From 377a28c95fd8da31ca8cf9af3db456b00a1e4d38 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= <anders.sandstroem@psi.ch>
Date: Wed, 10 Sep 2025 13:44:56 +0200
Subject: [PATCH] Adapt to ecmc v11

---
 .gitignore                       |  2 ++
 GNUmakefile                      |  2 +-
 src/ecmcMotionPlg.cpp            | 44 ++++++++++----------------------
 tools/ecmcMotionMainPyQtGraph.py |  2 +-
 tools/startGui.sh                |  2 +-
 5 files changed, 18 insertions(+), 34 deletions(-)

diff --git a/.gitignore b/.gitignore
index 9055b16..e80baf6 100644
--- a/.gitignore
+++ b/.gitignore
@@ -20,3 +20,5 @@ tools/bin
 tools/lib
 tools/lib64
 tools/pyvenv.cfg
+tools/.*
+
diff --git a/GNUmakefile b/GNUmakefile
index 181b097..c14e080 100644
--- a/GNUmakefile
+++ b/GNUmakefile
@@ -17,7 +17,7 @@ USR_CXXFLAGS += -std=c++17
 OPT_CXXFLAGS_YES = -O3
 
 # dependencies
-ecmc_VERSION = 10.0
+ecmc_VERSION = v11.0.0_RC1
 
 # ethercat
 #   debian 12
diff --git a/src/ecmcMotionPlg.cpp b/src/ecmcMotionPlg.cpp
index 2aea597..630ea3a 100644
--- a/src/ecmcMotionPlg.cpp
+++ b/src/ecmcMotionPlg.cpp
@@ -839,22 +839,22 @@ void ecmcMotionPlg::executeMotionObject() {
 
   // protect axis_ if axis object id is changed over asyn
   epicsMutexLock(axisMutex_);
-  ecmcAxisStatusType *tempAxisStat = axis_->getDebugInfoDataPointer();
+  ecmcAxisDataStatus *tempAxisStat = axis_->getAxisStatusStruct();
   
   // Fill the buffers
-  actPosBuffer_->addData(tempAxisStat->onChangeData.positionActual);
-  setPosBuffer_->addData(tempAxisStat->onChangeData.positionSetpoint);
-  diffPosBuffer_->addData(tempAxisStat->onChangeData.positionError);
-  enableBuffer_->addData(tempAxisStat->onChangeData.statusWd.enable);
-  enabledBuffer_->addData(tempAxisStat->onChangeData.statusWd.enabled);
-  busyBuffer_->addData(tempAxisStat->onChangeData.statusWd.busy);
-  executeBuffer_->addData(tempAxisStat->onChangeData.statusWd.execute);
-  trajSourceBuffer_->addData(tempAxisStat->onChangeData.statusWd.trajsource);
-  encSourceBuffer_->addData(tempAxisStat->onChangeData.statusWd.encsource);
-  atTargetBuffer_->addData(tempAxisStat->onChangeData.statusWd.attarget);
-  errorIdBuffer_->addData(tempAxisStat->onChangeData.error);
+  actPosBuffer_->addData(tempAxisStat->currentPositionActual);
+  setPosBuffer_->addData(tempAxisStat->currentPositionSetpoint);
+  diffPosBuffer_->addData(tempAxisStat->cntrlError);
+  enableBuffer_->addData(tempAxisStat->statusWord_.enable);
+  enabledBuffer_->addData(tempAxisStat->statusWord_.enabled);
+  busyBuffer_->addData(tempAxisStat->statusWord_.busy);
+  executeBuffer_->addData(tempAxisStat->statusWord_.execute);
+  trajSourceBuffer_->addData(tempAxisStat->statusWord_.trajsource);
+  encSourceBuffer_->addData(tempAxisStat->statusWord_.encsource);
+  atTargetBuffer_->addData(tempAxisStat->statusWord_.attarget);
+  errorIdBuffer_->addData(tempAxisStat->errorCode);
 
-  epicsInt32 *temp=(epicsInt32*)&(tempAxisStat->onChangeData.statusWd);  // A bit nasty
+  epicsInt32 *temp=(epicsInt32*)&(tempAxisStat->statusWord_);  // A bit nasty
   statusWdBuffer_->addData(*temp);
 
   xTime_+=xdt_;
@@ -870,24 +870,6 @@ void ecmcMotionPlg::executeMotionObject() {
   epicsMutexUnlock(axisMutex_);
 }
 
-//void ecmcMotionPlg::setModeFFT(FFT_MODE mode) {
-//  cfgMode_ = mode;
-//  setIntegerParam(asynFFTModeId_,(epicsInt32)mode);
-//}
-//
-//FFT_STATUS ecmcMotionPlg::getStatusFFT() {
-//  return status_;
-//}
-
-//void ecmcMotionPlg::updateStatus(FFT_STATUS status) {
-//  status_ = status;
-//  setIntegerParam(asynFFTStatId_,(epicsInt32) status);
-//  
-//  setIntegerParam(asynElementsInBuffer_, (epicsInt32)elementsInBuffer_);
-//
-//  callParamCallbacks();
-//}
-
 asynStatus ecmcMotionPlg::writeInt32(asynUser *pasynUser, epicsInt32 value) {
   int function = pasynUser->reason;
   if( function == asynEnableId_ ) {
diff --git a/tools/ecmcMotionMainPyQtGraph.py b/tools/ecmcMotionMainPyQtGraph.py
index 373236a..66df6bd 100644
--- a/tools/ecmcMotionMainPyQtGraph.py
+++ b/tools/ecmcMotionMainPyQtGraph.py
@@ -579,7 +579,7 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
            axId = axIdPV.get()
            
            if axId > 0:              
-              self.cmbBxSelectAxis.addItem(str(int(ax)))
+              self.cmbBxSelectAxis.addItem(str(int(axId)))
 
     def changeAxisIndex(self,xxx):
         if self.cmbBxSelectAxis.currentData() is not None:
diff --git a/tools/startGui.sh b/tools/startGui.sh
index 4fea3ad..a1cc1fc 100755
--- a/tools/startGui.sh
+++ b/tools/startGui.sh
@@ -19,4 +19,4 @@ fi
 echo "Prefix=${P=c6025a-04}"
 echo "plugin id=${ID=0}"
 
-python ecmcMotionMainPyQtGraph.py ${P=c6025a-04} ${ID=0}
+python3 ecmcMotionMainPyQtGraph.py ${P=c6025a-04} ${ID=0}