Use ecmc 9.5.0

.gitignore

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

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")
@@ -10,13 +10,14 @@ 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")
@@ -24,13 +25,14 @@ 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")
@@ -38,26 +40,28 @@ 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")
@@ -70,7 +74,7 @@ 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")
@@ -83,7 +87,7 @@ 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")
@@ -96,7 +100,7 @@ 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")
@@ -109,7 +113,7 @@ 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")
@@ -122,7 +126,7 @@ 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")
@@ -135,7 +139,7 @@ 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")
@@ -148,7 +152,7 @@ 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")
@@ -157,11 +161,11 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-ErrId-Arr"){
   field(TSE,  "0")  
 }
 
-# Axis Error Id
+# Axis status word 
 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")
@@ -187,10 +191,13 @@ 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-RB"){
+record(ai,"$(P)Plg-Mtn${INDEX}-SmpHz"){
   info(asyn:READBACK,"1")
   field(DESC, "Sample rate")
   field(DTYP,"asynFloat64")
@@ -200,52 +207,63 @@ record(ai,"$(P)Plg-Mtn${INDEX}-SmpHz-RB"){
   field(SCAN, "I/O Intr")
 }
 
-record(ai,"$(P)Plg-Mtn${INDEX}-BuffSze"){
+# Future use
-  info(asyn:READBACK,"1")
+#record(ai,"$(P)Plg-Mtn${INDEX}-BuffSze"){
-  field(DESC, "Buffer Size")
+#  info(asyn:READBACK,"1")
-  field(DTYP,"asynInt32")
+#  field(DESC, "Buffer Size")
-  field(INP, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.buff_size")  
+#  field(DTYP,"asynInt32")
-  field(VAL, "1")
+#  field(INP, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.buff_size")  
-}
+#  field(VAL, "1")
+#}
 
-record(ai,"$(P)Plg-Mtn${INDEX}-ElmCnt"){
+# Future use
-  info(asyn:READBACK,"1")
+#record(ai,"$(P)Plg-Mtn${INDEX}-ElmCnt"){
-  field(DESC, "Elements in buffer count")
+#  info(asyn:READBACK,"1")
-  field(DTYP,"asynInt32")
+#  field(DESC, "Elements in buffer count")
-  field(INP, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.elem_count")
+#  field(DTYP,"asynInt32")
-  field(VAL, "1")
+#  field(INP, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.elem_count")
-}
+#  field(VAL, "1")
+#}
 
-record(bo,"$(P)Plg-Mtn${INDEX}-TrgCmd-RB"){
+# Future use
-  info(asyn:READBACK,"1")
+#record(bo,"$(P)Plg-Mtn${INDEX}-TrgCmd-RB"){
-  field(DESC, "Trigg command")
+#  info(asyn:READBACK,"1")
-  field(DTYP,"asynInt32")
+#  field(DESC, "Trigg command")
-  field(OUT, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.trigg")
+#  field(DTYP,"asynInt32")
-  field(ZNAM,"IDLE")
+#  field(OUT, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.trigg")
-  field(ONAM,"TRIGG")  
+#  field(ZNAM,"IDLE")
-  field(VAL, "0")
+#  field(ONAM,"TRIGG")  
-  field(HIGH, 0.001)
+#  field(VAL, "0")
-}
+#  field(HIGH, 0.001)
+#}
 
-record(longout,"$(P)Plg-Mtn${INDEX}-Mde-RB"){
+# Future use
-  info(asyn:READBACK,"1")
+#record(mbbo, "$(P)Plg-Mtn${INDEX}-Mde-RB"){
-  field(DESC, "Mode selection")
+#  info(asyn:READBACK,"1")
-  field(PINI, "1")
+#  field(DESC, "Mode selection")
-  field(TSE,  "0")
+#  field(PINI, "1")
-  field(DTYP, "asynInt32")
+#  field(TSE,  "0")
-  field(OUT,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.mode")
+#  field(DTYP, "asynInt32")
-  field(SCAN, "Passive")
+#  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}-Cmd-RB"){
+# Future use
-  info(asyn:READBACK,"1")
+# record(longout,"$(P)Plg-Mtn${INDEX}-Cmd-RB"){
-  field(DESC, "Command")
+#   info(asyn:READBACK,"1")
-  field(PINI, "1")
+#   field(DESC, "Command")
-  field(TSE,  "0")
+#   field(PINI, "1")
-  field(DTYP, "asynInt32")
+#   field(TSE,  "0")
-  field(OUT,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.cmd")
+#   field(DTYP, "asynInt32")
-  field(SCAN, "Passive")
+#   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")

GNUmakefile

@@ -1,14 +1,12 @@
 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% deb12%
+ARCH_FILTER = deb10%
 
