From 1b88210a609a8295776ea26e1b5180e502ac18f5 Mon Sep 17 00:00:00 2001
From: Anders Sandstrom <anders.sandstrom@esss.se>
Date: Wed, 10 Mar 2021 17:06:31 +0100
Subject: [PATCH] Add some test pvs for pdos and sdos

---
 ecmc_plugin_socketcan.Makefile                |  1 +
 .../ecmc_plugin_socketcan.Makefile            |  1 +
 .../Db/ecmcPluginSocketCAN_PDO.template       | 12 +++++++
 .../Db/ecmcPluginSocketCAN_SDO.substitutions  |  8 +++++
 .../Db/ecmcPluginSocketCAN_SDO.template       |  2 +-
 iocsh/pvs.log                                 | 33 ++++++++++---------
 iocsh/test.script                             | 10 +++---
 7 files changed, 44 insertions(+), 23 deletions(-)
 create mode 100644 ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_PDO.template
 create mode 100644 ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO.substitutions

diff --git a/ecmc_plugin_socketcan.Makefile b/ecmc_plugin_socketcan.Makefile
index 58367e3..8e909c5 100644
--- a/ecmc_plugin_socketcan.Makefile
+++ b/ecmc_plugin_socketcan.Makefile
@@ -48,6 +48,7 @@ USR_INCLUDES += -I$(where_am_I)$(APPSRC)
 
 TEMPLATES += $(wildcard $(APPDB)/*.db)
 TEMPLATES += $(wildcard $(APPDB)/*.template)
+TEMPLATES += $(wildcard $(APPDB)/*.substitutions)
 SOURCES += $(APPSRC)/ecmcPluginSocketCAN.c
 SOURCES += $(APPSRC)/ecmcSocketCAN.cpp
 SOURCES += $(APPSRC)/ecmcSocketCANWrap.cpp
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcan.Makefile b/ecmc_plugin_socketcan/ecmc_plugin_socketcan.Makefile
index 58367e3..8e909c5 100644
--- a/ecmc_plugin_socketcan/ecmc_plugin_socketcan.Makefile
+++ b/ecmc_plugin_socketcan/ecmc_plugin_socketcan.Makefile
@@ -48,6 +48,7 @@ USR_INCLUDES += -I$(where_am_I)$(APPSRC)
 
