Fixed a compilation bug related to sinqMotor 0.8.0

the minimum version requirement for sinqMotor has been bumped to 0.8.0.

.gitlab-ci.yml

@@ -37,14 +37,21 @@ formatting:
 build_module:
   stage: build
   script:
+    - export SINQMOTOR_VERSION="$(grep 'sinqMotor_VERSION=' Makefile | cut -d= -f2)"
+    - git clone --depth 1 --branch "${SINQMOTOR_VERSION}" https://gitlab-ci-token:${CI_JOB_TOKEN}@git.psi.ch/sinq-epics-modules/sinqmotor.git
+    - pushd sinqmotor
+    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
+    - echo "LIBVERSION=${SINQMOTOR_VERSION}" >> Makefile
+    - make install
+    - popd
     - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
     - echo "LIBVERSION=${CI_COMMIT_TAG:-0.0.1}" >> Makefile
     - make install
-    - cp -rT "/ioc/modules/pmacV3/$(ls -U /ioc/modules/pmacV3/ | head -1)" "./pmacV3-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
+    - cp -rT "/ioc/modules/turboPmac/$(ls -U /ioc/modules/turboPmac/ | head -1)" "./turboPmac-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
   artifacts:
-    name: "pmacV3-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
+    name: "turboPmac-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
     paths:
-      - "pmacV3-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}/*"
+      - "turboPmac-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}/*"
     expire_in: 1 week
   when: always
   tags:

Makefile

@@ -1,27 +1,33 @@
 # Use the PSI build system
 include /ioc/tools/driver.makefile
 
-MODULE=pmacV3
+MODULE=turboPmac
 BUILDCLASSES=Linux
 EPICS_VERSIONS=7.0.7
 ARCH_FILTER=RHEL%
 
 # Additional module dependencies
-REQUIRED+=asynMotor
+REQUIRED+=motorBase
 REQUIRED+=sinqMotor
 
+# Specify the version of motorBase we want to build against
+motorBase_VERSION=7.2.2
+
 # Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.1
+sinqMotor_VERSION=0.8.0
 
 # These headers allow to depend on this library for derived drivers.
-HEADERS += src/pmacV3Axis.h
-HEADERS += src/pmacV3Controller.h
+HEADERS += src/turboPmacAxis.h
+HEADERS += src/turboPmacController.h
 
 # Source files to build
-SOURCES += src/pmacV3Axis.cpp
-SOURCES += src/pmacV3Controller.cpp
+SOURCES += src/turboPmacAxis.cpp
+SOURCES += src/turboPmacController.cpp
+
+# Store the record files
+TEMPLATES += db/turboPmac.db
 
 # This file registers the motor-specific functions in the IOC shell.
-DBDS += src/pmacV3.dbd
+DBDS += src/turboPmac.dbd
 
-USR_CFLAGS += -Wall -Wextra # -Werror
+USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wextra -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings

README.md

@@ -1,20 +1,67 @@
-# pmacV3
+# turboPmac
 
 ## Overview
 
-This is a driver for the PMac V3 motion controller with the SINQ communication protocol. It is based on the sinqMotor shared library (https://git.psi.ch/sinq-epics-modules/sinqmotor). The header files contain detailed documentation for all public functions. The headers themselves are exported when building the library to allow other drivers to depend on this one.
+This is a driver for the Turbo PMAC motion controller with the SINQ communication protocol. It is based on the sinqMotor shared library (https://git.psi.ch/sinq-epics-modules/sinqmotor). The header files contain detailed documentation for all public functions. The headers themselves are exported when building the library to allow other drivers to depend on this one.
 
-## Usage in IOC shell
+## User guide
 
-pmacV3 exposes the following IOC shell functions (all in pmacV3Controller.cpp):
-- `pmacV3CreateController`: Create a new controller object.
-- `pmacV3CreateAxis`: Create a new axis object.
-The function arguments are documented directly within the source code.
+This driver is a standard sinqMotor-derived driver and does not need any specific configuration. For the general configuration, please see https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
 
-## Versioning
+The folder "utils" contains utility scripts for working with pmac motor controllers. To read their manual, run the scripts without any arguments.
+- writeRead.py: Allows sending commands to and receiving commands from a pmac controller over an ethernet connection.
+- analyzeTcpDump.py: Parse the TCP communication between an IOC and a MCU and format it into a dictionary. "demo.py" shows how this data can be easily visualized for analysis.
+
+
+## Developer guide
+
+### Usage in IOC shell
+
+turboPmac exports the following IOC shell functions:
+- `turboPmacController`: Create a new controller object.
+- `turboPmacAxis`: Create a new axis object.
+
+The full mcu.cmd file looks like this:
+
+```
+# Define the name of the controller and the corresponding port
+epicsEnvSet("NAME","mcu")
+epicsEnvSet("ASYN_PORT","p$(NAME)")
+
+# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name
+drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
+
+# Create the controller object with the defined name and connect it to the socket via the port name.
+# The other parameters are as follows:
+# 8: Maximum number of axes
+# 0.05: Busy poll period in seconds
+# 1: Idle poll period in seconds
+# 1: Socket communication timeout in seconds
+turboPmacController("$(NAME)", "$(ASYN_PORT)", 8, 0.05, 1, 1);
+
+# Define some axes for the specified MCU at the given slot (1, 2 and 5). No slot may be used twice!
+turboPmacAxis("$(NAME)",1);
+turboPmacAxis("$(NAME)",2);
+turboPmacAxis("$(NAME)",5);
+
+# Set the number of subsequent timeouts 
+setMaxSubsequentTimeouts("$(NAME)", 20);
+
+# Configure the timeout frequency watchdog:
+setThresholdComTimeout("$(NAME)", 100, 1);
+
+# Parametrize the EPICS record database with the substitution file named after the MCU.
+epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
+dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
+epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/turboPmac.db")
+dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
+dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
+```
+
+### Versioning
 
 Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
 
-## How to build it
+### How to build it
 
 Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.

db/turboPmac.db

@@ -0,0 +1,19 @@
+# Trigger a rereading of the encoder. This action is sometimes necessary for 
+# absolute encoders after enabling them. For incremental encoders, this is a no-op.
+# This record is coupled to the parameter library via rereadEncoderPosition_ -> REREAD_ENCODER_POSITION.
+record(longout, "$(INSTR)$(M):RereadEncoder") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) REREAD_ENCODER_POSITION")
+    field(PINI, "NO")
+}
+
+# The turboPmac driver reads certain configuration parameters (such as the velocity
+# and the acceleration) directly from the MCU. This reading procedure is performed
+# once at IOC startup during atFirstPoll. However, it can be triggered manually
+# by setting this record value to 1.
+# This record is coupled to the parameter library via readConfig_ -> READ_CONFIG.
+record(longout, "$(INSTR)$(M):ReadConfig") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) READ_CONFIG")
+    field(PINI, "NO")
+}

