Depend on ecmc 9

Set startGui.sh as executable
Convert tool to pyside2
2024-09-13 09:04:33 +02:00 · 2024-05-07 16:45:53 +02:00 · 2024-05-07 16:39:35 +02:00 · 2024-05-02 14:52:16 +02:00 · 2024-05-02 14:48:37 +02:00 · 2024-05-02 14:43:10 +02:00
36 changed files with 847 additions and 581 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -15,4 +15,8 @@ core.*
 *-loc/*.Makefile
 ecmc_plugin_motion/*.Makefile
 *__*
-O*
+O*
+tools/bin
+tools/lib
+tools/lib64
+tools/pyvenv.cfg
--- a/ecmc_plugin_motion/Db/.keep
+++ b/ecmc_plugin_motion/Db/.keep
--- a/ecmc_plugin_motion/Db/ecmcPluginMotion.template
+++ b/ecmc_plugin_motion/Db/ecmcPluginMotion.template
--- a/13
+++ b/13
@@ -6,7 +6,7 @@ BUILDCLASSES = Linux
 ARCH_FILTER = deb10%

 # Run 7.0.6 for now
-EXCLUDE_VERSIONS+=3 7.0.5 7.0.7
+EXCLUDE_VERSIONS+=3 7.0.5 7.0.6

 IGNORE_MODULES += asynMotor
 IGNORE_MODULES += motorBase
@@ -16,8 +16,8 @@ OPT_CXXFLAGS_YES = -O3

 # dependencies
 ECmasterECMC_VERSION = v1.1.0
-motorECMC_VERSION = 7.0.7-ESS
-ecmc_VERSION = v9.0.1_RC1
+#motorECMC_VERSION = 7.0.7-ESS
+ecmc_VERSION = 9

 ################################################################################
 # THIS RELATES TO THE EtherCAT MASTER LIBRARY
@@ -29,10 +29,10 @@ EC_MASTER_LIB = ${EPICS_MODULES}/ECmasterECMC/${ECmasterECMC_VERSION}/R${EPICSVE
 USR_LDFLAGS += -Wl,-rpath=${EC_MASTER_LIB}
 USR_LDFLAGS +=         -L ${EC_MASTER_LIB}

-BASE_DIR = ecmc_plugin_motion
+BASE_DIR = .
 SRC_DIR = $(BASE_DIR)/src
 DB_DIR =  $(BASE_DIR)/Db
-
+SCRIPTS_DIR = $(BASE_DIR)/scripts
 SOURCES += $(SRC_DIR)/ecmcPluginMotion.c
 SOURCES += $(SRC_DIR)/ecmcMotionPlgWrap.cpp
 SOURCES += $(SRC_DIR)/ecmcMotionPlg.cpp
@@ -41,6 +41,5 @@ SOURCES += $(SRC_DIR)/ecmcMotionPlg.cpp
 HEADERS += $(foreach d,${SRC_DIR}, $(wildcard $d/*.h))
 DBDS += $(foreach d,${SRC_DIR}, $(wildcard $d/*.dbd))
 SCRIPTS += $(BASE_DIR)/startup.cmd
-SCRIPTS += $(BASE_DIR)/addMotionObj.cmd
+SCRIPTS += $(SCRIPTS_DIR)/addMotionObj.cmd
 TEMPLATES += $(wildcard $(DB_DIR)/*.template)
-
--- a/README.md
+++ b/README.md
@@ -4,6 +4,7 @@ Plugin designed for commisioning and troubleshooting of motion axes.
 Motion data are sampled, buffered and exposed to epics as waveforms.


