Update makefile and add some pictures

Prep for ecmc v10
New plugin concept
2025-03-03 15:08:41 +01:00 · 2024-12-16 10:41:02 +01:00 · 2024-12-13 16:03:50 +01:00 · 2024-09-13 09:25:43 +02:00 · 2024-09-13 09:04:33 +02:00 · 2024-05-07 16:45:53 +02:00
42 changed files with 396 additions and 844 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/Db/ecmcPluginMotion.template
+++ b/Db/ecmcPluginMotion.template
@@ -2,7 +2,7 @@
 record(waveform,"$(P)Plg-Mtn${INDEX}-PosAct-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Pos Act")
-  #field(PINI, "1")
+  field(PINI, "1")
  field(DTYP, "asynFloat64ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.actpos_arr")
  field(FTVL, "DOUBLE")
@@ -10,14 +10,13 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-PosAct-Arr"){
  field(SCAN, "I/O Intr")
  field(TSE,  "0")
  field(EGU,  "${RAW_EGU= }")
-  field(PREC, "${PREC=3 }")
 }

 # Set pos
 record(waveform,"$(P)Plg-Mtn${INDEX}-PosSet-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Pos Set")
-  #field(PINI, "1")
+  field(PINI, "1")
  field(DTYP, "asynFloat64ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.setpos_arr")
  field(FTVL, "DOUBLE")
@@ -25,14 +24,13 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-PosSet-Arr"){
  field(SCAN, "I/O Intr")
  field(TSE,  "0")
  field(EGU,  "${RAW_EGU= }")
-  field(PREC, "${PREC=3 }")
 }

 # Position Error
 record(waveform,"$(P)Plg-Mtn${INDEX}-PosErr-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Pos Error (diff)")
-  #field(PINI, "1")
+  field(PINI, "1")
  field(DTYP, "asynFloat64ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.diffpos_arr")
  field(FTVL, "DOUBLE")
@@ -40,28 +38,26 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-PosErr-Arr"){
  field(SCAN, "I/O Intr")
  field(TSE,  "0")
  field(EGU,  "${RAW_EGU= }")
-  field(PREC, "${PREC=3 }")
 }

 # X axis time (reltive within buffer)
 record(waveform,"$(P)Plg-Mtn${INDEX}-Time-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Rel. time within buffer")
-  #field(PINI, "1")
+  field(PINI, "1")
  field(DTYP, "asynFloat64ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.x_arr")
  field(FTVL, "DOUBLE")
  field(NELM, "$(NELM)")
  field(SCAN, "I/O Intr")
  field(TSE,  "0")
-  field(PREC, "${PREC=3 }")
 }

 # Axis Enable
 record(waveform,"$(P)Plg-Mtn${INDEX}-Ena-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Enable")
-  #field(PINI, "1")
+  field(PINI, "1")
  field(DTYP, "asynInt8ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.enable_arr")
  field(FTVL, "CHAR")
@@ -74,7 +70,7 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-Ena-Arr"){
 record(waveform,"$(P)Plg-Mtn${INDEX}-EnaAct-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Enabled")
-  #field(PINI, "1")
+  field(PINI, "1")
  field(DTYP, "asynInt8ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.enabled_arr")
  field(FTVL, "CHAR")
@@ -87,7 +83,7 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-EnaAct-Arr"){
 record(waveform,"$(P)Plg-Mtn${INDEX}-Bsy-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Busy")
-  #field(PINI, "1")
+  field(PINI, "1")
  field(DTYP, "asynInt8ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.busy_arr")
  field(FTVL, "CHAR")
@@ -100,7 +96,7 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-Bsy-Arr"){
 record(waveform,"$(P)Plg-Mtn${INDEX}-Exe-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Execute")
-  #field(PINI, "1")
+  field(PINI, "1")
  field(DTYP, "asynInt8ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.execute_arr")
  field(FTVL, "CHAR")
@@ -113,7 +109,7 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-Exe-Arr"){
 record(waveform,"$(P)Plg-Mtn${INDEX}-TrjSrc-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Traj source")
-  #field(PINI, "1")
+  field(PINI, "1")
  field(DTYP, "asynInt8ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.trajsrc_arr")
  field(FTVL, "CHAR")
@@ -126,7 +122,7 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-TrjSrc-Arr"){
 record(waveform,"$(P)Plg-Mtn${INDEX}-EncSrc-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Enc source")
-  #field(PINI, "1")
+  field(PINI, "1")
  field(DTYP, "asynInt8ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.encsrc_arr")
  field(FTVL, "CHAR")
@@ -139,7 +135,7 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-EncSrc-Arr"){
 record(waveform,"$(P)Plg-Mtn${INDEX}-AtTrg-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "At target")
-  #field(PINI, "1")
+  field(PINI, "1")
  field(DTYP, "asynInt8ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.attarget_arr")
  field(FTVL, "CHAR")
@@ -152,7 +148,7 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-AtTrg-Arr"){
 record(waveform,"$(P)Plg-Mtn${INDEX}-ErrId-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Error Id")
-  #field(PINI, "1")
+  field(PINI, "1")
  field(DTYP, "asynInt32ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.error_arr")
  field(FTVL, "LONG")
@@ -161,11 +157,11 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-ErrId-Arr"){
  field(TSE,  "0")  
 }

