Ready for release 1.0

When the initialization fails, the motor will now try again during each
poll.

.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:

.gitmodules

@@ -0,0 +1,6 @@
+[submodule "sinqmotor"]
+	path = sinqmotor
+	url = https://gitea.psi.ch/lin-epics-modules/sinqmotor
+[submodule "sinqMotor"]
+	path = sinqMotor
+	url = https://gitea.psi.ch/lin-epics-modules/sinqMotor

LICENSE.txt

@@ -0,0 +1,674 @@
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+  Each version is given a distinguishing version number.  If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation.  If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+  If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
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+to choose that version for the Program.
+
+  Later license versions may give you additional or different
+permissions.  However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+  15. Disclaimer of Warranty.
+
+  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
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+  16. Limitation of Liability.
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+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
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+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    {one line to give the program's name and a brief idea of what it does.}
+    Copyright (C) {year}  {name of author}
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    {project}  Copyright (C) {year}  {fullname}
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.

Makefile

@@ -1,30 +1,37 @@
-# Use the PSI build system
+# Include the external Makefile
 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+=sinqMotor
+REQUIRED+=motorBase
 
-# Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.4.0
+# Specify the version of motorBase we want to build against
+motorBase_VERSION=7.2.2
 
 # These headers allow to depend on this library for derived drivers.
-HEADERS += src/pmacv3Axis.h
-HEADERS += src/pmacv3Controller.h
+HEADERS += src/pmacAsynIPPort.h
+HEADERS += src/turboPmacAxis.h
+HEADERS += src/turboPmacController.h
 
 # Source files to build
-SOURCES += src/pmacv3Axis.cpp
-SOURCES += src/pmacv3Controller.cpp
+SOURCES += sinqMotor/src/msgPrintControl.cpp
+SOURCES += sinqMotor/src/sinqAxis.cpp
+SOURCES += sinqMotor/src/sinqController.cpp
+SOURCES += src/pmacAsynIPPort.c
+SOURCES += src/turboPmacAxis.cpp
+SOURCES += src/turboPmacController.cpp
 
 # Store the record files
-TEMPLATES += db/pmacv3.db
+TEMPLATES += sinqMotor/db/asynRecord.db
+TEMPLATES += sinqMotor/db/sinqMotor.db
+TEMPLATES += db/turboPmac.db
 
 # This file registers the motor-specific functions in the IOC shell.
-DBDS += src/pmacv3.dbd
+DBDS += sinqMotor/src/sinqMotor.dbd
+DBDS += src/turboPmac.dbd
 
-USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result # -Werror
+USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings

README.md

@@ -1,42 +1,74 @@
-# pmacv3
+# turboPmac
+
+## <span style="color:red">Please read the documentation of sinqMotor first: https://git.psi.ch/sinq-epics-modules/sinqmotor</span>
 
 ## 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://gitea.psi.ch/lin-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.
+This driver is a standard sinqMotor-derived which however uses a special low level IP Port driver (`pmacAsynIPPortConfigure`) instead of the standard `drvAsynIPPortConfigure`. 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.
+
+### IOC startup script
+
+turboPmac exports the following IOC shell functions:
+- `turboPmacController`: Create a new controller object.
+- `turboPmacAxis`: Create a new axis object.
+
+The full turboPmacX.cmd file looks like this:
+
+```
+# Define the name of the controller and the corresponding port
+epicsEnvSet("DRIVER_PORT","turboPmacX")
+epicsEnvSet("IP_PORT","p$(DRIVER_PORT)")
+
+# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name.
+# We do not use the standard asyn port driver here, but a PMAC-specific one which enables the usage of StreamDevices for
+# communicating with the controller directly.
+pmacAsynIPPortConfigure("$(IP_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("$(DRIVER_PORT)", "$(IP_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("$(DRIVER_PORT)",1);
+turboPmacAxis("$(DRIVER_PORT)",2);
+turboPmacAxis("$(DRIVER_PORT)",5);
+
+# Set the number of subsequent timeouts 
+setMaxSubsequentTimeouts("$(DRIVER_PORT)", 20);
+
+# Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed in 300 seconds before an alarm message is sent.
+setThresholdComTimeout("$(DRIVER_PORT)", 300, 10);
+
+# Parametrize the EPICS record database with the substitution file named after the MCU.
+epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/sinqMotor.db")
+dbLoadTemplate("$(TOP)/$(DRIVER_PORT).substitutions", "INSTR=$(INSTR)$(DRIVER_PORT):,CONTROLLER=$(DRIVER_PORT)")
+epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/turboPmac.db")
+dbLoadTemplate("$(TOP)/$(DRIVER_PORT).substitutions", "INSTR=$(INSTR)$(DRIVER_PORT):,CONTROLLER=$(DRIVER_PORT)")
+dbLoadRecords("$(turboPmac_DB)/asynRecord.db","P=$(INSTR)$(DRIVER_PORT),PORT=$(IP_PORT)")
+```
+
+### Additional records
+
+`turboPmac` provides a variety of additional records. See `db/turboPmac.db` for the complete list and the documentation.
 
 ## 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.
-These functions are parametrized as follows:
-```
-pmacv3Controller(
-    "$(NAME)", # Name of the MCU, e.g. mcu1. This parameter should be provided by an environment variable.
-    "$(ASYN_PORT)", # IP-Port of the MCU. This parameter should be provided by an environment variable.
-    8, # Maximum number of axes
-    0.05, # Busy poll period in seconds
-    1, # Idle poll period in seconds
-    0.05 # Communication timeout in seconds
-    );
-```
-```
-pmacv3Axis(
-    "$(NAME)", # Name of the associated MCU, e.g. mcu1. This parameter should be provided by an environment variable.
-    1 # Index of the axis.
-    );
-```
-
 ### 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
 
-Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
+This driver can be compiled and installed by running `make install` from the same directory where the Makefile is located. However, since it uses the git submodule sinqMotor, make sure that the correct version of the submodule repository is checked out AND the change is commited (`git status` shows no non-committed changes). Please see the section "Usage as static dependency" in https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md for more details.

db/pmacv3.db

@@ -1,30 +0,0 @@
-# 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") {
-    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
-# 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") {
-    field(DTYP, "asynInt32")
-    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) READ_CONFIG")
-    field(PINI, "NO")
-}

db/turboPmac.db

@@ -0,0 +1,33 @@
+# 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")
+}
+
+# PMAC controllers can be "flushed" by setting a certain bit. This empties all
+# communication buffers. Once the flush is done, the controller acknowledges
+# this by sending an echo character. This procedure can take up to 10 ms (see 
+# Turbo PMAC User Manual, p. 414) and should therefore not be done as part of
+# "normal" communications (like the original pmacAsynIPPort driver from DLS 
+# does). The SINQ driver for the Turbo PMAC controller therefore offers this PV
+# in order to manually trigger a controller flush by writing any value to this PV.
+record(longout, "$(INSTR)FlushHardware") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) FLUSH_HARDWARE")
+    field(PINI, "NO")
+    field(VAL, "1")
+}

