculate the time the motor should need to reach its target, based on the
+    programmed velocity and compare this to the actual time the motor has spent
+    moving. If it has spent too much time in a moving state without reaching
+    the target, stop the motor and return an error.
+    */
+    if (*moving) {
+
+        int motorStatusMoving = 0;
+        pC_->getIntegerParam(axisNo_, pC_->motorStatusMoving_,
+                             &motorStatusMoving);
+
+        // motor is moving, but didn't move in the last poll
+        if (motorStatusMoving == 0) {
+            time_t current_time = time(NULL);
+
+            // Factor 2 of the calculated moving time
+            estimatedArrivalTime_ =
+                current_time + std::ceil(2 * std::fabs(position_error) /
+                                         programmed_motor_velocity);
+        } else {
+            // /*
+            // Motor is moving for a longer time than it should: Stop it
+            // */
+            // if (time(NULL) > estimatedArrivalTime_)
+            // {
+            //     snprintf(command, pC_->C804_MAXBUF_ - 1, "%dST", axisNo_);
+            //     status = pC_->lowLevelWriteRead(axisNo_, command, response);
+            //     asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s: Stopped
+            //     axis %d since it moved for double the time it should to reach
+            //     its target\n", functionName, axisNo_);
+            // }
+        }
+    }
+
+    /*
+    One of these parameters (or both) are used to set (PV-name).DMOV.
+    This PV tells EPICS whether the axis / motor is currently moving or not.
+    */
+    setIntegerParam(pC_->motorStatusMoving_, *moving);
+    setIntegerParam(pC_->motorStatusDone_, !(*moving));
+    callParamCallbacks();
+
+    return status;
+}
+
+asynStatus C804Axis::move(double position, int relative, double minVelocity,
+                          double maxVelocity, double acceleration) {
+    asynStatus status;
+    static const char *functionName = "C804Axis::move";
+    char command[pC_->C804_MAXBUF_], response[pC_->C804_MAXBUF_];
+    double position_c_units = 0.0; // Controller units
+    int position_steps = 0;
+
+    // Convert from user coordinates (EGU) to controller coordinates (steps).
+    // Check for overflow
+    if (motorRecResolution_ == 0.0) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: MRES must not be zero. Movement is aborted",
+                  functionName);
+        return asynError;
+    }
+    position_c_units = position / motorRecResolution_;
+
+    // Check for overflow during the division
+    if (position_c_units * motorRecResolution_ != position) {
+        asynPrint(
+            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            "%s: could not convert from user units (%f) to controller units "
+            "(user units divided by resolution MRES %f) due to overflow.",
+            functionName, position, motorRecResolution_);
+        return asynError;
+    }
+
+    // Steps can only be integer values => cast to integer while checking for
+    // overflow
+    if (std::numeric_limits<int>::max() < position_c_units ||
+        std::numeric_limits<int>::min() > position_c_units) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: target position %f cannot be converted to int "
+                  "(overflow). Check target value %f and MRES %f",
+                  functionName, position_c_units, position_c_units,
+                  motorRecResolution_);
+        return asynError;
+    }
+    position_steps = static_cast<int>(position_c_units);
+
+    // Convert from relative to absolute values
+    if (relative) {
+        position_steps += last_position_steps_;
+    }
+
+    // If the axis is currently disabled, enable it
+    if (!enabled_) {
+        snprintf(command, pC_->C804_MAXBUF_ - 1, "%dGO", axisNo_);
+        status =
+            pC_->lowLevelWriteRead(this->axisNo_, command, response, false);
+        if (status != asynSuccess) {
+            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                      "%s: Enabling axis %d\n failed", functionName, axisNo_);
+            return status;
+        }
+    }
+
+    // Start movement
+    snprintf(command, pC_->C804_MAXBUF_ - 1, "%dMA%d", axisNo_, position_steps);
+    status = pC_->lowLevelWriteRead(this->axisNo_, command, response, false);
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Setting the target position %d failed for axis %d\n",
+                  functionName, position_steps, axisNo_);
+        setIntegerParam(pC_->motorStatusProblem_, true);
+        return status;
+    }
+    setIntegerParam(pC_->motorStatusProblem_, false);
+
+    // Reset the error flag
+    errorReported_ = 0;
+
+    return status;
+}
+
+asynStatus C804Axis::moveVelocity(double min_velocity, double max_velocity,
+                                  double acceleration) {
+    static const char *functionName = "C804Axis::moveVelocity";
+    return asynError;
+}
+
+asynStatus C804Axis::stop(double acceleration) {
+    asynStatus status = asynSuccess;
+    static const char *functionName = "C804Axis::stop";
+    char command[pC_->C804_MAXBUF_], response[pC_->C804_MAXBUF_];
+
+    bool moving = false;
+
+    poll(&moving);
+    if (moving) {
+        // ST = Stop
+        snprintf(command, pC_->C804_MAXBUF_ - 1, "%dST", axisNo_);
+        status = pC_->lowLevelWriteRead(axisNo_, command, response, false);
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACEIO_DEVICE, "%s: Stop axis %d\n",
+                  functionName, axisNo_);
+    }
+
+    return status;
+}
+
+asynStatus C804Axis::home(double minVelocity, double maxVelocity,
+                          double acceleration, int forwards) {
+    asynStatus status = asynSuccess;
+    static const char *functionName = "C804Axis::home";
+    char command[pC_->C804_MAXBUF_], response[pC_->C804_MAXBUF_];
+
+    snprintf(command, pC_->C804_MAXBUF_ - 1, "%dFE0",
+             axisNo_); // Home to the upper limit of the axis (25 mm)
+    status = pC_->lowLevelWriteRead(axisNo_, command, response, false);
+    asynPrint(pC_->pasynUserSelf, ASYN_TRACEIO_DEVICE, "%s: Homing axis %d\n",
+              functionName, axisNo_);
+
+    return status;
+}
+
+/**
+If on is 0, disable the motor, otherwise enable it.
+ */
+asynStatus C804Axis::enable(int on) {
+    asynStatus status = asynSuccess;
+    static const char *functionName = "C804Axis::enable";
+    char command[pC_->C804_MAXBUF_], response[pC_->C804_MAXBUF_];
+
+    if (on == 0) {
+        snprintf(command, pC_->C804_MAXBUF_ - 1, "%dMF", axisNo_);
+        status = pC_->lowLevelWriteRead(axisNo_, command, response, false);
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACEIO_DEVICE,
+                  "%s: Disable axis %d\n", functionName, axisNo_);
+    } else {
+        snprintf(command, pC_->C804_MAXBUF_ - 1, "%dMN", axisNo_);
+        status = pC_->lowLevelWriteRead(axisNo_, command, response, false);
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACEIO_DEVICE,
+                  "%s: Enable axis %d\n", functionName, axisNo_);
+    }
+    return status;
+}

sinqEPICSApp/src/C804Axis.h

@@ -0,0 +1,40 @@
+#ifndef C804Axis_H
+#define C804Axis_H
+
+#include "SINQController.h"
+#include "SINQAxis.h"
+
+// Forward declaration of the controller class to resolve the cyclic dependency
+// between C804Controller.h and C804Axis.h. See https://en.cppreference.com/w/cpp/language/class.
+class C804Controller;
+
+class C804Axis : public SINQAxis
+{
+public:
+  /* These are the methods we override from the base class */
+  C804Axis(C804Controller *pController, int axisNo);
+  virtual ~C804Axis();
+  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
+  asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
+  asynStatus stop(double acceleration);
+  asynStatus home(double minVelocity, double maxVelocity, double acceleration, int forwards);
+  asynStatus poll(bool *moving);
+  asynStatus poll_no_param_lib_update(bool *moving);
+  asynStatus enable(int on);
+
+protected:
+  C804Controller *pC_;
+
+  void checkBounds(C804Controller *pController, int axisNo);
+  int last_position_steps_;
+  double motorRecResolution_;
+  time_t estimatedArrivalTime_;
+  time_t last_poll_;
+  int errorReported_;
+  bool enabled_;
+
+private:
+  friend class C804Controller;
+};
+
+#endif

sinqEPICSApp/src/C804Controller.cpp

@@ -0,0 +1,458 @@
+/**
+Overview EPICS documentation
+- https://docs.epics-controls.org/en/latest/index.html
+- https://epics.anl.gov/modules/soft/asyn/R4-29/asynDriver.html
+- https://www.physicstom.com/epics/
+- https://epics.anl.gov/modules/soft/asyn/R4-20/asynDriver.pdf
+ */
+
+#include "C804Controller.h"
+#include "asynOctetSyncIO.h"
+#include <errlog.h>
+#include <string.h>
+#include <unistd.h>
+#include <iocsh.h>
+#include <epicsExport.h>
+#include <registryFunction.h>
+
+const double C804Controller::C804_TIMEOUT_ = 5.0;
+
+static const char *driverName = "C804Controller";
+/*
+In SINQ, this constructor is usually called by its C interface function via the IOC shell.
+A typical call looks like that (taken from SANS instrument st.cmd):
+
+    pmacAsynIPConfigure("pmcu1","sans1-mcu1:1025")
+    pmacV3CreateController("mcu1","pmcu1",0,9,50,10000);
+    pmacV3CreateAxis("mcu1",1,0);
+    pmacV3CreateAxis("mcu1",2,0);
+    pmacV3CreateAxis("mcu1",3,0);
+    pmacV3CreateAxis("mcu1",4,0);
+    pmacV3CreateAxis("mcu1",5,0);
+    pmacV3CreateAxis("mcu1",6,0);
+    pmacV3CreateAxis("mcu1",7,0);
+    pmacV3CreateAxis("mcu1",8,0);
+
+The first call creates a port object in EPICS (port 1025 in this specific case) with the name "pmcu1".
+
+The second call creates the controller with the following arguments:
+- portName = "mcu1": The controller is registered by this name in EPICS. The axes
+constructors below use the name to get the controller pointer from EPICS.
+- lowLevelPortName = "pmcu1": The EPICS controller object connects to the physical
+device via the port object "pmcu1".
+- lowLevelPortAddress = 0: Connects to port 0 of asynOctetSyncIO. asynOctetSyncIO
+is an interface for ASCII-string-based message communication between driver and device.
+This value seems to be always zero (at least for all pmacAsynIPConfigure in the SINQ IOCs)
+- numAxes = 9: Constructs the array "pAxes_" with space for 9 axis pointers (see below).
+In the axes constructors below, we use the array indices 1 to 8, hence leaving the
+first element of the array unitialized (it has index 0). This is mainly a convenience
+to avoid talking about an "axis 0" when meaning the first axis.
+- movingPollPeriod: The method C804Controller::poll is called in a loop every
+movingPollPeriod seconds when the axis is moving
+- idlePollPeriod: The method C804Controller::poll is called in a loop every
+idlePollPeriod seconds when the axis is not moving
+*/
+C804Controller::C804Controller(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress,
+                               int numAxes, double movingPollPeriod, double idlePollPeriod, const int &extraParams)
+    : SINQController(portName, lowLevelPortName, numAxes, extraParams)
+{
+
+    // Definition of local variables.
+    asynStatus status = asynSuccess;
+
+    /*
+    functionName is overwritten by the name of the current function in each method
+    of C804Controller. This is used for feedback messages to the user.
+    */
+    static const char *functionName = "C804Controller::C804Controller";
+
+    /*
+    Update: We don't need this array, since all axes accesses are done
+    with the getAxis-function, which accesses the base class array
+
+    ============================================================================
+
+    The array pAxes_ is a member of the superclass asynMotorController and is
+    allocated when calling the constructor of asynMotorController, which
+    is done by the constructor of SINQController:
+
+        pAxes_ = (asynMotorAxis**) calloc(numAxes, sizeof(asynMotorAxis*));
+
+    Therefore, on this line we create a pointer to that array while interpreting
+    every pointer in it as one to a C804Axis. This is valid because we populate
+    the array in the constructor of C804Axis and can therefore be sure that
+    all asynMotorAxis pointers in asynMotorController::pAxes_ are in fact pointers
+    to C804Axis axes.
+
+    Interestingly, this array usually is leaked after destruction of asynMotorController
+    (n this class, we clean it up in the constructor).
+    The reason for that is that the EPICS devices are usually created only once at
+    the start of the program and the memory is cleaned up by the OS.
+    */
+    // pAxes_ = (C804Axis **)(asynMotorController::pAxes_);
+
+    // Initialize non static data members
+    lowLevelPortUser_ = NULL;
+    movingPollPeriod_ = movingPollPeriod;
+    idlePollPeriod_ = idlePollPeriod;
+
+    /*
+    We try to connect to the port via the port name provided by the constructor.
+    If this fails, we return an error message.
+    */
+    status = pasynOctetSyncIO->connect(lowLevelPortName, lowLevelPortAddress, &lowLevelPortUser_, NULL);
+    if (status != asynSuccess)
+    {
+        /*
+        ASYN_TRACE_ERROR is a mask for the trace of asynUser (member variable this->lowLevelPortUser_)
+        The different mask options are listed on this page: https://epics.anl.gov/modules/soft/asyn/R4-29/asynDriver.html (section AsynTrace):
+
+            0x1   ASYN_TRACE_ERROR Run time errors are reported, e.g. timeouts.
+            0x2   ASYN_TRACEIO_DEVICE Device support reports I/O activity.
+            0x4   ASYN_TRACEIO_FILTER Any layer between device support and the low level driver reports any filtering it does on I/O.
+            0x8   ASYN_TRACEIO_DRIVER Low level driver reports I/O activity.
+            0x10  ASYN_TRACE_FLOW Report logic flow. Device support should report all queue requests, callbacks entered, and all calls to drivers. Layers between device support and low level drivers should report all calls they make to lower level drivers. Low level drivers report calls they make to other support.
+            0x20  ASYN_TRACE_WARNING Report warnings, i.e. conditions that are between ASYN_TRACE_ERROR and ASYN_TRACE_FLOW.
+
+        To see the output of these functions e.g. on the shell, a trace mask needs
+        to be set:
+
+            asynSetTraceIOMask("L0", -1, 0x2)
+            asynSetTraceMask("L0", -1, 0x9) <- this enables 0x8 + 0x1 => ASYN_TRACE_ERROR and ASYN_TRACEIO_DRIVER
+
+        https://github-wiki-see.page/m/ISISComputingGroup/ibex_developers_manual/wiki/ASYN-Trace-Masks-(Debugging-IOC,-ASYN)
+
+        Here, we are unable to connect to the controller, which is a runtime error -> ASYN_TRACE_ERROR.
+        However, since lowLevelPortUser_ might still be NULL (because
+        pasynOctetSyncIO->connect failed for some reason), we use the alternative
+        EPICS function errlogPrintf. This function does not provide a timestamp
+        and masking facilities.
+        */
+        // asynPrint(this->lowLevelPortUser_, ASYN_TRACE_ERROR,
+        //           "%s: cannot connect to C804 controller\n",
+        //           functionName); // Asyn-framework function, needs to be configured by setTraceMasks
+        errlogPrintf("Fatal error in %s: cannot connect to C804 controller\n", functionName);
+        exit(-1);
+    }
+
+    /*
+    Here we define the terminators for messages sent to / received from the
+    physical device (Eos = End of string).
+    In the C804 manual, the terminator for an outgoing message is specified as
+    (rtn) == Carriage Return. From https://en.wikipedia.org/wiki/Escape_sequences_in_C:
+    (rtn) => \r
+
+    An incoming report is terminated by a CRLF ETX (again referring to https://en.wikipedia.org/wiki/Escape_sequences_in_C)
+    CR => \r
+    LF (line feed) = \n
+    ETX (end-of-text, see https://www.asciitable.com/) => \x03
+    */
+    const char *message_to_device = "\r";
+    const char *message_from_device = "\x03";
+    pasynOctetSyncIO->setOutputEos(lowLevelPortUser_, message_to_device, strlen(message_to_device));    // Output: from EPICS to device
+    pasynOctetSyncIO->setInputEos(lowLevelPortUser_, message_from_device, strlen(message_from_device)); // Input: from device to EPICS
+
+    /*
+    See documentation of function in asynMotorController.cpp:
+    "Starts the motor poller thread.
+    * Derived classes will typically call this at near the end of their constructor.
+    [...]
+    "
+    The function arguments are:
+    * movingPollPeriod The time between polls when any axis is moving (in seconds).
+    * idlePollPeriod The time between polls when no axis is moving (in seconds).
+    * forcedFastPolls The number of times to force the movingPollPeriod after waking up the poller.
+    */
+    startPoller(movingPollPeriod, idlePollPeriod, 1);
+
+    /*
+    After changing values in the parameter library (e.g. by calls to setIntegerParam),
+    the PV's need to be updated. This is done explictly by callParamCallbacks()
+    callParamCallbacks due to the separation asyn - EPICS (param lib vs. driver support)
+    */
+    callParamCallbacks();
+}
+
+C804Controller::~C804Controller(void)
+{
+    /*
+    Cleanup of the memory allocated in this->pAxes_. As discussed in the constructor,
+    this is not strictly necessary due to the way EPICS works, but it is good
+    practice anyway to properly clean up resources.
+    */
+    free(this->pAxes_);
+}
+
+/*
+Access one of the axes of the controller via the axis adress stored in asynUser.
+If the axis does not exist or is not a C804Axis, a nullptr is returned and an error is emitted.
+*/
+C804Axis *C804Controller::getAxis(asynUser *pasynUser)
+{
+    asynMotorAxis *asynAxis = asynMotorController::getAxis(pasynUser);
+    return C804Controller::castToC804Axis(asynAxis);
+}
+
+/*
+Access one of the axes of the controller via the axis index.
+If the axis does not exist or is not a C804Axis, the function must return Null
+*/
+C804Axis *C804Controller::getAxis(int axisNo)
+{
+    asynMotorAxis *asynAxis = asynMotorController::getAxis(axisNo);
+    return C804Controller::castToC804Axis(asynAxis);
+}
+
+C804Axis *C804Controller::castToC804Axis(asynMotorAxis *asynAxis)
+{
+    static const char *functionName = "C804Controller::getAxis";
+
+    // If the axis slot of the pAxes_ array is empty, a nullptr must be returned
+    if (asynAxis == nullptr)
+    {
+        return nullptr;
+    }
+
+    // Here, an error is emitted since asyn_axis is not a nullptr but also not an instance of C804Axis
+    C804Axis *axis = dynamic_cast<C804Axis *>(asynAxis);
+    if (axis == nullptr)
+    {
+        asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR, "%s: Axis %d is not a C804 Axis", functionName, axis->axisNo_);
+    }
+    return axis;
+}
+
+/*
+Sends the given command to the axis specified by axisNo and returns the response
+of the axis.
+*/
+asynStatus C804Controller::lowLevelWriteRead(int axisNo, const char *command, char *response, bool expect_response)
+{
+    // Definition of local variables.
+    static const char *functionName = "C804Controller::lowLevelWriteRead";
+    asynStatus status = asynSuccess;
+    C804Axis *axis = getAxis(axisNo);
+
+    if (axis == nullptr)
+    {
+        // We already did the error logging directly in getAxis
+        return asynError;
+    }
+
+    // TBD: Is this interpretation correct?
+    int eomReason = 0;    // Flag indicating why the message has ended
+    size_t nbytesOut = 0; // Number of bytes of the outgoing message (which is command + the end-of-string terminator defined in the constructor)
+    size_t nbytesIn = 0;  // Number of bytes of the incoming message (which is response + the end-of-string terminator defined in the constructor)
+
+    // If the class instance could not be connected to the device, set an error flag.
+    if (lowLevelPortUser_ == nullptr)
+    {
+        asynPrint(this->lowLevelPortUser_, ASYN_TRACE_ERROR,
+                  "%s: not connected to C804 controller\n",
+                  functionName);
+
+        // Adjust the parameter library
+        setIntegerParam(this->motorStatusCommsError_, 1);
+        return asynError;
+    }
+
+    // Mask ASYN_TRACEIO_DRIVER is defined as "Device support reports I/O activity"
+    asynPrint(lowLevelPortUser_, ASYN_TRACEIO_DRIVER, "%s: command: %s\n", functionName, command);
+
+    // Writes the command to the port and blocks until a response has been received or until the timeout has been reached.
+    // For some inputs (such as TP = Tell position), we expect a response which is terminated by a character array "x03"
+    // Other messages such as MA100 (move) don't return a response
+    if (expect_response)
+    {
+        status = pasynOctetSyncIO->writeRead(lowLevelPortUser_,
+                                             command, strlen(command),
+                                             response, this->C804_MAXBUF_,
+                                             C804_TIMEOUT_,
+                                             &nbytesOut, &nbytesIn, &eomReason);
+    }
+    else
+    {
+        status = pasynOctetSyncIO->write(lowLevelPortUser_,
+                                         command, strlen(command),
+                                         C804_TIMEOUT_,
+                                         &nbytesOut);
+    }
+
+    // Writing and/or reading succeded
+    if (status == asynSuccess)
+    {
+        asynPrint(lowLevelPortUser_, ASYN_TRACEIO_DRIVER, "%s: device response: %s\n", functionName, response);
+
+        // Reset any error which might have been set
+        setIntegerParam(this->motorStatusCommsError_, 0);
+    }
+    else
+    {
+        asynPrint(this->lowLevelPortUser_, ASYN_TRACE_ERROR,
+                  "%s: asynOctetSyncIO->writeRead failed for command %s on axis %d\n",
+                  functionName, command, axisNo);
+
+        setIntegerParam(this->motorStatusCommsError_, 1);
+    }
+
+    // Block the thread to avoid sending too many messages in a short timeframe
+    usleep(interMessageSleep);
+
+    return status;
+}
+
+/*************************************************************************************/
+/** The following functions are C-wrappers, and can be called directly from iocsh */
+
+extern "C"
+{
+
+    /*
+    C wrapper for the C804Controller constructor.
+    */
+    asynStatus C804CreateController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress,
+                                    int numAxes, double movingPollPeriod, double idlePollPeriod)
+    {
+        /*
+        We create a new instance of C804CreateController, using the "new" keyword to allocate it
+        on the heap while avoiding RAII.
+        TBD: Where is the pointer to the controller stored?
+        https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/asynMotorController.cpp
+        https://github.com/epics-modules/asyn/blob/master/asyn/asynPortDriver/asynPortDriver.cpp
+
+        Setting the pointer to nullptr / NULL immediately after construction is simply
+        done to avoid compiler warnings, see page 7 of this document:
+        https://subversion.xray.aps.anl.gov/synApps/measComp/trunk/documentation/measCompTutorial.pdf
+        */
+        C804Controller *pController = new C804Controller(portName, lowLevelPortName, lowLevelPortAddress, numAxes, movingPollPeriod, idlePollPeriod);
+        pController = nullptr;
+
+        return asynSuccess;
+    }
+
+    /*
+    C wrapper for the C804Axis constructor.
+    See C804Axis::C804Axis.
+    */
+    asynStatus C804CreateAxis(const char *C804Name, int axis)
+    {
+        C804Axis *pAxis;
+
+        static const char *functionName = "C804CreateAxis";
+
+        /*
+        findAsynPortDriver is a asyn library FFI function which uses the C ABI.
+        Therefore it returns a void pointer instead of e.g. a pointer to a superclass
+        of the controller such as asynPortDriver. Type-safe upcasting via dynamic_cast
+        is therefore not possible directly. However, we do know that the void
+        pointer is either a pointer to asynPortDriver (if a driver with the specified name exists)
+        or a nullptr. Therefore, we first do a nullptr check, then a cast to asynPortDriver
+        and lastly a (typesafe) dynamic_upcast to C804Controller
+        https://stackoverflow.com/questions/70906749/is-there-a-safe-way-to-cast-void-to-class-pointer-in-c
+         */
+        void *ptr = findAsynPortDriver(C804Name);
+        if (ptr == nullptr)
+        {
+            /*
+            We can't use asynPrint here since this macro would require us
+            to get a lowLevelPortUser_ from a pointer to an asynPortDriver.
+            However, the given pointer is a nullptr and therefore doesn't
+            have a lowLevelPortUser_! printf is an EPICS alternative which
+            works w/o that, but doesn't offer the comfort provided
+            by the asynTrace-facility
+            */
+            printf("%s:%s: Error port %s not found\n", driverName, functionName, C804Name);
+            return asynError;
+        }
+        // Unsafe cast of the pointer to an asynPortDriver
+        asynPortDriver *apd = (asynPortDriver *)(ptr);
+
+        // Safe downcast
+        C804Controller *pC = dynamic_cast<C804Controller *>(apd);
+        if (pC == nullptr)
+        {
+            printf("%s: controller on port %s is not a C804Controller\n", functionName, C804Name);
+            return asynError;
+        }
+
+        // Prevent manipulation of the controller from other threads while we create the new axis.
+        pC->lock();
+
+        /*
+        We create a new instance of C804Axis, using the "new" keyword to allocate it
+        on the heap while avoiding RAII. In the constructor, a pointer to the new object is stored in
+        the controller object "pC". Therefore, the axis instance can still be
+        reached later by quering "pC".
+
+        Setting the pointer to nullptr / NULL immediately after construction is simply
+        done to avoid compiler warnings, see page 7 of this document:
+        https://subversion.xray.aps.anl.gov/synApps/measComp/trunk/documentation/measCompTutorial.pdf
+        */
+        pAxis = new C804Axis(pC, axis);
+        pAxis = nullptr;
+
+        // Allow manipulation of the controller again
+        pC->unlock();
+        return asynSuccess;
+    }
+
+    /*
+    This is boilerplate code which is used to make the FFI functions
+    C804CreateController and C804CreateAxis "known" to the IOC shell (iocsh).
+    TBD: If the code is compiled for running on vxWorks, this registration is
+    apparently not necessary?
+    */
+
+#ifdef vxWorks
+#else
+
+    /*
+    Define name and type of the arguments for the C804CreateController function
+    in the iocsh. This is done by creating structs with the argument names and types
+    and then providing "factory" functions (configC804CreateControllerCallFunc).
+    These factory functions are used to register the constructors during compilation.
+    */
+    static const iocshArg C804CreateControllerArg0 = {"Controller port name", iocshArgString};
+    static const iocshArg C804CreateControllerArg1 = {"Low level port name", iocshArgString};
+    static const iocshArg C804CreateControllerArg2 = {"Low level port address", iocshArgInt};
+    static const iocshArg C804CreateControllerArg3 = {"Number of axes", iocshArgInt};
+    static const iocshArg C804CreateControllerArg4 = {"Moving poll rate (s)", iocshArgDouble};
+    static const iocshArg C804CreateControllerArg5 = {"Idle poll rate (s)", iocshArgDouble};
+    static const iocshArg *const C804CreateControllerArgs[] = {&C804CreateControllerArg0,
+                                                               &C804CreateControllerArg1,
+                                                               &C804CreateControllerArg2,
+                                                               &C804CreateControllerArg3,
+                                                               &C804CreateControllerArg4,
+                                                               &C804CreateControllerArg5};
+    static const iocshFuncDef configC804CreateController = {"C804CreateController", 6, C804CreateControllerArgs};
+    static void configC804CreateControllerCallFunc(const iocshArgBuf *args)
+    {
+        C804CreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival, args[4].dval, args[5].dval);
+    }
+
+    /*
+    Same procedure as for the C804CreateController function, but for the axis itself.
+    */
+    static const iocshArg C804CreateAxisArg0 = {"Controller port name", iocshArgString};
+    static const iocshArg C804CreateAxisArg1 = {"Axis number", iocshArgInt};
+    static const iocshArg *const C804CreateAxisArgs[] = {&C804CreateAxisArg0,
+                                                         &C804CreateAxisArg1};
+    static const iocshFuncDef configC804CreateAxis = {"C804CreateAxis", 2, C804CreateAxisArgs};
+    static void configC804CreateAxisCallFunc(const iocshArgBuf *args)
+    {
+        C804CreateAxis(args[0].sval, args[1].ival);
+    }
+
+    // This function is made known to EPICS in sinq.dbd and is called by EPICS
+    // in order to register both functions in the IOC shell
+    // TBD: Does this happen during compilation?
+    static void C804ControllerRegister(void)
+    {
+        iocshRegister(&configC804CreateController, configC804CreateControllerCallFunc);
+        iocshRegister(&configC804CreateAxis, configC804CreateAxisCallFunc);
+    }
+    epicsExportRegistrar(C804ControllerRegister);
+
+#endif
+
+} // extern "C"

