Updated underlying version of motorBase to receive the RVEL bugfix

Reviewed-on: #1

.gitea/workflows/action.yaml

@@ -0,0 +1,24 @@
+name: Test And Build
+on: [push]
+
+jobs:
+  Lint:
+    runs-on: linepics
+    steps:
+      - name: checkout repo
+        uses: actions/checkout@v4
+      - name: cppcheck
+        run: cppcheck --std=c++17 --addon=cert --addon=misc --error-exitcode=1 src/*.cpp
+      - name: formatting
+        run: clang-format --style=file --Werror --dry-run src/*.cpp
+  Build:
+    runs-on: linepics
+    steps:
+      - name: checkout repo
+        uses: actions/checkout@v4
+        with:
+          submodules: 'true'
+      - run: |
+          sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
+          echo -e "\nIGNORE_SUBMODULES += sinqmotor" >> Makefile
+          make install

.gitignore

@@ -0,0 +1,8 @@
+O.*
+.cvsignore
+.vscode
+src/.vscode
+utils/analyzeTcpDump/__pycache__
+utils/analyzeTcpDump/demo.pcap.json
+utils/analyzeTcpDump/demovenv
+utils/analyzeTcpDump/venv

.gitlab-ci.yml

@@ -1,58 +0,0 @@
-default:
-  image: docker.psi.ch:5000/sinqdev/sinqepics:latest
-    
-stages:
-  - lint
-  - build
-  - test
-
-cppcheck:
-  stage: lint
-  script:
-    - cppcheck --std=c++17 --addon=cert --addon=misc --error-exitcode=1 src/*.cpp
-  artifacts:
-    expire_in: 1 week
-  tags:
-    - sinq
-
-formatting:
-  stage: lint
-  script:
-    - clang-format --style=file --Werror --dry-run src/*.cpp
-  artifacts:
-    expire_in: 1 week
-  tags:
-    - sinq
-
-# clangtidy:
-#   stage: lint
-#   script:
-#     - curl https://docker.psi.ch:5000/v2/_catalog
-# #     - dnf update -y
-# #     - dnf install -y clang-tools-extra
-# #     - clang-tidy sinqEPICSApp/src/*.cpp sinqEPICSApp/src/*.c sinqEPICSApp/src/*.h -checks=cppcoreguidelines-*,cert-*
-# #   tags:
-# #     - sinq
-
-build_module:
-  stage: build
-  script:
-    - export SINQMOTOR_VERSION="$(grep 'sinqMotor_VERSION=' Makefile | cut -d= -f2)"
-    - git clone --depth 1 --branch "${SINQMOTOR_VERSION}" https://gitlab-ci-token:${CI_JOB_TOKEN}@git.psi.ch/sinq-epics-modules/sinqmotor.git
-    - pushd sinqmotor
-    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
-    - echo "LIBVERSION=${SINQMOTOR_VERSION}" >> Makefile
-    - make install
-    - popd
-    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
-    - echo "LIBVERSION=${CI_COMMIT_TAG:-0.0.1}" >> Makefile
-    - make install
-    - cp -rT "/ioc/modules/turboPmac/$(ls -U /ioc/modules/turboPmac/ | head -1)" "./turboPmac-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
-  artifacts:
-    name: "turboPmac-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
-    paths:
-      - "turboPmac-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}/*"
-    expire_in: 1 week
-  when: always
-  tags:
-    - sinq

.gitmodules

@@ -1,6 +1,3 @@
-[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

Makefile

@@ -10,7 +10,7 @@ ARCH_FILTER=RHEL%
 REQUIRED+=motorBase
 
 # Specify the version of motorBase we want to build against
-motorBase_VERSION=7.2.2
+motorBase_VERSION=7.3.2
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/pmacAsynIPPort.h
@@ -34,4 +34,5 @@ TEMPLATES += db/turboPmac.db
 DBDS += sinqMotor/src/sinqMotor.dbd
 DBDS += src/turboPmac.dbd
 
-USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings
+USR_CFLAGS += -Wall -Wextra -Wunused-result -Werror -fvisibility=hidden # -Wpedantic // Does not work because EPICS macros trigger warnings
+USR_CXXFLAGS += -Wall -Wextra -Wunused-result -Werror -fvisibility=hidden 

README.md

@@ -1,18 +1,29 @@
 # turboPmac
 
-## <span style="color:red">Please read the documentation of sinqMotor first: https://git.psi.ch/sinq-epics-modules/sinqmotor</span>
+## <span style="color:red">Please read the documentation of sinqMotor first: https://gitea.psi.ch/lin-epics-modules/sinqMotor</span>
 
