enhance generate.py

.gitignore

@@ -9,6 +9,7 @@
 *.original
 
 .cvsignore
+gen/
 .idea/
 .tmp_versions/
 gather/
@@ -45,4 +46,3 @@ src/usrServo/usrServo.sublime-workspace
 *Doc/*.blg
 
 
-

Makefile

@@ -1,8 +1,8 @@
 include /ioc/tools/driver.makefile
 MODULE = $(notdir $(shell pwd))
 BUILDCLASSES = Linux
-ARCH_FILTER = eldk42%
+ARCH_FILTER = ARCH_FILTER = $(EPICS_HOST_ARCH) eldk42%
-EXCLUDE_VERSIONS = 3.14 7.0.6
+EXCLUDE_VERSIONS = 3.14 # 7.0.6
 #EPICS_VERSIONS = 7.0.7
 
 #SCRIPTS+=$(wildcard add_EXPMX*.cmd cfg/*.cfg cfg/*.py cfg/*.pbi python/*.py)

PPMACMotor.template

@@ -2,7 +2,7 @@ record(motor,"$(P):$(M)")
 {
     field(DESC,"$(DESC)")
     field(DTYP,"asynMotor")
-    field(OUT,"@asyn($(PORT),$(ADDR))")
+    field(OUT,"@asyn($(PORT=PPMAC),$(ADDR))")
     field(DIR,"$(DIR=0)")
     field(VMAX,"$(VMAX=0)")
     field(VELO,"$(VELO)")

ReadmeMCS.md

@@ -74,3 +74,9 @@ caput SARES30-SMX:ASYN.AOUT :GST0
 
 
 caget SARES30-SMX:ASYN.TINP
+
+
+
+/home/zamofing_t/Documents/prj/SwissFEL/driver_modules_epics/motorBase/motorApp/MotorSrc/asynMotorController.h
+
+if the position can not be reached, the $(S):$(M).MISS is set to 1

SAR-EXPMX1.subs

@@ -1,27 +0,0 @@
-################################################################################
-#P    - prefix of the PV
-#PORT - Name of the ppmac controller port created by powerPmacCreateController
-#ADDR - Axis index - second parameter of powerPmacCreateAxis and powerPmacCreateVirtualAxis
-################################################################################
-
-#Position Units are in um
-
-#ms to achive speed VELO -> same as Motor[1].JogTa (if positive). Motor[1].JogTa will be set to a caculated negative number
-# JAR  = EGU/s^2 -> JAR = VELO/ACCL (Jog acceleration)
-
-#caput SAROP21-OAPU092:ASYN.AOUT '&1;#1..2p'
-#caget SAROP21-OAPU092:ASYN.TINP
-#caput SAROP21-OAPU092:ASYN.AOUT '&1;cpx abs;X(-900)Y(10)A(5200)B(5100)'
-
-file asyn.template {{P="$(P_M)1", PORT=$(PORT_M)}}
-
-file PPMACMotor.template {
-pattern{ DESC              , P       , M          , PORT       , ADDR, DIR, VELO, HVEL, ACCL, JAR, MRES , PREC, EGU  , DHLM, DLLM}
-       { "Sample F-Trans Y", "$(P_M)", "MOT_FY"   , "$(PORT_M)", 1   , 0  , 16  , 2   , 0.1 , 20 , 0.001, 4   , "mm" , 0   , 0   }
-       { "Sample F-Trans X", "$(P_M)", "MOT_FX"   , "$(PORT_M)", 2   , 1  , 16  , 2   , 0.1 , 20 , 0.001, 4   , "mm" , 0   , 0   }
-       { "Rotation Y"      , "$(P_M)", "MOT_ROT_Y", "$(PORT_M)", 3   , 0  , 50  , 50  , 0.1 , 20 , 0.001, 4   , "deg", 0   , 0   }
-       { "Sample C-Trans X", "$(P_M)", "MOT_CX"   , "$(PORT_M)", 4   , 1  , 2   , 2   , 0.1 , 20 , 0.001, 4   , "mm" , 0   , 0   }
-       { "Sample C-Trans Z", "$(P_M)", "MOT_CZ"   , "$(PORT_M)", 5   , 1  , 2   , 2   , 0.1 , 20 , 0.001, 4   , "mm" , 0   , 0   }
-       { "Interfero Y"     , "$(P_M)", "ENC_FY"   , "$(PORT_M)", 6   , 0  , 2   , 2   , 0.1 , 20 , 0.001, 4   , "mm" , 0   , 0   }
-       { "Interfero X"     , "$(P_M)", "ENC_FX"   , "$(PORT_M)", 7   , 0  , 2   , 2   , 0.1 , 20 , 0.001, 4   , "mm" , 0   , 0   }
-}