sinqEPICSApp/src/C804Controller.h

@@ -0,0 +1,50 @@
+#ifndef C804Controller_H
+#define C804Controller_H
+
+#include "SINQController.h"
+#include "C804Axis.h"
+#include "asynMotorAxis.h"
+
+class C804Controller : public SINQController
+{
+public:
+  C804Controller(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress, int numAxes, double movingPollPeriod,
+                 double idlePollPeriod, const int &extraParams = 2);
+
+  virtual ~C804Controller();
+
+  /* These are the methods that we override */
+  C804Axis *getAxis(asynUser *pasynUser);
+  C804Axis *getAxis(int axisNo);
+  C804Axis *castToC804Axis(asynMotorAxis *asynAxis);
+
+protected:
+  asynUser *lowLevelPortUser_;
+
+  // User-defined polling periods in ms
+  time_t movingPollPeriod_;
+  time_t idlePollPeriod_;
+
+  void log(const char *message);
+  asynStatus lowLevelWriteRead(int axisNo, const char *command, char *response, bool expect_response);
+
+private:
+  // Set the maximum buffer size. This is an empirical value which must be large
+  // enough to avoid overflows for all commands to the device / responses from it.
+  static const uint32_t C804_MAXBUF_ = 200;
+
+  /*
+  When trying to communicate with the device, the underlying asynOctetSyncIO
+  interface waits for a response until this time (in seconds) has passed,
+  then it declares a timeout. This variable has to be specified in the .cpp-file.
+  Tying to specify in the .h-file results in the following compiler error:
+  In file included from ../sinqEPICSApp/src/C804Axis.cpp:2:
+  ../sinqEPICSApp/src/C804Controller.h:38:23: error: ‘constexpr’ needed for in-class initialization
+  of static data member ‘const double C804Controller::C804_TIMEOUT_’ of non-integral type
+  */
+  static const double C804_TIMEOUT_;
+
+  friend class C804Axis;
+};
+
+#endif

sinqEPICSApp/src/EL734Driver.cpp

@@ -11,7 +11,6 @@ Mark Koennecke, May, August 2017
 
 */
 
-
 #include <stdio.h>
 #include <string.h>
 #include <stdlib.h>
@@ -30,84 +29,82 @@ Mark Koennecke, May, August 2017
 
 #define IDLEPOLL 60
 
-
 /** Creates a new EL734Controller object.
-  * \param[in] portName          The name of the asyn port that will be created for this driver
-  * \param[in] EL734PortName     The name of the drvAsynSerialPort that was created previously to connect to the EL734 controller 
-  * \param[in] numAxes           The number of axes that this controller supports 
-  */
+ * \param[in] portName          The name of the asyn port that will be created for this driver
+ * \param[in] EL734PortName     The name of the drvAsynSerialPort that was created previously to connect to the EL734 controller
+ * \param[in] numAxes           The number of axes that this controller supports
+ */
 EL734Controller::EL734Controller(const char *portName, const char *EL734PortName, int numAxes)
-  :  SINQController(portName, EL734PortName, numAxes) 
+    : SINQController(portName, EL734PortName, numAxes)
 {
   int axis;
   asynStatus status;
   static const char *functionName = "EL734Controller::EL734Controller";
 
-
   /* Connect to EL734 controller */
   status = pasynOctetSyncIO->connect(EL734PortName, 0, &pasynUserController_, NULL);
-  if (status) {
-    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, 
-      "%s: cannot connect to EL734 controller\n",
-      functionName);
+  if (status)
+  {
+    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+              "%s: cannot connect to EL734 controller\n",
+              functionName);
   }
-  pasynOctetSyncIO->setOutputEos(pasynUserController_,"\r",strlen("\r"));
-  pasynOctetSyncIO->setInputEos(pasynUserController_,"\r",strlen("\r"));
+  pasynOctetSyncIO->setOutputEos(pasynUserController_, "\r", strlen("\r"));
+  pasynOctetSyncIO->setInputEos(pasynUserController_, "\r", strlen("\r"));
 
   switchRemote();
 
-  for (axis=0; axis<numAxes; axis++) {
-    new EL734Axis(this, axis+1);
+  for (axis = 0; axis < numAxes; axis++)
+  {
+    new EL734Axis(this, axis + 1);
   }
 
-  startPoller(1000./1000., IDLEPOLL, 2);
+  startPoller(1000. / 1000., IDLEPOLL, 2);
 }
 
-
 /** Creates a new EL734Controller object.
-  * Configuration command, called directly or from iocsh
-  * \param[in] portName          The name of the asyn port that will be created for this driver
-  * \param[in] EL734PortName       The name of the drvAsynIPPPort that was created previously to connect to the EL734 controller 
-  * \param[in] numAxes           The number of axes that this controller supports 
-  */
+ * Configuration command, called directly or from iocsh
+ * \param[in] portName          The name of the asyn port that will be created for this driver
+ * \param[in] EL734PortName       The name of the drvAsynIPPPort that was created previously to connect to the EL734 controller
+ * \param[in] numAxes           The number of axes that this controller supports
+ */
 extern "C" int EL734CreateController(const char *portName, const char *EL734PortName, int numAxes)
 {
-  EL734Controller *pEL734Controller
-    = new EL734Controller(portName, EL734PortName, numAxes);
+  EL734Controller *pEL734Controller = new EL734Controller(portName, EL734PortName, numAxes);
   pEL734Controller = NULL;
-  return(asynSuccess);
+  return (asynSuccess);
 }
 
 /** Reports on status of the driver
-  * \param[in] fp The file pointer on which report information will be written
-  * \param[in] level The level of report detail desired
-  *
-  * If details > 0 then information is printed about each axis.
-  * After printing controller-specific information it calls asynMotorController::report()
-  */
+ * \param[in] fp The file pointer on which report information will be written
+ * \param[in] level The level of report detail desired
+ *
+ * If details > 0 then information is printed about each axis.
+ * After printing controller-specific information it calls asynMotorController::report()
+ */
 void EL734Controller::report(FILE *fp, int level)
 {
-  fprintf(fp, "EL734 motor driver %s, numAxes=%d\n", 
-    this->portName, numAxes_);
+  fprintf(fp, "EL734 motor driver %s, numAxes=%d\n",
+          this->portName, numAxes_);
 
   // Call the base class method
   asynMotorController::report(fp, level);
 }
 
 /** Returns a pointer to an EL734Axis object.
-  * Returns NULL if the axis number encoded in pasynUser is invalid.
-  * \param[in] pasynUser asynUser structure that encodes the axis index number. */
-EL734Axis* EL734Controller::getAxis(asynUser *pasynUser)
+ * Returns NULL if the axis number encoded in pasynUser is invalid.
+ * \param[in] pasynUser asynUser structure that encodes the axis index number. */
+EL734Axis *EL734Controller::getAxis(asynUser *pasynUser)
 {
-  return static_cast<EL734Axis*>(asynMotorController::getAxis(pasynUser));
+  return static_cast<EL734Axis *>(asynMotorController::getAxis(pasynUser));
 }
 
 /** Returns a pointer to an EL734Axis object.
-  * Returns NULL if the axis number encoded in pasynUser is invalid.
-  * \param[in] axisNo Axis index number. */
-EL734Axis* EL734Controller::getAxis(int axisNo)
+ * Returns NULL if the axis number encoded in pasynUser is invalid.
+ * \param[in] axisNo Axis index number. */
+EL734Axis *EL734Controller::getAxis(int axisNo)
 {
-  return static_cast<EL734Axis*>(asynMotorController::getAxis(axisNo));
+  return static_cast<EL734Axis *>(asynMotorController::getAxis(axisNo));
 }
 
 void EL734Controller::switchRemote()
@@ -116,27 +113,27 @@ void EL734Controller::switchRemote()
   size_t in, out;
   int reason;
 
-  strcpy(command,"RMT 1");
+  strcpy(command, "RMT 1");
   pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
-				       reply,COMLEN, 1.,&out,&in,&reason); 
-  strcpy(command,"ECHO 0");
+                              reply, COMLEN, 1., &out, &in, &reason);
+  strcpy(command, "ECHO 0");
   pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
-				       reply,COMLEN, 1.,&out,&in,&reason); 
-  strcpy(command,"RMT 1");
+                              reply, COMLEN, 1., &out, &in, &reason);
+  strcpy(command, "RMT 1");
   pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
-				       reply,COMLEN, 1.,&out,&in,&reason); 
-  strcpy(command,"ECHO 0");
+                              reply, COMLEN, 1., &out, &in, &reason);
+  strcpy(command, "ECHO 0");
   pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
-				       reply,COMLEN, 1.,&out,&in,&reason); 
+                              reply, COMLEN, 1., &out, &in, &reason);
 }
 /**
- * send a command to the EL734 and read the reply. Do some error and controller 
+ * send a command to the EL734 and read the reply. Do some error and controller
  * issue fixing on the way
  * \param[in] command The command to send
  * \param[out] reply The controllers reply
  */
 
-asynStatus EL734Controller::transactController(int axisNo,char command[COMLEN], char reply[COMLEN])
+asynStatus EL734Controller::transactController(int axisNo, char command[COMLEN], char reply[COMLEN])
 {
   asynStatus status;
   size_t in, out, i;
@@ -145,58 +142,76 @@ asynStatus EL734Controller::transactController(int axisNo,char command[COMLEN],
   SINQAxis *axis = getAxis(axisNo);
 
   pasynOctetSyncIO->flush(pasynUserController_);
-  
+
+  if (axis != NULL)
+  {
+    axis->updateMsgTxtFromDriver("");
+  }
+
   status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
-				       reply,COMLEN, 2.,&out,&in,&reason); 
-  if(status != asynSuccess){
-    if(axis!= NULL){
+                                       reply, COMLEN, 2., &out, &in, &reason);
+  if (status != asynSuccess)
+  {
+    if (axis != NULL)
+    {
       axis->updateMsgTxtFromDriver("Lost connection to motor controller");
     }
     return status;
   }
 
-  /* 
+  /*
      check for the offline reply
   */
-  if(strstr(reply,"?LOC") != NULL){
+  if (strstr(reply, "?LOC") != NULL)
+  {
     switchRemote();
     return pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
-				       reply,COMLEN, 1.,&out,&in,&reason); 
+                                       reply, COMLEN, 1., &out, &in, &reason);
   }
 
   /*
     check for echos. This means that the thing is offline.
   */
-  if(strstr(reply,"p ") != NULL || strstr(reply,"u ") != NULL || strstr(reply,"msr ") != NULL){
+  if (strstr(reply, "p ") != NULL || strstr(reply, "u ") != NULL || strstr(reply, "msr ") != NULL)
+  {
     switchRemote();
     return pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
-				       reply,COMLEN, 1.,&out,&in,&reason); 
+                                       reply, COMLEN, 1., &out, &in, &reason);
   }
   /*
     check for EL734 errors
   */
   strcpy(myReply, reply);
-  for(i = 0; i < strlen(reply); i++){
+  for (i = 0; i < strlen(reply); i++)
+  {
     myReply[i] = (char)tolower((int)reply[i]);
   }
-  if(strstr(myReply,"?cmd") != NULL){
-    snprintf(errTxt,sizeof(errTxt), "Bad command %s at axis %d", command, axisNo);
-    errlogSevPrintf(errlogMajor, errTxt);
-    if(axis!= NULL){
+  if (strstr(myReply, "?cmd") != NULL)
+  {
+    snprintf(errTxt, sizeof(errTxt), "Bad command %s at axis %d", command, axisNo);
+    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, errTxt);
+    if (axis != NULL)
+    {
       axis->updateMsgTxtFromDriver(errTxt);
     }
     return asynError;
-  } else if(strstr(myReply,"?par") != NULL){
-    snprintf(errTxt,sizeof(errTxt), "Bad parameter in command %s", command);
-    errlogSevPrintf(errlogMajor, errTxt);
-    if(axis!= NULL){
+  }
+  else if (strstr(myReply, "?par") != NULL)
+  {
+    snprintf(errTxt, sizeof(errTxt), "Bad parameter in command %s", command);
+    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, errTxt);
+    if (axis != NULL)
+    {
       axis->updateMsgTxtFromDriver(errTxt);
     }
     return asynError;
-  } else if(strstr(myReply,"?rng") != NULL){
-    snprintf(errTxt,sizeof(errTxt), "Parameter out of range in command %s", command);
-    errlogSevPrintf(errlogMajor, errTxt);
-    if(axis!= NULL){
+  }
+  else if (strstr(myReply, "?rng") != NULL)
+  {
+    snprintf(errTxt, sizeof(errTxt), "Parameter out of range in command %s", command);
+    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, errTxt);
+    if (axis != NULL)
+    {
       axis->updateMsgTxtFromDriver(errTxt);
     }
     return asynError;
@@ -208,14 +223,14 @@ asynStatus EL734Controller::transactController(int axisNo,char command[COMLEN],
 // These are the EL734Axis methods
 
 /** Creates a new EL734Axis object.
-  * \param[in] pC Pointer to the EL734Controller to which this axis belongs. 
-  * \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
-  * 
-  * Initializes register numbers, etc.
-  */
+ * \param[in] pC Pointer to the EL734Controller to which this axis belongs.
+ * \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
+ *
+ * Initializes register numbers, etc.
+ */
 EL734Axis::EL734Axis(EL734Controller *pC, int axisNo)
-  : SINQAxis(pC, axisNo), pC_(pC)
-{  
+    : SINQAxis(pC, axisNo), pC_(pC)
+{
   char command[COMLEN], reply[COMLEN];
   asynStatus status;
   int count = 0;
@@ -224,58 +239,81 @@ EL734Axis::EL734Axis(EL734Controller *pC, int axisNo)
   /*
     get the hardware limits from the controller
   */
-  sprintf(command,"H %d",axisNo_);
-  status = pC_->transactController(axisNo_,command,reply);
-  if(status == asynSuccess){
-    count = sscanf(reply,"%f %f",&low, &high);
-    if(count >= 2){
-          pC_->setDoubleParam(axisNo_,pC_->motorLowLimit_,low);
-          pC_->setDoubleParam(axisNo_,pC_->motorHighLimit_,high);
-    } else {
-      errlogPrintf("Bad response - %s - requesting limits at axis %d", reply, axisNo_);
+  sprintf(command, "H %d", axisNo_);
+  status = pC_->transactController(axisNo_, command, reply);
+  if (status == asynSuccess)
+  {
+    count = sscanf(reply, "%f %f", &low, &high);
+    if (count >= 2)
+    {
+      pC_->setDoubleParam(axisNo_, pC_->motorLowLimit_, low);
+      pC_->setDoubleParam(axisNo_, pC_->motorHighLimit_, high);
+      callParamCallbacks();
+    }
+    else
+    {
+      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                "Bad response - %s - requesting limits at axis %d", reply, axisNo_);
     }
-  } else {
-    errlogPrintf("Failed to read limits at axis %d", axisNo_);
   }
+  else
+  {
+    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+              "Failed to read limits at axis %d", axisNo_);
+  }
+
+  /*
+  oredMSR contains the axis status from the previous poll. The initial value
+  1 means that the axis is not moving and has no errors.
+  */
+  oredMSR = 1;
+  next_poll = -1;
 }
 
-
-
 /** Reports on status of the axis
-  * \param[in] fp The file pointer on which report information will be written
-  * \param[in] level The level of report detail desired
-  *
-  * After printing device-specific information calls asynMotorAxis::report()
-  */
+ * \param[in] fp The file pointer on which report information will be written
+ * \param[in] level The level of report detail desired
+ *
+ * After printing device-specific information calls asynMotorAxis::report()
+ */
 void EL734Axis::report(FILE *fp, int level)
 {
-  if (level > 0) {
+  if (level > 0)
+  {
     fprintf(fp, "  axis %d\n",
             axisNo_);
   }
 
   // Call the base class method
-  //asynMotorAxis::report(fp, level);
+  // asynMotorAxis::report(fp, level);
 }
 
-
 asynStatus EL734Axis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
 {
   asynStatus status;
-  //static const char *functionName = "EL734Axis::move";
+  // static const char *functionName = "EL734Axis::move";
   char command[COMLEN], reply[COMLEN];
 
   // status = sendAccelAndVelocity(acceleration, maxVelocity);
-  
-  if (relative) {
+
+  errlogPrintf("minVelocity = %f, maxVelocity = %f\n", minVelocity, maxVelocity);
+
+  /*
+   * set speed
+   */
+  sprintf(command, "J %d %d", axisNo_, (int)maxVelocity);
+  status = pC_->transactController(axisNo_, command, reply);
+
+  if (relative)
+  {
     position += this->position;
   }
-  oredMSR = 0;
   homing = 0;
   errorReported = 0;
-  errlogPrintf("Starting axis %d with destination %f", axisNo_,position/1000); 
-  sprintf(command, "p %d %.3f", axisNo_, position/1000.);
-  status = pC_->transactController(axisNo_,command,reply);
+  asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            "Starting axis %d with destination %f", axisNo_, position / 1000);
+  sprintf(command, "p %d %.3f", axisNo_, position / 1000.);
+  status = pC_->transactController(axisNo_, command, reply);
   setIntegerParam(pC_->motorStatusProblem_, false);
   updateMsgTxtFromDriver("");
   next_poll = -1;
@@ -285,7 +323,7 @@ asynStatus EL734Axis::move(double position, int relative, double minVelocity, do
 asynStatus EL734Axis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
 {
   asynStatus status;
-  //static const char *functionName = "EL734Axis::home";
+  // static const char *functionName = "EL734Axis::home";
   char command[COMLEN], reply[COMLEN];
 
   // status = sendAccelAndVelocity(acceleration, maxVelocity);
@@ -296,49 +334,55 @@ asynStatus EL734Axis::home(double minVelocity, double maxVelocity, double accele
 
   sprintf(command, "R %d", axisNo_);
   homing = 1;
-  next_poll= -1;
-  status = pC_->transactController(axisNo_,command,reply);
+  next_poll = -1;
+  status = pC_->transactController(axisNo_, command, reply);
   return status;
 }
 
 asynStatus EL734Axis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
 {
   asynStatus status;
-  //static const char *functionName = "EL734Axis::moveVelocity";
+  // static const char *functionName = "EL734Axis::moveVelocity";
   char command[COMLEN], reply[COMLEN];
 
   // asynPrint(pasynUser_, ASYN_TRACE_FLOW,
   //   "%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
   //   functionName, minVelocity, maxVelocity, acceleration);
-    
 
   errorReported = 0;
-  if (maxVelocity > 0.) {
+  if (maxVelocity > 0.)
+  {
     /* This is a positive move */
     sprintf(command, "FF %d", axisNo_);
-  } else {
-      /* This is a negative move  */
-      sprintf(command, "FB %d", axisNo_);
   }
-  status = pC_->transactController(axisNo_,command,reply);
+  else
+  {
+    /* This is a negative move  */
+    sprintf(command, "FB %d", axisNo_);
+  }
+  status = pC_->transactController(axisNo_, command, reply);
   setIntegerParam(pC_->motorStatusProblem_, false);
   updateMsgTxtFromDriver("");
   next_poll = -1;
   return status;
 }
 
-asynStatus EL734Axis::stop(double acceleration )
+asynStatus EL734Axis::stop(double acceleration)
 {
   asynStatus status = asynSuccess;
-  //static const char *functionName = "EL734Axis::stop";
+  // static const char *functionName = "EL734Axis::stop";
   char command[COMLEN], reply[COMLEN];
+  bool moving = false;
 
-  if(errorReported == 0){
-      sprintf(command, "S %d", axisNo_);
-      status = pC_->transactController(axisNo_,command,reply);
-      errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
-      updateMsgTxtFromDriver("Axis interrupted");
-    }
+  this->poll(&moving);
+  if (moving && errorReported == 0)
+  {
+    sprintf(command, "S %d", axisNo_);
+    status = pC_->transactController(axisNo_, command, reply);
+    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Sent STOP on Axis %d\n", axisNo_);
+    updateMsgTxtFromDriver("Axis interrupted");
+    errorReported = 1;
+  }
 
   return status;
 }
@@ -346,11 +390,11 @@ asynStatus EL734Axis::stop(double acceleration )
 asynStatus EL734Axis::setPosition(double position)
 {
   asynStatus status;
-  //static const char *functionName = "EL734Axis::setPosition";
+  // static const char *functionName = "EL734Axis::setPosition";
   char command[COMLEN], reply[COMLEN];
 
-  sprintf(command, "U %d %f", axisNo_, position/1000.);
-  status = pC_->transactController(axisNo_,command,reply);
+  sprintf(command, "U %d %f", axisNo_, position / 1000.);
+  status = pC_->transactController(axisNo_, command, reply);
   next_poll = -1;
 
   return status;
@@ -358,8 +402,8 @@ asynStatus EL734Axis::setPosition(double position)
 
 asynStatus EL734Axis::setClosedLoop(bool closedLoop)
 {
-  //static const char *functionName = "EL734Axis::setClosedLoop";
- 
+  // static const char *functionName = "EL734Axis::setClosedLoop";
+
   /*
     This belongs into the Kingdom of Electronics.
     We do not do this.
@@ -369,32 +413,50 @@ asynStatus EL734Axis::setClosedLoop(bool closedLoop)
 }
 
 /** Polls the axis.
-  * This function reads the motor position, the limit status, the home status, the moving status, 
-  * and the drive power-on status. 
-  * It calls setIntegerParam() and setDoubleParam() for each item that it polls,
-  * and then calls callParamCallbacks() at the end.
-  * \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
+ * This function reads the motor position, the limit status, the home status, the moving status,
+ * and the drive power-on status.
+ * It calls setIntegerParam() and setDoubleParam() for each item that it polls,
+ * and then calls callParamCallbacks() at the end.
+ * \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
 asynStatus EL734Axis::poll(bool *moving)
-{ 
+{
   int msr, count;
+  float low, high;
   asynStatus comStatus = asynSuccess;
   char command[COMLEN], reply[COMLEN], errTxt[256];
 
   // protect against excessive polling
-  if(time(NULL) < next_poll){
+  if (time(NULL) < next_poll)
+  {
     *moving = false;
     return asynSuccess;
   }
 
+  // read hardware limits
+  sprintf(command, "H %d", axisNo_);
+  comStatus = pC_->transactController(axisNo_, command, reply);
+  if (comStatus == asynSuccess)
+  {
+    count = sscanf(reply, "%f %f", &low, &high);
+    if (count >= 2)
+    {
+      pC_->setDoubleParam(axisNo_, pC_->motorLowLimit_, low);
+      pC_->setDoubleParam(axisNo_, pC_->motorHighLimit_, high);
+      callParamCallbacks();
+    }
+  }
+
   // Read the current motor position
-  setIntegerParam(pC_->motorStatusProblem_,false);
-  sprintf(command,"u %d", axisNo_);
-  comStatus = pC_->transactController(axisNo_,command,reply);
-  if(comStatus == asynError){
-    setIntegerParam(pC_->motorStatusProblem_,true);
+  setIntegerParam(pC_->motorStatusProblem_, false);
+  sprintf(command, "u %d", axisNo_);
+  comStatus = pC_->transactController(axisNo_, command, reply);
+  if (comStatus == asynError)
+  {
+    setIntegerParam(pC_->motorStatusProblem_, true);
     goto skip;
   }
-  if(strstr(reply,"*ES") != NULL){
+  if (strstr(reply, "*ES") != NULL)
+  {
     *moving = false;
     setIntegerParam(pC_->motorStatusDone_, true);
     setIntegerParam(pC_->motorStatusProblem_, true);
@@ -402,104 +464,126 @@ asynStatus EL734Axis::poll(bool *moving)
     updateMsgTxtFromDriver("Emergency Stop Engaged");
     comStatus = asynError;
     goto skip;
-  } else if(strstr(reply,"?BSY") != NULL){
+  }
+  else if (strstr(reply, "?BSY") != NULL)
+  {
     *moving = true;
     setIntegerParam(pC_->motorStatusDone_, false);
     goto skip;
   }
-  count = sscanf(reply,"%lf", &position);
-  if(count != 1) {
-    if(!homing) {
-      snprintf(errTxt,sizeof(errTxt),"Bad reply %s when reading position for %d", reply, axisNo_);
+  count = sscanf(reply, "%lf", &position);
+  if (count != 1)
+  {
+    if (!homing)
+    {
+      snprintf(errTxt, sizeof(errTxt), "Bad reply %s when reading position for %d", reply, axisNo_);
       setIntegerParam(pC_->motorStatusProblem_, true);
       errorReported = 1;
       updateMsgTxtFromDriver(errTxt);
       comStatus = asynError;
       goto skip;
     }
-  } else {
-    errlogPrintf("Axis %d, reply %s, position %lf\n", axisNo_, reply, position);
-    setDoubleParam(pC_->motorPosition_, position*1000);
-    //setDoubleParam(pC_->motorEncoderPosition_, position);
+  }
+  else
+  {
+    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+              "Axis %d, reply %s, position %lf\n", axisNo_, reply, position);
+    setDoubleParam(pC_->motorPosition_, position * 1000);
+    // setDoubleParam(pC_->motorEncoderPosition_, position);
   }
 