 ## Overview
 
-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.
+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 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.
+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://gitea.psi.ch/lin-epics-modules/sinqMotor/src/branch/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.
+The folder "utils" contains utility scripts for working with pmac motor
-- writeRead.py: Allows sending commands to and receiving commands from a pmac controller over an ethernet connection.
+controllers. To read their manual, run the scripts without any arguments.
-- 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.
+- 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
 
@@ -22,13 +33,15 @@ turboPmac exports the following IOC shell functions:
 
 The full turboPmacX.cmd file looks like this:
 
-```
+```bash
 # 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.
+# Create the TCP/IP socket used to talk with the controller. The socket can be
-# We do not use the standard asyn port driver here, but a PMAC-specific one which enables the usage of StreamDevices for
+# 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")
 
@@ -48,7 +61,8 @@ 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.
+# 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.
@@ -61,14 +75,58 @@ dbLoadRecords("$(turboPmac_DB)/asynRecord.db","P=$(INSTR)$(DRIVER_PORT),PORT=$(I
 
 ### Additional records
 
-`turboPmac` provides a variety of additional records. See `db/turboPmac.db` for the complete list and the documentation.
+`turboPmac` provides a variety of additional records. See `db/turboPmac.db` for
+the complete list and the documentation.
 
 ## Developer guide
 
 ### Versioning
 
-Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
+Please see the documentation for the module sinqMotor:
+https://gitea.psi.ch/lin-epics-modules/sinqMotor/src/branch/main/README.md.
 
 ### How to build it
 
-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.
+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://gitea.psi.ch/lin-epics-modules/sinqMotor/src/branch/main/README.md for
+more details.
+
+## FAQ
+### Axis hardware error at startup
+
+If at IOC startup you are met with the following errors:
+```
+2026/02/02 16:56:49.470 Controller "turboPmac1", axis 3  => asynStatus turboPmacAxis::handleError(int, char*, int), line 735
+Driver hardware error triggered.
+2026/02/02 16:56:49.485 Controller "turboPmac1", axis 7  => asynStatus turboPmacAxis::handleError(int, char*, int), line 735
+Driver hardware error triggered.
+2026/02/02 16:56:49.492 Controller "turboPmac1", axis 8  => asynStatus turboPmacAxis::handleError(int, char*, int), line 735
+Driver hardware error triggered.
+```
+You may need to reset to do a axis reset. This can be done with 
+`utils/writeRead.py`. The following example does so for axis 3.
+
+Confirm the hardware error:
+```
+utils/writeRead.py 172.28.87.24:1025 P0301 # 03 specifies axis 3, 01 is the command to read out the error.
+# If it returns 13 it's a hardware error.
+# For the full list of errors see TurboPMAC_manual.pdf or src/turboPmacAxis.cpp, function "handleError".
+```
+Reset the axis:
+```
+utils/writeRead.py 172.28.87.24:1025 P0301=0
+```
+Check if the error has appeared again:
+```
+utils/writeRead.py 172.28.87.24:1025 P0301
+```
+If the console output is not 0, the error has been deleted, but appeared
+immediately again. In this case, the error cannot be reset remotely.
+If it is an error such as 10 (limit switches hit), the motor needs to be
+moved away from the limits, this resets the error automatically.
+Other errors like 13 represent an actual issue on the hardware which
+needs to be resolved by the electronics motion engineers.

src/pmacAsynIPPort.c

@@ -230,8 +230,7 @@ static asynStatus sendPmacGetBuffer(pmacPvt *pPmacPvt, asynUser *pasynUser,
 
 // =============================================================================
 
-epicsShareFunc int pmacAsynIPPortConfigure(const char *portName,
+int pmacAsynIPPortConfigure(const char *portName, const char *hostInfo) {
-                                           const char *hostInfo) {
     asynStatus status = asynSuccess;
     asynInterface *int32LowerLevelInterface = NULL;
     asynInterface *octetLowerLevelInterface = NULL;

src/pmacAsynIPPort.h

@@ -2,6 +2,7 @@
 #define asynInterposePmac_H
 
 #include <epicsExport.h>
+#include <macros.h>
 #include <shareLib.h>
 
 /*
@@ -25,8 +26,7 @@ extern "C" {
  * 172.23.243.156:1025)
  * @return status
  */
-epicsShareFunc int pmacAsynIPPortConfigure(const char *portName,
+int HIDDEN pmacAsynIPPortConfigure(const char *portName, const char *hostInfo);
-                                           const char *hostInfo);
 