src/pmacV3Controller.cpp

@@ -1,678 +0,0 @@
-
-#include "pmacV3Controller.h"
-#include "asynMotorController.h"
-#include "asynOctetSyncIO.h"
-#include "pmacV3Axis.h"
-#include <epicsExport.h>
-#include <errlog.h>
-#include <iocsh.h>
-#include <netinet/in.h>
-#include <registryFunction.h>
-#include <string.h>
-#include <unistd.h>
-
-/**
- * @brief Construct a new pmacV3Controller::pmacV3Controller object
- *
- * @param portName              See documentation of sinqController
- * @param ipPortConfigName      See documentation of sinqController
- * @param numAxes               See documentation of sinqController
- * @param movingPollPeriod      See documentation of sinqController
- * @param idlePollPeriod        See documentation of sinqController
- * @param comTimeout  Time after which a communication timeout error
- * is declared in writeRead (in seconds)
- * @param extraParams           See documentation of sinqController
- */
-pmacV3Controller::pmacV3Controller(const char *portName,
-                                   const char *ipPortConfigName, int numAxes,
-                                   double movingPollPeriod,
-                                   double idlePollPeriod, double comTimeout)
-    : sinqController(
-          portName, ipPortConfigName, numAxes, movingPollPeriod, idlePollPeriod,
-          /*
-          The following parameter library entries are added in this driver:
-          - ENABLE_AXIS
-          - AXIS_ENABLED
-          - ENCODER_TYPE
-          - REREAD_ENCODER_POSITION
-          - REREAD_ENCODER_POSITION_RBV
-          - READ_CONFIG
-          - MOTOR_HIGH_LIMIT_FROM_DRIVER
-          - MOTOR_LOW_LIMIT_FROM_DRIVER
-          */
-          8)
-
-{
-
-    // Initialization of local variables
-    asynStatus status = asynSuccess;
-
-    // Initialization of all member variables
-    lowLevelPortUser_ = nullptr;
-    comTimeout_ = comTimeout;
-
-    // =========================================================================;
-
-    /*
-    We try to connect to the port via the port name provided by the constructor.
-    If this fails, the function is terminated via exit
-    */
-    pasynOctetSyncIO->connect(ipPortConfigName, 0, &lowLevelPortUser_, NULL);
-    if (status != asynSuccess || lowLevelPortUser_ == nullptr) {
-        errlogPrintf(
-            "%s => line %d:\nFATAL ERROR (cannot connect to MCU controller).\n"
-            "Terminating IOC",
-            __PRETTY_FUNCTION__, __LINE__);
-        exit(-1);
-    }
-
-    // =========================================================================
-    // Create additional parameter library entries
-
-    status = createParam("ENABLE_AXIS", asynParamInt32, &enableMotor_);
-    if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s => line %d:\nFATAL ERROR (creating a parameter failed "
-                  "with %s).\nTerminating IOC",
-                  __PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
-        exit(-1);
-    }
-
-    status = createParam("AXIS_ENABLED", asynParamInt32, &motorEnabled_);
-    if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s => line %d:\nFATAL ERROR (creating a parameter failed "
-                  "with %s).\nTerminating IOC",
-                  __PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
-        exit(-1);
-    }
-
-    status = createParam("ENCODER_TYPE", asynParamOctet, &encoderType_);
-    if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s => line %d:\nFATAL ERROR (creating a parameter failed "
-                  "with %s).\nTerminating IOC",
-                  __PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
-        exit(-1);
-    }
-
-    status = createParam("REREAD_ENCODER_POSITION", asynParamInt32,
-                         &rereadEncoderPosition_);
-    if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s => line %d:\nFATAL ERROR (creating a parameter failed "
-                  "with %s).\nTerminating IOC",
-                  __PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
-        exit(-1);
-    }
-
-    status = createParam("REREAD_ENCODER_POSITION_RBV", asynParamInt32,
-                         &rereadEncoderPositionRBV_);
-    if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s => line %d:\nFATAL ERROR (creating a parameter failed "
-                  "with %s).\nTerminating IOC",
-                  __PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
-        exit(-1);
-    }
-
-    status = createParam("READ_CONFIG", asynParamInt32, &readConfig_);
-    if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s => line %d:\nFATAL ERROR (creating a parameter failed "
-                  "with %s).\nTerminating IOC",
-                  __PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
-        exit(-1);
-    }
-
-    /*
-    We need to introduce 2 new parameters in order to write the limits from the
-    driver to the EPICS record. See the comment in pmacV3Controller.h next to
-    the declaration of motorHighLimitFromDriver_.
-    */
-    status = createParam("MOTOR_HIGH_LIMIT_FROM_DRIVER", asynParamFloat64,
-                         &motorHighLimitFromDriver_);
-    if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s => line %d:\nFATAL ERROR (creating a parameter failed "
-                  "with %s).\nTerminating IOC",
-                  __PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
-        exit(-1);
-    }
-
-    status = createParam("MOTOR_LOW_LIMIT_FROM_DRIVER", asynParamFloat64,
-                         &motorLowLimitFromDriver_);
-    if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s => line %d:\nFATAL ERROR (creating a parameter failed "
-                  "with %s).\nTerminating IOC",
-                  __PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
-        exit(-1);
-    }
-
-    /*
-    Define the end-of-string of a message coming from the device to EPICS.
-    It is not necessary to append a terminator to outgoing messages, since
-    the message length is encoded in the message header in the getSetResponse
-    method.
-    */
-    const char *message_from_device =
-        "\006"; // Hex-code for ACK (acknowledge) -> Each message from the MCU
-                // is terminated by this value
-    status = pasynOctetSyncIO->setInputEos(
-        lowLevelPortUser_, message_from_device, strlen(message_from_device));
-    if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s => line %d:\nFATAL ERROR (setting input EOS failed "
-                  "with %s).\nTerminating IOC",
-                  __PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
-        pasynOctetSyncIO->disconnect(lowLevelPortUser_);
-        exit(-1);
-    }
-
-    status = callParamCallbacks();
-    if (status != asynSuccess) {
-        asynPrint(
-            this->pasynUserSelf, ASYN_TRACE_ERROR,
-            "%s => line %d:\nFATAL ERROR (executing ParamLib callbacks failed "
-            "with %s).\nTerminating IOC",
-            __PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
-        pasynOctetSyncIO->disconnect(lowLevelPortUser_);
-        exit(-1);
-    }
-}
-
-/*
-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 Axis, a nullptr is returned and an
-error is emitted.
-*/
-pmacV3Axis *pmacV3Controller::getAxis(asynUser *pasynUser) {
-    asynMotorAxis *asynAxis = asynMotorController::getAxis(pasynUser);
-    return pmacV3Controller::castToAxis(asynAxis);
-}
-
-/*
-Access one of the axes of the controller via the axis index.
-If the axis does not exist or is not a Axis, the function must return Null
-*/
-pmacV3Axis *pmacV3Controller::getAxis(int axisNo) {
-    asynMotorAxis *asynAxis = asynMotorController::getAxis(axisNo);
-    return pmacV3Controller::castToAxis(asynAxis);
-}
-
-pmacV3Axis *pmacV3Controller::castToAxis(asynMotorAxis *asynAxis) {
-
-    // =========================================================================
-
-    // 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 Axis
-    pmacV3Axis *axis = dynamic_cast<pmacV3Axis *>(asynAxis);
-    if (axis == nullptr) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s => line %d:\nAxis %d is not an instance of pmacV3Axis",
-                  __PRETTY_FUNCTION__, __LINE__, axis->axisNo_);
-    }
-    return axis;
-}
-
-asynStatus pmacV3Controller::writeRead(int axisNo, const char *command,
-                                       char *response,
-                                       int numExpectedResponses) {
-
-    // Definition of local variables.
-    asynStatus status = asynSuccess;
-    asynStatus pl_status = asynSuccess;
-    char full_command[MAXBUF_] = {0};
-    char user_message[MAXBUF_] = {0};
-    int motorStatusProblem = 0;
-    int numReceivedResponses = 0;
-
-    // Send the message and block the thread until either a response has
-    // been received or the timeout is triggered
-    int eomReason = 0; // Flag indicating why the message has ended
-
-    // Number of bytes of the outgoing message (which is command + the
-    // end-of-string terminator defined in the constructor)
-    size_t nbytesOut = 0;
-
-    // Number of bytes of the incoming message (which is response + the
-    // end-of-string terminator defined in the constructor)
-    size_t nbytesIn = 0;
-
-    // =========================================================================
-
-    pmacV3Axis *axis = getAxis(axisNo);
-    if (axis == nullptr) {
-        // We already did the error logging directly in getAxis
-        return asynError;
-    }
-
-    /*
-    The message protocol of the pmacV3 used at PSI looks as follows (all
-    characters immediately following each other without a newline):
-    0x40 (ASCII value of @) -> Request for download
-    0xBF (ASCII value of ¿) -> Select mode "get_response"
-    0x00 (ASCII value of 0)
-    0x00 (ASCII value of 0)
-    0x00 (ASCII value of 0)
-    0x00 (ASCII value of 0)
-    0x00 (ASCII value of 0)
-    [message length in network byte order] -> Use the htons function for this
-    value [Actual message] It is not necessary to append a terminator, since
-    this protocol encodes the message length at the beginning. See Turbo PMAC
-    User Manual, page 418 in VR_PMAC_GETRESPONSE
-
-    The message has to be build manually into the buffer full_command, since it
-    contains NULL terminators in its middle, therefore the string manipulation
-    methods of C don't work.
-    */
-
-    // The entire message is equal to the command length
-    const size_t commandLength =
-        strlen(command) + 1; // +1 because of the appended /r
-    const int offset = 8;
-
-    // Positions 2 to 6 must have the value 0. Since full_command is initialized
-    // as an array of zeros, we don't need to set these bits manually.
-    full_command[0] = '\x40';
-    full_command[1] = '\xBF';
-    full_command[7] = commandLength;
-
-    snprintf((char *)full_command + offset, MAXBUF_ - offset, "%s\r", command);
-    asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
-              "%s => line %d:\nSending command %s", __PRETTY_FUNCTION__,
-              __LINE__, full_command);
-
-    // Perform the actual writeRead
-    status = pasynOctetSyncIO->writeRead(
-        lowLevelPortUser_, full_command, commandLength + offset, response,
-        MAXBUF_, comTimeout_, &nbytesOut, &nbytesIn, &eomReason);
-
-    /*
-    Calculate the number of received responses by counting the number of
-    carriage returns "\r" in the response.
-    */
-    for (size_t i = 0; i < strlen(response); i++) {
-        if (response[i] == '\r') {
-            numReceivedResponses++;
-        }
-    }
-
-    /*
-    Check if we got the expected amount of responses. If we didn't, flush the
-    PMAC and try again. If that fails as well, return an error.
-    */
-    if (numExpectedResponses != numReceivedResponses) {
-        // Flush message as defined in Turbo PMAC User Manual, p. 430:
-        // \x40\xB3000
-        // VR_DOWNLOAD = \x40
-        // VR_PMAC_FLUSH = \xB3
-        char flush_msg[5] = {0};
-        flush_msg[0] = '\x40';
-        flush_msg[1] = '\xB3';
-        size_t nbytesOut = 0;
-        status = pasynOctetSyncIO->write(lowLevelPortUser_, flush_msg, 5,
-                                         comTimeout_, &nbytesOut);
-
-        // Wait after the flush so the MCU has time to prepare for the
-        // next command
-        usleep(100000);
-
-        if (status == asynSuccess) {
-            // If flushing the MCU succeded, try to send the command again
-            status = pasynOctetSyncIO->writeRead(
-                lowLevelPortUser_, full_command, commandLength + offset,
-                response, MAXBUF_, comTimeout_, &nbytesOut, &nbytesIn,
-                &eomReason);
-
-            // If the command returned a bad answer for the second time, give up
-            // and propagate the problem
-            numReceivedResponses = 0;
-            for (size_t i = 0; i < strlen(response); i++) {
-                if (response[i] == '\r') {
-                    numReceivedResponses++;
-                }
-            }
-
-            // Second check: If this fails, give up and propagate the error.