   // Read the moving status of this motor
-  sprintf(command,"msr %d",axisNo_);
-  comStatus = pC_->transactController(axisNo_,command,reply);
-  if(comStatus == asynError){
-    setIntegerParam(pC_->motorStatusProblem_,true);
+  sprintf(command, "msr %d", axisNo_);
+  comStatus = pC_->transactController(axisNo_, command, reply);
+  if (comStatus == asynError)
+  {
+    setIntegerParam(pC_->motorStatusProblem_, true);
     goto skip;
   }
-  sscanf(reply,"%x",&msr);
+  sscanf(reply, "%x", &msr);
 
-  //errlogPrintf("Axis %d, reply %s, msr %d, oredmsr = %d, position = %lf\n", 
+  // errlogPrintf("Axis %d, reply %s, msr %d, oredmsr = %d, position = %lf\n",
   //	       axisNo_, reply, msr, oredMSR, position);
 
   oredMSR |= msr;
-  if( (msr & 0x1) == 0){
+  if ((msr & 0x1) == 0)
+  {
     // done: check for trouble
-    //errlogPrintf("Axis %d finished\n", axisNo_);
+    // errlogPrintf("Axis %d finished\n", axisNo_);
     *moving = false;
     setIntegerParam(pC_->motorStatusDone_, true);
 
-    next_poll = time(NULL)+IDLEPOLL;
-    if(oredMSR & 0x10){
+    next_poll = time(NULL) + IDLEPOLL;
+    if (oredMSR & 0x10)
+    {
       setIntegerParam(pC_->motorStatusLowLimit_, true);
       updateMsgTxtFromDriver("Lower Limit Hit");
       errorReported = 1;
       comStatus = asynError;
       goto skip;
-    }  else {
+    }
+    else
+    {
       setIntegerParam(pC_->motorStatusLowLimit_, false);
     }
-    if(oredMSR & 0x20){
+    if (oredMSR & 0x20)
+    {
       setIntegerParam(pC_->motorStatusHighLimit_, true);
       updateMsgTxtFromDriver("Upper Limit Hit");
       errorReported = 1;
       comStatus = asynError;
       goto skip;
-    }  else {
+    }
+    else
+    {
       setIntegerParam(pC_->motorStatusHighLimit_, false);
     }
-    if(homing){
+    if (homing)
+    {
       setIntegerParam(pC_->motorStatusAtHome_, true);
     }
-    if(oredMSR & 0x1000){
+    if (oredMSR & 0x1000)
+    {
       setIntegerParam(pC_->motorStatusProblem_, true);
       //      errlogPrintf("Detected air cushion error on %d", axisNo_);
-      errlogSevPrintf(errlogMajor, "Air cushion problem on %d", axisNo_);
+      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Air cushion problem on %d", axisNo_);
       updateMsgTxtFromDriver("Air cushion error");
       errorReported = 1;
       comStatus = asynError;
       goto skip;
     }
-    if(oredMSR & 0x100){
+    if (oredMSR & 0x100)
+    {
       setIntegerParam(pC_->motorStatusProblem_, true);
-      errlogSevPrintf(errlogMajor, "Run failure at %d", axisNo_);
+      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Run failure at %d", axisNo_);
       updateMsgTxtFromDriver("Run failure");
       comStatus = asynError;
       errorReported = 1;
       goto skip;
     }
-    if(oredMSR & 0x400){
+    if (oredMSR & 0x400)
+    {
       setIntegerParam(pC_->motorStatusProblem_, true);
-      errlogSevPrintf(errlogMajor, "Positioning failure at %d", axisNo_);
+      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Positioning failure at %d", axisNo_);
       updateMsgTxtFromDriver("Positioning failure");
       comStatus = asynError;
       errorReported = 1;
       goto skip;
     }
-    if(oredMSR & 0x200 || oredMSR & 0x80) {
-      errlogSevPrintf(errlogMinor, "Positioning fault at %d", axisNo_);
-    } 
+    if (oredMSR & 0x200 || oredMSR & 0x80)
+    {
+      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_WARNING, "Positioning fault at %d", axisNo_);
+    }
     setIntegerParam(pC_->motorStatusProblem_, false);
-} else {
+  }
+  else
+  {
     *moving = true;
     next_poll = -1;
     setIntegerParam(pC_->motorStatusDone_, false);
-}
+  }
 
-  skip:
+skip:
   callParamCallbacks();
   return comStatus;
 }
@@ -508,9 +592,9 @@ asynStatus EL734Axis::poll(bool *moving)
 static const iocshArg EL734CreateControllerArg0 = {"Port name", iocshArgString};
 static const iocshArg EL734CreateControllerArg1 = {"EL734 port name", iocshArgString};
 static const iocshArg EL734CreateControllerArg2 = {"Number of axes", iocshArgInt};
-static const iocshArg * const EL734CreateControllerArgs[] = {&EL734CreateControllerArg0,
-                                                             &EL734CreateControllerArg1,
-                                                             &EL734CreateControllerArg2};
+static const iocshArg *const EL734CreateControllerArgs[] = {&EL734CreateControllerArg0,
+                                                            &EL734CreateControllerArg1,
+                                                            &EL734CreateControllerArg2};
 static const iocshFuncDef EL734CreateControllerDef = {"EL734CreateController", 3, EL734CreateControllerArgs};
 static void EL734CreateContollerCallFunc(const iocshArgBuf *args)
 {
@@ -522,6 +606,7 @@ static void EL734Register(void)
   iocshRegister(&EL734CreateControllerDef, EL734CreateContollerCallFunc);
 }
 
-extern "C" {
-epicsExportRegistrar(EL734Register);
+extern "C"
+{
+  epicsExportRegistrar(EL734Register);
 }

sinqEPICSApp/src/EL734Driver.h

@@ -28,31 +28,32 @@ public:
   asynStatus setClosedLoop(bool closedLoop);
 
 private:
-  EL734Controller *pC_;          /**< Pointer to the asynMotorController to which this axis belongs.
-                                   *   Abbreviated because it is used very frequently */
+  EL734Controller *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
+                         *   Abbreviated because it is used very frequently */
   int oredMSR;
   double position;
   int homing;
   time_t next_poll;
   int errorReported;
-  
-friend class EL734Controller;
+
+  friend class EL734Controller;
 };
 
-class EL734Controller : public SINQController {
+class EL734Controller : public SINQController
+{
 public:
   EL734Controller(const char *portName, const char *EL734PortName, int numAxes);
 
   void report(FILE *fp, int level);
-  EL734Axis* getAxis(asynUser *pasynUser);
-  EL734Axis* getAxis(int axisNo);
+  EL734Axis *getAxis(asynUser *pasynUser);
+  EL734Axis *getAxis(int axisNo);
 
-friend class EL734Axis;
- private:
- asynUser *pasynUserController_;
+  friend class EL734Axis;
 
- asynStatus transactController(int axis, char command[COMLEN], char reply[COMLEN]);
+private:
+  asynUser *pasynUserController_;
 
- void switchRemote();
+  asynStatus transactController(int axis, char command[COMLEN], char reply[COMLEN]);
 
+  void switchRemote();
 };

sinqEPICSApp/src/EuroMoveDriver.cpp

@@ -279,6 +279,7 @@ EuroMoveAxis::EuroMoveAxis(EuroMoveController *pC, int axisNo)
     pC_(pC)
 {  
   motNo = axisNo;
+  next_poll = -1;
 }
 
 

sinqEPICSApp/src/MasterMACSDriver.cpp

@@ -0,0 +1,954 @@
+/*
+ Driver for the MasterMACS motor controller used at SINQ
+ For documentation see the standard SINQ place for hardware documentation or 
+ Marcel Schildt
+
+ Mark Koennecke, March-August 2023
+ Mark Koenencke, More fixes in June 2024
+*/
+
+
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <math.h>
+#include <ctype.h>
+#include <time.h>
+#include <sys/time.h>
+#include <unistd.h>
+
+#include <iocsh.h>
+#include <epicsThread.h>
+#include <errlog.h>
+
+#include <asynOctetSyncIO.h>
+
+#include "MasterMACSDriver.h"
+#include <epicsExport.h>
+
+#define CHECK_BIT(var,pos) ((var) & (1 << pos))
+#define ABS(x) (x < 0 ? -(x) : (x))
+
+#define debug 0
+#define timeDebug 0
+
+double DoubleTime(void)
+{
+  struct timeval now;
+  /* the resolution of this function is usec, if the machine supports this
+     and the mantissa of a double is 51 bits or more (31 bits for seconds
+     and 20 for microseconds)
+   */
+  gettimeofday(&now, NULL);
+  return now.tv_sec + now.tv_usec / 1e6;
+}
+
+/** Creates a new MasterMACSController object.
+  * \param[in] portName          The name of the asyn port that will be created for this driver
+  * \param[in] MasterMACSPortName     The name of the drvAsynSerialPort that was created previously to connect to the MasterMACS controller 
+  * \param[in] numAxes           The number of axes that this controller supports 
+  */
+MasterMACSController::MasterMACSController(const char *portName,
+					   const char *MasterMACSPortName,
+					   int numAxes,
+					   int idlePoll, int busyPoll):SINQController
+    (portName, MasterMACSPortName, numAxes)
+{
+    asynStatus status;
+    static const char *functionName =
+	"MasterMACSController::MasterMACSController";
+    char terminator[2] = "\x03";
+
+
+    /* Connect to MasterMACS controller */
+    status =
+	pasynOctetSyncIO->connect(MasterMACSPortName, 0,
+				  &pasynUserController_, NULL);
+    if (status) {
+	asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+		  "%s: cannot connect to MasterMACS controller\n",
+		  functionName);
+    }
+    pasynOctetSyncIO->setOutputEos(pasynUserController_, terminator,
+				   strlen(terminator));
+    pasynOctetSyncIO->setInputEos(pasynUserController_, terminator,
+				  strlen(terminator));
+
+
+    pAxes_ = (MasterMACSAxis **) (asynMotorController::pAxes_);
+    createParam(EnableAxisString, asynParamInt32, &enableAxis_);
+    createParam(AxisEnabledString, asynParamInt32, &axisEnabled_);
+    callParamCallbacks();
+	    
+    startPoller(busyPoll/1000., idlePoll/1000., 1);
+    setIdlePollPeriod(idlePoll/1000.);
+    setMovingPollPeriod(busyPoll/1000.);
+}
+
+
+/** Creates a new MasterMACSController object.
+  * Configuration command, called directly or from iocsh
+  * \param[in] portName          The name of the asyn port that will be created for this driver
+  * \param[in] MasterMACSPortName       The name of the drvAsynIPPPort that was created previously to connect to the MasterMACS controller 
+  * \param[in] numAxes           The number of axes that this controller supports 
+  * \param[in] idlePoll Poll interval when idle in microseconds
+  * \param[in] busyPoll Poll interval when moving in microSeconds
+  */
+extern "C" int
+MasterMACSCreateController(const char *portName,
+			   const char *MasterMACSPortName, int numAxes, int idlePoll, int busyPoll)
+{
+    MasterMACSController *pMasterMACSController
+	= new MasterMACSController(portName, MasterMACSPortName, numAxes, idlePoll, busyPoll);
+    pMasterMACSController = NULL;
+    return (asynSuccess);
+}
+
+/** Reports on status of the driver
+  * \param[in] fp The file pointer on which report information will be written
+  * \param[in] level The level of report detail desired
+  *
+  * If details > 0 then information is printed about each axis.
+  * After printing controller-specific information it calls asynMotorController::report()
+  */
+void
+ MasterMACSController::report(FILE * fp, int level)
+{
+    fprintf(fp, "MasterMACS motor driver %s, numAxes=%d\n",
+	    this->portName, numAxes_);
+
+    // Call the base class method
+    asynMotorController::report(fp, level);
+}
+
+/** Returns a pointer to an MasterMACSAxis object.
+  * Returns NULL if the axis number encoded in pasynUser is invalid.
+  * \param[in] pasynUser asynUser structure that encodes the axis index number. */
+MasterMACSAxis *MasterMACSController::getAxis(asynUser * pasynUser)
+{
+    return static_cast <
+	MasterMACSAxis * >(asynMotorController::getAxis(pasynUser));
+}
+
+/** Returns a pointer to an MasterMACSAxis object.
+  * Returns NULL if the axis number encoded in pasynUser is invalid.
+  * \param[in] axisNo Axis index number. */
+MasterMACSAxis *MasterMACSController::getAxis(int axisNo)
+{
+    return static_cast <
+	MasterMACSAxis * >(asynMotorController::getAxis(axisNo));
+}
+
+/**
+ * send a command to the MasterMACS and read the reply. Do some error and controller 
+ * issue fixing on the way
+ * \param[in] command The command to send
+ * \param[out] reply The controllers reply
+ */
+
+asynStatus
+    MasterMACSController::transactController(int axisNo,
+					     char command[COMLEN],
+					     char reply[COMLEN])
+{
+    asynStatus status;
+    size_t in, out;
+    int reason, len, idx, lenPayload;
+    unsigned int i;
+    double startTime, now;
+    char *mmacsData =
+	NULL, ackchar, mmacsResponse[COMLEN], hexResponse[256];
+    SINQAxis *axis = getAxis(axisNo);
+
+    pasynOctetSyncIO->flush(pasynUserController_);
+
+    /* read with a short timeout in order to remove duplicate messages 
+     * from the line. This also serves to slow down communication
+     */
+    pasynOctetSyncIO->read(pasynUserController_, mmacsResponse, 35, interMessageSleep/1000., &in, &reason); 
+
+    /* pack data for MasterMACS */
+    len = strlen(command) + 6;
+    mmacsData = (char *) malloc(len * sizeof(char));
+    if (!mmacsData) {
+	errlogSevPrintf(errlogMajor,
+			"Failed to allocate memory in MasterMACSController::transactController");
+	return asynError;
+    }
+    mmacsData[0] = 0x05;
+    mmacsData[1] = (char) (len - 2);
+    mmacsData[2] = 0;
+    mmacsData[3] = 0x19;
+    memcpy(mmacsData + 4, command, strlen(command) * sizeof(char));
+    mmacsData[len - 2] = 0x0D;
+    /* 0x03 is appended by asyn */
+
+    /* send the stuff away ... */
+    if(debug) {
+    	errlogSevPrintf(errlogMajor,"Sending command: %s\n", command);
+    }
+
+    startTime = DoubleTime();
+    status =
+	pasynOctetSyncIO->writeRead(pasynUserController_, mmacsData,
+				    len - 1, mmacsResponse, 35, 20., &out,
+				    &in, &reason);
+
+    if(timeDebug) {
+        now = DoubleTime();
+        if((now - startTime) > 1.) {
+            errlogSevPrintf(errlogMajor, "Unusual long response time %lf to command %s\n", (now - startTime), command);      
+        }
+    }
+
+    if (status != asynSuccess) {
+	if (axis != NULL) {
+	    errlogSevPrintf(errlogMajor,
+			    "Lost connection to motor controller,a axis %d, reason %d",
+			    axisNo, reason);
+	    axis->updateMsgTxtFromDriver
+		("Lost connection to motor controller");
+	    return status;
+	}
+	errlogSevPrintf(errlogMajor,
+			"Lost connection to motor controller without axis, reason %d",
+			reason);
+	return status;
+    }
+    free(mmacsData);
+
+    /* format and print the response in hex for debugging purposes */
+    if(debug) {       
+       for(i = 0, idx = 0; i < in; i++){
+       sprintf(hexResponse + idx, "%02x ", (unsigned int)mmacsResponse[i]);
+       idx = strlen(hexResponse);
+       }        
+       errlogSevPrintf(errlogMajor,"Reply in hex: %s\n", hexResponse);
+    }
+
+    /* Here we have read the data from the MasterMACS. We proceed to extract
+     * the payload and the state of the ACK byte and place that reply into data
+     */
+    if ((in < 33)) {
+	errlogSevPrintf(errlogMajor,
+			"MasterMACS only sent %d bytes, 34 expected",
+			(int) in);
+	return asynError;
+    }
+    /*
+     * Unpack the MasterMACS message, start by finding <CR>
+     */
+    for (i = 4, idx = 0; i < 34; i++) {
+	if (mmacsResponse[i] == 0x0d) {
+	    idx = i;
+	    break;
+	}
+    }
+    //errlogSevPrintf(errlogMajor, "Found <CR> at %d", idx);
+
+    /* one character before <CR> is the ACK, if it is there */
+    ackchar = mmacsResponse[idx - 1];
+    if (ackchar == 0x06) {
+	strcpy(reply, "ACK:");
+    } else if (ackchar == 0x15) {
+	strcpy(reply, "NAK:");
+	errlogSevPrintf(errlogMajor,
+			"MasterMACS responded with NAK to %s\n", command);
+	status = asynError;
+    } else {
+	/* the MasterMACS does not always send a ACK/NAK on read */
+	strcpy(reply, "NON:");
+    }
+    //errlogSevPrintf(errlogMajor, "Reply after testing ACK byte: %s ", reply);
+
+    /* copy data */
+    lenPayload = idx - 4;
+    memcpy(reply + 4, mmacsResponse + 4, lenPayload);
+    reply[4 + lenPayload] = (char) 0;
+    if(debug) {
+   	 errlogSevPrintf(errlogMajor, "Completed reply at end of transactController: %s ", reply);
+    }
+    return status;
+}
+
+/*--------------------------------------------------------------------------------------------*/
+asynStatus
+    MasterMACSController::readInt32(asynUser * pasynUser,
+				    epicsInt32 * value)
+{
+
+    int function = pasynUser->reason;
+    MasterMACSAxis *pAxis = NULL;
+    int devStatus, isOn;
+
+    pAxis = (MasterMACSAxis *) (this->getAxis(pasynUser));
+    if (!pAxis) {
+	return asynError;
+    }
+    if (function == axisEnabled_) {
+        devStatus = pAxis->readStatus();
+	    isOn = pAxis->isOn(devStatus);
+	    // errlogPrintf("isOn in readInt32: %d, devStatus = %d\n", isOn, devStatus); 
+	    pAxis->setIntegerParam(enableAxis_, isOn);
+        pAxis->setIntegerParam(axisEnabled_, isOn);
+	    *value = isOn;
+	    callParamCallbacks();
+	    return asynSuccess;
+    }
+    return asynMotorController::readInt32(pasynUser, value);
+}
+/*------------------------------------------------------------------------------------------*/
+
+asynStatus
+    MasterMACSController::writeInt32(asynUser * pasynUser,
+				     epicsInt32 value)
+{
+    int function = pasynUser->reason;
+    asynStatus status = asynSuccess;
+    MasterMACSAxis *pAxis = NULL;
+    char command[64] = { 0 };
+    char response[64] = { 0 };
+    int devStatus;
+    bool moving;
+    time_t startTime;
+
+    pAxis = (MasterMACSAxis *) this->getAxis(pasynUser);
+    if (!pAxis) {
+	return asynError;
+    }
+
+    /* Set the parameter and readback in the parameter library.  This may be
+     * overwritten when we read back the status at the end, but that's OK */
+    pAxis->setIntegerParam(function, value);
+
+    if(function == motorStop_){
+        errlogPrintf("Stop called with value %d\n", value);
+        double accel;
+        getDoubleParam(pAxis->axisNo_, motorAccel_, &accel);
+        status = pAxis->stop(accel);
+        return status;
+    }
+    if (function == enableAxis_) {
+        /*
+        * Read the status in order to prevent execssive commands
+        */
+        devStatus = pAxis->readStatus();
+        if (value == 1 && !pAxis->isOn(devStatus) ) {
+	        /* download parameters, does not work as of now */
+	        /*
+	        sprintf(command, "%dS85=1.", pAxis->axisNo_);
+	        status = transactController(pAxis->axisNo_, command, response);
+	        */
+
+	        /*  actually enable */
+	        sprintf(command, "%dS04=1", pAxis->axisNo_);
+	        status = transactController(pAxis->axisNo_, command, response);
+        } else if(pAxis->isOn(devStatus)) {
+        	        // only send command when necessary
+	        	sprintf(command, "%dS04=0", pAxis->axisNo_);
+	            	status = transactController(pAxis->axisNo_, command, response);
+	} else {
+		// nothing to do
+		return status;
+	}
+	if (status == asynSuccess) {
+	    pAxis->updateMsgTxtFromDriver("");
+	} else {
+	    errlogPrintf("MMACS: Failure to enable or disable axis %d",
+			 pAxis->axisNo_);
+	}
+    /* 
+     * wait max 2 seconds for success of the operation
+     */
+	startTime = time(NULL);
+	while(time(NULL) < startTime + 2.){
+		// wait for the change to happen
+		devStatus = pAxis->readStatus();
+        // errlogPrintf("MMACS: switching enable: target, devStatus, isOn: %d, %d, %d\n", value, devStatus, pAxis->isOn(devStatus));
+		if(pAxis->isOn(devStatus) == value){
+            pAxis->active = true;
+			pAxis->poll(&moving); // to update the Enable_RBV field
+            pAxis->active = false;
+			return asynSuccess;
+		}
+                usleep(200);
+	}
+	errlogPrintf("MMACS: Failed to dis/enable motor %d within 2 seconds\n", pAxis->axisNo_); 
+    }
+    return asynMotorController::writeInt32(pasynUser, value);
+}
+
+
+// These are the MasterMACSAxis methods
+
+/** Creates a new MasterMACSAxis object.
+  * \param[in] pC Pointer to the MasterMACSController to which this axis belongs. 
+  * \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
+  * 
+  * Initializes register numbers, etc.
+  */
+MasterMACSAxis::MasterMACSAxis(MasterMACSController * pC, int axisNo):SINQAxis(pC, axisNo),
+pC_(pC)
+{
+    hasStarted = false;
+    active = false;
+    errorCodeFound = 0;
+    /*
+     * Try to read the initial enable status of the motor
+     */
+    int devStatus = readStatus();
+    setIntegerParam(pC_->enableAxis_, isOn(devStatus));
+    setIntegerParam(pC_->axisEnabled_, isOn(devStatus));
+    lastPoll = -1;
+}
+
+/** Reports on status of the axis
+  * \param[in] fp The file pointer on which report information will be written
+  * \param[in] level The level of report detail desired
+  *
+  * After printing device-specific information calls asynMotorAxis::report()
+  */
+void MasterMACSAxis::report(FILE * fp, int level)
+{
+    if (level > 0) {
+	fprintf(fp, "  axis %d\n", axisNo_);
+    }
+}
+
+int MasterMACSAxis::readStatus()
+{ 
+    char command[COMLEN], reply[COMLEN], *pPtr;
+    float fval;
+    int status;
+
+    /*
+     * The MasterMACS sends invalid responses with a low frequency.
+     * Therefore I send cached status responses in such a case in order 
+     * to help the logic everywhere else in the code.
+     */
+    sprintf(command, "%dR10", axisNo_);
+    status = pC_->transactController(axisNo_, command, reply);
+    if (status == asynError) {
+	    return oldStatus;
+    }
+    pPtr = strstr(reply, "=");
+    if(pPtr) {
+        sscanf(pPtr + 1, "%f", &fval);
+        oldStatus = (int) fval;
+        return oldStatus;
+    } else { 
+        errlogPrintf("MMACS: invalid status reponse %s on axis %d\n", reply, axisNo_);
+        return oldStatus;
+    }
+}
+
+
+int MasterMACSAxis::isOn(int axisStatus)
+{
+    if (CHECK_BIT(axisStatus, 0) && CHECK_BIT(axisStatus, 1)) {
+	return 1;
+    }
+    return 0;
+}
+
+asynStatus
+    MasterMACSAxis::move(double position, int relative, double minVelocity,
+			 double maxVelocity, double acceleration)
+{
+    asynStatus status = asynSuccess;
+    char command[COMLEN], reply[COMLEN];
+    int devStatus;
+
+    //errlogPrintf("minVelocity = %f, maxVelocity = %f\n", minVelocity, maxVelocity);
+    memset(command, 0, COMLEN * sizeof(char));
+
+    /* clear motor error message */
+    updateMsgTxtFromDriver("");
+
+    /*
+     * reset error code
+     */
+    if(errorCodeFound){
+        sprintf(command, "%dS17=0", axisNo_);
+        status = pC_->transactController(axisNo_, command, reply);
+        errorCodeFound = 0;
+    }
+
+    /*
+     * only start if the thing is On
+     */
+    devStatus = readStatus();
+
+    /*
+     * set speed
+     */
+    /* temporarily disabled in order to get the basic logic right
+    sprintf(command, "%dS05=%f", axisNo_, maxVelocity / 1000);
+    status = pC_->transactController(axisNo_, command, reply);
+    */
+
+    if (relative) {
+	    position += this->position;
+    }
+
+    if(isOn(devStatus) && active == false) {
+        errlogPrintf("Starting axis %d with destination %f\n", axisNo_,
+		             position / 1000.);
+
+        /* send target position */
+        sprintf(command, "%dS02= %.3f", axisNo_, position / 1000.);
+        status = pC_->transactController(axisNo_, command, reply);
+        if (status == asynError) {
+            errlogPrintf("MMACS: failed to set target on %d\n", axisNo_);
+	        updateMsgTxtFromDriver("Failed to send target position");
+	        return status;
+        }
+
+        /* send move command */
+        sprintf(command, "%dS00=1", axisNo_);
+        status = pC_->transactController(axisNo_, command, reply);
+        if (status == asynError) {
+	        errlogPrintf("MMACS: failed to start axis %d\n", axisNo_);
+	        updateMsgTxtFromDriver("Failed to start axis");
+	        return status;
+        }
+        hasStarted = true;
+        homing = 0;
+        active = true;
+        usleep(500);
+        lastPositionUpdate = time(NULL);
+    } else {
+        errlogPrintf("MMACS: axis %d disabled, cannot start\n", axisNo_);
+    }
+    return status;
+}
+
+asynStatus
+    MasterMACSAxis::home(double minVelocity, double maxVelocity,
+			 double acceleration, int forwards)
+{
+    asynStatus status;
+    char command[COMLEN], reply[COMLEN];
+    int devStatus;
+
+    memset(command, 0, COMLEN * sizeof(char));
+
+    /*
+     * test if the thing is On
+     */
+    devStatus = readStatus();
+    updateMsgTxtFromDriver("");
+
+    if(isOn(devStatus)){
+        sprintf(command, "%dS00=9", axisNo_);
+        homing = 1;
+        status = pC_->transactController(axisNo_, command, reply);
+        hasStarted = true;
+        active = true;
+        lastPositionUpdate = time(NULL);
+        return status;
+    } else {
+        errlogPrintf("MMACS: cannot home disabled axis %d\n", axisNo_);
+        return asynError;
+    }
+}
+
+asynStatus
+    MasterMACSAxis::moveVelocity(double minVelocity, double maxVelocity,
+				 double acceleration)
+{
+    setIntegerParam(pC_->motorStatusProblem_, true);
+    errlogSevPrintf(errlogMajor,
+		    "This controller does not support the jog feature");
+    return asynError;
+}
+
+asynStatus MasterMACSAxis::stop(double acceleration)
+{
+    asynStatus status = asynSuccess;
+    char command[COMLEN], reply[COMLEN];
+    int devStatus;
+
+    memset(command, 0, COMLEN * sizeof(char));
+
+    devStatus = readStatus();
+    if(!CHECK_BIT(devStatus, 10)) {
+        // only try to stop when running ...    
+	    sprintf(command, "%dS00=8", axisNo_);
+	    status = pC_->transactController(axisNo_, command, reply);
+	    errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
+	    updateMsgTxtFromDriver("Axis interrupted");
+    }
+    return status;
+}
+
+asynStatus MasterMACSAxis::setPosition(double position)
+{
+    setIntegerParam(pC_->motorStatusProblem_, true);
+    errlogSevPrintf(errlogMajor,
+		    "This controller does not support setting position");
+    updateMsgTxtFromDriver("Controller does not support setPosition");
+    return asynError;
+}
+
+asynStatus MasterMACSAxis::setClosedLoop(bool closedLoop)
+{
+    /*
+       This belongs into the Kingdom of Electronics.
+       We do not do this.
+     */
+
+    return asynError;
+}
+
+/** Polls the axis.
+ * This function reads the motor position, the limit status, the home status, the moving status, 
+ * and the drive power-on status. 
+ * It calls setIntegerParam() and setDoubleParam() for each item that it polls,
+ * and then calls callParamCallbacks() at the end.
+ * \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
+asynStatus MasterMACSAxis::poll(bool * moving)
+{
+    asynStatus comStatus = asynSuccess;
+    char command[COMLEN], reply[COMLEN], *pPtr, buffer[80];
+    unsigned int errCode, derCode, devStatus = 0;
+    float errStatus;
+    struct tm* tm_info;
+    time_t timer;
+
+    /* 
+     * EPICS always polls all motors on a controller when one motor is active.
+     * In order to reduce load on the controller we check if we are active and
+     * if not return old stuff
+     */
+    if(active == false && time(NULL) < lastPoll + pC_->idlePollPeriod_) {
+        *moving = false;
+        return asynSuccess;
+    }
+
+    timer = time(NULL);
+    tm_info = localtime(&timer);
+
+    strftime(buffer, 26, "%Y-%m-%d %H:%M:%S", tm_info);
+    errlogPrintf("poll called at %s on axis %d \n", 
+		 buffer, axisNo_ );
+    lastPoll = time(NULL);
+
+    setIntegerParam(pC_->motorStatusProblem_, false);
+    memset(command, 0, COMLEN * sizeof(char));
+
+    // Read the current motor position
+    sprintf(command, "%dR12", axisNo_);
+    comStatus = pC_->transactController(axisNo_, command, reply);
+    if(comStatus != asynError) {
+        pPtr = strstr(reply, "=");
+        if(pPtr) {
+	        sscanf(pPtr + 1, "%lf", &position);
+            setDoubleParam(pC_->motorPosition_, position * 1000.);
+            setDoubleParam(pC_->motorEncoderPosition_, position * 1000.);
+            /* 
+            * keep track of position in order to check for a stuck motor later
+            */
+            if(ABS(position - oldPosition) > 1){
+                oldPosition = position;
+                lastPositionUpdate = time(NULL);
+            }
+       } else {
+            errlogPrintf("MMACS: Invalid response asking position on %d\n", axisNo_); 
+       }
+    } else {
+        errlogPrintf("MMACS: communication problem reading axis %d position\n", axisNo_);
+        *moving = false;
+        comStatus = asynError;
+        goto skip;
+    }
+
+    // Read the overall  status of this motor */
+    devStatus = readStatus();
+    if(debug || timeDebug) {
+    	errlogPrintf("Axis %d, position %lf, devStatus %d\n", axisNo_,
+	             position, devStatus);
+    }
+
+    // Check for the thing being in a bad state
+    if(CHECK_BIT(devStatus, 6)) {
+        *moving = false;
+        active = false;
+ 	    setIntegerParam(pC_->motorStatusDone_, true);
+        updateMsgTxtFromDriver("AXIS dead");
+        goto skip;
+    }
+
+
+    setIntegerParam(pC_->enableAxis_, isOn(devStatus));
+    setIntegerParam(pC_->axisEnabled_, isOn(devStatus));
+
+    // Check if the motor is disabled
+    if (!isOn(devStatus)) {
+	    updateMsgTxtFromDriver("Axis disabled");
+	    *moving = false;
+        active = false;
+	    setIntegerParam(pC_->motorStatusDone_, true);
+	    goto skip;
+    }
+
+    /*
+     * if the motor has never run, the status bit 10 is invalid
+     */
+    if (!hasStarted) {
+    	*moving = false;
+	    setIntegerParam(pC_->motorStatusDone_, true);
+        active = false;
+	    goto skip;
+    }
+
+    /*
+     * We may have a valid status bit...
+     */
+    if (!CHECK_BIT(devStatus, 10)) {
+    	/* we are still creeping along .... */
+	    *moving = true;
+	    setIntegerParam(pC_->motorStatusDone_, false);
+        if(time(NULL) > lastPositionUpdate + 120) {
+            // we are detecting a stuck motor
+            errlogPrintf("MMACS: axis %d is STUCK!!\n", axisNo_);
+            updateMsgTxtFromDriver("Axis STUCK!!");
+    	    setIntegerParam(pC_->motorStatusDone_, true);
+           *moving = false;
+            active = false;
+        }
+	    goto skip;
+    }
+
+
+    /*we are done moving */
+    *moving = false;
+    active = false;
+    setIntegerParam(pC_->motorStatusDone_, true);
+    updateMsgTxtFromDriver("");
+
+    /* when homing, set the proper flag */
+    if (homing) {
+	    setIntegerParam(pC_->motorStatusAtHome_, true);
+    }
+
+    /* check for limit switches*/
+    setIntegerParam(pC_->motorStatusLowLimit_, false);
+    setIntegerParam(pC_->motorStatusHighLimit_, false);
+    if (CHECK_BIT(devStatus, 11)) {
+	    errlogSevPrintf(errlogMajor, "Limit bit in status code %d", axisNo_);
+	    /* guessing which limit has been hit ... */
+	    if (position > 0) {
+		    updateMsgTxtFromDriver("Hit positive limit switch");
+		    setIntegerParam(pC_->motorStatusHighLimit_, true);
+	    } else {
+		    updateMsgTxtFromDriver("Hit negative limit switch");
+		    setIntegerParam(pC_->motorStatusLowLimit_, true);
+	    }
+	    goto skip;
+	}
+    
+    /* check for error conditions */
+	if (CHECK_BIT(devStatus, 3)) {
+        /* read error codes */
+        sprintf(command, "%dR11", axisNo_);
+        comStatus = pC_->transactController(axisNo_, command, reply);
+        if (comStatus != asynError) {
+         pPtr = strstr(reply, "=");
+            if(pPtr) {
+                sscanf(pPtr + 1, "%f", &errStatus);
+                errCode = (unsigned int) errStatus;
+            
+            } else {
+                errlogPrintf("MMACS: axis %d received invalid reply asking for error code \n", axisNo_);
+                errCode = 0;
+                goto skip;
+            }
+        } else {
+            errlogPrintf("MMACS: axis %d failed reading error code \n", axisNo_);
+            goto skip;
+        }
+
+        sprintf(command, "%dR18", axisNo_);
+        comStatus = pC_->transactController(axisNo_, command, reply);
+        if (comStatus != asynError) {
+            pPtr = strstr(reply, "=");
+            if(pPtr) {
+                sscanf(pPtr + 1, "%f", &errStatus);
+                derCode = (unsigned int) errStatus;
+            } else {
+                errlogPrintf("MMACS: malformed reply for R18: %s, on axis %d\n", reply, axisNo_);
+                derCode = 0;
+                goto skip;
+            }
+        } else {
+            errlogPrintf("MMACS: axis %d failed reading extended error code R18 \n", axisNo_);
+            goto skip;
+        }
+
+        if(debug) {
+		errlogPrintf("Axis %d, errCode(R11) %d, derCode(R18) %d\n", axisNo_,
+		             errCode, derCode);
+    	}
+
+        if (errCode == 0) {
+	        errlogSevPrintf(errlogMajor,
+			    "Fault bit in status code, but no error code on %d\n", axisNo_);
+	        updateMsgTxtFromDriver ("Fault bit in status code without error code");
+            goto skip;
+	    }
+        errorCodeFound = 1;
+
+        if (CHECK_BIT(errCode, 0)) {
+	        errlogSevPrintf(errlogMajor, "CAN error on %d", axisNo_);
+	        updateMsgTxtFromDriver("CAN error");
+        } else if (CHECK_BIT(errCode, 1)) {
+	        errlogSevPrintf(errlogMajor, "Short circuit on %d", axisNo_);
+	        updateMsgTxtFromDriver("Short circuit");
+        } else if (CHECK_BIT(errCode, 2)) {
+	        errlogSevPrintf(errlogMajor, "Invalide Setup on %d", axisNo_);
+	        updateMsgTxtFromDriver("Invalid Setup");
+        } else if (CHECK_BIT(errCode, 3)) {
+	        errlogSevPrintf(errlogMajor, "Control error on %d", axisNo_);
+	        updateMsgTxtFromDriver("Control error");
+        } else if (CHECK_BIT(errCode, 4)) {
+	        errlogSevPrintf(errlogMajor, "CAN communication error on %d",
+			                axisNo_);
+	        updateMsgTxtFromDriver("CAN communication error");
+        } else if (CHECK_BIT(errCode, 5)) {
+	        errlogSevPrintf(errlogMajor, "Feedback error on %d", axisNo_);
+	        updateMsgTxtFromDriver("Feedback error");
+        } else if (CHECK_BIT(errCode, 6)) {
+	        updateMsgTxtFromDriver("Hit positive limit switch");
+	        setIntegerParam(pC_->motorStatusHighLimit_, true);
+	        setIntegerParam(pC_->motorStatusProblem_, false);
+        } else if (CHECK_BIT(errCode, 7)) {
+	        updateMsgTxtFromDriver("Hit negative limit switch");
+	        setIntegerParam(pC_->motorStatusLowLimit_, true);
+	        setIntegerParam(pC_->motorStatusProblem_, false);
+        } else if (CHECK_BIT(errCode, 8)) {
+	        errlogSevPrintf(errlogMajor, "Over current %d", axisNo_);
+	        updateMsgTxtFromDriver("Over current");
+        } else if (CHECK_BIT(errCode, 9)) {
+	        errlogSevPrintf(errlogMajor, "I2T protection on %d", axisNo_);
+	        updateMsgTxtFromDriver("I2t protection");
+        } else if (CHECK_BIT(errCode, 10)) {
+	        errlogSevPrintf(errlogMajor, "Over heated motor on  %d", axisNo_);
+	        updateMsgTxtFromDriver("Motor overheated");
+        } else if (CHECK_BIT(errCode, 11)) {
+	        errlogSevPrintf(errlogMajor, "Over temperature drive on %d",
+			axisNo_);
+	        updateMsgTxtFromDriver("Over temperature drive");
+        } else if (CHECK_BIT(errCode, 12)) {
+	        errlogSevPrintf(errlogMajor, "Over voltage on %d", axisNo_);
+	        updateMsgTxtFromDriver("Over voltage");
+        } else if (CHECK_BIT(errCode, 13)) {
+	        errlogSevPrintf(errlogMajor, "Under voltage on %d", axisNo_);
+	        updateMsgTxtFromDriver("Under voltage");
+        } else if (CHECK_BIT(errCode, 14)) {
+	        errlogSevPrintf(errlogMajor, "Command error on %d", axisNo_);
+	        updateMsgTxtFromDriver("Command error");
+        } else if (CHECK_BIT(errCode, 15)) {
+	        errlogSevPrintf(errlogMajor, "Motor disabled on %d", axisNo_);
+	        updateMsgTxtFromDriver("Motor disabled");
+        }
+  }
+
+  skip:
+    callParamCallbacks();
+    return comStatus;
+}
+
+/** Code for iocsh registration */
+static const iocshArg
+    MasterMACSCreateControllerArg0 = { "Port name", iocshArgString };
+
+static const iocshArg
+    MasterMACSCreateControllerArg1 =
+    { "MasterMACS port name", iocshArgString };
+
+static const iocshArg
+    MasterMACSCreateControllerArg2 = { "Number of axes", iocshArgInt };
+
+static const iocshArg
+    MasterMACSCreateControllerArg3 = { "idlePoll", iocshArgInt };
+
+static const iocshArg
+    MasterMACSCreateControllerArg4 = { "busyPoll", iocshArgInt };
+
+
+static const iocshArg *const
+    MasterMACSCreateControllerArgs[] = { &MasterMACSCreateControllerArg0,
+    &MasterMACSCreateControllerArg1,
+    &MasterMACSCreateControllerArg2,
+    &MasterMACSCreateControllerArg3,
+    &MasterMACSCreateControllerArg4
+};
+
+static const iocshFuncDef
+    MasterMACSCreateControllerDef =
+    { "MasterMACSCreateController", 5, MasterMACSCreateControllerArgs };
+static void MasterMACSCreateContollerCallFunc(const iocshArgBuf * args)
+{
+    MasterMACSCreateController(args[0].sval, args[1].sval, args[2].ival, 
+		    	       args[3].ival, args[4].ival);
+}
+
+/**
+  * C wrapper for the MasterMACSAxis constructor.
+  *  See MasterMAXSAxis::MasterMACSAxis.
+  *
+  */
+asynStatus MasterMACSCreateAxis(const char *MasterMACSPort,	/* specify which controller by port name */
+				int axis)
+{				/* axis number (start from 1). */
+    MasterMACSController *pC;
+    MasterMACSAxis *pAxis;
+
+    static const char *functionName = "MasterMACSCreateAxis";
+
+    pC = (MasterMACSController *) findAsynPortDriver(MasterMACSPort);
+    if (!pC) {
+	printf("%s:%s: Error port %s not found\n", "MasterMACSDriver",
+	       functionName, MasterMACSPort);
+	return asynError;
+    }
+
+    pC->lock();
+    pAxis = new MasterMACSAxis(pC, axis);
+    pAxis = NULL;
+    pC->unlock();
+    return asynSuccess;
+}
+
+/* MasterMACSCreateAxis */
+static const iocshArg
+    MasterMACSCreateAxisArg0 = { "Controller port name", iocshArgString };
+
+static const iocshArg
+    MasterMACSCreateAxisArg1 = { "Axis number", iocshArgInt };
+
+static const iocshArg *const
+    MasterMACSCreateAxisArgs[] = { &MasterMACSCreateAxisArg0,
+    &MasterMACSCreateAxisArg1
+};
+
+static const iocshFuncDef
+    configMasterMACSAxis =
+    { "MasterMACSCreateAxis", 2, MasterMACSCreateAxisArgs };
+
+static void configMasterMACSAxisCallFunc(const iocshArgBuf * args)
+{
+    MasterMACSCreateAxis(args[0].sval, args[1].ival);
+}
+
+static void MasterMACSRegister(void)
+{
+    iocshRegister(&MasterMACSCreateControllerDef,
+		  MasterMACSCreateContollerCallFunc);
+    iocshRegister(&configMasterMACSAxis, configMasterMACSAxisCallFunc);
+}
+
+extern "C" {
+    epicsExportRegistrar(MasterMACSRegister);
+}

