Reset error during each poll

Reviewed-on: #2

.gitea/workflows/action.yaml

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

.gitlab-ci.yml

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

Makefile.RHEL8

@@ -4,7 +4,7 @@ include /ioc/tools/driver.makefile
 MODULE=sinq
 BUILDCLASSES=Linux
 EPICS_VERSIONS=7.0.7
-ARCH_FILTER=RHEL%
+ARCH_FILTER=RHEL8%
 
 # additional module dependencies
 REQUIRED+=SynApps
@@ -12,17 +12,18 @@ REQUIRED+=stream
 REQUIRED+=scaler
 REQUIRED+=motorBase
 
-# Release version
-LIBVERSION=2025-with-pmac
-
 # DB files to include in the release
 TEMPLATES += sinqEPICSApp/Db/dimetix.db
 TEMPLATES += sinqEPICSApp/Db/slsvme.db
 TEMPLATES += sinqEPICSApp/Db/spsamor.db
+TEMPLATES += sinqEPICSApp/Db/el734.db
 
 # DBD files to include in the release
 DBDS += sinqEPICSApp/src/sinq.dbd
 
+# Release version
+LIBVERSION=2026
+
 # Source files to build
 SOURCES += sinqEPICSApp/src/devScalerEL737.c
 SOURCES += sinqEPICSApp/src/SINQController.cpp
@@ -32,9 +33,9 @@ SOURCES += sinqEPICSApp/src/NanotecDriver.cpp
 SOURCES += sinqEPICSApp/src/stptok.cpp
 SOURCES += sinqEPICSApp/src/PhytronDriver.cpp
 SOURCES += sinqEPICSApp/src/EuroMoveDriver.cpp
-SOURCES += sinqEPICSApp/src/pmacAsynIPPort.c
-SOURCES += sinqEPICSApp/src/pmacAxis.cpp
-SOURCES += sinqEPICSApp/src/pmacController.cpp
+# SOURCES += sinqEPICSApp/src/pmacAsynIPPort.c
+# SOURCES += sinqEPICSApp/src/pmacAxis.cpp
+# SOURCES += sinqEPICSApp/src/pmacController.cpp
 SOURCES += sinqEPICSApp/src/MasterMACSDriver.cpp
 SOURCES += sinqEPICSApp/src/C804Axis.cpp
 SOURCES += sinqEPICSApp/src/C804Controller.cpp

sinqEPICSApp/Db/el734.db

@@ -0,0 +1,34 @@
+record(motor,"$(P)$(M)")
+{
+    field(DESC,"$(DESC)")
+    field(DTYP,"$(DTYP)")
+    field(DIR,"$(DIR)")
+    field(VELO,"$(VELO)")
+    field(HVEL,"$(VELO)")
+    field(VBAS,"$(VELO)")
+    field(VMAX, "${VMAX}")
+    field(ACCL,"$(ACCL)")
+    field(BDST,"$(BDST)")
+    field(BVEL,"$(BVEL)")
+    field(BACC,"$(BACC)")
+    field(OUT,"@asyn($(PORT),$(ADDR))")
+    field(MRES,"$(MRES)")
+    field(PREC,"$(PREC)")
+    field(EGU,"$(EGU)")
+    field(DHLM,"$(DHLM)")
+    field(DLLM,"$(DLLM)")
+    field(INIT,"$(INIT)")
+    field(PINI, "NO")
+    field(TWV,"1")
+    field(RTRY,"0")
+}
+
+# The message text
+record(waveform, "$(P)$(M)-MsgTxt") {
+    field(DTYP, "asynOctetRead")
+    field(INP, "@asyn($(PORT),$(N),1) MOTOR_MESSAGE_TEXT")
+    field(FTVL, "CHAR")
+    field(NELM, "80")
+    field(SCAN, "I/O Intr")
+}
+

sinqEPICSApp/src/EL734Driver.cpp

@@ -505,7 +505,10 @@ asynStatus EL734Axis::poll(bool *moving)
   // errlogPrintf("Axis %d, reply %s, msr %d, oredmsr = %d, position = %lf\n",
   //	       axisNo_, reply, msr, oredMSR, position);
 
-  oredMSR |= msr;
+  // Reset the error during each poll. This is necessary because some errors
+  // apparently don't get cleared by the controller (especially "lower / higher
+  // limit hit").
+  oredMSR = msr;
   if ((msr & 0x1) == 0)
   {
     // done: check for trouble

