From 73c5fd71b52929f564c01c73a8fbc399a8162905 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= <anders.sandstroem@psi.ch>
Date: Mon, 16 Sep 2024 09:55:46 +0200
Subject: [PATCH] Cleanup

---
 .../{axis_ax5_lower.yaml => axis_ax5_LO.yaml} |  5 ++-
 .../{axis_ax6_upper.yaml => axis_ax6_HI.yaml} |  5 ++-
 example/cfg/axis_vax5_YCEN.yaml               |  3 +-
 example/cfg/axis_vax6_YGAP.yaml               |  3 +-
 example/startup.script_ecmc                   | 41 +++++++------------
 5 files changed, 24 insertions(+), 33 deletions(-)
 rename example/cfg/{axis_ax5_lower.yaml => axis_ax5_LO.yaml} (97%)
 rename example/cfg/{axis_ax6_upper.yaml => axis_ax6_HI.yaml} (97%)

diff --git a/example/cfg/axis_ax5_lower.yaml b/example/cfg/axis_ax5_LO.yaml
similarity index 97%
rename from example/cfg/axis_ax5_lower.yaml
rename to example/cfg/axis_ax5_LO.yaml
index 7746e48..3a15875 100644
--- a/example/cfg/axis_ax5_lower.yaml
+++ b/example/cfg/axis_ax5_LO.yaml
@@ -2,17 +2,18 @@
 
 axis:
   id: 5
+  group: realAxes
   mode: CSV
   features:
     allowSrcChangeWhenEnabled: true
 
 epics:
-  name: TRYB
+  name: TR_LO
   precision: 4
   unit: mm
   motorRecord:
     enable: false
-    description: "Test Y Bottom"
+    description: "Low"
 
 drive:
   numerator: 10                 # max velo in EGU/s
diff --git a/example/cfg/axis_ax6_upper.yaml b/example/cfg/axis_ax6_HI.yaml
similarity index 97%
rename from example/cfg/axis_ax6_upper.yaml
rename to example/cfg/axis_ax6_HI.yaml
index 0be39ce..a675760 100644
--- a/example/cfg/axis_ax6_upper.yaml
+++ b/example/cfg/axis_ax6_HI.yaml
@@ -2,17 +2,18 @@
 
 axis:
   id: 6
+  group: realAxes
   mode: CSV
   features:
     allowSrcChangeWhenEnabled: true
 
 epics:
-  name: TRYT
+  name: TR_HI
   precision: 4
   unit: mm
   motorRecord:
     enable: false
-    description: "Test Y Top"
+    description: "Hi"
 
 drive:
   numerator: 10                # max velo in EGU/s
diff --git a/example/cfg/axis_vax5_YCEN.yaml b/example/cfg/axis_vax5_YCEN.yaml
index 4c38efc..900b843 100644
--- a/example/cfg/axis_vax5_YCEN.yaml
+++ b/example/cfg/axis_vax5_YCEN.yaml
@@ -1,5 +1,6 @@
 axis:
   id: ${AX_ID}
+  group: virtualAxes
   type: end effector
 
 epics:
@@ -8,7 +9,7 @@ epics:
   unit: mm
   motorRecord:
     enable: false
-    description: "Center Y (Virtual)"
+    description: "Center (Virtual)"
 
 encoder:
   type: 1
diff --git a/example/cfg/axis_vax6_YGAP.yaml b/example/cfg/axis_vax6_YGAP.yaml
index 0aeb86d..11fc3ee 100644
--- a/example/cfg/axis_vax6_YGAP.yaml
+++ b/example/cfg/axis_vax6_YGAP.yaml
@@ -1,5 +1,6 @@
 axis:
   id: ${AX_ID}
+  group: virtualAxes
   type: end effector
 
 epics:
@@ -8,7 +9,7 @@ epics:
   unit: mm
   motorRecord:
     enable: false
-    description: "Gap Y (Virtual)"
+    description: "Gap (Virtual)"
 