+python3 ecmcMotionMainPyQtGraph.py c6025a-04 0



--- a/ecmc_plugin_motion.Makefile
+++ b/ecmc_plugin_motion.Makefile
@@ -1,99 +0,0 @@
-#
-#  Copyright (c) 2023    Paul Scherrer Institute
-#
-#  The program is free software: you can redistribute
-#  it and/or modify it under the terms of the GNU General Public License
-#  as published by the Free Software Foundation, either version 2 of the
-#  License, or any newer version.
-#
-#  This program is distributed in the hope that it will be useful, but WITHOUT
-#  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-#  FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-#  more details.
-#
-#  You should have received a copy of the GNU General Public License along with
-#  this program. If not, see https://www.gnu.org/licenses/gpl-2.0.txt
-#
-# 
-# Author  : anderssandstrom
-# email   : anders.sandstroem@psi.ch
-# Date    : 2023 July 10
-# version : 0.0.0 
-#
-
-
-## The following lines are mandatory, please don't change them.
-where_am_I := $(dir $(abspath $(lastword $(MAKEFILE_LIST))))
-include $(E3_REQUIRE_TOOLS)/driver.makefile
-include $(E3_REQUIRE_CONFIG)/DECOUPLE_FLAGS
-
-ifneq ($(strip $(ASYN_DEP_VERSION)),)
-asyn_VERSION=$(ASYN_DEP_VERSION)
-endif
-
-ifneq ($(strip $(ECMC_DEP_VERSION)),)
-ecmc_VERSION=$(ECMC_DEP_VERSION)
-endif
-
-ifneq ($(strip $(RUCKIG_DEP_VERSION)),)
-ruckig_VERSION=$(RUCKIG_DEP_VERSION)
-endif
-
-ifeq ($(T_A),linux-x86_64)
-  # Assume that the etherlab user library is done via
-  # https://github.com/icshwi/etherlabmaster
-  USR_INCLUDES += -I/opt/etherlab/include
-  USR_CFLAGS += -fPIC
-  USR_LDFLAGS += -L /opt/etherlab/lib
-  USR_LDFLAGS += -lethercat
-  USR_LDFLAGS += -Wl,-rpath=/opt/etherlab/lib
-else 
-  ifeq ($(T_A),linux-arm)
-    # Assume that the etherlab user library is done via
-    # https://github.com/icshwi/etherlabmaster
-    USR_INCLUDES += -I/opt/etherlab/include
-    USR_CFLAGS += -fPIC
-    USR_LDFLAGS += -L /opt/etherlab/lib
-    USR_LDFLAGS += -lethercat
-    USR_LDFLAGS += -Wl,-rpath=/opt/etherlab/lib
-  else
-    # Assume that the etherlab user library is done via
-    # Yocto ESS Linux bb recipe
-    USR_INCLUDES += -I$(SDKTARGETSYSROOT)/usr/include/etherlab
-    USR_CFLAGS   += -fPIC
-    USR_LDFLAGS  += -L $(SDKTARGETSYSROOT)/usr/lib/etherlab
-    USR_LDFLAGS  += -lethercat
-    USR_LDFLAGS  += -Wl,-rpath=$(SDKTARGETSYSROOT)/usr/lib/etherlab
-    USR_LDFLAGS  += -lstdc++
-  endif
-endif
-
-APP:="."
-#APPDB:=$(APP)/Db
-#APPSRC:=$(APP)/src
-APPSRC:=src
-APPDB:=Db
-
-USR_CFLAGS   += -shared -fPIC -Wall -Wextra
-USR_LDFLAGS  += -lstdc++
-USR_INCLUDES += -I$(where_am_I)$(APPSRC)
-
-TEMPLATES += $(wildcard $(APPDB)/*.db)
-TEMPLATES += $(wildcard $(APPDB)/*.template)
-SOURCES += $(APPSRC)/ecmcPluginMotion.c
-SOURCES += $(APPSRC)/ecmcMotionPlgWrap.cpp
-SOURCES += $(APPSRC)/ecmcMotionPlg.cpp
-#SOURCES += $(APPSRC)/ecmcDataBuffer.cpp
-
-SCRIPTS += startup.cmd
-SCRIPTS += addMotionObj.cmd
-
-db:
-
-.PHONY: db
-
-vlibs:
-
-.PHONY: vlibs
-
-###
--- a/iocsh/plc/plc_no_ec_fft_sin.plc
+++ b/iocsh/plc/plc_no_ec_fft_sin.plc
@@ -1,9 +0,0 @@
-###############################################################################################
-# For help on syntax, variables and functions, please read the file: "plcSyntaxHelp.plc"
-#
-# PLC Functionality Demo:
-#   No hardware related variables
-#
-
-static.time:=ec_get_time()/1E9;
-static.sineval:=sin(2*pi*${FREQ=10}*static.time);
--- a/iocsh/pvs.log
+++ b/iocsh/pvs.log
@@ -1,345 +0,0 @@
-IOC_TEST:m0s001-Drv01-Cmd-RB
-IOC_TEST:m0s001-Drv01-Spd-RB
-IOC_TEST:m0s001-Enc01-PosAct
-IOC_TEST:m0s001-Enc01-LtchPosAct
-IOC_TEST:m0s001-Enc01-Cmd-RB
-IOC_TEST:m0s001-Enc01-PosCmd-RB
-IOC_TEST:Axis1-Vel-RB
-IOC_TEST:Axis1-Acc-RB
-IOC_TEST:Axis1-EncAct
-IOC_TEST:Axis1-CfgSREV-RB
-IOC_TEST:Axis1-CfgUREV-RB
-IOC_TEST:Axis1-CfgPMIN-RB
-IOC_TEST:Axis1-CfgPMAX-RB
-IOC_TEST:Axis1-CfgSPDB-RB
-IOC_TEST:Axis1-CfgRDBD-RB
-IOC_TEST:Axis1-CfgRDBD-Tim-RB
-IOC_TEST:Axis1-CfgPOSLAG-RB
-IOC_TEST:Axis1-CfgPOSLAG-Tim-RB
-IOC_TEST:Axis1-CfgDHLM-RB
-IOC_TEST:Axis1-CfgDLLM-RB
-IOC_TEST:Axis1-CfgVELO-RB
-IOC_TEST:Axis1-CfgVMAX-RB
-IOC_TEST:Axis1-CfgJVEL-RB
-IOC_TEST:Axis1-CfgACCS-RB
-IOC_TEST:Axis1-HomPos-RB
-IOC_TEST:Axis1-PosAct
-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
-IOC_TEST:MCU-ErrId
-IOC_TEST:MCU-ThdLatMin
-IOC_TEST:MCU-ThdLatMax
-IOC_TEST:MCU-ThdPrdMin
-IOC_TEST:MCU-ThdPrdMax
-IOC_TEST:MCU-ThdExeMin
-IOC_TEST:MCU-ThdExeMax
-IOC_TEST:MCU-ThdSndMin
-IOC_TEST:MCU-ThdSndMax
-IOC_TEST:m0s001-Drv01-WrnAlrm
-IOC_TEST:m0s001-Drv01-ErrAlrm
-IOC_TEST:m0s001-Drv01-StlAlrm
-IOC_TEST:m0s001-Drv01-SyncErrAlrm
-IOC_TEST:m0s001-Enc01-ExtLtchOK
-IOC_TEST:m0s001-Enc01-OpnCrctAlrm
-IOC_TEST:m0s001-Enc01-WrnAlrm
-IOC_TEST:m0s001-Enc01-SyncErrAlrm
-IOC_TEST:m0s001-Online
-IOC_TEST:m0s001-Operational
-IOC_TEST:m0s001-Alstate-Init
-IOC_TEST:m0s001-Alstate-Preop
-IOC_TEST:m0s001-Alstate-Safeop
-IOC_TEST:m0s001-Alstate-Op
-IOC_TEST:m0s002-BO01-RB
-IOC_TEST:m0s002-BO02-RB
-IOC_TEST:m0s002-BO03-RB
-IOC_TEST:m0s002-BO04-RB
-IOC_TEST:m0s002-BO05-RB
-IOC_TEST:m0s002-BO06-RB
-IOC_TEST:m0s002-BO07-RB
-IOC_TEST:m0s002-BO08-RB
-IOC_TEST:m0s002-BO09-RB
-IOC_TEST:m0s002-BO10-RB
-IOC_TEST:m0s002-BO11-RB
-IOC_TEST:m0s002-BO12-RB
-IOC_TEST:m0s002-BO13-RB
-IOC_TEST:m0s002-BO14-RB
-IOC_TEST:m0s002-BO15-RB
-IOC_TEST:m0s002-BO16-RB
-IOC_TEST:m0s002-BO01-OvrTmpAlrm
-IOC_TEST:m0s002-BO01-OpnLdAlrm
-IOC_TEST:m0s002-BO01-OvrCurrAlrm
-IOC_TEST:m0s002-BO01-ShrtCircAlrm
-IOC_TEST:m0s002-BO02-OvrTmpAlrm
-IOC_TEST:m0s002-BO02-OpnLdAlrm
-IOC_TEST:m0s002-BO02-OvrCurrAlrm
-IOC_TEST:m0s002-BO02-ShrtCircAlrm
-IOC_TEST:m0s002-BO03-OvrTmpAlrm
-IOC_TEST:m0s002-BO03-OpnLdAlrm
-IOC_TEST:m0s002-BO03-OvrCurrAlrm
-IOC_TEST:m0s002-BO03-ShrtCircAlrm
-IOC_TEST:m0s002-BO04-OvrTmpAlrm
-IOC_TEST:m0s002-BO04-OpnLdAlrm
-IOC_TEST:m0s002-BO04-OvrCurrAlrm
-IOC_TEST:m0s002-BO04-ShrtCircAlrm
-IOC_TEST:m0s002-BO05-OvrTmpAlrm
-IOC_TEST:m0s002-BO05-OpnLdAlrm
-IOC_TEST:m0s002-BO05-OvrCurrAlrm
-IOC_TEST:m0s002-BO05-ShrtCircAlrm
-IOC_TEST:m0s002-BO06-OvrTmpAlrm
-IOC_TEST:m0s002-BO06-OpnLdAlrm
-IOC_TEST:m0s002-BO06-OvrCurrAlrm
-IOC_TEST:m0s002-BO06-ShrtCircAlrm
-IOC_TEST:m0s002-BO07-OvrTmpAlrm
-IOC_TEST:m0s002-BO07-OpnLdAlrm
-IOC_TEST:m0s002-BO07-OvrCurrAlrm
-IOC_TEST:m0s002-BO07-ShrtCircAlrm
-IOC_TEST:m0s002-BO08-OvrTmpAlrm
-IOC_TEST:m0s002-BO08-OpnLdAlrm
-IOC_TEST:m0s002-BO08-OvrCurrAlrm
-IOC_TEST:m0s002-BO08-ShrtCircAlrm
-IOC_TEST:m0s002-BO09-OvrTmpAlrm
-IOC_TEST:m0s002-BO09-OpnLdAlrm
-IOC_TEST:m0s002-BO09-OvrCurrAlrm
-IOC_TEST:m0s002-BO09-ShrtCircAlrm
-IOC_TEST:m0s002-BO10-OvrTmpAlrm
-IOC_TEST:m0s002-BO10-OpnLdAlrm
-IOC_TEST:m0s002-BO10-OvrCurrAlrm
-IOC_TEST:m0s002-BO10-ShrtCircAlrm
-IOC_TEST:m0s002-BO11-OvrTmpAlrm
-IOC_TEST:m0s002-BO11-OpnLdAlrm
-IOC_TEST:m0s002-BO11-OvrCurrAlrm
-IOC_TEST:m0s002-BO11-ShrtCircAlrm
-IOC_TEST:m0s002-BO12-OvrTmpAlrm
-IOC_TEST:m0s002-BO12-OpnLdAlrm
-IOC_TEST:m0s002-BO12-OvrCurrAlrm
-IOC_TEST:m0s002-BO12-ShrtCircAlrm
-IOC_TEST:m0s002-BO13-OvrTmpAlrm
-IOC_TEST:m0s002-BO13-OpnLdAlrm
-IOC_TEST:m0s002-BO13-OvrCurrAlrm
-IOC_TEST:m0s002-BO13-ShrtCircAlrm
-IOC_TEST:m0s002-BO14-OvrTmpAlrm
-IOC_TEST:m0s002-BO14-OpnLdAlrm
-IOC_TEST:m0s002-BO14-OvrCurrAlrm
-IOC_TEST:m0s002-BO14-ShrtCircAlrm
-IOC_TEST:m0s002-BO15-OvrTmpAlrm
-IOC_TEST:m0s002-BO15-OpnLdAlrm
-IOC_TEST:m0s002-BO15-OvrCurrAlrm
-IOC_TEST:m0s002-BO15-ShrtCircAlrm
-IOC_TEST:m0s002-BO16-OvrTmpAlrm
-IOC_TEST:m0s002-BO16-OpnLdAlrm
-IOC_TEST:m0s002-BO16-OvrCurrAlrm
-IOC_TEST:m0s002-BO16-ShrtCircAlrm
-IOC_TEST:m0s002-Online
-IOC_TEST:m0s002-Operational
-IOC_TEST:m0s002-Alstate-Init
-IOC_TEST:m0s002-Alstate-Preop
-IOC_TEST:m0s002-Alstate-Safeop
-IOC_TEST:m0s002-Alstate-Op
-IOC_TEST:Axis1-EnaCmd-RB
-IOC_TEST:Axis1-EnaAct
-IOC_TEST:Axis1-ExeCmd-RB
-IOC_TEST:Axis1-Busy
-IOC_TEST:Axis1-AtTarget
-IOC_TEST:Axis1-Moving
-IOC_TEST:Axis1-LimFwd
-IOC_TEST:Axis1-LimBwd
-IOC_TEST:Axis1-HomeSwitch
-IOC_TEST:Axis1-Homed
-IOC_TEST:Axis1-InRT
-IOC_TEST:Axis1-TrjSrcTyp-RB
-IOC_TEST:Axis1-EncSrcTyp-RB
-IOC_TEST:Axis1-CmdFrmPLCCmd-RB
-IOC_TEST:Axis1-SftLimFwdEna-RB
-IOC_TEST:Axis1-SftLimBwdEna-RB
-IOC_TEST:Axis1-PLC-EnaCmd-RB
-IOC_TEST:Axis1-PLC-FirstScan
-IOC_TEST:Axis1-Err
-IOC_TEST:Axis1-Wrn
-IOC_TEST:MCU-ThdRTPrioOK
-IOC_TEST:MCU-ThdMemLocked
-IOC_TEST:m0-LinkUp
-IOC_TEST:m0-AlStates-Init
-IOC_TEST:m0-AlStates-Preop
-IOC_TEST:m0-AlStates-Safeop
-IOC_TEST:m0-AlStates-Op