-            if (numExpectedResponses != numReceivedResponses) {
-                asynPrint(
-                    this->pasynUserSelf, ASYN_TRACE_ERROR,
-                    "%s => line %d:\nUnexpected response %s for command %s\n",
-                    __PRETTY_FUNCTION__, __LINE__, response, command);
-                snprintf(user_message, sizeof(user_message),
-                         "Received unexpected response %s for command %s. "
-                         "Please call the support",
-                         response, command);
-                pl_status = setStringParam(motorMessageText_, user_message);
-                if (pl_status != asynSuccess) {
-                    return paramLibAccessFailed(pl_status, "motorMessageText_",
-                                                __PRETTY_FUNCTION__, __LINE__);
-                }
-                status = asynError;
-            }
-        } else {
-            asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                      "%s => line %d:\nFlushing the MCU failed with %s\n",
-                      __PRETTY_FUNCTION__, __LINE__,
-                      stringifyAsynStatus(status));
-        }
-    }
-
-    // Create custom error messages for different failure modes
-    if (strlen(user_message) == 0) {
-        switch (status) {
-        case asynSuccess:
-            break; // Communicate nothing
-        case asynTimeout:
-            snprintf(user_message, sizeof(user_message),
-                     "connection timeout for axis %d", axisNo);
-            break;
-        case asynDisconnected:
-            snprintf(user_message, sizeof(user_message),
-                     "axis is not connected");
-            break;
-        case asynDisabled:
-            snprintf(user_message, sizeof(user_message), "axis is disabled");
-            break;
-        default:
-            snprintf(user_message, sizeof(user_message),
-                     "Communication failed (%s)", stringifyAsynStatus(status));
-            break;
-        }
-    }
-
-    if (status != asynSuccess) {
-        // Check if the axis already is in an error communication mode. If it is
-        // not, upstream the error. This is done to avoid "flooding" the user
-        // with different error messages if more than one error ocurred before
-        // an error-free communication
-
-        pl_status =
-            getIntegerParam(axisNo, motorStatusProblem_, &motorStatusProblem);
-        if (pl_status != asynSuccess) {
-            return paramLibAccessFailed(pl_status, "motorStatusProblem_",
-                                        __PRETTY_FUNCTION__, __LINE__);
-        }
-
-        if (motorStatusProblem == 0) {
-            pl_status =
-                axis->setStringParam(this->motorMessageText_, user_message);
-            if (pl_status != asynSuccess) {
-                return paramLibAccessFailed(pl_status, "motorMessageText_",
-                                            __PRETTY_FUNCTION__, __LINE__);
-            }
-        }
-    }
-
-    // Log the overall status (communication successfull or not)
-    if (status == asynSuccess) {
-        asynPrint(lowLevelPortUser_, ASYN_TRACEIO_DRIVER,
-                  "%s => line %d:\nDevice response: %s\n", __PRETTY_FUNCTION__,
-                  __LINE__, response);
-        pl_status = axis->setIntegerParam(this->motorStatusCommsError_, 0);
-    } else {
-        if (status == asynSuccess) {
-            asynPrint(
-                lowLevelPortUser_, ASYN_TRACE_ERROR,
-                "%s => line %d:\nCommunication failed for command %s (%s)\n",
-                __PRETTY_FUNCTION__, __LINE__, full_command,
-                stringifyAsynStatus(status));
-            pl_status = axis->setIntegerParam(this->motorStatusCommsError_, 1);
-        }
-
-        if (pl_status != asynSuccess) {
-            return paramLibAccessFailed(pl_status, "motorStatusCommsError_",
-                                        __PRETTY_FUNCTION__, __LINE__);
-        }
-    }
-    return asynSuccess;
-}
-
-asynStatus pmacV3Controller::writeInt32(asynUser *pasynUser, epicsInt32 value) {
-    asynPrint(pasynUserSelf, ASYN_TRACE_ERROR, "enabling %d", value);
-
-    pmacV3Axis *axis = getAxis(pasynUser);
-    if (axis == nullptr) {
-        // We already did the error logging directly in getAxis
-        return asynError;
-    }
-
-    // Handle custom PVs
-    if (pasynUser->reason == enableMotor_) {
-        return axis->enable(value != 0);
-    } else if (pasynUser->reason == rereadEncoderPosition_) {
-        return axis->rereadEncoder();
-    } else {
-        return asynMotorController::writeInt32(pasynUser, value);
-    }
-}
-
-/*
-Overloaded from asynMotorController because the special cases "motor
-enabling" and "rereading the encoder" must be covered.
-*/
-asynStatus pmacV3Controller::readInt32(asynUser *pasynUser, epicsInt32 *value) {
-
-    int function = pasynUser->reason;
-    asynStatus status = asynError;
-
-    // =====================================================================
-
-    pmacV3Axis *axis = getAxis(pasynUser);
-    if (axis == nullptr) {
-        // We already did the error logging directly in getAxis
-        return asynError;
-    }
-
-    if (function == rereadEncoderPositionRBV_) {
-        // Readback value for rereadEncoderPosition
-        status = getIntegerParam(axis->axisNo_, rereadEncoderPosition_, value);
-        if (status != asynSuccess) {
-            return paramLibAccessFailed(status, "rereadEncoderPosition_",
-                                        __PRETTY_FUNCTION__, __LINE__);
-        }
-        status =
-            setIntegerParam(axis->axisNo_, rereadEncoderPositionRBV_, *value);
-        if (status != asynSuccess) {
-            return paramLibAccessFailed(status, "rereadEncoderPositionRBV_",
-                                        __PRETTY_FUNCTION__, __LINE__);
-        }
-
-        // Update the PVs from the parameter library
-        return callParamCallbacks();
-    } else if (function == motorEnabled_) {
-
-        char command[MAXBUF_], response[MAXBUF_];
-        int axStatus = 0;
-
-        // Query the motor status from the affected axis
-        snprintf(command, sizeof(command), "P%2.2d00", axis->axisNo_);
-        status = writeRead(axis->axisNo_, command, response, 1);
-        if (status != asynSuccess) {
-            return status;
-        }
-
-        int nvals = sscanf(response, "%d", &axStatus);
-        if (nvals != 1) {
-            return errMsgCouldNotParseResponse(command, response, axis->axisNo_,
-                                               __PRETTY_FUNCTION__, __LINE__);
-        }
-
-        // Update the parameter library
-        return setIntegerParam(motorEnabled_,
-                               (axStatus != -3 && axStatus != -5));
-    } else {
-        return asynMotorController::readInt32(pasynUser, value);
-    }
-}
-
-/*************************************************************************************/
-/** The following functions are C-wrappers, and can be called directly from
- * iocsh */
-
-extern "C" {
-
-/*
-C wrapper for the controller constructor. Please refer to the pmacV3Controller
-constructor documentation.
-*/
-asynStatus pmacV3CreateController(const char *portName,
-                                  const char *lowLevelPortName, int numAxes,
-                                  double movingPollPeriod,
-                                  double idlePollPeriod, double comTimeout) {
-    /*
-    We create a new instance of the controller, using the "new" keyword to
-    allocate it on the heap while avoiding RAII.
-    https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/asynMotorController.cpp
-    https://github.com/epics-modules/asyn/blob/master/asyn/asynPortDriver/asynPortDriver.cpp
-
-    The created object is registered in EPICS in its constructor and can safely
-    be "leaked" here.
-    */
-#pragma GCC diagnostic ignored "-Wunused-but-set-variable"
-#pragma GCC diagnostic ignored "-Wunused-variable"
-    pmacV3Controller *pController =
-        new pmacV3Controller(portName, lowLevelPortName, numAxes,
-                             movingPollPeriod, idlePollPeriod, comTimeout);
-
-    return asynSuccess;
-}
-
-/*
-C wrapper for the axis constructor. Please refer to the pmacV3Axis constructor
-documentation. The controller is read from the portName.
-*/
-asynStatus pmacV3CreateAxis(const char *portName, int axis,
-                            double offsetLimits) {
-    pmacV3Axis *pAxis;
-
-    /*
-    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 Controller
-    https://stackoverflow.com/questions/70906749/is-there-a-safe-way-to-cast-void-to-class-pointer-in-c
-     */
-    void *ptr = findAsynPortDriver(portName);
-    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
-        */
-        errlogPrintf("%s => line %d:\nPort %s not found.", __PRETTY_FUNCTION__,
-                     __LINE__, portName);
-        return asynError;
-    }
-    // Unsafe cast of the pointer to an asynPortDriver
-    asynPortDriver *apd = (asynPortDriver *)(ptr);
-
-    // Safe downcast
-    pmacV3Controller *pC = dynamic_cast<pmacV3Controller *>(apd);
-    if (pC == nullptr) {
-        errlogPrintf(
-            "%s => line %d:\ncontroller on port %s is not a pmacV3Controller.",
-            __PRETTY_FUNCTION__, __LINE__, portName);
-        return asynError;
-    }
-
-    // Prevent manipulation of the controller from other threads while we
-    // create the new axis.
-    pC->lock();
-
-    /*
-    We create a new instance of the axis, using the "new" keyword to
-    allocate it on the heap while avoiding RAII.
-    https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/asynMotorController.cpp
-    https://github.com/epics-modules/asyn/blob/master/asyn/asynPortDriver/asynPortDriver.cpp
-
-    The created object is registered in EPICS in its constructor and can safely
-    be "leaked" here.
-    */
-#pragma GCC diagnostic ignored "-Wunused-but-set-variable"
-#pragma GCC diagnostic ignored "-Wunused-variable"
-    pAxis = new pmacV3Axis(pC, axis, offsetLimits);
-
-    // Allow manipulation of the controller again
-    pC->unlock();
-    return asynSuccess;
-}
-
-/*
-This is boilerplate code which is used to make the FFI functions
-CreateController and CreateAxis "known" to the IOC shell (iocsh).
-*/
-
-#ifdef vxWorks
-#else
-
-/*
-Define name and type of the arguments for the CreateController function
-in the iocsh. This is done by creating structs with the argument names and
-types and then providing "factory" functions
-(configCreateControllerCallFunc). These factory functions are used to
-register the constructors during compilation.
-*/
-static const iocshArg CreateControllerArg0 = {"Controller port name",
-                                              iocshArgString};
-static const iocshArg CreateControllerArg1 = {"Low level port name",
-                                              iocshArgString};
-static const iocshArg CreateControllerArg2 = {"Number of axes", iocshArgInt};
-static const iocshArg CreateControllerArg3 = {"Moving poll rate (s)",
-                                              iocshArgDouble};
-static const iocshArg CreateControllerArg4 = {"Idle poll rate (s)",
-                                              iocshArgDouble};
-static const iocshArg CreateControllerArg5 = {"Communication timeout (s)",
-                                              iocshArgDouble};
-static const iocshArg *const CreateControllerArgs[] = {
-    &CreateControllerArg0, &CreateControllerArg1, &CreateControllerArg2,
-    &CreateControllerArg3, &CreateControllerArg4, &CreateControllerArg5};
-static const iocshFuncDef configPmacV3CreateController = {
-    "revisedPmacV3CreateController", 6, CreateControllerArgs};
-static void configPmacV3CreateControllerCallFunc(const iocshArgBuf *args) {
-    pmacV3CreateController(args[0].sval, args[1].sval, args[2].ival,
-                           args[3].dval, args[4].dval, args[5].dval);
-}
-
-/*
-Same procedure as for the CreateController function, but for the axis
-itself.
-*/
-static const iocshArg CreateAxisArg0 = {"Controller port name", iocshArgString};
-static const iocshArg CreateAxisArg1 = {"Axis number", iocshArgInt};
-static const iocshArg CreateAxisArg2 = {
-    "Offset for the MCU limits in mm or degree", iocshArgDouble};
-static const iocshArg *const CreateAxisArgs[] = {
-    &CreateAxisArg0, &CreateAxisArg1, &CreateAxisArg2};
-static const iocshFuncDef configPmacV3CreateAxis = {"revisedPmacV3CreateAxis",
-                                                    3, CreateAxisArgs};
-static void configPmacV3CreateAxisCallFunc(const iocshArgBuf *args) {
-    pmacV3CreateAxis(args[0].sval, args[1].ival, args[2].dval);
-}
-
-// This function is made known to EPICS in pmacV3.dbd and is called by EPICS
-// in order to register both functions in the IOC shell
-static void pmacV3Register(void) {
-    iocshRegister(&configPmacV3CreateController,
-                  configPmacV3CreateControllerCallFunc);
-    iocshRegister(&configPmacV3CreateAxis, configPmacV3CreateAxisCallFunc);
-}
-epicsExportRegistrar(pmacV3Register);
-
-#endif
-
-} // extern "C"