 encoder:
   type: 1
diff --git a/example/startup.script_ecmc b/example/startup.script_ecmc
index 3511ba5..0453e4c 100644
--- a/example/startup.script_ecmc
+++ b/example/startup.script_ecmc
@@ -1,5 +1,10 @@
-require ecmccfg sandst_a,"ECMC_VER=sandst_a,MODE=NO_MR,ENG_MODE=1,EC_RATE=100"
+#- Configuration scripts
+require ecmccfg sandst_a,"ECMC_VER=sandst_a,ENG_MODE=1,EC_RATE=100"
+
+#- Components
 require ecmccomp
+
+#- Syncronization
 require ecmc_master_slave sandst_a
 
 #- ############################################################################
@@ -42,13 +47,13 @@ ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL1008"
 
 # 0:7 - EL7041    1Ch Stepper
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd    "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230,STEPS=400'"
-${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_ax5_lower.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01"
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd    "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230'"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_ax5_LO.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01"
 
 # 0:8 - EL7041    1Ch Stepper
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd    "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230,STEPS=400'"
-${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_ax6_upper.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01"
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd    "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230'"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_ax6_HI.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01"
 
 # 0:9 - EL7041    1Ch Stepper
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
@@ -56,39 +61,21 @@ ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
 # 0:10 - EL7041    1Ch Stepper
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
 
-
 #- #################################################################
 #- Virtual axes
 ${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_vax5_YCEN.yaml, AX_ID=${AX_NUM=12}"
 ${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_vax6_YGAP.yaml, AX_ID=${AX_NUM=13}"
 
-#- #############################################################################
-#- Y Direction -- Axis groupings in preparation for kinematics PLC
-ecmcConfigOrDie "Cfg.AddAxisGroup(realAxesY)"
-ecmcConfigOrDie "Cfg.AddAxisToGroupByName(5,realAxesY)"
-ecmcConfigOrDie "Cfg.AddAxisToGroupByName(6,realAxesY)"
-ecmcConfig "GetAxisGroupIndexByName(realAxesY)"
-epicsEnvSet(GRP_ID_RAX,${ECMC_CONFIG_RETURN_VAL=0})
-
-ecmcConfigOrDie "Cfg.AddAxisGroup(virtualAxesY)"
-ecmcConfigOrDie "Cfg.AddAxisToGroupByName(12,virtualAxesY)"
-ecmcConfigOrDie "Cfg.AddAxisToGroupByName(13,virtualAxesY)"
-ecmcConfig "GetAxisGroupIndexByName(virtualAxesY)"
-epicsEnvSet(GRP_ID_VAX,${ECMC_CONFIG_RETURN_VAL=0})
-
-#- PLCs with inverse kinematics (note the INC var including dirs to search for include files)
-${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd,    "FILE=./cfg/axis_main.plc, PLC_ID=1, INC=.:${ecmc_master_slave_DIR}, PLC_MACROS='PLC_ID=1, AX_CEN=12, AX_GAP=13, AX_LO=5, AX_HI=6, GRP_ID_RA=${GRP_ID_RAX}, GRP_ID_VA=${GRP_ID_VAX}'"
-
 #- #################################################################
-#- apply the configuration
-${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
+#- PLCs with inverse kinematics (note the INC var including dirs to search for include files)
+#- The group ID:s configured in yaml are stored in GRP_<axis.group>_ID
+${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd,    "FILE=./cfg/axis_main.plc, PLC_ID=1, INC=.:${ecmc_master_slave_DIR}, PLC_MACROS='PLC_ID=1, AX_CEN=12, AX_GAP=13, AX_LO=5, AX_HI=6, GRP_ID_RA=${GRP_realAxes_ID}, GRP_ID_VA=${GRP_virtualAxes_ID}'"
 
 #- #################################################################
 #- go active
+${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
 ${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
 
 #- #############################################################################
 #- reset all errors
 afterInit("ecmcConfigOrDie 'ControllerErrorReset()'")
-ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)"
-