src/pmacAsynIPPort.c

@@ -0,0 +1,975 @@
+/*
+NOTES
+
+This driver is an asyn interpose driver intended for use with pmacAsynMotor
+to allow communication over ethernet to a PMAC.
+
+*** Ensure I3=2 and I6=1 on the PMAC before using this driver. ***
+
+This driver supports sending ascii commands to the PMAC over asyn IP and
+obtaining the response. The driver uses the PMAC ethernet packets
+VR_PMAC_GETRESPONSE, VR_PMAC_READREADY and VR_PMAC_GETBUFFER to send commands
+and get responses. The PMAC may send responses in several different formats.
+1) PMAC ascii command responses for single/multiple commands (e.g. I113 I114
+I130 I131 I133) are in an ACK terminated form as follows (CR seperates the
+cmd responses): data<CR(13)>data<CR(13)>data<CR(13)><ACK(6)> 2) PMAC error
+responses to ascii commands ARE NOT ACK terminated as follows:
+        <BELL(7)>ERRxxx<CR(13)>
+3) PMAC may also return the following:
+        <STX(2)>data<CR(13)>
+
+This driver can send ctrl commands (ctrl B/C/F/G/P/V) to the pmac (using
+VR_CTRL_REPONSE packet) however because the resulting  response data is not
+terminated as above the driver does not know when all the response data has
+been received. The response data will therefore only be returned after the
+asynUser.timeout has expired.
+
+This driver does NOT support large buffer transfers (VR_PMAC_WRITEBUFFER,
+VR_FWDOWNLOAD) or set/get of DPRAM (VR_PMAC_SETMEM etc) or changing comms
+setup (VR_IPADDRESS, VR_PMAC_PORT)
+
+
+REVISION HISTORY
+
+10 Aug 07 - Pete Leicester - Diamond Light Source
+Modified to handle responses other than those ending in <ACK> (e.g. errors) -
+No longer used asyn EOS.
+
+9 Aug 07 - Pete Leicester - Diamond Light Source
+Initial version reliant on asyn EOS to return <ACK> terminated responses.
+
+2 Feb 09 - Matthew Pearson - Diamond Light Source
+Ported to work with Asyn 4-10. Still compiles with pre Asyn4-10 versions but
+does not work. Also added new config function, pmacAsynIPPortConfigureEos(),
+to be used when disabling low level EOS handling in the Asyn IP layer. This
+new function should be used with Asyn 4-10 and above (it is not compatible
+with Asyn 4-9).
+
+10 Apr 25 - Stefan Mathis - Paul Scherrer Institut
+Adjusted the driver to the requirements of SINQ:
+- Added a lot of comments, removed the predecessor of
+pmacAsynIPPortConfigureEos() since SINQ doesn't need it (see comment above)
+- Removed the call to `pmacFlush` from `flushItOctet`: We want to flush the
+communication buffer on the IOC side before each communication, but we do not
+want to flush the PMAC controller itself, since this stalls the controller for
+10 ms everytime (see Turbo PMAC User Manual, p. 414). Instead, a PV was added in
+the higher level `turboPmac` driver to manually call the `pmacFlush` function.
+*/
+
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <cantProceed.h>
+#include <epicsAssert.h>
+#include <epicsStdio.h>
+#include <epicsString.h>
+#include <iocsh.h>
+#include <osiSock.h>
+
+#include "asynDriver.h"
+#include "asynInt32.h"
+#include "asynInterposeEos.h"
+#include "asynOctet.h"
+#include "drvAsynIPPort.h"
+#include "epicsThread.h"
+#include "pmacAsynIPPort.h"
+#include <epicsExport.h>
+
+#define ETHERNET_DATA_SIZE 1492
+#define MAX_BUFFER_SIZE 2097152
+#define INPUT_SIZE                                                             \
+    (ETHERNET_DATA_SIZE + 1) /* +1 to allow space to add terminating ACK */
+#define STX '\2'
+#define CTRLB '\2'
+#define CTRLC '\3'
+#define ACK '\6'
+#define CTRLF '\6'
+#define BELL '\7'
+#define CTRLG '\7'
+#define CTRLP '\16'
+#define CTRLV '\22'
+#define CTRLX '\24'
+
+/* PMAC ethernet command structure */
+#pragma pack(1)
+typedef struct tagEthernetCmd {
+    unsigned char RequestType;
+    unsigned char Request;
+    unsigned short wValue;
+    unsigned short wIndex;
+    unsigned short wLength; /* length of bData */
+    unsigned char bData[ETHERNET_DATA_SIZE];
+} ethernetCmd;
+#pragma pack()
+
+#define ETHERNET_CMD_HEADER (sizeof(ethernetCmd) - ETHERNET_DATA_SIZE)
+
+/* PMAC ethernet commands - RequestType field */
+#define VR_UPLOAD 0xC0
+#define VR_DOWNLOAD 0x40
+
+/* PMAC ethernet commands - Request field */
+#define VR_PMAC_SENDLINE 0xB0
+#define VR_PMAC_GETLINE 0xB1
+#define VR_PMAC_FLUSH 0xB3
+#define VR_PMAC_GETMEM 0xB4
+#define VR_PMAC_SETMEN 0xB5
+#define VR_PMAC_SETBIT 0xBA
+#define VR_PMAC_SETBITS 0xBB
+#define VR_PMAC_PORT 0xBE
+#define VR_PMAC_GETRESPONSE 0xBF
+#define VR_PMAC_READREADY 0xC2
+#define VR_CTRL_RESPONSE 0xC4
+#define VR_PMAC_GETBUFFER 0xC5
+#define VR_PMAC_WRITEBUFFER 0xC6
+#define VR_PMAC_WRITEERROR 0xC7
+#define VR_FWDOWNLOAD 0xCB
+#define VR_IPADDRESS 0xE0
+
+/* PMAC control character commands (VR_CTRL_RESPONSE cmd) */
+static char ctrlCommands[] = {CTRLB, CTRLC, CTRLF, CTRLG, CTRLP, CTRLV};
+
+/**
+ * @brief PMAC_specific equivalent of the ioPvt struct from
+ * asyn/interfaces/asynOctetSyncIo.c
+ *
+ */
+typedef struct pmacPvt {
+    char *portName;
+    int addr;
+    asynInterface int32Interface;
+    asynInt32 *pint32; /* The methods we're overriding */
+    void *int32Pvt;
+    asynInterface octetInterface;
+    asynOctet *poctet; /* The methods we're overriding */
+    void *octetPvt;
+    asynUser *pasynUser; /* For connect/disconnect reporting */
+    ethernetCmd *poutCmd;
+    ethernetCmd *pinCmd;
+    char *inBuf;
+    unsigned int inBufHead;
+    unsigned int inBufTail;
+} pmacPvt;
+
+/*
+   Notes on asyn
+   use asynUser.timeout to specify I/O request timeouts in seconds
+   asynStatus may return asynSuccess(0),asynTimeout(1),asynOverflow(2) or
+   asynError(3) eomReason may return ASYN_EOM_CNT (1:Request count reached),
+   ASYN_EOM_EOS (2:End of String detected), ASYN_EOM_END (4:End indicator
+   detected) asynError indicates that asynUser.errorMessage has been populated
+   by epicsSnprintf().
+*/
+
+/* Connect/disconnect handling */
+static void pmacInExceptionHandler(asynUser *pasynUser,
+                                   asynException exception);
+
+// =============================================================================
+
+/* Declare asynInt32 here, and assign functions later on
+(compatible with both Asyn 4-10 and pre 4-10 versions).*/
+static asynInt32 int32;
+
+/* Declare asynInt32 methods (they are defined down below) */
+static asynStatus writeInt32(void *drvPvt, asynUser *pasynUser,
+                             epicsInt32 value);
+static asynStatus readInt32(void *drvPvt, asynUser *pasynUser,
+                            epicsInt32 *value);
+static asynStatus getBoundsInt32(void *drvPvt, asynUser *pasynUser,
+                                 epicsInt32 *low, epicsInt32 *high);
+static asynStatus registerInterruptUserInt32(void *drvPvt, asynUser *pasynUser,
+                                             interruptCallbackInt32 callback,
+                                             void *userPvt,
+                                             void **registrarPvt);
+static asynStatus cancelInterruptUserInt32(void *drvPvt, asynUser *pasynUser,
+                                           void *registrarPvt);
+
+// =============================================================================
+
+/* Declare asynOctet here, and assign functions later on
+(compatible with both Asyn 4-10 and pre 4-10 versions).*/
+static asynOctet octet;
+
+/* Declare asynOctet methods (they are defined down below) */
+static asynStatus writeItOctet(void *drvPvt, asynUser *pasynUser,
+                               const char *data, size_t numchars,
+                               size_t *nbytesTransfered);
+static asynStatus readItOctet(void *drvPvt, asynUser *pasynUser, char *data,
+                              size_t maxchars, size_t *nbytesTransfered,
+                              int *eomReason);
+static asynStatus flushItOctet(void *drvPvt, asynUser *pasynUser);
+static asynStatus registerInterruptUserOctet(void *drvPvt, asynUser *pasynUser,
+                                             interruptCallbackOctet callback,
+                                             void *userPvt,
+                                             void **registrarPvt);
+static asynStatus cancelInterruptUserOctet(void *drvPvt, asynUser *pasynUser,
+                                           void *registrarPvt);
+static asynStatus setInputEosOctet(void *drvPvt, asynUser *pasynUser,
+                                   const char *eos, int eoslen);
+static asynStatus getInputEosOctet(void *drvPvt, asynUser *pasynUser, char *eos,
+                                   int eossize, int *eoslen);
+static asynStatus setOutputEosOctet(void *drvPvt, asynUser *pasynUser,
+                                    const char *eos, int eoslen);
+static asynStatus getOutputEosOctet(void *drvPvt, asynUser *pasynUser,
+                                    char *eos, int eossize, int *eoslen);
+
+// =============================================================================
+
+// Declare PMAC-specific functions (they are defined down below)
+