src/pmacV3Controller.h

@@ -1,140 +0,0 @@
-/********************************************
- *  pmacV3Controller.h
- *
- * PMAC V3 controller driver based on the asynMotorController class
- *
- * Stefan Mathis, September 2024
- ********************************************/
-
-#ifndef pmacV3Controller_H
-#define pmacV3Controller_H
-#include "pmacV3Axis.h"
-#include "sinqAxis.h"
-#include "sinqController.h"
-
-#define IncrementalEncoder "Incremental encoder"
-#define AbsoluteEncoder "Absolute encoder"
-
-class pmacV3Controller : public sinqController {
-
-  public:
-    /**
-     * @brief Construct a new pmacV3Controller object
-     *
-     * @param portName            See sinqController constructor
-     * @param ipPortConfigName    See sinqController constructor
-     * @param numAxes             See sinqController constructor
-     * @param movingPollPeriod    See sinqController constructor
-     * @param idlePollPeriod      See sinqController constructor
-     * @param comTimeout          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.
-     */
-    pmacV3Controller(const char *portName, const char *ipPortConfigName,
-                     int numAxes, double movingPollPeriod,
-                     double idlePollPeriod, double comTimeout);
-
-    /**
-     * @brief Get the axis object
-     *
-     * @param pasynUser           Specify the axis via the asynUser
-     * @return pmacV3Axis*        If no axis could be found, this is a nullptr
-     */
-    pmacV3Axis *getAxis(asynUser *pasynUser);
-
-    /**
-     * @brief Get the axis object
-     *
-     * @param axisNo              Specify the axis via its index
-     * @return pmacV3Axis*        If no axis could be found, this is a nullptr
-     */
-    pmacV3Axis *getAxis(int axisNo);
-
-    /**
-     * @brief Overloaded function of asynMotorController
-     *
-     * The function is overloaded to allow enabling / disabling the motor and
-     * rereading the encoder.
-     *
-     * @param pasynUser           Specify the axis via the asynUser
-     * @param value               New value
-     * @return asynStatus
-     */
-    asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
-
-    /**
-     * @brief Overloaded function of asynMotorController
-     *
-     * The function is overloaded to get readback values for the enabling /
-     * disabling status and the encoder.
-     *
-     * @param pasynUser           Specify the axis via the asynUser
-     * @param value               Read-out value
-     * @return asynStatus
-     */
-    asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
-
-  protected:
-    asynUser *lowLevelPortUser_;
-
-    /**
-     * @brief Send a command to the hardware and receive a response
-     *
-     * @param axisNo              Axis to which the command should be send
-     * @param command             Command for the hardware
-     * @param response            Buffer for the response. This buffer is
-     * expected to have the size MAXBUF_.
-     * @param numExpectedResponses  The PMAC MCU can send multiple responses at
-     * once. The number of responses is determined by the number of
-     * "subcommands" within command. Therefore it is known in advance how many
-     * "subresponses" are expected. This can be used to check the integrity of
-     * the received response, since the subresponses are separated by carriage
-     * returns (/r). The number of carriage returns is compared to
-     * numExpectedResponses to determine if the communication was successfull.
-     * @return asynStatus
-     */
-    asynStatus writeRead(int axisNo, const char *command, char *response,
-                         int numExpectedResponses);
-
-    /**
-     * @brief Save cast of the given asynAxis pointer to a pmacV3Axis pointer.
-     * If the cast fails, this function returns a nullptr.
-     *
-     * @param asynAxis
-     * @return pmacV3Axis*
-     */
-    pmacV3Axis *castToAxis(asynMotorAxis *asynAxis);
-
-  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 MAXBUF_ = 200;
-
-    /*
-    Stores the constructor input comTimeout
-    */
-    double comTimeout_;
-
-    // Indices of additional PVs
-    int enableMotor_;
-    int motorEnabled_;
-    int rereadEncoderPosition_;
-    int rereadEncoderPositionRBV_;
-    int readConfig_;
-    int encoderType_;
-
-    /*
-    These parameters are here to write the high and low limits from the MCU to
-    the EPICS motor record. Using motorHighLimit_ / motorLowLimit_ does not
-    work: https://epics.anl.gov/tech-talk/2023/msg00576.php.
-    Therefore, some additional records are introduced which read from these
-    parameters and write into the motor record. See the sinq_asyn_motor.db file.
-    */
-    int motorHighLimitFromDriver_;
-    int motorLowLimitFromDriver_;
-
-    friend class pmacV3Axis;
-};
-
-#endif /* pmacV3Controller_H */

src/turboPmac.dbd

@@ -1,4 +1,5 @@
 #---------------------------------------------
 # SINQ specific DB definitions
 #---------------------------------------------
-registrar(pmacV3Register) 
+registrar(turboPmacControllerRegister) 
+registrar(turboPmacAxisRegister) 

src/turboPmacAxis.h

@@ -1,33 +1,28 @@
-#ifndef pmacV3AXIS_H
-#define pmacV3AXIS_H
+#ifndef turboPmacAXIS_H
+#define turboPmacAXIS_H
 #include "sinqAxis.h"
 
 // Forward declaration of the controller class to resolve the cyclic dependency
-// between C804Controller.h and C804Axis.h. See
+// between the controller and the axis .h-file. See
 // https://en.cppreference.com/w/cpp/language/class.
-class pmacV3Controller;
+class turboPmacController;
 
-class pmacV3Axis : public sinqAxis {
+class turboPmacAxis : public sinqAxis {
   public:
     /**
-     * @brief Construct a new pmacV3Axis
+     * @brief Construct a new turboPmacAxis
      *
      * @param pController         Pointer to the associated controller
      * @param axisNo              Index of the axis
-     * @param offsetLimit         The high and low limits of the axis are read
-     * out directly from the MCU. However, since the axis might slightly
-    "overshoot" when moving to a position next to the limits, the MCU might go
-    into the "limits hit" error state. To prevent this, this value allows adding
-    a small offset, which is  subtracted from the high limit and added to the
-    low limit.
      */
-    pmacV3Axis(pmacV3Controller *pController, int axisNo, double offsetLimit);
+    turboPmacAxis(turboPmacController *pController, int axisNo,
+                  bool initialize = true);
 
     /**
-     * @brief Destroy the pmacV3Axis
+     * @brief Destroy the turboPmacAxis
      *
      */
-    virtual ~pmacV3Axis();
+    virtual ~turboPmacAxis();
 
     /**
      * @brief Implementation of the `stop` function from asynMotorAxis
@@ -75,16 +70,16 @@ class pmacV3Axis : public sinqAxis {
                       double max_velocity, double acceleration);
 
