Use ecmc 11.0

.gitignore

@@ -15,4 +15,10 @@ core.*
 *-loc/*.Makefile
 ecmc_plugin_motion/*.Makefile
 *__*
-O*
+O*
+tools/bin
+tools/lib
+tools/lib64
+tools/pyvenv.cfg
+tools/.*
+

GNUmakefile

@@ -1,12 +1,14 @@
 include /ioc/tools/driver.makefile
 
 MODULE = ecmc_plugin_motion
+# "Transfer" module name to plugin
+USR_CFLAGS +=-DECMC_PLUGIN_MODULE_NAME=${MODULE}
 
 BUILDCLASSES = Linux
-ARCH_FILTER = deb10%
+ARCH_FILTER = deb10% deb12%
 
 # Run 7.0.6 for now
-EXCLUDE_VERSIONS+=3 7.0.5 7.0.7
+EXCLUDE_VERSIONS+=3 7.0.5 7.0.6 7.0.7
 
 IGNORE_MODULES += asynMotor
 IGNORE_MODULES += motorBase
@@ -15,24 +17,32 @@ USR_CXXFLAGS += -std=c++17
 OPT_CXXFLAGS_YES = -O3
 
 # dependencies
-ECmasterECMC_VERSION = v1.1.0
+ecmc_VERSION = 11.0
-motorECMC_VERSION = 7.0.7-ESS
-ecmc_VERSION = v9.0.1_RC1
 
-################################################################################
+# ethercat
-# THIS RELATES TO THE EtherCAT MASTER LIBRARY
+#   debian 12
-# IT IS OF PARAMOUNT IMPORTANCE TO LOAD THE PROPER KERNEL MODULE
+EC_MASTER_VER = 1.6.3
-# ################################################################################
+EC_BASE_PATH = /ioc/NeedfulThings/EtherCAT/4epics/${EC_MASTER_VER}/
-USR_LDFLAGS += -lethercat
+USR_CXXFLAGS_deb12-x86_64 += -I${EC_BASE_PATH}${T_A}/include/
+USR_CXXFLAGS_deb12-x86_64 += -L${EC_BASE_PATH}${T_A}/lib/
 
-EC_MASTER_LIB = ${EPICS_MODULES}/ECmasterECMC/${ECmasterECMC_VERSION}/R${EPICSVERSION}/lib/${T_A}
+LIB_SYS_LIBS += ethercat
-USR_LDFLAGS += -Wl,-rpath=${EC_MASTER_LIB}
+USR_LDFLAGS_deb12-x86_64 += -Wl,-rpath=${EC_BASE_PATH}${T_A}/lib/
-USR_LDFLAGS +=         -L ${EC_MASTER_LIB}
+USR_LDFLAGS_deb12-x86_64 +=         -L ${EC_BASE_PATH}${T_A}/lib/
 
-BASE_DIR = ecmc_plugin_motion
+#   debian 10
+#   note: EC_MASTER LIB does not depend on epics version hence use the 7.0.8 build..
+USR_LDFLAGS_deb10-x86_64 += -lethercat
+EC_MASTER_LIB = /ioc/NeedfulThings/EtherCAT/4epics/v1.1.0/R7.0.8/
+USR_LDFLAGS_deb10-x86_64 += -Wl,-rpath=${EC_MASTER_LIB}lib/${T_A}
+USR_LDFLAGS_deb10-x86_64 +=  -L ${EC_MASTER_LIB}lib/${T_A}
+USR_CXXFLAGS_deb10-x86_64 += -I${EC_MASTER_LIB}/include/
+
+OPT_CXXFLAGS_YES = -O3
+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 +51,5 @@ 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)
-

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
 
 
 