-# Axis status word 
+# Axis Error Id
 record(waveform,"$(P)Plg-Mtn${INDEX}-Stat-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Status wd")
-  #field(PINI, "1")
+  field(PINI, "1")
  field(DTYP, "asynInt32ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.statuswd_arr")
  field(FTVL, "LONG")
@@ -191,13 +187,10 @@ record(ao,"$(P)Plg-Mtn${INDEX}-AxCmd-RB"){
  field(DTYP,"asynInt32")
  field(OUT, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.axis_id")
  field(DOL, "0")
-  field(PREC,"0")
-  field(DRVL,"0")
-  field(DRVH,"100")
  field(VAL, "1")
 }

-record(ai,"$(P)Plg-Mtn${INDEX}-SmpHz"){
+record(ai,"$(P)Plg-Mtn${INDEX}-SmpHz-RB"){
  info(asyn:READBACK,"1")
  field(DESC, "Sample rate")
  field(DTYP,"asynFloat64")
@@ -207,63 +200,52 @@ record(ai,"$(P)Plg-Mtn${INDEX}-SmpHz"){
  field(SCAN, "I/O Intr")
 }

-# Future use
-#record(ai,"$(P)Plg-Mtn${INDEX}-BuffSze"){
-#  info(asyn:READBACK,"1")
-#  field(DESC, "Buffer Size")
-#  field(DTYP,"asynInt32")
-#  field(INP, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.buff_size")  
-#  field(VAL, "1")
-#}
+record(ai,"$(P)Plg-Mtn${INDEX}-BuffSze"){
+  info(asyn:READBACK,"1")
+  field(DESC, "Buffer Size")
+  field(DTYP,"asynInt32")
+  field(INP, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.buff_size")  
+  field(VAL, "1")
+}

-# Future use
-#record(ai,"$(P)Plg-Mtn${INDEX}-ElmCnt"){
-#  info(asyn:READBACK,"1")
-#  field(DESC, "Elements in buffer count")
-#  field(DTYP,"asynInt32")
-#  field(INP, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.elem_count")
-#  field(VAL, "1")
-#}
+record(ai,"$(P)Plg-Mtn${INDEX}-ElmCnt"){
+  info(asyn:READBACK,"1")
+  field(DESC, "Elements in buffer count")
+  field(DTYP,"asynInt32")
+  field(INP, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.elem_count")
+  field(VAL, "1")
+}

-# Future use
-#record(bo,"$(P)Plg-Mtn${INDEX}-TrgCmd-RB"){
-#  info(asyn:READBACK,"1")
-#  field(DESC, "Trigg command")
-#  field(DTYP,"asynInt32")
-#  field(OUT, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.trigg")
-#  field(ZNAM,"IDLE")
-#  field(ONAM,"TRIGG")  
-#  field(VAL, "0")
-#  field(HIGH, 0.001)
-#}
+record(bo,"$(P)Plg-Mtn${INDEX}-TrgCmd-RB"){
+  info(asyn:READBACK,"1")
+  field(DESC, "Trigg command")
+  field(DTYP,"asynInt32")
+  field(OUT, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.trigg")
+  field(ZNAM,"IDLE")
+  field(ONAM,"TRIGG")  
+  field(VAL, "0")
+  field(HIGH, 0.001)
+}