SAR-EXPMX2.subs

@@ -1,30 +0,0 @@
-################################################################################
-#P    - prefix of the PV
-#PORT - Name of the ppmac controller port created by powerPmacCreateController
-#ADDR - Axis index - second parameter of powerPmacCreateAxis and powerPmacCreateVirtualAxis
-################################################################################
-
-#Position Units are in um
-
-#ms to achive speed VELO -> same as Motor[1].JogTa (if positive). Motor[1].JogTa will be set to a caculated negative number
-# JAR  = EGU/s^2 -> JAR = VELO/ACCL (Jog acceleration)
-
-#caput SAROP21-OAPU092:ASYN.AOUT '&1;#1..2p'
-#caget SAROP21-OAPU092:ASYN.TINP
-#caput SAROP21-OAPU092:ASYN.AOUT '&1;cpx abs;X(-900)Y(10)A(5200)B(5100)'
-
-file asyn.template {{P="$(P_M)2", PORT=$(PORT_M)}}
-
-file PPMACMotor.template {
-pattern{ DESC       , P       , M           , PORT       , ADDR, DIR, VELO, HVEL, ACCL, JAR, MRES  , PREC, EGU  , DHLM, DLLM}
-       { "Wedge 1"  , "$(P_M)", "MOT_WEDGE1", "$(PORT_M)", 1   , 0  , 1.  , .5  , 0.1 , 20 , 0.001, 3   , "mm" , 0   , 0   }
-       { "Wedge 2"  , "$(P_M)", "MOT_WEDGE2", "$(PORT_M)", 2   , 0  , 1.  , .5  , 0.1 , 20 , 0.001, 3   , "mm" , 0   , 0   }
-       { "Wedge 3"  , "$(P_M)", "MOT_WEDGE3", "$(PORT_M)", 3   , 0  , 1.  , .5  , 0.1 , 20 , 0.001, 3   , "mm" , 0   , 0   }
-       { "Wedge 4"  , "$(P_M)", "MOT_WEDGE4", "$(PORT_M)", 4   , 0  , 1.  , .5  , 0.1 , 20 , 0.001, 3   , "mm" , 0   , 0   }
-       { "Wedge X"  , "$(P_M)", "MOT_WEDGEX", "$(PORT_M)", 9   , 1  , 1.  , .5  , 0.1 , 20 , 0.001, 3   , "mm" , 0   , 0   }
-       { "Wedge Y"  , "$(P_M)", "MOT_WEDGEY", "$(PORT_M)", 10  , 0  , 1.  , .5  , 0.1 , 20 , 0.001, 3   , "mm" , 0   , 0   }
-       { "Wedge A"  , "$(P_M)", "MOT_WEDGEA", "$(PORT_M)", 11  , 0  , 1.  , .5  , 0.1 , 20 , 0.001, 3   , "mm" , 0   , 0   }
-       { "Wedge B"  , "$(P_M)", "MOT_WEDGEB", "$(PORT_M)", 12  , 1  , 1.  , .5  , 0.1 , 20 , 0.001, 3   , "mm" , 0   , 0   }
-       { "Backlight", "$(P_M)", "MOT_BLGT"  , "$(PORT_M)", 5   , 1  , 40E3, 20E3, 0.1 , 20 , 1    , 0   , "usr", 0   , 0   }
-       { "Cryojet"  , "$(P_M)", "MOT_CRYO"  , "$(PORT_M)", 6   , 1  , 10.,  5.  , 0.1 , 20 , 0.001, 3   , "mm", 0   , 0   }
-}

SAR-EXPMX3.subs

@@ -1,30 +0,0 @@
-################################################################################
-#P    - prefix of the PV
-#PORT - Name of the ppmac controller port created by powerPmacCreateController
-#ADDR - Axis index - second parameter of powerPmacCreateAxis and powerPmacCreateVirtualAxis
-################################################################################
-
-#Position Units are in um
-
-#ms to achive speed VELO -> same as Motor[1].JogTa (if positive). Motor[1].JogTa will be set to a caculated negative number
-# JAR  = EGU/s^2 -> JAR = VELO/ACCL (Jog acceleration)
-
-#caput SAROP21-OAPU092:ASYN.AOUT '&1;#1..2p'
-#caget SAROP21-OAPU092:ASYN.TINP
-#caput SAROP21-OAPU092:ASYN.AOUT '&1;cpx abs;X(-900)Y(10)A(5200)B(5100)'
-
-file PPMACMotor.template {
-pattern
-{ DESC      ,   P       , M          , PORT       , ADDR, DIR, VELO, MRES , PREC, EGU   }
-{ "Girder 1",   "$(P_M)", "MOT_GIR_1", "$(PORT_M)", 1   , 0  , 40  , 0.001, 3   , "deg" }
-{ "Girder 2",   "$(P_M)", "MOT_GIR_2", "$(PORT_M)", 2   , 0  , 40  , 0.001, 3   , "deg" }
-{ "Girder 3",   "$(P_M)", "MOT_GIR_3", "$(PORT_M)", 3   , 0  , 40  , 0.001, 3   , "deg" }
-{ "Girder 4",   "$(P_M)", "MOT_GIR_4", "$(PORT_M)", 4   , 0  , 40  , 0.001, 3   , "deg" }
-{ "Girder 5",   "$(P_M)", "MOT_GIR_5", "$(PORT_M)", 5   , 0  , 40  , 0.001, 3   , "deg" }
-{ "Girder X",   "$(P_M)", "MOT_GIR_X", "$(PORT_M)", 9   , 0  , 40  , 0.001, 3   , "mm"  }
-{ "Girder Y",   "$(P_M)", "MOT_GIR_Y", "$(PORT_M)", 10  , 0  , 40  , 0.001, 3   , "mm"  }
-{ "Girder U",   "$(P_M)", "MOT_GIR_U", "$(PORT_M)", 11  , 0  , 40  , 0.001, 3   , "mrad"}
-{ "Girder V",   "$(P_M)", "MOT_GIR_V", "$(PORT_M)", 12  , 0  , 40  , 0.001, 3   , "mrad"}
-{ "Girder W",   "$(P_M)", "MOT_GIR_W", "$(PORT_M)", 13  , 0  , 40  , 0.001, 3   , "mrad"}
-{ "Detector Z", "$(P_M)", "MOT_DET_Z", "$(PORT_M)", 6   , 1  ,  4  , 0.001, 3   , "mm"  }
-}