 # Run 7.0.6 for now
-EXCLUDE_VERSIONS+=3 7.0.5 7.0.6 7.0.7
+EXCLUDE_VERSIONS+=3 7.0.5 7.0.6
 
 IGNORE_MODULES += asynMotor
 IGNORE_MODULES += motorBase
@@ -17,32 +15,25 @@ USR_CXXFLAGS += -std=c++17
 OPT_CXXFLAGS_YES = -O3
 
 # dependencies
-ecmc_VERSION = 11.0
+ECmasterECMC_VERSION = v1.1.0
+motorECMC_VERSION = 7.0.9-ESS
+ecmc_VERSION = 9.5.0
 
-# ethercat
+################################################################################
-#   debian 12
+# THIS RELATES TO THE EtherCAT MASTER LIBRARY
-EC_MASTER_VER = 1.6.3
+# IT IS OF PARAMOUNT IMPORTANCE TO LOAD THE PROPER KERNEL MODULE
-EC_BASE_PATH = /ioc/NeedfulThings/EtherCAT/4epics/${EC_MASTER_VER}/
+# ################################################################################
-USR_CXXFLAGS_deb12-x86_64 += -I${EC_BASE_PATH}${T_A}/include/
+USR_LDFLAGS += -lethercat
-USR_CXXFLAGS_deb12-x86_64 += -L${EC_BASE_PATH}${T_A}/lib/
 
-LIB_SYS_LIBS += ethercat
+EC_MASTER_LIB = ${EPICS_MODULES}/ECmasterECMC/${ECmasterECMC_VERSION}/R${EPICSVERSION}/lib/${T_A}
-USR_LDFLAGS_deb12-x86_64 += -Wl,-rpath=${EC_BASE_PATH}${T_A}/lib/
+USR_LDFLAGS += -Wl,-rpath=${EC_MASTER_LIB}
-USR_LDFLAGS_deb12-x86_64 +=         -L ${EC_BASE_PATH}${T_A}/lib/
+USR_LDFLAGS +=         -L ${EC_MASTER_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_DIR = $(BASE_DIR)/scripts
+
 SOURCES += $(SRC_DIR)/ecmcPluginMotion.c
 SOURCES += $(SRC_DIR)/ecmcMotionPlgWrap.cpp
 SOURCES += $(SRC_DIR)/ecmcMotionPlg.cpp

README.md

@@ -1,11 +1,76 @@
 ecmc_plugin_motion
 ======
 Plugin designed for commisioning and troubleshooting of motion axes.
-Motion data are sampled, buffered and exposed to epics as waveforms.
+Motion data are sampled, buffered and exposed as epics as waveforms.
 
+# Panel
+```
+# Plugin loaded once (MTN_ID defaults to 0)
+caqtdm -macro "SYS=c6025a" ecmc_plugin_motion_main.ui 
 
-python3 ecmcMotionMainPyQtGraph.py c6025a-04 0
+# If loaded more times
+caqtdm -macro "SYS=c6025a,MTN_ID=1" ecmc_plugin_motion_main.ui 
+```
+# Python panels
+In tools directory.. WIP...
 
 
 
+# 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)

iocsh/plc/plc_no_ec_fft_sin.plc

@@ -0,0 +1,9 @@
+###############################################################################################
+# 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

@@ -0,0 +1,345 @@
+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

@@ -1,92 +0,0 @@
-# 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

@@ -1,43 +0,0 @@
-##############################################################################
-## 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

@@ -0,0 +1,57 @@
+##############################################################################
+## 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

iocsh/test_plugin_motion_psi.script

@@ -2,15 +2,9 @@
 ## Example: Configuraftion for running ecmc motion plugin
 ##############################################################################
 
-## Initiation:
+require ecmccfg "9.4.0" "ECMC_VER=9.4.0"
-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"
-
 ##############################################################################
-## Configure hardware
+## Configue
 
 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"
@@ -33,8 +27,6 @@ $(SCRIPTEXEC) ($(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:

scripts/addMotionObj.cmd

@@ -28,10 +28,10 @@
 #- 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=0},FILE=${ECMC_PLUGIN_FILNAME},CONFIG='${ECMC_PLUGIN_CONFIG}', REPORT=${REPORT=1}"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=${PLUGIN_ID},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

@@ -833,28 +833,28 @@ void ecmcMotionPlg::executeMotionObject() {
     return;
   }
   
-  if(cfgMode_==TRIGG && !bTriggInProgress_) {
+  //if(cfgMode_==TRIGG && !bTriggInProgress_) {
-    return;
+  //  return;
-  }
+  //}
 
   // protect axis_ if axis object id is changed over asyn
   epicsMutexLock(axisMutex_);
-  ecmcAxisDataStatus *tempAxisStat = axis_->getAxisStatusStruct();
+  ecmcAxisStatusType *tempAxisStat = axis_->getDebugInfoDataPointer();
   