sinqEPICSApp/src/MasterMACSDriver.h

@@ -0,0 +1,77 @@
+/*
+  Driver for the MasterMACS motor controllers used at SINQ.
+  For documentation see the standard manuals area for SINQ or
+  Marcel Schildt.
+
+  The MasterMACS has a special line protocol which is implemented in
+  drvAsynMMACSPort.c. The driver will not work with a standard asyn IPPort, 
+  only with the special one.
+
+  Mark Koennecke, March, August, 2023
+*/
+
+#include "SINQController.h"
+#include "SINQAxis.h"
+
+#define COMLEN 50
+
+class MasterMACSAxis : public SINQAxis
+{
+public:
+  /* These are the methods we override from the base class */
+  MasterMACSAxis(class MasterMACSController *pC, int axis);
+  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);
+  asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
+  asynStatus stop(double acceleration);
+  asynStatus poll(bool *moving);
+  asynStatus setPosition(double position);
+  asynStatus setClosedLoop(bool closedLoop);
+
+private:
+  MasterMACSController *pC_;          /**< Pointer to the asynMotorController to which this axis belongs.
+                                   *   Abbreviated because it is used very frequently */
+  double position;
+  double oldPosition;
+  time_t lastPositionUpdate;
+  int homing;
+  int hasStarted; /* The motor status is invalid if the thing has not run once */
+  int isOn(int axisStatus); 
+  int readStatus();
+  int errorCodeFound;
+  int oldStatus;
+
+  bool active;
+  time_t lastPoll;
+
+friend class MasterMACSController;
+};
+
+
+#define EnableAxisString "ENABLE_AXIS"
+#define AxisEnabledString "AXIS_ENABLED"
+
+class MasterMACSController : public SINQController {
+public:
+  MasterMACSController(const char *portName, const char *MasterMACSPortName, 
+		       int numAxes, int idlePoll, int busyPoll);
+
+  void report(FILE *fp, int level);
+  MasterMACSAxis* getAxis(asynUser *pasynUser);
+  MasterMACSAxis* getAxis(int axisNo);
+ 
+  // overloaded because we want to enable/disable the motor
+  asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
+  asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
+
+friend class MasterMACSAxis;
+ private:
+ asynUser *pasynUserController_;
+ MasterMACSAxis **pAxes_;       /**< Array of pointers to axis objects */
+
+
+ asynStatus transactController(int axis, char command[COMLEN], char reply[COMLEN]);
+ int enableAxis_;
+ int axisEnabled_;
+};

sinqEPICSApp/src/NanotecDriver.cpp

@@ -138,7 +138,7 @@ NanotecAxis::NanotecAxis(NanotecController *pC, int axisNo, int busAddress)
     pC_(pC)
 {  
   this->busAddress = busAddress;
-
+  next_poll = -1;
 }
 
 
@@ -377,7 +377,7 @@ asynStatus NanotecAxis::poll(bool *moving)
   asynStatus comStatus;
   char command[COMLEN], reply[COMLEN];
   char *pPtr; 
-  int posVal, statVal;
+  int posVal, statVal, count = 0;
   double lowLim, highLim;
 
 
@@ -393,8 +393,14 @@ asynStatus NanotecAxis::poll(bool *moving)
   if(comStatus) goto skip;
 
   pPtr = strchr(reply,'C');
-  pPtr++;
-  posVal = atoi(pPtr);
+  if(pPtr){
+    pPtr++;
+    count = sscanf(pPtr,"%d", &posVal); 	  
+  } 
+  if(pPtr == NULL || count < 1) {
+    errlogPrintf("Invalid response %s for #C received for axis %d, address %d\n", reply, axisNo_, busAddress);
+    return asynError;
+  }
 
   //errlogPrintf("Axis %d, reply %s, position %d\n", axisNo_, reply, posVal);
   setDoubleParam(pC_->motorPosition_, (double)posVal);
@@ -407,8 +413,14 @@ asynStatus NanotecAxis::poll(bool *moving)
   if(comStatus) goto skip;
 
   pPtr = strchr(reply,'$');
-  pPtr++;
-  statVal = atoi(pPtr);
+  if(pPtr) {
+    pPtr++;
+    count = sscanf(pPtr, "%d", &statVal);	  
+  } 
+  if(pPtr == NULL || count < 1) {
+     errlogPrintf("Invalid response %s for #$ received for axis %d busAddress %d\n", reply, axisNo_, busAddress);
+     return asynError;
+  }        
   //errlogPrintf("Axis %d, reply %s, statVal = %d\n", 
   // 	       axisNo_, reply, statVal);
 

sinqEPICSApp/src/PhytronDriver.cpp

@@ -77,12 +77,27 @@ PhytronController::PhytronController(const char *portName, const char *PhytronPo
   pasynOctetSyncIO->setOutputEos(pasynUserController_,etx,strlen(etx));
   pasynOctetSyncIO->setInputEos(pasynUserController_,etx,strlen(etx));
 
-  new PhytronAxis(this, 1, encX);
-  new PhytronAxis(this, 2, encY);
+  /* The special selector D selects the dose controlled axis version */
+  if(strcmp(sel, (const char *)"D") == 0) {
+      new PhytronDoseAxis(this, 1, encX);
+      new PhytronDoseAxis(this, 2, encY);
+  } else {
+     new PhytronAxis(this, 1, encX);
+     new PhytronAxis(this, 2, encY);
+ }
+
 
   startPoller(1000./1000., IDLEPOLL, 2);
 }
 
+PhytronDoseController::PhytronDoseController(const char *portName, const char *PhytronPortName, const char *sel ,
+				     int encX, int encY)
+  :  PhytronController(portName, PhytronPortName, sel, encX, encY) 
+{
+  new PhytronDoseAxis(this, 1, encX);
+  new PhytronDoseAxis(this, 2, encY);
+}
+
 
 /** Creates a new PhytronController object.
   * Configuration command, called directly or from iocsh
@@ -97,6 +112,14 @@ extern "C" int PhytronCreateController(const char *portName, const char *Phytron
   return(asynSuccess);
 }
 
+extern "C" int PhytronDoseCreateController(const char *portName, const char *PhytronPortName, const char *selector,
+				       int encX, int encY)
+{
+  new PhytronDoseController(portName, PhytronPortName,selector, encX, encY);
+  return(asynSuccess);
+}
+
+
 /** Reports on status of the driver
   * \param[in] fp The file pointer on which report information will be written
   * \param[in] level The level of report detail desired
@@ -129,6 +152,23 @@ PhytronAxis* PhytronController::getAxis(int axisNo)
   return static_cast<PhytronAxis*>(asynMotorController::getAxis(axisNo));
 }
 
+/** Returns a pointer to an PhytronDoseAxis object.
+  * Returns NULL if the axis number encoded in pasynUser is invalid.
+  * \param[in] pasynUser asynUser structure that encodes the axis index number. */
+PhytronDoseAxis* PhytronDoseController::getAxis(asynUser *pasynUser)
+{
+  return static_cast<PhytronDoseAxis*>(asynMotorController::getAxis(pasynUser));
+}
+
+/** Returns a pointer to an PhytronDoseAxis object.
+  * Returns NULL if the axis number encoded in pasynUser is invalid.
+  * \param[in] axisNo Axis index number. */
+PhytronDoseAxis* PhytronDoseController::getAxis(int axisNo)
+{
+  return static_cast<PhytronDoseAxis*>(asynMotorController::getAxis(axisNo));
+}
+
+
 /**
  * send a command to the Phytron and read the reply. Do some error and controller 
  * issue fixing on the way
@@ -145,7 +185,7 @@ asynStatus PhytronController::transactController(int axisNo,char command[COMLEN]
   SINQAxis *axis = getAxis(axisNo);
 
 
-  pasynOctetSyncIO->flush(pasynUserController_);
+  /* pasynOctetSyncIO->flush(pasynUserController_); */
   
 
   memset(myCommand,0,sizeof(myCommand));
@@ -209,6 +249,9 @@ 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)
@@ -569,6 +612,79 @@ asynStatus PhytronAxis::poll(bool *moving)
   return comStatus;
 }
 
+/* The special PhytronDoseAxis code used when the speed is controlled through the neutron flux
+ */
+
+PhytronDoseAxis::PhytronDoseAxis(PhytronController *pC, int axisNo, int enc)
+  : PhytronAxis(pC, axisNo, enc)
+{  
+  if(axisNo == 1){
+    doseChar = '3';
+  } else {
+    doseChar = '4';
+  }
+}
+
+
+asynStatus PhytronDoseAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
+{
+  asynStatus status;
+  //static const char *functionName = "PhytronDoseAxis::move";
+  char command[COMLEN], reply[COMLEN];
+  float realTarget;
+
+  updateMsgTxtFromDriver("");
+
+  /*
+    set conversion factor from neutron rate to speed
+  */
+  sprintf(command, "R%c3S%f", doseChar, maxVelocity);
+  status = pC_->transactController(axisNo_,command,reply);
+  if(strstr(reply,"NACK") != NULL){
+    errlogSevPrintf(errlogMajor, "Speed not accepted on  %d", axisNo_);
+    updateMsgTxtFromDriver("Invalid speed");
+    setIntegerParam(pC_->motorStatusProblem_, true);
+    return asynError;
+  }
+
+  /*
+    actually send a move command
+  */
+  if (relative) {
+    position += this->position;
+  }
+  homing = 0;
+
+  /* set target */
+  realTarget = position/1000.;
+  if(realTarget > this->position) {
+      sprintf(command, "R%c1S%f", doseChar,realTarget);
+  } else {
+      sprintf(command, "R%c2S%f", doseChar,realTarget);
+  }
+  status = pC_->transactController(axisNo_,command,reply);
+  if(strstr(reply,"NACK") != NULL){
+    errlogSevPrintf(errlogMajor, "Drive command not acknowledged on %d", axisNo_);
+    updateMsgTxtFromDriver("Drive command not acknowledged");
+    setIntegerParam(pC_->motorStatusProblem_, true);
+    return asynError;
+  }
+
+  /* really start the move */
+  sprintf(command, "R%c01S", doseChar);
+  status = pC_->transactController(axisNo_,command,reply);
+  if(strstr(reply,"NACK") != NULL){
+    errlogSevPrintf(errlogMajor, "Drive start command not acknowledged on %d", axisNo_);
+    updateMsgTxtFromDriver("Drive command not acknowledged");
+    setIntegerParam(pC_->motorStatusProblem_, true);
+    return asynError;
+  }
+
+  next_poll = -1;
+  return status;
+}
+
+
 extern "C" asynStatus PhytronConfBrake(const char *port,         /* specify which controller by port name */
 				       int axis,                 /* axis: 0, 1 */
 				       int brakeNO)              /* brakeIO No, 1-8 */      
@@ -615,6 +731,21 @@ static void PhytronCreateContollerCallFunc(const iocshArgBuf *args)
   PhytronCreateController(args[0].sval, args[1].sval, args[2].sval, args[3].ival,args[4].ival);
 }
 