add_EXPMX1.cmd

@@ -1,14 +0,0 @@
-###########################
-! $(gpasciiCommander_DIR)/gpasciiCommander --path $(ESB_MX_DIR) $(ESB_MX_DIR)/$(P)1.cfg
-
-powerPmacCreateAxis($(PORT), 1)
-powerPmacCreateAxis($(PORT), 2)
-powerPmacCreateAxis($(PORT), 3)
-powerPmacCreateAxis($(PORT), 4)
-powerPmacCreateAxis($(PORT), 5)
-powerPmacCreateAxis($(PORT), 6)
-powerPmacCreateAxis($(PORT), 7)
-#powerPmacCreateAxis($(PORT), 8)
-
-# Load databse
-dbLoadTemplate("$(ESB_MX_TEMPLATES)/$(P)1.subs", "PORT_M=$(PORT),P_M=$(P)")

add_EXPMX2.cmd

@@ -1,21 +0,0 @@
-###########################
-! $(gpasciiCommander_DIR)/gpasciiCommander --path $(ESB_MX_DIR) $(ESB_MX_DIR)/$(P)2.cfg
-
-powerPmacCreateAxis($(PORT), 1)
-powerPmacCreateAxis($(PORT), 2)
-powerPmacCreateAxis($(PORT), 3)
-powerPmacCreateAxis($(PORT), 4)
-powerPmacCreateAxis($(PORT), 5)
-powerPmacCreateAxis($(PORT), 6)
-#powerPmacCreateAxis($(PORT), 7)
-#powerPmacCreateAxis($(PORT), 8)
-
-#powerPmacCreateVirtualAxis(<port_name>, <axis_index>, <coord_sys_index>, <axis_name>,<commaSeparatedMotorIndices)
-# !!! COMMENTS AFTER 'powerPmacCreateVirtualAxis("$(PORT)",  9, 1, "X",1)' IS NOT ALLOWED !!!
-powerPmacCreateVirtualAxis("$(PORT)", 9 , 1, "X",1,2,3,4)
-powerPmacCreateVirtualAxis("$(PORT)", 10, 1, "Y",1,2,3,4)
-powerPmacCreateVirtualAxis("$(PORT)", 11, 1, "A",1,2,3,4)
-powerPmacCreateVirtualAxis("$(PORT)", 12, 1, "B",1,2,3,4)
-
-# Load databse
-dbLoadTemplate("$(ESB_MX_TEMPLATES)/$(P)2.subs", "PORT_M=$(PORT),P_M=$(P)")

add_EXPMX3.cmd

@@ -1,40 +0,0 @@
-###########################
-! $(gpasciiCommander_DIR)/gpasciiCommander --path $(ESB_MX_DIR) $(ESB_MX_DIR)/$(P)3.cfg
-
-powerPmacCreateAxis($(PORT), 1)
-powerPmacCreateAxis($(PORT), 2)
-powerPmacCreateAxis($(PORT), 3)
-powerPmacCreateAxis($(PORT), 4)
-powerPmacCreateAxis($(PORT), 5)
-powerPmacCreateAxis($(PORT), 6)
-#powerPmacCreateAxis($(PORT), 7)
-#powerPmacCreateAxis($(PORT), 8)
-
-#powerPmacCreateVirtualAxis(<port_name>, <axis_index>, <coord_sys_index>, <axis_name>,<commaSeparatedMotorIndices)
-# !!! COMMENTS AFTER 'powerPmacCreateVirtualAxis("$(PORT)",  9, 1, "X",1)' IS NOT ALLOWED !!!
-powerPmacCreateVirtualAxis("$(PORT)", 9 , 1, "X",1,2,3,4)
-powerPmacCreateVirtualAxis("$(PORT)", 10, 1, "Y",1,2,3,4)
-powerPmacCreateVirtualAxis("$(PORT)", 11, 1, "U",1,2,3,4)
-powerPmacCreateVirtualAxis("$(PORT)", 12, 1, "V",1,2,3,4)
-powerPmacCreateVirtualAxis("$(PORT)", 13, 1, "W",1,2,3,4)
-
-# Load databse
-dbLoadTemplate("$(ESB_MX_TEMPLATES)/$(P)3.subs", "PORT_M=$(PORT),P_M=$(P)")
-
-require PB_EXTRA
-#- Brakes - need to load motor status PVs as well
-dbLoadRecords("$(PB_EXTRA_TEMPLATES)motorStatus.db" "SYS=${P}, PORT=${PORT}, M=MOT_GIR_1, M_NO=1")
-dbLoadRecords("$(PB_EXTRA_TEMPLATES)motorStatus.db" "SYS=${P}, PORT=${PORT}, M=MOT_GIR_2, M_NO=2")
-dbLoadRecords("$(PB_EXTRA_TEMPLATES)motorStatus.db" "SYS=${P}, PORT=${PORT}, M=MOT_GIR_3, M_NO=3")
-dbLoadRecords("$(PB_EXTRA_TEMPLATES)motorStatus.db" "SYS=${P}, PORT=${PORT}, M=MOT_GIR_4, M_NO=4")
-dbLoadRecords("$(PB_EXTRA_TEMPLATES)motorStatus.db" "SYS=${P}, PORT=${PORT}, M=MOT_GIR_5, M_NO=5")
-dbLoadRecords("${PB_EXTRA_TEMPLATES}motorBrake.db", "SYS=${P}, PORT=${PORT}, M=MOT_GIR_1, M_NO=1")
-dbLoadRecords("${PB_EXTRA_TEMPLATES}motorBrake.db", "SYS=${P}, PORT=${PORT}, M=MOT_GIR_2, M_NO=2")
-dbLoadRecords("${PB_EXTRA_TEMPLATES}motorBrake.db", "SYS=${P}, PORT=${PORT}, M=MOT_GIR_3, M_NO=3")
-dbLoadRecords("${PB_EXTRA_TEMPLATES}motorBrake.db", "SYS=${P}, PORT=${PORT}, M=MOT_GIR_4, M_NO=4")
-dbLoadRecords("${PB_EXTRA_TEMPLATES}motorBrake.db", "SYS=${P}, PORT=${PORT}, M=MOT_GIR_5, M_NO=5")
-
-
-
-
-

add_EXPMX4.cmd

@@ -1,2 +0,0 @@
-#Powerbrick for  new commissioning of fast scanning stage
-#FOR NOW IT IS AN EMPTY CPNFIG !