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
-
-###

ecmc_plugin_motion/src/ecmcPluginMotion.c

@@ -1,298 +0,0 @@
-/*************************************************************************\
-* Copyright (c) 2023 Paul Scherrer Institute
-* ecmc is distributed subject to a Software License Agreement found
-* in file LICENSE that is included with this distribution. 
-*
-*  ecmcPluginExample.cpp
-*
-*  Created on: july 10, 2023
-*      Author: anderssandstrom
-*
-\*************************************************************************/
-
-// Needed to get headers in ecmc right...
-#define ECMC_IS_PLUGIN
-#define ECMC_EXAMPLE_PLUGIN_VERSION 2
-
-#ifdef __cplusplus
-extern "C" {
-#endif  // ifdef __cplusplus
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "ecmcPluginDefs.h"
-#include "ecmcMotionPlgDefs.h"
-#include "ecmcMotionPlgWrap.h"
-
-static int    lastEcmcError   = 0;
-static char*  lastConfStr         = NULL;
-
-/** Optional. 
- *  Will be called once after successfull load into ecmc.
- *  Return value other than 0 will be considered error.
- *  configStr can be used for configuration parameters.
- **/
-int motionConstruct(char *configStr)
-{
-  //This module is allowed to load several times so no need to check if loaded
-
-  // create FFT object and register data callback
-  lastConfStr = strdup(configStr);
-  return createMotionObj(configStr);
-}
-
-/** Optional function.
- *  Will be called once at unload.
- **/
-void motionDestruct(void)
-{
-  deleteAllMotionObjs();
-  if(lastConfStr){
-    free(lastConfStr);
-  }
-}
-
-/** Optional function.
- *  Will be called each realtime cycle if definded
- *  ecmcError: Error code of ecmc. Makes it posible for 
- *  this plugin to react on ecmc errors
- *  Return value other than 0 will be considered to be an error code in ecmc.
- **/
-int motionRealtime(int ecmcError)
-{ 
-  executeMotionObjs();
-  lastEcmcError = ecmcError;
-  return 0;
-}
-
-/** Link to data source here since all sources should be availabe at this stage
- *  (for example ecmc PLC variables are defined only at enter of realtime)
- **/
-int motionEnterRT(){
-  return linkDataTomotionObjs();
-}
-
-/** Optional function.
- *  Will be called once just before leaving realtime mode
- *  Return value other than 0 will be considered error.
- **/
-int motionExitRT(void){
-  return 0;
-}
-
-//// Plc function for clear of buffers
-//double fft_clear(double index) {
-//  return (double)clearFFT((int)index);
-//}
-//
-//// Plc function for enable
-//double fft_enable(double index, double enable) {
-//  return (double)enableFFT((int)index, (int)enable);
-//}
-//
-//// Plc function for trigg new measurement (will clear buffers)
-//double fft_trigg(double index) {
-//  return (double)triggFFT((int)index);
-//}
-//
-//// Plc function for enable
-//double fft_mode(double index, double mode) {
-//  return (double)modeFFT((int)index, (FFT_MODE)((int)mode));
-//}
-//
-//// Plc function for enable
-//double fft_stat(double index) {
-//  return (double)statFFT((int)index);
-//}
-
-// Register data for plugin so ecmc know what to use
-struct ecmcPluginData pluginDataDef = {
-  // Allways use ECMC_PLUG_VERSION_MAGIC
-  .ifVersion = ECMC_PLUG_VERSION_MAGIC, 
-  // Name 
-  .name = "ecmcPlugin_Motion",
-  // Description
-  .desc = "Motion plugin for commissioning of ecmc motion axes.",
-  // Option description
