WIP

ecmc_plugin_motion/Db/ecmcPluginMotion.template

@@ -177,14 +177,14 @@ record(ao,"$(P)Plg-Mtn${INDEX}-AxCmd-RB"){
   field(VAL, "1")
 }
 
-record(ao,"$(P)Plg-Mtn${INDEX}-SmpHz-RB"){
+record(ai,"$(P)Plg-Mtn${INDEX}-SmpHz-RB"){
   info(asyn:READBACK,"1")
   field(DESC, "Sample rate")
-  field(DTYP,"asynInt32")
-  field(OUT, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.samplerate")
-  field(DOL, "0")
+  field(DTYP,"asynFloat64")
+  field(INP, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.samplerate")  
   field(VAL, "1")
   field(EGU, "Hz")
+  field(SCAN, "I/O Intr")
 }
 
 record(ai,"$(P)Plg-Mtn${INDEX}-BuffSze"){

ecmc_plugin_motion/src/ecmcMotionPlg.cpp

@@ -150,7 +150,7 @@ ecmcMotionPlg::ecmcMotionPlg(int   objIndex,       // index of this object (if s
     printf("Warning selected sample rate faster than ecmc rate, rate will be set to ecmc rate.\n");
     cfgSampleRateHz_ = ecmcSampleRateHz_;
   }
-
+    
   // Se if any data update cycles should be ignored
   // example ecmc 1000Hz, fft 100Hz then ignore 9 cycles (could be strange if not multiples)
   ignoreCycles_ = ecmcSampleRateHz_ / cfgSampleRateHz_ -1;

iocsh/pvs.log

@@ -28,6 +28,7 @@ IOC_TEST:Axis1-VelAct
 IOC_TEST:Axis1-PosSet
 IOC_TEST:Axis1-PosErr
 IOC_TEST:Axis1-PLC-Err
+IOC_TEST:Plg-Mtn0-SmpHz-RB
 IOC_TEST:Plg-Mtn0-BuffSze
 IOC_TEST:Plg-Mtn0-ElmCnt
 IOC_TEST:MCU-AppMode
@@ -172,10 +173,10 @@ IOC_TEST:m0-Dom-WC-Zero
 IOC_TEST:m0-Dom-WC-Incomplete
 IOC_TEST:m0-Dom-WC-Complete
 IOC_TEST:m0-Stat-OK
-REQMOD:raspberrypi-8270:exit
-REQMOD:raspberrypi-8270:MODULES
-REQMOD:raspberrypi-8270:VERSIONS
-REQMOD:raspberrypi-8270:MOD_VER
+REQMOD:raspberrypi-5109:exit
+REQMOD:raspberrypi-5109:MODULES
+REQMOD:raspberrypi-5109:VERSIONS
+REQMOD:raspberrypi-5109:MOD_VER
 IOC_TEST:Axis1-Arr-Stat
 IOC_TEST:Axis1-PLC-Expr-RB
 IOC_TEST:Plg-Mtn0-PosAct-Arr
@@ -245,18 +246,18 @@ IOC_TEST:m0-SlvRsp
 IOC_TEST:m0-Dom-WC
 IOC_TEST:m0s001-Enc01-LtchRst
 IOC_TEST:Axis1-Cmd_
-REQMOD:raspberrypi-8270:BaseVersion
-REQMOD:raspberrypi-8270:require_VER
-REQMOD:raspberrypi-8270:ecmccfg_VER
-REQMOD:raspberrypi-8270:asyn_VER
-REQMOD:raspberrypi-8270:exprtk_VER
-REQMOD:raspberrypi-8270:motor_VER
-REQMOD:raspberrypi-8270:ruckig_VER
-REQMOD:raspberrypi-8270:ecmc_VER
+REQMOD:raspberrypi-5109:BaseVersion
+REQMOD:raspberrypi-5109:require_VER
+REQMOD:raspberrypi-5109:ecmccfg_VER
+REQMOD:raspberrypi-5109:asyn_VER
+REQMOD:raspberrypi-5109:exprtk_VER
+REQMOD:raspberrypi-5109:motor_VER
+REQMOD:raspberrypi-5109:ruckig_VER
+REQMOD:raspberrypi-5109:ecmc_VER
 IOC_TEST:m0s001-HWType
 IOC_TEST:m0s002-HWType
 IOC_TEST:Axis1-MsgTxt
-REQMOD:raspberrypi-8270:ecmc_plugin_motion_VER
+REQMOD:raspberrypi-5109:ecmc_plugin_motion_VER
 IOC_TEST:m0s001-Drv01-Stat
 IOC_TEST:m0s001-Enc01-Stat
 IOC_TEST:m0s001-Stat_
@@ -308,7 +309,6 @@ IOC_TEST:MCU-Cfg-AX-FrstObjId
 IOC_TEST:MCU-Cfg-PLG{Index}-NxtObjId
 IOC_TEST:MCU-Cfg-PLG-FrstObjId
 IOC_TEST:Plg-Mtn0-AxCmd-RB
-IOC_TEST:Plg-Mtn0-SmpHz-RB
 IOC_TEST:MCU-Cfg-Eng-Mode
 IOC_TEST:m0s001-Enc01-LchAutRstSp
 IOC_TEST:m0s002-BO01