 #ifdef __cplusplus
 }

src/turboPmacAxis.h

@@ -1,22 +1,22 @@
 #ifndef turboPmacAXIS_H
 #define turboPmacAXIS_H
-#include "sinqAxis.h"
+#include "sinqController.h"
+#include "turboPmacController.h"
 #include <memory>
 
-struct turboPmacAxisImpl;
+struct HIDDEN turboPmacAxisImpl;
 
-// Forward declaration of the controller class to resolve the cyclic dependency
+class HIDDEN turboPmacAxis : public sinqAxis {
-// between the controller and the axis .h-file. See
-// https://en.cppreference.com/w/cpp/language/class.
-class turboPmacController;
-
-class turboPmacAxis : public sinqAxis {
   public:
     /**
      * @brief Construct a new turboPmacAxis
      *
      * @param pController         Pointer to the associated controller
      * @param axisNo              Index of the axis
+     * @param initialize          By setting this parameter to false, the
+     * initialization functions of the axes are not executed. This is e.g.
+     * necessary when this constructor is called from a children class
+     * constructor which performs its own initialization.
      */
     turboPmacAxis(turboPmacController *pController, int axisNo,
                   bool initialize = true);
@@ -28,6 +28,18 @@ class turboPmacAxis : public sinqAxis {
      */
     virtual ~turboPmacAxis();
 
+    /**
+     * @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 according to the initial status of the axis.
+     *
+     * @return asynStatus
+     */
+    virtual asynStatus init();
+
     /**
      * @brief Implementation of the `stop` function from asynMotorAxis
      *
@@ -74,18 +86,6 @@ class turboPmacAxis : public sinqAxis {
                               double min_velocity, double max_velocity,
                               double acceleration);
 
-    /**
-     * @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 according to the initial status of the axis.
-     *
-     * @return asynStatus
-     */
-    virtual asynStatus init();
-
     /**
      * @brief Implementation of the `doReset` function from sinqAxis.
      *
@@ -142,6 +142,11 @@ class turboPmacAxis : public sinqAxis {
      */
     void setNeedInit(bool needInit);
 
+    /**
+     * @brief Return a pointer to the axis controller
+     */
+    virtual turboPmacController *pController() override { return pC_; };
+
   private:
     turboPmacController *pC_;
     std::unique_ptr<turboPmacAxisImpl> pTurboPmacA_;

src/turboPmacController.cpp

@@ -41,13 +41,13 @@ struct turboPmacControllerImpl {
     // User for writing int32 values to the port driver.
     asynUser *pasynInt32SyncIOipPort;
 
-    // Indices of additional PVs
+    // Indices of additional ParamLib entries
     int rereadEncoderPosition;
     int readConfig;
     int flushHardware;
     int limFromHardware;
 };
-#define NUM_turboPmac_DRIVER_PARAMS 3
+#define NUM_turboPmac_DRIVER_PARAMS 5
 
 turboPmacController::turboPmacController(const char *portName,
                                          const char *ipPortConfigName,
@@ -61,17 +61,17 @@ turboPmacController::turboPmacController(const char *portName,
           - REREAD_ENCODER_POSITION
           - READ_CONFIG
           */
-          numExtraParams + NUM_turboPmac_DRIVER_PARAMS)
+          numExtraParams + NUM_turboPmac_DRIVER_PARAMS),
-
+      pTurboPmacC_(
-{
-
-    // The paramLib indices are populated with the calls to createParam
-    pTurboPmacC_ =
           std::make_unique<turboPmacControllerImpl>((turboPmacControllerImpl){
               .comTimeout = comTimeout,
               .lastResponse = {0},
-        });
+              .pasynInt32SyncIOipPort = nullptr, // Populated in constructor
-
+              .rereadEncoderPosition = 0,        // Populated in constructor
+              .readConfig = 0,                   // Populated in constructor
+              .flushHardware = 0,                // Populated in constructor
+              .limFromHardware = 0,              // Populated in constructor
+          })) {
     // Initialization of local variables
     asynStatus status = asynSuccess;
 
@@ -206,9 +206,6 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
 
     // 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;
@@ -256,6 +253,22 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
         pasynOctetSyncIOipPort(), command, commandLength, response, MAXBUF_,
         pTurboPmacC_->comTimeout, &nbytesOut, &nbytesIn, &eomReason);
 