+static const iocshArg PhytronDoseCreateControllerArg0 = {"Port name", iocshArgString};
+static const iocshArg PhytronDoseCreateControllerArg1 = {"Phytron port name", iocshArgString};
+static const iocshArg PhytronDoseCreateControllerArg2 = {"Phytron Selector", iocshArgString};
+static const iocshArg PhytronDoseCreateControllerArg3 = {"EncoderX", iocshArgInt};
+static const iocshArg PhytronDoseCreateControllerArg4 = {"EncoderY", iocshArgInt};
+static const iocshArg * const PhytronDoseCreateControllerArgs[] = {&PhytronDoseCreateControllerArg0,
+                                                             &PhytronDoseCreateControllerArg1,
+							       &PhytronDoseCreateControllerArg2,
+							       &PhytronDoseCreateControllerArg3,
+                                                             &PhytronDoseCreateControllerArg4};
+static const iocshFuncDef PhytronDoseCreateControllerDef = {"PhytronDoseCreateController", 5, PhytronDoseCreateControllerArgs};
+static void PhytronDoseCreateContollerCallFunc(const iocshArgBuf *args)
+{
+  PhytronDoseCreateController(args[0].sval, args[1].sval, args[2].sval, args[3].ival,args[4].ival);
+}
 
 /* PhytronConfigureBrake */
 static const iocshArg phytronBrakeArg0 = {"Controller port name", iocshArgString};
@@ -634,6 +765,7 @@ static void phytronBrakeCallFunc(const iocshArgBuf *args)
 static void PhytronRegister(void)
 {
   iocshRegister(&PhytronCreateControllerDef, PhytronCreateContollerCallFunc);
+  iocshRegister(&PhytronDoseCreateControllerDef, PhytronDoseCreateContollerCallFunc);
   iocshRegister(&phytronBrakeDef, phytronBrakeCallFunc);
 }
 

sinqEPICSApp/src/PhytronDriver.h

@@ -10,6 +10,11 @@ Updated to go through SINQAxis for -MsgTxt support
 Added a selector to support multiple phytrons on a connection
 
 Mark Koennecke, January 2019
+
+Added PhytronDoseAxis. The speed of this axis is controlled by the
+neutron dose rate fed in as analog signal
+
+Mark Koennecke, April 2023
 */
 
 #include "SINQController.h"
@@ -17,6 +22,10 @@ Mark Koennecke, January 2019
 
 #define COMLEN 80
 
+
+class PhytronController;
+class PhytronDoseController;
+
 class PhytronAxis : public SINQAxis
 {
 public:
@@ -32,7 +41,7 @@ public:
   asynStatus setClosedLoop(bool closedLoop);
   int setBrake(int brakeIO);
 
-private:
+protected:
   char phytronChar;
   PhytronController *pC_;          /**< Pointer to the asynMotorController to which this axis belongs.
                                    *   Abbreviated because it is used very frequently */
@@ -47,6 +56,21 @@ private:
 friend class PhytronController;
 };
 
+class PhytronDoseAxis : public PhytronAxis
+{
+// A special version of PhytronAxis where the speed is controlled by the neutron flux.
+public:
+  PhytronDoseAxis(class PhytronController *pC, int axis, int enc);
+  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
+
+friend class PhytronDoseController; 
+
+protected:
+char doseChar; 
+PhytronDoseController *pC_;
+};
+
+
 class PhytronController : public SINQController {
 public:
   PhytronController(const char *portName, const char *PhytronPortName, const char *selector, 
@@ -57,7 +81,8 @@ public:
   PhytronAxis* getAxis(int axisNo);
 
 friend class PhytronAxis;
- private:
+
+ protected:
  asynUser *pasynUserController_;
 
  asynStatus transactController(int axisNo, char command[COMLEN], char reply[COMLEN]);
@@ -65,3 +90,20 @@ friend class PhytronAxis;
  const char *selector;
 
 };
+
+class PhytronDoseController : public PhytronController {
+public:
+  PhytronDoseController(const char *portName, const char *PhytronPortName, const char *selector, 
+		    int encX, int encY);
+
+  PhytronDoseAxis* getAxis(asynUser *pasynUser);
+  PhytronDoseAxis* getAxis(int axisNo);
+
+friend class PhytronDoseAxis;
+
+ protected:
+ asynUser *pasynUserController_;
+ const char *selector;
+
+};
+

sinqEPICSApp/src/SINQController.cpp

@@ -5,10 +5,16 @@
   Code lifted from Torsten Boegershausen ESS code.
 
   Mark Koennecke, March 2017
+
+  Added code to manage an interMessageSleep 
+
+  Mark Koennecke, February 2024
 */
 
 #include "SINQController.h"
 #include "asynMotorController.h"
+#include "epicsExport.h"
+#include "iocsh.h"
 
 SINQController::SINQController(const char *portName, const char *SINQPortName, int numAxes, const int& extraParams)
   :  asynMotorController(portName, numAxes+1, NUM_MOTOR_DRIVER_PARAMS+extraParams,
@@ -20,6 +26,53 @@ SINQController::SINQController(const char *portName, const char *SINQPortName, i
 {
   createParam(motorMessageIsFromDriverString,    asynParamInt32,      &motorMessageIsFromDriver_);
   createParam(motorMessageTextString,            asynParamOctet,      &motorMessageText_);
+
+  interMessageSleep=20;
+}
+
+/** Set  the interMessageSleep at runtime */
+asynStatus SINQController::setInterMessageSleep(int messageSleep)
+{
+  lock();
+  interMessageSleep = messageSleep;
+  unlock();
+  return asynSuccess;
+}
+
+extern "C" {
+
+asynStatus setInterMessageSleep(const char *portName, int messageSleep)
+{
+  SINQController *pC;
+  static const char *functionName = "setIntermessageSleep";
+
+  pC = (SINQController*) findAsynPortDriver(portName);
+  if (!pC) {
+    printf("%s:%s: Error port %s not found\n", "SINQController", functionName, portName);
+    return asynError;
+  }
+    
+  return pC->setInterMessageSleep(messageSleep);
 }
 
 
+/* setInterMessageSleep */
+static const iocshArg setInterMessageSleepArg0 = {"Controller port name", iocshArgString};
+static const iocshArg setInterMessageSleepArg1 = {"inter message sleep time", iocshArgInt};
+static const iocshArg * const setInterMessageSleepArgs[] = {&setInterMessageSleepArg0,
+                                                           &setInterMessageSleepArg1};
+static const iocshFuncDef setInterMessageSleepDef = {"setInterMessageSleep", 2, setInterMessageSleepArgs};
+
+static void setInterMessageSleepCallFunc(const iocshArgBuf *args)
+{
+  setInterMessageSleep(args[0].sval, args[1].ival);
+}
+
+static void SINQControllerRegister(void)
+{
+  iocshRegister(&setInterMessageSleepDef, setInterMessageSleepCallFunc);
+}
+epicsExportRegistrar(SINQControllerRegister);
+
+} // extern C    
+

sinqEPICSApp/src/SINQController.h

@@ -18,11 +18,15 @@ class epicsShareClass SINQController : public asynMotorController
 {
  public:
   SINQController(const char *portName, const char *SINQPortName, int numAxes, const int& extraParams=2);
-
+  asynStatus setInterMessageSleep(int messageSleep);
+ 
   friend class SINQAxis;
  protected:
   int motorMessageIsFromDriver_;
   int motorMessageText_;
+
+  int interMessageSleep; // minimum time between message to the controller in microseconds
+                         // for slowing down communication to weak controllers.....
 }; 
 
 

sinqEPICSApp/src/devScalerEL737.c

@@ -40,6 +40,8 @@
  */
 
 #include <string.h>
+#include <errno.h>
+#include <unistd.h>
 #include <asynOctetSyncIO.h>
 #include <epicsEvent.h>
 #include <epicsThread.h>
@@ -118,7 +120,7 @@ static void dummyAsynCallback(asynUser *pasynUser)
 
 static void connectSlaveRecords(EL737priv *priv)
 {
-  char slaveName[PVNAME_SZ], errName[256];
+  char slaveName[PVNAME_SZ + 18], errName[256];
   long status;
 
   priv->dbInit = 1;
@@ -166,7 +168,7 @@ static void connectSlaveRecords(EL737priv *priv)
     errlogPrintf("dbNameToAddr succeded for %s, record access %s\n",slaveName, priv->threshCounter.precord->name); 
   }
 
-  snprintf(slaveName,sizeof(slaveName),"%s:Threshold", priv->psr->name);
+  snprintf(slaveName, sizeof(slaveName), "%s:Threshold", priv->psr->name);
   errlogPrintf("Name of thresholdCounter variable: %s\n", slaveName);
   status = dbNameToAddr(slaveName,&priv->threshold); 
   if(status!= 0){
@@ -222,6 +224,7 @@ static long el737_init_record(scalerRecord *psr, CALLBACK *pcallback)
     psr->pact = 1;
     return 0;
   }
+  pasynManager->autoConnect(dummyUser, 1);
   status = pasynOctetSyncIO->connect(port, 0, &priv->asynContext, NULL);
   if (status) {
     asynPrint(dummyUser, ASYN_TRACE_ERROR, 
@@ -287,7 +290,7 @@ static long el737_write_preset(scalerRecord *psr, int signal, unsigned long val)
 {
   EL737priv *priv;
 
-  //errlogPrintf("Setting preset %d to %ld\n", signal, val);
+  // errlogPrintf("EL737: Setting preset %d to %ld\n", signal, val);
 
   priv = (EL737priv *)psr->dpvt;
   if(signal >= 0 && signal < 13){
@@ -296,7 +299,7 @@ static long el737_write_preset(scalerRecord *psr, int signal, unsigned long val)
   if(signal == THRESHVAL){
     priv->sendThreshold = 1;
     epicsEventSignal(priv->wakeUp);
-    //errlogPrintf("Setting threshold \n");
+    // errlogPrintf("EL737: Setting threshold \n");
 
   }
   return 0;
@@ -309,7 +312,7 @@ static long el737_arm(scalerRecord *psr, int val)
   priv = (EL737priv *)psr->dpvt;
   priv->countCommand = val;
 
-  //errlogPrintf("Sending arm %d \n", val);
+  // errlogPrintf("EL737: Sending arm %d \n", val);
 
   epicsEventSignal(priv->wakeUp);
   
@@ -321,7 +324,7 @@ static long el737_done(scalerRecord *psr)
   EL737priv *priv;
   priv = (EL737priv *)psr->dpvt;
 
-  // errlogPrintf("Calling done with %d\n", psr->cnt);
+  // errlogPrintf("EL737: Calling done with %d\n", psr->cnt);
   if(priv->counting && psr->cnt == 0){
     priv->countCommand = 0;
     epicsEventSignal(priv->wakeUp);
@@ -343,6 +346,8 @@ static asynStatus el737_transactCommand(EL737priv *priv,char command[COMLEN],cha
 
   pasynOctetSyncIO->flush(priv->asynContext);
   
+  // errlogPrintf("EL737: sending command %s\n", command);
+
   strcpy(message,"");
   status = pasynOctetSyncIO->writeRead(priv->asynContext, command, strlen(command),
 				       reply,COMLEN, 1.,&out,&in,&reason); 
@@ -384,7 +389,13 @@ static asynStatus el737_transactCommand(EL737priv *priv,char command[COMLEN],cha
       }
     }
   } else {
-    strncpy(message,"Lost communication",sizeof(message));
+    if(errno == EAGAIN){
+        errlogPrintf("Lost response to %s with EAGAIN\n", command); 
+    } else {
+        snprintf(message,sizeof(message), "Lost communication with errno %d", errno);
+        /* force a reconnect */
+        pasynOctetSyncIO->disconnect(priv->asynContext);
+    }
   }
   if(priv->dbInit){
     dbStatus = dbPutField(&priv->msgTxt, DBR_STRING,message, 1);
@@ -399,7 +410,7 @@ static asynStatus el737_transactCommand(EL737priv *priv,char command[COMLEN],cha
 static asynStatus sendStop(EL737priv *priv)
 {
   char command[COMLEN], reply[COMLEN];
-  //errlogPrintf("Sending stop\n");
+  // errlogPrintf("EL737: Sending stop\n");
   strcpy(command,"S");
   return el737_transactCommand(priv,command,reply);
 }
@@ -408,7 +419,8 @@ static void runEvents(EL737priv *priv)
 {
   char command[COMLEN], reply[COMLEN], errName[256];
   int status;
-  long dbStatus, myThreshold, nElements = 1, options = 0, threshCounter;
+  long dbStatus, nElements = 1, options = 0, threshCounter;
+  long unsigned int myThreshold;
 
   /*
     This is the better way to set the threshold rather then the old way below which uses 
@@ -434,7 +446,7 @@ static void runEvents(EL737priv *priv)
           }
 	  sprintf(command,"DL %d %d", (int)threshCounter,
 		  (int)myThreshold);
-	  errlogPrintf("Sending threshold command %s\n", command);
+	  // errlogPrintf("Sending threshold command %s\n", command);
 	  status = el737_transactCommand(priv,command,reply);
 	  sprintf(command,"DR %d", (int)threshCounter);
 	  status = el737_transactCommand(priv, command,reply);
@@ -449,36 +461,32 @@ static void runEvents(EL737priv *priv)
 
   if(priv->sendThreshold == 1) {
     // fallback when we do not have the DB fields or threshCounter is invalid
-    if(priv->presets[THRESHMON] <= 0) {
-      errlogPrintf("Invalid threshold preset monitor %ld, no threshold sent", priv->presets[THRESHMON]); 
-    } else {
+    if(priv->presets[THRESHMON] > 0) {
       sprintf(command,"DL %d %d", (int)priv->presets[THRESHMON],
 	      (int)priv->presets[THRESHVAL]);
-      errlogPrintf("Sending threshold from presets, command %s\n", command);
+      // errlogPrintf("Sending threshold from presets, command %s\n", command);
       status = el737_transactCommand(priv,command,reply);
       sprintf(command,"DR %d", (int)priv->presets[THRESHMON]);
       status = el737_transactCommand(priv, command,reply);
       if(status == asynSuccess) {
-	priv->sendThreshold  = 0;
+	    priv->sendThreshold  = 0;
       }
     }
   }
   
-  //errlogPrintf("Doing a count command: %d\n", priv->countCommand);
+  errlogPrintf("EL737: Doing a count command: %d\n", priv->countCommand);
   if(priv->countCommand == 1){
     if(priv->presets[MODE] > 0) {
       /* preset monitor */
       sprintf(command,"MP %d", (int)priv->presets[MONITOR]);
-      //errlogPrintf("Starting preset monitor\n");
+      // errlogPrintf("EL737: Starting preset monitor\n");
     } else {
       /* preset time */
       sprintf(command,"TP %f", priv->presets[TIMER]/1000.);
-      //errlogPrintf("Starting preset timer\n");
+      // errlogPrintf("EL737: Starting preset timer\n");
     }
     status = el737_transactCommand(priv,command,reply);
-    if(status == asynSuccess){
-      priv->counting = 1;
-    }
+    priv->counting = 1;
   } else {
     if(priv->counting) {
       /* Stop */
@@ -490,8 +498,8 @@ static void runEvents(EL737priv *priv)
 
 	
   if(status != asynSuccess){
-    errlogPrintf("devScalerEL737::el737Thread communication problem %s\n",
-		 priv->asynContext->errorMessage);
+    errlogPrintf("devScalerEL737::el737Thread communication problem %s\n, errno =%d",
+		 priv->asynContext->errorMessage, errno);
   }
 }
 
@@ -505,8 +513,12 @@ static void updateValues(EL737priv *priv)
   strcpy(command,"RA");
   status = el737_transactCommand(priv,command,reply);
   if(status != asynSuccess){
-    errlogPrintf("devScalerEL737::el737Thread communication problem %s\n",
-		 priv->asynContext->errorMessage);
+    if(errno == EAGAIN){
+        errlogPrintf("devScalerEL737::el737Thread lost response to %s with EAGAIN\n", command);
+    } else {
+        errlogPrintf("devScalerEL737::el737Thread communication problem %s, errno = %d\n",
+		     priv->asynContext->errorMessage, errno);
+    }
     return;
   }
   status = sscanf(reply, "%f %ld %ld %ld %ld %ld %ld %ld %ld",
@@ -544,11 +556,11 @@ static void el737Thread(void *param)
   int rs, ctStatus;
   long dbStatus, options, nElements = 1, pauseFlag = 0;
 
-  //errlogPrintf("Within EL737 thread \n");
+  // errlogPrintf("EL737: Within EL737 thread \n");
 
   while(1){
     evStatus = epicsEventWaitWithTimeout(priv->wakeUp,timeout);
-    //errlogPrintf("EL737 thread woke up with %d\n", evStatus);
+    // errlogPrintf("EL737 thread woke up with %d\n", evStatus);
 
     if(evStatus == epicsEventWaitOK) {
       /*
@@ -556,7 +568,8 @@ static void el737Thread(void *param)
       */
       runEvents(priv);
       if(priv->counting == 1){
-	timeout = .1;
+	    timeout = .2;
+        usleep(500);
       }
     } else {
       /*
@@ -575,7 +588,7 @@ static void el737Thread(void *param)
 	if(status != asynSuccess){
 	  errlogPrintf("devScalerEL737::el737Thread communication problem %s\n",
 		       priv->asynContext->errorMessage);
-	  break;
+	  continue;
 	}
 	sscanf(reply,"%d",&rs);
         //errlogPrintf("RS = %d\n", rs);
@@ -624,7 +637,7 @@ static void el737Thread(void *param)
 	  if(status != asynSuccess){
 	    errlogPrintf("devScalerEL737::el737Thread communication problem %s\n",
 			 priv->asynContext->errorMessage);
-	    break;
+	    continue;
 	  }
         } else if(pauseFlag == 0 && ctStatus == 3){
 	  strcpy(command,"CO");
@@ -632,7 +645,7 @@ static void el737Thread(void *param)
 	  if(status != asynSuccess){
 	    errlogPrintf("devScalerEL737::el737Thread communication problem %s\n",
 			 priv->asynContext->errorMessage);
-	    break;
+	    continue;
 	  }
         }
       }

sinqEPICSApp/src/pmacAxis.cpp

@@ -1,4 +1,4 @@
-/********************************************
+/*******************************************
  *  pmacAxis.cpp
  *
  *  PMAC Asyn motor based on the
@@ -16,7 +16,7 @@
  * when the motor is hung, it wont start. I check for this and cause an alarm.
  *
  * Another mode where the motor is in trouble is if it stays too long in status
- *5 or 6. I check and cause an alarm in this state too.
+ * 5 or 6. I check and cause an alarm in this state too.
  *
  * Mark Koennecke, February 2013
  *
@@ -28,6 +28,14 @@
  *
  * Michele Brambilla, February 2022
  *
+ * Added driver for special AMOR detector axes
+ *
+ * Mark Koennecke, June 2023
+ *
+ * Added driver for GirderAxis
+ *
+ * Stefan Mathis, July 2024
+ *
  ********************************************/
 
 #include <epicsExit.h>
@@ -42,6 +50,7 @@
 #include <stdlib.h>
 #include <string.h>
 #include <time.h>
+#include <unistd.h>
 
 #include<algorithm>
 #include<cmath>
@@ -180,7 +189,7 @@ asynStatus pmacAxis::getAxisInitialStatus(void) {
     cmdStatus = pC_->lowLevelWriteRead(axisNo_, command, response);
     if (cmdStatus) {
       asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                "%s: Error: enaabling axis %d failed.\n", functionName,
+                "%s: Error: enabling axis %d failed.\n", functionName,
                 axisNo_);
       return asynError;
     }
@@ -219,6 +228,11 @@ asynStatus pmacAxis::move(double position, int relative, double min_velocity,
   status6Time = 0;
   starting = 1;
 
+  /* set speed first */
+  sprintf(command, "Q%d04=%f", axisNo_, max_velocity);
+  status = pC_->lowLevelWriteRead(axisNo_, command, response);
+
+  /* send drive command */
   sprintf(command, "P%2.2d23=0 Q%2.2d01=%12.4f M%2.2d=1", axisNo_, axisNo_,
           realPosition, axisNo_);
 
@@ -277,17 +291,22 @@ asynStatus pmacAxis::setPosition(double position) {
 }
 
 asynStatus pmacAxis::stop(double acceleration) {
-  asynStatus status = asynError;
+  asynStatus status = asynSuccess;
   static const char *functionName = "pmacAxis::stopAxis";
+  bool moving = false;
 
   pC_->debugFlow(functionName);
 
   char command[128] = {0};
   char response[32] = {0};
 
-  sprintf(command, "M%2.2d=8", axisNo_);
+  this->getAxisStatus(&moving);
 
-  status = pC_->lowLevelWriteRead(axisNo_, command, response);
+  if(moving) {
+    // only send a stop when actually moving
+    sprintf(command, "M%2.2d=8", axisNo_);
+    status = pC_->lowLevelWriteRead(axisNo_, command, response);
+  }
   return status;
 }
 
@@ -339,7 +358,7 @@ static char *translateAxisError(int axErr) {
       return strdup("command not allowed");
       break;
     case 6:
-      return strdup("watchdog triggere");
+      return strdup("watchdog triggered");
       break;
     case 7:
       return strdup("current limit reached");
@@ -474,7 +493,6 @@ asynStatus pmacAxis::getAxisStatus(bool *moving) {
     *moving = false;
     setIntegerParam(pC_->motorStatusMoving_, false);
     setIntegerParam(pC_->motorStatusDone_, true);
-    setIntegerParam(pC_->motorStatusProblem_, true);
     errlogPrintf("Axis %d did not start within 10 seconds!! BROKEN\n", axisNo_);
     updateMsgTxtFromDriver("Axis did not start within 10 seconds");
     starting = 0;
@@ -582,7 +600,7 @@ asynStatus pmacHRPTAxis::getAxisStatus(bool *moving) {
   char response[pC_->PMAC_MAXBUF_];
   int cmdStatus = 0, nvals, crashSignal;
 
-  asynStatus result = pmacAxis::getAxisStatus(moving);
+  asynStatus result = pmacV3Axis::getAxisStatus(moving);
   sprintf(command, "P%2.2d53", axisNo_);
   cmdStatus = pC_->lowLevelWriteRead(axisNo_, command, response);
   nvals = sscanf(response, "%d", &crashSignal);
@@ -599,7 +617,6 @@ asynStatus pmacHRPTAxis::getAxisStatus(bool *moving) {
     *moving = false;
     setIntegerParam(pC_->motorStatusMoving_, false);
     setIntegerParam(pC_->motorStatusDone_, true);
-    setIntegerParam(pC_->motorStatusProblem_, true);
   }
   return result;
 }
@@ -618,7 +635,7 @@ asynStatus pmacAxis::enable(int on) {
  * ======================================================*/
 SeleneAxis::SeleneAxis(SeleneController *pC, int axisNo, double limitTarget)
     : pmacAxis(pC, axisNo, false) {
-  static const char *functionName = "pmacAxis::pmacAxis";
+  static const char *functionName = "SeleneAxis::SeleneAxis";
 
   pC_->debugFlow(functionName);
 
@@ -892,15 +909,10 @@ pmacV3Axis::pmacV3Axis(pmacController *pController, int axisNo)
 };
 
 asynStatus pmacV3Axis::poll(bool *moving) {
-  int status = 0;
+  asynStatus status = asynSuccess;
   static const char *functionName = "pmacV3Axis::poll";
   char message[132];
 
-  // Protect against excessive polling
-  if (time(NULL) < next_poll) {
-    return asynSuccess;
-  }
-
   sprintf(message, "%s: Polling axis: %d", functionName, this->axisNo_);
   pC_->debugFlow(message);
 
@@ -912,14 +924,9 @@ asynStatus pmacV3Axis::poll(bool *moving) {
               functionName, pC_->portName, axisNo_);
   }
 
-  if (*moving) {
-    next_poll = time(NULL) + BUSYPOLL;
-  } else {
-    next_poll = time(NULL) + IDLEPOLL;
-  }
-
   callParamCallbacks();
-  return status ? asynError : asynSuccess;
+  return status;
+
 }
 
 
@@ -944,14 +951,16 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
   if (cmdStatus || nvals != 3) {
     asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
               "drvPmacAxisGetStatus: Failed to read position and status,  "
-              "Status: %d\nCommand :%s\nResponse:%s\n",
-              cmdStatus, command, response);
+              "Status: %d\nCommand :%s\nParsed: %d\nResponse:%s\n",
+              cmdStatus, command, nvals, response);
     updateMsgTxtFromDriver("Cannot read Axis position and status");
   }
+
   pmacV3Controller *p3C_ = (pmacV3Controller *)pC_;
   IsEnable = axStat != -3;
 
-  asynStatus st = setIntegerParam(p3C_->axisEnabled_, axStat > -1);
+  setIntegerParam(p3C_->axisEnabled_, IsEnable);
+  asynStatus st = setIntegerParam(p3C_->enableAxis_, IsEnable);
   cmdStatus = cmdStatus > st ? cmdStatus : st;
 
   int direction = 0;
@@ -977,36 +986,17 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
   previous_position_ = position;
   previous_direction_ = direction;
 
-  /* are we done? */
-  if ((axStat == 0 || axStat < 0) && starting == 0) {
+  if (axStat <= 0 && starting == 0) {
     done = 1;
   } else {
     starting = 0;
     done = 0;
   }
 
-  // if (starting && time(NULL) > startTime + 10) {
-  //   /*
-  //     did not start in 10 seconds: messed up: cause an alarm
-  //   */
-  //   done = 1;
-  //   *moving = false;
-  //   st = setIntegerParam(pC_->motorStatusMoving_, false);
-  //   cmdStatus = cmdStatus > st ? cmdStatus : st;
-  //   st = setIntegerParam(pC_->motorStatusDone_, true);
-  //   cmdStatus = cmdStatus > st ? cmdStatus : st;
-  //   st = setIntegerParam(pC_->motorStatusProblem_, true);
-  //   cmdStatus = cmdStatus > st ? cmdStatus : st;
-  //   errlogPrintf("Axis %d did not start within 10 seconds!! BROKEN\n", axisNo_);
-  //   updateMsgTxtFromDriver("Axis did not start within 10 seconds");
-  //   starting = 0;
-  //   return st;
-  // }
-
   // /*
   //   code to test against too long status 5 or 6
   // */
-  int EstimatedTimeOfArrival = 60;
+  int EstimatedTimeOfArrival = 120;
   if (axStat == 5 || axStat == 6) {
     if (status6Time == 0) {
       status6Time = time(NULL);
@@ -1014,20 +1004,11 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
       EstimatedTimeOfArrival =
           std::ceil(2 * std::fabs(setpointPosition_ - position) / Speed);
       