 TEMPLATES += $(wildcard $(APPDB)/*.db)
 TEMPLATES += $(wildcard $(APPDB)/*.template)
+TEMPLATES += $(wildcard $(APPDB)/*.substitutions)
 SOURCES += $(APPSRC)/ecmcPluginSocketCAN.c
 SOURCES += $(APPSRC)/ecmcSocketCAN.cpp
 SOURCES += $(APPSRC)/ecmcSocketCANWrap.cpp
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_PDO.template b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_PDO.template
new file mode 100644
index 0000000..7a989b5
--- /dev/null
+++ b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_PDO.template
@@ -0,0 +1,12 @@
+# Data source: plugin.can.dev3.pdo.testvalue
+record(waveform,"$(P)CAN${CH_ID}-${suffix=}"){
+  info(asyn:READBACK,"1")
+  field(DESC, "PDO Data")
+  field(PINI, "1")
+  field(DTYP, "${DTYP=asynInt8ArrayIn}")
+  field(INP,  "@asyn(${PORT},$(ADDR=0),$(TIMEOUT=1000))T_SMP_MS=$(T_SMP_MS=1000)/TYPE=${DTYP=asynInt8ArrayIn}/plugin.can.dev${DEV_ID}.pdo.${source=value}?")
+  field(FTVL, "${FTVL=CHAR}")
+  field(NELM, "${NELM=1024}")
+  field(SCAN, "I/O Intr")
+  field(TSE,  "0")
+}
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO.substitutions b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO.substitutions
new file mode 100644
index 0000000..49120a4
--- /dev/null
+++ b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO.substitutions
@@ -0,0 +1,8 @@
+file "ecmcPluginSocketCAN_SDO.template"
+{
+  pattern {CH_ID, DEV_ID, NELM, suffix,      source,        DTYP,             FTVL }
+          {03,    3,      28,   SDO01-Array, analogValues1, asynInt16ArrayIn, SHORT}
+          {03,    3,      28,   SDO02-Array, analogValues2, asynInt16ArrayIn, SHORT}
+          {03,    3,      28,   SDO03-Array, analogValues3, asynInt16ArrayIn, SHORT}
+          {03,    3,      28,   SDO04-Array, analogValues4, asynInt16ArrayIn, SHORT}
+}
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO.template b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO.template
index b58b1f2..d7a92f5 100644
--- a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO.template
+++ b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO.template
@@ -1,7 +1,7 @@
 # Data source: plugin.can.dev3.sdo.analogValues4
 record(waveform,"$(P)CAN${CH_ID}-${suffix=}"){
   info(asyn:READBACK,"1")
-  field(DESC, "Data source name")
+  field(DESC, "SDO Data")
   field(PINI, "1")
   field(DTYP, "${DTYP=asynInt8ArrayIn}")
   field(INP,  "@asyn(${PORT},$(ADDR=0),$(TIMEOUT=1000))T_SMP_MS=$(T_SMP_MS=1000)/TYPE=${DTYP=asynInt8ArrayIn}/plugin.can.dev${DEV_ID}.sdo.${source=value}?")
diff --git a/iocsh/pvs.log b/iocsh/pvs.log
index 1c84702..7e638e2 100644
--- a/iocsh/pvs.log
+++ b/iocsh/pvs.log
@@ -1,16 +1,17 @@
-REQMOD:mcag-trgt-muts--24109:MODULES
-REQMOD:mcag-trgt-muts--24109:VERSIONS
-REQMOD:mcag-trgt-muts--24109:MOD_VER
-IOC_TEST:CAN03-AI01-Array
-IOC_TEST:CAN03-AI02-Array
-IOC_TEST:CAN03-AI03-Array
-IOC_TEST:CAN03-AI04-Array
-REQMOD:mcag-trgt-muts--24109:exit
-REQMOD:mcag-trgt-muts--24109:BaseVersion
-REQMOD:mcag-trgt-muts--24109:require_VER
-REQMOD:mcag-trgt-muts--24109:ecmccfg_VER
-REQMOD:mcag-trgt-muts--24109:asyn_VER
-REQMOD:mcag-trgt-muts--24109:exprtk_VER
-REQMOD:mcag-trgt-muts--24109:motor_VER
-REQMOD:mcag-trgt-muts--24109:ecmc_VER
-REQMOD:mcag-trgt-muts--24109:ecmc_plugin_socketcan_VER
+REQMOD:mcag-trgt-muts--29276:MODULES
+REQMOD:mcag-trgt-muts--29276:VERSIONS
+REQMOD:mcag-trgt-muts--29276:MOD_VER
+IOC_TEST:CAN03-PDO01-Array
+IOC_TEST:CAN03-SDO01-Array
+IOC_TEST:CAN03-SDO02-Array
+IOC_TEST:CAN03-SDO03-Array
+IOC_TEST:CAN03-SDO04-Array
+REQMOD:mcag-trgt-muts--29276:exit
+REQMOD:mcag-trgt-muts--29276:BaseVersion
+REQMOD:mcag-trgt-muts--29276:require_VER
+REQMOD:mcag-trgt-muts--29276:ecmccfg_VER
+REQMOD:mcag-trgt-muts--29276:asyn_VER
+REQMOD:mcag-trgt-muts--29276:exprtk_VER
+REQMOD:mcag-trgt-muts--29276:motor_VER
+REQMOD:mcag-trgt-muts--29276:ecmc_VER
+REQMOD:mcag-trgt-muts--29276:ecmc_plugin_socketcan_VER
diff --git a/iocsh/test.script b/iocsh/test.script
index 5e85e8c..8daaa13 100644
--- a/iocsh/test.script
+++ b/iocsh/test.script
@@ -78,6 +78,7 @@ ecmcCANOpenAddDevice("testDevice",3)
 #           <readTimeoutMs>   : Readtimeout in ms.
 #           <writeCycleMs>    : Cycle time for write (if <= 0 then only write on change).
 ecmcCANOpenAddPDO("status1",3,0x183,2,8,10000,0)  # READ
+dbLoadRecords(ecmcPluginSocketCAN_PDO.template, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,T_SMP_MS=${ECMC_SAMPLE_RATE_MS},TSE=${ECMC_TSE},NELM=${NELM=1},CH_ID=03,DEV_ID=3,suffix=PDO01-Array,source=status1,NELM=8")
 