-  .optionDesc = "\n    "ECMC_PLUGIN_DBG_PRINT_OPTION_CMD"<1/0>     : Enables/disables printouts from plugin, default = disabled.\n"
-                "    "ECMC_PLUGIN_AXIS_OPTION_CMD"<axis id>      : Sets default source axis id.\n"
-                "    "ECMC_PLUGIN_BUFFER_SIZE_OPTION_CMD"<size>  : Data points to collect, default = 4096.\n" 
-                "    "ECMC_PLUGIN_RATE_OPTION_CMD"<rate hz>      : Sampling rate in Hz" 
-                "    "ECMC_PLUGIN_MODE_OPTION_CMD"<TRIGG/CONT>   : Sampling rate in Hz" 
-                , 
-  // Plugin version
-  .version = ECMC_EXAMPLE_PLUGIN_VERSION,
-  // Optional construct func, called once at load. NULL if not definded.
-  .constructFnc = motionConstruct,
-  // Optional destruct func, called once at unload. NULL if not definded.
-  .destructFnc = motionDestruct,
-  // Optional func that will be called each rt cycle. NULL if not definded.
-  .realtimeFnc = motionRealtime,
-  // Optional func that will be called once just before enter realtime mode
-  .realtimeEnterFnc = motionEnterRT,
-  // Optional func that will be called once just before exit realtime mode
-  .realtimeExitFnc = motionExitRT,
-  // PLC funcs
-//  .funcs[0] =
-//      { /*----fft_clear----*/
-//        // Function name (this is the name you use in ecmc plc-code)
-//        .funcName = "fft_clear",
-//        // Function description
-//        .funcDesc = "double fft_clear(index) : Clear/reset fft[index].",
-//        /**
-//        * 7 different prototypes allowed (only doubles since reg in plc).
-//        * Only funcArg${argCount} func shall be assigned the rest set to NULL.
-//        **/
-//        .funcArg0 = NULL,
-//        .funcArg1 = fft_clear,
-//        .funcArg2 = NULL,
-//        .funcArg3 = NULL,
-//        .funcArg4 = NULL,
-//        .funcArg5 = NULL,
-//        .funcArg6 = NULL,
-//        .funcArg7 = NULL,
-//        .funcArg8 = NULL,
-//        .funcArg9 = NULL,
-//        .funcArg10 = NULL,
-//        .funcGenericObj = NULL,
-//      },
-//  .funcs[1] =
-//      { /*----fft_enable----*/
-//        // Function name (this is the name you use in ecmc plc-code)
-//        .funcName = "fft_enable",
-//        // Function description
-//        .funcDesc = "double fft_enable(index, enable) : Set enable for fft[index].",
-//        /**
-//        * 7 different prototypes allowed (only doubles since reg in plc).
-//        * Only funcArg${argCount} func shall be assigned the rest set to NULL.
-//        **/
-//        .funcArg0 = NULL,
-//        .funcArg1 = NULL,
-//        .funcArg2 = fft_enable,
-//        .funcArg3 = NULL,
-//        .funcArg4 = NULL,
-//        .funcArg5 = NULL,
-//        .funcArg6 = NULL,
-//        .funcArg7 = NULL,
-//        .funcArg8 = NULL,
-//        .funcArg9 = NULL,
-//        .funcArg10 = NULL,
-//        .funcGenericObj = NULL,
-//      },
-//    .funcs[2] =
-//      { /*----fft_trigg----*/
-//        // Function name (this is the name you use in ecmc plc-code)
-//        .funcName = "fft_trigg",
-//        // Function description
-//        .funcDesc = "double fft_trigg(index) : Trigg new measurement for fft[index]. Will clear buffers.",
-//        /**
-//        * 7 different prototypes allowed (only doubles since reg in plc).
-//        * Only funcArg${argCount} func shall be assigned the rest set to NULL.
-//        **/
-//        .funcArg0 = NULL,