-    }
-    else {
+    } else {
       if (time(NULL) > status6Time + EstimatedTimeOfArrival) {
         /* trigger error only when not moving */
         if (abs(position - statusPos) < .1) {
-          // done = 1;
-          // *moving = false;
-          // st = setIntegerParam(pC_->motorStatusMoving_, false);
-          // cmdStatus = cmdStatus > st ? cmdStatus : st;
-          // st = setIntegerParam(pC_->motorStatusDone_, true);
-          // cmdStatus = cmdStatus > st ? cmdStatus : st;
-          // st = setIntegerParam(pC_->motorStatusProblem_, true);
-          // cmdStatus = cmdStatus > st ? cmdStatus : st;
-
+          done = 1;
           errlogPrintf(
               "Axis %d stayed in 5,6 for more than %d seconds BROKEN\n",
               axisNo_, EstimatedTimeOfArrival);
@@ -1082,6 +1063,7 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
   cmdStatus = cmdStatus > st ? cmdStatus : st;
 
   nvals = sscanf(response, "%d %d %d", &axErr, &highLim, &lowLim);
+
   if (st || nvals != 3) {
     asynPrint(
         pC_->pasynUserSelf, ASYN_TRACE_ERROR,
@@ -1092,9 +1074,6 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
         "Cannot read Axis Error, high and low limit flag Status");
   }
 
-  // errlogPrintf("Polling, axStat = %d, axErr = %d, position = %f\n", axStat,
-  // axErr, position);
-
   sprintf(message, "poll results: axis %d, status %d, axErr %d, done = %d",
           axisNo_, axStat, axErr, done);
   pC_->debugFlow(message);
@@ -1148,6 +1127,40 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
     axisProblemFlag = 0;
     axisErrorCount = 0;
   }
+
+  // test for more error conditions encoded in axStat
+  switch(axStat) {
+          case -4: 
+                  snprintf(message, sizeof(message), "PMAC: %s on %d", 
+                           "Emergency stop activated", axisNo_);
+                  updateMsgTxtFromDriver(message);
+                  asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s\n", message);
+                  axisProblemFlag = 1;
+                  break;
+          case -5: 
+                  snprintf(message, sizeof(message), "PMAC: %s on %d", 
+                           "Motor is not installed", axisNo_);
+                  updateMsgTxtFromDriver(message);
+                  asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s\n", message);
+                  axisProblemFlag = 1;
+                  break;
+          case -3: 
+                  snprintf(message, sizeof(message), "PMAC: %s on %d", 
+                           "Axis disabled", axisNo_);
+                  updateMsgTxtFromDriver(message);
+                  asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s\n", message);
+                  axisProblemFlag = 1;
+                  break;
+          case -2: 
+          case -1:
+                  snprintf(message, sizeof(message), "PMAC: %s on %d", 
+                           "Axis locked", axisNo_);
+                  updateMsgTxtFromDriver(message);
+                  asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s\n", message);
+                  axisProblemFlag = 1;
+                  break;
+ }
+
   st = setIntegerParam(pC_->motorStatusProblem_, axisProblemFlag);
   cmdStatus = cmdStatus > st ? cmdStatus : st;
 
@@ -1163,4 +1176,582 @@ asynStatus pmacV3Axis::move(double position, int relative, double min_velocity,
   }
   updateMsgTxtFromDriver("");
   return pmacAxis::move(position, relative, min_velocity, max_velocity, acceleration);
-}
+}
+
+/*========================= Amor Detector Motor code ==============*/
+AmorDetectorAxis::AmorDetectorAxis(pmacController *pC, int axisNo, int function)
+    : pmacAxis(pC, axisNo, false) {
+  static const char *functionName = "pmacAxis::pmacAxis";
+
+  pC_->debugFlow(functionName);
+
+  _function = function;
+  det_starting = false;
+  det_startTime = time(NULL);
+
+  callParamCallbacks();
+
+  /* Wake up the poller task which will make it do a poll,
+   * updating values for this axis to use the new resolution (stepSize_) */
+  pC_->wakeupPoller();
+}
+/*-----------------------------------------------------------------*/
+asynStatus AmorDetectorAxis::moveVelocity(double min_velocity, 
+                                          double max_velocity,
+                                          double acceleration)
+{
+    updateMsgTxtFromDriver("Function moveVelocity not allowed");
+    return asynError;
+}        
+
+/*------------------------------------------------------------------*/
+asynStatus AmorDetectorAxis::home(double min_velocity, 
+                                          double max_velocity,
+                                          double acceleration,
+                                          int forwards)
+{
+    updateMsgTxtFromDriver("Cannot home AMOR detector motors");
+    return asynError;
+}        
+/*-------------------------------------------------------------------*/
+asynStatus AmorDetectorAxis::setPosition(double position) 
+{
+    updateMsgTxtFromDriver("Cannot setPosition() AMOR detector motors");
+    return asynError;
+}        
+/*-------------------------------------------------------------------*/
+asynStatus AmorDetectorAxis::move(double position, int relative, 
+                                  double min_velocity, double max_velocity,
+                                  double acceleration)
+{
+  asynStatus status = asynError;
+  static const char *functionName = "AmorDetectorAxis::move";
+  double realPosition;
+  int parkStatus;
+  time_t errorWait;
+
+  updateMsgTxtFromDriver("");
+
+  pC_->debugFlow(functionName);
+
+  char command[128] = {0};
+  char response[32] = {0};
+
+  pC_->debugFlow(functionName);
+
+  /* test if we are not in the change position */
+  sprintf(command,"P358");
+  pC_->lowLevelWriteRead(axisNo_, command, response);
+  sscanf(response, "%d", &parkStatus);
+  if(_function != ADPARK && parkStatus == 2) {
+    updateMsgTxtFromDriver("Cannot run motor when in park position");
+    errlogPrintf("Cannot run motor when in park position");
+    return asynError;
+  }        
+
+  if (relative) {
+    realPosition = previous_position_ + position / MULT;
+  } else {
+    realPosition = position / MULT;
+  }
+
+  /* set target */
+  errlogPrintf("function %d, sending position %f\n", _function, realPosition);
+
+ switch(_function){
+  case ADCOM:
+       sprintf(command, "Q451=%f", realPosition);
+       break;
+  case ADCOZ:
+       sprintf(command, "Q454=%f", realPosition);
+       break;
+  case ADPARK:
+       // test if a reset is required first
+       sprintf(command, "P359");
+       pC_->lowLevelWriteRead(axisNo_, command, response);
+       sscanf(response, "%d", &parkStatus);
+       errlogPrintf("park status %d\n", parkStatus);
+       if(parkStatus != 0){
+         sprintf(command,"P352=2");
+         pC_->lowLevelWriteRead(axisNo_, command, response);
+         errlogPrintf("Park status %d, error reset: %s\n", parkStatus, command);
+       }
+       errorWait = time(NULL);
+       while(true){
+          usleep(5000);
+          sprintf(command, "P359");
+          pC_->lowLevelWriteRead(axisNo_, command, response);
+          sscanf(response, "%d", &parkStatus);
+          errlogPrintf("P359 = %d\n", parkStatus);
+          if(parkStatus == 0){
+                  break;
+          }
+          if(time(NULL) > errorWait + 3){
+             errlogPrintf("Failed to clear error status after 3 seconds\n");
+             updateMsgTxtFromDriver("Failed to clear errorState in 3 seconds");
+            return asynError;
+          }        
+       }
+      // now drive to the real place
+       if(realPosition == 0) {
+          sprintf(command, "P350=3");
+       } else if(realPosition < -90){
+           sprintf(command, "P350=2");
+       } else {
+         updateMsgTxtFromDriver("Can only reach -100, 0, nothing else");
+         return asynError;
+       }
+       errlogPrintf("Park position %f, park command: %s\n", realPosition, command);
+ 
+  }
+  status = pC_->lowLevelWriteRead(axisNo_, command, response);
+  if(status != asynSuccess) {
+     asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+              "AmorDetectorAxis::move failed to send command %s", command);
+    updateMsgTxtFromDriver("Cannot send Amor Detector Command");
+    return status;
+  }
+
+  /* send move command */
+  if(_function != ADPARK) {
+    sprintf(command, "P350=1");
+    status = pC_->lowLevelWriteRead(axisNo_, command, response);
+    if(status != asynSuccess) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+              "AmorDetectorAxis::move failed to send command %s", command);
+      updateMsgTxtFromDriver("Cannot send Amor Detector Command");
+     }
+   }
+
+  det_starting = true;
+  det_startTime = time(NULL);
+
+  next_poll = BUSYPOLL;
+
+  return status;
+}
+/*-----------------------------------------------------------------------------*/
+asynStatus AmorDetectorAxis::stop(double acceleration) {
+  asynStatus status = asynError;
+  static const char *functionName = "AmorDetectorAxis::stopAxis";
+  bool moving = false;
+
+  pC_->debugFlow(functionName);
+
+  char command[128] = {0};
+  char response[32] = {0};
+
+  this->poll(&moving);
+  det_starting = false;
+
+  if(moving) {
+    // only send a stop when actually moving
+    sprintf(command, "P350=8");
+    status = pC_->lowLevelWriteRead(axisNo_, command, response);
+  }
+  return status;
+}
+/*-------------------------------------------------------------------------------*/
+asynStatus AmorDetectorAxis::poll(bool *moving)
+{
+  asynStatus status = asynError;
+  static const char *functionName = "AmorDetectorAxis::poll";
+  int targetReached, errorCode, parkCode;
+  double position;
+
+  pC_->debugFlow(functionName);
+
+  char command[128] = {0};
+  char response[32] = {0};
+  char errorMessage[128] = {0};
+
+  /* read in position flag*/
+  sprintf(command, "P354");
+  status = pC_->lowLevelWriteRead(axisNo_, command, response);
+  if(status != asynSuccess){
+      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+              "AmorDetectorAxis::poll failed to read in position");
+      updateMsgTxtFromDriver("Failed to read Amor Detector in position");
+      return status;
+  }
+  sscanf(response, "%d", &targetReached);
+          
+  //if(_function == ADCOM){
+  //  errlogPrintf("startTime: %ld, current time: %ld, starting flag %d, targetReached %d\n", det_startTime, time(NULL), 
+  //             det_starting, targetReached);
+  //}
+
+  // The thing is sometimes slow to start, allow 7 seconds
+  // Especially coz is really slow to indicate
+  if(det_starting && time(NULL) > (det_startTime + 7)) {
+     det_starting = false;
+     //if(_function == ADCOM){
+     //   errlogPrintf("Resetting starting flag after timeout\n");
+     //}
+  }
+
+  setIntegerParam(pC_->motorStatusProblem_, false);
+  if(targetReached == 0 && det_starting == false){
+    *moving = false;
+    setIntegerParam(pC_->motorStatusDone_, true);
+    next_poll = IDLEPOLL;
+  } else {
+    *moving = true;
+    if(targetReached == 1){
+        det_starting = false;
+        //if(_function == ADCOM){
+        //    errlogPrintf("Resetting starting flag following targetReached flag\n");
+        //}
+    }
+    setIntegerParam(pC_->motorStatusDone_, false);
+  }
+
+  // read position
+  if(_function == ADCOM)  {
+    strcpy(command,"Q0510");
+  } else if(_function == ADCOZ) {
+    strcpy(command, "Q454");
+  } else if(_function == ADPARK){
+    strcpy(command,"P358");
+  }        
+  status = pC_->lowLevelWriteRead(axisNo_, command, response);
+  if(status != asynSuccess){
+      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+              "AmorDetectorAxis::poll failed to read value");
+      updateMsgTxtFromDriver("Failed to read Amor Detector value");
+      return status;
+  }
+  if(_function != ADPARK){
+      sscanf(response, "%lf", &position);
+  } else {
+      // analyse the park code to check where the thing is. This does
+      // not show good values while driving. But that is a limitation
+      // of the hardware. 
+      sscanf(response, "%d", &parkCode);
+      if(parkCode == 1) {
+         position = 0;
+      } else {
+        position = -100;
+      }
+      // errlogPrintf("parkCode %d , position %f,targetREached = %d\n", parkCode, position, targetReached);
+  }
+  setDoubleParam(pC_->motorPosition_, position * 1000.);
+  setDoubleParam(pC_->motorEncoderPosition_, position * 1000.);  
+ 
+  //if(_function == ADCOM){
+  //  errlogPrintf("polling for function %d, position %f, pos*10^3 %f, targetREached = %d\n", _function, position, 
+  //               position*MULT, targetReached);
+  // }
+
+  // read error status
+  sprintf(command, "P359");
+  status = pC_->lowLevelWriteRead(axisNo_, command, response);
+  if(status == asynSuccess) {
+    sscanf(response, "%d", &errorCode);
+    switch(errorCode) {
+    case 0:
+        break;
+    case 1:
+        strcpy(errorMessage,"COZ not released");
+        break;
+    case 2:
+        strcpy(errorMessage,"Motor is in wrong state");
+        break;
+    case 3: 
+        strcpy(errorMessage,"FTZ error while moving");
+        break;
+    case 4:
+        strcpy(errorMessage, "Break  while moving");
+        break;
+    case 5:
+        strcpy(errorMessage, "No freigabe during move");
+        break;
+    default:
+        strcpy(errorMessage, "Unknown error code from: ");
+        strcat(errorMessage, response);
+        break;
+    }
+    if(strlen(errorMessage) > 1) {
+       asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+              "AmorDetectorAxis::poll: %s", errorMessage);
+      updateMsgTxtFromDriver(errorMessage);
+      status = asynError;
+    }
+  }
+
+  callParamCallbacks();
+  return status;
+}
+
+/*-------------------------------------------------------------------------------*/
+
+GirderAxis::GirderAxis(pmacController *pController, int axisNo)
+    : pmacV3Axis(pController, axisNo){
+
+  // GirderAxis expects a pmacV3Controller. Therefore it is checked whether the pointer pController can be cast
+  // to this object type. If this is not possible, the user made an error in the configuration files. This is documented
+  // in a corresponding error; after that, an exception is thrown to avoid returning an "illegal" instance of GirderAxis.
+  pmacV3Controller* pV3Controller = dynamic_cast<pmacV3Controller*>(pController);
+  if (pV3Controller == nullptr) {
+    errlogPrintf("A GirderAxis instance needs a pmacV3Controller. Please check the configuration files.");
+    throw std::invalid_argument("A GirderAxis instance needs a pmacV3Controller. Please check the configuration files.");
+  }
+
+  // Initial values for member variables
+  next_poll = -1;
+  previous_position_ = 0.0;
+  previous_direction_ = 0;
+  status6Time = 0;
+  statusPos = 0.0;
+  homing = 0;
+  axisErrorCount = 0;
+};
+
+/*-------------------------------------------------------------------------------*/
+asynStatus GirderAxis::move(double position, int relative, double min_velocity, double max_velocity, double acceleration) {
+
+  // If the axis is not enabled, do nothing
+  if(!IsEnable) {
+    updateMsgTxtFromDriver("Error: axis disabled");
+    return asynError;
+  }
+
+  // =======================================
+  // Local variable declaration
+
+  asynStatus status = asynError;
+  char command[pC_->PMAC_MAXBUF_] = {0};
+  char response[pC_->PMAC_MAXBUF_] = {0};
+  double realPosition = 0;
+
+  // =======================================
+
+  updateMsgTxtFromDriver("");
+  static const char *functionName = "GirderAxis::move";
+  pC_->debugFlow(functionName);
+
+  if (relative) {
+    realPosition = previous_position_ + position / MULT;
+  } else {
+    realPosition = position / MULT;
+  }
+  startTime = time(NULL);
+  status6Time = 0;
+  starting = 1;
+
+  // Set target position
+  snprintf(command, sizeof(command), "Q251=%f", realPosition);
+  status = pC_->lowLevelWriteRead(axisNo_, command, response);
+  if (status == asynError) {
+    updateMsgTxtFromDriver("Error: Could not set target position");
+    return asynError;
+  }
+
+  // Start motion
+  snprintf(command, sizeof(command), "P150=1");
+  status = pC_->lowLevelWriteRead(axisNo_, command, response);
+  if (status == asynError) {
+    updateMsgTxtFromDriver("Error: Could not start motion");
+    return asynError;
+  }
+
+  next_poll = -1;
+  return status;
+}
+
+asynStatus GirderAxis::stop(double acceleration) {
+
+  // =======================================
+  // Local variable declaration
+
+  asynStatus status = asynSuccess;
+  static const char *functionName = "GirderAxis::stop";
+  bool moving = false;
+  char command[pC_->PMAC_MAXBUF_] = {0};
+  char response[pC_->PMAC_MAXBUF_] = {0};
+
+  // =======================================
+
+  pC_->debugFlow(functionName);
+  this->poll(&moving); 
+
+  if(moving) {
+    // only send a stop when actually moving
+    snprintf(command, sizeof(command), "P150=8");
+    status = pC_->lowLevelWriteRead(axisNo_, command, response);
+  }
+  return status;
+}
+
+asynStatus GirderAxis::poll(bool *moving) {
+
+  // =======================================
+  // Local variable declaration
+
+  asynStatus status = asynSuccess;
+  static const char *functionName = "GirderAxis::poll";
+  char command[pC_->PMAC_MAXBUF_] = {0};
+  char response[pC_->PMAC_MAXBUF_] = {0};
+  char message[132], *axMessage;
+  double position = 0;
+  int moving_to_position = 0, nvals = 0, axisProblemFlag = 0, axStat = 0, axError = 0, isEnabled = 1;
+  asynStatus st;
+
+  // =======================================
+
+  // Check for girder axis specific errors
+  snprintf(command, sizeof(command), "P159");
+  status = pC_->lowLevelWriteRead(axisNo_, command, response);
+  sscanf(response, "P159=%d", &axError);
+  switch(axError) {
+    case 1: 
+      snprintf(message, sizeof(message), "PMAC: %s on %d", 
+                "Axis not switched on", axisNo_);
+      updateMsgTxtFromDriver(message);
+      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s\n", message);
+      axisProblemFlag = 1;
+      isEnabled = 0;
+      break;
+    case 2: 
+      snprintf(message, sizeof(message), "PMAC: %s on %d", 
+                "Axis not ready for new command", axisNo_);
+      updateMsgTxtFromDriver(message);
+      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s\n", message);
+      axisProblemFlag = 1;
+      break;
+    case 3: 
+      snprintf(message, sizeof(message), "PMAC: %s on %d", 
+                "Axis 1 ERROR during motion", axisNo_);
+      updateMsgTxtFromDriver(message);
+      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s\n", message);
+      axisProblemFlag = 1;
+      break;
+    case 4: 
+      snprintf(message, sizeof(message), "PMAC: %s on %d", 
+                "Axis 2 ERROR during motion", axisNo_);
+      updateMsgTxtFromDriver(message);
+      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s\n", message);
+      axisProblemFlag = 1;
+      break;
+  }
+  st = setIntegerParam(pC_->motorStatusProblem_, axisProblemFlag);
+  status = status > st ? status : st;
+
+  // Downcast the pointer pmacController to pmacV3Controller in a typesafe manner
+  pmacV3Controller* p3C_ = dynamic_cast<pmacV3Controller*>(pC_);
+  if (p3C_ == nullptr) {
+    errlogPrintf("A GirderAxis instance needs a pmacV3Controller. Please check the configuration files.");
+    throw std::invalid_argument("A GirderAxis instance needs a pmacV3Controller. Please check the configuration files.");
+  }
+  setIntegerParam(p3C_->axisEnabled_, isEnabled);
+
+  st = setIntegerParam(p3C_->enableAxis_, isEnabled);
+  status = status > st ? status : st;
+
+  int direction = 0;
+
+  /*
+  In GirderAxis::move, the user input is scaled by /MULT. Hence, the output of
+  Qxx10 needs to be scaled by *MULT
+  */
+  st = setDoubleParam(pC_->motorPosition_, position * MULT); 
+  status = status > st ? status : st;
+  st = setDoubleParam(pC_->motorEncoderPosition_, position * MULT);
+  status = status > st ? status : st;
+
+  // Calculate the current (or last) movement direction
+  if ((position - previous_position_) > 0) {
+    direction = 1;
+  } else if (position - previous_position_ == 0.0) {
+    direction = previous_direction_;
+  } else {
+    direction = 0;
+  }
+  st = setIntegerParam(pC_->motorStatusDirection_, direction);
+  status = status > st ? status : st;
+
+  // Store the position which was read out from the hardware together with the calculated direction for the next poll
+  previous_position_ = position;
+  previous_direction_ = direction;
+
+  // Is the axis currently moving?
+  snprintf(command, sizeof(command), "P154");
+  status = pC_->lowLevelWriteRead(axisNo_, command, response);
+  sscanf(response, "P154=%d", &moving_to_position);
+
+  /*
+  This code tests whether the axis is too long in status 5 or 6.
+  If the axis is in status 5 or 6, a time counter (status6Time) is started and updated during subsequent polls.
+  If status6Time exceeds the estimated arrival time of 120 seconds, a corresponding error is returned.
+  */
+  int EstimatedTimeOfArrival = 120; // seconds
+  if (axStat == 5 || axStat == 6) {
+    if (status6Time == 0) {
+      status6Time = time(nullptr);
+      statusPos = position;      
+    } else {
+      if (time(nullptr) > status6Time + EstimatedTimeOfArrival) {
+        /* trigger error only when not moving */
+        if (abs(position - statusPos) < .1) {
+          moving_to_position = 0;
+          errlogPrintf(
+              "Axis %d stayed in status 5 or 6 for more than %d seconds BROKEN\n",
+              axisNo_, EstimatedTimeOfArrival);
+          updateMsgTxtFromDriver("Axis stayed in status 5 or 6 for more than estimated time: BROKEN");
+          status6Time = 0;
+          return status;
+        } else {
+          status6Time = time(nullptr);
+          statusPos = position;
+        }
+      }
+    }
+  }
+
+  /*
+  If the axis is moving, set the corresponding flags in the pmacController (pC_) and end the poll.
+  */
+  if (!moving_to_position) {
+    *moving = true;
+    st = setIntegerParam(pC_->motorStatusMoving_, true);
+    status = status > st ? status : st;
+    st = setIntegerParam(pC_->motorStatusDone_, false);
+    return status > st ? status : st;
+  } else {
+    *moving = false;
+    st = setIntegerParam(pC_->motorStatusMoving_, false);
+    status = status > st ? status : st;
+    st = setIntegerParam(pC_->motorStatusDone_, true);
+    status = status > st ? status : st;
+  }
+
+  /* Set any axis specific general problem bits. */
+  if (axError != 0) {
+    axisProblemFlag = 1;
+    if (axisErrorCount < 10) {
+      axMessage = translateAxisError(axError);
+      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                "drvGirderAxisGetStatus: Axis %d is in deep trouble: axis error "
+                "code %d, translated: %s:, status code = %d\n",
+                axisNo_, axError, axMessage, axStat);
+      snprintf(message, sizeof(message), "GirderAxis error: %s", axMessage);
+      updateMsgTxtFromDriver(message);
+      if (axMessage != NULL) {
+        free(axMessage);
+      }
+      axisErrorCount++;
+    } else if (axisErrorCount == 10) {
+      asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                "Suppressing further axis error messages\n");
+      axisErrorCount++;
+    }
+  } else {
+    axisProblemFlag = 0;
+    axisErrorCount = 0;
+  }
+
+  st = setIntegerParam(pC_->motorStatusProblem_, axisProblemFlag);
+  status = status > st ? status : st;
+
+  return status;
+}

sinqEPICSApp/src/pmacAxis.h

@@ -1,160 +1,222 @@
 /********************************************
  *  pmacAxis.cpp
- * 
- *  PMAC Asyn motor based on the 
+ *
+ *  PMAC Asyn motor based on the
  *  asynMotorAxis class.
- * 
+ *
  *  Matthew Pearson
  *  23 May 2012
- * 
+ *
  * Modified to use the MsgTxt field for SINQ
  *
  * Mark Koennecke, January 2019
  *
- * EXtended with special motor axis for the Selene 
+ * EXtended with special motor axis for the Selene
  * guide, Mark Koennecke, February 2020
  ********************************************/
 
 #ifndef pmacAxis_H
 #define pmacAxis_H
 
-#include "SINQController.h"
 #include "SINQAxis.h"
+#include "SINQController.h"
 
 class pmacController;
 class SeleneController;
 
-class pmacAxis : public SINQAxis
-{
+class pmacAxis : public SINQAxis {
   public:
-  /* These are the methods we override from the base class */
-  pmacAxis(pmacController *pController, int axisNo, bool enable=true);
-  virtual ~pmacAxis();
-  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
-  asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
-  asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
-  asynStatus stop(double acceleration);
-  asynStatus poll(bool *moving);
-  asynStatus setPosition(double position);
-  asynStatus enable(int on);
+    /* These are the methods we override from the base class */
+    pmacAxis(pmacController *pController, int axisNo, bool enable = true);
+    virtual ~pmacAxis();
+    asynStatus move(double position, int relative, double min_velocity,
+                    double max_velocity, double acceleration);
+    asynStatus moveVelocity(double min_velocity, double max_velocity,
+                            double acceleration);
+    asynStatus home(double min_velocity, double max_velocity,
+                    double acceleration, int forwards);
+    asynStatus stop(double acceleration);
+    asynStatus poll(bool *moving);
+    asynStatus setPosition(double position);
+    asynStatus enable(int on);
 
-protected:
-  pmacController *pC_;
-  
-  asynStatus getAxisStatus(bool *moving);
-  asynStatus getAxisInitialStatus(void);
+  protected:
+    pmacController *pC_;
 
-  double setpointPosition_;
-  double encoderPosition_;
-  double currentVelocity_;
-  double velocity_;
-  double accel_;
-  double highLimit_;
-  double lowLimit_;
-  double scale_;
-  double previous_position_;
-  int previous_direction_;
-  int encoder_axis_;
-  int axisErrorCount;
+    asynStatus getAxisStatus(bool *moving);
+    asynStatus getAxisInitialStatus(void);
 
-  time_t startTime;
-  time_t status6Time;
-  int starting;
-  int homing;
-  double statusPos;
+    double setpointPosition_;
+    double encoderPosition_;
+    double currentVelocity_;
+    double velocity_;
+    double accel_;
+    double highLimit_;
+    double lowLimit_;
+    double scale_;
+    double previous_position_;
+    int previous_direction_;
+    int encoder_axis_;
+    int axisErrorCount;
 
-  time_t next_poll;
+    time_t startTime;
+    time_t status6Time;
+    int starting;
+    int homing;
+    double statusPos;
 
-  bool autoEnable;
-  
-  friend class pmacController;
-  friend class pmacV3Controller;
+    time_t next_poll;
+
+    bool autoEnable;
+
+    friend class pmacController;
+    friend class pmacV3Controller;
 };
-/*----------------------------------------------------------------------------------------------*/
-class pmacHRPTAxis : public pmacAxis
-{
- public: 
- pmacHRPTAxis(pmacController *pController, int axisNo) : pmacAxis(pController,axisNo) {};
-  /**
-   * Override getAxisStatus in order to read the special parameter indicating a
-   * slit blade crash at HRPT
-   */
-  asynStatus getAxisStatus(bool *moving);
-
- protected:
-  friend class pmacController;
-  
-};
-
 /*--------------------------------------------------------------------------------------------*/
-class SeleneAxis : public pmacAxis
-{
+class SeleneAxis : public pmacAxis {
   public:
-   SeleneAxis(SeleneController *pController, int axisNo, double limitTarget);
-   asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
-   asynStatus setPosition(double position);
-   asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
+    SeleneAxis(SeleneController *pController, int axisNo, double limitTarget);
+    asynStatus move(double position, int relative, double min_velocity,
+                    double max_velocity, double acceleration);
+    asynStatus setPosition(double position);
+    asynStatus home(double min_velocity, double max_velocity,
+                    double acceleration, int forwards);
 
- protected:
-  friend class SeleneController;
-  friend class pmacController;
-
- private:
-  double limitTarget;
-  asynStatus getSeleneAxisInitialStatus(void);
+  protected:
+    friend class SeleneController;
+    friend class pmacController;
 
+  private:
+    double limitTarget;
+    asynStatus getSeleneAxisInitialStatus(void);
 };
 
 /*
-  Yet another special set of motors for the Selene Guide at AMOR. Each segment can be lifted or tilted. This is 
-  two motors. One acts as a slave and only writes a new target, the other also sets a new target and sends the 
-  actual movement command. Both motors are coordianted in the motor controller in order to avoid tension on 
-  the guide elements. This gaves rise to the function code LIFTSLAVE and LIFTMASTER.
+  Yet another special set of motors for the Selene Guide at AMOR. Each segment
+  can be lifted or tilted. This is two motors. One acts as a slave and only
+  writes a new target, the other also sets a new target and sends the actual
+  movement command. Both motors are coordianted in the motor controller in order
+  to avoid tension on the guide elements. This gaves rise to the function code
+  LIFTSLAVE and LIFTMASTER.
 