-IOC_TEST:m0-Dom-RedunActive
-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-10406:exit
-REQMOD:raspberrypi-10406:MODULES
-REQMOD:raspberrypi-10406:VERSIONS
-REQMOD:raspberrypi-10406: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
-IOC_TEST:Axis1-MtnCmd
-IOC_TEST:Axis1-movVelCmd
-IOC_TEST:Axis1-movRelCmd
-IOC_TEST:Axis1-movAbsCmd
-IOC_TEST:Axis1-movHomCmd
-IOC_TEST:Axis1-HomProc-RB
-IOC_TEST:Axis1-Type
-IOC_TEST:Axis1-DrvType
-IOC_TEST:Axis1-TrajType
-IOC_TEST:m0s001-One
-IOC_TEST:m0s001-Zero
-IOC_TEST:m0s002-One
-IOC_TEST:m0s002-Zero
-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
-IOC_TEST:Axis1-CfgRDBD-En-RB
-IOC_TEST:Axis1-CfgPOSLAG-En-RB
-IOC_TEST:Axis1-CfgDHLM-En-RB
-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
-IOC_TEST:m0-DomFailCntrTot
-IOC_TEST:m0-EntryCntr
-IOC_TEST:m0-Dom-Stat
-IOC_TEST:MCU-Cfg-Info
-IOC_TEST:MCU-Cfg-Naming
-IOC_TEST:MCU-Cfg-Mode
-IOC_TEST:MCU-Cfg-PVA
-IOC_TEST:Axis1-DbgStrToLOG
-IOC_TEST:MCU-Cfg-AX1-Pfx
-IOC_TEST:MCU-Cfg-AX1-Nam
-IOC_TEST:MCU-Cfg-AX1-PfxNam
-IOC_TEST:m0s001-EntryCntr
-IOC_TEST:m0s002-EntryCntr
-IOC_TEST:Axis1-SeqState
-IOC_TEST:Axis1-LastIlock
-IOC_TEST:m0-SlvRsp
-IOC_TEST:m0-Dom-WC
-IOC_TEST:m0s001-Enc01-LtchRst
-IOC_TEST:Axis1-Cmd_
-REQMOD:raspberrypi-10406:BaseVersion
-REQMOD:raspberrypi-10406:require_VER
-REQMOD:raspberrypi-10406:ecmccfg_VER
-REQMOD:raspberrypi-10406:asyn_VER
-REQMOD:raspberrypi-10406:exprtk_VER
-REQMOD:raspberrypi-10406:motor_VER
-REQMOD:raspberrypi-10406:ruckig_VER
-REQMOD:raspberrypi-10406:ecmc_VER
-IOC_TEST:m0s001-HWType
-IOC_TEST:m0s002-HWType
-IOC_TEST:Axis1-MsgTxt
-REQMOD:raspberrypi-10406:ecmc_plugin_motion_VER
-IOC_TEST:m0s001-Drv01-Stat
-IOC_TEST:m0s001-Enc01-Stat
-IOC_TEST:m0s001-Stat_
-IOC_TEST:m0s002-BO01-Stat
-IOC_TEST:m0s002-BO02-Stat
-IOC_TEST:m0s002-BO03-Stat
-IOC_TEST:m0s002-BO04-Stat
-IOC_TEST:m0s002-BO05-Stat
-IOC_TEST:m0s002-BO06-Stat
-IOC_TEST:m0s002-BO07-Stat
-IOC_TEST:m0s002-BO08-Stat
-IOC_TEST:m0s002-BO09-Stat
-IOC_TEST:m0s002-BO10-Stat
-IOC_TEST:m0s002-BO11-Stat
-IOC_TEST:m0s002-BO12-Stat
-IOC_TEST:m0s002-BO13-Stat
-IOC_TEST:m0s002-BO14-Stat
-IOC_TEST:m0s002-BO15-Stat
-IOC_TEST:m0s002-BO16-Stat
-IOC_TEST:m0s002-Stat_
-IOC_TEST:Axis1-Stat_
-IOC_TEST:ThdRTStat_
-IOC_TEST:m0-Stat_
-IOC_TEST:m0-Dom-Stat_
-IOC_TEST:m0s001-Enc01-LtchAutRst
-IOC_TEST:Axis1-MtnCmd_
-IOC_TEST:MCU-Cfg-EC-Mst
-IOC_TEST:MCU-Cfg-Rate
-IOC_TEST:MCU-Cfg-Time
-IOC_TEST:MCU-Cfg-PV-Time
-IOC_TEST:m0s001-Drv01-Cmd
-IOC_TEST:m0s001-Drv01-Spd
-IOC_TEST:m0s001-Enc01-Cmd
-IOC_TEST:m0s001-Enc01-PosCmd
-IOC_TEST:m0s001-NxtObjId
-IOC_TEST:MCU-Cfg-EC-FrstObjId
-IOC_TEST:m0s002-NxtObjId
-IOC_TEST:Axis1-OFF_
-IOC_TEST:Axis1-MRES_
-IOC_TEST:Axis1-HomPos
-IOC_TEST:Axis1-VelToHom
-IOC_TEST:Axis1-VelFrmHom
-IOC_TEST:Axis1-AccHom
-IOC_TEST:Axis1-TgtPosCmd
-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:MCU-Cfg-Eng-Mode
-IOC_TEST:m0s001-Enc01-LchAutRstSp
-IOC_TEST:m0s002-BO01
-IOC_TEST:m0s002-BO02
-IOC_TEST:m0s002-BO03
-IOC_TEST:m0s002-BO04
-IOC_TEST:m0s002-BO05
-IOC_TEST:m0s002-BO06
-IOC_TEST:m0s002-BO07
-IOC_TEST:m0s002-BO08
-IOC_TEST:m0s002-BO09
-IOC_TEST:m0s002-BO10
-IOC_TEST:m0s002-BO11
-IOC_TEST:m0s002-BO12
-IOC_TEST:m0s002-BO13
-IOC_TEST:m0s002-BO14
-IOC_TEST:m0s002-BO15
-IOC_TEST:m0s002-BO16
-IOC_TEST:Axis1-EnaCmd
-IOC_TEST:Axis1-ExeCmd
-IOC_TEST:Axis1-StpCmd
-IOC_TEST:Axis1-RstCmd
-IOC_TEST:Axis1-EncSrcTyp-Cmd
-IOC_TEST:Axis1-TrjSrcTyp-Cmd
-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
-IOC_TEST:Axis1
--- a/iocsh/test_1/cfg/el7031.ax
+++ b/iocsh/test_1/cfg/el7031.ax
--- a/iocsh/test_1/test_plugin_motion_psi.script
+++ b/iocsh/test_1/test_plugin_motion_psi.script
--- a/iocsh/test_2/cfg/el7201_hipa.yaml
+++ b/iocsh/test_2/cfg/el7201_hipa.yaml
@@ -0,0 +1,92 @@
+# Macros:
+#  AX_ID    : This axis id
+#  AX_NAME  : This axis name
+#  DRV_ID   : Slave id of drive
+#  OFFSET   : Offset
+
+axis:
+  id: ${AX_ID=1}
+  mode: CSV
+#  parameters: powerAutoOnOff=2;powerOnDelay=6.0;powerOffDelay=1.0;
+
+epics:
+  name: ${AX_NAME=Axis1}
+  precision: 4
+  unit: revs
+  motorRecord:
+    enable: true
+    description: ""
+    fieldInit: "RTRY=0,FOFF=Frozen"
+
+# Max scale is 8000Hz
+drive:
+  numerator: 8000  #rev/s, Max speed is 8000 rev/sec for drive
+  denominator: 2147483648
+  type: 1                            # Stepper: 0, DS402: 1 (servos)
+  control: ec0.s$(DRV_ID).driveControl01
+  status: ec0.s$(DRV_ID).driveStatus01
+  setpoint: ec0.s$(DRV_ID).velocitySetpoint01
+  reset: 7
+
+# 0.02mm/rev (0.4mm pitch and gr of 20).
+# in data sheet it states 0.364mm pitch and gr of 20 (which is not true)
+encoder:
+  type: 1
+  position: ec0.s$(DRV_ID).positionActual01
+  numerator: 1
+  denominator: 1048576
+  bits: 32
+  absBits: 32
+  absOffset: $(OFFSET=0)
+  status: ec0.s$(DRV_ID).ONE
+#  error:
+#    - 7
+#  ready: 6
+
+controller:
+  Kp: 140.0
+  Ki: 0.1
+  Kd: 0.0
+  deadband:
+    tol: 0.0                                         # Stop control if within this distance from target for the below time
+    time: 100
+
+trajectory:
+  source: 0
+  type: 1
+  axis:
+    velocity: 50
+    acceleration: 50000
+    decceleration: 50000
+
+input:
+  limit:
+#    forward: ec0.s$(DRV_ID).infoData02.1
+#    backward: ec0.s$(DRV_ID).infoData02.0
+    forward: ec0.s$(DRV_ID).ONE.1
+    backward: ec0.s$(DRV_ID).ONE.0
+  home: ec0.s$(DRV_ID).ONE.0
+  interlock: ec0.s$(DRV_ID).ONE.0
+
+softlimits:
+  enable: no
+  backwardEnable: yes
+  forwardEnable: yes
+  forward: 10
+  backward: -10
+
+monitoring:
+  lag:
+    enable: no
+    tolerance: 0.01
+    time: 100
+  target:
+    enable: yes
+    tolerance: 0.1
+    time: 100
+  velocity:
+    enable: no
+    max: 10000
+    time:
+      trajectory: 100
+      drive: 200
--- a/iocsh/test_2/ep7211-0034_hipa.script
+++ b/iocsh/test_2/ep7211-0034_hipa.script
@@ -0,0 +1,43 @@
+##############################################################################
+## Example config for ep7211-0010.. Why power cycle sometimes needed??? SDO 8000:17 (enc offset) gives error
+
+
+##############################################################################
+## Initiation:
+
+require ecmccfg "ECMC_VER=EC_RATE=1000,ENG_MODE=1,MASTER_ID=1"
+require ecmccomp
+
+epicsEnvSet("ECMC_EC_SLAVE_NUM_DRIVE",        "0")
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ECMC_EC_SLAVE_NUM_DRIVE), HW_DESC=EP7211-0034_ALL_FB"
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP= Motor-Beckhoff-AM8121-XFX0"
+
+#Apply hardware configuration
+ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
+
+
+#epicsEnvSet("ECMC_SAMPLE_RATE_MS",            "${RATE="1"}")
+
+##############################################################################
+## AXIS 1
+#
+epicsEnvSet("DEV",      "$(IOC)")
+$(SCRIPTEXEC) $(ecmccfg_DIR)loadYamlAxis.cmd "FILE=./cfg/el7201_hipa.yaml,DRV_ID=$(ECMC_EC_SLAVE_NUM_DRIVE),AX_NAME='Axis1',AX_ID=1"
+
+#epicsEnvSet("ECMC_SAMPLE_RATE_MS",            "${RATE="10"}")
+
+##############################################################################
+## Load plugin: MOTION
+#
+epicsEnvSet(ECMC_PLUGIN_CONFIG,"PLUGIN_ID=1,AX=1,BUFF_SIZE=200,DBG=0,ENA=1")
+require ecmc_plugin_motion sandst_a "${ECMC_PLUGIN_CONFIG}"
+
+##############################################################################
+############# Configure diagnostics:
+
+ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)"
+ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)"
+ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)"
+
+# go active
+$(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd)
--- a/iocsh/test_plugin_motion.script
+++ b/iocsh/test_plugin_motion.script
@@ -1,62 +0,0 @@
-##############################################################################
-## Example: Configuraftion for running ecmc motion plugin
-##############################################################################
-
-## Initiation:
-epicsEnvSet("IOC" ,"$(IOC="IOC_TEST")")
-epicsEnvSet("SCRIPTEXEC" ,"$(SCRIPTEXEC="iocshLoad")")
-
-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, EC_RATE=500"
-
-
-##############################################################################
-## Configure hardware
-
-epicsEnvSet("ECMC_EC_SLAVE_NUM",              "1")
-${SCRIPTEXEC} ${ecmccfg_DIR}configureSlave.cmd, "SLAVE_ID=$(ECMC_EC_SLAVE_NUM), HW_DESC=EL7031, CONFIG=-Motor-Trinamic-QMot-QSH4218-41-10-035"