-//        .funcArg1 = fft_trigg,
-//        .funcArg2 = NULL,
-//        .funcArg3 = NULL,
-//        .funcArg4 = NULL,
-//        .funcArg5 = NULL,
-//        .funcArg6 = NULL,
-//        .funcArg7 = NULL,
-//        .funcArg8 = NULL,
-//        .funcArg9 = NULL,
-//        .funcArg10 = NULL,
-//        .funcGenericObj = NULL,
-//      },
-//    .funcs[3] =
-//      { /*----fft_mode----*/
-//        // Function name (this is the name you use in ecmc plc-code)
-//        .funcName = "fft_mode",
-//        // Function description
-//        .funcDesc = "double fft_mode(index, mode) : Set mode Cont(1)/Trigg(2) for fft[index].",
-//        /**
-//        * 7 different prototypes allowed (only doubles since reg in plc).
-//        * Only funcArg${argCount} func shall be assigned the rest set to NULL.
-//        **/
-//        .funcArg0 = NULL,
-//        .funcArg1 = NULL,
-//        .funcArg2 = fft_mode,
-//        .funcArg3 = NULL,
-//        .funcArg4 = NULL,
-//        .funcArg5 = NULL,
-//        .funcArg6 = NULL,
-//        .funcArg7 = NULL,
-//        .funcArg8 = NULL,
-//        .funcArg9 = NULL,
-//        .funcArg10 = NULL,
-//        .funcGenericObj = NULL,
-//      },
-//    .funcs[4] =
-//      { /*----fft_stat----*/
-//        // Function name (this is the name you use in ecmc plc-code)
-//        .funcName = "fft_stat",
-//        // Function description
-//        .funcDesc = "double fft_stat(index) : Get status of fft (NO_STAT, IDLE, ACQ, CALC) for fft[index].",
-//        /**
-//        * 7 different prototypes allowed (only doubles since reg in plc).
-//        * Only funcArg${argCount} func shall be assigned the rest set to NULL.
-//        **/
-//        .funcArg0 = NULL,
-//        .funcArg1 = fft_stat,
-//        .funcArg2 = NULL,
-//        .funcArg3 = NULL,
-//        .funcArg4 = NULL,
-//        .funcArg5 = NULL,
-//        .funcArg6 = NULL,
-//        .funcArg7 = NULL,
-//        .funcArg8 = NULL,
-//        .funcArg9 = NULL,
-//        .funcArg10 = NULL,
-//        .funcGenericObj = NULL,
-//      },
-  .funcs[0] = {0},  // last element set all to zero..
-  // PLC consts
-  /* CONTINIOUS MODE = 1 */
-//  .consts[0] = {
-//        .constName = "fft_CONT",
-//        .constDesc = "FFT Mode: Continious",
-//        .constValue = CONT
-//      },
-//  /* TRIGGERED MODE = 2 */
-//  .consts[1] = {
-//        .constName = "fft_TRIGG",
-//        .constDesc = "FFT Mode :Triggered",
-//        .constValue = TRIGG
-//      },
-//  /* TRIGGERED MODE = 2 */
-//  .consts[2] = {
-//        .constName = "fft_NO_STAT",
-//        .constDesc = "FFT Status: Invalid state",
-//        .constValue = NO_STAT,
-//      },
-//  /* TRIGGERED MODE = 2 */
-//  .consts[3] = {
-//        .constName = "fft_IDLE",
-//        .constDesc = "FFT Status: Idle state (waiting for trigger)",
-//        .constValue = IDLE
-//      },
-//  /* TRIGGERED MODE = 2 */
-//  .consts[4] = {
-//        .constName = "fft_ACQ",
-//        .constDesc = "FFT Status: Acquiring data",
-//        .constValue = ACQ
-//      },
-//  /* TRIGGERED MODE = 2 */
-//  .consts[5] = {
-//        .constName = "fft_CALC",
-//        .constDesc = "FFT Status: Calculating result",
-//        .constValue = CALC
-//      },
-  .consts[0] = {0}, // last element set all to zero..
-};
-
-ecmc_plugin_register(pluginDataDef);
-
-# ifdef __cplusplus
-}
-# endif  // ifdef __cplusplus