asyn.template

@@ -1,5 +1,4 @@
-
+record(asyn,"$(P):$(R=asyn)")
-record(asyn,"$(P):ASYN")
 {
     field(DTYP,"asynRecordDevice")
     field(PORT,"$(PORT)")

generate.py

@@ -8,8 +8,9 @@
 '''
 generate .subs and _startup.script files
   mode bits:
-  0x001: genIOC()
+  0x001: genYAML()
-  0x008: genLauncher()
+  0x002: genIOC()
+  0x004: genLauncher()
 
 Long Doc'''
 from __future__ import print_function
@@ -28,36 +29,107 @@ class Generate:
     'SARES30-CPCL-MCSSMX'  : ('saresc-softioc-11' , 50001 , '7.0.6'   , 'x86_64'          , 'RHEL7'           , 'rhel'            , ) ,
   }
 
-  mxSmarAct={
+  iocSmarAct={
-    'port':'MCS',
+    'SARES30-CPCL-MCSSMX':
-    'host':'129.129.244.32',
+    {
-    'prefix':'SARES30-SMX',
+      'port':'MCS',
-    'motLst':(
+      'host':'129.129.244.32', # 00:04:a3:a2:71:35, MCS0060 Serial: 3762
-      # description   , PV name , axis , hlm , llm , dir , sens  ,
+      'prefix':'SARES30-SMX',
-      ('COLLI:TX'     , 'MCS1'  , 0    , 12  , -10 , 1   , 'S' ) ,
+      'loc':'EH.057 MobRack',
-      ('COLLI:TY'     , 'MCS2'  , 1    , 12  , -10 , 1   , 'S' ) ,
+
-      ('Motor3'       , 'MCS3'  , 2    , 10  , -10 , 0   , 'S' ) ,
+      'motLst':(
-      ('POSTTUBE:TX1' , 'MCS4'  , 3    , 10  , -10 , 0   , 'S' ) ,
+        # description   , PV name , axis , hlm , llm , dir , egu  , sens  ,
-      ('POSTTUBE:TX2' , 'MCS5'  , 4    , 10  , -10 , 0   , 'S' ) ,
+        ('COLLI:TX'     , 'MCS1'  , 0    , 12  , -10 , 1   , 'mm' , 'S' ) ,
-      ('POSTTUBE:TY1' , 'MCS6'  , 5    , 15  , -20 , 0   , 'S' ) ,
+        ('COLLI:TY'     , 'MCS2'  , 1    , 12  , -10 , 1   , 'mm' , 'S' ) ,
-      ('POSTTUBE:TY2' , 'MCS7'  , 6    , 15  , -20 , 0   , 'S' ) ,
+        ('Motor3'       , 'MCS3'  , 2    , 10  , -10 , 0   , 'mm' , 'S' ) ,
-      ('POSTTUBE:TZ'  , 'MCS8'  , 7    , 10  , -10 , 1   , 'S' ) ,
+        ('POSTTUBE:TX1' , 'MCS4'  , 3    , 10  , -10 , 0   , 'mm' , 'S' ) ,
-      ('Motor9'       , 'MCS9'  , 8    , 10  , -10 , 0   , 'S' ) ,
+        ('POSTTUBE:TX2' , 'MCS5'  , 4    , 10  , -10 , 0   , 'mm' , 'S' ) ,
-      ('SLITS:X1'     , 'MCS10' , 9    , 10  , -10 , 1   , 'S' ) ,
+        ('POSTTUBE:TY1' , 'MCS6'  , 5    , 15  , -20 , 0   , 'mm' , 'S' ) ,
-      ('SLITS:X2'     , 'MCS11' , 10   , 10  , -10 , 1   , 'S' ) ,
+        ('POSTTUBE:TY2' , 'MCS7'  , 6    , 15  , -20 , 0   , 'mm' , 'S' ) ,
-      ('SLITS:Y1'     , 'MCS12' , 11   , 10  , -10 , 1   , 'S' ) ,
+        ('POSTTUBE:TZ'  , 'MCS8'  , 7    , 10  , -10 , 1   , 'mm' , 'S' ) ,
-      ('SLITS:Y2'     , 'MCS13' , 12   , 10  , -10 , 1   , 'S' ) ,
+        ('Motor9'       , 'MCS9'  , 8    , 10  , -10 , 0   , 'mm' , 'S' ) ,
-      ('XEYE:TX'      , 'MCS14' , 13   , 10  , -10 , 0   , 'S' ) ,
+        ('SLITS:X1'     , 'MCS10' , 9    , 10  , -10 , 1   , 'mm' , 'S' ) ,
-      ('XEYE:TY'      , 'MCS15' , 14   , 10  , -10 , 0   , 'S' ) ,
+        ('SLITS:X2'     , 'MCS11' , 10   , 10  , -10 , 1   , 'mm' , 'S' ) ,
-    ),
+        ('SLITS:Y1'     , 'MCS12' , 11   , 10  , -10 , 1   , 'mm' , 'S' ) ,
+        ('SLITS:Y2'     , 'MCS13' , 12   , 10  , -10 , 1   , 'mm' , 'S' ) ,
+        ('XEYE:TX'      , 'MCS14' , 13   , 10  , -10 , 0   , 'mm' , 'S' ) ,
+        ('XEYE:TY'      , 'MCS15' , 14   , 10  , -10 , 0   , 'mm' , 'S' ) ,
+      ),
+    }
   }
 