+static asynStatus readResponse(pmacPvt *pPmacPvt, asynUser *pasynUser,
+                               size_t maxchars, size_t *nbytesTransfered,
+                               int *eomReason);
+static int pmacReadReady(pmacPvt *pPmacPvt, asynUser *pasynUser);
+static int pmacFlush(pmacPvt *pPmacPvt, asynUser *pasynUser);
+static asynStatus sendPmacGetBuffer(pmacPvt *pPmacPvt, asynUser *pasynUser,
+                                    size_t maxchars, size_t *nbytesTransfered);
+
+// =============================================================================
+
+epicsShareFunc int pmacAsynIPPortConfigure(const char *portName,
+                                           const char *hostInfo) {
+    asynStatus status = asynSuccess;
+    asynInterface *int32LowerLevelInterface = NULL;
+    asynInterface *octetLowerLevelInterface = NULL;
+    asynUser *pasynUser = NULL;
+    size_t len = 0;
+
+    /*
+    The asyn adress is always set to 0. This is taken verbatim from the DLS
+    source code
+    (https://github.com/DiamondLightSource/pmac/blob/afe81f8bb9179c3a20eff351f30bc6cfd1539ad9/pmacApp/pmacAsynIPPortSrc/pmacAsynIPPort.c#L192)
+    */
+    int addr = 0;
+
+    /*
+    This is the generic "parent" function of this function which is also
+    exported in the IOC shell and used for drivers which don't use a specialized
+    interpose layer.
+    */
+    if ((status = drvAsynIPPortConfigure(portName, hostInfo, 0, 0, 1)) != 0) {
+        printf(
+            "pmacAsynIPPortConfigure: error from drvAsynIPPortConfigure. Port: "
+            "%s\n",
+            portName);
+    }
+
+    /*
+    Assign specialized versions of the methods from
+    asyn/interfaces/asynInt32SyncIo.c
+    */
+    int32.write = writeInt32;
+    int32.read = readInt32;
+    int32.getBounds = getBoundsInt32;
+    int32.registerInterruptUser = registerInterruptUserInt32;
+    int32.cancelInterruptUser = cancelInterruptUserInt32;
+
+    /*
+    Assign specialized versions of the methods from
+    asyn/interfaces/asynOctetSyncIO.c
+    */
+    octet.write = writeItOctet;
+    octet.read = readItOctet;
+    octet.flush = flushItOctet;
+    octet.setInputEos = setInputEosOctet;
+    octet.setOutputEos = setOutputEosOctet;
+    octet.getInputEos = getInputEosOctet;
+    octet.getOutputEos = getOutputEosOctet;
+    octet.registerInterruptUser = registerInterruptUserOctet;
+    octet.cancelInterruptUser = cancelInterruptUserOctet;
+
+    len = sizeof(pmacPvt) + strlen(portName) + 1;
+    pmacPvt *pPmacPvt = callocMustSucceed(
+        1, len,
+        "calloc pPmacPvt error in pmacAsynIPPort::pmacAsynIPPortConfigure.");
+
+    pPmacPvt->portName = (char *)(pPmacPvt + 1);
+
+    strcpy(pPmacPvt->portName, portName);
+    pPmacPvt->addr = addr;
+
+    pPmacPvt->int32Interface.interfaceType = asynInt32Type;
+    pPmacPvt->int32Interface.pinterface = &int32;
+    pPmacPvt->int32Interface.drvPvt = pPmacPvt;
+
+    status = pasynInt32Base->initialize(pPmacPvt->portName,
+                                        &pPmacPvt->int32Interface);
+    if (status != asynSuccess) {
+        printf("pmacAsynIPPortConfigure: Can't register int32.\n");
+        pasynManager->freeAsynUser(pasynUser);
+        free(pPmacPvt);
+        return -1;
+    }
+
+    pPmacPvt->octetInterface.interfaceType = asynOctetType;
+    pPmacPvt->octetInterface.pinterface = &octet;
+    pPmacPvt->octetInterface.drvPvt = pPmacPvt;
+
+    // We don't need to initialize the octet interface, since the interface type
+    // asynOctetType has already been initialized in drvAsynIPPortConfigure(..).
+
+    pasynUser = pasynManager->createAsynUser(0, 0);
+    pPmacPvt->pasynUser = pasynUser;
+    pPmacPvt->pasynUser->userPvt = pPmacPvt;
+
+    // In case connecting to the given IP port fails, clean up the memory
+    status = pasynManager->connectDevice(pasynUser, portName, addr);
+    if (status != asynSuccess) {
+        printf("pmacAsynIPPortConfigure: %s connectDevice failed\n", portName);
+        pasynManager->freeAsynUser(pasynUser);
+        free(pPmacPvt);
+        return -1;
+    }
+
+    status =
+        pasynManager->exceptionCallbackAdd(pasynUser, pmacInExceptionHandler);
+    if (status != asynSuccess) {
+        printf("pmacAsynIPPortConfigure: %s exceptionCallbackAdd failed\n",
+               portName);
+        pasynManager->freeAsynUser(pasynUser);
+        free(pPmacPvt);
+        return -1;
+    }
+
+    status = pasynManager->interposeInterface(
+        portName, addr, &pPmacPvt->int32Interface, &(int32LowerLevelInterface));
+    if (status != asynSuccess) {
+        printf("pmacAsynIPPortConfigure: %s interposeInterface failed\n",
+               portName);
+        pasynManager->exceptionCallbackRemove(pasynUser);
+        pasynManager->freeAsynUser(pasynUser);
+        free(pPmacPvt);
+        return -1;
+    }
+    pPmacPvt->pint32 = (asynInt32 *)int32LowerLevelInterface->pinterface;
+    pPmacPvt->int32Pvt = int32LowerLevelInterface->drvPvt;
+
+    status = pasynManager->interposeInterface(
+        portName, addr, &pPmacPvt->octetInterface, &(octetLowerLevelInterface));
+    if (status != asynSuccess) {
+        printf("pmacAsynIPPortConfigure: %s interposeInterface failed\n",
+               portName);
+        pasynManager->exceptionCallbackRemove(pasynUser);
+        pasynManager->freeAsynUser(pasynUser);
+        free(pPmacPvt);
+        return -1;
+    }
+    pPmacPvt->poctet = (asynOctet *)octetLowerLevelInterface->pinterface;
+    pPmacPvt->octetPvt = octetLowerLevelInterface->drvPvt;
+
+    pPmacPvt->poutCmd = callocMustSucceed(
+        1, sizeof(ethernetCmd),
+        "calloc poutCmd error in pmacAsynIPPort::pmacAsynIPPortCommon().");
+    pPmacPvt->pinCmd = callocMustSucceed(
+        1, sizeof(ethernetCmd),
+        "calloc pinCmd error in pmacAsynIPPort::pmacAsynIPPortCommon().");
+
+    pPmacPvt->inBuf = callocMustSucceed(
+        1, MAX_BUFFER_SIZE,
+        "calloc inBuf error in pmacAsynIPPort::pmacAsynIPPortCommon().");
+
+    pPmacPvt->inBufHead = 0;
+    pPmacPvt->inBufTail = 0;
+
+    // Interpose EOS handling layer, above the PMAC IP layer.
+    asynInterposeEosConfig(portName, addr, 1, 1);
+
+    return status;
+}
+
+static void pmacInExceptionHandler(asynUser *pasynUser,
+                                   asynException exception) {
+    pmacPvt *pPmacPvt = (pmacPvt *)pasynUser->userPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacInExceptionHandler\n");
+
+    if (exception == asynExceptionConnect) {
+        pPmacPvt->inBufHead = 0;
+        pPmacPvt->inBufTail = 0;
+    }
+}
+
+/*
+    Read reponse data from PMAC into buffer pmacPvt.inBuf. If there is no data
+   in the asyn buffer then issue pmac GETBUFFER command to get any outstanding
+   data still on the PMAC.
+*/
+static asynStatus readResponse(pmacPvt *pPmacPvt, asynUser *pasynUser,
+                               size_t maxchars, size_t *nbytesTransfered,
+                               int *eomReason) {
+    asynStatus status = asynSuccess;
+    size_t thisRead = 0;
+    *nbytesTransfered = 0;
+    if (maxchars > INPUT_SIZE)
+        maxchars = INPUT_SIZE;
+
+    asynPrint(
+        pasynUser, ASYN_TRACE_FLOW,
+        "pmacAsynIPPort::readResponse. Performing pPmacPvt->poctet->read().\n");
+
+    status =
+        pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser, pPmacPvt->inBuf,
+                               maxchars, &thisRead, eomReason);
+
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "%s readResponse1 maxchars=%zd, thisRead=%zd, eomReason=%d, "
+              "status=%u\n",
+              pPmacPvt->portName, maxchars, thisRead, *eomReason, status);
+    if (status == asynTimeout && thisRead == 0 && pasynUser->timeout > 0) {
+        /* failed to read as many characters as required into the input buffer,
+           check for more response data on the PMAC */
+        if (pmacReadReady(pPmacPvt, pasynUser)) {
+
+            status = sendPmacGetBuffer(pPmacPvt, pasynUser, maxchars,
+                                       nbytesTransfered);
+            asynPrintIO(pasynUser, ASYN_TRACE_FLOW, (char *)pPmacPvt->pinCmd,
+                        ETHERNET_CMD_HEADER, "%s write GETBUFFER\n",
+                        pPmacPvt->portName);
+
+            /* We have nothing to return at the moment so read again */
+            status = pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser,
+                                            pPmacPvt->inBuf, maxchars,
+                                            &thisRead, eomReason);
+
+            asynPrint(pasynUser, ASYN_TRACE_FLOW,
+                      "%s readResponse2 maxchars=%zd, thisRead=%zd, "
+                      "eomReason=%d, status=%u\n",
+                      pPmacPvt->portName, maxchars, thisRead, *eomReason,
+                      status);
+        }
+    }
+
+    if (thisRead > 0) {
+        if (status == asynTimeout)
+            status = asynSuccess;
+        *nbytesTransfered = thisRead;
+        pPmacPvt->inBufTail = 0;
+        pPmacPvt->inBufHead = thisRead;
+    }
+