-epicsEnvSet("DRV_ID",              "${ECMC_EC_SLAVE_NUM}")
-${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL2819"
-epicsEnvSet("DO_ID",              "${ECMC_EC_SLAVE_NUM}")
-
-# Configure drv input 1 as drv enable
-ecmcConfigOrDie "Cfg.EcAddSdo(${DRV_ID},0x8012,0x32,1,1)"
-OK
-# Control external drv enable
-ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${DO_ID},binaryOutput02,1)"
-
-#Apply hardware configuration
-ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
-
-##############################################################################
-## AXIS 1
-#
-epicsEnvSet("DEV",      "$(IOC)")
-$(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/el7031.ax)
-
-##############################################################################
-## Load plugin: MOTION
-#
-epicsEnvSet(ECMC_PLUGIN_CONFIG,"PLUGIN_ID=1,AX=1,BUFF_SIZE=200,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:
-
-ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)"
-ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)"
-ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)"
-ecmcConfigOrDie "Cfg.SetDiagAxisIndex(1)"
-ecmcConfigOrDie "Cfg.SetDiagAxisFreq(2)"
-ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)"
-
-##############################################################################
-############# go active:
-$(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd)
-
-iocInit
-dbl > pvs.log
--- a/ecmc_plugin_motion/src/.keep
+++ b/ecmc_plugin_motion/src/.keep
--- a/qt/ecmc_plugin_motion_main.ui
+++ b/qt/ecmc_plugin_motion_main.ui
@@ -0,0 +1,543 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Dialog</class>
+ <widget class="QDialog" name="Dialog">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1420</width>
+    <height>893</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>ecmc expert axis</string>
+  </property>
+  <widget class="caStripPlot" name="castripplot">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>30</y>
+     <width>1200</width>
+     <height>500</height>
+    </rect>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>4</pointsize>
+    </font>
+   </property>
+   <property name="Title" stdset="0">
+    <string notr="true">Analog</string>
+   </property>
+   <property name="TitleX">
+    <string notr="true"/>
+   </property>
+   <property name="TitleY">
+    <string notr="true">Position</string>
+   </property>
+   <property name="channels" stdset="0">
+    <string>$(SYS):Plg-Mtn$(MTN_ID=0)-PosAct-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-PosSet-Arr;</string>
+   </property>
+   <property name="period">
+    <double>30.000000000000000</double>
+   </property>
+   <property name="refreshRate" stdset="0">
+    <enum>caStripPlot::High</enum>
+   </property>
+   <property name="XaxisType">
+    <enum>caStripPlot::TimeScale</enum>
+   </property>
+   <property name="numberOfXticks" stdset="0">
+    <number>4</number>
+   </property>
+   <property name="YAxisScaling" stdset="0">
+    <enum>caStripPlot::autoScale</enum>
+   </property>
+   <property name="YaxisLimitsMax_1">
+    <double>600.000000000000000</double>
+   </property>
+   <property name="YaxisLimitsMin_1">
+    <double>200.000000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_1" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_1" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="color_1">
+    <color>
+     <red>255</red>
+     <green>216</green>
+     <blue>217</blue>
+    </color>
+   </property>
+   <property name="YaxisLimitsMin_2">
+    <double>-100.000000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_2" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_2" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="color_2">
+    <color>
+     <red>0</red>
+     <green>255</green>
+     <blue>0</blue>
+    </color>
+   </property>
+   <property name="YaxisLimitsMax_3">
+    <double>30.000000000000000</double>
+   </property>
+   <property name="YaxisLimitsMin_3">
+    <double>0.000000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_3" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_3" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="color_3">
+    <color>
+     <red>159</red>
+     <green>207</green>
+     <blue>255</blue>
+    </color>
+   </property>
+   <property name="foreground">
+    <color alpha="0">
+     <red>133</red>
+     <green>190</green>
+     <blue>232</blue>
+    </color>
+   </property>
+   <property name="XaxisEnabled">
+    <bool>false</bool>
+   </property>
+   <property name="LegendEnabled">
+    <bool>true</bool>
+   </property>
+   <property name="XaxisSyncGroup">
+    <number>1</number>
+   </property>
+  </widget>
+  <widget class="caStripPlot" name="castripplot_2">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>680</y>
+     <width>1231</width>
+     <height>200</height>
+    </rect>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>4</pointsize>
+    </font>
+   </property>
+   <property name="Title" stdset="0">
+    <string notr="true"/>
+   </property>
+   <property name="TitleX">
+    <string notr="true">Time</string>
+   </property>
+   <property name="TitleY">
+    <string notr="true">State</string>
+   </property>
+   <property name="channels" stdset="0">
+    <string>$(SYS):Plg-Mtn$(MTN_ID=0)-Ena-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-EnaAct-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-Bsy-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-Exe-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-TrjSrc-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-EncSrc-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-AtTrg-Arr;</string>
+   </property>
+   <property name="period">
+    <double>30.000000000000000</double>
+   </property>
+   <property name="refreshRate" stdset="0">
+    <enum>caStripPlot::High</enum>
+   </property>
+   <property name="XaxisType">
+    <enum>caStripPlot::TimeScaleFix</enum>
+   </property>
+   <property name="numberOfXticks" stdset="0">
+    <number>4</number>
+   </property>
+   <property name="YAxisScaling" stdset="0">
+    <enum>caStripPlot::fixedScale</enum>
+   </property>
+   <property name="YaxisLimitsMax_1">
+    <double>1.200000000000000</double>
+   </property>
+   <property name="YaxisLimitsMin_1">
+    <double>-0.200000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_1" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_1" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="color_1">
+    <color>
+     <red>255</red>
+     <green>216</green>
+     <blue>217</blue>
+    </color>
+   </property>
+   <property name="YaxisLimitsMax_2">
+    <double>1.200000000000000</double>
+   </property>
+   <property name="YaxisLimitsMin_2">
+    <double>-0.200000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_2" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_2" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="color_2">
+    <color>
+     <red>0</red>
+     <green>255</green>
+     <blue>0</blue>
+    </color>
+   </property>
+   <property name="YaxisLimitsMax_3">
+    <double>1.200000000000000</double>
+   </property>
+   <property name="YaxisLimitsMin_3">
+    <double>-0.200000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_3" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_3" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="color_3">
+    <color>
+     <red>159</red>
+     <green>207</green>
+     <blue>255</blue>
+    </color>
+   </property>
+   <property name="YaxisLimitsMax_4">
+    <double>1.200000000000000</double>
+   </property>
+   <property name="YaxisLimitsMin_4">
+    <double>-0.200000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_4" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_4" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisLimitsMax_5">
+    <double>1.200000000000000</double>
+   </property>
+   <property name="YaxisLimitsMin_5">
+    <double>-0.200000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_5" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_5" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisLimitsMax_6">
+    <double>1.200000000000000</double>
+   </property>
+   <property name="YaxisLimitsMin_6">
+    <double>-0.200000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_6" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_6" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisLimitsMax_7">