-  pb_host2param={
+  iocPowerBrick={
     # HOST                runScript
-    'SAR-CPPM-EXPMX1':('','require ESB_MX\nrunScript $(ESB_MX_DIR)/add_EXPMX1.cmd "P=SAR-EXPMX,PORT=PPMAC1"',),
+    'SAR-CPPM-EXPMX1':{
-    'SAR-CPPM-EXPMX2':('','require ESB_MX\nrunScript $(ESB_MX_DIR)/add_EXPMX2.cmd "P=SAR-EXPMX,PORT=PPMAC1"',),
+      'port':'PPMAC',
-    'SAR-CPPM-EXPMX3':('','require ESB_MX\nrunScript $(ESB_MX_DIR)/add_EXPMX3.cmd "P=SAR-EXPMX,PORT=PPMAC1"',),
+      'prefix':'SAR-EXPMX',
-    'SAR-CPPM-EXPMX4':('','require ESB_MX\nrunScript $(ESB_MX_DIR)/add_EXPMX4.cmd "P=SAR-EXPMX,PORT=PPMAC1"',),
+      'loc':'EH.057 MobRack',
+      'fmt':
+        '{{{P:10},{M:10},{ADDR:4},{DESC:19},{DIR:3},{VELO:4},{HVEL:4},{MRES:5},{PREC:4},{EGU:4}}}\n',
+      'motLst':(
+      ( 'DESC'               , 'M'         , 'ADDR' , 'DIR' , 'VELO' , 'HVEL' , 'MRES' , 'PREC' , 'EGU' ) ,
+      ( '"Sample F-Trans Y"' , 'MOT_FY'    , 1      , 0     , 16     , 2      , 0.001  , 4      , 'mm'  ) ,
+      ( '"Sample F-Trans X"' , 'MOT_FX'    , 2      , 1     , 16     , 2      , 0.001  , 4      , 'mm'  ) ,
+      ( '"Rotation Y"'       , 'MOT_ROT_Y' , 3      , 0     , 50     , 50     , 0.001  , 4      , 'deg' ) ,
+      ( '"Sample C-Trans X"' , 'MOT_CX'    , 4      , 1     , 2      , 2      , 0.001  , 4      , 'mm'  ) ,
+      ( '"Sample C-Trans Z"' , 'MOT_CZ'    , 5      , 1     , 2      , 2      , 0.001  , 4      , 'mm'  ) ,
+      ( '"Interfero Y"'      , 'ENC_FY'    , 6      , 0     , 2      , 2      , 0.001  , 4      , 'mm'  ) ,
+      ( '"Interfero X"'      , 'ENC_FX'    , 7      , 0     , 2      , 2      , 0.001  , 4      , 'mm'  ) ,
+      ),
+    },
+    'SAR-CPPM-EXPMX2':{
+      'port':'PPMAC',
+      'prefix':'SAR-EXPMX',
+      'loc':'EH.057 MobRack',
+      'fmt':
+        '{{{P:10},{M:10},{ADDR:4},{DESC:12},{DIR:3},{VELO:4},{HVEL:4},{MRES:5},{PREC:4},{EGU:4}}}\n',
+      'motLst':(
+        ( 'DESC'        , 'M'          , 'ADDR' , 'DIR' , 'VELO' , 'HVEL' , 'MRES' , 'PREC' , 'EGU' ) ,
+        ( '"Wedge 1"'   , 'MOT_WEDGE1' , 1      , 0     , 1.     , .5     , 0.001  , 3      , 'mm'  ) ,
+        ( '"Wedge 2"'   , 'MOT_WEDGE2' , 2      , 0     , 1.     , .5     , 0.001  , 3      , 'mm'  ) ,
+        ( '"Wedge 3"'   , 'MOT_WEDGE3' , 3      , 0     , 1.     , .5     , 0.001  , 3      , 'mm'  ) ,
+        ( '"Wedge 4"'   , 'MOT_WEDGE4' , 4      , 0     , 1.     , .5     , 0.001  , 3      , 'mm'  ) ,
+        ( '"Wedge X"'   , 'MOT_WEDGEX' , 9      , 1     , 1.     , .5     , 0.001  , 3      , 'mm'  ) ,
+        ( '"Wedge Y"'   , 'MOT_WEDGEY' , 10     , 0     , 1.     , .5     , 0.001  , 3      , 'mm'  ) ,
+        ( '"Wedge A"'   , 'MOT_WEDGEA' , 11     , 0     , 1.     , .5     , 0.001  , 3      , 'mm'  ) ,
+        ( '"Wedge B"'   , 'MOT_WEDGEB' , 12     , 1     , 1.     , .5     , 0.001  , 3      , 'mm'  ) ,
+        ( '"Backlight"' , 'MOT_BLGT'   , 5      , 1     , 40E3   , 20E3   , 1      , 0      , 'usr' ) ,
+        ( '"Cryojet"'   , 'MOT_CRYO'   , 6      , 1     , 10.    , 5.     , 0.001  , 3      , 'mm'  ) ,
+      ),
+    },
+    'SAR-CPPM-EXPMX3':{
+      'port':'PPMAC',
+      'prefix':'SAR-EXPMX',
+      'loc':'EH.057 MobRack',
+      'fmt':
+        '{{{P:10},{M:10},{ADDR:4},{DESC:13},{DIR:3},{VELO:4},{MRES:5},{PREC:4},{EGU:4}}}\n',
+      'motLst':(
+        ( 'DESC'         , 'M'         , 'ADDR' , 'DIR' , 'VELO' , 'MRES' , 'PREC' , 'EGU'  ) ,
+        ( '"Girder 1"'   , 'MOT_GIR_1' , 1      , 0     , 40     , 0.001  , 3      , 'deg'  ) ,
+        ( '"Girder 2"'   , 'MOT_GIR_2' , 2      , 0     , 40     , 0.001  , 3      , 'deg'  ) ,
+        ( '"Girder 3"'   , 'MOT_GIR_3' , 3      , 0     , 40     , 0.001  , 3      , 'deg'  ) ,
+        ( '"Girder 4"'   , 'MOT_GIR_4' , 4      , 0     , 40     , 0.001  , 3      , 'deg'  ) ,
+        ( '"Girder 5"'   , 'MOT_GIR_5' , 5      , 0     , 40     , 0.001  , 3      , 'deg'  ) ,
+        ( '"Girder X"'   , 'MOT_GIR_X' , 9      , 0     , 40     , 0.001  , 3      , 'mm'   ) ,
+        ( '"Girder Y"'   , 'MOT_GIR_Y' , 10     , 0     , 40     , 0.001  , 3      , 'mm'   ) ,
+        ( '"Girder U"'   , 'MOT_GIR_U' , 11     , 0     , 40     , 0.001  , 3      , 'mrad' ) ,
+        ( '"Girder V"'   , 'MOT_GIR_V' , 12     , 0     , 40     , 0.001  , 3      , 'mrad' ) ,
+        ( '"Girder W"'   , 'MOT_GIR_W' , 13     , 0     , 40     , 0.001  , 3      , 'mrad' ) ,
+        ( '"Detector Z"' , 'MOT_DET_Z' , 6      , 1     , 4      , 0.001  , 3      , 'mm'   ) ,
+      ),
+    },
+    'SAR-CPPM-EXPMX4':{
+      'port':'PPMAC',
+      'prefix':'SAR-EXPMX',
+      'loc':'EH.057 MobRack',
+      'fmt':
+        '{{{P:10},{M:10},{ADDR:4},{DESC:27},{DIR:3},{VELO:4},{MRES:5},{PREC:4},{EGU:4}}}\n',
+      'motLst':(
+        ('DESC', 'M', 'ADDR', 'DIR', 'VELO', 'MRES', 'PREC', 'EGU'),
+        # desc , m , addr , dir , velo , hvel , accl , jar , mres , prec , egu , dhlm , dllm ,
+         # NOT YET ANY MOTOR
+      ),
+    },
   }
 