     /**
-     * @brief Implementation of the `atFirstPoll` function from sinqAxis.
+     * @brief Readout of some values from the controller at IOC startup
      *
      * The following steps are performed:
      * - Read out the motor status, motor position, velocity and acceleration
      * from the MCU and store this information in the parameter library.
-     * - Set the enable PV accordint to the initial status of the axis.
+     * - Set the enable PV according to the initial status of the axis.
      *
      * @return asynStatus
      */
-    asynStatus atFirstPoll();
+    asynStatus init();
 
     /**
      * @brief Enable / disable the axis.
@@ -110,22 +105,16 @@ class pmacV3Axis : public sinqAxis {
     asynStatus rereadEncoder();
 
   protected:
-    pmacV3Controller *pC_;
+    turboPmacController *pC_;
 
-    asynStatus readConfig();
-    bool initial_poll_;
     bool waitForHandshake_;
     time_t timeAtHandshake_;
 
     // The axis status is used when enabling / disabling the motor
     int axisStatus_;
-    /*
-    Stores the constructor input offsetLimits
-    */
-    double offsetLimits_;
 
   private:
-    friend class pmacV3Controller;
+    friend class turboPmacController;
 };
 
 #endif

src/turboPmacController.cpp

@@ -0,0 +1,591 @@
+#include "turboPmacController.h"
+#include "asynMotorController.h"
+#include "asynOctetSyncIO.h"
+#include "turboPmacAxis.h"
+#include <epicsExport.h>
+#include <errlog.h>
+#include <initHooks.h>
+#include <iocsh.h>
+#include <netinet/in.h>
+#include <registryFunction.h>
+#include <string.h>
+#include <unistd.h>
+
+/**
+ * @brief Copy src into dst and replace all carriage returns with spaces. This
+ * allows to print *dst with asynPrint.
+ *
+ *
+ * @param dst                 Buffer for the modified string
+ * @param src                 Original string
+ */
+void adjustResponseForPrint(char *dst, const char *src, size_t buf_length) {
+    for (size_t i = 0; i < buf_length; i++) {
+        if (src[i] == '\r') {
+            dst[i] = ' ';
+        } else {
+            dst[i] = src[i];
+        }
+    }
+}
+
+turboPmacController::turboPmacController(const char *portName,
+                                         const char *ipPortConfigName,
+                                         int numAxes, double movingPollPeriod,
+                                         double idlePollPeriod,
+                                         double comTimeout, int numExtraParams)
+    : sinqController(
+          portName, ipPortConfigName, numAxes, movingPollPeriod, idlePollPeriod,
+          /*
+          The following parameter library entries are added in this driver:
+          - REREAD_ENCODER_POSITION
+          - READ_CONFIG
+          */
+          numExtraParams + NUM_turboPmac_DRIVER_PARAMS)
+
+{
+
+    // Initialization of local variables
+    asynStatus status = asynSuccess;
+
+    // Initialization of all member variables
+    lowLevelPortUser_ = nullptr;
+    comTimeout_ = comTimeout;
+
+    // Maximum allowed number of subsequent timeouts before the user is
+    // informed.
+    maxSubsequentTimeouts_ = 10;
+
+    // =========================================================================;
+
+    /*
+    We try to connect to the port via the port name provided by the constructor.
+    If this fails, the function is terminated via exit
+    */
+    pasynOctetSyncIO->connect(ipPortConfigName, 0, &lowLevelPortUser_, NULL);
+    if (status != asynSuccess || lowLevelPortUser_ == nullptr) {
+        errlogPrintf("Controller \"%s\" => %s, line %d\nFATAL ERROR "
+                     "(cannot connect to MCU controller).\nTerminating IOC",
+                     portName, __PRETTY_FUNCTION__, __LINE__);
+        exit(-1);
+    }
+
+    // =========================================================================
+    // Create additional parameter library entries
+
+    status = createParam("REREAD_ENCODER_POSITION", asynParamInt32,
+                         &rereadEncoderPosition_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("READ_CONFIG", asynParamInt32, &readConfig_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    /*
+    Define the end-of-string of a message coming from the device to EPICS.
+    It is not necessary to append a terminator to outgoing messages, since
+    the message length is encoded in the message header in the getSetResponse
+    method.
+    */
+    const char *message_from_device =
+        "\006"; // Hex-code for ACK (acknowledge) -> Each message from the MCU
+                // is terminated by this value
+    status = pasynOctetSyncIO->setInputEos(
+        lowLevelPortUser_, message_from_device, strlen(message_from_device));
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d\nFATAL ERROR "
+                  "(setting input EOS failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        pasynOctetSyncIO->disconnect(lowLevelPortUser_);
+        exit(-1);
+    }
+
+    status = callParamCallbacks();
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d\nFATAL ERROR "
+                  "(executing ParamLib callbacks failed "
+                  "with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        pasynOctetSyncIO->disconnect(lowLevelPortUser_);
+        exit(-1);
+    }
+}
+
+/*
+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 Axis, a nullptr is returned and an
+error is emitted.
+*/
+turboPmacAxis *turboPmacController::getTurboPmacAxis(asynUser *pasynUser) {
+    asynMotorAxis *asynAxis = asynMotorController::getAxis(pasynUser);
+    return dynamic_cast<turboPmacAxis *>(asynAxis);
+}
+
+/*
+Access one of the axes of the controller via the axis index.
+If the axis does not exist or is not a Axis, the function must return Null
+*/
+turboPmacAxis *turboPmacController::getTurboPmacAxis(int axisNo) {
+    asynMotorAxis *asynAxis = asynMotorController::getAxis(axisNo);
+    return dynamic_cast<turboPmacAxis *>(asynAxis);
+}
+
+asynStatus turboPmacController::writeRead(int axisNo, const char *command,
+                                          char *response,
+                                          int numExpectedResponses) {
+
+    // Definition of local variables.
+    asynStatus status = asynSuccess;
+    asynStatus paramLibStatus = asynSuccess;
+    asynStatus timeoutStatus = asynSuccess;
+    char fullCommand[MAXBUF_] = {0};
+    char drvMessageText[MAXBUF_] = {0};
+    char modResponse[MAXBUF_] = {0};
+    int motorStatusProblem = 0;
+    int numReceivedResponses = 0;
+
+    /*
+    asyn defines the following reasons for an end-of-message coming from the MCU
+    (https://epics.anl.gov/modules/soft/asyn/R4-14/asynDriver.pdf, p. 28):
+    0: Timeout
+    1: Request count reached
+    2: End of string detected -> In this driver, this is the "normal" case
+    4: End indicator detected
+    Combinations of reasons are also possible, e.g. eomReason = 5 would mean
+    that both the request count was reached and an end indicator was detected.
+     */
+    int eomReason = 0;
+
+    // Number of bytes of the outgoing message (which is command + the
+    // end-of-string terminator defined in the constructor)
+    size_t nbytesOut = 0;
+
+    // Number of bytes of the incoming message (which is response + the
+    // end-of-string terminator defined in the constructor)
+    size_t nbytesIn = 0;
+
+    // =========================================================================
+
+    turboPmacAxis *axis = getTurboPmacAxis(axisNo);
+    if (axis == nullptr) {
+        // We already did the error logging directly in getAxis
+        return asynError;
+    }
+
+    /*
+    The message protocol of the turboPmac used at PSI looks as follows (all
+    characters immediately following each other without a newline):
+    0x40 (ASCII value of @) -> Request for download
+    0xBF (ASCII value of ¿) -> Select mode "get_response"
+    0x00 (ASCII value of 0)
+    0x00 (ASCII value of 0)
+    0x00 (ASCII value of 0)
+    0x00 (ASCII value of 0)
+    0x00 (ASCII value of 0)
+    [message length in network byte order] -> Use the htons function for this
+    value [Actual message] It is not necessary to append a terminator, since
+    this protocol encodes the message length at the beginning. See Turbo PMAC
+    User Manual, page 418 in VR_PMAC_GETRESPONSE
+    x0D (ASCII value of carriage return) -> The controller needs a carriage
+    return at the end of a "send" command (a command were we transmit data via
+    =). For "request" commands (e.g. read status or position), this is not
+    necessary, but it doesn't hurt either, therefore we always add a carriage
+    return.
+
+    The message has to be build manually into the buffer fullCommand, since it
+    contains NULL terminators in its middle, therefore the string manipulation
+    methods of C don't work.
+    */
+
+    const size_t commandLength = strlen(command);
+    const int offset = 9;
+
+    // Positions 2 to 6 must have the value 0. Since fullCommand is initialized
+    // as an array of zeros, we don't need to set these bits manually.
+    fullCommand[0] = '\x40';
+    fullCommand[1] = '\xBF';
+
+    // The size of size_t is platform dependant (pointers-sized), while htons
+    // needs an unsigned int. The byte order is then converted from host to
+    // network order. The offset "+1" is for the carriage return.
+    u_int16_t len = htons(static_cast<u_int16_t>(commandLength + 1));
+
+    // Split up into the upper and the lower byte
+    fullCommand[7] = (char)(len >> 8);   // Shift the 8 higher bits to the right
+    fullCommand[8] = (char)(len & 0xFF); // Mask the higher bits
+
+    // Write the actual command behind the protocol
+    for (size_t i = 0; i < commandLength; i++) {
+        fullCommand[i + offset] = command[i];
+    }
+    fullCommand[offset + commandLength] = '\x0D';
+
+    // +1 for the carriage return.
+    const size_t fullComandLength = offset + commandLength + 1;
+
+    /*
+    We use separated write and read commands here, not the combined writeRead
+    method, because the latter is actually a flushWriteRead (see
+    https://epics.anl.gov/modules/soft/asyn/R4-14/asynDriver.pdf, p. 31) ->
+    Calls the flush command, then the write command, then the read command.
+    The flush itself reads repeatedly from the MCU until no messages are there
+    anymore. (The Diamond Light Source driver first send a PMAC flush command
+    and then does the same as the asyn flush). We don't want this behaviour.
+    (https://www.slac.stanford.edu/grp/lcls/controls/global/doc/epics-modules/R3-14-12/asyn/asyn-R4-18-lcls2/asyn/interfaces/asynOctetBase.c)
+
+    If a timeout occurs during writing or reading, inform the user that we're
+    trying to reconnect. If the problem persists, ask them to call the support
+    */
+
+    status = pasynOctetSyncIO->write(lowLevelPortUser_, fullCommand,
+                                     fullComandLength, comTimeout_, &nbytesOut);
+
+    msgPrintControlKey writeKey =
+        msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+
+    if (status == asynTimeout) {
+
+        if (msgPrintControl_.shouldBePrinted(writeKey, true, pasynUserSelf)) {
+            asynPrint(
+                this->pasynUserSelf, ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d => %s, line %d\nTimeout while "
+                "writing to the MCU.%s\n",
+                portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                msgPrintControl_.getSuffix());
+        }
+
+        timeoutStatus = checkComTimeoutWatchdog(axisNo, drvMessageText,
+                                                sizeof(drvMessageText));
+
+        int timeoutCounter = 0;
+        while (1) {
+            checkMaxSubsequentTimeouts(timeoutCounter, axis);
+            timeoutCounter += 1;
+
+            status = pasynOctetSyncIO->write(lowLevelPortUser_, fullCommand,
+                                             fullComandLength, comTimeout_,
+                                             &nbytesOut);
+            if (status != asynTimeout) {
+                asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                          "Controller \"%s\", axis %d  => %s, line "
+                          "%d\nReconnected after write timeout\n",
+                          portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+                break;
+            }
+        }
+    } else if (status != asynSuccess) {
+        if (msgPrintControl_.shouldBePrinted(writeKey, true, pasynUserSelf)) {
+            asynPrint(
+                this->pasynUserSelf, ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d => %s, line %d\nError %s while "