+    <double>1.200000000000000</double>
+   </property>
+   <property name="YaxisLimitsMin_7">
+    <double>-0.200000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_7" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_7" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="foreground">
+    <color alpha="0">
+     <red>133</red>
+     <green>190</green>
+     <blue>232</blue>
+    </color>
+   </property>
+   <property name="LegendEnabled">
+    <bool>true</bool>
+   </property>
+   <property name="XaxisSyncGroup">
+    <number>1</number>
+   </property>
+  </widget>
+  <widget class="caStripPlot" name="castripplot_3">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>530</y>
+     <width>1200</width>
+     <height>151</height>
+    </rect>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>4</pointsize>
+    </font>
+   </property>
+   <property name="Title" stdset="0">
+    <string notr="true"/>
+   </property>
+   <property name="TitleX">
+    <string notr="true"/>
+   </property>
+   <property name="TitleY">
+    <string notr="true">Position Error</string>
+   </property>
+   <property name="channels" stdset="0">
+    <string>$(SYS):Plg-Mtn$(MTN_ID=0)-PosErr-Arr;</string>
+   </property>
+   <property name="period">
+    <double>30.000000000000000</double>
+   </property>
+   <property name="refreshRate" stdset="0">
+    <enum>caStripPlot::High</enum>
+   </property>
+   <property name="XaxisType">
+    <enum>caStripPlot::TimeScale</enum>
+   </property>
+   <property name="numberOfXticks" stdset="0">
+    <number>4</number>
+   </property>
+   <property name="YAxisScaling" stdset="0">
+    <enum>caStripPlot::autoScale</enum>
+   </property>
+   <property name="YaxisLimitsMax_1">
+    <double>600.000000000000000</double>
+   </property>
+   <property name="YaxisLimitsMin_1">
+    <double>200.000000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_1" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_1" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="color_1">
+    <color>
+     <red>255</red>
+     <green>216</green>
+     <blue>217</blue>
+    </color>
+   </property>
+   <property name="YaxisLimitsMin_2">
+    <double>-100.000000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_2" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_2" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="color_2">
+    <color>
+     <red>0</red>
+     <green>255</green>
+     <blue>0</blue>
+    </color>
+   </property>
+   <property name="YaxisLimitsMax_3">
+    <double>30.000000000000000</double>
+   </property>
+   <property name="YaxisLimitsMin_3">
+    <double>0.000000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_3" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_3" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="color_3">
+    <color>
+     <red>159</red>
+     <green>207</green>
+     <blue>255</blue>
+    </color>
+   </property>
+   <property name="foreground">
+    <color alpha="0">
+     <red>133</red>
+     <green>190</green>
+     <blue>232</blue>
+    </color>
+   </property>
+   <property name="XaxisEnabled">
+    <bool>false</bool>
+   </property>
+   <property name="LegendEnabled">
+    <bool>true</bool>
+   </property>
+   <property name="XaxisSyncGroup">
+    <number>1</number>
+   </property>
+  </widget>
+  <widget class="caToggleButton" name="catogglebutton">
+   <property name="geometry">
+    <rect>
+     <x>1270</x>
+     <y>80</y>
+     <width>100</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Enable</string>
+   </property>
+   <property name="channel" stdset="0">
+    <string notr="true">$(SYS):Plg-Mtn$(MTN_ID=0)-EnaCmd-RB</string>
+   </property>
+  </widget>
+  <widget class="caNumeric" name="canumeric">
+   <property name="geometry">
+    <rect>
+     <x>1300</x>
+     <y>120</y>
+     <width>100</width>
+     <height>50</height>
+    </rect>
+   </property>
+   <property name="integerDigits" stdset="0">
+    <number>1</number>
+   </property>
+   <property name="decimalDigits" stdset="0">
+    <number>0</number>
+   </property>
+   <property name="value">
+    <double>0.000000000000000</double>
+   </property>
+   <property name="channel" stdset="0">
+    <string notr="true">$(SYS):Plg-Mtn$(MTN_ID=0)-AxCmd-RB</string>
+   </property>
+   <property name="colorMode">
+    <enum>caNumeric::Alarm</enum>
+   </property>
+   <property name="precisionMode">
+    <enum>caNumeric::User</enum>
+   </property>
+   <property name="fixedFormat">
+    <bool>true</bool>
+   </property>
+   <property name="limitsMode">
+    <enum>caNumeric::User</enum>
+   </property>
+   <property name="maxValue">
+    <double>100.000000000000000</double>
+   </property>
+   <property name="minValue">
+    <double>0.000000000000000</double>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>1230</x>
+     <y>130</y>
+     <width>63</width>
+     <height>20</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Axis ID:</string>
+   </property>
+  </widget>
+  <widget class="caLineEdit" name="calineedit">
+   <property name="geometry">
+    <rect>
+     <x>1330</x>
+     <y>190</y>
+     <width>61</width>
+     <height>20</height>
+    </rect>
+   </property>
+   <property name="channel" stdset="0">
+    <string notr="true">$(SYS):Plg-Mtn$(MTN_ID=0)-SmpHz</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_2">
+   <property name="geometry">
+    <rect>
+     <x>1230</x>
+     <y>190</y>
+     <width>63</width>
+     <height>20</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Rate [Hz]:</string>
+   </property>
+  </widget>
+  <widget class="caLabel" name="calabel">
+   <property name="geometry">
+    <rect>
+     <x>1310</x>
+     <y>290</y>
+     <width>90</width>
+     <height>28</height>
+    </rect>
+   </property>
+   <property name="channel" stdset="0">
+    <string notr="true">$(SYS):Plg-Mtn$(MTN_ID=0)-SmpHz</string>
+   </property>
+  </widget>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>caNumeric</class>
+   <extends>QFrame</extends>
+   <header>caNumeric</header>
+  </customwidget>
+  <customwidget>
+   <class>caToggleButton</class>
+   <extends>QCheckBox</extends>
+   <header>caToggleButton</header>
+  </customwidget>
+  <customwidget>
+   <class>caLabel</class>
+   <extends>QLabel</extends>
+   <header>caLabel</header>
+  </customwidget>
+  <customwidget>
+   <class>caLineEdit</class>
+   <extends>QLineEdit</extends>
+   <header>caLineEdit</header>
+  </customwidget>
+  <customwidget>
+   <class>caStripPlot</class>
+   <extends>QwtPlot</extends>
+   <header>caStripPlot</header>
+  </customwidget>
+  <customwidget>
+   <class>QwtPlot</class>
+   <extends>QFrame</extends>
+   <header>qwt_plot.h</header>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
--- a/ecmc_plugin_motion/addMotionObj.cmd
+++ b/ecmc_plugin_motion/addMotionObj.cmd
--- a/src/.keep
+++ b/src/.keep
--- a/ecmc_plugin_motion/src/ecmcDataBuffer.h
+++ b/ecmc_plugin_motion/src/ecmcDataBuffer.h
--- a/ecmc_plugin_motion/src/ecmcMotionPlg.cpp
+++ b/ecmc_plugin_motion/src/ecmcMotionPlg.cpp
@@ -906,7 +906,7 @@ asynStatus ecmcMotionPlg::writeInt32(asynUser *pasynUser, epicsInt32 value) {
  } else if( function == asynAxisId_){
    return setAxis(value) > 0 ? asynSuccess : asynError;
  } else if( function == asynModeId_){
-    return setMode((TRIGG_MODE)value) > 0 ? asynSuccess : asynError;    
+    return setMode((TRIGG_MODE)value) == 0 ? asynSuccess : asynError;    
  } else if( function == asynModeId_){
    return setTrigg(value) ? asynSuccess :asynError;    
  }
--- a/ecmc_plugin_motion/src/ecmcMotionPlg.h
+++ b/ecmc_plugin_motion/src/ecmcMotionPlg.h
--- a/ecmc_plugin_motion/src/ecmcMotionPlgDefs.h
+++ b/ecmc_plugin_motion/src/ecmcMotionPlgDefs.h
--- a/ecmc_plugin_motion/src/ecmcMotionPlgWrap.cpp
+++ b/ecmc_plugin_motion/src/ecmcMotionPlgWrap.cpp
--- a/ecmc_plugin_motion/src/ecmcMotionPlgWrap.h
+++ b/ecmc_plugin_motion/src/ecmcMotionPlgWrap.h
--- a/ecmc_plugin_motion/src/ecmcPluginMotion.c
+++ b/ecmc_plugin_motion/src/ecmcPluginMotion.c
@@ -48,10 +48,10 @@ int motionConstruct(char *configStr)
 **/
 void motionDestruct(void)
 {
-  deleteAllMotionObjs();
-  if(lastConfStr){
-    free(lastConfStr);
-  }
+  //deleteAllMotionObjs();
+  //if(lastConfStr){
+  //  free(lastConfStr);
+  //}
 }