+    /*
+    If sth. is written to the controller, it needs some time to process the
+    command. However, the controller returns the acknowledgment via
+    pasynOctetSyncIO->writeRead immediately, signalling to the driver that it is
+    ready to receive the next command. In practice, this can result in commands
+    getting discarded on the driver side or in bringing the driver in undefined
+    states (e.g. stuck in status 1).
+
+    To prevent this, we wait for 20 ms after a write command to give the
+    controller enough time to process everything. A write command can be
+    identified by looking for the equal sign.
+    */
+    if (strchr(command, '=')) {
+        usleep(20000);
+    }
+
     msgPrintControlKey comKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
@@ -270,8 +283,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                 getMsgPrintControl().getSuffix());
         }
 
-        timeoutStatus = checkComTimeoutWatchdog(axisNo, drvMessageText,
+        checkComTimeoutWatchdog(axisNo, drvMessageText, sizeof(drvMessageText));
-                                                sizeof(drvMessageText));
 
         int timeoutCounter = 0;
         while (1) {
@@ -319,14 +331,10 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
         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) {
+    if (status == asynSuccess && eomReason != 2) {
         status = asynError;
 
         char reasonStringified[30] = {0};
@@ -377,7 +385,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     }
     msgPrintControlKey numResponsesKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
-    if (numExpectedResponses != numReceivedResponses) {
+    if (status == asynSuccess && numExpectedResponses != numReceivedResponses) {
         adjustResponseForPrint(modResponse, response, MAXBUF_);
 
         if (getMsgPrintControl().shouldBePrinted(numResponsesKey, true,
@@ -428,41 +436,18 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
 
     // Log the overall status (communication successfull or not)
     if (status == asynSuccess) {
-        paramLibStatus = axis->setIntegerParam(this->motorStatusCommsError_, 0);
+        setAxisParamChecked(axis, motorStatusCommsError, false);
     } 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 =
+        getAxisParamChecked(axis, motorStatusProblem, &motorStatusProblem);
-            getIntegerParam(axisNo, motorStatusProblem_, &motorStatusProblem);
-        if (paramLibStatus != asynSuccess) {
-            return paramLibAccessFailed(paramLibStatus, "motorStatusProblem",
-                                        axisNo, __PRETTY_FUNCTION__, __LINE__);
-        }
 
         if (motorStatusProblem == 0) {
-            paramLibStatus =
+            setAxisParamChecked(axis, motorMessageText, drvMessageText);
-                axis->setStringParam(motorMessageText(), drvMessageText);
+            setAxisParamChecked(axis, motorStatusProblem, true);
-            if (paramLibStatus != asynSuccess) {
+            setAxisParamChecked(axis, motorStatusCommsError, true);
-                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;
@@ -582,7 +567,8 @@ static const iocshArg *const CreateControllerArgs[] = {
     &CreateControllerArg0, &CreateControllerArg1, &CreateControllerArg2,
     &CreateControllerArg3, &CreateControllerArg4, &CreateControllerArg5};
 static const iocshFuncDef configTurboPmacCreateController = {
-    "turboPmacController", 6, CreateControllerArgs};
+    "turboPmacController", 6, CreateControllerArgs,
+    "Create a new instance of a TurboPMAC controller."};
 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);

src/turboPmacController.h

@@ -10,12 +10,16 @@
 #define turboPmacController_H
 #include "sinqAxis.h"
 #include "sinqController.h"
-#include "turboPmacAxis.h"
 #include <memory>
 
-struct turboPmacControllerImpl;
+// Forward declaration of the controller class to resolve the cyclic dependency
+// between the controller and the axis .h-file. See
+// https://en.cppreference.com/w/cpp/language/class.
+class HIDDEN turboPmacAxis;
 
-class turboPmacController : public sinqController {
+struct HIDDEN turboPmacControllerImpl;
+
+class HIDDEN turboPmacController : public sinqController {
   public:
     /**
      * @brief Construct a new turboPmacController object. This function is meant
@@ -89,7 +93,8 @@ class turboPmacController : public sinqController {
      * @return asynStatus
      */
     asynStatus writeRead(int axisNo, const char *command, char *response,
-                         int numExpectedResponses);
+                         int numExpectedResponses)
+        __attribute__((visibility("hidden")));
 
     /**
      * @brief Specialized version of sinqController::couldNotParseResponse