   tplYaml='''\
@@ -73,26 +145,34 @@ os_id: {osys_id}
                   'None':11, 'LC':12, 'L':13}
 
   tplMcsCtrl='''\
-epicsEnvSet("ENGINEER", "T. Zamofing (zamofing_t)")
+###################################################################
-epicsEnvSet("LOCATION", "0.Z553.58")
+# DO NOT EDIT: Generated with epics_ioc_modules/ESB_MX/generate.py
+# This is the IOC {ioc} on {ioc_host}:{ioc_port}
+##################################################################
 
-#load module
+epicsEnvSet("ENGINEER", "T. Zamofing (zamofing_t)")
+epicsEnvSet("LOCATION", "{loc}")
+
+###### require modules ############
 # motorSmarAct community driver
 # smarActMot   PSI templates and other files
-require motorSmarAct zamofing_t
+require motorSmarAct
-#require motorSmarAct
 require smarActMot
-# -------------
+require ESB_MX
+
+###### initialize device ############
 drvAsynIPPortConfigure("asyn{port}", "{host}:5000", 0, 0, 0)
 # PORT, MCS_PORT, number of axes, active poll period (sec), idle poll period (sec)
 smarActMCSCreateController("{port}", "asyn{port}", {num_ax}, 0.1, 1.0)
+
+###### initialize axes ############
 '''
 
   tplMcsAxis='''\
 smarActMCSCreateAxis({port}, {axis}, {chan})
 '''
 
-  mcs_subs_hdr='''\
+  mcsSubsHdr='''\
 file asyn.template {{{{P={prefix}, PORT=asyn{port}}}}}
 
 ##### MCS
@@ -102,43 +182,49 @@ file $(smarActMot_DIR)/db/MCS_axis.template
   {{PORT      ,S               ,M         ,ADDR,DESC                       ,DIR,VBAS,VMAX,DHLM,DLLM,EGU,SENSOR ,UDSENS,RTRY}}
 '''
 
-  tplScriptPowerBrickIOC='''\
+  tplPwrBrkCtrl='''\
 ##########################################
 # DO NOT EDIT: Generated with generate.py
-# This is the IOC on host {host}
+# This is the IOC on host {ioc}
 ##########################################
 # PPMAC responsible: Thierry Zamofing
 ##########################################
+
+###### initialize device ############
+require PB_COMMON
 {req}
 
-############################################
-#------! Common PPMAC configuration !------#
-############################################
-# Load common configuration
-require PB_COMMON
-
-# Define controller
 #powerPmacCreateController(<port_name>, <moving_poll_pseriod [ms]>, <idle_poll_period [ms]>)
-powerPmacCreateController("PPMAC1", 200, 1000)
+powerPmacCreateController("{port}", 200, 1000)
 
-############################################
+###### initialize axes ############
-#--------! Devices configuration ---------!#
-############################################
-{devConf}
 '''
 