 /** Optional function.
--- a/ecmc_plugin_motion/startup.cmd
+++ b/ecmc_plugin_motion/startup.cmd
--- a/tools/README.md
+++ b/tools/README.md
@@ -1,8 +1,2 @@
-# FFT tools
-
-## GUI
-
-A python gui for vizualization and control of the FFT plugin can be found in the ecmccomgui repo:
-https://github.com/anderssandstrom/ecmccomgui
-
-![ecmcFFTMainGui.py](docs/gui/ecmcFFTMainGui.png)
+# Tool for visualization
+python3 ecmcMotionMainPyQtGraph.py c6025a-04 0
--- a/tools/ecmcArrayStat.py
+++ b/tools/ecmcArrayStat.py
@@ -2,12 +2,16 @@
 import sys
 import epics
 import numpy as np
+from PySide2 import QtCore, QtGui, QtWidgets
+from PySide2.QtCore import QObject
+from PySide2.QtCore import Signal as pyqtSignal, Slot as pyqtSlot

-from PyQt5 import QtCore,QtWidgets, QtGui
-from PyQt5.QtWidgets import *
-from PyQt5.QtCore import *
-from PyQt5.QtCore import QObject
-from PyQt5.QtGui import *
+
+#from PyQt5 import QtCore,QtWidgets, QtGui
+#from PyQt5.QtWidgets import *
+#from PyQt5.QtCore import *
+#from PyQt5.QtCore import QObject
+#from PyQt5.QtGui import *

 import random
 import ecmcTrend
--- a/tools/ecmcMotionMainPyQtGraph.py
+++ b/tools/ecmcMotionMainPyQtGraph.py
@@ -14,18 +14,27 @@

 import sys
 import epics
-from PyQt5.QtWidgets import *
-from PyQt5 import QtWidgets
-from PyQt5.QtCore import *
-from PyQt5.QtGui import *
+from PySide2 import QtCore, QtGui, QtWidgets
+from PySide2.QtWidgets import *
+from PySide2.QtGui import *
+from PySide2.QtCore import *
+
+#from PyQt5.QtWidgets import *
+#from PyQt5 import QtWidgets
+#from PyQt5.QtCore import *
+#from PyQt5.QtGui import *
 import numpy as np
 from ecmcOneMotorGUI import *
 import pyqtgraph as pg
 from ecmcPvDataItem import *
 from ecmcParseAxisStatusWord import *

+import os
+
 # Allow buffering of 10s data, need to add setting for this
 xMaxTime = 10
+caqtdmAxisExpertPanelName = "ecmcAxisExpert_v1.ui"
+caqtdmExe ="/usr/local/bin/caqtdm"

 # List of pv names
 pvlist = [ 'BuffSze',
@@ -58,14 +67,12 @@ pvAnalog = ['PosAct-Arr',
            'Stat-Arr']

 pvAnaPLotsDefaultEnabled = ['PosAct-Arr',
-                            'PosSet-Arr',
-                            'PosErr-Arr']
+                            'PosSet-Arr']

 pvBinPLotsDefaultEnabled = ['enable',
                            'enabled',
                            'busy',
-                            'attarget',
-                            'moving']
+                            'attarget']
 pvBinBlock = ['instartup',
              'inrealtime',
              'axisType',
@@ -83,7 +90,7 @@ pvFistAxisIndexName = 'MCU-Cfg-AX-FrstObjId'
 pvNextAxisIndexNamePart1 = 'MCU-Cfg-AX'
 pvNextAxisIndexNamePart2 = '-NxtObjId'