-  In another mode the whole guide can be lifted or tilted. Then motor 1 and 6 get new values and one of them 
-  sends the drive command. This causes all 6 motors to drive synchronously to their new targets. This is 
-  implemented through the LIFTSEGMENT function code. 
+  In another mode the whole guide can be lifted or tilted. Then motor 1 and 6
+  get new values and one of them sends the drive command. This causes all 6
+  motors to drive synchronously to their new targets. This is implemented
+  through the LIFTSEGMENT function code.
 
-  Mark Koennecke, February 2020 
+  Mark Koennecke, February 2020
 
   The axis should not be enabled automatically
 
-  Michele Brambilla, February 2020 
+  Michele Brambilla, February 2020
 
  */
-class LiftAxis : public pmacAxis
-{
- public:
- LiftAxis(pmacController *pController, int axisNo) : pmacAxis((pmacController *)pController,axisNo) {};
-  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
-  asynStatus poll(bool *moving);
-  asynStatus stop(double acceleration);
- private:
-  int waitStart;
+class LiftAxis : public pmacAxis {
+  public:
+    /*
+    The default constructor of LiftAxis just forwards to the pmacAxis
+    constructor, which has an optional argument "autoenable" with the default
+    value "true". However, we want that argument to be false, hence we provide
+    an explicit constructor.
+    */
+    LiftAxis(pmacController *pController, int axisNo)
+        : pmacAxis((pmacController *)pController, axisNo, false) {};
+    asynStatus move(double position, int relative, double min_velocity,
+                    double max_velocity, double acceleration);
+    asynStatus poll(bool *moving);
+    asynStatus stop(double acceleration);
+
+  private:
+    int waitStart;
 };
 
- /********************************************
+/********************************************
  * Protocol version 3 requires just some minor change
  *
  * Michele Brambilla, February 2022
  ********************************************/
 
 class pmacV3Axis : public pmacAxis {
-public:
+  public:
+    pmacV3Axis(pmacController *pController, int axisNo);
 
-  pmacV3Axis(pmacController *pController, int axisNo);
+    asynStatus move(double position, int relative, double min_velocity,
+                    double max_velocity, double acceleration);
+    asynStatus poll(bool *moving);
 
-  asynStatus move(double position, int relative, double min_velocity,
-                  double max_velocity, double acceleration);
-  asynStatus poll(bool *moving);
- protected:
-  int IsEnable;
-  double Speed;
+  protected:
+    int IsEnable;
+    double Speed;
 
-  asynStatus getAxisStatus(bool *moving);
+    asynStatus getAxisStatus(bool *moving);
 
-  friend class pmacController;
-  friend class pmacV3Controller;
- };
+    friend class pmacController;
+    friend class pmacV3Controller;
+};
+
+/*----------------------------------------------------------------------------------------------*/
+class pmacHRPTAxis : public pmacV3Axis {
+  public:
+    pmacHRPTAxis(pmacController *pController, int axisNo)
+        : pmacV3Axis(pController, axisNo) {};
+    /**
+     * Override getAxisStatus in order to read the special parameter indicating
+     * a slit blade crash at HRPT
+     */
+    asynStatus getAxisStatus(bool *moving);
+
+  protected:
+    friend class pmacController;
+};
+
+/*
+ * Special motors for the AMOR detector movement. The whole
+ * command set is different but on a pmac controller. This implements
+ * a coordinated movement of cox, coz and ftz in order not to break
+ * the flight tube which may have been mounted. This is mapped to three
+ * motors selected via the function code: com, the detector omega, coz,
+ * the detector z offset and park, for parking the flightpath.
+ */
+
+#define ADCOM 1
+#define ADCOZ 2
+#define ADPARK 3
+
+class AmorDetectorAxis : public pmacAxis {
+  public:
+    AmorDetectorAxis(pmacController *pController, int axisNo, int function);
+
+    asynStatus move(double position, int relative, double min_velocity,
+                    double max_velocity, double acceleration);
+    asynStatus poll(bool *moving);
+    asynStatus moveVelocity(double min_velocity, double max_velocity,
+                            double acceleration);
+    asynStatus home(double min_velocity, double max_velocity,
+                    double acceleration, int forwards);
+    asynStatus stop(double acceleration);
+    asynStatus setPosition(double position);
+
+  protected:
+    int _function;
+    int det_starting;
+    time_t det_startTime;
+};
+
+/*----------------------------------------------------------------------------------------------*/
+
+class GirderAxis : public pmacV3Axis {
+  public:
+    GirderAxis(pmacController *pController, int axisNo);
+    asynStatus move(double position, int relative, double min_velocity,
+                    double max_velocity, double acceleration);
+    asynStatus stop(double acceleration);
+    asynStatus poll(bool *moving);
+
+  protected:
+    int IsEnable;
+
+    friend class pmacController;
+    friend class pmacV3Controller;
+};
 
 #endif /* pmacAxis_H */

sinqEPICSApp/src/pmacController.h

@@ -140,6 +140,8 @@ class pmacController : public SINQController {
   friend class SeleneAxis;
   friend class LiftAxis;
   friend class pmacV3Axis;
+  friend class GirderAxis;
+  friend class AmorDetectorAxis;
 };
 
 #define NUM_PMAC_PARAMS (&LAST_PMAC_PARAM - &FIRST_PMAC_PARAM + 1)
@@ -166,12 +168,14 @@ class SeleneController : public pmacController {
 
 #define EnableAxisString "ENABLE_AXIS"
 #define AxisEnabledString "AXIS_ENABLED"
+#define ReReadEncoderPositionString "REREAD_ENCODER_POSITION"
+#define ReReadEncoderPositionString_RBV "REREAD_ENCODER_POSITION_RBV"
 
 class pmacV3Controller : public pmacController {
 public:
   pmacV3Controller(const char *portName, const char *lowLevelPortName,
                  int lowLevelPortAddress, int numAxes, double movingPollPeriod,
-                 double idlePollPeriod, const int &extraParams = 2);
+                 double idlePollPeriod, const int &extraParams = 4);
 
   // overloaded because we want to enable/disable the motor
   asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
@@ -181,12 +185,15 @@ public:
   
   friend class pmacV3Axis;
   friend class pmacAxis;
+  friend class GirderAxis;
 
 protected:
   pmacV3Axis **pAxes_;       /**< Array of pointers to axis objects */
 
   int enableAxis_;
   int axisEnabled_;
+  int rereadEncoderPosition_;
+  int rereadEncoderPositionRBV_;
 };
 
 #endif /* pmacController_H */

sinqEPICSApp/src/sinq.dbd

@@ -5,8 +5,11 @@ registrar(EL734Register)
 registrar(PhytronRegister) 
 registrar(EuroMoveRegister) 
 registrar(NanotecRegister) 
-registrar(pmacControllerRegister) 
-registrar(pmacAsynIPPortRegister) 
+# registrar(pmacControllerRegister) 
+registrar(C804ControllerRegister) 
+# registrar(pmacAsynIPPortRegister) 
+registrar(MasterMACSRegister) 
+registrar(SINQControllerRegister) 
 
 #--------------------------------------------------------
 # With the PSI module build system, including these items actually 

testel734/db/basic_asyn_motor.db

@@ -0,0 +1,23 @@
+record(motor,"$(P)$(M)")
+{
+	field(DESC,"$(DESC)")
+	field(DTYP,"$(DTYP)")
+	field(DIR,"$(DIR)")
+	field(VELO,"$(VELO)")
+	field(VBAS,"$(VBAS)")
+	field(ACCL,"$(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,"$(INIT)")
+	field(TWV,"1")
+        field(RDBD,"$(RDBD)")
+        field(RTRY,"0")
+}
+

testel734/db/basic_motor.db

@@ -0,0 +1,21 @@
+grecord(motor,"$(P)$(M)")
+{
+	field(DESC,"$(DESC)")
+	field(DTYP,"$(DTYP)")
+	field(DIR,"$(DIR)")
+	field(VELO,"$(VELO)")
+	field(VBAS,"$(VBAS)")
+	field(ACCL,"$(ACCL)")
+	field(BDST,"$(BDST)")
+	field(BVEL,"$(BVEL)")
+	field(BACC,"$(BACC)")
+	field(OUT,"#C$(C) S$(S) @")
+	field(MRES,"$(MRES)")
+	field(PREC,"$(PREC)")
+	field(EGU,"$(EGU)")
+	field(DHLM,"$(DHLM)")
+	field(DLLM,"$(DLLM)")
+	field(INIT,"$(INIT)")
+	field(TWV,"1")
+}
+

testel734/db/motorMessage.db

@@ -0,0 +1,18 @@
+
+# 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")
+}
+
+record(ao,"$(P)m$(N)-Resolution"){
+	field(DESC,"m$(N) Resolution")
+        field(DOL,"$(P)m$(N).MRES CP MS")
+	field(OMSL,"closed_loop")
+	field(DTYP,"asynFloat64")
+	field(OUT,"@asyn($(PORT),$(N))MOTOR_RESOLUTION")
+	field(PREC,"3")
+}

testel734/db/sinq_asyn_motor.db

@@ -0,0 +1,48 @@
+record(motor,"$(P)$(M)")
+{
+	field(DESC,"$(DESC)")
+	field(DTYP,"$(DTYP)")
+	field(DIR,"$(DIR)")
+	field(VELO,"$(VELO)")
+	field(VMAX,"$(VMAX=$(VELO))")
+	field(VBAS,"$(VBAS)")
+	field(ACCL,"$(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,"$(INIT)")
+	field(TWV,"1")
+	field(RDBD,"$(RDBD)")
+}
+
+
+# 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")
+}
+
+# enable axis
+record(longout, "$(P)$(M):Enable") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
+    field(PINI, "YES")
+}
+
+# enable axis
+record(longin, "$(P)$(M):Enable_RBV") {
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT),$(N),1) AXIS_ENABLED")
+    field(PINI, "YES")
+    field(SCAN, "1 second")
+}
+

testel734/mota.sub

@@ -0,0 +1,13 @@
+file "$(TOP)/db/basic_asyn_motor.db"
+{
+pattern
+{P,        N,     M,       DTYP,     PORT, ADDR,  DESC,     EGU,   DIR,   VELO,   VBAS, ACCL, BDST, BVEL, BACC,    MRES, PREC, DLLM, DHLM, INIT}
+{KM36:mota:, 2, "m$(N)", "asynMotor",  mota,  2, "sgl",   degree,   Pos,    2.0,   0.1,  .2,    0,    1,   .2,    1.,    3, -20.0, 20.0, ""}
+}
+
+file "$(TOP)/db/motorMessage.db"
+{
+pattern
+{P,N, M,PORT}
+{KM36:mota:, 2, "m$(N)",mota}
+}

testel734/motaspeed.sub

@@ -0,0 +1,12 @@
+file "$(TOP)/db/sinq_asyn_motor.db"
+{
+pattern
+{P,        N,     M,       DTYP,     PORT, ADDR,  DESC,     EGU,   DIR,   VELO,   VBAS, ACCL, BDST, BVEL, BACC,    MRES, PREC, DLLM, DHLM, INIT, RDBD}
+{KM36:mota:,2,"m$(N)","asynMotor",   mota,    2, "sgl",  degree,   Pos,    100,    0.1,   .2,    0,    1,   .2,      1.,    3,-180.0,360.0,"", 0.2}}
+
+file "$(TOP)/db/motorMessage.db"
+{
+pattern
+{P,N, M,PORT}
+{KM36:mota:, 2, "m$(N)",mota}
+}

testel734/testel734.cmd

@@ -0,0 +1,12 @@
+#!/usr/local/bin/iocsh
+
+require sinq,koennecke
+
+epicsEnvSet("TOP","/afs/psi.ch/project/sinqdev/sinqepicsapp/testel734")
+
+drvAsynIPPortConfigure("serial1", "localhost:61000",0,0,0)
+EL734CreateController("mota","serial1",3)
+
+#dbLoadTemplate "mota.sub"
+dbLoadTemplate "motaspeed.sub"
+

testel737.cmd

@@ -0,0 +1,11 @@
+#!/usr/local/bin/iocsh
+
+require sinq,koennecke
+
+epicsEnvSet("TOP","/afs/psi.ch/project/sinqdev/sinqepicsapp")
+
+#--------- load EL737 counter box
+drvAsynIPPortConfigure("cter1","localhost:62000",0,0,0)
+dbLoadRecords("$(TOP)/db/asynRecord.db","P=KM36:,R=cter1,PORT=cter1,ADDR=0,OMAX=80,IMAX=80")
+dbLoadRecords("${TOP}/db/el737Record.db","P=KM36:counter,PORT=cter1,DESC=SANSCounter")
+

testhuber/db/asynRecord.db

@@ -0,0 +1,9 @@
+record(asyn,"$(P)$(R)")
+{
+    field(DTYP,"asynRecordDevice")
+    field(PORT,"$(PORT)")
+    field(ADDR,"$(ADDR)")
+    field(OMAX,"$(OMAX)")
+    field(IMAX,"$(IMAX)")
+}
+

testhuber/db/basic_asyn_motor.db

@@ -0,0 +1,23 @@
+record(motor,"$(P)$(M)")
+{
+	field(DESC,"$(DESC)")
+	field(DTYP,"$(DTYP)")
+	field(DIR,"$(DIR)")
+	field(VELO,"$(VELO)")
+	field(VBAS,"$(VBAS)")
+	field(ACCL,"$(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,"$(INIT)")
+	field(TWV,"1")
+        field(RDBD,"$(RDBD)")
+        field(RTRY,"0")
+}
+

testhuber/db/basic_motor.db

@@ -0,0 +1,21 @@
+grecord(motor,"$(P)$(M)")
+{
+	field(DESC,"$(DESC)")
+	field(DTYP,"$(DTYP)")
+	field(DIR,"$(DIR)")
+	field(VELO,"$(VELO)")
+	field(VBAS,"$(VBAS)")
+	field(ACCL,"$(ACCL)")
+	field(BDST,"$(BDST)")
+	field(BVEL,"$(BVEL)")
+	field(BACC,"$(BACC)")
+	field(OUT,"#C$(C) S$(S) @")
+	field(MRES,"$(MRES)")
+	field(PREC,"$(PREC)")
+	field(EGU,"$(EGU)")
+	field(DHLM,"$(DHLM)")
+	field(DLLM,"$(DLLM)")
+	field(INIT,"$(INIT)")
+	field(TWV,"1")
+}
+

testhuber/db/motorMessage.db

@@ -0,0 +1,18 @@
+
+# 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")
+}
+
+record(ao,"$(P)m$(N)-Resolution"){
+	field(DESC,"m$(N) Resolution")
+        field(DOL,"$(P)m$(N).MRES CP MS")
+	field(OMSL,"closed_loop")
+	field(DTYP,"asynFloat64")
+	field(OUT,"@asyn($(PORT),$(N))MOTOR_RESOLUTION")
+	field(PREC,"3")
+}

testhuber/db/pmacV3.db

@@ -0,0 +1,14 @@
+# enable axis
+record(longout, "$(P)$(M):Enable") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
+    field(PINI, "YES")
+}
+
+# enable axis
+record(longin, "$(P)$(M):Enable_RBV") {
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT),$(N),1) AXIS_ENABLED")
+    field(PINI, "YES")
+    field(SCAN, "1 second")
+}

testhuber/db/sinq_asyn_motor.db

@@ -0,0 +1,47 @@
+record(motor,"$(P)$(M)")
+{
+	field(DESC,"$(DESC)")
+	field(DTYP,"$(DTYP)")
+	field(DIR,"$(DIR)")
+	field(VELO,"$(VELO)")
+	field(VBAS,"$(VBAS)")
+	field(ACCL,"$(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,"$(INIT)")
+	field(TWV,"1")
+	field(RDBD,"$(RDBD)")
+}
+
+
+# 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")
+}
+
+# enable axis
+record(longout, "$(P)$(M):Enable") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
+    field(PINI, "YES")
+}
+
+# enable axis
+record(longin, "$(P)$(M):Enable_RBV") {
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT),$(N),1) AXIS_ENABLED")
+    field(PINI, "YES")
+    field(SCAN, "5 second")
+}
+

testhuber/huber.cmd

@@ -0,0 +1,33 @@
+#!/ioc/tools/iocsh
+
+require motorHuber,brambilla_m
+
+# epicsEnvSet("TOP","/ioc/sinq-ioc/boa-ioc")
+
+epicsEnvSet("TOP","/afs/psi.ch/project/sinqdev/sinqepicsapp/testhuber")
+
+epicsEnvSet("STREAM_PROTOCOL_PATH","./db")
+epicsEnvSet("MOTOR",".")
+
+# require autosave, koennecke
+
+# Configure IP Port
+drvAsynIPPortConfigure("Huber1", "129.129.195.128:1234",0,0,0)
+
+# Configure Controller
+asynOctetSetInputEos( "Huber1", -1, "\r")
+asynOctetSetOutputEos("Huber1", -1, "\r")
+
+SMC9300CreateController("SMC1", "Huber1", 5, 50, 2000)
+
+dbLoadTemplate "motor.substitutions.smc9300"
+
+dbLoadRecords("$(TOP)/db/asynRecord.db","P=SQ:BOA:optics:,R=mcu,PORT=Huber1,ADDR=0,OMAX=80,IMAX=80")
+
+
+#--------------------------------- restore autosave
+#set_requestfile_path("$(TOP)", "")
+#set_savefile_path("$(TOP)/autosave")
+#save_restoreSet_Debug(0)
+#set_pass0_restoreFile("$(TOP)/autosave/huber.sav","")
+#set_pass1_restoreFile("$(TOP)/autosave/huber.sav","")

testhuber/motor.substitutions.smc9300

@@ -0,0 +1,19 @@
+file "$(MOTOR)/db/basic_asyn_motor.db"
+{
+pattern
+{P,             N,   M,      DTYP,         PORT,  ADDR,DESC,           EGU,   DIR,   VELO,  VBAS, ACCL, BDST, BVEL, BACC,    MRES, PREC,   DHLM, DLLM, RDBD, INIT}
+{SQ:BOA:optics:, 1, "trans1","asynMotor", SMC1,   1,   "translation 1",mm,    Pos,    200,   10,  20,    0,    1,   .2,    0.0001,    4,   150,  -150, 0.1,   ""}
+{SQ:BOA:optics:, 2, "lift1", "asynMotor", SMC1,   2,   "lift 1",       mm,    Pos,    200,   10,  80,    0,    1,   .2,    0.0001,    4,   100, 0,    0.1,   ""}
+{SQ:BOA:optics:, 3, "trans2","asynMotor", SMC1,   3,   "translation 2",mm,    Pos,    200,   10,  80,    0,    1,   .2,    0.0001,    4,   150, -150, 0.1,   ""}
+{SQ:BOA:optics:, 4, "lift2", "asynMotor", SMC1,   4,   "lift 2"       ,mm,    Pos,    200,   10,  80,    0,    1,   .2,    0.0001,    4,   100, 0,    0.1, ""}
+}
+
+file "$(TOP)/db/motorMessage.db"
+{
+pattern
+{P,N, M,PORT}
+{SQ:BOA:optics:, 1, "trans1", SMC1} 
+{SQ:BOA:optics:, 2, "lift1", SMC1} 
+{SQ:BOA:optics:, 3, "trans2", SMC1} 
+{SQ:BOA:optics:, 4, "lift2", SMC1} 
+}

testmmac/db/asynRecord.db

@@ -0,0 +1,9 @@
+record(asyn,"$(P)$(R)")
+{
+    field(DTYP,"asynRecordDevice")
+    field(PORT,"$(PORT)")
+    field(ADDR,"$(ADDR)")
+    field(OMAX,"$(OMAX)")
+    field(IMAX,"$(IMAX)")
+}
+

testmmac/db/basic_asyn_motor.db

@@ -0,0 +1,23 @@
+record(motor,"$(P)$(M)")
+{
+	field(DESC,"$(DESC)")
+	field(DTYP,"$(DTYP)")
+	field(DIR,"$(DIR)")
+	field(VELO,"$(VELO)")
+	field(VBAS,"$(VBAS)")
+	field(ACCL,"$(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,"$(INIT)")
+	field(TWV,"1")
+        field(RDBD,"$(RDBD)")
+        field(RTRY,"0")
+}
+

testmmac/db/basic_motor.db

@@ -0,0 +1,21 @@
+grecord(motor,"$(P)$(M)")
+{
+	field(DESC,"$(DESC)")
+	field(DTYP,"$(DTYP)")
+	field(DIR,"$(DIR)")
+	field(VELO,"$(VELO)")
+	field(VBAS,"$(VBAS)")
+	field(ACCL,"$(ACCL)")
+	field(BDST,"$(BDST)")
+	field(BVEL,"$(BVEL)")
+	field(BACC,"$(BACC)")
+	field(OUT,"#C$(C) S$(S) @")
+	field(MRES,"$(MRES)")
+	field(PREC,"$(PREC)")
+	field(EGU,"$(EGU)")
+	field(DHLM,"$(DHLM)")
+	field(DLLM,"$(DLLM)")
+	field(INIT,"$(INIT)")
+	field(TWV,"1")
+}
+

testmmac/db/motorMessage.db

@@ -0,0 +1,18 @@
+
+# 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")
+}
+
+record(ao,"$(P)m$(N)-Resolution"){
+	field(DESC,"m$(N) Resolution")
+        field(DOL,"$(P)m$(N).MRES CP MS")
+	field(OMSL,"closed_loop")
+	field(DTYP,"asynFloat64")
+	field(OUT,"@asyn($(PORT),$(N))MOTOR_RESOLUTION")
+	field(PREC,"3")
+}

testmmac/db/pmacV3.db

@@ -0,0 +1,14 @@
+# enable axis
+record(longout, "$(P)$(M):Enable") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
+    field(PINI, "YES")
+}
+
+# enable axis
+record(longin, "$(P)$(M):Enable_RBV") {
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT),$(N),1) AXIS_ENABLED")
+    field(PINI, "YES")
+    field(SCAN, "1 second")
+}

testmmac/db/sinq_asyn_motor.db

@@ -0,0 +1,47 @@
+record(motor,"$(P)$(M)")
+{
+	field(DESC,"$(DESC)")
+	field(DTYP,"$(DTYP)")
+	field(DIR,"$(DIR)")
+	field(VELO,"$(VELO)")
+	field(VBAS,"$(VBAS)")
+	field(ACCL,"$(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,"$(INIT)")
+	field(TWV,"1")
+	field(RDBD,"$(RDBD)")
+}
+
+
+# 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")
+}
+
+# enable axis
+record(longout, "$(P)$(M):Enable") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
+    field(PINI, "YES")
+}
+
+# enable axis
+record(longin, "$(P)$(M):Enable_RBV") {
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT),$(N),1) AXIS_ENABLED")
+    field(PINI, "YES")
+    field(SCAN, "5 second")
+}
+

testmmac/mmacs.sub

@@ -0,0 +1,15 @@
+file "$(TOP)/db/basic_asyn_motor.db"
+{
+pattern
+{P,        N,     M,       DTYP,     PORT, ADDR,  DESC,     EGU,   DIR,   VELO,   VBAS, ACCL, BDST, BVEL, BACC,    MRES, PREC, DLLM, DHLM, INIT}
+{KM36:mota:, 5, "m$(N)", "asynMotor",  mota,  5, "m5",   degree,   Pos,    2.0,   0.1,  .2,    0,    1,   .2,    1.,    3, -20.0, 20.0, ""}
+{KM36:mota:, 6, "m$(N)", "asynMotor",  mota,  6, "m6",   degree,   Pos,    2.0,   0.1,  .2,    0,    1,   .2,    1.,    3, -20.0, 20.0, ""}
+}
+
+file "$(TOP)/db/motorMessage.db"
+{
+pattern
+{P,N, M,PORT}
+{KM36:mota:, 5, "m$(N)",mota}
+{KM36:mota:, 6, "m$(N)",mota}
+}

