From d974286b27bb5e3d22e20aae0d8017f5551cae43 Mon Sep 17 00:00:00 2001
From: Anders Sandstrom <anders.sandstrom@esss.se>
Date: Thu, 3 Aug 2023 10:49:04 +0200
Subject: [PATCH] WIP

---
 ecmc_plugin_motion/src/ecmcMotionPlg.cpp |  4 +-
 iocsh/pvs.log                            | 48 ++++++------------------
 iocsh/test_plugin_motion.script          | 19 +++-------
 3 files changed, 20 insertions(+), 51 deletions(-)

diff --git a/ecmc_plugin_motion/src/ecmcMotionPlg.cpp b/ecmc_plugin_motion/src/ecmcMotionPlg.cpp
index c38e0c9..e80d2f7 100644
--- a/ecmc_plugin_motion/src/ecmcMotionPlg.cpp
+++ b/ecmc_plugin_motion/src/ecmcMotionPlg.cpp
@@ -1001,7 +1001,7 @@ void ecmcMotionPlg::doWriteWorker() {
   }
 }
 
-// triggered by work thread
+// triggered by low prio work thread only
 void ecmcMotionPlg::writeBuffers() {
   
   //Write all buffers
@@ -1020,7 +1020,7 @@ void ecmcMotionPlg::writeBuffers() {
   xPosBuffer_->writeBuffer();
 }
 
-// triggered by work thread
+// triggered by ecmc RT thread
 void ecmcMotionPlg::switchBuffers() {
 
 // switch in new empty buffer while data is stored in the other.
diff --git a/iocsh/pvs.log b/iocsh/pvs.log
index e7b4a48..32922bb 100644
--- a/iocsh/pvs.log
+++ b/iocsh/pvs.log
@@ -28,8 +28,6 @@ IOC_TEST:Axis1-VelAct
 IOC_TEST:Axis1-PosSet
 IOC_TEST:Axis1-PosErr
 IOC_TEST:Axis1-PLC-Err
-IOC_TEST:Plg-Mtn0-BuffSze
-IOC_TEST:Plg-Mtn0-ElmCnt
 IOC_TEST:MCU-AppMode
 IOC_TEST:MCU-ErrId
 IOC_TEST:MCU-ThdLatMin
@@ -172,24 +170,12 @@ 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-2740:exit
-REQMOD:raspberrypi-2740:MODULES
-REQMOD:raspberrypi-2740:VERSIONS
-REQMOD:raspberrypi-2740:MOD_VER
+REQMOD:raspberrypi-3352:exit
+REQMOD:raspberrypi-3352:MODULES
+REQMOD:raspberrypi-3352:VERSIONS
+REQMOD:raspberrypi-3352:MOD_VER
 IOC_TEST:Axis1-Arr-Stat
 IOC_TEST:Axis1-PLC-Expr-RB
-IOC_TEST:Plg-Mtn0-PosAct-Arr
-IOC_TEST:Plg-Mtn0-PosSet-Arr
-IOC_TEST:Plg-Mtn0-PosErr-Arr
-IOC_TEST:Plg-Mtn0-Time-Arr
-IOC_TEST:Plg-Mtn0-Ena-Arr
-IOC_TEST:Plg-Mtn0-EnaAct-Arr
-IOC_TEST:Plg-Mtn0-Bsy-Arr
-IOC_TEST:Plg-Mtn0-Exe-Arr
-IOC_TEST:Plg-Mtn0-TrjSrc-Arr
-IOC_TEST:Plg-Mtn0-EncSrc-Arr
-IOC_TEST:Plg-Mtn0-AtTrg-Arr
-IOC_TEST:Plg-Mtn0-ErrId-Arr
 IOC_TEST:MCU-ErrMsg
 IOC_TEST:MCU-Updated
 IOC_TEST:m0s001-Enc01-LtchCmd
@@ -210,8 +196,6 @@ IOC_TEST:Axis1-DIR_
 IOC_TEST:Axis1-ErrRst
 IOC_TEST:Axis1-HomProc
 IOC_TEST:Axis1-MtnCmdData
-IOC_TEST:Plg-Mtn0-Mde-RB
-IOC_TEST:Plg-Mtn0-Cmd-RB
 IOC_TEST:m0s001-Stat
 IOC_TEST:m0s002-Stat
 IOC_TEST:Axis1-MR-ErrId
@@ -222,7 +206,6 @@ IOC_TEST:Axis1-CfgDLLM-En-RB
 IOC_TEST:Axis1-Stat
 IOC_TEST:Axis1-ErrId
 IOC_TEST:Axis1-WrnId
-IOC_TEST:Plg-Mtn0-Stat
 IOC_TEST:m0-Stat
 IOC_TEST:m0-SlvCntr
 IOC_TEST:m0-MemmapCntr
@@ -245,18 +228,17 @@ IOC_TEST:m0-SlvRsp
 IOC_TEST:m0-Dom-WC
 IOC_TEST:m0s001-Enc01-LtchRst
 IOC_TEST:Axis1-Cmd_
-REQMOD:raspberrypi-2740:BaseVersion
-REQMOD:raspberrypi-2740:require_VER
-REQMOD:raspberrypi-2740:ecmccfg_VER
-REQMOD:raspberrypi-2740:asyn_VER
-REQMOD:raspberrypi-2740:exprtk_VER
-REQMOD:raspberrypi-2740:motor_VER
-REQMOD:raspberrypi-2740:ruckig_VER
-REQMOD:raspberrypi-2740:ecmc_VER
+REQMOD:raspberrypi-3352:BaseVersion
+REQMOD:raspberrypi-3352:require_VER
+REQMOD:raspberrypi-3352:ecmccfg_VER
+REQMOD:raspberrypi-3352:asyn_VER
+REQMOD:raspberrypi-3352:exprtk_VER
+REQMOD:raspberrypi-3352:motor_VER
+REQMOD:raspberrypi-3352:ruckig_VER
+REQMOD:raspberrypi-3352:ecmc_VER
 IOC_TEST:m0s001-HWType
 IOC_TEST:m0s002-HWType
 IOC_TEST:Axis1-MsgTxt
-REQMOD:raspberrypi-2740:ecmc_plugin_motion_VER
 IOC_TEST:m0s001-Drv01-Stat
 IOC_TEST:m0s001-Enc01-Stat
 IOC_TEST:m0s001-Stat_
@@ -305,10 +287,6 @@ IOC_TEST:Axis1-TgtVelCmd
 IOC_TEST:Axis1-Id
 IOC_TEST:MCU-Cfg-AX1-NxtObjId
 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
@@ -337,8 +315,6 @@ IOC_TEST:Axis1-PLC-EnaCmd
 IOC_TEST:Axis1-CmdFrmPLCCmd
 IOC_TEST:Axis1-SftLimBwdEna
 IOC_TEST:Axis1-SftLimFwdEna
-IOC_TEST:Plg-Mtn0-EnaCmd-RB
-IOC_TEST:Plg-Mtn0-TrgCmd-RB
 IOC_TEST:MCU-ErrRst
 IOC_TEST:Axis1-MCU1-asyn
 IOC_TEST:MCU-Cmd
diff --git a/iocsh/test_plugin_motion.script b/iocsh/test_plugin_motion.script
index 58ab1a6..c80dac7 100644
--- a/iocsh/test_plugin_motion.script
+++ b/iocsh/test_plugin_motion.script
@@ -4,13 +4,12 @@
 