-pvmiddlestring='Plg-Mtn'
+pvmiddlestring=':Plg-Mtn'

 class ecmcMtnMainGui(QtWidgets.QDialog):
    def __init__(self,prefix="IOC_TEST:",mtnPluginId=0):
@@ -188,7 +195,8 @@ class ecmcMtnMainGui(QtWidgets.QDialog):

        # Check connection and read sample rate
        pvSampleRate = epics.PV(self.pvPrefixStr + pvmiddlestring + str(int(self.mtnPluginId))+ '-SmpHz-RB')
-        connected = pvSampleRate.wait_for_connection(timeout = 2)                  
+        print(self.pvPrefixStr + pvmiddlestring + str(int(self.mtnPluginId))+ '-SmpHz-RB')
+        connected = pvSampleRate.wait_for_connection(timeout = 3)                  
        if connected:
            print('Connected to ecmc')
            self.offline = False
@@ -200,7 +208,8 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
        else: 
            print('Not Connected')
            self.offline = True
-            self.pause = True            
+            self.pause = True
+            self.sampleRate = 1000   

        self.sampleRateValid = True

@@ -242,37 +251,58 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
        self.plotItemBinary.setFixedHeight(150)
        self.plotItemBinary.setMouseEnabled(y=False)
        self.plotItemBinary.setLabel('bottom', 'Time [s]')
+
        self.pauseBtn = QPushButton(text = 'pause')
        self.pauseBtn.setFixedSize(100, 50)
        self.pauseBtn.clicked.connect(self.pauseBtnAction)        
        self.pauseBtn.setStyleSheet("background-color: green")
+        #self.pauseBtn.setEnabled(False)
+        #self.pauseBtn.setVisible(False)
+
        self.openBtn = QPushButton(text = 'open data')
        self.openBtn.setFixedSize(100, 50)
        self.openBtn.clicked.connect(self.openBtnAction)
+        self.openBtn.setEnabled(False)
+        self.openBtn.setVisible(False)
+
        self.saveBtn = QPushButton(text = 'save data')
        self.saveBtn.setFixedSize(100, 50)
        self.saveBtn.clicked.connect(self.saveBtnAction)
+        self.saveBtn.setEnabled(False)
+        self.saveBtn.setVisible(False)
+
        self.enableBtn = QPushButton(text = 'enable Mtn')
        self.enableBtn.setFixedSize(100, 50)
        self.enableBtn.clicked.connect(self.enableBtnAction)
        self.triggBtn = QPushButton(text = 'trigg Mtn')
        self.triggBtn.setFixedSize(100, 50)
+        self.triggBtn.setEnabled(False)
+        self.triggBtn.setVisible(False)
+
        self.triggBtn.clicked.connect(self.triggBtnAction)
        self.zoomBtn = QPushButton(text = 'auto zoom')
        self.zoomBtn.setFixedSize(100, 50)
        self.zoomBtn.clicked.connect(self.zoomBtnAction)
+        self.zoomBtn.setEnabled(False)
+        self.zoomBtn.setVisible(False)
+
        self.modeCombo = QComboBox()
        self.modeCombo.setFixedSize(100, 50)
        self.modeCombo.currentIndexChanged.connect(self.newModeIndexChanged)
        self.modeCombo.addItem("CONT")
        self.modeCombo.addItem("TRIGG")    
+        self.modeCombo.setEnabled(False)
+        self.modeCombo.setVisible(False)
+
        self.progressBar = QProgressBar()
        self.progressBar.reset()
        self.progressBar.setMinimum(0)
        self.progressBar.setMaximum(100) #100%
        self.progressBar.setValue(0)
        self.progressBar.setFixedHeight(20)
-    
+        self.progressBar.setEnabled(False)
+        self.progressBar.setVisible(False)
+
        # Fix layout
        self.setGeometry(300, 300, 1200, 900)

@@ -367,17 +397,23 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
        frameMotion = QFrame(self)
        layoutMotionGrid = QGridLayout()
        frameMotion.setLayout(layoutMotionGrid)
+
        self.btnMotorRecord = QPushButton(text = 'Motor Record')
        self.btnMotorRecord.clicked.connect(self.openMotorRecordPanel)
-        self.btnMotorRecord.setFixedSize(100, 50)
+        self.btnMotorRecord.setFixedSize(150, 50)
        layoutMotionGrid.addWidget(self.btnMotorRecord,0,0)

+        self.btnCaQTDmAxisExpert = QPushButton(text = 'caqtdm ecmc Axis')
+        self.btnCaQTDmAxisExpert.clicked.connect(self.openCaQTDmAxisExpert)
+        self.btnCaQTDmAxisExpert.setFixedSize(150, 50)
+        layoutMotionGrid.addWidget(self.btnCaQTDmAxisExpert,1,0)
+
        label = QLabel('Axis id:')
        self.cmbBxSelectAxis = QComboBox()
        self.cmbBxSelectAxis.currentIndexChanged.connect(self.changeAxisIndex)

-        layoutMotionGrid.addWidget(label,1,0)
-        layoutMotionGrid.addWidget(self.cmbBxSelectAxis,1,1)
+        layoutMotionGrid.addWidget(label,2,0)
+        layoutMotionGrid.addWidget(self.cmbBxSelectAxis,2,1)


        layoutVertMain.addWidget(frameMotion)
@@ -432,10 +468,14 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
        QCoreApplication.processEvents()

    def sig_cb_PosAct_Arr(self,value):
+        if self.pause:
+            return
        if(np.size(value)) > 0:
            self.MtnYDataValid = True            

    def sig_cb_Time_Arr(self,value):
+        if self.pause:
+            return
        if(np.size(value)) > 0:
            self.MtnXDataValid = True
        self.plotAll()
@@ -467,13 +507,13 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
        if id >= 0:
            self.cmbBxSelectAxis.setCurrentIndex(id)

-        axisPrefixPvName = self.pvPrefixStr + pvAxisPrefixNamePart1 + str(int(value)) + pvAxisPrefixNamePart2
+        axisPrefixPvName = self.pvPrefixStr + ":" + pvAxisPrefixNamePart1 + str(int(value)) + pvAxisPrefixNamePart2
        prefixPV = epics.PV(axisPrefixPvName)
        axisPrefix = prefixPV.get()
        if axisPrefix is not None:
-            self.axisPrefix = axisPrefix
+            self.axisPrefix = axisPrefix.rstrip(':')

-        axisNamePvName = self.pvPrefixStr + pvAxisNamePart1 + str(int(value)) + pvAxisNamePart2
+        axisNamePvName = self.pvPrefixStr + ":" + pvAxisNamePart1 + str(int(value)) + pvAxisNamePart2
        namePV = epics.PV(axisNamePvName)
        axisName = namePV.get()
        if axisName is not None:
@@ -488,6 +528,8 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
        return

    def sig_cb_Stat_Arr(self,value):
+        if self.pause:
+            return

        data = self.parseAxisStatWd.convert(value)
        self.addStatWdData(data)
@@ -521,7 +563,7 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
        self.plotBinary()
    
    def readAxisList(self):        
-        axIdPV = epics.PV(self.pvPrefixStr + pvFistAxisIndexName)
+        axIdPV = epics.PV(self.pvPrefixStr + ":" + pvFistAxisIndexName)
        axId = axIdPV.get()        
        if axId is None:
            print('ERROR: First Axis Index PV not found.') 
@@ -532,7 +574,7 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
        
        while axId >= 0:
           # Get next axis id
-           pvName = self.pvPrefixStr + pvNextAxisIndexNamePart1 + str(int(axId)) + pvNextAxisIndexNamePart2
+           pvName = self.pvPrefixStr + ":" + pvNextAxisIndexNamePart1 + str(int(axId)) + pvNextAxisIndexNamePart2
           axIdPV = epics.PV(pvName)
           axId = axIdPV.get()
           
@@ -544,10 +586,22 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
            self.pvItems['AxCmd-RB'].pvPut(self.cmbBxSelectAxis.currentData(), use_complete=True)

    def openMotorRecordPanel(self,xxx):
-        self.dialog = MotorPanel(self,self.axisPrefix ,self.axisName)
-        self.dialog.resize(500, 900)
+        self.dialog = MotorPanel(self,self.axisPrefix + ':' ,self.axisName)
+        self.dialog.resize(500, 900)        
        self.dialog.show()

