Adapt to ecmc v11

.gitignore

@@ -20,3 +20,5 @@ 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 7.0.6
+EXCLUDE_VERSIONS+=3 7.0.5 7.0.6 7.0.7
 
 IGNORE_MODULES += asynMotor
 IGNORE_MODULES += motorBase
@@ -15,19 +17,28 @@ USR_CXXFLAGS += -std=c++17
 OPT_CXXFLAGS_YES = -O3
 
 # dependencies
-ECmasterECMC_VERSION = v1.1.0
-ecmc_VERSION = 9.6
+ecmc_VERSION = v11.0.0_RC1
 
-################################################################################
-# THIS RELATES TO THE EtherCAT MASTER LIBRARY
-# IT IS OF PARAMOUNT IMPORTANCE TO LOAD THE PROPER KERNEL MODULE
-# ################################################################################
-USR_LDFLAGS += -lethercat
+# ethercat
+#   debian 12
+EC_MASTER_VER = 1.6.3
+EC_BASE_PATH = /ioc/NeedfulThings/EtherCAT/4epics/${EC_MASTER_VER}/
+USR_CXXFLAGS_deb12-x86_64 += -I${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}
-USR_LDFLAGS += -Wl,-rpath=${EC_MASTER_LIB}
-USR_LDFLAGS +=         -L ${EC_MASTER_LIB}
+LIB_SYS_LIBS += ethercat
+USR_LDFLAGS_deb12-x86_64 += -Wl,-rpath=${EC_BASE_PATH}${T_A}/lib/
+USR_LDFLAGS_deb12-x86_64 +=         -L ${EC_BASE_PATH}${T_A}/lib/
 
+#   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/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);
-  setPosBuffer_->addData(tempAxisStat->onChangeData.positionSetpoint);
-  diffPosBuffer_->addData(tempAxisStat->onChangeData.positionError);
-  enableBuffer_->addData(tempAxisStat->onChangeData.statusWd.enable);
-  enabledBuffer_->addData(tempAxisStat->onChangeData.statusWd.enabled);
-  busyBuffer_->addData(tempAxisStat->onChangeData.statusWd.busy);
-  executeBuffer_->addData(tempAxisStat->onChangeData.statusWd.execute);
-  trajSourceBuffer_->addData(tempAxisStat->onChangeData.statusWd.trajsource);
-  encSourceBuffer_->addData(tempAxisStat->onChangeData.statusWd.encsource);
-  atTargetBuffer_->addData(tempAxisStat->onChangeData.statusWd.attarget);
-  errorIdBuffer_->addData(tempAxisStat->onChangeData.error);
+  actPosBuffer_->addData(tempAxisStat->currentPositionActual);
+  setPosBuffer_->addData(tempAxisStat->currentPositionSetpoint);
+  diffPosBuffer_->addData(tempAxisStat->cntrlError);
+  enableBuffer_->addData(tempAxisStat->statusWord_.enable);
+  enabledBuffer_->addData(tempAxisStat->statusWord_.enabled);
+  busyBuffer_->addData(tempAxisStat->statusWord_.busy);
+  executeBuffer_->addData(tempAxisStat->statusWord_.execute);
+  trajSourceBuffer_->addData(tempAxisStat->statusWord_.trajsource);
+  encSourceBuffer_->addData(tempAxisStat->statusWord_.encsource);
+  atTargetBuffer_->addData(tempAxisStat->statusWord_.attarget);
+  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_ ) {

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" {
@@ -30,15 +35,13 @@ static int    lastEcmcError   = 0;
 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 FFT 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();
 }
 
@@ -78,41 +77,17 @@ 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 
-  .name = "ecmcPlugin_Motion",
+  .name = "ecmc_plugin_motion",
   // Description
   .desc = "Motion plugin for commissioning of ecmc motion axes.",
   // Option description
@@ -123,171 +98,20 @@ struct ecmcPluginData pluginDataDef = {
                 "    "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..
 };
 

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/ecmcMotionMainPyQtGraph.py

@@ -579,7 +579,7 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
            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:

tools/startGui.sh

@@ -19,4 +19,4 @@ fi
 echo "Prefix=${P=c6025a-04}"
 echo "plugin id=${ID=0}"
 
-python ecmcMotionMainPyQtGraph.py ${P=c6025a-04} ${ID=0}
+python3 ecmcMotionMainPyQtGraph.py ${P=c6025a-04} ${ID=0}