-# Future use
-#record(mbbo, "$(P)Plg-Mtn${INDEX}-Mde-RB"){
-#  info(asyn:READBACK,"1")
-#  field(DESC, "Mode selection")
-#  field(PINI, "1")
-#  field(TSE,  "0")
-#  field(DTYP, "asynInt32")
-#  field(OUT,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.mode")
-#  field(ZRST, "NO_COMMAND")
-#  field(ZRVL, 0)
-#  field(ONST, "CONT")
-#  field(ONVL, 1)
-#  field(TWST, "TRIGG")
-#  field(TWVL, 2)
-#  field(VAL,  1)
-#}
+record(longout,"$(P)Plg-Mtn${INDEX}-Mde-RB"){
+  info(asyn:READBACK,"1")
+  field(DESC, "Mode selection")
+  field(PINI, "1")
+  field(TSE,  "0")
+  field(DTYP, "asynInt32")
+  field(OUT,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.mode")
+  field(SCAN, "Passive")
+}

-# Future use
-# record(longout,"$(P)Plg-Mtn${INDEX}-Cmd-RB"){
-#   info(asyn:READBACK,"1")
-#   field(DESC, "Command")
-#   field(PINI, "1")
-#   field(TSE,  "0")
-#   field(DTYP, "asynInt32")
-#   field(OUT,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.cmd")
-#   field(SCAN, "Passive")
-# }
+record(longout,"$(P)Plg-Mtn${INDEX}-Cmd-RB"){
+  info(asyn:READBACK,"1")
+  field(DESC, "Command")
+  field(PINI, "1")
+  field(TSE,  "0")
+  field(DTYP, "asynInt32")
+  field(OUT,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.cmd")
+  field(SCAN, "Passive")
+}

 record(longin,"$(P)Plg-Mtn${INDEX}-Stat"){
  info(asyn:READBACK,"1")
--- a/8
+++ b/8
@@ -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%

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

 IGNORE_MODULES += asynMotor
 IGNORE_MODULES += motorBase
@@ -16,8 +18,7 @@ OPT_CXXFLAGS_YES = -O3

 # dependencies
 ECmasterECMC_VERSION = v1.1.0
-motorECMC_VERSION = 7.0.9-ESS
-ecmc_VERSION = 9.5.0
+ecmc_VERSION = 10.0

 ################################################################################
 # THIS RELATES TO THE EtherCAT MASTER LIBRARY
@@ -33,7 +34,6 @@ 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
--- a/README.md
+++ b/README.md
@@ -1,76 +1,11 @@
 ecmc_plugin_motion
 ======
 Plugin designed for commisioning and troubleshooting of motion axes.
-Motion data are sampled, buffered and exposed as epics as waveforms.
+Motion data are sampled, buffered and exposed to epics as waveforms.

-# Panel
-```
-# Plugin loaded once (MTN_ID defaults to 0)
-caqtdm -macro "SYS=c6025a" ecmc_plugin_motion_main.ui 

-# If loaded more times
-caqtdm -macro "SYS=c6025a,MTN_ID=1" ecmc_plugin_motion_main.ui 
-```
-# Python panels
-In tools directory.. WIP...
+python3 ecmcMotionMainPyQtGraph.py c6025a-04 0