+                "writing to the controller.%s\n",
+                portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                stringifyAsynStatus(status), msgPrintControl_.getSuffix());
+        }
+    } else {
+        msgPrintControl_.resetCount(writeKey);
+    }
+
+    // Read the response from the MCU buffer
+    status = pasynOctetSyncIO->read(lowLevelPortUser_, response, MAXBUF_,
+                                    comTimeout_, &nbytesIn, &eomReason);
+
+    msgPrintControlKey readKey =
+        msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+
+    if (status == asynTimeout) {
+
+        if (msgPrintControl_.shouldBePrinted(readKey, true, pasynUserSelf)) {
+            asynPrint(
+                this->pasynUserSelf, ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d => %s, line %d\nTimeout while "
+                "reading from the MCU.%s\n",
+                portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                msgPrintControl_.getSuffix());
+        }
+
+        // Add this event to the back of the timeout event counter
+        timeoutStatus = checkComTimeoutWatchdog(axisNo, drvMessageText,
+                                                sizeof(drvMessageText));
+
+        int timeoutCounter = 0;
+        while (1) {
+            checkMaxSubsequentTimeouts(timeoutCounter, axis);
+            timeoutCounter += 1;
+
+            status =
+                pasynOctetSyncIO->read(lowLevelPortUser_, response, MAXBUF_,
+                                       comTimeout_, &nbytesIn, &eomReason);
+            if (status != asynTimeout) {
+                asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                          "Controller \"%s\", axis %d  => %s, line "
+                          "%d\nReconnected after read timeout\n",
+                          portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+                break;
+            }
+        }
+    } else if (status != asynSuccess) {
+        if (msgPrintControl_.shouldBePrinted(readKey, true, pasynUserSelf)) {
+            asynPrint(
+                this->pasynUserSelf, ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d => %s, line %d\nError %s while "
+                "reading from the controller.%s\n",
+                portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                stringifyAsynStatus(status), msgPrintControl_.getSuffix());
+        }
+    } else {
+        msgPrintControl_.resetCount(readKey);
+    }
+
+    if (timeoutStatus == asynError) {
+        status = asynError;
+    }
+
+    // The message should only ever terminate due to reason 2
+    msgPrintControlKey terminateKey =
+        msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+    if (eomReason != 2) {
+        status = asynError;
+
+        snprintf(drvMessageText, sizeof(drvMessageText),
+                 "Terminated message due to reason %d (should be 2).",
+                 eomReason);
+
+        if (msgPrintControl_.shouldBePrinted(terminateKey, true,
+                                             pasynUserSelf)) {
+            asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d => %s, line %d\nMessage "
+                      "terminated due to reason %i.%s\n",
+                      portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                      eomReason, msgPrintControl_.getSuffix());
+        }
+    } else {
+        msgPrintControl_.resetCount(terminateKey);
+    }
+
+    /*
+    Calculate the number of received responses by counting the number of
+    carriage returns "\r" in the response.
+    */
+    for (size_t i = 0; i < strlen(response); i++) {
+        if (response[i] == '\r') {
+            numReceivedResponses++;
+        }
+    }
+    msgPrintControlKey numResponsesKey =
+        msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+    if (numExpectedResponses != numReceivedResponses) {
+        adjustResponseForPrint(modResponse, response, MAXBUF_);
+
+        if (msgPrintControl_.shouldBePrinted(numResponsesKey, true,
+                                             pasynUserSelf)) {
+            asynPrint(
+                this->pasynUserSelf, ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d => %s, line %d\nUnexpected "
+                "response '%s' (carriage returns are replaced with spaces) "
+                "for command %s.%s\n",
+                portName, axisNo, __PRETTY_FUNCTION__, __LINE__, modResponse,
+                command, msgPrintControl_.getSuffix());
+        }
+
+        snprintf(drvMessageText, sizeof(drvMessageText),
+                 "Received unexpected response '%s' (carriage returns "
+                 "are replaced with spaces) for command %s. "
+                 "Please call the support",
+                 modResponse, command);
+        status = asynError;
+    } else {
+        msgPrintControl_.resetCount(numResponsesKey);
+    }
+
+    // Create custom error messages for different failure modes, if no error
+    // message has been set yet
+    if (strlen(drvMessageText) == 0) {
+        switch (status) {
+        case asynSuccess:
+            break; // Communicate nothing
+        case asynTimeout:
+            snprintf(drvMessageText, sizeof(drvMessageText),
+                     "connection timeout for axis %d", axisNo);
+            break;
+        case asynDisconnected:
+            snprintf(drvMessageText, sizeof(drvMessageText),
+                     "axis is not connected");
+            break;
+        case asynDisabled:
+            snprintf(drvMessageText, sizeof(drvMessageText),
+                     "axis is disabled");
+            break;
+        default:
+            snprintf(drvMessageText, sizeof(drvMessageText),
+                     "Communication failed (%s)", stringifyAsynStatus(status));
+            break;
+        }
+    }
+
+    // Log the overall status (communication successfull or not)
+    if (status == asynSuccess) {
+        paramLibStatus = axis->setIntegerParam(this->motorStatusCommsError_, 0);
+    } else {
+        // Check if the axis already is in an error communication mode. If
+        // it is not, upstream the error. This is done to avoid "flooding"
+        // the user with different error messages if more than one error
+        // ocurred before an error-free communication
+        paramLibStatus =
+            getIntegerParam(axisNo, motorStatusProblem_, &motorStatusProblem);
+        if (paramLibStatus != asynSuccess) {
+            return paramLibAccessFailed(paramLibStatus, "motorStatusProblem_",
+                                        axisNo, __PRETTY_FUNCTION__, __LINE__);
+        }
+
+        if (motorStatusProblem == 0) {
+            paramLibStatus =
+                axis->setStringParam(motorMessageText_, drvMessageText);
+            if (paramLibStatus != asynSuccess) {
+                return paramLibAccessFailed(paramLibStatus, "motorMessageText_",
+                                            axisNo, __PRETTY_FUNCTION__,
+                                            __LINE__);
+            }
+
+            paramLibStatus = axis->setIntegerParam(motorStatusProblem_, 1);
+            if (paramLibStatus != asynSuccess) {
+                return paramLibAccessFailed(paramLibStatus,
+                                            "motorStatusProblem", axisNo,
+                                            __PRETTY_FUNCTION__, __LINE__);
+            }
+
+            paramLibStatus = axis->setIntegerParam(motorStatusProblem_, 1);
+            if (paramLibStatus != asynSuccess) {
+                return paramLibAccessFailed(paramLibStatus,
+                                            "motorStatusCommsError_", axisNo,
+                                            __PRETTY_FUNCTION__, __LINE__);
+            }
+        }
+    }
+    return status;
+}
+
+asynStatus turboPmacController::writeInt32(asynUser *pasynUser,
+                                           epicsInt32 value) {
+    int function = pasynUser->reason;
+
+    // =====================================================================
+
+    turboPmacAxis *axis = getTurboPmacAxis(pasynUser);
+
+    // Handle custom PVs
+    if (function == rereadEncoderPosition_) {
+        return axis->rereadEncoder();
+    } else if (function == readConfig_) {
+        return axis->init();
+    } else {
+        return sinqController::writeInt32(pasynUser, value);
+    }
+}
+
+asynStatus turboPmacController::readInt32(asynUser *pasynUser,
+                                          epicsInt32 *value) {
+    // PMACs can be disabled
+    if (pasynUser->reason == motorCanDisable_) {
+        *value = 1;
+        return asynSuccess;
+    } else {
+        return sinqController::readInt32(pasynUser, value);
+    }
+}
+
+asynStatus turboPmacController::errMsgCouldNotParseResponse(
+    const char *command, const char *response, int axisNo,
+    const char *functionName, int lineNumber) {
+    char modifiedResponse[MAXBUF_] = {0};
+    adjustResponseForPrint(modifiedResponse, response, MAXBUF_);
+    return sinqController::errMsgCouldNotParseResponse(
+        command, modifiedResponse, axisNo, functionName, lineNumber);
+}
+
+/*************************************************************************************/
+/** The following functions are C-wrappers, and can be called directly from
+ * iocsh */
+
+extern "C" {
+
+/*
+C wrapper for the controller constructor. Please refer to the
+turboPmacController constructor documentation.
+*/
+asynStatus turboPmacCreateController(const char *portName,
+                                     const char *ipPortConfigName, int numAxes,
+                                     double movingPollPeriod,
+                                     double idlePollPeriod, double comTimeout) {
+    /*
+    We create a new instance of the controller, using the "new" keyword to
+    allocate it on the heap while avoiding RAII.
+    https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/asynMotorController.cpp
+    https://github.com/epics-modules/asyn/blob/master/asyn/asynPortDriver/asynPortDriver.cpp
+
+    The created object is registered in EPICS in its constructor and can
+    safely be "leaked" here.
+    */
+#pragma GCC diagnostic ignored "-Wunused-but-set-variable"
+#pragma GCC diagnostic ignored "-Wunused-variable"
+    turboPmacController *pController =
+        new turboPmacController(portName, ipPortConfigName, numAxes,
+                                movingPollPeriod, idlePollPeriod, comTimeout);
+
+    return asynSuccess;
+}
+
+/*
+Define name and type of the arguments for the CreateController function
+in the iocsh. This is done by creating structs with the argument names and
+types and then providing "factory" functions
+(configCreateControllerCallFunc). These factory functions are used to
+register the constructors during compilation.
+*/
+static const iocshArg CreateControllerArg0 = {"Controller name (e.g. mcu1)",
+                                              iocshArgString};
+static const iocshArg CreateControllerArg1 = {"Asyn IP port name (e.g. pmcu1)",
+                                              iocshArgString};
+static const iocshArg CreateControllerArg2 = {"Number of axes", iocshArgInt};
+static const iocshArg CreateControllerArg3 = {"Moving poll rate (s)",
+                                              iocshArgDouble};
+static const iocshArg CreateControllerArg4 = {"Idle poll rate (s)",
+                                              iocshArgDouble};
+static const iocshArg CreateControllerArg5 = {"Communication timeout (s)",
+                                              iocshArgDouble};
+static const iocshArg *const CreateControllerArgs[] = {
+    &CreateControllerArg0, &CreateControllerArg1, &CreateControllerArg2,
+    &CreateControllerArg3, &CreateControllerArg4, &CreateControllerArg5};
+static const iocshFuncDef configTurboPmacCreateController = {
+    "turboPmacController", 6, CreateControllerArgs};
+static void configTurboPmacCreateControllerCallFunc(const iocshArgBuf *args) {
+    turboPmacCreateController(args[0].sval, args[1].sval, args[2].ival,
+                              args[3].dval, args[4].dval, args[5].dval);
+}
+
+// This function is made known to EPICS in turboPmac.dbd and is called by
+// EPICS in order to register both functions in the IOC shell
+static void turboPmacControllerRegister(void) {
+    iocshRegister(&configTurboPmacCreateController,
+                  configTurboPmacCreateControllerCallFunc);
+}
+epicsExportRegistrar(turboPmacControllerRegister);
+
+} // extern "C"