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "pmacAsynIPPort::readResponse. END\n");
+
+    return status;
+}
+
+/*
+   Send ReadReady command to PMAC to discover if there is any data to read from
+   it. Returns: 0 - no data available 1 - data available
+*/
+static int pmacReadReady(pmacPvt *pPmacPvt, asynUser *pasynUser) {
+    ethernetCmd cmd;
+    char data[2] = {0};
+    asynStatus status;
+    size_t thisRead = 0;
+    size_t nbytesTransfered = 0;
+    int eomReason = 0;
+    int retval = 0;
+
+    cmd.RequestType = VR_UPLOAD;
+    cmd.Request = VR_PMAC_READREADY;
+    cmd.wValue = 0;
+    cmd.wIndex = 0;
+    cmd.wLength = htons(2);
+
+    status =
+        pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser, (char *)&cmd,
+                                ETHERNET_CMD_HEADER, &nbytesTransfered);
+
+    if (status != asynSuccess) {
+        asynPrintIO(pasynUser, ASYN_TRACE_ERROR, (char *)&cmd,
+                    ETHERNET_CMD_HEADER, "%s write pmacReadReady fail\n",
+                    pPmacPvt->portName);
+    }
+
+    status = pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser, data, 2,
+                                    &thisRead, &eomReason);
+
+    if (status == asynSuccess) {
+        if (thisRead == 2 && data[0] != 0) {
+            retval = 1;
+        }
+        asynPrintIO(pasynUser, ASYN_TRACE_FLOW, data, thisRead,
+                    "%s read pmacReadReady OK thisRead=%zd\n",
+                    pPmacPvt->portName, thisRead);
+    } else {
+        asynPrint(pasynUser, ASYN_TRACE_ERROR,
+                  "%s read pmacReadReady failed status=%d, retval=%d\n",
+                  pPmacPvt->portName, status, retval);
+    }
+    return retval;
+}
+
+/**
+ * @brief Flush the PMAC communication buffer
+ *
+Send a Flush command to PMAC and wait for confirmation ctrlX to be returned
+according to the Turbo PMAC user manual, p. 414 Returns: 0 - failed 1 - success
+
+ * @param pPmacPvt
+ * @param pasynUser
+ * @return int
+ */
+static int pmacFlush(pmacPvt *pPmacPvt, asynUser *pasynUser) {
+
+    ethernetCmd cmd;
+    char data[2];
+    asynStatus status = asynSuccess;
+    size_t thisRead;
+    size_t nbytesTransfered = 0;
+    int eomReason = 0;
+    int retval = 0;
+
+    cmd.RequestType = VR_DOWNLOAD;
+    cmd.Request = VR_PMAC_FLUSH;
+    cmd.wValue = 0;
+    cmd.wIndex = 0;
+    cmd.wLength = 0;
+
+    status =
+        pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser, (char *)&cmd,
+                                ETHERNET_CMD_HEADER, &nbytesTransfered);
+
+    if (status != asynSuccess) {
+        asynPrintIO(pasynUser, ASYN_TRACE_ERROR, (char *)&cmd,
+                    ETHERNET_CMD_HEADER, "%s write pmacFlush fail\n",
+                    pPmacPvt->portName);
+    }
+
+    /* read flush acknowledgement character */
+    /* NB we don't check what the character is (manual sais ctrlX, we get 0x40
+     * i.e.VR_DOWNLOAD) */
+    status = pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser, data, 1,
+                                    &thisRead, &eomReason);
+
+    if (status == asynSuccess) {
+        asynPrint(pasynUser, ASYN_TRACE_FLOW, "%s read pmacFlush OK\n",
+                  pPmacPvt->portName);
+        retval = 1;
+    } else {
+        asynPrint(pasynUser, ASYN_TRACE_ERROR,
+                  "%s read pmacFlush failed - thisRead=%zd, eomReason=%d, "
+                  "status=%d\n",
+                  pPmacPvt->portName, thisRead, eomReason, status);
+    }
+
+    pPmacPvt->inBufTail = 0;
+    pPmacPvt->inBufHead = 0;
+
+    return retval;
+}
+
+static asynStatus sendPmacGetBuffer(pmacPvt *pPmacPvt, asynUser *pasynUser,
+                                    size_t maxchars, size_t *nbytesTransfered) {
+    asynStatus status = 0;
+    ethernetCmd *inCmd = NULL;
+
+    inCmd = pPmacPvt->pinCmd;
+    inCmd->RequestType = VR_UPLOAD;
+    inCmd->Request = VR_PMAC_GETBUFFER;
+    inCmd->wValue = 0;
+    inCmd->wIndex = 0;
+    inCmd->wLength = htons(maxchars);
+    status = pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser,
+                                     (char *)pPmacPvt->pinCmd,
+                                     ETHERNET_CMD_HEADER, nbytesTransfered);
+
+    return status;
+}
+
+/*
+Implementation of asynInt32 methods
+Most of these implementations just redirect to the corresponding implementation
+in asyn/interfaces/asynInt32Base.c
+*/
+// =============================================================================
+
+static asynStatus writeInt32(void *drvPvt, asynUser *pasynUser,
+                             epicsInt32 value) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::writeInt32\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    if (pasynUser->reason == FLUSH_HARDWARE) {
+        /*
+        According to the Turbo PMAC user manual, p. 414:
+        0 - failed 1 - success
+        */
+        if (pmacFlush(pPmacPvt, pasynUser) == 1) {
+            return asynSuccess;
+        } else {
+            return asynError;
+        }
+    } else {
+        return pPmacPvt->pint32->write(pPmacPvt->int32Pvt, pasynUser, value);
+    }
+}
+
+static asynStatus readInt32(void *drvPvt, asynUser *pasynUser,
+                            epicsInt32 *value) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::readInt32\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    return pPmacPvt->pint32->read(pPmacPvt->int32Pvt, pasynUser, value);
+}
+
+static asynStatus getBoundsInt32(void *drvPvt, asynUser *pasynUser,
+                                 epicsInt32 *low, epicsInt32 *high) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::getBoundsInt32\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    return pPmacPvt->pint32->getBounds(pPmacPvt->int32Pvt, pasynUser, low,
+                                       high);
+}
+
+static asynStatus registerInterruptUserInt32(void *drvPvt, asynUser *pasynUser,
+                                             interruptCallbackInt32 callback,
+                                             void *userPvt,
+                                             void **registrarPvt) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "pmacAsynIPPort::registerInterruptUserInt32\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    return pPmacPvt->pint32->registerInterruptUser(
+        pPmacPvt->int32Pvt, pasynUser, callback, userPvt, registrarPvt);
+}
+
+static asynStatus cancelInterruptUserInt32(void *drvPvt, asynUser *pasynUser,
+                                           void *registrarPvt) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "pmacAsynIPPort::cancelInterruptUserInt32\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    return pPmacPvt->pint32->cancelInterruptUser(pPmacPvt->int32Pvt, pasynUser,
+                                                 registrarPvt);
+}
+
+/*
+Implementation of asynOctet methods
+Most of these implementations just redirect to the corresponding implementation
+in asyn/interfaces/asynOctetBase.c
+*/
+// =============================================================================
+
+/* This function sends either a ascii string command to the PMAC using
+   VR_PMAC_GETRESPONSE or a single control character (ctrl B/C/F/G/P/V) using
+   VR_CTRL_RESPONSE
+*/
+static asynStatus writeItOctet(void *drvPvt, asynUser *pasynUser,
+                               const char *data, size_t numchars,
+                               size_t *nbytesTransfered) {
+    asynStatus status;
+    ethernetCmd *outCmd;
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    size_t nbytesActual = 0;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::writeItOctet\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    /* NB currently we assume control characters arrive as individual
+       characters/calls to this routine. Idealy we should probably scan the data
+       buffer for control commands and do PMAC_GETRESPONSE and CTRL_RESPONSE
+       commands as necessary,  */
+    outCmd = pPmacPvt->poutCmd;
+    if (numchars == 1 && strchr(ctrlCommands, data[0])) {
+        outCmd->RequestType = VR_UPLOAD;
+        outCmd->Request = VR_CTRL_RESPONSE;
+        outCmd->wValue = data[0];
+        outCmd->wIndex = 0;
+        outCmd->wLength = htons(0);
+        status = pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser,
+                                         (char *)pPmacPvt->poutCmd,
+                                         ETHERNET_CMD_HEADER, &nbytesActual);
+        *nbytesTransfered =
+            (nbytesActual == ETHERNET_CMD_HEADER) ? numchars : 0;
+    } else {
+        if (numchars > ETHERNET_DATA_SIZE) {
+            /* NB large data should probably be sent using PMAC_WRITEBUFFER
+             * which isnt implemented yet - for the moment just truncate */
+            numchars = ETHERNET_DATA_SIZE;
+            asynPrint(pasynUser, ASYN_TRACE_ERROR,
+                      "writeItOctet - ERROR TRUNCATED\n");
+        }
+
+        /*
+        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.
+        */
