Add statuswd

ecmc_plugin_motion/Db/ecmcPluginMotion.template

@@ -157,6 +157,19 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-ErrId-Arr"){
   field(TSE,  "0")  
 }
 
+# Axis Error Id
+record(waveform,"$(P)Plg-Mtn${INDEX}-Stat-Arr"){
+  info(asyn:FIFO, "1000")
+  field(DESC, "Status wd")
+  field(PINI, "1")
+  field(DTYP, "asynInt32ArrayIn")
+  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.statuswd_arr")
+  field(FTVL, "LONG")
+  field(NELM, "$(NELM)")
+  field(SCAN, "I/O Intr")
+  field(TSE,  "0")  
+}
+
 record(bo,"$(P)Plg-Mtn${INDEX}-EnaCmd-RB"){
   info(asyn:READBACK,"1")
   field(DESC, "Plg Enable")

ecmc_plugin_motion/src/ecmcMotionPlg.cpp

@@ -35,6 +35,7 @@
 #define ECMC_PLUGIN_ASYN_ERROR_DATA       "error_arr"
 #define ECMC_PLUGIN_ASYN_BUFF_SIZE        "buff_size"
 #define ECMC_PLUGIN_ASYN_ELEMENTS_IN_BUFF "elem_count"
+#define ECMC_PLUGIN_ASYN_STATUSWD_DATA    "statuswd_arr"
 
 #include <sstream>
 
@@ -216,6 +217,11 @@ ecmcMotionPlg::ecmcMotionPlg(int   objIndex,       // index of this object (if s
                                                       cfgDbgMode_,
                                                       ECMC_PLUGIN_ASYN_ERROR_DATA,
                                                       this);
+  statusWdBuffer_    =  new ecmcDataBuffer<epicsInt32>(objectId_,12,
+                                                      cfgArraySize_,
+                                                      cfgDbgMode_,
+                                                      ECMC_PLUGIN_ASYN_STATUSWD_DATA,
+                                                      this);
 
   axis_ = (ecmcAxisBase*) getAxisPointer(cfgAxisIndex_);
   clearBuffers();
@@ -473,6 +479,7 @@ void ecmcMotionPlg::clearBuffers() {
   atTargetBuffer_->clear();
   errorIdBuffer_->clear();
   xPosBuffer_->clear();
+  statusWdBuffer_->clear();
 }
 
 void ecmcMotionPlg::printEcDataArray(uint8_t*  data, 
@@ -847,6 +854,9 @@ void ecmcMotionPlg::executeMotionObject() {
   atTargetBuffer_->addData(tempAxisStat->onChangeData.statusWd.attarget);
   errorIdBuffer_->addData(tempAxisStat->onChangeData.error);
 
+  epicsInt32 *temp=(epicsInt32*)&(tempAxisStat->onChangeData.statusWd);  // A bit nasty
+  statusWdBuffer_->addData(*temp);
+
   xTime_+=xdt_;
   xPosBuffer_->addData(xTime_);  // Always relative within one buffer
 
@@ -1028,14 +1038,15 @@ void ecmcMotionPlg::writeBuffers() {
   encSourceBuffer_->writeBuffer();
   atTargetBuffer_->writeBuffer();
   errorIdBuffer_->writeBuffer();
+  statusWdBuffer_->writeBuffer();
+
   // Always write x last if triggering is needed
   xPosBuffer_->writeBuffer();
 }
 
 // triggered by ecmc RT thread
 void ecmcMotionPlg::switchBuffers() {
-
-// switch in new empty buffer while data is stored in the other.
+  // switch in new empty buffer while data is stored in the other.
   actPosBuffer_->switchBuffer();
   setPosBuffer_->switchBuffer();
   diffPosBuffer_->switchBuffer();
@@ -1047,5 +1058,7 @@ void ecmcMotionPlg::switchBuffers() {
   encSourceBuffer_->switchBuffer();
   atTargetBuffer_->switchBuffer();
   errorIdBuffer_->switchBuffer();
+  statusWdBuffer_->switchBuffer();
   xPosBuffer_->switchBuffer();
 }
+

ecmc_plugin_motion/src/ecmcMotionPlg.h

@@ -155,6 +155,7 @@ class ecmcMotionPlg : public asynPortDriver {
   ecmcDataBuffer<epicsInt8>    *encSourceBuffer_;
   ecmcDataBuffer<epicsInt8>    *atTargetBuffer_;
   ecmcDataBuffer<epicsInt32>   *errorIdBuffer_;
+  ecmcDataBuffer<epicsInt32>   *statusWdBuffer_;
 
   bool                  bTriggInProgress_;
   double                xdt_;

tools/ecmcMotionMainPyQtGraph.py

@@ -44,6 +44,7 @@ pvlist = [ 'BuffSze',
            'EncSrc-Arr',
            'AtTrg-Arr',
            'ErrId-Arr',
+           'Stat-Arr',
            'Mde-RB',
            'Cmd-RB',
            'Stat',
@@ -55,7 +56,8 @@ pvlist = [ 'BuffSze',
 pvAnalog = ['PosAct-Arr',
             'PosSet-Arr',
             'PosErr-Arr',
-            'ErrId-Arr']
+            'ErrId-Arr',
+            'Stat-Arr']
 
 pvBinary = ['Ena-Arr',
             'EnaAct-Arr',
@@ -110,13 +112,15 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
         self.plotColor['PosSet-Arr']='b'
         self.plotColor['PosErr-Arr']='r'
         self.plotColor['ErrId-Arr']='k'
+        self.plotColor['Stat-Arr']='m'
         
         self.checkboxColor={}
         self.checkboxColor['PosAct-Arr']='green'
         self.checkboxColor['PosSet-Arr']='blue'
         self.checkboxColor['PosErr-Arr']='red'
         self.checkboxColor['ErrId-Arr']='black'
-        
+        self.checkboxColor['Stat-Arr']='magenta'
+
         # Binary
         self.plotColor['Ena-Arr']='b'
         self.plotColor['EnaAct-Arr']='c'
@@ -476,6 +480,9 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
     def on_change_ErrId_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
         self.pv_signal_cbs['ErrId-Arr'].data_signal.emit(value)
 
+    def on_change_Stat_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
+        self.pv_signal_cbs['Stat-Arr'].data_signal.emit(value)
+
     def on_change_Mde_RB(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
         self.pv_signal_cbs['Mde-RB'].data_signal.emit(value)
 
@@ -546,6 +553,9 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
     def sig_cb_ErrId_Arr(self,value):
         self.addData('ErrId-Arr', value)
 
+    def sig_cb_Stat_Arr(self,value):
+        self.addData('Stat-Arr', value)
+
     def sig_cb_Mde_RB(self,value):        
         if value < 1 or value> 2:
             self.modeStr = "NO_MODE"