   // Fill the buffers
-  actPosBuffer_->addData(tempAxisStat->currentPositionActual);
+  actPosBuffer_->addData(tempAxisStat->onChangeData.positionActual);
-  setPosBuffer_->addData(tempAxisStat->currentPositionSetpoint);
+  setPosBuffer_->addData(tempAxisStat->onChangeData.positionSetpoint);
-  diffPosBuffer_->addData(tempAxisStat->cntrlError);
+  diffPosBuffer_->addData(tempAxisStat->onChangeData.positionError);
-  enableBuffer_->addData(tempAxisStat->statusWord_.enable);
+  enableBuffer_->addData(tempAxisStat->onChangeData.statusWd.enable);
-  enabledBuffer_->addData(tempAxisStat->statusWord_.enabled);
+  enabledBuffer_->addData(tempAxisStat->onChangeData.statusWd.enabled);
-  busyBuffer_->addData(tempAxisStat->statusWord_.busy);
+  busyBuffer_->addData(tempAxisStat->onChangeData.statusWd.busy);
-  executeBuffer_->addData(tempAxisStat->statusWord_.execute);
+  executeBuffer_->addData(tempAxisStat->onChangeData.statusWd.execute);
-  trajSourceBuffer_->addData(tempAxisStat->statusWord_.trajsource);
+  trajSourceBuffer_->addData(tempAxisStat->onChangeData.statusWd.trajsource);
-  encSourceBuffer_->addData(tempAxisStat->statusWord_.encsource);
+  encSourceBuffer_->addData(tempAxisStat->onChangeData.statusWd.encsource);
-  atTargetBuffer_->addData(tempAxisStat->statusWord_.attarget);
+  atTargetBuffer_->addData(tempAxisStat->onChangeData.statusWd.attarget);
-  errorIdBuffer_->addData(tempAxisStat->errorCode);
+  errorIdBuffer_->addData(tempAxisStat->onChangeData.error);
 
-  epicsInt32 *temp=(epicsInt32*)&(tempAxisStat->statusWord_);  // A bit nasty
+  epicsInt32 *temp=(epicsInt32*)&(tempAxisStat->onChangeData.statusWd);  // A bit nasty
   statusWdBuffer_->addData(*temp);
 
   xTime_+=xdt_;
@@ -870,6 +870,24 @@ 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_ ) {
@@ -888,7 +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;    
   }
@@ -948,7 +966,7 @@ int ecmcMotionPlg::setAxis(int axisId) {
     //set old value again
     setParamAlarmStatus(asynAxisId_,1);
     setParamAlarmSeverity(asynAxisId_,1);
-    setIntegerParam(asynAxisId_, (epicsInt32)cfgAxisIndex_);
+    setIntegerParam(asynAxisId_, (epicsInt32)axisId);  // Set anyway to make alarms colors valid for correct index
     callParamCallbacks();
     return ECMC_PLUGIN_MOTION_ERROR_AXIS_OUT_OF_RANGE;    
   }

src/ecmcPluginMotion.c

@@ -8,16 +8,11 @@
 *  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
+#define ECMC_EXAMPLE_PLUGIN_VERSION 2
-
 
 #ifdef __cplusplus
 extern "C" {
@@ -32,16 +27,18 @@ extern "C" {
 #include "ecmcMotionPlgWrap.h"
 
 static int    lastEcmcError   = 0;
-static char*  lastConfStr         = NULL;
+static char*  lastConfStr     = NULL;
 
 /** Optional. 
- *  Will be called once after successful load into ecmc.
+ *  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.
  **/
-static int construct(char *configStr)
+int motionConstruct(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);
 }
@@ -49,27 +46,31 @@ static int construct(char *configStr)
 /** Optional function.
  *  Will be called once at unload.
  **/
-static void motionDestruct(void)
+void motionDestruct(void)
 {
+  //deleteAllMotionObjs();
+  //if(lastConfStr){
+  //  free(lastConfStr);
+  //}
 }
 
 /** Optional function.
- *  Will be called each realtime cycle if defined
+ *  Will be called each realtime cycle if definded
- *  ecmcError: Error code of ecmc. Makes it possible for 
+ *  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.
  **/
-static int motionRealtime(int ecmcError)
+int motionRealtime(int ecmcError)
 { 
   executeMotionObjs();
   lastEcmcError = ecmcError;
   return 0;
 }
 
-/** Link to data source here since all sources should be available at this stage
+/** 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)
  **/
-static int motionEnterRT(){
+int motionEnterRT(){
   return linkDataTomotionObjs();
 }
 
@@ -77,13 +78,37 @@ static int motionEnterRT(){
  *  Will be called once just before leaving realtime mode
  *  Return value other than 0 will be considered error.
  **/
-static int motionExitRT(void){
+int motionExitRT(void){
   return 0;
 }
 