-# PVs

-The following PVs are created:
-```
-c6025a> dbgrep *Plg*
-c6025a:Plg-Mtn0-SmpHz
-c6025a:Plg-Mtn0-AxCmd-RB
-c6025a:Plg-Mtn0-EnaCmd-RB
-c6025a:Plg-Mtn0-Stat
-c6025a:Plg-Mtn0-PosAct-Arr
-c6025a:Plg-Mtn0-PosSet-Arr
-c6025a:Plg-Mtn0-PosErr-Arr
-c6025a:Plg-Mtn0-Time-Arr
-c6025a:Plg-Mtn0-Ena-Arr
-c6025a:Plg-Mtn0-EnaAct-Arr
-c6025a:Plg-Mtn0-Bsy-Arr
-c6025a:Plg-Mtn0-Exe-Arr
-c6025a:Plg-Mtn0-TrjSrc-Arr
-c6025a:Plg-Mtn0-EncSrc-Arr
-c6025a:Plg-Mtn0-AtTrg-Arr
-c6025a:Plg-Mtn0-ErrId-Arr
-c6025a:Plg-Mtn0-Stat-Arr
-```
-
-# Plugin Report
-
-```
-Plugin info: 
-  Index                = 1
-  Name                 = ecmc_plugin_motion
-  Description          = Motion plugin for commissioning of ecmc motion axes.
-  Option description   = 
-    DBG_PRINT=<1/0>     : Enables/disables printouts from plugin, default = disabled.
-    AXIS=<axis id>      : Sets default source axis id.
-    BUFFER_SIZE=<size>  : Data points to collect, default = 4096.
-    RATE=<rate hz>      : Sampling rate in Hz
-  Filename             = /gfa/.mounts/sls_ioc/modules/ecmc_plugin_motion/test/R7.0.7//lib/deb10-x86_64/libecmc_plugin_motion.so
-  Config string        = AXIS=1;BUFFER_SIZE=2000;DBG_PRINT=0;ENABLE=1;
-  Version              = 2
-  Interface version    = 65536 (ecmc = 65536)
-     max plc funcs     = 64
-     max plc func args = 10
-     max plc consts    = 64
-  Construct func       = @0x7f0badafb780
-  Enter realtime func  = @0x7f0badafb7c0
-  Exit realtime func   = @0x7f0badafb770
-  Realtime func        = @0x7f0badafb7a0
-  Destruct func        = @0x7f0badafb760
-  dlhandle             = @0x563c3aba7d00
-  Plc functions:
-  Plc constants:
-
-```
-
-# TODO
-* Triggered mode
-* Add control functionalities (step response)
-* Fix python gui (and venv)
--- 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
@@ -2,9 +2,15 @@
 ## Example: Configuraftion for running ecmc motion plugin
 ##############################################################################

-require ecmccfg "9.4.0" "ECMC_VER=9.4.0"
+## Initiation:
+epicsEnvSet("IOC" ,"$(IOC="IOC_TEST")")
+epicsEnvSet("ECMCCFG_INIT" ,"")  #Only run startup once (auto at PSI, need call at ESS), variable set to "#" in startup.cmd
+epicsEnvSet("SCRIPTEXEC" ,"$(SCRIPTEXEC="iocshLoad")")
+
+require ecmccfg "sandst_a_v9.0.1_RC1" "ECMC_VER=v9.0.1_RC1"
+
 ##############################################################################
-## Configue
+## Configure hardware

 epicsEnvSet("ECMC_EC_SLAVE_NUM",              "4")
 ${SCRIPTEXEC} ${ecmccfg_DIR}configureSlave.cmd, "SLAVE_ID=$(ECMC_EC_SLAVE_NUM), HW_DESC=EL7031, CONFIG=-Motor-Trinamic-QMot-QSH4218-41-10-035"
@@ -27,6 +33,8 @@ $(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/el7031.ax)
 #
 epicsEnvSet(ECMC_PLUGIN_CONFIG,"PLUGIN_ID=1,AX=1,BUFF_SIZE=200,DBG=0,ENA=1")
 require ecmc_plugin_motion sandst_a "${ECMC_PLUGIN_CONFIG}"
+# below needed at ESS but not PSI:
+#${SCRIPTEXEC} ${ecmc_plugin_motion_DIR}startup.cmd "${ECMC_PLUGIN_CONFIG}"