 ## Initiation:
 epicsEnvSet("IOC" ,"$(IOC="IOC_TEST")")
-epicsEnvSet("ECMCCFG_INIT" ,"")  #Only run startup once (auto at PSI, need call at ESS), variable set to "#" in startup.cmd
 epicsEnvSet("SCRIPTEXEC" ,"$(SCRIPTEXEC="iocshLoad")")
 
-require ecmccfg     "9.0.1_RC1"
+require ecmccfg "9.0.1_RC1"
 
 # run module startup.cmd (only needed at ESS  PSI auto call at require)
-$(ECMCCFG_INIT)$(SCRIPTEXEC) ${ecmccfg_DIR}startup.cmd, "IOC=$(IOC),ECMC_VER=v9.0.1_RC1"
+$(ECMCCFG_INIT="")$(SCRIPTEXEC) ${ecmccfg_DIR}startup.cmd, "IOC=$(IOC),ECMC_VER=v9.0.1_RC1"
 
 
 ##############################################################################
@@ -39,17 +38,11 @@ $(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/el7031.ax)
 
 ########################################################################s######
 ## Load plugin: MOTION
-
-epicsEnvSet(ECMC_PLUGIN_CONFIG,"PLUGIN_ID=1,AX=1,BUFF_SIZE=25,DBG=0,ENA=1")
-
-require ecmc_plugin_motion master ${ECMC_PLUGIN_CONFIG}
-${SCRIPTEXEC} ${ecmc_plugin_motion_DIR}startup.cmd "${ECMC_PLUGIN_CONFIG}"
-
-#epicsEnvSet(ECMC_PLUGIN_FILNAME,"/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_motion/master/lib/${EPICS_HOST_ARCH=linux-x86_64}/libecmc_plugin_motion.so")
 #
-#${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=0,FILE=${ECMC_PLUGIN_FILNAME},CONFIG='${ECMC_PLUGIN_CONFIG}', REPORT=1"
-## Note: INDEX is the index of FFT object in FFT plugin and not PLUGIN_ID. In this case the same
-##dbLoadRecords(ecmcPluginFFT.template,"P=$(IOC):,INDEX=0, NELM=${FFT_NELM}, AMP_DESC='Sine amplitude',AMP_EGU='',RAW_DESC='Sine',AMP_EGU='', TITLE='FFT of sinus in 5Hz'")
+epicsEnvSet(ECMC_PLUGIN_CONFIG,"PLUGIN_ID=1,AX=1,BUFF_SIZE=25,DBG=0,ENA=1")
+require ecmc_plugin_motion master ${ECMC_PLUGIN_CONFIG}
+# below needed at ESS but not PSI:
+${SCRIPTEXEC} ${ecmc_plugin_motion_DIR}startup.cmd "${ECMC_PLUGIN_CONFIG}"
 
 ##############################################################################
 ############# Configure diagnostics: