Exchanged asynMotor for motorBase as linkage target

Also moved the initialization of some parameters to sinqMotor

.gitlab-ci.yml

@@ -47,11 +47,11 @@ build_module:
     - 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

@@ -1,30 +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=0.4.0
+sinqMotor_VERSION=0.7.0
 
 # 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/pmacv3.db
+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 -Weffc++ -Wunused-result # -Werror
+USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wextra -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings

README.md

@@ -1,23 +1,28 @@
-# pmacv3
+# turboPmac
 
 ## Overview
 
-This is a driver for the pmacV3 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.
 
 ## User guide
 
 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.
 
+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
 
-pmacv3 exposes the following IOC shell functions (all in pmacv3Controller.cpp):
-- `pmacv3Controller`: Create a new controller object.
-- `pmacv3Axis`: Create a new axis object.
+turboPmac exposes the following IOC shell functions (all in turboPmacController.cpp):
+- `turboPmacController`: Create a new controller object.
+- `turboPmacAxis`: Create a new axis object.
 These functions are parametrized as follows:
 ```
-pmacv3Controller(
+turboPmacController(
     "$(NAME)", # Name of the MCU, e.g. mcu1. This parameter should be provided by an environment variable.
     "$(ASYN_PORT)", # IP-Port of the MCU. This parameter should be provided by an environment variable.
     8, # Maximum number of axes
@@ -27,7 +32,7 @@ pmacv3Controller(
     );
 ```
 ```
-pmacv3Axis(
+turboPmacAxis(
     "$(NAME)", # Name of the associated MCU, e.g. mcu1. This parameter should be provided by an environment variable.
     1 # Index of the axis.
     );

db/turboPmac.db

@@ -1,29 +1,18 @@
-# Read out the encoder type in human-readable form. The output numbers can be 
-# interpreted as ASCII.
-# This record is coupled to the parameter library via encoderType -> ENCODER_TYPE.
-record(waveform, "$(INSTR)$(M):Encoder_Type") {
-    field(DTYP, "asynOctetRead")
-    field(INP, "@asyn($(CONTROLLER),$(AXIS),1) ENCODER_TYPE")
-    field(FTVL, "CHAR")
-    field(NELM, "80")
-    field(SCAN, "I/O Intr")
-}
-
 # 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):Reread_Encoder") {
+record(longout, "$(INSTR)$(M):RereadEncoder") {
     field(DTYP, "asynInt32")
     field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) REREAD_ENCODER_POSITION")
     field(PINI, "NO")
 }
 
-# The pmacV3 driver reads certain configuration parameters (such as the velocity
+# 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):Read_Config") {
+record(longout, "$(INSTR)$(M):ReadConfig") {
     field(DTYP, "asynInt32")
     field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) READ_CONFIG")
     field(PINI, "NO")

src/pmacv3Controller.cpp

@@ -1,598 +0,0 @@
-// Needed to use strcpy_s from string.h
-#define __STDC_WANT_LIB_EXT1__ 1
-
-#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 Copy src into dst and replace all carriage returns with spaces
- *
- * @param dst                 Buffer for the modified string
- * @param src                 Original string
- */
-void adjustResponseForPrint(char *dst, const char *src) {
-    // Needed to use strcpy_s from string.h
-#ifdef __STDC_LIB_EXT1__
-    strcpy_s(dst, src);
-    for (size_t i = 0; i < strlen(dst); i++) {
-        if (dst[i] == '\r') {
-            dst[i] = '_';
-        }
-    }
-#endif
-}
-
-/**
- * @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:
-          - ENCODER_TYPE
-          - REREAD_ENCODER_POSITION
-          - READ_CONFIG
-          - ACCEL_FROM_DRIVER
-          */
-          4)
-
-{
-
-    // 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("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("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);
-    }
-
-    /*
-    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 fullCommand[MAXBUF_] = {0};
-    char drvMessageText[MAXBUF_] = {0};
-    char modResponse[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 fullCommand, 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 fullCommand is initialized
-    // as an array of zeros, we don't need to set these bits manually.
-    fullCommand[0] = '\x40';
-    fullCommand[1] = '\xBF';
-    fullCommand[7] = commandLength;
-
-    snprintf((char *)fullCommand + offset, MAXBUF_ - offset, "%s\r", command);
-    asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
-              "%s => line %d:\nSending command %s", __PRETTY_FUNCTION__,