-// Register data for plugin so ecmc know what to use
+//// Plc function for clear of buffers
-static struct ecmcPluginData pluginDataDef = {
+//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 
@@ -95,23 +120,174 @@ static 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>   : Sampling rate in Hz" 
+    //            "    "ECMC_PLUGIN_MODE_OPTION_CMD"<TRIGG/CONT>   : Cont or triggered mode" 
                 , 
   // Plugin version
-  .version = ECMC_PLUGIN_VERSION,
+  .version = ECMC_EXAMPLE_PLUGIN_VERSION,
-  // Optional construct func, called once at load. NULL if not defined.
+  // Optional construct func, called once at load. NULL if not definded.
-  .constructFnc = construct,
+  .constructFnc = motionConstruct,
-  // Optional destruct func, called once at unload. NULL if not defined.
+  // 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 defined.
+  // 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..
 };
 

startup.cmd

@@ -10,8 +10,10 @@
 #-###############################################################################
 #-
 #- 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
@@ -25,6 +27,6 @@
 # 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=0},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},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

@@ -1,2 +1,8 @@
-# Tool for visualization
+# FFT tools
-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

@@ -2,16 +2,12 @@
 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 import QtCore,QtWidgets, QtGui
+from PyQt5.QtWidgets import *
-#from PyQt5.QtWidgets import *
+from PyQt5.QtCore import *
-#from PyQt5.QtCore import *
+from PyQt5.QtCore import QObject
-#from PyQt5.QtCore import QObject
+from PyQt5.QtGui import *
-#from PyQt5.QtGui import *
 
 import random
 import ecmcTrend

tools/ecmcMotionMainGui.py

@@ -166,14 +166,12 @@ 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)
@@ -183,13 +181,11 @@ 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)
@@ -338,39 +334,63 @@ 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):        
+    def on_change_PosSet_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
+        if self.pause:
+           return
         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):

tools/ecmcMotionMainPyQtGraph.py

@@ -14,27 +14,18 @@
 
 import sys
 import epics
-from PySide2 import QtCore, QtGui, QtWidgets
+from PyQt5.QtWidgets import *
-from PySide2.QtWidgets import *
+from PyQt5 import QtWidgets
-from PySide2.QtGui import *
+from PyQt5.QtCore import *
-from PySide2.QtCore import *
+from PyQt5.QtGui 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',
@@ -67,12 +58,14 @@ 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',
@@ -90,7 +83,7 @@ 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):
@@ -195,8 +188,7 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
 
         # Check connection and read sample rate
         pvSampleRate = epics.PV(self.pvPrefixStr + pvmiddlestring + str(int(self.mtnPluginId))+ '-SmpHz-RB')
-        print(self.pvPrefixStr + pvmiddlestring + str(int(self.mtnPluginId))+ '-SmpHz-RB')
+        connected = pvSampleRate.wait_for_connection(timeout = 2)                  
-        connected = pvSampleRate.wait_for_connection(timeout = 3)                  
         if connected:
             print('Connected to ecmc')
             self.offline = False
@@ -208,8 +200,7 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
         else: 
             print('Not Connected')
             self.offline = True
-            self.pause = True
+            self.pause = True            
-            self.sampleRate = 1000   
 
         self.sampleRateValid = True
 
@@ -251,58 +242,37 @@ 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)
 
@@ -397,23 +367,17 @@ 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(150, 50)
+        self.btnMotorRecord.setFixedSize(100, 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,2,0)
+        layoutMotionGrid.addWidget(label,1,0)
-        layoutMotionGrid.addWidget(self.cmbBxSelectAxis,2,1)
+        layoutMotionGrid.addWidget(self.cmbBxSelectAxis,1,1)
 
 
         layoutVertMain.addWidget(frameMotion)
@@ -468,14 +432,10 @@ 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()
@@ -507,13 +467,13 @@ 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.rstrip(':')
+            self.axisPrefix = axisPrefix
 
-        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:
@@ -528,8 +488,6 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
         return
 
     def sig_cb_Stat_Arr(self,value):
-        if self.pause:
-            return
 
         data = self.parseAxisStatWd.convert(value)
         self.addStatWdData(data)
@@ -563,7 +521,7 @@ 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.') 
@@ -574,34 +532,22 @@ 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(axId)))
+              self.cmbBxSelectAxis.addItem(str(int(ax)))
 
     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
@@ -869,9 +815,9 @@ 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

@@ -1,12 +1,7 @@
 #!/usr/bin/env python3.6
 import epics
 import sys
-from PySide2 import QtCore, QtGui, QtWidgets
+from PyQt5 import QtWidgets, QtGui, QtCore
-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

@@ -4,11 +4,7 @@ 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

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

tools/ecmcTrend.py

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

tools/ecmcTrendPv.py

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

tools/startGui.sh

@@ -1,22 +0,0 @@
-#!/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}