tools/ecmcMotionMainGui.py

@@ -30,6 +30,9 @@ from matplotlib.backends.backend_qt5agg import NavigationToolbar2QT as Navigatio
 import matplotlib.pyplot as plt 
 import threading
 
+# Allow buffering of 10s data, need to add setting for this
+xMaxTime = 10
+
 # List of pv names
 pvlist = [ 'BuffSze',
            'ElmCnt',
@@ -90,6 +93,8 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
 
         for pv in pvlist:
             self.data[pv] = None
+        
+        self.data['test'] = None
 
         #Set some default plot colours
         self.plotColor={}
@@ -267,8 +272,30 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
            self.setWindowTitle("ecmc Mtn Main plot: prefix=" + self.pvPrefixStr + " , mtnId=" + str(self.mtnPluginId) + 
                                ", rate=" + str(self.sampleRate))       
 
-    def buildPvNames(self):
-        print('HEHEHEHHEH')
+    def addData(self, pvName, values):
+        # Check if first assignment
+        if self.data['test'] is None:
+            self.data['test'] = values
+            return
+        
+        self.data['test'].extend(values)
+        
+        # check if delete in beginning is needed
+        currcount = len(self.data['test'])
+        if self.sampleRateValid:
+          print('Sample rate = ' +str(self.sampleRate))
+          allowedcount = int(xMaxTime * self.sampleRate)
+        else:
+          print('Warninf sample rate not defined')
+          allowedcount = 10000
+        allowedcount = 100
+        print('currcount = ' + str(currcount) + " allowedcount = "+str(allowedcount))
+        if currcount > allowedcount:
+            self.data['test']=self.data['test'][currcount-allowedcount:]
+        print('DATA:')
+        print(self.data['test'])
+
+    def buildPvNames(self):        
         # Pv names based on structure:  <prefix>Plugin-Mtn<mtnPluginId>-<suffixname>
         for pv in pvlist:
             self.pvnames[pv]=self.buildPvName(pv)
@@ -398,6 +425,7 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
         if(np.size(value)) > 0:
             self.MtnYDataValid = True
             self.data['PosAct-Arr'] = value
+            self.addData('test',[1,2,3,4,5,6,7,8,9,10])
 
     def sig_cb_PosSet_Arr(self,value):
         self.data['PosSet-Arr'] = value
@@ -751,8 +779,8 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
         self.axBinary.set_title(self.title)
 
         if autozoom:
-           ymin = np.min(self.data['PosAct-Arr'])
-           ymax = np.max(self.data['PosAct-Arr'])
+           ymin = 0
+           ymax = 1
            # ensure different values
            if ymin == ymax:
                ymin=ymin-1