sinqEPICSApp/src/PhytronDriver.cpp

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

sinqEPICSApp/src/sinq.dbd

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

utils/nanotec.sh

@@ -0,0 +1,162 @@
+#!/bin/bash
+set -euo pipefail
+IFS=$'\n\t'
+
+################################################################################
+# This converts the hex form of a wireshark analysis follow to something
+# more human readable.
+#
+# It is only partially implemented!
+################################################################################
+
+f_name="${1}"
+
+if [ "$#" -eq 2 ]; then
+    filt="${2}"
+fi
+
+
+declare -A POSITION_MODE
+POSITION_MODE[1]="RELATIVE"
+POSITION_MODE[2]="ABSOLUTE"
+POSITION_MODE[3]="INTERNAL_REFERANCE"
+POSITION_MODE[4]="EXTERNAL_REFERANCE"
+
+
+declare -A COMMANDS
+
+function to_ord() {
+    printf "%x" "'$1"
+}
+
+function add_char() {
+    COMMANDS["$(to_ord "$1")"]="$2"
+}
+
+function add_ord() {
+    COMMANDS["$1"]="$2"
+}
+
+add_char A Start_Movement
+add_char C Get_Position
+add_char D Set_Position_And_Clear_Error
+add_char d Set_Direction
+add_char p Set_Position_Mode
+add_char '$' Get_Status
+add_char 0 0
+add_char 1 1
+add_char 2 2
+add_char 3 3
+add_char 4 4
+add_char 5 5
+add_char 6 6
+add_char 7 7
+add_char 8 8
+add_char 9 9
+add_char '#' '#'
+add_ord 00 ''
+add_ord 0d '' # '\r'
+add_ord 2b '+'
+add_ord 2d '-'
+
+while read -r line; do
+    fields="$( echo "${line}" | sed -e 's/^ *//' -e 's/ /:/' -e 's/          /:/' | tr -s ' ' )"
+    IFS=' ' bytes=($( echo "${fields}" | cut -d':' -f2))
+    string="$( echo "${fields}" | cut -d':' -f3)"
+
+    parsing_number=-1
+    num_len=0
+    is_negative=0
+    human_readable=()
+    for byte in "${bytes[@]}"; do
+        if [[ -v COMMANDS["${byte}"] ]]; then
+
+            if [[ "${COMMANDS["${byte}"]}" == Get_Status ]] || [[ "${COMMANDS["${byte}"]}" == Get_Position ]] || [[ "${COMMANDS["${byte}"]}" == Set_Position_Mode ]] || [[ "${COMMANDS["${byte}"]}" == Set_Position_And_Clear_Error ]]; then
+                parsing_number=0
+                numlen=0
+                is_negative=0
+            elif [[ "${parsing_number}" -ge 0 ]] && ( [[ "${byte}" == 00 ]] || [[ "${byte}" == 0d ]] ); then
+                if [[ "${num_len}" -ge 1 ]]; then
+
+                    if [[ "${human_readable[${#human_readable[@]}-1]}" == Get_Status ]]; then
+                        if [[ "$(( parsing_number & 2#0001 ))" -eq 1 ]]; then
+                            human_readable=("${human_readable[@]}" "READY")
+                        fi
+
+                        if [[ "$(( parsing_number & 2#0010 ))" -eq 1 ]]; then
+                            human_readable=("${human_readable[@]}" "ZERO-POS_REACHED")
+                        fi
+
+                        if [[ "$(( parsing_number & 2#0100 ))" -eq 1 ]]; then
+                            human_readable=("${human_readable[@]}" "POSITIONING_ERROR")
+                        fi
+
+                        if [[ "$(( parsing_number & 2#1000 ))" -eq 1 ]]; then
+                            human_readable=("${human_readable[@]}" "SOMETHING?")
+                        fi
+
+                    elif [[ "${human_readable[${#human_readable[@]}-1]}" == Set_Position_Mode ]]; then
+                        human_readable=("${human_readable[@]}" "${POSITION_MODE[${parsing_number}]}")
+
+                    else
+                        if [[ "${is_negative}" -eq 1 ]]; then
+                            human_readable=("${human_readable[@]}" "$(( parsing_number * -1))")
+                        else
+                            human_readable=("${human_readable[@]}" "${parsing_number}")
+                        fi
+                    fi
+                fi
+                parsing_number=-1
+                continue
+            elif [ "${parsing_number}" -ge 0 ]; then
+                if [[ "${COMMANDS["${byte}"]}" == '-' ]]; then
+                    is_negative=1
+                elif [[ "${COMMANDS["${byte}"]}" == '+' ]]; then
+                    is_negative=0
+                else
+                    parsing_number="$(( parsing_number * 10 + "${COMMANDS["${byte}"]}" ))"
+                fi
+
+                num_len=$(( num_len + 1 ))
+                continue
+            fi
+
+            if [ "${#human_readable[@]}" -gt 0 ]; then
+                human_readable=("${human_readable[@]}" "${COMMANDS["${byte}"]}")
+            else
+                human_readable=("${COMMANDS["${byte}"]}")
+            fi
+        else
+            if [ "${#human_readable[@]}" -gt 0 ]; then
+                human_readable=("${human_readable[@]}" "${byte}(unknown)")
+            else
+                human_readable=("${byte}(unknown)")
+            fi
+        fi
+    done
+
+    if [[ "${human_readable[0]}" == '#' ]]; then
+        if [[ -z "${filt+x}" ]]; then
+            echo "Sent:     ${human_readable[@]}"
+        else
+            if [[ "${human_readable[1]}" == "${filt}" ]]; then
+                echo "Sent:     ${human_readable[@]}"
+            fi
+        fi
+    else
+        # Some commands prefix the response with two 0's (I assume there can be
+        # more axes)
+        if [[ "${human_readable[0]}" == 0 ]] && [[ "${human_readable[1]}" == 0 ]]; then
+            IFS=' ' human_readable=("${human_readable[@]:2}")
+        fi
+
+        if [[ -z "${filt+x}" ]]; then
+            echo "Received: ${human_readable[@]}"
+        else
+            if [[ "${human_readable[0]}" == "${filt}" ]]; then
+                echo "Received: ${human_readable[@]}"
+            fi
+        fi
+    fi
+
+done < "${f_name}"