 ##############################################################################
 ############# Configure diagnostics:
--- 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
@@ -1,57 +0,0 @@
-##############################################################################
-## Example: Configuraftion for running ecmc motion plugin
-##############################################################################
-
-require ecmccfg "9.4.0" "ECMC_VER=9.4.0,EC_RATE=500"
-
-# run module startup.cmd (only needed at ESS  PSI auto call at require)
-$(ECMCCFG_INIT="")$(SCRIPTEXEC) ${ecmccfg_DIR}startup.cmd, "IOC=$(IOC),ECMC_VER=9.4.0, 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/qt/.keep
+++ b/qt/.keep
--- a/scripts/addMotionObj.cmd
+++ b/scripts/addMotionObj.cmd
@@ -28,7 +28,7 @@
 #- First loaded object will therefore have index
 epicsEnvSet(ECMC_PLG_MOTION_OBJ_INDEX,${ECMC_PLG_MOTION_OBJ_INDEX=0})

-#- Might need differet paths for PSI and ESS.. must check
+# 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}"
--- a/src/ecmcMotionPlg.cpp
+++ b/src/ecmcMotionPlg.cpp
@@ -833,9 +833,9 @@ void ecmcMotionPlg::executeMotionObject() {
    return;
  }
  
-  //if(cfgMode_==TRIGG && !bTriggInProgress_) {
-  //  return;
-  //}
+  if(cfgMode_==TRIGG && !bTriggInProgress_) {
+    return;
+  }

  // protect axis_ if axis object id is changed over asyn
  epicsMutexLock(axisMutex_);
@@ -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;    
  }
@@ -966,7 +966,7 @@ int ecmcMotionPlg::setAxis(int axisId) {
    //set old value again
    setParamAlarmStatus(asynAxisId_,1);
    setParamAlarmSeverity(asynAxisId_,1);
-    setIntegerParam(asynAxisId_, (epicsInt32)axisId);  // Set anyway to make alarms colors valid for correct index
+    setIntegerParam(asynAxisId_, (epicsInt32)cfgAxisIndex_);
    callParamCallbacks();
    return ECMC_PLUGIN_MOTION_ERROR_AXIS_OUT_OF_RANGE;    
  }
--- a/src/ecmcPluginMotion.c
+++ b/src/ecmcPluginMotion.c
@@ -8,11 +8,16 @@
 *  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_EXAMPLE_PLUGIN_VERSION 2
+#define ECMC_PLUGIN_VERSION 2
+

 #ifdef __cplusplus
 extern "C" {
@@ -27,18 +32,16 @@ extern "C" {
 #include "ecmcMotionPlgWrap.h"

 static int    lastEcmcError   = 0;
-static char*  lastConfStr     = NULL;
+static char*  lastConfStr         = NULL;

 /** Optional. 
- *  Will be called once after successfull load into ecmc.
+ *  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.
 **/
-int motionConstruct(char *configStr)
+static int construct(char *configStr)
 {
  //This module is allowed to load several times so no need to check if loaded
-
-  // create object and register data callback
  lastConfStr = strdup(configStr);
  return createMotionObj(configStr);
 }
@@ -46,31 +49,27 @@ int motionConstruct(char *configStr)
 /** Optional function.
 *  Will be called once at unload.
 **/
-void motionDestruct(void)
+static 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 
+ *  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.
 **/
-int motionRealtime(int ecmcError)
+static int motionRealtime(int ecmcError)
 { 
  executeMotionObjs();
  lastEcmcError = ecmcError;
  return 0;
 }

-/** Link to data source here since all sources should be availabe at this stage
+/** 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)
 **/
-int motionEnterRT(){
+static int motionEnterRT(){
  return linkDataTomotionObjs();
 }

@@ -78,37 +77,13 @@ int motionEnterRT(){
 *  Will be called once just before leaving realtime mode
 *  Return value other than 0 will be considered error.
 **/
-int motionExitRT(void){
+static 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 = {
+static struct ecmcPluginData pluginDataDef = {
+
  // Allways use ECMC_PLUG_VERSION_MAGIC
  .ifVersion = ECMC_PLUG_VERSION_MAGIC, 
  // Name 
@@ -120,174 +95,23 @@ struct ecmcPluginData pluginDataDef = {
                "    "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>   : Cont or triggered mode" 
+                "    "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.
+  .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 definded.
+  // 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] =
-//      { /*----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..
 };