-  tplEVR='''\
+  tplPwrBrkAxis='''\
-####### initialise EVR ##############################
+powerPmacCreateAxis({PORT}, {ADDR})
+'''
+
+  tplEVR='''
+###### initialize EVR ############
 # https://git.psi.ch/epics_driver_modules/mrfioc2
 require mrfioc2
 runScript $(mrfioc2_DIR)/mrfioc2_evr-PCIe.cmd, "DEVICE=EVR0,EVR_SUBS=$(ESB_MX_DIR)/db/evr_PCIe-300DC.subs,EVR_DOMAIN=0x2,EVR_BUS=0x21,SYS=SAR-EXPMX"
 
-####### initialise EVR data buffer ##################
+###### initialize EVR data buffer ############
 # https://git.psi.ch/epics_driver_modules/mrfioc2_regDev
 require mrfioc2_regDev
 runScript $(mrfioc2_regDev_DIR)/mrfioc2_regDev_pulseID_RX.cmd, "DEVICE=EVR0,SYS=SAR-EXPMX"
 '''
 
+  pwrBrkSubsHdr='''\
+file asyn.template {{{{P={prefix}, PORT={port},R=asyn{idx}}}}}
+
+file PPMACMotor.template
+{{
+  pattern
+'''
+
+
   def __init__(self):
     os.makedirs('gen/ioc/',exist_ok=True)
     #os.makedirs('gen/db/',exist_ok=True)
@@ -156,26 +242,14 @@ runScript $(mrfioc2_regDev_DIR)/mrfioc2_regDev_pulseID_RX.cmd, "DEVICE=EVR0,SYS=
 
   def genIOC(self):
     print('### genIOC ###')
-    tplIOC=Generate.tplScriptPowerBrickIOC
+    fn='gen/ioc/Makefile'
-    yamlParam=Generate.yamlParam
+    print('generate '+fn+' ...')
-    pb_h2p=Generate.pb_host2param
+    with open(fn,'w') as fh:
-    tplEVR=Generate.tplEVR
+      fh.write('include /ioc/tools/ioc.makefile\n')
-    fh=open('gen/ioc/Makefile','w')
+    self.genPowerBrickIOC()
-    fh.write('include /ioc/tools/ioc.makefile\n')
+    self.genSmarActIOC()
-    fh.close()
+
-    for host in yamlParam.keys():
+
-      if not host in pb_h2p:
-        assert(host=='SARES30-CPCL-MCSSMX')
-        self.genSmarActIOC(host)
-        continue
-      req,devConf=pb_h2p[host]
-      fn='gen/ioc/{host}_startup.script'.format(host=host)
-      print('generate '+fn+' ...')
-      fh=open(fn,'w')
-      fh.write(tplIOC.format(host=host,req=req,devConf=devConf))
-      if host=='SAR-CPPM-EXPMX1':
-        fh.write(tplEVR)
-      fh.close()
     print('done.')
 
   def genLauncher(self):
@@ -191,35 +265,125 @@ runScript $(mrfioc2_regDev_DIR)/mrfioc2_regDev_pulseID_RX.cmd, "DEVICE=EVR0,SYS=
 #'''.format(dev=dev))
 #    fh.close()
 
-  def genSmarActIOC(self,ioc):
+  def genPowerBrickIOC(self):
+    yamlParam=Generate.yamlParam
+    tplEVR=Generate.tplEVR
+    tplCtrl=Generate.tplPwrBrkCtrl
+    tplAxis=Generate.tplPwrBrkAxis
+    #tplAxSR=Generate.tplMcsAxisSaveRestore
+    subsHdr=Generate.pwrBrkSubsHdr
+
+    for ioc,v in Generate.iocPowerBrick.items():
+      # fh_ss startup script
+      # fh_sb substitution
+      # fh_sr save restore
+
+      fmt='  '+v['fmt']
+      hdr=v['motLst'][0]
+      if len(v['motLst'])>1:
+        motLst=v['motLst'][1:]
+      else:
+        motLst=tuple()
+      param= {k: v[k] for k in {'port','prefix','loc'}}
+      param['ioc']=ioc
+      param['idx']=ioc[-1]
+      param['num_ax']=len(motLst)
+      param['req']='require ESB_MX\n\n! $(gpasciiCommander_DIR)/gpasciiCommander --path $(ESB_MX_DIR) $(ESB_MX_DIR)/{prefix}{idx}.cfg'.format(**param)
+      #print(param)
+
+      fn=f'gen/ioc/{ioc}_startup.script'
+      print('generate '+fn+' ...')
+      fh_ss=open(fn,'w')
+
+      fn=f'gen/ioc/{ioc}_gen.subs' # with a name _* the .subs file is recognize by the 'ioc install' tool
+      print('generate '+fn+' ...')
+      fh_sb=open(fn,'w')
+
+      #fn=f'gen/ioc/cfg/{ioc}_sr.req'
+      #print('generate '+fn+' ...')
+      #fh_sr=open(fn,'w')
+
+      fh_ss.write(tplCtrl.format(**param))
+
+      fh_sb.write(subsHdr.format(**param))
+      port=param['port']
+      prefix=param['prefix']
+      motPar=dict(zip(hdr, hdr))
+      motPar['PORT']='PORT'
+      motPar['P']='P'
+      fh_sb.write(fmt.format(**motPar))
+      for motPar in motLst:
+        motPar=dict(zip(hdr, motPar))
+        motPar['PORT']=v['port']
+        motPar['P']=v['prefix']
+        fh_sb.write(fmt.format(**motPar))
+        fh_ss.write(tplAxis.format(**motPar))
+        #fh_sr.write(tplAxSR.format(prefix=prefix,m=m))
+      fh_sb.write('}\n\n')
+
+      if ioc=='SAR-CPPM-EXPMX1':
+        fh_ss.write(tplEVR)
+      fh_ss.close()
+      fh_sb.close()
+
+
+
+
+
+  def genSmarActIOC(self):
     tplCtrl=Generate.tplMcsCtrl
     tplAxis=Generate.tplMcsAxis
-    motLst=Generate.mxSmarAct['motLst']
+    #tplAxSR=Generate.tplMcsAxisSaveRestore
-    subs=Generate.mcs_subs_hdr
+    subsHdr=Generate.mcsSubsHdr
-    host=Generate.mxSmarAct['host']
-    prefix=Generate.mxSmarAct['prefix']
-    port=Generate.mxSmarAct['port']
     lutSens=Generate.lutSensMcs
-    num_ax=len(motLst)
+    os.makedirs('gen/ioc/cfg/',exist_ok=True)
-    fn=f'gen/ioc/{ioc}_startup.script'
+    for ioc,v in Generate.iocSmarAct.items():
-    print('generate '+fn+' ...')
+      # fh_ss startup script
-    with open(fn,'w') as fh_ss:
+      # fh_sb substitution
-      fh_ss.write(tplCtrl.format(host=host,port=port,num_ax=num_ax))
+      # fh_sr save restore
 