-              __LINE__, fullCommand);
-
-    // Perform the actual writeRead
-    status = pasynOctetSyncIO->writeRead(
-        lowLevelPortUser_, fullCommand, 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_, fullCommand, 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) {
-
-                adjustResponseForPrint(modResponse, response);
-                asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                          "%s => line %d:\nUnexpected response %s (_ are "
-                          "carriage returns) for command %s\n",
-                          __PRETTY_FUNCTION__, __LINE__, modResponse, command);
-                snprintf(drvMessageText, sizeof(drvMessageText),
-                         "Received unexpected response %s (_ are "
-                         "carriage returns) for command %s. "
-                         "Please call the support",
-                         modResponse, command);
-                pl_status = setStringParam(motorMessageText_, drvMessageText);
-                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(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;
-        }
-    }
-
-    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_, drvMessageText);
-            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 (_ are "
-                  "carriage returns)\n",
-                  __PRETTY_FUNCTION__, __LINE__, modResponse);
-        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__, fullCommand,
-                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) {
-    int function = pasynUser->reason;
-
-    // =====================================================================
-
-    pmacv3Axis *axis = getAxis(pasynUser);
-    if (axis == nullptr) {
-        // We already did the error logging directly in getAxis
-        return asynError;
-    }
-
-    // Handle custom PVs
-    if (function == rereadEncoderPosition_) {
-        return axis->rereadEncoder();
-    } else if (function == readConfig_) {
-        return axis->readConfig();
-    } else {
-        return sinqController::writeInt32(pasynUser, value);
-    }
-}
-
-asynStatus pmacv3Controller::errMsgCouldNotParseResponse(
-    const char *command, const char *response, int axisNo,
-    const char *functionName, int lineNumber) {
-    char modifiedResponse[MAXBUF_] = {0};
-    adjustResponseForPrint(modifiedResponse, response);
-    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 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) {
-    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);
-
-    // 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 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 configPmacV3CreateController = {"pmacv3Controller", 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 name (e.g. mcu1)",
-                                        iocshArgString};
-static const iocshArg CreateAxisArg1 = {"Axis number", iocshArgInt};
-static const iocshArg *const CreateAxisArgs[] = {&CreateAxisArg0,
-                                                 &CreateAxisArg1};
-static const iocshFuncDef configPmacV3CreateAxis = {"pmacv3Axis", 2,
-                                                    CreateAxisArgs};
-static void configPmacV3CreateAxisCallFunc(const iocshArgBuf *args) {
-    pmacv3CreateAxis(args[0].sval, args[1].ival);
-}
-
-// 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/turboPmac.dbd

@@ -1,4 +1,5 @@
 #---------------------------------------------
 # SINQ specific DB definitions
 #---------------------------------------------
-registrar(pmacv3Register) 
+registrar(turboPmacControllerRegister) 
+registrar(turboPmacAxisRegister) 

src/turboPmacAxis.h

@@ -1,27 +1,27 @@
-#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
 // 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
      */
-    pmacv3Axis(pmacv3Controller *pController, int axisNo);
+    turboPmacAxis(turboPmacController *pController, int axisNo);
 
     /**
-     * @brief Destroy the pmacv3Axis
+     * @brief Destroy the turboPmacAxis
      *
      */
-    virtual ~pmacv3Axis();
+    virtual ~turboPmacAxis();
 
     /**
      * @brief Implementation of the `stop` function from asynMotorAxis
@@ -69,7 +69,7 @@ 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
@@ -78,7 +78,7 @@ class pmacv3Axis : public sinqAxis {
      *
      * @return asynStatus
      */
-    asynStatus atFirstPoll();
+    asynStatus init();
 
     /**
      * @brief Enable / disable the axis.
@@ -88,15 +88,6 @@ class pmacv3Axis : public sinqAxis {
      */
     asynStatus enable(bool on);
 
-    /**