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);

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

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

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)

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

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>

scripts/addMotionObj.cmd

@@ -31,7 +31,7 @@ epicsEnvSet(ECMC_PLG_MOTION_OBJ_INDEX,${ECMC_PLG_MOTION_OBJ_INDEX=0})
 # Might need differet paths for PSI and ESS.. must check
 epicsEnvSet(ECMC_PLUGIN_FILNAME,"$(ecmc_plugin_motion_DIR)/lib/${EPICS_HOST_ARCH=linux-x86_64}/libecmc_plugin_motion.so")
 epicsEnvSet(ECMC_PLUGIN_CONFIG,"AXIS=${AX};BUFFER_SIZE=${BUFF_SIZE};DBG_PRINT=${DBG=1};ENABLE=${ENA=1};")
-${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=${PLUGIN_ID},FILE=${ECMC_PLUGIN_FILNAME},CONFIG='${ECMC_PLUGIN_CONFIG}', REPORT=${REPORT=1}"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=${PLUGIN_ID=0},FILE=${ECMC_PLUGIN_FILNAME},CONFIG='${ECMC_PLUGIN_CONFIG}', REPORT=${REPORT=1}"
 
 dbLoadRecords(${ecmc_plugin_motion_TEMPLATES}ecmcPluginMotion.template,"P=$(IOC):,INDEX=${ECMC_PLG_MOTION_OBJ_INDEX=0},NELM=${BUFF_SIZE=1000}")
 

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);
+  actPosBuffer_->addData(tempAxisStat->currentPositionActual);
-  setPosBuffer_->addData(tempAxisStat->onChangeData.positionSetpoint);
+  setPosBuffer_->addData(tempAxisStat->currentPositionSetpoint);
-  diffPosBuffer_->addData(tempAxisStat->onChangeData.positionError);
+  diffPosBuffer_->addData(tempAxisStat->cntrlError);
-  enableBuffer_->addData(tempAxisStat->onChangeData.statusWd.enable);
+  enableBuffer_->addData(tempAxisStat->statusWord_.enable);
-  enabledBuffer_->addData(tempAxisStat->onChangeData.statusWd.enabled);
+  enabledBuffer_->addData(tempAxisStat->statusWord_.enabled);
-  busyBuffer_->addData(tempAxisStat->onChangeData.statusWd.busy);
+  busyBuffer_->addData(tempAxisStat->statusWord_.busy);
-  executeBuffer_->addData(tempAxisStat->onChangeData.statusWd.execute);
+  executeBuffer_->addData(tempAxisStat->statusWord_.execute);
-  trajSourceBuffer_->addData(tempAxisStat->onChangeData.statusWd.trajsource);
+  trajSourceBuffer_->addData(tempAxisStat->statusWord_.trajsource);
-  encSourceBuffer_->addData(tempAxisStat->onChangeData.statusWd.encsource);
+  encSourceBuffer_->addData(tempAxisStat->statusWord_.encsource);
-  atTargetBuffer_->addData(tempAxisStat->onChangeData.statusWd.attarget);
+  atTargetBuffer_->addData(tempAxisStat->statusWord_.attarget);
-  errorIdBuffer_->addData(tempAxisStat->onChangeData.error);
+  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_ ) {
@@ -906,7 +888,7 @@ 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;    
   }

src/ecmcPluginMotion.c

@@ -0,0 +1,122 @@
+/*************************************************************************\
+* Copyright (c) 2023 Paul Scherrer Institute
+* ecmc is distributed subject to a Software License Agreement found
+* in file LICENSE that is included with this distribution. 
+*
+*  ecmcPluginExample.cpp
+*
+*  Created on: july 10, 2023
+*      Author: anderssandstrom
+*
+* Instructions:
+*   - IMPORTANT: Add "USR_CFLAGS +=-DECMC_PLUGIN_MODULE_NAME=${MODULE}" to GNUMakefile
+*   - All functions and ecmcPluginData struct must be declared static
+*
+\*************************************************************************/
+
+// Needed to get headers in ecmc right...
+#define ECMC_IS_PLUGIN
+#define ECMC_PLUGIN_VERSION 2
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif  // ifdef __cplusplus
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "ecmcPluginDefs.h"
+#include "ecmcMotionPlgDefs.h"
+#include "ecmcMotionPlgWrap.h"
+
+static int    lastEcmcError   = 0;
+static char*  lastConfStr         = NULL;
+
+/** Optional. 
+ *  Will be called once after successful load into ecmc.
+ *  Return value other than 0 will be considered error.
+ *  configStr can be used for configuration parameters.
+ **/
+static int construct(char *configStr)
+{
+  //This module is allowed to load several times so no need to check if loaded
+  lastConfStr = strdup(configStr);
+  return createMotionObj(configStr);
+}
+
+/** Optional function.
+ *  Will be called once at unload.
+ **/
+static void motionDestruct(void)
+{
+}
+
+/** Optional function.
+ *  Will be called each realtime cycle if defined
+ *  ecmcError: Error code of ecmc. Makes it possible for 
+ *  this plugin to react on ecmc errors
+ *  Return value other than 0 will be considered to be an error code in ecmc.
+ **/
+static int motionRealtime(int ecmcError)
+{ 
+  executeMotionObjs();
+  lastEcmcError = ecmcError;
+  return 0;
+}
+
+/** Link to data source here since all sources should be available at this stage
+ *  (for example ecmc PLC variables are defined only at enter of realtime)
+ **/
+static int motionEnterRT(){
+  return linkDataTomotionObjs();
+}
+
+/** Optional function.
+ *  Will be called once just before leaving realtime mode
+ *  Return value other than 0 will be considered error.
+ **/
+static int motionExitRT(void){
+  return 0;
+}
+
+// Register data for plugin so ecmc know what to use
+static struct ecmcPluginData pluginDataDef = {
+
+  // Allways use ECMC_PLUG_VERSION_MAGIC
+  .ifVersion = ECMC_PLUG_VERSION_MAGIC, 
+  // Name 
+  .name = "ecmc_plugin_motion",
+  // Description
+  .desc = "Motion plugin for commissioning of ecmc motion axes.",
+  // Option description
+  .optionDesc = "\n    "ECMC_PLUGIN_DBG_PRINT_OPTION_CMD"<1/0>     : Enables/disables printouts from plugin, default = disabled.\n"
+                "    "ECMC_PLUGIN_AXIS_OPTION_CMD"<axis id>      : Sets default source axis id.\n"
+                "    "ECMC_PLUGIN_BUFFER_SIZE_OPTION_CMD"<size>  : Data points to collect, default = 4096.\n" 
+                "    "ECMC_PLUGIN_RATE_OPTION_CMD"<rate hz>      : Sampling rate in Hz" 
+                "    "ECMC_PLUGIN_MODE_OPTION_CMD"<TRIGG/CONT>   : Sampling rate in Hz" 
+                , 
+  // Plugin version
+  .version = ECMC_PLUGIN_VERSION,
+  // Optional construct func, called once at load. NULL if not defined.
+  .constructFnc = construct,
+  // Optional destruct func, called once at unload. NULL if not defined.
+  .destructFnc = motionDestruct,
+  // Optional func that will be called each rt cycle. NULL if not defined.
+  .realtimeFnc = motionRealtime,
+  // Optional func that will be called once just before enter realtime mode
+  .realtimeEnterFnc = motionEnterRT,
+  // Optional func that will be called once just before exit realtime mode
+  .realtimeExitFnc = motionExitRT,
+  // PLC funcs
+  .funcs[0] = {0},  // last element set all to zero..
+  // PLC consts
+  .consts[0] = {0}, // last element set all to zero..
+};
+
+ecmc_plugin_register(pluginDataDef);
+
+# ifdef __cplusplus
+}
+# endif  // ifdef __cplusplus

startup.cmd

@@ -10,10 +10,8 @@
 #-###############################################################################
 #-
 #- Arguments
-#- [mandatory]
-#- PLUGIN_ID         = Plugin instansiation index, must be unique for each call
-#-
 #- [optional]
+#- PLUGIN_ID         = Plugin instansiation index, must be unique for each call defaults to 0
 #- AX                = Axis id, default 1
 #- BUFF_SIZE         = Buffer size, default 1000
 #- DBG               = Debug mode, default 1
@@ -27,6 +25,6 @@
 # Only allow call startup.cmd once. if more objects are needed then use addMotionObj.cmd directlly.
 
 #- add One motion plugin object, only run startup once
-${ECMC_PLG_MOTION_INIT=""}${SCRIPTEXEC} $(ecmc_plugin_motion_DIR)addMotionObj.cmd "PLUGIN_ID=${PLUGIN_ID},AX=${AX=1},BUFF_SIZE=${BUFF_SIZE=1000},DBG=${DBG=1},ENA=${ENA=1},REPORT=${REPORT=1}"
+${ECMC_PLG_MOTION_INIT=""}${SCRIPTEXEC} $(ecmc_plugin_motion_DIR)addMotionObj.cmd "PLUGIN_ID=${PLUGIN_ID=0},AX=${AX=1},BUFF_SIZE=${BUFF_SIZE=1000},DBG=${DBG=1},ENA=${ENA=1},REPORT=${REPORT=1}"
- 
+
 epicsEnvSet("ECMC_PLG_MOTION_INIT" ,"#")

tools/README.md

@@ -1,8 +1,2 @@
-# FFT tools
+# Tool for visualization
-
+python3 ecmcMotionMainPyQtGraph.py c6025a-04 0
-## 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)

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

tools/ecmcMotionMainPyQtGraph.py

@@ -14,18 +14,27 @@
 
 import sys
 import epics
-from PyQt5.QtWidgets import *
+from PySide2 import QtCore, QtGui, QtWidgets
-from PyQt5 import QtWidgets
+from PySide2.QtWidgets import *
-from PyQt5.QtCore import *
+from PySide2.QtGui import *
-from PyQt5.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',
+                            'PosSet-Arr']
-                            'PosErr-Arr']
 
 pvBinPLotsDefaultEnabled = ['enable',
                             'enabled',
                             'busy',
-                            'attarget',
+                            'attarget']
-                            'moving']
 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(label,2,0)
-        layoutMotionGrid.addWidget(self.cmbBxSelectAxis,1,1)
+        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.') 
@@ -532,22 +574,34 @@ 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()
            
            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:
             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 = MotorPanel(self,self.axisPrefix + ':' ,self.axisName)
-        self.dialog.resize(500, 900)
+        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__":

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

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)

tools/ecmcRTCanvas.py

@@ -15,11 +15,13 @@
 import sys
 import os
 import epics
-from PyQt5.QtWidgets import *
+from PySide2 import QtCore, QtGui, QtWidgets
-from PyQt5 import QtWidgets
 
-from PyQt5.QtCore import *
+#from PyQt5.QtWidgets import *
-from PyQt5.QtGui import *
+#from PyQt5 import QtWidgets
+#
+#from PyQt5.QtCore import *
+#from PyQt5.QtGui import *
 import functools
 import numpy as np
 import random as rd

tools/ecmcTrend.py

@@ -15,10 +15,15 @@
 import sys
 import os
 import ecmcRTCanvas
-from PyQt5.QtWidgets import *
+from PySide2 import QtCore, QtGui, QtWidgets
-from PyQt5 import QtWidgets
+from PySide2.QtWidgets import *
-from PyQt5.QtCore import *
+from PySide2.QtGui import *
-from PyQt5.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

tools/ecmcTrendPv.py

@@ -18,10 +18,15 @@ import sys
 import os
 import epics
 import ecmcTrend
-from PyQt5.QtWidgets import *
+from PySide2 import QtCore, QtGui, QtWidgets
-from PyQt5 import QtWidgets
+from PySide2.QtWidgets import *
-from PyQt5.QtCore import *
+from PySide2.QtGui import *
-from PyQt5.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

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)

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}"
+
+python3 ecmcMotionMainPyQtGraph.py ${P=c6025a-04} ${ID=0}