-      fn_subs=f'gen/ioc/{ioc}_gen.subs' # with a name _* the .subs file is recognize by the 'ioc install' tool
+      motLst=v['motLst']
-      print('generate '+fn_subs+'...')
+      param= {k: v[k] for k in {'port','host','prefix','loc'}}
-      with open(fn_subs,'w') as fh:
+      ioc_host,ioc_port=Generate.yamlParam[ioc][:2]
-        fh.write(subs.format(port=port,prefix=prefix))
+      param['ioc']=ioc
-        for d, m, a, hlm, llm, dir,sens in motLst:
+      param['ioc_host']=ioc_host
-          sens=lutSens[sens]
+      param['ioc_port']=ioc_port
-          param={'PORT':port,'S':prefix,'M':m,'ADDR':a,'DESC':'"'+d+'"',
+      param['num_ax']=len(motLst)
-                 'DIR':dir,'VBAS':0,'VMAX':2,'DHLM':hlm,'DLLM':llm,'EGU':'mm','SENSOR':sens,'UDSENS':0,'RTRY':1}
+      #print(param)
-          fh.write('  {{{PORT:10},{S:16},{M:10},{ADDR:4},{DESC:27},{DIR:3},{VBAS:4},{VMAX:4},{DHLM:4},{DLLM:4},{EGU:3},{SENSOR:7},{UDSENS:5}{RTRY:5}}}\n'.format(**param))
-          fh_ss.write(tplAxis.format(port=port,axis=a,chan=a))
-        fh.write('}\n\n')
 
+      fn=f'gen/ioc/{ioc}_startup.script'
+      print('generate '+fn+' ...')
+      fh_ss=open(fn,'w')
 
+      fn=f'gen/ioc/{ioc}_gen.subs' # with a name _* the .subs file is recognize by the 'ioc install' tool
+      print('generate '+fn+' ...')
+      fh_sb=open(fn,'w')
 
+      #fn=f'gen/ioc/cfg/{ioc}_sr.req'
+      #print('generate '+fn+' ...')
+      #fh_sr=open(fn,'w')
+
+      fh_ss.write(tplCtrl.format(**param))
+
+      fh_sb.write(subsHdr.format(**param))
+      port=param['port']
+      prefix=param['prefix']
+      for d, m, a, hlm, llm, dir,egu,sens in motLst:
+        sens=lutSens[sens]
+        param={'PORT':port,'S':prefix,'M':m,'ADDR':a,'DESC':'"'+d+'"',
+               'DIR':dir,'VBAS':0,'VMAX':2,'DHLM':hlm,'DLLM':llm,'EGU':egu,'SENSOR':sens,'UDSENS':0,'RTRY':1}
+        fh_sb.write('  {{{PORT:10},{S:16},{M:10},{ADDR:4},{DESC:27},{DIR:3},{VBAS:4},{VMAX:4},{DHLM:4},{DLLM:4},{EGU:3},{SENSOR:7},{UDSENS:5}{RTRY:5}}}\n'.format(**param))
+        fh_ss.write(tplAxis.format(port=port,axis=a,chan=a))
+        #fh_sr.write(tplAxSR.format(prefix=prefix,m=m))
+      fh_sb.write('}\n\n')
+      fh_ss.close()
+      fh_sb.close()
+      #fh_sr.close()
+
+    #fn='gen/ioc/asyn.template'
+    #print('generate '+fn+' ...')
+    #with open(fn,'w') as fh:
+    #  fh.write(Generate.tpl_asyn)
 
 if __name__=='__main__':
   def parse_args():

qt/ESB_MX_SmarAct.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>797</width>
+    <width>645</width>
-    <height>673</height>
+    <height>680</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -60,7 +60,7 @@
     <rect>
      <x>5</x>
      <y>53</y>
-     <width>784</width>
+     <width>626</width>
      <height>612</height>
     </rect>
    </property>
@@ -83,7 +83,7 @@
   <widget class="QLabel" name="label_5">
    <property name="geometry">
     <rect>
-     <x>640</x>
+     <x>470</x>
      <y>30</y>
      <width>80</width>
      <height>20</height>
@@ -96,7 +96,7 @@
     </font>
    </property>
    <property name="text">
-    <string>satus bits</string>
+    <string>Relative</string>
    </property>
   </widget>
   <widget class="QLabel" name="label_6">