-     * @brief EThis function sets "on" to true, if the motor is enabled, and to
-     * false otherwise
-     *
-     * @param on
-     * @return asynStatus
-     */
-    asynStatus isEnabled(bool *on);
-
     /**
      * @brief Read the encoder type (incremental or absolute) for this axis from
      * the MCU and store the information in the PV ENCODER_TYPE.
@@ -113,10 +104,8 @@ class pmacv3Axis : public sinqAxis {
     asynStatus rereadEncoder();
 
   protected:
-    pmacv3Controller *pC_;
+    turboPmacController *pC_;
 
-    asynStatus readConfig();
-    bool initial_poll_;
     bool waitForHandshake_;
     time_t timeAtHandshake_;
 
@@ -124,7 +113,7 @@ class pmacv3Axis : public sinqAxis {
     int axisStatus_;
 
   private:
-    friend class pmacv3Controller;
+    friend class turboPmacController;
 };
 
 #endif

src/turboPmacController.cpp

@@ -0,0 +1,600 @@
+#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];
+        }
+    }
+}
+
+/**
+ * @brief Construct a new turboPmacController::turboPmacController 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
+ */
+turboPmacController::turboPmacController(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:
+          - REREAD_ENCODER_POSITION
+          - READ_CONFIG
+          */
+          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::getAxis(asynUser *pasynUser) {
+    asynMotorAxis *asynAxis = asynMotorController::getAxis(pasynUser);
+    return turboPmacController::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
+*/
+turboPmacAxis *turboPmacController::getAxis(int axisNo) {
+    asynMotorAxis *asynAxis = asynMotorController::getAxis(axisNo);
+    return turboPmacController::castToAxis(asynAxis);
+}
+
+turboPmacAxis *turboPmacController::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
+    turboPmacAxis *axis = dynamic_cast<turboPmacAxis *>(asynAxis);
+    if (axis == nullptr) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d\nAxis is not "
+                  "an instance of turboPmacAxis",
+                  portName, axis->axisNo_, __PRETTY_FUNCTION__, __LINE__);
+    }
+    return axis;
+}
+
+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 = getAxis(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;
+
+    asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
+              "Controller \"%s\", axis %d => %s, line %d\nSending command %s",
+              portName, axisNo, __PRETTY_FUNCTION__, __LINE__, fullCommand);
+
+    /*
+    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);
+
+    if (status == asynTimeout) {
+
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d\nTimeout while "
+                  "writing to the MCU\n",
+                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+
+        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) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d\nError %s while "
+                  "writing to the controller\n",
+                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+    }
+
+    // Read the response from the MCU buffer
+    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\nTimeout while "
+                  "reading from the MCU\n",
+                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+
+        // 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) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d\nError %s while "
+                  "reading from the controller\n",
+                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+    }
+
+    if (timeoutStatus == asynError) {
+        status = asynError;
+    }
+
+    // The message should only ever terminate due to reason 2
+    if (eomReason != 2) {
+        status = asynError;
+
+        snprintf(drvMessageText, sizeof(drvMessageText),
+                 "Terminated message due to reason %d (should be 2).",
+                 eomReason);
+
+        asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
+                  "Controller \"%s\", axis %d => %s, line %d\nMessage "
+                  "terminated due to reason %i\n",
+                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__, 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++;
+        }
+    }
+    if (numExpectedResponses != numReceivedResponses) {
+        adjustResponseForPrint(modResponse, response, MAXBUF_);
+        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\n",
+                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__, modResponse,
+                  command);
+        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;
+    }
+
+    // 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) {
+