+        outCmd->RequestType = VR_DOWNLOAD;
+        outCmd->Request = VR_PMAC_GETRESPONSE;
+        outCmd->wValue = 0;
+        outCmd->wIndex = 0;
+        outCmd->wLength = htons(numchars);
+        memcpy(outCmd->bData, data, numchars);
+        status = pPmacPvt->poctet->write(
+            pPmacPvt->octetPvt, pasynUser, (char *)pPmacPvt->poutCmd,
+            numchars + ETHERNET_CMD_HEADER, &nbytesActual);
+        *nbytesTransfered = (nbytesActual > ETHERNET_CMD_HEADER)
+                                ? (nbytesActual - ETHERNET_CMD_HEADER)
+                                : 0;
+    }
+
+    asynPrintIO(pasynUser, ASYN_TRACE_FLOW, (char *)pPmacPvt->poutCmd,
+                numchars + ETHERNET_CMD_HEADER, "%s writeItOctet\n",
+                pPmacPvt->portName);
+
+    return status;
+}
+
+/*
+This function reads data using read() into a local buffer and then look for
+message terminating characters and returns a complete response (or times
+out), adding on ACK if neccessary. The PMAC command response may be any of
+the following:- data<CR>data<CR>....data<CR><ACK> <BELL>data<CR> e.g. an
+error <BELL>ERRxxx<CR> <STX>data<CR> (NB asyn EOS only allows one message
+terminator to be specified. We add on ACK for the EOS layer above.)
+*/
+static asynStatus readItOctet(void *drvPvt, asynUser *pasynUser, char *data,
+                              size_t maxchars, size_t *nbytesTransfered,
+                              int *eomReason) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynStatus status = asynSuccess;
+    size_t thisRead = 0;
+    size_t nRead = 0;
+    int bell = 0;
+    int initialRead = 1;
+
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "pmacAsynIPPort::readItOctet. START\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    if (maxchars > 0) {
+        for (;;) {
+            if ((pPmacPvt->inBufTail != pPmacPvt->inBufHead)) {
+                *data = pPmacPvt->inBuf[pPmacPvt->inBufTail++];
+                if (*data == BELL || *data == STX)
+                    bell = 1;
+                if (*data == '\r' && bell) {
+                    /* <BELL>xxxxxx<CR> or <STX>xxxxx<CR> received - its
+                     * probably an error response (<BELL>ERRxxx<CR>) - assume
+                     * there is no more response data to come */
+                    nRead++; /* make sure the <CR> is passed to the client app
+                              */
+                    /*Add on ACK, because that's what we expect to be EOS in EOS
+                     * interpose layer.*/
+                    if ((nRead + 1) > maxchars) {
+                        /*If maxchars is reached overwrite <CR> with ACK, so
+                         * that no more reads will be done from EOS layer.*/
+                        *data = ACK;
+                    } else {
+                        data++;
+                        nRead++;
+                        *data = ACK;
+                    }
+                    break;
+                }
+                if (*data == ACK || *data == '\n') {
+                    /* <ACK> or <LF> received - assume there is no more response
+                     * data to come */
+                    /* If <LF>, replace with an ACK.*/
+                    if (*data == '\n') {
+                        *data = ACK;
+                    }
+                    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+                              "Message was terminated with ACK in "
+                              "pmacAsynIPPort::readItOctet.\n");
+                    /*Pass ACK up to Asyn EOS handling layer.*/
+                    data++;
+                    nRead++;
+                    break;
+                }
+                data++;
+                nRead++;
+                if (nRead >= maxchars)
+                    break;
+                continue;
+            }
+
+            asynPrint(pasynUser, ASYN_TRACE_FLOW,
+                      "pmacAsynIPPort::readItOctet. Calling readResponse().\n");
+            if (!initialRead) {
+                if (pmacReadReady(pPmacPvt, pasynUser)) {
+                    status = sendPmacGetBuffer(pPmacPvt, pasynUser, maxchars,
+                                               nbytesTransfered);
+                }
+            }
+            status = readResponse(pPmacPvt, pasynUser, maxchars - nRead,
+                                  &thisRead, eomReason);
+            initialRead = 0;
+            if (status != asynSuccess || thisRead == 0)
+                break;
+        }
+    }
+    *nbytesTransfered = nRead;
+
+    asynPrintIO(
+        pasynUser, ASYN_TRACE_FLOW, data, *nbytesTransfered,
+        "%s pmacAsynIPPort readItOctet nbytesTransfered=%zd, eomReason=%d, "
+        "status=%d\n",
+        pPmacPvt->portName, *nbytesTransfered, *eomReason, status);
+
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::readItOctet. END\n");
+
+    return status;
+}
+
+static asynStatus flushItOctet(void *drvPvt, asynUser *pasynUser) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynStatus status;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::flushItOctet\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    /*
+    See changelog at the file header: We do not want to flush the controller
+    during "normal" operation, since this stalls the controller.
+
+    pmacFlush(pPmacPvt, pasynUser);
+    */
+
+    status = pPmacPvt->poctet->flush(pPmacPvt->octetPvt, pasynUser);
+    return status;
+}
+
+static asynStatus registerInterruptUserOctet(void *drvPvt, asynUser *pasynUser,
+                                             interruptCallbackOctet callback,
+                                             void *userPvt,
+                                             void **registrarPvt) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "pmacAsynIPPort::registerInterruptUserOctet\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->registerInterruptUser(
+        pPmacPvt->octetPvt, pasynUser, callback, userPvt, registrarPvt);
+}
+
+static asynStatus cancelInterruptUserOctet(void *drvPvt, asynUser *pasynUser,
+                                           void *registrarPvt) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "pmacAsynIPPort::cancelInterruptUserOctet\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->cancelInterruptUser(pPmacPvt->octetPvt, pasynUser,
+                                                 registrarPvt);
+}
+
+static asynStatus setInputEosOctet(void *drvPvt, asynUser *pasynUser,
+                                   const char *eos, int eoslen) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::setInputEosOctet\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->setInputEos(pPmacPvt->octetPvt, pasynUser, eos,
+                                         eoslen);
+}
+
+static asynStatus getInputEosOctet(void *drvPvt, asynUser *pasynUser, char *eos,
+                                   int eossize, int *eoslen) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::getInputEosOctet\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->getInputEos(pPmacPvt->octetPvt, pasynUser, eos,
+                                         eossize, eoslen);
+}
+
+static asynStatus setOutputEosOctet(void *drvPvt, asynUser *pasynUser,
+                                    const char *eos, int eoslen) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "pmacAsynIPPort::setOutputEosOctet\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->setOutputEos(pPmacPvt->octetPvt, pasynUser, eos,
+                                          eoslen);
+}
+
+static asynStatus getOutputEosOctet(void *drvPvt, asynUser *pasynUser,
+                                    char *eos, int eossize, int *eoslen) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "pmacAsynIPPort::getOutputEosOctet\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->getOutputEos(pPmacPvt->octetPvt, pasynUser, eos,
+                                          eossize, eoslen);
+}
+
+// =============================================================================
+
+/* register pmacAsynIPPortConfigure*/
+static const iocshArg pmacAsynIPPortConfigureArg0 = {"portName",
+                                                     iocshArgString};
+static const iocshArg pmacAsynIPPortConfigureArg1 = {"hostInfo",
+                                                     iocshArgString};
+static const iocshArg *pmacAsynIPPortConfigureArgs[] = {
+    &pmacAsynIPPortConfigureArg0, &pmacAsynIPPortConfigureArg1};
+static const iocshFuncDef pmacAsynIPPortConfigFuncDef = {
+    "pmacAsynIPPortConfigure", 2, pmacAsynIPPortConfigureArgs, ""};
+static void pmacAsynIPPortConfigureCallFunc(const iocshArgBuf *args) {
+    pmacAsynIPPortConfigure(args[0].sval, args[1].sval);
+}
+
+static void pmacAsynIPPortRegister(void) {
+    static int firstTime = 1;
+    if (firstTime) {
+        firstTime = 0;
+        iocshRegister(&pmacAsynIPPortConfigFuncDef,
+                      pmacAsynIPPortConfigureCallFunc);
+    }
+}
+epicsExportRegistrar(pmacAsynIPPortRegister);