 #     ecmcCANOpenAddSDO -h
 #        Use ecmcCANOpenAddSDO(<name>, <node id>,.....)
@@ -92,14 +93,11 @@ ecmcCANOpenAddPDO("status1",3,0x183,2,8,10000,0)  # READ
 #           <readTimeoutMs>   : Readtimeout in ms.
 #
 ecmcCANOpenAddSDO("analogValues1",3,0x583,0x603,2,0x2640,0x0,56,7000) # READ
-dbLoadRecords(ecmcPluginSocketCAN_SDO.template, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,T_SMP_MS=${ECMC_SAMPLE_RATE_MS},TSE=${ECMC_TSE},NELM=${NELM=1},CH_ID=03,DEV_ID=3,suffix=AI01-Array,source=analogValues1,DTYP=asynInt16ArrayIn,FTVL=SHORT,NELM=28")
-
 ecmcCANOpenAddSDO("analogValues2",3,0x583,0x603,2,0x2640,0x0,56,7000) # READ
-dbLoadRecords(ecmcPluginSocketCAN_SDO.template, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,T_SMP_MS=${ECMC_SAMPLE_RATE_MS},TSE=${ECMC_TSE},NELM=${NELM=1},CH_ID=03,DEV_ID=3,suffix=AI02-Array,source=analogValues2,DTYP=asynInt16ArrayIn,FTVL=SHORT,NELM=28")
 ecmcCANOpenAddSDO("analogValues3",3,0x583,0x603,2,0x2640,0x0,56,7000) # READ
-dbLoadRecords(ecmcPluginSocketCAN_SDO.template, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,T_SMP_MS=${ECMC_SAMPLE_RATE_MS},TSE=${ECMC_TSE},NELM=${NELM=1},CH_ID=03,DEV_ID=3,suffix=AI03-Array,source=analogValues3,DTYP=asynInt16ArrayIn,FTVL=SHORT,NELM=28")
 ecmcCANOpenAddSDO("analogValues4",3,0x583,0x603,2,0x2640,0x0,56,7000) # READ
-dbLoadRecords(ecmcPluginSocketCAN_SDO.template, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,T_SMP_MS=${ECMC_SAMPLE_RATE_MS},TSE=${ECMC_TSE},NELM=${NELM=1},CH_ID=03,DEV_ID=3,suffix=AI04-Array,source=analogValues4,DTYP=asynInt16ArrayIn,FTVL=SHORT,NELM=28")
+dbLoadTemplate(ecmcPluginSocketCAN_SDO.substitutions, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,T_SMP_MS=${ECMC_SAMPLE_RATE_MS},TSE=${ECMC_TSE}")
+
 ecmcCANOpenAddSDO("basicConfig",3,0x583,0x603,1,0x2690,0x1,7,0)      # WRITE
 
 ##############################################################################
@@ -109,4 +107,4 @@ ecmcConfigOrDie "Cfg.SetAppMode(1)"
 iocInit
 dbl > pvs.log
 
-ecmcGrepParam *plugin.can.*
+#ecmcGrepParam *plugin.can.*