+    def openCaQTDmAxisExpert(self,xxx):
+        # caqtdm -macro "IOC=$I,SYS=$S,Axis=$A" ecmcAxisExpert_v1.ui        
+        caqtdmString = caqtdmExe + " -macro "
+        caqtdmMacros =  "SYS=" + self.axisPrefix
+        caqtdmMacros +=  ",IOC=" + self.axisPrefix
+        caqtdmMacros +=  ",Axis=" + self.axisName
+        
+        caqtdmString+= "\"" + caqtdmMacros + "\"" + " " + caqtdmAxisExpertPanelName
+        print(caqtdmString)
+        #subprocess.call(caqtdmString) 
+        os.system(caqtdmString)
+
    ###### Widget callbacks
    def pauseBtnAction(self):   
        self.pause = not self.pause
@@ -815,9 +869,9 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
 def printOutHelp():
  print("ecmcMtnMainGui: Plots waveforms of Mtn data (updates on Y data callback). ")
  print("python ecmcMtnMainGui.py <prefix> <mtnId>")
-  print("<prefix>:  Ioc prefix ('IOC_TEST:')")
+  print("<prefix>:  Ioc prefix ('IOC_TEST')")
  print("<mtnId> :  Id of mtn plugin ('0')")
-  print("example : python ecmcMotionMainGui.py 'IOC_TEST:' '0'")
+  print("example : python ecmcMotionMainGui.py 'IOC_TEST' '0'")
  print("Will connect to Pvs: <prefix>Plg-Mtn<mtnId>-*")

 if __name__ == "__main__":
--- a/tools/ecmcOneMotorGUI.py
+++ b/tools/ecmcOneMotorGUI.py
@@ -1,7 +1,12 @@
 #!/usr/bin/env python3.6
 import epics
 import sys
-from PyQt5 import QtWidgets, QtGui, QtCore
+from PySide2 import QtCore, QtGui, QtWidgets
+from PySide2.QtWidgets import *
+from PySide2.QtGui import *
+from PySide2.QtCore import *
+
+#from PyQt5 import QtWidgets, QtGui, QtCore
 from ecmcArrayStat import *

 #Define pvs
--- a/tools/ecmcPvDataItem.py
+++ b/tools/ecmcPvDataItem.py
@@ -4,7 +4,11 @@ import epics
 import numpy as np
 import time
 import threading
-from PyQt5.QtCore import *
+#from PyQt5.QtCore import *
+from PySide2 import QtCore, QtGui, QtWidgets
+from PySide2.QtCore import QObject
+from PySide2.QtCore import Signal as pyqtSignal, Slot as pyqtSlot
+

 class comSignal(QObject):
    data_signal = pyqtSignal(object)
--- a/tools/ecmcRTCanvas.py
+++ b/tools/ecmcRTCanvas.py
@@ -15,11 +15,13 @@
 import sys
 import os
 import epics
-from PyQt5.QtWidgets import *
-from PyQt5 import QtWidgets
+from PySide2 import QtCore, QtGui, QtWidgets

-from PyQt5.QtCore import *
-from PyQt5.QtGui import *
+#from PyQt5.QtWidgets import *
+#from PyQt5 import QtWidgets
+#
+#from PyQt5.QtCore import *
+#from PyQt5.QtGui import *
 import functools
 import numpy as np
 import random as rd
--- a/tools/ecmcTrend.py
+++ b/tools/ecmcTrend.py
@@ -15,10 +15,15 @@
 import sys
 import os
 import ecmcRTCanvas
-from PyQt5.QtWidgets import *
-from PyQt5 import QtWidgets
-from PyQt5.QtCore import *
-from PyQt5.QtGui import *
+from PySide2 import QtCore, QtGui, QtWidgets
+from PySide2.QtWidgets import *
+from PySide2.QtGui import *
+from PySide2.QtCore import *
+
+#from PyQt5.QtWidgets import *
+#from PyQt5 import QtWidgets
+#from PyQt5.QtCore import *
+#from PyQt5.QtGui import *
 import functools
 import numpy as np
 import random as rd
--- a/tools/ecmcTrendPv.py
+++ b/tools/ecmcTrendPv.py
@@ -18,10 +18,15 @@ import sys
 import os
 import epics
 import ecmcTrend
-from PyQt5.QtWidgets import *
-from PyQt5 import QtWidgets
-from PyQt5.QtCore import *
-from PyQt5.QtGui import *
+from PySide2 import QtCore, QtGui, QtWidgets
+from PySide2.QtWidgets import *
+from PySide2.QtGui import *
+from PySide2.QtCore import *
+
+#from PyQt5.QtWidgets import *
+#from PyQt5 import QtWidgets
+#from PyQt5.QtCore import *
+#from PyQt5.QtGui import *
 import functools
 import numpy as np
 import random as rd
--- a/tools/old/ecmcMotionMainGui.py
+++ b/tools/old/ecmcMotionMainGui.py
@@ -166,12 +166,14 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
        self.pauseBtn.setFixedSize(100, 50)
        self.pauseBtn.clicked.connect(self.pauseBtnAction)        
        self.pauseBtn.setStyleSheet("background-color: green")
-        self.openBtn = QPushButton(text = 'open data')
+        self.openBtn = QPushButton(text = 'open data')        
        self.openBtn.setFixedSize(100, 50)
+        self.openBtn.setEnabled(False) # Not yet supported
        self.openBtn.clicked.connect(self.openBtnAction)
        self.saveBtn = QPushButton(text = 'save data')
        self.saveBtn.setFixedSize(100, 50)
        self.saveBtn.clicked.connect(self.saveBtnAction)
+        self.saveBtn.setEnabled(False) # Not yet supported
        self.enableBtn = QPushButton(text = 'enable Mtn')
        self.enableBtn.setFixedSize(100, 50)
        self.enableBtn.clicked.connect(self.enableBtnAction)
@@ -181,11 +183,13 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
        self.zoomBtn = QPushButton(text = 'auto zoom')
        self.zoomBtn.setFixedSize(100, 50)
        self.zoomBtn.clicked.connect(self.zoomBtnAction)
+        self.zoomBtn.setEnabled(False) # Not yet supported
        self.modeCombo = QComboBox()
        self.modeCombo.setFixedSize(100, 50)
        self.modeCombo.currentIndexChanged.connect(self.newModeIndexChanged)
        self.modeCombo.addItem("CONT")
-        self.modeCombo.addItem("TRIGG")    
+        self.modeCombo.addItem("TRIGG"
+        self.modeCombo.setEnabled(False))  # Not yet supported
        self.progressBar = QProgressBar()
        self.progressBar.reset()
        self.progressBar.setMinimum(0)
--- a/tools/startGui.sh
+++ b/tools/startGui.sh
@@ -0,0 +1,22 @@
+#!/bin/bash
+
+# Install virt env and execute python GUI
+
+P=$1
+ID=$2
+DIR=$3
+ENV_DIR="${DIR=/tmp}"/.venv
+
+if [ -d "${ENV_DIR}" ]; then
+    . "${ENV_DIR}"/bin/activate
+else
+    python3 -m venv "${ENV_DIR}"
+    . "${ENV_DIR}"/bin/activate
+    pip3 install wheel
+    pip3 install matplotlib==3.
+    pip3 install PySide2 pyepics pyqtgraph numpy
+fi
+echo "Prefix=${P=c6025a-04}"
+echo "plugin id=${ID=0}"
+
+python ecmcMotionMainPyQtGraph.py ${P=c6025a-04} ${ID=0}
--- a/tools/test.png
+++ b/tools/test.png
Author	SHA1	Message	Date
Anders Sandström	1abf42ec4f	Depend on ecmc 9	2024-09-13 09:04:33 +02:00
Anders Sandström	b1743a29b4	Set startGui.sh as executable	2024-05-07 16:45:53 +02:00
Anders Sandström	755ef8abe3	Convert tool to pyside2	2024-05-07 16:39:35 +02:00
Anders Sandström	f3413d2c96	Cleanup examples	2024-05-02 14:52:16 +02:00
Anders Sandström	fd41f95d84	Update makefile	2024-05-02 14:48:37 +02:00
Anders Sandström	1074a0c9e3	Restruct	2024-05-02 14:43:10 +02:00
Anders Sandström	a6a53ddfc0	WIP	2024-05-02 14:40:24 +02:00