src/pmacAsynIPPort.h

@@ -0,0 +1,35 @@
+#ifndef asynInterposePmac_H
+#define asynInterposePmac_H
+
+#include <epicsExport.h>
+#include <shareLib.h>
+
+/*
+Value is chosen arbitrarily, it just needs to be unique
+*/
+#define FLUSH_HARDWARE 1
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+/**
+ * @brief Initialize a special asyn IP Port for PMAC controllers.
+ *
+ * Function that first initialises an asyn IP port and then the PMAC Asyn IP
+ * interpose layer. It is a wrapper for drvAsynIPPort::drvAsynIPPortConfigure()
+ * and pmacAsynIPPort::pmacAsynIPPortConfigureEos().
+ *
+ * @param portName The Asyn Port name string.
+ * @param hostInfo The hostname or IP address followed by IP port (eg.
+ * 172.23.243.156:1025)
+ * @return status
+ */
+epicsShareFunc int pmacAsynIPPortConfigure(const char *portName,
+                                           const char *hostInfo);
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif /* asynInterposePmac_H */

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 +1,6 @@
 #---------------------------------------------
 # SINQ specific DB definitions
 #---------------------------------------------
-registrar(pmacv3Register) 
+registrar(turboPmacControllerRegister) 
+registrar(turboPmacAxisRegister) 
+registrar(pmacAsynIPPortRegister)

src/turboPmacAxis.h

@@ -1,27 +1,31 @@
-#ifndef pmacv3AXIS_H
-#define pmacv3AXIS_H
+#ifndef turboPmacAXIS_H
+#define turboPmacAXIS_H
 #include "sinqAxis.h"
+#include <memory>
+
+struct turboPmacAxisImpl;
 
 // 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
      */
-    pmacv3Axis(pmacv3Controller *pController, int axisNo);
+    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
@@ -30,7 +34,7 @@ class pmacv3Axis : public sinqAxis {
      * value is currently not used.
      * @return asynStatus
      */
-    asynStatus stop(double acceleration);
+    virtual asynStatus stop(double acceleration);
 
     /**
      * @brief Implementation of the `doHome` function from sinqAxis. The
@@ -42,8 +46,8 @@ class pmacv3Axis : public sinqAxis {
      * @param forwards
      * @return asynStatus
      */
-    asynStatus doHome(double minVelocity, double maxVelocity,
-                      double acceleration, int forwards);
+    virtual asynStatus doHome(double minVelocity, double maxVelocity,
+                              double acceleration, int forwards);
 
     /**
      * @brief Implementation of the `doPoll` function from sinqAxis. The
@@ -52,7 +56,7 @@ class pmacv3Axis : public sinqAxis {
      * @param moving
      * @return asynStatus
      */
-    asynStatus doPoll(bool *moving);
+    virtual asynStatus doPoll(bool *moving);
 
     /**
      * @brief Implementation of the `doMove` function from sinqAxis. The
@@ -65,20 +69,29 @@ class pmacv3Axis : public sinqAxis {
      * @param acceleration
      * @return asynStatus
      */
-    asynStatus doMove(double position, int relative, double min_velocity,
-                      double max_velocity, double acceleration);
+    virtual asynStatus doMove(double position, int relative,
+                              double min_velocity, 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();
+    virtual asynStatus init();
+
+    /**
+     * @brief Implementation of the `doReset` function from sinqAxis.
+     *
+     * @param on
+     * @return asynStatus
+     */
+    virtual asynStatus doReset();
 
     /**
      * @brief Enable / disable the axis.
@@ -86,16 +99,7 @@ class pmacv3Axis : public sinqAxis {
      * @param on
      * @return asynStatus
      */
-    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);
+    virtual asynStatus enable(bool on);
 
     /**
      * @brief Read the encoder type (incremental or absolute) for this axis from
@@ -103,28 +107,43 @@ class pmacv3Axis : public sinqAxis {
      *
      * @return asynStatus
      */
-    asynStatus readEncoderType();
+    virtual asynStatus readEncoderType();
 
     /**
      * @brief Trigger a rereading of the encoder position.
      *
      * @return asynStatus
      */
-    asynStatus rereadEncoder();
+    virtual asynStatus rereadEncoder();
 
-  protected:
-    pmacv3Controller *pC_;
+    /**
+     * @brief Interpret the error code and populate the user message accordingly
+     *
+     * @param error
+     * @param userMessage
+     * @param sizeUserMessage
+     * @return asynStatus
+     */
+    asynStatus handleError(int error, char *userMessage, int sizeUserMessage);
 
-    asynStatus readConfig();
-    bool initial_poll_;
-    bool waitForHandshake_;
-    time_t timeAtHandshake_;
+    /**
+     * @brief Check if the axis needs to run its initialization function
+     *
+     * @return true
+     * @return false
+     */
+    bool needInit();
 
-    // The axis status is used when enabling / disabling the motor
-    int axisStatus_;
+    /**
+     * @brief Instruct the axis to run its init() function during the next poll
+     *
+     * @param needInit
+     */
+    void setNeedInit(bool needInit);
 
   private:
-    friend class pmacv3Controller;
+    turboPmacController *pC_;
+    std::unique_ptr<turboPmacAxisImpl> pTurboPmacA_;
 };
 