testmmac/mmacs2.sub

@@ -0,0 +1,8 @@
+file "$(TOP)/db/sinq_asyn_motor.db"
+{
+pattern
+{P,        N,     M,       DTYP,     PORT, ADDR,  DESC,     EGU,   DIR,   VELO,   VBAS, ACCL, BDST, BVEL, BACC,    MRES, PREC, DLLM,       DHLM,      RDBD, INIT}
+{KM36:mota:,5,"m$(N)","asynMotor",   mota,    5,  "m5",  degree,   Pos,    2.0,    0.1,   .2,    0,    1,   .2,    .001,    3,-400000.000,400000.000,.01,    ""}
+{KM36:mota:,6,"m$(N)","asynMotor",   mota,    6,  "m6",  degree,   Pos,    2.0,    0.1,   .2,    0,    1,   .2,    .001,    3,-200000.000,200000.000,.01,    ""}
+}
+

testmmac/mota.sub

@@ -0,0 +1,13 @@
+file "$(TOP)/db/basic_asyn_motor.db"
+{
+pattern
+{P,        N,     M,       DTYP,     PORT, ADDR,  DESC,     EGU,   DIR,   VELO,   VBAS, ACCL, BDST, BVEL, BACC,    MRES, PREC, DLLM, DHLM, INIT}
+{KM36:mota:, 2, "m$(N)", "asynMotor",  mota,  2, "sgl",   degree,   Pos,    2.0,   0.1,  .2,    0,    1,   .2,    1.,    3, -20.0, 20.0, ""}
+}
+
+file "$(TOP)/db/motorMessage.db"
+{
+pattern
+{P,N, M,PORT}
+{KM36:mota:, 2, "m$(N)",mota}
+}

testmmac/motaspeed.sub

@@ -0,0 +1,12 @@
+file "$(TOP)/db/sinq_asyn_motor.db"
+{
+pattern
+{P,        N,     M,       DTYP,     PORT, ADDR,  DESC,     EGU,   DIR,   VELO,   VBAS, ACCL, BDST, BVEL, BACC,    MRES, PREC, DLLM, DHLM, INIT, RDBD}
+{KM36:mota:,2,"m$(N)","asynMotor",   mota,    2, "sgl",  degree,   Pos,    100,    0.1,   .2,    0,    1,   .2,      1.,    3,-180.0,360.0,"", 0.2}}
+
+file "$(TOP)/db/motorMessage.db"
+{
+pattern
+{P,N, M,PORT}
+{KM36:mota:, 2, "m$(N)",mota}
+}

testmmac/testmmacs.cmd

@@ -0,0 +1,35 @@
+#!/usr/local/bin/iocsh  
+
+require sinq,koennecke
+require autosave,koennecke
+
+epicsEnvSet("TOP","/afs/psi.ch/project/sinqdev/sinqepicsapp/testmmac")
+
+set_requestfile_path("$(TOP)", "")
+set_savefile_path("$(TOP)/autosave") 
+save_restoreSet_Debug(0)
+#--------------------------------- restore autosave
+set_pass0_restoreFile("$(TOP)/autosave/test.sav","")
+set_pass1_restoreFile("$(TOP)/autosave/test.sav","")
+
+
+#drvAsynMMACSPortConfigure("macs1", "localhost:8080",0,0,0)
+#asynInterposeEosConfig("macs1", 0, 0, 0) 
+#dbLoadRecords("$(TOP)/db/asynRecord.db","P=KM36:,R=macs1,PORT=macs1,ADDR=0,OMAX=80,IMAX=80")
+#asynSetTraceMask("macs1", 0, 255)
+
+#asynSetTraceMask("macs1", 0, 255)
+#drvAsynIPPortConfigure("macs1", "localhost:8080",0,0,0)
+drvAsynIPPortConfigure("macs1", "Marcel1--MACS:1917")
+MasterMACSCreateController("mota","macs1",7, 500, 10000)
+MasterMACSCreateAxis("mota",5)
+MasterMACSCreateAxis("mota",6)
+
+dbLoadTemplate "mmacs2.sub"
+
+iocInit()
+setMovingPollPeriod("mota", .5)
+setIdlePollPeriod("mota", 10. )
+
+create_monitor_set("test.req", 10, "")
+

testpmacV3/db/asynRecord.db

@@ -0,0 +1,9 @@
+record(asyn,"$(P)$(R)")
+{
+    field(DTYP,"asynRecordDevice")
+    field(PORT,"$(PORT)")
+    field(ADDR,"$(ADDR)")
+    field(OMAX,"$(OMAX)")
+    field(IMAX,"$(IMAX)")
+}
+

testpmacV3/db/basic_asyn_motor.db

@@ -0,0 +1,22 @@
+record(motor,"$(P)$(M)")
+{
+	field(DESC,"$(DESC)")
+	field(DTYP,"$(DTYP)")
+	field(DIR,"$(DIR)")
+	field(VELO,"$(VELO)")
+	field(VBAS,"$(VBAS)")
+	field(ACCL,"$(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(TWV,"1")
+	field(RTRY,"0")
+}
+

testpmacV3/db/motorMessage.db

@@ -0,0 +1,9 @@
+
+# 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")
+}

testpmacV3/db/pmacV3.db

@@ -0,0 +1,14 @@
+# enable axis
+record(longout, "$(P)$(M):Enable") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
+    field(PINI, "YES")
+}
+
+# enable axis
+record(longin, "$(P)$(M):Enable_RBV") {
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT),$(N),1) AXIS_ENABLED")
+    field(PINI, "YES")
+    field(SCAN, "1 second")
+}

testpmacV3/mcu.substitutions

@@ -0,0 +1,27 @@
+file "$(TOP)/db/basic_asyn_motor.db"
+{
+pattern
+{P,            N,    M,   DTYP,         PORT, ADDR, DESC,   EGU,      DIR,   VELO,  VBAS, ACCL, BDST, BVEL, BACC,   MRES, PREC, DHLM, DLLM,     INIT}
+{SQ:TEST:mcu:, 2, "m$(N)", "asynMotor",  mcu, 2,    "m$(N)",  degrees,  Pos,    2.0,   0.1,  .2,    0,    1,   .2,    .001,    3, 358., 2.,     ""}
+{SQ:TEST:mcu:, 6, "m$(N)", "asynMotor",  mcu, 6,    "m$(N)",  degrees,  Pos,    2.0,   0.1,  .2,    0,    1,   .2,    .001,    3, 358., 2.,     ""}
+{SQ:TEST:mcu:,10, "m$(N)", "asynMotor",  mcu,10,    "m$(N)",  degrees,  Pos,    2.0,   0.1,  .2,    0,    1,   .2,    .001,    3, 358., 2.,     ""}
+}
+
+file "$(TOP)/db/motorMessage.db"
+{
+pattern
+{P,N, M,PORT}
+{SQ:TEST:mcu:, 2, "m$(N)", mcu} 
+{SQ:TEST:mcu:, 6, "m$(N)", mcu} 
+{SQ:TEST:mcu:,10, "m$(N)", mcu} 
+}
+
+file "$(TOP)/db/pmacV3.db"
+{
+pattern
+{P,N, M,PORT}
+{SQ:TEST:mcu:, 2, "m$(N)", mcu} 
+{SQ:TEST:mcu:, 6, "m$(N)", mcu} 
+{SQ:TEST:mcu:,10, "m$(N)", mcu} 
+}
+

testpmacV3/st.cmd

@@ -0,0 +1,25 @@
+#!/ioc/tools/iocsh
+
+require sinq,brambilla_m
+#require sinq,koennecke
+
+epicsEnvSet("TOP","/afs/psi.ch/project/sinqdev/sinqepicsapp/testpmacV3")
+
+epicsEnvSet("EPICS_CA_ADDR_LIST","127.0.0.1")
+
+epicsEnvSet("STREAM_PROTOCOL_PATH","$(TOP)/db")
+
+
+var streamDebug 3
+
+# motors
+
+pmacAsynIPConfigure("pmacV3", "129.129.138.234:1025")
+pmacV3CreateController("mcu","pmacV3",0,16,50,1000);
+pmacV3CreateAxis("mcu",2,0);
+pmacV3CreateAxis("mcu",6,0);
+pmacV3CreateAxis("mcu",10,0);
+dbLoadTemplate "$(TOP)/mcu.substitutions"
+dbLoadRecords("$(TOP)/db/asynRecord.db","P=SQ:TEST:,R=mcu,PORT=pmacV3,ADDR=0,OMAX=80,IMAX=80")
+
+iocInit

utils/convertsub.py

@@ -0,0 +1,56 @@
+#!/usr/bin/python
+"""
+This is a little program which generates soft motor initialisation lines and iocsh morsels
+from a motor substitutions file. 
+
+Mark Koennecke, December 2019 
+"""
+import sys
+import pdb
+import os
+
+if len(sys.argv) < 2:
+    print('Usage:\n\tconvertsub XXXX.substitutions')
+    sys.exit(1)
+
+subLen = 0
+motors = []
+port = None
+
+with open(sys.argv[1],'r') as fin:
+    line = fin.readline()
+    while line:
+        line = line.replace(' ','')
+        line = line.strip('{}')
+        l = line.split(',')
+        if line.find('DHLM') > 0:  # that is the index discovery line
+            lowlimidx = l.index('DLLM')
+            highlimidx = l.index('DHLM')
+            mresidx = l.index('MRES')
+            addridx = l.index('ADDR')
+            prefix = l[0]
+            subLen = len(l)
+            portIdx = l.index('PORT')
+        elif subLen > 0:
+            l = line.split(',')
+            if subLen == len(l):
+                motors.append((l[addridx],l[mresidx],l[lowlimidx],l[highlimidx]))
+                port = l[portIdx]
+        else:
+            pass
+        line = fin.readline()
+
+print('%d motors found' % len(motors))
+
+fname = os.path.splitext(sys.argv[1])[0] + '.cmd'
+
+out = open(fname,'w')
+out.write('motorSimCreateController(\"%s\",%d)\n' % (port, len(motors)+2))
+for mot in motors:
+    mres = float(mot[1])
+    highlim = int(float(mot[3])/mres)
+    lowlim = int(float(mot[2])/mres)
+    out.write('motorSimConfigAxis(\"%s\",%s,%d,%d,0,0)\n' %(port,mot[0],highlim,lowlim))
+out.write('dbLoadTemplate(\"$(TOP)/%s\")\n' % (sys.argv[1])) 
+out.close()
+print(fname + ' written')

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

@@ -0,0 +1,178 @@
+#!/usr/bin/env python3
+"""
+  This is some code for communicating with a Delta-Tau PMAC motor 
+  controller as used at SINQ from python. Python 3 is assumed and 
+  tested. We use the ethernet protocol of the Pmac. This code benefits 
+  from the SICS driver for Pmac which in turn benefits from the driver 
+  written by Pete Leicester at Diamond.
+
+
+  Usage: python36 deltatau.py  pmachost:port command
+         Then returns the response for command. 
+
+  Mark Koennecke, October 2019
+"""
+
+import struct
+import socket
+import curses
+
+def packPmacCommand(command):
+    # 0x40 = VR_DOWNLOAD 
+    # 0xBF = VR_PMAC_GETRESPONSE
+    buf = struct.pack('BBHHH',0x40,0xBF,0,0,socket.htons(len(command)))
+    buf = buf + bytes(command,'utf-8')
+    return buf
+
+def readPmacReply(input):
+    msg = bytearray()
+    expectAck = True
+    while True:
+        b = input.recv(1)
+        bint = int.from_bytes(b,byteorder='little')
+        if bint == 2 or bint == 7: #STX or BELL
+            expectAck = False
+            continue
+        if expectAck and bint == 6: # ACK
+            return bytes(msg)
+        else:
+            if bint == 13 and not expectAck: # CR
+                return bytes(msg)
+            else:
+                msg.append(bint)
+
+if __name__ == "__main__":
+    from sys import argv
+
+    try:
+
+        addr = argv[1].split(':')
+        s = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
+        s.connect((addr[0],int(addr[1])))
+
+        if len(argv) == 3:
+            buf = packPmacCommand(argv[2])
+            s.send(buf)
+            reply = readPmacReply(s)
+            print(reply.decode('utf-8') + '\n')
+
+        else:
+
+            try:
+
+                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]:
+                            buf = packPmacCommand(history[ptr])
+                            s.send(buf)
+                            reply = readPmacReply(s)
+                            stdscr.addstr("\n" + reply.decode('utf-8')[0:-1])
+
+                        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()
+
+            finally:
+
+                # to quit
+                curses.nocbreak()
+                stdscr.keypad(False)
+                curses.echo()
+                curses.endwin()
+
+    except:
+        print("""
+        Invalid Arguments
+
+        Option 1: Single Command
+        ------------------------
+
+        Usage: deltatau.py pmachost:port command
+        This then returns the response for command. 
+
+        Option 2: CLI Mode
+        ------------------
+
+        Usage: deltatau.py pmachost:port
+
+        You can then type in a command, hit enter, and the response will see
+        the reponse, before being prompted to again enter a command. Type
+        'quit' to close prompt.
+        """)

utils/macmaster.py

@@ -0,0 +1,54 @@
+#!/usr/bin/env python3
+"""
+  Usage: macmaster.py  macmasterhost port
+    Listen for commands to send and returns reponse
+    until exit has been typed
+
+    Mark Koennecke, March 2023
+"""
+
+import socket
+import struct
+
+
+class MasterMACS():
+    def __init__(self, host, port):
+        self._socke = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self._socke.connect((host, int(port)))
+
+    def send(self, command):
+        buf = struct.pack('BBBB', 0x05, len(command) + 4, 0,  0x19)
+        buf += bytes(command, 'utf-8')
+        buf += struct.pack('BB', 0x0D, 0x03)
+        self._socke.send(buf)
+
+    def receive(self):
+        buf = self._socke.recv(35, socket.MSG_WAITALL)
+        if len(buf) < 35:
+            raise  EOFException('Master MACS returned only %d bytes, 35 expected' % len(buf))
+        idx = buf.find(0x0D)
+        ackbyte = buf[idx-1]
+        if ackbyte == 0x06:
+            ack = 'ACK'
+        elif ackbyte == 0x15:
+            ack = 'NAK',
+        else:
+            ack = 'NO'
+        reply = buf[4:idx-1].decode('utf-8')
+        return ack, reply
+
+if __name__ == "__main__":
+    from sys import argv, exit, stdin
+    if len(argv) < 3:
+        print('Usage:\n\tmacmaster.py machost macport')
+        exit(1)
+    mac = MasterMACS(argv[1], argv[2])
+    while(True):
+        # import pdb; pdb.set_trace()
+        line = stdin.readline()
+        if line.find('exit') >= 0:
+            exit(0)
+        mac.send(line.strip())
+        ack, reply = mac.receive()
+        print('%s, %s' %(ack, reply))
+

utils/physhell.tcl

@@ -0,0 +1,58 @@
+#!/usr/bin/tclsh
+# This is a little program which acts as a shell to the phytron.
+# It connects to another program which is supposed to talk to the phytron controller
+# It reads from stdin, packages the message into the phytron format and sends it to
+# the phytron communication program. Then it reads from the phytron communication program
+# and unpacks the reply.
+#
+# This is also a nice exampe for dealing with binary in Tcl
+# Making the binary character only worked with %c
+# The only way to do the comparison is with the string comare
+#
+# Mark Könnecke, September 2016
+
+
+if {[llength $argv] < 1} {
+    puts stdout "Usage:\n\t physhell.tcl phytronprogram"
+    exit
+}
+
+set phprogram [lindex $argv 0]
+
+set phyio [open "| $phprogram" "w+b"]
+fconfigure $phyio -buffering none
+fconfigure $phyio -translation {binary binary}
+set etx [format "%c" 0x03]
+set stx [format "%c" 0x02]
+set ack [format "%c" 0x06]
+set nack [format "%c" 0x05]
+
+
+while {1} {
+    set inp [gets stdin]
+    puts -nonewline $phyio [format "%c%s%c" 0x02 $inp 0x03]
+    set mode start
+    set reply ""
+    while {[string compare $mode done] != 0 } {
+	set c [read $phyio 1]
+	switch $mode {
+	    start {
+		if {[string compare $c $stx] == 0} {
+		    set mode data
+		}
+	    }
+	    data {
+		if {[string compare $c $etx] == 0} {
+		    puts stdout $reply
+		    set mode done
+		} elseif {[string compare $c $nack] == 0} {
+		    append reply NACK
+		} elseif {[string compare $c $ack] == 0} {
+		    append reply ACK
+		} else {
+		    append reply $c
+		}
+	    }
+	}
+    }
+}    

utils/syncEL734Sub.py

@@ -0,0 +1,114 @@
+#!/usr/bin/env python3
+"""
+This little program synchronizes an EPICS substitutions file with values read
+from the EL734 motor controller. Some research showed that the  EPICS motorRecord
+seems to have no means of reading configuration data like limits or speeds or such
+from the device support. Than it is the easiest to read the data with this small 
+program and update the substitutions file with it.
+
+Mark Koennecke, January 2023
+"""
+
+import socket
+import sys
+import time
+
+socke = None
+sockfd = None
+
+# --------------- communication section
+def connect(host, port):
+    global socke, sockfd
+    socke = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    # socke.connect(('localhost', 5050))
+    socke.connect((host, port))
+    socke.settimeout(2.)
+    sockfd = socke.makefile(mode='rw', newline='\r')
+    sockfd.write('RMT 1\r')
+    sockfd.flush()
+    sockfd.write('ECHO 0\r')
+    sockfd.flush()
+    sockfd.readline()
+
+def transact(command):
+    global socke, sockfd
+    sockfd.write(command + '\r')
+    sockfd.flush()
+    time.sleep(.1)
+    return sockfd.readline()
+
+def find_commas(rawline):
+    comma_list = []
+    for i in range(len(rawline)):
+        if rawline[i] == ',':
+            comma_list.append(i)
+    return comma_list
+
+def pretty_line(newlist, comma_list):
+    """
+    adds spaces to match the tabbing of the pattern line
+    """
+    newline = ''
+    for item, idx in zip(newlist, comma_list):
+        length = len(newline) + 1 + len(item)
+        if length < idx:
+            newline += ' ' * (idx - length)
+        newline += item
+        newline += ','
+    newline += newlist[-1]
+    return newline[0:-1]
+
+def fix_line(par_list, index_list):
+    # import pdb; pdb.set_trace()
+    addridx = index_list.index('ADDR')
+    motNo = par_list[addridx]
+    limits = transact('H ' + motNo)
+    time.sleep(.1)
+    l = limits.split()
+    lowidx = index_list.index('DLLM')
+    # import pdb; pdb.set_trace()
+    par_list[lowidx] = l[0]
+    highidx = index_list.index('DHLM')
+    par_list[highidx] = l[1]
+    speed = transact('J ' + motNo)
+    vidx = index_list.index('VELO')
+    par_list[vidx] = speed.strip()
+    # vidx = index_list.index('VMAX')
+    # par_list[vidx] = speed.strip()
+    return par_list
+
+def scan_substitution_file(filename):
+    index_list = None
+    # import pdb; pdb.set_trace()
+    with open(filename, 'r') as fin:
+        rawline = fin.readline()
+        while rawline:
+            line = rawline.replace(' ','')
+            line = line.strip('{}')
+            l = line.split(',')
+            if line.find('DHLM') > 0:
+                index_list = l
+                comma_list = find_commas(rawline)
+                sys.stdout.write(rawline)
+            elif  not index_list:
+                sys.stdout.write(rawline)
+            else:
+                if len(l) == len(index_list):
+                    newlist = fix_line(l, index_list)
+                    # newline =  ','.join(newlist)
+                    newline = pretty_line(newlist, comma_list)
+                    sys.stdout.write('{' + newline + '\n')
+                else:
+                    sys.stdout.write(rawline)
+            rawline = fin.readline()
+
+#------------------ main
+if len(sys.argv) < 4:
+    print('Usage:\n\tsyncEL734sub.py <host> <port> <substitutions-file>\n')
+    sys.exit(1)
+
+connect(sys.argv[1], int(sys.argv[2]))
+scan_substitution_file(sys.argv[3])
+socke.close()
+
+

utils/syncMasterMAC.py

@@ -0,0 +1,98 @@
+#!/usr/bin/env python3
+"""
+This little program synchronizes an EPICS substitutions file with values read
+from a MasterMAC motor controller. 
+
+Mark Koennecke, February 2023
+"""
+import sys
+import time
+
+from macmaster import MasterMACS
+
+def find_commas(rawline):
+    comma_list = []
+    for i in range(len(rawline)):
+        if rawline[i] == ',':
+            comma_list.append(i)
+    return comma_list
+
+def pretty_line(newlist, comma_list):
+    """
+    adds spaces to match the tabbing of the patter line
+    """
+    newline = ''
+    for item, idx in zip(newlist, comma_list):
+        length = len(newline) + 1 + len(item)
+        if length < idx:
+            newline += ' ' * (idx - length)
+        newline += item
+        newline += ','
+    newline += newlist[-1]
+    return newline[0:-1]
+
+def transact(command):
+    global mac
+    mac.send(command)
+    time.sleep(.1)
+    return mac.receive()
+
+def fix_line(par_list, index_list):
+    # import pdb; pdb.set_trace()
+    addridx = index_list.index('ADDR')
+    motNo = int(par_list[addridx])
+    ack, reply = transact('%dR24' % motNo)
+    if ack == 'NO':
+        idx = reply.find('=')
+        lowlim = reply[idx+1:]
+        lowidx = index_list.index('DLLM')
+        par_list[lowidx] = lowlim.strip()
+    ack, reply = transact('%dR23' % motNo)
+    if ack == 'NO':
+        idx = reply.find('=')
+        highlim =  reply[idx+1:]
+        highidx = index_list.index('DHLM')
+        par_list[highidx] = highlim.strip()
+    ack, reply = transact('%dR05' % motNo)
+    if ack == 'NO':
+        idx = reply.find('=')
+        speed =  reply[idx+1:]
+        speedidx = index_list.index('VELO')
+        par_list[speedidx] = speed.strip()
+    return par_list
+
+def scan_substitution_file(filename):
+    index_list = None
+    # import pdb; pdb.set_trace()
+    with open(filename, 'r') as fin:
+        rawline = fin.readline()
+        # import pdb; pdb.set_trace()
+        while rawline:
+            line = rawline.replace(' ','')
+            line = line.strip('{}')
+            l = line.split(',')
+            if line.find('DHLM') > 0:
+                index_list = l
+                comma_list = find_commas(rawline)
+                sys.stdout.write(rawline)
+            elif  not index_list:
+                sys.stdout.write(rawline)
+            else:
+                if len(l) == len(index_list):
+                    newlist = fix_line(l, index_list)
+                    # newline =  ','.join(newlist)
+                    newline = pretty_line(newlist, comma_list)
+                    sys.stdout.write('{' + newline + '\n')
+                else:
+                    sys.stdout.write(rawline)
+            rawline = fin.readline()
+
+#------------------ main
+if len(sys.argv) < 4:
+    print('Usage:\n\tsyncMMACSub.py <host> <port> <substitutions-file>\n')
+    sys.exit(1)
+
+mac = MasterMACS(sys.argv[1], sys.argv[2])
+scan_substitution_file(sys.argv[3])
+
+

utils/syncPmacSub.py

@@ -0,0 +1,104 @@
+#!/usr/bin/env python3
+"""
+This little program synchronizes an EPICS substitutions file with values read
+from the delta tau motor controller. Some research showed that the  EPICS motorRecord
+seems to have no means of reading configuration data like limits or speeds or such
+from the device support. Than it is the easiest to read the data with this small 
+program and update the substitutions file with it.
+
+Mark Koennecke, January 2023
+"""
+
+import socket
+import sys
+from deltatau import packPmacCommand,  readPmacReply 
+
+
+socke = None
+
+# --------------- communication section
+def connect(host, port):
+    global socke, sockfd
+    socke = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    # socke.connect(('localhost', 5050))
+    socke.connect((host, port))
+    socke.settimeout(1.)
+
+def transact(command):
+    global socke
+    data = packPmacCommand(command)
+    socke.send(data)
+    reply = readPmacReply(socke)
+    return reply.decode('utf-8')
+
+def find_commas(rawline):
+    comma_list = []
+    for i in range(len(rawline)):
+        if rawline[i] == ',':
+            comma_list.append(i)
+    return comma_list
+
+def pretty_line(newlist, comma_list):
+    """
+    adds spaces to match the tabbing of the patter line
+    """
+    newline = ''
+    for item, idx in zip(newlist, comma_list):
+        length = len(newline) + 1 + len(item)
+        if length < idx:
+            newline += ' ' * (idx - length)
+        newline += item
+        newline += ','
+    newline += newlist[-1]
+    return newline[0:-1]
+
+def fix_line(par_list, index_list):
+    # import pdb; pdb.set_trace()
+    addridx = index_list.index('ADDR')
+    motNo = int(par_list[addridx])
+    lowlim = transact('Q%d14' % motNo)
+    lowidx = index_list.index('DLLM')
+    par_list[lowidx] = lowlim.strip()
+    highlim = transact('Q%d13' % motNo)
+    highidx = index_list.index('DHLM')
+    par_list[highidx] = highlim.strip()
+    speed = transact('Q%d03' % motNo)
+    speedidx = index_list.index('VELO')
+    par_list[speedidx] = speed.strip()
+    return par_list
+
+def scan_substitution_file(filename):
+    index_list = None
+    # import pdb; pdb.set_trace()
+    with open(filename, 'r') as fin:
+        rawline = fin.readline()
+        while rawline:
+            line = rawline.replace(' ','')
+            line = line.strip('{}')
+            l = line.split(',')
+            if line.find('DHLM') > 0:
+                index_list = l
+                comma_list = find_commas(rawline)
+                sys.stdout.write(rawline)
+            elif  not index_list:
+                sys.stdout.write(rawline)
+            else:
+                if len(l) == len(index_list):
+                    newlist = fix_line(l, index_list)
+                    # newline =  ','.join(newlist)
+                    newline = pretty_line(newlist, comma_list)
+                    sys.stdout.write('{' + newline + '\n')
+                else:
+                    sys.stdout.write(rawline)
+            rawline = fin.readline()
+
+#------------------ main
+if len(sys.argv) < 4:
+    print('Usage:\n\tsyncPmacSub.py <host> <port> <substitutions-file>\n')
+    sys.exit(1)
+
+connect(sys.argv[1], int(sys.argv[2]))
+scan_substitution_file(sys.argv[3])
+socke.close()
+
+