--- 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/cos_ff_trq_test.png
+++ b/tools/cos_ff_trq_test.png
--- a/tools/cos_ff_trq_test_2.png
+++ b/tools/cos_ff_trq_test_2.png
--- a/tools/cos_ff_trq_test_adaptive.png
+++ b/tools/cos_ff_trq_test_adaptive.png
--- a/tools/cos_ff_trq_test_adaptive_2.png
+++ b/tools/cos_ff_trq_test_adaptive_2.png
--- a/tools/cos_ff_trq_test_adaptive_3.png
+++ b/tools/cos_ff_trq_test_adaptive_3.png
--- a/tools/cos_ff_trq_test_adaptive_4.png
+++ b/tools/cos_ff_trq_test_adaptive_4.png
--- a/tools/cos_ff_trq_test_adaptive_5.png
+++ b/tools/cos_ff_trq_test_adaptive_5.png
--- a/tools/delay0.png
+++ b/tools/delay0.png
--- a/tools/delay0_kx0.png
+++ b/tools/delay0_kx0.png
--- a/tools/delay10_kx0.png
+++ b/tools/delay10_kx0.png
--- a/tools/delay1_kx0.png
+++ b/tools/delay1_kx0.png
--- a/tools/delay2.5.png
+++ b/tools/delay2.5.png
--- a/tools/delay2.5_kx0.png
+++ b/tools/delay2.5_kx0.png
--- a/tools/delay2_kx0.png
+++ b/tools/delay2_kx0.png
--- a/tools/delay3_kx0.png
+++ b/tools/delay3_kx0.png
--- a/tools/delay4_kx0.png
+++ b/tools/delay4_kx0.png
--- 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)
@@ -334,63 +338,39 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
        self.pv_signal_cbs['ElmCnt'].data_signal.emit(value)

    def on_change_PosAct_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
-        if self.pause:
-            return
        self.pv_signal_cbs['PosAct-Arr'].data_signal.emit(value)

-    def on_change_PosSet_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
-        if self.pause:
-           return
+    def on_change_PosSet_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):        
        self.pv_signal_cbs['PosSet-Arr'].data_signal.emit(value)

    def on_change_PosErr_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
-        if self.pause:
-            return
        self.pv_signal_cbs['PosErr-Arr'].data_signal.emit(value)

    def on_change_Time_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
-        if self.pause:
-            return
        self.pv_signal_cbs['Time-Arr'].data_signal.emit(value)

    def on_change_Ena_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
-        if self.pause:
-            return
        self.pv_signal_cbs['Ena-Arr'].data_signal.emit(value)

    def on_change_EnaAct_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
-        if self.pause:
-            return
        self.pv_signal_cbs['EnaAct-Arr'].data_signal.emit(value)

    def on_change_Bsy_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
-        if self.pause:
-            return
        self.pv_signal_cbs['Bsy-Arr'].data_signal.emit(value)

    def on_change_Exe_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
-        if self.pause:
-            return
        self.pv_signal_cbs['Exe-Arr'].data_signal.emit(value)

    def on_change_TrjSrc_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
-        if self.pause:
-            return
        self.pv_signal_cbs['TrjSrc-Arr'].data_signal.emit(value)

    def on_change_EncSrc_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
-        if self.pause:
-            return
        self.pv_signal_cbs['EncSrc-Arr'].data_signal.emit(value)

    def on_change_AtTrg_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
-        if self.pause:
-            return
        self.pv_signal_cbs['AtTrg-Arr'].data_signal.emit(value)

    def on_change_ErrId_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
-        if self.pause:
-            return
        self.pv_signal_cbs['ErrId-Arr'].data_signal.emit(value)

    def on_change_Mde_RB(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
--- 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	0c19350ee5	Update makefile and add some pictures	2025-03-03 15:08:41 +01:00
Anders Sandström	d47820b543	Prep for ecmc v10	2024-12-16 10:41:02 +01:00
Anders Sandström	04ea63c8f4	New plugin concept	2024-12-13 16:03:50 +01:00
Anders Sandström	af297d71c4	depend on ecmc 9.6	2024-09-13 09:25:43 +02:00
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