 #endif

src/turboPmacController.cpp

@@ -0,0 +1,582 @@
+#include "turboPmacController.h"
+#include "asynInt32SyncIO.h"
+#include "asynMotorController.h"
+#include "asynOctetSyncIO.h"
+#include "pmacAsynIPPort.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];
+        }
+    }
+}
+
+struct turboPmacControllerImpl {
+
+    // Timeout for the communication process in seconds
+    double comTimeout;
+
+    char lastResponse[sinqController::MAXBUF_];
+
+    // User for writing int32 values to the port driver.
+    asynUser *pasynInt32SyncIOipPort;
+
+    // Indices of additional PVs
+    int rereadEncoderPosition;
+    int readConfig;
+    int flushHardware;
+};
+#define NUM_turboPmac_DRIVER_PARAMS 3
+
+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)
+
+{
+
+    // The paramLib indices are populated with the calls to createParam
+    pTurboPmacC_ =
+        std::make_unique<turboPmacControllerImpl>((turboPmacControllerImpl){
+            .comTimeout = comTimeout,
+            .lastResponse = {0},
+        });
+
+    // Initialization of local variables
+    asynStatus status = asynSuccess;
+
+    // Maximum allowed number of subsequent timeouts before the user is
+    // informed.
+    setMaxSubsequentTimeouts(10);
+
+    // =========================================================================
+    // Create additional parameter library entries
+
+    status = createParam("REREAD_ENCODER_POSITION", asynParamInt32,
+                         &pTurboPmacC_->rereadEncoderPosition);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUser(), 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, &pTurboPmacC_->readConfig);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUser(), 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("FLUSH_HARDWARE", asynParamInt32,
+                         &pTurboPmacC_->flushHardware);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUser(), 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(pasynOctetSyncIOipPort(),
+                                           message_from_device,
+                                           strlen(message_from_device));
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUser(), 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(pasynOctetSyncIOipPort());
+        exit(-1);
+    }
+
+    status = callParamCallbacks();
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUser(), 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(pasynOctetSyncIOipPort());
+        exit(-1);
+    }
+
+    // =========================================================================;
+
+    /*
+    We try to connect to the port via the port name provided by the constructor.
+    If this fails, the function is terminated via exit.
+    */
+    pasynInt32SyncIO->connect(ipPortConfigName, 0,
+                              &pTurboPmacC_->pasynInt32SyncIOipPort, NULL);
+    if (status != asynSuccess ||
+        pTurboPmacC_->pasynInt32SyncIOipPort == nullptr) {
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nFATAL ERROR (cannot "
+                     "connect to MCU controller).\n"
+                     "Terminating IOC",
+                     portName, __PRETTY_FUNCTION__, __LINE__);
+        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
+        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;
+    }
+    const size_t commandLength = strlen(command);
+
+    /*
+    The writeRead command performs the following steps:
+    1) Flush the socket buffer on the IOC side (not the controller!)
+    2) Write a command to the controller
+    3) Read the response
+
+    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->writeRead(
+        pasynOctetSyncIOipPort(), command, commandLength, response, MAXBUF_,
+        pTurboPmacC_->comTimeout, &nbytesOut, &nbytesIn, &eomReason);
+
+    msgPrintControlKey comKey =
+        msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+
+    if (status == asynTimeout) {
+
+        if (getMsgPrintControl().shouldBePrinted(comKey, true, pasynUser())) {
+            asynPrint(
+                this->pasynUser(), ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d => %s, line %d\nTimeout while "
+                "writing to the controller. Retrying ...%s\n",
+                portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                getMsgPrintControl().getSuffix());
+        }
+
+        timeoutStatus = checkComTimeoutWatchdog(axisNo, drvMessageText,
+                                                sizeof(drvMessageText));
+
+        int timeoutCounter = 0;
+        while (1) {
+            checkMaxSubsequentTimeouts(timeoutCounter, axis);
+            timeoutCounter += 1;
+
+            if (maxSubsequentTimeoutsExceeded()) {
+                break;
+            }
+
+            status = pasynOctetSyncIO->writeRead(
+                pasynOctetSyncIOipPort(), command, commandLength, response,
+                MAXBUF_, pTurboPmacC_->comTimeout, &nbytesOut, &nbytesIn,
+                &eomReason);
+            if (status != asynTimeout) {
+                asynPrint(this->pasynUser(), 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 (getMsgPrintControl().shouldBePrinted(comKey, true, pasynUser())) {
+            asynPrint(
+                this->pasynUser(), 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), getMsgPrintControl().getSuffix());
+        }
+    } else {
+        getMsgPrintControl().resetCount(comKey, pasynUser());
+    }
+
+    if (status != asynSuccess) {
+        /*
+        Since the communication failed, there is the possibility that the
+        controller is not connected at all to the network. In that case, we
+        cannot be sure that the information read out in the init method of the
+        axis is still up-to-date the next time we get a connection. Therefore,
+        an info flag is set which the axis object can use at the start of its
+        poll method to try to initialize itself.
+        */
+        axis->setNeedInit(true);
+    }
+
+    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;
+
+        char reasonStringified[30] = {0};
+        switch (eomReason) {
+        case 0:
+            snprintf(reasonStringified, sizeof(reasonStringified), "Timeout");
+            break;
+        case 1:
+            snprintf(reasonStringified, sizeof(reasonStringified),
+                     "Request count reached");
+            break;
+        case 2:
+            snprintf(reasonStringified, sizeof(reasonStringified),
+                     "End of string detected");
+            break;
+        case 3:
+            snprintf(reasonStringified, sizeof(reasonStringified),
+                     "End indicator detected");
+            break;
+        }
+
+        snprintf(drvMessageText, sizeof(drvMessageText),
+                 "Terminated message due to reason %s (should be \"End of "
+                 "string detected\"). Please call the support.",
+                 reasonStringified);
+
+        if (getMsgPrintControl().shouldBePrinted(terminateKey, true,
+                                                 pasynUser())) {
+
+            asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d => %s, line %d\nMessage "
+                      "terminated due to reason %s.%s\n",
+                      portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                      reasonStringified, getMsgPrintControl().getSuffix());
+        }
+    } else {
+        getMsgPrintControl().resetCount(terminateKey, pasynUser());
+    }
+
+    /*
+    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 (getMsgPrintControl().shouldBePrinted(numResponsesKey, true,
+                                                 pasynUser())) {
+            asynPrint(
+                this->pasynUser(), 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, getMsgPrintControl().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 {
+        getMsgPrintControl().resetCount(numResponsesKey, pasynUser());
+    }
+
+    // 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::doFlushHardware() {
+    /*
+    Temporarily overwrite the "reason" field with the FLUSH_HARDWARE
+    constant defined in pmacAsynIPPort.c. This reason is then used within
+    the write method of pasynInt32SyncIO to select the flush function.
+    */
+    int temp = pTurboPmacC_->pasynInt32SyncIOipPort->reason;
+    pTurboPmacC_->pasynInt32SyncIOipPort->reason = FLUSH_HARDWARE;
+    asynStatus status = (asynStatus)pasynInt32SyncIO->write(
+        pTurboPmacC_->pasynInt32SyncIOipPort, 1, pTurboPmacC_->comTimeout);
+
+    // Reset the status afterwards
+    pTurboPmacC_->pasynInt32SyncIOipPort->reason = temp;
+    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 if (function == flushHardware()) {
+        return doFlushHardware();
+    } else {
+        return sinqController::writeInt32(pasynUser, value);
+    }
+}
+
+asynStatus turboPmacController::couldNotParseResponse(const char *command,
+                                                      const char *response,
+                                                      int axisNo,
+                                                      const char *functionName,
+                                                      int lineNumber) {
+    char modifiedResponse[MAXBUF_] = {0};
+    adjustResponseForPrint(modifiedResponse, response, MAXBUF_);
+    return sinqController::couldNotParseResponse(
+        command, modifiedResponse, axisNo, functionName, lineNumber);
+}
+
+int turboPmacController::rereadEncoderPosition() {
+    return pTurboPmacC_->rereadEncoderPosition;
+}
+int turboPmacController::readConfig() { return pTurboPmacC_->readConfig; }
+int turboPmacController::flushHardware() { return pTurboPmacC_->flushHardware; }
+
+asynUser *turboPmacController::pasynInt32SyncIOipPort() {
+    return pTurboPmacC_->pasynInt32SyncIOipPort;
+}
+
+/*************************************************************************************/
+/** 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 +1,25 @@
 /********************************************
- *  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"
+#include <memory>
 
-#define IncrementalEncoder "Incremental encoder"
-#define AbsoluteEncoder "Absolute encoder"
-
-class pmacv3Controller : public sinqController {
+struct turboPmacControllerImpl;
 
+class turboPmacController : public sinqController {
   public:
     /**
-     * @brief Construct a new pmacv3Controller object
+     * @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
@@ -29,26 +29,30 @@ class pmacv3Controller : public sinqController {
      * @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
      */
-    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,
+                        int numExtraParams = 0);
 
     /**
      * @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 *getTurboPmacAxis(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 *getTurboPmacAxis(int axisNo);
 
     /**
      * @brief Overloaded function of sinqController
@@ -59,10 +63,7 @@ class pmacv3Controller : public sinqController {
      * @param value               New value
      * @return asynStatus
      */
-    asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
-
-  protected:
-    asynUser *lowLevelPortUser_;
+    virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
 
     /**
      * @brief Send a command to the hardware and receive a response
@@ -84,22 +85,13 @@ 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.
-     *
-     * @param asynAxis
-     * @return pmacv3Axis*
-     */
-    pmacv3Axis *castToAxis(asynMotorAxis *asynAxis);
-
-    /**
-     * @brief Specialized version of sinqController::errMsgCouldNotParseResponse
-     * for pmacv3
+     * @brief Specialized version of sinqController::couldNotParseResponse
+     * for turboPmac
      *
      * This is an overloaded version of
-     * sinqController::errMsgCouldNotParseResponse which calls
+     * sinqController::couldNotParseResponse which calls
      * adjustResponseForLogging on response before handing it over to
-     * sinqController::errMsgCouldNotParseResponse.
+     * sinqController::couldNotParseResponse.
      *
      * @param command             Command which led to the unparseable message
      * @param response            Response which wasn't parseable
@@ -110,28 +102,33 @@ class pmacv3Controller : public sinqController {
     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);
+    asynStatus couldNotParseResponse(const char *command, const char *response,
+                                     int axisNo_, const char *functionName,
+                                     int lineNumber);
+
+    /**
+     * @brief Perform a hardware flush (clearing of communication buffers)
+     *
+     * The PMAC controllers hardware buffers can be flushed (see Turbo PMAC user
+     * manual, p. 414). This "freezes" the PMAC for around 10 ms and should
+     * therefore only be done if it is necessary (i.e. not as part of the
+     * regular communication procedure).
+     *
+     * @return asynStatus
+     */
+    asynStatus doFlushHardware();
+
+    // Accessors for additional PVs
+    int rereadEncoderPosition();
+    int readConfig();
+    int flushHardware();
+
+    asynUser *pasynInt32SyncIOipPort();
 
   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;
+    std::unique_ptr<turboPmacControllerImpl> pTurboPmacC_;
 
-    /*
-    Stores the constructor input comTimeout
-    */
-    double comTimeout_;
-
-    // Indices of additional PVs
-    int rereadEncoderPosition_;
-    int readConfig_;
-    int encoderType_;
-
-    friend class pmacv3Axis;
+  protected:
 };
 
-#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.
+        """)
+