+        asynPrint(lowLevelPortUser_, ASYN_TRACEIO_DRIVER,
+                  "Controller \"%s\", axis %d => %s, line %d\nDevice "
+                  "response: %s (carriage returns are replaced with spaces)\n",
+                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__, modResponse);
+        paramLibStatus = axis->setIntegerParam(this->motorStatusCommsError_, 0);
+    } else {
+        asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d\nCommunication "
+                  "failed for command %s (%s)\n",
+                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__, fullCommand,
+                  stringifyAsynStatus(status));
+
+        // 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 = getAxis(pasynUser);
+    if (axis == nullptr) {
+        // We already did the error logging directly in getAxis
+        return asynError;
+    }
+
+    // Handle custom PVs
+    if (function == rereadEncoderPosition_) {
+        return axis->rereadEncoder();
+    } else if (function == readConfig_) {
+        return axis->init();
+    } else {
+        return sinqController::writeInt32(pasynUser, value);
+    }
+}
+
+asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {
+    // PMACs can be disabled
+    if (pasynUser->reason == motorCanDisable_) {
+        *value = 1;
+        return asynSuccess;
+    } else {
+        return asynMotorController::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

@@ -1,25 +1,22 @@
 /********************************************
- *  pmacv3Controller.h
+ *  turboPmacController.h
  *
- * PMAC V3 controller driver based on the asynMotorController class
+ * Turbo PMAC controller driver based on the asynMotorController class
  *
  * Stefan Mathis, September 2024
  ********************************************/
 
-#ifndef pmacv3Controller_H
-#define pmacv3Controller_H
-#include "pmacv3Axis.h"
+#ifndef turboPmacController_H
+#define turboPmacController_H
 #include "sinqAxis.h"
 #include "sinqController.h"
+#include "turboPmacAxis.h"
 
-#define IncrementalEncoder "Incremental encoder"
-#define AbsoluteEncoder "Absolute encoder"
-
-class pmacv3Controller : public sinqController {
+class turboPmacController : public sinqController {
 
   public:
     /**
-     * @brief Construct a new pmacv3Controller object
+     * @brief Construct a new turboPmacController object
      *
      * @param portName            See sinqController constructor
      * @param ipPortConfigName    See sinqController constructor
@@ -30,25 +27,27 @@ class pmacv3Controller : public sinqController {
     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);
+    turboPmacController(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
+     * @return turboPmacAxis*        If no axis could be found, this is a
+     * nullptr
      */
-    pmacv3Axis *getAxis(asynUser *pasynUser);
+    turboPmacAxis *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
+     * @return turboPmacAxis*        If no axis could be found, this is a
+     * nullptr
      */
-    pmacv3Axis *getAxis(int axisNo);
+    turboPmacAxis *getAxis(int axisNo);
 
     /**
      * @brief Overloaded function of sinqController
@@ -84,17 +83,17 @@ class pmacv3Controller : public sinqController {
                          int numExpectedResponses);
 
     /**
-     * @brief Save cast of the given asynAxis pointer to a pmacv3Axis pointer.
-     * If the cast fails, this function returns a nullptr.
+     * @brief Save cast of the given asynAxis pointer to a turboPmacAxis
+     * pointer. If the cast fails, this function returns a nullptr.
      *
      * @param asynAxis
-     * @return pmacv3Axis*
+     * @return turboPmacAxis*
      */
-    pmacv3Axis *castToAxis(asynMotorAxis *asynAxis);
+    turboPmacAxis *castToAxis(asynMotorAxis *asynAxis);
 
     /**
      * @brief Specialized version of sinqController::errMsgCouldNotParseResponse
-     * for pmacv3
+     * for turboPmac
      *
      * This is an overloaded version of
      * sinqController::errMsgCouldNotParseResponse which calls
@@ -122,16 +121,21 @@ class pmacv3Controller : public sinqController {
     static const uint32_t MAXBUF_ = 200;
 
     /*
-    Stores the constructor input comTimeout
+    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_;
-    int encoderType_;
+#define LAST_turboPmac_PARAM readConfig_
 
-    friend class pmacv3Axis;
+    friend class turboPmacAxis;
 };
+#define NUM_turboPmac_DRIVER_PARAMS                                            \
+    (&LAST_turboPmac_PARAM - &FIRST_turboPmac_PARAM + 1)
 
-#endif /* pmacv3Controller_H */
+#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.
+        """)
+