From 731bd7f9686eaf933f6794a254c2d42b20d8e854 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= <anders.sandstroem@psi.ch>
Date: Fri, 2 Feb 2024 10:57:37 +0100
Subject: [PATCH] WIP

---
 GNUmakefile                      |  3 +--
 iocsh/el7031.script              |  4 ++--
 scripts/addSafetyAxisToGroup.cmd | 19 -------------------
 src/ecmcSafetyGroup.h            |  2 +-
 4 files changed, 4 insertions(+), 24 deletions(-)
 delete mode 100644 scripts/addSafetyAxisToGroup.cmd

diff --git a/GNUmakefile b/GNUmakefile
index 3787072..aee150f 100644
--- a/GNUmakefile
+++ b/GNUmakefile
@@ -17,7 +17,7 @@ OPT_CXXFLAGS_YES = -O3
 # dependencies
 ECmasterECMC_VERSION = v1.1.0
 # motorECMC_VERSION = 7.0.7-ESS
-ecmc_VERSION = v9.0.1_RC4
+ecmc_VERSION = sandst_a
 
 ################################################################################
 # THIS RELATES TO THE EtherCAT MASTER LIBRARY
@@ -41,5 +41,4 @@ SOURCES += $(SRC_DIR)/ecmcSafetyGroup.cpp
 HEADERS += $(foreach d,${SRC_DIR}, $(wildcard $d/*.h))
 DBDS += $(foreach d,${SRC_DIR}, $(wildcard $d/*.dbd))
 SCRIPTS += $(BASE_DIR)/scripts/startup.cmd
-SCRIPTS += $(BASE_DIR)/scripts/addSafetyAxisToGroup.cmd
 TEMPLATES += $(wildcard $(DB_DIR)/*.template)
diff --git a/iocsh/el7031.script b/iocsh/el7031.script
index 3c63d15..f4aa5d2 100644
--- a/iocsh/el7031.script
+++ b/iocsh/el7031.script
@@ -1,11 +1,11 @@
 ##############################################################################
 ## Example config for el7031
 
-require ecmccfg v9.0.1_RC4,"ECMC_VER=v9.0.1_RC4,ENG_MODE=1"
+require ecmccfg v9.0.1_RC4,"ECMC_VER=safety,ENG_MODE=1"
 
 epicsEnvSet(IOC,c6025a)
 # Load components lib
-require ecmccomp sandst_a
+require ecmccomp
 
 ##############################################################################
 ## Configure hardware
diff --git a/scripts/addSafetyAxisToGroup.cmd b/scripts/addSafetyAxisToGroup.cmd
deleted file mode 100644
index 2b2f190..0000000
--- a/scripts/addSafetyAxisToGroup.cmd
+++ /dev/null
@@ -1,19 +0,0 @@
-
-#==============================================================================
-# addSafetyAxisToGroup.cmd
-#-------------- Information:
-#- Description: ecmc_plugin_safety addSafetyAxisToGroup
-#-
-#- by Anders Sandström, Paul Scherrer Institute, 2024
-#- email: anders.sandstroem@psi.ch
-#-
-#-###############################################################################
-#-
-#- Arguments
-#- [mandatory]
-#- GROUP             = Safety group index
-#- AXIS              = Axis index
-#-
-#################################################################################
-
-xxxx
\ No newline at end of file
diff --git a/src/ecmcSafetyGroup.h b/src/ecmcSafetyGroup.h
index e106dc0..877daa9 100644
--- a/src/ecmcSafetyGroup.h
+++ b/src/ecmcSafetyGroup.h
@@ -56,7 +56,7 @@ class ecmcSafetyGroup : public asynPortDriver {
   //
   int                   status_;
   int                   axesCounter_;
-  static std::vector<ecmcAxisBase*>  axes_;
+  std::vector<ecmcAxisBase*>  axes_;
   
   // Some generic utility functions
   static uint8_t        getUint8(uint8_t* data);