src/turboPmacController.h

@@ -0,0 +1,145 @@
+/********************************************
+ *  turboPmacController.h
+ *
+ * Turbo PMAC controller driver based on the asynMotorController class
+ *
+ * Stefan Mathis, September 2024
+ ********************************************/
+
+#ifndef turboPmacController_H
+#define turboPmacController_H
+#include "sinqAxis.h"
+#include "sinqController.h"
+#include "turboPmacAxis.h"
+
+class turboPmacController : public sinqController {
+  public:
+    /**
+     * @brief Construct a new turboPmacController object. This function is meant
+    to be called from a child class constructor.
+     *
+     * @param portName            See sinqController constructor
+     * @param ipPortConfigName    See sinqController constructor
+     * @param numAxes             See sinqController constructor
+     * @param movingPollPeriod    See sinqController constructor
+     * @param idlePollPeriod      See sinqController constructor
+     * @param comTimeout          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.
+     * @param numExtraParams      Number of extra parameters from a child class
+     */
+    turboPmacController(const char *portName, const char *ipPortConfigName,
+                        int numAxes, double movingPollPeriod,
+                        double idlePollPeriod, double comTimeout,
+                        int numExtraParams = 0);
+
+    /**
+     * @brief Get the axis object
+     *
+     * @param pasynUser           Specify the axis via the asynUser
+     * @return turboPmacAxis*        If no axis could be found, this is a
+     * nullptr
+     */
+    turboPmacAxis *getTurboPmacAxis(asynUser *pasynUser);
+
+    /**
+     * @brief Get the axis object
+     *
+     * @param axisNo              Specify the axis via its index
+     * @return turboPmacAxis*        If no axis could be found, this is a
+     * nullptr
+     */
+    turboPmacAxis *getTurboPmacAxis(int axisNo);
+
+    /**
+     * @brief Overloaded function of sinqController
+     *
+     * The function is overloaded in order to read motorCanDisable_.
+     *
+     * @param pasynUser
+     * @param value
+     * @return asynStatus
+     */
+    virtual asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
+
+    /**
+     * @brief Overloaded function of sinqController
+     *
+     * The function is overloaded to allow rereading the encoder and config.
+     *
+     * @param pasynUser           Specify the axis via the asynUser
+     * @param value               New value
+     * @return asynStatus
+     */
+    virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
+
+  protected:
+    asynUser *lowLevelPortUser_;
+
+    /**
+     * @brief Send a command to the hardware and receive a response
+     *
+     * @param axisNo              Axis to which the command should be send
+     * @param command             Command for the hardware
+     * @param response            Buffer for the response. This buffer is
+     * expected to have the size MAXBUF_.
+     * @param numExpectedResponses  The PMAC MCU can send multiple responses at
+     * once. The number of responses is determined by the number of
+     * "subcommands" within command. Therefore it is known in advance how many
+     * "subresponses" are expected. This can be used to check the integrity of
+     * the received response, since the subresponses are separated by carriage
+     * returns (/r). The number of carriage returns is compared to
+     * numExpectedResponses to determine if the communication was successfull.
+     * @return asynStatus
+     */
+    asynStatus writeRead(int axisNo, const char *command, char *response,
+                         int numExpectedResponses);
+
+    /**
+     * @brief Specialized version of sinqController::errMsgCouldNotParseResponse
+     * for turboPmac
+     *
+     * This is an overloaded version of
+     * sinqController::errMsgCouldNotParseResponse which calls
+     * adjustResponseForLogging on response before handing it over to
+     * sinqController::errMsgCouldNotParseResponse.
+     *
+     * @param command             Command which led to the unparseable message
+     * @param response            Response which wasn't parseable
+     * @param axisNo_             Axis where the problem occurred
+     * @param functionName        Name of the caller function. It is recommended
+    to use a macro, e.g. __func__ or __PRETTY_FUNCTION__.
+     * @param lineNumber          Source code line where this function is
+    called. It is recommended to use a macro, e.g. __LINE__.
+     * @return asynStatus         Returns asynError.
+     */
+    asynStatus errMsgCouldNotParseResponse(const char *command,
+                                           const char *response, int axisNo_,
+                                           const char *functionName,
+                                           int lineNumber);
+
+  protected:
+    // 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 MAXBUF_ = 200;
+
+    /*
+    Timeout for the communication process in seconds
+    */
+    double comTimeout_;
+
+    char lastResponse[MAXBUF_];
+
+    // Indices of additional PVs
+#define FIRST_turboPmac_PARAM rereadEncoderPosition_
+    int rereadEncoderPosition_;
+    int readConfig_;
+#define LAST_turboPmac_PARAM readConfig_
+
+    friend class turboPmacAxis;
+};
+#define NUM_turboPmac_DRIVER_PARAMS                                            \
+    (&LAST_turboPmac_PARAM - &FIRST_turboPmac_PARAM + 1)
+
+#endif /* turboPmacController_H */

utils/analyzeTcpDump/analyzeTcpDump.py

@@ -0,0 +1,201 @@
+#! venv/bin/python3
+"""
+This script can be used to format the communication between an EPICS IOC and a
+PMAC MCU into JSON files. It does this by parsing PCAP files created by tcpdump
+and rearranging the information in a more structured manner.
+
+To read the manual, simply run this script without any arguments.
+
+Stefan Mathis, January 2025
+"""
+
+from scapy.all import *
+import json
+import re
+import codecs
+import os
+from datetime import datetime
+
+def parse(fileAndPath):
+
+    try:
+        scapyCap = PcapReader(fileAndPath)
+    except:
+        print(f"Could not read file {fileAndPath} as PCAP file")
+
+    requests = []
+    sent = []
+
+    jsonDict = dict()
+    lastLayer = None
+    for packet in scapyCap:
+
+        layer = packet.getlayer(Raw)
+
+        if layer is None:
+            continue
+
+        # Skip the package if it is not a command or a response. A command ends 
+        # with a carriage return (x0d), a response ends with ACKNOWLEDGE (x06)
+        last = layer.load[-1]
+        if last == 6:
+            isResponse = True
+        elif last == 13:
+            isResponse = False
+        else:
+            continue
+
+        # Store the info by the IP adress of the MCU
+        if isResponse:
+            ip = packet[IP].src
+        else:
+            ip = packet[IP].dst
+
+        if ip not in jsonDict:
+            jsonDict[ip] = dict()
+
+        # Convert to ASCII
+        ascii = layer.load.decode("unicode_escape")
+
+        # Convert the time to a float
+        time = float(packet.time)
+
+        if isResponse:
+
+            # A response is always a number followed by a carriage return
+            responses = re.findall("-?\d+\.\d+\r|-?\d+\r", ascii)
+
+            # Check if the number of responses matches the number of requests
+            valid = len(responses) == len(requests)
+
+            # Pair up the request-response pairs
+            for (request, response) in zip(requests, responses):
+                if request not in jsonDict[ip]:
+                    jsonDict[ip][request] = dict()
+
+                if "." in response:
+                    value = float(response)
+                else:
+                    value = int(response)
+                
+                lastLayer = lastPacket.getlayer(Raw)
+                lastTime = float(lastPacket.time)
+                data = {
+                    'command': {
+                        'hex': [format(value, '02x') for value in lastLayer.load],
+                        'ascii': lastLayer.load.decode("unicode_escape"),
+                        'timestamp': lastTime,
+                        'timeiso': str(datetime.fromtimestamp(lastTime).isoformat()),
+                    },
+                    'response': {
+                        'hex': [format(value, '02x') for value in layer.load],
+                        'ascii': ascii,
+                        'value': value,
+                        'timestamp': time,
+                        'timeiso': str(datetime.fromtimestamp(time).isoformat()),
+                        'valid': valid
+                    }
+                }
+                jsonDict[ip][request][time] = data
+        else:
+            requests.clear()
+            sent.clear()
+            
+            # Store the packet for use in the response iteration
+            lastPacket = packet
+
+            # Parse the ASCII text via regex. A PMAC command usually has the 
+            # format LDDDD(=<Number>), where L is a capital letter, the first 
+            # two digits D are the axis number and the last two digits together
+            # with the letter form the command.
+
+            # Separate the commands into sent data (e.g. setting a position)
+            # and data requests (e.g. reading the axis status). Sent data always
+            # has an equal sign.
+            for command in re.findall("[A-Z]\d+=-?\d+|[A-Z]\d+", ascii):
+                if "=" in command:
+                    sent.append(command)
+                else:
+                    requests.append(command)
+                       
+            # Store the sent. The requests yfd stored together with the responses later.
+            for command in sent:
+                splitted = command.split("=")
+                key = splitted[0]
+                key = key + "="
+                if key not in jsonDict[ip]:
+                    jsonDict[ip][key] = dict()
+                
+                if "." in splitted[1]:
+                    value = float(splitted[1])
+                else:
+                    value = int(splitted[1])
+
+                data = {
+                    'command': {
+                        'hex': [format(value, '02x') for value in layer.load],
+                        'ascii': ascii,
+                        'value': value,
+                        'timestamp': time,
+                        'timeiso': str(datetime.fromtimestamp(time).isoformat()),
+                    },
+                }
+
+                jsonDict[ip][key][time] = data
+
+    return jsonDict
+
+
+if __name__ == "__main__":
+
+    isInstalled = False
+    try: 
+        from scapy.all import *
+        isInstalled = True
+
+    except ImportError:
+        print("This script needs the Scapy package to run. In order to install a "
+            "suitable virtual environment, use the 'makevenv' script.")
+    
+    if isInstalled:
+        from sys import argv
+
+        if len(argv) < 2:
+            print("""
+This script can be used to format the communication between an EPICS IOC and a
+PMAC MCU into JSON files. It does this by parsing PCAP files created by tcpdump
+and rearranging the information in a more structured manner.
+
+After a successfull parse run, the resulting JSON data looks like this:
+<IP Adress MCU1>
+    <Request command type> (e.g. Q0100 to request the position of axis 1)
+        <Event timestamp>
+            Command
+                <Raw ASCII string>
+                <Actual command> (e.g. P0100)
+                <Timestamp in Epoch>
+            Response
+                <Raw ASCII string>
+                <Actual response (e.g. -3)
+                <Timestamp in Epoch>
+    <Set command type> (e.g. Q0100= to set the position of axis 1)
+        <Event timestamp>
+            Command
+                <Raw ASCII string>
+                <Actual command (e.g. P0100)
+                <Set value>
+                <Timestamp in Epoch>
+<IP Adress MCU2>
+            """)
+
+        else:
+            for fileAndPath in argv[1:]:
+                jsonDict = parse(fileAndPath)
+
+                # Save the dict into a JSON
+                fileName = os.path.basename(fileAndPath)
+                jsonfileAndPath = f"{fileName}.json"
+                with open(jsonfileAndPath, 'w') as fp:
+                    json.dump(jsonDict, fp, indent=4)
+
+                print(f"Stored parse result of {fileAndPath} in {fileName}")

utils/analyzeTcpDump/demo.py

@@ -0,0 +1,83 @@
+#! demovenv/bin/python3
+"""
+This demo script shows how the "parse" function of "analyzeTcpDump.py" can be 
+used to easily visualize data from a PCAP file created by the tcpdump tool / 
+wireshark. A suitable virtual environment can be created with the "makedemovenv"
+script.
+
+Stefan Mathis, January 2025
+"""
+
+import matplotlib.pyplot as plt
+import matplotlib.dates as mdates
+from datetime import datetime, timedelta
+
+from analyzeTcpDump import parse
+
+if __name__ == "__main__":
+
+    data = parse("demo.pcap")
+
+    plt.figure(figsize=(12, 6)) 
+
+    # Plot the position of axis 5 over time
+
+    # Actual position
+    position_valid = []
+    dates_valid = []
+    position_all = []
+    dates_all = []
+
+    for (timestamp, item) in data["172.28.101.24"]["Q0510"].items():
+        date = datetime.fromtimestamp(timestamp) 
+        value = item["response"]["value"]
+
+        dates_all.append(date)
+        position_all.append(value)
+
+        if item["response"]["valid"]:
+            dates_valid.append(date)
+            position_valid.append(value)
+        else:
+            command = item["command"]["ascii"]
+            response = item["response"]["ascii"]
+
+            # Replace non-renderable characters
+            command = command.replace("\0", "\\x00")
+            command = command.replace("\r", "\\x0d")
+            command = command.replace("\x12", "\\x12")
+            response = response.replace("\r", "\\x0d")
+            response = response.replace("\06", "\\x06")
+
+            # Shift the text a bit to the right
+            plt.text(date, value, f"Command: {command}\nResponse: {response}", horizontalalignment="right", verticalalignment="top")
+
+    # Target position
+    position_target = [position_valid[0]]
+    dates_target = [dates_valid[0]]
+
+    for (timestamp, item) in data["172.28.101.24"]["Q0501="].items():
+        date = datetime.fromtimestamp(timestamp) 
+        value = item["command"]["value"]
+
+        dates_target.append(date)
+        position_target.append(position_target[-1])
+
+        dates_target.append(date)
+        position_target.append(value)
+
+    dates_target.append(dates_valid[-1])
+    position_target.append(position_target[-1])
+
+    plt.plot(dates_target, position_target, "k--", label="Target position")
+    plt.plot(dates_all, position_all, "r-", label="All responses")
+    plt.plot(dates_valid, position_valid, "b-", label="Valid responses")
+    plt.xlabel("Time (ISO 8601)")
+    plt.ylabel("Axis position in degree")
+    plt.gca().xaxis.set_major_formatter(mdates.DateFormatter("%Y-%m-%dT%H:%M:%S"))
+    plt.xticks(rotation=45)
+    plt.grid(True)
+    plt.legend(loc="lower left")
+    plt.title("Position of axis 5")
+    plt.tight_layout()
+    plt.show()

utils/analyzeTcpDump/makedemovenv

@@ -0,0 +1,22 @@
+#!/bin/bash
+#-------------------------------------------------------------------------
+# Script which installs a virtual environment for PCAP file parsing
+#
+# Stefan Mathis, September 2024
+#-------------------------------------------------------------------------
+
+# Remove any previous testing environment
+if [ -d "demovenv" ]; then
+    rm -r demovenv
+fi
+
+/usr/bin/python3.11 -m venv demovenv
+
+source demovenv/bin/activate
+
+pip install --upgrade pip
+pip install "scapy>=2.5,<3.0"
+pip install matplotlib
+
+# Exit the virtual environment
+exit

utils/analyzeTcpDump/makevenv

@@ -0,0 +1,21 @@
+#!/bin/bash
+#-------------------------------------------------------------------------
+# Script which installs a virtual environment for PCAP file parsing
+#
+# Stefan Mathis, September 2024
+#-------------------------------------------------------------------------
+
+# Remove any previous testing environment
+if [ -d "venv" ]; then
+    rm -r venv
+fi
+
+/usr/bin/python3.11 -m venv venv
+
+source venv/bin/activate
+
+pip install --upgrade pip
+pip install "scapy>=2.5,<3.0"
+
+# Exit the virtual environment
+exit

utils/writeRead.py

@@ -0,0 +1,172 @@
+#!/usr/bin/env python3
+"""
+This script allows direct interaction with a pmac-Controller over an ethernet connection.
+To read the manual, simply run this script without any arguments.
+
+Stefan Mathis, December 2024
+"""
+
+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: writeRead.py pmachost:port command
+        This then returns the response for command. 
+
+        Option 2: CLI Mode
+        ------------------
+
+        Usage: writeRead.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.
+        """)
+